An Instructor's Solutions Manual to Accompany pT Tele] ile oltre) Vibrations Balakumar Balachandran Edward B. Magrab IM maoussluLL2n0! CENGAGE Learning” :o's CENGAGE © Learning” (© 2008, 2004 Cangage Learning ALL RIGHTS RESERVED. No part ofthis work covered by th ‘copyright herein may be reproduced, transmitted, stored, or ‘used in any form or by any means graphic, electronic, or ‘mechanical, incusing But not ited fo photocopying, recording, scanning, digzing, taping, Web distribution, information networks, oF information storage and retrieval systems, except as permitted under Section 107 or 108 of the 41978 United States Copyright Act, without the por written permission ofthe pubsher except as may be permitted by the fcense toms below. | For rod rfomation and tctnlegy seltnce contact engage Lanming Academie Resource Carter, | 0425-0563 For permission to use material rom this txt or product submit ‘requests chine at www.congage.compermissions. 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This Agreement wil bs ‘governed by and construed pusvant to the laws of fo State of Few York, without regard to such State's confit of aw ules “Thank you fr your asitance in helping to safeguard the Integy ofthe content contained in his Supplement. Wo ust you fa the Supplement a ust teaching oo.Instructor’s Solutions Manual to Accompany Vibrations, Second Edition Balakumar Balachandran, University of Maryland Edward B. Magrab, University of Maryland Table of Contents Chapter 1 — Introduction . rb ibratory Systems Chapter 2 ~ Modeling of Chapter 3 — Single Degree-of-Freedom Systems: Governing Equations... 35 Chapter 4 ~ Single Degree-of-Freedom Systems: Solution for Response and Free Response Characteristics . ses 81 Chapter 5 — Single Degree-of-Freedom Systems Subjected to Periodic Excitations 113 147 Chapter 6 — Single Degree-of-Freedom Systems Subjected to Transient Excitations . Chapter 7 — Multi Degree-of Freedom Systems: Governing Equations and Natural Frequencies and Mode Shapes ......... a 165 Chapter 8 — Multi Degree-of-Freedom Systems: General Solution for Response and Forced Oscillations 243Solutions te Exercises ~ Chapter 1 Solutions to Exerci: Chapter 1 Section 1.1 1.1 Choose any two contributors from Table 1.1, study their contributions, and write a paragraph about each of them. Section 1.2.1 1.2 Consider the planar pendulum kinematics discussed in Example 1.1, start with position vector r”/° resolved in terms the unit vectors i and j, and verify the expressions obtained for the acceleration and velocity given by Eq. (f) of Example 1.1 Solution 1.2 ‘The relationships among the unit vectors are €, = cosOi+sindj e, =—sindi+cosOj Then, the position vector is ((h=Lcos0)j) d 01) +— OE 6 (cosOi + Lsindj) dt = Leos00i+ Lsin06j = = Lbe, The acceleration vector is, ro ad ia, ~Lsin06* + Lcos66)i+(Leos06? + Lsin08) j (Leos06i) +Lbsinodj) 6? (-sin0i + cos0j) + LO(cosOi + sinOj) Lb e, + 10’ e, 1.3 Consider the kinematics of the rolling disc considered in Example 1.2, and verify that the instantaneous acceleration of the point of contact is not zero, 1 (©2009 Cengage Learning. ALL RIGHTS RESERVEDSolutions to Exercises ~ Chapter 1 Sol jon 1. Making use of Eq. (1.7) that relates accelerations of two arbitrary points on a rigid body, we have 0° =” +0x(oxe") +x From Example 1.2, we have and, hence, +10 j-rbi =i Thus, it is verified that the instantaneous acceleration of the point of contact is not zero. 1.4 Show that the acceleration of the particle in the rotating frame of Example 1.3 is a=(%, -20y,-a'x, ~ ay, )e, + (jj, + 20%, —@"y, +X, )e, where @ is the magnitude of the angular acceleration of the rotating frame about the z axis, Solution 1.4 From Eq. (b) of Example 1.3 dr FG, -0y,)¢, +5, +08,)¢, ‘Then the acceleration is dy a dt [G,-0y,e]+2[0, +04, 4] =a ts,-0y)+64,-07) +e, £6, 105)46, 405) =(%, - oy, —ay,)e, +(x, — OY, (Oxe,) + (jj, + Ox, +ax,)e, +(V, +Ox,(Mxe,) where a = da/dt and we have used Eq. (1.8). We note that @ = wk; therefore, xe, =okxe, =0e, xe, =0kxe, =-08, Then 2 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 1 a=(%, ~ 20}, -a°x,-ay,)e, + (33, + 20%, —@y, + ax, )e, ip — 2WYp O°, — AY, )e, + (Fp + 2M, — Oy, + Oye, 15 In Figure E1.5, a slider of mass M, is located on a bar whose angular displacement in the plane is described by the coordinate @ The motion of the slider from the pivot point is measured by the coordinate ry. The acceleration due to gravity acts in a direction normal to the plane of motion. Assume that the point O is fixed in an inertial reference frame and determine the absolute velocity and absolute acceleration of the slider. Se 15 Choose unit vectors e,’ and ey’ fixed to the slider as shown in the figure. Then, the position vector from point O to the slider is ie) +5 (xe}) Noting that @ = Ok, where k is the unit vector that points out of the plane, we find that v, = fel + Ok xe, = el + nde, The absolute acceleration is found from a, =“ (ie + nbet) = et +4 Hh + bes + bes +d a dt at = ie, +i, (wxet) +i bes + res +46 (wxes) = (I-48 ef +(n0-+ 278) es 1.6 A pendulum of mass m is attached to a moving pivot of mass M as shown in Figure E16. Assume that the pivot point cannot translate in the vertical direction, If the horizontal translation of the pivot point from the fixed point O is measured by the coordinate x and the angle @ is used to describe the angular displacement of the pendulum from the vertical, determine the absolute velocity of the pendulum. 