Chapter 2 Free Vibration of Single Degree of Freedom Systems a (a) ees a = (EY = (EES) = 44-2045 radftec = 7.0497 ty O, = = te Tae Te o2lsecs2am JE , Sa oa lE/eT © (ednew = 22H. ame | 2m (CE) Knew x = OTIS see. = 0+2970 see. a Sm = C) (Cr new = FES = EE = om (SEE ES @) Wy = 62092 al/we = JE ve = We/e2. 922 is reduced, w, decreases. when spring constant (9, = 0-55 0, = 34.5576 rad, = = /Ho800 (0) nem aess76 ad/oee = fees’ = /x-t8e | +: Oe 62-836 = 34-5576 , Kasee (55 = 0- 3025 oss K = 1146+9534 Nim = /e2. 3 = */ cr932% = 46-9534 im / 62-932 5 m= */6 PTT m= 02905 tg Ke toof(12., 192) = 10000 N/m 2K n= [Fe = JE = (ae x10! Dye « My - = 63-2456 rad/sec t= We 629 _o. ten = > Gyaee = 070993 sec 55Unit weight: 9000 N Natural frequency 5 rad/s ~ 10 rad/s Solution: 9000 98 5 rad/sec m k,,= mo? = || (7.5)? = 51658.2 Nim = 4k where k is the stiffness of the air spring. ‘Thus k = os = 12914.5 Nim x= A ws (W%t-g) , = —OneA sin (t=) , = = GEA cot (Wat -&) @) WAs ot meee 3 Te Br tse, 8, = 31416 rad/sec A = 04/09, = 0-03183 m @) x, = x(t=0) = A wos (-¢,) = 0-02 m cost) = 22% = 0.6293 g& = 54-0724" X(t=°) = -O,A Ain(-$) = - 0-4 Sin (- 54-0724" y = 007779 m/sec @) ©) Xanax = OFA = (G46) (0-03483) = 0314151 m/sec? 56For small angular rotation of bar PQ about P, E Gade CLI = EON EH OE (era Jeg = ie batt )/ e2 hen = overall spring constant at @. Let pies eee Ch Mne hv2 k, ade, 2 iG) + a) fe Pe haadey + * *, Bey + ke (4y+ key z a, [ = ty ke Lt a ts co m (ky A+ te e+ hy OF) = 0-02 m Ga) m= 2000 49 w= (784)" = (ast)* = 22-1472 rad/see ‘0-02 Gs) Let x be measured from the position of mast at which W sing the springs are unstretched. Equation of motion is me 2 -h(2t de) hale 4) Vy cos -- €1) W sin @- Re ae o,- Von. met (tit) x20 > + Wisin e where 854 (K+ 2) Thus &%- (61) becomes 37Cart weight: 20 kN Steel Young’s modulus E = 200 GPa \ steel wire rope mm diameter Solution: 4 (0.001)? (200 x 10°) 9 = 17453.3 Nim 17458.3 (7.5) = 14544.4 Nim gq = ky + ky = 31997.7 Nim Let x be measured from the unstretched length of the springs. The equation of motion is: m % =—(k, +k,) (x +8,) + W sin 0 where (k, + k,) 3" = W sin @ ie mk +k, kx =0 Thus the natural frequency of vibration of the cart is given by pa ee 31997.7 x 9.8 o, = feet ke = [S927 X98 5 9597 radis Vom V 20x 10% Weight of electronic chassis = 500 N. To be able to use the unit in a vibratory environment with a frequency range of O - 5 Hs, its natural frequency must be away from the frequency of the environment. Let the natural frequency be w, = 10 Hs = 62,832 rad/sec. Since Keg oy aS = 62.832 we have 58kg =mui = (=) (62.832)? = 20.1887 (10) N/m = 4k so that k = spring constant of each spring = 50,464.25 N/m. For a helical spring, EaGidy enD* Assuming the material of springs as steel with G = 80 (10°) Pa, n = 5 and d = 0.005 m, we find 7 k = 50,464.25 = 2 008) 8 (5)D This gives 3 D? = 2250107) _ 94,770.0 (10-9) or D = 0.0291492 m = 2.91492 cm 50464.25 2) Gi) with springs , andy: Let Ye.%, I be deflections of beam at distances a,b, h from fixed end. thay a be aed be, (Kin)o = &, (Fe% ay ‘ (en deg 6 (Byes #) = Fe? Ge y= FE Ge oa @xsa, %= A =< = Fe a @rx-b, H%= EB (st 4) Cia fee oye ele SEE F ~ 2 2 ¢ Ky) Ks (BY + #2 €, ) : [ (Gp) ts Gt where year pF HRY + Bye ten &, #1 (31) af (sf-a)*+ x2 (3€r) bY (34-5) mi fea* (fea) + ke bt(20-b)* + 12x L? fe ii) without springs &, and tp : pring’ 2 2 Kpeam . [3€T On = mV me? 59@ Let x12 = displacements of pulleys 1,2 Ke tetra ---- (&) tension in rope. P For eguil:brium of pulley 1, LP ak, xy ooe- (&2) a and kp> KH Ka 2K Combining &gs-(E1) to (Es): , eax eons 2(22) +2 (22) = (eta Let eg = epuivalent spring constant of the system: Polk = 7 tye b= mn of massm: mz + Keg X =0 key = [E 7 am For a displacement of x of mass m, pulleys 1, 2 and 3 undergo displacements of 2x, 4x and 8x, respectively. The equation of motion of mass m can be written as Eauation of m 2, mi+Fy=0 a) where Fy =2F, =4F; =8F3 as shown in figure. Since F; = (8x) k, Eq. (1) cam be rewritten as mk +8 Fs =8 (8k) =0 (2) from which we can find 64k k we Va OV a o@ @) w= [4%/m (b) = V46/CK + Initial conditions 12 Velocity of falling mass m = Va (OPES (cS we 2gh) x20 at static equilibrium position. X= x(tzeya- wet » _ mE Conservation of momentum! (qin) zg amv = ™ hgh kG=0) = Vaghk +m Complete solution: x(t)= Ag sin(w,t+ 4) where 2 x 29? m* oh Aoe |xae (2/2 = | m2’ 2 e+ CE) teat * Beaman) He uct ( Velocity of hammer 20 m/s Weight of hammer 50N Weight of anvil 500N Stiffness k = 20 kN/m Solution: (a) Velocity of hammer 20 mis, x = 0 at static equilibrium position, weight __ mg Keg 4k Xo = x(t = 0) my M+m Conservation of momentum: (M + m)%q = my, or X= %(t= 0) = — Natural frequency: 0, = | 4k M+m 61) Complete solution: x(t) = Ay sin (w,t + 6) ms = : [= a m?y? + 16k? (M+m)4 and 500 eg, k= 20 kim, m 98 1 . 