part 6 – Exercise 10 (page 89)

Study of a Mover
S1 z1,3 S3
z 0,1 G3
x3

O1 O3
z 0,1 S2
x0

O O1*
O2

x1,2
O1O1* = d
O1* O3 = h
O 3 G3 = l
OO1 = z z 0,1 I
O1* O 2 = x x1
O 2I = −R z 0,1

The system, represented in the figure consists in 4 solids :

• 𝑆0 , the mover frame

• Arm 𝑆1 linked to 𝑆0 by a cylindrical joint of axis (𝑂, ⃗⃗⃗⃗⃗⃗
𝑧0,1 ).
Motion parameters are 𝜓 = (𝑥 ⃗⃗⃗⃗0 , ⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗⃗1 . ⃗⃗⃗⃗⃗⃗
𝑥1 ) and 𝑧 = 𝑂𝑂 𝑧0,1
• Wheel 𝑆2 linked to 𝑆1 by a cylindrical joint of axis (𝑂1 , ⃗⃗⃗⃗⃗⃗
𝑥1,2 ).
Motion parameters are 𝜙 = (𝑦 𝑦2 ) and 𝑥 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗1 , ⃗⃗⃗⃗ 𝑂1∗ 𝑂2 . ⃗⃗⃗⃗
𝑥1
• Nacelle 𝑆3 linked to 𝑆1 by a revolute joint of axis (𝑂3 , ⃗⃗⃗⃗⃗⃗
𝑧1,3 ).
Motion parameter is 𝜃 = (𝑥 𝑥3 ).
⃗⃗⃗⃗1 , ⃗⃗⃗⃗

A motor located between 𝑆0 and 𝑆1 applies a torque 𝐶𝑚 ⃗⃗⃗⃗⃗⃗

𝑧0,1 on 𝑆1 .
′
A second motor located between 𝑆1 and 𝑆3 applies a torque 𝐶𝑚 𝑧0,1,3 on 𝑆3 .
⃗⃗⃗⃗⃗⃗⃗⃗⃗

A tension/compression spring (not represented), is inserted between 𝑆1 and 𝑆2 , it has a stiffness k

(N/m) and it exerts a nil force when 𝑥 = 0.

Contact is maintained at point I between the plane (𝑂, ⃗⃗⃗⃗ 𝑦0 ) and the wheel 𝑆2 of radius 𝑅.
𝑥𝑜 , ⃗⃗⃗⃗
Hypotheses

A-1 Frame 𝑅0 is Galilean and ⃗⃗⃗

𝑧0 vertical and upward.

A-2 Joints 𝑆0 /𝑆1 , 𝑆1 /𝑆2 and 𝑆1 /𝑆3 are perfect

A-3 Contact 𝑆0 /𝑆2 features are:

• In terms of kinematics, longitudinal no-slip condition : ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ 𝑉(𝐼, 2⁄0). ⃗⃗⃗⃗

𝑦1 = 0
• In terms of dynamics, the contact forces wrench :
⃗⃗⃗⃗⃗⃗⃗⃗⃗ = −𝐷𝛿𝑥
𝐹 ⃗⃗⃗⃗1 + 𝑌02 ⃗⃗⃗⃗
𝑦1 + 𝑍02 ⃗⃗⃗ 𝑧1
{ℱ0→2 } = { 0→2 } where D is the drifting parameter due to the
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑀 0→2 (𝐼) = 0
⃗
tyre transverse rigidity.
• The transverse contribution of the force depends on the drifting angle :
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉(𝐼,⁄0). ⃗⃗⃗⃗ 𝑥1
𝛿 = arctan
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉(𝐼,⁄0). ⃗⃗⃗⃗ 𝑦1

𝛿 is the angle between the velocity vector of geometric point I in its motion
/0 and the plane tangent at point I to the wheel.

Inertial data

o Solid 𝑆1 : mass 𝑚1

𝑂1 centre of mass

𝐶1 moment of inertia around (𝑂, ⃗⃗⃗

𝑧1 )

o Solid 𝑆2 : mass 𝑚2

𝑂1 centre of mass

𝐴2 0 0
𝐼𝑂̿ 2 = [0 𝐵2 0]
2,1 0 0 𝐵2

o Solid 𝑆3 : point mass 𝑚3 at point 𝐺3

The acceleration of point 𝐺3 in its motion with respect to 𝑆0 is given by:

2
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
Γ(𝐺3 ⁄0) = −𝑑 𝜓̇ 2 ⃗⃗⃗⃗
𝑥1 + 𝑑 𝜓̈ ⃗⃗⃗⃗
𝑦1 − ℓ(𝜃̇ + 𝜓̇) ⃗⃗⃗⃗
𝑥3 + ℓ(𝜓̈ + 𝜃̈ )𝑦
⃗⃗⃗⃗3
Introduction

Graph of links

Change of basis diagram

Global overview of the unknowns and equations

Unknowns Nb Equations Nb
Kinematics Kinematics
𝑳𝟎𝟏 ∶ 𝝍 𝒂𝒏𝒅 𝒛 • Contact (1) 1
𝑳𝟏𝟐 ∶ 𝝓 𝒂𝒏𝒅 𝒙 5 • No-slip (2) 1
𝑳𝟏𝟑 : 𝜽
Dynamics General theorems
𝑳𝟎𝟏 : 𝑿𝟎𝟏 , 𝒀𝟎𝟏 , 𝑳𝟎𝟏 , 𝑴𝟎𝟏 4 - 3 solids : 3*6 scalar equations 18
𝑳𝟏𝟐 : 𝒀𝟏𝟐 , 𝒁𝟏𝟐 , 𝑴𝟏𝟐 , 𝑵𝟏𝟐 4 Constitutive equations
𝑳𝟏𝟑 : 𝑿𝟏𝟑 , 𝒀𝟏𝟑 , 𝒁𝟏𝟑 , 𝑳𝟏𝟑 , 𝑴𝟏𝟑 5 • Spring 1
𝑳𝟎𝟐 : 𝑿𝟎𝟐 , 𝒀𝟎𝟐 , 𝒁𝟎𝟐 3 • Drifting of the tyre 1
𝑺𝒑𝒓𝒊𝒏𝒈 ∶ 𝑭𝑺 1
Total 22 Total 22

Questions

1. Write the constraint equations related to the contact at point I.

The geometric condition for the contact (point/plane) between 2 and 0 reads :

⃗⃗⃗⃗
𝑂𝐼 . 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
0.1.3 = 0 ⇒ ⃗⃗⃗⃗⃗⃗⃗⃗1 + 𝑂
(𝑂𝑂 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗⃗⃗
1 𝑂2 + 𝑂2 𝐼 ). 𝑧 1,2,3 = 0

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
Since O 1 O2 is only along ⃗⃗⃗⃗⃗⃗
x1,2 , condition reads: z = R (1)

It is assumed that this condition is permanently satisfied, therefore: ż = 0 and z̈ = 0

The kinematic condition is a longitudinal no-slip condition : ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗

V(I, 2⁄0). ⃗⃗⃗ y1 = 0.

