Intermediate Dynamics, Ungraded Practice Problems

Instructor: Shane Ross

1. A spring-pendulum has a point mass m attached to a massless spring of

stiffness k and unstretched length l0 .

Using the length l and angle as coordinates, write the differential

equations of motion using the Lagrangian method.

l
k
m

A spring-pendulum has a point mass m attached to a massless spring of

stiffness k and unstretched length l0 .

Using the length l and angle as coordinates, write the differential

equations of motion using the Lagrangian method.

l
k
m
(l, ) are polar coordinates for the position of the mass, so the kinetic energy is
1
T = m(l2 + l2 2 )
2

(1)

The potential energy comes from (a) gravity (mgh) where h is the height and well use the pivot
point as h = 0 and (b) the spring ( 21 k(l l0 )2 ), so
1
V = mgl cos + k(l l0 )2
2

(2)

The Lagrangian is L = T V . Taking derivatives needed for the Lagranges equation for l, we
get
L
= ml

l
 
d L
= ml
dt l
L
= ml2 + mg cos k(l l0 )
l

(3)

and for , the derivatives are

L
= ml2

 
d L
= ml2 + 2mll
dt
L
= mgl sin

(4)

The Lagranges equation of motion for l is

ml ml2 mg cos + k(l l0 ) = 0

(5)

ml2 + 2mll + mgl sin = 0

(6)

and for ,

g
2. A spring-pendulum has a point mass m attached to a massless
spring of stiffness k and unstretched length l0 .
Using the length l and angle as coordinates, write
the differential equations of motion.

l
k
m

F(t)

g
A spring-pendulum has a point mass m attached to a massless
spring of stiffness k and unstretched length l0 .
Using the length l and angle as coordinates, write
the differential equations of motion.

l
k
m

F(t)

We can first write the position vector for the particle m. Writing the position and inertial velocity
vectors in terms of the two generalized coordinates (the polar coordinates l and ) and their time
derivatives, we have
l + le l = le
l + le

= le
R = lel , R
(7)
where {el , e } is a polar coordinate frame rotating with angular velocity with respect to any
inertial frame. We write the arbitrary horizontal force F (t) pulling on the particle as a nonconservative force fnc = F (t)n1 , where n1 is a unit vector in the horizontal direction. Gravity will
be considered as coming from a potential energy. The formula for calculating the non-conservative
generalized force in the ith generalized coordinate direction for this 1-particle system is
Qnci = fnc

R
R
= fnc
qi
qi

(8)

where, from (20), we can directly calculate the velocity coefficients as

R
R
= el ,
= le
l

so since n1 el = sin and n1 e = cos , the two non-conservative generalized forces are
Qncl = F (t) sin ,

Qnc = F (t) l cos

(9)

(10)

The kinetic energy is

1
2 = 1 m(l2 + l2 2 )
(11)
T = mkRk
2
2
The potential energy comes from: (a) gravity (mgh) where h is the height above the datum (i.e.,
a reference height) and well use the height of the pivot point on the ceiling as the datum; and
(b) the spring ( 12 k(l l0 )2 ), so
1
V = mgl cos + k(l l0 )2
2

(12)

The Lagrangian is L = T V . Taking derivatives needed for the Lagranges equation for l, we
get
L
= ml

l
 
d L
= ml
dt l
L
= ml2 + mg cos k(l l0 )
l

(13)

and for , the derivatives are

L
= ml2

 
d L
= ml2 + 2mll
dt
L
= mgl sin

(14)

There are no holonomic constraints in this problem, but there are non-conservative forces, so the
Lagrange equation of motion for l is
 
d L
L

= Qncl

dt l
l
which becomes
ml ml2 mg cos + k(l l0 ) = F (t) sin
and for , the Lagrange equation is
d
dt

L
= Qnc

which becomes
ml2 + 2mll + mgl sin = F (t) l cos

3. A uniform disk of radius r and mass m can roll without

slipping on a platform which rotates about the hinge
joint O at a constant rate , i.e., the platform makes an
angle t with the horizontal.

m
r

Obtain an expression of the form T (q, q)

for the
total kinetic energy of the disk.

