Chapter 4 Vibration Under General Forcing Conditions sin at — 2F so cos nwt where co= 3 Tw n= 2,4,6,.. w (Paty @) a =&,h 1 sin S ee we ae Va-1) +(2rrye re (ot 4) iz _ 2 ‘ 4 (neat = Te yg GET) Vaya Geery é where r= Ys, f= tov? (2253) and g- — From the solution of problem 4.67: F(t) = { Gre); os tx &% -@hY%)+2% > wstse Fourier series representation of F(t) is Fe) = 2-4 = = cos nest x(tye fe _ 2k where [) = 3h @) Fi) = af er not 1 x(t) = ue Le SSS HZ, £00" Temi where r= “ofa, and £ = tan ‘(Gs ) sin (nust- $,) G4) Fe)= B+ SB hein nest here os F ne 4,2... 214A sin (nist - 6.) Fe RS the YB ————T “On get te ZF [eee ra arery where r= 0/9, and g. = tant (BSE) From Example 1.12, c()_ Torgue, My (t) M4,) Time, t iS Ber t 2 ie” Ne u Torque transmitted to driven gear is shown in the figure. It can be expressed as: M()= 2 + § (a cconut +b, sina wi} = where w= 2x |) — 104.72 rad see 15 =a 5 > 7 = 0.058: Ose 5 TET 125 sec My = 1000 N-m ; oxesi, M(t) = 8 lo; Br f inutt pain 2ut4saingwtt a Q) 217Equation of motion of mass: mi+e(k )+k xy) =0 () Since y(t) is composed of several terms, the solution of Eq. (2) can be found by superposingg the solutions corresponding to each of the terms appearing in Eq. (1). When y(t) = Y/2, constant, equation of motion becomes: kY mi -+ex+kx= AX = constant (3) The steady state solution of Eq. (3) is given by (see Example 4.6): ~ aA ot co tata] w 2 5 ¢ a at 5) where $= tan ree (5) When y(t) = A sin 11t, the steady state solution of Eq. (2) is given by Eq. (3.67): x(t) =A sin (Nt — 4) 6) 1 1+? |? 7 where A ace sen (2) ee ach 0) $= tan bate ad re oe From solution of Problem 4.7, we can express the base motion as: 2 2 He) =r—reosut+ & ;| -£(3 cootutt + a) Equation of motion: mi+k(x-y)tuN=0 or mi+kxtpNeaky =fers£e (5 J were a KEE | cos2wt+* (2) For given numerical data, Eq. (2) becomes: 218¥ +100 x 40.981 = 100 y 2 = 7100 (0.1) + —* Jat) (2 7 “J ~ (0) 03) 10 = 29000 (22) cos 200t — -* > = 10.25 — 10 cos 100 t — 0.25 cos 200 t — -*~ (3) Using the definition of equivalent damping constant, c,q, the solution of Eq. (3) can be found by superposition. -4HN _4ume fa" GNX AX “ where 1 is the frequency of the harmonic force and X is the amplitude of the mass. Steady state solution due to constant term, Fo, on the r-h.s. of Eq. (3) (from Example 4,6): 2 £(;| (5) Steady state solution due to harmonic term, Fo cos 12 t, on the r.h.s. of Eq. (3) (from Eqs. (3.89), (3.93) and (3.96)): x)= 72 = eke le je x(t) =X cos (t — 4) (6) (sf z sien 1- 7K; where X= =" : and ¢=tan 133) Tot “S| N=mg=1(9.81) = oat Newtoos, = \/E = \/@ = 10 rad/sec, and + sign is to be used in Eq. (7) for 9 uh. Equations (5) and (6) can be superposed suitably to find the complete steady state solution of Eq. (3)- Base motion can be represented by Fourier series as (see solution of Problem 4.8 or Example 1.12): -¥/r_ ees 1 19=¥ [F-tnors banaue banaue} (a) Equation of motion of mass: m+k(a—-y)tuN=0 219or mitkxtuN=ky ky — = tafiautetaanvredansers } (2) Using the definition of equivalent viscous damping constant: 4uN _4umg o 5 3 fa FOX ~ aA AX i) where {1 is the frequency of the harmonic force and X is the amplitude of the mass, the solution of Eq. (2) can be determined using the superposition principle. Steady state solution due to constant term, Fo, on the r.b.s. of Eq. (2) (from Example 4.6): Fo 7 ~ io wo x(t) (4) | co Steady state solution due to harmonic term, Fo sin 1 t, on the r-h.s. of Eq. (2) (from Eqs. (3.89), (3.93) and (3.96)): x(t) =X sin (At — 4) 4 1- 4uN 2 ee a deta! « where X= 52 = and $= tan and + sign is to be used in Eq, (6) for 2 w,. Equations (4) and (5) can be superposed suitably to find the complete steady state solution of Ea. (2). Base excitation: y(t)= Y cos at -) with Y=o.05 and w=5 Equation of motion of the system: mit CREME RYE CHE KY cos WE- CUT Sint Equation -2) is similar to Ey. (4-4) with (6-2) M20, a2 ky, b= - C09 and w= bp=03 4 =2,3,0° Steady state response of the system is given by Eg. (4-19): 220x, (2 — tes wot pe ferns ea iF sor (wt #1) + Mb sin (wt - 4) } Here Oy I = [20% = 20 rad/s c c 20 2025, eee =: 005 20 © afk 2 Yaooe (oy Wye fT? Wa 14-975 rad/s a2 KY = 4000 (0-05) = 200, b= -eWY=~— 20(5)(105)=-5 $= ten (T5 ) = tag! (BeetDeS=>) = 002666 rad (er )* + (23 r)” = J (io.2st)* + (2 e005 wos) 2 0-937833 Solution of the homogeneous eguation is given by Eg. (2.70): —TO,t x(t) = X, € cos (wt - $2) =X, é cos (ia.a7s t - 4) €-3) po t=G where X, and #, are Unknewn constants. Total solution : -t x (y= XE) + Xp lt) = xe cos (19-975 E - fo) 5 ‘ toe : 3 gin(steos + soaven [ gear Co8 (SE- 0102666 )~ az, Sin (st ov0266e)} =X, &* cos (19-975 t - 9.) + 0053314 cos (St -0-02666) = 0-001333 sin (St - 002666) @-4) where X, and 4, are to be found from the initial conditions. Differentiation of Ey. (E:4) gives the velocity as: R(EDY= - Xo &* cos (14-975 - eo) — X, (19-975) at sin (19-975 t - fo) 221= 026657 sin (5¢ -0-02666) = 0:00 6665 cos (St — 502666) (E-5) Using the initial conditions, we obtain x= t=o)= oy = oF *(tee)= oy = X, cos A, + 0-053314 cos (e-02666) + 0001333 Sin (0-02 666) or Ko CoS $y = 004666947 (e-6) and R= ¥(txe)= to — Xp cos J, + (74975 Xo Sin H, + 0°26657 Sin (002666) —0-006665 cos (a-02666) oe X, Sin f, = 0-0523 7678 €-7) Solution of Eys- (e:6) and (€-7) gives Xo= {Ke cos dey + (Xo sin A FF = o-o7015247 (E-8) $= tan! ( 2 —*) = 084295916 rad 3) Complete solution is given by Eq. (E-4): x(t) = 007015247 €* tot (19.975 t -0- 84295916) + 0-053314 cos (St—0-02666 ) -0+001333 sin (St - 002666) (E-t0)> From solution of problem 1.75, F(t) = 9-958 — 20-1587 cos 10-472 E + 23-5253 sin tog 72t i t + $4097 cof no.g44t + (2-2646 Sin 20.744 + O2TTIA cos aeHiet — ogoeq sin ziaiet — &) on [Ee = TOOT. 122-4745 red/ee + F= ols r= 0+08S5 The steady state solution is given by ey. (4-13): 222y(t) = 19584 _ 2001507 1 | 29884 _ govise7 saet- * a Sawa cos(0+472t—- A) 23.5253 7 Jeane? sin (10-472 - By) 4 907TH cos (20.944 t - Bs. «(arty GE a p 122646 Ft sin (20.544 t- ae nar sa (20-964 #2) 3. + a or. 4 t - 2) |(i- erty +(6rr) — 2he64 f sin (31-416 - 2) — ‘ &, k on cas ) h Where = ta, (25L) = 1017226) = oot 72 rad #2> tan” (aie ») = ner feened = 00352 rad y= tan” ( S34) = 71 (01054913) = 00549 rad Noting that 23 r= 2 (et)(o0#55) = 0-017! and (1-t*) = 0+ 9927, Ey. (Ee) can be rewritten as X(#) = [oe3en — 13-7821 cof (10.472 + -0-0172)) FIS+ TIES sin (j0-472t ~ 0-0172) + 2-2715 cos(20.944t- 0-0352) + 8 4I6E sin (20-744 ¢ - 010352 4 2-6976 cos(31- 416 t 010549) 02896 sin (sgt - S49] « wt om. From problem 1.74, F(t)= 37-5 - 414-9436 cos 523-6t +4 (50-3139 Sin s23-6t + 28+ 6057 cos 104 72t ~ 146-1706 Sin 1047-2 t 435-7279 cos ISTo-gt + 55-1546 Sin 1570-8 ©) @n= ace = 20% = ize-aan radfec ; 5 = cog wo, 52366 Gee ecg = 1394 5 ete TBH jor? = 1661348 LIV = 2(0-06) (4-1394) = 0+ 4967 223x(t) = ie ale 8456 cos (523-6 - #1) * [r+ es” 150+ 3139 sin (523-6¢ - py 28-cose cos (1047-2 t-%2) 146 +1706 sin (loa7-2t — pe 35-7278 cos (IS70+8 t — 99) OF farts carne & cory Gre ap SELIT4e sin (1570. 5 t — 83) * -9r*)*4 (esr)? Since = tan (234)- saa! + &) 010308) =-0-0308 f= tan AER) = te '(- 0147) = 010147 Pye te" (2 £25)- tan ' (-0.00973) = -0.00773 the steady-state solution, Ey-(E2). can be expressed ag Xp(t) = 0+1¢22-0-003211 cos (523-6 +0-0308) +0: 001163 Sin (523-6¢ 40-0308) + Sarai nid? cos Gan7atoo, 0147) 2+ 7042 x10" sin (047-2 + 0. 2147) + 2-9145 x10 5 cos(is70. 8 t +0-00977) #464992 15% sin (1570-8 € 40% 100973) om ens [eae . J = 22°3607 S29 400 Te ot8 sec w= 2F 5 41-s8e rad free e06 oS rege 18733, = 2.5093 Tre Following date is used in Programi.F t& find Fourver coefficients in the expansion of F(t): 9:03 0:04 0:05 0-06 0-07 400 400 400 400 9 -=-- 0 224Result fs: F(t)= (60-0 4 25-5002 cos yl.gagt + 242-6276 sin G1 B8et 75-3884 cos 83-776 ¢ + (640237 Sin 83:76 t 41664806 Cos (25-664t + 50-7237 sin (25-664 = 6263538 cos (67-5524 + 27-7604 Sin (67-552 ¢ tee aN Since Sao amd ot Pp zo, ZEhtr-» the steady-state response of the water tank, &. (4°13), becomes Xp(t) = 010324 2-0325 x10” cos 4i-seat + 1963392 xi? sin giegeet — (1566 KIO” cos 83-776 4012458 xia? sin 83-776¢ 40-1078 Kio? cos 125-664 t 013317 xe? sin 125-664 — 0.2334 x10? Cos I67-S52t F007 Kia sin 167-552t 4-0 om F(t) Forcing function can be considered as the sum of fwo ramp functions, F(ty> Ft aid A(t) — folt-ted. 2 2 Response of the casting (undamped spring - mass system) te Fy is given by x(t) = Nee t wat ) for tz0 (e) Response due te Fy can be obtained from &%-(E1) by replacing + by t-t) and fo by — Fe: x(t) = - fe fSt-te _ sin wn(t-te) > e; (1 2 = Sn Sat £e) } fr tet, (& 225Total response of the casting is given by ; x(t) = 20) +22) = Fe fix iotlae Cie tayo to for tz t, (6) G19 (Fot/to) 5 oxtet, FQ) = Fo 3 tts st, 0 5 t> Sto ---(&) Response of the anvil is given by (ey. (4-33) for an undamped system ]: x) = 5 Sew sin (t= 2) dz (&) For ost < te: (t sin ,(t-T) Av way te 5 — (t- do sn Ont) (3) For to < ¢ < Sto: x(t) = + F(t) sin ,(t-7) de ‘0 to to § T fin On o m On Sin Ont { +. cos to + te sin oto [front [gs OF oo + * ae = ot ot £5 sin Ont -& C25 Onto Hy + & gp wleat-anyt = fe y, Lt en (t= te) - sin cant + Onto ] &,) & Gy 226Sto t = Cnt - calf ne Sin 8,(t-%) de + ef in ay (t-t) Ar] 2 ae * si t-te 9, (t-te) - + sin wort ies n By (t-te) + ty CO On (t-te) 5 si ot] St. + Feo [& cos n(t-*) | mo, LO, te re [sin (t-te) - Sin Wt + ton cof 4 (t- 5t2)] (es) From &-(4-33), t oat -30,(¢-% ret [ee (ET) on (eee) ae way ” (wera, Fe TO,t xéy2 fe 7 m™ Gy + f FOAM F ONE Fain yt. cos aye = cos wyt tin OY f de G = TOnt 30, : = fe er Ort Sf (x FO) cos OE + 8 Fin YT be wat] @ at ( cor gee ome FTO,t (4-10) z pone cos uyt [eer af oseaym ar - @ os we} mo, (6-7 0,)'+ &% ° -JOat 2 ef , EO TOE SO 03) sin OE coreyt} my [= 79,)? + OY ] newt R ore eae 8 (“tt - 8) ML] To.) OF] my [Tor OF] (4 where g= tan *(_@a a=)” Equation of motion: mé+kx=Ap(t) or 10 +1000x= + (0.1)? (50) (1 -TO,t € e7 3+) = 0.3927 — 0.3927 e~ 3* Solution: . 