Institute of Engineering Mechanics  Chair for Dynamics/Mechatronics

Prof. Dr.-Ing. W. Seemann

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Engineering Mechanics III, WS 2020/2021

Exercise Sheet 8
Topic: Kinetics of systems of particles (I)
Center of mass principle / Principle of linear momentum
Principle of moment of momentum
Equation of energy balance, Energy conservation theorem

(cf. sheets EMIII, No. 3, 5-7)

1. Center of mass principle / principle of linear momentum:

COM principle: m r̈S = F tot resp. principle of momentum: ṗS = F tot

e e e e
r̈  absolute acceleration COM of the system
eS N
 total momentum of the system(N particles)
P
pS = mṙS = pi
e e i=1 e
N
 total mass of the system
P
m= mi
i=1
N
rS = m 1 P
mi ri  position vector of COM of the system
e i=1 e
Fi  external force on particle i
F
e
ij  inner force between particles i and j at particle i (Newton's 3rd axiom: F ij = −F ji )
e N e e
 sum of external forces and constraint forces acting on the system
P
F tot = Fi = F + Z
e i=1 e e e

2. Principle of moment of momentum:

N N N
(A)
Moment of momentum L(A) = , Total moment
P P P
rAi × mi v i Mi = rAi × Fi
(for reference point A)
e i=1 e e (for reference point A) i=1 f i=1 e e

dL(A) N
general case: moving reference point A (A)
P
edt + v A × mv S = Mi
e e i=1 f

special case: xed reference point A (v A = 0) or dL(A) N

P (A)
edt = Mi
COM as reference point
e e
(A = S, v A = v S ) i=1 f
e e
3. Equation of energy balance r1
N N R
(a)
T1 − T0 = W (a) + W (i) where W (e) =  work of external forces
P P e F · dr
Wk = k k
k=1 k=1 r0 e e
N N R re1 N
(i)
W (i) = F kj · drk  work of inner forces
P P e P
Wk =
k=1 k=1 r0 j=1 e e
4. Energy conservation law
e
N
for conservative systems! 1 2
P P
T0 + V0 = T1 + V1 T = 2 mi vi,abs , V = Vi
i=1 (i)

Annotation: The total energy of the system is the sum of the energies of all masses in the system.
Exercise EMIII-08/01  example 

A vibratory system consists of a vehicle of mass m2 and of a particle m1 , which is hinged to the
vehicle at the suspension point A by a pendulum of length `. The vehicle moves on a horizontal
base with negligible friction. Friction in the hinge at A is also negligible.

1. Specify the position vectors of the centers of mass S1 and S2 and, hence, the position of the
center of mass S of the system in the space-xed x − y coordinate system.

2. Calculate the coupled equations of motion of the system in x and ϕ with the principle of
angular momentum and the principle of motion of the center of mass (remark: Apply the
principle of angular momentum with reference to the moving suspension point A).

3. Linearize the equations of motion for small values of x and ϕ.

Exercise EMIII-08/02  example 

Two particles of mass m are connected by a massless bar of length ` which slides along a horizontal
guide bush. The particles are attached to the massless guide bush by two springs of stiness c.
Initially, the system rotates with an angular speed ϕ̇0 and the springs are unstressed. Caused by a
small disturbance, the bar starts moving in radial direction. Friction is negligible.

1. Calculate the angular speed ϕ̇ as a function of the distance r1 to the axis of revolution in a
general position by using the principle of angular momentum.

2. Calculate ṙ1 as a function of r1 by using ϕ̇(r1 ) and the energy conservation law.

3. In which radial position r1 does the system come to a stop in radial direction?
Exercise EMIII-08/03  homework 

20 −ψ0 )
ϕ1m = 2(ϕ1+M 1
2M1
ϕ2m = ϕ20 − 1+M 1
(ϕ20 − ψ 0)

Two lumped masses m1 and m2 are connected to two massless bars of length `1 and `2 respectively
which are hinged in point A. A torsion spring (torsional spring constant cd ) which is stressless for
a relative angle ψ = ψ0 is located between both bars. After prestressing the torsion spring, the
lumped masses are set in motion at ϕ10 = 0 and ϕ20 without initial velocity. All inuences due to
friction can be neglected.
Remark: Appropriate coordinate systems can be additionally introduced to simplify certain opera-
tions.

