scholarly journals The Dynamical Behavior of a Rigid Body Relative Equilibrium Position

2017 ◽  
Vol 2017 ◽  
pp. 1-13 ◽  
Author(s):  
T. S. Amer
Keyword(s):  
Rigid Body ◽  
Degrees Of Freedom ◽  
Numerical Solutions ◽  
Equations Of Motion ◽  
Relative Equilibrium ◽  
Dynamical Behavior ◽  
Vertical Plane ◽  
The Body ◽  
Physical Parameters ◽  
Pendulum Model

In this paper, we will focus on the dynamical behavior of a rigid body suspended on an elastic spring as a pendulum model with three degrees of freedom. It is assumed that the body moves in a rotating vertical plane uniformly with an arbitrary angular velocity. The relative periodic motions of this model are considered. The governing equations of motion are obtained using Lagrange’s equations and represent a nonlinear system of second-order differential equations that can be solved in terms of generalized coordinates. The numerical solutions are investigated using the fourth-order Runge-Kutta algorithms through Matlab packages. These solutions are represented graphically in order to describe and discuss the behavior of the body at any instant for different values of the physical parameters of the body. The obtained results have been discussed and compared with some previous published works. Some concluding remarks have been presented at the end of this work. The importance of this work is due to its numerous applications in life such as the vibrations that occur in buildings and structures.

scholarly journals New Vertically Planed Pendulum Motion

2020 ◽  
Vol 2020 ◽  
pp. 1-6
Author(s):  
A. I. Ismail
Keyword(s):  
Differential Equations ◽  
Numerical Solutions ◽  
Equations Of Motion ◽  
Vertical Plane ◽  
Numerical Procedure ◽  
Second Order ◽  
The Body ◽  
Physical Parameters ◽  
Pendulum Motion ◽  
Generalized Coordinates

This article is concerned about the planed rigid body pendulum motion suspended with a spring which is suspended to move on a vertical plane moving uniformly about a horizontal X-axis. This model depends on a system containing three generalized coordinates. The three nonlinear differential equations of motion of the second order are obtained to the elastic string length and the oscillation angles φ 1 and φ 2 which represent the freedom degrees for the pendulum motions. It is assumed that the body moves in a rotating vertical plane uniformly with an arbitrary angular velocity ω . The relative periodic motions of this model are considered. The governing equations of motion are obtained using Lagrange’s equations and represent a nonlinear system of second-order differential equations that can be solved in terms of generalized coordinates. The numerical solutions are investigated using the approximated fourth-order Runge–Kutta method through programming packages. These solutions are represented graphically to describe and discuss the behavior of the body at any instant for different values of the different physical parameters of the body. The obtained results have been discussed and compared with some previously published works. Some concluding remarks have been presented at the end of this work. The value of this study comes from its wide applications in both civil and military life. The main findings and objectives of the current study are obtaining periodic solutions for the problem and satisfying their accuracy and stabilities through the numerical procedure.

scholarly journals Treating the Solid Pendulum Motion by the Large Parameter Procedure

2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
A. I. Ismail
Keyword(s):  
Degrees Of Freedom ◽  
Numerical Solutions ◽  
Equations Of Motion ◽  
Vertical Plane ◽  
The Body ◽  
Large Parameter ◽  
Lagrange’S Equation ◽  
External Moment ◽  
Dynamical Description ◽  
Quasi Linear System

In this paper, we consider the dynamical description of a pendulum model consists of a heavy solid connection to a nonelastic string which suspended on an elliptic path in a vertical plane. We suppose that the dimensions of the solid are large enough to the length of the suspended string, in contrast to previous works which considered that the dimensions of the body are sufficiently small to the length of the string. According to this new assumption, we define a large parameter ε and apply Lagrange’s equation to construct the equations of motion for this case in terms of this large parameter. These equations give a quasi-linear system of second order with two degrees of freedom. The obtained system will be solved in terms of the generalized coordinates θ and φ using the large parameter procedure. This procedure has an advantage over the other methods because it solves the problem in a new domain when fails all other methods for solving the problem in such a domain under these conditions. It is one of the most important applications, when we study the slow spin motion of a rigid body in a Newtonian field of force under an external moment or the rotational motion of a heavy solid in a uniform gravity field or the gyroscopic motions with a sufficiently small angular velocity component about the major or the minor axis of the ellipsoid of inertia. There are many applications of this technique in aerospace science, satellites, navigations, antennas, and solar collectors. This technique is also useful in all perturbed problems in physics and mechanics, for example, the perturbed pendulum motions and the perturbed mechanical systems. The results of this paper also are useful in moving bridges and the swings. For satisfying the validation of the obtained solutions, we consider numerical considerations by one of the numerical methods and compare the obtained analytical and numerical solutions.

