Solution to Assignment # 4

Q1. The relationship between the torque T and angular velocity 𝜃̇ is given by
1
𝑇 = 2 𝑚𝐿2 𝜃̇ 2 , where m is mass and L is radius of gyration. Linearize the system
about operating point 𝜃0̇ .

(A) 𝑇̇ = 𝑚𝐿2 𝜃̇ (B) ∆𝑇 = 𝑚𝐿2 ∆𝜃0

(C) ∆𝑇 = 𝑚𝐿2 𝜃0̇ ∆𝜃̇ (D) ∆𝑇 = 𝑚𝐿2 𝜃∆𝜃0
Answer (C) ∆𝑇 = 𝑚𝐿2 𝜃0̇ ∆𝜃̇
Q2. Select the correct type of non-linearity shown by damper at high speed.

(A) Square law nonlinearity

(B) Saturation nonlinearity

(C) Dead zone nonlinearity

(D) None of the above

Answer (A) Square law nonlinearity

Q3. The correct equation of motion of mass m for the system given in Figure
below is :

Figure 1
(A) 𝑚𝑦1̈ = −𝑘(𝑦1 − 𝑦2 ) − 𝑐(𝑦1̇ − 𝑦2̇ )
(B) 𝑚𝑦1̈ = −𝑘(𝑦1 − 𝑦2 ) − 𝑐(𝑦1̇ − 𝑦2̇ ) − 𝑚𝑔
(C) 𝑚𝑦1̈ = 𝑘(𝑦1 − 𝑦2 ) + 𝑐(𝑦1̇ − 𝑦2̇ ) − 𝑚𝑔
(D) 𝑚𝑦1̈ = −𝑐(𝑦1 − 𝑦2 ) − 𝑘(𝑦1̇ − 𝑦2̇ ) − 𝑚𝑔
Answer (B) 𝑚𝑦1̈ = −𝑘(𝑦1 − 𝑦2 ) − 𝑐(𝑦1̇ − 𝑦2̇ ) − 𝑚𝑔

Q4. Figure below shows a rack and pinion arrangement. The pinion is supplied
with input torque Tin and it rotates at a velocity 𝜃̇. Let the pinion polar moment
of inertia be Ip and its radius be r. The rack has mass m and it translates with
velocity v. Let R be the frictional resistance between the rack and the
guideways. Tout is the torque acting by pinion on rack. Equation of motion for
rack will be

𝑇𝑜𝑢𝑡 𝑑𝑣
(A) + 𝑅𝑣 = 𝑚 𝑑𝑡
𝑟2

𝑇𝑜𝑢𝑡 𝑑𝑣
(B) − 𝑅𝑣 = 𝑚 𝑑𝑡
𝑟2

𝑇𝑜𝑢𝑡 𝑑𝑣
(C) + 𝑅𝑣 = 𝑚 𝑑𝑡
𝑟

𝑇𝑜𝑢𝑡 𝑑𝑣
(D) − 𝑅𝑣 = 𝑚 𝑑𝑡
𝑟

𝑇𝑜𝑢𝑡 𝑑𝑣
Answer (D) − 𝑅𝑣 = 𝑚 𝑑𝑡
𝑟

Q5 A force is exerted on a current carrying conductor placed in a magnetic field.

This force is
(A) Proportional to the magnetic field strength (B)
(B) Proportional to current through conductor (ia)
(C) Proportional to length of conductor (L)
(D) All of the above.

Answer (D) All of the above.

Q6. The correct representation of joint space manipulator dynamics is:

(A) 𝜏 = 𝑀(𝜃)𝜃̇ + 𝑉(𝜃, 𝜃̇) + 𝐺(𝜃) (B) 𝜏 = 𝑀(𝜃)𝜃̈ + 𝑉(𝜃, 𝜃̇) + 𝐺(𝜃̇)

(C) 𝜏 = 𝑀(𝜃)𝜃̈ + 𝑉(𝜃, 𝜃̇) + 𝐺(𝜃) (D) 𝜏 = 𝑀(𝜃)𝜃̈ + 𝑉(𝜃̇) + 𝐺(𝜃)

Answer (C) 𝜏 = 𝑀(𝜃)𝜃̈ + 𝑉(𝜃, 𝜃̇) + 𝐺(𝜃)

Q7. Choose the correct inertia tensor for body of mass (m) given in Figure below
about frame {A}.

