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Task#147410

1. The document discusses potential energy (U) of a system, where U is equal to the product of mass (m), gravitational acceleration (g), and the position of the center of mass (zc). 2. Formulas are provided for calculating the moments of inertia (I) of different objects, including a cone, half-sphere, and ellipsoid. 3. Properties of rotation matrices (A) are explored, including how A changes with small rotations and relationships between successive rotations.

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alexis
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77 views7 pages

Task#147410

1. The document discusses potential energy (U) of a system, where U is equal to the product of mass (m), gravitational acceleration (g), and the position of the center of mass (zc). 2. Formulas are provided for calculating the moments of inertia (I) of different objects, including a cone, half-sphere, and ellipsoid. 3. Properties of rotation matrices (A) are explored, including how A changes with small rotations and relationships between successive rotations.

Uploaded by

alexis
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 7

1.

2.
a)

U=mg( zc +a) , where

We have that the potential energy is equal to

zc

is the

position of the center of mass,


z see Fig.1.

z=0

Fig.1.

1
a
1
M c = a2 h , h=
M c=
a3
3

tan
3 tan
2
2

The total mass of cone is

Mass of half of the sphere is

We have that the

2 3
M hs= a
3

1
1
M =M c + M hs= a3 2+
3

tan
2

2
tan

2 dz
2
z ( hz )

1
1
z c = zdV =
M V
M 0
We have that the (taking first integral by parts)


2
tan

2 dz

tan

2
z ( hz )

tan
2

2 dz

2
tan
3
( hz )

3
z ( hz )2
h

4
z ( a z ) dz= 12 a 2 z 2 z2
a

Whence,

U= g

zc=

a4
12 tan 2

12 tan

a
4

)|

a4
4

a 4
4

b) The system became unstable if

U >0

3.
a)

a4
12 tan 2

a4
1
1
>0 tan 2 < <2 arctan =60
4
2 3
3

I p = r 2p dV

We have that the rotational moment related to the axis is

Whence, the moment related to

I x=

xaxis

(we keep two points on x-axis)

yaxis

zaxis

( y + x ) dV =|b y = y , cz =z , ax =x|=
2

'

'

'

d V ' abc (b 2 y ' 2 +a2 x ' 2 ) =|x ' , y ' , z ' r ' ,
2

x ' + y ' +z ' 1

dV ' abc ( a 2 x '2+ c2 z '2 ) =|x' , y ' , z ' r ' , ' ,

(we keep two points on x-axis)

x y z
+ 2 + 2 1
2
a b c

x ' + y ' + z ' 1

Whence, the moment related to

I z=

x y z
+ 2 + 2 1
2
a b c

dV ' abc(b2 y ' 2 +c 2 z ' 2 )=|x ' , y ' , z '


2

(we keep two points on x-axis)

( x 2 + z 2 ) dV =|b y ' = y , cz ' =z , ax' =x|=

x ' + y ' +z ' 1

Whence, the moment related to

x y z
+ 2 + 2 1
2
a b c

I y=

( y 2 + z 2) dV =| y =by ' , z =cz ' , x=ax '|=

abc 4 b 4 a
+
5
3
3

b)
We choice the system of coordinates where coordinates orths are parallel to axes
of symmetry of ellipsoid. In this case the tensor of inertia is diagonal.

I ij =

I xx

I yy I zz

We have that the principal moments of inertia related to the center of the mass are

I xx =
2

( y 2 + z 2) dV =I x
2

x y z
+ 2 + 2 1
2
a b c

I yy =
2

(x + z ) dV =I y
2

x y z
+ 2 + 2 1
2
a b c

4.

I zz =
2

( y 2 + x 2) dV =I z
2

x y z
+ 2 + 2 1
2
a b c

Property III
We have that the

a =a

(because it doesnt change during rotation),

A r =r

a =A a
Property IV

A=I + ~v sin - + 2 ~v 2 sin 2


2
We can rewrite matrix

~
v as

~
v ij = kij v k

(where

kij

is Levi-Civita symbol).