3 (©2009 Cengage Learning. ALL RIGHTS RESERVEDSolutions to Exercises ~ Chapter 1 Solution 1.6 The position vector of the location of the mass with respect to the fixed-point 0 is given by 1207 4 1,=xi-le, ‘Then the velocity is v, % ie, = 81—I(« x e,) = 31-I(-OK) xe, = Xi-Ipe, = xi—19(cosgi-sing/) =(4-Ipcos)i+lpsingj We could have also obtained the solution as follows: xi-Isingi-lcospj x-Ising)i—leosgj ‘Then the velocity is =(%-Ipcose)i+losingj Section 1.2.2 1.7 Determine the number of degrees of freedom for the systems shown in Figure E1.7. ‘Assume that the length Z of the pendulum shown in Figure E1.7a is constant and that the Tength between each pair of particles in Figure E1.7b is constant. Hint: For Figure E1.7c, the rigid body can be thought of as a system of particles where the length between each pair of particles is constant. Solution, a) Three coordinates ( = 3) and one inextensible constraint (m = 1): number of degrees of freedom is 3 — 1 = 2. b) Three particles, each with 3 coordinates and three inextensible constraints: number of degrees of freedom is 9-3 = 6. c) Rigid body: number of degrees of freedom is 6; 3 translation and 3 rotational. The system of three particles shown in Figure E1.7b is an example of a rigid body, since the particles are a constant distance apart from each other. In three-dimensional space, for a system of N particles representing a rigid body, the number of degrees of freedom is 3’ — GN ~ 6), where 3N is the total number of coordinates associated with tae N particles and 3N ~ 6 is the total number of inextensional constraints that ensures thet the particles are always at a constant distance apart. By extension to the case shown in Figure E1.7e, the number of degrees of freedom is 6. 4 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter | Section 1.2.3 1.8 Draw free-body diagrams for each of the masses shown in Figure E1.6 and obtain the equations of motion along the horizontal direction by using Eq. (1.15). Solution 1.8 ‘The free-body diagrams for each of the masses in an figure E1.14 are as shown to the right. The force N is shown in the free-body diagram of mass M to account, for the constraint that the pivot mass cannot move in, the j-direction. Summing forces along the édirection, for each of the two masses, we find for the pivot mass from Eqs. (1.15) that -Tsing = Mé and for the pendulum mass that Tsing = m(¥ +19" sing -Ipcos) me 1.9 Draw the free-body diagram for the whole system shown in Figure E1.6, obtain the system equation of motion by using Eq. (1.14) along the horizontal direction, and verify that this equation can be obtained from Eq. (1.15). Solution 1.9 ‘The free-body diagram is shown to the right. Note that the internal force T does not appear in this diagram, Making use of Eqs. (1.14) for the motion along the horizontal direction, we find that Me 0 = Mi+m(i#-+19" sing -Igcosg) which can be obtained by adding the two equations obtained to the solution to Exercise 1.8. ™ 1.10 Determine the linear momentum for the system shown in Figure E1.5 and discuss if itis conserved. Assume that the mass of the bar is Mar and the distance from the point O to the center of the bar is Liar. Solution 1.10 ‘The linear momentum of the system is given by P= Poor + Pair where Poor = Micelra, 9 5 (©2009 Cengage Learning. ALL RIGHTS RESERVEDSolutions to Exercises ~ Chapter 1 Making use of the slider velocity V» determined in the solution to Exercise 1.5, we arrive at Paser = M, (fe, +7 6e') Thus, P= M, fel +(MygLsa +7) Oe) Since there are no external forces acting on the system, by virtue of Eq. (1.14), the system’s linear momentum is conserved. 1.11 Determine the angular momentum of the system shown in Figure 1.6 about the point O and discuss if it is conserved. Solution 1.11 ‘The angular momentum of the system about the point 0 is given by HE =H yetitan + Has [Ok +1, xp where A is the unit vector normal to the plane, the position vector r» runs from point O to the pendulum, and p is the linear momentum of the pendulum. Making use of the solution to Example 1.4, we have 1, =(R+reosp)el +rsingel p=nV, =m(-r(0+4)singe; +(R0+r(p+6)cosp)es) Joi-+(R+rc0sp)(R6-+r($+4)cosg) +r? (+8) Jk which can be written as H=[Jo0+ R047 (946) +R (26+ @)coso |k If no external moments act on the system, since O is a fixed point, from Eq. (1.17) it is clear that the angular momentum of the system is conserved. 1.12 A rigid body is suspended from the ceiling by two elastic cables that are attached to the body at the points 0" and O”, as shown in Figure E1.12. Point G is the center of mass of the body. Which of these points would you choose to carry out an angular-momentum balance based on Eq, (1.17)? Solution 1.12 Since point G is the center of mass of the body, this point would be used to carry out an angular momentum balance based on Eq. (1.17). One cannot use Eq. (1.17) with points 0’ and O” since neither of them is a fixed point. 6 (©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions te Exercises ~ Chapter | 1.13 Consider the rigid body shown in Figure E1.13. This body has a mass m and rotary inertia Jg about the center of mass G. It is suspended from a point O on the ceiling by using an elastic suspension. The point of attachment O' is at a distance / from the center of mass G of this body. (0) is an external moment applied to the system along an axis normal to the plane of the body. Use the generalized coordinates x, which describes the up and down motions of point O” from point O, and 0 which describes the angular oscillations about an axis normal to the plane of the rigid body. For the system shown in Figure E1.13, use the principle of angular-momentum balance given by Eq. (1.17) and obtain an equation of motion for the system. Assume that gravity loading is present. Solution 1.13 The principle of angular-momentum balance given by Eq. (1.17) is applied with respect to the center of mass of the system. Thus, d Mk = Jk) where Aris the unit vector normal to the plane of the system. ‘Then we have -M()=J¢8 If, instead, the principle of angular-momentum balance given by Eq. (1.17) is applied with respect to the fixed point O of the system, the result is -M()k+[(x-Isin0)i-1cos6j]x(mgi) {sob +[(x-/sind)i-1c0s0j]x(m¥,,)) = 4 (Yooh +[(e- Isind)i—1e0s0j]x[ m((i-16c0s0) i+ 16sin04))) where, we have substituted the velocity of the center of mass from the solution to Exercise 1.13. Carrying out the different cross-product operations, we obtain (-M(W) + mglcos0)k = JO +m4(i(x-Isin0)dsind +1(i—I6c0s0)cos0) k which leads to —M(1) + mglcos6 = — 16.0030) cos0) Sand ae + ml-S ((x—1sind) dsind +( Section 1.2.4 1.14 For the system shown in Figure E1.13, construct the system kinetic energy. 