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Homework #2 Solutions

1) Derive the differential equation of motion of the system in Fig. P4.22 of the text relating output to input .
Find the natural frequency of the system.

T1

T1

T2

k1

T2

k2
I T1 T2
T1 k1 , T2 k2

Combining these equations,

I k1 k2 k1

Natural frequency is ((k1+k2)/I)1/2.


2) Derive a differential equation model for the mechanical system below relating the mass displacement x
measured from the equilibrium position to the input displacement u of the cam follower.
Fk2

From the free-body diagram,

mx Fk1 Fb1 Fk 2 Fb 2
Fk1 k1 (u x), Fb1 c1 (u x )
Fk 2 k 2 ( x 0), Fb 2 c2 ( x 0)
Substituting for Fk1, Fk2, Fb1, and Fb2 from the last 4 equations into the 1st equation yields

Fb2
0

c
x

x
Fk2

Fb2

mx k1 (u x) c1 (u x) k2 x c2 x
mx (c1 c2 ) x (k1 k2 ) x c1u k1u

Fk1

Fb1

c
u

u
Fk1

Fb1

3) Text Problem P4.54.


I fL1 k ( L3 ) L3 c( L2) L2
I cL2 kL2 fL
2

4) Text Problem 4.70.


5) The equations of motion of mass m and pinion J are given by
mx F Fp cx
I Fp r kr

Where Fp is the contact force between the pinion gear and mass m. Using that x=r yields
I

m 2 x cx kx F
r

meff

7) Derive a mathematical model for the ships propeller system of Figure P4.75 relating the angular displacements
1 and 2 to the engine torque input Te (not shown on the figure). Use the numerical data provided in text problem
4.75.
FBD
Te

T12

T2

T1

T1
T21

2/N
Constitutive Equations:
I f 3 T2

Gear Relationships:

(1), T2 kT2 ( 2 3 ) (2)

( I e I g1 )2 Te T2 T12 (3)
Ig2

T21 T1 (4), T1 kT1 (

I p1 T1 (6)

2
N

T21 NT12 (7)

1 ) (5)

Substituting for T1 and T2 from (2) and (5) into (1), (4), and (6), and combining (3) and (4) using (7) we get:

I p1 kT 1 1 2 0
N

I e I g1 g 22 2 kT2 ( 2 3 ) T 1 2 1 Te
N
N N

I k 0
f

T2

Taking Laplace Transform of the 3 equations and eliminating 1 and 3 , we have


1
kT 1
kT 2
1
2 , 3
2
2
N I p s kT 1
I f s 2 kT 2

I
I f kT 2
1 I p kT 1 2
I e I g1 g1

s 2 Te

N 2 I f s 2 kT 2 N I p s 2 kT 1

Solving for 2/Te(s) yields


N I f s 2 kT 2 I p s 2 kT 2
2

Te

I
s 2 N I e I g1 g12 I f s 2 kT 2 I p s 2 kT 2 NI f kT 2 I p s 2 kT 1 I p kT 1 I f s 2 kT 2
N

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