ME 563

Mechanical Vibrations
Lecture #7
Calculating Generalized Forces
in Lagranges Equations

Example
Rolling Disc on Incline

p(t)

p(t)

Force, p(t), connected

at point C

Force, p(t), connected

at point B

Example
Rolling Disc on Incline (Recall)
Calculate generalized forces
(for degree of freedom, x):
p(t)

rC = xi
rC
=i
x

Example
Rolling Disc on Incline (New)
Calculate generalized forces
(for degree of freedom, ):
p(t)

rC = ai
rC
= ai

Example
Rolling Disc on Incline (New)
p attached
to B
p(t)

rB = ( x asin )i + ( acos ) j

x
x
= x asin i + acos j

a
a
rB
x x
= 1+ cos i + sin j
x
a
a

Calculate generalized forces

(for degree of freedom, x):

Example
Rolling Disc on Incline (New)
p attached
to B
p(t)

Calculate generalized forces

(for degree of freedom, ):

Sprung Pendulum Example

g
Calculate generalized forces
(for degree of freedom, r ):

f(t)

Sprung Pendulum Example

g

f(t)

Calculate generalized forces

(for degree of freedom, ):