Vibration Theory

2013
Theory of Vibartions

1
2
3
4
6
7
8
9
10
11
, . . . . . . . . . . . . . . . . . . . .
: ). . . . . . . z = f (x, y
1.1
). . . . . . . . . . . . . . . . . . (d'Alembert
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1
3.1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
: ) y = f (x . . . . . . . .
4.1
: . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2
: . . . . . . . . . .
4.3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
: . . . . . . . . . . . . . . . . . . . . . .
5.1
: ). . . . . . . . . . . . . . . . . . . z = f (x, y
5.2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . Lagrange
. . . . . . . . . . . . . . . . . . . . . . . .
7.1
. . . .
7.2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
10.1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
10.2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
10.3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
10.4
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
10.5
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
11.1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
11.2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
11.3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
11.4
c Reuven Segev and Lior Falach

5
8
9
11
12
13
15
17
18
20
21
23
23
24
25
27
30
31
33
36
39
41
42
43
43
44
45
46
48
49
49
50
51
II
1
2
3
4
5
III
1
2
3
4
53
. . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Resonance
2.1
. . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1
. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . .
4.1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . .
5.1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4
53
54
56
56
58
60
62
63
64
66
68
70
73
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. . . .

. . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1
. . . . . . . . . . . . . .
4.2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . .
5.1
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2
. . . . . . . . . . . . . . . . . . . . . .
5.3
. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4
. . . . . . . . . . . . . . . . . . . .
7.5

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73
74
75
76
78
79
81
82
83
83
84
87
87
89
92
94
98
99
99
100
IV
2
3
. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . > 1
1.1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . < 1
1.2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 1
1.3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . .
3.1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . :
3.2
. . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . Impulse response
4.1
. . . . . . . . . . . . . . . . . . . . . . . .
4.2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3
1
2
104
104
105
106
109
110
111
112
113
113
115
115
116
117
119
122
122 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
124 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

P .R3
. ,

3P . .
/
N ) (N < 3P .
,1.1 ) (a
4 ) ,(x1 , x2 , y1 , y2 ) (b 4
L (x1 x2 )2 + (y1 y2 )2 = L2
3 , ) (x1 , y1 , .
y
y2
m2
)x1 (b
y2
m2
L
m1
x2
y1
m1
x
x2
y1
)x1 (a
:1.1

. ,1.2
1 , 2 .
{q n }N N
N n=1
N
n
{q n }N . , {q }n=1
n=1
.

:1.2
P :
i = 1, . . . , P
mi .i
i = 1, . . . , P
ri .i
i = 1, . . . , P
f i .i

ri = ri q 1 , . . . , q N , t ,
)(1.1
,
.{qn }N
n=1
)ri = ri (q n , t
. 5 .
i
N
)(1.2
dri X ri n ri
=
q +
,
n
dt
q
t
n=1
i
, r
t
.i
,
. .r = r cos(t)i + r sin(t)j
r
= r sin(t)i + r cos(t)j
t

.

r i = r i (q n , qm , t) .
, qrmi 1.2 q 1 , . . . , q N , t

= 0,
1 n = m
=

0 n 6= m
ri
q n
qm
ri
q n
ri
q n
, qqm
r i
ri
= m.
m
q
q
)(1.3
r i
q m
N
X
ri n ri
q +
q n
t
r i

=
ri = m
m
m
q
q
q
n=1
2 ri
q m t
qn +
n
N
X
2r
q m q
n=1
1.1

ri
ri 1
n
=
q
,
.
.
.
,
q
,
t
,
q m
q m
ri
q m
=

ri
q m
X
r i
d
d
n
=
q
+
=
=
q m n=1 q n
t
dt
dt
)(1.4
ri
q m
d
=
dt
dri
dt
q m

1.1
: )z = f (x, y
z
)z = f (x, y
x
:1.3
m
) .z = f (x, y
.

r = xi + yj + z k

v = r = x i + y j + z k
) z = f (x, y x, y ,,
.
q 2 = y,
q 1 = x,
r = q 1i + q 2j + f (q 1 , q 2 )k,


r 1
r
q + 2 q2
1
q
q

f 2
f 1
=
i + 1 k q + j + 2 k q
q
q

f 1
f 2
1
2
= q i + q j +
q + 2 q k.
q 1
q
= r
q1 , q2 r .q 1 , q 2
)(d'Alembert

.
.

.1
i .ui S n ,
S n n = 1, . . . , N ui
)(2.1
N
X
ri n
= ui
S ,
q n
n=1
ui
, .2.1
Bernoulli 1703
1743 ,d'Alember
d'Alember ,
" "
. i
f i = mi ri ,
1 : , ,
.qn

mi ri
f i mi ri = 0
ui i = 1, . . . , P

)(2.2
{ui }Pi=1 acceptable virtual vilocity.
mi ri ui
P
X
i=1
= f i ui
P
X
i=1
2.2 .
2.1 2.2
N
P
N
X
ri n X X ri n
fi
= S
S ,
mi ri
q n
q n
n=1
n=1
i=1
P
X
i=1

#
" P
#
N
X
X
ri
r
i
n
= fi n S
mi ri n S n
q
q
n=1
i=1
" P
N
X
X
i=1
n=1
S n n = 1, . . . , N
P
n = 1, . . . , N.
X
ri
ri
= fi n
mi ri n
q
q
i=1
P
X
i=1
ri
,
q n
fi
P
X
= Qn
i=1
P
n
n
N
q n=1 Qn S
.
X
ri
ri
= fi n
mi ri n .
q
q
i=1
P
X
= Qn
i=1
1.3
P
X
ri
r 1
= fi n
fi n ,
q
q
i=1
10
P
X
= Qn
i=1

P T
T =
P
X
mi
i=1
r i r i
.
2

Qn =
P
X
i=1
ri
d
mi ri n =
q
dt
T
qn
T
.
q n

r i r i
r i
r i
r i
= n r i + r i n = 2r i n .
n
q
q
q
q
1.4 ,1.3
q m
dri
dt
d
=
dt
ri
q m
ri
r i
= m.
m
q
q

d
dt
r i
qm
d
=
dt
ri
q m
r i
.
q m
d
dt
d
dt
T
qn
d
=
dt
d
=
dt
=
=
P
X
i=1
P
X
i=1
P
X
1
!
i=1
P
X
i=1
r i r i
mi
2
qn
1
r i
mi 2r i n
2
q
P
r i X d
mi ri n +
mi ri
q
dt
mi ri
ri
+
q n
i=1
P
X
i=1
T
qn
r i
qm
r i
mi r i n .
q

11
.
!
mi r i r i
P
X
1
r i
.
q n
i=1
T
q n
T
=
n
q
q n
mi r i
P
X
i=1
X
T
ri
=
mi ri n .
n
q
q
i=1
T
qn
d
dt

n = 1, . . . , N.
T
q n
T
qn
d
= Qn
dt
.Lagrange
3.1
1.1

r = q 1i + q 2j + f (q 1 , q 2 )k

r
f
= j + 2 k.
2
q
q
f
r
= i + 1 k
1
q
q
F = Fxi + Fy j + Fz k,

r
f
=
F
+
F
,
x
z
q 1
q 1
r
f
= F 2 = Fy + Fz 2 .
q
q
Q1 = F

f 1
f 2
q + 2 q k,
q 1
q
12
Q2
r = q1i + q2j +


2 #
f 1
f
q + 2 q2
1
q
q

2 2

f 1
f 2 f
q + 2 q
q 1
q
q 1
!

1 2
+ q
"
m
= T
2
T
= m q1 +
q1
2f
"
2
2f 1 1
2f
f
f
= m q1 +
q
+
2
q
+
q2 + 1 q1 + 2 q2
2
2
2
1
q q
q
q
) (q 1
) (q 2
!#

f 1
f 2
2f 1
2f 2
q
+
q
+
q
2
q 1
q 2
q 2 q 1
) (q 1

1 2
!
2f
1
2
.
2 q + q 2 q 1 q
1
) (q
2f
T
q1
d
dt

T
f 1
f 2
=m
q + 2 q
q 1
q 1
q
, q 1
!#
"
2f
2f
2f

2
2
1
2
+ 2 2 1 q1 q1 +
+ 1 q1 + 2 q2
.
Q1 = m q1 +
2 q
2 q
1
2
q
q
q
q
) (q
) (q
f i
f i = f i,con + f i,noncon .

U U U
f con = U =
i+
j+
k
x
y
z
) .U = U (x, y, z ,

) U = U (x1 , y1 , z1 , x2 , y2 , z2 , . . . , xP , yP , zP

13
f i,con
i

U U U
= i U =
k .
i+
j+
xi
yi
zi
N x1 , . . . , xP , y1 , . . . , yP , z1 , . . . , zP
U
q n ,

p
X
U
U xi
U yi
U yi
.
=
+
+
q n
xi q n yi q n yi q n
i=1

Qn =
P
X
fi
i=1
P
X
ri
q n
yi
xi
zi
q n i + q n j + q n k
ri
q n

x
y
z
i
i
i
i +
j +
k
=
fi,xi + fi,y j + fi,z k
q n
q n
q n
i=1

P
X
U U U
xi yi zi
=
i+
j+
k
i + nj + nk
xi
yi
zi
q n
q
q
i=1

P
X
U yi
U yi
U
U xi
=
+
+
= n
n
n
n
xi q
yi q
yi q
q
i=1
Qn
Qn =
14
U
.
q n

4.1
: ) y = f (x
k
m2
))(x1, f (x1
m1
))(x2, f (x2
:4.1 ) y = f (x
q 1 = x1 , q 2 = x2

) q 1 , f (q 1 ) . q 2 , f (q 2

1
1
2
2
2
2
) k(x1 + y1 ) + k (x2 x1 ) + (y2 y1
= U
2
2
1 2

1 1 2
1 2
1 2
2
1 2
=
k q
) + f (q
+ k q q
) + f (q ) f (q
.
2
2

U
q 1

) k(q 1 + f (q 1 )f 0 (q 1 )) k q 2 q 1 + f (q 2 ) f (q 1 ) f 0 (q 1

k 2q 1 q 2 + 2f (q 1 ) f (q 2 ) f 0 (q 1 ) .
U
q 2

k q 2 q 1 + f (q 2 ) f (q 1 ) f 0 (q 2 ) .
15

= Q1
=
=
= Q2
=

r i = qi i + f 0j

2
X

mi i 2
= T
1 + f 02 .
q
2
i=1

T
= mi qi 1 + f
qi

h
i

d T
i
02
i 0 00 i
=
m
q
1
+
f
+
q
2f
f
q
i
dt qi

2

i
0 00
i
02
ff
= mi q 1 + f + 2 q

02
2

T
mi i 2
0 00
=
q
2f f = mi qi f 0 f 00
i
q
2
i 2 0 00
T
i
02
=
m
q
1
+
f
+ q
f f = Qi .
i
q i
T
qi
d
dt

U
qn
) U = U (r1 , . . . , rP = 0

d T
T
U
n
= Qn,noncon n
n
q
dt q
q

) d (T U
) (T U
= Qn,noncon .
n
dt
q
q n
Lagrangian L = T U
)(4.1
L
= Qn,noncon n = 1, . . . , N.
q n
L
qn
d
dt
.Lagrang
: Lagrang
.Lagrangian
Lagrang
. Lagrang .

