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My cost 1,8, Tagg 8 “ t_f f f 1h LH . ,,(61- 82) ae + i [ f OL tt *ex(@,-0,2 fy 23 3 Ts ) Ka (eqg- Oa Dy 7 Leq=h+h ay] § Beek ths 2 By es] Equations of motion: Ty 8 +k (0 — 6) = My cos wt : a), ee Tz +13 =| 8 + ky (8, — 0, — — — 95) = : orb tka (G2 — 1) +a = (Hp 2-9) 0 at hk 8, + kta (5 — 0% Gt) the (6 8) <0 1 +k (64-8 *) =0 Ds Mi =r (iy — 4) 0-y) — kr (4 8-1) — ee (is +41 8 ip) — kp (xe +o O= x2) So Bey Gey 6 8) Fr + (a Om) eg (ey + fp Ba) fa — ke (us +2 9-2) (2) mf =e $4. De Oe $4) ah ky +Fy (3) mp Sa = — 02 (Be 33 — 2 8) We (2 2) ky my — 1 Sa $F @) Eqs. (1) to (4) can be rewritten as Mg i +2 cp 5 — cp Sy — C2 Xp +2 ke xa +8 (Key fp — key €1) — kp x1 — ky x2 = 0 (8) 365(ise (41 -%5+f,8) * 42 (*3-he-™) 15 ay (ain he) at ye eo(dy ey Ka (X34 L,0-%2) £,(21-77-426) (a ay Ky 2 To 8+ (co CF +02 64) D+ (— on Cy +2 bp) Xs ten Cy 5 — 0 bo H+ (— kee Oy tke fe) x3 + ke Oy xy — Ke Co xe + (Kea CT +e 3) P=0 (6) may Sy + (or + 2) i — 62 He ten Cs 9+ (ly + ke) x (i) Set x; = 1, x2 Equilibrium of forces: ky —k ~5k—k Aka thy =F; (”) me Ey + (cy + €2) tp — Cy Xs — cp bo O + (Ky +e) x2 — ke x3 — ky fy O= Fy (8) eas Le ° ear eet Te] ate, od a Fa Ten =% =0: 0 or ky = 7k; ke =—k 3 ky =—5k phe an a mhG a mf “ —{-| 366 ap a(i) Set xp = 1, x) =x, Equilibrium of forces: Kaz =—K 5 keg —k Kk =0 oF kop = 2k; keyy = —Ke benzo pxzae > sat mf > * mtL— « {=|-« — — — «, kis kaa 33 (iii) Set xy = 1, x, =x, = 0: Equilibrium of forces: Kjy =—5k 5 kyg =—k 5 kgs = 7k 7 =| “ fel=f-1 20 -1 5 7 2x (4) \Rely ke xO nS * : El (8 Ie] y (i) Give 6 = 1, x, =x, Equilibrium equations: ky sake take =Bree sku (i) Give xy = 1, 9 =x, =0: Equilibrium equations: kn =~ 2 (¢/4) =- XE 5 ky =2k+k=3k 5 ky =—k 367(lil) Give x, = 1, 0=x = 0: Equilibrium equations: ky =0 5 ki =— 25 k é? Free -* o Wo) ke 3k = -k ok 0 | | (i) Give x, = 1, x, =x; = 0: Static equilibrium equations: 6 My 20 of kn (54) - $24) =0 oF kn = 9Ek 3k wu DMp =0 or ky (5 4) —k (5 €) — (3.6) =0 oF tu oa * SOF =0 at mass 5m or kn +2 k=0 or ky =— 5k x20 = ‘ vy B “APS Ky x,FI a kx, UE a3 s (il) Give x5 = 1, x, =x, = 0: a x1 =x, = 0: \ca| Static equilibrium equations: ks to DMp =0 or kas (5 6) — 2 (2) ~K (5 6) =0 oF ky = 2 368DMp =0 oF ky (5¢)— 2% (9¢)=0 of kis =k SUF =0 at mass 5m or kn + 2k =0 or ka -- 3k sacs a iii) Give x3 = 1, x) =x, icc Static equilibrium equations: tear xq! SM =0 or ky: (54) +k (24) =0 or ka =- 3k SLMp =0 oF kis (54) +k (3) =0 oF ku -- $k SOF =O at mass Sm or keg —k =0 or ky =k 34 6 a fs 3 2 [kl =k Fe y + porno 25 25 369(i) Give x; = 1, x; =x; = 0: SOF =0 for mass M: ky —k+T- 