(AE352) Hw04 Solution

AE 352 HW 4 Solution
Homework 4 Solution
Key:
Black text
= Original problem statement
Blue text
= Solution and remarks
Final solutions appear in boxes
Let us define frame 0 as an inertial frame fixed in space, and frame 3 as a frame fixed to the center of
mass of our body. Start with the definition for the moment of inertia matrix.
0 )
0
0 = (
0 3
0 3
0
= (30 +
3 ) (3 + 3 )
3 (0 ) ) (0 + 0
3 (0 ) )
= (30 + 30
3
3
3
3
0 + 0
3 ) ( 0 ) ] (
3 ( 0 ) )
= [(30 ) + 30 (
3
3
3
3
0 + 0 (
3 ) ( 0 )
3 ) ( 0 ) 0
3 ( 0 ) + 0 (
3 (0 ) ]
= [(30 ) 30 + (30 ) 30
3
3
3
3
3
3
3
3
0 + 0 (
3 ) ( 0 )
3 )
3 ( 0 ) + 0 (
3 (0 ) ]
= [(30 ) 30 + (30 ) 30
3
3
3
3
3
3
0 + 0 (
3 ) ( 0 )
3 )
3 ( 0 ) + 0 (
3 ( 0 )
= (30 ) 30 + (30 ) 30
3
3
3
3
3
3
Take out values from the integrals that do not vary with dm. In general these values can vary with time, so
they are not constant, but will not vary over the bounds of the integral.
0 + 0 (
3 ) ( 0 )
3 )
3 ( 0 ) + 0 (
3 ( 0 )
= (30 ) 30 + (30 ) 30
3
3
3
3
3
3
3
Recognize that 3 =
is the zero vector because the center of mass in frame 3 is the origin.
3 )
3 ( 0 )
= (30 ) 30 + 30 (
3
0 = (30 ) 30 + 30 3 (30 ) To make this general, we can substitute o with , and 3 with .
=
0
= (1)
0
= []=0 =
0
= []=0 =
0
[]=0
We could have also arrived at this answer by noting that for uniform density objects, the mass is equal to
density*volume, where in this case density = 1, and volume = abc.
Let us start by noting that = = for the object shown.

0
1
0
1
(1)
=

[]
0 0 0
1 2
1
=
[2 ]

0 0
=0
1
1 2
=
[2 ]
0 0
1 2

2
1
=
1 2
0
2
[ ]
1 2

2
1 1 2
=

2
1
2
[2 ]
0
/2
= [ /2 ]
/2
This result tells us exactly what we expected: the CM is located at the center of the box.
We notice that if we apply the definition for 1 , the moment of inertia matrix about the center of mass,
the limits in the integrals will all be from /2 to /2, where = , , . To make things easier for
ourselves, let us compute 0 and use the parallel axis theorem to find 1 .
0 )
0 = (
0 )
0 = (
0 )
0 (1)
0 = (
0
0 = [
= []
2 + 2
0 )
0 = [
(
]
0
2 + 2
]
2 + 2
0 )
0 is symmetric, so we only need to calculate 6 triple integrals, not 9.
Note that (
2 + 2
0 = [ "
0 0 0
"
"
1 3
+ 2
3
"
"
1 3
+ 2
3
1
2 2
4
=
0
"
1 3
+ 2
3
"
"
1 3
1
+ 3
3
3
=
"
[
]
2 + 2
1
2
2
2 + 2
+ 2
"
2
1
2
2
1 3
+ 2 ]
3
1
2
2
1 2

2
1 3
1
+ 3 ]
3
3
1
2 2
4
1 3
1
+ 3
3
3
"
"
1
2 2
4
1 2 2

4
1 3
1
+ 3 ]
3
3
Now apply parallel axis theorem, where 30 = because we let frame 0 be aligned with frame 1.
0
0 1
0
0
0 = (
1 ) 1 + 1 (1 )
0
0
1 = 0 (
1 ) 1
0
/2
0
/2
0
=
[
1
/2 /2
1 3
1
+ 3
3
3
1 2 2
1
=