16
4.2
:
y
x
k
m1
L
F
m2
:4.2
4.2 m1 .k
L m2 .
x, .
r1 = xi,
r2 = (x + L sin ) i L cos j,

r 1 = x i,

r 2 = x + L cos i + L sin j.
, f 2 = F i

r2
+ f2
= F i i = F
x
h
i
r2
+ f2
= F i L cos i + L sin j = F L cos

2
X
mi r i r i
r1
x
r1
= f1
Qx = f 1
= T
i=1
m1 + m2 2
m2 2 2
x + m2 Lx cos +
L
2
2
17
f 1 = 0,


k
U = m2 gL cos + (2x2 )
2
x
L
T
=
= (m1 + m2 )x + m2 L cos

d T
d L
=
= (m1 + m2 )
x + m2 L cos 2 sin
dt x
dt x
L
U
=
= 2kx
x
x

2
(m1 + m2 )
x + m2 L cos sin + 2kx = F

L
T
=
= m2 Lx cos + m2 L2

d T
d L
=
= m2 L x cos x sin + m2 L2
dt
dt
L
T
U
=
= m2 Lx sin m2 gL sin

m2 L
x cos + m2 L2 + m2 gL sin = F L cos .
:
m1
m2
:4.3
18

4.3
4.3 m1 , , m2
. .4.4
y0
m1
x0
y
m1 g
N1
m2
N2
m2 g
:4.4
, m2
Fx = N1 sin() = m2 ax ,
Fy = N2 m2 g N1 cos() = 0.
X
X
m1
Fx0 = N1 sin() = m1 ax0 ,
Fy0 = N1 cos() m1 g = m1 ay0 .
,

y 0
,
x0 x
= )tan(

x0 x tan() =
y,

N1 sin() = m2 ax
N1 sin() = m1 ax0
) N1 cos() m1 g = m1 tan()(ax ax0

19
.ax , ax0 , N1
q 2 q 1 m1
.4.5
q1
m1
q2
m2
:4.5
m1 m2
r2 = q 2i,
r1 = (q 1 cos() + q 2 )i q 1 sin()j,

r 2 = q2i.
r 1 = (q1 cos() + q2 )i q1 sin()j,

h
2
2 i m2 2 2
m1
)q1 cos() + q2 + q1 sin(
+
q
= T
2
2
i
m1 + m2 2 2 m1 h 1 2
=
q
+
q
+ 2q1 q2 cos() ,
2
2
1
U = m1 gq sin().

1

L
2
=
m
q
+
q
)cos(
+ m1 g sin() = 0,
1
q 1
L
)= m1 cos(
) q 1 + (m1 + m2
q 2 = 0.
2
q
d L
dt q1

d L
dt q2
) (1.1 .

ri = ri (q 1 , . . . , q N ),
20


N
X
ri n
q .
q n
= r i
n=1

P
X
mi r r
= T
i=1
P
X
!
!#
N
N
X
X
ri n
ri m
mi
q
q
n
m
q
q
n=1
m=1
i=1

N
N
P
ri ri
1XXX
mi
m qn qm .
=
n
2
q q
"
1
=
2
n=1 m=1 i=1
] [g

ri ri
q n q m
mi
P
X
= gmn
i=1

T

T
q = q 1 , . . . , q N q = q1 , . . . , qN
, ,
)(5.1
N
1 X
1 T
= T
= q [g] q
gkm qk qm .
2
2
k,m=1
gkm = gmk ,
q ]) [g(q

[g(q)] = [g(q)]T > 0.
5.1

1
1
T = m1 x 21 + m2 x 22
2
2
21

q1
q2
m1
m2
x1
x2
:5.1
gij =
P2
n=1 mn
"
[g] =
rn
q i
m1 0
0 m2
rn
q i
rn
xi
1 n = i
=

0 n 6= i
q 1 = x1
q 2 = x2 x1

2 1
2
1
T = m1 q1 + m2 q1 + q2 .
2
2
rn
q i
r1
=1
q 1
r1
=0
q 2
r2
=1
q 1
r2
=1
q 2

g11 =
g12 =
g21 =
g22 =
2
X
n=1
2
X
n=1
2
X
n=1
2
X
mn

mn

mn

mn
n=1
T =
1h 1 2 i
q q
2
rn rn
q 1 q 1
rn rn
q 1 q 2
rn rn
q 2 q 1
rn rn
q 2 q 2
"
= m1 + m2
= m2
= m2
m1 + m2
m2
= m2

#"
#
m2
q1
m2
q2
22

: )z = f (x, y
5.2
1.3 q 1 = x, q 2 = y
r = q 1i + q 2j + f (q 1 , q 2 )k

r
f
= i + 1 k,
1
q
q
r
f
= j + 2 k.
2
q
q

"

#
r r
f 2
= m 1 1 =m 1+
q q
q 1
r r
f f
2 =m 1 2
1
q q
q q
"

#
f 2
r r
= m 2 2 =m 1+
q q
q 2
g11
g12 = m
g22
: p = mv i
pi = mvi = mx i

T
X m 2
= pi
=
x
= mx i .
x i
x i
2 j
j
, Pn
23

N
X
N
X
qk
qm
T
1
=
gkm n qm +
gkm qk n .
qn
2
q
q
k,m=1
k,m=1
" N
#
N
X
1 X
=
gnm qm +
gkn qk
2 m=1
Pn =
k=1
N
X
gnm qm
m=1
Pn =
Lagrange
N
X
T
=
gnm qm .
qn m=1
Lagrange
d
dt
T
qn
(T )
d
=
q n
dt
N
X
gnm qm
m=1
N N
1 X X gkm m k
q q
2 m=1
q n
k=1
N N
1 X X gkm m k
d (gnm ) m
m
gnm q
=
q +
q q
dt
2 m=1
q n
m=1
m=1
N
X
N
X
N
N X
X
m=1 k=1
N
X
k=1
N
N X
X
1
gnm k m
m
g
q
+
nm
2 m=1
q k
m=1
k=1
gkm m k
q q .
q n
Lagrange
d
dt
T
qn
N X
N
N
N N
X
(T )
gnm k m X
1 X X gkm m k
m
=
q q +
gnm q
q q
q n
2 m=1
q n
q k
m=1 k=1
m=1
k=1

N X
N
N
X
gnm 1 gkm k m X
=
q q +
gnm qm = Qn
n
k
2
q
q
m=1
m=1
(7.1)
k=1
N
n
km
(q 1 , . . . , q N ) =
gnm 1 gkm
2 q n
q k

24

gnm qm = Qn
N
X
n k m
q q
km
m=1
N X
N
X
m=1 k=1
q 0 , .Qn (q 0 ) = 0
P
PN
n k m
N
m=1
k=1 km q q
) gnm (q) gnm (q 0
q m = Qn .
) gnm (q 0
N
X
m=1
7.1
.
q = q 0
qn = 0, qn = 0,
n = 1, . . . , N.
, " .
" . qn = 0, qn = 0, n = 1, . . . , N
Qn (q 0 ) = 0 ".
" N N
#
N X
N
N
N
X
X
XX
X
n k m
n k m
km
q q +
gnm qm
km
q q +
gnm qm
m=1
q 0 ,
q=q=0
!#
gnm qm
ql
q 0 ,
q=q=0
!#
gnm qm
ql
q 0 ,q=q=0
!#
gnm qm
ql
q 0 ,q=q=0
N
X
m=1 k=1
n k m
km
q q +
N X
N
X
m=1
m=1 k=1
N
X
N X
N
X
n k m
km
q q +
m=1
m=1 k=1
N
X
N
N X
X
n k m
km
q q +
m=1
m=1 k=1
q l
ql
ql
"
N
X
m=1
l=1
"
N
X
l=1
"
N
X
l=1

#
m
gnm q
=0
q 0 ,
q=q=0
25
N
X
m=1
n k m
km
q q
N X
N
X
"
m=1 k=1

m=1 k=1

N
N
N X
X
X
n k m
gnm qm
km q q +
= ql
l
q m=1
m=1
k=1
l=1
q 0 ,
q=q=0
!#
"
N
N
N X
N
n
X
X
X
km
gnm m
k m
q q +
q
q l = 0.
l
l
q
q
m=1
m=1
!#
"
q 0 ,
q=q=0
N
X
l=1
k=1

!#
gnm qm
N
X
n k m
q q +
km
m=1
q 0 ,
q=q=0
!#
n m
q
2lm
= 0.
N X
N
X
ql
m=1 k=1
N X
N
X
"
"
m=1 l=1
q 0 ,
q=q=0

gnl |q0 ql ,
N
X
!#
gnm q
m=1
q 0 ,q=q=0
l=1
N
X
n k m
km
q q
N
N X
X
m=1 k=1
ql
"
N
X
l=1
)(7.2
gnm |q0 qm .
N
X
m=1
gnm q
N
X
n k m
km
q q
N X
N
X
= Qn
m=1 k=1
m=1
.M = g|q0 " q 0
q = + q 0 = 0 " ,
q = 0 "

P
X
ri ri
= Mmn
mi
.
q n q m q=0
i=1
Lagrange
N
(T ) X
Mnm qm = Qn .
=
q n
m=1
T
qn
d
dt

N
N
1 X
1 X
= gnm |q=0 qn qn
Mnm qn qn
2 n,m=1
2 n,m=1
= T

2T
|q=0 .
qn qm
= Mnm
.[M ] = [M ]T > 0

26
7.2
, , ,
,
.
"
5.1
N
1 X
= T
gkm qk qm
2
k,m=1

q l + H.O.T
m
X
T
|q
q l 0
T = T (q = 0) +
l=1

N N
P
1XXX
ri ri
|q0 qn qm
= )T T (q = 0
mi
2 n=1 m=1
q n q m
i=1
|q=0
ri ri
q n q m
mi
P
X
= Mnm
i=1

N
1 X
Mnm qn qm .
2 n,m=1
)(7.3
"
. "
U
Qn = q ) U (q 0 ) = 0
q 0 = 0 n |0 = 0
U (q 0 ) = C U = U C .(U = U
q 0 U
U
|q = Qn = 0
q n 0
U (q 0 ) = 0,

27
.
q 0

.
.
:
.
: T0 , U0

T0 + U0 = T + U

) T T0 = (U U0
U < U0 T T0 > 0

. T T0 < 0
T 0 0
) T ( .
.
7.1 ".
B
A :7.1" B," C ,"

N
1 X 2U
q +
|q=0 q l q k + H.O.T
2
q l q k
l
l,k=1
28
|q=0
N
X
U
q l
U (q , . . . , q ) = U (q = 0) +
l=1

U (q = 0) = 0= Qn = 0
)(7.4
U
q n
N
1 X 2U
= ) U (q , . . . , q
|q=0 q l q k + H.O.T.
2
q l q k
1
l,k=1

N
1 X 2U
|q=0 q l q k .
) U (q , . . . , q
2
q l q k
1
l,k=1
] [K
2U
|q=0 ,
q n q m
= Knm

N
1 X
Knm q n q m .
2 n,m=1
)(7.5

Knm q m .
N
X
m=1
Qn,con =
7.2
Knl q l = Qn,noncon .
N
X
Mnl q +
l=1
N
X
l=1

7.5 7.3
N
N
1 X
1 X
Mkl qk ql
Kkl q k q l .
2
2
k,l=1
k,l=1
= L=T U
N
L
T
1 X
=
= n
Mkl qk ql
n
n
q
q
q
2
k,l=1
N
N
k
l
X
X
1
q
q
=
Mkl n ql +
Mkl qk n
2
q
q
k,l=1
k,l=1
"N
#
N
N
X
X
1 X
=
Mnl ql +
= Mkn qk
Mnl ql
2
l=1
29
k=1
l=1

Mnl ql .
N
X
Mnl q
N
X
l=1
l=1
d
=
dt
L
qn
N
X
1
U
=
= n
Kkl q k q l
n
q
q
2
k,l=1
N
N
l
k
X
1X
q
q
=
Kkl n q l +
Kkl q k n
2
q
q
k,l=1
k,l=1
"N
#
N
N
X
X
1 X
=
Knl q l +
= Kkn q k
Knl q l
2
k=1
l=1
d
dt
L
q n
l=1
l=1
l=1
X
X
L
= n
Mnl ql +
Knl q l = Qn,noncon .
q
L
qn
d
dt
, .
M
K .
.
7.3
)y(t
x1
x2
k2
m2
m1
k1
) .y(t
1
1
T = m1 x 21 + m2 x 22
2
2

1
1
U = k1 (x1 y)2 + k2 (x2 x1 )2
2
2

30

) U = U (x1 , x2 , y y
3 .

