MEEN 364 Homework 1

1/17/2019

Due Thursday 1/24/2019 , before 4:00 pm.

Drop off HW at your lecture instructors office

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MEEN 364 Homework No. 1

1
Spring 2019 January 17, 2019
(1) Derive the governing differential equations of motion for the system
shown below. The displacement of the body is considered from the static
equilibrium position. Clearly state any assumptions you make. Justify
your assumptions.

2
(2) Derive the governing differential equations of motion for the system shown below,
and represent it in state-space form. Assume the mass ‘2m’ to slide along the surface
without friction, and the displacement of the body is considered from the static
equilibrium position. Also assume the pulleys are massless. Take the F(t) as the input
and the x2 as the output. Clearly state any assumptions you make. Justify your
assumptions.

x1
3C

F (t ) 2m

2K

Use the following state vector

in solving this problem :
 x1  x2
v 
 
X =  1  , where v denotes velocity K
 x2 
 v2 

3
(3) The system shown on the next page consists of 2 masses, a pivoted,
massless beam, massless pulleys and a massless, inextensible cable. The
cable remains taut at all times. Assume that the angle θ is very small, so
the system model is linear, and all motions are approximately vertical.
The coordinates shown are referenced to their static equilibrium positions
so weights may be ignored in the free body diagrams and equations of
motion.

(a) Draw free body diagrams for the 2 masses and pivoted, massless
beam shown below.

(b) Write the equations of motion (Newton’s translational and rotational

laws) for the 2 masses and pivoted, massless beam.

(c) Express your answer to (b), and the output equations, in state space
form:

X =+
A X BU , Y =+
C X DU
You must use the following forms for your answer:

x 
 1
v 
 1  
x   f cable   M (t ) 
=X = 2 , Y  =  , U  
  v
 1   f (t ) 
 v2 
 
θ
 

where f cable is the force in the cable and vi = xi

Determine the matrix quantities:

A , B , C and D
Simplify the form of your answers as much as possible.

4
 k c

massless

L L
2 2
k2
+M (t) +θ m
m22
k1 + x2
k3 c1

m1
+ x1
f (t )