Page 112 - Robotics Designing the Mechanisms for Automated Machinery
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3.6 Brakes                              101

        For torque proportional to time,



        or





        hence




        or





        and




        For torque proportional to displacement,



        or





        In this case the solution is composed of two components, and therefore,



        the homogeneous solution <j) 0 may be sought in the harmonic form. Thus,



        Substituting the harmonic form in the homogeneous variant of Equation (3.154) we
        obtain





        The partial solution can then be sought in the form


        Substituting this solution into Equation (3.154), we find, for 0^
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