4 <0 (1) EF =O formas m: ks +E =0 @) SOF =0 for mass 3m: ky =T (3) 3M =O for pulley: ren 4x[f} ro or T=— SE (4) Eqs. (1) to (4) yield: an = — 9K, en = SE, en = Bk (i) Give xy = 1,11 <5 = 0: SEF =0 for mass M: kn +T+2E =o (8) SOF =0 for mass 3m: ky; —T=0 (6) SOF =O for mass m: gy — 24 (”) SDMp = 0 for pulley: T (31) +3 (— ® Solution of Eqs. (5) to (8) yields: 2k 8 kn = T= 28, gy = 2B, yy = SE (lit) Give x3 = 1, x) =x, = 0: | \ DF =O for massM: kg +T—(-2k)=0 (9) hy? SUF =O for mass 3m: kyg-T=0 (10) a SYP =0 for mass m: ky — 2k —3k (1) . S]Mp =O for pulley: (3x) +r(—2k) =o (12) OH) : | fs im 4 Solution of Eqs. (9) to (12) gives: | 4° + kss =5k, kn = 2k, ks = - 4 aK, ak 4 8 _8) 9 9 3 8 2 2 Mako 9 oF 8 2 rz ox S 370(i) Set 6 = 1, & = 0; = Equilibrium equations give: Kn =Kus ker =— ku, kay kg =0 (ii) Set @ = 1, 0 = 4% = 0: Equilibrium equations yield: Kya =— Key Ker = ku + ke (iii) Set 63 = 1, 0, = =0, = Equilibrium equations provide: 371Be Kis =O, keys = — ke = (iv) Set 4 = 1, 0, = 6, = 0; = 0: Equilibrium equations give: my ku =k =O, k= Ke [ku ke s ‘Thus the stiffness matrix is: Ke Ken 0 0 ka ta ths 2] ~¥ [2] 0 ey, ‘o1 h Key i tau et ty mee ky tog tis . {Fat Ve it om { ft le Y (i) cD) xast = en ‘ =" hs i teo(S2) to vee cae (ii) (iv) 372(i) Set xy = 1, x2 =x3 = 4 Equilibrium equations: Ky = ky +e, kor =— key kn = he Ay kn = (i) Set xs = 1x, =x) =0=0: Equilibrium equations: kas =2 ka) kis = Kp, Kyg == ky, keg = — key Cy +key fe (iii) Set @ = 1, xy =x_ =x = 0: Equilibrium equations: Key = ke (C4 +63), keg = ke (C2 — 41) » bie =e Cry kop = — ke (iv) Set xp = 1x) =m =O = Equilibrium equations: Kay =0, Kap =— Kay Ken =— kr Gay eg = hy tk (er +k) 0 ~ky ky - le (+h) Ks kas ml ny a (6 41) ky ak; fy kg(€7 + €2) () Give F, = 1, My = 0: Same force of F, = 1 is induced everywhere along the rope. Since ky and kz are in series, force ky +k = Lore defecti f1= tax = PLE = defection a m due Fy of = Linear deflection of k, under F, = 1 is 2, angular deffection @ due to linear iy displacement of 2 = ag. ky 4 = linear deflection of ky = agg = + : 1 373mee (i) Give My = 1, Fy = Extension of ky = ay r, spring foree = ky (agg 1). SOM, =0 or My = (ls an 2} rat OF agg © Displacement of m = ay = ay r= 1 ir kr kr (i) Givex = 1, 0 Equilibrium equations give: Kez — Ky =0 or key Ky 5 keg thy r=0 or ky =— kyr 374(ii) Give 6 = 1, x =0: Equilibrium equations yield: ky +rky =0 or ky =—ky re ky - 2 i - 1k, <0 or Kon = Ck +k) -kpr kar (eth)? Force= Goh) & X20 | @.