Compute the velocity vector :

⃗⃗⃗⃗0 (𝐼) = 𝑉
𝑉 ⃗⃗⃗⃗0 (𝑂 ) + ⃗⃗⃗⃗⃗⃗
𝐼𝑂2 ∧ ⃗⃗⃗⃗⃗
𝛺20
2 2 2

⃗⃗⃗⃗0 (𝐼) = 𝑉
𝑉 ⃗⃗⃗⃗0 (𝑂 ) + ⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗1 (𝑂 ) + 𝑉 𝐼𝑂2 ∧ ⃗⃗⃗⃗⃗
𝛺20
2 2 2 1 2

⃗⃗⃗⃗0 (𝐼) = 𝑉
𝑉 ⃗⃗⃗⃗0 (𝑂 ) + ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗1 (𝑂 ) + 𝑉 𝑂2 𝑂1 ∧ ⃗⃗⃗⃗⃗ 𝐼𝑂2 ∧ ⃗⃗⃗⃗⃗
𝛺10 + ⃗⃗⃗⃗⃗⃗ 𝛺20
2 2 2 1 1

⃗⃗⃗⃗0 (𝐼) = 𝑥̇ ⃗⃗⃗⃗⃗⃗ ̇ ⃗⃗⃗⃗⃗⃗ ̇ 𝑥1,2 + 𝜓̇⃗⃗⃗⃗⃗⃗

𝑉 2 0,1 − (𝑥 + 𝑑)𝑥
𝑥1,2 + 𝑧̇ 𝑧⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗
1,2 ∧ 𝜓𝑧 0,1 + 𝑅𝑧
⃗⃗⃗⃗⃗⃗
0,1 ∧ (𝜙 ⃗⃗⃗⃗⃗⃗ 𝑧0,1 )

⃗⃗⃗⃗0 (𝐼) = 𝑥̇ ⃗⃗⃗⃗

𝑉 𝑥1 + [(𝑑 + 𝑥)𝜓̇ + 𝑅𝜙̇]𝑦
⃗⃗⃗⃗1
2

Finally, (𝑑 + 𝑥)𝜓̇ + 𝑅𝜙̇ = 0 (2)

 2. Determine the equations of motion.

Minimal overview of the unknowns and equations:

Unknowns Nb Equations Nb
Kinematics Kinematics
𝑳𝟎𝟏 ∶ 𝝍 𝒂𝒏𝒅 𝒛 • Contact (1) 1
𝑳𝟏𝟐 ∶ 𝝓 𝒂𝒏𝒅 𝒙 5 • No-slip (2) 1
𝑳𝟏𝟑 : 𝜽
Dynamics General theorems
{3} : moment about 𝑂3 along 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
0,1,3 (3) 1
𝑳𝟎𝟐 : 𝑿𝟎𝟐 , 𝒀𝟎𝟐 , 𝒁𝟎𝟐 3 {2} : Sum along ⃗⃗⃗⃗
𝑥1 (4)
Moment about 𝑂2 along ⃗⃗⃗⃗ 𝑥1 (5) 2
𝑺𝒑𝒓𝒊𝒏𝒈 ∶ 𝑭𝑺 1 {1+2+3} : Sum along 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
0,1,3 (6)
Moment about 𝑂1 along 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
0,1,3 (7) 2
Constitutive equations
• Spring (8) 1
• Drifting of the tyre 1
Total 9 Total 9

Write the equations of the general theorems

Isolate {3}

• List of external actions

- Action of 1
−𝑚3 𝑔𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
0,1,3
- Weight : {ℱ𝑤𝑒𝑖𝑔ℎ𝑡 } = { }
⃗0 𝐺 3
⃗0
- Motor : {ℱ𝑚𝑜𝑡𝑜𝑟 } = { ′ }
𝐶𝑚 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑧0,1,3 ∀ 𝑝𝑜𝑖𝑛𝑡
• Equation (3): Fundamental law of dynamics,
equation of moment about point 𝑂3 along 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
0,1,3
⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗0 (𝑂 ). 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
Σ𝑀 𝑒𝑥𝑡 (𝑂3 ). ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑧0,1,3 = 𝛿 3 3 0,1,3
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑀 𝑤𝑒𝑖𝑔ℎ𝑡 (𝑂3 ). 𝑧
⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗
0,1,3 = 0 since 𝑧
⃗⃗⃗⃗⃗⃗⃗⃗⃗
0,1,3 is the direction of the sum, therefore :

𝐶′ = 𝛿 ⃗⃗⃗⃗0 (𝑂 ). 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑚 3 3 0,1,3
⃗⃗⃗⃗0 (𝑂 ). 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗ : shifting formulae
Compute 𝛿 3 3 0,1,3
⃗⃗⃗⃗0 (𝑂 ) = 𝛿
𝛿 ⃗⃗⃗⃗0 (𝐺 ) + ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑂3 𝐺3 ∧ ⃗⃗⃗⃗
Σ30
3 3 3 3

In this formulae:

▪ ⃗⃗⃗⃗0 (𝐺 ) = 𝑑0 (𝜇
𝐺3 is the mass center, therefore : 𝛿 ⃗⃗⃗⃗0 (𝐺 )) with ⃗⃗⃗⃗ ⃗⃗⃗⃗0
̅ 3 , 𝐺3 )Ω
𝜇30 (𝐺3 ) = 𝐼 (𝑆
3 3 𝑑𝑡 3 3 3
̅
Since 𝑚 is a point mass located at 𝐺 ∶ 𝐼 (𝑆 , 𝐺 ) = [0]
3 3 3 3

