Mechanics 3: Lagrange's Equations Solutions
Uploaded by
Doug Shi-DongMechanics 3: Lagrange's Equations Solutions
Uploaded by
Doug Shi-DongMECH 315: Mechanics 3 Winter 2012
1
Solutions to selected questions from Assignment 2
Question 2.
The system has two degrees of freedom and the generalized
coordinates are and z
Kinematics: Set up a Cartesian coordinate system with unit
vectors
i and
j as shown. The origin is at the point O. Hence,
the displacement and velocity vectors of the slider are given by:
( ) ( )
( ) ( )
cos sin
v cos sin sin cos
r z i z j
z z i z z j
= +
= + +
(Note that both z and are functions of time!)
Step 1: Kinetic energy of the system
2
1 1
v .v
2 2
O
T m J = +
Hence, ( )
2 2 2 2
1 1
2 2
O
T m z z J = + +
Step 2: Since gravity is neglected in this problem, the potential energy is only due to the torsional
and linear springs in the system. Hence, ( )
2
2
0
1 1
2 2
t
V k z z k = +
Step 3:
( ) ( )
( )
2
2 2 2 2 2
0
2
0
2
1 1 1 1
2 2 2 2
A t
O t
L T V
L m z z J k z z k
L L
m z m z k z z
z z
L L
m z J k
=
= + +
= =
= + =
Step 4: 0 = Step 5:
2
1
2
c z =
Step 6: Apply Lagranges equations to obtain the two governing equations.
2
0
( ) 0 m z m z c z k z z + + =
2
2 0
O t
m z z m z J k + + + =
MECH 315: Mechanics 3 Winter 2012
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Question 3. The single degree-of-freedom system shown below consists of a uniform rigid link
of total mass m and length l. The two springs are undeformed when =0, which corresponds to
the horizontal position of the link.
g
MECH 315: Mechanics 3 Winter 2012
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Kinematics: To obtain the kinematic relationships, we draw sketches of the system in two
positions. Fig. 4(a) shows the link when 0 = and the two springs are undeformed. Fig. 4(b)
shows the system when the link has rotated by an angle , the spring
1
k is extended by
1
x , and
the spring
2
k is compressed by
1
y .
From the figures, we note that:
1
(1 cos ) x L = and
1
sin y L =
Further, the location of the center of gravity of the link can be expressed as:
1
cos i + sin j
2 2
cos i sin j
2 2
G
G
L L
r x
L L
r L
| | | |
= +
| |
\ . \ .
| | | |
=
| |
\ . \ .
Here,
i and
j are the unit vectors along the x- and y-directions, respectively.
Now, we can compute the various energies and powers, and evaluate Lagranges equations, as
follows.
Step 1: Find the total kinetic energy of the system. The rigid link undergoes general planar
motion. It is necessary to account for the translational kinetic energy and rotational kinetic
energy of this link. The total kinetic energy is given by
2
2 2 2 2 2 2 2 2
1 1 1 1 1
J
2 4 2 8 24 6
G
mL
T mL mL mL = + = + =
Step 2: Find the total potential energy of the system.
The potential energy has contributions from elasticity and gravity. Hence,
( )
2
2 2 2
1 2
1 1
(1 cos ) sin sin
2 2 2
L
V k L k L mg = +
Step 3: Find the Lagrangian, L =T V.
Steps 4 and 5: The power functions are identically zero. There is no external force acting on the
system, and the system is undamped.
Step 6: Solve Lagranges equation to obtain the equation of motion:
2 2 2
1 2
1
(1 cos )sin sin cos cos
3 2
L
mL k L k L mg + + =
MECH 315: Mechanics 3 Winter 2012
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Question 4.
The first task is to describe the kinematics of the system. We can express the displacement and
rotation of different locations on the rigid bar in terms of the generalized coordinates as follows:
Angular motion of the rod:
1 3
5
x x
l
=
Displacement of the center of mass, G:
1 3
2
G
x x
x
+
=
Displacement of the point of attachment, A:
1 1 3
2
( )
5
A
x x x x =
Next, we can obtain the equations of motion by implementing the six steps required for
Lagranges equations.
Step 1.
2 2 2
2
1 1 1
(2 ) (5 )
2 2 2
G G
T J m x m x = + +
Using
2
25
6
G
J ml = , and substituting for and
G
x , we get:
2 2
2 2 1 3 1 3
2
1 25 1 1
(2 ) (5 )
2 6 5 2 2 2
x x x x
T ml m m x
l
+ | | | | | |
= + +
| | |
\ .\ . \ .
Step 2:
2 2 2
1 3 2
1 1 1
( )
2 2 2
A
V k x k x k x x = + +
Step 3: L T V = . Hence, we have the following partial derivatives:
( )
( )
( )
1 2 3
1
1 2 3
2
1 2 3
3
34 15 6
25
3 5 2
5
6 10 29
25
L k
x x x
x
L k
x x x
x
L k
x x x
x
= +
= +
= +
( )
( )
1 3
1
2
2
1 3
3
2
3
5
2
3
L m
x x
x
L
mx
x
L m
x x
x
= +
= +
MECH 315: Mechanics 3 Winter 2012
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Step 4:
1 1 2 2 3 3
F x F x F x = + + Step 5:
2
2
1
( )
2
A
c x x =
Step 6: Using Lagranges equations, the equations of motion of the system are:
1 3 1 2 3 1 2 3 1
2 1 9 3 6 34 3 6
3 3 25 5 25 25 5 25
mx mx cx cx cx kx kx kx F + + + + + =
2 1 2 3 1 2 3 2
3 2 3 2
5
5 5 5 5
mx cx cx cx kx kx kx F + + =
1 3 1 2 3 1 2 3 3
1 2 6 2 4 6 2 29
3 3 25 5 25 25 5 25
mx mx cx cx cx kx kx kx F + + + + + =
Question 5. The equations of motion of the system are given by:
2
2
( ) sin cos ( ) 0
sin sin 0
t
M m x ml cx kx g m M
ml ml x c mgl
(
+ + + + + + + =
+ + + =