*) (}) Give Fy = 1, My = 0: Extension of spring AB = ay, ¢. Total extension of spring CD = (ay; ¢ + ax). Compression of spring DE = a. DF =0 or agk+ayz Ck +a ,k=1 or 2agk+a, k=l (1) SMo =O oF apg k E+ (ap KE tag k) =O oF Zag k C+ Ox Solution of Eqs. (1) and (2): eas aay 5 ae me sl (ii) Give My = 1, Fy = 0: 375Extension of spring AB = ay ¢. Total extension of springs CD and DE = ay ¢. kag of series springs CD and DE = 5. Mo =O or (ayy k) 6 + (kag ayy €) = 1 oF ayy = DF =0 or kay +kayl+kayg=0 or ay =— 2 ae By Fee () () Givex = 1,8 SOF =0 or kg —k—k=0 or kg =2k SM =0 or ke ke =0 oF key KE (ii) Give @=1, SELF =0 or ky —k@=0 or ky =k SUMo =0 or ky —ke()—kE (6) =0 or ky =2k 2k ké wi-fi a} («n) Kinetic energy of the system can be expressed as: 1 T= (2m) (€ 8% + 4 (2m) (CF) +2 mi? =F (4mm) (05 +E a? which can be expressed in matrix form as 376‘ae x T=F6 Aimlf} where fmj—|™ ° | lo ame Flexibility influence coefficients: an £ Spring constants of different Sections of the shaft (:) are a: p= it23e where (Gz), = torsonel rigidity , 3; = polar moment Fit) of inertia, and £;= fength of section & of shagt. Consider disc 4. shast to the Lest of disc 1 has a Spring constant of 4 while the shaft t the right Aide of die £ has an uivalent spring constant eputvalent spring °F fey = Zw ast TE we apply urit torgue to discs (my=1) as shown in Fig.(A), reactive torguet at Left and right ends of the shaft are Myre = Kes Oy . Mage te, Oy Since eee = it, we get Oe ow =f AG ta -2()} mucins ERY PEED) Also, ae les Oy = Oy = ate 7 4 amfie a} A M2 ay Mah ()}- Consider dise 2. Shast to the Regt side of disc 2 hat om eppivabint spring constant of ke; and the shaft to iH right side fas an 377eguivelent Apring constant of Kez with 4 4 ke? Bye? key = “EON oe” 2 (a) oO” Be) Tg we apply a unit torgue t dive 2 (M,=1), reactive torgues oF the Lest and right ends of shaft are My = Ora ker > Mrr= Ore %es with = mye My t Mra = 2 vert eons (RHEE 6-2, HA@Y/REG@ tation = Be Ante (ZH Consider disc 3. Apply unit torgue to disc 3 (M3=4) to obtain Mys= Keg Oss Mes= Ke Orn» Mast Mpg = Ms = 4 ‘ where ke, = ——7~ a = (+ = M32 = O32 ot ays on {2,2} / Loe f 8 (5) eo” Ry {a} Mes 1 at = BG) SACHA} Flexibility matrix # (oJ = [= oa on O13 = O13 = rtd Bas Qs, yn ws3 Note: Tm this problem, it is much easier to derive the stiffness influence coefficients, k:;, compared to @zj. Hence + ws adwitahle te Sind [h] first omk them find Cod by inverting the matrix [«J. Stiffness influence coefficients: Let angular dixplacement of di 4 be amity (a= 4) ond dh ditt 2 amd 3 be gre at shown in Fy. (8). rf the torgue opplied 6 dic 4 4 My amd te neactins ane My amt May, we have a? 378Mee On = Kye May = Ky Ou = He My My Mays kn = ye He Kar=— My =— tk, (¥ reactive torgue is opposite to M, in direction) #y= My =0 (+ disc 2 is Fined, we reactive torgue is felt af disc 3) Let displacement of dire 2=4 and dicplacements of dises t and 3 be zero. Kare Kat Hs > Kye Kae hae - ts Similarly we can obtain Ays= Kit ky s Kine Po Kn Kn kes sbiggmess matrix is [kJ =] gg kas Ky on E33 ci of motion of the system: Bl] e+ o= m where pi- [® ° ° > ¥es = - &s a 5 ent) = (Ma . ° oe fae} ond i= feo | el “{: a(t) torgues cppled to chsca D We ee me Forces reguired of 1,2,3 are Fiz tet 22 ku zeker te, ¢ SOs tn Let agai, x)= %2 0. Forces reguired of 12,3 ane Fetes kins Fee Kat ta = Kee 5 Feo— a = €o2 Let xy=1, %= 22.20. Forces reguired of 1,2, 3 are From tis 3 Fee — a= tay ¢ Feo kyo ty = tos 379(e+ 2) — ky ° l= [* Cate) Ke ° ts (s+ 4) ity. influence coeffi lure and results are simi nts: lar to those of problem 6-4. im1zZ+(«1 22 F From strength of materials, the F deflection of the cantilever beam 4 B c shown is given bs G—He— b ae frac we as” Zee Gxt) ---@) fy FO. ac > FE cat) --- (2) Arply Fitts Fix Fre ot ays (Fet,ezfenk m())= tse) @,,= (Fat, x= 24, aa ay ten) = sl /oer) Oy= (Fat, x= 34, 022 in €.)) = 42 /Ger) Similarly apply Feet, Fiz Fp=0 te get a.,,032, %12 ond Frat Fi=heeo te get ag3,0 43, 25. Result ae id ¥5 6 4h bl= [ % fh *] 4 ; th s4/s 9 PIo+ IGT hk Ce wik [nj = [2 = 2 | and = (BI. oo _™s Deflection of a fixed- Fixed beam is F a v9, : ree FES fxGareseb --@) Pop a Phe? Fé ft. a (+9) (ba) +sbL}--, oe Apply Fy=t a Fae aye (Foto Le Lesh wok, Leal in (en)= 2£'/(6082) Le Gest, x=28, Lo 4h in (Ex) = MY (cer) =3f,2230, La4h in (E2))= wl Aarer) eh Fis Fe =o te gk 044,032, 2 and Qy= Osy= Similarly apply 380 xFy= Feo t get 53,013) %23- Result is g [ Ya fe Han tr | “4 the 1%92 fe fe4 ioary ss on m= Yu, mand ms get same displacement (a+ rigid body motion) o& there are no other forces oy constraints: Oy) = Wy = Zo TE we apply unit Load to m,, eguivalent stiffness is given by Mass m3 follows deflection of m. ay,= 244° JE we apply unit load te mz, epuivalent stiffness of Aprings 4 given by 4 sti Let fp aga ' = + Oye stat +. wt Ht 335 et et a= %s=0- Forces reguired at 1,2,3 are Fit titta= tu, Fre -te= ty, Feoo= €n- Let x2=1, x= %:=0- Forces repuned ot 12,3 are Fie-te= tin, Fe Ket ty = Hr, Fea — ts = Kes- Let *:=1, x2 x, 20+ Forcer reguired of (,2,3 art Fizo = Kis, Fa=—3= tay, Fy= ky = a3 - Cs ° hoot (k]=| -«, (eat #3) ~t |: GJ= ° wks ty Ke tes (heh) (40) Ky (ete) (ket at es Assume small deflections; hence tension in pring P) remains constant - Let Fi=1, Fu=Fp0 as Ahoum im Fig.