MECH 412 Lecture Notes - Generalized Forces, The Motors

• School: McGill University
• Department: Mechanical Engineering
• Course: MECH 412
• Professor: Meyer Nahon

Document Summary

The equations of motion can be solved using a newtonian or lagrangian approach. Fbd for the two rotors, and : Applying euler"s equation to each of the two rotors yields: We know that = + , so with some rearranging we get. The kinetic energy of the system can be found as. The total potential energy of the system equals. The lagrangian is computed as the potential energy subtracted from the kinetic energy. The first equation of motion can be derived by using the derivatives of the lagrangian and the generalized force . The motor"s torque can be written as = . The second equation of motion can be derived in a similar fashion. Our second equation matches up with that found using the newtonian approach, but the first one does not. This, by itself is not a problem, and we can use these two equations as they are.