Chapter 4 Vibration Under General Forcing Conditions cos neat where co= 22 at wu. (n®= 4) x(t) = Be Fo te tin (ut - 4) ze V y+ (25 eee 4. = cos (nust ~ 4.) bs Gt 4) Ja- ner?) + (arary where 1= Wis,» Ae term? (BES) and ga tes EERE) eile a= ner, From the solution of problem 1.109, 2m) s ost< y F(t) = { CRY2) 5 os 7% -@RY) +2 3 Wats? Fourier series vepresentation of F(t) is Fé) = #- 4h 3 cos nest = 3h apt 4 sin (rust- 4, Oo Te Eg BOD VER Gre d where r= @/s, and g = tav'( anit > i-wer rt)= Ba BZ fain est where we 2 neh, 41=f Ros 4,4 5 tH 8. O- B+ ek 2 eee nn where r= 9/5, and g, = tant (2255) a-wr Bre = dsm nat] where wet moe n=1,2,3,. ] id 4: ee in (nost — SW aan E + ern? aa te) where r= Ys, and f= tant (2232) From Example 11% (4) = Bb *@)= Te TR oe 4,2,3,.. Torgue, M(t) M9 t Be ie ‘Torque transmitted to driven gear is shown in the figure. It can be expressed as: oes: (os corn wt-+b, sin a wt} M(t) 2 n=l where W=2n se] = 104,72 rad/see 27 20.086 ; = = 0.05625 see My = 1000 N—m ; 0<¢ sir M(t) = a los Serstsr . o0seas ao = 2 FM 2 “J (1000) at Zi? (0.05628) = 1876.0 N—m 4 4 ft 2. 00ss2s 2 aa = = [ Milt) cos nwt dt = = Mip J cosnwt dt 2 ° ace coe Ma jegee = 31809 in 69005 2 Nem ;at ip 008825 b= Z [Ml sinaweat=—2 f sinnwedt a 0.05625 0 _ 318.3001 2 f — cos 5.8905 3 N-m Equation of motion: Job +k O= Mi) = 2 + 5 Response: ayn es Bf asl = 0.023873 c2 {318.3091 sin 5.8905 n cos w t + 318.3091 (1 — cos 5.8905 n) sin nw t Bb OS | cepa neo am epr ga | SEES 1n (392700.0 — 1096.6278 n”) x(2) oH Base motion is given by: y(t) ar $6 —rcoswt—Ceosd=r+e—rooswt—@Vi-sin? — (1) Using @ sin ¢ =r sin wt, Eq. (1) becomes q te avs pant ut @) Using the approximation: Vv @) Bq, (2) can be expressed as s(t) = 6-1 cos we wrorea ats £ (4)Equation of motion: ected, ké |r ké |r eee terusinwt+ ar ;| Qu)jsin2wtt (5) Solution of Eq, (5) can be found by adding the solutions due to each term on the right hand side of Ea. (5). Solution due to constant term, Fp (terms 1 and 8 on the r-h.s. of Eq. (5): 1 x()= =a [ = FOF cos (uy t — 4] 6) where ¢=tan™ ae] Solution due to sinusoidal term, Fy sin 1t (terms 5 and 6 on the r.h.s. of Eq. (8): x(t) =X sin (Mt ~ $0) @ F where X= £ Ic -anty +e oe]? Solution due to cosine term, Fy cos {1t (terms 2 and 4 in Eq. (5): x{t) = X cos (Mt = #9) (9) F, e where X= S sand ¢p = tan™ (=2a] (10) [ce —miy +e Le Fe di - 0.1, w = 100, 2 = 200, er eine its = Se” SV gan) =O eo OY ete. and the solution of Eq. (5) can be chained by using Eas. (6) to (8) suitably. Base motion can be represented by Fourier series as (from Example 1.19): woe S—finwtsbanzors bomauee . Q 44Equation of motion of mass: mite(e-#)+k-y)=0 (2) 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 e a |@ mi tex-+kx= <5 = constant (3) ‘The steady state solution of Eq, (3) is given by (see Example 4.9): yng ee eres leneeaee tial coe ae (wg t — 9) (4) x) = 5 f oo ( (4) $ wher = tan? 5) + anu fa] ‘ When y(t) = A sin 11+, the steady state solution of Eq. (2) is given by Ba. (3.67): x(t) =A sin (Nt - 9) (8) 1 1+(@s1)* io 7h A +s _| - cea Fear aw es 2c = tan“? |__+$S* (8) é F +r (42-1) and r=—— From solution of Problem4.7, we ean express the base motion as: 2 2 éjr é y(t) = -ren ut + £(3] -£(5] cos 2wt-+ ° @ Equation of motior m+k(x—y)£uN=0 or mi tkxtyNe=ky 2 2 mfere Be (Ey eeenee HE pf emaeee For given numerical data, Eq, (2) becomes: 4-5¥ +100 x + 0.981 = 100 y 2 2 = 4100 (0.1) + so) (22) ~ (2100) (0.1) eos 100 ¢ — 200.0) [2] cos 200 t= *** = 10.25 — 10 cos 100 t — 0.25 cos 200 t — --* (3) Using the definition of equivalent damping constant, cag, the solution of Bq, (3) can be found by superposition. _4uN _4eme mo AX @ where {1s 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. (8) (from Example 4.9): élr : aural (| ® Steady state solution due to harmonic term, Fp cos {1t, on the r.b.s. of Ea. (3) (Grom Eqs. (3.89), (3.93) and (3.96)): x(t) =X cos (Nt — 4) 0) 1 (428 e > aN hem hme zo ga tant rh @ where aa TF ant = tan fr (7) E we N= mg =1 (9.81) = 9.81 Newtons, = VE- = 10 rad/sec, and 4 sign is to be used in Eq. (7) for 2 < uy and - sign for 1> wy, 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 1.19): saute tanzersbanaass oh (a) Equation of motion of mass: m+k(«—y)£uN=0 4-6or mi+kxtyN=ky eee ee = finws+ pamawes pamsure (2) Using the definition of equivalent viscous damping constant: BN 4umg og = 42M = some 3) a TAX AMX ® where 1 is the frequency of the harmonic force and X is the amplitude of the mass, the solution of Bq. (2) can be determined using the superposition prineiple. Steady state solution due to constant term, Fo, on the r.h.s. of Eq. (2) (from Example 4.9); Fo oe See x(t) k 2k 2 @ Steady state solution due to harmonic term, Fp sin 1, on the r.b.s. of Da. (2) (Grom Eqs. (3.89), (3.93) and (3.96): x(t) =X sin (Nt - 4) 4uN 2] il 1 [Sa 2 aoe a 2 and ¢=tan? ie 2+ (6) # Fo and + sign is to be used in Eq, (6) for 2 < uy and - sign for > wy. Equations (4) and (6) can be superposed suitably to find the complete steady state solution of Ea. (2)- Base excitation: y(t)= Y cos wt « with Ye oroS and W=5 Eguation of motion of the system: mee cee hes RYE CHE KY cos wt — cu Sin cot Equation +2) is similar to gy. (4.8) with (e-2) 50, ws KY, b= - CY and a= bp=o; 4 = 2,3, steady state response of the system is given by Eq. 9) of Example 4.9: 47* (H)= SSESEE SSUES Har t Gert)? 4 (25 ry la car eee) + z sin (wt - 4} Here 4008 ; os ere ates valle 20 70 cia, EE Rave tol Wye 19-975 rad/s a= KY = 4000 (005) = 200, b= - cu = — 20 (5)(008)=-5 $= tan! (TS ) = fas "(eee Gs8)) = 002666 rad z t= 0-257 (0-7)? + (ear) = i Cieeas*)' + (@ e005 % 0-25) = 0: 937833 Solution of the homogeneous eguation i's given by Eg. (2-70): -TWOyt x(t) = X, € i. (yt - $6) = X,e@ cos (19.975 t - do) @-3) Where X, and ¢, are Unknown constants. Total solution : -t x(t)= *, CE) + % p(t) = xX, e cos (19-975 E - By) 4 Zoo +o ine cos (st-o- 102666)- Zs, sin(st- o-0266e) } =X, &* cos (19-975 t — 4.) + 0:05331h cos (5 -0-02666) = 0001333 sin (St - 002666) €-4) where X, and ¢, are to be found from the initial conditions. Digferentiatron of Eg.(E'4) gives the velocity as: x(t) = - Xe Boss (17-978 £ - do) - X, (19-975) e” sin (19-975 t =p.) 4-8 e028, Fee eee Sw 5= 0:26657 sin (St -0-02666) = 0100 6665 cos (St — o02666) (5) Using the initial conditions, we obtain x = “(t= ol = KX, cos g + 0053314 cos(o-02666) + 0:001333 Sin (0-02 666) or Xo CoS b, = 0104666947 G6 and ke x (b=0)= tro = - X, cos A, + (1-975 X, sin J, + 0:26657 Sin (002666) - 0006665 cos (002666) ct X, sin fd, = 0-0523.7678 &-7 Solution of Eys- (E:6) amd (€-7) gives Xo= {Ke cos $0) + Cx, sin fay e = 007015247 (E-8) ge fon ( Ro bin &) = 08429596 rad 3) Kp 608 Bo Complete solution is given by €g. (E4): eit u(z)= 007015247 © cos (19.975 t -0° 84295716) 4 0-053314 cos (St —0-02666 ) 0001333 sin (St - 002666) (Et0> 49é t= 5x10" N/m» m= 750 kg, C=0 Eguation of motion of a mass subjected ts base excitation: ee) Be gee Kes, rat K sin amt wos amt , cosemt osiamt ~} wT 103) 3(5) s(7) GO) Response under different components of forcing function: (i) when migens & @) 7. bet y(t) = Ay = constant 03) sub stitute &-G@) into £y-(2): fo Asie + or = Ao= = ape) = ob aD 3 ji) When vie me + ke = + sin art =A, sin wt ‘“w with Ae £ and os am bet xpcly= X sin ot 6) Substitute &G) tls Bp -(5) 3 am X @ sia wt + kx sin wt = A, Sin wt or er ec en oe —m c+ k 2(k-ma) where iy ne SE = =) 22 91.6496 rad/s 4-106-2832 \2 2 Gale (reves nae) = @r97695) = orooss22 X= ————— _ = 0.5030 m CEES io xp (b= 0:5030 sin att m @) when a a % mie kee BE ste = A, ot ot (@) with =z - 2K y As aie and W,= 47 Let "aps x cot Oat ) substitute (9) in (8): —mop xX 4 kX = Ag oF Ag 2 x= = kom 03) 3 (k- m0.) ia ale =) ice a (1 Gases) Gr 6496 eae 1 7% oman) = = 0. 2173 m Hp Cby= = 0.2173 cos art Ge) (iv) When Bey ee eee 4B IByeee He eet cues cata, aw = 4,8, IBovw G-2) C642) substitute 5. (12) im ep. 01)! 441-@pm xX + kX = A Se mee £26} S=eerEN, i . amano 8 wSy— i (9+ 8696) 2) Ce -2) (2 i! Gene pence 254647 2 eee G2> (t= q001y 804 2%) (4-2) (e42) 2.54647 Ke = a = 09 21738 Ct = 0+ 02364 964 (12) 2654647 XK = = $0 0688 om Ct= 0609474) (6D (1e) QSHCHT xX = - ———_________ = - 0.02312 m (iw 0.21318 5 (tod (149 ct Hence Aleady Atte ditplacemmt of the or is: wt) + +0:5030 sin 27t -0-2173 CoS ATE = 004688 cot emt ~0.02312 cS (2Tt---. m (a) 4-12From Solution of problem 1.117, F(t) = 9.9584 - tor 1587 oF to.472t + 23-5253 sin torg72t sin 20-944 % + 3.3097 cof n0.94ut + (2+ 2646 4 OBTTIY Cos 31416 t — 014064 Sin aegiet &) tone FE = [ERE = 122-4745 vadfree § B= ors r= 0/0855 the steady state solution is given by Eq (E.9) of Example 49: 4-13x,(t) = V9584 _ 20-1587 r ' cara oe cos(w+472t— ia if i-v*)* 4 (25r)* oe(ea72e- A) 2315e 53) eats ge * ea) (250) oo eee) 3.3097 i * la- arty+ 4 sry pissin eeennaeUEH 12.2646 sin (20-944— #2) * (ear yt arr)” cos (20-944t — #2) ae PR ah eo (1. 46 t - Fa) / martytece ry? or4064) sin (31-4 t- 42) (e,) - [q-se*y*+ (es where ye tan (2EE) = te "(e017 226) = ooi7e rad - 17 400 =! 82> tan Tae) = tan'(oos5ze7) = 00352 rad ts= tan! (SEE) 2 tev! (ros 4oisy= 910549 vad Noting that 23 r=2(c!)(o#ss) = 0-017! and (1-17) = 019927, Eye (Ee) can be rewritten a8 p(t) = [oveaea - 13-7821 cf (101472 + ~0-2172) 415-7965. sin (jou72E — 0-0172) + 2-215 cos (200944 8- 00358) BANGER sin (20-744t — 02-0352) 4 2-6976 cos( 31-416 t 00549) = 0-2896 sin (31-416 t - 00549] * wt om From problem 1.116, F(a N97 — HI 24 cos sza-Et + [50-3197 Sim 23-6 E 9 cos a4 T2t ~ 146-1706 sin 1047-2 E sin (57008 € + 28+ 605! 