Dynamics of Machines (ME22004)

Tutorial 2

Q1 A simplified bicycle model is shown. Assuming that the cycle

does not tilt sideways, identify a set of coordinates and
constraints for the system. How many degrees of freedom
does the system have?

Q2 Derive the equation of motion of the system neglecting the small mass of the
pulleys.

Q3

Q4 Identify the generalized coordinate and derive the equation of

motion of the spoked wheel shown whose centroidal radius of
gyration is k. Assume the wheel rolls without slipping.

Q5 Identify the generalized coordinates and derive the equations of

motion of the system shown. Assume the pulleys to be light and
ideal.
Q6 A planetary gear system with the sun fixed, and the planet gear
mounted on a light arm is placed in the vertical plane as show. Derive
the equation of motion of the system. Neglect friction at all contacts.

Q7 Identify the generalized coordinates and derive the equations of motion of the
system shown. Assume all contacts to be frictionless.

Q8 Identify the generalized coordinates and derive the equations of

motion of the vehicle model on suspension moving with a constant
velocity v on a wavy ground (sinusoid of wavelength λ) as shown.
Assume the deflections to be small, and the wheels to be light and
always in ground contact. Neglect the height of the vehicle.
Q9 A cylinder of area of cross-section A encloses a gas between two
identical pistons each of mass m as shown. The lower piston is
supported by a spring of stiffness k. The equilibrium separation of the
two pistons is y0. Derive the equations of motion of small oscillations of
the two pistons considering adiabatic condition (pVγ=C).