System Dynamics
3rd Edition
ISBN: 9780073398068
Author: III William J. Palm
Publisher: MCG
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Chapter 3, Problem 3.4P
A particle of mass
Start Figure P3.4 
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Question 2.
A smooth uniform sphere of mass m and radius r is squeezed between two massless levers, each of
length 1, which are inclined at an angle with the vertical. A mechanism at pivot point O ensures
that the angles & remain the same at all times so that the sphere moves straight upward. This
problem is based on Problem 3-1 in the text.
P
P
r
Figure 2
a) Draw appropriate freebody diagrams of the system assuming that there is no friction.
b) Draw appropriate freebody diagrams of the system assuming that there is a coefficient of
friction between the sphere and the right lever of μ.
c) If a force P is applied between the ends of the levers (shown in the diagram), and there is no
friction, what is the acceleration of the sphere when = 30°
If you had a matrix A = [1 2 3; 4 5 6; 7 8 9] and a matrix B = [1 2 3], how would you cross multiply them i.e. what is the cross product of AxB. what would be the cross product of a dyadic with a vector?
Problem 3: The inertia matrix can be written in dyadic form which is particularly useful
when inertia information is required in various vector bases. On the next page is a right
rectangular pyramid of total mass m. Note the location of point Q.
(a) Determine the inertia dyadic for the pyramid P, relative to point Q, i.e., 7%, for unit
vectors ₁₁, 2, 3.
Chapter 3 Solutions
System Dynamics
Ch. 3 - Prob. 3.1PCh. 3 - A baseball is thrown horizontally from the...Ch. 3 - For the mass shown in Figure 3.1.3b. m=10 kg, =25...Ch. 3 - A particle of mass m=19 kg slides down a...Ch. 3 - A particle of mass m slides down a frictionless...Ch. 3 - A radar tracks the flight of a projectile (see...Ch. 3 - Table 3.2.1 gives the inertia IO for a point mass...Ch. 3 - A motor supplies a moment M to the pulley of...Ch. 3 - Figure P3.9 shows an inverted pendulum. Obtain the...Ch. 3 - The two masses shown in Figure P3.10 are released...
Ch. 3 - The motor in Figure P3.11 lifts the mass mL by...Ch. 3 - Instead of using the system shown in Figure 3.2.6a...Ch. 3 - Consider the cart shown in Figure P3.13. Suppose...Ch. 3 - Consider the cart shown in Figure P3.13. Suppose...Ch. 3 - Consider the spur gears shown in Figure P3.15,...Ch. 3 - Consider the spur gears shown in Figure P3.15,...Ch. 3 - Derive the expression for the equivalent inertia...Ch. 3 - Prob. 3.18PCh. 3 - The geared system shown in Figure P3.19 represents...Ch. 3 - Prob. 3.20PCh. 3 - Prob. 3.21PCh. 3 - Prob. 3.22PCh. 3 - For the geared system shown in Figure P3.23,...Ch. 3 - For the geared system discussed in Problem 3.23,...Ch. 3 - The geared system shown in Figure P3.25 is similar...Ch. 3 - Consider the rack-and-pinion gear shown in Figure...Ch. 3 - The lead screw (also called a power screw or a...Ch. 3 - Prob. 3.29PCh. 3 - Derive the equation of motion of the block of mass...Ch. 3 - Assume the cylinder in Figure P3.31 rolls without...Ch. 3 - Prob. 3.33PCh. 3 - Prob. 3.34PCh. 3 - A slender rod 1.4 m long and of mass 20 kg is...Ch. 3 - Prob. 3.36PCh. 3 - Prob. 3.37PCh. 3 - The pendulum shown in Figure P3.38 consists of a...Ch. 3 - Prob. 3.39PCh. 3 - A single link of a robot arm is shown in Figure...Ch. 3 - 3.41 It is required to determine the maximum...Ch. 3 - Figure P3.42 illustrates a pendulum with a base...Ch. 3 - Figure P3.43 illustrates a pendulum with a base...Ch. 3 - 3.44 The overhead trolley shown in Figure P3.44 is...Ch. 3 - Prob. 3.45PCh. 3 - The “sky crane” shown on the text cover was a...
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