Equations of Motion in Matlab

This work mainly concentrates on understanding equations of motion using Matlab. The work
majorly aims to create a better perspective for the readers to understand mathematical modeling
of various scenarios. Objective is to start with simple equations of motions model. Extend it to
rigid body dynamics and finally work on tire data.

Reference book used: Theory of Machines by R.S Khurmi and J.K Gupta

Chapter 2 Kinematics of motion

The most important way to understand and explain a situation is a quantitative analysis. This
analysis would describe a situation in terms of numbers, graphs and relates various scenarios
thus providing us a greater insight on what exactly is problem and how far we are to solve the
problem.

Coming to kinematics, it deals with the geometry of motion and concepts like displacement,
velocity and acceleration considered as function of time. Initially this work focuses on plane
motion.

Type of Motion

In plane motion we can observe two types of motions a) Rectilinear motion and b) Curvilinear
motion.

a) Rectilinear motion: This is nothing but motion along a straight path.
b) Curvilinear motion: This is motion along a curved path.

Basic Equations of Linear Motion

1) v = u +at
2) s = ut + ()at
2

3) v
2
= u
2
+2as













Problem solving with help of Matlab

1. A car starts from rest and accelerates uniformly to a speed of 72kmph over a distance of
500m. Calculate the acceleration and the time taken to attain that speed.

Solution:

Given u = 0
v = 72kmph = 20m/s
s = 500m

by using v
2
= u
2
+2as we have

(20)*(20) = 0 +2*(a)*500
400/1000 =0.4m/s
2
= a

Time taken is obtained from v = u +at

20 = 0 + 0.4(t), t = 20/0.4 = 50s

Analyzing this data using Matlab and try to understand how to system is working and how
parameters are changing with time.

Writing down a Matlab:
As stated earlier we are trying to analyze how displacement and velocity varies with time.

Program (without // symbol)

//
t = 0:100;
u = 0;
a = 0.4;
v = u +a*t;
s = u*t + (1/2)*a*t.^2;
plot(t,v);
plot(t,s);
plot(s,v);
//

Plotting this simple equation would give lumps of data and insight on how the system is
working.












Conclusion: It can be observed from the graphs and equations that the speed varies with time in a
parabolic shape and velocity vary linearly.

Problem 2: Continuation to 1: If a further acceleration raises the speed to 90kmph in 10sec, find
this acceleration and the further distance moved. The brakes are now applied to bring the car to
rest under uniform retardation in 5 sec. Find the distance travelled during braking.

Solution:

Given

u = 20m/s
v=90kmph = 25m/s
t= 10sec
Fig.1 Displacement Vs Time
X axis = Time 0 100sec
Y axis = Displacement 0-2000m
Fig.2 Velocity Vs Time
X axis = Time 0 100sec
Y axis = Velocity 0-40m/s

Fig.3 Velocity Vs Displacement
X axis = Displacement 0 2000m
Y axis = Velocity 0 40m/s

v = u +at
25 = 20 + a*10
a1 = 0.5m/s
2


v
2
-u
2
= 2as

625-400 = 2*0.5*s
s = 225m

Now braking

u = 25m/s
v1 = 0m/s
t = 5sec

0 = 25+a*5
a 1= -5m/s
2


0 625 = 2*(-5)*s
s = 62.5m

Program : I couldnt think of a better logic because of in-experience with programming and
Matlab may be by continuously practicing this I might get new ideas for logics(without //)

t = 0:65;
u = 0;
v = 20;
a = 0.4;
s = zeros(1,size(t,2));
for i = 1:51
s11(i) = u*t(i) + ((1/2)*a*(t(i).^2));
end
p = zeros (1,15);
s1 = [s11,p];
t1 = 1:10;
u2 = 20;
a2 = 0.5;
for j = 1:size(t1,2);
s222(j) = 20*t1(j) + ((1/2)*a2*(t1(j).^2));
end
s22 =s222+max(s1);
q = zeros(1,5);
r = zeros(1,51);
s2 = [r,s22,q];
t2 = 1:5;
u3 = 25;
v3 = 0;
a3 = -5;
for k = 1:5
s333(k) = u3*t2(k) + (1/2)*a3*(t2(k)^2);
end
s33 = s333 + max(s2);
x = zeros(1,61);
s3 = [x,s33];
s = s1+s2+s3;
t = 0:65;
for i = 1:51
A(i)=0.4;
end
for i = 52:61;
A(i)=0.5;
end
for i = 62:66
A(i)=-5;
end

for i=1:51
V1(i) = 0 + A(i)*t(i);
end
for i = 2:11
V2(i) = V1(51) + A(52)*t(i);
end
for i = 2:6
V3(i) = V2(11) +A(62)*t(i);
end

V11 = [V1,zeros(1,15)];
V22 = [zeros(1,50),V2,zeros(1,5)];
V33 = [zeros(1,60),V3];

V = V11+V22+V33;
subplot(2,2,1),plot(t,s,'r');hold on;
xlabel('Time'),ylabel('displacement')
subplot(2,2,2),plot(t,V,'b');
xlabel('Time'),ylabel('Velocity')
subplot(2,2,3),plot(t,A,'k');
xlabel('Time'),ylabel('Accleration')
subplot(2,2,4),plot(s,V,'g');
xlabel('Displacement'),ylabel('Velocity')



Conclusion: Accleration appears to be step function of time. As the time increases velocity
increases upto a peak value and comes back to zero as stated in the problem. The velocity of the
body varing with displacement gives the clear idea of instantaneous velocity at a given distance.

