EXAM IN: MOM 140 MECHANICAL VIBRATION

DATE: 14.05.2009

DURATION: 4 HOURS

USE OF STANDARD CALCULATOR IS PERMISSABLE

DURING EXAM

THE EXAM CONSISTS OF 4 PAGES PROBLEM TEXT

AND 6 PAGES OF FORMULAS

SOLUTIONS TO THE PROBLEMS MAY BE PRESENTED IN

ENGLISH OR NORWEGIAN

_______________________________________________________

Problem 1

b/2 b/2
EI

M
k1

k2

M
M

k1 k1 k2 k1

(a) (b) (c)

Fig. 1

a) Fig 1a and b show two proposed layout for a mass-spring system moving without friction
in vertical guides. Two different layouts are proposed. Find the equivalent stiffness for the
two systems. Determine the natural frequency of the system in Fig. 1a in terms of M and
k1.

b) A slightly modified system is shown in Fig. 1 c. The upper spring is anchored in a beam
of length b and with stiffness property EI. Determine the equivalent stiffness of this
system.

1
Problem 2

Tension leg platform

h Sea surface

Tether

x(t)
(a) (b)
Fig 2

a) Fig. 2a shows a simple pendulum of length, h, and with a concentrated mass, m. The mass
of the pendulum arm is negligible. Assume that the motions are small and show that the
equation of motion for free vibration in terms of the rotation of the pendulum, , or the
the horizontal displacement of the concentrated mass, x (see Fig. 2a), is given by:

g g
    0 or x  x  0
h h

On a day with no wind an experiment with a pendulum with h = 20m and m = 10 kg is

made from a fjord crossing bridge. After giving the mass an initial disturbance, the
pendulum moves with a steady period of 8.9732s. Estimate the acceleration of gravity, g,
for this site.

b) Fig 2b shows a tension leg platform in neutral position. The platform has in total 16
tethers, i.e. each tether line in the figure represents 8 tethers. For a tension leg platform,
the buoyancy is much larger than the weight of the platform. The difference between
buoyancy and weight defines the pretension in the tethers. The total pretension (sum of
N
pretension of all 16 tethers) is 160 MN. The axial stiffness of each tether is 1.25 10 7 .
m
In a model test experiment it is found that the natural period (full scale) in heave (vertical
vibration) of the platform is 3s. The length of the tethers is 350m.

Determine the total mass (platform mass plus added mass) involved in the vibration from
the model test result. Neglect the stiffness effect of the waterline area.

Assume that the mass involved in horizontal motion is the same as for the vertical motion
and calculate the natural period for the surge motion (horizontal motion). Assume small
motions.

2
Problem 3

a) In a model test with a floating platform, the damping of the horizontal motion is estimated
by a decay test. The platform is pushed to an initial position x0. The force is removed and
the model starts a vibrating motion from an initial speed equal to zero. Denote the next
positive amplitude, x1, and estimate the critical damping ratio in terms of x0 and x1.

b) Can you briefly explain what we mean by Coulomb damping? Illustrate by a simple
sketch how a system with Coulomb damping will move after being given an initial
displacement. Use the sketch for pointing out some typical features of Coulomb damping.

c) A mass - spring system is defined by the mass equal to 10 kg and the spring stiffness
equal to 628N/m. The mass is hit by an impulse like load. The time history of the load is
shown in Fig. 3. The maximum load F0 is 12.56N and the duration of the impulse is 1s.
Determine the maximum displacement.

F(t)

F0

0.5 1 t (s)
Fig. 3

3
Problem 4

v
Y

x


A car is driving with speed v on a rough road. The shape of the road, y(x), is modelled as a
 2 
harmonic function of x, i.e. y ( x)  Y sin  x  . The distance between the front and aft wheels is
  
small compared to  and we will here consider the motion to be a pure vertical translation which
can be denoted by z(t). We will therefore model the car as a single degree of freedom system.

The speed of the car is 80km/h, the mass of the car of is 1000kg,  = 40m, the damping system is
partly defect and the damping ratio is merely 0.25, Y is 0.25m. The stiffness of the system is
50kN/m.

a) The equivalent effect of the sinusoidal rough road is that the vertical motion of the car is
driven by base motion. The base motion is on the form: y (t )  y 0 sin t  .
Determine y 0 and  .

b) Draw a figure where the car – road system is modelled as single-degree-of-freedom

system with mass m, stiffness coefficient, k, damping coefficient, c, and forced by the
base motion, y(t). Show that the equation of motion is given on the form:

 c 
mz  cz  kz  F0 sin t    , where F0  k 2  c  and   arctan 
2

 k 

c) Calculate the steady state amplitude of the vertical motion.

d) Determine the speed that will correspond to maximum dynamic amplification for the case
with   0.25 .

