(Numbers next to description of equations refer to the numbering of equations in the handwritten solution.)
Define Vectors:
Derive General Velocity and Acceleration Equations:
Locate the Center of Mass of the Platform for Case 2:
Derive General Acceleration of Platform for Case 2:
Derive Inertia Equation for Case 2: (1)
Sum the forces and moments of FBD 1 (see Fig A.1 in Appendix for FBDs and KDs): (2) (3) (4)
Solve the moment equation for Tp: (5)
Sum the moments of FBD 2 (see Fig A.2 in Appendix for FBDs and KDs): (9)
Solve the moment equation for TA: (11)
Substitute Equations (2), (3), and (4) into (11): (12)
Construct EOM:
Solve for Pin Reactions:
Use Matlab to derive a simulation and plot the angular velocity over time. Adjust the torque profile until the angular velocity is 1 revolution every 6 seconds.