50 (0.8) _) +(22} os © = 14 0000) (9.8) 9.8 ) 550 (4) (20000) 550, {9.8 (20) ,/4(20000) since v = 20 mis, M % = = | = tan“ (-0.01298) = ~0.7436 deg x= 0 at static equilibrium position: xp = x(t = 0) = Conservation of momentum gives: Miko = my or x, = x(t = 0) = 4, x9 = x(t = 0) = 0 Complete solution: x(t) = Ay sin (o,t + 6) where Ay 4+(%) [mv aw) te mv _ __ 50.0 198 __ ®p, m4 k V4kM_ — 9.8 ¥4 (20000) (500) = 0.0505(m) and an1(0) =0 62Gx) ky 2 (tp) 5 tae et — a Kit Ke . Ree = A= xu ~ 12521) (estusaset = 28-514 rad /sec 1000 a 22 ~ft, xo= 0 (suddenly shopped uhile it has velocity) vibration = t= 40 = gépng = 02204 sec Amplitude = A= 2/3, = 2/29-5114 = 0:07015 m Was 2 He = 125664 rad/tee = [E Ve = 12-5664 Vr a FS IS e 62832 vad/sec VE = 6.2832 fined = 12-5664 Sm fri =a, me dig a= (12° 5664) m= 52:6381 W/m = 0/8129 x10° N/m (0-01)* a ae to AE Cable stiffness = 4.0844 (10°) N/m ale (0. | 2.07 (107?) 63@ @ sal sino Neglect masses of links. L ei ©) tye « (Hs#) CGS) i “ee wi sin? = a = [#3 costo (fo solution A Md of problem t0 () wae [EE time tage y= VE (sin dx)? —6 cos = Vl cos? O—x? +26 xsin 9 —¢ cos d x 2éxsiné = cos 6 a ee “ V Fees? 0 | cost 6 ce! ee a ghavaghytsky 2 cos? 6 2 & cos? @ =x tend Thus kyq ean be expressed as i bertotentet ZF, ‘Equation of motion: ri AA Natural frequency: Keg (ky +k; V Vi ithe uy 4&) (a) Neglect masses of rigid links. Let x = displacement of W. Springs are in series. Equation of motion: Natual frequency: ke r uVe- tm (b) Under a displacement of x of mass, each spring will be compressed by an an amount: 2 or a= 2 2] Equation of motion: Natural frequency: Kea _ 8k v eS V nm vm 4 Fas ty x wot 45° h Fi Faz Fg ky cor 1357 Fe force along x = F, of 45°+F, 5 135" * +s cos 5° + Fy cot 35" Fs = 2% (hy cas? + Ky ws4t35*) FE 1p Ke kee z= 2 (M+ SB) = he ee Equation of motion: mE + (kit ke) * = 0 65Let @, denote the angle v mode by i spring wil Apring with 7 respect “to X axis. ky Lit x= displacement -% mass tee oust _ digened Inf! @ « ere eg —~ x 1 Keg = Qucialenk spring oe constant, the epyuivalmce fs= Kye ky of potinlial emangizs gives $tey t = £2, tz fe os (0-«:)]* Key = = k; cot” (0- #2) = Eker e ata: + hing naz) ai tee an (ae ote + sibel; ft ©) ist +28 (cx ot; Hin of; HO He) int Natural freguency = @y = For (2, te be independent of a, Stk; wits = Se; tee) Ai & and Ek: tt: tae: =0 “ED a (€1) and (E;) can be rewritten as Ea (et ote) = z 4i(4- $ es 2a) Z z err ia ie. = &, ws 2a; =0 + ©) aot and Sg, sin at; zo --- ed 66In the present example, (Ez) and (E4) become K, COS GO" -+ Kz cos 240° 4 Ky CO 2Ay + Ky COS 420" Kz Cot GOO" + Ks ws (360° + 243) = 0 ky Sin 60" + eq Sin 240" + ey Sin 2ag + fy, Sin 420° 4 Kz Sin GOO” + ks sin (360° + 2%) = oO Ben Ay = Ha thy wf avy =O) ky OF aw = Kam Hi ES) NT 1 -WP ee +2 ky sin 203 = 0 } "ates sin aly =F (Ka —M1)~(Ee) Sguaring (Es) and (Ec) and adding, Aas = Ke- 1) (143) Syst Ga- ) > t= [te Dividing Ee) by (Es)» fan 203 2 VF a @y= 4 tant (VF) = 30° 2s & z& er mi+(L+T)x 20 > os +t 2 = (a+b) eld 67Jumper weight 720 N Rope length 60 m Rope stiffness 2 kN/m Solution: m= 20 yg e=2kNim, 98 Velocity of jumper as he falls through 60 m: mgh = ; m vor v= y2gh = y2 (9.8) (60) = 34.2928 m/s About static equilibrium position: x)= (t= 0) = 0, Xp = X(t = 0) = 34.2928 m/s Response of jumper: x(t) = Ag sin (0, t+ 0) where 34.2928 fy; xoum [720 = 6.5726 m 2000 V9.8 and Acrobat weight 540 N Natural frequency of vibration 10 rad/sec The natural frequency of a vibrating rope is given by (see Problem 2.2 ‘2m Solution: Sa oo [Ta@+b) mab o,= where T = tension in rope, m = mass, and a and b are lengths of the rope on both sides of the mass. For the given data: Te+4 oniasiD =| 'T (0.013611) 50 y [Joe which yields = —100_ 7346.9388 N- 0.013611 68©) when w=o, total 5 ie Vertical height=2k+h / : when ca 0, total eee 7 ho Vertical height (af cor o+h) | spring force = k[al+k- (2l ut o+h)] "? = 2#h(1- oe) ‘ A For vertical epuilibrium of mass m, Ramee mg +h ea Tote --- (1) z= lane For horigontal eguilinium, = (Ti+h%) * @ Be FEO Yy gy --- (&) From (Ex) » (E1) con ke expressed as mgt (Se gee S02) cre = 7 core re 7 = Me eete . mr nethave Tre Tore pe Behe © meat. Tete - TH! sno Q sin @ Seen rece eee eT tin @ milo? _ me = Ture spring force = 2kL (1- wse)= 2% ore = mist ase —mg wo = (tes) _- (8) rely stat) this eguation defines the epuilibrium position of mass ™. for small oscillations about tie epuitluum gotilim , ' nd faw gir Newton's second taw gives _ amp tkyro pra 69(a) Let P = total spring force, F = centrifugal force acting on each ball. Equilibrium 20 aeeseeeee *{l-3 ba] " When P = 10¢ | = 100N, and Foard =ar[ 1.004471 N* where N = speed of the governor in rpm. Equation (1) gives: 0.004471 N? (0.2) = 2 (0.12) or N=81.9140 rpm (b) Consider a small displacement of the ball arm about the vertical position. Equilibrium about point O gives: (m b?) 6 + (k asin 6) acos =0 (2) For small vallues of 4, sin 9 ~ @ and cos @ ~ 1, and hence Eq. (2) gives mb? b+ka? 0=0 from which the natural frequency can be determined as --t3 iF ={(20)¢ | 222, 12)" 981" _ sy sest rad/see (020) “25” 70pe ee fs = fe @) kh, 0s + when each wire stretches by x, let the resulting vertical displacement of the platform be x - Xe feo =f as = Ena E(B) For small x, x* is negligible compared th ake ond Vive = 1+ & and hence a = x = (ete 2 [1+ as 57 1)- EY x z Potential energy ee gives $y t= 4 (Ee a) @) Equation of motion: mi=SF, ie, (LA p)¥=—2(Axp eg) ie, #4+38x=0 where A = cross-sectional area of the tube and p = density of mercury. Thus the natural frequency is given by: 28 ae L 71Assume same area of cross section for all segments of the cable. Speed of blades = 300 rpm = 5 Hz = 31.416 rad/see. w= 7 = (2 (31.416)? = (62.832) Keq =m wi = 250 (62.832)? = 98.6965 (10*) N/m (Qa) AD = Vos? +0.5? =0.7071m , OD = V2? 