43567278 cos ISToret + SS-1546 ,= = (Ea = 126-491 radfoec 5 5 = 0-06 i 52306 2 re FERC 2 qisgq 5 rt (RIRWE s Irs (tHE ZT = 20-06) (4-1394) = 0° 4967 4-14x) = WETS _ aia. cuse cos (523-6t - #1) ¢ * * [its @ Hag 20.25 se in (F256t =F) a4 cose —ceslies? ) Meryt+ ern? fart GST 146-1706 __sin (loav-at - #2) 35-7278 cos (1570-8 t — 93) - + KGa ts Cast & i-se*)te (esry* 55-1846 sin (1570. 6 t ~ #3) COnarenel rasran omar aera ©) a Ola acta Corse) a Since (BER) = tas! (-01008) = -0-0808 7 #,= tan! “r,) taw'(— 010147) =~ 90147 Ba tan’ (ET) = tan" (-ovoet7s) = -o10ot7 1-9r the steady-state solution, &%-(E2), con be expressed ag Xp(t) = 0+1¢22-0°003211 cos (523-64 40/0302) $0+001163 sin (523-6t 40-0308) 4 5.2721 x15” Cod (047-2 t+0:0147) = 27042215" sin (1047-2 + o-0147) + 29145 x 10> cos(1570+8 ¢ +.0:00978) +4:4992 2107 Sin (1570-8 40-00773) om F(t) y= 5x 10° nl = 22-3607 £24 4005 (oxo Taos sec w= 2M = 4. gee red free 13733 ri 3.5093 ° 2006 OS Te¢ Following date is used in Programi,F ts find Fourier coefficients in the expansion of F(t): t, sec} 0-01 01020103 0-04 0105 0-06 Fi), «N {| 400 400 400 400 400 400 0 --- © 4-15Result is: F(E) = (60:0 4 25-5002 cos yl-eeet + 242-6276 sin i. 8aet -75+3884 cos 83:76 t + [6+ 0237 Sin 83:776 t 4164806 Cos [25+ 664t + 50-7237 Sin (25-664 t = 62+3539 cos [67-5524 + 27-704 Sin (67-552 Et + «aN Since Yoo amd ott Aj =o, Fhe + the steady-state response of the water tank, Ep (4°19), becomes XplE) = 01032 + 20325 x10 cor Al aget 19: 3393 nid? sin l-eoet — 11566 KIO? cos B3-776E 40:2458 x15? sin 83-776 40-1078 KIT? cos 125-664 t 40-3317 xis? sin (25-664t —0-2334 KH cos [67 552E =3 +0007 KId Sin 1GT-552E 4 ++ Fo) Ct) m ™ Forcing function can be considered as the sum of tho ramp functions, F(t) = Bee and A(f)=— lt-ted. Response of the casting (undamped spring - mess system) t Fi is given by in t neers BCE St) er tre @) Response due to F, can be obtained from Gy. (Ei) by replacing £ by t-to and Fo by — fe: CRG pees sara w(t) = - & {i — Hn alt= te) $2) } fe tet, (=) 4-16Total response of the casting is given by x(t) = Cb) + XE) = Efte sin Ba (Eats) = Hn Gok} & OS, to for tz tp. (©) 4-17From. Eq. (4.31), ey = i rae Sian, my * rte, pt (#-T2n)e fe stent ig) sin @ (E-2) Ae sin 6y(t-) Ae ett ct _(a-su,)t fe! WFR) in yt cos Uy ~ co8 yt sin oe de it 70,8 =f ert snot] e f-- 34% cos T+ mo] ° (4-TOn)+ ={-@-F,) se ar ~ Aes ar}? ai ° 4 (= T,) sin OE = By ert} é é “Steraal * safeccareay OR? te (Go): Equation of motion: mi +kx=Aplt) 3) = 0.3027 — 0.3927 & where nat or 10%-+1000x = fa (0.1)? (50) (1 Solution: F 0.3927 _ 0.9927 x(t) =O} cos wy t + Cy sin uy, ¢ + 2ST — OS ent s(t) = Gy €08 Hy 1g sin % tam 4-18K 1000 _ where Wy ENE -V AS = 10 rad /s0e, Thus x(t) becomes x(t) = C; cos 10 t + Cy sin 10 t + 39.27 (10°) — 36.0275 (107%) & where C, and C; can be determined from the initial conditions. As t — co, and the steady state response becomes x(t) =C, cos 10 t + Cy sin 10 t + 39.27 (0-5) m - 3b mn tg < a x For oft * B Eqpodtem of mation: cates Bos wt x(E)=s A AGE + B Sin ORE Bone cos wt = x@)=0 ae ees A ical Saati ee : ee 2 ae f- (BNF ke)=0 3 ° Fo we (= —2 ___[i = cos ot- (SY (1- cos - 2 On mia ga Goce 2 3,70 Ade 2, Be a giao 7] For t > Bq. (431) gives x(t)2 4 [re sin g(=t) de Ts x(t) = Sof g(r). sin (2) de + See) sie w,(¢-2) 2 7 o =o Wa t Fe fin taa(t-t) oF =x(t-g esd = x(teB)+ ty: x(t) 5 ee w(t-%) dee Fe = Li, cos os, (¢ oy = fe [eos 08, (t= to) = pas &(=) i ost te F(t) = te qr { for as : t ie sin B,(E- 7) Ae ty: = < + x(®= a, eff (£-2 sin w,(t-2) (dt) - ha (t- ser] aan (t- oe cos col Rt jee (t-%) too = Be (t- Feet) For t > t, x(t) = a (E-e) ae ee & ole ws wnft-)| a To Se on iB = ~ 2 ft [See Oy eo Fo TE fin Op (E~ to) + to cof @a(t- to) — ae wnt | kta L@n CSE meee ee rey= f* G@ ee oststo &) ° 5 t>te For an rss system, Eq, (4.31) gives x(t) = er t F(t) sing, (e-%) de @x@)= = _—— - fi (s- cs BE) sinw,(t-2) de i) ie ae that £ Soin Gat — On®) sea] a, cos (nt - % oO! = & (1-8 et) vn s wos EE (sin ent cr 4s? = cot ot sin c®)) AE pea] ae en) e sia (Ze, face Ea ° Pe a) 2(4E +o) = cos Ot [- 8 (Wn- Te )e a cos (Sat yt y* en Fe) (n+ Te) 7° at 7 mt me + a cos EE - cot at | fat - cot nt | Ean LB weapon 6 (En) con be simplified af (fy t a(t)= BE (tH wr ent) + cos BE = cot ot] (6) For_t> te! x)= Se {O- cos BE) sin (#-*) az ) = le cos Oy (t-te) — Hy oF wet] i frment = ea ut ist ym [Gee , wre] + oat *(Fe,- %) 2(Fz, + On) [Geom oe ‘ ‘Sil 2(on- Te) 2(ont Fe “2(6-E) Torey ten x(t)= B [cos @, (t-te) - oF .S 4-21Sin Gy (t-te) — Prac aracatl (t= &) 4 Fe ces cyt - Geka os eh cag (Peon) co any Lae Ge ase displacement = ¥(4)= Y sin ™ € a HUE) = ¥ sin BE @) steady-state relative displacement can be found from Faq. (4.34) as a) =- a i Ft) eMBH) cles (@—e) lar (es) where geeye-¥ (7%) sin BE G4) HO EES Lert oO sn BE om gee) a But sin TE sin wy (t-t) =f cos(BE ney +4) bor (TE ay t-eyd) = fet (E+o)e cyt + sin(E oar sin ct] wp [eee (Eat cos gt -o(E-ay) t-smare]) . (Es) and (Es) give eo A s (sy . Sead [cor oy (= cos (E+ ey)rde t : FOr +sin ye fie «sin (E+ @)) ede a = cos cyte (areca wos (Ee - my) e- de t tsin aye fet cy (EK ode & sin fe sin (E -eye ] 7 (Er) can be simplified attey= 1 zy er re " (renyt VE ree ° . a sin BE ou, cues + (Ere) oP wit } x Y a L * 2 (E) Gaye cz oe ag 4-22=F Gt et E-4) sin m + 50, © cos yt 2 + (By) 7 cm yt és) Base displacement: Yyt 1 0th=—— + Equation of motion of vehicle: mi+k(x—-y) Using Eq. (1), Ba. (2) can be expressed as (2) kvY¥t ;0to Steady state solution of Eq, (3) from Example 4.9: v¥ x(t) =4 50, & lo; t >to fas-nnas| sot w Note that the homogencous solution, x(t) = Cy cos aly t + Cy sin uy & (5) ls to be added to Bq, (4) to obtain the complete solution. The constants G and C2 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 = so *m/br Eneitation frepuency = (S062) (= ay.z779 Hy Natural freguency =f, > 10 Hy > w= 27 vad/teeEquation of motion (fer undamped case) + me eK (x-¥ or mk EK XE Ky = (EY 2) where F(t) = y(t) (es) lution o; es So of Gy. (Ee) x= de a Sr sin @e-t) de (Eq) “e)t sin @,(E-T) ae (es) Since Cae Fe fr Sin W(E-U) de -(&- aE (Es) becomes X(t) = 5.5556 (E- 011592 Sin G.2gs2t) m 3 ost soci see Ged O2T cine, (b-2) de + [CBee seep tee But orn: inag(ene) te = SEH fy sat f Es Cae) mf y" x ae ahr in OE in 08, = cos Ot | a Sin Gn! cate la cr we = 55556 [onuso2 sin 62932 (t- 21018) =i G + o1l80 cos 62992 (E- ol?) — 011592 sin eags2t] ™ Er) Since ical 07036 - ork on & f ——— Sin W,(t-T) dt = ett, [emacs Bake ZX sin os, z] +h, n in Oat [ae cos 0 Ly sin ot — E cos 8,2 ae cs ont | E Sinn? — Zo i tofo = — 5.5556 [ t — 01592 sin 62832 (E- ovo14) = 010180 cof 6.2832 (4-018) ] 1m Gs) 4-24= sae ~ [a cos #,(t-2)] 7 A t 2 Cm a(t 12 cee eat [t= cf 6.0 ix] eu [te cos 62992 Eo!) J] m ©) Hence the solution can be expressed oF x(by= [17689 sin 62832 (#- orolg) — 0° 9245 orols < t= 01036 See E.) sin 62932 © 5.5556 t +02] ™ For f2 fos tof i +) = in pena fe in, (E-2) ae x(t) ae fe sin @, (t= T) At mane a ‘y he t Ra ek f Sin Wy (4-7) de €.) th the first term on the right side of (E,) is given by E,). Second term on the right side of (E) is t, oe k 2 a2 k i - 2ee (i T sinc (t-te) dv = ~ 22 fount m Wn to 4-25ws x(t) is given by the sum of Eps. (E7),(E),) ond (Biz) > which can be simplified a H(t) = 1/7689 sin 62932 (E— 0-018) — or 8945 sin E2932 t 01 8P45 sin 6.2832 (t- 21036) m 3 + rose see (Er) when the container strikes the floor, the velocity of the mass is given by Bee erence eters a aah (&) The displacement of the camcorder subjected te an initial velocity 2,=V is given by ep. (2-72), with %o=0 amd S< 1, : ~S9,t z oC) Gio vosin fin Ss” ot €) fyskem con be modeled xem Spring—mass tiem 4 tel subjected to base motion: « (t} 4b) = {O70 post < te me a 3 t>t, --- ©) Relative displacement of mass, 3 = %- YH. if given by Eg, (4.34): t HES Pe) ETH O™ wager de) A where yey 2 (Yee) $(e= OWAZ) and ¥(r)= } PBnoaeie tte (es 3 te te Since the system is undamped, = @, and Y=o, and (Ee) reduces to € a) = - aa f sin w,(t-2) de & nfo Jo Here t t Jism on (8-2) de = f Gin et cof we — CF Ae sin ye) de > 6 a t = Sin O5yt fotonr ae — ws wt f sine Av , 5 4-26= + t = Bent (gsm ve)” cs ont (og, ot) = (eget) thas &%. (Ey) gives S th nd = x(t) = aa Es = rata crant) 3 of t 2% () For. t> tet &%- (Es) sives eat Geena S 3) 3, J a ,(t-2) ae &) But Se w(t ede = La (t-te) — cos wt } y(4)= x)-¥@ = - aa a fet on (4-te) — cos Ot}; emt (&s) sTe Ee) a(¢-2) Cae) = [Pave y9,(t-%) *fienetae £ Fp sin Oy (E-Z) — By cos eay(e-*)} Go) + &, ~ F09,(t-%) a — By sin 68 (Be) + BF Ly C08 y(t of yr = Tat tao = 470 7G,8) + tee sin cat + 63, ef yt) oF Sint + Le fot a ste) ain aye +2788 cos yt } of bree T= £ gree) a 03 (t-2) C4?) STOMEME) f_ yea, sin ey(t—e) ~ By oF Ca Em mr en -Fo,t 1, (= sin jt + Oy co yt) = = oe oe 427x(t) = Sr. te srt tT my ie A ESE ~TOnt fay -(a4 iat] e[e-2 é 2F cor yt -(FS) Fs () meper+ kx = F(t) where m(t)=M-™mt= (ooo-wt) and F(t) = = 10 (2000) = 20000 N (2) with m= ee = 2000- $('e)(100) = 1500 +9, epuation of motion becomes 4500 X + ort x % 475 x0" % = 20000 = constant Maximum steady state displacement is x,(t) = £ = 20000 1%, es pb) = G = 20202- = 0.002667 From Eq. (4.30), the response te unit step function can be obtained by setting F(T)= 1 os A(t) = §Fae-2) de ---- (Es) By differentiating this eguation with respect to t, we obtain