QUIZ 3

Time 1 hour
Open Notes
MCQ/MSQ – 2marks each. Other questions marks as shown.
All numerical answers must be given till 2 places of decimal.

Q1 The inertia of a rigid body

(A) is a 3 x 3 symmetric positive definite matrix

(B) can be any 3 x 3 matrix
(C) has the mass along three directions on its diagonal
(D) gives the distribution of mass in 3D space

Ans. (A) & (D)

Q2 The principal moments of inertia of a rigid body

(A) can be zero

(B) can be negative
(C) are associated with the eigenvalues of the inertia matrix
(D) are associated with the eigenvectors of the inertia matrix

Ans. (C)

Q3 The perpendicular axis theorem can be used

(A) to obtain inertia matrix between two rotated coordinate systems
(B) to transfer the moments of inertia from the centre of mass to another point in 3D
space
(C) to obtain the moment of inertia of a planar body from the moment of inertia
about two axes in the plane
(D) to obtain the principal moments of inertia

Ans. (C)

Q4 The angular momentum vector of a rigid body in 3D space

(A) is obtained as a product of the inertia matrix and the angular velocity vector
(B) is along the angular velocity vectors of the rigid body in 3 D space
(C) is along the angular acceleration vector
(D) is constant when the rigid body is subjected to external moments

Ans. (A)

Q5 A rate integrating gyro

(A) contains two gimbals
(B) contains three gimbals
 (C) contains only one gimbal with a spring and dashpot placed perpendicular to the
spin axis
(D) can give the two Euler angles perpendicular to the spin axis.

Ans. (C)

Q6 A MEMS gyro measures angular velocity based on the

(A) tangential component of the proof mass
(B) centripetal component of the proof mass
(C) change in capacitance between the moving and fixed fingers
(D) Coriolis component of the proof mass

Ans. (C) and (D)

Q7 Newton’s Law can be applied only for a system in an ------- (fill in the blank)
Ans. inertial frame

Q8 The equations of motion of a spring-mass-damper system is

(A) A nonlinear ordinary differential equation
(B) A linear second-order ordinary differential equation
(C) A nonlinear second-order partial differential equation
(D) Can be solved to obtain the motion of the mass as a function of time

Ans. (B) and (D)

Q9 In the planar 2R example worked out in the lecture

(A) The Coriolis term contains the square of the rate of change of q1
(B) The Coriolis terms contain the square of the rate of change of q2
(C) The 2 x 2 mass matrix is a function of q2 alone
(D) The 2 x 2 mass matrix is a function of q1 and q2

Ans. (C)

Q10 In the planar 2R example worked out in the lecture

(A) There were four reaction forces which needed to be eliminated
(B) There were two reaction forces which needed to be eliminated
(C) The Euler’s equation was applied at the second joint.
(D) The Euler’s equation was applied at the centre of mass of the second rigid
body.

Ans. (B) and (D)

Q11. Figure below shows a mass sliding on a rod with friction. The rod is rotating with a
constant angular speed. Obtain the equations of motion of the mass using free body
diagram.

a) Free body diagram – 3 marks

b) Equation of motion – 4 marks
c) What is the form of the solution of the equation of motion? – 3 marks
Solution to QUIZ 2

Q1 – 7 degrees of freedom

3 in the shoulder (S) joint, 2 in the elbow -- two R joints and 2 in the wrist – two R joints.

Q2 N= 3 x 3 +2 =11

J= 12(9 R + 3 S joints)

∑F= 9 + 9

DOF = 6(11-12-1) + 18 = 6

The ball gripped by the three fingers can have all 6 degrees-of-freedom – translation along X, Y and Z
and rotations about X, Y and Z

Q3 (A) – See notes

Q4 – For X-Y-Z Euler angles, use rotation matrix as below (see Notes Slide #25, L2, L3, L4)

Substitute t =1 in
[[0.63, 0.54, 0.54 ],
[0, -0.71 , 0.71],
[0.77, -0.45, -0.45]

then compute sine and cosine of the angles and substitute in the matrix above. – 5 marks

Substitute angles and derivatives of angles at t =1s in

See slide #7 in Notes L7, L8, L9

Q5 – Coriolis component = - 2 Ω v sin (ϕ) = 2 x 10 x 7.292 x 10 -5 sin(40*2*pi/180) = 0.0014 m/s2

Centripetal = (7.292 x 10 -5) ^2 x 6.371x106 sin (70*2*pi/180) = 0.0218 m/s2

Q6 – Use the formular for or . Both will give

Why? For planar space fixed and body fixed angular velocity vectors are same.
Solution to QUIZ 1

Q1 – Skew-symmetric matrix – [A] + [A]T = [0]

In engineering mechanics [A] is used to represent cross-product as a matrix multiplication

Symmetric matrix -- [A] = [A]T

In engineering, an inertia matrix is an example of a symmetric matrix. In CS, adjacency matrix

is a symmetric matrix.