Therefore ⃗⃗⃗⃗0 (𝐺 ) = 𝑑0 (𝜇
𝛿 ⃗⃗⃗⃗0 (𝐺 )) = 0
⃗
3 3 𝑑𝑡 3 3

▪ The sum reads: ⃗⃗⃗⃗

Σ30 = 𝑚3 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
Γ(𝐺3 ⁄0). Acceleration of 𝐺3 is given :
2
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
Γ(𝐺 ̇ 𝑥1 + 𝑑 𝜓̈ ⃗⃗⃗⃗
2
3 ⁄0) = −𝑑 𝜓 ⃗⃗⃗⃗ 𝑦1 − ℓ(𝜃̇ + 𝜓̇) ⃗⃗⃗⃗
𝑥3 + ℓ(𝜓̈ + 𝜃̈ )𝑦
⃗⃗⃗⃗3
 Replacing :

⃗⃗⃗⃗0 (𝑂 ) = 0 2
𝛿 3 3
⃗ + ℓ𝑥 ⃗⃗⃗⃗3 ∧ 𝑚3 [ −𝑑 𝜓̇ 2 ⃗⃗⃗⃗
𝑥1 + 𝑑 𝜓̈ ⃗⃗⃗⃗
𝑦1 − ℓ(𝜃̇ + 𝜓̇) ⃗⃗⃗⃗
𝑥3 + ℓ(𝜓̈ + 𝜃̈ )𝑦
⃗⃗⃗⃗3 ]
⃗⃗⃗⃗0 (𝑂 ) = ℓ𝑚 [ 𝑑𝜓̇ 2 𝑠𝑖𝑛𝜃 + 𝑑 𝜓̈𝑐𝑜𝑠𝜃 + ℓ(𝜓̈ + 𝜃̈ )]𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝛿3 3 3 0,1,3
Equation (3) reads :
′
𝐶𝑚 = ℓ𝑚3 [ 𝑑𝜓̇ 2 𝑠𝑖𝑛𝜃 + 𝑑 𝜓̈𝑐𝑜𝑠𝜃 + ℓ(𝜓̈ + 𝜃̈ )] (3)

Isolate {2} :

• List of external actions :

−𝑚2 𝑔𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
0,1,3
▪ Weight: {ℱ𝑤𝑒𝑖𝑔ℎ𝑡 } = { }
⃗0 𝑂
2
▪ Action of 0 at point I:
𝑋 ⃗⃗⃗⃗⃗⃗
𝑥 + 𝑌02 ⃗⃗⃗⃗
𝑦1 + 𝑍02 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
{ℱ02 } = { 02 1,2 0,1,3
}
⃗0 𝐼
▪ Action of 1
⃗⃗⃗
𝐹
▪ Action of the spring {ℱ12 } = { 𝑠 }
⃗ 𝑂
0 2
• Equation (4) : Fundamental law of dynamics, equation of sum
along 𝑥
⃗⃗⃗⃗⃗⃗
1,2

Σ𝐹 𝑥 = ⃗⃗⃗⃗
⃗⃗⃗⃗⃗⃗⃗ . ⃗⃗⃗⃗⃗⃗
𝑒𝑥𝑡 Σ0 . ⃗⃗⃗⃗⃗⃗
1,2 𝑥 2 1,2
⃗⃗⃗⃗⃗⃗⃗
Σ𝐹 𝑒𝑥𝑡 . ⃗⃗⃗⃗⃗⃗
𝑥1,2 = 𝑋02 + 𝐹𝑠 (force of the spring is in the direction
of the joint)
Compute the dynamic sum: center of mass of 𝑆2 is 𝑂2
⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗ = 𝑚 ⃗⃗⃗⃗
Σ0 . 𝑥 Γ 0 (𝑂 ). ⃗⃗⃗⃗⃗⃗
𝑥
2 1,2 2 2 2 1,2
0 0
⃗⃗⃗⃗0 (𝑂 ) = 𝑑2 𝑑2
With Γ 2 2 (𝑂𝑂 ⃗⃗⃗⃗⃗⃗⃗⃗1 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗⃗⃗⃗2 ) = 2 (𝑂𝑂 𝑂1 𝑂1∗ + ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑂1∗ 𝑂2 )
𝑑𝑡 2 𝑑𝑡
0
𝑑2 𝑑0
= 𝑑𝑡 2 (𝑧𝑧⃗⃗⃗⃗⃗⃗
0,1 + 𝑑𝑥 ⃗⃗⃗⃗1 ) = 𝑑𝑡 ((𝑑 + 𝑥)𝜓̇⃗⃗⃗⃗
⃗⃗⃗⃗1 + 𝑥𝑥 𝑦1 + 𝑥̇ ⃗⃗⃗⃗
𝑥1 )
= ((𝑑 + 𝑥)𝜓̈ + 2𝑥̇ 𝜓̇) ⃗⃗⃗⃗
𝑦1 + (𝑥̈ − (𝑑 + 𝑥)𝜓̇ 2 )𝑥
⃗⃗⃗⃗1
𝑋02 + 𝐹𝑠 = 𝑚2 (𝑥̈ − (𝑑 + 𝑥)𝜓̇ 2 ) (4)

• Equation (5) : Fundamental law of dynamics, equation of moment about point 𝑂2 along ⃗⃗⃗⃗⃗⃗
𝑥1,2

⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗0 (𝑂 ). 𝑥
Σ𝑀 𝑒𝑥𝑡 (𝑂2 ). ⃗⃗⃗⃗⃗⃗
𝑥1,2 = 𝛿 2 2 ⃗⃗⃗⃗⃗⃗
1,2