2

2T
2T
T
2
m1 0 0
1
2
1
2T
2T =
M =
m2 0 ,
2
x 2 y
x2
2T
sym
0
sym
2
y
k1 + k2 k2 k1
=
k2
0 ,
sym
k1
2U
x1 y
2U
x2 y
2U
y 2
2U
x1 x2
2U
x22
2U
x21
sym
K=

0 0
x1
k1 + k2 k2 k1
x1
0

m2 0 x2 +
k2
0 x2 = 0 .
y
sym
0
sym
k1
y
0
m1
2 2
,
"
"#
" #
"#
" #
#
m1 0
x1
k1 + k2 k2
x1
k1 y
+
=
.
m2
x2
k2
x2
0
7.4
m1 , m2
l m3 . m3 ) .F (t
. = 45
.

31
F (t)
m3
l
l
k1
k2
k3
m2
m1
l
l
m3
m3 m1 ) ( m1 q 1 = x
)( m3 .()
r 3 = x i + k (l cos()i + l sin()j)
m2
r 2 = r 3 + 1 k (l cos()i l sin()j)
= x i + k (l cos()i + l sin()j) + 1 k (l cos()i l sin()j)

= i x l sin() + l sin()1 + j l cos() + l cos()1
r 2
r 3
= 1 i m2

= i x 2l sin() ,

cos()j.
= x l sin() i + l
m3

cos()j.
r 3d = x l sin() i l

m3 r 3 r 3
m1 r 1 r 1 m2 r 2 r 2
+
+2
2
2
2

2

2
2
m1 (x)
2 m2 x 2l sin()
=
+
+ m3 x l sin() + l cos()
2
2
T =
"
m1 + m2 + 2m3 2l sin() (m2 + m3 )

sym
4l2 sin2 ()m2 + 2m2 l2

#
.
32

k1 x21 k2 x22 k3 (2y3 )2
=U
+
+
2
2
2

x1 = x, x2 = x 2l sin(), y3 = l cos().

k1 x2 k2 (x 2l sin())2 k3 (2l cos())2
=U
+
+
2
2
2

#
k1 + k2
)2lk2 sin(

)sym 4l2 k2 sin2 () + k3 cos2 (
"

r 3
= F (t)j i = 0
x

r 3
= F
= F (t)j l sin()i + l cos()j = F (t)l cos().

Qx = F

. 6
1 T
1
T = r M r + T Ic .
2
2
Ic .

f ij j i .j = 1, . . . , Ji
ri .i
rij j .i
M i .j = 1, . . . , J
33

Ai .i
i ) ,i T (R) = R
AA .(R
N P .

ri = ri (q1 , . . . , qN ),
Ai = Ai (q1 , . . . , qN ).

)(8.1
)(8.2
f ij = mi ri ,
i = 1, . . . , P
Ji
X
j=1
i = 1, . . . , P.
,
rij f ij + M i = H
i
Ji
X
j=1
)(8.3
N
X
r i n
= ui
S ,
qn
n=1
i v i
)(8.4
S n.
N
X
i
qn
n=1
= vi
8.1 8.3 8.2 8.4 .i

Ji
Ji
P
N
N
N
X
X
X
X
X
X
r
i n
i n
i n
rij f ij
S + Mi
S +
f ij
S
=
n
n
n
q
q
q
n=1
n=1
n=1
j=1
j=1
i=1
Ji
Ji
N X
P
X
X
X
i
ri
i
rij f ij n +
= f ij n + M i n S n
q
q
q
n=1
i=1
j=1
j=1

X
Ji
Ji
N X
P
X
X
i
ri
i n
f ij
f ij n + M i n
= S
rij +
qn
q
q
n=1
i=1 j=1
j=1

Ji
N X
P
X
X
r i
i
i n
f ij
+
r
+
M
S .
ij
i
qn qn
qn
j=1
34
i=1

n=1
i
f ij qrni +
qn r ij
n
i
.qn i
qn q

#
"
N
N
P
X
X
X
i n
i

S +H
Sn =
mi ri
i
n
n
n=1
n=1
i=1
(

)
P
N
X
X
i n
i

mi ri n S + H
S n.
i
n
n=1
i=1
( P

)
Ji
N X
P
N
X
X
X
X
i
i
i
i
i
f ij
S n,
+
rij + M i n S n =
mi ri n S n + H i n
qn qn
q
q
q
n=1
i=1
n=1
j=1
i=1
S n

Ji
P
P
X
X
X
i
i
r
r
i
i
i
f ij
+
rij + M i n =
mi ri n + H i n .
qn qn
q
q
q
i=1
i=1
j=1

T =
P
X
mi r i r i
i=1
T Ii i
+ i
2
3 . i Ii
!!
!
P
P
P
X
X
X
mi r i r i
mi r i r i
ri ri
=
m
i
dt qn
2
q n
2
qn
i=1
i=1
i=1

d
dt
qn
P
X
T Ii i
i
i=1
!!
n
q
P
X
T Ii i
i=1

P
X
i
=
H
i
qn
i=1
35
I, , H , I

!!
!
P
P
X
X
d
Ti Ii i
1 d i T
T i
=
I
,
i
i
i Ii
dt qn
2
2 dt qn
qn
i=1
i=1
!
P
X
d i T
=
Ii i ,
dt qn
i=1
!
!
!
P
P
X
X
d i T
d i T
i T
=
= Hi
Hi + n Hi ,
dt qn
dt qn
q
i=1
i=1
!
!
P
P
T
T
T
X
X
d i
i
i
=
= Hi
H i + n H i ,
n
n
dt q
q
q
i=1
i=1
.

!
"
#
P
P
X
X
Ti Ii i
1 i T
i
=
Ii i + Ti Ii n
n
n
q
2
2 q
q
i=1
i=1
"
#
P
X
i T
=
Ii i
q n
i=1
"
#
P
X
i T
=
Hi
q n
i=1

T
= Qn n = 1, . . . , N.
q n
T
qn
d
dt
Ji
J
I
X
X
ij X
=
f ij
+
Mi
qn
qn
j=1
j=1
Qn
i=1
.q n
.4
8.1
M L k1 , k2 ) F (t )T (t
.8.1
.
36

F (t)
a
T (t)
M
k1
L
k2
:8.1
F (t)
x1
a
k1
T (t)
M
F (t)
x2
L
k2
k1
T (t)
II
k2
8.1 :8.2

37
I ,

M v c v c Ic 2
+
.
2
2
= T
r 1 = x 1j r 2 = x 2j
r 2 = r 1 + r12 = x 1j + k Li

x 2 x 1
=
L
x 1 + x 2
j.
2

2
x 2 x 1
,
L
= v c = r 1 + r1c
Ic
2
2
x 1 + x 2
2
M
2
= T

k1
k2
=U
(x1 )2 +
(x2 )2 .
2
2

ra = r 1 + r1a = x 1 + x 2 x 1 a j
L
x 2 x 1
k
=
L
r a
+T
x 1
x 1

a
1
)j + T (t)k k = F (t)(L a) T (t
= F (t)j 1
L
L
L
L
ra
+T
= F
x 2
x 2

a
1
)aF (t) T (t
= F (t)j
j + T (t)k
= k
+
L
L
L
L
Q1 = F
II
2
Ic
)M (y
2
= T
+
2
2

k1
L 2 k2
L 2
= U
y
+
y+
2
2
2
2
38

Q2

r a
+T
y
y

)= F (t)j j + T (t)k 0k = F (t
Qy = F
r a
+T

L
L
j + T (t)k k = F (t) a
= F (t)j
a
)+ T (t
2
2
Q = F
M km , lm , lm0 ,
,m . m Um = k2m (lm lm0 )2

M
X
km
=
(lm lm0 )2 .
2
m=1
Um
M
X
=U
m=1

M
M
X
X
2U
2 Um
m
= Kij = i j |q=0
= |
Kij
,
i q j q=0
q q
q
m=1
m=1
2 Um
2
km
|
=
(lm lm0 )2 |q=0
q=0
i
j
i
j
q q
q q
2

lm
=
km (lm lm0 ) j |q=0
i
q
q

2
lm
lm lm
= km (lm lm0 ) j i + j
|q=0
q q
q q i
lm lm
= km j
|q=0 .
q q i

m
Kij
=
9.1

39
um
r k
r s
km
rs
rk
:9.1
lm = (rs rk ) um , ,
um
um =
rs rk
krs rk k
u m um = 0 um

lm = r s r k um + (rs rk ) u m = r s r k um .
lm
lm
|
|q=0 =
=
q=0
i
i
q
q
lm
q i
lm
qi
rs
q i
r s
qi

r s r k um
r s r k
|q=0 =
i um |q=0 .
qi
qi
q
M
X
lm lm
Kij =
km j
| ,
i q=0
q
q
m=1
40
lm
=
q i
r s r k
i
qi
q

um
9.1
r 2
u
k2
x
k1
r 1
m1
a, m2
:9.2
2 9.2
q 1 = x,
q2 =
l1 = l10 + q 1 l1
l1
=0
q 2
l1
= 1,
q 1

"
K1 =
k1 0
0 0

l2 = u2 r 2 r 1
l2 l2
,
q1 q2
k2
u2 |q=0 = cos i + sin j

r 1
q1i
r 2
h

i
aq2 sin + q 2 i + cos + q 2 j
r 1
|q=0 = i ,
q1
r 2
|q=0 = 0,
q1
r 1
|q=0 = 0,
q2
h
i
r 2
i + cos j .
|
=
a
sin
q=0
q2

r 2 r 1
l2
|q=0 = u2
= cos ,
q1
q1 q1 q=0

l2
r 2 r 1
|q=0 = u2
= a (cos sin sin cos ) = a sin( ).

q2
q2 q2 q=0

41
cos2
a sin( ) cos
a sin( ) cos
)a2 sin2 (
"
K 2 = k2

m1 1 2 I2 2 2
q
+
q
2
2
= T
10
m1 0
0 I2
"
=M
,
q n .

.
1
In (qn )2
2
N
X
n 2
mn (q ) +
n=M +1
M
X
1
= T
n=1

, .
\ \ .
)(
N
X
U
=
Knm q m
q n
m=1
1 m = l
=

0 m 6= l
Fn =
q m .Fn = Knl
Knl , , q n
.q l
:

42
m . .
.
n m
.Knm
10.1
x
k3
f3
m
f2
k2
k1
f1

1 = 2 = 3 = 1
fi = (k1 k2 k3 ) = k1 + k2 + k3
10.2
3
X
i=1
K=
kb
ka
43


2 = b 1.
1 = a 1,

M2 = bkb 2 .
M1 = aka 1 ,

Mi = ka a2 + kb b2 .
2
X
i=1
10.3
K=
Gc , Jc , Lc
Ga , Ja , La
Rb
Rc
mc
Ra
mb
ma
Gb , Jb , Lb
Ra , Rb , Rc
. Gi , Ji , Li .i = a, b, c
a .


44
Rb
Rc
Rb
Rc b
= c
Rb
Ra
b = 1
Fc
Rb
Ra b
= a
Fa
Ra
Rb
Rc
Tb
Fa
Fc
Tc
Ta
a
) M = (Tb Fc Rb Fa Rb
Gb Jb
Lb
Gb Jb
Lb b
K=
= ,Tb
Ga Ja Rb
Ga Ja Rb
Ga Ja
= a
= b
La
La Ra
La Ra
Gc Jc Rb
Gc Jc Rb
Gc Jc
= c
= b
=
Lc
Lc Rc
Lc Rc
= Ta
Tc
. Fc , Fa
a, c
Tc
Gc Jc Rb
=
Rc
Lc Rc2
Ga Ja Rb
Ta
=
=
Ra
La Ra2
= Fc
Fa

) K = (Ta Fc Rb Fa Rb
Gb Jb Gc Jc Rb2 Ga Ja Rb2
=
+
+
.
Lb
Lc Rc2
La Ra2
) . :
(.
10.4
45

k1
k2
a
R
m1
k3
m2
= 1, x = 0 .q 2 = x q 1 = , 2
1 = (a + R), 2 = R, 3 = 0
K11 =
M = ((R + a)k1 1 + Rk2 2 ) = k1 (R + a)2 + k2 R2
K21 = f = (k2 2 ) = k2 R
= 0, x = 1
1 = 0, 2 = 1,
3 = 1
K12 =
K22 =
X
X
"
K=
M = (Rk2 2 ) = k2 R
f = (k2 2 k3 3 ) = k3 + k2 ,
k1 (R + a)2 + k2 R2
k2 R
k2 R
k 3 + k2
5
k2
k1
y
m
10.5
k1
x
k2

46
2
q 1 = x,
q 2 = y.