0.3927 0.3927 <3t (t) = Cy t+C, t _-——- Ut) = Oy cos uy t+ Oy sin t+ OST — OE 227where wy = VE- V ae = 10 rad/sec. Thus x(t) becomes x(t) = C; cos 10 t + Cy sin 10 t + 39.27 (10-*) — 36.0275 (10 where C, and C2 can be determined from the initial conditions. As t 00, € and the steady state response becomes x(t) = C, cos 10 t + Cz sin 10 t + 39.27 (10-5) m -3t my 34 0 BD Eyyotin of maton: mirtx= B_ Bes ut Fo in yt + Fe 2? x(t)= A wt + B sin yt + 3S Te (i yn x@)=0 a+ &-—% & (B.) a 2 Ie” Ten = » As 2 hen “Oro 4 noo a 2 (BP (8y} Fo wr x(t)= — [t- cos ot - ic) (1- cos ot) ] . ie y"t Fe ‘* iz 5,7 A ts & ay. 8 (4- ws Snot ago Ae) mG aye oF * os 3 Dy for t> os &-(4:33) gives Ts i HE = Ff ecey. sin alta) de Le S'G¢e) sin g(t) ae "" men es t t: x(t) fe ff in (tt) Ite Fe 1s, core] = Ele (t-te) = eof ont ] (ay) = Gay ates for o< ot x(t)= a fo ve. (t= fo Sond cs (t-2) sin @,(t-7) (dt) - & fmt -t) 6 ee] (t-*) 2 5) eos an(t a, {®(@) for ox t= ty ° tt fie Sin (t= %) Ae = [& sin 03, (t-%) = [ee yr, = eee aa t20 Te. sin Og(t-t) — c cos (a(t~ ot m 03, ty fet _ [os (t- 7) mG, te Bn = Sin U9, &] 2 Ife sin (t-te) + to re te) - @2)rey= {Ree cos HE) 3 ostst, ° 3 t >t, ©) For an undamped system, &. (4.33) gives t xt) = a f F(Z) sin o9,(¢-%) av ° For os t < to: 229t x(t) = we J (- cos wv) sin o,(¢ 2) dz () Neting that (ie (ost one) de = [cos (ent ont) ‘ and 1- cos 09,t) [wat (mat cos Wt — cos 8,t sin cH) de Fe, ~n) + sin (Fe tOrE } ) ere _ Bet _ oe I “Tn+ Ze) et _— cos BE - cos wt al * ite on |- eee &- (Ee) can be Simplified of x(t) Be ws aici a — cot ont] (Es) (2e.) ~ On fee Ett x(t) = 1= cs BE) sin (4-2) Ae €) ) = - fe { Sin yt € + Con OgE ® *(ze,- %) ies (Ge,- Onto, ot(Fet erie ot J 2(o,- Te) 2(+3E) 2(-%) tO) mn ben x(t)= £ oes @, (t-te) — cos @,t 230—f __ sin —e tin - RSS @, (t-te) — mare) ondt~ te) (a Eat © 2m Base displacement = 20> Y sin 7 @) fey H(t) = ¥ sin a @2) Steady-state relative displacement can be found from Ey.(4-36)as Hag LF ETM OM om getdate) where g¢ey= -¥ (%)* sin BE &) =e Lew present vont c x)= & (%) fe e sin sin (¢-2) At &) But sin @ sin 0 (8-7) =o cos aE mayb + yt)-be TE set) = fs (Eon). coset + cin(E + eye. in eye] aye sinoyt ] ©) -t[es F-test ~ sin fer (Ex) and (Ee) give toe WOES aye oe at fer” cos (E+ uy) ete + Sin yt fe FOF sin (B 4h) e. de = cos wt. fear wos (Hy) t- de ° + sin wt: freer sin (& - wy)t a] € (Er) can be simplified a)= (x ye, cos TE 20% ) (TH) +E + 3) { ae -yo,t + (B+) sin TE yu, € cos yt +(%+%) oe an yt f yo, cos TE +, (%) (ron +(E - 4%) {- 231- one - ) sin a + 50, Piece cos Ot = Tot +(B-4e sin yt} €s) Base displacement: Yt pctcyead 6 = v x(t) = 5 0 pt>t=T Equation of motion of vehicle: mk +k(x—y)=0 Using Eq. (1), Ba. (2) can be expressed as kvYt ;o& Steady state solution of Eq. (3) from Example 4.9: vY , A fun t—sin wy th | OSES x(t) = mea } * 0 5 t >to Note that the homogeneous solution, x(t) = C; cos uy t + Cy sin uy t () (2) (3) (@) (8) is to be added to Eq. (4) to obtain the complete solution. The constants C and Cz are to be evaluated from the initial conditions (at t = 0). In fact, tthe resulting complete solution is valid for all values of t, including values of t > to. Speed of automobile = 50 km/hr Excitation frepuency (Se eieee) gig = 27-7778 hy Natural Freguency = £,> io ny So, 21 radfec 0:5 x 3600 Jo wigog” = 07036 Sec ¥®) o2t yaye | TE 3s osts toy ot ~eat woz kate t, z ° 3 t > te... Ce 232Epuation of motion (for undamped case): me ¢ & (x-y)=0 or mk HK = RY = FE) 2) where FE) = & ¥() (ey Solution of ey, (E,) is: % (Es) x= is [re Sin Q—2) de (&) For ost < &: wi, n(E-T) ae Ces) Sin “ fe Sin w(b-t) de =(H - as in ant), &-(Es) becemes X(4) = 5+5556 (£- 01592 Sin G2gs2t) m sos ts oc sec ic) For Bete ge x)= {J eae sinwy(e-t) ae + [ CE toh But ' Ont ont . [a cos 3, T in y(t-e) ae =z 22H Y sin ent [Sa om Be [Pate « ity fae ft tfe th E sn at] = cor gt [og tn OE =F core | in o ” = 5556 [ 11592 sin 6.2932(t~ 0r018) + ool8o cos 62992 (t- ooit) —0+1592 sin g-29s2t]™ Er) Since fe 0-036 » ork mt in cos 8,0 Wt a , Z sina, (t-e) ae 2- L2* { vfs mWdn te t z Ree ot + Z sin oy z] ~ csa,t T& sin Wt — & cos } @n toa a . on ly, /e = - 5.5556 [e = ON59Z Sin 62832 (E— ois) = 10180 cof 6.2832 (4- ool) ] mm €s) 233. t cox - - = ork re f Sin @(t-%) AY = ae [sof ont) = 2h [t— ot Ce )] = o2 [t- cos 62932 (E- oclf) l » ©) Hence the Solution can be expressed as x(t) = [17689 sin 62832 (t= ovo17) - 0- 9845 Sim 62992 t —5:5556 t to-2] m 3 0018 S ES 01036 Sec (GR) t . For tot teh to x(t) = f T sino, (t- 7) de = one fe Sin @,(t-7) At ©, to mo, = fe. t & 2 + eR Pn alte) ae >) “he The first term on the right side of (E,) is given by E;). Second ferm on the right side of (Ey) is t od kK ° 2 1 Wont f T sina, (t-t) dv = “ae fone 08 One a nto + = smo, = ws mt) singe - 2H cos ot Wn ” oO, t tofe a h ~ 5.5556 [onsoz Sin 6.2832 (t- 01036) + 0-0 360c08 6-232 (t- 0-036) = 071592 Sin 6.2932 (t—ovo18)) — 0-010 cos 6.2932 (t-o-0l8)) ™ The third term on the right side of (E,,) is: x) t od o nO, f Sin On(E- 7) at = SEK coals cos eo? tele th = ork K. [0s (t-te) — cos On (t- yy mos, = od [cos 6-2932 (t- 0.036) — cos 6.2932 (t- ovo1z)] m Es) 234ss x(t) is given by the sum of Eps. (Ez), Era) ond (Ez) > which can be simplified af x(t) = 17684 sin 62832 (t- 0-0/8) —0- 8945 sin 62932 t = 0:8945 Sin 6.2392 (t- 0-036) m3 _t 701036 sec (GP) When the container strikes the floor, the velocity of the merece mgh=imy> or v= V29h (6) The displacement of the camcorder subjected to an initial velocity % %o=0 amd S< 1, -Fo9,t x(tye eg Sort, =V_ is given by Ep. (2-72), with ©) System can be modeled as a Spring-mass sytem = ™ CJ Px) subjected to base motion: ) nye f[OPe2) s ost < te te as {? 3 t >t, --- ©) Relative displacement of mass, 3 = *-¥, i given by Ey. (4-36): t 3(e) = 7 f Ble) ET O™ eyee-zy de (&) where y(r) = (¥t/e2) fmeavey fo terete ™ and ¥(t)=0 1 t>te For Since the system is undamped, «= @, and S=0, and (Ex) reduces to € = 2y 3) = - @, te fam w,(t-%) de &) Here t t ftin ag (t-2) de = [ Gree cra,e - erent sin ee) de ° a + t = Sin Oat Peotone de — es wnt f seo, ae !, o 235t oa : : = Sin Ont (5 sin ne)” — cos ast (5, ont), = (Se) «© Thus &. (Eq) gives x)= re (1- csant) 5 on tate (6) ey rar o, For t > ty &- (Er) gives t tye — 4 Cavers _ fe 3) @, f = sin @,(t-7) dz &) But ty f Sin On(t-T) Ae = ai is ©, (t-te) — cos @,t } feet wo, (t-te) — 25 tp; tote (&) “ yl)2 2@)-9@)2— a In g a@-ry em Ge) 0 (t-7)Cd2) ~309,(t-2) = [De {Erp sin oy (b-2) = Wy cos 3-2} (S9,)* + 09 ~¥6,(t-7) t - 2 Or i) sin 4 (4-2) + 27,4) cos y(t - | (36,)7 + OF Txt to “ Sin yt + Wy coh yt = -42078,0)) + tee, at + Oy et yt) “sa,t + £- fod (237-1) sin cyt +27 ,y co YES t _¥09,(t-%. m= [ ETOnE®) 6 caye-z) Eat) Spe wy {- 7, sin ca(t-e) — Sy C08 oy (t- oy Pa? + OF ~Yo, Wy A " (re, Sin at + 8p of yt ) " ' +re) eee ee arty, my Oy ne r ~TOnt Wy- On) = Be abe PO" fay cxoge -(H) oth] A) meeci+ kx = F(t) where m(t)= M-mt= (2000-10t) 49 ond F(t) = mV = 10 (2000) = 20000 N (2) with m= M- Fmt, = 2000-4 (10)(100) = 1500 4g, equation of motion. becomes 1500 % + o-txw® & +75 x10 x = 20000 = constant Maximum steady state displacement is = F . 20000 a(t) = = Tare = 01002667 m From Eg.(4-32), the response to unit step function can be obtained by setting F(T)=4 as t A(t) = i g(t-t) de ee(es)) By differentiating this epuation with respect to t, we obtain ghed= 90) Gi) Epuation (4.32) Sie x(t) = g F(z)-9(t-%) ae But 9(t- a abe 2) FSrom problem 4.30- x(t) = gf ee) “dh ae) dt 0 Integration by pests gives t x(t) = -F(t). A(E-2) lé wth z= h(e-z) ae = ° = - FO) he) + FO) KEY + fF AE Ae-2D Ae But h(o)=0 from Ep. (Ex) of problem 4,30. x(t) = FG) AU) + ff Eley bee) ae Equation of motion for rotation about O: Ig B+ MX (C) +k; 2? 