Problem 3 (30 points)

A car has been traveling for a while with speed Vo=100 km/hour. At time t=0 s, the car accelerates with ao (m/s2). The figure depicts a schematic view (not to scale) of an ACME air refresher (AF) hanging from the rear view mirror. The AF has mass properties equal to m and Ig=m rk2, where rk is the radius of gyration; and Lg is the distance from its center of mass to the support in the rear-view mirror. In the figure, denotes the angular displacement of the AF with respect to the vertical plane. Note that at time t=0 s, the AF is at rest, i.e.

= 0,  = 0 . Tasks

a)

 = f ( L , r , m, g , a , ) [16] Derive the equation of motion for the AF. Express this equation in the form g k o

 [8] b) Find an expression for the angular speed = c) Find the maximum angular displacement max if the car decelerates at 20 (km/hour)/s. [6] Note: Energy is not conserved. Do not use PCME to derive the EOM

Y Car acceleration X g

Rear-view mirror

ao

O Lg m, Ig

V Car velocity

AF: air refresher

to

Rear-view mirror pendulum (not

scale)

P3 - Motion with support (dec)acceleration

Ig = m rk
Y Car acceleration X g Rear-view mirror

mass moment of inertia about cg rk = radius_of_gyration

ao

O Lg m, Ig

Lg = distance_from_cg_to_pivot_O ao = ao k ao : acceleration of pivot If ao <0 (deceleration) b og = Lg sin( ) I cos( ) J

V Car velocity

vector from pivot to cg

AF: air refresher

Io = Ig + mL.g

by parallel axis theorem

(a) Find equation of motion

Use Moment equation for pivot (support) moving with known acceleration
2 2

M o = Io

dt

+ m bog ao

[1]

bog ao = ao Lg cos( ) K M o = m g Lg sin( )

[2]

since J I = K

The only moment about pivot O is due to the weight action, i.e. Substitution of eqs. [2,3] into [1] gives the EOM: d
2 2

[3]

Io define:

+ m ao Lg cos( ) + m g Lg sin( ) = 0

[4]

dt
2

Eq. [4] is identical to simple pendulum eqn if a o =0 (pivot not moving with acceleration)

Lo = Lg + rk

[5]
2 2

where Lo is the "radius of gyration" about O

Thus, the EOM becomes d = Lg Lo

2

g sin( ) ao cos( )

where [6] Lo = Lg + rk
2 2 2

dt

(b) Find angular velocity

Use the integral substitution d

2 2

dt

2 d where = dt ; and write eq. [6] as d 2

[7]

2 Lg = ( g sin( ) ao cos( ) ) 2 d 2 Lo

motion starts from rest, i.e. at =0, =0

The initial conditions are:

Integrate Eq. [7] to obtain:

2 Let ao = z g
2

Lg Lo
2

g ( cos( ) 1 ) ao sin( )

Lg g Lo
2

( cos( ) 1 z sin( ) )

[8]

(c)

Find maximum angular displacement

= max, set =0 in eq. [8] to obtain: [9]

for maximum angular displacement

( cos( ) 1) z sin( ) = 0

cos( ) z sin( ) = 1 square both sides of equation to obtain Using the identity cos( ) = 1 sin( )
2 2 2

solve this equation with a calculator or:

2 2

cos( ) 2 z cos( ) sin( ) + z sin( ) = 1 above, reduces Eq. above to

(z2 1) sin( )2 2 z cos( ) sin( ) = 0

[10]

or

sin( ) z 1 sin( ) 2 z cos( ) =0

(2 )

This equation has two roots, sin( )=0, i.e. =0 which is a trivial solution; and from which tan( ) =

(z2 1) sin( ) 2 z cos( ) = 0

z= ao g kmh := 1000 m 3600 s

2z 2 z 1
vel := 100 kmh ao := 20 z := ao g kmh s

where

For the problem data given,

car initial speed deceleration

ao = 5.556 m s z = 0.567

-2

:= atan

180 2 z 1

2z

Maximum angle

max

= 59.064 degrees

NOT for exam : Graph the max-angle for a number of acceleration ratios (respect to g) max( z) := atan
maxmum angular displacement

180 2 z 1

2z

100 75 50 25 0 25 50 75 100

0.75

0.5

0.25 0 0.25 z: acceleration ratio (a/g)

0.5

0.75

when z=1,

g = 9.807 m s g = 35.304

-2

kph s

( acceleration rate) 90 degree

max( .999) = 89.943