7 ©2009 Cengage Learning. ALL RIGHTS RESERVEDSolutions to Exercises ~ Chapter 1 Solution 1.14 We make use of Eq. (1.23) to determine the system kinetic energy. Note that the velocity of the center of mass G can be obtained as in the solution to Exercise 1.6; that is, V,, =(%-10c0s0)i+i6sin0j Then, from Eq. (1.23), the kinetic energy is 1 1 2 T= Job Yuu) +5 Je 4 m( i? +276? -2:16 cos) at IP 2 2 1.15 Determine the kinetic energy of the planar pendulum of Example 1.1. 4 Solu 1.15 From Eqs. (b) and (¢) of Example 1.1, we find that v — Le, — LO(cos0i+sin0j) Then, from Eq, (1.22), the kinetic energy is 1 T= tm») 20 (cos 0+ sin? 0) = 1 m0? 1.16 Consider the disc rolling along a line in Figure E1.16. The disc kas a mass m and a rotary inertia Jc about the center of mass G. Answer the following: (a) How many degrees of freedom does this system have? and (b) Determine the kinetic energy for this system. Solution 1.16 a) One degree of freedom, since one independent coordinate (x or 0) is needed to describe the motion. Due to the non-slip constraint, x =r, and x or @ can always be expressed in terms of the other coordinate. b) Making use of Eq, (1.24), we have Noting from Example 1.2 that we arrive at 8 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 1 1.17 In the system shown in Figure 1.6, if the mass of the pendulum is m, the length of the pendulum is r, and the rotary inertia of the disc about the point O is Jo, determine the system kinetic energy. Solution 1.17 ‘The kinetic energy of the system can be written as T= Tenn +a where 1 Tyna = 5" Vn Ve rss = Vy Ve) 1 52 Trac = 5 Job 2 Noting from the solution to Example 1.4 that -r(9+68)singe; + (26+7(9+6)cosp)es we determine that T jedton = 1.18 Referring to Figure E1.6 and assuming that the bar to which the pendulum mass m is connected is massless, determine the kinetic energy for the system. Solution 1.18 ‘The kinetic energy of the system is given by T=T y+ Tyenton where tr, pend =hm(¥-¥,) $M (it: 2 Making use of the solution for the velocity in Exercise 1.6, we find that = ; m((i-Igcose)i+lpsings)-((x-Ipeosp)i+losingj) ©2009 Cengage Learning. ALL RIGHTS RESERVEDSolutions to Exercises — Chapter | Thus, 1 22, 1 2 zm[(e-Weose) 40 @ sin’ 9 +5 Me =F (m+ Me +hm(r@? —2ilpcose) 1.19 Determine the kinetic energy of the system shown in Figure E1.5. Solution 1.19 ‘The kinetic energy of the system is given by T = Tye + Totter where 1 cae = My Wy Va) Try =I? 2 Making use of the velocity determined in the solution of Exercise 1.5, we find that Tae = 5 My (fel rb) (ie; nds) = M, (8 +04) and, therefore, Ii +hM, (@ +76") = (Jo+M yp) O she 10 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises - Chapter 2 Solutions to Exercises Chapter 2 Section 2.1 2.1 Examine Eqs. (2.1) and (2.5) and verify that the units (dimensions) of the different terms in the respective equations are consistent. Solution 2.1 In Eqs. (2.1), the units of Jg are kg-m? and the units of md” are kg-m. In Eq. (2.5), the units of energy are N-m, and the units of nv are kg(m/s)* = kg(m/s’)m = N-m. Section 2.2 2.2 Consider the slider mechanism of Example 2.2 and show that the rotary inertia Jor about the pivot point O’ is also a function of the angular displacement 9. Solution 2.2 ‘The rotary inertia is Jo =Jy(B)+ Iq, +Iq, +5, where Pr a Poly. , In (B) = mia tma -mlE-(8) +a -atent] To determine how f depends on g, we use geometry. First P(—)= 4? +b*—2abcosp a =r'(g) +b? -2r(g)bcos(4—¢ - f) Combining the above equations, we obtain 7'(—) =1'(g) +b -2r(g)bcos(a — g - B) +b? -2abcosp which leads to b=acosg +r(g)cos(z — 9 - B) and, hence, costa — p= PASS? MW ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 thus, resulting in =n—9-cos'i( $= a0088 pan-o-ca( 9552) ‘Thus, we have expressed the angle f in terms of the angle g. Thus, since J,, is a function of g, Jo is also a function of g. 2.3 Consider the crank-mechanism system shown in Figure E2.3. Determine the rotary inertia of this system about the point O and express it as a function of the angular displacement @. The disc has a rotary inertia J about the point O. The crank has a mass ‘mg and rotary inertia Jg about the point G at the center of mass of the erank. The mass of the slider is mp. Solution 2.3 The total inertia of the system is J ly =JytJ,+Iq where J, is the rotary inertia of the slider about the point O, J; is the rotary inertia of the crank about the point O and and ra is the distance from O to the point G and rp is the distance from O to the point p. From geometry, we see that (reos@ +Ieosy)’ +d? 1% =(rcos0+acosy) +(rsind—asiny)” In addition, rsind =d+lsiny = sin! (180 = 2 1 Thus, the total inertia of the system Jo can be expressed as a function of 8, therefore, Section 2.3.2 2.4 Find the equivalent length ZL. of a spring of constant cross section of diameter d that has the same spring constant as the tapered spring shown in Case 2 of Table 2.3. Both springs have the same Young’s modulus E, 12 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 2 Solution 2.4 From Cases 1 and 2 of Table 2.3, we have that AE _ dE L, 4L, Therefore, the equivalent length is 2.5 Extend the spring combinations shown in Figures 2.6b and 2.6c ‘o cases with three springs. Verify that the equivalent stiffness of these spring combinations is consistent with Eqs. (2.14) and (2.16), respectively. Solution 2.5 In Figure 2.5b, we extend Eq. (2.13) to obtain F(x) -AG)+h@)+ BE) Shr thx thr =(k +k +h)x= which is consistent with Eq. (2.14). In Figure 2.6c, we extend Eq. (2.15) to obtain, Xex ta tH, p+EE.