Q2 The matrix
0.4330 0.7500 0.5000
[−0.4356 0.6597 −0.6124]
−0.7891 0.0474 0.6124
can be obtained as rotation of θ1=45 degrees, θ2=30 degrees, θ3= - 60 degrees about body fixed X, Y
and Z. The other set is (45, 150, -60) degrees.

See slide No. 26

= atan2(0.5, ±0.8660) = 30, 150

= 45, 45

= - 60, - 60

Angle between final Y and original Y = cos -1 (r22) = 0.8504 rad or 48.7243 deg

Q3 The axis k and angle f can be obtained from the formula on slide #14 and slide #15. They are

f = 69.3508 degrees, k = 0.1168*[0.6597 1.2891 -1.1856],

Unit vector k = [0.3525 0.6888 -0.6335]

Assignments for Module 7
Questions 1 to 7 are of 2 marks each. Total marks for Q8 is 16 (as shown).
1. In the `free body diagram', used in deriving equations of motion of multi-body systems, the
multi-body system is broken up into individual rigid bodies and

(A) Only the external forces and moments acting on every rigid body are considered
(B) All forces and moments, including the contact forces and moments, acting on every
rigid body are considered
(C) Only the forces and moments acting at the centre of mass of every rigid body are
considered
(D) Only gravity acting at the centre of mass of every rigid body is considered.

2. In the example of a planar 2R serial chain, the term w x [I]w

(A) is zero because the system is not subjected to external forces

(B) is zero because the system is not subjected to external moments
(C) is zero since the system is planar
(D) is zero due to the rotary (R) joints
where w, [I] denote the angular velocity of a rigid body and its inertia matrix, respectively.

3. In the equations of motion of the planar 2R serial chain, the matrix [M(q2)]
(A) is a 2 x 2 symmetric matrix
(B) is a 2 x 2 skew-symmetric matrix
(C) is a constant matrix
(D) contains the effects of gravity
where q2 is the rotation of the second rotary joint.

4. In the use of the principle of virtual work,

(A) the term virtual displacement denotes zero displacement

(B) the term virtual displacement denotes infinitesimally small displacement
(C) the free body diagram of the system need not be draw while solving the statics
(D) the external forces are not considered

5. The Newton-Euler formulation

(A) is based on the application of Newton's Law and Euler equations for all free bodies
in a serial chain
(B) consists of an outward propagation of velocities, accelerations, forces and moments
from the fixed to the free end and an inward propagation of joint forces and/or torques from
the free end to the fixed end
(C) cannot take into account the friction at the joints
(D) can be used to find all reaction torques and forces at the joints of the serial chain

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6. The Lagrangian of a multi-body system
(A) is the sum of the kinetic and potential energy of each rigid body in the system
summed over all rigid bodies
(B) is the difference of the kinetic energy and potential energy of each rigid body summed
over all rigid bodies
(C) is the difference of the kinetic energy and potential energy of only the free end
(D) is the difference of the kinetic energy and potential energy of only the chosen output
in a parallel chain

7. The equations of motion obtained using the Lagrangian formulation

(A) are simpler than those obtained by using other approaches
(B) do not contain dissipative terms and they need to be added in `ad-hoc' manner
(C) are different than those obtained using the Newton-Euler formulation for the same
multi-body system
(D) are in terms of the generalized coordinates q and its derivatives

8. Figure below shows a inverted pendulum on a cart.

• The mass of the cart is M and moves parallel to the ground (along X axis). Friction
between wheel and ground can be ignored.
• The pendulum is a massless rod of length l with a mass m attached at the end and
connected to the cart by a rotary (R) joint.
• A force F (t) acts parallel to the X axis through the centre of the R joint and gravity
acts along the negative Y axis
• The variables x and q (as shown) represent the location of the cart and the angle of the
pendulum from the vertical.

a) Obtain position and velocity of masses m and M in term of x and q their derivatives --2
marks
b) Obtain the kinetic and potential energy of the system in terms of m, M, g, l, and x and q
and their derivatives – 4 marks
c) Obtain the equations of motion using the Lagrangian formulation. Show clearly all the
steps and the final equations of motion – 10 marks

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Answer to Q8

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Assignments for Module 6
Questions 1 to 7 are of 2 marks each. Marks for Q8 to 10 are as shown.
1. The centre of mass of a rigid body in 3D space is defined
(A) by a vector locating the geometrical centre of the rigid body
(B) by locating an equivalent particle with its mass same as that of the entire rigid body
(C) with respect to the origin of a coordinate system
(D) always for a point physically on the rigid body

2. An inertia matrix

(A) is a 3 x 3 positive definite, symmetric matrix

(B) can only be defined for a rigid body
(C) can be defined for rigid and flexible bodies
(D) can be computed only for regular objects such as spheres, cubes etc.