"
M=
m 0
0 m
.
x
1
k1
k2 2
k2
k1 1
k1 1
k2 2
.1 = cos , 2 = cos
K11 =
K21 =
X
X
Fx = [2k1 1 cos 2k2 2 cos ] = 2k1 cos2 + 2k2 cos2

Fy = [2k1 1 sin + 2k2 2 sin ] = k1 sin(2) k2 sin(2)
y
1
1
k1
k2 2
k2
k1 1
k1 1
k2 2
1 = sin , 2 = sin
K12 =
K22 =
X
X
Fx = [2k1 1 cos + 2k2 2 cos ] = k1 sin(2) k2 sin(2)

Fy = [2k1 1 sin 2k2 2 sin ] = 2k1 sin2 + 2k2 sin2 ,
"
K=
47
2k1 cos2 + 2k2 cos2 k1 sin(2) k2 sin(2)

k1 sin(2) k2 sin(2) 2k1 sin2 + 2k2 sin2

11
. ,

.

.
Fn q n
P
m
,Gn = N
Gn ,Gn = Fn m=1 Knm q
Kmn q m
N
X
= Fn
m=1

)F = K (q
= K 1 ) q = (F
nm Fm
N
X
= q
m=1
nm q n
q m .Fm

M q + Kq = Q

M q + q = Q

M q + q = 0

48
11.1
x
k1
k2
m
f x f
1 = k11 , 2 = k12 x
1
1
k1 + k2
+
=
,
k1 k2
k1 k2
= = 1 + 2

1
k1 k2
=
.
k1 + k2
11.2
=K
k2
k1
a
b
m
x
f x .


49
T1
T2
b

T1 + T2 = f = 1,
T1 a T2 b = 0.

a
,
a+b
= T2
b
,
a+b
= T1

T2
a
=
.
k2
)k2 (a + b
= 2
T1
b
=
,
k1
)k1 (a + b
= 1

(2 1 )a
b
k2 b k1 a
=
+
a
a+b
k1 (a + b) k2 k1 (a + b)2
k2 b2 + 2k1 k2 ab k1 a2
=
,
k1 k2 (a + b)2
= 1 +

1
k1 k2 (a + b)2
.
=
k2 b2 + 2k1 k2 ab k1 a2
11.3
=K

50
k1
k2
m
x
f x f1 = f2 = 2f

f2
2
= .
k2
k2
= 2
f1
2
= ,
k1
k1
= 1

) 4(k1 + k2
,
k1 k2
= = 21 + 22

1
k1 k2
=
.
) 4(k1 + k2
11.4
=K
m2
L
2
m1
L
6
L
3

51
L

y(x) =
f bx
6EIL
fb
6EIL
2

L b2 x 2
xa
h
i

3
L
2
2
3
xa
b (x a) + L b x x
a =

L
=
= y x=
3

L
= y x=
=
2

11
21
L
3,b
12
22
52

L
= y x=
=
3

L
= y x=
=
2
2L
3
m1 f = 1
4L3
,
243EI
23 L3
.
1296 EI
a=

L
2,b
L
2
23 L3
,
1296 EI
1 L3
.
48 EI

m2 f = 1
II

m
x + cx + kx = f (t).
f (t) = 0 ,
. c = 0
.

m
x + kx = 0,

x(t) = A cos(t) + B sin(t),
)x(t
)= A sin(t) + B cos(t
)x(t) = 2 A cos(t) 2 B sin(t

(k m 2 )(A cos(t) + B sin(t)) = 0
k
.
m

rad
sec
= k m=0
= ] [ .
= Hz
53
1
sec
=f
= ] [f

1
f
= .T
D
x0
v0
:1.1

)x(0
= v0 ,
x(0) = x0 ,

v0
sin(t).
x(t) = x0 cos(t) +
v 2
0
x20 +
=D
x0
v0/
= tan1
v0/
= )cos(
x0
,
D
= )sin(

])x(t) = D [sin() cos(t) + cos() sin(t
= D sin (t + ) .
D .

.
m
x + kx = F0 sin(t),
54

)F (t) = F0 sin(t
:2.1

x(t) = xh (t) + xp (t),
) xh (t ) xp (t .

)xp (t) = C cos(t) + D sin(t

k 2 m C cos(t) + k 2 m D sin (t) = F0 sin(t).

C = 0,
F0
,
k 2 m
=D

F0
)sin(t) + A cos(t) + B sin(t
k 2 m
= )x(t
A, B .
) (
x(0) = xp (0) + xh (0) = x0,
)x(0
= x p (0) + x h (0) = v0 .
55

2.1
Resonance
x0 = 0
v0 = 0
F0
F0
=
.
2
k m
) m (2 2
B=
A = 0,
) x(t

F0
)F0 / sin(t) sin(t
F0
sin(t)
= )sin(t
= )x(t
) m (2 2
) m (2 2
m
2 2
) lim x(t l'Hopital

)F0 1/ sin(t) t cos(t
F0
lim x(t) = lim
))(sin(t) t cos(t
=
m
2
2m 2
Resonance for =1
100
80
60
40
20
0
20
40
60
80
100
80
100
40
60
20
]t[sec
:2.2
)
(
.
56

x2
k3
x1
k2
m2
k1
m1
:3.1 2

m1 x1 = k1 x1 k2 (x1 x2 ) = (k1 + k2 )x1 + k2 x2
m2 x2 = k2 (x2 x1 ) k3 x2 = k2 x1 (k2 + k3 )x2

#
0
.
)(3.1
0
"
x1
x2
"#
k1 + k2
k2
k2
k2 + k3
"
x1
x2
"#
m1 0
0 m2
"

x2 = A2 sin(t + ).
x1 (t) = A1 sin(t + ),

)x1 (t) = 2 A1 sin(t + ) x2 = 2 A2 sin(t +
3.1
# " #
)A1 sin(t +
0
=
)A2 sin(t +
0
"#
k1 + k2
k2
k2
k2 + k3
"
) 2 A1 sin(t +
) 2 A2 sin(t +
t
"#
# " #
k1 + k2 m1 2
k2
A1
0
=
.
2
k2
k2 + k3 m2
A2
0
"#
m1 0
0 m2
"
"
.
) (.
"
#

k1 + k2 m1 2
k2
2
2
det
=
k
+
k
k
+
k
k22 = 0
1
2
1
2
3
2
2
k2
k2 + k3 m2

57
,
.
k1 = k2 = k3 = k m1 = m2 = m

(2k m 2 )2 k 2 = 2k m 2 k 2k m 2 + k = 0

3k
.
m
= 22
k
,
m
= 12
1 , 2 A . A = [A1 , A2 ]T

"
"#
# " #
2k m 2
k
A1
0
=
.
2
k
2k m
A2
0

k
A1 , A2
12 = m A1 = A2
22 = 3k .A1 = A2
m
, A Rq A .
k
1 = m x1 , x2

q
2 = 3k x1 , x2 .
m
3.1
Aij i . j
.n < n+1
r
r
k
3k
= 1
= , 2
.
m
m

) x1 (t) = A11 sin(1 t + 1 ) + A12 sin(2 t + 2
) x2 (t) = A21 sin(1 t + 1 ) + A22 sin(2 t + 2
A11 = A21 A12 = A22 A11 = A21 = B A12 = A22 = A
) x1 (t) = B sin(1 t + 1 ) + A sin(2 t + 2
) x2 (t) = B sin(1 t + 1 ) A sin(2 t + 2
58

x1 (0) = x2 (0) = 1
x 1 (0) = x 2 (0) = 0

) 1 = B sin(1 ) + A sin(2
) 1 = B sin(1 ) A sin(2
) 0 = 1 B cos(1 ) + 2 A cos(2
) 0 = 1 B cos(1 ) 2 A cos(2

) 1 = B sin(1 ) 0 = B cos(1

= 1 .B = 1
) 0 = A sin(1 ) 0 = A cos(2
A = 0 .2

x1 (t) = x2 (t) = sin 1 t +
= cos(1 t).
2
.
x 1 (0) = x 2 (0) = 1
x1 (0) = x2 (0) = 0
) 0 = B sin(1 ) + A sin(2
) 0 = B sin(1 ) A sin(2
) 1 = 1 B cos(1 ) + 2 A cos(2
) 1 = 1 B cos(1 ) 2 A cos(2
2 = 0 B = 0
1
2
= ,A
1
1
sin(2 t) x2 (t) = sin(2 t).
2
2
= )x1 (t
59

x 1 (0) = x 2 (0) = 0
x2 (0) = 0
x1 (0) = 1
) 1 = B sin(1 ) + A sin(2
) 0 = B sin(1 ) A sin(2
) 0 = 1 B cos(1 ) + 2 A cos(2
) 0 = 1 B cos(1 ) 2 A cos(2

1 = 2B sin(1 ) B cos(1 ) = 0
= 1 .B = 12
1 = 2A sin(2 ) A cos(2 ) = 0
= 2 A = 21

1
])= [cos(1 t) + cos(2 t
2
2

1
= [cos(1 t) cos(2 t)] .
2
2

1
sin 2 t +
2

1
sin 2 t +
2

+
2

1
sin 1 t +
2

1
= )x2 (t
sin 1 t +
2
= )x1 (t

+ [K] x = 0
[M ] x
) x(t) = A sin(t + ) xi (t) = Ai sin(t +
. ) = 2 A sin(t +
x

2 sin(t + ) [M ] A + sin(t + ) [K] A = 0
t
)(4.1

[K] 2 [M ] A = 0

60
[M ]1
2 ].[M ]1 [K
4.1
.1 n n .A1 , . . . , An
.2 .
.3 .

det [K] 2 [M ] = 0 n 2 2 n
) ] [K [M ]1 ( Positive denite ,
12 < < n2 ,
j2 n 1 n Aij i
A1j 6= 0
.j

j
j
j
A = A1j
A A = A1j uj uj
1
A2j/A1j
..
uj =
An1,j/A
1j
Anj/A1j

A2n/A1n
.
..
...
Ann/A1n
1
...
A22/A12
..
.
An2/A12
1
A

21/A11
[U ] = u1 . . . un =
..
An1/A11
uj .j ] [U
.

A1j Uij sin(j t + j ),
n
X
= ) Aij sin(j t + j
j=1
n
X
= )xi (t
j=1
Uij 2n A1j ,j
2n .
61

4.1
n
j
[K]A = j2 [M ]A
A = A1j uj
[K]uj = j2 [M ]uj
uiT
)(4.2
uiT [K]uj = j2 uiT [M ]uj
ui , uj
)(4.3
ujT [K]ui = i2 ujT [M ]ui
: C, D C D , C D

[C D]T = DT C T .

h
iT
jT
i
u [K]u
= uiT [K]T uj = uiT [K]uj
h
iT
jT
i
u [M ]u
= uiT [M ]T uj = uiT [M ]uj
] [K], [M .
4.2 4.3
uiT [K]uj ujT [K]ui = j2 uiT [M ]uj i2 ujT [M ]ui .
ujT [K]ui , ujT [M ]ui R
h
iT
ujT [K]ui
= ujT [K]ui ,
h
iT
ujT [M ]ui
= ujT [M ]ui .
62

h
iT
jT
i
= uiT [K]uj uiT [K]uj = 0
u [K]u u [K]u = u [K]u u [K]u
j
iT
jT
iT

0 = j2 i2 uiT [M ]uj ,
i 6= j j2 i2 6= 0
uiT [M ]uj = 0 i 6= j.
" " . ] [M ] [I
n .

