Speed = 200 rpm In a minute, a point will be subjected pressure, p(t) to the maximum pressure, A= Pinay = 700 kPa, As 200 x 6 = 1200 times. 60 Hence period = t = —— = 0.05 sec. 1200 _|A,o (es) rg AP is very smell, yp = — 4 cor ot Sharmonie motion- (b) Te have amplitude of second harmonic smaller then that of first harmonic in &-(Es), we need to have a + L . 4 . L 4D S > ven Tt Ss Rese Ro heed once the amplitude of second harmonic is smaller by factor of 25, the amplitudes of higher harmonics arising from the expansion of spuare-root- term in (Ez) are expected to be still smaller. Unbalanced force developed = P = 2 mui r cos wt, range of force = 0 - 100] range of frequency = 25 - 50 Hz = 157.08 - 314.16 rad/sec. Parameters to be determined: m, r, w. Let r = 0.1 m. To generate 100 N force at 25 Hz, set: Prax = 100 = 2 m (157.08) (0.1) which gives Goa 2 (157.08)? (0.1) ‘To generate 100 N force at 50 Hs, set: m = 0.0202641 kg = 20.2641 ¢ Prax = 100 = 2 m (314.16)? (0.1) whieh yields 100 = ——____ = 0.0050660 kg = 5.0660 a) (314.18)? (0.1) . .Assume same area of cross section for all segments of the cable. Speed of blades = 300 rpm = 5 Hz = 31.416 rad/sec. a= ot = (2 (31.416)? = (62.832)? Keq =m wh = 250 (62.832)? = 98.6065 (10) N/m. Q) AD = V0.5? +0.5? =0.7071m , OD = V2? +0.7071? = 2.1213 m Stiffness of cable segments: AE kro = 34 E A (207) 10") = 207 (10°) A N/m 0 ° Kop - AE = A (207) (10 ) = 97.5817 (10°) A N/m op . 2m a o-7071 Mm z = tan! (e707! o= tan’ (#721!) = IN 4710% ‘The total sttiffness of the four inclined cables (kjc) is given by: kig = 4 kop cos? 9 = 4 (97.5817) (10°) A cos® 19.4710° = 346.9581 (10°) A N/m Equivalent stiffness of vertical and inclined cables is given by: eae zt Po | ki ley key = 2 kie _ kpo + kic A j= (207 (107) A) (346.0581 (10°) A) _ 199.5494 (10°) A N/m 2) ~ 207 (20°) a) + (346.9581 (10°) A) Equating k,q given by Eqs. (1) and (2), we obtain the area of cross section of cables as: __ 98.6965 (10*) 129.6494 (10°) = 7.6126 (10°) m?3) Longitudinal Vibration: Let Wy = part of weight w carried by length a of shaft W,=W-Wy = weight carried by length b x= Elongation of fength a = Wie ae = Shorteni length b= Cw-wi)(f-2) esmornening of Mengi b= a | Since x= ¥, w= W(t-a) Youngs modulus area of cross-section = df, £ x= elongation or static deflection of Length a = We tl-=) aek Considering the shast of fength a with end mass Wi/g os a Spring -mass system, @, = JE = (ah tfe we (I-a) Transverse vibration: spring constant of a fixed—fixed beam with off-center load eke ETL _ ser’ a 6? a (f-a)* 3 + ue JE = {BEEP EM wath 22 (mH%e) a (ie = moment of inertia Torsional vibration: rg flywheel is given an angular deflection @, resisting torgues offered by Lengths a and b are $58 and SHE. Total resisting torgue= My= sx(t+4)0 My 1 = z= az(i+ +) 4 where J= md = polar th moment of inertia ont = [SE (ee#)Y" where 33 = mass polar moment of inertia of the flywheel.Traffic sign thickness = 0.003 m Post height: 1.8 m Post cross section: 0.05 m x 0.006 m Wind frequency: 1.1 H, Solution: 1.1 H, = 6.9 rad/s AB = V0.22? + 0.22? = 0.3111 m BC = 0.8 - 0.22 — 0.22 = 0.36 m Area = 0.8(0.8) — (3 (0.22) 29) = 0.5432 m? Thickness = 0.006 m,Weight of density of steel = 75950 N/m’ Weight of sign = 75950 (0.003) (0.5432) = 123.8 N Weight of post = 1.8 (0.05) (0.006) (75950) = 41.01 N 3EI e Stiffness of sign post (cantilever beam): k = Area moments of inertia of the cross section of the sign post: I, = = (0.05) (0.006)? = 9 x 10-"(m4) vy ly = a (0.006 ) (0.05) = 6.25 x 10°(m*) Bending stiffness of the sign post: BEI, _ 3 x (200 x 10°) (6.25 x 10°) i = 6430 N/m k= 18° 3EL 3 x (200 x 10°) (9 x 10" k= SEhe = 34200 x 10 OX 10") | 99.59 Nim ” € 1.8 k, 3 4 2G 1-008 2 B } a 12a* (see Ref: N. H. Cook, Mechanics of Materials for Design, McGraw-Hill, New York, 1984, p. 342). Thus, ; ‘ 7 (0.025) (0.003) 1-088) ( 208) pu \ k 5.9] (0028, ©.009" Jos x 10%) | (0.63) os Fa aans = 153.3547 N - m/rad Natural frequency for bending in xz plane: i k..