scholarly journals The Motion of a Rigid Body in the Presence of a Gyrostatic : الحركات المغزلية السريعة لجسم متماسك في مجال قوة نيوتوني في حالة وجود العزم

2019 ◽  
Vol 3 (1) ◽  
Author(s):  
Ghadir Ahmed Sahli
Keyword(s):  
Rigid Body ◽  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
First Integral ◽  
Geometric Interpretation ◽  
The Body ◽  
Parameter Method ◽  
Principal Axes ◽  
Linear Autonomous System ◽  
Newtonian Force Field

In this study، the rotational motion of a rigid body about a fixed point in the Newtonian force field with a gyrostatic momentum  about the z-axis is considered. The equations of motion and their first integrals are obtained and reduced to a quasi-linear autonomous system with two degrees of freedom with one first integral. Poincare's small parameter method is applied to investigate the analytical peri­odic solutions of the equations of motion of the body with one point fixed، rapidly spinning about one of the principal axes of the ellipsoid of inertia. A geometric interpretation of motion is given by using Euler's angles to describe the orientation of the body at any instant of time.

Generalized Kirchhoff equations for a deformable body moving in a weakly non-uniform flow field

1994 ◽  
Vol 446 (1926) ◽  
pp. 169-193 ◽  
Keyword(s):  
Flow Field ◽  
Rigid Body ◽  
Degrees Of Freedom ◽  
Surface Deformation ◽  
Nonlinear Differential Equations ◽  
Deformable Body ◽  
Equations Of Motion ◽  
First Integral ◽  
Uniform Flow ◽  
The Body

The classical Kirchhoff’s method provides an efficient way of calculating the hydrodynamical loads (forces and moments) acting on a rigid body moving with six-degrees of freedom in an otherwise quiescent ideal fluid in terms of the body’s added-mass tensor. In this paper we provide a versatile extension of such a formulation to account for both the presence of an imposed ambient non-uniform flow field and the effect of surface deformation of a non-rigid body. The flow inhomogeneity is assumed to be weak when compared against the size of the body. The corresponding expressions for the force and moment are given in a moving body-fixed coordinate system and are obtained using the Lagally theorem. The newly derived system of nonlinear differential equations of motion is shown to possess a first integral. This can be interpreted as an energy-type conservation law and is a consequence of an anti-symmetry property of the coefficient matrix reported here for the first time. A few applications of the proposed formulation are presented including comparison with some existing limiting cases.

Vibration of a Spring-Supported Body

1965 ◽  
Vol 7 (2) ◽  
pp. 185-192 ◽  
Author(s):  
P. Grootenhuis ◽  
D. J. Ewins
Keyword(s):  
Rigid Body ◽  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Vertical Axis ◽  
The Body ◽  
Stiffness Ratio ◽  
Six Degrees Of Freedom ◽  
Centre Of Gravity ◽  
Longitudinal Stiffness ◽  
The Matrix

