2.

003 Fall 2012: Dynamics and Control I

Massachusetts Institute of Technology
Department of Mechanical Engineering

Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250

Problem 1 (30 points)

A box of negligible size is sliding down along a curved path defined by the parabola y = 0.4x2 .
When it is at A (xA = 2m, yA = 1.6m), the speed is v = 8m/s and the increase in speed is
dv/dt = 4m/s2 .

Figure 1
At this instant, determine the:
(a) two components of a in your choice of coordinate system, and
(b) magnitude of a.

Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250

2.003 Fall 2012: Dynamics and Control I

Massachusetts Institute of Technology
Department of Mechanical Engineering

Problem 1 - Solution
As we saw in lecture on September 11, 2012; we will choose the normal-tangent coordinate
system. This is similar to Homework 2 Problem 1.

t +
aA = v A u

vA2
n
u

The speed increase is given as dvA /dt = 4m/s2 , and then the next step is to find

2
vA

Since the magnitude of the velocity is given as vA = 8m/s, and the only thing left is to find
the radius of curvature, which is, again from the lecture
h

i3/2
dy 2
dx

1+

 
 d2 y 
 dx2 

We take the first and second derivatives of y.

(
ut )y
dy
d
=
(0.4x2 ) = 0.8x
=
dx
(
ut )x
dx
d2 y
d
=
(0.8x) = 0.8
dx2
dx
At our point of interest A, (x = 2, y = 1.6), we obtain:

dy 
= 0.8 2 = 1.6
dx x=2

d2 y 
= 0.8
dx2 x=2
leading to
|x=2 =

[1 + 1.62 ]
|0.8|

3/2

8.39 [m]

2.003 Fall 2012: Dynamics and Control I

Massachusetts Institute of Technology
Department of Mechanical Engineering

Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250

Finally we can write the acceleration and its magnitude as:

(a)
t +
aA = v A u

vA2
82
n = 4
n 4
u
ut +
u
ut + 7.62
un

8.39

(b)
|aA | =



42 + 7.622 8.61 m/s2

Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250

2.003 Fall 2012: Dynamics and Control I

Massachusetts Institute of Technology
Department of Mechanical Engineering

Problem 2 (40 points)

A 20 kg sphere of radius r = 0.15 m rolls down the inclined plane shown in Figure 2 without
slipping. The moment of inertia for a sphere of uniform density about its center of mass is
IG = 25 mr2 .

g
G

Figure 2
Determine the spheres:
(a) free body diagram
(b) equation of motion in terms of its rotation,
(c) angular acceleration, , and
(d) center of masss linear acceleration, a.

Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250

2.003 Fall 2012: Dynamics and Control I

Massachusetts Institute of Technology
Department of Mechanical Engineering

Problem 2 - Solution
(a) The first thing to establish, in this problem, is the choice of coordinate system. To
simplify calculations, we will choose x as being aligned with the slope, and y in the
normal direction. Figure 3 shows these axes and the free body diagram.

r
G
y

ff

O
mg

30
N

Figure 3
(b) The equation of motion is obtained from the kinematic constraint and the sum of the
forces and toques. The relationship resulting from the non-slip condition with the plane
enforces the fact that a rotation of the sphere through an angle assumed positive in
the counterclockwise direction (in agreement with our choice of axes) corresponds to
a translation of x = r. Stated differently, xG = r AG . This in turn implies
r .
G =
x G = r AG and x
AG
Summing the forces we obtain
P

F x : f f mg sin 30i = m
xG
P
F y : N mg cos 30 = 0

the first of which reduces to

ff

mg
= m
xG
2

2.003 Fall 2012: Dynamics and Control I

Massachusetts Institute of Technology
Department of Mechanical Engineering

Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250

And summing the torques about the center of mass

X

G : r GA f f = I

which we can simplify

= I

rff k
rff = I
Combining these two equations into one by substituting for the frictional force, f f ,
yields
ff =

mg
I
= m
xG +
r
2

Along with our kinematic relationship, we have two equations and two unknowns. The
geometric constraint yielded
r
G =
x
AG

xG i = k rj
i
xGi = r

xG = r
And through substitution, we have our equation of motion:
I
+ mg
= mr
r
2
I + mr2 mg
=
r
2
mrg
=
2(I + mr2 )
mrg


=
2 52 mr2 + mr2

2.003 Fall 2012: Dynamics and Control I

Massachusetts Institute of Technology
Department of Mechanical Engineering
(c) Since = , and x = a,

Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250

mrg


+ mr2
2
g


=
2
2 5 +1 r
5g
=
14r


rad/s2
23.4k

2
mr2
5

(d) And by virtue of aC = r AC

aC =



5g
i 3.5i m/s2
14

2.003 Fall 2012: Dynamics and Control I

Massachusetts Institute of Technology
Department of Mechanical Engineering

Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250

Problem 3 (30 points)

The 0.5 kg collar C can slide freely along the smooth rod AB. At a given instant, rod AB
is rotating with an angular velocity of = 2 rad/s and has an angular acceleration of = 2
rad/s2 . Neglect the mass of the rod AB and the size of the collar C. Ignore the effect of
gravity.

Figure 4
At this instant, determine:
(a) the acceleration of the collar C
(b) the normal force of rod AB on the collar C
(c) the radial reaction of the end plate B on the collar C.

2.003 Fall 2012: Dynamics and Control I

Massachusetts Institute of Technology
Department of Mechanical Engineering

Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250

Problem 3 - Solution
u

u
r

j
C

u
r

Nr

(a)

N
(b)

Figure 5: (a) kinematic diagram. (b) free-body diagram.

(a) To obtain the acceleration of the collar C we choose to write the position vector r AC in
polar coordinates:
r AC = L
ur ,
from which we can obtain the velocity and acceleration vectors, v C and aC respectively,
via differentiation:
d
u

v C = r AC = L r = Lu
dt
d
u
+ L = Lu
L2 u
r
aC = Lu
dt
Substituting L = 0.6 m, = 2 rad/s and = 2 rad/s2 yields:
aC = 2.4
ur + 1.2
u m/s2
(b) The normal force of rod AB on the collar C, N acts in the tangential direction and is
9

2.003 Fall 2012: Dynamics and Control I

Massachusetts Institute of Technology
Department of Mechanical Engineering

Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250

:
calculated by summing the forces in u
X

F = ma = N N = (0.5 kg)(1.2 m/s2 )

N = 0.6 N

(c) The radial reaction of the end plate B on the collar C is similarly obtained by balancing
r:
the forces in u
X

Fr = mar = Nr Nr = mar = (0.5 kg)(2.4 m/s2 )

Nr = 1.2 N

10