ahi = 3(t) Equation (4.30) gives x(t) = Si F(t)-9(t-%) ae aut 3(t- Si a ee) from problem 4,30. x(t) = a ro th th ze) de Integration by ee gives ‘ x(t) = F(t). A(E- =) eee +f # (tee) ae = FEY AG) + F@ REY + fF AE AG-e) Ae But h(o)=0 from Eg. (Ex) of problem 4,30. x(t) = F@) ALE) + ff Ee nee) te Equation of motion for rotation about O: Jo B+ MK (CE) +k a? O+ky DO =Fy oe where ¥ = ¢ 8 and 4-28Eq. (1) can be rewritten as: [Emo sme] isos rman enrece ) For given data, Eq. (2) takes the form: 53,3333 6 + 1562.5 9 = 500 (3) * 1562.5, Noting that the system is undamped with =V/ = = 5.4127 rad/sec and the foreing term as 500 e~', the convolution integral, Eq. (4.31), can be used to find the steady state response as: . : CE) ee 500 e~ " sin 5.4127 (t — 8) = Taxa earn | sin6.4127 (05 7) a t = 1.7320 f et elt~7 sin 5.4127 (t —7) dr > ‘ = — 1.7320 e°* f elt") sim 5.4127 (¢ — 7) (— ar) (4) 2 Using the formula: fe*sinbxde= aig o [asin bx —b con bx] (5) Eq. (4) can be expressed as a) se {i= 54121 (t — 1) — 5.4127 cos 5.4127 (t | = 0.3004 e~ + + 0.05717 sin 5.4127 t — 0.3094 cos 5.4127 t radian 6(t) = — 1.7320 * raom@= z (10) (12) = 1.4588 ke—m? Equation of motion for rotation about O: ee cv) -2t es + @6=M, aaa lo © er Spb + Ske O=My et or 1.4583 8 + 3125.0 @ = 100 e** (1) 3125.0 Noting that the system is undamped with wy S280 = 48.2015 rad/see, the convolution integral, Eq, (4.31), ean be used to find the steady state response as: t a(t) = Tae TT f (100 e~ 2") sin 46.2915 (t — 7) dr = — 1.4813 2-2 * f ott) sin 46.2915 (t — 7) (— dr) (2) 0 Using Eq, (5) in the solution of Problem 4.32, Ba, (2) ean be expressed as: rat O(t) = — 1.4813 ?* et |p sin 46,2915 (t — 7) — 46.2015 cos 46.2015 (t - 7) =-1 sin 46. = 1) — 48.2915 cos 46. =) = 2? + 46.2015" ca reo = 0.03194 e~?* + 13.7994 (104) sin 46.2015 t — 0.03194 cos 46.2915 + radian (4) . o 308 m " Net compression of spring PQ = ={—- x(t). Equation of motion for rotation about O: 4 cole 368 3é In = —k £2 |F) - = ee ° f 4 “S «| °) or B54 Sue om SEE a(n SEE yet (a) For given data, Jo == m@ +m o -pue= 4 (10) (12) = 1.4583 ke—m?, 12 + ke@= 2 (6000) (12) = 3125 N/m, and Ba, (1) becomes: 1.4583 6 + 3125.0 6 = 37.5 e7' (2) 4-30Noting that the system is undamped with 3125.0 1.4583 the convolution integral, Eq. (4.31), can be used to find the steady state response #5: ty = = 46.2915 rad /see at) = aa J (07.5 1) sin 48.2015 (¢— 7) ar @) Using Bq, (5) in the solution of Problem 4.32, Ba. (3) cam be expressed as ' to) + 46,2915" = gorag ot + 2.591 (1074) sin 46.2018 t — 0.01209 cos 48.2015 § radian (4) Ot) = — 0.5555 & a fis 46.2015 (t — 7) — 46.2915 cos (b- 4} Fe, Fe = reactions | 1 ak O ™m 1 in Equation of motion for rotation of pulley about O: Kx Jy B+ mk (Vr) thy x (21) tke (Gr) r=2r Foe (1) swhere #-= 2. Ba, (1) can be rewritten in terms of x only as: [ztamerprce gn dereene (2) ar 2 For given data, Eq, (2) becomes 11.0% +1125 x=8 e7* (3) Noting that the system is undamped with u = 3.1980 rad/see, the convolution integral, Eq. (4.31), can a used to find the steady state response a5: x(t) = — 0.1421 e* j elt) sin 3.1980 (¢ — 7) (— 47) (4) 0 4-31Using Ba, (8) in the solution of Problem 4.32, Bq. (4) can be expressed es * + x(t) = — 42 |olt-9) fsim 3.1980 (¢ — 7) — 3.1980 cos 3.1080 (¢ =) i? + 3.1980" =o = 0.04048 e~ * + 0.01266 sin 3.1980 t — 0.04048 cos 3.1980 t m (5) (a) Unik impulse respense function for undamped case: and 0, = G9, in Eq. (4.25): use yro ei x (b= — ~, fh 3, t C.D (b) Unit impulse response function for underdamped case : Eq. (4.25): e(t)= ar access sin Ot é2 (€) Unit impulse response function for critically damped case : Free vibration response of a critically damped System is given by Ep. (2-80) + t - x (t)= fo + (Xo Wn %o)t pe i (+3) Using the initial condifvons x, 20 and %= +. £4: (€-3) gives e 4) — U9, x(t)e Be" (A) Unit impulse response function for an over damped case : Free vibration response of om overdamped system is given by Ep. (2-81): a Rat Cy - Fe) Sat Pe CH ane : Ort ,a ge (es) where a é aa me Oa(sT1) % 4. os, (5-1) - %o a 2 Oy fe*-1 Becta 1, [E" 1 For the initial conditions x,=0 and *%o= mm 4-32C, and ¢, become 4 C\= era eee Cee aaa and hence : (E+5) yields wea le (+57) Ont 3f- ST ca (>) x(t)= 2m Wn [ye 4 we 2 kg, C= 4 N-Sfms 2 32N/m, E= 4 B(t), Rez orolm, *%,= 4 m/s » fF « > (Ee (B- 4 rad/s, ye Se Se Aces e aNm 232(25 Wye Vi- 5% 0%, = 3-872983 rad/s Underdamped system. Impulse response is given by Eq, (4.26): Eek Oot xy EF gin ast m Oy a ete = 0516398 @ sin 3°872983 £ m the stiffness of the cantilever beam (wing) (s given by Pcie 3 (15 x10?) Tea oF = 45 x10° N/m system cam be modeled as single degree of freedom undamped system: met kx = 0 where mz 2500 Ky, k= 45 x10° N/m, and eae {f= eee = 134-1641 rad/s Response of moss due to impulse EF is given by Eq. (4.26) with Y=o and Gy = Wy: 4-33F me(t) = eM Ish ot m _ = ES ee SH 64 i © 2500 (134. 1641) = 000014 907I Sin (34-1641 tm 4-34(Fot/te) i ostete i i fad Fo > t Sto ---() 5 é Response of the anvil is given by (ey. (431) for an undamped system]: x() = ii in Oy (t-%) Ae (=) (4) = Ta, J, FC) sin On For ost < Fo mOnte + CE) © sin Wa(t-T) At f lo = se (t- HH Ort) F(t) sin @,(t-7) dz (3) t "2 i fe ir tH at wentg fF Mr Onlt-F) AT + a, Wee o(t- > = Fa a — [se Ont tes cos te + mG, to e 1 " = cos wt § Za Sin Ont, - t Pace fei eae +B fp aQat-o a Fo & Wn te 4-35 [sin w(t 0) — fim Ont + wnto ] sin Oto - Lz} = cot onto} ,)ste x(t) = oo ae Be Sin @,(t-%) de +h fs w, (t-) a] es = lee Sin @,(E- te) + t Cof (t-te) — Esnant] wm @,* to te [4 cs w,(t-*) ae a i j ae [sin @, CE-te) = Sin Wt + Fold cof Wa (E- ste)] (Es) 4-36teat @) Impulse = Ee § Fdt = F-At =15006 (0-001) § =15 N-4 = SWynt Response of the valve =x(t)= FS sin capt wm 3g For the given data, .,. 15 kg, K= 10000 N/m > c= 20 N-4/n = 20 aNwe * pyeqeeny = 102582 are fe st [ese = 25-8199 rad/s Wy = fims® y= yh 0.02882" (25. 9199) = 25.93 rad/s cs) etek se) ces: gissyt c ys x(t)= sin 25-313t 15 (25. 8113) -o 6667t = 01033874 @ sin 25-8113t om (b) When the cam applies the force F for the second time (t= 0.54), the displacement of the valve $rom tke rest position is given by &g.(1): eG ore )re cuir) Sain cues sin 25+ 9113 (0-5) = 0-038 74 (0-7) 653) (2:33278) = 0.009237 ™ 4-37Impulse = B= m, x (too) — my %(t=0) where m= mass of the bird = 4 kg and g(t=0) = Velocity of airplame (bird ) immediately aftr impact = 250 kim/j_ = 250 ie 250 kes 6% 60x60 4444 w/a 2 Es 4 (69-4444) = 277-7776 Kg-™/s oF N-A Engine dole? 1. 500 4g, k= 50000 N/m, Cz (000 N-Ahe Response of the engine due te bird strike (tempul se): — FWyt x= 5 coe sin wt Hew <= & -1000 aime igtfecay sees)! =o = [k _ [50008 en = | so00e) = 4 ™ soo lo rad/s Ona Tecr en cate ere au (eyes tans rele Hence A x(eye Conte € sin g.sy99 Boo (9-9499) -t = 005583 @ sing.9499% m 438Impulse opplied te vail car of t=0 @) Motion of the car due to tke impulse ( £,) applied at t=0: aS Oat a E x, (CE) = ene e sin yt = 5 St) = F, S(t) Lf another impulse F) $(t- &) ts applred ot (b> time t= %, the motion of the car will be TW, (t-T) a t)= Fy g(te-t)= EE sm ate) fz m (4 (2) In order to stop the rail car, we use the superpositron principle : x, + x =0 Sx toe @) or FE, -3@at e Sin Gyt wn 09d t-7) an ea aah gin cay (E-T) = O35 ud tet @® Equation |) giver the amplitude of the impulse fo be aged ok tar to stop the rail car af =TOt Ba a singe ee m Wd = oo oT on EHD sin ED Gray for tre Eguation (5) can be simplified te obtain: 439Ewe sin 0 t Sto 09) (t- 8) Erie ©) 4-40Assume small angular di'splacement of the rigid fever, step force applied ot the right end of tre rigid Lever = F(t)= F at teo Since the Lever i's rigid and massless, Newtons second law of motton for rotation about the pivot potnt gives (foe smell ompulen dasplecomnli of tke fever) Fle- (Ce#+4**) 2s 0 aw which can be rewritten af ck + kee rao fe op Fe (2) uy eae the solution of Eg-@) or the response of the system cam be expressed as tre Sum of free amd forced Yesponses- = kty kté x(t)= xe). e i +B (re ) ( Ig x@>0, the response of tke System I's given by Ps t attye fh fy & ae fie ) @) since * > 0, the term -Kt i 2 —7O tro fobs and hence tre ath systemis stable. Ble The response is 8 shown graphically in the adjacent / Prgure: ° © = time constant t 4-41ate Equation of motion of an undamped system subjected * ent te base motion can be expressed as met kK(x-y) =O om By defining the relative displacement 3.(t) of a(ty= *(E)- CED @) Ep. (1) can be rewritten a8 m3+ kz em ¥(t) = met (3) Solution of Eg-(3) can be expressed [using Ey -@) of Example 4:12 with SF= mx amd x(t> = 3(t)] + CED es t= Sin Oy 3 a [Gut - sin opt J @ where n= Ea > thus, relative displacement of package ‘Ss given by £y-G > ond displacement of mass, *(E2 by eds p+ 9 CED es Te find Y(t), we integrate the acceleration as : . a fipeat, d= Pgs weet acts & i . @ Assuming y(t=0)= 9 (t20) =0, &- (7) gives y(t) = ba +? @)> Response of package i: x(b)= p49 (t= By ete set) eee? (9) 4-42Equation of motion of the 4ystem: me + k(x-¥)=0 ay e be or met ke = fey @)> Velocity of elevator (base): te ¥ vity2(% ((-£); ester (3). ° 5 et > C Integration of &%- (3) gives the displacement of base ae : i i 4Ct)= Puc dt = ve f (4b-% tt) 2 ° -u(t-b8) ; oster? “w Using Ey), €y- (2) becomes 14 t*);0sts% ©) the solution of &2-G) cam be found by superpesing the solutions of the following eguations: me + kes £Vy (t- ee Kn = Kee (6) te m B+4u-- K¥e 4? @) amt solution of Ey. (6) is given by [using Eg. €:2) of Example 4.12]? x(t)= Me [tay ~ din wt y ce) solution of €g-G@) is given by (can be verified by substituting in Ep.