(2 which is consistent with Eq. (2.16). 2.6 Consider the mechanical spring system shown in Figure E2.6. Assume that the bars and determine the equivalent spring constant k., which we can use in the relation Solution 2.6 If the left-hand portion of the spring moves by an amount 5 when the hinged point moves down by an amount x, then VE hx} =5- Ph x -2hx eG 1B (©2009 Cengage Learning, ALL RIGHTS RESERVED. where This leads toSolutions to Exercises ~ Chapter 2 Gal 12h ||_a he _ he 2(a/2y J} 2(@/2yr Since the right-hand portion of the spring also moves by an amount 6, the potential energy in the spring is 4 = V = 5426) ‘Therefore, the equivalent spring constant is ke (2) @ 2.7 Consider the three beams connected as shown in Figure E2.7, The beam that is attached to the ends of the two cantilever beams is pinned so that its ends can rotate unimpeded. Determine the system’s equivalent spring constant for the transverse loading shown. Solution 2.7 ‘The equivalent system is shown at the right. ‘The cantilever beams act as two springs in parallel, with the combination spring 4 having an equivalent stiffness of k. This parallel spring combination is in series with the pinned-pinned beam. ‘Thus, se ae (ea) where, from Table 2.3, Note that as k. > 00, ke —> kas. (©2009 Cengage Learning. ALL RIGHTS RESER’Solutions te Exercises — Chapter 2 2.8 For the weightless pulley system shown in Figure E2.8, determine the equivalent spring constant. Recall that when the center of the pulley moves by an amount x, the rope moves an amount 2x. Solution 2.8 If the pulley attached to spring &, moves down an amount x; and the pulley attached to spring k, moves up an amount x, then the displacement of each spring is The total displacement x of the springs is seay tage te ‘Therefore, the equivalent spring constant is pele Ly “alk, 2.9 Determine the equivalent stiffness for each of the systems shown in Figure E2.9. Each system consists of three linear springs with stiffness k1, kz, and ks. Solution 2.9 (a) The two springs in parallel have an equivalent spring constant kg =k +hy and this equivalent spring is in series with the third spring; therefore, the equivalent spring constant for the system is 1h peftat “ : i) (b) The two springs in series have an equivalent spring constant w-(iez) and this equivalent spring is in parallel with the third spring; therefore, the equivalent spring constant for the system is Kea hy thy 15 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 2.10 For the two cantilever beams whose free ends are connected to springs shown in Figure E2.10, give the expressions for the spring constants 1 and A and determine the equivalent spring constant k, for the system. Solution 2.10 From Table 2.3 be ky > ky=htks > : ode 2.11 For the system of translation and torsion springs shown in Figure E2.11, determine the equivalent spring constant for torsional oscillations. ‘The disc has z radius b, and the translation springs are tangential to the disc at the point of attachment Solution 2.11 From Table 2.3, Case 8, we have for the two torsion in series that 16 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 2 ‘The torque required to rotate the disc is TH1,, 40,40 4% =h,0+k,0 + B°OK, + BOk,, = (ky, +h, +07, +B%,,)O Rewriting this result as rHko ‘we find that the equivalent stiffness is Kah +h, +0? + By 2.12 For the system of translation springs shown in Figure E2.12, determine the ‘equivalent spring constant for motion in the horizontal (x) direction only. Assume that |Ax| << so that the remain constant. Solution 2.12 ‘The equivalent spring constants for the configurations shown are -(—_ kth kg=[tet ye ‘Then the equivalent system is Upon moving the ends of the equivalent springs an amount x in the horizontal direction, the displacement of each spring is 8x3 = xC080, (compression) 6, =xcos(7—0,) (extension) 5, =xc0s(0,—7) (extension) The corresponding force in each spring is 17 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 Fin= hb Fakd, Foo = ks so Then the sum of the forces in the x-direction is F = F,;,00s0, + F,cos( - 0,)+F,, cos(, —) 120 ps 6088, + k,5, COS — O,)+k Sigg C08(0, — 7) = [kins 008" 8, +k, 008" (7 —0,)+k, c05°(0,— 7) |x Rewriting this result as Fokx wwe find that the equivalent stiffness of the spring system is k, 2s C08" 8, + k, €05"( — 0, )+ky, COS*(0,— 2) If the intersection point of the springs is not constrained; that is, confined to a slot to move in the x direction only, then we have an additional constraint on the spring system. This constraint is obtained by setting the sum of the forces in the y-direction to zero. Thus, we have —F,8in8, + F,sin(x ~0,)— F,,sin(@, — x) =0 Upon using the force displacement relations gives, ~hinsBy Sin, + kB, sin( 0.) ~ ky Sin(O, ~ 2) = After substituting for the deflections in terms x, we obtain ky, 6080, sind, + k, cos( st ~0,) sin(zt —0,) — ky, cos(O, ~)sin(@,— 7) =0 2.13 Consider the system shown Figure £2.13, which lies in the X-Y plane. This system, which is called a crab-leg flexure, is used in microelectromechanical sensors. A load along the X direction is applied to the mass to which all of the four crab-leg flexures are attached. Each flexure has a shin of length Z along the X direction, width b along the ¥ direction, and thickness / along the Z direction. ‘The thigh of each flexure has a length L, along the ¥ direction, a width 6, along the X direction, and a thickness along the Z direction, ‘The equivalent stiffness of each of these flexures in the be direction can be shown to 2 (L+1,(6/6)) where the Young's modulus of elasticity is E, which has a value of 160 GPa for the polysilicon material from which the flexure is fabricated. The dimensions of each crab 18 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 leg are as follows: L = 100 um and b = 6, =h=2 ym. For the thigh length Z, spanning the range from 10 um to 75 ym, plot the graph of the equivalent stiffness of the system versus 1, Solution 2.13 ‘The above equation is plotted in the figure below. 