- #1
iolantham
- 5
- 0
Homework Statement
Please see the attached file for the problem and figure.
Homework Equations
The Attempt at a Solution
This is what I have so far:
The position vector of the block, pblock= xblock wx+ yblock wy
pblock dot omegaz=0 holonomic constraint equation (dot product)
n=3N-M
N= # particles=1 block
M=# holonomic constraint equations=1
So, n=3-1=2
For the nonholonomic constraint eq.:
ur=sum Ars us + Br, with r=p+1, ..., n
Ars and Br are functions of the parameteres q1 (usually angle), q2, ..., t (time)
p=# deg. of freedom
ur=generalized speeds
For part c), I wrote omega1 r1=omega2 e => omega2=omega1 r/e=10 r/e
Thank you in advance!