(7)]: 4-43« Thus the response Catsplacement) of the mass is « ~ “ee gf v *(t) atte @ given by z(t) = ve (wt - sin Wt h- 7h be mo Gs) 3, 20 "To 308 ¢8T 4-44x()) fe) FO m=10Me py &=5MNim| o T Eguction of motion: t megenc $b) - [PCCD : ester ° 3 t>T 1) Using Es (6-8) amd (£9) in the solutton of Example 4:13, the response of the water tank can be found of 5 t 4 - eles ee [1- B coset + a at]; o Wy tmax = 7 & A Knog = % (CE tan) = i (i= cos 03, tan) = ae For t >to, eS x(t)= ze {cos w,(t- te) — cos cont } = 8a F sm On(t- to) — sin oth = s {isin ) = sin wat F 4-46 «) ) (3) &) (Es)= sin Gy tmax => Sin On (trax — ce fa vege pe ena aes eneead E Ontme = Eo) is tes sin Gate (s) Sin Gy tmax = 2 (4- ws Unto) 05 Unto — | We ako se Ex) 2(t- es inte) Fe fF cos wytmax: CoS nto Rmax= x (t= tmax) go sin Gptmar + Sin Onte — cos Gytmax f 2 = Af 6 Ges nto - 1)" ai ——— = cos to) Ja (1~ co ©, %) 21 2Fe sin Gate z Eu) / Plotting : uy Plotting: aye 2 P Fer os t < te> Gn tmax = To ea 7 ce when t< ty, tase eS % En) @n) 4-47~max eye (En) ont Cen) are f GR) plotted in the figure- 2 boos oe te’ 9) ° : L ts Response spectrum for & rectangular pulse-type Load The response is found in problem 4:22. For of ts to: B atte feat TE - cor Ont Ines (ey er} ies cos Ont) + For Xmax? 4¢ =e ‘ t be, Fein TZ sin ZS és ‘) Fon cin cot 4+ Wp Sin By ue aaa zt 2% eS Tee yoo which can be reduced te the form erate = — sin imax 2) rants {m(E mod dee ae once tmax is known from (Es), Ep. ()) can be used to find tay 28! =o a = = an t= cos 8, %max) a thax > Ge : oo. (e Vz it«C @tmae) (&) 4-48cos W, (+ - to) = sin ca (= 4) tae = E B + cos yt f-& Ss 2m Gy (FL — Op 2 Fortean rand ere) dt tees FT Gq cos Gn( Emax #2) — BBP sin ta trae — FY = am wy tof( TY oy Way a (ey) Hig parses. a2 60 SERRE IEE ont sec a =o) (Es) *i ey oF} once tmax if found by solving &.(Es)> %max “*" be found from &3. (Eg) % Xmax = *(t= tmax) = & cos ,(tmax — te) leases etes i Co sae eye coe Eee} Penh iEy- a} fat Cae coca eae ©.) GRY ot fs: (E3) amd (Eg) can be ued to plot %yg, versus On to get the displacement response spectrum. Base acceleration= H(t) = ap (4- sm Te) ()) For an undamped system, the relative displacement if given by Eq. (4.34): + #(t) = % f FO) sie ot-e) Ae € oy sin BE sin a5, (t-2) ae] (2) Pei ies sin ,(E- %) de — 4-49Here t : (4a wo ht J oq(t-t) dz = (fe ) (e) from &%.(Es) in the solution of problem 4-27. an J “sin EE (an ont ces Oye — Cos yt Sin (8,2) AT cos (Tet On) t eS = Sin yt f = cos wt sin Fe tn) +on)e )* , a - Em a ) thus the solution, &%. (F2)> can be finally expressed 24 os (Te -, )t ve set) a fmat| Te ) 03, : zi) cos (FE + Ot -a]+ ae jee Lae a ey *-e) ten) J (5) ° cot cant + Se Bn Ont) &) Eb) =0 gives Onto | 4-28 tm fer atm= 2 tan (Wnts) (&) (@) becomes a i : ae ae) se = 8 stmt oa sin Contin (s) where t, it (A) by (€2)- [G.~ es Wate) An ont = (tor A a,te) Ont] (%) tat, fee x) KOnte 2 z(e)= A tn Wt + BF Ont fe a ieee Aces ce into Gna = = (pte — tin Onto) since |vex= ATH EF + x, 4 2 FF 2 te ee = Sp [t- t Ontk mto— Kim Onto é, GA) ae LO Wntoy + (Wnt conte)’ (es) 4-50of +® rr Cr on 468 eu 4 Onto Gate From Example 4.13, the response of the building frame is given by aerate! + eae x(eye Ef Hw et at + GEE te at], ostst, (&) and, x(t) = Be [le ereitey neint — (ont ya sin gts) cos ot ] 5 ie 3 (i) For ost = to For x(t) ty be maximum, the guantity inside syxare brackets im (£,) must be maximum. This implies that 4 t \ ce [- $7 OF nt toe sin at] 5! ie, Wate sin Wit = 17 cos Ot ben Wt. cos Sot = sin Sot ces tan at = way te ©) Thus, 4 x(t) attains UF maximum value at t= tmax > Ey-(Ea) ee tmax = Gy tan * Cos, te) &) once tmae is known from (£4), (E,) gives Xmax= 2% (EF Emax) = Efe fmax _ tos by tmax + eo sin (3g tmax f (5) i) For t> ty: For x(t) te be maximum, the guantity inside sguare brackels This implies that in Gy. (Ex) mast be maximum. + La- (05 Wate) sin Wat — (‘Byte — Sin Gate) cos ot] Sic 4-51Hen (I~ wos Wnts) Wy cos oat + (Gate — 529 Byte) Gy Sin wt 1e2 1= cos ete ) tan @t () Tg x(t) attains its maximum at t= tmex > % (6) gives trax = Gt ( + cos Wate ) oo) Gato — sin @,to Gato- sin Gato once tmax if computed from (Ez), (Ex) gives %pan = % (2 tmax) = : a [a- tos Wyte) + (Wyte sant] Given dota: (Ee) m= 5000 kg, Fo= 4x09 N, ty= ord Secs 5, = tm Procedure T. Assume « series of values of &. Xmax S ovolm- ovoigia Ve 2, Find tax Using Egs- (Eq) and (£7). max Using Gps: (Es) and (Es). Ae Select t such that 2 £ owl m in &.(Es) or (Es)- Sample computer program and results ave shown below XM=5000. 0 Fo=4, 0&6 To=0. 4 XK=0. 0 DO 10 r1, 100 XKeXK+1. OF+7 OIN=O. O1414#SGRT( XK? THAX1=(2. 0/OMN) #ATAH(GFN®TO) RHARLECFO/SK)3 (1, O- (TAKE /TOI-COS (OMNSTHAKL P+SIN(GMNSTHAXL} / X1=(1. 0-COS(GMNSTO) #2 X2=(GHN*TO-SINCONNETOD 1882 XO=(K1+K2)##0, 5 MAX2=X34FO/ (xK#OMN®TO) PRINT 9: £, XKe THAKL, XMAXL, TMAX2, KMAK2 3 FORMAT(I5, 2x, E15, 4, 2%, 2512. 4, 2X, BE12. 4) 10 CONTINUE, stop END 4-521 0. 1000E+08 «0. 6776E-O1 0. 7322E+00 © -0. SI94E-O9 0. 4 2 O.Z000E+GE «0. 4849E-01 6. S7SEEHOO © -0. BRO4E-O5 0.1 3 O.300CE+08 «=<. 297E-D1 0. 2E3KE+00 -0. GBBTE-O4 0. L 4 0. 4000E+08 «=O. SASUE-O1 9. 1714E+00 -0. 4108E-09 0. I 8 0 sooge-ca «0. S0FZE-01G. 1SGEETOD © 0. 4204E-09 0. 7807" 01 these results indicate that the reguired stiffness is K= 8x 0 N/m Let d = thickness of bracket. Then, from Example 4.18; self weight of beam = w = 4.52.) d Ib, total weight at free end of beam = W = 0.5 d + 0.4 lb, moment of inertia of = 0.04167 4? 4, static deflection of beam under W: se sed 7.9994 (10-*) in ‘We need to use a trial and error procedure to find the correct value of d. beam cross section Let d = Lin: w= 0.5 Ib, W = 0.9 Ib, I = 0.04167 in’, 6, = 0.9 (7.9994) (10 7.19946 (107 0.008577 see tt. From Fig. 4.65, shock amplification factor (A,) corresponding to to/r, = 11.6591 is Ay © 2.0. Dynamic load at end of cantilever = Py =A, May pee My ¢ _ (180 (10)) (1.0/2) oe 2 0.04167 Since this is smaller than the permissible value of 26000 psi, we choose a smaller value of d next. (2.0) (0.9/g) (100g) = 180.0 Ib. 21598.2721 Ib/in® Let d = 0.9 ins .85 (7.9994 (10~*)) w= 0.45 Ib, W = 0.85 Ib, I = 0.03038 in*, dy, 9.3271 (10-9) in 0.9% ba. ta = = 0.000762 sec fo ot 7, 0.009762 Ay © 2.0, Pa =A, Ma, = (2.0) (0.85/g) (100g) = 170.0 Ib — Moe _ (170 (10) (0-9/2). _ 95181.0402 Ib in? cee eee 0.03038 Since this stress is close to the masximum permissible value, we take d = 0.9 in. 4-53Let d = thickness of bracket. Then from Example 4.18, self weight of beam = w = 0.5 Ib, total weight at free end of beam = W = 0.5 d + 0.4 Ib, moment of inertia of beam cross section = I = 0.04167 d® in*, static deflection of beam under W: ia = [SFM] name cor 0 We need to use a trial and error procedure to find the correct value of d. However, sinee the shock amplification factor, for large values of tg/ra, for the triangular pulse of Fig. 4,66 is similar to that of the pulse shown in Fig. 4.15, we start with d = 0.6 in, This gives: w 03 Ib, W = 07 Ib, I = (0.04167) (0.216) = 0.009001. in*, 0.7 i is 4 a7 25,9240 (10~*) = (7.901 = 25,9240 1 = = 8a = SE; (7.9004 (10-4) = 25.0240 (104) ia, 1 = 2 ae 0.01627 sec, to/r, = (0.1/0.01627) = 6.1445. From Fig. 4,66, we find shock amplification factor as A, ~ 1.1, dynamic load at end of beam = Py = A, Ma, = (1.1) (07/¢) (100g) = 77.0 Ib, maximum bending stress at root of beam (77(19)) (0.6/2) / (0.009001) = 25663.8151 psi. Since this stress is very close to the maximum permissible value, we select d Cmax = 0.6 in as the design. Let d = thickness of bracket (beam). Self weight of beam = w = 4 (1/2) (16) (0-1) = 0.8 4 Ib, total load at middle of beam — W = (1+ 0.8 d) Ib, area moment of inertia of beam cross section = I = > ® @ in‘, Static deflection of beam at middle due to Ww: we (1 +0.8 d) (16%) silat i so = (1+ 0.8 d) (51.1959 (10 in 5s = Ten BT 192 (10") (0.04167 a?) ¢ ( (20) ‘We need to use a trial and error procedure to determine the correct value of d. Let d = 0.4 in: w= 0.32 Ib, W = 1.32 Ib, I = 0.002667 in’, 5, 67.5786 (10~°) 2 Snr =o, see 7 V Et 0.002628 OL > = = 38.0569 vooneas ~ ** 17.5786 (10~®) in, From Fig. 4.15(b), A, * 1.1, and the dynamic load on beam is given by Pa =A Ma where M = total mass of beam and 2, = acceleration due to shock = 100 g. Thus Pa = (1.1) (1.32/g) (100 g) = 145.2 Ib. Maximum bending moment in a fixed-fixed beam due to load (F) at the middle is given by My = ae so that 145.2 (18) = 217772778 Ib in?Since this stress is smaller than the maximum permissible value of 26000 psi, we next select a smaller value of d. Let d = 0.85 int 001787 in’, 54, = 65.5307 (10~*) in, .002587 sec fo od 7, 0.002587 From Fig. 4.15(6), As © 1-1, Pa = 38.6469 1.1) (1.28/g) (100g) = 140.8 Ib 140.8 (16) | (0.85 . : 27576.9446 Ib fin? Goa = J "9.001787 i nt Since this stress exceeds the permissible value, we increase the value of d. Let d = 0.87 int w= 0.296 Ib, W 0.002111 in’, 6, = 66.3499 (107°) in ——— ° t= 20 a7 95.3499 (10 = 0.002604 sec 386.4 -296 Ib, 8.4024 Ta 1m Fig. 4.15(0), Ay “11, Pa (ws oa| ("| 8 2 Myce —* )* 94986.8308 Ib /in® 1.1) (1.208 /g) (100 g) = 142.56 Ib, and Sux = 002111 ince this siress is close to the maximum permissible value, we select the design as d = 0.37 in. (438) mg = 100000 by 0.05, oy = 30000 