Al Akhawayn University, School of Science and Engineering

EGR 2311, Summer 2017

EGR 2311: Dynamics

Final Project

Names: Mohamed Karam El Oudghiri

Kamal Laalou

Supervisor: Dr. Anas Bentamy

 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

Table of Contents
PROBLEM 1 ........ 3-9

PROBLEM 2 .........10-15

PROBLEM 3 ........... 16-23

 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

Problem 1:

(a) We should find the path of the particle in xy-plane, so we should use rectangular
coordinates. In Multivariable Calculus, we learned that the relationship between polar
coordinates and rectangular coordinates is: x = r*cos (); y = r*sin (). Therefore:
The Path of Particle in xy-plane:

x r cos (t 3 2t 2 ) cos(t 3 4t )
y r sin (t 3 2t 2 ) sin( t 3 4t )




s (t ) (t 3 2t 2 ) cos(t 3 4t ) i (t 3 2t 2 ) sin( t 3 4t ) j
The last equation represents the function vector of particles movement.
 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

Analysis of the graph:

We plot the functions using Matlab. The range that we used to solve this problem is 5. Since
we are required to plot in terms of rectangular components (x, y), we transformed the equation
from polar coordinates (r, ) into rectangular coordinates (x, y). Hence, from the xy equations
gotten, we can see that the graphical result is a combination of two periodic functions (cosine
and sine).Therefore, the result is a spiral.

(b) For this question, all we should do is use directly the previous formula that we got
from part (a) to have the velocity components. We also plotted the magnitude of
.velocity to help us visualize the graph better.
We know from this course that:
vr r

v r

Before we calculate the velocities, we should find the derivatives of r and .

r t 3 2t 2 r 3t 2 4t

t 3 4t (3t 2 4)
So, The Velocity Components are the following:
 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

vr r 3t 2 4t
v r (t 3 2t 2 )(3t 2 4) 3t 5 6t 4 4t 3 8t 2
v vr2 v2
 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

Analysis of the graph:

 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

We used matlab to plot these functions in terms of t. the range used to solve these graphs was
0.2 for the first one (t vs Vr) and 0.1 for the (t vs V) and (t vs V).

Study of Vr, V and V in the interval [0, 1]

Vr: since the derivative of the function Vr is positive, then Vr will be increasing in the
interval [0.1]

V: since the derivative of the function V also positive, we can conclude that it is also
increasing in the interval [0, 1]

V: from the equation V we can see that numerically it should also be increasing. The Graph
shows the same result.

(c) For this question, we are asked to find the acceleration components and the
acceleration magnitude. Again, we only have to apply directly the formula.

ar r r

a r 2r

a (ar ) 2 (a ) 2

Before we calculate the accelerations, we should find the second derivatives of r and .

r t 3 2t 2 r 3t 2 4t r 6t 4

t 3 4t 3t 2 4 6t
Radial Acceleration:

ar r r (6t 4) (t 3 2t 2 ) (3t 2 4) 2
ar 4 6t 32t 2 16t 3 48t 4 24t 5 18t 6 9t 7

Transversal Acceleration

a r 2r (t 3 2t 2 ) (6t ) 2 (3t 2 4t ) (3t 2 4)

a 24t 4 36t 3 24t 2 32t
Acceleration Magnitude
 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

a (ar ) 2 (a ) 2
a (4 6t 32t 2 16t 3 32t 2 48t 4 24t 5 18t 6 9t 7 ) 2 (24t 4 36t 3 24t 2 32t ) 2
 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

COMPARISON BETWEEN THE GRAPHS:

 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

Note: we used matlab to plot the components of A

Ar: From calculus when the limit of the function goes to infinity, we take the
highest power and since the highest power is negative then Ar is decreasing.

A: since the limit of the function A is positive when it goes to infinity, we

can conclude that it is also increasing in the interval [0, 1]

A: Since the equation of function a is always positive then it is increasing in the

interval [0, 1]

Problem 2:
 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

1.75
r , t
1 0.75 cos(t )
dr
vr r
dt
1.75( 0.75 sin( t )) 21 sin( t )
r
(1 0.75 cos(t )) 2
16(1 0.75 cos(t )) 2
v r

,
21 sin( t )
vr
16 * (1 0.75 cos(t )) 2
1.75
v
1 0.75 cos(t )

v vr2 v2
Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017
 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

Vr, V and V in the interval [0, 2]:

Note: we used matlab to solve this problem:

Analysis of the graph:

We can see that all the velocity and it components are proportional to (1-0.75cos (3.14t)). The
only difference is that Vr is also proportional to sin (3.14t) that why it is decreasing in the
interval [0, 0.5] and increasing [0.5, 1]. We can see also that when t=2 the value of the
velocity and it component (Vr, and V) is equal to its original value (t=0).

b) Moving on to the second part of the exercise in which, we should find the acceleration and
its components
 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

a r (r r 2 )
a ( r 2r)

1.75
r
1 0.75 cos(t )
21 sin( t )
r
16(1 0.75 cos(t )) 2
21 2 cos(t ) 0.75 0.75 sin 2 (t )
r ( )
16 (1 0.75 cos(t )) 3
and
t

0
so
21 2 (0.75 0.75 sin 2 (t ) cos(t )) 1.75 2
ar
16(1 0.75 cos(t )) 3 1 0.75 cos(t )
42 2 sin( t )
a
16(1 0.75 cos(t )) 2
a ( a r ) 2 (a ) 2
Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017
 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

Study of Ar, a theta and a in the interval [0, 2]:

Analysis of the graph:

We can see from the graph that the acceleration and it components are also proportional to (1-
0.75cos (3.14t)). We can see that the values of A is symmetrical to the intervals [0, 0.5] and [1.5, 2]. It
is also the same thing for the values Ar and A And from [0.5, 1.5] we can see that A is almost equal
to A because Ar in that interval is close to zero.