40.7071? = 2.1213 m Stiffness of cable segments: kp = AE Aca) (10°) = 207 (10°) A N/m P09 Kop = AE = A207) (10°) _ 97 5817 (10°) A N/m top 21213 am 7071 Mm 2 0 tan (2-707! ace ‘The total sttiffness of the four inclined cables (kic) is given by: kg =4 kop cos? 9 (97.5817) (10°) A cos* 19.4710° = 346.9581 (10°) A N/m Equivalent stiffness of vertical and inclined cables is given by: ieee kro | ke fae — fro ke Me Ee ag ke = —(207 (20°) A) (346.9581 (10°) A) 199.6494 (10°) A N/m (2) (207 (10°) A) + (346.9581 (10°) A) Egquating k,, given by Eqs. (1) and (2), we obtain the area of cross section of cables as: _ 98-6965 (10*) - 8) mae = ety 7828 (107) 72&) 4 aft 7 as Saat (25) = 986.9651 1 ky iF . 2 ts feton] 4.0825 5 ag 4 (rn)? (18.8608) = 657.0822 Using ky = AB we obtain ‘1 986.9651 ie, A =9.5350 (10°) m Q) ky AE m+5000 — ¢; (m +5000) : a 2 .e., —————. = 6.3573 (10 hen a ¥ 5000 0 Using Eqs. (1) and (2), we obtain A = 9.5359 (10~°) m = 6.3573 (10~*) m + 31.7865 (10~*) ie. 3.1786 (10~*) m = 31.7865 (10-*) ie, m = 10000.1573 kg (3) = 657.9822 (2) Equations (1) and (3) yield A = 9.5359 (10"*) m = 9.5350 (10~*) (100001573) = 0.9536 (10-*) m? 73@) Longitudinal Vibration: Let Wy = part of weight w carried by length a of shaft W,= W- Wy = weight carried by length b x Elongation of length a = Wie 1 es Young? modulus AE y= shortening of length b= away te ED) Since x= ¥, Ww, = W(l-e) = area of cross-section = md L longation or static deflection of length a = Welt) aek Considering the shagt of fe i spring a ystene °F fensth @ with end mass Wi/p as a - (2 - (Ca gine ih “we (1-2) Transverse vibration: spring constant of a fixed—fixed beam with off-center load eee 2ETL ser a 63 @ (f-a) 3 + ae VE = (pote we 22 Cth) = moment of inertion Torsional vibration: » resisting rg flywheel is given an angular deflection 9 é ese torgues offered by Lengths a and bare S28 and SEO. Total resisting torques Me= cx(£++)o “ = se at(S+4) where z= TE = polr moment of inertia. Bs (ey where 4 = mass polar moment of inertio of the flywheel. 4Cable cross-sectional area 3 x 10m? Antenna tower can be modeled as a steel beam of square section of side 25 mm Solution: Meg, = 3 (200 x 109) equivalent mass of a uniform beam at the free end (see Problem 2.38) 33, 33, = — m= —~ [0.025 (0.025) (45) (7.75 x 10°)] = 51.378 kg ea = j gp B= yg (0.025 (0.026) (45) ¢ )] = 51.878 ke Stiffness of tower at free end: BEI _ 3(200x 10°)(4 (0.025) (0.025)") LG (45) 2143 Nim Length of each cable: OA = 0.6 12 = 0.8485 m, OB = 4.512 = 6.3640 m, AB = OB - OA = 5.5155 m TB = VTA? + AB? = 730? + 5.5155? = 30.5028 m tan o= AT = _30_ AB 5.5155 Axial stiffness of each cable: 4392, 0 = 79.5825° = AE _ 3x 104 (200 x 10°) k € 30.5028 1967033 Nim 75Axial extension of each cable (y,) due to a horizontal displacement of x of tower: 1 1 ee Ee = 5 Kea x 2 Por ky, =k (=) =k cos? @ ‘This gives Kg, = (1967033) cos? 79.5825° = 64313 N/m 2 In order to use the relation keg... = ky +4 Kegay (| 1 we find 30? [3(45 — 30)} 9 (45) = 0.5185 Thus k, kt 4k, eed [0.5185]? = 0.2143 + 4(64313)(0.5185)” eo = 69165 Nim Natural frequency: Kggena )? Ksgnt -(288) 36.6906 radl/sec TMegend 51.378, Traffic sign thickness = 0.003 m Post height: 1.8 m aaa Post cross section: 0.05 m x 0.006 m [orn Wind frequency: 1.1 H, 08m Solution: L1H, = 6.9 rad/s AB = ¥0.22" + 0.22? = 0.3111 m BC =0.8 - 0.22- 0.22 = 0.36 m ji Lam Area = 0.8(0.8) — G (0.22) (0.22) cores 2 | = 0.5482 m? ‘Thickness = 0.006 m, 76Weight of density of steel = 75950 Nim? Weight of sign = 75950 (0.003) (0.5432) = 123.8 N Weight of post = 1.8 (0.05) (0.006) (75950) = 41.01 N 3EI Stiffness of sign post (cantilever beam): k =~ Area moments of inertia of the cross section of the sign post: I a (0.05) (0.006)* = 9 x 10m‘) ly 2 (0.006 ) (0.05)5 = 6.25 x 10°%(m') Bending stiffness of the sign post: BE ly _ 3x (200 x 10%) 625 x 10%) a a 6430 Nim BEL, _ 3x (200 x 10°) Q x 10) a rn 7 1-06 8{1- a } al iat (see Ref: N. H. Cook, Mechanics of Materials for Design, McGraw-Hill, New York, 1984, p. 342). Thus, 92.59 Nim (0.025) (0.003)* — (2208) ~ oo s.a| ozo coos) (83 x 10%) f 89) o025) ('~ 12.026" = 153.3547 N- mrad ‘Natural frequency for bending in xz plane: x}? _ | 6430 BE 0, = \Sx2}" = {Tuaas)} = 22.5610 radisee m (os Natural frequency for bending in yz plane: 2.7073 rad/seeBy approximating the shape of the sign as a square of side 0.8 m, we can find its mass moment of inertia as: 1= Hens 1 2.8 | 0.93 o = 3.1744 kgm? Natural torsional frequency: @,= {us| 7 {sssassq} 6.9505 rad/see eo 3.1744 Thus the mode of vibration (close to resonance) is torsion in xy plane. (a) Pivoted: Let Leh. i2er ee = + Kedlane = *( oe Let mee, = effective mass due t Ack, artight of columns Equation of motion: (9 + Mepps) 2+ key x = 2 Natural freguency of herigontal vibration = @, = [eee 3 B(gemasi) 8(b) Fixed: since the joint between columnand floor does not permit rotation, each column will bend with inflection point at middle. When force F is applied ot ends, eo jee eee 3er ZeéL 4ger Keolume = oF + hep = 4 Keslenn = pS Let eps = effective mass of each column at top end Cpuntion of motion: es + moet) ee ty x oS Natural frequency of horizontal vibration = On= BE mae ma) €,2,L,m mn \, > mass (due to self_weight) + = effective part of = fe x EES ©) Let mere, mass of beam (m) at end Thus vibrating inertia force at end is due to (M+ meg, ) « Assume deflection shape during vibrat static deflection shape with a tip load: : ylxt) = Yo) c(c5,t-f) where (x)= Ex Gh | Yn) = — xt (3h-x) where Yo= ELE x max. tip deflection T von same as the ¥(ut) = r Gth— %) cos @at-A) ce z Max. strain energy of beam= Max. work by force F = fresh By ©) Max- kinetic energy due to distributed mass of beam t afi 22 5 wd = SE t [x ET [Het de + £ (Gnas) = bony (3m) + done Mm () 33 ™erf 1 = iyo ™= 0-2357 m 19(b) Let Y(x)= a,ta,x+ 0; ya, %? a re o, At(L)<0 This leads to (x)= 3Yo te Maximum strain energy GEI Y* = ban Yo (m+ =) m =Bmeso. efga = 35 0-3 714 m Object weight 50 N £,=0.30m, D,=0.05m, d, = 0.045 m .25 m, 04m, dy = 0.035 m .20 m, .03 m, dy = 0.025 m E,=E, Solution: Stiffness of segments: a 7 2-4, = © (0.052 - 6.045%) = 3.7306 x 10+ m? ALE, _ (3.7306 x 10) (70 x 10°) = SRO AIO) CO ICY = 87.0483(10°) Nim ty 0.30 ee) a (D3 = 2) = a (0.04? — 0.035%) = 2.9452 x 10 m? x10 2 (2.9425 sor cneis) 68.7223(10°) Nim £ (w§- ay = © (0.038 — 0.025%) = 2.1508 x 10-4 m*? = AsEs _ (2.1598 x 10°) (70 x 10° Ly 0.30 = 50.3964(10°) Nim 80Equivalent stiffness (springs in series): tai ere ea Ky ke 4.58819(10-9) 1.7951(108) N/m = 1.14879(10-%) + 1.45513(10°) + 1.98427(10-*) o Ky Natural frequency: keg _ [keg _ [(21.7951 x 10°) 0.8) cg = [Kea ® _ |(21.7951 x 10°) (9.8) _ 5966 9499 rad/see m Vw 50 enhe (ar) = 9° 4730 see 81Ga) Let [= coefficient of friction x= displacement of CG, of block F,,j= net reactions between roller and block on Left amd right sides. Reactions at left and right due to static load W are W(c-xfre and W(e+*)/ec, respectively. M= moment about @ due te motion of block =(MFa-pFi)a Reactions ak figt amd right to balance m= M = Ae (R-F) = We- F- Wee & (F- Fi Fe We-D _ a (he AD, R= Gr, 2eCh > Subtraction gives R-Fi= ME + AS (R-F) Restoring force = (Fa i) = ( f=) Equastion of motion; yg pur a) O,= 0 = Ewa _ pv Ww (emp ae Solving this, we get w= [eo/(g + ws") ] =o 82From problem 2.41, x Restoring force without springe= # (R-Fi) = a Spring restoring force = 2% Total restoring force = W* + 24x Eyuation of motion: Wx + (Stee )x =0 snes {lew entree (e-p*) w Solution of this eguation gives w* We- 2eg¢e Be Wp Wola ange) (a) Natural frequency of vibration of electromagnet (without the automobile): [x _ [asx 10% YM ~ | 1,400 = 85.8569 rad/see (b) When the automobile is dropped, the electromagnet moves up by a distance (x,) from its static equilibrium position. Xp = static deflection (elongation of cable) under the weight of automobile 10 1 io, = (900) 9-89) _ 9 4905 m k 1.8 x 10° Resultant motion of electromagnet (tx upwards): x(t) = Ay sin (0,t + 4) where 4.905 mm Xo Wy ® = tan(o)= © rad a) an Hen)= Fra 4 Hence x(t) = 4.905 sin (ssass0e + and tar 4,905 cos (35.8569) t mm (c) Maximum x(t) x(hnax = Ap 905 mm. = kx(O)),,. + Weight of electromagnet = (1.8 x 108) (0.004905) + (1,400) (9.81) = 22563 N Maximum tension in cable during motio: 83(a) Newton's second law of motion: F(t) =-kyx—kyx=mi or m¥+(k, +ky)x=0 (b) D'Alembert’s principle: F(t)—m&=0 or —kyx—kyx—mi=0 Thus mi +(ky +hy)x=0 (c) Principle of virtual work: When mass m is given a virtual displacement &x, Virtual work done by the spring forces = - (ky + ky) x &x Virtual work done by the inertia force = - (m %) & According to the principle of virtual work, the total virtual work done by all forces must be equal to zero: ~m& & — (ky +hq) x Gr =0 or mE + (ky +hy)x=0 (4) Principle of conservation of energy: T = kinetic energy U = strain energy = potential energy = 3 ky x? + Lit T+U=ini +3 (er thy)? =e = constant ZHU) H0 oF mE + (ky +h) x=0 k(4r)(@, +6) t x(t) a,Equation of motion: Mass m: mg—T=mi (1) Pulley Jo: Jo $=Tr—k4r (0+) 4r (2) where & = angular deflection of the pulley under the weight, mg, given by: = m8 mgr=k(4r)4r or % err (3) Substituting Eqs. (1) and (3) into (2), we obtain Jo = (mg —m¥)r—kis (0+ BE) (a) Using x = r @ and ¥ =r 8, Eq, (4) becomes (Jo +m r*) 6 +(16 7k) O=0 Consider the springs connected to the pulleys (by rope) to be in series. Then 1 1 1 5 Rorete & eG Let the displacement of mass m be x Then the extension of the rope (springs connected to the pulleys) = 2x. From the free body diagram, the equation of la motion of mass m: x(t) Dex mE +2kx +k, (2x) or mi+—kx=0 T = kinetic energy = Trae + Tpatey wtavilytaLeartmé ger tine Fmt +4) F = potential energy = 1 kad = Ferg =Lxuerye Using 2 (7 +0) =0 gives (mr + Jo) 6+ (18 r? k)@=0 Takinetic energy = imi +i ye U = potential energy = 2 kext=. = extension of spring = 4 r 0 = 4x, Hence 1 Joy 2 1 m+ ye U=s (16k) x? Using tthe relation 