4
 FORMULAS

 Complex numbers:
 y
z  x  i y  Re i ; i   1 , R  x 2  y 2 ,   arctan 
 x
i
Eulers formula: e  cos   i sin 

 Roots of a second order equation, ax2 + bx + c = 0:

 b  b 2  4ac
x1, 2 
2a

 Trigonometric formulas:

sin(x-y) = sin x cos y - cos x sin y

cos(x-y) = cos x cos y + sin x sin y

sin2x = 0.5(1 – cos 2x)

cos2x = 0.5(1 + cos 2x)

B
A cos x  B sin x  A 2  B 2 cos( x   );   arctan 
 A
A cos x  B sin x  A 2  B 2 sin  x   

 Hyperbolic functions

cosh x = 0.5(ex + e-x)

sinh x = 0.5(ex – e-x)

 Energy expressions:

Mass – spring system:

1 1 2
1-DOF: T  m x 2 and U  kx
2 2

1  T  1  
n-DOF: T  x m x and U  x T k  x ; where x T  x1 , x 2 , ..... , x n 
2 2

5
 2
 w( x, t )    2 w( x, t ) 
l 2 l
1 1
Beams: T    A( x)   dx and V   EI ( x)  dx
 t   x
2
20 20 

d  T  T
 V
Lagranges equations:   0; j  1, 2, ..... , n
dt  q j  q
 j q j

Conservative system: T + U = constant

Rayleighs principle: Tmax = Umax

 Newton’s 2. law:
Translation: mx   Fi , Fi = external force no. i.
Rotation: J(t )  
M , Mi = external moment no. i., J=Mass moment of inertia.
i
2
J = mr , for a concentrated mass, m, moving in a circle with radius, r.

 Free vibration with viscous damping:

Eq. of motion: mx(t )  cx (t )  kx(t )  0

Critical damping: cc  2 n m
c
Damping ratio:  
cc
Solution for   1 :
x(t )  e nt ( A1e id t  A2 e  id t );  d   n 1   2
or
x(t )  e  nt ( B1 sin  d t  B2 cos  d t );
or
B 
x(t )  Ce nt cos ( d t   ); C  B12  B22 ,   arctan 1 
 B2 
Solution for   1 :

x(t )  C1  C2t  e  n t

6
 Undamped free vibration 2-DOF system

m m   x  k11 k12   x1  0 

Eq. of motion:  11 12   1        
m21 m22   x2  k 21 k 22   x 2  0 

Harmonic solution assumed ( x j (t )  X j e i (t   ) ):


   2 m11  k11    m 2
12 
 k12   X 1  i t   0 
  
  X  e

   m21  k 21
2
   m 2

22  k 22 
  2 0 

Non-trivial solution requires that the determinant of the coefficient matrix must be 0.

 xi  2 
 Logarithmic decrement:   ln  
 xi 1  1 2

 Free vibration with Coulomb damping:

Eq. of motion: mx(t )  kx(t )    N ;  1 if x (t )  0,   1 if x (t )  0

N
Solution: x(t )  A1 cos  n t  A2 sin  n t  
k

N
x0 
Number of half cycles until rest: r  k ;
2 N
k

 Forced vibration, harmonic load:

Eq. of motion: mx(t )  cx (t )  kx(t )  F0 cos t

Solution: x(t )  x h (t )  x p (t ) ;

x p (t )  X cos (t   ),

F0  st F0 
X   ;  st  ,r
(k   2 m) 2  (c) 2 (1  r 2 ) 2  (2r ) 2 k n

7
 c  c   2r 
 , ccrit  2 n m,   arctan   arctan 
 k  m  1  r
2 2
ccrit 

1
Dynamic amplification: DAF 
(1  r 2 ) 2  (2r ) 2

Harmonic forcing on complex form: F (t )  F0 e it

Particular solution: x p (t )  X e it

F0 F0  c 
X   e -i  ;   arctan 
( k   m )  i c
2
(k   2 m) 2  (c ) 2  k  m 
2

 Complex transfer function:

Load: F (t )  F0 e it

X k 1
Transfer function: H (i )   
F0 / k (k   m)  i c
2
(1  r )  i 2r
2

F0
Particular solution: x p (t )  | H i  | e i (t   ) ; H (i )  | H (i ) | e  i
k

 Transmissibility

Displacement transmissibility for base motion induced vibration:

X
Td   1  (2r ) 2 DAF
Y

Force transmissibility:

FT
TF   r 2 Td
kY

8
 Centrifugal force for rotating unbalanced mass, m, with radius of unbalance, e,
rotating with frequency :

F  me 2

 Forced vibration, non-periodic loading:

e n ( t   )
Unit impulse response function: h(t   )  sin  d (t   )
m d

t
Convolution integral: x(t )   F ( ) h(t   ) d
0

Impulse (defined as change of momentum):

I  F ( )   mx (t    )  mx (t    )

 Dynamic amplification to standard types of non-periodic loads:

DAF = xmax/xstatic

t1/t0

9
 Equivalent spring stiffness

EI 192EI
keq 
l l3

3EI
k eq 
l l3

48 EI
k eq 
l
l3

EA
k eq  , A = cross sectional area
l
l

10
Solution: Exam in MOM 140, May 2009-05-14

Problem 1

a) For the system in Fig. 1a, the springs acts in parallel, i.e. they are exposed to the same
displacement, z. The resulting restoring force becomes:

R = k1z + k1z = 2k1z = keq1z  keq1 = 2k1

For the system in Fig 1b, the springs acts in series, i.e. the force through the springs
are the same.