|2 _ | 6430 |* smy = pas] = 22.5610 rad/sec m 9.8 Natural frequency for bending in yz plane: kl? o, = k,, = 2.7073 rad/sec mBy approximating the shape of the sign as a square of side 0.8 m, we can find its mass moment of inertia as: 75950 9.8 = 3.1744 kg.m? Natural torsional frequency: 1 a ox= {Bf [2888647 «5505 ena in 3.1744 a orn +h?b)= ( } (28) [0.8°(0.003) + (0.008)°(0.8)] Thus the mode of vibration (close to resonance) is torsion in xy plane.2.5 cm diameter 2.5 cm m = mass of a panel = (150 x 10-2) (90 x 10-) (2.5 x 10-2) (3000) = 101.25 kg ae _ _ m mass moment inertia of panel about x-axis = aa (a? + b?) 101.25 =) (2.5 x 10-2)? + (90 x 10-2)?) = 6.83965 kg m? I, = polar moment of inertia of rod = aa at= eo (2.5 x 10~)4 = 38.3495 x 10-9 mé 9 9 k, = Elo = 26x 10°) (88.3495 x 10") _ 5595 69 Nem/rad (30 x 107°) a a 0, = iene (sees) = 22.044 rad/sec Jo 6.83965 I, = polar moment of inertia of cross section of shaft AB t = = at= & (25x10 = 38.3495 x 10-9 m* 32 32 ® k, = torsional stiffness of shaft AB = Sho _ (83 x 10°) (38.3495 x 10° 15 x 107 Jo = mass moment of inertia of the three blades about y-axis = 21220.06 N-m/rad 1 2 3J,1PQ=3 (3 me’) = mé? = 1(80 x 10-2)? = 0,09 kg m? key (z1z2008 0.09 = 485.57 rad/sec(i) (a) Viscous damping, (b) Coulomb damping. ) (a) ta 5 Hz, wy = 31.416 rad/sec. (b) 7, 5 Hz, w, = 31.416 rad/sec. ae x (i) (@) Sa .2 sec, fy .2 sec, fy ull in |_| = in 2 = 0.6031 = 228 Kiet 1-2 or 39.9590 7? = 0.4804 or ¢=0.1096 Since wy =u, W1—¢, we find wa 31.416 ~ = = 31.6085 rad /sec ah ¢ Vo.vsz08 i k=mui = or 2] (31.6065)? = 5.0916 (10) N/m =—= A S~ ima Hence c =2muy ¢=2 ) (31.6085) (0.1096) = 353.1164 N—s/m (b) From Eq, (2.116): k=mut= = 5.0304 (10) N/m Using N= W = 500N, 0.002 k Al k _ (0.002) (5.0304 (10*)) p= 41500) = 0.05032000 tg , Ve % = (0 m/see , *= 40,000 N/m 20,000 N-se/m VE" = | 92902) = 4.4721 rad/see Cos 2Vem = 25,298-221 N-sec/m T= Yo. = 07906 “= wo, fi- T* = 4.4721 Vi- (0-7906)* = 2-7384 rad/ree T= 2s = 2-2945 sec (@) For x, 20 and x, = Io msec, Ey. (2:72) gives A(t) = e tent % sin @, VI 7* & At Xnax > ht = Band sin w,fi-y7t = 4 ; —0. 7906 (TA) + Xmax = @ (as S39) 4) = 0548 m (b) t= Ty = 2:2945/%4 = 0.5736 sec. (a) Equation of metion for amqulorn otcillaliom of pendulum : ZG+ mpl ane +t monrge =o For Amol amgles, 6+ A (os tay. ° This shous that the amyl of, swing deer thy (9 each (b) For mation from right ’ legt : a O(E) = Ay oF Ont + Az tem Ont + AF where og frag % =. Let g(t =0) = a amd 6($=0)=0. Then Ay= @- fe » Ar=O= (e,- #4 td e(t) (% Sys wt + a For motion from test to right = O(t) = As cos Cot + Ay sin Ot — A At t= 7, B= G+ ae » 6 =0 from previous solution. As= 6 - 2S » Agzo et) = (9, - 3hd _ #4 d= (@ 3he) cos o3,¢ — FH (a-" 4ety. be number of 2h zk oF cycles. ©) The motion ceases when where n denotes the The eguations for the natural freguencies derived in Problem 2,35. Operating speed of turbine is = C5, = (2400) 27 = 251-328 rod/sec Thus we need to satisfy: On axial * {2s} 2 of vibration were wo (f- 0 1) ser f*g % |e pansverse = { wa (e 2 j zw, (Ez) Sn) sccumferemtial * {¢ (= * 7} zo, (@s) where ma* A= zy > W= [000x781 = 9710 N, 4 da? re TH ge Bo. me 500 we, ond = 207 x10! N/m® s Ga 773 x10" N/m* (for steel), The unknowns d, f amd a can be determined to satisfy the ineguolitves (Ed), (Ee) ond (E32) using o trial and error procedure.Gs) Let x = vertical displacement of the mass (lunar excursion module), x, = resulting deflection of each inclined leg (spring). From equivalence of potential energy, we find: = stiffness of each leg in vertical direction = k cos” a Hence for the four legs, the equivalent stiffness in vertical direction is: Keq = 4 k cos? a Similarly, the equivalent damping coefficient of the four legs in vertical direction is: Gq = 4 € cos? ‘where c = damping constant of each leg (in axial motion). Modeling the system as a single degree of freedom system, the equation of motion is: Meg E+ Coq ¥ + kg =O and the damped period of vibration is: an an - an “wee VEV 4 Keg Meg alg tog = 2000 Keg Kg = 4 i cos! 0, Coy —= 4 ¢ cos? a, and ox 20", the values of k and ¢ can be determined (by trial and error) so as to achieve a value of Ta between 1 s and 2 s. Once k and c are known, the spring (helical) and damper (viscous) can be designed suitably.m = 225 kg, F(t) = 900 sin 1007 t N Let Xjuqy = 0.125 cm < 0.25 cm (maximum permissible value). 1 From Eq. (3.33), Xa = Sap 2 = 0.125 x 10% max = st or fo! F _ 900 . Let = 0.01, Then 8, = 7-~ = | and Eq, (1) gives oa Koa 900 = — = 36.0018 x 10° N/ 2(0.01) V1 — 0.0001 (0.125 x 107%) Bx sid Since shock mounts are in parallel, stiffness of each mounts = k = 12,0006 x 10° N/m Co ee 2k. m or eg = 6 Y2 Keg m = 0.01 [9 (36.0018 x 10%) (225) = 1272.824 N- s/m and hence c 636.412 N - s/m Equation of motion for torsional system: Jy 6 +04 (8 — a) +k, (0-2) =0 Q) where 9 = angular displacement of shaft and a = angular displacement of base of shaft = ag sin w t. Steady state response of propeller (Eq. (3.87)): Je 20m —>fe— 30 m —+8,(t) = @ sin (wt — 4) : (2) _ KE + (ew)? ; me moe te ® _ Jo cy aad Ota | Sy Here Jy = 10* kg—m?, ¢ = 0.1, and w = 314.16 rad/sec. Torsional stiffnesses of shafts: Gh (80 (10°) [s (0.64 — 0.44) (ke) = Ret (10°) N-m/rad (80 (10°)) (s (0.44 — 0.24) G. Ty (kee = 30a tt (10°) N—m/rad Series springs give: — (eth (ete _ (27.2972 (10°) (9.4248 (10°) G (ke)s + (Ke)2 27.2272 (10°) + 9.4248 (10°) nee OOO alia = 6 (2 VJo ky) = 0.1 (2) V (104) (7.0013 (10°)) = 52,919.8624 N—m—s/rad From Ec. (3), 1 2 (7.0013 (10°)? + {sar (10*) cas} © = 0.05 10*) (314.16?) + 45.2920 (10*) (314.16) = 9.2028 (10-*) rad pee (10*) (5.2920 (10*)) (314.16) | 7.0013 (10°) }7.0013 (10°) — (10*) (314. 16%)| + (5.2020 (104) (314.18)? = tan“! (59.3664) = 89.0350° = 1.5540 radce) Amplitude of vibration under base excitation: Vik? + (cw)? (0.2) Vik? + ¢? (157.08)? - =01m oy : 2 i — 2000 asrasy| +e ena ; Let k = 5 (10°) N/m. Then Eq. (1) gives: ‘V 25 (101?) + 2.4674 (10*) c? =05 V 1966.7717 (10!) + 2.4674 (10*) c? i.e, 1.85055 (10*) ¢? = 466.6929 (10!) i.e. ¢ = 158805.0 N-s/m Ke Ggk ; a tae lk 7 14 Gatti Go Ker $k oa Force transmitted to the mass through k;: y F(t) £@)=_* F(t) aki a ( Fo ron 4 Sk: Ky + ky Ka ke males al L = « Sy cost where Se Steady state response of m: F x(t) = : cos ast *T-@yt = Sst . n Toye Peek OE with Foaa dy or )& m,=20 Ky A= spring constant of [ Jail section j=0°5 9 cantilever beam ; Table mines = 240 9) ad BEX _ 3 (25 x1) Ets 25 MN/m , S015 Ere} orm = o+tt72 x 108 N/m +" ——_ W,= /—*——._ = or 172 x1 = 39-2753 rad Ym, 40-25 ™, Torods(zney * 38-2753 rad/sec w= 27 (1800)/eo = 157-08 rad/sec = tan = 157+08/38-2753 = 471040 , r= 16.8428 Forced response is given by Ey. (3-79) + Xp (4) = X sin(st-$) 2 where mee x= ome [er GE (os)(ots) 68428 ze (a (e-3428) + (2 x onl5 x +1040) = 3-9747 x10 m = 3:9747 mmRequirement: (a) power output at least 700 W (b) amplitude between 2mm ~ 5 mm Solution: Unbalanced force in vertical direction = me @® sin t (E,) Unbalanced force in horizontal direction = 0 Let M = total mass of the shaker Equation of motion is M & +e X+kx=meo?sinot (E,) Steady state solution of (E,) is x () =X sin @t-9) () here X=— E, were © MIG eye + @onPP ae (266 and 9 =tant| “5 (ey 7 -®., |M where r= j= 0 t x) &) Frequency range: 20 Hz to 30 Hz i.e., 125.664 rad/sec to 188.496 rad/sec 125.664 rad/sec [<] w [<] 188.496 rad/sec (E,) 2mm < X <5 mm where X is given by (E,). Mean power output over a time period [r] is given by aft dx == | FOS p=} f OF @ar «) 2 where += = o F () = me @” sin w t, and Fe TO X cos (@t-0) P2700W Ex) M 250 €,,) Procedure: Find ©, e, M, m, k and c so as to satisfy the requirements stated