Tentamen WB1135 14 april 2022 9:00-12:00 v2

1 1. Stangen op wielen
6.0 points · 4 questions

A B
v A = vA ^ v B = vB ^ s1 s2
A B C γ, ϕ, θ
s1
ICs1

^ ) × r A/C
v A = v C + (γ̇k

s1 ^
γ̇k
 ^ ) × r A/B
v A = v B + (θ̇k

A B

vA vB
vC ⋅ ∣v A ∣
= vC ⋅ ∣v B ∣

vA
∣v A ∣
vA vA vB
vA vB
∣v A ∣
= ∣v B ∣
 ^ ) × r A/ICs1
v A = (γ̇k

ICs1 s1
^
γ̇k
2 2. Dynamica van een driehoek
6.0 points · 4 questions

G m>0
IG > 0 A B
Fk
Fg
α=0 aG = 0

r A/G × F k = IG α

G
G
A
r G/A × F g = r G/A × (maG ) + IG α

A
A
G

r G/B × F g + r A/B × F k = r G/B × (maG ) + IG α

B
r A/B × F k + r G/B × F g = (IG + m∣r G/B ∣2 )α

B
3 3. Een waterhevel
6.0 points · 4 questions

A
R B

m C
v C
FC = FC,x^ + FC,y ^
^
M D = MD k
 FC FC,y < mg

dm
∑F = dt (v B − vA ) v A = v^ v B = −v^ v>0
dm
dt
>0

dm
F C,y − mg = dt
(−2v)

F C,y < mg
 FC,x = 0

dm
∑F = dt (v B − vA )
FC,x = 0
 MD

dm
∑ MC = dt (r B/C × v B − r A/C × v A )

^ = dm ((−R^ − L^) × (−v^) − (R^ − R^) × (v^)

∑ MC,z k dt
L
∑ MC,z = dm
dt
((−R)(−v) − Rv) = 0

v
MD
4 4. Snowboarden in een halfpijp
18.0 points · 4 questions

A R
sA (t) s

0 ≤ sA ≤ πR/2

A sA
s=0 s = πR/2
 t=0 sA (0) = 0
3
sA (t) = se ( tt1 )

∣v A (t1 )∣ t = t1

se R t1

∣v A ∣ = ∣ṡA ∣

ṡA = se
t31
3t2

t = t1

∣v A ∣(t1 ) = ṡA (t1 ) = 3 st1e

 3
sA (t) = se ( tt1 )

∣aA (t1 )∣ t1

se R t1

aA = aA,t ^t + aA,n n
^

se
aA,t = s̈A = t31
6t

t1 aA,t (t1 ) = 6 st2e

1

2
s˙A 2 s
aA,n (t1 ) = R
= 9 Rte2
1

∣aA (t1 )∣ = a2A,t + a2A,n

R se t1

s2 s4 3se s2
∣aA (t1 )∣ = 36 t4e + 81 R2et4 = t21
4 + 9 Re2
1 1
 t2 sA (t2 ) = s2 s2 > 0
ṡA (t2 ) =
vsA (t2 ) = 0

s s
s̈A (s) = asA (s) = −g sin R
+ μk g cos R

vsA (t3 ) = ṡA (t3 ) = v3 t3

sA (t3 ) = 0

s2 R μk g

dvsA
asA = dt

ds

∫ asA ds = ∫ vsA dvsA + C0

0 v3
∫s2 asA ds = ∫0 vsA dvsA

s s
∫ asA ds = gR cos R
+ μk gR sin R
+ C1

∫ vsA dvsA = 12 vsA

2
+ C2

Ci
s s 0 1 2 v3
gR[cos R
+ μk sin ]
R s2
= [v ]
2 sA 0

gR[cos s
R + μk sin Rs ]0s2 = 12 [vsA
2 v3
]0

gR(1 − cos sR2 − μk sin sR2 ) = 12 v32

∣v3 ∣ = 2gR(1 − cos sR2 − μk sin sR2 )

sA
v3 = − 2gR(1 − cos sR2 − μk sin sR2 )

s2 = πR/4
μk

μk = μk0
sA (t3 ) = 0 vsA (t3 ) = v3 = 0

μk0 R g

v3 = 0 s2 = πR/4

1
0 = − 2gR(1 − 2
2 − μk0 12 2)

1 − 12 2(1 + μk0 ) = 0
2 = 1 + μk0
μk0 = 2 − 1 ≈ 0.414
5 5. Telescoop uitvouwen
18.0 points · 4 questions

A L mA G
C mB B
A C F D
u
k E C A

t1 E
D

t2 u
t2 t1
r F (t2 ) = yF ^ r G (t2 ) = yG ^ r B (t2 ) = yB ^
 t1 t2
E
 D
G

LA1 H A,G1 G
TA1 A t1 B LB1
H B,G1 TB1 VD1 t2

LA1 + LB1 = LA2 + LB2

H A,G1 + H B,G1 = H A,G2 + H B,G2

TA1 + TB1 + VD1 = TA2 + TB2 + VD2

 F
vG2,y = 0 vB2,y = 0 t2 v G2 = vG2,x ^ v B2 = vB2,x^
^
A ω A2 = ωA2 k

VD1 LA2,x HA,G2,z TA2 LB2,x

HB,G2,z TB2

yF yG yB vG2,x vB2,x ωA2

mA mB L k u IA,G A G

VD1 = 12 ku2

L = mv G

LA2,x = mA vG2,x

^ = r G/G × (mA v G2 ) + IA,G ωA2 k

HA,G2,z k ^

1
IA,G = m L2
12 A
r G/G = 0

HA,G2,z = IA,G ωA2

TA2 = 12 mA vG2,x
2
+ 12 IA,G ωA2
2

LB2,x = mB vB2,x

^ = r B/G × (mB v B2 )
HB,G2,z k
^ = (yB − yG )^ × mB v B2,x ^
HB,G2,z k
HB,G2,z = −(yB − yG )mB vB2,x