10; 95} | 3 2 88) <8 3 75| 7 65) a a a a a er) tm Figure £2.13 ‘MATLAB program used to generate figure for Exercise 2.13. Lt-linspace(10e-6,75e-6,100); Kflex=B*h*b3*(4*L+L1*(b/b0)°3) (L+LA*(bPY 3YL/; plot(10°6*L flex.) set(gca,fontsize'14) label(L_t(\mum,fontsiz’14) ylabel(k_{flexure} (N/m)'*fontsize’,14) axis({10 75 6 10)) 2.14 Based on the expression for knee provided in Exercise 2.13, the sensitivity of the equivalent stiffiness of each flexure with respect to the flexure width b and the thigh width », can be assessed by determining the derivatives dinexedb and dknccyd/db, respectively. Carry out these operations and discuss the expressions obtained, Solution 2.14 We rewrite the expression in Exercise 2.13 as 19. ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 2 ee renee) pom) where derivative dly Differentiating this equation with respect to b and simplifying, we obtain Hk pae ay, (44215 (8/6) +B (6/0)') yr (non = = We see that when L,(b/b) 01 the sensitivity becomes Kram, 3920, db ‘Thus, this sensitivity in this region is most affected by Z, followed by b. When L,(b/b) 01 sensitivity becomes eae 126°C, eer which is four times more sensitive as the previous limiting case. Sensitivity derivative dkigeureldby Differentiating the top equation with respect to b, and simplifying, we obtain Acre £: (o/b) db, 11, (l4L(6/0)) We see that when 1, (6/6) 0.1 the sensitivity becomes A penne, 907°C, _ 9Eh( b, db, L UAL 20 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 which is independent of b. The sensitivity in this region is most affected by the ratio by. 2.15 Find the torsion-spring constant ke of the stepped shaft shown in Figure E2.15, where each shaft has the same shear modulus G. Determine the equivalent spring length of a shaft of constant diameter D, and length L that has the same spring constant as the torsion spring shown in Figure E2.15. lution 2.15, Making use of Eq. (2.18) for three torsion springs in series and Table 2.3 to compute the torsion stiffness, we obtain where ‘Thus, (224, 32h, 32h, aGD; GD! xGDi @) G/L ,h 5 32\ Di” Di” DF Fora shaft of uniform stiffness, we have 4, = Ge 2D! ey eamea2 Ts Upon equating Eqs. (a) and (b), we obtain #G/ L, 32 (DF which leads to Section 2.3.3 2.16 Consider the two nonlinear springs in parallel shown in Figure E2.16. The force- displacement relations for each spring are, respectively, F,G@)= yetkax f=1,2 21 (©2009 Cengage Learning. ALL RIGHTS pSERVED,Solutions to Exercises ~ Chapter 2 a) Obtain the expressions from which the equivalent spring constant can be determined. b) If F = 1000 N, ki = k = 50,000 N/m, and @ = 2 m, determine the equivalent spring constant. Solution 2.16 (a) The linear equivalent stiffness of each spring around an operating point x = x9 is ak, Sy a (k,+3kax? =1,2 al, (k,+3k,ax4 Des i =(k, +3kax2) f=h2 Since these are springs in parallel, the equivalent stiffness coefficient k, is given by = (hy +h) +3(k, +k Jaxd b) When ky = ky = k= SOkN/m, @= 2 m'', and = 1000 N, the total force acting on the system is Foi +P, =2ke+2kax’ where F and are the forces acting on springs I and 2, respectively. For the given value of the force, the static deflection in each spring x» is found by solving the equation 1000 = 2x 50x10" x x +2 50x10? x2x.x3 or 200x3 +100x, Using the MATLAB function root's yields the real root xp = 0.01 m. Making use of the results from Part a), the linear equivalent stifiiness is k= (ky +h) + Hk, + ax; = 2k + boxy =2x50x10° +6%50%10° x2x 0.01? = 100060 N/m 2.17 Consider the two nonlinear springs in series shown in Figure E2.17. The force- displacement relations for each spring are, respectively, E,Q)=kxtkax 7 =1,2 a) Obiain the expressions from which the equivalent spring constant can be determined. b) If F = 1000 N, &, = 50,000 N/m, kz = 25,000 Nim, and @ = 2 m°, determine the equivalent spring constant. Solution 2.17 22 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 2 (a) At the operating point, let the static deflection in the nonlinear spring 1 be xi, and the static deflection in the nonlinear spring 2 be xz. Then, the respective equivalent stiffness of the springs 1 and 2 are given by 4, | yaw =k, +3kax'| =k, +3kax,, j=L2 Since the two springs are in series, the equivalent stiffness coefficient & is given by )' hake Kathe 1 K, (b) For , k; = 50,000 Nim, ko = 25,000 Nim, @=2 m?, we first determine the static deflections in the nonlinear springs. To this end, we note that F(x)=F=k,x,+k ax, j=12 ‘Thus, we obtain the equilibrium equations 100x}, +50x,, -1=0 50x}, +25x,,-1=0 By using the MATLAB function root's on each of these equations, we find that i= 0.02 m and x,,=0.04 m Making use of Part (a), we arrive at ik, = 50x 10° +3x50x10° x2 x 0,02? = $0.12 kN/m ky, =2510! +3x25%10? x2x0.04? = 25.24 kNim and the equivalent stiffiness is 50,12 25.24 = 50.12+25.24 107865 Nim 2.18 Consider the data in Table E2.18 in which the experimentally determined tire loads versus tire deflections have been recorded. ‘These data are for a set of dual tires and a single wide-base tire, The inflation pressure for all tires is 724 KN/m?. Examine the stiffiness characteristics of the two different tire systems and discuss them. Solution 2.18 For the data in the table, we use MATLAB to plot these results, which are shown below. We see that the wide-base