Chapter 5 Two Degree of Freedom Systems @) Eguations of motion my Xi, + (Kit &)%y — K_%_ =O 2 Xt ey Xz — ky XE ° (:) with x; (t) = X; cor(Wt +4); c= 42, Egs.(Es) give the frequency equation =? my + yt ke BOn =o = Ke ost my + Ke +7 mt ke | KEY poe Kite e, or wo (St2+ B)e + Soy re (€2) Roots of &.(E2) ave 2 gt - keke , te fate eet WH Eg, uo s ee Se E(B) - oe © He s(t) x) =(2) x® Xoo = ; ®) and XO = we a) x 2a Xt x =X ® a OE + 4+ Ke 2 ye Se 2 SE 2 — €) 7 Ke =m + Ke 2 pe Ep emer ee 2 ee) ae x?) ~ 2 =m, 3 + ke General solution of (Ex) is @ ) x(t) = xP cos (rt + He) + x2? cost + #2) (e,) o xeq(t) = XD cos(ort + 6.) + EXP cos (rt +H) where x, x), gy and g, can be found using Egs-(s.18). For msm, ms2am, y= * and 2-2, (E;) gives f= @-8)£ , wha @+ FYE () 288when = 1000 N/m and m=z 20 «gy, 3-6603 rad/sec and 2 = 13-6603 rad/sec kp te = —— = 36604, = —~, = - 036602 -™ of + ma + Ke with x@)=4, k&e)=20, 2(¢)= 24 and %,(0) = 0, ES (5-19) aw I XY so. sc602, xf) =n s6c0s, Ay=0, g= 0 Response of the system is w(t) *, (t) 05 cos 3-6603t + 0:5 cos 13-6603 t @ Taking moments about 9 and mass my, mht Ws (Ly 5in 04) +. sin 8, (L, cos 64) ~ @ cot 0, (fy Sin 6) = = Wels oy + We Ly (0-0) (&s) assuming Q 2 Wy: a . mfe 8, + make ($,8,) — 0136602 (oS 3-6G03t — 1.36603 cos 13-6603 t = W, (42 sin 02) =~ We fe ay (&) using the relations = 38 and 9,2 BS%, Lt et: (Ex) and (C2) become ft a Lh 1 vole Hy + [at w(t] m- webs “20 ) wiz he #2 — We 4 + We %2 =O 4) When musm =m, Lyztz=L and Wy= We= mg, Ept.(Es) and 4) sive “ * mf %y + 3mg 4 — mp x, = 0 () mi X - ™e% + mz x, ° For harmonic motion x, (t) = cos Ot 5 L=42, Eps-(Es) become < — hms Xy 43mg xX - mg X= 0 — tml x, - mg Xe mgeX, = 0 from which the frequency eguation can be obtained as ot wil? -—(4mt2z) wt + 2 még? =0 ve Ot, @ = Ge) de f Ope 07654 + Gy= LeA7e t 289Ratio of amplitudes is given by &- (Eg) a5 Xs “9 ‘ Teese “Cat a In mode 1, Wy = ovrese [ . ae (3)? = oma he node cp Xe In mode 2, w,= 1-9478 [F , ae (2)? = ea Xe one node located at 3: Bs. 42h y 320-2930 i CIEL mode 2 Let Ry, R, and R; be the restoring forces in springs. Equations of motion of mass m in x and y directions are mis PRes a; ©) ast my = Z Resin, () is where = Rp= ~ 4; ( * cos; + Hin &) (Es) * Ees-(€1) to (Es) give mit Bh (x td; + F Sines ho) = 0 &) a met BK (x she ws; + ¥ abe) = 0 (s) ra For y= 45°, 2 = 135°, ofy= 270° and #1 = k2= ky = Kk, Epse(€,) and (Es) reduce to 5 mee ke =0 (£6) myt2ky =0 (€7) thete equations are uncoupled. For harmonic motion, x(t) = X ws (wt +P), y(t)= Y wos (wt +), and fence y= JE for motion in x direction o> Ee for motion in ¥ direction Natural modes ore given by yiny x cos(¥E t+ #1) yb= ¥ os (PE t+ 4) where X, far Yand ¢, can be determined from initial conditions. 290@) Eguations of motion in tenms of % and mx+ k(x-he) + *,(x+ 60) 29 (a) % 8 s,Li (x- Lo) + tafe (+ La6) For free vibration, ~° —*(2) x(t) = X ws (wt +s) (es) fr & 4,—| Ot) = @ cos (wt + 9) (&) and &s-(E,) and (E,) become =m est kt ke ~(e) 0) - #24) { _ {° «) = (ei 2 £2) -%0"4 £8 + et] (© ° Freguency eguation is 2 mmo Heit ke = (ef, = 4,42) &) - - =o Ee Celi ~ fay Gate ey hs e242 fen - «+ 5000 too = 0 100 — 0-3 9" + 2030 hey 039% ~ 3530 os* + lo x10 = 0 ies "= 6795.3373 , 4981-3293 “w= 70-5785 radfec , 82-3732 rad/s Mode shapes: (1000 97+ 5x10°) X + ox @ =0 x ort x 108 or ee = = - 5.3476 @ la,” ~100 wo + Sx 108 and x | ~o-t x 108 Slo, 7 = oeSeoi 1000 09 + Sx 10° tiffness of girder = = 1.11934 x 10° Nim * Gs) AE _ A (200 x 10°) = stiffness of rope = —— = = 8.8838 x 101” A Nim 48 E1 _ 48 07x 10) a 291mass of trolley = 3600 kg mass of load = 900 kg Desired frequency value: @, > 20 Hz. Let w, = 25 Hz = 157.08 rad/sec or w; ~ 24674.1264 (rad/sec)® Fundamental natural frequency is given by (see Eq. (E,) in solution of Problem 5.1): a ope tetk ye ffafketky 2) ek a 2m, 2m \\ m, my mm, Using the known values of kg, m, and ma, a series of trial values of A are given and Eq. (1) is evaluated to find the corresponding values of wy. The results are given in the table below. A (108 m2) k (Nim) 3 (rad/sec)? @, (rad/sec) k, 0.4 1 3 (108) | 14,631.88 120.962 + 0.5 16.6667 (10°) | 18,230,206 | 135.02 oT 0.6 20.0 (108) | 21,803.27 147.66 T 0.7 23.3333 (10°) | 25,350.53 159.22 k z 0.8 26.6667 (10) | 28,871.44 169.916 ‘ 0.9 30.0 (108) | 32,365,116 | 179.90 1.0 33.3333 (10°) | 35,830.995 | __ 189.29 ™ It can be seen that A = 0.7 x 10°$ m? yield a frequency that best satisfy = © = 157.08 rad/sec a 1" 49(206 x0") 002) _ sog nue Ni ” @) tet H2= 0+3x10° N/m, m4z 1000 Kg 5 mg = 5000 Kg [ms] £y.(Es) in the solution of problem 5-4 gives ee _= 18478 E in For (, first epyabion cn (Es) gives for @= 4, | O,= — M+R SVE = barge [awe y First ‘mode For o,, first eguation in (Es) gives’ for @ = 4, O,= -Agt+2 = -J2 = - 14142 Location of node: ae bolo = au Second mode Ey. (€3) in the Solution of problem 5.1 gives oh, ot = Hk, Ke t (mete, HY BH te = am + ma a \ay For m=mz=m ond «= 4,2 &, we get * a « * 2 2 wis *# ~ [x (ae ak SL aa um + s(4y-& = am * 7 w= 0382% , wre aes & y= 0-618! > = 16180 fz Mode shapes are given by (see Eps. (Eq) and (Es) of problem 5-4) fa ‘ © y= — ee : x. f hx Le ree Te Re Leen y —@) 4 Q) met = - 0 cig0 F=f } x =m, OF + Ke = 06180 For the system of Fig. 5.3(a), x@ BOTH RO 2 [0 AP [om {ee} Pat se a Thad ‘M2. wo = x9. (mem) : te; mtmant = mt me CBee GE N rm OP + kat Ka) \— mm, ort ert ts 7D where 2 N= my, (— me OF + kz + H3)(—m2 OF + Kat Ha) + m2 Kz, and D= (em OF + Ket #3) Com OF + tr + #3) But 295By substituting Cyr aya + Cher 49) 4 {fe £:) m+ ar 6) -] mm 2 war = cant = g Cre ead (eae ta) = y" eres mma 2 ot ot 2 2 N= mymz & OL — mymy ky Op mym: Ky OE — mm Kz Y, 2 2 2 oh my KE + mes Ke Ks - ME Key OF + my ke hy + me KE + a HE met { [fecepmer Cone enymeTt a ¢ 2+ (Ket Det aa 71 nn mma 2mm -4 (Seteect kr) (errs) - 42 tote) Carn) HY] } a {etme eer rH} ma mma " orn met ene #9 mr} py eg mg 1 tm eat mS = mya KS mma =o Ep. (5-0) gives @)e atu = 4 Gost 2(000)2}- es [feos = 550 F 384-0573 = 165-9427, 934-0573 y= 12-2919 vad/t, 03, = 30-5624 rad/s () Ey.(Es) in the solution of problem 5.1 gives ot of = 1992 S002 = fy (asee, cone) tax oiz2, 082-8 (y= 30-2953 vad/see , Wz = 14-3801 rad/s Et (€4) and (Es) of Solution of problem 5-1 give 100)(700) - (s00F yf z * ne Ke 6000 ee OP { . } x 1-=—a. CO = dO 3 = (11805) =m, Of + 2. -917-2 +6000 . , 6 aay ft @) q= — = — 2-08, KO =F ogy * mm, or + Ke = 13082-8+ 6000 Same as example 5.1 with m, = m, = 4400 kg and k, = 9x 10° Nim e 9x 10 Y 4400 = 45.226 rad/sec = 78.335 rad/sec Oo Vim General motion is given by Eq. (B,,) of Example 5.1 296x, (t) = x{? cos (45.226 t + 0,) + xf? cos (78.335 t + >,) x, (t) = xf? cos (45.226 t + 6,) — x!” cos (78.335 t + 9.) €2-(5-10) gives 2 2 gst = 4 §3000(2)+ 4000(t))} _ [fleets tenet . { oars § PES ys ef Otten = 1633-9746, 3366-0254 . y= 40-4225 rad/s, = 58-0175 rad /s Me woo Sooo tt am OF 4 Kay —2(l635-9746) + 4000 1000 eee = west qe St 1e00 = = - 03660 “™, OF + Kit #1 ~~ 2 (3366.0254) + 4000 When x,@)= 2,(0) = x,(0) = 0 and (0) = 20 ™/s> Re On 0-366 (20) “ 366) Pezsecey = -0-1046 x= 366 (20) 7 = - 02719 580175 $= $,= teat (co) = © Motion of the tuo masses is given by Eg- (5-15): x(t) = 0-046 sin 40-4225¢ 40-2717 Sin Se-o1mst x4 (4) = 4(1-3660) (04046) Sin go-42a5t — (—0+3660)(- 02719) sin 58-0175¢ = _0-1429 Sin 40.4225 t — 0:09952 Sin S9-0175¢ @) wf=272, X,(0)= 0-2, %2(0) = %,(0)= %,(0) = © €y- (5-18) gives G=082-8, T= bibOs, T= —O8aTI @ , —+___[¢o. .2)] = 008356 nS Conan 0H LE 0-847)(0-2)] = 010835 x” eS [Et-1905) (0-2) ] = 011644 * Conga — 11905) # = = taw'(e) = 0 HCE) = 0°08356 830-2853 + ONG COS 114+ 370! t x, (t) (1-1205)(0:09356) CoS 30-2953t + (-0-8471)(0-11644) cs 4-301 t = 0:09864 Ch 30-2853 t - 0-07864 cof 114-3801 t b) H@)=O2, *20)= %(0) = 0, %2(0) = SO Ey. (5-18) gives a % Oe xgeeg(boeeeny + OT" = oer 297‘9 4 11808 (o2yytt 3 1% . x= - [ft 11808 (02)} + G3) = ole 500 = tan! {one Cee tas! (- 0.9745) = 135-7399" fi 30-2553 (— maaent* ¢ ) toe" (Tet ee =17 9. = ° iiaciter (= 08) a) GOLD) 2,(4) = - 0-67 coh (30-2953 t 4 125-7399") Ord A (14-3801 t + 10-4995") 2,(t) = (161805) Co-1167) cot G0-285 3 4 135-7399") = 0-847) (-0-1194) co (1g 3801 E + 10-4895") = = 01378 cS (30-2953 t + 135-7399") +.0:1003 cf (114-3801 t + 10+ 4895") Equivalent system is shown in figure: 4 Ky Ke 2(4e*) , isu Lacey Lex, ( = ae iomystm, msm fn TE 4) eee my) + (Kit Ke) &) - kx, =O Me — Ken, + KX. = 0 For harmonic motion x,(t) = X,; cos(wt+$) 3 c= b2, we get [odes kt 2) a . wl i = {° } ----(€) Frequency epuation is Coarm + e+ €2) - ke kp Cot + ke) or cot mm, — i (mak, + m2 Ket Mik2) + Krk. =O ate (rakes mate tm) £ Vern, pg eat ie mya hs 2mm =) For given data, o “ (nktmetamn) + VG@ermatim ky - 8m *" 24024) am (y= 0-542 (FE = 3.7495 EE; ws tose FE = 2.0524 mk From €y. (i), we get 298‘ 2 XP uma ete Lamate th — a(erik) 42% the = : S Pa) ke * * = b4i4n xe) 1 2 he 2 = emt ithe — mam Ut yak _ -2(I-7O7MK) 42K xD ee * ~ ¥ = 14142 Mode shapes are : Lo a) oH) x, xoo= { vee} C x= f Lo } ® x hehe x First mode Second mode Location of node: (me node) (one node) & = 42k, Tard + y= 05838 Let P be the tention in the string. Horizontal components of tension (along x4 direction) in the string fying above and belw m, are -af and — Cr *DP , respectively. 