Lec 12

Example: Rolling Cylinder Inside A Fixed Tube
2.003J/1.053J Dynamics and Control I, Spring 2007

Professor Thomas Peacock
3/19/2007
Lecture 12
2D Motion of Rigid Bodies: Rolling Cylinder and Rocker Examples Example: Rolling Cylinder Inside A Fixed Tube
Initial Conguration:
Figure 1: Initial conguration of rolling cylinder inside xed tube. Figure by MIT OCW. Derive the equations of motion. Assume no slip. Displaced conguration:
Figure 2: Displaced conguration of rolling cylinder inside xed tube. Figure by MIT OCW.
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
Kinematics
May not know everything but at least choose generalized coordinates. How many generalized coordinates? 3 coordinates initially. 2 constraints. 1: Rolling on inside of cylinder. 2: No slip. Only need 1 generalized coordinate: either or . We will choose . Recognize angular velocity = ez . Must express in terms of . No-slip condition:
Figure 3: Kinematic diagram of rolling cylinder inside xed tube. Figure by MIT OCW. R = r( + ) =
(Rr) ; r
(Rr) r
Kinetics
3 dierent methods of solution. Angular momentum about B Conservation of energy Angular momentum about C
Angular Momentum about B B = d H + vB P dt B
Figure 4: Kinematic diagram of cylinder in xed tube. Point B is an imaginary particle marking the point of contact. Point B moves. B on cylinder. B on tube. If you choose B , at a later point in time B would have moved away from the contact marker B. Likewise B . Figure by MIT OCW.
v B = Re mv c Re = m(R r) e Therefore: vB P = 0 H B : H C + rBC P

rBC P : rBC is perpendicular to P .
rm(R r) ez = r BC P H C = IC = HB 1 2 (R r) mr ez 2 r 1 mr(R r) ez = mr(R r) 2 3 H B = mr(R r) ez 2
Figure 5: Free body diagram of cylinder. Figure by MIT OCW.
B: mgr sin ez Therefore: 3 mgr sin = mr(R r) 2 2 (R r) + g sin = 0 3 Conservation of Energy
Figure 6: Free body diagram of rolling cylinder in xed tube. Figure by MIT OCW.
N : normal force Ftangent : tangential force mg: gravity is a conservative force There is zero velocity at the instant the normal and tangential forces are acting. None of those forces do work, because of the no-slip condition. T + V = Constant 1 1 mv 2 + Ic 2 = T 2 c 2 2 1 1 (R r) 1 [(R r) ]2 + ( mr2 ) =T 2 2 2 r 3 m(R r)2 2 = T 4 V: Dene potential energy to be zero at the center of tube (O). V = mg(R r) cos
Figure 7: Rolling cylinder in xed tube. Figure by MIT OCW.
d 3 (T + V ) = 0: m(R r)2 2 mg(R r)( sin ) = 0 dt 4 2 (R r) + g sin = 0 3
Angular Momentum About C
Figure 8: Angular momentum of cylinder about C. Figure by MIT OCW. Always consider taking angular momentum about the center of mass. vc P v P = 0 c c = d H dt c
c = rF ez (R r) 1 H c : Ic = mr2 ez 2 r 1 rF = mr(R r) 2 We have introduced a force F . Use linear momentum to nd expression for F (in F direction). Apply in direction of F. (F mg sin )t = e d d mv c et = [m(R r) ] = m(R r) et dt dt F mg sin = m(R r)
There is an error in this analysis. Where is it?

d The error is in dt mv c et = m(R r) et . et is changing with respect to time, so d we should write dt (mvc et ).
Example: Rocker with Point Mass
(F mg sin )t = e
d (mvc et ) dt d = [m(R r) et ] dt d = m(R r) et + m(R r) et dt et + m(R r)2 en = m(R r) d et = en dt
Angular Momentum about C: F = 1 m(R r) 2 Linear Momentum et : F mg sin = m(R r) Eliminate F from these: 2 (R r) + g sin = 0 3
Figure 9: Rocker. All mass at m. No slip. Figure by MIT OCW. Derive equations of motion.
Kinematics
Figure 10: Kinematic diagram of rocker. Figure by MIT OCW. 1 generalized coordinate . x = R a sin y = R a cos x = R a cos y = a sin Because of no slip, (R a) = AB.
Kinetics
Conservation of Energy Usable, similar argument to one in rolling cylinder example based on no-slip condition.
Angular Momentum about B B = H B + v B P v B P : This term is not zero. B always lies below point O. v B = Rex
e e P = m(R a cos )x + m(a sin )y
Solution to Mass Particle in Rocking Chair Example
Figure 11: Mass particle in rocking chair. Assume pure rolling. Figure by MIT OCW.
Kinematics
Figure 12: Kinematic diagram of mass particle in rocking chair. Figure by MIT OCW. Center of mass (particle) coordinates: x, y Due to rolling: |OP | = R x = R a sin x = R a cos y = R a cos y = a sin x = R + a2 sin a cos y = a sin + a cos 2 1 generalized coordinate .
10
Kinetics (Forces)
Figure 13: Free body diagram of mass particle and rocking chair. Figure by MIT OCW.
Angular Momentum Principle: Moments Taken around P To eliminate N , F take moments about point P that moves such that it is always under O. v P = R. d ext = H P + v P P P dt ext = mga sin ez P
j P = mx + my
2 v P P = mRa sin ez