3. The parallel axis theorem can be used to obtain the inertia matrix of a rigid body

(A) after translation to any point given the inertia matrix at the centre of mass
(B) after translation to any point given the inertia matrix at any other arbitrary point
(C) at any point after rotation and translation given the inertia matrix at the centre of mass
(D) only at the centre of mass.

4. The Euler's equation

(A) relates the net external moment on a rigid body to the derivative of the angular
momentum about the centre of mass
(B) has the same form about a fixed point in the rigid body which may not be the centre of
mass
(C) has the same form for any point on the moving rigid body
(D) relates the net external moment on a rigid body only to the angular velocity about the
centre of mass

5. The conservation of angular momentum

(A) is same as the conservation of linear momentum

(B) is only applicable for point masses
(C) is only applicable for systems with external forces
(D) can be used to derive the equations of motion for a free spinning top

6. In a free spinning top with Izz > Ixx the angular velocity vector w

(A) rotates in a clockwise direction about the Z axis

(B) rotates in an anticlockwise direction about the Z axis
(C) precesses at a constant rate about the symmetry axis
(D) precesses at a variable rate about the symmetry axis

7. A rate integrating gyroscope

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(A) contains a resisting spring in one of its axes
(B) contains a resisting damper in one of its axes
(C) has three gimbals
(D) can also be used for roll stabilization

8. Figure below shows a uniform slender rod of length l and mass m

Derive from first principles (by integration) the Izz and Iz1z1 component of the inertia of the
rod. – 5 marks

9. Figure below shows the slender rod of length l and mass m resting on a frictionless
horizontal and vertical surfaces. The rod is released from rest at q = q0 < 90 degrees.
a) Draw the free body diagram of the system – 5 marks
b) Derive the equations of motion of this rod – 6 marks

10. What is the expression of the angular velocity of the rod? At what (approximate) value of
q will the rod slide of the wall for an initial q0 = 80 degrees. – 10 marks BONUS Question

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Assignments for Module 5

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8. For the truss shown below find the reactions at A and F. Find the forces in the rods BD
and BC.

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9. For the truss shown in figure below, find the force in rod 15. All rods are 1 m long and
rods 16 and 18 are 0.5m long. The force F is 500 N

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10. Briefly, discuss the differences between the method of joints and the method of
sections.

Method of joints is used to find forces in all members of a truss. Takes longer than
method of sections if only a few forces in a few members are required to be solved for.

Method of section is used to find forces in a few members by analysing entire sections.
It is faster than method of joints if only forces in a few members are desired.

As long as the above idea is present, full marks to be given.

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Answers to Assignments 1 to 4
Note: If more than one choice, give marks as

a) Complete answer – 2 marks

b) One correct & one or more wrong – 0 marks
c) One correct answer and no incorrect answer – 1 mark
d) One answer incorrect – 0 mark
e) Each MCQ/MSQ is of two marks. Other questions marks as shown.

Assignment 1

Q1 – Name of sensor – optical encoder. It measures rotation of the disk/motor shaft.

Q2 – Very low cost, less than 1000 Rs. Find out the actual cost and bits in the processor
(16 or 32 bit)

Q3 – Biomechanics, Stanford University.

Q4 – Tested in a swimming pool under water and after making it neutrally buoyant
making it float)

Q5 – Size of an adult (closed) fist. Find out more details.

Assignment 2

Q1 – (B) & (D)

Q2 – 1.4598 rad (any answer between 1.47 to 1.51)

Q3 – (A), (C) and (D)

Q4 – (A)

Q5 – (C) and (D)

Q6 – (A) and (B)

Q7 – See the derivations. Similar to what is shown in slide #16 but needs to be explained
in more detail.

Q8 & Q9 – obtain numbers after substituting in formulas given in slide #25 and slide #30
– 4 + 4 marks

Q10 – 4 additional marks if they show Matlab output.

Assignment 3

Q1 – (C) and (D)

Q2 – (A), (C) and (D)

Q3 – (B)

Q4 – (D)

Q5 – DOF=6(8-9-1) + 3*3 +3*1+3*1 = 3

Q6 – (C)

Q7 – skating on ice where only sliding is allowed, underactuated system – 3 marks

Assignment 4

Q1 – (A) and (C)

Q2 – (C)

Q3 – (A) and (C)

Q4 – (A) and (D)

Q5 – (B)

Q6 – (B) and (C)

Q7 – (D)

Q8, Q9 and Q10 – derivation according to notes. Comment -- The angular velocity
expressions are different. 3 * 3 marks