1 Newton's second law gives my SP Grae 2 similarly mt ste ta Pp =0 & With x(t) = X; ws (ot +4) 5 i=Lz, eal hs KL mo*+ -f x ° 2 *) * elt i = | ---- ©) t (mats 22)] Le ° this gives the a equation chek, memens Crore EF (fy = Cret Derr tre ae ISP From fet oF cys: (81). ue 2? mate _ © met et To sis = a soot xt HD 299mode shapes are: sO. {! } x”? om f a} x? No node one node at middle of the tuo _masies For m=3m, m=m, K23k and ke=t, Gy-(Es) in solution of problem 5-17 gives he Gre tmnt dma) + [Gmeqmeramey 364K m™ = £74) Gut om treme & = (3295 o 2 he Mr Wit ft Ke Le 05657G) 43+! _ 9.3029 rr t a x? . moh m + hit te phteTeG) eae - 13028 x? * sf Le usone w fre wo ze_ ft ao) mae oso Xo X= bo3028 ' No nede one node X, yroses7 3er_36€(fat’?)_ Eat? *,= 4EES az = =p ; v ae 41= Keantilever kez AEs wate “ot 41 Wis] From problem 5-4, rope A a= Atk hte, se) te LMelmae omy wa) me : = = on nde 2 (4S nae 4b akw, F toh? a] @) From solution of Problem 5.1, we find that for m, = m, m; = 2m, ky = k and ky = 2k, of =@-Va)* 5 t=e4vaye xt) "ka 1ae le XP -matk a-V3 First mode shape: cos eG | __C( cos (a4 t+ 4) ieee aes - aly a ee) ~ Jy x) co (uy ¢ + 4) [Foto sten For the motion to be identical with the first normal mode, we need to have X(?) = 0. This requires that (from Eq. (5.18)): : 2] a fen =) +50 +f a -sv0} =0 mon a x0) =n (0) = 410 3-1 or #1(0) = 71 (0) = Let m, = m, my = 2m, ky = k, kp = 2k. Initial conditions: x; (0) = 0, x2(0) = 0.1 m, %,(0) =0, %,(0) =0 Eqp. (5.18) yield: 1 1 fz _ on xf) = Bea [o - oxy 7. en 1 xp -—1_ [loa |? { ah ( ) ‘1 = tan7) (0) =0 2 =tan™ (0) =0 where w, and uw, are given by Eq. (E3) of solution of Problem 5.1. Resulting motion: xy(t) = Xf) cos (uy t + oh) + Xf) colnet) Ot fo ‘+onur| X2(t) = X() cos (wy t+ $1) +22 X(*) cos (uy t + be) “tala ata a 301of 2 2 x 10)? = 3947.8602 (rad/sec)® ml From solution of problem 5.2, this inequality can be expressed as: nat? n@E 2 i=(Eas md ‘} 1, a@E Or ae 4¢ | 2m, 8ém, 2 _ [1 Eat’ r@E) 1, n@E Bat'nd® 4 4b° 4¢ }m, 4ém, 16 £b° m, my 2 3947.8602 «)) Data: E = 200 x 10° Pa, m, = 450 kg, m, b=0.75 m, €=15m 225 kg Unknowns: a, t, d Leta=10t and d=t For this data, t is incremented from 2.5 mm in increment of 0.25 mm and the left hand side of the inequality (E,) is evaluated. This gives a value of t = 38.75 mm for satisfying (E,). Design is t = 38.75 mm, d 8.75 mm, a = 10 t = 387.5 mm Equations of motion: m, %) + (kit Ke) %,— Kee, 20 boa) my Xp — te mit Cet kx, 20 f Ergenvalue preblem: (-m 08+ tet hs) ~ hy x *1 } Kenk oa enti mennlbad ° Ty {ef @ Ys, 2 gtk For the datw #2 x32 8, k,ank = 8, wb Mis ™mgzm= 2, Ep. (2) becomes 302=208* - x . per rtetsulteat= def €3) Frequency eguation: (-208*4 16)? — §* = 0 or wr = 4, 12 or O9= 2, 34641 (4) For = 43 €7.(3) gives 24+) X,= 8 x, or x,= Xp 20 fp? © For 5 =12; E9.(3) gives L-2(i2)+16] x,= 8X2 or FOL f-\} @ ) Free vibration responses of masses m, and m, are given by x, (4) = x. cos (att d+ x? cs (3-464 +42) (7) (= xi? cos (2t + 41) - x! cos (HueHIE + B2) (@) where x), x@ > #, and ¢, are constants te be determined from the initial conditions. Using the given initial conditions, Eys- (7) and @)> yield x,(t=0) = 1 = x) cos dy + x® cos bo «> X,E=0= 0 = x,” cos g,— xh cos te o) % E20) = 0 = 2 x" sing, — 3-464! x sin dy GD Katee) ea = —2 x sin f, + 34641 xO sin By (12) Egs-(8) and Ce) give: utp = xO estes ) Egs-(n)and (12) yield : «0 sim p= 0-25, x0 sin fg = 01443 (4) 303From Eps. 3) and (14), we can Sind x= {Gy +C4) fe 05590 Oo. f= tan' ( x1 Sia a) = tan’ (05S) = - 04636 tad ‘( xo? cos 6; ” x2 £ (474 1443)” pie 05204 © 55 _ -1 fx? sin bo #,> fan (5 cos bo Free vibration responses of m, and mz: %, (4) = 015590 cos (2t - 0/4636) 40-5204 cos (32-4641 t +028 10) x, Ck) = 015590 cos (2t - 04636) — 015204 cos (3-HoyIt + 0-2810) ) = fan! (0-2886) = 0-2810 rad From solution ef problem 5-24, the free vibration responses of masses mand m2: are given by x, (E)= x Gos (t+ $1) + xf cos (3-4641 t + d2) ad wy(ty= x)? cos (at + $1) - xf? cos (a-4enit + #2) (zy where x", x!, g, and $, are constants to be determined from the initial conditions. Using the given initial conditions, Egs-(1) and (2) lead to x,(0)= 4= mone + x® eos do @) x,@)20 5 "ea 4 — xf cos po «@> %,)2 0 = -2 KY? sia gy - 3464! x® sin de (> kes 0 = 2 x sings + 34641 xf? sin fe «) 6gs- (3) and (4) give: x cose sd @ x cosa od o) Eqs: eet ) give: x6 sm gi zo @ co) sin $220 Go) 304kgs my and (9) give: Ki = f@>% @*}* 3 ye fan" (0) = 0 &9s-(@) and (o> yield: x= fay*4@) Theat y gee tan'(0) =0 Hence, the free vibration. responses of m, and mg are: X(t) = 3 cos tt +4 cos a-yeqit L x)= £ cos 2t - 4 cos a.yeurt esults of Example 5.1: Gas) fae, BOL x, ore & a Ble [4] + OI= «Lt 4] goTg@. fin Ep aD =o OTE] RO « x00 x2 mm fa 30s vf am xP F, '}{ifeo RI Rm OP ELL STE F = 2m «Py = C, = constant a" ona eG YO EPA] EF GPP EL fo ee rye ee () ze £ ze, oy KOT my ROS oo it “HL ‘die b zim &?)* = = constant KOT VM = eee f -4 [2 “dE } 4G) fi FE b= 6k (x(P)* = (2) = alt) = get 305Assume: 9,,0, are Small. Moment epuilibrium “equations of the twe masses about Pand a: mL” 6,4 mglo, + « d°(s-0 ©) 0 (ty) ml? 8 ¢ mg len - «A (o,- 62)=0 (2) 0,(t) = @; cos (wt-g); i= aay where @, and @, are amplitudes of 0, and 62, respectively, us is the vatural frequency,and g line! xia (6) Natural frequencies and mode shapes: Assume: Harmonic motion with fed (04-04 L sin 0, 2 lo, is the phase angle. Using Ey. (3), Eys-(1) and (2) can be expressed in matrix form as soe T, SHS be Pete oe a fhe Free in deg Fregpency 2 -omi{* engl a —kd 2|=0 -«4” naan ta beat (Pe BE) (Be BE) oo © Solution of &. (5) gives ka? 2K w= 4 > Bs 2 vo ft i 306By substituting for 3 and 8} into &- (4), we obtain @,\ | GM oa =) ei. or fas = fifo 4 “eae FPP Le” Thus the motion of the masses in the tive modes is given by 1 ay 1 B°HM= ie ot o f) } cos (it + $1) (7) a(t) ‘ Baye [OPH]. ie 4 cos (wt + $2) (8) af (> (c) Free vibration response: Using linear superposition of natural modes, the free vibration response of the system is given by Slty= cS (tyt eg F™ (4) (9) By choosing c= cz =1,with no loss of generality, ys. (1) 0 @) bead to a) @) 6) = @) cos (wt +H) + @ cos (yt + 42) (10) 0,(t) = @{” cos (a,b + #1) - © cos (wat + Ao) iD) where @° 1", 6), Of? and g, are constants te be determined $rom the initial conditions. when @,(0)= w, 0,(0)=0, 60)= 0 and 6,(0)=0, Eps.