H P = H C + r P = r m(x + yj)
r = a sin L + (R a cos )
j e H P = [mx(R a cos ) mya sin ]z
d e H = [(R2 2Ra cos + a2 ) + 2a2 sin ]z dt P ext d Use the above to substitute for the terms in P = dt H P + v P P . (R2 2Ra cos + a2 ) + Ra2 sin + ga sin = 0 Second order nonlinear: Given (0) and (0) may integrate (Matlab) to nd time history for t > 0.
11
Conservation of Energy Could we get this equation from other means? Is system conservative? Yes, N
and F do no work.
Then:
T + V = Constant
T =
1 1 m(x2 + y 2 ) = m[(R a cos )2 + a2 2 sin2 ] 2 2

1
= m(R2 2Ra cos + a2 )2 2 V = mgy = mg(R a cos )
1 mg(R a cos ) + m(R2 2Ra cos + a2 )2 = Constant 2 Taking the time derivative: mga sin + m(R2 2Ra cos + a2 ) + mRa sin 2 = 0 (R2 2Ra cos + a2 ) + Ra sin 2 + ga sin = 0 Angular Momentum Principle: Moments Taken About Center of Mass Forces:
Figure 14: Free body diagram of mass particle and rocking chair. Figure by MIT OCW.
12
d [m(x + yj)] dt F = mx = m(R + a2 sin a cos ) F ext = N mg = my = m(a sin + a2 cos ) Need to relate N and F . ext = P HC d H dt C =0
(1) (2)
ext = 0 N a sin = F (R a cos ) P N = mg + ma sin + ma2 cos
(3)
N a sin = mga sin + ma2 sin2 + ma2 2 cos sin From (1): F = m(R a cos ) ma2 sin
F (R a cos ) = m(R a cos )2 ma2 sin (R a cos )
m(R a cos )2 ma2 sin R = mga sin + ma2 sin2 m(R2 + a2 cos2 2Ra cos ) + ma2 R sin + mga sin + ma2 sin2 = 0 (R2 2Ra cos + a2 ) + ma2 R sin + mga sin = 0 Analysis of Equation of Motion Equilibrium: = = 0
mga sin = 0 = 0 How do we describe the oscillatory motion about = 0? For , , small about = 0 we may approximate: sin cos 0 m(R2 2Ra + a2 ) + mga = 0 (R a)2 + ga = 0
Example: Rocker with Point Mass ga =0 (R a)2 k x = 0] m
13
[ + x Natural Frequency: =
2 ga = T (R a)2 (R a)2 T = 2 ga ga
=0 (R a)2
Use solutions of the form Aemt :

m2 + R 30 a 15 cm, T 0.785. cm, ga m = i (Ra)2 Ae
q ga it (Ra)2
+Be
it
ga (Ra)2
= C cos t
ga ga +D sin t (R a)2 (R a)2

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Example: Rolling Cylinder Inside A Fixed Tube

2.003J/1.053J Dynamics and Control I, Spring 2007

Example: Rolling Cylinder Inside A Fixed Tube

Example: Rolling Cylinder Inside A Fixed Tube

Angular Momentum about B B = d H + vB P dt B

v B = Re mv c Re = m(R r) e Therefore: vB P = 0 H B : H C + rBC P

Example: Rolling Cylinder Inside A Fixed Tube

Figure 5: Free body diagram of cylinder. Figure by MIT OCW.

B: mgr sin ez Therefore: 3 mgr sin = mr(R r) 2 2 (R r) + g sin = 0 3 Conservation of Energy

Example: Rolling Cylinder Inside A Fixed Tube

Figure 7: Rolling cylinder in xed tube. Figure by MIT OCW.

d 3 (T + V ) = 0: m(R r)2 2 mg(R r)( sin ) = 0 dt 4 2 (R r) + g sin = 0 3

Example: Rolling Cylinder Inside A Fixed Tube

Angular Momentum About C

There is an error in this analysis. Where is it?

Example: Rocker with Point Mass

d (mvc et ) dt d = [m(R r) et ] dt d = m(R r) et + m(R r) et dt et + m(R r)2 en = m(R r) d et = en dt

Example: Rocker with Point Mass

Example: Rocker with Point Mass

Example: Rocker with Point Mass

Solution to Mass Particle in Rocking Chair Example

Example: Rocker with Point Mass

Example: Rocker with Point Mass

1 1 m(x2 + y 2 ) = m[(R a cos )2 + a2 2 sin2 ] 2 2

Example: Rocker with Point Mass

ext = 0 N a sin = F (R a cos ) P N = mg + ma sin + ma2 cos

Example: Rocker with Point Mass ga =0 (R a)2 k x = 0] m

Use solutions of the form Aemt :

ga ga +D sin t (R a)2 (R a)2

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