[K]uj = j2 [M ]uj
ujT
ujT [K]uj = j2 ujT [M ]uj = 0.
uiT [M ]uj )
].( [M ] = [I
j
uj u1 = 1
uiT [M ]uj
uiT [M ]ui = 1.
, N , ,
n xm , xl
.m, l = 1, . . . , N
.
j
: u j = 1, . . . , N .
63

: , a1 , . . . , aN
aj uj = 0,
N
X
j=1
T
ui M
N
N
h iT
h iT
h iT
X
X
i
j
i
j
M
= aj u
M u = ai ui M ui = 0
u
aj u
j=1
j=1
ai = 0 i = 1, . . . , N
aj uj = 0 ai = 0 i = 1, . . . , N
N
X
j=1
Rn
y Rn
ni ui = [U ]n.
N
X
=y
i=1
ni y
.
ni
, ] ujT [M
ni ujT [M ]ui
N
X
jT
= u [M ]y
i=1
ujT [M ]ui = 0 i 6= j
uiT [M ]y
.
uiT [M ]ui
5.1
= ni
) f (t
+ [K]x = f (t).
[M ]x
64


x(t) =
N
X
ni (t)ui ,
i=1
(t) =
x
Pn
i (t)ui
i=1 n
. ui , i = 1 . . . , N

[M ]
N
X
N
X
n
i (t)ui + [K]
i=1
N
X
ni (t)ui = f (t)
i=1
ni (t)[M ]ui +
i=1
N
X
ni (t)[K]ui = f (t).
i=1
ujT
N
X
jT
ni (t)u [M ]u +
i=1
N
X
ni (t)ujT [K]ui = ujT f (t)
i=1
ujT [K]ui = ujT [M ]ui = 0 j 6= i

nj (t)ujT [M ]uj + nj (t)ujT [K]uj = ujT f (t)
j = 1, . . . , n
nj (t) + nj (t)
ujT [K]uj
ujT f (t)
=
ujT [M ]uj
ujT [M ]uj
[ K]uj j2 [M ]uj = 0 uj
ujT j2 [M ]uj
ujT [K]uj
= jT
= j2 ,
ujT [M ]uj
u [M ]uj

nj (t) + j2 nj (t)
ujT f (t)
= jT
,
u [M ]uj

nj (t) = Cj sin(j t) + Dj cos(j t) + npj (t),

. npj (t)

x(0) = x0 ,
x(0)
= v0,

65

ni (0)ui
N
X
= x0
i=1
] ujT [M
ni (0)ujT [M ]ui = nj (0)ujT [M ]uj
N
X
= ni (0)u
jT
jT
] u [M ]x0 = u [M
i=1

ujT [M ]x0
.
ujT [M ]uj
= )nj (0

ujT [M ]v 0
.
ujT [M ]uj
5.2
= )n j (0
x2
k
x1
)F2(t
m
F1(t) k
:5.1 2 .

"
"#
" #
"#
" #
#
m 0
x1
2k k
x1
)F1 (t
+
=
.
0 m
x2
k 2k
x2
)F2 (t
66

"

" #
m 0
x1
2k k
x1
0
+
=
0 m
x2
k 2k
x2
0
q
q
k
2 = 3k
m 1 =
m
" #
"
#
1
1
u1 =
, u2 =
.
1
1
#"
"
#"

u1T [M ]u1 = 2m u2T [M ]u2 = 2m.
u1T f (t) = F1 (t) + F2 (t),

u2T f (t) = F1 (t) F2 (t).

F1 (t) + F2 (t)
,
2m
F1 (t) F2 (t)
=
.
2m
n
1 + 12 n1 =
n
2 + 22 n2

"
x0 =
x1
x2
"
v0 =
v1
v2

u1T [M ]x0
u1T [M ]u1
u1T [M ]v 0
n 1 (0) = 1T
u [M ]u1
u2T [M ]x0
n2 (0) = 2T
u [M ]u2
u2T [M ]v 0
n 2 (0) = 2T
u [M ]u2
n1 (0) =
x1 + x2
,
2
v1 + v2
,
2
x1 x2
,
2
v1 v2
.
2
F2 (t) = D2 sin(2 t) F1 (t) = D1 sin(1 t)

D2
D1
sin(1 t) +
sin(2 t)
2
2
2m(1 1 )
2m(12 22 )
D1
D2
nP2 (t) =
sin(1 t)
sin(2 t)
2
2
2m(2 1 )
2m(22 22 )
nP1 (t) =

67

nH
1 (t) = A1 sin(1 t) + B1 cos(1 t),
nH
2 (t) = A2 sin(2 t) + B2 cos(2 t).

x1 + x 2
2
x
x2
1
n2 (0) = nP2 (0) + nH
2 (0) = B2 =
2
2 D2
v1 + v2
1 D1
+
=
n 1 (0) = n P1 (0) + n H
1 (0) = 1 A1 +
2
2
2
2
2
2m(1 1 ) 2m(1 2 )
1 D1
2 D2
v1 v2
n 2 (0) = n P2 (0) + n H
=
2 (0) = 2 A2 +
2
2
2
2
2
2m(2 1 ) 2m(2 2 )
n1 (0) = nP1 (0) + nH
1 (0) = B1 =

v1 + v2
1 D1
2 D2
,
2
2
21
2m(1 1 )1 2m(12 22 )1
1 D1
v1 v2
2 D2
.
22
2m(22 12 )2 2m(22 22 )2
A1 =
A2
x1
L
2
L
2
x2
L
2
2k
1
k
3/8
1/8
1/8
5/24
L
2
2m
"
5.3
F0 sin(t)
3k

"
#
"
#
1 0
0
M =m
, f (t) =
0 2
F0 sin(t)

+ x = [] f (t)
[] [M ] x

68

F0
sin(t).
k
"
1/8
5/24
x1
x2
"
"#
x1
x2
2/8
3/8
10/24
1/8
"
m
k
] [] [M .

det I 2 [M ] = 0
= 2 m
k
1 2 19
+ 1 = 0.
8
24

k
.
m
22 = 4.59
k
,
m
12 = 1.74
1
0.628
"
= u2
1
0.8
"
= u1

u1T [M ]u1 = 2.28m u2T [M ]u2 = 1.78m

u1T f (t) = 0.8F0 sin(t),
u2T f (t) = 0.628F0 sin(t).

k
0.8F0
= n1
sin(t),
m
2.28m
k
0.628F0
n
= 2 + 4.59 n2
sin(t).
m
1.78m
n
1 + 1.74

69
5.4
)F (t) = F0 sin(t
2k
y
4k
x
6k
45

q 2 = y.
q 1 = x,
y=0
x = 1,
y=1
x = 0,
2k
4k
)3k cos(45
70
)3k cos(45

x = 1, y = 0
X

Fx = 4k 6k cos2 (45) = 7k
X

=
Fy = 6k cos2 (45) = 3k
K11 =
K21
x = 0, y = 1

Fy = 2k 6k cos2 (45) = 5k.

"
#
)F (t) cos(
= F
.
)F (t) sin(
m 0
0 m
K22 =
"
=M

"
#
2m

7k
3k
det K 2 M = det
= 4 12 2 mk + 26k 2 = 0
3k
5k 2 m

k
.
m
k
,
m
22 = 9.16
12 = 2.83

K j2 M uj = 0
71
1
1.38
"
= u2
1
0.72
"
= u1


u2T M u2 = 2.92m
u1T [M ] u1 = 1.52m,

u1T F
])= 0.66F (t) [cos() 0.72 sin (
u1T [M ] u1
u2T F
])= 0.34F (t) [cos() + 1.38 sin (
u2T M u2

n
) 1 + 12 n1 = 0.66 [cos() 0.72 sin ()] F0 sin(t) = F1 (t
n
) 2 + 22 n2 = 0.34 [cos() + 1.38 sin ()] F0 sin(t) = F2 (t
= 54.2 F1 (t) = 0)F2 (t

, u2 = 35.7
F2 (t) = 0 u1) F1 (t .

72
III
)v(x, t
x
L
:1.1
T , T )
( . ) v(x, t x .t
x . .
T
)(x + x
)(x
x
x + x
T
x
:1.2"

2v
,
t2
73
T sin((x + x)) T sin((x)) = x


v
= tan() ' sin(),
x

v
v
2v
(x + x)
) = x 2
x
x
t
(T
x x 0
2v
2v
=
x2
t2
=T
v
)x (x, t
(x + x, t)
x
v
x
lim
x0
= c2
2
2v
2 v
=
c
,
t2
x2

. = A A T = AE
E
c2 = AE
E A =
c .
A, E
)f (x, t
)f (x, t
)N (x + x, t
)N (x, t
L
x
x + x
:2.1
74

x
2u
t2
f (x, t)x + N (x + x, t) N (x, t) = x
. x x 0
2u
N
= 2
x
t
)N (x, t) = AE(x, t
u
x
f (x, t) +
=
2u
)EA 2 u f (x, t
=
+
t2
x2
E
c2 = EA
= A =

2
)f (x, t
2u
2 u
=
c
+
.
2
2
t
x
(x, t)G, J
) (x, t
)T (x
)T (x + x
L
R
x + x
x
:3.1

75

) (x, t x t
R
L

G
J J = 2 R4

x
2
2
=
xJ
t2
t2
TL
GJ
T
GJ
=
. x
T (x + x) T (x) + (x, t)x = I
x x 0

GJ x
T
2
)T (x + x) T (x
lim
= )+ (x, t
= )+ (x, t
+ (x, t) = J 2
x0
x
x
x
t
G

= c2
2
) (x, t
2
2
=
c
+
.
t2
x2
J
)(4.1
2
2
2
=c
t2
x2
.
,
) (x, t) = X(x)T (t
)T 00 (t)X(x) = c2 T (t)X 00 (x
76

) X(x)T (t
00
)T 00 (t
)2 X (x
=c
.
)T (t
)X(x
, t x

)X 00 (x
)T 00 (t
= c2
= .
)T (t
)X(x
. ) X(x), T (t
) (+, , 0
. , < 0
00
)(t
). TT (t
=
> 0 = 2 T (t) = Aet + Bet
.limt T (t)
= 0 T (t) = At + B .
< 0 = 2 < 0 ).T (t) = C sin(t) + D cos(t

)X 00 (x
)T 00 (t
= c2
= 2 .
)T (t
)X(x
, t
T 00 (t) + 2 T (t) = 0
x
X(x) = 0.
2
X 00 (x) +

X(x) = A sin
x + B cos
x .
)(4.2
c
c

.
77

4.1
(0, t) = (L, t) = 0
) (x, t) = X(x)T (t
(0, t) = X(0)T (t) = 0,
(L, t) = X(L)T (t) = 0.
X(0) = X(L) = 0 4.2
X(0) = B = 0

X(L) = A sin
L + B cos
L =0
c
c
B = 0
L = n,
c
n = 1, 2, . . .
c
,
L
n = n
n
x = An sin
x ,
c
L

Xn (x) = An sin
) Xn (x )( .n

)Xn (x)Tn (t

x [Cn sin(n t) + Dn cos(n t)] .
sin
X
n=1
= )(x, t
=
n=1

78
1
0.8
0.6
0.4
0.2
)Xn(x
0
0.2
0.4
n=1
n=2
n=3
n=4
0.6
0.8
1
0.8
0.9
0.7
0.6
0.5
x/L
0.4
0.2
0.3
0.1
:4.1
4.2
)T (x = L, t
)N (x = L, t
:4.2
x = L N (x = L, t) = 0 ,T (x = L, t) = 0

|x=L = 0
|x=L = 0,
x
x
u
u
|x=L = 0
|x=L = 0.
EA
x
x
x = 0
GJ
u(x = 0, t) = 0.
79
(x = 0, t) = 0,


(L, t) = 0.
x

= )(0, t
X(0) = B = 0

A cos
L + B sin
L =0
= )X 0 (L
c
c
c
c

cos c L = 0
L = + n n = 1, 2, . . .
c
2

) (2n 1
n = 1, 2, . . .
n = c
2L

n
Xn (x) = A sin
x .
c

X
)Xn (x)Tn (t
= )(x, t

x [Cn sin(n t) + Dn cos(n t)] .
sin
n=1
n=1
1
0.8
0.6
0.4
0.2
)Xn(x
0
0.2
0.4
0.6
n=1
n=2
n=3
n=4
1
0.9
0.8
0.7
0.6
0.5
x/L
0.4
0.3
0.2
0.1
0.8
1
0
:4.3

80
4.3
x
x
k
kT
x = L .

