Simulation and Analysis of a Rube

Goldberg 
Machine 
 
Engineering Static 
(MEC60104) 
 Module Coordinator: 
Dr Lim Joon Hoong 
 
 
 
NAME  COURSE   STUDENT I. D 
Henry Goh Wei Zhang   ME  0335054 
Ng Jun Han   ME  0336464 
Covyn Yong Keen Lok  ME  0340868 
Avellius Yoanz  ME  0340620 
Liew Kean Zhe  ME  0337171 
 

1
 Content 
1.0 Member’s Contribution……………………3

2.0 Introduction………………………………...4 

3.0 Methodology ………………………………5-7
      3.1 Diagram of Simulation 
      3.2 Submission of the Video Simulation 
3.3 Submission of the File Stimulation

4.0 Design Analysis and Discussion …………8-27

      4.1 Design Process 1 
      4.2 Design Process 2 
      4.3 Design Process 3 
      4.4 Design Process 4 
      4.5 Design Process 5 

5.0 Reference ………………………………...28

 
 
 
 

2
 
1.0 Member’s Contribution  
 
Group Student ID  Main Contribution  Other Contribution  Signature 
Members 

Henry Goh Wei  0335054  Design and sketch of Brainstorming on the  henry.g 
Zhang  process 2  design  
   
Discuss and detail Report writing  
analysis of process 2   
  Attended all meetings
Recordings of the on Oct 1st and Oct 5th  
simulation 
 
Monitoring team
progress and conduct
meetings 
Ng Jun Han   0336464   Design and sketch of  Brainstorming on the  junhan.ng 
process 5  design  
   
Discuss and detail Report writing  
analysis of process 5   
  Attended all meetings
Writing Introduction  on Oct 1st and Oct 5th 
 
Covyn Yong    Design and sketch of  Brainstorming on the  
Keen Lok    process 1  design    
       
0340868  Discuss and detail Report writing   Covyn.Y 
analysis of process 1     
  Attended all meetings  
Writing Introduction  on Oct 1  and Oct 5  
st th

 
Avellius Yoanz   0340620   Design and sketch of  Brainstorming on the  Avellius Yoanz 
process 4  design  
   
Discuss and detail Report writing  
analysis of process 4   
  Attended all meetings
Writing Introduction  on Oct 1st and Oct 5th 
 

3
Liew Kean Zhe   0337171   Design and sketch of  Brainstorming on the  Zac Liew 
process 3  design  
   
Discuss and detail Report writing  
analysis of process 3   
  Attended all meetings
Writing Introduction  on Oct 1st and Oct 5th 
 
2.0 Introduction

Rube Goldberg Machine is a sophisticated machine which is designed by using simple steps
to accomplish the task given [1]. The machine consists of several processes in which one
process is initiated by the previous process. All of the processes can be conducted in many
ways such as pool ball, remote control vehicle, spring system and other methods which are
full of complexity when combining all together. The examples of Rube Goldberg Machine
that had been introduced in real life are the page turner, Rube Goldberg Photoboth, Christmas
tree lighter and even more. The objective of this report is to design a Rube Goldberg Machine
to complete a task based on the theoretical lessons learned in this engineering module and we
have decided to use button as our task since button is very common in our daily life so any
individual can turn on any button straight away without moving.

By using the aid of the Algodoo application installed on a computer, it can help us build any
kind of parts that are going to be used in a machine to complete a process.  By using this
application, it also helps us to simulate every experiment result that will happen in the real
world. All of the data such as velocity, momentum, force of an object can be obtained while
running the simulation. 

This machine consists of 5 steps. The first process is a resting ball rolled down a slope which
is 45° to the x-axis then moves in a straight line and hits the lower beam causing the upper
beam to rotate and hit the ball. Then, the ball will roll into the second process which is a
seesaw. The ball falls from high ground and hits the seesaw causing the ball on the other side
to move upwards to process 3. Process 3 is a domino that will be hit by the ball in process 2
then the dominos will eventually fall by pushing the next one until the last domino hits the
ball in process 4. Process 4 is a pulley with a string holding a box and a rod on the other side
that restricts the spring to push the ball in process 5. Once the domino hits the ball, it will
start rolling into the box causing the box to move downwards due to greater force on the
force. On the other side, the rod will slowly move upwards and release the spring. In process

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5, when the rod is released, the spring will push the ball then the ball will push the button to
complete the task. 

