Chapter 6 Multidegree of Freedom Systems Equations of motion: m ¥ =— kx —5k 35) —k i —m) + Fill) m; ¥, =—k (xp — x1) —k (: — xs) + Fat) mg ¥y = — 5 k (Zp — m1) — Kk (3 — 2) — ke xs + Falt) im o o || 7 oa 8] | PL) 10m, 0 SAE p +k i—1 2 —2) fret =4Fa(t)) Oo 0 ml |e, 5 1 7 J fx} [Fa(t) or mh cma — F(t) —> F(t) Se (*1-%2) Ste (x9- 1) +— kx, ™ Kx (%1-%2) & (43-42) #e(x,-%) + (%2-%3) 4 *2(t) Equations of motion: 7 i (5 ; | fue 5 | ¢ =e [Son Fox] Sak OQ e+M ami =-2ifu—£6 -e i — 5 =k —m)+F; m¥, =—k (xp xy) + Fe where bat entn=ime ‘These equations can be stated in matrix form as: 362$4 58 3% (ol) c@ cl ° zme o olf| |e + ° : o 2m o|{a{> - <4 e off fl NAS lo om fe) |, oof faa] 2#(2¢-*) GG 8-4) 25k an(m- 08) é 3) a -*f Oo} 6) fw tte * +|_ ke pap = 4F am] | Hy fk wk iF [Rely i : fe (spe 2) © (am ¥2) Equation of motion for rotation about B: Jq 5-2 mq (| kx (5 )—Fs (56) +k (a —94) (24) +e (x 4) 24) @) Equation of motion for rotation about D: Jo § +2 mig (‘¢]--« (54) +Fs (5 4) —K (a — x2) (84) -c Gen — 52) (384) (2) Equation of motion of mass 5m in vertical direction: 5 m Xp =~ k (xy — xa) —e (ep — Xa) + Fe (3) Noting that - + Jo -temog-3 Bane ; oe eg eT 3 °eo , 2 and mon -2eee datas 363Eqs. (1) to (3) can be rewritten as: ms 2 _. 29 6 is peat" uoseal ria ~Ekm tach tgp ek — Fehr Fs (4) 2 s s 34 3 anh taht gta ohn teint gen -Fek ty ekoh 6) 5m¥,—Skx thm -2 kx 3. . 2. ~ ci, tem—-Zem =P: 6) Equations of motion: &% + MassM: MX, =—kxy +T—2k (xj —x3 —1 6) +F, (1) Massm: m3 =—3kx3+2k(x,—x3;—16)+Fs (2) Mass 3m: 3m; =F, —T (3) Rotation of pulley: Jo =T (31) +r (2K) (x1 — xs (4) Noting that T (tension) ono ate (41-43-78) ar and 3m \| oa 4 1 ™ 1 ty SguT gece Ts ae Eq, (4) can be used to find the tension T as: aa xy tmiiy 7 8 2 2 &)-Sen then tein © Using the expression of Eqp. (1) to (3) can be rewritten as jo |. Jo a 8 8 -—e — -= -= =F,(t) (6) hus Z| Syn t Fey — Fk 7 ke F(t) () Jo |. 8 2 2 aot de |e ben tdkn Seek) ) m8; -$kx + Zin +5kx =F) (8) 364