4
1 2 2

[
4
1 3
1
+ 3
3
3
1 2 2
1
=

4
1 2 2
[ 4
/2
/2]
0
2 + 2
1
0
0
(1 ) 1 = 4 [
1
2 2
4
1 3
1
+ 3
3
3
1 2 2

4
1
2 2
4
1 3
1
+ 3
3
3
1 2 2

4
1
2 2
4
2
2
1 +
1 2 2
( ) [

4
4
1 3
1 3
+ ]
3
3
1
1 3
1
2 2
+ 3
4
4
4
1 2 2
1 2 2

4
4
1 3
1 3
1
+ ] [ 2 2
3
3
4
+ 2
2 + 2
]
2
+ 2
]
2 + 2
1
2 2
4
1 3
1
+ 3
4
4
1 2 2

4
1
2 2
4
1 2 2

4
1 3
1
+ 3 ]
4
4
Note that all the product of inertia terms cancel and we are left with a diagonal matrix.
3 + 3
12
1 =
[
3 + 3
12
3 + 3
]
12
If we recognize that = we get
1 =
2 + 2
12
0
2 + 2
12
0
2 + 2
12 ]
We note that since the box has uniform density, we can calculate the mass by multiplying density by total
volume. Additionally, since the shape is formed by cutting a cube out of a center and stacking it on one
corner, an equivalent object for mass calculations is a single rectangular prism with side lengths 3d, 3d,
and d.
=
= (1)(3)(3)()
= 93
To calculate the center of mass, we will divide the body into 2 objects: the bottom rectangular prism that
is missing its center, and the cube of side length d that had been stacked on top of it. We note that the
center of mass of the bottom object is at its center (since it is symmetric). Likewise, the center of mass of
the small cube is at its center. The mass of bottom object is 83 (since it is composed of 8 cubes), while
the mass of the small cube is 3 .
0
0
=1
where 0 is the location of the objects center of mass with respect to frame 0.
2
1
= 3 0
9
=1
4
3
2
2
2
124
4
1
1
3
3
= 3 ( )
+ (8 )
= 3
+ [124 ]
9
9
2
2
2
44
3
34
[2]
[ 2 ])
([ 2 ]
)
(
254
2
1 254
= 3
9
2
114
[ 2 ]
25
18
25
=
18
11
[ 18 ]
To calculate the moment of inertia of the entire object, let us divide it into 3 shapes: the cube of side
length d, the bottom rectangular prism that is 3d by 3d by d, and the cube hole in the middle of the
rectangular prism. When we calculate the moment of inertia of the hole, we will perform the
calculation as if there was material there. However, when we calculate the overall moment of inertia we
will subtract this value to indicate that we are removing a part of the moment of inertia.
Let the following frame numbers denote the frame at the CM of each object. Each frame is aligned with
frame 0.
Cube of side length d:
Frame 2
Rectangular prism that is 3d by 3d by d: Frame 3

Hole of side length d:
Frame 4
We will calculate the moment of inertia of each object about its CM using the result from problem 2.
Then we will apply the parallel axis theorem to get each objects moment of inertia in frame 0 so that
they all can be added. Finally, we will use the parallel axis theorem again to get the moment of inertia
about the overall CM (frame 1).
0
0
0
0 =
+

Summarizing
Cube:
=
5 /6
0
0
5
=[ 0
/6
0 ]
5
0
0
/6
20
/2
= [ /2 ]
3/2
7
Rectangular Prism:
= 9
(3)(3)3 +(3)(3) 3
15
12
(3)3 (3)+(3)(3) 3
12
(3)3 (3)+(3)(3)3
12
0
15
[ 0
0
5
3/2
30 = [3/2]
/2
0
27
5]
Hole:
=
5 /6
0
0
5
=[ 0
/6
0 ]
5
0
0
/6
40
3/2
= [3/2]
/2
0
2
= (20 ) 20 +
0
= [3/2
/2
3
3/2
0
/2
5 /6
0
0
/2
/2] + [ 0
5 /6
0 ]
5
0
0
0
/6
/2
0
3/2
/2 ] [ 3/2
0
0
/2
/2
55 /2
5 /4 35 /4
5 /6
0
0
5
5 ]+[
5
= [ 5 /4
5 /2 3 /4
0
/6
0 ]
5
5
5
5
3 /4 3 /4
/2
0
0
/6
85 /3
5 /4 35 /4
= [ 5 /4
85 /3 35 /4]
5
3 /4 35 /4 25 /3
3
0 0
0
= (3 ) 3 +
15
0
/2
3 /2
0
= 9 [
3/2 3/2
3/2
0
/2
3/2 ] [ /2
0
0
3/2 3/2
3/2
3/2] +
0
[ 0
15
2
5 /2 9 /4 3 /4
= 93 [92 /4 52 /2 32 /4] +
32 /4 32 /4 92 /2
[ 0
0
15
2
15
2
0
27
2
0
27
2
305
815 /4 275 /4
= [815 /4
305
275 /4]
275 /4 275 /4
545
0 )
0 + 3
0
= (
4
4
5 2 /2
= [9 2 /4
3 2 /4
9 2 /4
5 2 /2
3 2 /4
8 5 /3
= [9 5 /4
3 5 /4
9 5 /4
8 5 /3
3 5 /4
5 /6
3 2 /4
2
3 /4] + [ 0
9 2 /2
0
0
5 /6
0
0
0 ]
5
/6
3 5 /4
3 5 /4]
14 5 /3
We can now add moments of inertia since they are all in the same frame.
0
0
0
0 =
+