A uniform disk of radius r and mass m can roll without

slipping on a platform which rotates about the hinge
joint O at a constant rate , i.e., the platform makes an
angle t with the horizontal.

m
r

Obtain an expression of the form T (q, q)

for the
total kinetic energy of the disk.

We choose an inertial frame {n1 , n2 } centered on O, a

platform-fixed E-frame and a body-fixed B-frame fixed
in the disk, all as pictured, where n3 = e3 = b3 is coming
out of the paper.
The fundamental equation we can use is the sum of translational and rotational kinetic energies,
1
C |2 + 1 IC
T = m|R
2
2

(15)

C is the inertial velocity of the disks center of

where R
mass, IC is the inertia matrix for the disk about its center
of mass, and = B/N is the angular velocity of the Bframe with respect to the N -frame.

b2
m
C
r

e2
O

n2

e1

n1

Since the rotation of the disk is about an axis perpendicular to the disk and passing through the
center of mass, we can write the term 12 IC as simply one term, 12 IC 2 , where IC is the
moment of inertia of the disk about its center of mass and = ||.
Imagine q increasing. This would mean the B-frame is moving clockwise with respect to the
E-frame, and the no-slip rolling condition implies
q
B/E = b3
r
where the right-hand rule convention gives the minus sign, i.e., when q > 0, the rotation is
positive about the b3 axis.
Now imagine time t marching forward. The E-frame will be moving counter-clockwise with
respect to the N -frame, and therefore the angular velocity of the E-frame w.r.t. the N -frame is
E/N = e3
Using the angular velocity addition formula, we get the rotation of the disk w.r.t. the inertial
frame,


q
B/N = B/E + E/N = + n3
r
where we have used n3 = e3 = b3 .

b1

The moment of inertia of a uniform disk about an axis perpendicular to the plane of the disk and
passing through its center of mass is IC = 12 mr2 , so the rotational kinetic energy term is


2
1 1 2
q
1
2
IC =
mr
+
2
2 2
r


1
1 2
1 2 2
= m
q r q + r
2
2
2
Using trigonometry, we can write the vector from O to C in N -frame components
RC = (q cos t r sin t)n1 + (q sin t + r cos t)n2
The corresponding velocity vector is
C = [(q r) cos t q sin t]n1 + [(q r) sin t + q cos t]n2
R
So the translational kinetic energy term is

2


1
1
q
1
2
2

m|RC | =
mr
+ + mq 2 2
2
2
r
2


1
= m q2 2r q + r2 2 + q 2 2
2

(16)

Summing the translational and rotational kinetic energies (15), we get

T (q, q)
=

1
2

3 2
mr
2


2
q
1
+ + mq 2 2
r
2

which can also be expanded as

3
3
1
3
T (q, q)
= mq2 mr q + m 2 q 2 + m 2 r2
4
2
2
4

(17)

Alternate method to find inertial velocity. As in the previous problem, there are other
ways one could obtain the inertial velocity of the center of mass of the disk. For instance, one
could write the vector from O to C in E-frame components:
E

~ = qe1 + re2
OC

and the inertial velocity would be given by the vector differentiation formula as
C=
R

Nd

dt

~ =
(OC)

Ed

dt

~ + E/N (E OC)
~
(E OC)


q
= (qe
1 ) + (qe2 re1 ) = r + e1 + qe2
r


C |2 agrees with (16).

where E/N = e3 (with e3 coming out of the paper). The resulting 12 m|R

Using disk-platform point of contact as a reference point. If the instantaneous point of

contact of the disk with the platform is used as a reference point, call it P , the kinetic energy
can be written as
1
P |2 + 1 IP 2 + R
P m c
T = m|R
(18)
2
2
where IP = IC + mr2 = 32 mr2 is the moment of inertia of the disk about P , using the parallel
axis theorem. P is fixed in the platform a distance q from the platform pivot O, so its inertial
velocity is
P = qe2
R
and the velocity of the disk center of mass w.r.t. P is only in the e1 direction, so the last term
of (18) is zero and we recover (17).