TB2 = 12 mB vB2,x
2
 yF yG yB vG2,x vB2,x ωA2 mA
mB L IA,G k u

0 = mA vG2,x + mB vB2,x

0 = IA,G ωA2 − (yB − yG )mB vB2,x

1 2
2 ku = 12 mA vG2,x
2
+ 12 IA,G ωA2
2
+ 12 mB vB2,x
2
 vG2,x
vB2,x ωA2

ωA2

yF yG yB mA mB L IA,G k
u

vG2,x

vG2,x = − mB
v
mA B2,x

vB2,x
IA,G ωA2
vB2,x = (yB −yG )mB

1 2 I ω
2 ku = 12 mA (− m 2 1 2 1
mA vB2,x ) + 2 IA,G ωA2 + 2 mB ( (yB −yG )mB )
B A,G A2 2

1
= 12 mA (− m + 12 IA,G ωA2 + 12 mB ( (yBA,G
IA,G ωA2 I ω
2
ku2 B
mA (yB −yG )mB
)2 2 A2
−yG )mB
)2

ku2 = ( mA (yBA,G−yG )2 + 1 + ) IA,G ωA2

I IA,G 2
mB (yB −yG )2

⎡ ⎤
1/2
2
ku
ωA2 = +
⎣ IA,G ( m +m
1+ Am B
A
IA,G
mB (yB −yG )2
)⎦

D
6 6. Een golfenergie generator
18.0 points · 5 questions

D
mD
yg = 0

F w = AD ρw g(h0 + yg − yD )^

AD ρw yD (t)
yg (t)
h0
 g
Fw

yD

F w = AD ρw g(h0 + yg − yD )^
F g = −mD g^

∑ Fy = mD ÿD

AD ρw g(h0 + yg − yD ) − mD g = mD ÿD
 h0
yD = ÿD = yg = 0

h0

yD = 0 yg = 0 ÿD = 0

AD ρw gh0 − mD g = 0

mD
h0 = AD ρw

h0

AD ρw g( AmD Dρw + yg − yD ) − mD g = mD ÿD

AD ρw yg − AD ρw yD = mD ÿD

mD g + AD ρw gyg − AD gρw yD − mD g = mD ÿD

mD ÿD + AD ρw gyD = AD ρw gyg
 yg (t) = y0 cos(ω0 t)

yD (t)
XD yD (t)

mD ÿD + AD ρw gyD = AD ρw gy0 cos(ω0 t)

yD (t) = XD cos(ω0 t)

y¨D = −ω02 XD cos(ω0 t)

me = mD ke = AD ρw g F0 = AD ρw gy0

y¨D yD cos(ω0 t)
2
−mD ω0 XD + AD ρw gXD = AD ρw gy0
AD ρw gy0
XD = AD ρw g−mD ω02

me ke F0
Fe AD ρw gy0
XD = ke −me ω02
= AD ρw g−mD ω02
 vD (t) = ẏD = −XD ω0 sin(ω0 t)

TD,kin,max sin(ω0 t) =
±1
2
TD,kin,max = 12 mD vD,max
2
= 12 mD ω02 XD
2
= 12 mD ω02 ( AD ρwD g−m 2 )
A ρ gy
w 0
Dω 0
7 7. Vallende balk
18.0 points · 6 questions

AB m IG
L C D

t0

t0
rA = 0
r G = xG ^
r B = L^
xG = L/2 yG = 0
DB F T = FT ^
 AB t0

aG,x = ẍG t0
x

∑ Fx = 0 = mẍG

ẍG = aG,x = 0

aG,y = ÿG t0
y

∑ Fy = FT − mg = mÿG = maG,y

aG,y = FT /m − g
 α t0
z G
^
α = αk

^ = r B/G × F T = (L − xG )^ × F T ^
∑ MG k
L
∑ MG = (L − xG )FT = F
2 T

^ = IG α
∑ MG k
∑ MG = IG α
L
∑ MG = F
2 T
L
α= 2 FT /IG
 t = t0

aB,y = aG,y + αL/2

aB,y = 0

B
G D

aB = aG + α × r B/G − ω 2 ρB/G r B/G ρB/G )

aB,y = aG,y + α L2

2
aB = aD + αtouw × r B/D − ωtouw ρB/D r B/D ρB/D )

ω=0
aB,y = 0 D aD = 0 αtouw ×
r B/D

an = vB2 /ρ = 0
aB,y = 0
 α=
^
αk t0

m g L

aG,y = −α L2

FT
FT − mg = −mα L2
FT = m(g − α L2 )

α = m L2 (g − α L2 )/IG

mg L2 = (IG + 14 mL2 )α
IG = 1/12mL2 1/12 + 1/4 = 1/3
mg L2
α= 1 2
3 mL

3g
α= 2L

8 Extra schrijfruimte
0.0 points · 1 question