From the previous saying that t= 2s is the period (velocity graph), the acceleration graph confirms it as
all the acceleration final values are similar to the initials.
 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

Problem 3:

100
First, we calculate the angular velocity of the crank AB: AB ( )rad / s
3

We can draw our engine system at an angle to visualize the system and angles:
Using the Law of Sines

sin( ) sin( ) b
arcsin( sin( ))
b l l

From this, we have found the angular velocity of the crank AB and the angle with respect to .
Now that we have all the information needed, we can start answering the questions.

(a) Finding the angular velocity and the angular acceleration.

VD VB VD / B

VD VD j

VB AB rAB (b AB cos )i (b AB sin ) j
 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017



VD / B BD rBD (BD )k (l sin )i (l cos ) j (lBD cos )i (lBD sin ) j

We want to find the angular velocity of rod BD, so the optimal way is to project all of the
equations on the x-component.

Note: V D , x 0

b AB cos( ) l BD cos( ) 0
b AB cos( ) 100 cos( )
BD
l cos( ) 3
8 cos arcsin( sin )
8

Now, let us find BD

Note: AB 0

aD aB aD / B

aD aD j

a B ( AB ) 2 rAB AB
2

(b sin )i (b cos ) j ( AB
2

b sin )i ( AB
2

b cos ) j
2
a D / B BD rD / B BD rD / B

BD rD / B ( )k (l sin )i (l cos ) j BDl cos( )i BDl sin( ) j

2
BD rD / B BD
2

(l sin )i (l cos ) j BD
2

l sin( )i BD
2

l cos( ) j

We want to find the angular acceleration of rod BD, so well do the same thing which is projecting
the equation in the x components

Note: a D , x 0

AB
2
b sin( ) BD l cos( ) BD
2
l sin( ) 0
BD l sin AB
Z
b sin BD
2
l sin
AB
2
b sin b
BD BD
2
tan arcsin( sin )
b l
l cos arcsin( sin )
l
10 sin( )
4 2
3
BD BD
2
tan arcsin( sin )
3 8
24 cos arcsin( sin )
8
 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

Analysis of the graph:

1- We used matlab to solve this problem we converted from degrees to radians

because it is easier to graph it. We can see that the angular velocity is decreasing
proportionally with the cosine when theta is between 0 and . Also from the graph
the angular velocity is between 40 and -40 in the interval [0. ]
 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

Analysis of the graph:

We can see that the angular acceleration reach its maximum when = . We can also see
from the graph that it is like a hyperbola (increasing in the interval [0, /2] and decreasing
in the interval [/2, ]).

(b) Velocity and acceleration of piston P

Now that we have found angular velocity and angular acceleration of rod BD. The next task is
to find the velocity and acceleration of piston P.

Note: VP VD

Recall: we used the projection over x-axis in order to find angular velocity and angular
acceleration of the rod BD. Now we project over y-axis to find the velocity and acceleration of the
piston P.
Velocity of Piston P
 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

VP b AB sin( ) BDl sin( )

3 100
VP BD 8 sin arcsin( sin ) 3( ) sin
8 3
3
VP 8BD sin( ) 100 sin
8
VP 3BD sin( ) 100 sin
VP sin( )(100 3BD )

Acceleration of Piston P

Note: a P a D

3
a P AB
2
b cos( ) BD
2
l cos( ) BD
2
8 sin( )
8
10 4
3 3
aP cos( ) BD
2
8 cos arcsin( sin ) BD
2
8 sin( )
3 8 8
10 4 3
aP cos( ) 8 BD2
cos arcsin( sin ) 3 BD sin( )
3 8
 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

Analysis of the graph:

We can see that the velocity of the piston reaches it peek when =1.4 rad and decreasing
till it return to rest in = .
 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

Analysis of the graph:

We can see that the deceleration of the piston is increasing till it rest 0 in the interval [0,
1.4] and then it start accelerating in the interval [1.4,2,3] then the values is decreasing
after that till but it stays a positive value.

SUMMARY TABLE OF THIS EXERCICE:

Since it required to answer the problem in term of degree not radial, we decided to make an
excel sheet with the values of as in terms of degree and it gave us these values in all of the
function that we solved:

() BD BD VP aP
0 (25)/2 0 0 -45,235.7
10 38.756 617.601 34.363 -42,298.1
20 37.209 1239.162 69.270 -40,627.8
30 34.623 1864.469 105.145 -35,114.3
40 30.996 2485.048 142.166 -27,869.2
50 26.353 3080.575 180.097 -19,389.0
60 20.760 3617.504 218.134 -10,311.4
70 14.352 4051.638 254.754 -1372.3
80 7.338 4336.527 287.707 6698.8
 Al Akhawayn University, School of Science and Engineering
EGR 2311, Summer 2017

90 0 4436.527 100 13,308.2

100 -7.338 4336.527 331.066 18,124.4
110 -14.352 4051.638 335.673 21,131.8
120 -20.760 3617.504 326.006 22,587.0
130 -26.353 3080.575 301.223 22,904.8
140 -30.996 2485.048 261.709 22,534.5
150 -34.623 1864.469 209.014 21,867.9
160 -37.209 1239.162 145.627 21,201.5
170 -38.756 617.601 74.743 20,729.9
180 -(25)/2 0 0 20,561.6