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Section B
1
Let D be a horizontal disc of negligible thickness, of centre C of coordinates (0, 0, h) and with radius r , rotating at constant
angular velocity ~ ωD/R = ω~e z , where ~ e z is vertical and orthogonal to the disc D. Let M be a material point, of mass m, initially
at rest, situated at coordinates (x 0 , y 0 , h) in the basis (O, ~
ex , ~
ey, ~
e z ) tied to R, and constrained to move radially by an ideal rigid
rail. Let µs and µc be the coefficients of static and kinematical friction respectively for the contact between the disc and the
mass.
B.1.1 Determine the angular velocity of the disc for which the mass starts to slide. Compute the reactions the disc exerts
upon the mass.
B.1.2 Determine the motion of the mass once it has started to slide. Compute the time t s for which the mass leaves the
surface of the disc and the speed of the mass at that time.
B.1.3 Numerical example : r = 2 m, x 0 = 1 m, y 0 = 0, µs = 0.3, µc = 0.15, m = 10 kg.
B.1.4 Supposing no friction, determine the time for which the mass reaches the altitude z = 0. Compute the speed at the
impact point.
B.1.5 Numerical example : h = 10 m.
B.1.6 Find again the speed of impact using the kinetic energy theorem.
~
F
C D E
2 l l π
F IGURE 1 – Problème/Problem 2 : AD = l , AB = l , BD = CD = , DE = , θ = .
3 3 2 6
2
B.3.2.1 le trapèze de hauteur b et de côtés a 1 et a 2 (OH1 = H2 A) ;
B.3.2.2 le cône tronqué de hauteur h, rayon intérieur constant r int , et rayons extérieurs r ext,1 et r ext,2 . Calculer la posi-
tion de G dans le cas du cône plein de hauteur h et de rayon à la base r .
B.3.3 Calculer le tenseur d’inertie au centre de masse G des deux solides homogènes suivants (densité volumique de
masse ρV ) :
B.3.3.1 le cône plein de hauteur h et de rayon à la base r ;
B.3.3.2 la sphère pleine de centre O et de rayon r dans laquelle on a creusé une cavité cubique de côté a centrée sur O.
On donne les primitives
1 1
Z
(α − βz)n d z = − (α − βz)n+1 ,
β n +1
1 1 2 1 2 1
Z
(α − βz)n z 2 d z = − (α − βz)n+1 z 2 − 2 (α − βz)n+2 z − 3 (α − βz)n+3 .
β n +1 β (n + 1)(n + 2) β (n + 1)(n + 2)(n + 3)
*****
B.3.1 Determine the volume of the filled cone of height h and base radius r .
B.3.2 Compute the position of the centre of mass G of the following homogeneous bodies
B.3.2.1 the trapezoid of height b and base lengths a 1 and a 2 (OH1 = H2 A) ;
B.3.2.2 the truncated cone of height h, constant internal radius r int , and of external radii r ext,1 and r ext,2 . Compute the
position of G for the filled cone of height h and base radius r .
B.3.3 Compute the tensor of inertia at the centre of mass G of the following two homogeneous bodies (ρV being the mass
per unit volume) :
B.3.3.1 the filled cone of height h and base radius r ;
B.3.3.2 the filled sphere of centre O and radius r within which a cubic cavity of side length a centred on O has been
hollowed out.
The following primitives are given
1 1
Z
(α − βz)n d z = − (α − βz)n+1 ,
β n +1
1 1 2 1 2 1
Z
(α − βz)n z 2 d z = − (α − βz)n+1 z 2 − 2 (α − βz)n+2 z − 3 (α − βz)n+3 .
β n +1 β (n + 1)(n + 2) β (n + 1)(n + 2)(n + 3)
ez
~
r ext,2
r int
a2
O H1 H2 A O
r ext,1 ey
~
a1 r int
ex
~
F IGURE 2 – Problème/Problem 3
3
B.4.1 Déterminer, d’après les degrés de liberté du système, les composantes de la réaction et du moment de réaction
en O qui sont non nulles.
B.4.2 Ecrire les équations du mouvement.
B.4.3 Résoudre celles-ci en supposant que les conditions initiales soient ϕ(t = 0) = 0, ϕ̇(t = 0) = ω0 .
B.4.4 Déterminer la réaction en O.
B.4.5 Déterminer le moment de réaction en O.
B.4.6 Application numérique : m 1 = m 2 = 1 kg, l 1 = l 2 = 2 m, ω0 = 3 rad.s−1 , C = 3 N.m.rad−1 .
*****
Consider a system of two rigid homogeneous bars OA (horizontal, mass m 1 , length l 1 ) and AB (vertical, mass m 2 , length l 2 ),
rotating around the vertical axis ~ e z through an ideal cylindrical constraint in O allowing only this rotation ; let ϕ be the polar
angle. An elastic moment is applied to the system in O and has for value M ~ e = −Cϕ~ e z . It is recommended to use the mobile
e x0 , ~
basis (~ e 0y , ~
e z ) for the computations.
B.4.1 Determine, according to the degrees of freedom left to the system, which components of the reaction and of the
moment of reaction in O are non zero.
B.4.2 Find the equations of motion.
B.4.3 Solve these, supposing that the initial conditions are ϕ(t = 0) = 0, ϕ̇(t = 0) = ω0 .
B.4.4 Determine the reaction in O.
B.4.5 Determine the moment of reaction in O.
B.4.6 Numerical example : m 1 = m 2 = 1 kg, l 1 = l 2 = 2 m, ω0 = 3 rad.s−1 , C = 3 N.m.rad−1 .
ez
~
e ′y
~
O ey
~
m2, l 2
ϕ
m1, l 1
ex
~
A
e x′
~
F IGURE 3 – Problème/Problem 4