psi, Onax = maximum permissible stress = 2 = 15000 psi, an fz — meee 0793 =2 =ar\ Vian aaa 7 38645 Da ‘We need to use a trial and error procedure to find k. Let k = 10000 Ib/in:wrt = SEL _ 3 G0(00%) - 600% 24000 int = 7 df (0.5904) with 4 nos oe 88 dspam 82.8121 (10*) i 30.1664 in ; 6; = 24,1331 in 101.0793 Ta = 1 see 108 From Fig. 4.18, for r, = 1 see and ¢ = 0.05, we find S, = 25 in/see, Sy = 4.2 in and S, = 042g. Maximum shear force in column: Ww 100000 Pra = 8. = (0.42¢) = 42000 Ib Maximum bending moment: i My = Fruax h = (42000) (50 (12)) = 25.2 (108) Ib—in Maximum bending stress: M, 2 (10 og = MOS (25.2 00") (801984/2) _ 5557.30 1a T 24 (10%) Since this stress is slightly smaller than the maximum permissible value, we choose a larger value of k. Let k = 20000 Ib/in: k=2 (10) 3 (80 (20°) T a4 = 165.6243 (10*) int 500° dy = 35.8741 in ; d) = 28.6993 in 48000 int = a dé (0.5904) 7, = 101.0793 J eooca 0.7147 see ‘20000 From Fig, 4.18, we find S, = 26 in/see, Sy = 3 in, S, = 0.6 ¢ Maximum shear foree in column: ‘Maximum bending moment: My = Finax b = (60000) (600) = 36 (10°) Ib—in Maximum bending stress: e oy = Me, _ {88 (10°) (85:8741/2) _ 13459.7875 Ion? 1 48 (10°) Since this stress is less than the maximum permissible value, we choose the inner and outer diameters of the column as dj = 28.6003 in and d, = 35.8741 in. 456& 1g, we need to have 7 an g = 5000 Ib, ¢ = 0.02. From Fig. 4.19, in order to have S, .2 sec. Thus 1, 0.2 = 2m 5 wy, = 91418 rad /se 6?) (5000/386.4) = 12771.2870 Ib /in a oh k = (31.416)? m = (31-41 4-57= 5000 N/m * Se ood, m= 250 9 Py eer ees 0 = eee = 4.4721 rad/s Natucal time period = w= = = es = l4oso 4 @) Maximum relative displacement of the transformer: amore ody ae SS iin eZ en ©) Maximum shear force in the pele: Ema? (# %mac = om Hae 5a = m7 = 250 (0-2) (4810 = 490-5 N > Maximum bending moment in the poler Mex = Finan kh = £905 L N-m Where f is the Length of the pole ( hetght of the transformer in meters. 4-58Equation of motion is ee a etwt For zero initial conditiont (ate 2) BD = BA 5 x) m+ See 5-10 2)" =e Gray Ge") taverse Laplace transformation gives eet tat 10 46 x02 Bayle Hats Bob} the tems containing cos nt ond fon nt denote the transient port of the response and hence can be neglected. thus the steady ghate response can be expressed ax Fo coe eee w/o, F(4)= @)= 3 “The Laplace transform of the response can be writen as z() = Fo fe 23H , oe, = wa GFeaye,at on) 42,4 +n ‘ : et Griraeral) * Inverse transformation gives -Tw,t ia : ase.t x@)= B{s- a sn (yt + Hr) } + B= € OE (eat + Be) v a iF ke vent sy + te sin ot 6, where sj= cor! (5): The forcing function can be expressed af F(t)= & {ute ~utt-tor} here u(é-t) is the unit step function applied of = 7" the Laplace transform of RCH i Fine g(-4 8°” The eguation of motion me + ** = F(z) dives 4-59i I : en : ~tte gaye Ble ) ce: Ehtiece aaron! since yf *f$_* Calera lanier aN x(t)= (2- t Ont) HO — = f- er ante bo} “es ™ Oy ~~ Hence F. ole * x(e)= = anerind ” ices for t= to fe Jot w(t be) -. aot} 4-60Eqpoction of motion! me peck + exe $(t) >) Lelece Trot fm of & (1): m [4 xc - axe — zor] +e [4 K-20] +t XMe= FD @> Introducing £: te 2 : > 2yln, Hwy, , 2,2 (0) od 429) (3) Eq.(2) can be rewritten at X@)= F (4) wn (s24 2 Wn 4+ ln”) At2Lz Wn Xo Bre BF Unk +n 4 x, jee + Art LWA + wy is ae as re el eae given by FAL Gmot> = 5 wet cs) FAs Llerwty= 4 A’ o™ aeuty L(e os (7) (8) wl F(4) F(A) = £(sa-4))= ene perce tite Atiumirg ted t be yore, we Maen rm heed Petpante A) the kyle as [Mews (@) Fr flt)= A Abwst: x(4)= _ 4 we (Stats) (S2e 25 St O, ») S425 On aS - At 23 Wd + On \ ° - ———_—__ * Att 23 Wyk + OS : ie by Pre Fe) = Aw et: KA = _ fee (44 FA + 25 Wab+ On > A+ 23 nr -_ — ————————_ _ rn A> 42S WHA + Wn ae met aa of ° ae) : 2 Bt ZFS + Gn 4-62cp fr Fey REO X= fs (4+) (4+ 25 Wns + On) A+ 2% Wn Xo Bree ¢ On tt Oo \ : | ay ° + Are 2 FU At OW ca) Fe £(t)= A S(t- fe) + XC) BF 2TOnS + Be he 2p Wn +o Xo AL42 FT WpA t+ We EERE Ee ° G2) B42 Fn + Ov wilh tke first term being zero for t S ty. 4-63The impulse response function of asingle degree of freedom system can be Sound either by solving tke forced vibration (nonhomegeneous) eguation with the forcing function af an impulse oe by solving tke free vibration ( homogeneous) egpnotion subjected to initial velocity, x, , epual t EA. For a critically damped system, the response is given by Ey (2:80): — _,t x(t)= [xt (Xt 43, %_)t Je a) : Sea Fi Using x,=0 and 2%, = “> &.(1) gives (tele eu yerty cai la)es ale + Of (-r00 ese Ave 09, 4 —$,t +t @ ea pate soit + (25 (-2£) @ Ain 2t _2t e125 OD eset i] B20 = = Cel) (Fr) + ef Hu tes 7 = = 9.05 (01707) (28284) p 20 Cg +25 4-66a cee eeat ae ee eee ae to (bY = 0105 € ar as eat 128 Sitaeet Bone =i 110-35 C, chit -2t 12 6 Anot ties Samet zm(t} = 008 oa (Amrt + co 2t) (3) 4-67MATLAB program to plot Eg. (1): clear ele nun=500 for nel:nun tin)=0,014n mln) 1,25*exp (-1.99996"E (n)) Fein (2*t (7) }7 size(t) size (x) plot (t,x, "E-") xlabel('t!) ylabel ("x") MATLAB program to plot Ey. (3): clear cle -014n “o5texp(-2*t [n) )* (sin (2*t(n) ] soos (24% (A)))¢ size(t) size (x) plot (ty2."-") xlabel ('t") ylabel ("x") 4-681 50 Die 4-70From Example 4.23, the impulse applied to the mass M by tke bronge bell is given by tke right hand side of Ep. (E-9) of Example 4-23: eae M Ee oe wy 6 mot (1) with vy given by Vn mgh = 4 tes We vagh = 2(¢-81) (2) = 62642 m/s, Me 2 kg and my= ot kg- Hence Ey. (1) becomes Be 26-Y@) (6.2642) SCE = 1i9a2 BLED ont? The eppivatent initial velocity due t the impulse is given by s E 1932 Ho = = CATs 205966 m/s For the damped Spring- mats nylon ; ¢ ¢ 5 WS err t = ——— = 01768 ‘ 2JM« 2 (2 (ood - [k foo one [E be — = po7 rad/s wy= VI-s* One t-o:l76g? (7-071) = 69597 rad/s the free vibration response under the inttral conditions x(o)=0 amd %y = 0°5966 m/s can be found from €g- (2-72): 471Swat x(t)= e€ RoateSeea wt} SJ % cA wt 2K 4 ~ 0.1768 (r07t) t 596 [S } 966 es 6.9597€ f Gaede So aumaaaie e (068572) oe 6-4597t m 4-72Bandwidth of w first order system: Let % egprotion mohon be be + % = $b) > The Prrepenty Kaci Finctem of &) iS giver by mw) = ea es ae ire the reoxtmun (peek of M occurs at O9= 0 ale Mee ot (3) Ta arc e ber keyitee Lepr ok te toy 4 [erqpercies {ls @ Ur) ever Which : Pe (as pe erase) CA) i (ott ee (ea) ©) ez See to por ote at (8,5 0 WE Com beet Wro ord We cor de pret &: as Men ot eo a — “i mM (32) Tivwib™ ae (6) 4-73Eg. (6) gives us, = T+ Thus the bandwidtk of the system is given by G22 (2 4) 7) GDM sem | min of me Ayttom con Le ors Fe x = 4 gle) @> Ths bo border 4 to Ayitle bs giver by Gis 2) = (+2 HD = (0, ¢) ved/a. (4) Connchersng the Terns of F(t) which fall wittin the bandwidth, the feng function of Eg-(9) can be exprested as L@)-5 f(t)= sin zt+d Singt +4 sin 6t ¢ 4 Sim at (ie) the equation of motion, Ey-@) can be rewritten as ReOx = Osmrat + | Sin HE + Asin Ct 4 Sin Bt ay (Gi) For x 48%= 8 Sint: Solution is x(t) = X, Sin (@at-4) with 2 Xie pans eo + ard gin tae (GF) = mroser = otHee cad 4-74Ce Solticn 2s 2 ; ee Wee ker F ie cea hail oad ae ~~ Ul ond -! 4 ty tes (ZH) = 26-5650" (i) Fev = 0 4636 fad at axa2 tn 6t Cllrs up eee X, tim (6¢- #2) ake X,7 = = =r eork . #a7 o'(4) at foc’ (0°75) = 36-9697 ae = 06435 po oo eae ets hem ot Oo febco tas x(t)= X g Ae (8¢ - PD 4-752k i | Xy= ae 4 e+e? 128 Py = tan’ ($) Bus = 0-7 PFy Mak Compl Measly ARIE rerponte of) th System is: x(t)= 9.970, Se (2t - 0 2450) = 0+ 68839 + 0-4472 Ain (44 — 0+ 4636) +02 Aah (6t 06435) + 008834 Au (gt _ 0.7954) 47610 @) ye £ = Se = et fe alm 2V2 (12-5) system is cri tically Lommped « Steady Mek Response if governed by the egpotion: 2% elo e+ 125 = lO Ut) ay (wR ago, 0) Roots of chahacltnertic epuation: Ai, = -¢ + ¥co*_~ 4 mk ~to +Viwo-1ee > eg am 4 = 2S Solution is: At At nye Pole +e2te' + 4] @) ok t=0, i HO)=6 PCH RK zOp Ae ek te 3% (0) =o = O2* *« Hea eae se Oe PEE era ee Cd ae % - BeCat Oe + 4 * at re “ae fenst et 0] 2st axe os f1- (astt ye } 6) s2h= a lo e (> Sie relent este aie Ee system is overdamped: 4-77steady stats rerporse & governed by the ezuotten: 2% FIO AH B= 10 Ug(t) “w with xo=%, horedeirte roots ant given by = -¢ £ cy me ai -10 # fioo-64 He zm Hf ots 4 2 4 . Solurlon iss : L A A = c i x(t)= fof ce 4 Qe a 3 ts) At t=o, : x5 OF Fo(ctCo+ ye) (> x Ait Agt ec Fo$ cya)! cassie } At FO, = oF Fo( C4, + C2 42) = 0 @) Solution of Egs:-@) and (7) is: 1 ei auea celaai: eps erm ge BaHk bo 1 AY ‘ eG = -(S—)o > c= (— a ci tga) e id Gs. ® ance Feu (eis ountnils Seni AA an - Ot (Ihe Me ea ar + foie le A \t8e = 32 linea Smee ee oeae aaah! +I-4 aD ee Vas {--3383 © + o- 3333 € 4-782? = & cies cosas e aime 2 Vece) sy stem ts underdamped- Steady Ate PeMpr of. the Ayrllm com be expressed ar: xtty= Fe en = 3H _t fea eR ewe 8 @yt-#)) ith a f(s ge tes! (Ee) For Fozte, Ke 18, Wyre =f = 3 rad/s, (Sy = Vi-s? n= Vi — 083337 (3) = 16589 rad [A , Egs. (4) and (fo) become = 12 tl = 0-8933(3) t GD eae ['- pavers cot (nes 234-9)] wi a1 (0: 8333 - = —— )s= 15074) = 0-485! rade ee (ae tans! (15074) = 8 H 24199 E nx ty = 0 5555 [4-1-9089 eli cos (16583 t - 09951) @) 4-79se Let the ramp function Fea bt be given by b $(t)= bt; tre iy t Laplace transform ef tke Ramp function function $(t), in Ee (1) > is, by defimition, r@)e [st] = fe” Fee at ose elneli ie Sat 7 5 = -tie ds] ac eo bt at [ = |,-442 mn a ry the frompen perctlon of th ty ilim 4 given by xD : TO? FG 7 nate ese ek tre ramp response of the ty lim cam he At mined OA mee L [x] Lee [r@.