)N (x = L, t) = Fs = ku(x = L, t
N (x, t) = EA u
x
u
)(x = L, t) = ku(x = L, t
x
EA

u
(L, t) + ku(L, t) = 0.
x
EA

)T (x = L) = Ms = kT (x = L, t
T (x, t) = GJ x

)(x = L, t) = kT (x = L, t
x
GJ
(L, t) + kT (L, t) = 0.
x
GJ
,

(0, t) = X(0)T (t) = 0 X(0) = 0
(L, t) + kT (L, t) = GJX 0 (L)T (t) + kT X(L)T (t) = 0 GJX 0 (L) + kT X(L) = 0
x
81

GJ
5
4
3
2
1
0
1
2
3
4
4.5
3.5
2.5
/c
1.5
0.5
:4.4 4.3
X(0) = B = 0

L + kT A sin
L =0
GJX 0 (L) + kT X(L) = GJ A cos
c
c
c

c tan c L
GJ
=
.
kT
)(4.3
4.1
n2
)Xn (x) = Xn00 (x
c2
) Xm (x dx
Xn00 (x)Xm (x)dx
= Xn (x)Xm (x)dx
0
L
0
2
2n
c

0
Xn0 (x)Xm
(x)dx.
82

L
Xn (x)Xm (x)dx = Xm (x)Xn0 (x) 0

2
2n
c
m, n
0
Xn0 (x)Xm
(x)dx.

L
0
Xn (x)Xm (x)dx = Xn (x)Xm
(x) 0
2
m
c2
)(5.1
L
L

0
(x) 0
Xn (x)Xm (x)dx = Xm (x)Xn0 (x) 0 Xn (x)Xm
2 2
m
n
c2
,
.
5.1
Xn (0) = 0, Xm (L) = 0 n, m N

L
Xm (x)Xn0 (x) 0 = 0,
0 (L) = 0
Xn (0) = 0, Xm n, m N

L
Xm (x)Xn0 (x) 0 = 0.
5.1
L
Xn (x)Xm (x)dx = 0.
0
2 2
m
n
2
c
n 6= m n 6= m
Xn (x)Xm (x)dx = 0 ,
0
m = n
L
Xn (x)Xn (x)dx 6= 0
0
.Xn (x)Xn (x) 0
5.2
, x = L
GJX 0 (L) + kT X(L) = 0
83

kT
X 0 (L) = GJ
)X(L
kT
Xn (L).
GJ
Xn0 (L) =
x = 0 Xm (0) = 0

L
L
kT
kT
0
0
Xn (L)
Xm (L) Xn (L) = 0,
Xm (x)Xn (x) 0 Xn (x)Xm (x) 0 = Xm (L)
GJ
GJ

Xn (x)Xm (x)dx = 0.
0
: ,
.

)(0, t
= 0,
x
)(L, t
aL (L, t) + bL
= 0.
x
a0 (0, t) + b0
n 6= m.
5.3
Xn (x)Xm (x)dx = 0,
0
x
x
I0
,
"

84
x
x
I0
)N (L, t
)T (L, t
m

2u
)(L, t
t2
N (L, t) = m
N (x, t) = EA u
x
u
2u
)EA (L, t) = m 2 (L, t
x
t
2
= c2 xu2
2u
t2
u
2u
)(L, t) = mc2 2 (L, t
x
x
EA
2u
u
(L, t) + AE (L, t) = 0.
2
x
x
mc2
2
2
T (L, t) = GJ (L, t) = I0 2 (L, t) = I0 c
)(L, t
x
t
x2
(L, t) + JG (L, t) = 0.
2
x
x
I0 c2
.

(0, t) = X(0)T (t) = 0 X(0) = 0
(L, t) + JG (L, t) = I0 c2 X 00 (L)T (t) + JGX 0 (L)T (t) = 0 I0 c2 X 00 (L) + JGX 0 (L) = 0
2
x
x
85

I0 c2
2
X 00 = c2 X .X(0) = B = 0
I0 c2 X 00 (L) + JGX 0 (L) = I0 2 X(L) + JGX 0 (L)

L + JGA cos
L =0
= I0 2 A sin
c
c
c

JG
tan
L
= 0.
c
I0 c

X(0) = 0
L
2
m n2
0
Xn (x)Xm (x)dx = Xm (L)Xn0 (L) Xm
(L)Xn (L).
c2
1
I0 2 X(L) + JGX 0 (L) = 0
Xn0 (L) =
I0 n2
X(L)
JG

2 2
m
n
c2
L
2
Xn (x)Xm (x)dx = n2 m
I0
JG
Xm (L)Xn (L)

"
n2
2
m
"
1
c2
1
c2
Xn (x)Xm (x)dx +
0
I0
Xm (L)Xn (L) = 0,
JG
n 6= m
#
I0
Xn (x)Xm (x)dx +
Xm (L)Xn (L) = 0
JG
n2
c2
Xn00 (x)Xm (x)dx

0
L

L
0
0
= Xm (x)Xn (x) 0
Xn0 (x)Xm
(x)dx
0
L
0
0
= Xm (L)Xn (L)
Xn0 (x)Xm
(x)dx
0
L
I0 n2
0
=
Xn (L)Xm (L)
Xn0 (x)Xm
(x)dx
JG
0
Xn (x)Xm (x)dx =
0

86

#
L
I0
0
Xn0 (x)Xm
(x)dx
Xn (x)Xm (x)dx +
= )Xn (L)Xm (L
JG
0
L
0
1
c2
"
n2

0
Xn0 (x)Xm
(x)dx = 0.
N ,
) ( .
)Xn (x)Tn (t
= )(x, t
) Tn (t
) Xn (t .
Xn , ,
) X(x
gn Xn (x),
= )X(x
gn .
.Sturm-Liouville
6.1

2
2
2
=
c
)+ g(x, t
t2
x2
) g(x, t .

)Xn00 (x)Tn (t) + g(x, t
=c
)Xn (x)Tn00 (t
87

)n=1 Xn (x)Tn (t
X
n
= )(x, t
2
Xn00 = c2n Xn

Xn (x) Tn00 (t) + n2 Tn (t) = g(x, t).
X
n
) Xm (x dx
L
g(x, t)Xm (x)dx
L
0

00
2
= Xn (x) Tn (t) + n Tn (t) Xm (x)dx
X
n
"

g(x, t)Xn (x)dx
L
2
0 Xn (x)dx
L
0
)Tn00 (t) + n2 Tn (t

Tn (t) = Cn sin(n t) + Dn cos(n t) + TnP (t).
Cn , Dn
)(x, 0) = h(x
)(x, 0) = v(x
t

)Xn (x)Tn (0) = h(x
= )(x, 0
) Xm (x dx
L
0
h(x)Xn (x)dx
)= Dn + TnP (0
L
2
0 Xn (x)dx
= )Tn (0
h(x)Xn (x)dx
)= Dn + TnP (0
L
2
0 Xn (x)dx
v(x)Xn (x)dx
= n Cn + TnP (0).
L
2
0 Xn (x)dx
= )Tn (0

88
6.2
)y(t) = Y0 sin(t
A0 , E,
A0 ,L .E
) .y(t) = Y0 sin(t
.

2
A0 2 u
2u
2 u
=
=c
,
t2
EA0 x2
x2
= ,c2
u(0, t) = y(t),
u
(L, t) = 0,
x

u
(x, 0) = 0.
t
u(x, 0) = 0,
,
)u(x, t) = v(x, t) + y(t
2u
) 2 v d2 y(t
2v
=
+
=
) 2 Y0 sin(t
t2
t2
dt2
t2
2u
2v
=
x2
x2

2
2v
2 v
=
c
)+ 2 Y0 sin(t
t2
x2
.
u(0, t) = v(0, t) + y(t) = y(t) v(0, t) = 0

u
v
= )(L, t
(L, t) = 0
x
x
89

.
u(x, 0) = v(x, 0) + Y0 sin(0) = 0 v(x, 0) = 0
u
v
v
= )(x, 0
(x, 0) + Y0 cos(0) = 0
(x, 0) = Y0 .
t
t
t

2
2v
2 v
=
c
)+ 2 Y0 sin(t
t2
x2
v
(L, t) = 0
v(0, t) = 0
x
v
v(x, 0) = 0
(x, 0) = Y0
t

c
n
Xn (x) = sin
x ,
= n
(2n 1) n = 1, 2, . . .
c
2L

)Xn (x)Tn (t
X
n=1

)Xn (x) Tn00 (t) + n2 Tn (t) = 2 Y0 sin(t
X
n=1

L
) Xm (t 0 dx
L
Xn (x)dx
00
2
2
Tn (t) + n Tn (t) = Y0 sin(t) 0L
2
0 Xn (x)dx

L
c
c
n
= Xn (x)dx
sin
x dx = cos
x
=
,
c
n
c
n
0
0
0
#
L
L
" L
n

1
cos
x
L
n
c
sin2
dx = .
= Xn2 (x)dx
= x dx
c
2
2
0
0
0

2c
n L
90
)Tn00 (t) + n2 Tn (t) = 2 Y0 sin(t


TnP (t) = Gn sin(t) + Hn cos(t)

2c2 Y0
Gn =
n L (n2 2 )

Tn (t) = Gn sin(t) + Cn sin(n t) + Dn cos(n t).

L
Tn (0) =
v(x, 0)Xn (x)dx

= 0 = Dn
L
2 (x)dx
X
n
0
Tn (0) =
v
0 t (x, 0)Xn (x)dx
L
2
0 Xn (x)dx
2cY0
= Gn + n Cn
Ln

2cY0
+ Gn .
Cn =
n Ln

v(x, t) =
[Gn sin(t) + Cn sin(n t)] sin
n=1
x .

u(x, t) = v(x, t) + Y0 sin(t).
91

:7.1
.
. .7.2
)v(x, t
y
x
)V (x
)M (x
:7.2
) v(x, t )( x .t
) V (x, t x .t
) M (x, t x .t
92


2v
M
=
2
x
EI
)(7.1
I E .

M
= V
x
)(7.2
7.3 .x
)q(x, t
)V (x + x, t
)M (x + x, t
)V (x, t
x
x + x
)M (x, t
:7.3
x
2v
F = V (x + x, t) V (x, t) + q(x, t)x = Ax 2 ,
t
x lim x 0

)V (x + x, t) V (x, t
2v
lim
+ q(x, t) = Ax 2 ,
x0
x
t
V
2v
+ q(x, t) = A 2 ,
x
t
93

7.1 7.2
4v
x4
= EI
2M
EI
x2
V
2M
2
= 2 = 2
x
x
x

4v
2v
+
q(x,
)t
=
A
x4
t2
EI

2v
4v
+
EI
)= q(x, t
t2
x4
7.1

2v
4v
+
EI
=0
t2
x4
EI
A
= c2
4
2v
2 v
=
c
t2
x4
) v(x, t) = X(x)T (t
4
d2 T
2 d X
X = c T 4
dt2
dx
) X(x)T (t
4
d2 T 1
2 1 d X
=
c
dt2 T
X dx4
,
4
d2 T 1
2 1 d X
=
c
=
dt2 T
X dx4
4 . = 2
d2 T
+ 2T = 0
2
dt
d4 X
2
X = 0
dx4
c2
94

X(x) = Bex

2
4

Bet = 0
c
p
c
= = 0

2
c
3,4 = i
1,2 = ,
X(x) = B1 ex + B2 ex + B3 eix + B1 eix

X(x) = D1 sinh(x) + D2 cosh(x) + D3 sin(x) + D4 cos(x).