4. Natural modes of pendulum-cart system. Cart

A of mass 2m is attached to the left wall by a
massless spring of stiffness k. The displacement of
the center of the cart is x (x = 0 when the spring is
unstretched). Particle B of mass m is attached by a
massless rigid rod of length l to a pivot in the cart
which passes through the center of the cart as shown.
Find the natural frequencies and mode shapes
(amplitude ratios) about the equilibrium for the case
where
kl
=2
mg

x
g
k
A

2m

l
B
m

Natural modes of pendulum-cart system. Cart

A of mass 2m is attached to the left wall by a
massless spring of stiffness k. The displacement of
the center of the cart is x (x = 0 when the spring is
unstretched). Particle B of mass m is attached by a
massless rigid rod of length l to a pivot in the cart
which passes through the center of the cart as shown.

x
g
k
A

Find the natural frequencies and mode shapes

(amplitude ratios) about the equilibrium for the case
where
kl
=2
mg

2m

l
B
m

We identify (q1 , q2 ) = (x, ) as the generalized coordinates. The kinetic and potential energies
are just like the problem on the midterm, with M = 2m.
Justification of small oscillation method. We can use Lagranges equations in the form


d L
L
= 0,
(i = 1, 2)
(19)

dt qi
qi
where L = T V is the Lagrangian function and theres a zero on the right hand side because
there are no non-conservative generalized forces; the spring acting on A and gravity acting on B
are conservative forces, that is, they come from a potential energy function.
Because these equations of motion hold (i.e., zero on the right hand side), we can used the method
developed in class to find small oscillations.
Getting the kinetic and potential energies. We can write the position vector for the center
of the cart A and the particle B in an inertially fixed frame {n1 , n2 } centered on the location of
the pivot when the cart is in the equilibrium position. Writing the inertial position and velocity
vectors of the two masses in terms of the two generalized coordinates and their time derivatives,
we have
A = xn
RA = xn1 ,
R
1
(20)

RB = (x + l sin )n1 l cos n2 , RB = (x + l cos )n1 + l sin n2

The total kinetic energy of the system can be written as the sum of the kinetic energies of the
masses,
1
A k2 + 1 mkR
B k2
T = (2m)kR
2
2

1 
1
= (2m)x 2 + m x 2 + 2lx cos + l2 2 (cos2 + sin2 )
2
2
1
1
2
= (3m)x + ml2 2 + mlx cos
2
2

(21)

where we write the kinetic energy in terms of the generalized coordinates and their time derivatives.
The total potential energy comes from the linear springs effect on A and gravitys effect on B:
1
V = kx2 mgl cos
2

(22)

Writing in matrix form. The equilibrium configuration is (x0 , 0 ) = (0, 0) (in state space,
the equilibrium is at (x0 , 0 , x 0 , 0 ) = (0, 0, 0, 0)), so for small motions about equilibrium, we can
consider x and as small. The kinetic energy to second order in the velocities x and gives
(using cos(0 ) = 1),

1
2 + 2mx(l

(3m)x 2 + m(l)
)
2
1
= q T T q
2

T 


1 x
x
3m m
,
=
m m
l
2 l

T =

(23)

where weve used q = (q1 , q2 ) = (x, l) for convenience (so the matrix T is just m times a
nondimensional matrix).
The potential energy to second order in the coordinates x and l gives us (using cos(0 + )
1 21 2 and ignoring the constant term),

1  2 mg
kx +
(l)2
2
l
1 T
= q V q
2

T 


1 x
k 0
x
,
=
0 mg
l
2 l
l

V =

where, because were considering the case

kl
mg

(24)

= 2, we can write V as

mg
V=
l

mg
=
l

kl
mg

0
2 0
0 1

0
1



(25)

Finding the natural frequencies. The natural frequencies of motion about the equilibrium
are given by the frequencies which solve
det(V 2 T) = 0.

(26)

If we let = 2 / gl , then this becomes


det

2 0
0 1

3 1
1 1


= 0,

(27)

which gives us
5
2 + 1 = 0.
2
By the quadratic equation, this has solutions = 12 ( 25 32 ) =
are:
g
1g
12 =
, 22 = 2
2l
l

(28)
1
2

, 2, so the natural frequencies

(29)

Finding the mode shapes corresponding to each frequency.

frequency 1 , the mode shape a1 = (ax1 , al1 ) is given by


1g
V
T a1 = 0,
2l

For the first mode with

(30)

which gives an amplitude ratio al1 /ax1 = 1, or a (non-normalized) mode shape of


a1 =

1
1


,

(31)

so the cart and pendulum move together (in phase).