2 (T +0) = system as: we obtain the equation of motion of the Jc (m+ J)e+16kx=0 7 f}-_—— fo nn ———earoam Due to a load P at C, deflection at point C is given by (from Appendix B): reo ~ EEO [pox-q-@ af] sesxcete yonyenlta)— PAE (¢+3) Moment of inertia of cross section of beam: I + (0.05) (0.05)* = 52.0833 (10-*) m* Equivalent stiffness: : a P W_SEL¢ _ 3 (207 (10°)) (52.0833 (10-*)) (0.8) ke Yo at (é+a) (0.2)? (0.8 + 0.2) = 6.4687 (10°) N/m Natural frequency: 6.4687 (10°) hy V at = V ca = 359.6872 rad /see A : . }-}-—_——- fo. #m —_bazo.2m-of From Appendix B, the deflection of fixed-pinned beam with an overhang, due to load P at the free end, is given by:yx) = fete x? —¢x? — e+}e-a €SxSlta Using a = 0.2, € = 0.8, x a+é= 10, and I= $ (0.05) (0.05)? = 52.0833 (10-*) m* we obtain P (0.2) Yo = 7 (aa7 (10%) (52.0833 (10%) (0.8) — 0.8 (1)? — i +1) (0: | =P (9.895652 (10-*)) kg = = = 1010.5448 (10) N/m re a fis}* ~ [poss = 440.5642 rad fee m Data: *: 500 N/m, m= 2 #9, X,=o.1m, 2 4 n= (Wm = G00/zy%_ 5-24 rad/s Eg-(2189): x(te Hy Cos Ot 4 me aw, sin o8,t = ol cos 15.814 ¢ + (Gg) si" 15.814 t “x (E) = ont cos 15. 8ny t +0-3162 sin 15.8144 m R(E)= - 1-59 sin 15-81 E+ 5 cos is.81y t m/s % (t)= -24- 93994 cos 15-8114 — 73-0570 sin [5-91ly t ms és ve y= 10 rad/s, x, = 005m, X= 4 m/s Response of undamped system: KCE)= x, cos ot + Xo gin cot = 0-05 cos tot +(b) sin ot 87* x(t) = 0005 cos ot 4 ot sin tot m R(t)= -o-5 sin tot + cos 1ot m/s ¥(t)= 5 cos ot = 10 sin wot m/s? Plotting of Egs- (Et) to (€+3): & BQ 52.m for i (i) 1001 (4-1) *5/1000; x(i) = 0.05 * cos(10*t(i)) + 0.1*sin(10*t(i)); dx(i) = -0.5*sin(10*t(i)) + cos(10*t(i)); ddx(i) = -S*cos(10*t(i)) - 10*sin(10*t(i)); end plot(t, x); hold on; plot(t, dx, ‘ plot(t, ddx, xlabel (‘t'); ylabel('x(t), dx(t), ddde(t)'); title(’Solid line: x(t) Dashed line: dx(t) Dotted line: ‘Solid tine: x(t) Dashed line: c(t) Dotted line: dei!) 5 XQ, x(t), eet) 15! 0 dix (t) 1)&) Data: w= 2 rad/s, yz041, X,soroim, £2 trad Initial conditions 2 Cre Vi-s* wy, , we a /fns? = /fimo-o1 Egs. (2:73), (275): = e-o1o1 rad/s Kee fale (det Te “8 = 001 wy i $= tan? (- +34, *=') =4 Oy Xe Eys- (E-2) and (£43) fead to: ' 2 xie (22 + 0+20101 xe) = 0-000} oe . (22 + a20101 Xo 2% ;) = tan t= 07954 SF = (40-2010) Xe) = 1.5708 mo Substitution of Ey. (e-5) inte (€-A) yields (+1) (e-3) (e-3) (.4) (e-5) Xo = 9.007864 m (e-«) Eys:(€+6) omd (E-5) give oe %, = -0:013923 m/s Vithout passengers, (,), = fe = 20 rad, > kz 400m €) With passengers, eo (,), = = = imag rad/s Sguaring Eg. (E+2), we get — m+ 500 Using k= 400m in (€-3) gives m= 1499-6481 kg = (17-32) = 299-9824 89 (9D=15em, G=79.3 GPa, 93 Hz, k = 4.62 kN/m aG dé (79.3 x 10°) aDN ~ 805x107) N k= Spring rate = = 4.62 x 10° a or —— = 1.5730 x 107? (E.1) N 1 fk pos 2 Vw 2 2 where W= (2 xDNp: . (1.5 x 10-2) (7800) N d? = 288.686 N d? o Hence f= 2 10) = 193 2 \288.686 N d® or Nd? =107.409x 10° (2) Eqs. (E.1) and (E.2) yield at 107.409 x 10° 1.5730 x 10°? & a = 1.68954 x 107 or d= 0.00235123 m = 2.35123 mm Henee N= 19.429 90Data: D=15 30 GPa, p = 3000 kg/m? f = 193 Hz, k= 4.62 kNim ag * (30 x 10°) aDN ~ 8@5xi ap yy = 162 x 10° k = Spring rate = (B.1) 2 Js DNp= . (1.5 x 10) (3000) N d? = 111.033 N d? z s = W ad 4 or N d? = 279,264x 10% (E.2) Eqs. (E.1) and (£.2) yield = 1.16118 x 10" or d = 0,00324203 m Hence N = 26.569397 By neglecting the effect of self weight of the beam, and using a single degree of free- = dom model, the natural frequency of the system can be expressed as w, jz where in = mass of the machine, and k = stiffness of the cantiliver beam: _3EI k= e where € = length, E = Young's Modulus, and I = area moment of inertia of the beam section. Assuming EF = 200 GPa for steel and 72 GPa for aluminium, we have: 3 (200 x 10°) 1 : at = {s.aw01093| A m € (qu = {sczxsoo1} }<-———_— ¢ —__> me Ratio of natural freq, = Salsas. (=) 6667 = var 72 06 ‘Thus the natural frequency is reduced to 60% of its value if aluminium is used in- stead of steel. oOFor Sree vibration, agply Newton's Second flaw of motio mL6 + my sine =o > For smal amgular displacements, Ey .(E-!) reduces fo mlé+mge =o (a) €-3) (€-4) ot B+utere where gy, Solution of Eg. (E+3) is: O(t)= 6, cos apt + So sin oo, €-5) : . where @,and 6, denete the angular displacement ond angular velocity at t=o. the amplitude of motion (5 given by @= Se 6. ¥ 3 § e+ 3.) } (E-6) Using @= 0.5 rad, O=0 and 6,= 1 rad/s, Ep. (E6) gives fee eeeeeeme ors Se = Wine 2 rad/s 92The system of Fig.