04k, D7 O=Fy let q) where X= ¢ 9 and wotatin(sfaine 237Eq. (1) can be rewritten as: [fa sue]iem ern syentecet @) For given data, Eq. (2) takes the form: 53.3333 6 + 1562.5 9 = 500 et (3) Noting that the system is undamped with w, ="\/ = 5.4127 rad/see and the forcing term as 500 e~', the convolution integral, Eq. (4.33), can be used to find the steady state response as: t — Fat = Ot) = (ean) Gaz) J 500 e~ * sin 5.4127 (t — 1) dr = 1.7320 fe elt) sin 5.4127 (t — 1) dr a t =— 1.7320 e~* f el~" sin 5.4127 (t — 7) (— dr) (4) ° Using the formula: Jet sabrdr= Si e [asia bx —b cos bx] 6) Eq, (4) can be expressed as ret - tod , Ot) = — 1.7320 et Fg cana tt 8.4127 (t — 1) — 5.4127 cos 6.4127 (t 7) rao = 0.3094 e~ * + 0.05717 sin 5.4127 t — 0.3094 cos 5.4127 t radian af «ie 2382 1 é 7 2 7 2 2 =-—— —| — = = 1.4583 kg—1 hes né+alt] gg BO = Gy (10) (17) = 1.4583 kee Equation of motion for rotation about O: a e 9 04k 4 6=Mye** note +h? O= Me or Wo G+ 2k EG = Myo ** or 1.4583 8 + 3125.0 0 = 100 e~?* (Qa) Noting that the system is undamped with w, = convolution integral, Eq. (4.33), can be used to find the stead = 46.2915 rad/see, the te response as: ‘ ee - 27) sin 46.2915 (t — 4) = Tase3y (46.2015) J (100 e° *") sin 46.2016 (t — 7) dr =— 1.4813 e?* f elt) sin 46.2915 (t — 7) (— dr) (2) ° Using Eq. (5) in the solution of Problem 4.32, Eq. (2) ean be expressed as: ret -2e|_e@t-9 A Ot) = — 1.4813 &” pasa 2 sin 46.2915 (t — 7) — 46.2915 cos 46.2915 (t — 7) rao = 0.03194 e- ?* + 13,7994 (10-*) sin 46.2915 t — 0.03194 cos 46.2915 t radian (4) x(t) Net compression of spring PQ = ae - x(t). Equation of motion for rotation about O: 3 cole 306 3¢ Ga-~4 SIS)- = iste . (4 “(8 x6 [4] or Job + 3 ke 9 Ske yy = SEE et (1) For given data, Jy = tm et +m(£}t = Jue = Z (00) (0%) ~ 14888 ts-m", 3 k@= 3 (5000) (1*) = 3125 N/m, and Eq, (1) becomes: 1.4583 8 + 3125.0 6 = 37.5 et (2) 239Noting that the system is undamped with 3125.0 = 46,2915 rad, Wy V Tages 7 15-2018 8 /sec the convolution integral, Eq. (4.33), can be used to find the steady state response as: at) = Tay ey 5 (37.5 e) sin 46.2915 (t — 7) dr (3) Using Eq. (5) in the solution of Problem 4.32, Eq. (3) can be expressed as te aca 1? + 46.2915? = 0.01199 e~ * + 2.591 (10~*) sin 46.2915 t — 0.01199 cos 46.2915 t radian (4) =— 0.5555 e* fi 46.2915 (t — 7) — 46.2915 cos (t — >} Ra Fy = reactions ako Equation of motion for rotation of pulley about O: Kx Jo 6 + mx (21) + ky x (22) + kp (Or) r= 2r Foot q) where 0 = oa Eq, (1) can be rewritten in terms of x only as: -t (2) For given data, Eq. (2) becomes MOF +41125x—=5e-¢ (3) Noting that the system is undamped with w, = 5 3.1980 rad/sec, the convolution integral, Eq. (4.33), can be used to find the steady state response as: x(t) = — 0.1421 et j elt sin 3.1980 (¢ — 7)) (— dr) (4) 0 240Using Eq, (5) in the solution of Problem 4.32, Eq. (4) can be expressed as * 0.1421 e~* (t) = — EES __ |olt-*) Jin 3.1980 (t — 7) — 3.1980 cos 3.1980 (t — =- Faia | sin (t-7) cos (t-7) rao = 0.04048 e~ * + 0.01266 sin 3.1980 t — 0.04048 cos 3.1980 t m (8) (@) Unit impulse response function for undamped case: use yeo and ow, = 69, in Ey. (4-27): x(t)= 4 sin yt (-) A (b) Unit impulse response function for underdamped case: €g.(4:27): x(t) = oI Eom sn cyt €D (¢) Unit impulse response function for critically damped case : Free vibration response of a critically damped Syst is gi by Eo, (2. ; system is given by Ep, (2.90) en *(t)= fo + (Hot Oy, xo)tpe (.3) Using the initial conditions x,=0 and %o= we &4- (E-3) gives xe Ha Ont (4) G) Unit impulse response function for an over damped case : Free vibration response of am overdamped system is Siven by &p. (281): = mst ty tr Cy -V3=1) Ont x (bec TNT Ont ve € (es) h . aac Ons st") % 4. =e a, (5-7-1) - Xe tie 2 a RT GF 1 (eet 1 For the initial conditions x,=0 and %o= mw > 241C, and C, become 4 Ct ier eG and hence €9. (E-5) yields an awa, Ft fe (a E=T) ant ps} &-6) wr 2 ty, C= 4 N-S/m, = 32N/m, E= 4 8(t), X= orolm, X= 4 m/s 32 = 4 rad/s, yoS=S_-4__.,, wae JE = [2 = ” 2Vkm Wm Wye Vi-y* Oy, = 3.872983 rad/s Underdamped system. Impulse response is given by Ey. (4.28) : Ee TO, t eCty= eS cin oy £ m Wy a -t = 0516398 e sin 3872983 £ m The stiffness of the cantilever beam (wing) is given by eI 3 (15 «to? ee BOSD Las nif N/m Ke System cam be modeled o4 w single degree of freedom undamped system: mk t+ kx = 0 where m= 2500 kg, K= 45 x10" N/m, on a= [# = [Aen a4 teat "y: 2:5 x10? Response of mass due to impulse F is given by &y. (428) with Yao and Gy = Wq: 242x (+) = E m O3,, 50 2500 (134+ 1641) = 0000149071 Sin 134-1641 t =m Gro {* ; estet o 3 tat &- (4-33) gives , for an undamped system, xt) = 4 fre sin Gy (t-%) At Sin 9, " Sin 134-1641 “ fo sie wy (t-2) de = fe (1- or ant) 0 &-( Es) in the solution of problem 4.27, te mo, S Sin (4-7) de ny Using the relation te £ Sin Wy (€-%)- dE = a { cos w@, (t-%) - cot ot } the solution can be expressed os x(t) = Fe [eos (ete) — co wt] Response spectrum: For os t Sto, a(t)= Fe (1- cos Ont) te = = sin Ot =0 > Oy tmax = 7 8 Kinax = (t= trax) = E(- cos 69, tmax) = ee For t >to, x(t)= a) fos (t-te) — cos cont $ Ez Boe f sin @n(t- te) — sin Ot} =0 243 «) () (es) €4) Cs) (&) ©)> Sin On (tay — te) = Sin On Emax ie, tan Gntmex = Gs) (€) cos Onto ~1 bes inn ti ve Sin Oy tmax = — Sart (Es) 2 (41- ws Wn te) Cot Opting = a Sates! Ge) V2(1- cos Onto) Fe f cos Wtmax Cos Gato t and ot Kmax= x (t= tmax) +) Sin Ontmax- Sin nts — cos Gytmax f . oe eos nto - 1)* sin 2 (1- cos Wy te) te } = 2 sin ate Eu) k zr or fee 4 when %max from &%. (Eq) a4 can be found Xmax = *(t= tmax) = a cos Wy (tmax — te) 7 Fo - Tae fe (y- 3 _ (RY cos 8, tmax 2) my “(EY - oF} ys (E3) amd (eg) can be wed to plot x,,, versus Gy to get the displacement response spectrum. Bare acceleration = H(t) = a, (4- sin Te) (7) For an undamped system, the relative displacement is given by &- (4-36): ¢ HO) =e f H(z) sin ,(t-2) Ae sin On( tmax— te) = -a [fe sin (t=) de - fawn TE sin a(t -z) ar] ° Ce) 246Here t Le os ot Sin Oy (t-T) de = a) [oot ae = (OF Srom E%-(Es) im the solution of problem 4-27. en J Sag BE in Ont cos Opt — cos Wt sin g,%) AT 2b © i 2(Fe,+ On) veal =) : are “} (Ez); can be finally expressed of east) ne fous [Ge -W,)t Be BU on) in(Ze _a]+ oroye eeedt cos = Sin gt {- ot ont + oem ot) ) gives Unt Sin yt 2 1 ~ Gt Ont fe Uytm= 2 tan *(conte) () (&) becomes ; ‘ = 7 § sin tytn : = 1 Be ot Ott Ag th Oe (@) where t, is (fe) by (€2). [Ge cof uta) Ain Cyt — (8, to> Ae Unto) ont] (6) fe x) *Onte = x(t)= ~ ¥O,, A hin yt + Bc 09, whe ne acetals Be ~ (iba A Oats) since [var = \APH OP B= = de [Comer enteS + (arte att 4 ) i 247 (€s) &) (Z+e)t * Ge, -#) ° 2(F, +) } )te #9) 8 om o 2 46s OU K ort e+e fo Re 6 Wate Onto From Example 4.10, the response of the building frame is given by x(t)= & % = cos ot + es svat]. ostst (6) and, x(t) = Be — [- ereste) sintaat — (Opty sin pte) cas wt], tote (i) Fer o st = to ; 9 For x(t) to be maximum, the guantity inside spuare brackets in (£1) must be maximum. This implies that a el — Fs wt !__ sinw,t ] = + aa, inet] =o bey Gate sinw,t = 1- cos Wt bes Unto cos Sot — in Wot ae = sin Sat ben nt e tan Sat = 09, te €:) Thus, 4 x(t) attains UF maximum value at t= tmax> Fe-(E2) gives tmax = Gy tan! (Wyte) Once tmex is known from (Eq), (E\) gives Xmax = «(t= Emax) = Efi See ~ 2 ete ro ©) _ + Ae sm tnee f @) For x(t) to be maximum, the quantity inside sguare brackets in Gy (Ez) must be maximum. This implies that + [a- (2 Wyte) sin Ont — (Gqte — Sin Wyte) cos ont] 0 248hen (l- © Wate) Wy Cos Ht + (Wnts —Sin Onto) py ben ea wt =o (&) tmax > & (6) gives trae = tan as nis ) oy Wpto~ sin Onto tan gb = — fee ote G,tg— sim @, bo x(t) attains its maximum at t once tmax iS computed from (Ez), (Er) gives 5 = _ fe 2 . < Konan = *(t= tmar) = are [(1~ cos ete) + (pte - sintonte)e | Given data, (C9) m= 5000 gq, Fo= 4x09 N, to= org Secs max = Orol ms = |*-n 00144 Fe Procedure : Sample computer program and results are Assame @ series of values of &. Find tmax Sing Eps. (€4) ond (7). Find xanax using Eps. (&s) and (Eg). Select % such that Xnax £ ovotm in &.(Es) or (Ex). shown below. XM=5000. 0 Fo=4. OE+4 To=0. 4 XK=0. 0 DO 10 Ist, 106 XK=XK+1, O6*7 ONN=0. 01414¥SGRT(XK) TMAX1=(2. O/OMN)#ATAN(GHN#TO) AMAXL= (FO/ XK 14 (1, O- CTHAXL 20) “COS (GMN#TIAX 1 b-4SINCGMNETHAXL) / 2 COMN#TO) > XNR=-(1, 0-COS(OMN®TO) > XDR=(OMN®TO-SIH(CMN#TO) ) TMAX2=ATAN( XNR /XER} /OMN X1= (1, 0-COS(OMNSTO) #42 X2=(OMN#TO-SIN(OHN#TO} 1 ##2, Xa (K14X2) #40. 5 XMAKZ=XS*FO/ CXKMOMN®TO) PRINT 5, I, Xk, TMAXL, XMAX1, THAX2, XMAX2 FORMAT(IS, 2x, E15. 4, 2%, 2612. 4, 2x, 2E12. 4) CONTINUE | ‘STOP END 2491 0. 10008408 0. 6774E-01 0. 7322E+00 . 5134E-03 0. 2 0. ZO0CE+c@ =. 4843-01 0. 375EE+00 B204E-05 0. a 0.3000E+08 ©. 2973-01 0. 2534E+00 BES7E-04 0. 4 0. 4000E+08 0. S450E-01 6. 1714E+00 -0. 4108E-09 0. 8 0. 5000E+08 0. S092E-01 0. 1SEE*G0 © -0. 4234E-09 0. 