in (E,), (E,), (Ey) and (E,,).SF 6) Using *(t) amd elt): a et 4s For translatory motion: HOt. x a! i : 1 mz 2— k(x-e)-¢, (2-88) 5 aa = (+ fee) - €4(% +826)--- &) $2 For rotational motion : c-G@ a= 8, 12 4459) — ae sC-0h8) Z Saw (e-L OL +e (2-8), = — Ke (xr hye) hp - Cx % +126) he --- (Ex) Egs- (£1) and (Ex) can be rewritten as 1 om ¥e eC eis (ii) Using ¥(t) amd a= For tremely os my = —, (y- te) mere 4/6) - (I+ te) ~ex(3+ 8) - mes For rotational motion: “&) HE = u(y 70) 8 +0,(4-8) & — He(ye Bee) La ~ a(S 2 8) Mme F £5: (Es) amd (4) cam he rutitfin as o7 4)a) mass of tup: 2000 kg, =t_ Cel mass of frame: 20000 kg. ae mass of anvil: 30000 kg, mass of foundation block: 65000 kg, stiffness of elastic pad: 1 GPa, stiffness of isolation: 500 MPa, ma striking velocity of tup: 4.5 m/s. ‘ Solution: (a) Natural frequencies of the system: k, = 500 MPa (b) From problem 5.1, +k, 2 2 o + 12 2m, : 2 5 » 15x 10°, _ 10? 1/15 x 10° , 10°} _ 500 x 10% 1.2 "730000" 100000 * ¥4{ 65000” 50000) ~ 3.25 x 10° 62.6894 rad/sec. 197.8559 rad/sec. Initial conditions of the system: Let ®, = initial velocity of anvil and frame just after the impact of tup. From conservation of momentum principle, momentum of tup plus momentum of m, just before impact = momentum of tup plus momentum of m, just after impact. Map Yup + My O) = My, By + @) where = velocity of rebound of tup after impact Also, Coefficient of restitution (e) = Telative velocity after impact relative velocity before impa: 2-80 ie. e= 5 or %% eMup (E,) From Eqs. (E,) and (E,), Muup Seu (1 + ©) Myyp + Mg For given data, = 2000 (4.5) (1+ 0.5) _ 2000 + 50000 ©. Initial conditions are: x, 0) =0, x, 0) X, (O) = 0, X, (0) = -0.2596 mis(©) Displacements of anvil and foundation block: we can use results of section 5.3 with k, = 0 r= Se = cm ot + ky + ky _ — 65000 (62.6894) + 10° + 0.5 x 10° x? ky 10° = 1.2445 XP _ =m) of +k + ky _ = 65000 (197.8559)? + 1.5 x 10” x? kp 10° = -1.0446 Response of the system can be computed using Eq. (5.18) x= 1 _[¥ 1 + 0.2596 1 =n \o,) —2.2891 | 62.6894 yo = 1_(® 1 0.2596 1 ~~ y-1, l@,) — 2.2891 | 197.8559 $,5tert | - 1.809 x 10-* (m) 0.5732 x 10-3 (m) 0 , = tant {- 2} = a Response is given by Eq. (6.15): X, (= Xi? cos @, t + 0,) + XP? cos (w, t + 5) = -1.809 x 10° cos {2.0804 t- "| — 0.5732 x 10% cos (ox 8559 t + 3) m X, D= 1, XO cos (@, t + 9,) +r, XP? cos (@, t + 4) = -2.2518 x 10 cos [s2seo4« = 3] + 0.5988 x 10-* ce (a97 e500 t+ z] m Eguations of motion: mk, +k %1—*)% = A(t) ©) my + (Ket Ke) %_— r= 0 (E) Freguency eguation: = 09 my + —*; W ° -*, =m, + fit Reor wt (the fut a) oot 5 Ky €o Sanaa ° rr 7, m2 . 2 nS a ee re eR (Hig ete Site ? 2m, zm, * Val ™e v2 5 Here m= 2x0 #9, m= 2-5 x10> £9, k= 150 xto® N/m and ko= 75 x10% N/m- 2 6 6 = Bene + athe = i (ssongt 4, sexu 2 50x75«10 4 x10 5x10 4\ 2xw ~ 25x00 5x00" = 150, |5S00 (r2d/sec)* ve = 1212474 rad/see 5 U9,= 39-7298 rad/sec Assuming geno imilial conditions, the Laplace Promspdims of, &)) and (E21) com Le wullin as my A? %(4) + HRCA) - (4) = FA) wg A* 2 (4) + (4+ €2) 2,4) — &, HG) = 0 ie, (mAbs er) RCA) — 4 4) = FO) =, 2A) & Cm s* 4 e+ €2) %,04) =0 Sduffion of, these eppolions gives Gm, 47 + 4+ €2) aay = (4) -{z = a: — pro ----(&s) nme BE AY omy tey t rma + my Ki) + Kite et = (E, =.) = RG) ---- &) 7) { mime SE at (mts + meet mati) + Kite i For the foreing funchion given, a) c = Faje SL STATO — % RG)= Fa) Biz e ¥-#)}- €s) % For the given data, Eps.(€3) to (Es) become 5 gk < Rc) = ane A* +225 x10 Fe) (ext st 4 a25 x10! 47 + 1250 x10) 2 9 = = ———— Fc) -- (Ee) 2x1? £4 + 330 x10® 42 + 45 x10?150 x 10% 2) = ———___—__ F@) * 5x10? £4 4 925 xi! £2 4 250 x07 30 5 : eS -- ©) tot * + 165 x10% At 4 225 x10 =I spt Poser 1 whee FA) = exo [a - & (seac)))) ---- (Es) The inverse transforms of (_) amd (E7) ytd *(t) amd x(t).Epuations of motion: ae — S20 8-6) + Key O1- Ki2(%,- 6) = © 28 + 4.