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- Homework Statement
- The input to the system shown below is the force F_i(t). The two identical wheels with

radius r roll without slip. Each wheel has mass M_w and rotational inertia π½ = π_π€ π^2/2; the connector

bars each have mass M_b. The spring is linear with stiffness K and the viscous damper is linear with coefficient b. The bearings at the center of the wheels are frictionless.

4.1 Draw the free body diagram for getting the component equations for the system shown below.

4.2 Write the component equations.

4.3 Verify that the component equations combine and simplify to the following simultaneous

equations:

(1.5*M_w + M_π)πΜ + ππΜ + ππ = ππΜ + ππ

(1.5*M_w + M_π)πΜ + ππΜ + ππ = ππΜ + ππ + π_π

4.4 Explain why four state variables are required to simulate this system using ode45; what are

these state variables and what are the equations for their derivatives?

πΜ_π =? πΜ_π =? πΜ_π =? πΜ_π =?

- Relevant Equations
- (1.5*M_w + M_π)πΜ + ππΜ + ππ = ππΜ + ππ

(1.5*M_w + M_π)πΜ + ππΜ + ππ = ππΜ + ππ + π_π