Similarly, the second mode with frequency 2 has the mode shape a2 = (ax2 , al2 ) given by

a2 =

1
2


,

(32)

so the cart and pendulum move opposite each other (exactly out of phase).
If you used q = (x, ) then there will be a factor of 1/l in the slot corresponding to the
amplitude.

g
5. Natural modes of swinging rod and pendulum system.
Consider the planar system composed of a slender rod and a
massless string, each of length l. The rod and point mass each
have mass m. Use the two absolute angles shown. Find the natural
frequencies and mode shapes about the equilibrium.
How would the situation change if the string were replaced
by a spring?

l,m

g
Natural modes of swinging rod and pendulum system.
Consider the planar system composed of a slender rod and a
massless string, each of length l. The rod and point mass each
have mass m. Use the two absolute angles shown. Find the natural
frequencies and mode shapes about the equilibrium.
How would the situation change if the string were replaced
by a spring?

l,m

We identify (q1 , q2 ) = (, ) as the generalized coordinates. The kinetic and potential energies
are similar to those for the physical double pendulum given in class (Nov 7).
Justification of small oscillation method. We can use Lagranges equations in the form


d L
L
= 0,
(i = 1, 2)
(33)

dt qi
qi
where L = T V is the Lagrangian function and theres a zero on the right hand side because
there are no non-conservative generalized forces; gravity acting on both the rod and the mass are
conservative forces, that is, they come from a potential energy function, which is a function of
the coordinates, V (q1 , q2 ).
Because these equations of motion hold (i.e., zero on the right hand side), we can used the method
developed in class to find small oscillations.

Getting the kinetic and potential energies. In summary, for this problem one can write
the Lagrangian L = T V for the generalized coordinates and .
We consider an inertially fixed frame {n1 , n2 } centered on the top pivot (the rod with the ceiling)
with n1 in the horizontal direction (to the right) and n2 pointing upward.
There are several ways to get the kinetic energy T . Here we give two:
(a) One could write the total kinetic energy as the sum of the kinetic energy of the rod and
mass,
T = Trod + Tmass
(34)
The kinetic energy of the rod is simple for this planar problem; its just the rotational energy
of the rod about the pivot, 21 I 2 where I is the moment of inertia of a rod rotating about
its end ( 13 ml2 ) and is the angular velocity of the rods rotation with respect to the inertial
frame, which is in this case, so


1 1 2 2
Trod =
ml .
2 3

The kinetic energy of the mass at the end of the string can be obtained in a brute force
2 , where
way by writing its position as R = xn1 + yn2 and its kinetic energy as 21 mkRk
= xn
R
1 + yn
2 . We can write the x and y location of the mass immediately in terms of
and using trigonometry,
x = l sin + l sin
y = l cos l cos

(35)

and their time derivatives can easily be obtained.

(b) Another approach, which is perhaps less intuitive, is to treat the mass at the end of the
string as a massless rigid rod with a mass at the end. In this case, eq. (34) still holds, and
Trod is the same, but for Tmass , we use an expression from in class, using the attachment
point of the pendulum to the rigid rod, call it A, as our reference point
1
A k2 + m RA c + 1 IA 2
Tmass = mkR
2
2

(36)

where
is the inertial velocity of the reference point A,
A = le
R
is the inertial velocity of the center of mass of the massless-rod-with-mass-at-the c = le
end with respect to the reference point A
IA = ml2 is the moment of inertia of a massless rigid rod with a mass at the end rotating
about A and
is the angular velocity of the massless rigid rods rotation with respect to the inertial
frame, which is in this case.
One can work this out to find that the kinetic energy due to the mass is
1
1
Tmass = ml2 2 + ml2 cos( ) + ml2 2
2
2
since e e = cos( ). This is the same expression as what you get from the first approach
as well.
From both of these approaches, the total kinetic energy is


1 2 4 2
2

T = ml
+ + 2 cos( )
2
3

(37)

while the potential energy comes from the sum of the gravitational contributions of the rod and
the mass
1
V = ( mgl cos ) + (mgl cos mgl cos )
2 

(38)
3
= mgl
cos + cos
2

Writing in matrix form. The equilibrium configuration is (0 , 0 ) = (0, 0) (in state space,
the equilibrium is at (0 , 0 , 0 , 0 ) = (0, 0, 0, 0)), so for small motions about equilibrium, we can
consider and as small. The kinetic energy to second order in the velocities and gives,


1 2 4 2
2
T = ml
+ + 2
2
3
1
= q T T q
(39)
2

T
 4


1
1

=
,
ml2 3

1 1

where weve used q = (q1 , q2 ) = (, ).