(10) and (11) yield a= Gf ws $+ @'” cos do 0 = Ot cos $1 - @*) cos da (2) 0 = =, OY) sin gy 8, OD sin oa 0 = - &, 1" sing, + 9,0 sin fy €ps-(12) can be solved for @;">$,, @*) and dy & obtain Oe = a cos SAPS t cag Str p } (13) O,(t)s » sin Sere. Sin Satis t 307() Conditions for beating: myh 7a? when z* oy z o kK<« oa 5 a4) the two frequency components in Egs. (13), namely, PERO! and St 2!, can be approximated as Gs» Ge) This implies that the motions of the pendulums are given by Ot) 2 w cos mt. cos MLt an @,(t) = w@ sin -n,t- sin nyt } This motion , Egs-(17), denotes beating phenomenon. With Kea= tes Kins 2h. I=, H=2G 4,20 and M,= Mero, Ege: (5-20) give i 6, + 3*,0,-2%, 0, =0 24 6,-2 042%, 0, = 0 For harmonic solution, a(t) = @; wt (wted) scene, [oe + 3%) ~2 ky e ° ie cateessol tad fe} Freguency epuotion is =H +3 ke ~ ike ark, H2 He + 2k 2 *; s(QasG)2 ., SOFA soe ose ES » O,= 19319 [xe 4 2 2 = 25, 01-85%, 42"; =0 308. — % OP + 3 ke ee 13661 ae 7 us? 3k. LROE+ AH Lo. 36c1 ake once Equation of motion of mass m: m= -,(x-re) ---(&) Equalion of motion cylinder of mass my and mass moment of inertia kyr7@ = ky (re-x)r ~~ (2) For x(t)= X cos(tt+p) and o(t)=@ ws(wt+ 9), &_s-(Er) and (Ez) give the freguency eguation [zn Ke ez = kT , a tmor? 2 ae ee ke te gh (ee titted), pte 2, Te wt, oy = Bey (et te) im + For J= To, H=2%, Hy= Key . = Keys Ky, and Mey= My, =0, EF (5 20) gre % G+ rhe, - Kee, = 0 206, - Hear + 2h ep = 0 For harmonic motion, these eguations give [ane - Ke ®, ° ~*e -2ty+r2%ee|o, [7 } from which the frequency eguation can be obtained as raiet- can, or 43 Kh =0 tFiest mode 2 *, 7 oF, = £3 FF) Be % 2 y= ot9c23 JR" eps 153819 fe 3) 2 See terete 1. acc07 a ke ce) 2 he a, = DOES + PR. 9.36603 of Ke 309a) Eps. (5-20) give plaenicoteneiiete 5% 6, - 540) + 5k_ Or = 0 These epuations can be expressed af, for harmonic notion 5 ~ +6 Hy = 5 ke ®, ° ~ 5k -5se%+5ke|la,f lo ot-Tky Zt ke =O k t at, ot = FE (L5 455) 20-59 st, 69541 Je 3, = 0-38197 » Wy = 2-61803 u) = 1M eek 1.1708 o sky & wo k, > Te B+ EK =~ 01708 9 5 key 63) Using *(t) amd oft): For translatory motion: xO + © 5 . fate mx =— k(x~f,6)~-¢, (22,8) 4 oN * = F(x + hee) - c4( +428)--- €) $2 7 For rotational motion i c.g: = =— “h8) k=. 2X4 x48) Hoa we LOL +e (ELS), =. Ke (er fye) fo - CH +826) he --- Ex) Egs- (1) and (Ex) can | x, HC eo be rewritten a8 t 310CF) leg 200) ond 8): For tramtlatdty mn = (9-0 See v 8) = (+ fle) a(S é)-meo Ge rotational yotion : o> (Er) HE = Hy(y-€(0) FH ei(F-L)N- ea(ye HO) La — CalF4 M8) ome Eps. (Es) amd (&,) cam be ruuttitfin as a= (4) 8) [ete Beet i. as” Leeanl cata ae AG) +f eee cl ge-p 2 be mk + Ke wd le ° 3) pce (ee Sa mht 6, = + sin @y + (£262-%,91) £, oo5 Oy mf 8 May him Op — (L20,- hel). Gh Oy rr m8? 8, + 0, (ML tL) Life ©, WEG, + Or( Mahe ett) fh 20 For fanmenic mation, 5 (4). @, cA (Ott Pp) siete, [arieohent nih ts 8 f° -« hk —estmy hd + Wy hae 062} % ° Frequency egpalion og cot (meg ELE) = 03% [mg AE (ply ett) + my LC Woke + LET + Cokie t Woke eh 4 wh, KAP T =O) ----&) Roots of this epyafion give the notiml frigumncies O, and 69, Aenpli a volios ane givin by he ee =P om fF + wiht Ke e8 ~ + hh @) 2 me OL rab tte wt P Yemg, meme: oe? th 311Eguations of motion: Am2'6 =- «lo R~ k(le+x)h mk = -kx- «(fo+%) ieee aml G+2xPo + thx =0 a) micpaeeee Toes zF For harmonic motion, these epuations give mam los? 4 2 8* eh ) ° 7 ad} Freguency equation is w= Elbe ae) am ot —10 km 9? + 3%? =0 = . £ = 03486 Kk, 254 # 1 = 05904 + = 4OGs Amplitude ratios arg es toe 2 x’ —4mh +2%h N= 90 = = -o-6oseh sso =Et 2 2 gt p xO mam fst + 2 = ¢-coseL oo -«t Mode shapes ore uy 0” 1 ” XE LOG = [-o-cosek 0) e® a e) x= { ot = e x 66056 h Equations of motion weed 08) =- kx ze - Ie 6 =- Ke - kxe . o Pa o(t) ue mK+KxX— MEG =o Ye ‘ky 8 (H- me) + Kpornex=0 For harmonic motion, we get the Sreguency epuation as m4 & me wo Ke -(%- me)" + Ky G (%-mer)m of - (Het mM my)O + KK =O Roots of this epuation give the natural freguencies of the system. 312Speed becomes unfavorable when it is related to f as vtel ‘ -i. = L@n ies ve olf = a Example 5.7 gives = 5-8593 rad/see (‘bouncing | G3, = 94341 rad/sec Cpitehing > cys LS 2 85939) _ 3.9980 m/s (bouncing) a 26 Lia, . 18 (9:4341) 22.5222 m/s (pitching) a at 7 re] t . Tao Tie * #(%2-1) ' Equations of motion: Te () drake m, %, +, +1) xR xa ey 2h" Bree body diagrams m, &)—k x, +k x)= of masses Since velocity of crane in z-direction = 9m/min = 0.15 m/s, t = time to complete 2 pretence ste a= Olecotsst= = = 0.31416 rad/s 0.15 + 20 Base motion for m, (girder motion due to unevenness of rails) y()=Ysinot where Y = 0.05 m and @ = 0.31416 rad/sec. Road surface varies sinusoidally with amplitude, Y = 0.05 m and wavelength, d = 10 m, If y = velocity of automobile (m/sec), time to travel one wave length = 7 = d/¥ sec. T= 10/v sec, w= 2n = 25D sad /oce, vy = 50 km/hr = (50(10°))/(60(60)) = 13.8889 — m/sec, Jo =m rz = 1000 (0.9)? = 810 kg—m?. Equations of motion: 313pied OTERO Kg(e-4-%) y(t p08 = 3.) % %, % (Be) = ground or base. displacement iv front (rear) wheels, downwards For motion along x: m X +x (Ky + ke) +8 (ey fe — ee Or) = ke ye + ke Ye Q) For motion along 6: Sy B +x (la ke — 1 kt) +4 (Ky €8 + Kr CF) = hr 2 Ye — Ke Oi Wr (2) where the ground (base) motions can be expressed as y(t) =Y¥ sin wt =0.05 sin 27% ¢ m (3) (4) yi(t) = Yin (wt - 4) = aze .05 sin, For given data, Eqs. (1) and (2) take the form: 1000 X + 40 (10°) x + 15000 6 = 900 sin 8.7267 t + 1100 sin (8.7267 t — 1.5708) (5) 810 6 + 15000 x + 67500 6 = 1650 sin (8.7287 t — 1.5708) — 900 sin 8.7267 t (8) Natural frequencies are given by: [ole ole ele} o where m, = mass of pulley = 90 kg; m, = mass of motor = 225 kg X, = amplitude of pulley, amplitude of motor (200 x wz x 003 ——___——_ = 5386.82 Nim (2.25)° 314Frequency equation becomes: Cotm thy) Ry ° Kye (ow m, + k, or (im, mg) wf ~ (Ky, my + Kyy my) + (Ky, Kyg ~ kz) = 0 @) From known data, Eq. (2) can be expressed as: 20250 ! — 335.1033 x 10° @? + 2.030784 x 104 = 0 @) Roots of Eq. (3) w? = 15918.309, 630.0017 or 25.01 rad/sec, w, = 126.1678 rad/sec eS ea ‘mer tia (5) ; 4 y(t) 1. Model the bicycle and the rider as a two d.o.f system as shown in figure. 2. Find the equivalent stiffness (ky) and damping coefficient (c,) of the front wheel in the vertical direction. 3. Find the equivalent stiffness (k,) and damping coefficient (cz), if applicable, of the rear wheel in the vertical direction. 4. Describe the road roughness under the wheels as y;(t) and y2(t). 5. Derive the equations of motion of the system subjected to base excitation. 6. Solve the resulting system of equations to find the steady state response. Choose unknown coordinates as x(t) and 6(t). Equations of motion: —k (x — € 6/2) ~2k (x +¢ 6/3) + F(t) Jo 6 =k (x — 6 0/2) (€/2) — 2k (x + € 0/3) (¢/3) + F(t) (€/3) mi 315im o]|x| [3k ke/e x] _ (Fe) } lo Jol Jal * |e €/8 17 x e230) [al ~ lertty/s| where Jy = 2 and F(t) = Fo sin wt (b) Elastic or static coupling. ee Og me | F(t) cz (Mem)z * (m+ me 2 | z Free body - “Fiagram {77 Mp Equations of motion with coordinates x(t) and O(t): For motion along x: Mi =—kx—ex—(me/2) 6 cosd—mi +(me/2) F sind +F(t) ie) For rotation about O: Je 8 + (mm 6/2) 5 (€/2) +m (¢ cos 0/2)=—me(¢/2) sin 8+ Mit) (2) Using Je = + mé*, cos@* 1 and sin@~6 and neglecting the nonlinear term involving & in Eq. (1), Eqs. (1) and (2) can be rewritten in matrix form as: (M+m) mé/2 _ (Fe) jm €/2 (e+meyal +f meth = IMi(t) 316ka (x,-x1 x, oxy Le e 2m F — R Ry Free body diagram N = normal reaction between cylinder and trailer, F = friction force, Ry, Rp = reactions between trailer and ground. Equation of motion for linear motion of cylinder: UF=m% or mk F — ky (@ -) Equation of motion for rotational motion of cylinder: YIM = 356 or Jo G=Fr where y= fmt and a Equation of motion for linear motion of trailer: SF =M&, or Mi =—ky x + ky (tp —m) +F Eq. (2) gives 6 11 x, x, ns = rot dan fizt|-26-m Substitution of Eq. (4) into Eqs. (1) and (3) yields the equations of motion as: mi = ky xy + ky xp =0 (M+ Da — Fe tay (hy tha) ke =0 T (Q) (2) (3) (4) (8) (8) 317mass of tup: 2000 kg, “ed mass of frame: 20000 kg. a 1m, = 50000 kg. mass of anvil: 30000 kg, mass of foundation block: 65000 kg, k,=1GPa stiffness of elastic pad: 1 GPa, stiffness of isolation: 500 MPa, A in, | m)= 65000 ke striking velocity of tup: 4.5 mis, Solution: (a) Natural frequencies of the system: k= 600 MPa (b) From problem 5.1, Kyte m, ky ke mm 2m, 2m, \4 kth, ky i 2 _ 9 15x10 10° {1 /1.5x 10° , 10° | _ 500 10° 130000 100000 4 3.25 x 10° 65000 50000 Initial conditions of the system: Let 8, = 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. ive. May