7aD7E 01 These results indicate that the reguired stiffness is *= 8x10 N/m. Specific weight 30 kN/m? Permissible stress 180 MPa Young’s modulus 70 GPa Solution: Let d= thickness of bracket. Then, from Example 4.15, self weight of beam = w = 135 d (N) total weight at free end of beam = W = 135 d + 2 (N) moment of inertia of beam cross section 0.00125 d° m* static deflection of beam under w: We _ @35d ET A+) Go286 x 107%) m 3 a et use trial and error procedure to find the correct value of d. Let d = 40 mm, w=5.4N, W=74N, [= 80x 10° (m4) ~We_ 14 “BEI 0.04 5, (1.0286 x 107!) = 11.8932 x 10-* ( ™ 6.9218 x 10° (s) \e = 144 t Ta from Fig. 4.51, A, = 2. Dynamic load at end of cantilever = Py = A, M a, = (2) (24 (100 g) = 1480 (N) Le 1480 x 0.3)| 204 Myc imax = m A) ears x 10° Since this is smaller than the permissible value of 180 MPa, we choose a smaller value of d next. Let d = 30 mm, w = 4.05 N, W = 6.05 N, I = 33.75 x 10-* (m*) 250= £5. (1 9986 x 10-2) = 23.0483 x 10-* (m) 0.03° fa 2m 28 = 9.6358 x 109 (6) Ve * = 103 7, from Fig. 4.51, A, = 2. P,=A,Ma,=(2) (2°) (100 g) = 1210 N 8 1210 x 0.3 x one Sonex = ———— 2_ = 161 MPa 33.75 x 10° This stress is close to the permissible value, we take d= 30 mm. Let d = thickness of bracket. From Example 4.15, self weight = w = 135 d (N), total weight = W = 135 d + 2 (N), moment of inertia = 0.00125 d* (m*), static deflection of beam 8 We _ (135d +2) (1.0286 x 10-2) m 3El Since shock amplification factor for large values of £2 in Fig. 4.52 is similar to Th Fig. 4.12, we start with d= 20 mm. w=2.7N, W=4.7N,1= 10% mt 135 x 0.02 + 2 . By, = (1.0286 x 10%) 2 = = 6.0490 x 10-5 m 0.02" f [6.0430 x 10° ay a2 [Ot = 2m | 80480 x10" _ p.91560 (6) Ve \ 98 t = _ =64 7, 0.01560 From Fig. 4.52, A= 11 - _ 47 _ P,=A, Ma, = (1.1) | £1] (200 g) = 5.7 ) g ff (617 x 0.3) (22) Snax = es : = 155.1 MPa 10° This stress is quite close to the permissible value, we select d = 20 mm as the design. 251Let d = thickness of bracket (beam). Self weight of beam = w = d (10-%) (40 x 10-2) (3000) (9.81) = 117.72 d N ‘Total load at the middle beam = W = ((0.5) (9.81) + 117.72 d) N. ‘Area moment of inertia of beam cross section = I 3 (10-%) d? m‘. Static deflection of beam at the middle due to W: we _ (4.905 + 117.72 d) (0.4)* Sa jooRl 182 BT 192 (700 x 10%) (3) (10°) a _ (4.905 + 117.72 d) x 5.714286 x 107 ——ee—ee We need to use a trial and error procedure to determine the correct value of d. Let d= Lem w= 1.1772 N, W = 6.0822 N, I = 8.3333 x 10-1 m¢, 8,, = 3.47554 x 10° m 4 x 10°° jaa Ree XA’ = 0.003739 s Vo 981 to tT, 0.00873 = 26,7389 From Fig. 4.12(b), A, = 1.1, and the dynamic load on beam is given by Py= A, Ma, where M = total mass of beam and a, = acceleration due to shock = 100. Thus P, = (1.1) (6.0822) (100) = 669.042 N. Maximum bending moment in a fixed-fixed beam due to load (F) at the middle is given by M, = a so that . 2 (669.042) (0.4) (‘| Gpg, = Me = ——____ “1 = 900.7134 x 10° Nim? I (8) 8.8333 x 107° Since this stress is higher than the maximum permissible value of 150 MPa, we next select a higher value of d. Let d= 1.5 em we 192 EI = 1.12945 x 10° m w = 1.7658 N, W = 6.6708, I = 2.8125 x 10-* m4, 8,, = | = 0.00213196 sec 5 6 |[ 1.12045 x 10 an jen 1 9.81 25240 = 46,90526, From Fig. 4.12(), A, = 1.1, Py = (1-1) (6.6708) (100) = 733.788 N 1.5 x 107 2 733.788 (0. of — = 97.8384 x 108 Nim? (8) (2.8125 x 10°) Since this stress is lower than the maximum permissible value, we decrease the value of d Let d= 1.2em w = 1.41264 N, W = 6.31764, I = 1.44 x 10° m‘, 3 oe = = 2.089167 x 10° m 192 ET ITo.05 10°) ay = 2m || 2089187 x 10°") — 0,00289956 sec Vt 9.81 t “0 = 34,488, From Fig. 4.12(b), A, = 1.1, P, = (1-1) (6.81764) (100) = 694.9404 N (694.9404) (0.4) (22"] 144.7793 x 108 N/m? 8 (1.44 x 10°) Since this stress is close to permissible value, we select the design as d = 1.2 cm. W = mg = 50000 x 9.81 = 490500 N, ¢ = 0.05, 0, = 6, = maximum permissible stress = 29, {m <9, [50000 _ 1.40496 x 10° 2Beon |B aan [= o, Vk Vk vik We need to use a trial and error to find k. BEI 3(200 x 10°) I é 15° sec = 1.75 x 108 Nim Let k = 1.75 x 10° Nim; k = I 9.84375 x 10- mt = © af (0.5904) with “i = 0.8 3 64 dy di = 0.33966 m* 4, = 0.763416 1.40496 x 10° = 1.06205 see 1.75 x 10° 253From Fig. 4.15, for +, = 1.06205 sec and { = 0.05, we find S, ~ 25 in/sec = 63.5 cm/sec, Sq = 4.2 in = 10.668 cm and S, = 0.42 g. Ww (490500) Maximum shear force in column: “> § ce (0.42 g) = 206010 N= F,,,. Maximum bending moment: M,, = F,,q, h = (206010) (15) = 3090150 N-m :) (3090150) (ozeen8 Maximum bending stress: ¢, = Me¢ = ____\_? _/ = 119.826 MPa I 9.84375 x 10 Since this stress is slightly bigger than the maximum permissible value, we choose a larger value of k. Let k = 3.5 x 10° Nim; k= 3,5 x 10°= 3 (200 x 10°) 1 9.6875 x 10° m4 with 0.67932 mé or dy = 0.90786 m d, = 0.726288 m 4, — 1.750983 sec V3.5 x 10° From Fig. 4.15, we find S, = 26 in/sec = 66.04 em/see, $, = 3 in = 7.62 em, S, = 0.6 g Maximum shear force in column: F,,, = © 8, = £20520 9.6 g = 294300 N & g Maximum bending moment: M, = Fi, h = (294900) (15) = 4414500 N- m A (4414500) (0.90786) Maximum bending stress: 6, = —2* = ———___2___ = 101.784 x 108 MPa I 19.6875 x 10 Since this stress is less than the maximum permissible value, we choose the inner and outer diameter as d, = 0.726288 m and d, = 0.90786 m. m = 2300 kg, = 2 see. 02. From Fig. 4.16, in order to have S, = 1 g, we need to have i 2 1.416 rad/see = ©, \m k = (81.416)? m = (31.416) (2300) = 2270019.63 Nim 254wation of motion is FH Usx = fe eivt ee zero initial condi yga)- Bt . spy, ht atte (en) FO= Bary + A= Eorey Gee) Twerse Laplace transformation gives x@= & a = fairey fe = (ote YB sm wnt)} The terms containing cof Wnt amd tem Wat denote the transient part of the response and hence can be neglected. Thus the steady state response can be expressed as x@)= & 6) ett where r= W/d,- Fi)= fe 4 _ k, b+ 27, From &%. (4-57), (4) = mie — eat) + ae ie)* +27 0,4+ On A : + Gpyeare x, erry a) ° Inverse transformation gives 5 stot ~ve,t a) = 2fi- EW sn (ote sy], %e_ eg sin (03,t + B,) Bf. ates } jt 14-5* £, -YOnt =. sin yt The forcing function can be expressed as F(t)= fo fu(t) - u(e-te} Uuhere u(t) is the unit step function applied ak t= 7- The Laplace transform of F(t) is Fa)= R(+-4$ ete The equation of motion me + ke = F(E) gives 255~4te 4 B(-e thy wate ke Shia ~ Panay Since eo Eee Gaaw} at cos at), x)=, (1- t,t) Fo far erat} CEE) moe i" Hence ,t s an g(t aad an Ba fos a(t ts) - ant} for 2 fe etek B'on{- (rn) € TOME FED cop y(t 2) - ty eT One Ye Vey sin coy(t- te) = (-TO,)E an = sin Ga (= t2)) ~yt t-te elias ” Te Sy» Cob Uy (= to} et za Ear, fare 1 (a, + >) sin Ce~ t:) 5 = R(t tj) Lea (wy + US) g zren(y-&) wn @, (4 - &) Oy, Fa:(4:88): — viggerentiating Ey. (4-66), a 70,(t-t.) x= i EEE og 4 E rat) sin Wy(t~ tye) + 2 & {-75-0 oy (E- tp) & tit cos Cy (t- to1) . we (Hor + Tn Bar) sin C4- #1} pare a , ay, aj nt, ats at a2 pa, FI ES 4 Be ere % Ge pea a+ ae by 5 es By ak; ae sy FTO, jae) Bn ODE; } ge 7m a a = FOE fe cos o3,(t-t3-1) -€ TR. o(izet sin 62, (t- t-4) 4 es 2 om “ [s -7S, 2y ey ans ts) + Tee 256. gant ty-4) (E28) a, cos 1 (tp J i S2[yee ~TS,(t-t, Gp Oy a =709, (t-tj. con 03 (b> ten) OEE) oy, sin eagle tyan) + Tne GY () sin oa, (t= tay) = gOmltn G- (tes) oy 8 0 (#- f-1) ] er t= &. Droncni sin as, (t- ty 4 Sa, (= Xa A Oy (t-ty-1) = € = yt, @ 7m Ee ‘5-9 (Ht TO **) sin (t= ty-1) e7Onk- tj. o Hey tT *) cy ot, (t- tp) aT D ty Simplification of this « evation giver at to a , a5 Tena, ° ° ° oan 0,276910€490 0.275040E+00 oan 62605 +00 0,461687E+00 492498409 54768 3E+00 366308400 34405E+00 35R45E +00 24330366400 6661 3E 400 0,263378F+U0 ore +547668E-01 0,513272E-01 oan S170711E+00 #0174095 +00 oan 2389784400 1383830E400 Eee ev aus r 70,549289E 400 2551730E900 Method t: x, & an, {1- or (45-4) } . Pag # AR, ow, sin ,,(t, Method 2: fat = B te crab Ja tpn tn aby + ae fin 3, Bt = ao Ain 8, Bt; + Wy f- %, (Fn Oy By + a ca a, at; } Method 3: z= AFL fats 4 yo Be 5) 4%) ; xe oe Gy, tm Onaty }— Thee (4 cot oy, aby) + jor ct Gnaty 257 0METHOD cFIG. 42 WETHOD 33 ) (FUG, 4:29) 1 xan xu xu) 2 G,AR9NISE“UL 0,412870E +01 9,451034E-01 0,463029E-01 3 0,183327E +00 0,153639F 400 0.16841 3E+00 041708636400 4 0,.374871E 409 0.311494E +00 0,342969Es00 0,346380E+00 5 045902626400 0,485757F +00 0.537537E400 0,541621€+00 6 0.794748 990 A 64G9R1E FO 0.720014E400 9.724433E+00 7 0.95599KE +00 0. 768556E 400 +B60R9GE+00 0, 865287E+00 8 041047326 +01 9,829582E +00 0,936445E+00 0,9404618+00 9 0. 