ME 563

Mechanical Vibrations
Lecture #2
Newton-Euler Laws
(Derivation of equations of motion)

Newton-Euler Laws

Flavors of Eulers Law

What point A should we use?

A = CM
A is fixed
A moves parallel to CM

Proof of the Previous

Slide (first two lines)
Parallel axis theorem (IA=Icm+MrA/cm2)

Example
Rolling Disc on Incline

K is massless and linear

No slip (velocity of point in disc at incline is zero)

Example
Rolling Disc on Incline
Eulers Law about
Center of Mass

FCM = MA CM

Newtons Law

() j + (K ( x x u ) f + Mgsin )i = M ( x)i
Mx + Mgsin K ( x x u ) = f

Applying Constraints
x=-a (rolling constraint)

Two equations, two unknowns

1
Ma + Mgsin + K ( a + x u ) = Icm
a
(Icm + Ma2 ) + Mgasin + Ka(a + x u ) = 0
2
2
I
+
Ma

+
+Ka
= Mgasin Kax u
( cm
)

Example
Rolling Disc on Incline
dH A
CM = dH A
MA =
+ rA MR
dt
dt

Eulers Law about

Point A

d
IA k)
(
dt
aMgsin k + aK ( x x u )k = ICM k IA = aMgsin + aK ( x x u )

(aj) (MgJ) + (aj) (K ( x x u )i) =

dH B
CM = dH B
MB =
+ rB MR
dt
dt

Eulers Law about

Point B

d
IB k)
(
dt
2afk + aMgsin k aK ( x x u )k = ICM k IB = 2af + aMgsin aK ( x x u )

(2aj) ( f )i + (aj) (MgJ K ( x x u )i) =

Example
Rolling Disc on Incline
What if we choose
x as our independent
variable?

2
2
I
+
Ma

+
Ka
= Mgasin aKx u
( CM
)

How do we check the equation of motion?

Example
Rolling Disc on Incline
To eliminate static terms from the equation of
motion, we can transform our coordinates:
= dynamic + static
2
2
I
+
Ma

+
Ka
(dynamic + static ) = Mgasin aKx u
( CM
) dynamic
2
2
2
I
+
Ma

+
Ka

=
Mgasin

aKx

Ka

( CM
) dynamic
dynamic
u static

Static free body diagram

2
2
I
+
Ma

+
Ka
dynamic = 0
( CM
) dynamic

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Example
Rolling Disc on a Moving Cart
1
K1
g
f(t)
D
No slip M1,Icm

3D/4

M2
Viscous damping
C2

K2
x2

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Example
Rolling Disc on a Moving Cart
f(t)

K1xB

B
M1g
A

F1
F2

F2
F1
C2x2

K2x2

M2g
F3

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Example
Rolling Disc on a Moving Cart

5 equations
5 unknowns

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Example
Rolling Disc on a Moving Cart