Module 3: Dynamics, Friction & Energy

Welcome to Module 3: Dynamics, Friction & Energy. In this module, we examine how forces translate into linear and angular motion, how tire-carpet traction limits robot acceleration, and how to counterbalance mechanisms using springs and energy conservation.

Concepts in this Module

• Concept 01: Forces, Acceleration & Wheel Traction Limits
  • The Everyday Problem: Why do swerve wheels spin out and lose control during aggressive acceleration? The physics of Static Friction (F_max = μ_s · N) vs Kinetic Sliding (F_kinetic = μ_k · N) and friction circles.
  • Code & WPILib: Traction force limits, current limits, and dynamic weight transfer under acceleration.
• Concept 02: Work, Kinetic Energy & Elevator Counterbalancing
  • The Everyday Problem: How much kinetic energy does a 60 kg robot carry when sprinting across the field at 5.5 m/s, and how do constant-force springs counterbalance gravity on an elevator carriage?
  • Code & WPILib: KE = ½ · m · v², momentum p = m · v, and potential energy gravity balancing in Java.