tires are less stiff compared to that of the dual tires and their stiffness is almost linear over a wide deflection range. The dual tire is stiffer than the wide-base tire and its stiffness characteristic is discernibly nonlinear. Furthermore, if we fit a second-order polynomial to each of the curves using the MATLAB function Lsqcurvefit, we find that the dual tire relation is 23 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 Fgt-are =81.85-+968.725 421.86" N and that for the wide-base tire is Fete = 149.84 + 784.185 +6325? N where dis the deflection and the coefficient multiplying &* represents the strength of the nonlinearity. We see from the coefficients of these fitted equations that the dual-tire nonlinear coefficient is 3.4 times larger than that for the wide-base tire. asp S 0 S(O CS 080M Deflection (mm) Figure £2.18 MATLAB program used to generate figure for Exercise 2.18 fac=4.44822; % N/Ib_f mm=25.4; % mm/in Fefac*[0 2000 4000 6000 8000 10000]; %Table data in N DDT=mm*{0 0.30 0.55 0.75 0.95 1.10]; % Table data in mm, DWB=mm*[0 0.40 0.75 1.10 1.40 1.65]; % Table data in mm plot(DDT,F ke set(b(1), fonts xlabel(Defleetion (mm), fontsize’,14) ylabel(Force (N);fontsize’14) set(gca,fontsize' 14) ‘opt=optimset(‘display'fof?); fit-inline(x(1)#x(2)*q+x3)*q.°2%') xdt=Isqourveit(it[.1 1000 100), DDT.F,(),0,0p0; dlisp(CF =" num2strxdt(1))* +" num2strxd(2)) d+ num2str(xat(3)) 8-2") xwb-Isqourvefit(fit.1 1000 100, DWB,F,[]{.op0); disp((F =" num2str(xwb(1)) +" num2str(xwb(2)) 'd + num2ste(xwb(3)) "42" 24 (©2009 Cengage Leaming. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 Section 2.3.4 2.19 Consider the manometer shown in Figure 2.16 and seal the ends. Assume that the initial gas pressure of the sealed system is P, and that L, is the initial length of the cavity. Determine the equivalent spring constant of the system when the column of liquid undergoes “small” displacements, Solution 2.19 When the top is sealed, it becomes a piston. Since the energy storage devices undergo equal displacements, the springs are in parallel, and from Eqs. (2.27) and (2.34b), we obtain 284, + a 2.20 Consider “small” amplitude angular oscillations of the pendulum shown in Figure £2.20. Considering the gravitational loading and the torsion spring &; at the pivot point, determine the expression for the system’s equivalent spring constant. The masses are held with rigid, weightless rods for the loading shown, Solution 2.20 In this case, we generate the system’s potential energy and identify the equivalent spring constant ke. V(O)=Vay +Vng +V5, eo Flip =—m,gb—+ mga +260 mg + mga + =F Lh,+mga—m,g6]0° Therefore, k, =k, +mga—m,gb Section 2.4.1 2.21 Determine the equivalent damping of the system shown in Figure £2.21 Solution 2.21 The dampers ¢} and c2 are in parallel; therefore, the equivalent damper is c12 = ¢ + €2. Noting the force location, equivalent damper c12 and damper c3 are in parallel. Thus, the equivalent damper is ¢¢ = ¢12 +63 = ¢1 + ¢2 + ¢5, 2.22 Determine the equivalent damping for the system shown in Figure E2.22. Solution 25 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 Since cy and cp are in series, the equivalent damping of this series combination is and, therefore, the equivalent damping of the system is cg = e12 + ¢3 2.23 Representative damping-force magnitudes versus speed data are given in Table 2.23 for a racecar damper in compression. Examine these data and discuss the type of ‘damping model that can be used to represent them. Solution 2.23 ‘The data are plotted below. It is seen that the damping model will require a nonlinear representation of a viscous damper consisting of three linear pieces. ‘The three linear ranges run from v= 0 to 7.6 mm/s; v= 7.6 to 15.2 mmv/s; and v= 15.2 to 40.6 mm/s. ee a ee) Velocity (mms) Figure £2.23 MATLAB program used to generate ewe for Exeeie 223 fuc4.44822; 96 Nib_f mm-25.4; % main fd-fact[0 1326 40 60 80 100 110 120 130 140 150 160 170 180 190 200}; vd-mm"(00.1 0.20.3 0405 0607080910 1.11213 1415 1.6; plot(vd,fd, ‘ks ‘set(gea, ‘fontsize’,14) abel( Velocity (mv, ontsize'14) | ylubel(Force CN)", "Yontsiz' 14) 26 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 2.24 Determine the viscosity of the fluid that one needs to use to realize a parallel-plate damper when the top plate has an area of 0.02 m’, the gap between the parallel plates / = 0.2 mm, and the required damping coefficient is 20 N-s/m. Solution 2.24 From Eq. (2.50), we find that ch _ 20. Ns'm)(2x10* m) 4 0.02 m? 2 Ns/in® 2.25 Determine the equivalent damping coefficient for the following nonlinear damper FR) =¢,¢+0,%" where c; = 5 N-s/m and c; = 0.6 N-s'/m’. Note: the damper is to be operated around a speed of 5 mvs. Solution 2.25 Using Eq. (2.47), we find that ae =, +3eyi2 =543x0.6x5?=50 Nem 2.26 Represent the vibratory system given in Figure E2.26 as an equivalent vibratory system with mass m, equivalent stiffness k., and equivalent damping coefficient c. Solution 2.26 Since the springs and dampers are in parallel, the equivalent damping coefficient is = c1 +2 and the equivalent spring stiffiness is ke ~ ki + ho. 2.27 Represent the vibratory system given in Figure E2.27 as an equivalent vibratory system with mass m, equivalent stiffness k., and equivalent damping coefficient c. Solution 2.27 ‘The dampers are in parallel; therefore, the equivalent damping coefficient is ce = ci + 2 +¢3. The springs kp and 4; are in series and the equivalent stiffness of this series combination is, 7 1 1 iy=| D4 (e+) ‘The springs k; and fo3 are in parallel; therefore, the equivalent spring stiffiness is ke = ki + has. 2.28 The vibrations of a system with stiffness & and damping coefficient ¢ is of the form x(0) = X,sinex. This type of response, which is called a harmonic response, is possible 27 (©2009 Cengage Leaming. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 when a vibratory system is excited by a harmonic force. Evaluate the work done by the spring force and the work done by the damper force, which are given by the integrals s0x{0) alo E,= | kede= | bot de 20 a safe fore 1) a Solution 2.28 The work done by the spring force is E,= | keidt= [ k(X, sin(on)(X,ocos(wt))ar a 3 ale =koX? f sin(wt)cos(or)dt = KX? fsingcosede = ax:|Lsin'o] 0 ‘The work done by the damper force is E,= f cvtar= "T (X.ecos(on))'dt cx? “f c0s"(ony 2 Ecos’ aol. ie =coX: = coX2| 2 41 sin(2 cox? Jeos (pxd9 = coX? [g +f sin ~| =conX? 2.29 For the system of Exercise 2.28, assume that k = 1000 N/m, c = 2500 N/(m/s), Xo = 0.1 m, and @= 9 rad/s. Plot the graph of the sum of the spring force and damper force versus the displacement; that is, kx-+o% versus x. Solution 2.29 ‘The sum of the spring and damper force is ec + c¥ = 1000 0.1sin(91) +2500%9 x 0.1e0s(91) =100sin(91) +2250cos(91) The result is plotted below as a function of x = 0.1sin(91). It can be seen that the graph has the shape of an ellipse. 28 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions te Exercises ~ Chapter 2 ‘linspace(0.2*pi9, 100); y=100*sin(9*t)+2250*e0s(9*1); x-0.1%sin(9*); plox(syk-) set(gca fontsize'14) ylabel(kxrev; fontsize’14) xlabel(x'fontsize14) 2.30 For the system of Exercise 2.28, assume that k > 0, ¢ > 0, and «> 0. Show that the graph of kx+c% versus x will have the form of an ellipse. Solution 2.30 Let F(x,3)= kx tek Then, if'x = X,sinor, F(x,8) =k + c@X, cost which can be written as F(x,3) =k tcoX,Vi—sin? of and rearranged to obtain (F(,%)-kx' =e? (X2-x*) This leads to the equation 29 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 F(x,3)+( +00”)? -2keF(x,i)— C0, which is the equation of an ellipse in the F(x, #)-r plane. Section 2.4.2 2.31 Consider the viscous-damping model given by Eq. (2.46) and the dry-friction model given by Eq. (2.52). Sketch the force versus velocity graphs in each case for the following parameter values: ¢ = 100 Nimm/s), m= 100 kg, and = 0.1 Solution 2.31 Equation (2.46) gives and Eq, (2.52) yields FQ) = amg sen() = ).1 100 x 9.8sgn(#) = 98sgn(%) ‘These are plotted below. Fo) 200 Foo 100 on 1 ee 12 Fm) Fw) -98 #3. (246) F052) Figure £2.31 2.32 Normalize the linear viscous-damper force given by Eq. (2.46) using the damping coefficient c, the dry-friction force given by Eq. (2.52) using pg, the fluid-damping force given by Eq. (2.54) using the damping coefficient cg, and the hysteretic force given by Eq. (2.57) using Arp. Plot the time histories of the normalized damper forces versus time for harmonic displacement of the form x(/) = 0.4sin (2nt) m. Discuss the characteristics of these plots. Solution 2.32 From Eq. (2.46), we have the viscous foree $= 087 cos(2zt) From Eq. (2.52), we have the dry friction fore 30 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 Fe) sgn(%) =sgn (cos(2m)) ung From Eq. (2.54), we have the fluid force FC) 4 5) = (1.62) |ecos(21) |eos(221) oe From Eq, (2.57), we have the hysteretic force FE) _ son(i)|.x|=0.4sen (cos(221))|sin(220)] kf, These results are plotted below. ‘The normalized viscous damping force versus time plot shows that this force varies harmonically at the frequency @ = 2 rad/s. In all the other cases, the resp. normalized damping forces do not vary harmonically and they contain additional frequency components. In these cases, the damping forces are nonlinear. cous ory ton ‘ 7 oe ea B os) 2 3 go 2 a bos L 4 49 2 4 oO 2 4 ru ttre oa Fecxie) ‘MATLAB program used to generate figure for Exercise 2.32 ‘inspace(0,4,100); subplor@2,2,1) plot(,0.8*pitcos(2*pi*t), ylabel(F(dx/dtV/c',"fontsize’,14) itlecViscous''fontsiz’, 14) ‘set(gea,'fontsize',14) subplot(2,2,2) ot(,sizn(cos(2*pi" 31 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 ‘ylabel( F(dx/di) (mama) fontsize 14) ve@)=L.1*V(4); axis(v) title(Dry friction’ fontsize’,14) set(gca, fontsize’ 14) subplot(2,2,3) plot(,(1.6*piy’2*abs(cos(2*pi*t).*eos(2*pittk-) yylabel(F(dwatye_d);'fontsize’,14) label(t(5);'fontsize’ 14) title( Fluid’, Yontsize’ 14) set(gca, fontsize’,14) subplot(2,2,4) plot(,0.4*sign(cos(2*pi*)).*abs(sin(2*pi*),k-) ‘ylabeiCF(dw/at)(Kipilbeta_), fontsize’14) title(Hysteetic’fontsize'4) xlabel(t (5) fontsize 14) set(gea,fontsize’14) _ 2.33 Construct vibratory models for each of the three systems shown in the Figure E2.33. Discuss the number of degrees of freedom and the associated generalized coordinates in each case. Solution 2.33 ) One possible car model: If we ignore the mass of the tires and the elasticity of the car, then we have a ‘rigid’ platform that can ‘* rotate about the long axis of the car (left to right) ‘© rotate about the short axis of the car (front to back) © translate vertically Therefore, this model of the car has 3 degrees of freedom with the three generalized coordinates corresponding to the two rotations and the vertical translation, b) One possible motorcycle model: If we ignore the mass of the tires and the elasticity of the motorcycle, then we have a “rigid” frame that can * rotate about the short axis of the motorcycle (front to back) © translate vertically ‘Therefore, this model of the motorcycle has 2 degrees of freedom with the generalized coordinates being the rotation coordinate and the translation coordinate. ©) One possible model of the cable car: ‘translate vertically * rotate (swing) in the vertical plane ‘Therefore, this model of the car has 2 degrees of freedom with the generalized coordinates being a rotation coordinate and a vertical translation coordinate. 