-F)] st (Ts) aah gS — BeBy expressing F(aye_24t? et, Cs4t) (442) aaa ome Cj At 20, + C2F4 C2 Catt) (442) Eguating the coefficients o¢ corresponding terms a) in the numerators of Ey, (1), We obtain Cyt Spel @ 20+ Co= 3 @ Solution of Eys: @) ord ©) gives cjo4 , Cys -5 GD Thus EG) s> Atl At 2 Inverse Laplace transform of Eg (52 gives f$(t)= 4 cust onee (> 481We cam express F(s)= 3448 ay +2) (445) ey =! ae es @) F(a= + oe z ats ate G+2) Where the conttank c; ane given by (see Example > i) C= G@ts) FA) eeu oe ine) eee G+)" ou ra aio C3) - Al cst2) FO At8 ce a-[¢ +2) Vos 4 a - _ Gt)@)- (24+ 2) - Cars) fen 7 co 2A+8 a cs) ms cge Gtr) FCA) = arGeey FO) | De ae ce) “oP@)e = 7, 9445) 9 A+2 3(ate) Inverse Laplace transform of & 6) is Se —2t -2t s(t)=-Le a ee a) 4-82Time demain selutions: Free response of the system : soluti' SaaS! Cx + Kzx=O a) is see x (E)= xe). © © @)> Under Atép force of magnitude F, the eppotion of motion ist Cet Kee F(ty)= F uct) =F @ unit step function let the solution be: x)= 4 ¢ eft 4) substitute E9-&) in (3): At At e(eae yt ee Catae =F (> on at cCe+ e,(e4te) ee = F «) Comparing Terms on both sides of Ey. (6), Che= F > Ce = cA+k=6 >» Aw £ Hence ~KeE x= b+ age © @ Using x (t20)= xo) = 4 + Cy, we Srad C.F xto)- = ce>ae t eee + *(0)-e fr eee gee x= Fife = f+ (xm-Eye @) For unit step Sunction , F=t, amd Eg. (9) becomes —~KE x)= La fam-tpe® Laplace domain Aolutions: Eguation: cu thezs F utd Loplace transform of Eg: (i): ce [a xe) = xr]e ke xe & For xle)=0;5 Eg: (12> gives xa[esee J = F or ‘ H K (4A) = - G)4+! ee G-aE}s Inverse Laplace tramsgdim of & C3): -Ee x(ty= (1-e* yt « Tf x(o) # 0, Eg. (4> becomes faite C44 # 4 4-84 Ge) ay «> FAD A cs) (4)Et F ] a(t) = gifrm-t}e cs) For Fet Cunit Atep function) , Ey: (15) becomes aon _#t x(He Fe fx@-t}e| (6) Note: ak tro, alt) = x0) =o if xle)=0 1 As tro, x(t) = %-Leplace transform approach: Eqpction of motion: Ck+ exe F(tH) a Xt Gp): Laplace krampdim of Ey): cL4 xX@)- xO) +e XD = x (2) we Ip x(o)= o> Ey. @) becomes CCS es eee oe Cathe fr urs oe z(t __! xt AGE )E = = lea EoNZe, at tS /eie ] a> « | At A es ele Cle) Inverse Laplace transform of £y- (3+ -kt a(tye Sfe-fo 4 2 EF eee ee ate ae oat 22 “ At t=0> a(ty=0 ait Feats e ec a Uc ye Time domain approach: Eppadion of, motion: Cee KX oat cs) Solution of homogeneous equation ist : -=t CA k=O > b= -é > x(H=c,e° (6) (characteristic equation) 4-86Selution of nonhomogeneous epuation is: Let x(t)= Co 4 ot m substitute E-(7) in &-(5): CC, + ey. K+ Cg rt svt > compamt tke Corresponding terms om beth sides of Eg-(8): Coy + Cy kK =O ca= Hence Ce= - © Cg=- ce Hence w(t )s aOR Uy IE @) +“ (fe Totak solution of Eg. (5) is: eee x)= ce © ~o%X + Xt Ce a « 4-87Impulse response ef am underdamped single Aegree of freedom syflim te unit impulse is given in Example 4-21 (by Laplace transform metked): _ il =F nt x(t) = wy @ Ain jt 5 tO ay and by £. (4-25) by time domain matkod - Initiol value + AL t= 0, bp (I) gives x0) =o @> (because impulse is ayylced at t=0) Steady Atete value: = sOnt M to. ele —-o Gy By considering the intial conditions » x= x(0D amd z= % (t=O), ow the total sclution can fe expressed ax = t xey= SPC, cos Wt + Ca tin Ht) 4 tL tent cars e Sin 05, t Cs) At t=o> & gives Rode Cy D> c= %o RICE) ear coe elena © (er cos Wt + Cy din cogt) =F, t Ponce (-e, wy sin wg tt Crs 4) Tn ~TO,t 1 Tye _ cela e Sin cyt + ay e log Cos Ot (~> ARRROE —F Fn CO) + Wy + H m = %, ca) or ; Th, + oy Bye = te 5 1 cu Ho + Tr %— Mm Cae £ a) oa Hence SCO nt x Wn —H) a eye f% con ayt + (Fer Btote Fangs} a 1 - yu, t + aan anea co, ¢ i) m Wd At $20, &%-(e) dives x(0) = %o As t>oo, we Po-Equalion of motion : 2% 4ae + 8x5 55 Fo a) See Cee ee Satay < alm ® | a Vac Solution of, hemegintont Gaye; x= (Ch + Gt) eae whore (=> Partielon oc n= Fe 2 mth. wes x(t)= & = 3 (4) Total solution = yt x(t)= @ tab) 2 +z co) Ey) gives: #6 oat _ tnt Hwnt x(t) =-¢, Bn € +O © — Cy at @ @) x(o)= 1 = e+e a aed (7) ti Mlbales eteot rte =|Ies eslelce aCe) Coz 20,422 Zeer @ 5ER- (5) becomes eat (ye a+ nae S Ge) a Ct) G Lt\e ee 4-90Eqpelion ef motion: me aoe 4 ee = be ay Assume ne (# NaC, Cate substitute Ey-@) in Eg- (1): CCn + ko, t HS, t = BE GD» (> Compare corre spending terms on both sides of Eg (3): = + C2 k= b > Cp = ra Ck +26 = 0 & ee - Ce oe eee ee Hence tke solution becomes x)= i (bt- ES) G) 491Egpslion A motion meted + kx = FED (9 Portion iwhegrak of (1): t e EN 3a, (6-*) x(t) a | F(t) é Ain 63, (b-2) de oO @) ogemeous Aélion ef (1): — TInt x(t)= € C, oS at + Cy Am a) G> Tot pctukion of (1D: = S@nt : aCE)= SPC, cof Bt + Cy He Ht) , Co a(n) taal (ep fe vm Wy q GD Using Ta initiol conctlions , x(Ero)ox, ord x (t=) = %, tts conttints Cy ord Cy tn Ey. (4) canbe walled Ain 4 (4-%) 4 4-92Transfer function of the system is: aca) ee 2 = i) Fea Ar + 176 4 412! Nearal preguimey of the Ayilim cam be found $rom tke hawt fim in the denominator of Ep. (')+ W,> Vi2t = i had/, @) Damping ratic cam be defiimined from the middle term in the denommator of E-() 235 We 176 or oe ITE 20) Using the values of Ww, amd 's, Ezs. (4-59), G'66)> G69) oA (4-62) give = of Cs) (at toe eo r Wy fi-e* Wn Se Se HaaeeTTAS Percent overshoot = / Mp= too @ VW — £7 (8) ibe a = 100 pce oie = oe cia: vsiey (5) settling times te= > = +4 Aes ot7 (i 04545 & (6) Rise tine ot, = 4 7- fe (Geel “sy alylé = fan’ ZY _ astute = 09273 Sadana teenie Ck Ce " O3355 4. 4-936 +2 TU)= x) _ 2th xe : a Fs) At4 2700 A+ 9:24 XIE From the last term in the denominator of fy ()> we obtain Fe Wye G24 nid a = 1800 vad /s From the middle term in the denominator of Ey -(1)> we find Biritomel 2700 Gin = iakics 2 (1800) Using the values of us, amd x, Egs- (4-59), (4-66), G-69) amd (4-62) yield: = NTS Tea tines tp= 2 = oe Fees f Toye, fi-0- 75" (1806) = 26387 4 — Percent overshoot = */ Mp= too @ Vi-s? -§ Hew — 35622 eeu O10. eis = l00 € = 29375 4 Settling times t,2 4H = 4+ = = oe 3B Blas ai eaacwey ecco Rise times t= f ™- to'( Ge )} Joo of 0:75 ore ttanel Gonegiy TT 0.84 81 1190" 5881 2 Uqo-S5eg) = 0-001926 A. 4-94me 6 kg, C= 30 N-4/m, KF 45 N/m er Ccege : _ 5 nelle (2 2.7386 rad/s pict see aoa lizi9) tee a fast" = ee © th: peak Eme= a = = ee ia pak wy “go = settling mee 1 = 1—__—- THr 06929 (2573 86) = &« Saol 4 t, = mse time wt! (8) a niet) —_—— m1 f 06124 Tt few =) 7 fom (wren 1-0-4124 ss ss Vocals igo me Greg e109 Zemanta ala eee 65 e ele ere ae |e weiao 1ef18e a iui 7 Mt pteete over Most = 190 a a) ~ (7 (2 23645) — 70259 See = 100 € = loo (#1000 8886) = 0-088K6 4-95ep 2 Mem s/md » Hy = 2 Nm /rad ye 2 Wom > es an fe (2 = 4 rod /s fe nee eee aca ey 7 24212 ay: Sims" ee red/ 2 Bie N= 36276 4 z fim Cy cl hacia acai MnCoypare cee «petting times 4 = = 0 4 O_o (4) x. tee nite fines 7 tO" (GSP) sees an ae r oO hed ) "Co 5774 eee Corece ae oe ings eam cet 18660 08660 = mH 30-9007 = wa 0-5236 caiggait 08660 eng 6 ee 1m, = percent werttoct = 00 =|}; ef ( tors7™) = 18139 = loo @ Setsae tae = (6+ 3007 4-96ket, Sta 4 (unit Aap punckion), , grr tect = 40, Abhheng ewes 5 A. + (ss a oa “)y By eae & Wy7\%, a <= 2% On (2D Settling fime= typ = 5-0 = eA ar pa 4 TOE ES = oe @> From Ept- @) act G), = 2 Bre 16 Ce 2 pen ss yo Set not (F | Eg. Creer) gers tn (Fe) oye =e wet we (8) oes 9968 _ a oa i a e2R00 (6 Py 08 396 3.2725 . 4-97yp. (2) ond 6) ge Bia aeeaone: ee erry = 2.837) vad is (7) 0 +2800 ts tre aan eee a @e — (.881"") From &98-(4) ned (82 Dowpet corttank = C= 6 m= | ¢ (01225) = 01225 @> c = 0: 1960 ca? 4-98Eguation of motion: a , os tse 2000 7 EG BY defining ee % ea Hye eee = GE P 2 Kye y= TE a ate we can express Eg. (1) as two First order Arf ferential eguations as * | fete} ie $y Gerace s E> eo = HO xg — 150 M+ 66-6666 gt <6 es or (C4 xp-ison,t 400 ff E> >) Assuming zero initial conditvons, » MATLAB pregeam is written te Sind the solutven of Ep. (2> Using Range- kutta method (using maTLAB function ode 23"): function f=dfue2 (t,x) tspan=0:0.1:10 fez0r0s(2,1) x0=[0 0} [t_ x]=ode23("dfuc2", tspan, x0) e(y-x(2) ¢ (2) plot (t,x) LE (4920) & (t=) £(2)~-40*x (2) -150*x(1) +66. 6666 label ("t") elseif (t>6) ylabel ("x") £(2)=-404x (2) 150% (1) +400 end gtext ("x1"); gtext ("x2"); end4-100Epuation motion: Ci ia Fr, sin BE ; ost sth 5k +200 d+ TH0xe FH =| E °o stat Wilk Fa = 2000 ay ond ty, > 6 By defining i dex : x cena: A320, Mee MHP Gee M27 m= we can express £0) os two first order differential epraotions as i: } i: |= . iG : is =) nox, - (50 %1 + 400 Sin E oe fa ig te 6 JQ) C40 2 - 0m igt>é) Assuming zere intial Condifions, a MATLAB Program is wretten te find the solution of Eg .(2) using Runge- Kutta method (using MATLAB function “ode 23"): or function f=dfue3 (t,x) fezeros (2,1) x0-(0 0] nzer {te xJ-ode23 (‘afues" ,tspan, x0) (ay=2(2) x(2) a £ (t<=6) Peace £(2)=-40*x(2)-150*x (1) +400*sin(pi*t/6) 7 : elseiz (226) xlabel (*t!) abel (1x! £(2)=n40%x(2)-1504%(1) ylabel Cx") oe guoxt ("x1")? ona gtext ("x2"); 4-101cgualien of motion: ie sere Pees er Cy = ; tent Fo (2 : Geen tatst, ° 5 tet, with a) mes tg, C= 200 N-S/m , k= 750 N/m, = 2000 N, t,= 34,0nd tg=64, Ep-(1) can be expressed as tuo Sirst order diggerertzal egpalitons: Let ajox ond aye de ott Then &% (1) cam be rewritten as BD CRC te mEDT_ %2 i US eet fo [-£%-# oe (2) eye: (2) ane folved using the Runge Kutta method (with mATLAB function ode 23+m)+ function f=dfuc2 (t,x) fezeros(2,1)7 £(2)=-40*x (2) 150% (1) +800-133. 