436-410 Dynamics of Machines Assignment 1, Semester 1, 2010 Weight: 10% of the final assessment Due date: Monday the

30th of August, 2010; 5pm This assignment is to be carried out in groups of no more than 2 students. To be submitted to the appropriately labelled assignment submission box on Level 4 of the Department of Mechanical Engineering (General Office), Building 170 Question 1 (10 marks) x1 X

Y y1

z1 Z

1
1 2

z1

a Fig.1

The link 1 of the mechanical system shown in Fig.1 rotates about the vertical axis Y of the inertial system of coordinates XYZ. Its rotation is determined by the angular displacement . = A sin t Both the system of coordinates x1 y1 z1 and the system of coordinates 111 are rigidly attached to the link 1. The wheel 2 rotates about axis 1 with a constant angular velocity . The matrix of inertia of the wheel 2 about its principal axes through the centre of gravity G is as follows

I 0 0 I = 0 I 0 0 0 I 1 Produce: a. The components of the absolute velocity of the wheel along the system of coordinates 111 b. The components of the absolute angular acceleration of the wheel 2 along the system of coordinates 111 c. The expression of the components of the interaction force and the interaction moment at the constraint between the link 1 and the wheel 2 as well as the driving moment that must be applied to the wheel to assure its motion with the constant velocity .

Question 2 (10 marks)

z1

a/2 A O

z2 a/2 B 2 y1 y2

t
1 Y

a x1 X b b x2

Fig.2

The link 1 of the mechanical system shown in Fig.2 rotates about the vertical axis Z of the inertial system of coordinates XYZ with a constant angular velocity . The system of coordinates x1 y1 z1 is rigidly attached to this link. Two uniform bars, each of length a and mass m, were joined together to form the link 2 of this system. The system of coordinates x2y2z2 is rigidly attached to the link 2. Its instantaneous relative position with respect to the system of coordinates x1 y1 z1 is determined by the angular displacement . Produce: a. The free body diagram for the link 2. b. The differential equation of motion of the link 2 in terms of the variable . c. The expression describing the interaction forces between the link 2 and 1 in the kinematic constraints A and B. The moment of inertia of a uniform bar of mass m and length l about the axis through its centre of gravity is 1 I G = 12 ml 2

Question 3 (8 marks) a. Prove that the components of the relative angular momentum about the point o (see Fig. B3-2) along the body system of coordinates xyz are determined by the following expression

h0 x I x h = I oy yx hoz I zx

I xy Iy I zy

I xz x I yz y I z z
z i dm

Z r i,o ri rG rG,o o O ro y Y x X x y G z

Fig. 3-1

b. Derive the formula for the kinetic energy of a rigid body performing a rotation in the 3dimensional inertial space.
Z z dm

ri

X x

Fig. 3-2

END OF ASSIGMENT 1