Hadi Taghizadeh (89133903) & Hoda Farahani (89133019)

1.
L=1 & x
First of all, we should have an estimate of the root for the function
x x x f = ) tan( ) (
. We plot the mentioned function using MATLAB
software. By the way, tan(x) function goes to infinity for some x, to avoid
such points, we use its equivalent using the definition of tan(x) as
follows:

) cos(
) cos( ) sin(
) cos(
) sin(
) tan( ) (
x
x x x
x
x
x
x x x f

= = =

Now we have a simpler form of equation to find the roots, it is:
0 ) cos( ) sin( = x x x

which does not have any singularities.
Also x should have a positive value; hence, we are looking for the
positive roots of the mentioned equation. We plot the function in the
[0,10] interval. The following figure shows the result and as it can be
seen, one of the roots is between 4 & 5. We will try to nd this root.


We simply use the center of this interval as our initial guess:
5 . 4
0
= x

Hadi Taghizadeh (89133903) & Hoda Farahani (89133019)
Restating the problem will now be useful. We are trying to find the root of
) cos( ) sin( ) ( x x x x f =
in the interval of [4,5] using the Newton method and
initial guess of
5 . 4
0
= x
.
Newtons formula:
) (
) (
1
i
i
i i
x f
x f
x x

=
+

) sin( ) sin( ) cos( ) cos( ) ( x x x x x x x f = + =
Then:
n i
x x
x x x
x
x f
x f
x x
i i
i i i
i
i
i
i i
, , 2 , 1 , 0 ,
) sin(
) cos( ) sin(
) (
) (
1
K =

=
+

5 . 4
0
= x

The following table indicates the results for 4 iteraons:

(%)
a

i
x i
4.5 0
0.26 4.5119 1
0.97 4.4685 2
0.54 4.4931 3
0.01 4.4936 4

B)
If we substitute the given parameters in the equation & also assume
A
P
x = , we
get:
) 10 53 . 3 sec( 2 . 0 1
000 , 250
3
x
x

+
=
Similarly, we should solve the equation to find the roots of:
0
) 10 53 . 3 sec( 2 . 0 1
000 , 250
3
=
+

x
x

We use the initial guess of
10
8
0
= x
and then we compute x in 10 intervals using
Newtons method:

Hadi Taghizadeh (89133903) & Hoda Farahani (89133019)
) 10 (
8

i
x
i
1 0
0.0035 1
0.0042 2
0.0036 3
0.0040 4
0.0037 5
0.0040 6
0.0037 7
0.0039 8
0.0038 9
0.0039 10

We get
8
10 0039 . 0 = x
.

2. Substituting all the given data we will have the following set of
equations:

= +
= +
0 0923 . 1 sin 6 . 0 sin 5 . 0
0 2601 . 0 cos 6 . 0 cos 5 . 0
2 1
2 1



According to the geometry given in the problem we assume
2 4
) 0 (
1

<

= &
2
56 . 0
) 0 (
2

> = as our initial guesses. Then:

)
`

=
)
`

=
1.7453
0.7854
) 0 (
2
) 0 (
1
0

Restating the equations regarding to we get:
) 2 - 2 (
)
`

+
+
=
)
`

=
0923 . 1 sin 6 . 0 sin 5 . 0
2601 . 0 cos 6 . 0 cos 5 . 0
) , (
) , (
) (
2 1
2 1
2 1 2
2 1 1




f
f
F
In order to solve this set of equations with Newtons method, we need to
compute Jacobian for it:
) 2 - 3 (
(

=
2 1
2 1
cos 6 . 0 cos 5 . 0
sin 6 . 0 sin 5 . 0
) (


J
Now we can get the roots using recursive Newton formula:
[ ] n i F J
i i i i
,... 1 , 0 ), ( ) (
1
1
= =

+
We have adopted a MATLAB Code to carry out the needed computations; it is
printed in the end of the solution of this problem.
Hadi Taghizadeh (89133903) & Hoda Farahani (89133019)
Using this code we found the unknowns as follows:

)
`

=
)
`

=
1.3408
1.4561
2
1

%given data
l(1) = 0.5;
l(2) = 0.6;
landa = 0.3;
delta = 0;
t3 = 90*pi/180;
t4 = 100*pi/180;
t1(1) = 45*pi/180;
t2(1) = 100*pi/180;
%recursive computation
for i=1:100
F(1) = l(1)*cos(t1(i)) + l(2)*cos(t2(i)) - landa -l(1)*cos(t3) - l(2)*cos(t4);
F(2) = l(1)*sin(t1(i)) + l(2)*sin(t2(i)) - delta - l(1)*sin(t3) - l(2)*sin(t4);
F = [F(1);F(2)];
J = [-.5*sin(t1(i)) -.6*sin(t2(i));0.5*cos(t1(i)) 0.6*cos(t2(i))];
prev_t = [t1(i);t2(i)];
next_t = prev_t - inv(J)*F;
t1(i+1) = next_t(1);
t2(i+1) = next_t(2);
deltaq = next_t - prev_t;
definedError = (sqrt(sum(deltaq.^2))/sqrt(sum(prev_t.^2)))*100;
if definedError < 10
break;
end
end


3. First of all we should compute the numerical differentiation of the
regarding , to do so we should use finite divided difference, and since
second orders finite divided differences are more accurate, then we use
second order backward divided difference:

h d
d
i i i
i
2
) ( ) ( 4 ) ( 3
|
2 1
+
=

Also for h we can write:
( ) 051 . 0 10 51 10 153 204
3 3
= = =

h


Now using the given data in the table, we can compute the needed derivative:







Hadi Taghizadeh (89133903) & Hoda Farahani (89133019)
) 10 (
7

d
d

) N/m 10 (
2 3

I

87.8 1

96.6 2
0.2249 176 3
0.1780 263 4
0.1735 351 5
0.5608 571 6
0.5578 834 7
0.9039 1229 8
0.7745 1624 9
1.0333 2107 10
1.2059 2678 11
1.5049 3380 12
1.8941 4258 13

Now, having the data for and

d
d
we will compute the
0
E
and
a
:


) 10 (
13

d
d

) 10 (
6 2

) 10 (
7
y
d
d

) 10 (
3

i
0.0396 30976 0.2249 176 1
0.0468 69169 0.1780 263 2
0.0609 123201 0.1735 351 3
0.3202 326041 0.5608 571 4
0.4652 695556 0.5578 834 5
1.1109 1510441 0.9039 1229 6
1.2578 2637376 0.7745 1624 7
2.1772 4439449 1.0333 2107 8
3.2294 7171684 1.2059 2678 9
5.0866 11424400 1.5049 3380 10
8.0651 18130564 1.8941 4258 11
21.860 46559000 9.0116 17471000

( )

= =
=


=

=


1 . 12759
11
10 17471000
00515 . 0
11
10 0116 . 9
00515 . 0
10 17471000 10 46559000 11
10 0116 . 9 10 17471000 10 860 . 21 11
) (
) ( ) (
3 7
1 0
2
3 6
7 3 13
2
2
1
x a y a
x n
d
d
d
d
n
a
i i
i i i i

Hadi Taghizadeh (89133903) & Hoda Farahani (89133019)

Then
00515 . 0
1 . 12759
0
=
=
a
E