⃗⃗⃗⃗⃗⃗⃗⃗⃗
With Σ𝑀 𝑥1,2 = ⃗⃗⃗⃗⃗⃗⃗
𝑒𝑥𝑡 (𝑂2 ). ⃗⃗⃗⃗⃗⃗ 𝑀02 (𝑂2 ). 𝑥 ⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗ 𝑥1,2
1,2 = (𝑀02 (𝐼) + 𝑂2 𝐼 ∧ 𝐹02 ). ⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗⃗
⃗ + 𝑅𝑧⃗⃗⃗⃗⃗⃗
= (0 0,1 ∧ (𝑋02 ⃗⃗⃗⃗⃗⃗
𝑥1,2 + 𝑌02 ⃗⃗⃗⃗
𝑦1 + 𝑍02 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
0,1,3 )) . 𝑥
⃗⃗⃗⃗⃗⃗
1,2
= 𝑅(𝑋02 ⃗⃗⃗⃗𝑦1 − 𝑌02 ⃗⃗⃗⃗ 𝑥1 ). 𝑥
⃗⃗⃗⃗⃗⃗
1,2 = −𝑅𝑌02
Compute the dynamic moment: 𝑂2 is the mass center of 𝑆2 , therefore,
⃗⃗⃗⃗0 (𝑂 ). 𝑥 𝑑 0 ⃗⃗⃗⃗0
𝛿 2 2 ⃗⃗⃗⃗⃗⃗
1,2 = (𝜇2 (𝑂2 )) . ⃗⃗⃗⃗⃗⃗
𝑥1,2
𝑑𝑡
With ⃗⃗⃗⃗
𝜇20 (𝑂2 ) = 𝐼 (𝑆2 2
⃗⃗⃗⃗0
̅ , 𝑂 )Ω
2
 𝐴2 0 0 𝜙̇
= [0 𝐵2 0 ] (0)
0 0 𝐵2 1 𝜓̇
1
= 𝐴2 𝜙̇⃗⃗⃗⃗ 𝑥1 + 𝐵2 𝜓̇⃗⃗⃗
𝑧1
⃗⃗⃗⃗0 (𝑂 ). ⃗⃗⃗⃗⃗⃗
Finally: 𝛿 ̈ 𝑥1,2 + 𝐴2 𝜙̇𝜓̇⃗⃗⃗⃗
𝑦1 + 𝐵2 𝜓̈⃗⃗⃗ ̈
2 2 𝑥1,2 = (𝐴2 𝜙 ⃗⃗⃗⃗⃗⃗ 𝑧1 ). 𝑥
⃗⃗⃗⃗⃗⃗
1,2 = 𝐴2 𝜙
Equation (5) then reads:
−𝑅𝑌02 = 𝐴2 𝜙̈ (5)

Isolate {1+2+3} :

Why do we
need this
ball?

• List of external actions :

−𝑚1 𝑔𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
0,1,3
▪ Weight of 1: {ℱ𝑤𝑒𝑖𝑔ℎ𝑡1 } = { }
⃗
0 𝑂
1
−𝑚2 𝑔𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
0,1,3
▪ Weight of 2: {ℱ𝑤𝑒𝑖𝑔ℎ𝑡2 } = { }
⃗0 𝑂 2
−𝑚3 𝑔𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
0,1,3
▪ Weight of 3: {ℱ𝑤𝑒𝑖𝑔ℎ𝑡3 } = { }
⃗0 𝐺 3
𝑋 ⃗⃗⃗⃗⃗⃗
𝑥 + 𝑌02 ⃗⃗⃗⃗
𝑦1 + 𝑍02 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
▪ Action of 0→2 at point I : {ℱ02 } = { 02 1,2 0,1,3
}
⃗0 𝐼
▪ Action of 0→1 at point 𝑂1
⃗
0
▪ Action of the motor : {ℱ𝑚𝑜𝑡𝑜𝑟 } = { }
𝐶𝑚 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑧0,1,3 ∀ 𝑝𝑜𝑖𝑛𝑡

• Equation (6): Fundamental law of dynamics, sum along 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗ 0,1,3

⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
Σ𝐹 . 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗ = Σ 0
. 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑒𝑥𝑡 0,1,3 1+2+3 0,1,3
⃗⃗⃗⃗⃗⃗⃗
With Σ𝐹 𝑒𝑥𝑡 . 𝑧 0,1,3 = 𝑍02 − (𝑚1 + 𝑚2 + 𝑚3 )𝑔
⃗⃗⃗⃗⃗⃗⃗⃗⃗
 And ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
0
Σ1+2+3 . 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗0 ⃗⃗⃗⃗0 ⃗⃗⃗⃗0 ⃗⃗⃗⃗⃗⃗⃗⃗⃗ = ⃗0 because all accelerations are along
0,1,3 = (Σ1 + Σ2 + Σ3 ). 𝑧 0,1,3
(𝑥
⃗⃗⃗⃗1 , ⃗⃗⃗⃗
𝑦1 ) since z=ct (equation (1)).
In the end :
𝑍02 = (𝑚1 + 𝑚2 + 𝑚3 )𝑔 (6)

• Equation (7): Fundamental law of dynamics, moment about 𝑂1 along 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗ 0,1,3
⃗⃗⃗⃗⃗⃗⃗⃗⃗ (𝑂 ). ⃗⃗⃗⃗⃗⃗⃗⃗⃗
Σ𝑀 𝑧 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
=𝛿 0 (𝑂 ). 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑒𝑥𝑡 1 0,1,3 1+2+3 1 0,1,3
With Σ𝑀 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑒𝑥𝑡 (𝑂1 ). 𝑧 ⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗
0,1,3 = 𝑀02 (𝑂1 ). 𝑧 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
0,1,3 + 𝐶𝑚 (weight forces are along ⃗⃗⃗
𝑧0 so their moment is
perpendicular)
⃗⃗⃗⃗⃗⃗⃗
And 𝑀 02 (𝑂1 ). 𝑧
⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗⃗⃗
0,1,3 = (𝑀02 (𝐼) + 𝑂1 𝐼 ∧ 𝐹02 ). 𝑧
⃗⃗⃗⃗⃗⃗⃗⃗⃗ 0,1,3

= (0 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗ + (𝑂 ∗ ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
∗ ⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗⃗⃗
1 𝑂1 + 𝑂1 𝑂2 + 𝑂2 𝐼 ) ∧ 𝐹02 ) . 𝑧 0,1,3

= (((𝑑 + 𝑥)𝑥
⃗⃗⃗⃗⃗⃗
1,2 − 𝑅𝑧
⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗⃗⃗
0,1 ) ∧ 𝐹02 ) . 𝑧0,1,3

= ((𝑑 + 𝑥)𝑥
⃗⃗⃗⃗⃗⃗
1,2 ∧ (𝑋02 ⃗⃗⃗⃗⃗⃗
𝑥1,2 + 𝑌02 ⃗⃗⃗⃗
𝑦1 + 𝑍02 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
0,1,3 )) . 𝑧 0,1,3 = (𝑑 + 𝑥)𝑌02
⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗⃗⃗⃗⃗
Therefore : Σ𝑀 𝑒𝑥𝑡 (𝑂1 ). 𝑧 0,1,3 = (𝑑 + 𝑥)𝑌02 + 𝐶𝑚
⃗⃗⃗⃗⃗⃗⃗⃗⃗