The displacement of the mass, z, is equal to the displacement of each spring:

z = z1 + z2

Since the force, F, is the same we have:

F F
z , z1   z2
k eq 2 k2

F F F 2F k2
     k eq 2 
k eq 2 k2 k2 k2 2

b) In Fig. 1 c, the upper spring and the beam is in series. The stiffness coefficient of the
beam is:

48 EI
k3 
b3

The equivalent stiffness of the upper spring and the beam, keq3, is given by (ref. point
a)):

1 1 1 k1 k 3
   k eq 3 
k eq 3 k1 k 3 k 3  k1

The equivalent stiffness keq3 and the lower spring k1 is in parallel, i.e.:

k1 k 3 2k k  k 2
k eq 4  k eq 3  k1   k1  1 3 1
k 3  k1 k 3  k1

1
Problem 2


h

mg

a) The pendulum is shown in a displaced position in figure above. The restoring moment
is seen to be:

M r  mg sin  h  mgh 

Using Newton 2. law we have: J 0    mgh , J 0  m h 2

g
 mh 2   mgh  0      0
h

g
For small motions we have x  h  x  x 0
h

h
“Stiffness” is g/h and “mass” is h, i.e.: Tn  2
g

Case: Tn = 8.9732s and h = 20m.

h m
Solving expression for Tn with respect to g: g  4 2 2
 9.806 2
Tn s

m k
b) Natural period: Tn  2  m Tn2
k 4 2

N
The total vertical stiffness coefficient is: k  16 1.25 10 7  2  10 8
m

With Tn = 3s, we have: m  0.456 10 8 kg

2
 Fp
The total restoring force for a horizontal displacement, x, is: FR  F p sin   x,
l
where Fp is the total pretension, F p  1.6  10 8 N

Fp Fp
Newton 2. law: mx   x  mx  x0
l l

m
Tn , surge  2  62.75s
Fp / l

Problem 3

x0
a) The logarithmic decrement is given by:   ln( ) , the damping ratio can then be
x1
2 
found by solving:     
1    4 2
2

b) Coulomb damping force is damping from the effect of the friction force. It is
proportional to the friction coefficient and the weight of the moving body. It is
furthermore independent of speed of motion and is always acting against the motion.

Mean leven 1. half cycle

Mean level corresponding
Mean leven 1. half cycle to restoring force equal to friction
force, i.e.: N/k.

Tn Tn Tn

Mean leven 2. half cycle

Figure shows an example of a Coulomb free vibration. Motion is sinusoidal, but the
mean of each half cycle changes sign. This means that motion amplitude is reduced
with 2*mean level per half cycle. Mean level is the level where the restoring force in
the spring is equal to the friction force. If body stops within the mean value band, the
motion stops.

628 2
c) The natural frequency is:  n   7.925rad / s  Tn   0.79
10 n

3
 F0 12.56
Static displacement: x st    0.02m
k 628

t 1
The period ratio is:  1.27
t n 0.79

From curve (a) at page 9 in Exam text, we then find DAF 1.4

Maximum displacement is: 0.028m

Problem 4

a) The base motion is sinusoidal since road is sinusoidal. The amplitude of base motion
must be the same as the amplitude of the road, i.e y0 = Y = 0.25m.

The speed of the car is: v = 80km/h = 22.2m/s

The period of the base motion will be the time it takes for the car to drive from one
peak of the road to the next, i.e.:

 40 2 rad
vT    T    1.8s    3.49
v 22.2 T s

b)

z(t)

k c
y(t)
Base

Isolating the mass and using Newton 2. law gives:

mz   k ( z  y )  c( z  y )  mz  cz  kz  cy  ky  F (t )

Introducing y (t )  Y sin(t ) yields:

4
 F (t )  cY cos(t )  kY sin(t )  F0 sin(t   )

 c 
Where: F0  c 2  k 2 Y and   arctan 
 k 

c) The force amplitude can be written:

 c 
2

F0  kY 1     kY 1  2r 
2

 k 

  3.49
We know k, Y and  , but we need the frequency ratio: r     0.494
n k 7.07
m

 F0  50000  0.25 1  (2  0.25  0.494) 2  12876 N

12876
The static amplitude is: z st   0.256
50000

The dynamic amplitude becomes:

z st 0.256
Z    0.322m
(1  r )  (2r )
2 2 2 0.795

This means we experience a dynamic amplification of 1.26.

d) We have:

 
1

DAF  (1  r 2 ) 2  (2r ) 2 2

   2(1 r 
3
d ( DAF ) 1 
  (1  r 2 ) 2  (2r ) 2 2 2
) (2r )  2  (2r )  (2 )  0
dr 2

  4r (1  r 2 )  8 2 r  0

The solution r=0 is not interesting here, i.e.:

 (1  r 2 )  2 2  0  r 2  1  2 2  r  1  2 2

Here we have   0.25  r = 0.935

That means that the frequency maximizing the dynamic amplification is:
  r   n  6.61Rad / s

5
 2
From point a) we see that this mean that T is: T   0.95

 40 m km
v   42.1  151.6
T 0.95 s h