1050816404, 0.8171338+00 0.931268F +00 0,934605Es00 10 9,959172E400 0.727695E900 0.840009E+00 0.842438E900 aw 0.7766 388 +00 0,566437E400 0,668027E+00 0,669410E100 I xo) xpc1) xD(1) xD(L) 2 0,309017K +00 9, 260676E+00 0.284772 +00 0.284646400 3 0539444900 0,448685E +00 2493T75E400 932N6E+00 4 0,609917E400 95479748400 0,608327E+00 0,6072836+00 5 0,690013E400 0,552279E+00 0,620126E +00 0,618406E+00 6 0,601222E +00 0,465650E +00 0,531993F+00 0,529561£+00 1 0,416706E 600 0,30194AE+00 0.357498E100 0,354412E+00 8 0,159909E +00 0,833536F=01 0,119506E+00 0,115921F+00 9 13787BE+00 — =0,1G1957E400 0, 152198F.400 0, 156045E400 10 4407256409 —=0,402734E400 0, 423989EH00 = 0, 427799400 cr SOLTINTSLE +00 =0,61540BE+00 = 0,6618K2E+00 — -0.665302F 100 m= lo kg, = 4000 N/m» ¢= 40 N-S/m , [= 100 Nos W, oo Ser = 20 radfs ana T° T fates =o Ops fis Oy = fim on® (20) = 19-899748 rad/s Assuming that impact is given at tro, we find the response of the system os (From Ey. (4:28))+ x A= E @*? nt ™ Oy 1)(20) & sin Ob 2 (100) € to (19+ 899749) sin 19-899749 € 258x (B= 0502519 &7* sin t9-899749 ¢ en) Plotting of &y- (e+!) using MATLAB: % Bxd for i 6.m 501 tli) = 54 (i-1)/500; x(4) = 0.502519 * exp(-2.0*t(i)) * sin( 19.899749*E(i) ): end plot (t,x) ; xlabel('t’); ylabel (x(t) '); 0.5; 4] os] 02| of g oA 02 03 o 1 1 2 25 S 35 4 45° 5 t no rad/s, y= 0-1, 69> 19-899749 tad /s Response due to F, &(t) is given by €y-G-1) of Preblem 4-56. Response due to F, 8(t- 05) can be found from Egs- (4:29) and (4:28): -J us, (t= %) x, C)= F, € sin U9 (E-%) €-2) m Oy For t= oS, Eg. (€-2) gives 259- 01 (20) (t- 0-5) x(t)= 3¢ @ sin 19-899749(t- 0-5) to (19899749) = 0251259 ert) cin 19999749 (E 0-5) the response due to two impacts (in meters) is given by 01502519 &** sin 9-899749t 5 oF ES OS x(t) = i) i 01251259 att '5) sin 19-899 74 9(E-0-5) 5 t70°5 Plotting of Ep. (E-3) Using MATLAB: 3) & Ext_s7.m for i 1001 ti) = (i-1)*5/1000; if t(i) <= 0.5 x(4) = 0.502519 * exp(-2¥t(i)) * sin(19.899749*t(i)); else x(i) = 0.251259 * exp(-2*(t(i)-0.5)) * sin(19.899749*(t(i)-0.5)); end end plot (t,x); xlabel('t'); ylabel ('x(t)'); 0.5; os 03 02} on ost 18 2 25 S 35 4 45 5ace Aoad (see Ey.(E+1) of Example 4+8): x)= 2 —— J - cos byt -#) «flies + erento cos fesy (t-te) -s)} -14°5 $= tan = f- <7 Date: m=100 kg, k= 1200 N/m» ¢= 50 N-4/m> Fr= loo N, tos o1Sand 154 Wz [E = = 3464102 rad/s, c _ 50 _ 25 afm 2f(renlroe) 846 -410161 Oy= fi-s? Wy = 3-455069 rad/s $= tor ' ( casey) = 01072232 rad 0997392 PlotEing: = 0072169 3.464102; 0.072169; 3.455069; 0.072232; $01 20*(i-1)/500; x1(i) = FO * exp(-zeta*wn't(i)) * ( -cos(wd*t(i)-phi) + ... exp(zeta*wn"t0) * cos (wd*(t(i)-t0)-phi) ); 501 2 (4) = 20*(i-1)/500; x2(i) = FO * exp(-zeta*wn*t2(i)) * ( -cos(wd*t2(i)-phi) + ... exp(zetatwn*t0) * cos (wd*(t2(i)-t0)-phi) + end plot (t, x1); xlabel (’t); ylabel (’x(t)"); title(’Solid line: t_0 = 0.1s Dashed line: t_0 = 1.58’); hold on; plot (t2,x2," 261'=0.18. Dashed tna: t= 1.58 x 150! 0 % ‘aprogramd.m §Main program which calls PERIOD s Run "Program" in MATLAB command window. Program4.m and period.m should be in the same folder,and set the path to this folder %following seven lines contain problem-dependent data xon=1.0; xk=400.0; xaiz0.125; 62.5 125 187.5 250 312.5 375 437.5 S00 zeros(1,12)1"7 -05:0.05:1.00; end of problem-dependent data [xein,xcos, psi, phi, fzero, fc, x, xpc, xps] =period (xm, xk, xai,n,m, time, £,t) 7 fprint£ (‘Response of a single D.0.F. system under periodic force\n\n’); fprinté(’xn = 10.8e\n", xm); fprint£ (‘xk = $10.8e\n", xk) fprintf(‘xai = %10.8e\n’,xai) fprintf(’n = $2.0£\n",n); fprinté (’m $2.0£\n',m) fprint£ (‘time = %10.8e\n\n’, time) ; 262,fprint£ (‘Applied force and response: \n\n'); | fprintt(/ i etd) £(i) x(a) 2 gprinté(‘\n\n‘); for isi:n . fprintf(" $2.0£ %10.8e $10.8¢ #10.8e\n",i,... CG), ECL) (GD) end subplot (121); plot (t, £); xlabel ('t'); ylabel ('F(t)"); Brittle F(t) "); subplot (122) ; plot (t,x); Beitle('x(t)); xlabel (‘t"); ylabel (‘x(€)'); & function period.m a function [xsin,xcos, psi, phi, fzero, fc, x, xpe, xps]=period (xm, xk, xai,n,m, time, £¢ sumz=sumz+£ (i); end fzero=2.0*sumz/n; theta=j*omeg*t (i) ; (i) *sin(theta) ; (4) *cos (theta); sums=sums+fsin; sumc=sume+fcos; end aj=2.0*sume/n; -omeg/omegn; phi (j) satan (2.O*xai*j*x/(1-(4*z)*2)); conssart ( (1.0-(5*4)*2)*2+(2.0*xai*3*r) 2); wpe (5) = (aj /xk) /eons ps (5) = (bj /xk) /eon: end for 263x(i) =£zer0/2/xk; for x(4) =x (4) #xpe (5) *cos (j*omeg*t (i) -phi (J) )+xps (J) *sin(j*omeg*t (i) -phi (3 Mi: end end 500 2 450 18 400 350 1 300] E250) Sos] 200] ° 150] 100] 08 0] 0 02 O04 08 O8 1 02 04 06 O8 1 1 t Results of Ex4_59 >> program4 xm = 1,00000000e+000 xk = 4.00000000e+002 xai = 1.25000000e-001 a 20 m= 10 time = 1.00000000e+000 Applied force and response: a ei) £(4) (4) 1 5,00000000e-002 6.25000000e+001 —*:3.78789292e-001 2° 1,00000000e-001 1.25000000e+002 6 .65286858e-001 3 1.50000000e-001 1.87500000e+002 5 -00283762e-001 4 — 2,00000000e-001 2.50000000e+002 2.37031525e-001 5 2,50000000e-002 3.12500000e+002 3.39025654e-001 6 — 3.00000000e-001 3.75000000e+002 9.42110868e-001 7 3,50000000e-001 4.37500000e+002 1.58854150e+000 8 — 4.00000000e-001 5,00000000e+002 1.55862192e+000 9 — 4.50000000e-001 0.00000000e+000 6 .56373440e-001 10 5.00000000e-001 0.00000000e+000 ~5.23632679e-003 26411 5.50000000e-001 0,00000000e+000 -3.77065247e-001 12 6.00000000e-001 0.00000000e+000 ~5.06616825e-001 13 6.50000000e-001 0.00000000e+000 ~3.57481271e-001 14 —-7.00000000e-001 0.00000000e+000 4,83338999e-002 15 7.50000000e-001 0.00000000e+000 4.21581779e-001 1 8.00000000e-001 0..00000000e+000 4,69545854e-001 17 8.50000000e-001 0.00000000e+000 1,02656116e-001 18 — 9.00000000e-001 0.00000000e+000 73.54840551e-001 19 9.50000000e-001 0:00000000e+000 -5.10135040e-001 20 _1.00000000e+000 0.00000000e+000 -1,71815377e-001 7 tropeans.m Response of a single D.O.F.ystem under arbitrary forcing function usingthe methods of section 4.8 = ® % Run “Program5" in MATLAB command window. ProgramS.m should be in one & folder, and set the path to this folder % following 11 lines contain problem-dependent data xais0.1; omm=31.622777; ‘np = number of points at which value of £ is known, nplsnp-1,np2=np-2 end of problem-dependent data om=xaitomn; pd=omn*sqrt (1-xai*2) ; solution according to method 1 using the idealization of Fig. 26 t(1)=0; £(1) = f££(1) for t(i)st(i-1)+delt; £(i) = 1000*(1-cos (pitt (i))); ££(i) = 1000*( 1-cos( pit( t(i)+t(i-1) )/2) 0; for i=1:npl delg (i) =£(1+2) ~£ (4); x (3) =x(5)+ (del E (4) /ack) * (1-exep (~ant (t(5)-b (4) )) (cos (pd* ( (5) -t (4) )) + (xn/pa) *in (pd (E05) ~E 4) xd (J) =xd (3) + (del (i) /ack) *excp (~n* (t (5) -t (4))) sin (pd ( (5) -E (4) 7 end end for 265xd (i) =x (4) 5 end Ssolution according to method 1 using the idealization of Fig. 27 for k=2:np2 | Gelf(k) =delE (k+1) ; end del£(1)=£(3); del£ (np) =£ (np) ; (3) + (deLE (4) /2ck) * (1-exp (~xn* (t (5) 6 (4) * (cos (pa (t (3) -t (i) )) + (xn/pa) *sin (pas (t (3)-t(4))))) 5 xd (5) =xd (j) + (delf (i) /xk) *exp(-xn* (E(5)-t (4) )) *sin (pas (t (5) E04) )) end end for i

> program Value Method#1 Method#1 of (Fig.26) (Fig.27) r xi) x(i) 2 8.463498e-004 3.302553e-003 3 2.685367e-003 4.719852e-003 4 5.169912e-003 8.506840e-003 5 8.178657e-003 1.108890e-002 6 1:132821e-002 1.454957e-002 7 1.437507e-002 1-684652e-002 8 1.697375e-002 1.899708e-002 9 1.890432e-002 1.988503e-002 10 1.995267e-002 2.008383e-002 11 2,003452e-002 1.909252e-002 12 1,912848e-002 1.735920e-002 13 1.733299e-002 1.479759e-002 14 11481670e-002 1.184504e-002 15 1:183110e-002 8.654518e-003 16 8.664674e-003 5.637520e-003 17 5.630116e-003 3.017069e-003 18 3.022466e-003 1.102377e-003 19 1.098443e-003 4.244805e-005 20 4.531599e-005 -3.095846e-005, 21 -3.304897e-005 -8.237715e-004 I xdli) xd(i) 2 -1.724478e-006 -6.729107e-006 3 -2,490738e-006 2.014596e-006 4 -3.247781e-006 -9.183878e-006 5 -3.764329e-006 1. 429730e-006 6 -3.674900e-006 -8.092879e-006 7 -3.530832e-006 1,215821e-006 8 -2.722577e-006 -267651e-006 9 -1.950123e-006 2.028444e-006 10 -7.153334e-007 _ -1.882855e-006 11 3.$43858e-007 3.391564e-006 12 3 14 15 1,587911e-006 1.060844e-006 2.501541e-006 4.446538e-006 3.304589e-006 2.776498e-006 3.675776e-006 4.478047e-006 16 3.773808e-006 2.884849e-006 17 31433694e-006 3.237571e-006 18 2.811634e-006 1.542582e-006 19 1:871907e-006 —1.035826e-006 20 7.820400e-007 -6.050694e-007 21 -4.100735e-007 2.056210e-006 Methoa#2 Method#3 (Pig.28) (Fig.29) x(i) 2.128980e-004 1.729506e-003 3:803611e-003 6 .668076e-003 9.724658e-003 1:290593e-002 1:573148e-002 1:804796e-002 1:953876e-002 2.012346e-002 1.969707e-002 11833615e-002 1.614852e-002 1.336683e-002 1.024989e-002 7.112632e-003 4.254988e-003 1.961909e-003 4.5404860-004 -1.182168e-004 xd(i) ~1.378674e-005 ~8.8167572-005 ~7.008044e-005 ~1.344394e-004 =9.999247e-005 ~1.331627e-004 -8.5961712-005 -8.738285e-005 -3.287885e-005 71.391042e-005 3.774625e-005 6 .063053e-005 9.749376e-005 1,091071e-004 1.223568e-004 1:140193e-004 1:019865e-004 7.419301e-005 4.359287e-005 5.299422e-006 268 xi) 2.112992e-003 3.731773e-003 6.890461e-003 9.675896e-003 1.298875e-002 1.564646e-002 1.801666e-002 1.940816e-002 2.002060e-002 1.954838e-002 1.821740e-002 1.602653e-002 1.328634e-002 1.019478e-002 7.105849e-003 4.284352e-003 2.033946e-003 5.548287e-008 6.474018e-006 -4.635301e-006 xd(i) 2..450722e-002 2.042474e-002 3,328193e-002 2.918735e-002 3,213625e-002 2..478209e-002 2.017583e-002 9.855085e-003 1.272298e-003 -9.388100e-003 -1.771827e-002 -2.533370e-002 -2.973266e-002 ~3.175330e-002 -3:028136e-002 -2.612284e-002 -11920680e-002 -1,055539e-002 -7.662515e-004 5.589628e-004Method #1 (Fig. 26) Method #1 (Fig. 27) aces owes ona and & oo 2 oo & & aos ovos q q 0s ’ 0 05 1 15 2 Ss 0.005, Os 1 15 2 : ; Method #2 (Fig. 28) ‘Method #3 (Fig. 29) aoe ase oce axa _ aos F on & 0.005] * od : 0s sad $ProgramS.m ‘Response of a single D.O.F.ystem under arbitrary forcing function Qusingthe methods of section 4.8 & Run “ProgramS* in MATLAB command window. Program5.m should be in one % folder, and set the path to this folder % following 11 lines contain problem-dependent data xaiz0.1; ‘np = number of points at which value of f is known, npl=np-1,np2=np-2 end of problem-dependent data xn=xai*omn; pd=onn*sqrt (1-xai*2); solution according to method 1 using the idealization of Fig. 26 (1)=0; for imp (ist (i-d)sdelt; end 269£2[0.0 -8.0 -12.0 -15.0 -13.0 -11. f£=[-8.0 -10.0 -13.5 -14.0 -12.0 -9.0 -5.5 -0.5 6. dele (i) =£(i+1)-£(4); 0 -7.0 -4.0 3.0 10.0 15.0); u 5 12.5 16.51; end Method #1 (Fig. 26) Method #1 (Fig. 27) ry 05 oa oa 02 2 = 02 x4 z Zaz 24 oA 02 ol Mothod #2 (Fig. 28) a Method #3 (Fig. 28) : : : : f i zo =o Results of Ex4_61 >> programS Value Method#1 Method#1 of | (Fig.26) (Fig.27) (i) xi) I 2 -1.895258e-002 2. 