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Exam 3

This document contains 5 problems related to dynamics and vector loop analysis. Problem 1 involves filling in a table. Problem 2 involves writing vector loops and deriving velocity equations symbolically and graphically/analytically finding an acceleration. Problem 3 involves writing a vector loop, transferring it to x and y equations, determining unknowns/derivatives, and finding velocities. Problem 4 involves drawing free body diagrams, finding accelerations, writing Newton's equations in matrix form. Problem 5 asks about neglecting rα terms during balancing and why two-plane balancing is performed.

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39 views

Exam 3

This document contains 5 problems related to dynamics and vector loop analysis. Problem 1 involves filling in a table. Problem 2 involves writing vector loops and deriving velocity equations symbolically and graphically/analytically finding an acceleration. Problem 3 involves writing a vector loop, transferring it to x and y equations, determining unknowns/derivatives, and finding velocities. Problem 4 involves drawing free body diagrams, finding accelerations, writing Newton's equations in matrix form. Problem 5 asks about neglecting rα terms during balancing and why two-plane balancing is performed.

Uploaded by

pangy alla
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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First Name Last Name Exam 3 Fall 2020

Problem 1 (8 points): Fill the table for a and b.

Problem 2 (20 points): In part a and b, dimensions are not given. For these parts, solve
everything symbolically.

a) Write the necessary vector loop(s) for the system (define the vectors and angles on the
figure) (no need to solve the equations)

b) Derive the velocity equations (no need to solve the equations)


𝑟𝑟𝑟𝑟𝑟𝑟
c) Now, assume that ω4 = 2 cw, ω5 = 3 ccw, DC = 2 m, CE = 5 m, 𝛼𝛼4 = 2 𝐶𝐶𝐶𝐶𝐶𝐶, and
𝑠𝑠 2
𝛼𝛼5 = 1 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠 2 CW. Also, the angle of vector REC is 45 degrees. Find the acceleration of
E graphically

d) Find the acceleration of E analytically

Problem 3 (30 points): In this problem, dimensions are not given. Solve everything
symbolically. Pay attention that O2AP is one link (link 2). Assume θ2 and its derivatives are
known.

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a) Write the vector loop for this problem (define
the vectors and their angles clearly).

b) Transfer your loop in part “a” into two


equations (x and y)

c) Are these equations linear? explain why

d) How many unknowns are in your vector loop?

e) Derive the velocity equations from the position


loop

f) Write these equations in the matrix form Ax=B

g) Find the velocity of C using two different routes

Problem 4 (24 points): For the following system we know: (lengths are in meter)
AO2 = 3; AB = 2; O1B = 4; OD = 8; θ2 = 120o, θ3 = 220o, θ4 = 110o,
ω2 = 2 rad/s CCW, ω3 = ω4 = 3 rad/sec CW, sVBO1 = 2 m/s (going up)
𝑟𝑟𝑟𝑟𝑟𝑟 𝑟𝑟𝑟𝑟𝑟𝑟
𝛼𝛼2 = 2 𝐶𝐶𝐶𝐶𝐶𝐶, 𝛼𝛼3 = 𝛼𝛼4 = 3 𝐶𝐶𝐶𝐶𝐶𝐶, sABO1 = 1
𝑠𝑠 2 𝑠𝑠 2
m/s2
m2 = m3 = m4 = 5 kg, I2 = I3 = I4 = 1 kgm2
a) Draw the free body diagram of each body (the
coefficient of friction between link 3 and 4 is 0.2) (there is
an unknown torque T applying to the link 2 at point O2)
b) Find the acceleration of the center of mass of each body
(show your work) (center of mass of link 3 is on point B)
c) Write the Newton equations for each link
d) Write the equations of part c in the matrix form (Ax = B)
Problem 5 (4 points): a) When performing dynamics
balancing, we only consider the rw2 term of the acceleration
and neglect the r𝜶𝜶 term (𝜶𝜶 could be non-zero). Why?
b) Why do we perform two-plane balancing? Use this figure
to illustrate your point

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