1. Using the principle of angular momentum, specify the angular speed ϕ̇2 in dependence on ϕ̇1
m1 `21
and, hence, ϕ2 (ϕ1 ). Use as abbreviation: = M1 .
m2 `22
2. Ascertain ϕ̇1 (ϕ1 ) with the energy conservation theorem.

3. For which angles ϕ1m resp. ϕ2m do the masses m1 resp. m2 come to a stop?
Exercise EMIII-08/04  homework 

m1 [xÿ1 − ẍ(y1 + L11 )] = m1 gx + c2 (l2 − L20 )(y2 + L11 + L21 ) lx2

The sketched spring-mass-system consists of a lumped mass m1 which can move in the (x, y)-plane,
another lumped mass m2 which is guided without friction in y -direction, as well as the springs c1 and
c2 . L11 and L21 are the pendulum lengths that are statically tensed by weights whereas L10 and L20
are the corresponding unstressed pendulum lengths. The vertical displacements of the mass y1 and
y2 of their position of equilibrum and the horizontal displacement x of m1 are used as coordinates.
1. How many degrees of freedom has the system?
2. Ascertain the center of mass S of the whole system.
3. Formulate the principle of motion of the mass center and specify the appearing constraint
forces.
4. Formulate the principle of angular momentum. Which reference point should be chosen con-
veniently?
5. Ascertain the equations of motion by eliminating the constraint forces.
Exercise EMIII-08/05  voluntarily 

m1 m2 2
Ls = m1 +m2 r ϕ̇ez = L0 ez
e e fe

Somewhere in space two planets of masses m1 and m2 are orbiting one about the other. Due to
gravitation the planets attract each other while gravitation of other neighbouring stellar objects is
negligible. The distance vector r pointing from the center of mass of m1 (S1 ) to that of m2 (S2 ) has
an angle ϕ to the y−axis. The etwo masses are moving in the x-y−plane.

1. Give the position vector rS of the center of mass S of the system as well as the distance
vectors r1 (S to S1 ) and re2 (S to S2 ). Calculate the associated velocity vectors.
Hint: Assume
e rS2 as a known
e quantity.
e
2. Use the center of mass principle and the principle of moment of momentum to derive infor-
mations about the velocity of the center of mass S of the system and of the overall moment
of momentum.

3. For elliptic orbits sketch a qualitative drawing of the orbits relative to the center of mass S
of the system.
Solution of Exercise EMIII-08/01

1. Position Vector:
   
x − ` sin ϕ x
r1 = ; r2 =
e h − ` cos ϕ e 0
X X
of rS mk = (mk rk )
e k k
e
1
,→ rS = (m1 r1 + m2 r2 )
e m 1 + m2 e e
x − m1m+m
 
1
` sin ϕ
,→ rS = m1
2

e m1 +m2 (h − ` cos ϕ)

2. Equations of motion:
a) Center of mass principle:
X X
general: r̈S mk = Fk with
e e
ẍ − m1m+m `(ϕ̈ cos ϕ − ϕ̇2 sin ϕ)
   1

X 0
Fk = and r̈S = m1
2

e N1 + N2 − (m1 + m2 )g e 2
m1 +m2 `(ϕ̈ sin ϕ + ϕ̇ cos ϕ)

(m1 + m2 )ẍ − m1 `(ϕ̈ cos ϕ − ϕ̇2 sin ϕ) = 0 equation of motion

(1)
→
2

m1 `(ϕ̈ sin ϕ + ϕ̇ cos ϕ) = N1 + N2 − (m1 + m2 )g (2)
b) Principle of moment of momentum (with moving reference point A):
X X (A)
general: L̇A + v A × v S mk = Mj ; LA = rAS1 × m1 ṙ1 + rAS2 × m2 ṙ2
j f
e e e k e e e e e
       
sin ϕ ẋ − `ϕ̇ cos ϕ 0 ẋ
,→ LA = −` × m1 + × m2 = [−` m1 (`ϕ̇ − ẋ cos ϕ) + m2 hẋ ] ez
e cos ϕ `ϕ̇ sin ϕ −h 0 e
,→ L̇A = [−`m1 (`ϕ̈ − ẍ cos ϕ + ẋϕ̇ sin ϕ) + m2 hẍ] ez
e e
m1
ẋ − m1 +m2 `ϕ̇ cos ϕ
   
