EQUATION SHEET FOR PART A

Spring-Mass-Damper Systems
k
m

= 2f

n =

x
= ln n
xn+1

= ln 1
n x n +1

d = n 1 2

1 x

4 2 + 2

c
2 km

r=

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x(t)

m
k

mx + cx + kx = 0
x(t ) = Xe nt sin( d t + )

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mx + cx + kx = Fo sin t
x(t)

x(t ) = X sin(t )

Fo / k

X =

TR =

(1 r ) + (2r )
2 2

FT
=
Fo

2r
2
1 r

= tan 1

;
2

1 + (2r )

(1 r ) + (2r )
2 2

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m
t

Mx + cx + kx = me 2 sin t
x(t)

M-m
k

x(t ) = X sin(t )
c

MX
=
me

r2

(1 r ) + (2r )
2 2

;
2

2r
2
1 r

= tan 1

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m
k

mx + cx + kx = cy + ky

x(t)
c

x(t ) = X sin(t )

y(t)

X
=
Y

1 + (2r )

(1 r ) + (2r )
2 2

FT
= r2
kY

1 + (2r )

(1 r ) + (2r )
2 2

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Continuous Systems
Lateral vibration of a taut string

2 u ( x, t ) 1 2 u ( x, t )
= 2
,
x 2
t 2
cs

cs =

u ( x, t ) = ( x)q (t ) ,

( x) = C sin kx + D cos kx ,

q (t ) = A sin t + B cos t

Boundary Conditions

x=0

x=L

Fixed

u=0

u=0

T
mL

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Longitudinal vibrations of rods

2 u ( x, t ) 1 2 u ( x, t )
= 2
,
x 2
c L t 2

cL =

Boundary Conditions

x=0

x=L

Fixed

u=0

u=0

Free

u
=0
x

u
=0
x

Spring load

k s u = EA

Inertia load

u
x

2u
u
= EA
2
x
t

k s u = EA

u
x

2u
u
= EA
2
x
t

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Torsional vibration of circular rods

G
J p

2 ( x, t ) 1 2 ( x, t )
= 2
,
x 2
cT
t 2

cT =

Boundary Conditions

x=0

x=L

Fixed

=0

=0

Free

=0
x

=0
x

Spring load

k t = G

Inertia load

= G
2
x
t

k t = G

= G
2
x
t

EQUATION SHEET FOR PART B

Constant Linear Acceleration Equations ( to = 0 )

v = v o + at
v 2 = v o + 2a(s so )
2

s = so + vo t +

1 2
at
2

Angular Motion
d
d
=
=
dt
dt

d = d

Displacement, Velocity and Acceleration Components

(1)

Rectangular Co-ordinates

r = xi + yj
v = xi + y j
a = xi + yj

(2)

Normal and Tangential Co-ordinates

v = vet
a = at et + an en
v = r

at = v = ar
an =

v2

=
2

Relative Motion

rA = rB + rA / B
v A = vB + v A / B
a A = aB + a A / B
Relative Motion for Rotating Axes

v A = v A + v A/A
a A = a A + a rel + acor
Moment of Inertia
Moment of inertia of a uniform disk:
Moment of inertia of a uniform slender rod:
Parallel axis theorem:

1 2
mr
2
1 2
I=
ml
12

I=

I O = I G + md 2