2.34 A vibratory system has a mass m = 10 kg, k = 1500 N/m, and c= 2500 Ni(m/s). Given that the displacement response has the form x(t) = 0.2sin(9/) m, plot the graphs of é, the spring force kx, and the damper force ct versus time and discuss them. 32 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions te Exercises ~ Chapter 2 Solution 2.34 The three forces are, respectively, mi = —10 9 x0.2sin(91) =-162sin(91)_N ci =2500%9x0.2sin(91) = 4500c0s(91) N ex = 1500 0.2sin(92) = 300sin(9") N Each force component varies sinusoidally at the same frequency, but the damping force is 90° out of phase with the spring force and the inertial force is 180° out of phase with the spring force. The results are shown below. Force (N) 1 @) Figure £2.34 [LAB used fo generate figure for Exereise 2.34 ‘-linspace(0,2,100); sesin(9*); plot(300*5,k-t4500*c0s(9*1)k~ 3-162" xlabel(tfontsize’14) ylabel(Force (N)'fontsize’4) {abj-legend¢Stifiness' Damping’ Inertia’ set(b(1),fontsize’,14) set(gca,fontsize’ 14) 0 2},{0 0k 33 (©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 2 34 ye Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 Solutions to Exercises Chapter 3 Section 3.2.1 3.1 Rewrite the second-order system given by Eq. (3.8) as a system of two first-order differential equations by introducing the new variables x, =x and x, =. The resulting system of equations is said to be in state-space form, a useful form for numerically determining the solutions of vibrating systems. Solution 3.1 We note that and, therefore, a dt Upon substituting these equations into the governing equation ax de m—>te—+ke= f(t ae eg BLO we find that dx, m ex, +h, = SO dt Thus, the two first order equations are de, 3.2 A vibratory system with a hardening nonlinear spring is governed by the following equation mitck+k(xtax’)=0 Determine the static-equilibrium position of this system for a = 1 and linearize the system for “small” oscillations about the system static-equilibrium position, 35 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 Solution 3.2 To determine the static equilibrium positions, we set the velocity and acceleration terms to zero. Thus, the static equilibrium positions are determined by the roots of the polynomial K(x, +x3)=0 or +x,=0 Xn tty This cubic polynomial has one real-valued root, which is xy = 0. ‘The linearized system describing small oscillations about the equilibrium position x = has the form mi+ck+k(143x2)x=0 For the equilibrium position x= 0, the linearized system is mi +ck+ke=0 3.3 A vibratory system with a softening nonlinear spring is governed by the following equation mitt cit Kx-ax” Determine the static-equilibrium positions of this system for a = 1 and linearize the system for “small” oscillations about each of the system static-equilibrium positions. Solution 3.3 To determine the static equilibrium positions, we set the velocity and acceleration terms to zero. ‘Thus, the static equilibrium positions are determined by the roots of the polynomial or whose roots are ‘The linearized system describing small oscillations about an equilibrium x = x has the form mi + ct-+k(1—3x),)x=0 ion x= 0, the linearized system is mi+ci+ke=0 36 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 For the equilibrium position x4,= +1, the linearized system takes the form mit+ci—2ke =0 3.4 Determine the equation governing the system studied in Example 3.13 by carrying outa force balance, Solution 3.4 From the free-body diagram shown at the right, we carry out a force balance in the vertical direction to obtain m (6, + AL) Le mit+kx+k,(5, +AL)eosO=0 5, Noting that k VE+8-L and coso=—— a wwe find the equation of motion to be ik kyx +h, (5,/L+y ise] - x Vee /E For x/L| << 1, Ji+x°/E ~1 and this equation of motion becomes mi+(k,+6,k,/L)x=0 Since 1d, = 7, we can rewrite the equation of motion as mi+(k,+7/L)x=0 3.5 A mass m is attached to the free end of a thin cantilever beam of length L, as shown in Figure E3.5. The fixed end of this beam is attached to a shaft of radius r that is rotating about its axis at a speed of Q rad/s. Assume that the mass of the bear is negligible and its equivalent stiffness is ks, Derive the governing equation of motion for transverse vibrations of the beam in terms of the variable x and obtain an expression for the system’s natural frequency. Solution 3.5 ‘The centrifugal force in the radial direction is F=(L+ayme Let @be the angle formed by the cantilever beam when the mass m displaces an amount x in a transverse direction to the beam from the static equilibrium position. For small x displacement, P= Fsin0~ FO 37 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 where F; is the component of the force acting in the x-direction. In addition, since 0 is small, x = Ltan@ and therefore, 9 ~ x/L. Thus, the component of force in the x-direction due to the rotation is =(L+a)mE (2) =(I+a/L)mQ%x A summation of forces in the x-direction gives m+ k,x+(14+a/L)mQ?x=0 m+ (kyx-+(I+a/L)mQ?)x=0 where, from Table 2.3, the stiffness of the cantilever beam is where E is the Young’s modulus of the beam material and is the area moment of inertia about the bending axis, Section 3.2.2 3.6 Derive the governing equation of motion for the rocker-arm valve assembly shown in Figure E3.6. Assume “small” motions. The quantity JJ, is the mass moment of inertia about point 0 of the rocker arm of length (a + b), kis the stiffness of the linear spring that is fixed at one end, and M is the external moment imposed by the cam on the system. ‘This moment is produced by the contact force generated by the cam at the end of the rocker arm. Sol a. For ‘small’ rotation @ of the rocker arm, the displacement of the mass m is x= 60, If we ignore the effects of gravity, then the system kinetic energy, system potential energy, dissipation function, and generalized force are, respectively, where k is the unit vector normal to the plane of the system. By using the Lagrange equation fai (eta | eta Neb aa at\36) 00° 36° 36 ~~? 38 (©2009 Cengage Learning. ALL RIGHTS RESERVED.