Homework 3 Solution

Problem 1: A speed governor consists of a block of mass

m that slides within a smooth groove in a turntable that
rotates about its center point at angular speed . The
identical opposing springs, whose stiffness is k, are
precompressed. Consequently the springs maintain their
contact with the block regardless of the displacement s.
The system lies in the horizontal plane. Derive an
expression for the normal force exerted by the groove wall
on the block and the differential equation governing s as a
function of time in the case where is an arbitrary
function of time. Then determine the natural frequency of
vibratory motion of the block within the groove for the
case in which is constant, and explain how that result can be used to monitor when exceeds a
critical value.

Solution: Attach a moving coordinate system to the disk, with the moving x axis aligned with the
groove. The origin of the moving coordinate system is at the center of the disk. To solve this
problem we must first find the total acceleration of the block. We will write this acceleration in the
moving coordinate system so that the normal force will be easy to identify.

There is only one angular velocity in this problem

1 = 1 = 1 = 1 =

= 1 1 + 1 (1 1 ) =

The vector from the origin to the block is

= { }
0

And the velocity and acceleration of the block relative to the moving coordinate system is

= {0} = {0}
0 0

Since the origin of the moving coordinate system does not translate, we have

0 =
Thus, the total acceleration is

0 0 0 0
= {0} + { 0 } {} + 2 { 0 } {0} + { 0 } ({ 0 } {})
0 0 0 0
0
2
= {0} + { } + {2 } { }
0 0 0 0

2
= { + 2 2 }
0
Use the component to find the normal force on the sidewall of the groove:

= ( + 2 2 )

The equation of motion along the groove is

= 2 = ( 2 )

Rearrange this into standard form

2
+ (2 ) =

If the angular velocity of the disk is constant, this has the form of a mass/spring system

+ = 0

And the natural frequency is

2 2 2
= = 2

If

2
2 >

then the natural frequency will be imaginary, which implies an unstable system. In reality, the mass
will cease to vibrate back and forth, and will remain pinned against one end of the groove. If a limit
switch were placed at the end of the groove, it could be used to indicate when the disk had reached a
critical speed.
Problem 2: The disk spins about its axis CD at as
the system rotates about the vertical axis at . The
angle of elevation of the arm supporting the disk is .
The rates , , are constant. The length from A to B
and from B to the axis of rotation of the disk is L, and
the radius of the disk is R. Determine the velocity and
acceleration of point E, which is the lowest point on
the perimeter of the disk.

Solution: There are several ways we could go about

solving this problem. In class, we have typically
attached the moving coordinate system to the object
with the most motion in this case, the disk. We
will try a slightly different approach this time by attaching the moving coordinate system to the outer
arm, with its origin at B. The moving x axis is aligned with the arm and the moving z axis is parallel
to the axis of rotation of the disk. To get from the fixed coordinate system to the moving
coordinate system requires one rotation about the Y axis.

cos 0 sin
= [ 0 1 0 ]
sin 0 cos

cos 0 sin 1 cos cos 0 sin 0 sin

= [ 0 1 0 ] {0} = { 0 } = [ 0
1 0 ] {0} = { 0 }
sin 0 cos 0 sin sin 0 cos 1 cos

There are two angular velocities associated with this system

1 = 1 = 0
1 = 1 = 0
2 = 2 = 0 2 = 2 =

The total angular velocity of the outer arm is

sin
= { }
cos

The angular acceleration of the outer arm is

= 1 1 + 1 (1 1 ) + 2 2 + 2 (2 2 )

cos
={ 0 }
sin

The vector from the origin of the moving coordinate system to the point E is
 +
={ 0 }
0

From the viewpoint of an observer in the moving coordinate system, the velocity of point E is
purely tangential arising from the rotation of the disk.

0
= { }
0

and the relative acceleration of point E is entirely centripetal

2
= { 0 }
0

The acceleration at point B is also purely centripetal

2 cos
2
0 = = { 0 }
2 sin

Some of the necessary cross-products are

( + ) 2 ( + ) 2 cos2
( ) = { ( + ) sin }
2
( + ) cos sin

0
= {( + ) sin }
0

2 cos
2 = { 0 }
2 sin

Thus, the total acceleration at point E is

2 2 cos ( + ) 2 ( + ) 2 cos2 2 cos

= { 2( + ) sin }
2 2
sin ( + ) cos sin 2 sin
Problem 3: Collar C slides relative to the curved rod at a constant speed u. The rotation rate about
bearing axis AB is constant at . Determine the acceleration of the collar in terms of the angle .
Also derive expressions for the dynamic forces exerted on the collar by the rod and the tangential
force required to hold u constant. Gravity may be neglected.

Solution: Attach a moving coordinate system to the center of the ring with the y axis aligned with
the collar, as shown in the figure above. There is one rotation needed to switch from the fixed XYZ
system to the moving xyz system

cos sin 0
= [ sin cos 0]
0 0 1
cos sin
= { sin } = {cos }
0 0

There are two angular velocities associated with this system

1 = 1 = 0 1 = 1 = 0
2 = 2 = 0 2 = 2 =

But the rate of change of can be written in terms of the velocity of the collar

=

Thus, the total angular velocity is

cos
= { sin }
/
And the angular acceleration is

sin
= {cos }

0

The vector from the origin of the moving coordinate system to the collar is

0
= {} = =
0

The acceleration of the origin of the moving coordinate system is entirely centripetal

sin
2 2
0 = = {cos }
0

A few of the necessary cross products are

2 sin cos
( ) = {2 cos2 + 2 / }
sin
0
= { 0 }
sin

And the total acceleration of the collar is

2 sin (1 cos )
= {2 cos (1 cos ) + 2 /}
2 sin

The tangential force is the mass multiplied by the x component of the acceleration. The other two
components (multiplied by mass) give the force that is exerted by the ring on the collar.