(&-6) + Ku (er- or) = jes a : [z a He} [ere : “hf eather -21 (9) [0 abt = Let . ae Ge J 18, Kee ker 3} } et orty_ y. of O;(t) = xj € - ©) ---(6) Es. (1) yield FA 07 Teurcalt - a4 [*" kes) Heal) (%1 + + C ZA YT L-ces “ta 4 > Kee - , +--+ (E3) The characteristic eguation becomes: ° 2 MA Cet Cer) 5 + Ket ey —Ce24 t+ Ke2) =o —(St24 + Kez) Tate s+ hep ve, a, St + a, Bite, tta,a +a, ao ©) where Q@= 7%, Ore Cen + & (Ceyt Cee) 2 = % Kee + Cen (Cert Cee) + (Key + Kee) — Cte Hs = Bee (Cert Str) + Cer (Kert Ken) —2 Cer tee % = Kea (Ker Ker) — #2, For the stability of the system, the conditions derived in section 5-8 are applicable: ee >o 5 £50,234=e (& — 4, 8%) — ke (& — 4, 9-1) 2 (is +6 0 ~ ie) — ea (a + fs OX) So 6 02 (xs Oy B—5) Oy He (3 — 4) O—) =p (Xp + lp 8 — Xe) by — Ke (xa + fe 8 — x2) bo my ¥y = — eg (X1 — 3 +O, B) — ke (Oy 25 +A 9) —a% —kuy tPF, =e (Xe — Xa — 2 8) — ke (x2 — x5 — & 8) —ky x, — cy &y + Fy Eqs. (1) to (4) can be rewritten as my X2 Mg X3 +2 cp %q — cg X1 — Co Xp +2 ky x3 +6 (ke Cy — ke €)) — ke x1 — ky x2 =0 365 (2) (3) (4) (5)¢,(%3+ 4,6 -%2) vere 2 (%3+4,6-%2) 4 (*3-he-*1) -43-1,6) 2 me, (x7 the) fala me (= 25456) 4 4 3 (%a- 83-828) * ! : tps" “Lope 1% yx Ky 2 i , Tog 6 + (c2 £4 + 09 €3) B+ (— ep fy + cp bp) ts ty Cy Xy — Cp Cp Xp + (— ke €y + ky €y) x3 + ke Oy xy — Ke fy xe + (ke CP +key C7) 9=0 (6) my ¥1 + (cy + 2) 1 — ep Xo eg Cy O + (ley + kp) — kp 5 +h; 4) O= Fy 0) me Ep + (6) +62) Xe — 2 Xs — ey CO + (Ky +p) x2 — ky x3 — ky Op =F (8)Flexibility influence coefficients: met Spring constants of different sections of the shaft (#2) are ¢ aa): Mes m, “iF OF .—. pan GM: 5 setae where G7), = torsenel rigidity , 3, = polar moment of inertia, and £;= fength of section i of shaft. Consider disc 4. shaft to the Lest of disc 1 has a 4pring constant of ky while the thogt ty the right ide of dite 14 has an epuivalent spring constant of 5 a Ei (=) ia TE we apply usit torgue to disc (My=4) as shown in Fig.(A), reactive torguet at fet and right endt of the shaft are Mrz = Kes Oy» Myg= ty Oy Since Mpg + te = Ms 4, we i we nf (Efe BHD} Mey = Oy = 2 Veet} mM ys 1 Ke EG 2} Al Gyr ans MAS (3)}- Consider dise 2. Shaft to the fegt side of disc 2 hat om eppivabrt spring constant of Ke, and the shagt to i right side fas an Also, Oy = Ga =eguivelent spring constant of Kes with t 4 kee= Zrty ° = Ey “2 Ce) *o* Be) TE we apply a unit torgue t disc 2(M,=1), reactive torgues ot the fest and right ends of shaft are Mg, = Op. ker > Mrz = GrrKes with = m= My + Mra = tence - (AHA) AEG} ont ens Bete, {BY le(@}) a= om = Me 8 SLE (EI Ker ky Consider disc 3. Apply unit torgue to dise 3 (M3=4) to obtain Mys= keg O33 5 Mra = Hy O53, Mt Myy= Mya 4 4 where keg = EG ki ist one on= {2,4} foe fE (4) f] 83 = Ons = te = . Bi O23 = O13 = 2b = = A) “fE DHA (EDS On Orns On rama. s 8) ay, O32 May Note: In this problem , it iS much easier to derive the stiffness influence coefficients, &:;, compared to azz. Hence + ws advisable t Sind [hk] first anh then find Co] by inverting the matrix [Ce]. Stiffness influence coefficients: Let amgulan dinglacement of dite 1 be amily (0,21) ond of, dics 2 amd 3 be gro os hou im Fig.(B). tf te torgue applied te dite 4 My amd the neackins one Mp amd M,,, we have a6 f(D} ‘M ist Flexibility matrix is [a]Mee Ki On = Ke Mag = Ke Ou = Ke Myt Mays Kus eye He ~My =- kz (* reactive torgue is opposite to Mm, in direction #y= My, =0 (¥ disc 2 is fixed, no reactive torgue is felt a disc 3) Let displacement of dise 2=4 and displacements of discs tand 3 be zero. . Kar= Kat 3» Kye —Ka> rae - #s Similarly we can obtain Aya e Kyt ky» K=O, Fea = - Ka Ky Kea Kis. 4 jatrix is = stiffness matrix i [kJ oe | Ks Kin Ka quations of motion of the system: PI] e+ Celo= m bere l= a 5 : atrix of mass moments of — inertia of the discs ‘a3 °o ° ~ 6,(t) > mae) 1 5 vector of i @= jaw } omd My = franco \. 