842886e-01 3 -7.844079e-002 -1.105540e-0 4 -1.770172e-001 -2:242651e-01 5 -2.901286e-001 -3.307430e-0 6 -3.807183e-001 -3.918096e-01 7 -4.157648e-001 -3.812882e-01 8 -3.761180e-001 -2..849867e-01 9 -2.546674e-001 1. 008863e-01 0 -5.487595e-002 1. 476431e-00: 1 1.971323e-001 4.198656e-001 I xd(i) xd(i) 2 -7.263201e-002 1. 089480e-0 Method#2 Method#3 (Pig.28) (Fig.23) x(i) (i) 02 -2.369072e-002 --2.216415e-002 01 -9.449737e-002 —-9.232748e-002 01 =2.006411e-001 — -2003034e-001 01 -3.104358e-001 —-31118343e-001 01 -3.862639e-001 _-3.896705e-001 01-3. 985265 -4.025740e-001 01-3. 305524 ~3.357629e-001 01 =1.777772e-001 —-1.828250e-001 1 _4.638356e-002 —_-4.342363e-002 3.061293e-001 2. 920608e-001 xd(i) xa(i) 01 -4.562370e-001 = 4.597525e-001 2703. -1.577455e-001 -2.093812e-001 -9.224406e-001 -9.313379e-001 4 -21252429e-001 -2.333148e-001 -1:152170e+000 1. 162393e+000 3 -21156793e-001 -1.824523e-001 -1.000343e+000 —-1.007436e+000 & -1.386163e-001 -5.760411e-002 ~4.930222e-001 _-4.919218e-001 7 ~217422880-004 9.602153e-002 2.405741e-001 _2.518514e-001 8 1.522037e-001 2.762085e-001 1.076426e+000 1. 100724e+000 9 31182622e-001 41384471e-001 1.901304e+000 —-1.938544e+000 10 41579186e-001 5.284869e-001 2.478437e+000 —-2.523778e+000 11 51229886e-001 5.322201e-001 2.605688e+000 2. 224476e+000 & Bxd_62.m % This program will use the function dfunc4_62.m, they should % be in the same folder tspan = [0: 0.01: 0.5]; ‘x0 = (0.0; 0.0]; [ex] = ode23(‘dfuned_62', tspan, x0); displ’ t x(t) xd (ty): disp({t x1) plot (t,2(:,1)) xlabel (’t'); gtext (x(t) '); & afuncd_62.m function f = dfunc4_62(t,x) F = 200% - 200*t*stepfun(t, 0.1)... 420*stepfun (t,0.1)-20*stepfun(t, 0:25); £ = zeros(2,1); £(1) = x(2); £(2) = F/2 - 1500 * x(1)/2; Results of Ex4_62 >> Bxt_62 x(t) x(t) ° 0 0 0.0100 0.0000 0.0050 0.0200 0.0001 9.0195 0.0300 0.0004 0.0425 0.0400 0.0010 0.0723 0.0500 0.0019 0.1067 0.0600 0.0031. 0.1430 0.4100 0.0043 0.2352 0.4200 0.0064 0.1949 0.4300 0.0081 0.1400 0.4400 0.0092 0.0748 0.4500 0.0096 0.0039 0.4600 0.0093 0.0671 0.4700 0.0083 -0.1332 0.4800 0.0066 -0.1893 0.4900 © 0.0045 -0.2313 0.5000 0.0021 -0.2560 2n0.025 0.02} 0.015| 001 0.005 0.005} 001 0 005 01 O15 02 025 03 09 04 045 O05 & Bx4_63.m % This program will use the function dfunc4_63.m, they should % be in the same folder tepan = (0: 0.01: 0.5]; x0 = (0.0; 0.0) [t,x] = ode23(‘dfuncé_63', tspan, x0); disp(’ t x(t) xd(t)): disp((t x1); plot (t,x(:,1))7 xlabel(’t’); gtext (x(t) /); .% dfuncd_63.m function f = dfunc4_63(t,x) F = 200% - 200*t*stepfun(t, 0.1)... 420*stepfun(t, 0.1)-20*stepfun(t, 0.25); £ = zeros (2,1); £(1) = x(2); £(2) = P/2 - 10 * x(2)/2 - 1500 * x(1)/27 2720.025; 0.02| 0.015} 0.01 0.005 0.005} 1 my 0.05 or 0.15 Results of Ex4_63 >> Ex 3 z 0 0.0100 0.0200 0.0300 0.0400 0.0500 0.0600 0.0700 0.0800 0.0900 0.1000 0.4100 0.4200 0.4300 0.4400 0.4500 0.4600 0.4700 0.4800 0.4900 0.5000 x(t) 0 0.0000 0.0001, 0.0004 9.0010 0.0018 0.0029, 0.0044 0.0062, 0.0082 0.0103, -0.0000 9.0019 0.0035 10049 0.0058 0.0062 0.0062 0.0057 0.0088 0037 0 x(t) 0 0.0049 0.0189, 0.0405, 0.0678 0.0986 21303 +1608 :1877 +2093 12244 -1962 11797 +1510 +1127 0680 +0206 ~0.0259 0.0683 0.1037 -0.1298 0.25) 273 03 035) Od 0.45 05Results of Ex4_64 Please input n and m: 20 10 Please input xm, xk, xai, time: 1 400 0.125 1 Please input f[4]: i= 0, 1, ..., n-1 62.5 125 187.5 250 312.5 °375 437.5 500000000000000 RESPONSE OF A SINGLE D.O.F SYSTEM UNDER PERIODIC FORCE mM = 1 XK = 400 KAI = 0.125 0 M= 10 TIME = 1 APPLIED FORCE RESPONSE I T(z) P(I) X(I) ° 0.05000000 62.50000000 0.37878929, 1 0.10000000 12500000000 0.66528686 2 0.15000000 —187.50000000 0.50028376 3 0.20000000 —250.00000000 0.23703152 4 0.25000000 31250000000 0.33902565, 5 0.30000000 —375.00000000 0.94211087 6 0235000000 437.50000000 1258854150 7 0.40000000 + 500.00000000 1.55862192 8 0-45000000 0.00000000 0.65637344 9 0.50000000 0:00000000 -0.00523633 10 0.55000000 0.00000000 -0.37706525 iL 9-60000000 0.00000000 -0.50661682 12 0.65000000 000000000 -0.35748127 13 9.70000000 0.00000000 0.04833390, 14 0.75000000 0.00000000 0.42158178 15 0.80000000 0.00000000 0.46954585, 16 0.85000000 9-00000000 0.10265612 17 9.90000000 9.00000000 -0.35484055 18 0.95000000 900000000 -0-51013504 19 1.00000000 0-00000000 -0.17181538 Results of Ex4_65 VALUE METHOD #1 METHOD #1 METHOD #2 EMTHOD #3 OF (FIG.4.18) (PIG.4.19) (FIG.4.20) (FIG.4.21) r x() x() x(Z) X(T) 1 0.000846 ~=—-0.003303 0.000213 © 0.002113 2 0.002685 0.004720 © 0.001730 0.003732 3 0.005170 0.008507 0.003804 0.006890 4 0.008179 +=—-0.011089 0.006668 «0.009676 5 0.011328 0.014550 0.009725 0.012989 6 0.014375 0.016847 0.012906 «0.015646 7 0016974 +—0.018997 0.015731 0.018017 8 0.018904 0.019885 0.018048 + 0.019408 9 0.019953 0.020084 0.019539 «0, 020021 10 0.020035 0.019093 0.020123 0.019548 11 0.019128 +=©—0.017359 0.019697 0.018217 12 0.017333 ©«:0.014798 += 0.018336 0.016027 27413 0.014817" 0.011845 0.026149 0. 013240 14 0.011831 0.008655 0.013367 0.010195 15 0.008665 0.005638 0.010250 0.007106 16 0.005630 0.003017 «0.007113 0.004284 17 -0.003022 0.001102 0.004255 0.002034 18 001098 0.000042 0.001962 0.000555 19 0.000045 -0.000031 0.000454 0. 000006 20 -0.000033 -0.000824 -0.000118 -0.000005 I x0(I) xD(I) xD(I) x0(I) 1 -0.000002 -0.000007 -0.000014 0.024507 2 -0.000002 0.000002 -0:000088 +0. 020425 3 -0.000003 -0-000009 -0.000070 0.033282 4 -0.000004 0.000001 -0.000134 0.029187 5 -0.000004 -0.000008 -0.000100 0.032136 6 -0.000004 0.000001 -0.000133 0.024782 7 0.000003 -0.000005 -0.000086 0.020176 8 -0.000002 0.000002 000087 0.009855 9 -0.000001 -0-000002 -0.000033 0.001272 10 0.000000 9.000003 -0.000014 -0.009388 11 0.000002 0.000001 0.000038 -0.017718 12 0.000003 0.000004 += 0.000061 -0.025334 13 0.000003 0.000003 © 0.000097 -0.029733 14 0.000004 = 0.000004 = 0.000109 | 0.031753 15 0.000004 += 0.000003 0.000122 -0.030282 16 0.000003 0.000003 0.000114 -0.026123 17 0.000003 0.000002 «0.000102 -0.019207 18 0.000002 0.000001 0.000074 -0.010555 19 0.000001 -0.000001 0.000044 -0.000766 20 0.000000 0.000002 +~=—-0.000005 0.000559 PROGRAM 4.F MAIN PROGRAM WHICH CALLS PERIOD annanna ‘DIMENSION F(20) ,T(20) ,XSTM(10) , XCOS (10) , PST (10) , PHT (20) ,FC(20) 2_X(20) ,XPC(10) ,XPS(10} DATA XM, XK, XA/1.0,400.0,0.125/ DATA N,M, TIME/20,10,1.0/ DATA 1/0.05,0.1, 5, 0.2, 0.25,0.3,0.35,0.4,0.45,0.5,0.55,0.6, 2_0.65,0.7,0.75,0.8,0.85,0.9,0.95,1.0/ DATA £/62.5,125.0,187.5,250.0,312.5,375.0,437.5,500.0,0.0,0.0, 2. 0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0/ ¢ END OF PROBLEM-DEPENDENT DATA. CALL PERIOD (XM,XK,XAT,N,M, TIME, P, T, XSIN,XCOS, PST, PHT, FZERO, FC, 2 X,XPC, XPS) PRINT 100, XM, XX, XAZ,M,M, TIME 100 FORMAT (/,56H RESPONSE OF A SINGLE D.O.F. SYSTEM UNDER PERIODIC FO 2RCE, //,6H'XM =,E1S.6,/,6H XK =,£15.6,/,6H XAT =,E15.6,/, 36H N'=,13,/,6H M =,13,/,6H TIME=, B15.6,/) PRINT 200 200 FORMAT (/,27H APPLIED FORCE AND RESPONSE, //,3H ,3X,SH T(I),10X, 2-SH F(z), 10X,5H X(Z),/) DO 400 TH1,N' 400 PRINT S00, I,T(I) ,F(Z),X(Z) 500 FORMAT (I3,3215.6) STOP END SUBROUTINE PERIOD anaanSUBROUTINE PERIOD (XM,XK, XAI,N,M, TIME, P,T,XSIN,XCOS, PST, PHT, 'FZERO, FC, X,XPC, XPS) DIMENSION’ P(N) , (3) ,XSIN(M) ,XCOS(M) , PST (M) , PHT (M) ,FC(M) ,X (3) 1 XEC (i) , XPS (M) onBG=2.043.1416/TIME OMEGN=SORT (xK/x4) SUMZ=0.0 DO 100’ Ta1,8 100 SUMz=SuMZ+?(z) PZERO=2.0*SUMZ/REAL(N) DO 300 Ja1,M SUMS=0.0 SUMC=0.0 DO 200 Ta1,8 ‘THETA*REAL (J) *OMEG*7 (I) FSINeF (I) *SIN(THETA) ECOS=F (I) #COS (THETA) ‘SUMS=SUMS+FSIN SUMC=SUMC+FCOS 200 CONTINUE ‘AJ=2, 0*SUMC/REAL(N) BJu2_0*SUMS/REAL (N) ReOMEG/OMEGN PHI (J) *ATAN (2. 