Sguy + My (0) = May By + My Oy «@) where j= velocity of rebound of tup after impact Also, Coefficient of restitution (¢) = | Telative velocity after impact relative velocity before impact ie. e= or 9) =%)- «e) From Eqs. (E,) and (E,), Muy Buy A +e) = Meap + My For given data, 2000 ( 4.5) (1 + 0.5) iu 2000 + 50000 0.2596 m/s Initial conditions are: x, )=0, ¥,)=0, x, (0) =0, x, (0) = -0.2596 mis, 318(© Displacements of anvil and foundation block we can use results of section 5.3 with k, = 0 Xi _ —m, of +k, + ky _ — 65000 (62.6894) + 10° + 0.5 x 10° x? kp 10° = 1.2445 XP _ -m, 03 +k, +k, _ — 65000 (197.8559)? + 1.5 x 10° x? ky 10° = -1.0446 Response of the system can be computed using Eq. (5.18): xm = —1_[ #2) = 1 __| #02596} _ 1 809 x 10-3 (m) 1-7 lo,) —2.2891 | 62.6894 x@ = —b_| #2) 2 1 _ (0.2596 _) _ _9 5732 x 10-3 (m) 1 nH Lo, = 2.2891 | 197.8559 {%_@] _ =n = tant {22 9, = tan’ } 0 > = %@O|_ 2 rent {202 Response is given by Eq. (5.15): X, (= X? cos (@, t + 0,) + XP cos (w, t + 4) :) = -1.809 x 10-* cos («xe to al — 0.5732 x 10 cos (mn 8559 t + 5 m X, (= 1, XW cos (@, t + 0,) + ry XY? cos (@, t + o,) = 2.2518 x 10° cos (sxs04 t- 3] + 0.5988 x 10° cos (297 8559 t + 3) m 6.) ol Sregue Eguations of motion: am %, +) %1— «X= ACE) €&) my Xp + (Kt 2) %, — &) X= 0 (&:) Freguency eguation: - os mt ty —k =, 319or ot (& + Bit) ets Kite = Tag +2 8 = hy eee 2 fie + fot ay kite ° 2m, am, * Va\w, a m2 = 2x10? Here m= 2x10 tg, my= 25x10 tg, y= 150x108 N/m and y= 75 x108 N/m- . ot = 150 noe 226 x08 ; = OR Sef eK seo V4 = 50, 1500 (rad/see)? w= 122474 rad/see , O9,= 38-7298 rad/sec (b) Response: Assuming yor imifial conditions, the Laplace TBiamipdims of €) ond (Ex) com be wultin as my A? Fy (4) + He HCA) - (4) = FCA) wy A %a(4) + (t+ &2) %,(8) —&, HA) = 0 ie (mAb a er) R (4) - 4 224) = FG) =k, FCA) + Cms* 4 «4 €2) 2,0) =0 Sdullion of; these eppaions gives Gm, 44 + + #2) eI zs) -{ Ge Pt Se) ay. z(4) forS AE (am tent mete + me Ki) + wat ) _ * za) ---@) = FG “4 a (om oe) er pe) For the foreing funchion given, wo) RM= Faye Bf e-e e"* (E-4)}---@) fo For the given date, ‘Ge (€3) to (Es) become 25 x0 A? + 225 x 10% %) = ci) ' (Fx? at 4 825210" 42 + 01250 x00 ) at 901 = = ty ---- &) 2x st + 330 x08 42 4 45 x10? 320(50% 10° 2) = ————____—_—___ F§) 5x10 At 4 825 xi! g2 + 1250 x10? 30 = == OO ---- &7) Wot st + 165 x10" At + 225 x10" = sph esha thine F(A) = 2x0” [Ga - € Giea)! ---- (€) The inverse trantforms of (_) and (E7) yedd 2 (t) amd x,t). Eguations of motion for free vibration are (from Egs-(511) and (52); tm X,+ (Cea) y+ (Kit Hea) my 2% - Hy = 0 i ©) 1 mk + (Cat cs)ert (hat ks) x2 - C2 %- 2x, = 0 Assuming the solutron as ar x({t)= Te 3 g=ne &%-(€1) cam be rewritten as [" Bee (ere Cx) 5 + (4+ 42) = (@4+ 4) %) (0 = (c24 + ke) me Garey) A+ (et beet} For a non-trivial solution of fs. (ex), s) | wits teat kerte (ese ki) | =o — (624+ 2) my S74 (ca Cs) 5+ Kat Ke ie, A*(mm2) +s [i (co+ cae ma (cen) + 4° [om (eet #3) + Grr ea)(Gat es) + me (ert m2) eF J 8 [Gi ca) (tat *) + Gir) (mtb) 20] + [Kit tat )—teJ=0 (ED) This eppalion cam Le expremed as a, 8+ a, A 40, ary 234+ a4 20 ) Where ae, ays s Hy Cam Loe ikLifd by comparing Sp (Eq) amd (69) - 321If A, 52,43 ard fy one Ha voots of &- (Ey), the general solution of The system can be expressed as wy m(td= TO oe ote, gO SBE, BM ott? ; @ 5 aatty= of ef oO) oe oO Ste of) ot where the conttarts 0," , cn: 4, cam be found from the four initial conditions of the System, namely, X10) H2(0), Xi(2) amd X2(0). the ratios of amplitudes BO cam be dilimined from Eys- (Ex) os a 2 CO se ke my 424 (C+ G) it Kat Ke a -_— eB em AL + (C462) SE + K+ Ko C2 4i + Ke = 1234 () If any root 4 has @ positive real part , x(t) amd x(t) will increase with time. 25 afl 4: have negative real ports as Ape -Ytiwy then the solution, x(t), can be expressed as iwt 4 ) Gt ea OS (arate: om yt) a If fuo roots 4, amd 4, are complex conjugates os ye = (FEW) amd Anz = (nm - EM), x(t) cam be expressed at aey= en fa? cor ot —2 CO sm ER —net +e" {oO cos wt +2 ® sin ut f (3) _43t 4) byt +7 ot 2 Similar expressions can be derived for x, (t). 322m= M2 = 10 Kg, Ki= #z= 2000 Nim, 3% 2 N/m y= 100 N-8fn, C= C354 N-S/m *,CO)=a2m, X2@)z om, (0) = %,C)= 0 Egs-(E3) and Eq of the solutron of Problem 5.46 give Known data: Qg= mmz = (00 @,= 10(2) +10 (101) = 1030 @2= 10 (2002) + 101 (2) + 10 (4000) @z= 1ot(2002) + 2(4000) -2(1) (2000) = 206202 Qy= 4000 (2002) - 4 xt = 4008 000 amd loo 441030 44 60221 47+ 206 202 4 + 4008000 =O G) Using PROGRAM 10, the roots of Ey.(E,) can be found ar 60221 Bin = ~V4714 + 2 868272 (€2) 43,4 = -3-6786 + i 22-0669 (es) Thus the solution is given by 4G) Apt x(t)= =o a @ fs jt ACE) Fs Ce x(t) = Se! ,.85) . au where @)) , 5 =1,2.3,4, cam be found from the initial Conditions, and the ratios of amplitudes {a5 oH con be <3) obtained from E.(E¢) in problem s.ye: + BS G C ) 8p + he 4g + 2000 @ = = 3 Ge APA) + eke Af +101 43 + 4000 $2023,4 () For f=1s a= 14714 + 48-8272 and (Ee) gives? 0) = Be = 06207 — ¢ 0.1239 @) For 7=2, Ag= — 1.4714 —<¢ 9.9272 and (Ee) gives 2) = CVE) 20-6207 + é 01239 (ez) For j= 3, 43 = - 3.6786 + i 22/0668 amd (Ee) yields = GOA _ (Es) ~1-3908 - i 07752 3234y = -3-6796 — 6 22-0668 and (ec) yields y= B/E 2 — 1.3808 + £07758 (Ee) Thus the eee of e, (Eq) amd (Es) con be rewritten as 4 Age x(t)= 3 x; DW yak a, <* (E,82) jl pe Since the poirs (a1, ¢2), (43, %y), (402 42) ond (43, 44) ore complex conjugalts, We cam express them at Kes Ptiny Ay, 40 = €:3) 3 Oy, y= Bt hh, } Mein 5 43,342 Ut TV, amd (Ey) and (E,2) can be simplified further. However, We proceed directly with (Ey) and (E,,) omc use the initial conditions to evaluate the constants wi); H0)= x Ce, CO gs oO ee, mY =o w= WO e oO 4 oO 4 ol FP eh2Ze =o : w RODE ih Cyt Ape Oy teat, 4 ayy CLP = 0 €») . (> H)= Aes 4 be Te te OO 4 4 BLP =0 once eft) , 5214234 are Pe from Eqs: (Ee), the displacements of masses x(t) amt x(t) obtained using Ezs- (Ey) amd (E),)- com be bi F Ione aa » it can be rewritten as = |tbac-azy _ fec+bdy,; feaes xo Ge = Gt) + (Se) 324m = 0.2 kg, e = 0.15 m, m, = 400 kg, k, = 400 kN/m, m, = 900 kg, k, = 200 kN/m, cy = 40 N- sim Solution: 2 = 21200) 60 F, () = me o? cos w t = (0.2) (0.15) (125.664)? cos (125.664 t) 73.7432 cos (125.664 t) (N) = 125.664 rad/sec Fyy = 478.7432 N, Fy = 0 ky, ¢= Equations of motion are [substitute k, = ky, c; = ¢,, m, = ms, F, = 0, k = m, = m,, F, = Fy, kj = 0, ¢, = 0, in Eq. (6.3)]: (esl IE-PaS RIE kel [3 SJehG Sie. SAE or Comparing (E,) with Eq. (6.27), we find that m,, = m,, my, = 0, myp = mg, Cy C42 = 0, yp = Cy Kyy = Ky, Kyy = 0, and bpp = ky + Application of Eq. (5.31) leads to io) = 0? Z, (0) =o my, Fi@ey + hy Zig (0) = -08 myy +10 Cig + kyy = Zyy (i) = 0? Myg + iO Coy + se 22 22 m, 0 + ky Ky m, @ +i ¢,,k, +k, 2 Response of the system can be expressed as x; () =X; ots X; cost (real part) with X, given by Eq. (6.35): Zyy (10) * Fig ~ Zip (i) “Foo Zy 1) + Zoo (10) — Zi (i 0) 2 X, Go) = iw) + ky + ky) Fp (m, o? + k,) Cm, w? + i@ cy + ky + ky) — k? 00 (125.664) + i (125.664) (40) + 600 x 10°} (473.7432) 400 (125.664)? + 400 x 10°] 900 (125.664)? + i (125.664) (40) + 600 x 10°] —400? x 108 = (-8.0230 — i 5.8964 x 10°) x 10-5 325GO) Fro + ZG) Foo _ X, G@) = 2 > 11 @@) Zp Go) — Zin Go) _ 400 x 10° (473.7432) ~ (8.0539 x 10" — i 2.0133 x 10") = (2.2145 + i 0.5536) x 10% Ks k = HUE (fat?) wewt? beam 7 = Eat P Ki= Kream Eguations of motion: 2 ITT my Hy + Ky xy + ke (M1- Ha) = A(t) = cost 4, iC) FH) pa . mx, + #i(xz-%) =O } » ve 2 Aisuming harmene retpene 7 ~2(t) y(t) = xX; cos ot Egs-(€,) yield (Ka ma 0%) Fe x, 1 Cece a= mo") Cea m2) = 2 rr Ke Fo 2 Ceye Ka = 9") (ka- mot) — «2 For no steady state vibration of the beam, X,=0 and hence the condition to be satisfied is Ko _ 2 ria ee Eppalions of motion: mk, + (eit 2) M1- 2% = F(t) = & Sint — ---- ED mx, + K&2%2 - 2% = 0 ~--- (&) 326we use F, e* (with c= N=T) for Fy(t) and consider only the imaginary part at the end. Let 9g (= x; e oo, peur gs. (Er) and ©), become wt wot cet amo x, ft 4 jt ks) XO Ue ae cot i amt x, 2 4 kp Ket — ee x, ekE = 0 a--- (es) *e TeGe)] X = E here fx “s_ S Fe _ ff vere ze ith. Be {ra }= iP} Z,G@) Zi (ie) [z(iwy] = Z,,4@) sat | ZyGO) 2 miss Ke Kr, Z,(6o)= ZyGO)= - kas Zu (i@)= -m,s* + 2 - Es.