7 = i: °, torgues si Mes CED cypled to dns °° x pete pets * ™ 2 me Fy ms Ke Forces reguired of 1, Fiz fet 2 = kn 3 Faeo- teeta, ¢ =O= Ke Let xt, x, > *2 20. red of 1,2,3 ane Kies F, Kat ks = Kae 5 Pes— 2 > Hon o- Forces veguired of 1,2, 3 are Firo= tis 5 Fea —ty= Kaa ¢ Fem tye ty = tas(k&\+ €2) — ky ° K&l= a Cat ks) fs | ° ats (ket #4) lar to those of problem 6-4. fm 24 (KF =F From strength of materials, the FE deflection of the cantilever beam _— shown is given b a b et feo py GCxt+30) --- &) (2), as Cex tw 2a se * GE Cat) --- Apply Fi=4, Fa=Fa=0: = (Fat, sha ok m(E))= tAser> a,)= (Frets 0 ak, ast ates shi (cex) Oy)= (Fet, x= 34,22 im €.)) = 42 /Ger> Similarly apply Fret, Fiz Fr=0 te get ay, 092, O12 amd =U Fiahe0 te gek ag3,0,5, 225. Result of aye | # 5/6 ah = a 7 t/a ah 14/3 9 Egpations of mation: be] + IS Celt] 3+ G= wit fI- [Ss aaa The shear building can be modeled as thown below : keEguations of motion ( from free body diagrams in Fig. B): Bt er kat kim — ee (Rem kt) — a (%2-™i) = iE) mak, + C2(42- 2) + ke (%2- 21) — €a(%3- #2) - #3 ("3-42 = F(t) m3 %3 + C3 (a 22) + kz (1-2) — Cy ( %q—%3) — ky (aq — a) = Fe(ED Py hy 4 (%y-%3) + Ky (%y— 3) = R(t) (b) Lagrange’s eguations are Ee an et saad HQ where Kinetic energy, = potential energy, R= Rayleigh dissipation pes a, = 9% generalized force and Y= jm senereliged coordinate: T=4 fm, % xP + ma Xp + my zS + my dh} VEL EK Ut ke(me- mi) + ky (%5- 2)" + Ky (x4-*3) } Rak fey H+ ca(dy 8) Ca (Ha-Ha) cy (Xy —H2)* gy = F b PRLS Using gy = 3 22,3, 4, the application of Eps. (Ex) yields the eguations of motion given in ( @)Let generalized coordinates be %,=% amd %,= © displacement of mast M us xt fo. Kinetic energy of airplane a Tat Moki +2 ft m (e+ hoy” } Potential energy 4 Ve 2(¢ 0%) Lagrange’ epuations are #CGR)- Lat! ato, BF = mitam(z+he),3T =o, 3 2me (2486), BM ar2me, e-& =0 Hence Lagrange’ eguations become Mo X 42m (2418) ° ©) 2Mh (x4 LG) +2%0 = 0 Ig x(t)= X cos(wtts) and the eguations of motion become t " (b) a(t) = @ cos(wt+s), Cm, w*-2mas*)x -2mhis* @ 20 -2mhos* X -2mf*o*@ +2*,@ =0 j :) which yrelds the Freguency equation : M0" + 2M 0 amb o* 2mfa* 2m 2292-2 KE Fe9 ost [2 Mo ML * —2 Me ke-4Mke ] =O tes 20 5 wr*= 2Mo ke + 4M ke 2M,m L* Mode shapes: Eg. (E2) gives @. 2m ih o* Xa mPor +2 For a,=0; @ | o = Kile, = zee, =° 7 Ore This corresponds to rigid body translation in x (vertical) direction. For u9, ; 2| ams ( eee ml *e') X le, = om 2. -2mf* (2M tes 4m se) Ket 4M) ney 2mm Lt = Mo zme (c) For @, > 41 vad/sec, 2M, ke + 4M ee (eter) > 1630 2mm! (e:)When Mg= 1000 #7» M= 500 ty and L= 6m, ineguality (£3) becomes 2000 *% + 2000 Ky a (x8) (6) 7 en tes ty > 1422 x1 N-m/rad. Equations of motion [m] # +fe] + Ce X =F (es) where ote eee ans w3-[2 as pene" oh |. aD bad cs rt Cy tyr kh, - ee e * Fi) = Foes wot BI=| -«, Kerks ks , ze} » Falco a why ¥yt ky as F, 20 Since F(t) = Re [he ef with Fig= Fy ,and Fxg = Fro =O we assume xi(t)= xX, e°O" 5 fH1.2,3. Then (1) becomes [zc] X=5 -- (2) where Z,(<0) = —m, 0 + (e+ C2) 209 + (4,4 4) Za (co) = Zy,(4o9) = —G Ok, = —ic9 -100 Zs (49) = Z5,(6) = 0 Zee (69) = —m, 3" + (eat 63) 29+ (tat 3) = - 094 2609+ 200-63) ZG) = - Cy 209—- Ks = - te De aT st06s KE and xl a 9071497 aL 2 anearede a) ' x = & $-7-R8068 where aiirsere when X© js normalized as o 5 X= 0103296 ey 003296 ¥ = 2 -0.25075 0.96495 Be]= Bd — a 2° 07 GeI 1g 2s a=1o o-0 0-03296 ) foro32a¢ j-0-259750-56495, =|-ro So =1-4142| — (0-38068)9-0-25975 o-0 4142 100 0964.95 24887228 -o-9t273 = 0-3301547 =/ -0.901273 4-276 147 (976738 = 0+3301549 1876738 0+3342530 ~ no. ~ = X= {arses } te used, the fintive procedure %,,> [Pe]: 29-27649 gives ta following results (wit X, 4, = 4)?F, (x t)-do l vedv (@) rg food due to the car moves with w constant velocity v, in the x-direction, F(x.t)= Fle- Vt) (ey Equilibrium eguations ore Wtav) -v— Focxt) de + turds 2 pide ie 2, or Be - R(t) + ke = pa te () ond Cm+dm) — m— (ve dv) dx + F(x,t) dx dX 