(A) Driver Driven can be drawn in epuivalent form as Shown im Fig-(B) where (+) both pulleys have the sme radius Ty+ We notice in 250 mm B Fig-(8) that vibration can bre a Fy. A towore 8 place in only one way pulley moving clockwise and the other moving counter clockwi When pulleys rotate in opposite directions, i. the spring forces ubich has the fame value on either pulley it ~ %(0,+ where ky > torsional spring constant of the system gration of motion is BARBED agg wem/rad Ke @itex)=0 A HG, + Hy(01+%)=15 oy. (6,) gives, for con 2 Trad, ies + (i+ Bore Sth (Faigso [Re 454-7935 y lees Ate (Foe rings ry Ok HAO) aye Mee en ee ——r——r—C t™——L o= ie ( 452} * L(G) pretation of the tuo palleyz asa A Whole (os vigid body) in ame Were ax 0540-05 ty-m", idivection. Tie will bewe @ retural a= 5 apeed ration 0-2(f)*= 00125 4y-m" | frepuency of Jero- See section 5.7. ae(3) wml 8 + mg tino =o wld 4 mgozo AVL For small 6, = iE 1 \ee uae ae = = 14185 see | howe lve, ca ae fE (b) mS 4 Katsino + mgl sno 207 in = Ka + mph me wh! 5 + (kb +mgl) 9-0 ©) mlb + Kd sine -mgl sin ozo, mls +(kab-mgl) o=0 r 0, = caret configuration (4) hes the highest natural frepuency.2.5 om diameter mass of a panel = (150 x 10°) (90 x 10°%) (2.5 x 107%) (3000) = 101.25 kg 3 u , m Jo = mass moment inertia of panel about x-axis = 7 (a? +b?) 101.25 12 83965 kg m? (2.5 x 10-2)? + (90 x 10-2) I, = polar moment of inertia of rod = 3 ats Be (2.5 x 10)" = 38.3495 x 10-° mt (26 x 10°) (88.3495 x 10 (30 x 107) }323.62 N-mirad wy. (szesy" _— Jo. 6.83965, I, = polar moment of inertia of cross section of shaft AB n m = & at= = @5 x 10% = 38.3495 x 10° mé a ge 25x 10% 3495 x 10° m orsional stiffness of shaft AB = She 1220.06 N-m/rad _ (83 x 10°) (88.3495 x 10°°) 15 x 10 mass moment of inertia of the three blades about y-axis 1 =8J,1PQ=3 (3 ne = mé? = 1(80 x 10-9)? = 0.09 kg m? | : ke ~ (22008) = 485.57 rad/see do 0.09 95Jo = mass moment of inertia of the ring = 1.0 kg—m’. Ig, = polar moment of inertia of the cross section of steel shaft =F hat) = © (0.05¢ — 0.04") = 36.2266 (10°*) m* I, = polar moment of inertia of cross section of brass shaft = (abe — ah) = J (0.044 - 0.034) = 17.1900 (20- ke = torsional stifiness of steel shaft = Sets, (00 (107) (86.2268 (10°) _ 4490.64 N—m/rad 7 2 ky = torsional stiffness of brass shaft = Seton _ (40 (10%) (17.1806 (10-*)) _ a i a = 3436.12 N-m/rad Ke, = kis + Key = 17,926.78 N—m/rad. Torsional natural frequency: = VE -VWran me 75 _ 133.8008 rad see Natural time period: = —27 _ = 0.04603 see 133.8008 \\ Kinetic energy of system is Ts Todt Tos = 4(tml*) oes me? s Potential energy of system is (since mass of the vod acti through iv center) U= Urod + Ubeb = Empl (t-cot 0)-+ 4 mal (t-cos 0} on of motion: i aL ie (MH FYE Sy (M+ FZ) gl tee = 0 For small angles, pe Cale eee wre T a a 96+ + 63) For the shaft, 72 me = Toy 2 613594 xis? nt aE az wo!" eo Ge @-793 xo 495 9. = 24.329-002 N-m/rad For the dise. re G me yz at. pmoth = Z i a = 83 x?) 7 Te (0-4) +4 = 76+ 8710 tg-m* _ |e 24329-002\42 _ 47. &= Je = ( 24322,202 = 17-7902 rad/sec Equation of motion -Wdo-2| Lat - 2 (4 ke where . Ae gtmd?atimbem taal Smo (mgd g 2k, BL? _ até +(mgdt 7 tte &)es0 wns [Orad+ Sar teP anys _ fomgdeiost rake mae me For given data, 2 9(10) (1-81) (5/6) +10 (2000) (5)* + 9 (toe) = 45547 sad 10 (5) See® Gatme , aLmR ame Let angular displacement = 6 Equation of motion: e 2 7 b+ (Rta) e +k, (Reale =0 = [Git ke) (Re oy? 7 On z Cay 2)(R+ (y+ 2) (Reo) (1) cme Equation (€;) shows that. ws, increases with the value of Qa. n will be maximum when w= R. Net F acting on the pendulum = 784-5 = 4-84 m/sed = J, On= = eat = 3.1016 rad sec T= 2g, = 20259 fee Ejuation of motion: Je 6 =-ko-(tyare)a -(, fe) 2 where = tmft+m (fade n $l? be (kes Mate taf* ono z fe = [zGertets eet’) th " me = T+ mb? = bmal + mbt Eguation of motion: ome eae w= [mee _ fag b- Fo ss 2Wn zt G2 y? [eees wen se aah @+ 26> 98ten bet FE 2 os, - (4% _f[& les afe Gi2@p Vie b=-%Az gives imaginary value for O,. Since 0,20 when b=o, we have nla. of be Sy 1x vr” & sae Let 9 be measured from static equilibrium position so that gravity force need not be considered. (2) Newton's second law of motion: 4 fy€ 3é, 3 34.3 =-3k (04) £4 9 34) (3% o+2 = JoG=— 3k OT) TKO REVAL) or b+ ike ono (b) D’Alembert’s principle: M(t) =p Bo or —3x (0 £)(£)-K(0 34)(34)—3, or b+ Ske ono (c). Principle of virtual work: Virtual work done by spring force: e\,€ Be) 3 3K 0 2) (£ 59 —K 0 94) (34 0 aw, =~ 3 (0 ££ 6) 40 34) (34 oy Virtual work done by inertia moment = - (Jp 8) 68 Setting total virtual work done by all forces/moments equal to zero, we obtain hi+iKneono Let meg = effective part of mass of beam (m) at middle. Thus vibratory inertia force at middle is due to (M+). Assume a deflection shape: y{xt) = ¥(x) cos (44 t — 4) where Y(x) = static deflection shape due to load at middle given by:vw =%6 [$43] jocxs! where Yo = maximum deflection of the beam at middle = 4 < Maximum strain energy of beam = maximum work done by force F = ¢ F Yo. Maximum kinetic energy due to distributed mass of beam: 2 x W Sle [8 eels eee ena (et) Ine dxf + 7 Gime) M B a 2 4 This shows that mg = Zz m = 0.4857 m For small angular rotation of bar P@ about P, : 2 E (Kadeg @1)' = $ (08) + + 42 (0%) A 2 Kaye, = Stet Ae le 7 Ee Since (Kites and 3 are im series, ke, = Kinley #3 Kitt hts Cade + fs ky RP ky tbe ty tP T= Kinetic energy = 4m 27 , U= potential energy= Keg xt Tg za X cos Ont, Trax = $m Wy, X* > Umax = 100Tax = Umax gives w, = [kite + fete i mq hit kele + bs > When mass m moves by x, Spring &, deglects by x/y. ae T= Kinetic energy = 4 m (z)* u area energy= 2 {400% (£)"} ao aba a For harmonic motion, Trax = tmx, Umax? + e Ke Tmax = Umax gives ©. T= em e® | Usdfen (x con as’) + 2 & cor 135°] 2 = i (h+ 2) x ) Refer to the figure of solution of problem 2.24. For harmonic motion, 2 Tmax = tm x*, Umax = $ (Hit ta) X Tar = Umax gives , = [sie #2 metic energy (K€) = tmx? Potential energy (p.