Compute the dynamic moment:

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
0 ⃗⃗⃗⃗0 ⃗⃗⃗⃗0 ⃗⃗⃗⃗0
𝛿 1+2+3 (𝑂1 ). 𝑧 0,1,3 = (𝛿1 (𝑂1 ) + 𝛿2 (𝑂1 ) + 𝛿3 (𝑂1 )) . ⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗⃗⃗⃗⃗ 𝑧0,1,3

▪ ⃗⃗⃗⃗0 (𝑂 ) = 𝐶 𝜓̈⃗⃗⃗ ⃗⃗⃗⃗0 ̈

𝛿 1 1 1 𝑧0 , hence: 𝛿1 (𝑂1 ). 𝑧
⃗⃗⃗⃗⃗⃗⃗⃗⃗
0,1,3 = 𝐶1 𝜓

▪ ⃗⃗⃗⃗0 (𝑂 ) = 𝐴 𝜙̈⃗⃗⃗⃗⃗⃗
𝛿 ̇ ̇ 𝑦1 + 𝐵2 𝜓̈⃗⃗⃗
2 2 2 𝑥1,2 + 𝐴2 𝜙 𝜓⃗⃗⃗⃗ 𝑧1
⃗⃗⃗⃗0 (𝑂 ). 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗ = 𝛿
Shifting: 𝛿 ⃗⃗⃗⃗0 (𝑂 ). 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗ + (𝑂
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗0 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
2 1 0.1,3 2 2 0.1.3 1 𝑂2 ∧ Σ2 ) . 𝑧 0.1.3

ere ⃗⃗⃗⃗0 (𝑂 ) = 𝐵 𝜓̈ + [(𝑑 + 𝑥)𝑥

fore 𝛿 ⃗⃗⃗⃗1 ∧ 𝑚2 ⃗⃗⃗⃗
Γ20 (𝑂2 )] . 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
2 1 2 0.1.3
⃗⃗⃗⃗0 (𝑂 ) = ((𝑑 + 𝑥)𝜓̈ + 2𝑥̇ 𝜓̇) ⃗⃗⃗⃗
With Γ 𝑦1 + (𝑥̈ − (𝑑 + 𝑥)𝜓̇ 2 )𝑥
⃗⃗⃗⃗1
2 2
⃗⃗⃗⃗0 (𝑂 ). 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗ = 𝐵 𝜓̈ + [𝑚 (𝑑 + 𝑥) ((𝑑 + 𝑥)𝜓̈ + 2𝑥̇ 𝜓̇) ⃗⃗⃗
Hence, 𝛿 𝑧1 ] . 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
2 1 0.1,3 2 2 0.1.3

Hence, 𝛿 ⃗⃗⃗⃗0 (𝑂 ). 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗ = [𝐵 + 𝑚 (𝑑 + 𝑥)2 ]𝜓̈ + 2𝑚 (𝑑 + 𝑥)𝑥̇ 𝜓̇

2 1 0.1,3 2 2 2

▪ ⃗⃗⃗⃗
𝛿 0 (𝑂 )
= ℓ𝑚 [ 𝑑𝜓̇ 𝑠𝑖𝑛𝜃 + 𝑑 𝜓̈𝑐𝑜𝑠𝜃 + ℓ(𝜓̈ + 𝜃̈ )]𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
2
3 3 3 0,1,3
⃗⃗⃗⃗0 (𝑂 ) = 𝛿
⃗⃗⃗⃗0 (𝑂 ) + 𝑂
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗0 ⃗⃗⃗⃗0 ⃗⃗⃗⃗0
Shifting: 𝛿 3 1 3 3 1 𝑂3 ∧ Σ3 = 𝛿3 (𝑂3 ) + (𝑑𝑥 ⃗⃗⃗⃗1 + ℎ𝑧⃗⃗⃗⃗⃗⃗
1,3 ) ∧ Σ3
2
With : ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
Γ(𝐺3 ⁄0) = −𝑑 𝜓̇ 2 ⃗⃗⃗⃗ 𝑥1 + 𝑑 𝜓̈ ⃗⃗⃗⃗𝑦1 − ℓ(𝜃̇ + 𝜓̇) ⃗⃗⃗⃗
𝑥3 + ℓ(𝜓̈ + 𝜃̈ )𝑦 ⃗⃗⃗⃗3

In the end :

⃗⃗⃗⃗0 (𝑂 ). 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗ = 𝑚 {(𝑑2 + ℓ2 + 2𝑑ℓ𝑐𝑜𝑠𝜃)𝜓̈ + (ℓ2 + 𝑑ℓ𝑐𝑜𝑠𝜃)𝜃̈ − 𝑑ℓ(𝜃̇ + 𝜓̇)2 𝑠𝑖𝑛𝜃 + 𝑑ℓ𝜓̇ 2 sin 𝜃}
𝛿 3 1 0.1,3 3

Finally, equation (7) of moment along z about point 𝑂1 reads:

(𝑑 + 𝑥)𝑌02 + 𝐶𝑚 =
2
𝑚3 {(𝑑 + ℓ + 2𝑑ℓ𝑐𝑜𝑠𝜃)𝜓̈ + (ℓ2 + 𝑑ℓ𝑐𝑜𝑠𝜃)𝜃̈ − 𝑑ℓ(𝜃̇ + 𝜓̇) 𝑠𝑖𝑛𝜃 + 𝑑ℓ𝜓̇ 2 sin 𝜃}
2 2 (7)
+ [𝐵2 + 𝑚2 (𝑑 + 𝑥)2 ]𝜓̈ + 2𝑚2 (𝑑 + 𝑥)𝑥̇ 𝜓̇ + 𝐶1 𝜓̈
Other equations written so far:

(𝑑 + 𝑥)𝜓̇ + 𝑅𝜙̇ = 0 (2) 𝐶𝑚

′
= ℓ𝑚3 [ 𝑑𝜓̇ 2 𝑠𝑖𝑛𝜃 + 𝑑 𝜓̈𝑐𝑜𝑠𝜃 + ℓ(𝜓̈ + 𝜃̈ )] (3)
𝑋02 + 𝐹𝑠 = 𝑚2 (𝑥̈ − (𝑑 + 𝑥)𝜓̇ 2 ) (4) −𝑅𝑌02 = 𝐴2 𝜙̈ (5) 𝑍02 = (𝑚1 + 𝑚2 + 𝑚3 )𝑔 (6)
Inject (5) in (7) to eliminate 𝑌02 :
𝐴2
𝜙̈ + 𝐶𝑚 =
−(𝑑 + 𝑥)
𝑅 (7’)
2
𝑚3 {(𝑑2 + ℓ2 + 2𝑑ℓ𝑐𝑜𝑠𝜃)𝜓̈ + (ℓ2 + 𝑑ℓ𝑐𝑜𝑠𝜃)𝜃̈ − 𝑑ℓ(𝜃̇ + 𝜓̇) 𝑠𝑖𝑛𝜃 + 𝑑ℓ𝜓̇ 2 sin 𝜃}
+ [𝐵2 + 𝑚2 (𝑑 + 𝑥)2 ]𝜓̈ + 2𝑚2 (𝑑 + 𝑥)𝑥̇ 𝜓̇ + 𝐶1 𝜓̈

Constitutive laws

Using the constitutive law of the spring 𝐹𝑠 = −𝑘𝑥 (8) in equation (4), one gets :

𝑋02 − 𝑘𝑥 = 𝑚2 (𝑥̈ − (𝑑 + 𝑥)𝜓̇ 2 ) (4’)

Write the drifting law (9) : 𝑋02 = −𝐷𝛿
where D is the drifting parameter due to the tyre transverse rigidity and  the drifting angle:
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉(𝐼,⁄0).𝑥 ⃗⃗⃗⃗1
𝛿 = arctan ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ (velocity of the geometric point I which is aligned with 𝑂2 ).
𝑉(𝐼,⁄0).𝑦
⃗⃗⃗⃗1
⃗⃗⃗⃗0 (𝐼) = 𝑉
𝑉 ⃗⃗⃗⃗0 (𝑂 ) = 𝑥̇ ⃗⃗⃗⃗
𝑥1 + (𝑑 + 𝑥)𝜓̇⃗⃗⃗⃗
𝑦1
1 1 2
𝑥̇
Therefore: 𝑋02 = −𝐷𝑎𝑟𝑐𝑡𝑎𝑛 ((𝑑+𝑥)𝜓̇) (9)
Equation (4’) becomes:
𝑥̇
−𝐷𝑎𝑟𝑐𝑡𝑎𝑛 ((𝑑+𝑥)𝜓̇) − 𝑘𝑥 = 𝑚2 (𝑥̈ − (𝑑 + 𝑥)𝜓̇ 2 ) (4’’)

Equations of motion

For parameters 𝑥, 𝜓, 𝜙 𝑎𝑛𝑑 𝜃, the 4 equations giving their evolution are (2), (3), (4’’) and (7’).
 3. Study of the stationary position :

𝑥 = 𝑐𝑡𝑒 = 𝑥 ∗ 𝜓̇ = 𝑐𝑡𝑒 = 𝜔

𝜙̇ = 𝑐𝑡 = Ω 𝜃̇ = 𝑐𝑡 = 𝜃̇ ∗
a. Determine the torques applied by the motors and 𝑥 ∗ for these conditions.

2
Determine 𝐶𝑚 : (7’) ⇒ 𝐶𝑚 = 𝑚3 {−𝑑ℓ(𝜃 ∗̇ + 𝜔) 𝑠𝑖𝑛𝜃 + 𝑑ℓ𝜔2 sin 𝜃}
2
⇒ 𝐶𝑚 = 𝑚3 𝑠𝑖𝑛𝜃 {−𝑑ℓ𝜃 ∗̇ − 2𝑑ℓ𝜃 ∗̇ 𝜔}
⇒ 𝐶𝑚 = −𝑚3 𝑑ℓ𝑠𝑖𝑛𝜃𝜃 ∗̇ {𝜃 ∗̇ + 2𝜔} (7*)

′ ′
Determine 𝐶𝑚 : (3) ⇒ 𝐶𝑚 = ℓ𝑚3 𝑑𝜔2 𝑠𝑖𝑛𝜃 (3*)

Determine 𝑥 ∗ : (4’’) ⇒ 𝑘𝑥 ∗ = 𝑚2 (𝑑 + 𝑥 ∗ )𝜔2

⇒ (𝑘 − 𝑚2 𝜔2 )𝑥 ∗ = 𝑚2 𝜔2 𝑑
𝑚2 𝜔2 𝑑
⇒ 𝑥∗ =
𝑘 − 𝑚2 𝜔 2

b. Stability condition for a small axial motion 𝑥̅ of the wheel near the stationary
position 𝑥 ∗ . assuming 𝜓̇ = 𝑐𝑡𝑒 = 𝜔 and 𝑥 = 𝑥 ∗ + 𝑥̅ with 𝑥̅ , 𝑥̅̇ and 𝑥̅̈ small.
i. Write the linearized equations for the small motion of the wheel

Using the small motion expression for x, equation (4”) reads:

𝑥̅̇
−𝐷𝑎𝑟𝑐𝑡𝑎𝑛 ( ) − 𝑘(𝑥 ∗ + 𝑥̅ ) = 𝑚2 (𝑥̅̈ − (𝑑 + 𝑥 ∗ + 𝑥̅ )𝜔2 )
(𝑑 + 𝑥 ∗ + 𝑥̅ )𝜔
𝑥̅̇ 𝑥̅̇
The linearized expression for the arctan is : 𝑎𝑟𝑐𝑡𝑎𝑛 ((𝑑+𝑥∗ +𝑥̅ )𝜔) ≃ (𝑑+𝑥 ∗ +𝑥̅ )𝜔 which can be linearized
𝑥̅̇ 𝑥̅ 𝑥̅̇
into (𝑑+𝑥 ∗ )𝜔 (1 − 𝑑+𝑥 ∗ ) ≃ (𝑑+𝑥 ∗ )𝜔

𝑥̅̇
Equation (4”) then becomes : −𝐷 (𝑑+𝑥∗ )𝜔 − 𝑘(𝑥 ∗ + 𝑥̅ ) = 𝑚2 (𝑥̅̈ − (𝑑 + 𝑥 ∗ + 𝑥̅ )𝜔2 )

𝐷
⇒ 𝑚2 𝑥̅̈ + 𝑥̅̇ + (𝑘 − 𝑚2 𝜔2 )𝑥̅ = 𝑚2 (𝑑 + 𝑥 ∗ )𝜔2 − 𝑘𝑥 ∗
(𝑑 + 𝑥 ∗ )𝜔
Inject the expression of 𝑥 ∗ found at question 3.a) :

𝐷(𝑘 − 𝑚2 𝜔2 ) 𝑘
𝑥̅̈ + 𝑥̅̇ + ( − 𝜔2 ) 𝑥̅ = 0
𝑚2 𝑘𝑑𝜔 𝑚2
 ii. Express the stability condition : for a second order differential equation with
constant coefficients, all coefficients must have the same sign.