(5-35) give X,(to) = Cmo* + 2) & (om, 07 + ty 2) (=m, 4 2) = : 4, & xX, (6@) = = 2 Cia tet 2) Cmot+ 2) — «2 Since Fe sin ot = Im (Fe eiat ) ae) = Im (X; et ax, py mm, ot iB xy(t) = _CmO + *) sin oat (mi + tet 2) m20* + kr) — KE #, Fo 2) = isin ot a Cm ot t+ 2) Cis" 42) — kt Equations of motion: ty®= =) Cx-¥) = Ke (x)- 22) 4g, erat my X, = - fe (x2- *D ™ Dp x(t) or my + (K+ Ke) % — KK = Ki Yo os wt --- E) m™xX.+ Ki %2- 2%, =O ---(E2) wa As there is no damping, the masts vibralé elfen xb) a Hoe UO" uk phase te aspect ote wetlon Hones the the merponse com he takim 327Ab) = % cot 5; ps 42 --- (6) €ps-(E\) ond (E21) reduce t (— om + 14 £2) X) - er X, = Kr Yo -k2X + (- O* met Kz) Ky = 0 te [z(es)] X = E where xe [%} Bt fe}e4 Xe Zy Co) =-ahm + t+ 2, Z_ (Ka) = Zy (EW)= = Ke, Za, (iO) =- oo m+ K- Egs- (5-35) and (E3) give x(t) = (ote + #2) 6 Yo ane * Cm oP + ait #2) E mot Ke) = a) = st Emir Kit K2) Cm "+ #2) — eF Equations of motion: hy = Ke = 500 Yoo amy %) 4 Cert a+) Hey art x) -Gd.- tox = Reet - freer F ast MR tea et aan 2% ee -€2% =0 er - ™ bet xg(t)= Xpe a pane x) Eguations of motion become Eur tie (eter) + ket] x) (lot 1) X= --- (&) — (609en+ #2) XK) 4 [-w*? mtioce+ te] x2 = 0 =-- (€2) For given dota, (E)) amd (Er) become fco}%-& --- (ED uhere By Cw) = 400i +999 Ze) = Z2,(i@) = - 200i - 500 Zq, (G0) = 200 1 + 499 7 . ee {np be tebe te] Solution of (Es) is , using Egs-(5-35), 328X= (2002+ 499) & = (2004 +499) Fo (400i +399)(200 i +499) — (-2004 -500)* (199. 400 + 20850!) _ Qook +411) Cir9 goo + 208501) Fo - (1994001 + 208501) 199400 ¢ + 208501) (iris net — 69444 co% 2) ---- @) Y= G00 i + 500) Fe (200i + 500) Fo 1s = (400 i +999)(200 +499) ~ (-2004-500)" — ((99400i+ 20850!) = _G004 +500)(- 1994001 + 108501) Fo (994.00¢ + 108501) 179400 i+ 209501) = (17-3165 is - 69694 xt ES) ---- Gs) Final olution is given by the real parts as x(t) = Re(x 6°") = Re (x, hut Fix, tm ot) = Re [ (17-2715 154 — G9que nist i) & rot +(17-205 154 i+ 6.9444 xioTt) Fo Hin cot J 1725 x10 4 Fy cof wot +.6.9644 xia! Fe tin wt --- (&) x,(b)= fe (x, e**t) = Re [(17- 3165 x15" + (17-3165 x10 = Re ( xX, cot ot +2 xX, Him Ot) = 69694 xT i) Fo cos ot 146-9684 xc+) B mot ] = ITNGS uot fe KOt + 6-9684 nat Hr et --- (Er) «3 of mation : ust Wm. 1+ (kt 2) x, — Kay = Fg CES Re (Fin & ) Wn Kat (Kat #3) Xp — aki = Fig BO Assuming 2;(E) = X; ft, jan2 alongwith F(t) = Fo eft genz, the eguations of motion can be expressed as Cutmit #2) X)— k2Xe = Fo —F2Xy + © wm + Ker ks) X, = Fo ww) X- 5 ---- ) where 2 (18) 2 -wtm+ Ke ka, Zg(i0) = 2,00) = te, Zea (69) = - Oma + feat Ks, 3 x Ee sfo %={"}. B- fe} 329Solution of (,) can be expressed, using Eps-(5-95), as x Gum + tat 43) Fo t Ke Fro >) ST (Hot m+ fet ea) © tna + ker ts) — eb X= fs Fo + (m+ £14 «2 Fro : ----(6) Com t+ e+ 2) (-w* mit K2+ Ka) - K2 Since xX, and X, are real (Since there is no damping), the final solution is given by a(t) = X, cs WE x(t) = X, os wt hou xy art X, oe given hy (Ex) end (Es)- From the solution of problem5.50, we have (4) = _Gme*+ 2) Fe Cm ott tit Ke) (- mo*+ ty) — KE sin ost y(t) = *, Fo sin ost (me*t «+ €2) (— mi + fer) — er For the data F(t) =50 tmaTt , &=50N, 2 4m rad/s, mi=10 kg, m= F #9, €y2 1000 Yon ard K1= 2000 N/m» 2 x(t) = (5x16 1 + 2000) 50 sin gut C10 x16 w* + 8000 +2000)(-5x 16 T* +2000) —(2000)" = 0-009773 fim ITE meters 2000(50) . x,(t) = 200050) gin grt (Cloxi6 w+ F000 + 2008)(— 5 x16 T*4 2000)- Gooey = 0: 016148 Aim gat meters A= total stiffness = $00 N/m kq= total stiffness = 600 N/m 7 i ! 504g, m= 50 49 ' t ! \ ™, Yzo2m, c= WT rad/s Eqpaltions of motion: mm X= — , (X1— 9) ~ a (= 2) Aya) e ¥ sm oot ma %e = - 42 (x2- %1) Om Rye (Ret ea) KI— ya = LY = HY Hin Ot eee eer 330Assuming x,(t) = X; 4m ot; iz ut, ve et Com, + kit 2) X,— xX, = KT =i, X) + (2m 07+ &:) x, = 0 For given date, these eppotions tare the film ( 507* + 1400) X, - boo Xz = (200) (0-2) -600 X) + (-SoT* +600) x, = 0 Solution of these eppolions giver X,=-0-06469m, X,2-0-36437 m 2 %i(E) s-0- 06469 Ain TE mi xa(t) = -0-36499 Aen Tt m- Equations of mation: HR + (Kytk2) y= Kee = F(t) —-- (E,) Fe ma ¥i+ (kat ks) X2— Ke x)= 0 --- (2) mr Laplace tiantytime of, CE.) amd CE, mu LA KE) 4 Hy) — 2, 0) Te (ere 8) F(A) = Ky FAD =) LF Rens 2,(0)— X40) ]+ (eye hs) EL) ~ FA) <0 Reanromging thee eppalions, we get ts rue H+ Hi) ECA) — bey Fa2) = FA) 45m x09 to HO) Ea) — Ky 1G) + (ma t* + tye ka) B= 3, %,C) + mz F200) ---(E4) When #= t= &3 = * amd mama am, (Es) ont (64) give (mat eam) EA) —€ F(A) = F(4)4 em xy) em X(0) --- (Es) xe = FC) + (mshy 2) F(4) = £m x, (0) 4m %,(0) --- &) Shubin Epp: (65) amt (Eg) gives z= (ms*42%) [F(4) +m x,(0). 44 mn 50) } + te fm €20)- 3+ %,(0)} (MAY 2) (m s+ 2k) = KE {FD 4m x0) 8 + X00) m Fa (ms eee) [im AOA + m F260) } (m4? 4 1) Comat 4 24) These egpations become , for x, 2(0) = % (0) = %,(0) 20, F(é)= 5 ult), FG)= fo m= amd £2100, et EA) = 5 (6*+ 200) ~ 3 (47+ 200) ---(€n) A [@*+200)?~ 10000] 4 (4*+ 300) (47 + 100) may = 00($)__ A 500 ---@s) [G*#200"— 0000] ~ 4(4*+ 100) (4* +100) 331By expressing Za) = 5 (4*+ 200) = Avy Actas Ag+ As 0" * 5 (84300) (484100) ge p100 at4 300° ,(4)=—200_ LB ets | eS +Bs A(4*+100)(s*+100) 4 AE+ 100 Kt+ 300 we can find Ay, Az,- (parkal trackins method). Tht Leads 4 4 Z@= 4 -— - SF SOC--) . iad 40 (F400) ~ \20 (4*4 300) 4 4 4 (Ee) = + -—— + ——__ .--- & *0)= goa te (4*+100) 120 (4*+ 300) Inverse Laplace transforms of (E,) and (Ee) sive x) = (GG Ot - BE ct OTE) u(y mb) =(F- 6 aot + ie oF oF t) ult) tet te he ntid tok a(t) = gb mide and x (t)= gp me ou th stetic duictions atociatid wih su stele fice applied te mass my. Uy = 10 rad/s and C9,= 101F rad/s ane the Li netmant aouictid with the tin epee of Yrudom Ayslin. _ Equivalent mass of cylinder wilh respect t xe deg ar S Eqpalins of, motion: om %, -* (#1 %) (Jeg Hs -& (22- ie mkt KR - MLZ O ---- (at +) Nye ke, - KR, =O ---+ (E2) Assuming x,(t)= Xx; af (WEEP); L=u2, Egs- (Er) amd (Ex) com be shill os Cmotek) x, — kx, = 0 ma + Co fmt Je p+ *) Xa =0 Freyuemey eppation ix . Emo +6) (culm s 2 +*) - K =0 or gt (mma + mB) _ ot (me+mx+ £2) =0 aor Pp {@tt mene # SP Yomie ME 12) 4 332(G8) Dealer meet ot oak ofkindsr for Bramtlatty motion, referred to point A, ix Ns 2 my = AL mets mrt AL my a ae : rt 2 olf Eqpalions of mation: eg Gm)e, H2— * (Hi- 2) =0 + &(%)—-*%) =0 Fregpimey eppalion: = rey wo +k -k -* = Gradeg + # o deg madeg wot - SL Omg #+ M2)e, #]=0 Oey HO adey [ge oa a ss) For hanmonic metim x, (t) = X; co (t+ 9): 42 given epuations a % Cataeh) x, +6 % 20 bo x, + Cw*a, + 62) X2=0 Frequency epualion ix r ait by a ° bo io, t Ce or c9* (aan) =o (a) C2 + bi %) + (biC2- crb2 Condition for degeneracy it: by cp —c,b2 =0 Eppalions of mdion: Fb, + & 0 - & 0, =0 TO, + ky Og — Ky 61 =0 For e(t)= @; c&h(wt+ d); i=uz, pares ~ Ke 9, } ~ he -sR+te]] @,{ ~ lo Freeney eppolion 4 sts 35) — ost( a ket Hi te) =0 W=0, OO, = Amplitude ratios: a Ye oft 0) ae OP cease on \ * % 333General solution is given by epmations similar to Eps. (5-15). With 4,0) = ces we cbkaim from epualions similon ta Eys.