€-) = displacing mass m by (tension) of T+ T%. Te ZT, Te eT from solution of problem 2.26 ETM+ ER = wore done in stance x against the total force Max. KE = bmi? x*, Max =47(e+t)x* an a+b) [re oe ima oa) tant mt) 6? Max KE. = Max. PE. gives O, Teke = bq 6* = 4t(&+md*)e t(3f) 6? Us pete mp (inat ora (be ated wad) ot Ky 07 with cos@ = 1-467 L £ > 420 and %2= 2h @ 101= L We te +4 by oe at ot +h ty oF ie Tm ¢ Ye, Ume= i Bh obey kL 0tedn a! Tmax = Umax gives to + £? On Bt KEL aseisq7 SL for given nf data Refer to the figure inthe solution of problem 2.71. TH £58 2. 2 Us byott tay 4H (oh) For @(t) = @ cos oat, uns ka ot : ox tke+ et YO Twar= Umax om EE ee «, 2( Kes kee + 4 L) Ne since Jy = mi*/s, when prism is displaced by x ee from eguilibrium position, the weight of oil displaced sib = LZ abx = restoring force — “Cosition — Mass of prism= m= £,abh Equation of motion: mx + restoring force Labh + £galx =0 _ [eeeb _ fEe¢ On= [ESTE Sf Ek (&) Since (is independent of cross-section of the prism, Wn Femains same even for_a cireular wooden pritm. 1 T 2k gon 1 7 mk +pat ad [ar stan|# since x= R @ and Jo = + mR. 1 1 Ua tett ten d=4 te th) Rta} 102where x; =(R +) 8. Using i (T +U) =0, we obtain Gar) b+(6 +kz) (R +a) @=0 Let x(t) be measured from statie equilibrium position of mass. T = of the system: tal kinetic energy oe lee 1 bo ami +iatat| 7/2 For pendulum , n= A fn Vaccum = 0:5 te = 7 rade Ls Yr = 08\/n* = 0.9940 m = &, f1-F* in viscous medium = 045 Hz = 0.97 rad/tec 2 > 21 oD yrs = 4 . w( >) = 8752 vs 13694 Equation of motion: mi” 6 + cy 6+ ml @ =0 cog = 2(m2*) og, = 2(1) (0-996 CR) = 6: 2080 ‘ce hn ) Since Ys a = 13694, cee et From &. (2.85), bn 85013 N-m-tec/rad. | G@ #904) + 4 TT? = 0-4 179 103(@) If damping is doubled, re = 0-9358 te ce . Trew = 2M @0358) omen Be) ieee vie (0-83 52)* : a sé = 14265+362 je (If damping is feel = 02090 x a0 tn (FE) . AE Be. amlo20) — = 3428 a iors [i= (o-2090" x oe 2 le Re 37296 xt) = X ETF sin cyt where w= JIN wv, For maximum or minimum of x(t), a. x eT (70, Sin Wye + Wy cos Ot) = 0 As Tt 1g for finite ty =TO, Sin Ot + 0% cos UYt ton at = Very Using the relation yt sin Wye = fon 01 we obtain a J 2-JoF, Viv tat oyt ~ (o(EByY v ° « WF) cos yt =F wos wyt= -5 -YO,t poe wT Dated sin yt - 27 oy cos Ot — af sin at] when sin Gyt= Ja-y* and cos wyt= y, 2, -74,¢ del _xé we JEFF <0 2 sin ayt = fi=y* corcesponds to maximum of x(t), When sin oyt=-Ji-J? and cos wyt= —y, 1042 -yo,t aes xe wo, Jt-3* > 0 sin Gt = — Jt 7 corresponds to minimum of x(t). Enveloping curves: Let the curve passing through the Maximum (or minimum) foints be -T4,t x(t)= Ce For maximum points, t.4) = JF) 9, and oe ce : = oe x EF i rly for minimum and =F Oy tm cere in se gs -X vee Aa) = - x oe? eTOnt #0) = [xt (RrornyeTect [xo+( te ey For xg>0, graph of &- (Es) i shown for different x, we assume %,>0 as it is the only case that gives a maximum. For maximum of x(t), = Eo" fa, penny ent + tf =e at t= _% Dl 2 105ge sat Fe WEP fre, % + OF He ~ OF (X, +O Mo) t f----&) ) and (6) ‘give Bal ane feu ty Oh ne ee med t= tm be Onl De, Oats) ) { On%, + On xo} ---- (&) For xg>0 and x,>0, dx) dele, Hence ty given by Ep. (Ex) corresponds to a maximum of x(t). p f =O te = Xe +t On Xe) _%o ~ *hen= fr + ¢ : Oy (e+ eral ® . - (_%e (* + %) e & Broras) o--- (8) guation (2.92) can be expressed as ¢_ 4 9. (= e some and hen x A fly, ele mt gat b (2-2 () Necessary damping ratio J, is = 3-7942 Be mee 79427 Yami s 8° 0 Yaate 3-734 = estes Z3. = 0-3877, the overshoot can be determined by 9S From &p.(2.B5)* s= SEE 2 2703877) @ acga7 = 2h (=) Vin xt a= 0.3877* bn (=) = 132035 x= af rns = 0266775 Xo overshoot is 26-6775 (b) 2 Ta Ey, = o-Gaci, & is given by x —— (=) fi-x* fi- (e646!) 106Xe = 14.2888 ah ()) (2) Viscous damping, (b) Coulomb damping. (a) 7 Hy, uy = 31.416 rad/sec. () 7 Ha, wi, = 31.416 rad/see. a0700 Xo Xs 2 over shoot 0.2 see, fy 0.2 sec, fy ft) @) ar agen i [2,)-02-n0m = ans Xen —¢ or 39.9590 <7 = 0.4804 or ¢=0.1096 Since wy =u, V1 —¢, we find 31.416 wg a= = = 31.6085 rad/see Vi-¢ Vosere fs k=mui = { | (31.6085)? = 5.0916 (10) N/m e © gate c 2muy Hence ¢ = 2m uy = 2 (£2) (31.6085) (0.1096) = 353.1164 N-a/m 9.81 (b) From Eq, (2.116): k=mei= zs (31.416)* = 5.0304 (104) N/m Using N= W = 500 N, = 0.002 k _ (0.002) (5.0304 (10*)) _ a= (500) 0.0503 G90) (@) ¢g= 2 dew 22 Veooerte = 1000 W-A/m (b) e= G/2= 500 N-4/m o> oi = FE fe éy = 86603 rad/sec ©) ae = 22 (££). 2t aoe ©) From fy-(2.85). 