MEAM 535 Advanced Dynamics

Fall 1999

Homework #3

Note that this homework is due along with the 3rd problem of HW #2 on 9/28/99 (Tuesday)

1. This is problem 13 in chapter 2 of Haim Baruh's book and is reproduced here for your convenience.
   
   A robotic sander shown in the figure below has a sanding disk that spins at a constant rate of 1500 rpm. The two links, B and C, that make up the robotic arm are 0.5 m and 0.6 m long respectively. The two links move only in the plane shown. The two angles that need to be adjusted to position the sanding disk are also shown. At the instant shown, phi = 90 deg and psi = 60 deg. And they are changing at the constant angular speeds of phi_dot = 0.2 rad/sec and psi_dot = -0.3 rad/sec. Find the angular velocity and angular acceleration of the sandind disk with respect to the inertial frame IJK.
   
   
   
2. The xy plane in the following figure is rotating at a constant angular velocity omega about its y-axis. End A of a rod of length L is sliding along the x-axis with constant speed v0, while end B is sliding along the y-axis. Find the velocity and acceleration of the midpoint P of the rod with respect to the inertial frame IJK.