ME 413: System Dynamics and Control

Second Semester (2006-2007) (062)

Name: ID #: Sec #:

_SOLUTION_ ____________ __03________

Quiz #2: Chapter 3: Mechanical Systems

The mechanical system shown in Figure 1 consists of two springs attached to a pulley. The pulley has a radius R and a mass moment of inertia J while the springs have spring constants k 1 and k 2 . Assuming ideal springs and neglecting the effect of gravity on the pulley, 1. Draw the Free Body Diagram of the system and clearly label all forces acting in it. 2. Derive the equations of motion of the system for small oscillations using Newtons second law. 3. Find the natural frequency of the system. Figure 1

a
J
R

1. FBD

a
J
R

F1 = k1 ( R )

: Assumed +ve

F2 = k2 (a )

direction of motion

ME 413 System Dynamics and Control

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Quiz # 2

2. Newtons second law of motion

M
Or

&& = J

&& (k1R ) R (k 2a ) a = J

&& + (k R 2 + k a 2 ) = 0 J 1 2
Or

&& +
3. The natural frequency is

(k R
1

+ k 2a 2 ) J

=0

n =

(k R
1

+ k 2a 2 ) J

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ME 413 System Dynamics and Control

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Quiz # 2