0*XAT*REAL (J) #R/ (1-0~ (REAL(J) #R) **2)) CON=SQRT ((2.0- (REAL (J) *R) #2) *#2+ (2.0*KAT*REAL (3) #R) **#2) XPC(S)=(A/XR) /COR XPS (3) = (B/KR) /CON 300 CONTINUE BO 400 Te1,8, X (I) =PZERO/(2.0*XR) DO 500 Jai,m, 500 _X(I] =X (I) #XBC(Z) *COS (REAL (3) *OMBG*T (1) -PHI()) + 2 XPS (J) #STN (REAL (J) *ONEG*T (I) -PHI (3) ) 400 cONTRIE RETURN END RESPONSE OF A SINGLE D.O.F. SYSTEM UNDER PERIODIC FORCE 2 = — 0.100000z+01 XK = 0.4000002+03 AI = 011250008400 No 220 M = 10 TIME= — 0.1000008+01 APPLIED FORCE AND RESPONSE rn) FD) x(2) r 1 0,500000E-02 0.625000+02 0.378789E+00 2 0.1000008+00 0.125000E+03 0.665287E+00 3 0:350000E+00 0.1875008+03 0.500283E+00 4 0.2000008+00 0,250000B+03 0.2370312+00 5 0.2500002+00 0.312500E+03 0.339026E+00 6 0,300000E+00 0.3750008+03 0.942112E+00 7 0.350000E+00 0.437500E+03 0.158854E+01 @ 0,400000E+00 0.500000E+03 0.155862E+01 9 0.4500008+00 0,0000008+00 0.6563748+00 20 0.500000E+00 0.0000008+00 -0.5236438-02 31 0:5500008+00 0.0000008+00 -0.377065E+00 12 01600000E+00 0.0000008+00 -0.506617E+00 33 0:650000B+00 0.0000008+00 -0.3574818+00 4 0:7000008+00 0.0000008+00 0.4833348-01 5 0.750000E+00 0.000000B+00 0.4215828+00 16 0.800000E+00 9 ,0000008+00 0 .469546E+00 17 0,850000E+00 0,000000E+00 0.102656z+00 18 0.900000B+00 0 ,000000E+00 -0.354840E+00 1s 0:9500008+00 0.0000008+00 -0.510135E+00 20 0.1000008+01 0.0000008+00 -0.171815E+00 276PROGRAM 5.7 RESPONSE OF A SINGLE D.O.F. SYSTEM UNDER ARBITRARY FORCING FUNCTION USING THE METHODS OF SECTION 4 FOLLOWING 14 LINES CONTAIN PROBLEM-DEPENDENT DATA DIMENSION F (21) , PF(21) ,DEL(21) ,7(21) ,X(21) ,XD(21) ,¥2 (21) , 2 MDL(22) , x2 (21) ,XD2(21) , X3 (21) , XD3 (24) ,x4 (21) , XDA (22) DATA NP,NP1,NP2/21,20,19/ DATA XAI, OMN, XK/0.1,31.622777,100000.0/ DO 1 In1,NP 2 (1) =0.1°REAL(I-1) F(1) "0-0 DO 2 121,5P 2 F(I)=1000.0*(1.0 - Cos(3.1416*7(I-1))) FF(1)=0.0 DO 3 1=2,NP Tre (T(x-1) +T(z)) /2.0 3 FP(I)=1000.0*(1.0 - COS(3.1416T7)) DELT=0.1 CNP = NOMBER OF POINTS AT WHICH VALUE OF F IS KNOWN; NP1=NP-1, NP2=NP-2 © END OF PROBLEM-DEPENDENT DATA. 2O1=KAT*OMN PD=OMNASQRT(1.0-XAI**2) © SOLUTION ACCORDING TO METHOD 1 USING THE IDEALIZATION OF FIG. 4.26 T(1) 20.0 DO 10 i=2,NP 100 T(t)=T(T-1) +DELT DO 20 Ta1,NPL 2000 DELP(I)=F(I+2)-F(z) DO 40 J=2,NP X(J)=0.0 XD(J) =0.0 IMtas-1 Do 30 Tet, gma X(J) =X (J) + (DELF (I) /X) * (2.0- EXP (-XNF (T(T) ~T(Z) )) # (COS (BD* (T(S) ~ 2. T(Z)))+ (0N/PD) *SIN(PD* (T(3) -7())))) © XD(J) OBTAINED BY DIFFERENTIATING EQ. (4.64) ~_ XD(3) =XD(J) + (DBLE (I) /XK) #ExP (Ne (1 (5) -T(I))) *SIN(PD* (7 (I) - aannnana 2 7(2))) 30 40 So xpi(1)=xp(1) ¢ SOLUTION ACCORDING TO METHOD 1 USING THE TDEALIZATION OF FIG. 4.27 DO 60 Ke2,NP2 60 —-DELF(K) =DELF(K+1) DELF (2) =F (3) DELF (NP) =F (NP) DO 80 J=2,NP X(a)=0.0 xD()=0.0 Mtns: Do 70 T=1,341 (J) =X (J) + (DELP () /XR) + (1. 0-EXP (~10N6 (7 (3) ~T(T))) # (COS (D4 (T() - 2 T(z) + (av/PD) *SIN(PD* (T(3) -T(Z))))) XD (J) =XD(S) + (DELP (1) /XK) *EXP (-XN* (T(d) ~T(T))) *SIN(PD* (7(9) ~ 2 3(1))) 70 CONTINUE 80 CONTINUE DO 90 1=2,NP 22 (I) =x(Z) 90 _xb2(I) =xD(z) © SOLUTION ACCORDING TO METHOD 2 USING THE IDEALIZATION OF FIG. 4.28 (1) =0.0 xD(1)=0.0 Do 100 J=2,NP 277DEL=DELT X(J) = (FF (J) /XK) * (1.0-EXP (-XNSDEL) * (COS (PD*DEL) + (20/PD) * 2. SIN(PD*DEL) )) +BXP(-xaV*DEL) * (X(J-1) #COS (PD*DEL) + ( (XD(T~1) + 3 XN*X(J-1))/PD) *SIN(PD*DEL) ) XD (1) = (FF (J) *PD/XK) EXP (-XN*DEL) * (2. 042004*2/ (PD*#2) ) *SIN(PD*DEL) 2. 4BD*EXP (-XN*DEL) * (-X(J~1) #SIN (PD*DEL) + ( (xD (J-1) 4xQ0*X (I~) ) /ED) * 3° COS (PDFDEL) -XN* (X(J=1) #COS (PD*DEL) + ( (XD (T~1) +XN*X(T~1) ) /PD) * 4 SIM (PD*DEL)) /PD) 100 CONTINUE Bo 120 1-2,NP x3 (7) =x (I) 310 x3 (1) =x0(1) © SOLUTION ACCORDING TO METHOD 3 USING THE IDEALIZATION OF FIG. 4.29 X(1)=0.0 xD(1)=0.0 320 DELF (J) =F (J) -F(J-1) X(d) = (DELF (J) / (XK*DEL) ) * (DEL- (2.0*XAT/OMN) +EXP (~JQ1*DEL) * 2 (2. 0#xAT/oMm) *cos (PD*DEL) - ( (PD*#2-xN**2) / (OMN*OMN*PD)) * 3) SEN (PD*DEL))) + (F (3-2) /XK) * (1.0-BXP (-XN*DEL) ¥ (COS (PD*DEL) + 4 (QN/PD) *SIN(PD*DEL) )) +EXP ( -KAVDEL) * (x (I-1) *COS (PD*DEL) + 5 ( (KD (J~1) +xQ*x (g-1) ) /PD) *SIN(PD*DEL) ) XD (J) = (DELP(J) / (XK*DEL) ) # (1. 0-EXP (~XN*DEL) * ( ( (41 #2+PD*#2) / 2 {oMive#2) ) #COS (PD*DEL) + ( (20923 +301*PD*PD) / (PD* (OMN* 42) ))* 3 SIN(PD*DEL))) + (P(J-2) /XX) *EXP(-XQVDEL) # ( (xa #2/PD) +PD) * 4 SIN (PD*DEL) +EXP ( -xN*DEL) © (XD (J- 1) #COS (PD*DEL) ~ { (XN*XD(J-1) + 3 xNexQV*x (J-1) +PD*PD*X(J-1)) /PD) *SIN(PD*DEL) ) 130 CONTINUE DO 140 1=2,NP x4(I)=x(I) 340 x4 (2) #xD(z) PRINT 150 150 FORMAT (//,6H VALUE, 6X,10H METHOD #1,7X, 10H METHOD #1, 7X, 2 10H METHOD’ #2, 7X, 10H METHOD #3) PRINT 160 160 FORMAT. (3X,3H OF, SX, 11H (FIG.4.26) ,6X,11H (FIG.4.27), 6x, 20 11H (FIG.4.28) ,6X,1iH (FIG.4.29),/) PRINT 170 170 FORMAT (3X,2H I, 7X, SH X(1),12X, 5H X(I),12X,SH X(Z),12X,5H X(Z), 27 Do 180 T=2,NP 180 PRINT 190, T,X3(1) ,X2(I) ,X3(Z) ,X4(T) 190 FORMAT (I5,2X,B15.6, 2,815.6, 2X,E15.6,2X,E15.6) PRINT 200 200 FORMAT (//,3X,2H T,6X,6H XD(I) ,11X, 6H XD(I) ,12X, 64 XD(I) ,11X, 2 6H WIT),/) DO 210 I=2,NP 210 PRINT 190,Z,XD1(Z) ,xD2(T) , XD3 (I) ,xD4 (1) STOP. END VALUE METHOD #1. METHOD #2 METHOD #2 METHOD #3 OF (FIG.4.26) (FIG.4.27) (FIG.4.28) (FIG.4.29) z x(2) xD) x(z) x(Z) 2 0,000000E+00 —«0.846353E-03 0.212899E-03 0.43645 78-03 3 01846353E-03 0.268538E-02 «0.172951E-02 0.1793778-02 4 0.268538E-02 «0.516994E-02 0,380363E-02 0. 396527E-02 S 0.516994E-02 -0.817869E-02 0.666810E-020.6719738-02 6 0,817869E-02 -0.1232828-01 —«0.972469E-02 0. 9800815-02 7 0.113282H-01 —«0.1437S1E-01 —«0.129060R-01 0. 128975E-01 8 —«243752E-01 —«0.269738E-01 —«0.157315E-01 —0.1571338-01 9 0:169738E-01 0.189043E-01 0, 180480E-01 —0.179679E-01 10 «0,289043E-01 —«0.199527E-01 —«0.195388E-01 -0.194439E-02 1 0:199527E-01 -«0.200345E-01 «0. 201235E-01 ——«0.199945E-02 12 0,200345E-01 «0.191284B-01 «0.196970E-01 0.1956 74E-02 27813° 0.1922642-01 0,.1733288-01 0. 183361802. 4 011733298-01 0. 1481668-01 0. 16148401. 15 0.1481668-01 —«0,1183108-01 0. 1336678-01 16 OL12e3108-01 0.866455E-02 0. 102498E-01 17 ~—01a66455E-02 0.563001E-02 0. 7112528-02 13 0,5630012-02 --0.302236E-02 —0.4254888-02 19 -0302236E-02 -«0,109836E-02 —«0.196183E-02 20 ©«-02098382-02 —«0.452846E-04 0. 4540008-03 21 —«0.452846E-04 --0.164289E-02 -0.1182218-03 I xp(r) x0(1) xp(1) 2 0,0000008+00 © -0.172452E-05 0. 1378718-04 3 -011724528-05 .-0.2490802-05 -0.8816978-04 4 -012490928-05 -01324797E-05 -0.7008238-04 5 -0,324756E-05 | -0.376418E-05 | -0.1344428-03 6 -0.376474E-05 -0.367551E-05 -0.999934B-04 7 © 7013675878-08 -0.3531442-05 -0.2331668-03, 8 -~01353146E-05 -0.272320E-05 -0.8596268-04 9 -0.272319E-05 | -0.1950408-08 0.8 739085-04 10 © -01195096E-05 -0.7160308-06 —-0.328717E-04 11 --0.7150228-06 —-0.355044E-06 —-0.139179E-04 12 -013543108-06 —-0.1588008-05 ——0.377523-04 313 0115ea42E-05 0.250220E-05 -0.6062918-04 4 0.250225E-05 —0.330846E-05 0. 9750168-04 15 (01330546E-05 —-0.367670B-05 0. 1091058-03 16 0.367656E-05 0.377466E-05 —0.1223628-03 17 —0.3774658-05 —0.343435E-05 ——0.1140208-03 2a -0.343428E-05 0.281221E-05 0. 1019308-03 19 0,2812218-05 —0.187212E-05 ——0.7419118-04 20 © 0.187208E-05 —«0.7821508-06 0.435943E-04 21 —0.7804128-06 «0. 286762E-05 0. 529627E-05 0.1820348-02. 0.1603678-01 0.132788E-01 0.1020018-01 0.7201758-02 0.428716E-02 0.203174R-02 0.5563418-03 0.5332678-05 wir) 0. 846353E-02 0.1839038-01 0.248456E-01 0.3008758-01 0.314956E-01 0.3046878-01 0.2598678-01 0.193056E-01 0,1048348-01 0.818215E-03 -0.5060638-02 -0.179552E-01 -0.2516318-02. 012985608-01 -0.316645E-01 =01303454E-01 -01260765E-01 =0.192398E-01 =011053108-01 0.7831255-03 = Se ff) ETE an y(t) oe 4 But sin y(E-t) = sin yt cos YT — cos Gt Hin Ye ~79,t x(t) = {ACe)- sin cot — BLED cot yt } SS where Te Ate)= Lire er coh rae B()= Stree) OM sin ogy de Let F(t) be tanen as a piecewise linear function during (t; F(e)= 279anaanan we can write ti; so.e A(tz) = A (tien) + S (% ry) e cos TAT tiny +f | (ern te BBE POT eos ye at ake = alte + + (Fis ten Ge) where : Re st ere os yt de tint nee [th eT ee aye dt ‘tint y0,t B(tiy= B(tn) + f° “Gg, of) Ce sin yt dE fe (Fias> th af) em Me a cyt at colared Fi: = Bt) + af & + (Fees se)? where; R=t. oor Sin @,T-dE ti. SE COP” tin aye aE Assuming A(t0) = B(ti=°) =O, : -TOy ti x(t) = oie Lag sin cyte — B(tz) os t:] The integrals in Pi, Pas Py and Ty can be evaluated in closed Form: the computer program and outpat are PROBLEN 4.68 NUNERICAL INTEGRATIUN OF DUHAMEL INTEGRAL 280XM=1. 0 DATA F/1. 0,. 8434, . 6910, . 5440, 2. G4BF4,. 01251, . 61. 01.0, Or. DO 10 I=1,21 10 DELT(I)=0. 31416 © END OF PROBLEMN-DEPENDENT DATA 1910,. 1690, @.0,.07 Tt) =0. 0 DO 20 1=2, NP TCT) sT( 1-1) +DELT(T) TIMESTCI) CALL PIL (TIME, XAL, OMN, OMD, PP1) CALL PI2(TIME, XAL, OMN, OMD, PP2) CALL PIG(TIME, XAI, OMN, OMD, PPS) CALL PI4(TIME, XAT, OMN, OMD, PP4) TIME=T(I-1) CALL PILCTIME, XAI, OMN, OMD, PML? CALL PI2(TIME, AL, OMN, OMD, PM2? CALL PISKTIME, XAI, GMN, OMD, FMS? CALL _PI4(TIME, XAT, OMN, OMD, PM4) PI=PP1-PM1 P2=PP2-PM2 PO=PP3-PM3 P4=PP4-PM4 DELFSFCI)-F¢I-1) ACT) 2A C1~1)4(DELF/DELT (1) )#P14¢F (1-1) “TC 1-1) #DELF /DELT( 1) )4P2 BCI) =B(CI-1)+(DELF/DELT (I) )#P44(F (I-1)-T¢ 1-1) #DELF/DELT( 1) )4P3 X(T) =CEXP (~KAT#OMNST CT) 7 CXMMOMD) )# CA CT) #SINCOMDAT (1) = 2 BCT) #COSCOMDAT(I))) 20 CONTINUE PRINT 30 90 FORMAT (//, 2X, 41H NUMERICAL EVALUATION OF DUHAMEL INTEGRAL, 277 3X. 2H 1, 6X, SH TCT), LOX, SH FT), 1X, SH X(T). /) DO 40 1=2,NP 40 PRINT SQ, 1, T(T), FCT), X¢L) 50 FORMAT (2x, IS, E15. 