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    Last Example On Virtual Work

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    Anil Yildiz
    This document provides a multi-step solution to find an expression for T2 in terms of θ, ω, α and P. The solution involves taking the derivative of potential energy and setting it equal to zero, using kinematic relationships and the Lagrange equation of motion.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Last Example On Virtual Work

    Uploaded by

    Anil Yildiz
    14 views2 pages
    This document provides a multi-step solution to find an expression for T2 in terms of θ, ω, α and P. The solution involves taking the derivative of potential energy and setting it equal to zero, using kinematic relationships and the Lagrange equation of motion.

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    Last Example on Virtual Work

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    © © All Rights Reserved

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    This document provides a multi-step solution to find an expression for T2 in terms of θ, ω, α and P. The solution involves taking the derivative of potential energy and setting it equal to zero, using kinematic relationships and the Lagrange equation of motion.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    14 views2 pages

    Last Example On Virtual Work

    Uploaded by

    Anil Yildiz
    This document provides a multi-step solution to find an expression for T2 in terms of θ, ω, α and P. The solution involves taking the derivative of potential energy and setting it equal to zero, using kinematic relationships and the Lagrange equation of motion.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 2

    Example:

    y
    g

    3
    A
    2

    G2 s3 4
    T2
    θ G4 P x
    O
    s4
    Given: OA=a2 & OG2=a2/2, m2, IG2, m4, IG4, m3≈0

    Find: T2 in terms of θ, ω= dθ/dt, α=dω/dt and P.

    Solution:

    Inertia Forces

    IG2α

    G2

    m2aGt2
    m4aG

    𝑎2 𝑎2
    𝛿𝑈 = 𝑇2 𝛿𝜃 − 𝑃𝛿𝑠4 − 𝑚4 𝑠̈4 𝛿𝑠4 − 𝑚2 𝛼 𝛿𝜃 − 𝐼𝐺2 𝛼𝛿𝜃 − 𝑚2 𝑔𝛿𝑦𝐺 = 0
    2 2
    𝑎 2
    𝛿𝑈 = 𝑇2 𝛿𝜃 − 𝑃𝛿𝑠4 − 𝑚4 𝑠̈4 𝛿𝑠4 − 𝐼𝑂2 𝛼𝛿𝜃 − 𝑚2 𝑔𝛿𝑦𝐺 = 0 where 𝐼𝑂2 = 𝐼𝐺2 + 𝑚2 ( 2 )
    2

    𝑎2 𝑎2
    𝑦𝐺 = sin(𝜃) 𝛿𝑦𝐺 = cos(𝜃)𝛿𝜃
    2 2
    𝑎2
    𝛿𝑈 = 𝑇2 𝛿𝜃 − (𝑃 + 𝑚4 𝑠̈4 )𝛿𝑠4 − 𝐼𝑂2 𝛼 𝛿𝜃 − 𝑚2 𝑔 2
    cos(𝜃)𝛿𝜃 =0
    Need 𝑠̈4 → 𝐿𝐶𝐸: 𝑎2 𝑒 𝑖𝜃 = 𝑠4 + 𝑖𝑠3

    𝑠4 = 𝑎2 cos(𝜃), 𝑠3 = 𝑎2 sin (𝜃), 𝛿𝑠4 = −𝑎2 sin(𝜃) 𝛿𝜃, 𝑠̇4 = −𝑎2 𝜔 sin (𝜃)

    𝑠̈4 = −𝑎2 𝜔2 cos(𝜃) − 𝑎2 𝛼 sin (𝜃)


    𝑎2
    𝛿𝑈 = (𝑇2 + 𝑃𝑎2 sin(𝜃) − 𝑚4 𝑎22 (𝛼 sin2 (𝜃) + 𝜔2 sin(𝜃) cos(𝜃)) − 𝐼𝑂2 𝛼 − 𝑚2 𝑔 cos (𝜃)) 𝛿𝜃
    2
    𝑄𝜃 = 0
    𝑎2
    𝑇2 = 𝐼𝑂2 𝛼 + 𝑚2 𝑔 cos(𝜃) − 𝑃𝑎2 sin(𝜃) + 𝑚4 𝑎22 (𝛼 sin2 (𝜃) + 𝜔2 sin(𝜃) cos(𝜃))
    2

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