3.0 METHODOLOGY

3.1 DIAGRAM OF STIMULATION

FIGURE 3.1.1: The diagram of the full process of stimulation in the beginning

FIGURE 3.1.2: The diagram of the full process of stimulation in the end

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 FIGURE 3.1.3: The diagram of the beam process

FIGURE 3.1.4: The diagram of the seesaw and domino process

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 FIGURE 3.1.5: The diagram of the pully and the spring process

3.2 Submission of video stimulation

The video recorded showed the stimulation of the mechanism

The link of the video:

https://drive.google.com/file/d/13OjBGmaOQNyZnQ_YzRLBR9yTPE5gqgwW/view?
usp=sharing

3.3 Submission of file stimulation

The link to download the stimulation file:
https://drive.google.com/file/d/1qEaxvAYHX36JFbiXHsHu0NBJ-yijRCsQ/view?
usp=sharing

7
4.1 Design Process 1

Figure 4.1.1 – Full

This is the first process of the Rube Goldberg Machine. The ball is placed at a height of
2.12m and an angle of 45° from the x-axis. Once the ball is released, the ball will roll down
due to gravitational force and gain velocity. The ball will reach the ground with an increasing
deceleration due to friction on the ground and the ball. The pivot is placed in the middle of
the beam so that each side of the beam have the same moment. The ball will hit the lower
beam to produce moment, then the lower beam will rotate and hit the upper beam causing the
upper beam to rotate and hit the ball causing the ball to gain velocity and move forward with
an increasing deceleration due to friction on the ground and the ball.

Figure 4.1.2 –
Force acting on
the beam

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 Figure 4.1.3 – Forces on lower beam acting on upper beam

Figure 4.1.4 –
Force acting on the ball

Figure 4.1.5 – The

length of the beam

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Moment is produced when a force is perpendicular or 90° to the direction. Moment about a
pivot can also be called as ‘rotational moment’. When an input force is applied on the side,
then the other side of the beam will produce an output force. The longer the lever, the greater
the force [2].

Formulas: Force (N) x distance from the pivot (m) = moment (Nm)

Force between the lower beam and the upper beam is 20.41N

Force produced by the ball on the lower beam is 28.24N

28.24 N ×distance=20.41 Nm

distance=0.7227 m

Force between the ball and the upper beam is 20.11N

20.41 N × distance=20.11 Nm

distance=0.9853m

Based on figure 4.1.2, the force acted on the beam is 28.24N. The length of the lower and
upper beam is 2m long in the y-axis and 0.1m wide in the x-axis. Based on figure 4.1.3, the
ball hit the beam at 0.7227m away from the pivot, it produces a moment of 20.41Nm in the
anticlockwise direction and hit the upper beam at 0.9853m from the pivot. Based on figure
4.1.4, the upper beam produces a moment of 20.11Nm in the clockwise direction, making it
state that a force of 20.11N will eventually hit on the ball.

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Design process 2

The seesaw process is used to launch the ball to hit the dominos. When a steel ball with
0.254kg is drop after the first process, it will hit down the end of the seesaw where at the
level arm far from the pivot and it will produce a torque so the seesaw will undergo rapid
angular acceleration and launch another ball with 0.063kg to fly off the seesaw and hit the
dominos to continue the process. With the different mass of two ball, the lighter ball will fly
higher to reach the dominos.

Figure 4.2.1. The diagram of steel ball is falling down with the velocity shown

On the figure 4.2.1. the steel ball is fall due to the gravitational force and it will produce a
force which base on the Newton second law, F=ma [3]. When there has a force act on the
seesaw, it will produce a torque and angular momentum to rotate the seesaw which torque is
an ability of force to rotate an object an axis [4]. Since, the right side of the seesaw have a
large torque and cause the seesaw rotate in clockwise with the angular moment. As we know,
the longer distance from the pivot to the force, the larger moment produces. When the seesaw
touches the ground, it will produce some force included the mass of the seesaw and the
impact of the ball as well as the reaction force with the ground. With the force of equilibrium,
Σ Fa = 0, the left side of the seesaw will also react the same force and cause the ball launch
form the seesaw.