3333°. elseif (t>8) £(2)=% end 4-103EDU>> tepan=0:0.1:8; EDU>> x0=[0 017 EDU>> [t x)sode23('dfuc?", tepan, x0); BDUD> [t x] ans ee 0.1000 0.0099 0.2287 0.2000 0.0447 0.4534 0.3000 0.0980 0.6025 0.4000 © 0.1634 0.7007 0.5000 0.23690. 7654 0.6000 0.3156 0.8080 0.7000 0.39780. 8360 0.6000 © 0,4823 0. 8548 D.9000 0.5684 0.8659 1.0000 0.6554 0.8731 1.1000 0.7431 0.8797 1.2000 0.8312 0.9826 1.3000 0.9195 0.8842 1.4000 1.0081 (0.8864 1.5000 1.0967 0.8871 1.6000 1.1855 0.8867 1.7000 1.2743 «(0.8883 1.8000 1.3631 0.8893 1.9000 1.4520 0. B62 2.0000 1.5408 0. BBB6 2.1000 1.6296 «0.8897 2.2000 1.7186. 0.8882 2.3000 1.8074 0. 8881 2.4000 1.8963 0.8894 2.5000 1.9852 0.8894 2.6000 2.0741 0.8877 2.7000 2.1630 (0.8888 2.6000 2.2518 © 0.8900 2.9000 2.34030. 8883 3.0000 2.4296 0. 8896 3.1000 2.4988 * 0.4305 3.2000 2.5180 -0.0179 3.3000 2.5003 -0.3160 3.4000 2.4582 -0,5122 3.5000 2.4002 0.6413 3.6000 2.3316 -0.7263 3.7000 2.2560 ~0.7823 3.8000 2.1759 -0.8192 3.9000 2.0928 -0.8434 4.0000 2.0078 0.8597 4-1044.1000 4.2000 4.3000 4.4000 4.5000 4.6000 4.7000 4.8000 4.9000 5.0000 5.1000 5.2000 5.3000 5.4000 5.5000 5.6000 5.7000 5.8000 5.9000 6.0000 6.1000 6.2000 6.3000 6.4000 6.5000 6.6000 6.7000 6.8000 6.9000 7.0000 7.1000 7.2000 7.3000 7.4000 7.5000 7.6000 7.7000 7.8000 7.9000 8.0000 EDU>> 1.3637 71.4526 1.5415 0.8700 0,876, 0.8807 0.8841 0.8837 0.8875 -0.8879 -0.8876 -0.8877 -0.8893 -0.8890 0.8873 0.8893, 0.8898 0.8879 0.8885, 0.8898 0.8890, 0.8877 0.8895 0.3893, 0.3893, 0.8893 0.2893 0.8893, 0.8893 0.8993 -0.8893 -0.8893 -0.8893 -0.9893 0.8893, 0.9893, 0.8893, 0.9893 0.8893 0.8893 -0.8893 -0.8893 0.8893, 4-105Method £: ti) BF as ca, stn tap (44 #2) Be Method 2: sje Blin een aby ] + jen 8 + tethod 2: so ae ak i er (ge 42 Mites, mone Et (ose, 4-106ab aby | Method 1 Step variation with larger value xa) o.4a9435E=0L 0,183327E 400 0.374871E+00 045902626400 ul7947748 490 0, 95599R8E +00 024047326401 0, 105081E+01 919591728400 0.776638 +00 xn) 0.309017E400 045394445400 0166991 7E+00 0269001 3E+00 0,601222E +00 0.416706 +00 0.159909 +00 9041378788 +00 -9,4407252 +00 -OLTINTSIE+00 PE (1 os ats) Bt =e Hag tm nay o 8 oO. oO on: o 0 0. 0 08 0 @ o. 9. o, o oO, =0.161957E400 -0,4927348+00 7946154086400 Bet ¥ Method 1 Step variation with smaller value XCD) 4128 10E~01 153639F+00 311494E400 485737 +00 6469R1E +00 T6uSS6E+00 8295828400 B17133E400 727695400 3664375400 xDCL) 260676E+00 4496855 +00 5479748 +00 552279E+00 4656508400 3019488 +00 833536R-01 4-107 Method 2 Step variation with mid-value xa) 0,451034E001 0,168413E400, 92342969E+00 0,537537E4 00 0,720014E400 0, B60R96E+00 0,936446E+00 0.931268E+00 0.8400092400, 0,668027E¥00 xDCL) 0,284772E+00 0.493775E+00 0.608327E+00 0.620125E +00 9,531993F400 013574986400 001195062400 70,152198F400 90,423989E +00 =0,651862E+00 ag tn og ky + Spa Oat Method 3 Linear variation xL) 0,463829E-01 0517086 3E+00 0,346380E+00 015416216400 0,724433E+00 0,865287E+00 029404618400, 0,934605E+00 0.842438E400 96634108400 xD) 0,284646R+00 0,4932a6E+00 0,607283E400 0.618406E400 0,529561F+00 0, 3544128400 0, 1159216400 70, 156045E400 =0,427799E400 70,6653026+00Equation te be solved: mee Cee kx = F(t) with k= soo ky, C= 200 N-S/m, k= 750 N/m, ond F(t) given by: t QO 1 z 3 4 5 6 7 8 9 10 Ft) 0 400 800 1200 1600 2000 2000 2000 2000 2000 200 For the given data, 2 & = © ee Se 2fem 2 (500(750) = 01633 3,2 JE = [Te = 1.2247 Meee = Ga Bes naeq [80 Atz= 4 4ec A MATLAB program is Written te find the response of the system using the numerical method of Section 4-9. The program finds the response using different types of approximations : CG) By eteuming tke given Veluc F(tr) ot fime tat; at w step force duneng the duration (4;> tras) Gi) By ettuming the given value F(tee,) ok me te tig, aa Atep force during te Bunalion (t;, trey, Gi) By assuming the average values of F(ti) and FC tees) as aw Step force during the interval (tr, tr4)>- (i) By assuming the force fo vary Minsarky From F (EY te F(tist) ducing the interval (tr, tre): 4-108The program reguires the dats : f sarray $ = fo, 400, 800, 1200, 1600, 2000, 2000, 2000, 2000, 2000, 2000 } = discrete values of force (given) ot time Atalions Oly Byes los $€= array ff = fe,200, 600, 1000, 1400, 1800, 2000, 2000, 2000, 2000 , 2000} = average values of the force in differnet time inferwads, for example, force adfting in the tnherwal (te, tits) is taken as {F (tr) + F (trey) f/2. Include 0 o4 the first component of $F (dummy Value). MATLAB program amd results are given below. 4-109i Problem 485 SResponse of a single D.0.F.ystem under arbitrary forcing function tusingthe methods of section 4.9 $Run "Problem 485" in MATLAB command window. Problem485.m should be in one folder, tand set the path to this folder Sfollowing 11 lines contain problem-dependent data fe[0 400 800 1200 1600 2000 2000 2000 2000 2000 20001; ££-[0 200 600 1000 1400 1800 2000 ... 2000 2000 2000 2000]; xai=0.1633; omns1.2247; xk-750.07 delt=1.0; ap=11; ap’ np2=95 anp = nunber of points at which value of f is known, npl send of problen-dependent data pdvomnt sqrt (1-xai*2)+ Ssolution according to method 1 using the idealization of Fig. 4.1€ int for i=2inp e(i)st (in) edelt; end for i-L:npl dele (i) (441) -£(17 end for j-2:np (5-07 wad )*07 )p-L, np2=np~2 (4) =H 151+ (dele (4) /ack) * (1-exp (—xn* ( (J) -t (4) ))* [eos (pa¥ ((F]-EC))) + (un/pa) tein (pat (t(4)-E(L) IIE xd (J) =xd (3) + (deL£ (i) /xX) exp (-xnt {t (3) -t (L))) Asin (pa (t (3)~t (4) 1) end end for 4 xL(i)=x (D7 xdl (i) =xd (i end $soluticn according to method 1 using the idealization of Fig. 4.19 for ke2:np2 delf(k)=del(k+1) 7 end dele (1)=£(3): 4-110de1f (np)=£ (np) + for J=2:np x x0 (5)=0; (3) =x) # (delet (L) /ack) * (1-exp (ant (t (9) -t 14) ))* (cos (pdt (t (3) tI). +(xn/pa) *sin (pd* (€ (3)—t (1)))))+ xd (4) =xd (3) + (deLE (4) /xk) exp (-an* (t (5) “t (1) )) *sinipd® (t(9) EI) end 2 (d)=x(il x2 (i)=xa (i) end ‘solution according to method 2 using the idealizaticn of =: x(1)-07 xd(1)=07 for jx: 4.20 ap del-ceit; (5) [£E(3) /xk) * (1-exp (~xn*del) * (cos (pdtdel) + (xxn/pd) *sin(pd*del))) ... toxp (~xntdel) * (x (5-1) *cos (pa*del } + ( (xd (j-1) +xn*x (5-1) /pd) *sin (pd*del} xd (})= (££ (4) *d/xck) *exp (~xn*del) * (1+4n*2/(pd*2)) *sin (pd*del) +. pd*exp(-xn*del) * (~x(J-1)*sin (pd*del) + ((xd(J-1} +xn*x (9-1) )/pa)*. cos (pd¥del) ~xn* (x(j-1) *cos (pa¥de2) +{ (xd (}-1) +xn*x (5-1) )/pd) *sin ipd*del) } /pa) + end for 4 x3 (L)=x(4) e x3 (1) =xd (i) 7 eng $solution according to method 3 ui x{1)=0; xd (1)=0; for jx1:npL ERE: end £(np)=0; for j-2:np dele (j)=£(3)-£15-1); x(J)= (del£(j) / (xk*del) )* (de1~(2*xai /omn) +exp (~xn*del) * ((2*xai /omn) *cos (pd*del) ~( (pd*2-xn*2) / (omn*omn*pd) ) *ein (pa¥del) }) + (£ (5-1) /xk) .- * (1-exp (-xn*del) * (cos (pd*del) + (xn/pd) *sin (pd*del} })+exp (-xn*del) *.. (3-1) eos (pd*deL) + ( (xd (j-1) +xn*x(j-1) )/pa) “sin (patdel) ) & ud ()= (dele G)/ (xk¥deL) )* (1. -exp (-xnvdel) *(( (xn*24pd2) / (omn*2) 1+. & cos (pdvdel)+ ( (xn*3+xn*pd*pd/ (pd* (omn”2) ) 1*sin(pd*del) | )+(£ (5-1) /xk) . 8 Yexp(-xn*del) * ((xn*2/pd) +pa) * sin (pdédel) +exp(-xn*del) * (xd (5-1) * 8 cos{pddel - ( (xn*xd (3-1) tantxn*x(J-1) tpd*pd*x(J-1)) /pd) *sin (pd*del) }); xd (J) =(del (5) / (k*del) ) * (1.~exp (-xn*del) * (cos (pd¥del) +xn/pd*sin (pd*del) )) +£(j-1) /xk*exp|-xn*del) *omn*2/pd*sin (pd*del) + exp (-xn*del) * (xd (j-1) *cos (pd*del) -xn/pd* (xd (j-1) +omn/xai*x (j-1)) tein (po*del)) + mp the idealization of Fig. 4.21 end for 1 4-11wa (2) (4) xdd(i)=xd (4) ¢ end fprinté (‘Value Method#1. Method#2 Method#2 Method#3\n"1; fprinte(" of (Fig. 4.18) (Fig. 4.19) (Fig. 4.20) (Fig.4.21)¢ \n\n')s fprinte(' T xi) (i) wid) ati An\n for is2:np Eprints ('#2.0£ $8.6¢ 28.66 88.60 $B. Ge\m' i, x2 (4) R24), 23 (2) ede (aie end fprint£('\n\n T nad) wd (L) xa) xa (i) \n\n' he for i=2:np fprintt('82.0£ 88.66 88.60 28.68 28. 60\n!,L, xe) (4) , x02 (4) -xd3 (4), xd (1) 7 end OuTPUT: value Method#1 Method#2 Method#3 Methodt4 of (with FA) (with Fi#2) (averase) (Linear) I ti) w(t) (4) 2 3.108949e-001 6.217898e-001 1.5544742-001 4,234150e-001 3 1,072562e+000 1,834228e+000 6.917282e-001 1,428985e+000 a 1.887600e+000 2.102639e+000 1, 480081e+000 2.310238e+000 5 2.431469e+000 2.975337e+000 2.159534e+000 2.729064e+000 6 2. 782084e+000 2.821805e+000 2.606776e+000 2.850159e+000 a 2,891353e+000 2:549849e+000 2.836718e+000 2.731398e+000 8 2.719779e+000 2.4948342+000 2.805566e+000 2.581258e+000 8 _2.546897e+000 2.6451862+000 2.633338e+000 2,5736762+000 10-2. 561511e+000 2.769376e+000 2.554204e+000 2, 669917e+000 11-2. 685885e+000 2.740712e+000 2.623698e+000 2.168288e+000 R xa(i) a(t) x(t) 2 4,082766e-001 8.165531e-001 2.534098e-001 8.177145e-002 3 6.4537262-001 8.824686e-001 6.539808e-001 1,.055989e+000 4 5.093804e-001 3. 733882e-001 7.167341e-001 6. 462231e-002 5 -2.714742e-001 3. 