Quote:
Originally Posted by BRAVESaj25bd8
This doesn't sound right to me. The torque applied by the motor should not be changing as theta changes
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tau_k is the motor torque necessary to be in equilibrium at a given angle theta, given the assumptions in the model (mu_k constant, frictionless pivot, frictionless wheel bearing, no wind resistance, no rolling friction, no friction due to rotation of the wheel about the Z axis).
What the equation is saying is that if you reduce the angle theta, it takes less tau_k to be in equilibrium. If you increase theta, it takes more.
Sustaining equilibrium when theta is very small takes very little torque. In fact, when theta is zero it takes zero torque to sustain equilibrium since the pivot is frictionless and we are ignoring wind resistance, rolling friction, friction in the wheel bearings, and friction due to rotation of the wheel about the Z-axis.
So what happens if you start with the system in equilibrium, and you then increase tau_k to tau_k' ?