elpaso :
First, let us define a variable based on the generalized coordinate axis given in the center, and for these types of problems, let's proceed with Lagrangian mechanics. To do this, we need to calculate the kinetic and potential energies in the system.
Now, let's first perform the calculation for the large wheel. Let its translational kinetic energy be 1/2Mx_derivative^2, and its rotational kinetic energy will be 1/2IW^2. Since we have bodies undergoing rolling without slipping, we have a boundary condition like x-W*r=0. From this, we can find W and substitute it into the rotational kinetic energy.
Next, let's move on to the small body. We need to express its velocity with respect to the generalized coordinate axis, and for its velocity, I would formulate it as: x_derivative_m = x_derivative + W*(rcosalfa_i + rsinalfa_j). Since we already know that W = x_derivative/r, we can rearrange this expression to find the final value of x_derivative_m. We will also include 1/2IW^2 for the small body; however, we must be careful here because the r' value inside its moment of inertia I is not the same as the r value in W = x_derivative/r.
After that, we define the gravitational potential energy for the small body, which yields mgrsinalfa. Since alfa = x/r, we can write it as mgrsin(x/r). As for the spring, let's assume its initial length is a. If the wheel moves by a distance of x, the spring length becomes kök(x^2+a^2). From this, we can write the spring potential energy as 1/2k(kök(x^2+a^2)-a)^2.
Following this step, we take the derivative operations in the Lagrange equation and obtain the final form of the differential equation.
2026-05-30 11:52:47