8 = (oy ()* aa (Fe = 3-6276 107m= 2000 tg, Ve X= (0 m/sec, = 40,000 N/m € = 20,000 N-see/rm @,= (E= S200 = 4.4721 rad/see Co = 2Vem = 25,298-221 N-sec/m Ts Yo = 07906 = 0, fin T= wares Vin @ 7900 = 2:7304 rad free T= 2whoy = 2-2945 sec . = 10 mfec, Ey. (2-72) gives sin w, t= > @) For x,20 and x, x(t) = At x, max» t= Zand sin wfi- yt — 0.7906 (W/ + max O°” aoe) ‘aa (4) = 10548 m (b) t= Uf4= 229454 = = 0.5736 Sec. (y= 200 eyeles/min = 20964 rad/sec , 03> 180 cycles/min = 18-2496 24 od fg—n? since Wy= JEFF On, ve ft-(AY = fr- (BEBSY = oats = & Lt Cle = Tae, ¢ 2d Wn ¥= 2(012)(20-944)6-4359) = 36519 Nom-A/rad Eg-(2-72) can be used to obtain @(t) for 6 =0, @,=2°= 003494 rad and t= %= 2E = 0339 sec, oa) = erent pls 6, [ot yt + Bm sin cyt f - gO 4959) (20-964) (60919) (0.09494) for 18-8496 x 0.3893 + 0+ 4359 x 20-944 —T83456 = 01004665 rad = 0.09541° Fin 184496 1013393 f 108Assume that the bicycle and the boy fall as a rigid body by 5 em at point A. Thus the mass (mqq) will be subjected to an initial downward displacement of 5 cm (t = 0 assumed at point A): Xq = 0.05 m, Xo =O 14.7614 rad/sec =2muy, =2 2] (24.7614) = 4038.5588 N—s/m = 0.2476 (underdamping) Wg =u V1-¢ = 24.7614 Vi — 0.2478" = 23.9905 rad/see Response of the system: x(t) =X eo $"** sin (uy t +4) Xo and $= tan”! |—————_ Ko +6 uy Xm ‘Thus the displacement of the boy (positive downward) in vertical direction is given by x{t) = 0.051607 e~ £1999 sin (23.9905 t + 75.6645°) m Reduction in amplitude of viscously damped free vibration in one cycle = 1 em ant x x “= 8 <1 07149; in ™ = 0.068942 = J 4 Xz yi-¢ era ie, 000087602 = or 0.047602 = 39.48318 C? or ¢ = 0.0109801 109Toor sees 2, Uys 3416 rad/tec From 6. (2-92) 4 into = 0-04605 § Ts 2.046cs. = 0:007329 ec Viguneeercorg © when damping is neglected, a y= Y/GaFP = 31-417 rad/sec i r= GB, = 019999 sec Proportional decrease in period = (22=9:19999 ) = 0-000 For critically damped system, Ey. (2:80) gives H(t) = foe (ho +n xe) t } eet (a) Rie EO Fa, kage - wd xt &) Let 4, = time at which x= %peg and % 20 occur, Here x,=0 and x,= initial recoil velocity. By setting %(#) =0, &- (£2) gives ts (e5) @, (Xo + W, Xo) 8, % With E%.(€3) for tm and x,=0 5 (E;) gives got get On Wn Xmaz € = Gq (0-5) (2-71P3) (4) Using Xo = 10 m/sec, ea, = "os * 2+7183) = 7-3575 cad When mass of gun is soo ty, the stiffness of the spring is = wt m= 1575) (S00) = 27,066-403 N/n 110k= 5000 N/m , fe = 0-2 N-Sfnm = 200 N-t/m 2Vew = 25000 m me 2 kg nz [ifm = \5000/ = 50 rad/ree Logarithmic decrement = § 2 2773 : Vest ben = =o 3 . Oo oreo coo Assuming xy20 and X= i m/e, x(t) = ert && isin Vi * ot w, {t= 5? For %mac, Wnt = We and sin Vins yt wt — 03033(MA) __ 4 Emax % (4) = o-01303 m € 50 Vi- 0-303" For an overdamped system, &.(2.81) gives =TOy = x(t)= € cg oF c, ety Using the relations 44% _ cosh x + sinh x &y-(&) can be rewritten as = TO,t x)= ETP’ (Ce, cosh ext + Cy sinh Cyt) Where C3= + Cz, and c, Differentiating (E5), e ~ Yat x(t)= € Les cay sinh ot 4 Cy cay cosh uty -¢- Tone ~ TW, € [Les cosh cyt + Cy sink yt 7 Initial conditions x(t=0)= x omd R(t=0) = x, with &) and (Ey) give Co eixo st ae (%o+ TW, %0 Vay thus (Ez) becomes =F Ont RCE) = xy ETO Ceosh ate LEP sinh cat) Tone a “ + ea sinh yt 11(i) when %, 20, &y- (Ec) gives -YOnt Re REE)2 a ETP (cath ot + TEP sinh yt) @) Since TOnt > coth wt , Tie and sinh ayt do not change sign (always positive) and g Tat approaches Jero with increasing +, re x(t) will not change sign. (ii) when x,=0 > &. (Ec) gives x -Tw,t x(t)e eg & sinh Gat €) 4 Here alee, uy, @ T* amd sinh yt da not change sign (elwayt positive) and ET%* grrroaches zero with increasing t , x(t) will not change sign: ‘Newton's second law of motion: DP =mia—kx-cx thy (2) : UM=)0=-FR @) kee (= ck where Fy = friction force, a7 mR? sng 4 ged, , Using Jo = 2 and d=, Ea. (2) gives ao y}Z--2 ¥ Fea-sh fun 4 --imi () Substitution of Eq. (3) into (1) yields: 3 . qmitecitkx=0 (4) The undamped natural frequency ist uy = (5) 112‘Newton's second law of motion: (measuring x from static equilibrium position of cylinder) DPF =mi=—kx-ci—-kx+Fy Q) UM=44=-FR @ where F; = friction force. Using Jp = i mR and) = 3, 2 Ba. (2) gives Rr--imi (3) Substitution of Eq. (3) into (1) gives $mitex+2kx=0 (4) Undamped natural frequency of the system: 4k kx 4) ex \ 4 me pb 78 ‘kx Consider a small angular displacement of the bar @ about its static equilibrium position. Newton's second law gives: 4| (; peta bee bale he, Jo 6+ —— +ikeono 113where J = 2m The undamped natural frequency of torsional vibration ia given by: 3ké 36k “e V 4% Vim Let & = virtual displacement given to cylinder. Virtual work done by various forces: Inertia forces: § W; =~ (Jp 8) (58) — (m ¥) & = — (Jp §(&)-@x & Spring force: SW, = — (kc x) & Damping force: 6Wa = — (cx) &x By setting the sum of virtual works equal to zero, we obtain: Je ¥ s : : . ~$ [E]-az-tecine or Fmitettkx=0 Let & = virtual displacement given to cylinder from its static equillibrium position. Virtualll works done by various forces: Inertia forces: BW; =~ (Uy 8) 50 — (3) 69 = — (Jn X) (HE) (m8) ‘Spring force: W, = — (kx) & — (kx) 6 =— 2k x é& Damping foree: 5Wa = — (¢ 3) &x By setting the sum of virtual works equal to zero, we find Jo Ros : RP TBE zkx-ck=0 Q) Using Jo = + m R?, Eq, (1) can be rewritten as imitcitakx=0 (2) See figure given in the solution of Problem 2.101.Let 69 be virtuall angular displacement given to the bar about its static equilibrium position, Virtual works done by various forces: Inertia force: )W; = — (Jo 4) 50 Spring forces: Ma-arhita--| cad Damping force: Wy = —(c 9 £) 8) By setting the sum of virtual works equal to zero, we get the equation of motion a : 5.3 Wobte b+ ke ono 114