( 5-18) + @) J = + fr o)- 0,(¢)} = _ 2 = - eo = in o 20) } (Fe x 91) ee) | {ze +4 at T+ YL 2% + a] feneers eter} = -(Ge hen - f F000) + Ashe a ever} Tr #=%= 0 o w 9g coe ct o(t)= @, ott @, co Ot = 0, + 2 (= 9” Ze? ot ot when ty = 0, the system becomes identical to the ayslim of (st) preteen s.60 wlk Kee kegs Nétmol modes ane given by oye? 12.0 | sem feo 4 @ ofp de = Lote baah Eyratins of motion com be resttithin a 6+ (ee) =° -- & a - E(e- 62) ° ---- ©) Subtracting (€,) from (E,) gives * -- ©) Gi- &)+ (en (H+ Degining = = 0-02, (Er) Com *. wullin os x + (# + =) e =0 ---- &) This in a Ainghe epyalion for which te natimal jreqpeny i - [& tit i w= \(e+ #) = Le A) tay of problem 5:45. Ne a5 334Since the length of shaft 1 is small and its diameter large, it will be very rigid and hence the turbine and gear 1 are assumed to be rigidly connected. This helps in modeling the system as a two d.o.f. system. J Jon = Sterne + Spann + 22 = 3000 + 500 + (1000/2.25) = 3944.4444 kg—m? 1s Fi (2) (0 0%) | ox5| a= ({2]| -— 1 en 7 = 7.854 (10°) N/m Jor = Jgenerator = 2000 kg—m? | System is a semi-definite system. Its natural frequencies are given by (see Eq. (5.40)): wy =0 ‘ez (Jor + Jon) Kea Gor + Jon) A/ eon, (78.54 (10) (5944.4444) wae C A444) = 24.3273 rad, To Jon (3044.4444) (2000) bi Natural frequencies are given by Eq, (5.40): ™ k(m +m) _ 6k(m+M) wy =0 5 w= q/ aa ao ees) a key Assumption: Balloon is a point mass. rr ey 6K Turbine mass moment of inertia 0.5 kg: m?, generator mass moment of inertia 0.26 kg m®, shaft inner diameter 0.02 m, shaft outer diameter 0.04 m, shaft length 0.4 m, turbine power 70 kW. Solution: Speed of shaft = 6000 rpm = suen ‘Torsional stiffness (spring constant) of the hollow steel shaft: = 628.32 rad/sec = 7G (dj - df) _ (83 x 10°) (0.04% - 0.02") 7 = 48.8910 x 10° N- m/s 32 32 (0.4) Natural frequencies of the system, given by an equation similar to Eq. (5.40) )2 3 25)? = {iia = [48.8910 x 10? (0.5 + 0:25)|" _ 54 6143 rad/see. | dd, 0.5 (0.25) 335Second mode shape is given by 105 _ 48.8910 x 10* ~ 0.5 (541.6143)" te 48.8910 x 10° a =-2.0 «) Torque transmitted before turbine is stopped (T): 700 x 10° 628.32 =l14N-m In view of the fact that «, = 0 corresponds to the same angular motions of the two mass moments of inertia, we have constant angular displacements and constant angular velocities so that the free vibration can be expressed as: 0, =, te, t +c, cos wm t +e, sin @, t 0, =, + cyt cy O cos w, t+ cy asin w, t where ¢,, Cy, cy and c, are determined by the initial conditions. ‘The total initial angular displacement between the turbine and generator is given by ee T_ 111. °K 48.8910 x 10° = 0.00228 rad = ©, ~ ©, @,) ‘The initial angular displacements at the instant when turbine is suddenly stopped can be found by solving Eqs. (E,) and (E,): @, =-20, 3, =0.00228 or ©, =0,00076 rad ‘The initial angular velocities (speeds) at the instant when turbine is stopped are given by ©, = ©, = 628.32 rad/sec Using the conditions 6, (t = 0) = ©, = 0.00076, 6, (t = 0) = @, 6, (b= 0) = 0, = 628.32 rad/sec, 0, (¢ = 0) = 0, = 628.32 rad/sec the constants ¢,, c,, cy and c, can be determined — 0.00152 336Epuations of motion: 426,761) + Ke, 1 - Ken(- 6) = © FE + C4 (4-8) + es (Or- %) = 0 [RES SRE SIGE} Let 9, it SG = Xe. :) (6) &A-(E1) yield: [' a 9 [ere - a4 [tect a Keay) (%1] ae + + e ° P| = CE 4 Se. 4 > Ker fea |] [Xe ths ° The characteristic eguation becomes: Hie ea TA Cat Cen) At Ket kee — Cert + kes) -(¢t2 4 + ke,) Hae st tar i ve, @ st+0, A +a, s°*+a,4 +a, =0 --&) where a> Tx Ores TF Cen + % (Ce, + Cee) Op Ti Hen + Cen (Cert Stn) + (Key + Kes) — See M5 = Kee (Cert eer) + Cer (Ket Ken) —2 Cen tes OH = kee (kere Ker) — KEL For the stability of the system, the conditions derived in section 5.8 are applicable: Oro 5 £50,12,3,4 2 2 a,2,03;-a70,-a,a,5 >o 337dee F Smx| amg amg. Free body diagram of trailer Equations of motion of bar: m&- @ Job -mG— £8) f= Loe ime S sind @ Equation of motion of trailer: Smk=-F-2kx or F=—2kx—-5mi (3) 338Equations (1) and (2) can be rewritten as: kO€+2kx+5mi=0 (5) - fH +K0e- BEC Wo 6) where Jy= ime () Equations (5) and (6) can be expressed in matrix form as: 6m -ae 2k —ké A af taal ne—taral fl-E ® Assuming a solution of the form: x(t) =Xett and Ht) =e! ) Eq, (8) can be expressed as: 6m - 24 [ok —Ke Fine ant -[ase-aelffer-f} om 3 37 By setting the determinant of the coefficient matrix in Eq. (10) equal to zero, we obtain: (6ms* +2) -[s¢ +k _ [mes Ce mee 2 3 2 which, upon expansion, gives: [fare] [Smee antes Fi =0 (1) + (-mese+2e a) =0 (12) A comparison of Eq. (12) with Eq. (5.43) gives: aga imi et a, =0 a= mke smi ee a =0 ay =2kA—mkgl 339Conditions for the stability of the system: 1. All coefficients a; must be positive: 18 mg 20 >= a> okay y > img 420 or kao 2. Ay ag ag > ao ab tay at This is not applicable since both sides of the inequality are zero. Thus the condition for stability is: k > + at Eguations of motion are (tgs (5.1) and (52)) Re) am Xy $e xyz my = Rct) e m i, -2e % 43" %, = 0 L_.t oo oss tm o ]_f20 o 3K 2k [6000 =~ 4000 woe f= [TS ES 2]. Ge BR HE ]> [ee “te. Fe fro - te + 2 Freguency equation is ot] +(3|= wt 900 37+ 0 cco = 0 Hence @,= 11-3949 rad/t, = 27-7517 rad/? and t= 055145 + Ts 0-2264 4. We select At= 0-02 4 and use central difference method for numerical solution (see chapter jj for details) . The main program which calls CDiFF, the subroutine EXTFUN and the output are given below [eDiFF is in Program 15.F]: PRUGRAM MAL® PROGRAM WHICH CALLS CDIFF ananana FOLLOWING 10 LINES CONTAIN PROBLEM-DEPENDENT DATA REAL M(2,21,K(2,2) ,MCCZs2) pMK (242) pMCI(2,2) MMC (2,2) DIMENSION C(2,2),X1(2), XO1C2) ,XDDICZ) -XM1(2) pF (2) RC2)/RRLZIy XAKC2) , AMT (2) , AM2C2) RPL CZ), ZRCZ) ,ZBCZ) p ZC (2) LA CZ) LBZ 2) $2) ,X€50,2),XD(50, 2) ,XOD(50,2) DATA W,NSIEP, NSTEP1,DELT/2,49,50,0.02/ DATA 41/0.9,0.0/ DATA X01/0.0,0.0/ DATA #/20.0,0.0,060,10.0/ DATA C/0.0,0,0,0.0,0,07 DATA K/6000,0,-$000,0,-4000.0,6000,0/ © END OF PROBLEM*DEPENOENT DATA CALL CDIFF (4,C,K,X1,XDI,XDDI,N,NSTEP,DELT, F/R, RR, XML, XM2,X01, 2 AC MK, MCT, XMK, MMC ,X¥I,ZA,ZB,ZC,LA,LB,S,X,XD,XOD,NSTEPI ) 340STEP 46 47 48 49 50 10 20 30 40 50 anaana aRITE (13,10) FORMAT (//,38H SOLUTION BY CENTRAL DIFFERENCE METHOD,/) WRITE (13,20) N/NSTEP,DELT FORMAT (12H GIVEN DATA:,/,3H N=,15,4X,7H NSTEI 2 £15.8,/) ‘RITE (13,30) FORMAT (10H SOLUTIONS ,//,SH STE, 3X,5H TLMF,3X,7H X(1,1),3K, Sd XDCLy1) 2X94 KDDCT,1),4X,7H X(1¢2),3X,BH XD(T,2), 2%, 3 9H XDD(1,2),7) 90 40, T=1,NSTEPL TIMESKEAL( 1-1) #DELT +15 ,4X,6H DELTS, WRITE (13,50) T,TIME,XCL,1) -XD(Iy1),ROD(T,1) -XC1 42) -XD(T,2) ,XCOC 2 02) FORMAT (1X,14,FR.4,6(1X,E10.4)) STOP END SUBROUTINE EXTFUN THIS SUBROUTINE 1S PROBLEM-DEPENDENT SUBROUTINE EXTPUN (F,TIME,N) DIMENSION F(N) F(1)50,0 F(2)20,0 IF (TIME .LE. 0.5) F(1)=500,0 RETURN END SOLUTION BY CENTRAL OIFFERENCE NETHOD GIVEN DATAS ne 2 NSTEP2 49 DELT= 0,20000000E-01 SOLUTION: TIME = XCL1) — XDCT1)—xDMET, 1) X(1,2) XDCL,2) —_ XDDET 42) 0.0000 0,0000E+90 0,0000E+00 0,2500E+02 0,00N0F400 0,0000E+00 0,0000E+00 0.0200 0,5009E-02 9.0000z+00 0,2500E+02 0.0400 0,1940E=01 0.4850E%00 0.2350F+02 0,0b00 0.4154E=01 0,9134E+00 0,1934E402 0,0000£+00 0,0000E+00 9,0000E+00 0,8000E-03 0,2000E=01 0,2000E+01 9,4512F=-02 0.13286 +00 280E+01 9.0800 DeA2HLEFO1 9,1344E402 0,1379E-01 032478400 0.1391F 102 0.1000 DLASGEFO1 0.7043E601 0,3080E~01 0.6572E400 0,1935F+02 041200 0,1302E+00 0,1530E+01 0.1347E+01 0.1400 0,1600E¢00 0, 1515E4n1 9,5632E-01 0,1063F401 0,2127E+02 T+2RLOE+01 U,A917EO1 0.1459F%01 0,1831E 602 0.1600 0,1877E+00 0,1436E+01 6.1800 0,21296+00 0,1323E401 -.6059E¢01 0.9000 0,2345E+00 =, 1023E¢01 =.5164E+01 0,12628+00 0,1747E+01 0.10508 +02 0,1639E400 0,1846E401 -,6577E+00 8737E+01 0,1991E+90 =,5925E400 =, 27148402 90,9200 D,2101E400 =. 1165E+01 =,5533E+01 OL1715E400 =.1120F401 =, 2565E +02 0.9400 0,1842E400 ~,1253E+01 -.3717E+01 0,1365E+00 -,1566E+01 -.18R9E+02 0.9600 O,157LE+00 ~.1325E4U1 =,2966E+01 O.9MOBE=01 =.1837E401 -.A195F401 0.9800 0,1290E+9u =.1379E401 =. 2515E+01 0.6131F 01 =.1879E401 0,3993F401 341.05 m, X, (0) = X, 0) =0. Solution: (a) Frequency equation is: @?/40 0]4[ 6000 -3000]| _ 0 40] *[-3000 3000 0? [m] + [Kl] = w* — 225 w? + 5625 = 0 PROGRAM 6.F MAIN PROGRAM FOR CALLING THE SUBROUTINE QUART SOLUTION OF: A(1)*(X**4)+A(2)*(K*#3) 4A(3)*(K**2) A (4) *K4A(5) =0 DIMENSION A(5),RR(4) ,RI(4) FOLLOWING LINE CONTAINS PROBLEM-DEPENDENT DATA DATA A/1.0,0.0,-225.0,0.0,5625.0/ END OF PROBLEM-DEPENDENT DATA WRITE (26,10) (A(I),T=1,5) 10 FORMAT (//,31H SOLUTION OF A QUARTIC EQUATION, //, 6H DATA: ,/, 2 TH A(1) =,E15.6,/,7H A(2) =,E15.6,/,7H A(3) =,E15.6,/, 3 TH A(4) =,E15.6,/,7H A(5) =,E15.6,/) CALL QUART (A,RR,RI) WRITE (26,20) 20 FORMAT (/,7H ROOTS:,//,9H ROOT NO.,3X,10H REAL PART, 5x, 2 15H IMAGINARY PART, /) DO 30 I=1,4 30 WRITE (26,40) I, RR(I),RI(I) 40 FORMAT (I5,3X,E15.6,3X,£15.6) STOP END SOLUTION OF A QUARTIC EQUATION DATA: A(1) 0.100000B+01 A(2) 0.000000E+00 A(3) = -0.2250008+03 Ald) 0.000000E+00 A(5) = 0.562500B+04 ROOTS: ROOT NO. REAL PART IMAGINARY PART 1 -0.1401268+02 0. 