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 Figure 4.2.2. Forces of the steel ball when hit the seesaw

Moment when the ball hit the seesaw

formula = force x distance

where the force = mg = (0.245) (9.81) = 2.4N

distance between the ball and the pivot = 1.05m (approximately)

moment = (2.4) (1.05) = 2.52N.m

Figure 4.2.3. Force receive by the ball at the left-hand side of the seesaw

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 Figure 4.2.4. The reaction force when the seesaw touches the ground

Figure 4.2.5. The initial force and velocity are show when the lighter ball fly off the
seesaw

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Finding the height of the ball fly by using the projectile motion

0=+ v2oy −2 gy

v 2oy
y=
2g

The initial of velocity and angle is shown in the figure 4.2.5 which is 8.98m/s and 890

where Voy = VosinƟ

v 0 y =v 0 sinƟ =( 8.98 ) ( sin 89 )=8.98 m s−1

(8.98)2
y=
2 ( 9.81 )

y=¿4.11m

So, with the given velocity and angle, the ball can fly until the hight of 4.11m to touch the
dominos.

Figure 4.2.6. The free body diagram of the

calculation for the moment and projectile motion

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4.3 Design Process 3 Domino
This process starts when the ball hits the first out of thirteen dominos from the
previous process. There are total of thirteen dominos which have the same height of 1.0m,
same width of 0.1 m and same spacing between each dominos are 0.2m. The magnitude and
moment of the force are only acting on the y-axis due to normal force is at opposite direction
when it hits the first domino. After hitting the first domino, there will be force transfer to the
second domino and will make the second domino to fell [5]. While this occurs, the direction
of moment force will then change from y-axis to x-axis as well as the magnitude force and
will start to make all the dominos to toppled towards the right.

The formula below shows on how to calculate the angle between dominos:

cosθ=d /x

γ =tan−1 ( yt )
∅=90−( 180−θ−γ )

x Height of domino
d Distance between two dominos
γ Angle between right domino and ground
y Height of impact
t Length of domino
c Angle between collision and domino

Calculate when the first domino hits the second domino:

cos θ=d / x

θ=cos−1 ( 0.2
1.0 )

θ=78.46°

γ =tan−1 ( yt )
γ =tan−1 ( x sin θ
0.1 )

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γ =tan−1 ( 0.9799
0.1 )

γ =84.17°

c=90−( 180−θ−γ )

c=90−( 180−78.46−84.17 )

c=72.63 °

Domino θ γ c
1st hits 2nd domino 78.46 84.17 72.63

Calculation of force magnitude and force when first domino and second domino collide:

mg ( sin θx−cos θt )
F=
2x

F=2.60( 9.81)¿ ¿

F=12.24 N

Calculation of force acting on each domino:

F R =F sin c

FR Force magnitude acting on domino

F Force acting on domino

Calculation of force magnitude when first domino hits second domino:

F R =F sin c

F R =12.24 sin 72.63°

F R =11.68 N

Calculation of moment force:

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M =F R ⋅d

M Moment of force acting on domino

d Distance between two dominos
Calculation of moment force when first domino hits second domino:

M =F R ⋅d

M =11.68 ⋅ 0.2

M =2.334 Nm

Figure 1.0 shows the ball before hitting the first domino

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Figure 2.0 shows when the first domino hits the second domino

Figure 3.0 shows when all the dominos are toppled

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4.4 Design Process 4 Pulley
This process starts with a rolling ball knocked by the last domino from the previous process.
The ball will then roll into a vertically flipped letter g shape. This shape is designed to catch
the ball and prevent it to fall out of the system. This polygon is connected to a rope hanging
from the pulley system. The other side of the rope is connected with a square shape that acts
as a gate that prevents a ball from being pushed by the spring at process 5.
The g shaped polygon has a mass of 0.1 kg. On the other hand, the square-shaped gate has a
mass of 0.15 kg. This mass difference will create a force difference between both sides. This
will create an acceleration going up from the g shaped polygon and going down from the
square-shaped gate in the first few seconds.

stopper
a

a
G shaped polygon gate

base
Figure 4.4.1 process 4

After the g shaped polygon reached two square-shaped stopper and the square-shaped gates
reach the bottom of the base, the acceleration of each side becomes 0. This will cause ƩFy to
becomes 0 since ƩFy = ma.
On the other hand, when the ball rolls down and reached inside the g shaped polygon, the
mass on the left side of the pulley becomes heavier than the right side. This will result in a
mass difference between the two side and create acceleration to move downward at the left
side and upward at the right side of the pulley system.