The equations of motion for a rigid body supported on four springs are derived for the general case of the centre-of-gravity being anywhere within the body and allowing for the sideways as well as the longitudinal stiffnesses of the springs. This constitutes a six-degrees-of-freedom case with three degrees of asymmetry. Coupling between motions in all directions occurs even when the centre-of-gravity is at the geometric centre with the exception then of vertical oscillations and rotation about the vertical axis. Any number of additional springs can be allowed for by adding terms to the expression for the potential energy stored in the springs. Allowance is made in the expression for kinetic energy for the products of inertia which arise with an offset centre-of-gravity. The real case is simulated for purposes of analysis by replacing the rigid body by a rectangular box with a light framework and all the mass concentrated at the eight corners. The matrix solution is changed into dimensionless parameters and the effect of an offset centre-of-gravity upon the eigenvalues and eigenvectors studied. Only the proportions of the box and the stiffness ratio between sideways to longitudinal stiffness of the springs remain as factors. The numerical example given is for proportions of height to width to length of 3/4/5 and for a stiffness ratio of 5. Small amounts of offset of the centre-of-gravity from the geometric centre do not alter the dynamic behaviour of the system much but displacing the total mass towards either a lower or an upper corner has marked effects. Some of the natural frequencies associated with motion in rotation when the system is symmetric become less than the frequencies connected with motion in translation for the centre-of-gravity being close to a corner connected to a spring. A large region free from any natural frequency arises when the centre-of-gravity is moved towards a corner furthest removed from the plane containing the springs. The asymptotic conditions for the position of the centre-of-gravity are also considered.

A Hybrid Highly Parallelizable Algorithm for the Dynamics of Rigid Body Chain Systems

1999 ◽  
Author(s):  
Shanzhong Duan ◽  
Kurt S. Anderson
Keyword(s):  
Rigid Body ◽  
Degrees Of Freedom ◽  
High Efficiency ◽  
Equations Of Motion ◽  
Constraint Forces ◽  
Dynamics Of Rigid Body ◽  
A Chain ◽  
Explicit Determination ◽  
Order Algorithm

Abstract The paper presents a new hybrid parallelizable low order algorithm for modeling the dynamic behavior of multi-rigid-body chain systems. The method is based on cutting certain system interbody joints so that largely independent multibody subchain systems are formed. These subchains interact with one another through associated unknown constraint forces f¯c at the cut joints. The increased parallelism is obtainable through cutting the joints and the explicit determination of associated constraint loads combined with a sequential O(n) procedure. In other words, sequential O(n) procedures are performed to form and solve equations of motion within subchains and parallel strategies are used to form and solve constraint equations between subchains in parallel. The algorithm can easily accommodate the available number of processors while maintaining high efficiency. An O[(n+m)Np+m(1+γ)Np+mγlog2Np](0<γ<1) performance will be achieved with Np processors for a chain system with n degrees of freedom and m constraints due to cutting of interbody joints.

The Global Motion of a Rigid Body Subject to Periodic Body-Fixed Torques

1995 ◽  
Author(s):  
X. Tong ◽  
B. Tabarrok
Keyword(s):  
Rigid Body ◽  
Equations Of Motion ◽  
Melnikov Method ◽  
The Body ◽  
Body Motion ◽  
Heteroclinic Orbits ◽  
Coordinate Frame ◽  
Global Motion ◽  
Stable And Unstable Manifolds ◽  
Body Subject

Abstract In this paper the global motion of a rigid body subject to small periodic torques, which has a fixed direction in the body-fixed coordinate frame, is investigated by means of Melnikov’s method. Deprit’s variables are introduced to transform the equations of motion into a form describing a slowly varying oscillator. Then the Melnikov method developed for the slowly varying oscillator is used to predict the transversal intersections of stable and unstable manifolds for the perturbed rigid body motion. It is shown that there exist transversal intersections of heteroclinic orbits for certain ranges of parameter values.

MULTIBODY DYNAMIC MODELING AND FLUTTER ANALYSIS OF A FLEXIBLE SLENDER VEHICLE

2012 ◽  
Vol 12 (06) ◽  
pp. 1250049 ◽  
Author(s):  
A. RASTI ◽  
S. A. FAZELZADEH
Keyword(s):  
Differential Equations ◽  
Rigid Body ◽  
Dynamic Modeling ◽  
Equations Of Motion ◽  
The Body ◽  
Elastic Deformations ◽  
Strip Theory ◽  
Multibody Dynamic ◽  
Flutter Analysis ◽  
Rigid Body Motions