m 2 m m 
 3 (l  h )  
2
wl hw 
4 4
 
(A) I    wl 
m m 2 m
A
(w  h2 )  hl
 4 3 4 
 
  m hw m
 hl
m 2
(l  w2 ) 
 4 4 3 
m 2 m m 
 4 (l  h )  
2
wl hw 
4 4
 
(B) I    wl 
m m 2 m
A
(w  h2 )  hl
 4 4 4 
 m m m 2 
  hw  hl (l  w2 ) 
 4 4 4 
  m 2 2 m m 
  3 (l  h )  wl
4
 hw 
4
 
(C) I 
A  m
 wl
m 2 2
 (w  h )  hl 
m
 4 3 4 
 
  m hw m
 hl
m 2
 (l  w ) 2 
 4 4 3 
m 2 m m 
 3 (l  h )
2
wl hw 
4 4
 
(D) I 
A  m
wl
m 2
(w  h )
2 m
hl 
 4 3 4 
 
 m hw m
hl
m 2
(l  w2 ) 
 4 4 3 

m 2 m m 
 4 (l  h )  
2
wl hw 
4 4
 
Answer (B) I    wl 
m m 2 m
A
(w  h2 )  hl
 4 4 4 
 m m m 2 
  hw  hl (l  w2 ) 
 4 4 4 

Q8. Figure 4 shows a dashpot system. Here, R denotes hydraulic resistance, q

denotes discharge (kg/s), 𝜌 denotes density of fluid (𝑘𝑔/𝑚3 )and other symbol
denotes their usual meaning. The correct flow equation for the dashpot is:

𝑑𝑦 𝑑𝑧 𝑞 𝑑𝑦 𝑑𝑧 𝑞
(A) − = (B) + =
𝑑𝑡 𝑑𝑡 𝐴𝜌 𝑑𝑡 𝑑𝑡 𝐴𝜌

𝑑𝑦 𝑑𝑧 𝑞 𝑑𝑦 𝑑𝑧 𝑞
(C) − =− (D) − =
𝑑𝑡 𝑑𝑡 𝐴𝜌 𝑑𝑡 𝑑𝑡 𝐴

𝑑𝑦 𝑑𝑧 𝑞
Answer (A) − =
𝑑𝑡 𝑑𝑡 𝐴𝜌
Q9. The Lagrangian L for the simple pendulum of mass m and length l as
shown in Figure below is given by:

2
1
(A) 2 𝑚(𝑙𝜃̇) + 𝑚𝑔𝑙 𝑐𝑜𝑠 𝜃 (B) 𝑚𝑙𝜃̇ + 𝑚𝑔𝑙 𝑐𝑜𝑠 𝜃

1 2 1 2
(C) 𝑚(𝜃̇) + 𝑚𝑔 𝑐𝑜𝑠 𝜃 (D) 𝑚(𝑙𝜃̇) + 𝑚𝑔𝑙 𝑠𝑖𝑛 𝜃
2 2

1 2
Answer (A) 2 𝑚(𝑙𝜃̇) + 𝑚𝑔𝑙 𝑐𝑜𝑠 𝜃
Q10. Figure below shows a RP planer manipulator. The two links have mass
𝑚1 and 𝑚2 respectively. Also let 𝐼𝑍𝑍1 and 𝐼𝑍𝑍2 denotes rotational moment of inertia
around z-axis for first and second link respectively. The correct mass matrix for
the dynamics of manipulator is given by:

Figure 6
𝑚1 𝑙12 + 𝑚2 𝑑22 0 𝑚1 𝑙12 + 𝐼𝑧𝑧1 + 𝐼𝑧𝑧2 + 𝑚2 𝑑22 0
(A) 𝑀 = [ ] (B) 𝑀 = [ ]
0 𝑚2 0 𝑚2
𝐼𝑧𝑧1 + 𝐼𝑧𝑧2 0 𝑚1 𝑙12 + 𝐼𝑧𝑧1 + 𝐼𝑧𝑧2 + 𝑚2 𝑑22 0
(C) 𝑀 = [ ] (D) 𝑀 = [ ]
0 𝑚2 0 𝑚1

𝑚1 𝑙12 + 𝐼𝑧𝑧1 + 𝐼𝑧𝑧2 + 𝑚2 𝑑22 0

Answer (B) 𝑀 = [ ]
0 𝑚2