Left Side Right Side

a
a

Figure 4.4.2 process 4 divided side

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Calculation
Mass: G shaped polygon = 0.1 kg
Square shaped polygon = 0.15 kg
Ball = 0.25 kg
Gravitational force = 9.81 kg.m/s2
1. Start of the process (when the start button is pressed).

ƩFy = ma
T Left side Right side
a T T – W1 = ma W2 – T = ma
T = m1a + W1…(eq1) T = W2 – m2a…(eq2)
a Substitute eq1 and eq2 because a = 1.962 m/s2 so
W1
m1a + W1 = W2 – m2a T = (0.1)(1.962) + 0.981
m1a + m2a = W2 – W1 T = 1.1772 N
W2 a(m1 + m2) = m2g – m1g
Figure 4.4.3 start of the process
a(m1 + m2) =g(m2 – m1)
a = {g(m2 – m1)}/ (m1 + m2)
a = {9.81(0.15 – 0.1)}/(0.1 + 0.15)
a = 0.4905/0.25
a = 1.962 m/s2

2. The system reach

equilibrium (before
Equilibrium (the system is not moving)
the ball reach the 4th
process) ƩFy = 0
W1 = m1g W2 = m2g
W1 = (0.1)(9.81) W2 = (0.15)(9.81)
T equilibrium state
Figure 4.4.4
W1 = 0.981 N W2 = 1.4715 N
T Left Side Right Side

N1 T – W1 – N 1 = 0 W2 – T = 0
T = 0.981 + N1 T = 1.4715 N
W1
0.981 + N1 = 1.4715 N
N1 = 0.4905 N

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W2
 3. The ball rolls into the g shaped polygon

Left side Right side

Figure 4.4.5 system after ball
T W1 = g(mg shaped polygon + mball) W2 = g(msquare shaped gate)
a into the g shaped polygon
rolled
T
W1 = 3.4335 N W2 = 1.4715 N
a ƩFy = ma ƩFy = ma
W1 – T = m1a T – W2 = m2a
W1 T = W1 - m1a…(eq1) T = m2a + W2…(eq2)
4.
Substitute eq1 and eq2 because a = 3.924 m/s2
Equilibrium (system is not moving)
W1 - m1a = m2a + W2 T = 3.4335 – (0.35) (3.924)
W2 ƩFy = 0
m2a + m1a = W1 - W2 T = 2.0601 N
Left side Right side
a(m2 + m1) = 1.962
W1 = g (mg shaped polygon + mball) W2 = g (msquare shaped gate)
a(0.5) = 1.962
W1 = 3.4335 N W2 = 1.4715 N
a = 3.924 m/s2

W1 – T – N 1 = 0 W2 – T = 0
4. End of process 4, the square shape gate is
fully opened 3.4335 – 1.4715 = N1 W2 = T
N1 = 1.962 N T = 1.4715 N

T
T
N1

W2

W1
Figure 4.4.6 end of process 4

Graph analysis Speed spike

Speed spike
Observed graph

21 Observed graph
 Equilibrium state
Equilibrium state
Figure 4.4.7 g shaped polygon speed vs time

1. Both speed vs time graph below shows the speed of the g shaped polygon at the start
of the process (when the start button is clicked). Based on our theoretical calculation
above, acceleration experienced by the polygon is 1.962 m/s2. With the information
given from the graph, we can calculate the real acceleration from the experiment.

a = ΔV/Δt Theoretical result:

a = (0.484 – 0.168)/ (0.5 – 0.33) a = 1.962 m/s2
a = 1.85 m/s2

The difference between theoretical result and computer simulated experiment is not big. This
conclude that the theoretical calculation is correct
2. From the graph below we can see that there is a small velocity fluctuation in the
equilibrium state. This is because of the spring at process 5 that are pushing the
Figure 4.4.9 speed and time information
square-shaped
Figure polygon
4.4.8 speed and time and
information cause a small tension fluctuation that cause the g shaped
polygon to move. But this small fluctuation can be ignored.

Small fluctuation

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 Figure 4.4.10 small fluctuation on the equilibrium state

3. The graph below shows the velocity of the g shaped polygon when the ball entered
the system and cause increase in acceleration. With the information given, we can
calculate the acceleration experienced by the g shaped polygon.