000000E+00 2 -0.535230E+01 — 0.000000E+00 3 0.535230E+01 — 0.000000E+00 4 0.140126E+02 0. 000000E+00 (b) © 40 oF + 6000) x! - 3000 x! = 0; 342f Writing X® { XP = o 5 XY —40 w? + 6000 3000 {40 (6.3523)? + sooo} 3000 {40 (14.0126) + 6000} 3000 1.6180384 0.6180395 Eqs. (5.18) give X(? =-0.03618 m, x@ =-0.01382 m, o o Displacements of masses m, and m, are given by Eqs. (5.15): X, (© = 0.03618 cos (5.3523 t) — 0.01382 cos (14.0126 t) X, (©) = -0.05854 cos (5.3523 t) — 0.008541 cos (14.0126 t) DIMENSION C(2,2),FZ(2) REAL K(2,2),M(2,2) COMPLEX 2(2,2),X(2),AA, BB, DEN © INPUT DATA DATA M/20.0,0.0,0.0,20.0/ DATA C/200,0.0,0.0,0.0/ DATA K/7000.0,-35000.0, DATA FZ/5.0,10.0/ 35000.0,7000.0/ OMF=5.0 C END OF INPUT DATA DO 10 I=1,2 DO 10 J=1.2 As (OMF**2)*M(I,J)+K(I,J) ME *C (I, S) 10 2 (1,3) =CMPLX (A,B) DEN=Z(1,1)*Z(2,2)-Z(1,2)*2(1,2) AA=Z (2,2) *CMPLX(FZ(1),0.0) BB=Z (1,2) *CMPLX(FZ(2),0.0) X(1)=(AA-BB) /DEN AA=Z (1,1) *CMPLX(FZ(2) ,0.0) BB=Z (1,2) *CMPLX(FZ(1),0.0) X(2)=(AA-BB) /DEN PRINT 20,X(1),X(2) 20 FORMAT (//,2X,25H SOLUTION OF PROBLEM 5.49,//,2X, 27HX(1) =,2E15.8,/,2X,7H X(2) =,2E15.8,/) PRINT 30, OMF 30 FORMAT (2X, 6H OMF=,E15.8) STOP END SOLUTION OF PROBLEM 5.69 X(1)=0.58883249E-02-0.243654825-02 X(2)=0.10203046E-01-0.284263968-02 OMF=0 .50000000E+01 343vee Vibration response of the System shown in Fig. 5-16: #,= 1000, #2= 500, m=2, m2= I, RiC)= 1, X20) = Os #&, (0)= -4, X2(0) =0 4 wt, of = fre te Kiries ke yt site pF am wrt 2 al = 150 500 $4 (Age 500% 5 xi? It 4 Fig (a+ Ft) - Ene f = 250; 1000 Wr IS-814 rad/s» Wy = 31-6229 rad/s (ey ne 22 ke _ 500 _ oO” TWhyenNaton x@ =m, cot + Ka =1(250) +500 a) ne Xt 2 fe _ __ 500 . (2) @” Tettk = Dp cl 2 x 28,42 -1 (1000) +500 (t= xy? cos GE +b) + XO cos Gat t B2) alt=, x es @,t4 $i) +r, x cs (rt + Hay (Es) Initial condifiont yeeld ; H,0)= 1 = xi cos (15-81 +H) + XI? cos (31-6228 t+ 42) Haled= 0 = 2x1" cof (15-81 £4 fr) — xO cas (36208 £4 2) = © Xf? Sin (15-8114 E +H) _ og, x2) sin Gaze +4) Ryl0) = 0 = — r,05, x1 sin (15-8114 £4 4) = rgd, x2 sin (31-6228 E tbe) RO) = or (E4) xP 5 gp 4 x cos bp = 1 (es) 2x\? cS dy- x os da=0 (0 15-814 xf sin gy — 31-6228 XE sin gy = -1 (1) - 36228 sing, + 31-6228 x(?) sing, = © (Es) Solution of Egs. (Es) amd (6): Wass = 4 (es) Po $2= F (0) 344Solution of Egs.(E7) amd (Es): x sin $1 = 0-02 108 (a) x) sin gb, = 0-02108 (En) Egs- (Es) amd (En) yields yO gag, dz 0 06316 rad Eys- (E10) omA (E42) yield: x 2 667, #25 06-0316! rad Response: x, (t) = 0-334 cos (15-84 t + 0-06316) +0667 cos (31-6228 £ +0-03161) (E13) a (t)= 0-669 coS (15-814 t +0-06316) 0-667 cos( 31-6228 4 40-0316!) (EW) Plotting of Egs. (Eis) amd (E yy): 15 15) o 1 2 3 4 5 6 7 8 9 0 % Ex5_70.m for i = 1: 501 t(i) = 10 * (i-1)/500; x1 (i) = 0.334 * cos(15.8114*t (i) + 0.06316)... + 0.667 * cos(31.6228*t(i) + 0.03161); x2(i) = 0.668 * cos(15.8114*t(i) + 0.06316)... = 0,667 * cos(31.6228*t(i) + 0.03161); 345end subplot (211) ; plot (t,x) ; xlabel(‘t‘); ylabel ("x1 (t)') subplot (212); plot (t, x2); xlabel(‘t’); ylabel(‘x2(t)’) For the initial conditrons Bi(e)at, xg)=2, * (OVE 1 and x2 (0)= -2, Egs- (Ez) of Solution of Problem 5.70 yield ay K,)s1= x) ohh, 4 x cos gy (E,) H1@)= 2 = 2x cos dy) — xf cos pa (2) Ry O)e (= -15-814 x6 sing, — 31-6229 x sing. (Ez) Ky(o)= 2 = - 31-6228 x sing, + 31-6229 x sing, (Ey) Egs-€,) and (E02) give: x) csp, = 1, x\{*? cos ppzo (>) Eps: (E3) and (Ey) yield xt sin $,= 002108, x? Sing, =- 004216 (Es) Epotiont (Es) amd (Ee) can be used te obtain xe 1000222, $5 c-02108 rad Xi) = oo4zlé, P= E vad Response of the system: KE) = boe0222 cos (15.814 £ + o-02108) +0.04216 cos (3l-ez28¢ + T) €1) H(t) = 2.000444 cos Cis-eug t + 0-02 108) ~ 004216 cos (3t-6228¢ + TD > Plotting of Egs- (Ez) and (Eg): 346% ExS_71.m for i = 1:, 501 t(i) = 10 * (4-1) /500; x1(i) = 1.000222 * cos(15.8114*t (i) + 0.02108)... + 0.04216 * cos(31.6228*t(i) + pi/2); x2(i) = 2.000444 * cos(15.8114*t (4) + 0.02108)... -0.04216 * cos(31.6228*t(i) + pi/2); end subplot (211) ; plot (t, x1); xlabel (‘t’); ylabel (‘x1(t)’) subplot (212) ; plot (t,x2) ; xlabel(‘t'); ylabel (‘x2(t)‘) 347% Ex5_72.m . >A = 1e6*(25 -5; -5 5] 25000000 = -5000000 -5000000 5000000 [10000 0; 0 5000) 10000 0 0 5000 >>[V, D) = eig(A, B) 0.8719 0.2703 -0.4896 0.9628 1.0e+003 * 2.7808 0 0 0.7192 DifSerential equations ne (Ey) tok, — 5 X45 2-10 em, +10 x = 5 cos st (€2) Let y= x, 9, == ase 2 yt Iye % Equations (c,) and (Er) can be rewritten as 2 Yn + 20%, -5 Yu +50 Y,- te ¥3 2 2 sin at 10, — FS dp tS yd, +10 Fy = S cosst or yg (* % R a eB el a at (es) 3 4 ty OF da 0-5 Ty t Y,— Fz + 05 CO st or ¥ - fF (4) with \ Fie F(e) = 4 7 J 4 43 ty aand F is given by the right hand side of Ey. (Ex). Solution & (Ey) using MATLAB: & ExS_73.m This program will use the function dfun5_73.m, they should % be in the same folder tspan = [0: 0.4: 20]; yO = (1; 0; -1; 01; [ty] = ode23('dfun5_73", tspan, yO); disp(’ t xA(t) — xd2(t) —-x2(t) 02 () 5 disp((t yl); subplot (211); plot(t.y(:,1)); xlabel ("t'); ylabel (*x1(t)‘); subplot (212) ; plot (t.y(:,3)); xlabel(’t’) ylabel (*x2(t)'); % dfun5_73.m function f = dfun5_73(t,y) £ = zeros(4,1); £(1) = y(2)7 £(2) = -10*y(2) + 2.5*y(4) - 25*y(1) + Sty(3) + sin(3*t); £3) = y(4)7 £(4) = 0.54y(2) - 0.5*y(4) + y(1) - y(3) + 0.5*cos(5*t); 1 05] = & 0 05 0 2 4 6 8 10 2 14 16 18 20 ' 05; 0 0.5] 349Results of Ex’ >>ExS_73 t xd(t) xdl(t) x2 (t) xd2(t) 0 1.0000 -1.0000 0 0.4000 © 0.3177 -0.8995 0.3577 0.8000 -0.0076 -0.7604 0.3375 1.2000 -0.0763 -0.5974 0.5230 1.6000 © -0.0741 -0.3445 0.6835 2.0000 -0.0356 -0.1033 0.4929 2.4000 0.0214 0.0716 | 0.4372 18.8000 -0.0268 0.0072 0.0066 © -0. 0481 19.2000 0.0010 0.1087 0.0196 = 0.0720 19.6000 0.0331» 0.0247 0.0233 -0.0721 20.0000 0.0178 +0827 -0.0117 -0.0459 Ga) Fnetions: am X43 x) —- 2 at = F(t) me, 20H) 4 3H 2 = 0 bey %) = -300 x14 200 M4 FF, CED Hp= 400 X,- Goo x, Let an *1 eo Zero oe fe = <° = inil a 2 a ° conditions i ie ° assumed 44 He Then epations t be solved ave: fia a ods —3069,4200 4+ RCE) at E %, &) 4009, — G06 F, + with F(t) shown in the figure: ce Soo! t (sec) U od MATLAB Solution of Ey. (E1): 350ExS_74.m % This program will use the function dfun5_74.m, they should % be in the same folder tspan = [0: 0.01: 5]; yO = 10; 0; 0; 0: {ty] = ode23(‘dfunS_74", tspan, y0); subplot (211) ; plot (t,y(:,2)): xlabel("t"); ylabel ("x1 (t)"); subplot (212) ; plot (tiy(:,3)); xlabel(‘t’); ylabel ('x2(t)/); $ afuns_74.m function £ = dfun5_74(t,y) F1 = 500 * stepfun(t, 0.0) - 500 * stepfun(t, 0.5); £ = zeros(4,1); £(1) = y(2); £(2) = -300*y(1) + 200*y(3) + 1/20; £03) = y(4); £(4) = 400*y(1) - 600*y(3); 03; 0 05 1 £4145 2 25 3 35 4 45 o 05 1 4145 2 25 3 35 4 45 351Freguency equation, Eg. (5-9): mime 1 § (y+ eo) me + (Kot &3> mF os” . + { (et #2) (Kr4 3) - #2 F =0 1) With my=mg= 0-2, €,= te=18 antl 3-0, Eg. (£1) becomes 0-04 wt 10-8 wo 4 324 50 or 4 270 ww? + 8100 =o 2) Solution of Ey. (Ez) using MATLAB: % Ex5_75.m >>roots([{l 0 -270 0 8100)) ans = 15.35001820805078 -15.35001820805078 5 .86318522754564 ~5 6318522754564 Gofm Tefeb Le, SRD REE EF oe 2 Fe eee” 5s gees FT ey >) a= Xj 88h a gee (Ey Eps. (5.35): ; 242069) Fig - Zin (268) Feo « Xe) = zh 4) Zu W) Zz. (ce) —Z,, (6%) (e) Zin (609) Fro + Zu (2) Fro (s) xX, Sees > Zu 4@) Z,, (ew) - ZB (Cw) here : | “er Zug (GW) = — Wm, 4 U9 Cog t+ Kegs TSE vey bakes My = Mag Ol, MZ=O, Cy= tO, C= 622=0, Kn = 40, €,,= 20, K,=-20, Fip= '> Foo 2, a= 5 Hence = Z,, (209) = 97-5 +52, Z,(tw)= —20 352and 23, (409) = 17-5 Solution using MATLAB: (Real amd Imaginary parts of x, (4) and x, (t) Jiven by E,. (€3)) % Ex5_76.m ml = 0.1; m22 = 0.1; complex ((-w*2*ml1 + k11), well); complex((-w*2*m12 + k12), w*el2); 222 = complex((-w*2*m22 + 22), w*e22); XL = (222*P10 - 212*F20)/(z11*222 - 212*z12) X2 = (-212*F10 + 211*F20)/(z11*z22 - 212*212) for i = 1: 101 t(i) = 5*(i-1)/100; x1(i) = X1 * exp(complex(0, w*t(i))); x2(i) = X2 * exp(complex(0, w*t(i))); end subplot (231) ; plot(t, real(x1)); xlabel(‘t’); title(‘Real part of x1(t)‘); subplot (232) ; plot (t, imag(x1)); xlabel(‘t’ title(‘Imaginary part of x1(t)’); subplot (233); plot (real (x1), imag(x1)); title(’xl: x-real y-imag’); subplot (234) ; plot(t, xeal(x2)); xlabel(’t'); title(‘Real part of x2(t)'); 353subplot (235) ; plot (t, imag(x2)); xlabel(‘t'); title (‘Imaginary part of x2(t)’); subplot (236) ; plot (real (x2), imag(x2)); title(‘x2: x-real y-imag’); Real part of x1(t) Imaginary part of x1(t) ” x1: x-eal 0.4, 04 04 o2| 02 02 0 0 0 0.2 0.2 0.2 0.4 0.4 0.4! oO 5 oO 5 05 t Real part of x2(t) Imaginary fart of x2i(t) 04 0.4, o2| 02 02 0 9 9 0.2) 0.2) 0.2) 0.4! 