8) sToP END SUBROUTINE PI1 aaaca SUBROUTINE PI1 (T, XAT, OMN: OMD, P? DEN=(XAI#OMN) ##2+OMD##2 Pa( T#EXP ( XAI#OMN#T) /DEN) # (XAI#OMN#COS (OMD#T )+OMD¥SIN(OMD*T) 2 -CEXP CKALHOMN#T) / (DENH#2) 148 ( CKAT#OMN) ##2-OMD##2 )#COS (OMDAT) 3 +2. O#XAI*OMN#OMD#SIN(OMD#T) > RETURN END 281anaaa anne aneno SUBROUTINE PI2 SUBROUTINE FIZ (T, XAI, CHN, CMD, P) XAT#ONN) ##2+0MDeH2 XP (XAT #OMN#T } /DEN) + (XAT #OMN#COS(OMD*T! +OMD#SINCOMDET?) SUBROUTINE PI3 SUBROUTINE PI3 (T, XAT, OMN, OMD, P) DEN=(XAIOMN) #*2+0MDee2 Pa (EXP (XAT OMNET) /DEH) *¢ XAL*OMN®S IN(OMD*T}-OMD¥COS(OMD#T) ) RETURN END SUBROUTINE P14 SUBROUTINE PI4 (T, XAI,OMN, CMD, P) DEN=(XAI#ONN) ##2+OMDee2 P=( T#EXP(XAI#ORN*T) /DEN} + (XALOMN#SIN(OMDT)-OMD*COS(OMDST) ? 2 ~GEXP (XAT#OMNET) / (DENS#2) )#(( CXAI#OMN) #22-OND##2)#SIN (OMD#T) 3 2. O#XAT#OMN#OMD#COS(OND#T) ) RETURN END NUMERICAL EVALUATION OF DUHANEL INTEGRAL 1 Tur) FD) xD 2 0.91415999E+00 0. 84359998E+00 0. 454159738E-01 9 ©. 62891998E+00 0. 6F09999SE+00 0. 18977741E+00 4 0. 94247997E+00 0. S4400000E+00 0. 32499742E+00 5G. 12566404E+01 0. 41219997E+00 0. 497¢7474E+00 6 0. L970B008E+01 0. 27270003E+00 0. 65152758E+00 7 0. 18847611E+01 0. 1909999EE+00 0. 76239210E+00 8 0. 21991219E+01 0. 10900002E+00 0. 8125537SE+00 9 0, 25132816E+01 0. 48939999E-01 6. 79924198E+00 10 0. 282744226+01 0. 1230999SE-01 0. 7048Z814E+00 11 0.91414025E+01 0. 00000000E+00 0. 55644867E+00 12 0. 34557627E+01 0. 0000000CE+00 0. 35454141E+00 13 0. 37699232E+01 0. 00000000E+00 0. 14971568E+00 14 0. 40840836E+01 0. 0G00000CE+00-C. 66201847E-01 15 ©. 499782499E+01 0. 00000000E+00-0. 24274461E+00 16 0. 47124043E+01 0. 00000000E+00-0. 42234131E+00 17 0. 50265646E+01 0. 00000000E+G0-0. $3218621E+00 18 0. 52407249E+01 0. 00000000E+00-0. $8483124£+00 19 0. 565488S2E+01 0. 00000000E+00-0. 57878375E+00 20 0. 5967045GE+01 0. 00000000E+00-0. 51819199E+00 21_0. 62832060E+01 0. 00000000E+00-0. 41212624E+00 282The computer program of problem 4-68 can be used to find the relative displacement 3(t) of the water tank provided —m$(v) is used in place of F(t). Here S=0, Wy= 22-3607 rad/sec and F(R) =~ wooo x ae x H(t) if it in g's The problem- dependent data for the program of problem 4.68 ond the output are given below. PROBLEM-DEPENDENT DATA DIMENSION F(15), X(15), DELT(15), T0185), AC15), B(15) NPeIS XAI=0. 0 ONN=22. 3607 xt=10000. 0 DATA F/. 01. 45; ~. 8) -. 9) ~. 61 —. 751 —. 71. 55r 1. 75) 1. 65). 25, 2-1. 1,71. 4,-1.05,.07 DO 10 I=1,15 10 DELT(1)=0, 025 DO 11 fH1,15 11 FCT) S-XxMe9. B1aF (I) © END OF PROBLEM-DEPENDENT DATA c ¢ ¢ PROBLEM 4-69 c ¢ c NUMERICAL EVALUATION OF DUHAMEL INTEGRAL, I TU) FD xa) 0, 24999999E-01-0. 44144996E+05-0, 45271125E-03 0. 49999997E-01 0, 72480000E+05-0. 17453397E-02 0. 7499998BE-01 0. 88270000E+05 0. 11150774E-02 0, 99999964E-01 0. 58B40004E+05 0. 84075147E-02 0. 12499994E+00 0. 73575000E+05 0. 17519452E-01 0. 14999992E+00 0. 68670000E+05 0. 25374368E-01 0. 17499989E+00-0. S3795000E+05 0. 28478131E-01 9 0, 19999987E+00-0. 17167500E+04 0. 19676924E-01 10 0. 224797989E+00-0. 16186494E+06-0, 42601228E-02 11 0. 24999982E+00-0. 24525000E+05-0. 35448216E-01 12 0. 27497980E+00 0. 107971006E+06-0, 57387742E-01 13 0. 299997977E+00 0. 13734000E+06-0. 36341648E-01 14 0, 32499975E+00 0. 10300506E+04-0. 30433871E-01 13 0. 34999973E+00 0. 00000000E+00 0. 10307007E-01 2 3 a 5 & 7 8 283The problem- dependent data, (to be used in the program of Problem 4.6g)and output are given. © PRODLEM@DEPEHDRNT DATA DINEMSTUN FC VO), XC 407, DELT(39), 1130) AC 30) B30) NPs 40, XA120,9 OMn= 660254 xnz2,.0 DATA F_/00,0,60,0,69,0,60,0,60,0,100,0,100,0,100.0,100,0,100,0, & W.0, 39,9, 30.0, 30,0, 39,0, 30,0,0,0,0,0,0.0,04040404040,0,0,0,0, 39.0,0,0,9,0,049,0.9,0,07 bo 19 1 DELTCL TOL 0,99999992E=02 0,60000000E+02 0,14990796E-02 0,20000000E=01 9,6000000NE +02 0,59849964E=02 9,29999999F=0t 0,60000000E402 0,13424230E=01 0.50000001E=01 9,10000000F +03 U.37250735E=01 0,60000002K=01 0,19000000E193 0.55125091F=01 0,7000v000E=01 9,100000008+03 0,77583194E=01 0,7999999RE=01 1,10090000F +03 0.10445669K+00 19 0,89999996E=01 0, 10000000E403 4, 13554408F400 11 0,99999994€~01 9, 30NNOND0K+02 0.17002963EF00 12 0,10999999K 0H v,300N0000E +02 0, 20532255E400 13 0,11999999E+0 0, 30000000E+02 0, 2405755BE+00 14 0,1 3000N00E+00 0, 39000000 +02 0,27552453E+00 15 0,14000000E+00 G, 300v0UV0EF02 0, 3099D744E+00 16 0,15000001E+00 0.30000N00F +02 0, 34346649E+00 17 0, 1600uN01F+00 v,00000000F+00 0, 37579029E+00 18 0,17090002E+0" 0,00000000E+00 0, 10536803E+00 +19000002E+00 0,0000000NE+00 0, 13199742E+00 20 0.19000003F+00 0,00000900E+00 0, 45538884E+00 21 9,20000003E+90 9,00000090E+U0 0, 47536695E+00 22 0, 210V004EF00 9,00000000E+00 0, 49178207E+00 23 0,22000004F+90 v,0N000000E90 0,50451112E+00 24 0,23000005E409 0,00000000F +00 0.51345861E+00 25 0,24000005E+00 v,c0000000E+00 0,51855767E+00 26 0.25000006E+U0 0,00000000E+00 1,51976985E+00 27 9, 26000005E+00 0,00000000E+00 0,5170R635E+00 28 0,27000004E+00 9,09000000F.+00 0.51052707E+00 29 0,28090003£+00 9,0o000000E+00 0,5u914120E+00 30 0.29000002E+00 0.OdROaNELOU 0, 4R6U0H71E+00 2 3 4 5 0,39999999F-01 d,o09NUND9EF02 0.23760952E~01 6 7 a 9 284) Find natural frepuency = mb? : % ome 2 Lg, gt = Zee =Le (wep atnate > tee te w= [ke [ad i fk rad % ome 7 3Vw F2Me)=207 ES (Es) ind epuation of motion : x(t) when the base and tence the pivot o is displaced by x(t), wes the deplecement of mass m, x(t), is given by m(t)= ¥(t) + & oft) @) Relative displecement of mass is 3(t)= x(t) — ¥(t) = b oft) @) Fy > Fp yee foo Eguation of motion: ope ts b — | Zi Forces almg y(vertical) direction =0 > F,-ka @=mi (e,) S&S Moments about P =o > Fy b-k0@(b- a) x0) Solve (Ey) for Fy and substitute the result in (Es): (kag +mi)b- ta o(b-a) =0 be, mbi+@ xa =0 €) But ox = ¥ +3 and o(t)= + F(t) Hence (E) becomes mbyy FE 3K 5 a+ AP ea —mby omy tet ing ) ¥ &-(E7) can be compared with standard forced vibration eguation for an undamped system: 285met Hx = E(t) (s) Comparison of (7) and (€g) shows that =R. Mem, k= “xe and Ezomy (es) Solution of Ey. (Eg) under a rectangular pulse is given in problem 4.20- Hence the solution of problem 4-20 can be used to find the relative displacement. &5-(E,) gives VE = 607 Vw or = 3600Tm"m (E,) Following procedure can be used to solve the problem: @ Assume @ value of a. b. Assume @ Small value of m- c. Find from Ep. (Ete)+ d. Evaluate the solution numerically af outlined in part (fii). e. Tf the maximum relative displacement is Aarger than or eguel & 02m, the design is complete. . Otherwise , increase the value of m and go to step c. $ Ig necessary change the value of ain step av. Let + and m denote the eguivalent stiffness and mass of the cutting head. Eypation of motion is mi + kx = F(E) ,) where F(t) is given by Figs. 4.59 (#) and (4). Solution of &%-(E,) under the force given by Fig. 4-59 (a) can be obtained at in problem 4,92, Solution of (E,) under the force of Fig. 4.59 (b) can be determined using = procedure similar to that of problem 4.25, The values of + and m can be determined as follows: GQ. Assume a small value for m- b. Assume @ small value for #. c. Evaluate the response under F(t) given by Fig. 4-59 (@), 286d. Evaluate the response under F(t) given by Fiy. 4.59(b). If the responses in steps ¢ and d are approximately egual to of mm and o-o5 mm, the current values of mand « are the desired values. f- Otherwise, increment the value of m andfr k and go to step c. ‘Model the system as a single d. Jo =0.1 N—m? ; cy =0(n0 damping assumed) ; y= SE (60 (20%) 5 (af - af) torsional system with: ane é 25 where dy = outer diameter of shaft, and d, = inner diameter. ky = 62.832 (10°) (d4 — df) QQ) Torque acting on the arbor due to breakage of one tooth can be modeled as shown in figure. cutter my Ct) nm, Arbor tase SSSSSS SESS === Meal = : : ° 5. By faerie oe gre (ie an an _ My = 500 N-m, t= Naa ios = 60/N = 60/1000 = 0.06 see where N = speed of cutter = 1000 rpm. Expr eas M,(t) in Fourier series: Milt) 24S (a connut +b, sina ut] (2) nel (cee solution of Problem 4.8 for procedure). where w= 27N. — 104.72 rad/see. 60 Equation of motion: Jo 6 +k, 0=Mi(t) (3) where M,(t) is given by Eq. (2). Find solution of Eq. (3) and determine the maximum value of 6, @aax- This value must be less than 1°. Note: The solution requires an iterative procedure. Assume values for d; and dg. Compute kj, find solution of 6(t), and the value of Snax. If Omax exceeds 1°, choose a different set of values for d; and d, and continue the process until Ona, comes out to be less than 1°. 287