The potential energy to second order in the coordinates and gives us (using cos(0 +) 1 21 2
and ignoring the constant term and similarly for cos(0 + )),


3 2
1
2
+
V = mgl
2
2
1
= qT V q
(40)
2

T
 3


1
0

2
mgl
=
,
0 1

2
Finding the natural frequencies. The natural frequencies of motion about the equilibrium
are given by the frequencies which solve
det(V 2 T) = 0.

(41)

If we let = 2 / gl , then this becomes


det

4
3

3
2

0
0 1

17
9
+ = 0.
2
2

1
1 1


= 0,

(42)

which gives us

By the quadratic equation, this has solutions = 21 ( 17

2

1
g
12 = (17 + 217) ,
4
l

(43)
1
2

217), so the natural frequencies are:

1
g
22 = (17 217)
4
l

Finding the mode shapes corresponding to each frequency.

the first mode, a1 = (a1 , a1 ) is given by


V 12 T a1 = 0,

(44)

The mode shape for, e.g.,

(45)

and solving for the amplitude ratio.

How would the situation change if the string were replaced by a spring?
For starters, we would have a three degree of freedom system instead of a two degree of freedom
system. So there would correspondingly be three natural modes of oscillation instead of just two.
The length of the spring would change from a constant l to a time dependent generalized coordinate r(t). We would need to account for this when deriving the kinetic and potential energies
of the mass.

6. Whirling pendulum. Consider the pendulum shown. It is a planar pendulum whose suspension
point is being whirled in a circle with angular velocity , by means of a vertical shaft, as shown.
The plane of the pendulum is perpendicular to the radial arm of length R.
of the pendulum.
(a) Find the kinetic energy T (, )
(b) Find the equations of motion of the pendulum.
(c) The angular velocity can be regarded as a parameter determining the qualitative character
of the dynamics. Find the value of at which the dynamics qualitatively changes.

7. A particle of mass m is attached by a string of length l to a point O0 which moves in a circular

path of radius r at a constant angular rate = 0 . Ignore gravity.

(a) Find the differential equation for , assuming the string remains taut and all motion occurs
in the xy-plane.

(b) Assume the initial conditions (0) = 0, (0)

= 0 and let l = r. Find max in the motion
that follows.

You get the same constant of motion if you use Jacobis constant. Since the kinetic energy,
is
grouped according to 2 terms, terms, and terms independent of ,
= T2 + T1 + T0 = 1 ml2 2 + m 0 (rl cos + l2 ) + m 2 (rl cos + 1 (r2 + l2 ))
T (, )
0
2
2
Jacobis constant is h = T2 T0 ,
1
1
h = ml2 2 m 20 (rl cos + (r2 + l2 ))
2
2
which is the same constant as above (i.e., ignoring the constant term 12 m 20 (r2 + l2 ) and overall
multiplicative factors).

8. Mass m at point B is attached by a massless rigid rod of length

l to a planar pivot joint A. OA is a massless support of length
l/2 connected to a rotating shaft. OA and AB always stay
in the same plane, but the plane rotates about the vertical axis
through the point O with rotation angle . The system moves
without any motors to constrain the motion.

A
g

O l/2

The initial conditions are:

0 = 0 = 0,

r
g

0 = 2
l

Derive a single algebraic equation that could be used to find the

maximum and minimum angles that occur during the motion.
You do not need to solve for max and min .

B
m

Mass m at point B is attached by a massless rigid rod of length

l to a planar pivot joint A. OA is a massless support of length
l/2 connected to a rotating shaft. OA and AB always stay
in the same plane, but the plane rotates about the vertical axis
through the point O with rotation angle . The system moves
without any motors to constrain the motion.