20 or am -v se Gs) Using (€3). (Ex) con be rewritten at 2. tur ae ~Riaty + # wo = pA ae (4) But Ms EL a (és) Ger (E,) and (Es) head to 2 2, 2, an (er Se) - Reet) + wu = -pare ©) For o uniform beam, (E,) simplifies to, in view of (£1), 5 2, rE pa EE ew = & (z- vt) (e) (b) Solution: Defining ys x- vt (Es) Be. (E7) can be expressed as ere pat BE ee 2 (9) ) Let Ff, = Gmcentrated oad. then the governing eguetion ak all points of the beam, except at yao, dtus ee EI TG trav ai + kur =o (Eve) Solution of (Ei) can be expressed asw(y= oF Substitution of (€)) into (E~) gives eL at + pave + k =0 whose roots con be expressed as (En Ez ee 3 Gee 4 = + (w-ib) (Gi with vt @m=Vi-cd, badiec d, c= eg HET RK € = (#4 raat 7 and Ge) PPA | thus the solution of (Ein) becomes ay w(t)= Ae + AetF 4 Ape? + Aye where Srom the following conditions: we=o dtu ok Y= oe ete ok ree aw “dy aur - 443 |y sot ie, dbus ay? ersvsz eL Zero ok y= 00 abus “dy? fale y=" ae z oy (Ey A; (4=12,3,4) are constants which can be determine deflection & bending moment ore =0 ak y=o } slope ‘s zero under the Lead shear force has discontinuity under the LoadFe RR Equation of motion is x 4 given by Ey. (or: Fs L ex ate x4 + pA a = F(xt) (e,) Representation of oad: Load is f(xy which is zero everywhere except over o length 2ax of x= x_, where it is egual to (Fe/zax). the koad fx) can be expanded into Fourier sine series os $= = f, sin "* () where Xp- Ax %ot ax as hep [em mdse fo Bee e ae 4 x Xt ax + TS @)sin Ede 2 C8 nee ae Pees R bx ae L a, (HT 4x 2fe ge, mm sm CHA) (es) hax Cr) As Axo, (E;) becomes f,= 26 sin mht (e. a §S$( a 2 = sin TTX 5 ne (s) 4 2 A Since Fo iS moving along the bridge with constant velocity v, at time t, A will be ot a distamee x,>¥t from left support. Hence the head dishubutton of by- (Es) com be rewritten as Sut) = ae sin E¥t sin BE 4 sin BEME sin ABE 4. J (&) Setting a= EY, (E,) com be expressed as (xt) = OF fe sin ot + sin BUX sin 2art te F Er)m= 0 €g , maximum deglection = 0.5 m From the response spectrum, the peak value of (max “) can be seen to be approximately 1:75 at a value of @, eae = 0-75. ‘ « k Using Xmax= oS> —MZ*— 1.95 gives 0 =~ 75 Fo 75 fea SRP 2 NTS (10000). 79 200.0 Mon max os 200 9s «y= '200(2%he) = 407 rad/s = fe m Cguivalent spring constant of air compressor = ihm, =31583 MMi Let the absorber be tuned 40 that “2 Beat. Natural freguencies of the combined Aystem are given by the wots of (9.139), which for (P94) = 1 becomes (Ger ates (2+ #yey +1 =0 or, ett By rt: =o --- ©) Now y= Baek. Be. (&) Jives @at - (2+ BEYOsFer eo > Hi = 0-2025 ms 40-5 ke a = = Fe =>, Kz = te, (0-2025) = 0:6376 MN/Am Th we use ae 1-2, &%-(Er) gives G@ayt-@+ FE) (na)Pe tao > BE = 0-1344 Since this value of Ze is taller, we howe te use the values of m2 amd ky given by 1, =0-8.Beam: w= 9, = 1500 (21) = 187-08 rad /sec m= Mz 200 4g = moss of motor £1= Kteam = wim, = (157-08) (300) = 7- 4022 x10° N/m w= (mr = 0,2 Vn, o k2= m, WP = 24 674-1264 m, 2 2 e) @) Beam with absorber Fis 075, or = ey, = 075 For a tuned absorber, W%/, <1, and 2 ze i a [+ AD 4 or Ma (Ti e o-3164 +) _ ( F or seas 2 0° 34035 Ratio of absorber mass te the mass of the motor == 0: 3403 (b) Mass of the absorber = ™M2= Mm = (0-3403)(300)= 102-07 kg Stiffness of the absorber = «,= m2 02 from &. (E> 2:519 x10% N/m ©) Amplitude of vibration of the absorber mass (Xz): €2= 24674-1264 (02-07) = . 2 Gy. (9136) gives ye ia a oe =- (EH) list-08y* 2 2 Sige 2-S1F K 108 = = 0+ 1957 mmes) Forcing freguency = 00(27) /go = 93-776 rad /sec = = W,= 0, m= t kg For @/sx,= 4, ri, r? G+ 4) 70+ Ay-t where y= iig,, m= t2fa,, p= ™2/m Here a, = 750 rpm = 73.54 vad/sec , = 1000 rpm = 104-72 tad/sec, T.