Suppose an autonomous surface vessel (ASV) traveling with velocity TvG/O= vi₁ begins to make a turn by adjusting the thrust of its left and right thrusters, TA and TB, respectively. The center of mass of the ASV is located at G and the ASV is symmetric about its vertical axis. The ASV also experiences a drag force that is proportional to its speed and opposes its velocity. At the instant shown, the drag force is D = -kvi₁ where k is a drag coefficient. 1. To model the mass moment of inertia, approximate the ASV as consisting of three rigid bodies: a flat plate as a center body of mass 6m and two slender rods housing the propulsion assemblies, each of mass m, at the outboard sides of the vehicle. Determine the mass moment of inertia, IG, about the vertical axis passing through the center of mass G. (Hint: Use the parallel axis theorem.) 2. At the instant shown, determine the inertial acceleration vector Iac/o = axî₁ + ayi2 of the center of mass and the angular acceleration a of the ASV. (Hint: Solve the system of equations that result from applying Euler's 1st and 2nd Law.)

Suppose an autonomous surface vessel (ASV) traveling with velocity TvG/O= vi₁ begins to make a turn by adjusting the thrust of its left and right thrusters, TA and TB, respectively. The center of mass of the ASV is located at G and the ASV is symmetric about its vertical axis. The ASV also experiences a drag force that is proportional to its speed and opposes its velocity. At the instant shown, the drag force is D = -kvi₁ where k is a drag coefficient. 1. To model the mass moment of inertia, approximate the ASV as consisting of three rigid bodies: a flat plate as a center body of mass 6m and two slender rods housing the propulsion assemblies, each of mass m, at the outboard sides of the vehicle. Determine the mass moment of inertia, IG, about the vertical axis passing through the center of mass G. (Hint: Use the parallel axis theorem.) 2. At the instant shown, determine the inertial acceleration vector Iac/o = axî₁ + ayi2 of the center of mass and the angular acceleration a of the ASV. (Hint: Solve the system of equations that result from applying Euler's 1st and 2nd Law.)

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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