) v(x, t x .t
v
)x (x, t
= ) (x, t )( x .t
v
M (x, t) = EI x x .t
)2 (x, t
3
v
V (x, t) = EI x x .t
3
:7.4
95

7.4
v(0, t) = 0,
v(L, t) = 0,
M (0, t) = 0,
M (L, t) = 0.
v(x, t) = X(x)T (t)

v(0, t) = 0 X(0) = 0
d2 X
M (0, t) = 0
(0) = 0
dx2
v(L, t) = 0 X(L) = 0
d2 X
(L) = 0
M (L, t) = 0
dx2
D2 + D4 = 0
2 D2 2 D4 = 0
D1 sinh(L) + D2 cosh(L) + D3 sin(L) + D4 cos(L) = 0
2 D1 sinh(L) + 2 D2 cosh(L) 2 D3 sin(L) 2 D4 cos(L) = 0
,D2 = D4 = 0
D1 sinh(L) + D3 sin(L) = 0
2 D1 sinh(L) 2 D3 sin(L) = 0
D3 6= 0 D3 sin(L) = 0 D1 = 0 D1 sinh(L) = 0
L = n n = 1, 2, . . .

n = c
n 2
Xn (x) = sin
nx
:7.5

96
7.5
v(0, t) = 0,
(0, t) = 0,
M (L, t) = 0,
V (L, t) = 0
v(x, t) = X(x)T (t)

X(x) = D1 sinh(x) + D2 cosh(x) + D3 sin(x) + D4 cos(x).
v(0, t) = 0 X(0) = 0
dX
(0, t) = 0
(0) = 0
dx
d3 X
V (L, t) = 0
(L) = 0
dx3
d2 X
M (L, t) = 0
(L) = 0
dx2
D2 + D4 = 0
D1 + D3 = 0
3 D1 cosh(L) + 3 D2 sinh(L) 3 D3 cos(L) + 3 D4 sin(L) = 0
2 D1 sinh(L) + 2 D2 cosh(L) 2 D3 sin(L) 2 D4 cos(L) = 0
D1 = D3 D2 = D4
D1 [cosh(L) + cos(L)] + D2 [sinh(L) sin(L)] = 0

D1 [sinh(L) + sin(L)] + D2 [cosh(L) + cos(L)] = 0.
"
cosh(L) + cos(L) sinh(L) sin(L)

sinh(L) + sin(L) cosh(L) + cos(L)
#(
D1
D2
=0

"
#
cosh(L) + cos(L) sinh(L) sin(L)
det
=
sinh(L) + sin(L) cosh(L) + cos(L)
(cosh(L) + cos(L))2 (sinh(L) sin(L)) (sinh(L) + sin(L)) =
cosh2 (L) + 2 cosh(L) cos(L) + cos2 (L) sinh2 (L) + sin2 (L) =
2 cosh(L) cos(L) + 2 = 0
cosh(L) cos(L) = 1.

1 L = 1.875, 2 L = 4.694, 3 L = 7.855, 4 L = 10.99, 5 L = 14.137

Xn (x) = sinh(n x) sin(n x)
cosh(n L) + cos(n L)
[cosh(n x) cos(n x)] .
sinh(n L) sin(n L)

97
7.2

2
n
2
Xm (x)Xn (x)dx =
=
=
=
=
=
Xn (x) =
L
0
d4 Xn
dx4
dx Xm (x)
d4 Xn
Xm dx
dx4
0
3
L
d Xn
Xm d
dx3
0

L L 3
d Xn
d3 Xn
Xm
d (Xm )
3
dx 0
dx3
0

L L 3
d3 Xn
d Xn dXm
Xm
dx
3
dx 0
dx3 dx
0
L L
2

d3 Xn
dXm
d Xn
d
Xm
3
dx 0
dx
dx2
0
L
L L 2

d Xn d2 Xm
dXm d2 Xn
d3 Xn
+
dx
Xm
dx3 0
dx dx2 0
dx2 dx2
0
2
d3 Xn dXm d2 Xn
Xm (x)Xn (x)dx = Xm
dx3
dx dx2

L
+
0
d2 Xn d2 Xm
dx
dx2 dx2

2
m
d3 Xm dXn d2 Xm
Xm (x)Xn (x)dx = Xn
dx3
dx dx2

L
+
0
d2 Xn d2 Xm
dx
dx2 dx2

2
n2 m
c2
L
0

L
d3 Xn
d3 Xm
dXm d2 Xn dXn d2 Xm
Xm (x)Xn (x)dx = Xm
Xn
dx3
dx3
dx dx2
dx dx2
0
n 6= m
Xm (x)Xn (x)dx.
0

98
7.3

2v
4v
)A 2 + EI 4 = q(x, t
t
x

)Xn (x)Tn (t
= )v(x, t
n=1
) Xn (x

)d4 Xn (x
)= q(x, t
)Tn (t
dx4
d4 Xn
dx4

n 2
)Xn (x
c

X
Xn (x) + EI
2
X
)d Tn (t
n=1
dt2
n=1

2
)d2 Tn (t
n
A
Xn (x) +
)EITn (t) Xn (x) = q(x, t
dt2
c

X

q(x, t)Xn (x)dx
L
2
0 Xn (x)dx
L
0
)d2 Tn (t
= )+ n2 Tn (t
dt2
7.4
)F0 sin(t
E, A,
99

n=1

)q(x, t) = F0 sin(t)a (x

.
nx
, Xn (x) = sin
n 2
n = c
na
Xn (x)a (x)dx = Xn (a) = sin

L
L
= Xn2 (x)dx
2
0
)sin(t) = Gn sin(t
2F0 sin( na
) L
L
na
L
2F0 sin
q(x, t)Xn (x)dx
=
L
2
L
0 Xn (x)dx
L
0
)d2 Tn (t
= )+ n2 Tn (t
dt2
= Gn
Gn
)sin(t
2
n2
Tn (t) = Bn sin(n t) + Dn cos(n t) +

v
(x, 0) = 0.
t
v(x, 0) = 0,

Tn (0) = 0
Tn (0) = 0,
Gn
.
2
n n 2
7.5
Bn =
Dn = 0,

.7.6

100
)V (x + x
P
)+ x
v
x (x
)V (x
P
v
)(x
(x) = x
= )(x + x
:7.7 x
:7.6
x .7.7
y
v
v
2v
V (x + x) V (x) P (x + x) + P (x) = xA 2
x
t
x
v
v
2v
V (x + x) V (x) P
(x + x)
(x) = xA 2
x
x
t
2
x x 0 = xM2
V
x
2M
2v
2v
P
=
A
x2
x2
t2

M
EI
2v
x2

4v
2v
2v
P
=
A
x4
x2
t2
EI

2v
EI 4 v
P 2v
=
+
t2
A x4 A x2
101

v(x, t) = X(x)T (t)
d2 T
EI d4 X
P d2 X
X
=
T
+
T
dt2
A dx4
A dx2
XT
EI d4 X 1
P d2 X 1
d2 T 1
=
+
= 2
dt2 T
A dx4 X A dx2 X
T .
T = A cos(t) + B sin(t).
X
EI
d4 X
d2 X
+
P
2 AX = 0
dx4
dx2
X(x) = Cex
EI4 + P 2 2 AX = 0

2 =
P 2 + 4EI 2 A
2EI
21 =
P +
P 2 + 4EI 2 A
= 2 > 0
2EI
22 =
P 2 + 4EI 2 A
= 2 < 0
2EI
= {, , i, i}

X(x) = C1 ex + C2 ex + C3 eix + C4 eix

X(x) = D1 cosh(x) + D2 sinh(x) + D3 cos(x) + D4 sin(x)

102

v(0, t) = 0, M (0, t) = 0, v(L, t) = 0, M (L, t) = 0
D1 = D3 = 0 D2 = 0
L = n
P 2 + 4EI 2 A
n2 2
=
2EI
L2
P+

EIP
n 2
n 4
+ P 2 = 4E 2 I 2
2
2n2 2 EI
P
L2
4EIAn2
P n 2
EI n 4
A L
A L
= n2

P < 0
.

103
IV
:
.
x
c
m
:1.1
1.1
Fc = cx Mc = c.
1.2
x
k
)f (t
:1.2
104


Fx = f (t) cx kx = m
x,

c
k
x + x = 0
m
m
c
k
n2 = m n = 2n m
. = c
x +
2 mk
x + 2n x + n2 x = 0,
, x(t) = Aet
2 + 2n + n2 = 0

p
p
4 2 n2 4n2
= n n 2 1 = n 2 1 .
2

2n
= 1,2
> 1
1.1

p
x(t) = A exp n + 2 1 t + B exp n 2 1 t
h
p

i
p
2
2
= exp(n t) A exp n 1t + B exp n 1t
p
+ e
2
= )cosh(
= )sinh(

h
p

i
p
x(t) = exp(n t) C cosh n 2 1t + D sinh n 2 1t

)x(0
= v0
x(0) = x0

"
p
v + x

p
0
n 0
x(t) = exp(n t) x0 cosh n 2 1t + p
sinh n 2 1t .
n 2 1
105

X0=1,V0=0
1
X0=0, V0=1
0.8
0.6
)X(t
0.4
0.2
10
5
t
:1.3
1.2
< 1

1 2
1,2 = n in

h
p

i
p
x(t) = exp(n t) A exp in 1 2 t + B exp in 1 2 t ,
A, B C x(t) R
)exp (i) = cos() + i sin(

p
i
h
p
x(t) = exp(n t) (A + B) cos n 1 2 t + i(A B) sin n 1 2 t ,
)C = A + B, D = i(A B
C, D R B
.A
p
d = n 1 2 ,
106

1
0.8
0.6
0.4
0.2
0
0.2
0.4
0.6
0.8
10
5
t
1
0
:1.4
x(t) = exp(n t) [C cos (d t) + D sin (d t)] .

) x(0) = x0 , x(0
= v0

v0 + n x0
x(t) = exp(n t) x0 cos (d t) +
sin (d t) .
d
x0
v0 +n x0
d
2
= )tan(
v0 + n x0
d
x20
= Xh
x(t) = Xh exp(n t) sin (d t + ) .
Logarithmic decrement
, ,
= 0.2 . = 0.2
1 0.22 n = 0.98n ,
107
= d

.d n
. ) x(t
)x(t
= Xh [n exp(n t) sin (d t + ) + d exp(n t) cos (d t + )] = 0
d
n
= )tan (d t +

k = 1, 2, . . .
k
,
d
tk = t +
) x(tk
)x(t
])= Xh {n exp(n t) [n sin (d t + ) + d cos (d t +

}])d exp(n t) [n cos (d t + ) d sin (d t +

x(t
k ) = n d Xh exp(n tk ) cos (d tk + ) .

x(t
k ) = 0, x(tk ) < 0

2
2
= p
.
d
n 1 2
= d
Ai i
) Ai = X0 exp(n ti

2
1 2
= exp k p
) X0 exp(n tj
Ai+k
=
Ai
) X0 exp(n ti
)) = exp (n (ti+k ti
2
= exp (n (kd )) = exp n k p
n 1 2

108
ln

ln
Ai+k
Ai
2k
= p
2k
1 2

1
Ai
ln
2k
Ai+k

1
0.8
kd
Ai
0.6
0.4
Ai+k
x(t)
0.2
0
0.2
0.4
0.6
0.8
1
5
t
10
:1.5
= 1
1.3
d 0 1

v0 + n x0
sin (d t)
lim x(t) = lim exp(n t) x0 cos (d t) +
d 0
d 0
d

v0 + n x0
= exp(n t) lim x0 cos (d t) +
sin (d t)
d 0
d

lim [x0 cos (d t)] = x0

v0 + n x0
sin (d t)
sin (d t) = (v0 + n x0 ) lim
d 0
d
d

t cos (d t)
= (v0 + n x0 ) lim
= t (v0 + n x0 )
d 0
1
d 0
lim
d 0

109

x(t) = exp(n t) [x0 + (v0 + n x0 ) t] .
. < 1

m
x + cx + kx = F0 sin(t)

x + 2n x + n2 x =
F0
sin(t) = G0 sin(t)
m

xP (t) = A sin(t) + B cos(t)
x p (t) = A cos(t) B sin(t)
xp (t) = 2 A sin(t) 2 B cos(t),

2 A 2n B + n2 A sin(t) + 2 B + 2n A + n2 B cos(t) = G0 sin(t)

2 A 2n B + n2 A = G0
2 B + 2n A + n2 B = 0

G0 n2 2
2
(n2 2 ) + (2n )2
F0
m
A =
B =
=
G0 2n
(n2
2
2 )
+ (2n )
k
m
k
m
2

2
c
F0 c
m m

2
k
2
+
m
c
m
F0 k m2
2
(k m2 ) + (c)2
F0 c
2 = (k m2 )2 + (c)2 .