0 = 0 = 0,

O l/2

The initial conditions are:

r
g

0 = 2
l

Derive a single algebraic equation that could be used to find the

maximum and minimum angles that occur during the motion.
You do not need to solve for max and min .

B
m

In summary, for this problem one can write the Lagrangian L = T V for the generalized
coordinates and . Noticing that is ignorable, one can construct the Routhian R. Noticing
that the Routhian is not an explicit function of time, there is a conserved quantity which allows
one to write an equation of the form 2 = f (), given initial conditions. The maximum and
minimum angles are turning points for , which is where = 0. Therefore the algebraic
equation to find these angles is f () = 0.
By going through the details of this process, we can find f ().
Set up coordinate systems to find inertial velocities.
We can use a rotating right-handed frame {e1 , e2 , e3 } (the one
pictured), which is attached to the massless support at A and
is rotating around with it. The E-frame is rotating w.r.t. an
3.
inertial N -frame with angular velocity E/N = e

E/N=e3
e3

To get the kinetic energy of the mass at B, we can use

1
2

2 m|RB | where RB is the inertial velocity of the point B

and is given by the formula
B = (vB )N = (vA )N + (vB )E + E/N c
R

e2

e1

(46)

O l/2

where:
3 ) ( 1 le1 ) =
A = E/N RA = (e
(vA )N = R
2
is the velocity of A w.r.t. the N -frame;

1
2 le2

~ = l sin e1 l cos e3
c = AB
is the vector from A to B written in E-frame components; its
also the vector c from the reference point A to the center of
mass of the system; and

(vB)E

n3

B
n1

d
(vB )E = E dt
( c ) = l cos e1 + l sin e3
is the velocity of point B w.r.t. the E-frame.

All of these quantities are expressed w.r.t. the rotating E-frame. Note that E/N c = l sin e2 .

Computing kinetic energy expression.

The kinetic energy is

"

2 #
1
1
l
B |2 = m l2 2 +
T = m|R
+ l sin 2
2
2
2

(47)

Alternate method. One would obtain the same expression using other methods, for example, using
another kinetic energy formula from class,
1
A |2 + 1 m| c |2 + R
A m c
T = m|R
2
2

(48)

which treats A as a moving reference point for the system, where the system is just the mass at
B.
The time rate of change of c w.r.t. the N -frame is
c =

d
d
( c ) = E ( c ) + E/N c
dt
dt
= (l cos e1 + l sin e3 ) + (l sin e2 )

(49)

A is in the e2 direction, the last term of (48) is

Since R
sin )
A m c = m( 1 l)(l
R
2

(50)

The middle term of (48), 12 m| c |2 , which is the kinetic energy of the system due to its motion
relative to A, can be directly computed from (49). But it could also be considered as a rotational
kinetic energy term,
1
IA ,
2
for the massless rigid rod with a point mass at the end. The angular velocity of the massless
rigid rod with a point mass is
2 + e
3
= B/N = B/E + E/N = e
where the B-frame is fixed in the massless rigid rod. The only contributing elements of the inertia
matrix IA are I22 = ml2 and I33 = ml2 sin2 , so
1
1
1
m| c |2 = IA = ml2 (2 + sin2 2 )
2
2
2
2 makes (48) the same as (47).
A |2 = 1 m( 1 l)
Using this, along with (50) and 21 m|R
2
2
Potential energy and the Lagrangian.

The potential energy is given by gravity:

V = mgl cos
Therefore, the Lagrangian, L = T V , is
"

2 #
l
1
2
2
)
= m l +
+ l sin 2 + mgl cos
L(, ,
2
2

(51)

Routhian procedure. We notice from (51) that is an ignorable coordinate, that is L

= 0,
L
and therefore is a constant of motion, given by initial conditions. Following the Routhian
procedure, we call this constant ,
L
=m
=

l
+ l sin
2

2

(52)

To construct the Routhian, we first rewrite in terms of and ,

=
m

l
2

+ l sin

(53)

2

) ,
is then
The Routhian, R = L(, ,
) = 1 ml2 2
R(, ,
2
2m

2
l
2

+ l sin

2 + mgl cos .