(A)- Vertical force balance gives Fa me) P * (aan) Fea 3811 i+ Aner) From relations of triangles, y= ou ad heheh, hae ly on, 2 (_bt a) on, a= fa By When Fy=1, Fit Fi=0, vertical force balance gives (Fig.(2)) Rei (O22 1 * he an)Pt G+ hy 7 Mae H+ teh” Tt} From triangle relations an= Ae mv > ons (qt on when Fy=1, Fiz Fa=0 (Fig. (c)) vertical force Intence gives Fy 4 =(__%33_ (SB Pe ee Gye (SE) re ona Ej From triangle relations, Lat netsh 1 ease (He nh Eqpotons of, matin * (esis) aod Ceres a) 2] w+ t-d eos PE) ef) Let x4, %2 and x3 > 3] the ditplacements of top. middle and (2) bottom masses. Epratioms of motion ane =e ye K (21— XE) 3k (RI) 2K m2 & (X2-%) —K(%- XD mx m Xy sak xy- 3k (x3 1) — K(H9-%2) en ee eee 0 im 8 Se Pelee +k ° oe mIAlks -3k («s) Let © move to 0’ with & small. Then i= 8 of (0-45°) Fe= «8 of (135°- 0) Fe «8 ws (0-45°) Fea 8 of (125°-0) 382Force along & ot: F= Fi (0 -45°) + Fa cS (195°-0) + Fy ot (0-45) 4 cot (135°- 0 ) = 2"8[ 80-45") + cs*(135"0)] 2%8 Sfness influence coefficient of junction point in arbitrary irection= F/s = 2 Stiffness matrix is given by &. (6-6): (at) - 4 ° oF tt 8 ch esny 8 ik]= ° “es Geatiy) ty + 1 6 0 F ~ ° ° ° O61 (Kent net ' All eLemants except those on the three diagonals ane zero. Hence [*] is aw bamd mofnix. ty fect, tw thi-dingonal’ mabiix. We use the expression of kinetic energy to derive the mass matrix. Let the generalized coordinates be x;, x; and x3. The kinetic energy of the system is. Lot a za Tepmait > mi tym ie This can be expressed in matrix form as et T=F GH i %) ote Hes with the mass matrix given by im o 0 [mj=|0 mm o Oo =o om ‘We use the expression of kinetic energy to derive the mass matrix. Using the generalized coordinates 0, x, and x2, the kinetic energy of the system ean be expressed as: 1 a 1 32 2 Tape +L emitios where Jo = Jg + (2m) Co =} mT can be expressed in matrix form as: 3838 T-i6 S12) fm) tin} with the mass matrix Xe ‘We derive the mass matrix from the kinetic energy expression. Using the coordinates x1, Xz and x3, the kinetic energy of the system can be expressed as (see figure in the solution of Problem 6.3): TabicF +t omic +t ome Q Using Ja= 4 (2m) a-Bne 2) atm um = Oe ®) Eq. (1) can be rewritten as: 2 1 )25 1 -% 1 +k 1 32 =113 | (u-%] 42 itis} T z\e™ | re | +4 m) [2% +7 Gm) % L2m. . apt gait Eme@y +5 (5m) x ® Equation (4) can be expressed in matrix form as 2 1 le Ed u lees ; . 