Automation and mechatronics
AA 2025-2026
Practice 6
Example of exam
Example of exam
Consider the following mechanism (Figure 1), which is set in the vertical plane. The geometry of the
system is known, and in particular, the disk centered in A has a pin in its center which slides on the OB
beam, it has radius R [m], mass m2 [Kg], and mass moment of inertia J2 [kg m2]. Beam OB has length
a [m], mass m1 [Kg], and mass moment of inertia J1 [kg m2], and its barycenter G is located at a/2 [m].
The system is driven by couple Cm [Nm] unknown acting on beam OB.
"⃗, and angular acceleration
"""""⃗𝟏 = 𝝎𝟏 𝒌
In a given time instant (motion act), the beam has angular velocity 𝝎
"""""⃗
"⃗.
̇ 𝟏 = 𝝎̇𝟏 𝒌
𝝎
Figure 1. Kinematic model of the mechanism.