(54)

Identifying another constant of motion. Since R is not an explicit function of time, i.e.,
R
R
t = 0, there is a constant of motion, the Jacobi constant, E = R, which works out to
be
2
= 1 ml2 2 +
E(, )
(55)

2 mgl cos .
2
2m 2l + l sin
q
From the given initial conditions, we plug into (52) to find that = 12 ml2 gl and E is initially
1
E0 = mgl.
2
The algebraic expression for max and min . Since E is a constant of motion, the expression
(55) is always equal to the constant E0 . The algebraic expression for finding the maximum and
minimum angles is given by setting = 0 in E = E0 since the velocity is zero at these two
phase portrait).
angles (they are the turning points of the motion in the (, )
The expression is
1
8

1
2

+ sin

2 cos +

1
=0
2

(56)

which we notice is nondimensional, since all physical constants drop out. Of course, any expression
which is a constant multiplied by (56) is also a correct expression.
Reality check. We dont have to solve for max and min , but as a check, we notice that the
initial conditions are 0 = 0 = 0, therefore = 0 should be one of the turning points, that is
either max = 0 or min = 0, so = 0 should satisfy (56). Plugging = 0 into the left hand side
of (56) does indeed give zero, as expected, which gives confidence that (56) is correct.
By the way, if you are curious as to what max is, one can use a numerical root finder (e.g.,
http://tinyurl.com/rootfinder) to find that max is about 0.9622, which is a little more than
55 .

9. The simplest model of a biped walker. A simple

model of a passive biped walker is shown, the 2D
compass biped with symmetric mass-less legs of length l
and point masses at the feet, m, and hip, M .
This is a model of a walker because it has solutions that
exhibit downhill walking motion that is stable without
active control! The model has a continuous swing
phase and a discrete foot strike phase.
In this problem, well consider only the swing phase,
during which the pivot foot, resting on the ground, is
treated as a fixed pin joint attached to the ground.
(a) With the angles and as generalized coordinates, find the Lagrangian.
(b) We want to know what are the
q important non-dimensional parameters which determine the
dynamics. Re-scale time by gl , let m = M , and re-write the Lagrangian. There should
be an overall scaling factor, i.e., some combination of constants multiplying every term. If
you divide out these numbers, you have a non-dimensionalized or normalized Lagrangian,
and youll be left with the important non-dimensional parameters: What are they?
[Hint: by parameters, I do not mean phase space variables which change with time.]
(c) Using the normalized Lagrangian, determine the momenta (p , p ).
(d) Is the Hamiltonian function a constant of the motion? Tell me why or why not. You dont
have to write out the Hamiltonian function to determine this.

Simplest model of biped walker (swing phase of 2D biped compass walker)

L
=
M gl

  2       

1
d
1
d
d
2
2
+ 2 sin
+

2 sin
2
2
dt0
2
dt0
dt0
2



cos( ) 2 sin2 sin

+
2
2

d
dt0

2 

d
d
0
Let dt
0 , dt0 and (just as a convenient change of notation) drop the prime on t . Then the
nondimensional Lagrangian is

 



)
=2 1 + 2 sin2 + 2 1 2 sin2
, ,
L(,
2
2
2
2



cos( ) 2 sin2 sin

+
2
2

).
The only parameters are and .
The phase space variables are (, , ,
(c) and (d), Define the momenta and the Hamiltonian as usual. (The Hamiltonian is given in
my 2008 Physica D paper with Norris, Marsh, and Granata.) The Hamiltonian is not an explicit
function of time, so it is a constant of motion.

10. Consider the shape shown. It is constructed from slender bars of length
l and mass m which are welded together. It is pinned via a planar pivot
joint to a post that rotates with angular frequency due to a motor.

(a) Develop the equations of motion.

(b) Find the special value of the constant spin speed so that
the shape can maintain its relative orientation at equal to a constant
(that is, the shape looks stationary in the rotating reference frame).

3l

Consider the shape shown. It is constructed from slender bars of length

l and mass m which are welded together. It is pinned via a planar pivot
joint to a post that rotates with angular frequency due to a motor.

(a) Develop the equations of motion.