3 e 3 = (a 2 Xs) Im] fay with the mass matrix mj=mlo 5 0 es 1 2 zs ° 3 ‘The kinetic energy of the system can be expressed, in terms of the coordinates x,, x and xy an 1 22 1 i L ree 32 THEM tee +5 Omit imi () 4% Using the relation @ = ———* , Eq, (1) can be rewritten as lo {21 | Jo stoi Jo. yk oe r=t hes 25| tet [Araa]d-t Ronietad (2) By expressing T in matrix form as 384He M+ 22 So TH Ge M2 ie) bal fish the mace matrix oF} oF 9 : -l tc een asm) oo or ort a o 0 The kinetic energy of the system can be expresséd as 2 erputaveepsbat +t buitedi fa 2| +e This can be expressed in matrix form as Tih & % dial}, and the mass matrix can be identified asLet x(t) and O(t) indicate the coordinates to define the linear and angular positions of the trailer (M) and the pendulum (m), respectively. To derive the inverse inertia influence coefficients, first we apply a unit linear impulse at point 9 (along x(t)) and write the impulse-momentum relations as (see Fig. 1): Linear impulse-momentum relation along x: é x=1=by M +m) tba (7) @ Angular impulse-momentum relation along 6: mé@ aH) @ Solution of Eqs. (1) and (2) gives: = 4 ; =- oe bu- Tuam} ""TMerm?e ® Next we apply a unit angular impulse at point o (along O(t)) and write the impulse- momentum relations as (see Fig. 2): Linear impulse-momentum relation along x: =0= by (Mtm) +b (25) @ Angular impulse-momentum about O along @: bat aby (BS) +e BS 6) Solution of Eqs. (4) and (5) gives: a 8 =-—12(M+m) 6) be--Gugge? |! "Tua tet (6) ‘Thus the inverse mass matrix is given by 4 _ 6 4M+m Mé+m (7) 6 12(M +m) aM e+me 4Mm@ +m? The shear building can be modeled as thown below : as ke 386ep (2-1) x ae 24 Cy Ry Fig. (B) 2 (%_- 3) @) Eguations of motion (from free body diagrams in Fg. B): © ra Rye cy nt Hy — Cg (Kea) — eg (H2—*) = FACE) Mak, + Co(42- 41) + he (a2—™)— €3 (83-8) = 43 (45-%2) = a(t) Ms Hs + a (a2) + a (24-2) — Cy (Sy 3) — Ry Ry 9) = FED Ty Fy + C4 (Sq Hs) + Ry (R¥= HI) = CED ® bearers eguations are (5) where tT = netic energy » = potential energy, R= Rayleigh's dissipation pea and % = 7 generalized coordinate: TH fm Spt me ke toms She my dd yt © generalized force VEL ERT telnet he (9-24 Haley) F RE fey A + ca(dy aye a (MaMa cy (Sy HH)" F &% Using & Fos pebEe 3 $2423.45 the application of Eps (Ex) yields the eguations of motion given in (€1). Coordinates of the bob are (xt Leste, L sin ®) T= kinetic energy = Kinetic energy of slider + kinetic energy of bob = im (SEY 44m [fd (xt Leto? {FL (tsinoy}*] = tmetttmite tml? (into+ otto) teu Lb st a Em (t8haime 6) SE til St él ting x mitt ml? for tmall @- 387= potential energy = gotential energy of spring + ict energy =4 «x" + mgh (i @) (rete: Potential energy of slider need not be considered if x=0 Corresponls to ‘static epuilibrium position) Sine ws@= t-$067, ve ters toaghe® As there are ne external forces, Lagrange? epuationt become a = =e be =o H)eeme, * ae we 2 2b)= wk =o mid, 2( 3) mio, Lagranges eguations become amk +ex 20; mi Semglozo h Létgo=o as ah ‘) painter ao) hye ta Leh inst e ta ean (ideet byes (Sod re. Be aR (eft x 4e8, fate) + Bel), &QE)* auny (Gas thtys Chae ay i - %) on” ° FE Tuy? Saeed f+ Foray Gta (3 > Gag %+ UX) 4+ 2 (2-H) (ty Ra Ys ix), we 1%: Lagrangel equations, E,.