𝑘
Stability is met if 𝑘 − 𝑚2 𝜔2 > 0. In terms of frequency, the condition reads : 𝜔 < √
𝑚2

c. Determine the actions in joint 𝑆1 /𝑆3 for that stationary position.

Actions in joint 1/3 were not written since the joint was not part of the minimal overview. To
determine {𝜏13 }, isolate S3 subjected to :

−𝑚3 𝑔𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
0.1.3 −𝑚3 𝑔𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
0.1.3
- Its own weight : {𝜏𝑤𝑒𝑖𝑔ℎ𝑡 } = { } = { }
⃗0 𝐺 𝑚3 𝑔ℓ𝑦 ⃗⃗⃗⃗
3 𝑂
3 3
𝑋 ⃗⃗⃗⃗
𝑥 + 𝑌13 ⃗⃗⃗⃗
𝑦3 + 𝑍13 ⃗⃗⃗⃗⃗⃗
𝑧1.3
- Action in joint 1/3 : {𝜏13 } = { 13 3 }
𝐿13 ⃗⃗⃗⃗
𝑥3 + 𝑀13 ⃗⃗⃗⃗
𝑦3 𝑂 3
(5 equations to write in order to determine these 5 unknowns)
⃗
- Action of the motor : {𝜏𝑚𝑜𝑡𝑜𝑟 } = { ′ 0 }
𝐶𝑚 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑧0.1.3 ∀𝑝𝑡

Dynamic sum and moment are :

⃗⃗⃗⃗⃗0 = −𝑚 [𝑑𝜔2 𝑐𝑜𝑠𝜃 + ℓ(𝜃̇ ∗ + 𝜔)2 ] ⃗⃗⃗⃗

𝐷 𝑥3 + 𝑚3 𝑑𝜔2 sin 𝜃 ⃗⃗⃗⃗
𝑦3
3 3

⃗⃗⃗⃗3 (𝑂 ) = 𝑚 𝑙𝑑𝑠𝑖𝑛𝜃𝑧⃗⃗⃗⃗⃗⃗
𝛿 0 3 3 1,3

Applying the fundamental law of dynamics, and writing the 5 equations corresponding to the
unknowns of {𝜏13 }, one gets :

2
𝑋13 = −𝑚3 [𝑑𝜔2 𝑐𝑜𝑠𝜃 + ℓ(𝜃̇ ∗ + 𝜔) ]
𝑌13 = 𝑚3 𝑑𝜔2 sin 𝜃
𝑍13 = 𝑚3 𝑔
𝐿13 = 0
𝑀13 = −𝑚3 𝑔 \𝑠𝑐𝑟𝑖𝑝𝑡𝑙
 4. Apply the Kinetic Energy Theorem to the whole system.
- Compute the Galilean power of all forces
- Compute the kinetic energy
- Apply the Kinetic Energy Theorem for the stationary position

The Kinetic energy theorem reads:

𝑔
𝑔 𝑑𝑇𝑠
𝑃𝑖𝑛𝑡 + 𝑃𝑒𝑥𝑡 = (KET)
𝑑𝑡

𝐹𝑒𝑥𝑡→𝑆 . ⃗⃗⃗⃗⃗ 𝑀𝑒𝑥𝑡→𝑆 (𝑃). ⃗⃗⃗⃗⃗

𝑔 𝑔 𝑔 𝑝
With 𝑃𝑒𝑥𝑡→𝑆 = {ℱ𝑒𝑥𝑡→𝑆 } ⊗ {𝒱𝑠 } = ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ 𝑉𝑠 (𝑃) + ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ Ω𝑠

𝐹𝑖→𝑗 . ⃗⃗⃗⃗
And 𝑃𝑖𝑛𝑡 = {ℱ𝑖→𝑗 } ⊗ {𝒱𝑗𝑖 } = ⃗⃗⃗⃗⃗⃗⃗ 𝑀𝑖→𝑗 (𝑃). ⃗⃗⃗⃗
𝑉𝑗 𝑖 (𝑃) + ⃗⃗⃗⃗⃗⃗⃗⃗⃗ Ω𝑗𝑖
2
And 𝑇𝑠
𝑔
=
1 𝑔
{𝐾𝑠 } ⊗
𝑔
{𝒱𝑠 } =
1 ⃗⃗⃗⃗⃗𝑔 (𝐺 )) + [𝐼 (𝐺
[𝑚𝑠 (𝑉 ⃗⃗⃗⃗⃗𝑔 ] . ⃗⃗⃗⃗⃗
̅ 𝑆 , 𝑆)Ω 𝑔
Ω𝑆 ] (expression at the mass
2 2 𝑆 𝑠 𝑠

center, also works at a point fixed with respect to 𝑅𝑔 )

Galilean power of all forces : Isolate {S1+S2+S3}

External forces:

𝑃𝑒𝑥𝑡 = 𝑃𝑤𝑒𝑖𝑔ℎ𝑡 + 𝑃0→1 + 𝑃0→2 + 𝑃𝑚𝑜𝑡𝑜𝑟→1

• Since all motions happen in a plane perpendicular to its direction : 𝑃𝑤𝑒𝑖𝑔ℎ𝑡 = 0

• Since the joint is perfect: 𝑃0→1 = 0
• 𝑃 =𝐹 ⃗⃗⃗⃗0 (𝐼) (𝑓𝑜𝑟𝑐𝑒 𝑤𝑟𝑒𝑛𝑐ℎ 𝑖𝑠 𝑎 𝑠𝑙𝑖𝑑𝑖𝑛𝑔 𝑣𝑒𝑐𝑡𝑜𝑟 𝑎𝑡 𝑝𝑜𝑖𝑛𝑡 𝐼)
⃗⃗⃗⃗⃗⃗ . 𝑉
0→2 0,2 2