8/3
= 5 [1/4
3/4
30
0 = 5 [73/4
27/4
1/4
8/3
3/4
3/4
30
3/4] + 5 [81/4
2/3
27/4
73/4
30
27/4
81/4
30
27/4
27/4
8/3
27/4] 5 [9/4
54
3/4
9/4
8/3
3/4
3/4
3/4]
14/3
27/4
27/4]
50
Now we must transform 0 to 1 by applying the parallel axis theorem again.
0
0
1 = 0 (
1 ) 1
30
= 5 [73/4
27/4
73/4
30
27/4
27/4
0
27/4] 9 3 ( 2 ) [11/18
50
25/18
30
= 5 [73/4
27/4
73/4
30
27/4
27/4
9 5 121 + 625
27/4] 2 [ 625
18
50
275
30
= 5
73
4
27
{[ 4
73
4
30
27
4
27
4
1 746
27
[625
36
4
275
50 ]
11/18
0
25/18
625
121 + 625
275
25/18
0
25/18 ] [ 11/18
0
25/18
11/18
0
25/18
25/18
25/18]
0
275
275 ]
625 + 625
625
746
275
275
275]
1250
}
167/18 8/9
8/9
8/9
167/18
8/9 ]
= [
8/9
8/9
275/18
1
The spacecraft I will be using takes heavy inspiration from the ship used by the Borg in Star Trek TNG.
Because the spacecraft is a cube of side length 1, it complies with having a mass of 1 kg.
The moment of inertia of the cube can be calculated from the formula derived in problem 2. Substituting
a, b, and c with = 1
5 /6
0
0
1
5
=[ 0
/6
0 ]
5
0
0
/6
The goal with thruster placement will be to decouple rotational and translational motion so that the ship
can be controlled more easily. To accomplish this, I will mount thrusters on my spacecraft so that I can
command forces that act through the CM (for translations) as well as pure torques about CM (for
rotations). Due to the limited number of thrusters, pure torques will be applied by firing one thruster that
is offset from the CM at the same time as another thruster that opposes the first in force but acts through
the CM (see diagram). I will give both these thrusters a force of 0.25 N. Each time I want to start a
rotation I will therefore fire 2 thrusters simultaneously.
thruster
thruster
thruster
thruster
thruster
thruster
thruster
thruster
thruster
thruster
=
=
=
=
=
=
=
=
=
=
AddThruster(thruster,
[0.5;-0.33;0], [-0.25;0;0]);
[0;0;-0.5],
[0;0;0.25]);
[0.5;0.33;0], [-0.25;0;0]);
[0;0.33;-0.5], [0;0;0.25]);
[0.5;0;0],
[-0.25;0;0]);
[0;-0.33;-0.5],[0;0;0.25]);
[0.33;0;-0.5], [0;0;-0.25] );
[0;0;0.5],
[0;0;-0.25] );
[-0.33;0;-0.5],[0;0;-0.25]);
[-0.5;0;0],
[0.25;0;0]);
%1
%2
%3
%4
%5
%6
%7
%8
%9
%0
10
The image below represents my best attempt at getting to the goal. Clearly my piloting skills need some
work.
11

(AE352) Hw04 Solution

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AE 352 HW 4 Solution

Let us start by noting that = = for the object shown.

If we recognize that = we get

Rectangular prism that is 3d by 3d by d: Frame 3

Now we must transform 0 to 1 by applying the parallel axis theorem again.

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