ẋ
v A × v S (m1 + m2 ) = × m1 (m1 + m2 ) = m1 `ẋϕ̇ sin ϕez
e e 0 m1 +m2 `ϕ̇ sin ϕ e
X (A)
M j = [ m1 g` sin ϕ + (N2 − N1 )b ]ez , so that:
f e
,→ k m1 ` (ẍ cos ϕ − `ϕ̈ − g sin ϕ) + m2 hẍ = (N2 − N1 )b k (3)
P (A)
Equation of forces of constraint: Mj = 0 yields (Bearing free of moments):
k m2 hẍ + (N1 − N2 )b = 0 k (4)
,→ from (3) with (4) → k m1 ` (ẍ cos ϕ − `ϕ̈ − g sin ϕ) = 0 k equation of motion
3. Linearization: x, ϕ, ϕ̇ << 1 → sin ϕ → ϕ : cos ϕ → 1, ϕ̇2 → 0
(m1 + m2 )ẍ − m1 `(ϕ̈ cos ϕ − ϕ̇2 sin ϕ) = 0 linearized: (m1 + m2 )ẍ − m1 `ϕ̈ = 0
m1 ` (ẍ cos ϕ − `ϕ̈ − g sin ϕ) = 0 linearized: m1 ` (ẍ − `ϕ̈ − gϕ) = 0
Solution of Exercise EMIII-08/02

1. Angular Speed ϕ̇(r1 ):

Zt
principle of moment of momentum: M dt = L(t) − L(0)
f e e
t0

here with reference point O

here Mz = 0 LZ (t) = LZ (0) (1)
with L(t) = r1 × mv 1 + r2 × mv 2
e e e e e
L(t) = r1 er × m(ṙ1 er + r1 ϕ̇eϕ )
e e e e
+r2 er × m(ṙ2 er + r2 ϕ̇eϕ )
e e e

,→ L(t) = mr12 ϕ̇ez + mr22 ϕ̇ez L(t) = mϕ̇(r12 + r22 )ez

→
e e e e ` e
,→ L(0) = mϕ̇0 (r102 2
+ r20 )ez ; with r10 = r20 = ; r1 + r2 = ` in (1) :
e e 2
 2
`2 `2

2 2 2 `
mϕ̇(r1 + r1 − 2r1 ` + ` ) = mϕ̇0 + → ϕ̇ = ϕ̇0
4 4 2(2r12 − 2r1 ` + `2 )
2. Speed ṙ1 (r1 ):
energy theorem: T0 + V0 = T + V
1 1 1
T = m(ṙ12 + r12 ϕ̇2 ) + m(ṙ22 + r22 ϕ̇2 ) → T0 = m(ṙ10 2 2 2
+ r10 2
ϕ̇0 + ṙ20 2 2
+ r20 ϕ̇0 )
2 2 2
"  #
` 2 1 ` 2 ` 2 ` 2
     
1 1
V = c r1 − + c r2 − → V0 = c r10 − + r20 −
2 2 2 2 2 2 2
`
with r10 = r20 = ; ṙ10 = ṙ20 = 0; r1 + r2 = `; ṙ1 + ṙ2 = 0 → ṙ1 = −ṙ2 :
2
1  1
T = m 2ṙ12 + (2r12 − 2r1 ` + `2 )ϕ̇2 ; T0 = m`2 ϕ̇20

2 4
 2
`
V = c r1 − ; V0 = 0 with ϕ̇(r1 ) appointed to the energy theorem:
2
`4 ϕ̇20 ` 2 1 2 2
   
1 2 2 2
m 2ṙ1 + (2r1 − 2r1 ` + ` ) + c r1 − = m` ϕ̇0
2 4(2r12 − 2r1 ` + `2 )2 2 4
s s
2 − 4r ` + 2`2 − `2 )`2 2
ϕ̇20 `2
  
(4r 1 c ` ` c
,→ ṙ1 (r1 ) = ϕ̇20 1 2 2
− r 1 − = r1 − 2 2
−
8(2r1 − 2r1 ` + ` ) m 2 2 4r1 − 4r1 ` + 2` m
!
3. Rest positions: ṙ1 = 0
 
` `
a.) r1 − =0 → r11 =
2 2
√ `2 `2 mϕ̇20 `2 `2
b.) . . . = 0 → r12 − r1 ` + − = −
2 4 4c 4
 
r
` m 2 
,→ r12,3 = 1 ±  ϕ̇0 − 1 
2 c 
| {z }
=R