= 750/200 = 0-9375 , amd T= 1000/g00= }-2500. (+ BY JG aya > Gt By afGs BD P Feb e Orn > ps GAD ye -2 , = 2772541. go o1g7 mys Me = 9° 8FGl aaa ooy = 5 9 New repuired value of , is 700 rpm= 73.304 rad/sec which corresponds toy, ~ 100/g99 = 0-875 = (5862 B 56 Mes prm = 0-0 7182 (59-8861) = 4+ 3010 eg oroTisz With these values, 2 can be found as mer Syefiraye-r = (140-0359!) + 0.2704 = 1.3063 r= 2G. = 1.3063 (93.776) = 109-437 rad /see = 1045.04 Tym This is larger than the desired upper value of 1040 TPM. Spring stiffness of the absorber = y= m, 9 = (+301) (83-776)* = 30196-2166 bbh/in.f Original system: m, = 900 kg, @, = 600 rpm = 62.832 rad/sec = tat m, k, = m, ©] = 900 (62.832)? = 3.55307 x 10° N/m (a) Absorber For tuned absorber, w, 62.832 rad/sec, k, = 900 x 103 N/m, 227.972 kg. Weight of absorber = 2236.40 N (b) New system Natural frequencies of the new system, , and Q,, are given by (for w,/w, = 1): #1 = 0.25330 and hence 0.60767, r, = 0.77953 ay = 1.64563, r = 1.28282 ©, = (0.77953) (62.832) = 48.979 rad/see = 467.7191 rpm ‘2 Wy = (1.28282) (62.832) = 80.602 rad/sec = 769.6938 rpm Speed range: 10.4) "500 rpm = 52-36 rad/see - (500 rpm= 157-08 rad/sec x= X wsat ; ze ry (&,) Ja-e¥ + (asry case (i) Let y=o &y-(Er) gives, for 2% error, Z. > wo ¥7Teqy = o2 > RS TAGos soo” 1So0 = 502 or 4592 _ oy. . Tale 7-104 Fg = 70'0143 «or 210-0428 Tpm = 151669 oF 3-5007 Hz = 7°337 oF 21-9957 rad/sec Wye 1667 He case (ii): Let v= a6 &e- (8) gives Zz vr? Y ° [Gee ve (aerye =F > 10 oro404 vt — 05826 12 + ro404 =O which gives > Y= 2+2562, 3-0546 Since the quantity E attains maximum at for Y= 0-6 500/(2.2562 x60) = 3-6935 Hz(09) Select the vibrometer on the basis of Lowest frequency being measured. (@) y=0: . From &%- (10419), Zstoss —D— | (te 103 2 3413333 io j= "* oea r= & = 27600) _ cigsos ” 60 On Wp = 8+9359 vad/sec = 164222 Hz (b) y= oe : : From €. (1019), 2 = 1.03 = tae ee Y > [aa aro (03)? {4404-22 + arr s*} = yt ie, 0:057404 r+ -ose rt? + 4 = 0 hey vy = 2.3535, 74018 ee v= tssai7, 27206 By selecting y= 2-7206, 1000 G0 (27206) 19-2458 vad /s0c 32-0630 He o, = t the quantity E attai ora t 27206 maximum at 1-899 4 ¥ 27? for T= 0-6. Hence we have to take r= 2.7206 to avoid peak of E. aaa = i-s998@, = 20 (05) = Ww vad/sec ; wo = &, Vins = Yo, = 84Y%s > ys 028 8 = fay 2 41h 2 4s = Od = 83 ye Wfa,= $, = tan’ 257) 10.17 te re a= tan’ Beas) 4 = — 23-4934" B= teg!(2eoreBe8) = 4. 0675" és= tow! (noah ) = 26905" rr ie SS Ox 20 = 21-0994 Veet Gan)? rt ee 'O = 1001331 Gn y+ (278) t 5 = 51025 (ey + army Record indicated by yibrometer is given by BCE) = 21-0974 sin (47TE + 8-4-9349) + lovi3at sin (2Et 4-0675") + 50294 Sin (1277 E 4 2-6905°) mmS) x(t)= 20 sin Sot + 5 sin 150% mm (&) E(t) = —20 (50)* sin Soe — 5 (i50)” Sim I50t mam /sec* = —50000 Sin sot — 112500 sin ISot vm / sec* (.) W,= 100 rad/sec , Wy = firs? = 80 > y=0-6 et econo se = oe 150 N= On = Teo =F 5 2? n> Te hs = —1f 200 ~| 7 . . 6, = tar” Sit) = ter! (2neened) 2 sgesas 1- 0-25 = tar! (224) = to vi (222818) = -s5ranaa” a tere 1 2625 50 000 =o = 52057- 9206 [o-t¥+ Gray 12 S00 51335-6229 Va-1*)*+ Gyn} output of the accelerometer is given by 34) = -52 057-9206 sin (sot - 34-6599") — 51335-6229 sin (IS0t +55-2222°) mm/sec* (Es) It can be seen that E- (Ez) is substantially different from 6. (Ez):0.35 Iterative process is to be used. 1 Select trial values of the design parameters (material of the beam and its dimensions), Model the beam as a spring-mass system with: m = end mass = 50% of mass of beam: 1 =1pae m=5pA stiffness of a cantilever beam: 3EI t-"5 Equations of motion: m+k(x—y)=0 or mit+kz=—my where s = relative displacement of end mass. (1) (3) Since ¥max = 0.2 g, assume a constant force of - m (0.2 g) on the right hand side of Eq. (3) and solve the equation to find z(t). From the known zmax Value, compute the maximum stress (max) induced in the beam. If max is less than the yield stress of the material, the design is complete. Otherwise, go to step 1 and change one or more design parameters and repeat the procedure until a satisfactory design is found. x(t) z(t)