(6-41), give 2 +t) +2 cewny a oh) TF (%)-%) +x, = 0 388(Hr X2+ UL & (a- 1) + kee %)+—% (thy the Ly dees Z, (whi + %)+ (mh S) + Ghee) t= 0 % (miyle- + TL (mAP+ EY 4 x (Lith) #22 0 Tetme sige Ve £1 (x- Leys tte (xt hee)* = mk, Matix hee (xt he) r= Ze, Be - ty tia-te) + 4 Ghd) mk + &(z- £0) + k2(xt fe) =o HSE -*hi(x- £0) + €ehe (xt tre) =0 a == oe Ts tm ey thm te tty xy 2 2 2 Ve beet + beam + $y (za- m1) +b Ky 2 aT 24, oa mi, 4 ays me we 4x, — &s (42- *)) ° om at\ ax, gi=o, =: mate 2S .)F mm, Xa > Bw siteend l=) BT co, 2h am, x + BY = glee) + Hes Bare fat ae Ge) A = BO) Lagrange’s epuations give my 3) + 4 (kit te) - 2 %2 = 0 Me hy ~ Hix) + Xa (Kita) — €3%2 =O mg ¥y —43%2 + Xa (Kat %4) = Using ©, @, amd O35 as generalized coordinates, we find T= Lm (28) + bm (LGi + te Sa) + 4 (t6it 28.4 £465)---€) Let reference position correspond to 0)= 0,= 65=0- Vertical movement of my is t-atey= A Ee- Ey pes ge 389vertical movement of m= $4644 2.67 vertical movement of m= 1 f,o+4 2205 +443 ey v= MILO? , ME (poh 4 fret) + MAF (Lert Meets fref)---(6) aT Lo, 5: yy mats (hy) the Ba) + ms Bi (he 6 + ha 6, + fa Gs), 2a, ce 2CE TL) = Gmctmat ms) $25, + (maton) 2,428, + ms hike Be, de 98, w = (me™+™) gf, 0 e) ; . foe nos B= ma ba( tier Lads) + mate (N 64 Ade + fr 8s), 26, 07 26 zt =) a Cmts) Lyla dy + (meta) te Ba + ms hel Bs» x= mag La0, + 59820, = (mato) 9 heey ea 2 so, 35 = myhy (1,84 fadat f56), 203 26; #(D= ‘wh (tdi 428.4 8s), B= mg hey Lagrange’ eguations give the epyaltims of, motion Qreme my LP (mem) hile my tts] (8, Gitte — Gmeem) th ma bats |) Be ms ha my feds mitt Ila (meme) oo 2 Ta ° + ° (mtg fa ° =}. \: ° ° ms9ha} (03 Ze) (@)Let generalized coordinates be %=% amt %= 0 pisplacement of mau M it x+ fo. Kinetic emergy of airplane 4 T= ame fF m (e+ ho) $ Potential energy 1 = 2(4 % 0*) Lagrange’ epuations are aT, WY gg cane cia y el Me + 3a; = ME Mere ah no, tami eam(i+ks), M =o 390BT a0, 2 ame (z+28), Marte, @28&=0 Hence Lagrange’ epuations become Mp x +2M(K+h8) =0 1 ) 2Mh(x+ 06) +20 =0 (b) Tf x(t)= X cos(wt+s) and o(t)= @ cos(wt+s), the eguations of motion become Cm, w*-2mu*)xX -2mLu* @ 20 q €, -2nha* x -2mfat@ +20 20 S 2) which yields the freguency eguation : M3” + 2m 2mfu* =o 2m oo” zm frr—2 ke ern tot [2 Mo ML c3* —2 Mo KE- 4M Ke) =o bes =o c= + 4m )) 2mm 2? Mode shapes: Ey. (E2) gives @. 