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 MIE 310 Dynamics Spring 2019
Assignment 4
Due date: February 21, 2019

ONE
Point P with mass m is moving on a semi-circular surface without friction. The semi-circular
surface is on a cart that moves at a constant velocity on the ground. Find the equation of motion
of point P.

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TWO
A point mass m is connected to a massless rod through a pin without friction (so the string
connected to the rod is always vertical to the rod) . The string is not stretchable. Find the EOM
of point mass m in terms of  .

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THREE
Point mass m is connected to a massless rod with a massless string. The rod rotates at a given
constant angular velocity. The string is not stretchable. Find the EOM of point mass m.

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FOUR – Matlab

Here we use Matlab to numerically solve a simple ordinary differential equation:

x+x =0
x ( 0 ) = 0.1

As a first step, we re-write this equation as:

x = −x

We use ODE45 function to solve this ODE. To use ODE45, you need two Matlab functions. The
first one defines your equation. I have called this ODE_function_first_order:

function dydt = ODE_function_first_order(t,y)

dydt = [-y(1)];

end

The second one calls ODE45 to solve the equation that you have defined. I have called this
ODE_1st_Order

% Time
tspan = [0 10];

% Initial conditions
y0 = [0.1];

[t,y] = ode45(@ODE_function_first_order,tspan,y0);

% plot y versus t
plot(t,y(:,1));

The last line in the function plots the results.

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I have uploaded these two functions as two separate files. Make a new folder in your computer,
Copy both of these files in the same folder. Open Matlab. Go to that directory. Type
ODE_1st_Order
and enter.

You should be looking at the solution of that equation.

Now solve the following problem:

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FIVE (with solution)
Use Newton’s second law and find the equation of motion for mass M1 at point P in terms of the
angle ϑ. Consider both pulleys to be massless and x to remain constant. Both masses only move
in the vertical direction. The total length of the rope is fixed.

x x

L1
L2

L3
ϑ

P
M2
M1

Solution

a2 L1
L2

L3

a1 ϑ

P
M2
M1

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 T T T
ϑ ϑ

M1 M2

M1*g
M2*g

L1 = L2 = L
x d d
= cos  0 = ( L cos  − L sin  )
L dt dt
d d
x = L cos  0 = L cos  − 2 L sin  − L sin  − L 2 cos 
dt dt L = 2 L tan  + L tan  + L 2
0 = L cos  − L sin 
L = 2 L 2 tan 2  + L tan  + L 2
L = L tan 

L1 + L2 + L3 = const
L1 + L2 + L3 = 0
L3 = −2 L
L3 = −2 L tan 
L3 = −2 L = −2(2 L 2 tan 2  + L tan  + L 2 )

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r op = L cos  a1 − L sin  a2
A
V P = ( L cos  − L sin  ) a1 − ( L sin  + L cos  ) a2
A
a P = ( L cos  − 2 L sin  − L sin  − L 2 cos  ) a1 − ( L sin  + 2 L cos  + L cos  − L 2 sin  ) a2

f P = mP A a P
T = m2 g + m2 L3
T = m2 g − 2m2 (2 L 2 tan 2  + L tan  + L 2 )

T cos  a1 − T cos  a1 + 2T sin  a2 − m1 ga2 = m1 (( L cos  − 2 L sin  − L sin  − L 2 cos  ) a1 )

... − m1 ( L sin  + 2 L cos  + L cos  − L 2 sin  ) a2

2(m2 g − 2m2 (2 L 2 tan 2  + L tan  + L 2 )) sin  a2 − m1 ga2 =

...m1 (((2 L 2 tan 2  + L tan  + L 2 ) cos  − 2( L tan  ) sin  − L sin  − L 2 cos  ) a1 )
... − m1 ((2 L 2 tan 2  + L tan  + L 2 ) sin  + 2( L tan  ) cos  + L cos  − L 2 sin  ) a2

2m2 g sin  − 2m2 (2 L 2 tan 2  + L tan  + L 2 ) sin  − m1 g =

... − m1 ((2 L 2 tan 2  + L tan  + L 2 ) sin  + 2( L tan  ) cos  + L cos  − L 2 sin  )

2m2 g sin  − 2m2 L(2 2 tan 2  +  tan  +  2 ) sin  − m1 g = −m1 L(2 2 tan  +  )(tan  sin  + cos  )
Either answer is acceptable,
x although the second is preferable.
L=
cos 
2m2 g sin  − 2m2 x(2 2 tan 2  +  tan  +  2 ) tan  − m1 g = − m1 x(2 2 tan  +  )(tan 2  + 1)

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SIX (with solution)
Find the equations of motion for a double pendulum. The two rods have equal lengths, L.

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Solution:

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