Theoretical result:

a = a = 3.924 m/s2

Figure 4.4.11 speed and time information Figure 4.4.12 speed and time information
a = ΔV/Δt
a = (1.471 – 0.182)/ (11.33 – 11.02)
a = 4.15 m/s2

The difference between the theoretical result and computer simulated experiment is not big.
This prove that the theoretical result is correct and vice versa.

4. At the end of the process 5, we can see that the velocity of the g shaped polygon is
constant 0 thus this make the acceleration is also 0. This is because the square-shaped
polygon is no more subjected to the spring force and the g shaped polygon is resting
on the base. At this point, the system reach equilibrium

Equilibrium state

Figure 4.4.13 end of process 4

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4.5 Design Process 5
To complete this Rube Goldberg Machine, a spring acts as the last mechanism. The spring is
compressed at the beginning and connected to the middle of the 0.2771kg green ball and
serves as the spring head. When the pulley works and the tension block goes up, it is possible
to release the spring to its original length of 1.7472m and thereby pass the elastic potential
energy to the 0.2513kg ball that will touch the button at the end of the process to achieve the
target. In this phase, the spring constant is 18.6552N/m. It is known from the measurement
that the spring initially has an energy of 11.921J when it is compressed from 1.7472m to
0.6167m and a compression distance of 1.1305m is carried out. After the spring is released,
the head can collide at a velocity of 9.3 m/s with the 0.2513kg ball. The elastic potential
energy of the spring will pass directly to the ball from the knowledge of energy conservation,
and thus the ball will finally hit the button through the trajectory. With the velocity of the
reaction ball, based on the conservation of momentum equation and energy, the force exerted
on it to hit the button can also be found.

Figure 4.5.1 shows the length of spring after compressing which is 0.6167m.

spring constant ∙ ( compression of spring )2

Elastic Potential Energy=
2

¿ 11.921 J

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Figure 4.5.2 shows the spring system is being released right after the pulley system.

Figure 4.5.3 shows the graph of velocity against time for spring.

mass ∙ ( velocity )2
Kinetic Energy =
2

0.2771 ∙ v 2
11.921 J =
2

v 2=86.0411
velocity of spring=9.3 m/s

25
 Figure 4.5.4 shows the information of the reaction ball when having collision with spring
head.

Figure 4.5.5 shows the ball successfully hit the button and its graph of velocity against time.

Figure 4.5.6
shows the distance between reaction ball and the button which is 4.065m

To find the force that exerted on the reaction ball to hit the button, the law of conservation of
momentum equation and energy would be involved and the calculations are below:
m 1 ( mass of spring head )=0.2771 kg v 1=9.3 m/s

m 2 ( mass of reaction ball ) =0.2513 kg v 2=? ? ?

m1 v 1
v 2=
m2
¿ 10.3 m/s

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 0.2513 ∙ (10.3 )2
Kinetic Energy of reaction ball=
2
¿ 13.33 J
d , distance between reaction ball∧button=4.065 m
Force acting on the reaction ball ∙ d=Kinetic Energy
13.33 J
F=
4.065 m
¿ 3.28 N
In this process, the force of reaction ball is 3.28N to hit the button and hence achieve the goal
of Rube Goldberg Machine.

Figure 4.5.7 shows the FBD of spring process before the pulley is pulled.

Figure 4.5.8 shows the FBD of spring process after the pulley is pulled.

5.0 Reference

[1] Wonderpolish.org. (2018). What is a Rube Goldberg Machine?. [online] Available at:

https://wonderopolis.org/wonder/what-is-a-rube-goldberg-machine

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[2] Levers - Moments, levers and gears - AQA - GCSE physics (Single science) revision -
AQA - BBC bitesize. (n.d.). Retrieved from
https://www.bbc.co.uk/bitesize/guides/ztjpb82/revision/3

[3] Kofsky, I., 1951. Atwood's Machine and the Teaching of Newton's Second
Law. American Journal of Physics, 19(6), pp.354-356.

[4] Kanai, T., Guo, W., Tsubota, M. and Jin, D., 2020. Torque and Angular-Momentum
Transfer in Merging Rotating Bose-Einstein Condensates. Physical Review Letters, 124(10).

[5] Steve Koellhoffer, Chana Kuhns, Karen Tsang and Mike Zeitz. (2005) Falling Dominoes.
[Online] [Accessed on December 9, 2005]
http://www.math.udel.edu/~rossi/Math512/2005/Team3.pdf

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