Problem 3: The motion of a particle is given by a = t
3
-3t
2
+5, where a is the acceleration in m/s
2

and t is the time in seconds. The velocity of the particle at t=1 section is6.25m/s, and the
displacement is 8.30m. Calculate the displacement and velocity at t =2sec.

Solution:

Given:
At t = 1, u = 6.25m/s, s = 8.3m, a=?

a = 1-3+5 = 3m/s
2


Integrating acceleration gives velocity

v = t
4
/4 - t
3
+5t+C1

at t =1, v=6.25m/s

6.25 = - 1 + 5 +C1

C1 = 2

There fore v = t
4
/4 - t
3
+5t+2

Similarly integrating v would give s

s = t
5
/20 t
4
/4 + 5t
2
/2 + 4

The remaining part is just substitution of t values to obtain respective values

Matlab program without calculus (without //)

//
t = 0:0.1:10;
a = (t.^3)-3*(t.^2)+5;
v = ((t.^4)/4)-(t.^3)+5*t+2;
s = ((t.^5)/20)-((t.^4)/4)+(5*(t.^2)/2)+4;
subplot(3,2,1),plot(t,s,'r');hold on;
xlabel('Time'),ylabel('displacement')
subplot(3,2,2),plot(t,v,'b');
xlabel('Time'),ylabel('Velocity')
subplot(3,2,3),plot(t,a,'k');
xlabel('Time'),ylabel('Accleration')
subplot(3,2,4),plot(s,v,'g');
xlabel('Displacement'),ylabel('Velocity')
subplot(3,2,5),plot(s,a,'g');
xlabel('Displacement'),ylabel('Accleration')
//



Problem 4 : The veolocity of a train travelling at 100kmph decreases by 10% in first 40 sec after
application of brakes. Calculate the velocity at the end of further 80s assuming that during the
whole period of 120 sec the retardation is proportional to velocity.

Solution:

Accleration is proportional to velocity

dv/dt = -k.v

dv/v = -k.dt

integrating both sides

log
e
v = -k.t + c

at t = 40 sec, velocity is 0.9*100 = 90kmph = 25m/s

log
e
90 = -k.40 + c
also,
log
e
100 = 0+c , there fore c = 2.3log
10
100 = 2.3*2 = 4.6

log
e
90 = -k.40 + 4.6

k = (4.6 + log
e
90)/40

k = (4.6 + 2.3*1.9542)/40

Therefore, k = 0.0026

Also a = - 0.0026*v

v = e
-0.0026*t+4.6


Matlab code (without //)

//
t = 0:150;
v = exp(-(0.0026*t)+4.6);
a = -0.0026*v;
subplot(2,2,1),plot(t,v,'b');hold on;
xlabel('Time'),ylabel('Velocity')
subplot(2,2,2),plot(t,a,'k');
xlabel('Time'),ylabel('Accleration')
//






Problem 5 :
The acceleration of a slider block and its displacement are related by the expression a =
k(s)
1/2
,where k is a constant. The velocity is in the direction of the displacement and the velocity
and displacement are both zero when time t is zero. Calculate the displacement and velocity and
acceleration as functions of time.

dv/dt = ds/dt * dv/ds => a = v*(dv/ds) => v*(dv/ds) = k*(s)
1/2


v*dv = k*(s)
1/2
*ds
integrating on both sides gives v
2
/2 = k * s
3/2
/(3/2) + c1

for s = 0, v = 0 therefore c1 = 0

hence, v
2
/2 = (2/3)*k*s
3/2

v = ((4/3)*k*s
3/2
)
1/2


(ds/dt) = ((4/3)*k*s
3/2
)
1/2


ds/ (s
3/4
) = (4k/3)
1/2
*dt

integrating on both sides gives

s
1/4
/(1/4) = (4k/3)
1/2
*t + c2

at t=0, s=0 there for c2 = 0;

hence ,

s = (t
4
*k
2
)/144;

differentiating s twice would give a and once would give v.
Problem 6:
The cutting stroke of a planning machine is 500mm and it is completed in 1 sec. the planning
table accelerates uniformly during the first 125mm and the stroke, the speed remains constant
during the next 250mm of the stroke and retards uniformly during the last 125 mm of the
stroke. Find the maximum cutting speed.