We will use the commutator, that is defined as

[ A , B ] = ABBA
Its properties

[ A , A ] =0

[ I , A ] =0 , I is unity matrix.

[ A , BC ]= [ A , B ] CB[ A , C]
The commutator of two rotations matrices around axes

v1 , v2

on angles

1 , 2

[ ~v 1 , ~v 2 ]=~v 1 ~v2 ~v 2 ~v 1=v 1 m v 2n [ mik , nkl ]=v 1m v 2n ( mn il ml ) 0


Whence,

[(

[ A 1 , A 2 ]=

)]

)(

~
v 1 sin - 1 +2 ~
v 12 sin 2 1 , ~
v 2 sin - 2 +2~
v 22 sin 2 2 =sin - 1 sin - 2 [ ~
v1 ,~
v 2 ] +4 sin2 2 sin2
2
2
2
2

Property V
If

we have that

sin =+ O( )

2 2
~v 2 2

2 ~v
A=I + ~v sin - + 2 ~v 2 sin 2
=I ~v +
+ O(3)=I ~
v +
+O( 3)
2
4
2

And we know that the

Whence, we get

expx =1x +

( ~
v )
A=exp

x
+O( x3 )
2

Property VI
We have that the

dA 1=I ~
v 1 d 1 , dA 2=I ~v 2 d 2

dA 1 dA 2=( I ~v 1 d1 )( I ~v 2 d 2 ) =I ~
v 1 d1~v 2 d 2 +O( d 1 d 2)
d 1 d 2

(The term that is proportional to

is in the next order of smallest).

dA 2 dA 1=( I ~v 2 d 2 ) ( I ~v 1 d1 ) =I ~
v 2 d 2~v1 d1 +O( d 1 d 2)
We get that the

dA 1 dA 2=dA 2 dA1

5.
We have that the

[]

= 1
2
3

2=cos 2 + ( v 21+ v 22 +v 23 ) sin 2 =cos2 +sin 2 =1


2
2
2
2

[
[

1 0 3 2

G= 2 3 0
1
3 2 1 0
1 0 3 2
G= 2 3 0 1
3 21 0

]
]

1 0 + 1 0 +3 2 2 3
+
=
=
G
2 0
3 1
0 2
1 3

3 0 +2 1 1 2 +0 3

1 0 3 2


2 3 0 1
G=
3
2
1 0

d
( G )=G + G
dt

1 0 3
2

=

2 3 0
G
1
3 2
1 0

][ ]

0
1
=0
2
3


=G

We

T
m =Q

G I
I G
m =G
T

G
I
m =
T

T I
T I =Q G
G


We have that the

][

][ ]

1 0 3 2 1 0 3 2
1 0 0
T

G G =4 2 3 0
1 2 3 0
1 = 0 1 0 =4 I 3
0 0 1
3 2 1 0
3 2 1 0

T I
( Q G
4 I =G
)

1 T
I =F G
G I

1 0 3 2

(G G )=4 2 3 0 1
3 2 1 0

0
3 2
3
0 1
2 1
0

][

][

d ( 2)
1 2 3

+3 02 1 + 1 2 0 3

dt
0 3 2
d ( 2)
= 3 0 +2 11 2 +0 3

3 0
dt
1
2 1 0
3 0 2 1 +1 2 0 3 1 0 + 1 0 +3 2 2 3

I =F ~
I =I

=F
I
,

6. We have that the

~
A
T R = A u dV G=

Where

( x c , y c , zc)

[[

]] [

0 z c y c
0 z y

z 0 x dV G= A M z c 0 x c G
V
y x
0
yc xc
0

is the position of the center of mass,

body. If it is situated at origin, we get

( x c , y c , z c )=(0,0,0)

M
and

is the mass of the

T R=0 .

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