ME 313: Dynamics of Machinery

m
m m
x x x
1 2 3
1 2 3
k
1
k
2
Q.1
(a)
SHEET 2 : MULTI-DEGREE-OF-FREEDOM SYSTEMS (a)
1
.
Derive the equations of motion for each of the following systems. Assume that all
displacements and angles are small.
L
m
1
m
2
x
k
Q.1
(e)

k
m
x
a
A
Bar with moment of inertia I
about pivot at A
Q.1
(c)

r
K
k k
m
m
x
I
Q.1
(d)

m m
x x
1
2
1 2
3
springs,
each k
2 k k
Q.1
(b)
k
2k
2k
(a)

'

'

1
1
1
1
]
1

'

1
1
1
1
]
1

0
0
0
0
0
0 0
0 0
0 0
3
2
1
2 2
2 2 1 1
1 1
3
2
1
3
2
1
=
x
x
x

k k
-
k
-
k
+
k k
-

k
-
k
+
x
x
x

m
m
m



(b)

'

'

1
1
1
]
1

'

1
]
1

0
0
0
0
2
1
15
22
3
2
3
2
3
11
2
1
2
1
=
x
x



+ k
x
x

m

m


(c)

'

'

1
]
1

'

1
]
1

0
0
1

0
0
2
=
x
a
a
a
+ k
x m
I


(d)

'

'

1
]
1

'

1
]
1

0
0
0
0
2
=
x
k -k r
-k r
r
K + k
+
x m
I


(e)

'

'

1
]
1

'

1
]
1

0
0

0
2
2
2 2
1
=
x

g
m
g
m
- k
+
x

L
m m
m


2. A single-axle caravan has the following data: body mass 350 kg; unsprung
mass 70 kg; two road springs, each of stiffness 20 kN/m; two tyres, each of
stiffness 200 kN/m.
(a) By assuming that the tyres are rigid in comparison with the road springs, use
a single degree-of-freedom dynamic model and estimate the lowest natural
frequency of the caravan.
(b) Find the natural frequencies and the corresponding mode shapes for a two-
degree-of-freedom model.
1.70 Hz; Mode 1 1.62 Hz, XAXLE : XBODY = 0.092 : 1 ;
Mode 2 12.6 Hz, XAXLE : XBODY = -54.1 : 1
3. Find the undamped natural frequencies and the corresponding mode shapes for
the system in Q.1 (a) when k
1
= 10 kN/m, k
2
= 30 kN/m, m
1
= m
2
= 5 kg and
m
3
= 10 kg.
Mode Frequency (Hz)
Mode shape
X1 X2 X3
1 0.00 1.0 1.0 1.0
2 7.54 -8.77 1.0 3.89
3 16.5 -0.228 1.0 -0.386
2