Solution:
Given:
Total displacement 500mm
Total time =1 sec
125 mm uniform constant, 250 mm no acceleration last 125mm constant retardation.
Let t1 be the time for 125 mm stroke
,t2 be the time for 250mm stroke
,t3 be the time for 125mm stroke

The avg velocity =v
av
= (0+v)/2

t1 = 125/v
av
= 250/v
t2 = 250/v = 250/v
t3 = 125/v
av
= 250/v

t = t1+t2+t3 =>750/v = 1 , therefore v =750mm/s is the highest velocity

Angular Verisons:

These are same as that of linear version where displacement is replaced by angular
displacement, linear velocity with angular velocity and linear acceleration with angular
acceleration.

KINETICS OF MOTION

Problem 7: The flywheel of a steam engine has radius of gyration of 1m and mass 2500kg. The
starting torque of steam engine is 1500N-m and may be assumed constant. Determine 1 angular
acceleration of the flywheel and 2. Kinetic energy of the flywheel after 10sec from the start.

Solution. Given k = 1m; m =2500kg ; T = 1500Nm
Let = angular acceleration of the flywheel.

Mass moment of inertia of flywheel ,I = mk
2
= 2500*1*1 = 2500kg-m
2

T = I

1500 = 2500 *

; = 0.6rad/s
2


Kinetic energy after 10sec
;
2
=
1
+ t => 0+0.6*10 = 6rad/s
Kinetic energy is 1/2I
2
2
= ()*2500*6*6 = 45000kJ

Problem 8:
A winding drum raises a cage of mass 500kg through a height of 100m. The mass of the winding
drum is 250kg and has an effective radius of 0.5m and radius of gyration is 0.35m. The mass of
rope is 3kg/m.
The cage has, at first an acceleration of 1.5m/s
2
until a velocity of 10m/s is reached, after which
the velocity is constant until the cage nears the top and the final retardation is 6m/s
2
.Find
1 the time taken for the cage to reach the top; 2 the torque which must be applied to the drum at
starting and 3 the power at the end of acceleration period.

Solution: Given m
c
= 500kg, m
d
= 250kg, mass of rope = 3kg/m, r = 0.5m; k = 0.35m;

Here, t1= time taken for the cage from initial velocity 0 to final velocity 10m/s;
,t2 = time taken for the cage in constant velocity
,t3 = time taken for the cage from initial velocity of 10m/s to final velocity of 0;

t = t1 + t2 + t3;

10 = 0+1.5*t1 there fore t1 = 6.67sec;
Distance moved by the cage during this time = s1 = (v1 + u1)/2 + t1 = 5*6.67 = 33.35m

Similarly, v3 = u3 +a3.t3
0 = 10 6*t3 or t3 = 10/6 = 1.67s

,s3 = (v3+u3)/2 *t3 = 8.35m

Total displacement of the cage is 100m there for displacement of the cage during constant
velocity is 100-33.35-8.35 => 58.3m
Time taken to travel this distance = 58.3/10 = 5.83 sec

Total time = 6.67+5.83+1.67 = 14.17sec.

2. torque which must be applied to the drum at starting.

T1 = torque to rise the cage and rope at uniform speed
T2 = torque to accelerate the cage and rope and
T3 = torque to accelerate the drum

Force required to raise the cage at uniform speed is
Cannot understand

Problem 9: A riveting machine is driven by a 4kW motor. The moment of inertia of the rotating
parts of the machine is equivalent to 140kg-m2 at the shaft on which the flywheel is mounted. At
the commencement of operation the flywheel is making 240rpm. If closing a rivet occupies 1sec
and consume 10kN-m of energy, find the reduction of speed of the flywheel. What is the
maximum rate at which the rivets can be closed.

Solution

Given: P = 4kW = 4000W
I = 140kg-m2
W1 = 240rpm

Rivet operation is applied for 1 sec. Energy supplied in 1sec is 4000N-m.
Energy consumed by rivet is 10000N-m
Therefore loss of kinetic energy is 6000N-m
Existing kinetic energy of flywheel = (1/2)(140)(25.16)
2
=44311.72N-m
Loss of kinetic energy of wheel = 38311.792N-m

38311.792 = (1/2)(140)(w)
2
=> w = 23.39rad/sec = 228.514rpm

Problem 10:
A wagon of mass 14 tonnes is hauled up an incline of 1 in 20 by a rope which is parallel to the
incline and is being wound round a drum of 1 m diameter. The drum, in turn, is driven through a
40 to 1 reduction gear by an electric motor. The frictional resistance to the movement of the
wagon is 1.2 kN, and the efficiency of the gear drive is 85 per cent. The bearing friction at the
drum and motor shafts may be neglected. The rotating parts of the drum have a mass of 1.25
tonnes with a radius of gyration of 450 mm and the rotating parts on the armature shaft have a
mass of 110 kg with a radius of gyration of 125 mm. At a certain instant the wagon is moving up
the slope with a velocity of 1.8 m/s and an acceleration of 0.1 m/s2. Find the torque on the motor
shaft and the power being developed