With ⃗⃗⃗⃗0 (𝐼) = 𝑥̇ ⃗⃗⃗⃗

-𝑉 𝑥1 + [(𝑑 + 𝑥)𝜓̇ + 𝑅𝜙̇]𝑦
⃗⃗⃗⃗1
2

- ⃗⃗⃗⃗⃗⃗
𝐹0,2 = 𝑋02 ⃗⃗⃗⃗⃗⃗
𝑥1,2 + 𝑌02 ⃗⃗⃗⃗
𝑦1 + 𝑍02 𝑧⃗⃗⃗⃗⃗⃗⃗⃗⃗
0,1,3

Therefore 𝑃0→2 = 𝑋02 𝑥̇ + 𝑌02 [(𝑑 + 𝑥)𝜓̇ + 𝑅𝜙̇]

• 𝑀𝑚𝑜𝑡𝑜𝑟 (∀𝑝𝑡). ⃗⃗⃗⃗

𝑃𝑚𝑜𝑡𝑜𝑟→1 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ Ω10 = 𝐶𝑚 𝜓̇ (𝑓𝑜𝑟𝑐𝑒 𝑤𝑟𝑒𝑛𝑐ℎ 𝑖𝑠 𝑎 𝑡𝑜𝑟𝑞𝑢𝑒)

Finally,

𝑃𝑒𝑥𝑡 = 𝑋02 𝑥̇ + 𝑌02 [(𝑑 + 𝑥)𝜓̇ + 𝑅𝜙̇] + 𝐶𝑚 𝜓̇

Internal forces:
′
𝑃𝑖𝑛𝑡 = 𝑃12 + 𝑃13 + 𝑃𝑠𝑝𝑟𝑖𝑛𝑔 + 𝑃𝑚𝑜𝑡𝑜𝑟

Since joints 12 and 13 are perfect: 𝑃12 = 𝑃13 = 0

𝑑𝑙
For the spring’s power’s expression is: 𝑃𝑠𝑝𝑟𝑖𝑛𝑔 = −𝑘(𝑙 − 𝑙𝑜 ) 𝑑𝑡 = kxẋ

′ ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
′ ⃗⃗⃗⃗1 ′ ̇
The motor applies a torque between 1 and 3 : 𝑃𝑚𝑜𝑡𝑜𝑟 =𝑀 𝑚𝑜𝑡𝑜𝑟1→3 (∀𝑝𝑡). Ω3 = 𝐶𝑚 𝜃

′ ̇
Therefore : 𝑃𝑖𝑛𝑡 = 𝐶𝑚 𝜃 − kxẋ
Kinetic Energy of {S1+S2+S3}

To compute the total kinetic energy, add the kinetic energy of each solid:

𝑇𝑠0 = 𝑇10 + 𝑇20 + 𝑇30

1 ̅
- 1/0 is a rotational motion: 𝑇10 = 2 [𝐼 (𝐺 ⃗⃗⃗⃗⃗𝑔 ⃗⃗⃗⃗⃗𝑔 1 ̇2
𝑆 , 𝑆)Ω𝑠 ] . Ω𝑆 = 2 𝐶1 𝜓

2
1 ⃗⃗⃗⃗0 (𝑂 )) + [𝐼 (𝑂 ⃗⃗⃗⃗0 ] . ⃗⃗⃗⃗ 1 2 ̇2 1
- 𝑇20 = 2 (𝑚2 (𝑉 2 2
̅ 2 , 𝑆2 )Ω 0 2 ̇2 ̇2
2 Ω2 ) = 2 𝑚2 [𝑥̇ + (𝑑 + 𝑥) 𝜓 ] + 2 (𝐴2 𝜙 + 𝐵2 𝜓 )

2
1 ⃗⃗⃗⃗0 (𝐺 ))
- 3 is a point mass so 𝑇30 = 2 𝑚3 (𝑉 3 3

1 2
⃗ 30 (𝐺3 ) = 𝑑𝜓̇⃗⃗⃗⃗
𝑉 𝑦1 + ℓ(𝜓̇ + 𝜃̇ )𝑦
⃗⃗⃗⃗3 so 𝑇30 = 2 𝑚3 (𝑑2 𝜓̇2 + ℓ2 (𝜓̇ + 𝜃̇ ) + 2𝑑ℓ𝜓̇(𝜓̇ + 𝜃̇ )𝑐𝑜𝑠𝜃)

Add all contributions:

1 1 1
⇒ 𝑇𝑠0 = [𝐶1 +𝐵2 + 𝑚2 (𝑑 + 𝑥)2 + 𝑚3 (𝑑2 + ℓ2 + 2𝑑ℓ𝑐𝑜𝑠𝜃)]𝜓̇ 2 + 𝑚2 𝑥̇ 2 + 𝐴2 𝜙̇ 2
2 2 2
+ 𝑚3 ℓ(ℓ + 𝑑𝑐𝑜𝑠𝜃)𝜃̇ 𝜓̇

Theorem for the “stationary state”

In a general case, the time derivative of the kinetic energy must be computed and written equal to
the power of external and internal forces. In the steady-state case,
1 1
𝑇𝑠0 = [𝐶1 +𝐵2 + 𝑚2 (𝑑 + 𝑥)2 + 𝑚3 (𝑑2 + ℓ2 + 2𝑑ℓ𝑐𝑜𝑠𝜃)]𝜔2 + 𝐴2 Ω2 + 𝑚3 ℓ(ℓ + 𝑑𝑐𝑜𝑠𝜃)𝜃 ∗̇ 𝜔
2 2
Time derivative is:

𝑑𝑇𝑠0 2
= −𝑚3 𝑑ℓ𝑠𝑖𝑛𝜃 (𝜃̇ ∗ 𝜔2 + 𝜃 ∗̇ 𝜔)
𝑑𝑡
Equations (5) and (9) show that in the stationary state: 𝑋02 = 0 and 𝑌02 = 0. Hence, the Kinetic
Energy Theorem reads :

′ ∗̇ 2
𝐶𝑚 𝜃 + 𝐶𝑚 𝜔 = −𝑚3 𝑑ℓ𝑠𝑖𝑛𝜃 (𝜃̇ ∗ 𝜔2 + 𝜃 ∗̇ 𝜔) (KET)

Equations (7*) and (3*) confirm this result.