04 0.4) oO 5 0 5 05 oO 05 t t @) Roets of the equation 4 x4 a2 0? 4 244 x? 20% — 1200 =0 Using MATLAB: % Ex5_77.m >>roots([1 -32 244 -20 -1200]) ans = 20.00000000000001 11.15980239097340 2.77656274263302 -1.93636513360642 354Results of Ex5_78 using Program88.cpp FECES IOC III TAI RARE EAE Please input the coefficient array a (a[0] is the coefficient of x*4 and nonzero): 1.0 0.0 ~270 0.0 8100 SOLUTION OF QUARTIC DATA: ALO] 1.000000 Afi] = 0.000000 A[2] = -270.000000 A(3] = 0.000000 A[4] = 8100.000000 ROOTS: ROOT NO. 1 2 3 4 EQUATION REAL PART -15.35001821 -5. 86318523 5.86318523 15.35001821 IMAGINARY PART 0.00000000 0.00000000 0.00000000 0.00000000 Results of Ex5_79 using Program88.cpp Please input the coefficient array a (a[0] is the coefficient of x*4 and nonzero): 1.0 -32 244 -20 -1200 SOLUTION OF QUARTIC DATA: A[O] = 1.000000 A(1] = -32.000000 A[2] = 244.000000 a(3] -20.000000 A[4] = -1200.000000 ROOTS: ROOT NO. 1 2 3 4 EQUATION REAL PART 11. 15980239 20.00000000 -1.93636513 2.77656274 IMAGINARY PART 0.00000000 0.00000000 0.00000000 0.00000000 355PROGRAM 6.F MAIN PROGRAM FOR CALLING THE SUBROUTINE QUART SOLUTION OF: _A(1) * (X**4) +A(2) # (X*#3) 4A(3) * (X4#2) +A(4) #K+A(5) =! DIMENSION A(S) ,RR(4) , RI (4) FOLLOWING LINE CONTAINS PROBLEM-DEPENDENT DATA DATA A/1.0,0.0,~270.0,0.0,8100.0/ END OF PROBLEM-DEPENDENT DATA PRINT 10, (A(Z) , T#1,5) 20 _ FORMAT (//,31H SOLUTION OF A QUARTIC EQUATION, //, 6H DATA:,/, 2 THA(Q) =,B15.6,/,7H A(2) =,£15.6,/,7H A(3) =,E15.6,/, 3 THA(4) =/£15.6,/,7H A(S) =,815.6,/) CALL QUART (A/RR,RI) PRINT 20 20 FORMAT (/,7H ROOTS: , //, 9H ROOT NO.,3X, 104 REAL PART, 5X, 2. 15H IMAGINARY PART, /) DO 30 T=1,4 30 PRINT 40,1, RR(Z),RI(I) 40 © FORMAT (15, 3X, 15.6, 3X, E15.6) SUBROUTINE QUART (A, RR, RI DIMENSION A(5),RR(4) ,RI(4) ,B(4) ,RRC(3) ,RIC(3) DO 10 T-2,5 zo A(z) =a(0)/a(Q) B(a)=1.0 B(2)=-A(3) 1B (3) =A(4) #A(2) 4. 0*A(5) (4) =A(5) * (4. 0%A(3) -A(2) *#2) -A(4) ##2 CALL CUBIC (B,RRC,RIC) IF (RIC(2)_.NE. 0.0) Go TO 20 XeAMAKL (RRC(1) ,RRC(2) , RRC(3) ) RRC(1) =X 20. KeRRC(1)/2.0 IF ((x##2-A(5)) .G7. 0.0) GO 70 30 Yy=0.0 ZasQat ( (A(2) /2.0) **242.08X-A(3) } © ADD TO ABOVE EQN. G0 TO 40 30 ¥aSQRT(x##2-A(5)) Ba~(A(4) -A(2) #X) /(2.0*¥) 40 Cl=1.0 C2=A(2) /2.042 C3=KHY CALL QUADRA (C1,C2,C3,QR1,QR2,Q71,Q12) RR(1) =OR1 RR (2) =OR2 RI(1)=Q12 RI(2) =912 Cl=1.0 C2=A(2) /2.0-% C3=K-¥ CALL QUADRA (C1, C2,C3,QR1,QR2, 071,72) BR (3) =QR1 RR (4) =QR2 RI(3) =Q12 RI (4) =Q12 RETURN END 356SUBROUTINE QUADRA : SOLUTION OF QUADRATIC EQUATION A1* (X*#2)+A2*(X)+A3 = 0 AL,A2,A3 ARE INPUT, (RR1,RI1) AND (RR2,RI2) ARE ROOTS (OUTPUT) Al MOST NOT BE EQUAL TO ZERO SUBROUTINE QUADRA (A1,A2,A3,RRL,RR2,RI1,RI2) RAD=A2*#2~4,0A1*A3 IF (RAD) 20,10,10 10 SRAD=SQRT(RAD) RR1= (~A2-SRAD) / (2.0*A1) RR2= (-A2+SRAD) /(2.0*A1) RI1=0.0 RI2=0.0 aanaanaa 20 RRL=-A2/(2.0*AL) RR2-RR1 RIL=SRAD/(2.0*A1) RI22-RTL RETURN END SUBROUTINE CUBIC ananan ROOTS OF CUBIC EQUATION A(1)*(X*#3) +A(2) * (X**2) +A(3) #X+A(4) #0 SUBROUTINE CUBIC (A,RR,RI) DIMENSION A(4),RR(3) ,RI(3) 20 : AO=A(1) Lea (2) /3.0 28a (3) /3.0 Bea (4) Gz (A0##2) #A3~3.O*RO*AL*A2#2,0#(AI**3) HaAG*A2-Al* #2 YLaG*#2+4.0# (H¥¥3) IF (W1 LT. 0.0) Go TO 100 yaesort (v1) 2i= (G+¥2) /2.0 22s (G-Y2)/2.0 IF(Z1 .LT, 0.0) GO TO 21 23=Z1** (1.0/3.0) Go TO 22 21-3 (-22)##(1.0/3.0) 232-23, 22 0 «IF(22 .LT, 0.0) Go 70 23 24=22+* (1.0/3.0) Go 70 24 2300 Za=(~22)**(2.0/3.0) 242-24 24 CONTINUE RR(1) =~ (A1+23424) /20 RR (2)=(-2.0*A1+23+24) / (2.0*A0) RY (2) sSQRT (3.0) * (24-23) / (2.00) BR (3) =RR(2) RI(3)=-RI(2) Go To 200 100 SHeSQRT(-H) XR=2.0°SH THETA=ACOS (G/(2.0*H*SH)) /3.0 XY1=2.0*SH*COS (THETA) PI=3.1416 X¥2=2. 0*SH*COS (THETA+(2.0*PI/3.0)) XY3=2, 0*SH*COS (THETA+(4-0*PI/3.0)) 357RR (1) = (x¥1-A1) /A0 RR (2) = (X¥2-Al) /20 RR (3) = (XY3-A1) /AO 200 RETURW END SOLUTION OF A QUARTIC EQUATION DATA: A(1) = 0,100000B+02 (2) 0.0000002+00 A(3) = -0,270000E+03 A(4) = 0,000000E+00 A(S) = 0.810000E+04 ROOTS: ROOT NO. REAL PART IMAGINARY PART 1 =0.1535008+02 0.0000008+00 2 -0.886319E+01 0:0000008+00 3 0.596319E+02 0:0000008+00 a 0.1535008+02 0.0000008+00 c == ¢ © PROGRAN 6.F C MAIN PROGRAM FOR CALLING THE SUBROUTINE QUART c ¢ aoeee © SOLUTION 01 4) 4A(2) « (X*#3) 4A (3) # (X42) 40 (4) #X4A(5) = DIMENSION A(5) ,RR(4) ,RI (4) © FOLLOWING LINE CONTAINS PROBLEM-DEPENDENT DATA DATA A/1.0,~32.0, 244.0, -20.0,-1200.0/ C END OF PROBLEM-DEPENDENT DATA PRINT 10, (A(I),T=1,5) 10 FORMAT (//,31H SOLUTION OF A QUARTIC EQUATION, //,6H DATA:,/ 2 TH A(L) =/B15.6,/,7H A(2) =,E15.6,/,7H A(3) =,E15.6,/, 3 TH A(4) =,B15.6,/,7H A(S) =,E15.6,/) CALL QUART (A,RR,RI) PRINT 20 20 _ FORMAT (/,7H ROOTS:,//,9H ROOT NO.,3X,10H REAL PART, 5X, 2 1SH IMAGINARY PART, /) DO 30 Te1,4 30 PRINT 40,1, RR(Z),RI(z) 40 © FORMAT (I5,3K,E15.6,3X,E15.6) STOP END SOLUTION OF A QUARTIC EQUATION DATA: A(1) = 0.100000E+02 A(2) = -0.3200008+02 AI3) = 0.2440008+03 Ala) = -0.2000008+02 AIS) = -0.1200008+04 ROOTS: ROOT NO. REAL PART IMAGINARY PART 1 0.111598E+02 0.0000008+00 2 9.2000008+02 0.000000E+00 3 -0.193637E+01 0.000000z+00 4 0.277656B+02 0.000000z+00 358The system shown in Fig. A a & can be drawn in eguivalent form as Ahown in Fig. B Where both pulleys have the same radius, 1, Driver, J Driven, a, The equivalent mass Fig. A moment of inertia of pulley 2 can be computed = _— in diggerent speed ratios as: am af Fig. B a! = % (speed rate = 5 (182 250 = 2 (350) + % (50 ‘450% (22 Fe) 2 (BB) or P = 01837 Hs o-Sl0z Hy; F653 5 4-598 % stiffness of the belt (on cach side) is given by AE aaa where A= cross-sectional area of belt, E= Young's modulus and f= length of the belt. Length of the belt (distance Pi Pa in Fig. A) isgiven by Le 4 [4er- (o-ay J? In this example, c25m,D='m, d= 025m and hence % 4 [46Y-(C-o2sF ]* = 4.9859 m ke Ale”) 9 = 2.008 y Fagep = 20087 KI A Yn Eguation of motion: T+ ky (O+e2)=0 > HG + Kp ei (1+ +) = Retr ke (a+0:)=0 > Ret *0,( 2 +1) i 359ey (2 ) (see solutvon of problem 5-60). 2, In order for the oe! where y= 2k 1? Here = ot tg-m* and = ond rg-m natural freguency W&, to be away from the speeds 150, 250,350, 450 amd 750 rpm {or, 15-708, 264180, 36.652, 47.124 and 79-540 rad/sec} , 9, < 15-708 rad /sec in Wy, 2 79.540 vad/sec Since W, involves A (tHeough ky), it can be determined From the above inegualities. Velocity of tup before impact is given by: my? =mp, gh or v= V2gh =V2 (9.81) (2) = 6.2642 m/sec (a) Impact is inelastic: Conservation of momentum leads to: Meap Yeap + Masvit (0) = (trap + Banvil) Yo (1000) (6.2642) = = 1.0440 ot *9 = “(7900 + 5000) m/sec (b) Natural frequencies: ky +k ky r{ki tke | ke ky ke aaa = tim = 4\{ mm my my my ‘Thus the natural frequency requirement can be stated as: at thi tk: + Ky (2? |“s0000 10000 ~ 360(c) Free vibration response: Initial conditions: %1(0) = x2(0) = %1(0) = 0, x2(0) = vo = 1.0440 m/sec Maximum forces in the springs: Fy = ky x1 | max (2) Fy = ke (x2 —™1) max (3) For a helical spring, the shear stress (7) under an axial force F is given by: aFD = 4) rok S59 ) 2+d where k, = shear stress correction factor = , D = mean coil diameter, and d 2D = wire diameter. Ref: J. E. Shigley and C. R. Mischke, "Mechanical Engineering Design,” 5th Ed., McGraw-Hill, New York, 1989. Since stress is to be less than the yield stress witth a factor of safety of 1.5, we have (8) (8) where 7, and 7; denote the shear stresses induced in the springs ky and ke, respectively, and Tyiea is the shear stress corresponding to the yield stress of the material. 361