2m it o* Ei -2mPor + 2k 5 8 5s es = Blt Bere tee this corresponds to régid body translation in x (vertical) direction. For a. 5 2 | ami ( totes tn te) S| 8 zmom oo, = -2mh* (2te tes 4m *4) eet 4m. ae, 2mm L* --(2403) £ (©) For 0, > 41 rad/sec, Ee ke ta ey 2mm, 2* (es) 391©) When My= 1000 7» M= 500 t7 and t= 6m, ineguality (£3) becomes 2000 & + 2000 Ky Gx tof) (36) ben fey > hate x08 Generalized coordinates: x1, x2) Xs! 2 > 6 n-m/rad. aimiitimig+im 1 Ve Phat tf kfm my) +d (my mn) + 5 ed + 5 (8k) Os ns)? Q=K 5 i=L23 or . + ose ee Matin -en—5km a[E]-san Ba-tysttn-tn Fn-osinnas Fe an sky ke tT Lagrange’s equations yield the equations of motion: m & +7kx —€ x, —5 k x3 =Fi(t) m, %, —kx, +2k x, —k xs = F(t) ms ¥3 — 5k xy — kx; +7 k x3 = F(t) («) Generalized coordinates: 6, x1, x! T Fat +tomitimi here Jy = 2 (2m) @ = 2 me. vedanta - fF + hele at + (ay 00 Radel —£9F = Ml) 5 =F) 5 @ = Fat) Bani ; Deans; Bony OR 392a8 =0; onion ' |B gg Fle fm-3 4; & 25 1 eden 1 =-FkCO+3 km km =-kx, +kx sz siz ae 8 Lagrange’s equations, Eqs. (6.118), yield the equations of motion as: ime 4 beti-Lec + Bue o-gren= =M(t) amt, —beedeeh —bkeo4aen kn FO) m¥, —k x +k x; =Fa(t) () Generalized coordinates: x; ; i= 1, 2, 3: T fio +5 (2m) x6 +5 (6m) i : . . .\)? to ex] +4 @m) eee +4 5 bm) 8 where the subscript G denotes the mass center of the bar with 3x, +2 x3 5 . 2 since xq = — 2 (x — 9) = . 2 Lei a= 1 -( +2ig ~+| 2 5 393) = F(t) 5 i= 1,2,3 | het a "| ee] Gu —%) + & +5) or 4 (= = (6m) % lel ar 4 a -- fs [ze| Ga -%) +2 +55) + (2m) wv 3, (3x1 +2x5 Be met ER |e -»| WL Stee Ox, 3 * RR __ [3 +2% a DM iy yy [Sm t2% Oi, 5 Oxg, 5 3 Application of Lagrange’s equations gives the equations of motion as: 3. 6 deme e eet A kx - dint en =F) 2 s 1 z 9 : zB typetych : Smh—pch teh pets 5 5 Zku =F,(t) 2 29 kee t oy kx =Falt) den ti lis .2 4, 6. 8 Fmt imit Pe -Zey th ce toE pe kx, — Toga tg a +p omi+ pad v gedet (2k) (x: —x3 —r 6)? + +5 Kx Noting that 4or ye. (4 _ a (ST) « _ Jo (i —% Eis + +| ar |} & (F Mi z| aF 2-3 [2I [5 i Oty 3r 3r om; 2[4) ony is & (ag or a | de : a Joe a +3m%, 5 = 77 -%) +3m% av 44 1 Ge, hat 0K) Z(G - 3%) 1 $i --F whan -Fn—m) =~ Gn - bm 0) +08) Application of Lagrange’s equations give the equations of motion: Jo}. Jo. . at 8 8 per Seis Ae Big bi ben nt) Jo Jol. 8 2 2 yet sm+o fe —gkatokm +5 kx F(t) mis - 2 kx + Fem +5 ku = Fuld) («) Generalized coordinates: 4, ; i= 1, 2, 3, 4: 2 1 at 1 aD pe 1 T=Sha+s a +h +5 lu tls or p+ db 2 2 1 1 By a Vm Tha Oy + > he [Os | +S a-9%] Q) =M, cos wt or ar nj S=448 ; S =|, 4+, 2 nhs ala th