In this paper, multibody dynamic modeling and flutter analysis of a flexible slender vehicle are investigated. The method is a comprehensive procedure based on the hybrid equations of motion in terms of quasi-coordinates. The equations consist of ordinary differential equations for the rigid body motions of the vehicle and partial differential equations for the elastic deformations of the flexible components of the vehicle. These equations are naturally nonlinear, but to avoid high nonlinearity of equations the elastic displacements are assumed to be small so that the equations of motion can be linearized. For the aeroelastic analysis a perturbation approach is used, by which the problem is divided into a nonlinear flight dynamics problem for quasi-rigid flight vehicle and a linear extended aeroelasticity problem for the elastic deformations and perturbations in the rigid body motions. In this manner, the trim values that are obtained from the first problem are used as an input to the second problem. The body of the vehicle is modeled with a uniform free–free beam and the aeroelastic forces are derived from the strip theory. The effect of some crucial geometric and physical parameters and the acting forces on the flutter speed and frequency of the vehicle are investigated.

An Overview on a Nonideal System With Three and a Half Degrees of Freedom

2005 ◽  
Author(s):  
Karen de Lolo Guilherme ◽  
Jose´ Manoel Balthazar ◽  
Paulo Roberto Gardel Kurka ◽  
Masayoshi Tsuchida
Keyword(s):  
Degrees Of Freedom ◽  
Averaging Method ◽  
Dynamical Behavior ◽  
Mathematical Formulation ◽  
Rotation Frequency ◽  
Steady State Solution ◽  
Dc Motor ◽  
Physical Parameters ◽  
Phase Coordinates ◽  
Limited Power

The present paper studies a system comprised of two blocks connected by springs and dampers, and a DC motor with limited power supply fixed on a block, characterizing a non-ideal problem. This DC motor exciting the system causes interactions between the motor and the structure supporting it. Because of that, the non-ideal mathematical formulation of the problem has one and a half extra degree of freedom than the ideal one. A suitable choice of physical parameters leads to internal resonance conditions, that is, its natural frequencies are multiple of each other, by a known integer quantity. The purpose here is to study the dynamic behavior of the system using an analytical method based on perturbation techniques. The literature shows that the averaging method is the more flexible method concerning non-ideal problems. Summarizing, an steady state solution in amplitude and phase coordinates was obtained with averaging method showing the dependence of the structure amplitudes with the rotation frequency of the motor. Moreover, this solution shows that on of the amplitude coordinates has influence in the determination of the stationary rotation frequency. The analytical solution obtained shows the presence of the rotation frequency in expressions representing the oscillations of the structure, and the presence of amplitude coordinates in expressions describing the dynamic motion of the DC motor. These characteristics show the influence not only of the motor on structure but also of the response of the structure on dynamical behavior of the motor.

Regular and Irregular Vibrations of a Non-Ideal Autoparametric System

Volume 2 ◽  
2004 ◽  
Author(s):  
Danuta Sado ◽  
Maciej Kot
Keyword(s):  
Energy Source ◽  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Resonance Region ◽  
The Body ◽  
Damping Force ◽  
Power Spectral ◽  
Power Spectral Densities ◽  
Time Histories ◽  
Limited Power

This paper studies the regular and irregular vibrations of two degrees of freedom autoparametrical system, when the excitation is made by an electric motor (with unbalanced mass), which works with limited power supply. The investigated system consists of a pendulum of the length l and mass m, and a body of mass M suspended on the flexible element. It was assumed that the damping force acting on the body of mass M and resistive moment acting on the pedulum are non-linear. In this case, the excitation has to be expressed as an equation describing how the energy source supplies the energy to the system. The non-ideal source of power adds one degree of freedom, and then the system has three degrees of freedom. The system has been researched for known characteristic of the energy source (DC motor). The equations of motion have been solved numerically what permit to enrich the investigations and to examine not only small and steady state oscillations but also large-amplitude oscillations in transient states. The influence of motor’s speed on the phenomenon of energy transfer has been researched. Near the internal and external resonance region, except different kind of periodic vibration, the chaotic vibration has been observed. For characterizing an irregular chaotic response bifurcation diagrams and time histories, power spectral densities, Poincare´ maps and maximal exponents of Lyapunov have been constructed.

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