A thin uniform semicircular plate of radius R and mass m (link 1) is hinged at...

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A thin uniform semicircular plate of radius R and mass m (link 1) is hinged at A and B to a massless clevis that rotates about the vertical axis at point C, as indicated in the figure. This rotation is measured with angle 01. The vertical rod OC can translate the system up and down, so h is not a constant. The plate rotates about AB. The angle of rotation between the plane of the plate and the horizontal is 02 (see Figure 1). p = A = Px1 Pyl Pz1 0 0 Yo 1 Consider the thickness of the plate is negligible and ignore friction at the joints. Now assume the vertical rod has mass and the derivatives of its linear and angular momentum are known and given by: hl MA and h G h = 02 R B x2 Questions 1. Draw the free-body diagrams of the components of the system. You must include vector representation. You can use the forces and moments given in part 1 or change them. Make your notation clear. 2. Determine the constraint force and moment at joint O. Note, you do not need to determine all the components of the force, you must only give an equation as a function of parameters that are known/calculated. For the example p shown one could write: 2 F = P-RFG hyl h1 Example 2 3D g -Mo Mo Z1 H IN Fo L G F G y2 A A 0 22 G2 NYO Top view FG2 C G Y Z1 U Side view / 7 A thin uniform semicircular plate of radius R and mass m (link 1) is hinged at A and B to a massless clevis that rotates about the vertical axis at point C, as indicated in the figure. This rotation is measured with angle 01. The vertical rod OC can translate the system up and down, so h is not a constant. The plate rotates about AB. The angle of rotation between the plane of the plate and the horizontal is 02 (see Figure 1). p = A = Px1 Pyl Pz1 0 0 Yo 1 Consider the thickness of the plate is negligible and ignore friction at the joints. Now assume the vertical rod has mass and the derivatives of its linear and angular momentum are known and given by: hl MA and h G h = 02 R B x2 Questions 1. Draw the free-body diagrams of the components of the system. You must include vector representation. You can use the forces and moments given in part 1 or change them. Make your notation clear. 2. Determine the constraint force and moment at joint O. Note, you do not need to determine all the components of the force, you must only give an equation as a function of parameters that are known/calculated. For the example p shown one could write: 2 F = P-RFG hyl h1 Example 2 3D g -Mo Mo Z1 H IN Fo L G F G y2 A A 0 22 G2 NYO Top view FG2 C G Y Z1 U Side view / 7