110

c
k m2
tan() =
F0
2
(k m2 ) + (c)2
A2 + B 2 = q
= Xp

xp (t) = Xp sin(t + ).

x(t) = Xp sin(t + ) + Xh exp(n t) sin (d t + ) ,
Xh , .
) exp(n t ) xss (t) = xp (t

F0/k
2
c
k
2
1 (m/k)2
= r
F0
2
(k m2 ) + (c)2
Amp = q

c
= 2n
m
k
,
m
= n2
c
m c
1
2
=
= = 2 2n
k
km
n
n

2 .
2.1
F0/k
+ 4 2
2
) 1 (/n
Amp = r
.
)(
+ (2n )2
2
S() = n2 2

dS
= 4 n2 2 + 8 2 n2 = 0,
d
111

6
=0.1
=0.2
=0.3
=0.4
=0.5
=0.6
=0.7
=0.8
=0.9
=1
Amp
1.8
1.6
1.2
1.4
0.8
1
/n
0.6
0.4
0.2
:2.1

2 = n2 (1 2 2 ),
p
1 2 2
p
r = n 1 2 2
, = n
. r
F0
d c
2
F0/k
1 2
F0/k
) (1 (1 2 2 )) + 4 2 (1 2 2
Xp = q

F0 1
.
k 2
1
2
Xp
> .
) f (t T ) f (t) = f (t + T ,t T
f = T1 , = 2f .
2
112
c
m2n
p
= 1 2 = d c
1 2 = n c
c
2k 1 2 = 2k m2
n

F0
d c
= .Xp

sin(nt), cos(mt) =
T
0
n 6= m
sin(nt) sin(mt)dt =
T/2 n = m
0
T
0
n 6= m
cos(nt) cos(mt)dt =
T/2 n = m
0
T
cos(nt) sin(mt)dt = 0.
2
T
3.1
f (t)
f (t) = a0 +
[an sin(nt) + bn cos(nt)] ,
n=1
1
a0 =
T
f (t)dt,
0
2
an =
T
f (t) sin(nt)dt,
0
2
bn =
T
f (t) cos(nt)dt.
0

m
x + cx + kx = f (t) = a0 +
[an sin(nt) + bn cos(nt)]
n=1
3.2
3.1
f (t)
F0
:3.1

113
f (t) =
F0
t 0t
, =
a0
bn
F0
f (t)dt = 2
tdt =
0
F0
2

2
2F0
2F0 1
=
f (t) cos (nt) dt = 2
t cos (nt) dt = 2
td sin (nt)
0
n 0
0

2F0 1
2F0 1
sin (nt) dt = 2
=
[t sin (nt)]0
( sin (n ))
2
n
n
0
2F0 1
( sin (2n)) = 0
=
2n
3.5
2.5
f(t)
n=5
n=10
n=15
n=20
2
f(t)
an

2F0
2F0 1
f (t) sin (nt) dt = 2
t sin (nt) dt = 2
td cos (nt)
n 0
0
0

2F0 1
2F0 1
[t cos (nt)]0
cos (nt) dt = 2
( cos (n ))
= 2
n
n
0
2F0 1
F0
=
( cos (2n)) =
2n
n
2
=
1
=
1.5
0.5
0.5
0
0.5
1.5
2
t[sec]
2.5
3.5
:3.2

114
3.3
:
m
x + cx + kx = F0 sin(t)

xp (t) = q
F0 sin(t + )
2
(k m2 ) + c2 2
tan() =
c
.
k m2
xp (t) =
+ n ) + bn cos(nt + n )
a0 X
an sin(nt
r
+

2
k
n=1
k m (n)2 + n2 c2 2
tan(n ) =
cn
.
k mn2 2
a0 X u
u
p
x (t) =
+
t
k
n=1
a2n + b2n
sin(nt + n )
2
k m (n)2 + n2 c2 2
n = m + tan
bn
an
(t) =
t<
<t< +
t> +
f (t) . (t) (t) = lim0 (t)

+
f (t)
dt +
f (t)0dt
f (t) (t)dt = lim
f (t)0dt +
0
+
0
+

1
= lim
f (t)dt
0

1
= lim f (c)( + )
for some c[ , +].
0
= lim [f (c)] for some c[ , +]
0
= f ( )
115

)f (x, t
)F (t
:4.1

.
.
4.1
2
2v
)f (x, t
2 v
=
c
+
2
2
t
x
) f (x, t , x = a )f (x, t) = F0 (t)a (x

f (x, t)Xn (x)dx
L
2
0 Xn (x)dx
L
0
1
= )Tn (t) + n Tn (t
F0 (t)a (x)Xn (x)dx

L
2
0 Xn (x)dx
)F0 (t)Xn (a
=
L
0 Xn2 (x)dx
0
4.1
1
=
Impulse response
,t = 0
m
)x + cx + kx = F0 0 (t
116

F0
c
k
0 (t) x x,
m
m
m
= x

x(t0 )dt0 .
)x(t
)= x(0
+
0
) limx x(
) ,x(0) = 0, x(0
= 0

0
0
x(t )dt
)lim x(
)= lim x(0
+
x
0
0

F0
c
k
0
= lim
0 (t ) x + x dt0
0
m
m
m
0
F0
=
m

m
x + cx + kx = 0

F0
,
m
x(0) = 0,
)x(0

F0
sin (d t) .
md
x(t) = en t
) f (t) = F0 (t x(t) = 0t < t =

F0
,
m
x(
=)
x( ) = 0,
t
F0
sin (d (t )) .
md
4.2
) x(t) = en (t
) ( ,
.
117


)(4.1
m
)x + cx + kx = f1 (t) + f2 (t
) x(0) = 0, x(0 ) x1 (t
= 0
)(4.2
m
)x + cx + kx = f1 (t
) x2 (t
)(4.3
m
)x + cx + kx = f2 (t
) x1 (t) + x2 (t 4.1 .
) x1 (t), x2 (t .
. ) x1 (t) x2 (t
) x(0 ) x1 (t) + x2 (t
4.2 4.3 = v0 x(0) = x0

4.1 x1 (0) + x2 (0) = 2x0 .x 1 (0) + x 2 (0) = 2v0
) x(0) = x0 , x(0 ) x0 (t
= v0
) x1 (t), x2 (t )x0 (t) + x1 (t) + x2 (t
4.1 . ) x0 (t

v0 + n x0
x0 (t) = exp (n t) x0 cos (d t) +
sin (d t) .
d

.4.2 t = f ( )d
F0
0
t<
= )x(t
F
exp ( (t )) 0/m sin ( (t )) t > .
d
t = f ( )d
0
t<
= )x (t
f ( )d exp ( (t )) sin ( (t )) t > .
n
d
md
P
) x1 (t) = <t x (t

t
) f (
= )x1 (t
exp (n (t )) sin (d (t )) d
=0 md
118

f (t)
f ( )d
d
t
:4.2

v0 + n x0
sin (d t)
x0 (t) = exp (n t) x0 cos (d t) +
d

x(t) =
| =0

f ( )
v0 + n x0
exp (n (t )) sin (d (t )) d + exp (n t) x0 cos (d t) +
sin (d t)
md
d
{z
} |
{z
}
Force responce
Initial condition
4.3
F sin(t), 0 t
0
f (t) =
0,
t>
t <
x(t) =
=0
F0
=
md
f ( )
md
t
sin( ) exp (n (t )) sin (d (t )) d
=0

119

sin() sin() =
1
[cos( ) cos( + )]
2
sin( ) sin (d (t )) =
1
[cos (( + d ) d t) cos (( d ) + d t)]
2
x(t) = x1 (t) x2 (t)
t
F0
x1 (t) =
exp (n (t )) cos (( + d ) d t) d,
2md =0
t
F0
exp (n (t )) cos (( d ) + d t) d.
x2 (t) =
2md =0

a2
cos (h + g) h sin(h + g) =t
exp (a + b) cos(h + g) = 2
exp (a + b)
+
.
a + h2
a
a2
=0
x1
a = n , b = n t, h = + d , g = d t

x1 (t) =
F0
(n )2
2md (n )2 + ( + d )2
"
!# =t
cos (( + d ) d t) ( + d ) sin (( + d ) d t)
exp (n (t ))
+
n
(n )2
=0
F0
(n )
2
2md (n ) + ( + d )2
!
"
cos (t) ( + d ) sin (t)
exp (n t)
+
n
(n )2
cos (d t) ( + d ) sin (d t)
n
(n )2
!#
x2
a = n , b = n t, h = d , g = d t

120

F0
(n )2
2md (n )2 + ( d )2
"
!# =t
cos (( d ) + d t) ( d ) sin (( d ) + d t)
exp (n (t ))
+
n
(n )2
x2 (t) =
=0
F0
(n )
2
2md (n ) + ( d )2
"
!
cos (t) ( d ) sin (t)
+
exp (n t)
n
(n )2
cos (d t) ( d ) sin (d t)
+
n
(n )2
!#
t >
x(t) =
=0
=0
f ( )
exp (n (t )) sin (d (t )) d +
md
f ( )
md
f ( )
md

x1 (t) =
F0
(n )2
2md (n )2 + ( + d )2
!# =
"
cos (( + d ) d t) ( + d ) sin (( + d ) d t)
+
exp (n (t ))
n
(n )2
=0
(n )2
F0
=
2md (n )2 + ( + d )2
"

!

cos d t
( + d ) sin d t
n
exp n t +
+
n
(n )2
!#
cos (d t) ( + d ) sin (d t)
exp (n t)
n
(n )2
.x2 (t)
121

.
x
2a
:1.1
W .


122
N2
N2
N1
N1
2a
:1.2
a+x
ax
Fy = N1 + N2 W = 0
Mc = N2 (a x) N1 (a + x) = 0 N2 = N1

ax
a+x
a+x
= W N1 = W
, N2 = W
.
N1 1 +
ax
2a
2a
x
Wx
= m
x
a
(N1 N2 ) =

g
.
a
W
=
am

123
.
x
m
k
)m F sin(t
0
)Y0 sin(t
:2.1

(
)
)F0 sin(t
=
0
X
x
(#
K + k k
k
k
"
X
x
(#

)X(t) = a1 sin(t), x(t) = a2 sin(t

a1 (M 2 + K + k) + a2 (k) = F0
a1 (k) + a2 (m2 + k) = 0
F0
K
k
m
= , 2
= , 2 = ,
K
M
m
M
K k

k
2
k
2 a2
= Xs
a1 1 +
K
K

2
a1 + a2 1 2
= 0
= Xs
124

M 0
0 m
"

2
1 2 XS

=
2
2
k
1 2 1 + K 2

k
K
k
K
2
2
XS

k
1+ K
2
2
a1
= a2
=
a1 = 0
XS K
F0
= .
k
k
a2 =

k
m
k
K
K
=M
m
=M

2
1 2 XS

= a1
2
2
1 2 1 + 2
2
2
XS

2
1 2 1 +
= a2

4 2
2
2
1 2
=1+ 2
(2 + ) + 1 = 0

r
2

2
= 1+
+ .
2
4
= 0.2 . = 0.8, 1.25

125

Vibration Theory

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2013

c Reuven Segev and Lior Falach

c Reuven Segev and Lior Falach

c Reuven Segev and Lior Falach

c Reuven Segev and Lior Falach

c Reuven Segev and Lior Falach

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n=1 m=1 i=1

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A :7.1" B," C ,"

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= i x l sin() + l sin()1 + j l cos() + l cos()1

m1 + m2 + 2m3 2l sin() (m2 + m3 )

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8.1 8.3 8.2 8.4 .i

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u2 |q=0 = cos i + sin j

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M = ((R + a)k1 1 + Rk2 2 ) = k1 (R + a)2 + k2 R2

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Fx = [2k1 1 cos 2k2 2 cos ] = 2k1 cos2 + 2k2 cos2

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c Reuven Segev and Lior Falach

c Reuven Segev and Lior Falach

c Reuven Segev and Lior Falach