3l

(b) Find the special value of the constant spin speed so that
the shape can maintain its relative orientation at equal to a constant
(that is, the shape looks stationary in the rotating reference frame).

l
Euler equation approach. We can use a convenient body-fixed
B-frame, {b1 , b2 , b3 } as in the figure to the right, and use Eulers
equation for rotation about the b3 axis to get an equation of motion
for . We use the b3 component of Eulers equation because we
know the moment about the b3 axis; its the moment due to gravity.
For part (b), for the L shape to maintain a constant angle of 0 ,
this means that = 0 is an equilibrium point for the equation of
motion for , i.e.,
= = 0 for = 0
So once we have the equation of motion, we set = = 0 and
= 0 and then solve for .
Eulers equation.

b3 O
b1

d
(HO ) = MO
dt

d
() + (IO ) = MO
dt

c
C

(57)

where IO is the inertia matrix of the L with respect to the

inertially-fixed pivot point O, written in B-frame components. The
angular velocity vector of the L is = B/N , the angular velocity
of the body-fixed B-frame w.r.t. the inertially fixed N -frame, also
written in B-frame components. If we look in the B-frame, as in
the figure in the lower right, we see that is

sin
1
= 2 = cos
(58)
3

n2 m g
tot
n1

The inertia matrix has non-zero cross terms since the chosen B-frame is not
a principal axis frame,

I11 I12 0
IO = I12 I22 0
(59)
0
0 I33

b2

The b3 component of (57) works out to be

d
(3 ) (I11 I22 )1 2 + I12 (12 22 ) = M3
dt
I33 (I11 I22 )2 sin cos + I12 2 (sin2 cos2 ) = M3
I33

b2

Eulers equation is
N

IO

C
c
b1

(60)

O b3

Since the L is a composite body of rigid bars (and a planar body in the b1 b2 plane), we can
sum the moments and products of inertia of the long piece and the short piece (and also use the
parallel axis theorem) to figure out what the Iij terms are:
1
I11 = (3m)(3l)2 + m(3l)2 = 18ml2
3
1
I22 = ml2
3
55
I33 = I11 + I22 = ml2
3
l
3
I12 = m( )(3l) = ml2
2
2

(61)

The moment on the L is due to gravity, Mgrav = c Fgrav , where c is the vector from the
pivot point O to the center of mass of the L shape, C, and the force due to gravity at C is
Fgrav = mtot gn2 where mtot = 4m. By the right-hand rule, the moment due to gravity only
has a component in the b3 direction, so
M3 = (4m)g| c | sin( )
where the vector from O to the center of mass C, written in B-frame components, c =
is
15
1
c = lb1 + lb2
8
8

so | c | =

226
8 l

B OC,
~

and
1

= tan

1/8 l
15/8 l

= tan

1
15

is the angle between the center of mass and the b2 axis, as shown in the figures.
Plugging all of this into eq. (60) and dividing by ml2 gives the equation of motion for



55
226 g
3
2 35
2
2

sin cos + (sin cos ) =

sin( )
3
3
2
2 l

(62)

For (b), setting = 0 equal to a constant (therefore, = = 0) in (62) gives us a relationship

between and 0 ,


35
3
226 g
2
2
sin 0 cos 0 + (sin 0 cos 0 ) =
sin(0 )
3
2
2 l

which we could solve for given 0 .

Lagranigan approach. One should get the same equation of motion (62) using a Lagrangian
= T V , where
approach, using L(, )
V () = mtot g| c | cos( )
is the potential energy of the shape due to gravity.
The kinetic energy can be written with the pivot point O as the reference point, for which the
general equation is
1
O |2 + 1 IO + R
O m c
T = m|R
2
2
where IO is the same as (59), the inertia matrix of the shape w.r.t. the point O and written in
O = 0),
B-frame components. Since the pivot point O is not moving w.r.t. the N -frame (i.e., R
this expression reduces to just the middle term, making it purely a rotational kinetic energy
about the point O (as we might expect)
= 1 IO
T (, )
2


1
=
I11 12 + I22 22 + I33 32 + 2I12 1 2
2

1
I11 2 sin2 + I22 2 cos2 + I33 2 + 2I12 2 sin cos
=
2
Taking the Lagrange equation of motion for recovers (62) and the rest follows as above.

(63)