356802e-002 4.846622e-001 2.485401e-001 6 —-2.244758e-001 -2.307991e-001 3.078271e-001 ~1.862114e-002 7 -5.161846e-002 -1,565322e-001, 1,.0728946e-001 -1.774173e-001, e -1,804487e-002 6.3809272-002 -1,440398e-001 -9.054820e-002 9 -7,.018955e-002 1,4198362-001 -1,555666e-001 6.6344392-002 10 8.019918e-002 3, 968010e-002 6.212798e-003 9.9224846-002 nn 9.3623662-002 =7,213250e-002 1.078887e-001 =1.541325e+000 EDU>> 4-112Equation te be solved: Mee Cue kx = F(t) with k=s00 kg, C= 200 N-S/m, k= 750 N/m > amd F(t) given by: FOOEeeTny gaee ate Be ceeereee yee cee easeeelay eats Jeet Seats? ec aeee eaL) FQ) 0 1000 1732 2000 1732 #100 0 0 0 0 9 For the givendata, ¢. £ = =—202__ S* <)” Tem” 2 (Footrs05 = ol633 ae (He gf 75 2 3 tad, made Ff ERS = taed7 Ti /ae Atz=da Aec A MATLAB program is Written to find the response of the system using the numerical method of Section 4-4. The program finds the response using Aig ferent types of approximations : G) By etuming the given Velue F(ES) of time tet; as w Alep force during the duration (tro tier): GH) By evturmeing the given value F(t201) oF time ta tiny oo Alep force during te Qurokion (t;, tre). Gi) By assuming the awerage values of (ti) and tre.) at @ Step force during the interval (ty, t741>- (ii) By assuming tke force fo vary kineanky From F(t te F(tist) during the interval (ti, tre) + 4-113The program nepuices the’ date : F sarray § = { 0, 000, 1732, 2000, 17 32,1000, 0,0,0,0,0 } = discrete values of force (given) at time Atatims Oly Byres toe fg= array €F =fo, $00,1366, 1866, (866, 1366, 500, 0,0,0,0 } = average values of the farce in digtenet time inferwalt. Foy example, force atkins in the there Ges tins) is tanen as {F (tr) + F (trary f/2. Include 0 o4 the First component of $F (dummy Value). MATLAB program amd results ave given below. 4414Problem dependent data is given below. Rest of the program (§ same as the one given in the solution of Problem 4:85, eProblem 496 ‘Response of a single D.0.F.ystem under Susingthe methods of section 4.2 8 gene a Run 6” in MATLAS command window. Problen48é.m should be in one folder, fand set the path to this folder Sfollowing 11 lines contain problen-dependent data £=(0 1000 1732 2000 1732 1000 0 0 ooo F£=[0 500 1366 1866 1866 1366 500. 000 0}; xai=0.163) omne1.2247; xk=750.0) dolt=1.07 np=lly npl=10; np2=9. snp = number of points at which value of f is known, api=np-1,np2=np-2 send of problem-dependent cata itrary forcing function 4-115OUTPUT: value Method#1 of (with Fi) I xl) -7723722-001 +473104e+000 -6397476+000 -153208e+000 3386402000 ~6.607368e-001 -2.281035e4000 -3.0101672-001 6.6390672-003, 5.989412e-001 xd (4) 1.020691e+000 1.3398860+000 3.674506e-001, -9.583221e-001 -1.5499798+000 -1.278411e+000 2.965919e-001 1.029194e+000 3.988634e-001, 1-4, 582685e-002 EBDU>> Method#2 (with Fin) xi +346175e+000 +506316e+000 +831135e+000 82177164000 -8.346051e-001 -1,7058608+000 -4,3117448-001 8..930940e-001, 8.076697e~001 -1,296334e-001 1 3 3 1 xd) 1.7678386+000 1.300171e+000 =7.035371e-001 -2.027249e+000 -1.726362e+000 3.563831e-001 1.364191e+000 5.533244e-001 -5,931274e-001 -7,1535260-001 Methoaé3 (average) x(a) 3.886186e-001 2.625171¢+000 3.056425e+000 3.396478e+000 2.245924e+000 3.389516e-001 -9.708857e-001 -7.910256e-001 1.914450e-001 6,414239e-001 xi} 6.335245e-001 1.465167e+000 1.039713e+000 -3.667432e-001 -1,5568578+000 -1.7555308+000 ~6.09397%e-001 8.228908e-002 8.3636890-001 -3.687163e-002 Method#4 (Linear) (4) 9.831491e-002 2.994835e+000 3.8489462+000 2.599418e+000 2.687429e-001 71,3572288+000 9.68321 82-001 3.474621e-001 8.508735e-001 2.612088e~001 xd (i) 1.835987e+000 1.769018e+000 -2.306506e-001 -2,0697580+000 -2.319100e+000 ~6.349080e-002 1.185853e+000 1,114251e+000 -1,478394e-001 -8.327681e-001 4-116Eguation te be solved; meeceaet x= F(t) with k=esoo kgs C= 200 N-S/mz K= 750 N/m, ont F(t) given by: ft oO 1 2 2 4 5 b Teeae 8 > 0 FQ. 0 666.7 13333 2000 13333 6667 0 0 0 0 0 For the given data, g. £ = £ pee &c 2fem 2 fe00(750) = o+l633 K' _ [Tso rad ea = 2247 e rae wana taSe titania bts see A (MATLAB program is Written t find the response of the system using the numerical method of Section 4-4. The program finds the response using dif ferent types of approximations : G) By eeuming tke given velue F(Ei) of time tat; of w slep force duneng the duration (tio teat): Gi) By attumiing the given value F( tras) of Eme te tin, 8a step force dering te Aunolion (t;, tre. ii) By assuming the average values of F (ti) amd F (teed as @ Step force during the interval (tr, tre)>- qv) By aftuming tke force fo vary Aenaanky From F(EYS te F (tier) during the interval (tr, tre) + 4-117The pregram reguires the data : & array § $0, 666-7, 1333+ 3, 2000, 1333-3, 6667, 0, 0,0, 0, o} discrete Values of force (given) of time Ataléons Ob Byers 0. $= array $F = §0,332-35, 1000-0, 1666.65, 1666+ 65, 1000-0, 333-355 ©,2,0,0 f = average values of the force tn Liyforet time interwralz. For example, force adftng in the interwel (bes tear) ts taken as (F(t) 4 Fle f/2. Include 0 of the first component of $F (dumyay Value), MATLAB program amd results are given below. 4-118Problem —dependent data is given below. Rest of the program is same asthe one given in the solution of Problem 4:85, problem 487 SResponse of a single D.0.F.ystem under arbitrary forcing function Rusingthe methods of section ¢.9 2 $Run "Problem 487" in MATLAB command window. Problem467.m should be in one folder, tand set the path to this folder Sfollowing 11 lines contain problen-dependent data f=[0 666.7 1333.3 2000 1333.3 666.7 0 0 000); ££=[0 333.35 1000 1666.65 1666.65 1000 333.35 . oo0 07 xai=0.1633; onne=1.2247; xk=750.07 delt=1.07 ap=1l; np! np2=9; ‘np = number of points at which value of f is known, np! send of problem-dependent date =np=1,np2=np-2 4-119OUTPUT: value Method#1, of (with Fi) 1 x(i) 5.1818412-002 1.787614e+000 3.145968e+000 3.0160786+000 1.061597e4000 -9.5486720-001 -1.266133e+000 -9.519807e-002 7.93441 1¢-001 5.24585060-001 xd (i) 2 6.8049500-001 3 1,075573e+000 4 8,489505e-001 5 -9.084763e-001, 6 — -2.777043e+000 7 =1,103489e+000 8 —-5.503805e-002 8 —_1,089319e+000 10 .2.462363e-001 11 ~8.670969e-002 EDU>> Methoat2 (with Fit) (4) 1.036290e+000 3.057009e+000, 3. 468052e+000 1.383700e+000 -1,070785e+000 -1.549365e+000 -1.819752e-001 9,329063e-001 6.637443e-001 -2.399016e-001 xa(i) 1.360888e+000 1,.470795e+000 7.38611 12-001 -2.095238e+000 -1.402138e+000 5.902433e-001 1.282662e+000 3.492155e-001 ~6.570073e-001 ~6.156291e-001 Methoos3 (average) xt) -890820e-002, -1528992+000 -4667916+000 -081023e+000 2.038838e+000 5.336486e-002 -1.110500e+000 ~6,806662e-001 3.491210e-001 6.590131e~001 xd(i) 4.223708e-001 1.089959e+000 1.194516e+000 -3.694656e-002 71.666853e+000 -1,787893e+000 ~3.433041e-001 9,.991113e-001 8.103346e-001 1,991523e-002 Method#4 (Linear) (4) 7.086989e-001 2.381621e+000 3.475297e+000 2.324018e+000 =4.617081e-002 =1.4318816+000 -8.005783e-001 4.949162e-001 8.240604e-001 1.4679512-001 xd (i) 1.362848e+000 1.759957e+000 4,071099e-002 -2.1246168+000 -2.229624e+000 -210067e-001 1.308165e#000 9.748626e-002 -3.107742e-001 -8.339525e-001 4-12040 N-S/m , F = 100 N-s lo kg, = 4000 N/m » = (E = (£2 = 20 rad/s es Ce at Se 2 Jem 2 faooo(w) ~ * B= a5 y= fim on (26) = 19:899749 tad/s Assuming that impoct is given at t=o, we find the response of the system af (from Eg. (4.26)) 5T@,t x= F Sin uy t m wy a a (ery(20d & sin 19- 899749 £ to (19+ 899743) 4-121x,(t)= 0502519 ie sin 19-899749 € EN Plotting of fy. (E+!) Using MATLAB: 5 Ex4_88.m 1: 501 = 5* (4-1) /500; = 0.502519 * exp(-2.0*t(4)) * sin{ 19.899749*t(i) J; plot (t,%) ; xlabel(’t') ylabel ("(¢) 05 : oa on ot 03 2a 3,2 20 rad/s, 20-1, Ga = (9.897749 rad/s esponse due to F, B(t) is given by Eg. G1) of Problem 4.se. Response due to & B(t-05) can be found from Eps. (4.27) and (4.26): w, (t=) x)= — 2° sin Wy (4-%) 2) mm Oy For t= oS, Eg. (€-2) gives 4-122~ 0-1 (20) (t- x (t= 50 € nea ) sia 19899749 (t- 05) fe (19899749) i De) su ied) the respense due te two impacts (in meters) is given by porns © me AE fone ee (4) = . © {eerie E24 25) gin 19.899749(t-0-5); trod Plotting of Eg. (E+3) using MATLAB: +3) 5s Exé_ 89 for i= 1: 1001 £3) = (4-1)*5/1000; $2 tl) <= 0.5 x(4) = 0.502519 * exp(-2*t(i)) * sin(19.899749+e (4)) 7 cise x(i) = 0.251259 * exp(-2*(t(4)-0.5)) * sin(19.899749* (t(4)-0.5)) end end plot (tix); xlabel ('£"); ylabel (/x(£) "0: os - oa 03 02 oa -02| -03| 0. : OEE c's ABE EERIE 5 SEAR 2 TRE 2 HEE GEE 6 aE a ERA 4-123Response hips Aoad (see &p.(E-1) of Example 4.11): is % (t) = {= co Gt - #) oe cos [y(t - te) — zi} Ste =} Date: mzi00 kg, k= 1200 N/m» €= 50 N-4/m> Foz looN, to=olSond 1-54 WP = 3-46q102 rad/s, 25 c 5O 2fem 2 f(i62\Ciee) * 346-410161 Vin 5?" y= 3455069 rad/s oe on (SS = 0072232 rad 0997392 Plotting: = Ex4_90.m 10 200; 1200; 50; 3.464102; = 0.072169; 3.455069; 0.072232; £0 = 0.1; for i = 1: 502 (i) = 20* (4-1) /500; xi(i) = FO * exp(-zetatwn*t(i)) * ( -cos(watt(i)-phi) + --. exp (zetatwn*t0) * cos (was (t(i)-t0)-phi} 7 with = tan @, ye = 0072169 end tO = 1.57 for i= 1: 502 22 (4) = 20*(4-1)/5007 x2(i) = FO * exp(-zeta*wntt2(i}) * ( -cos exp(zetatwn*t0) * cos (wat (t2 (4) -t0) — end plot (t, x1); xlabel ("t'); ylabel (/x(E)'); title(‘Solid line: t_0 = 0.1s Dashed line: t_0 = 1.58'); hold on; plot (£2,x2, i 4-124Solid fine: f, = 0.18 Dashad line: 10044 | ee : fi 2 4 8 8 10 ‘2 ‘4 ‘8 18 2 t Ts 3 gerogrand.m aMain program which calls PERIOD 8 3 a= @Run ‘Programé" in MATLAS command window. Program4.m and period.m should be in the same folder,and set the path to this folder SZollowing seven lines contain problem-dependent data 2mn=1.0; xk=400.0. +128, n=20; £=[62-5 125 187.5 250 312.5 375 437.5 500 zeros(1,12)]'; =0.05:0.05:1.00 Bend of problen-dependent data [xsin, xcos, psi, phi, fzero, fc, x, xpe, xps] =period (xm, xk, xai,n,m, time, £,t) ; Eprintf(’Response of a single D.O.F. system under periodic force\n\n’); fprinté(’xm = &10.8e\n' ,2m) ; fprint£('xk = $10.8e\n' , xk) ; fprintf(‘xai = $10.80\n‘,xai); fprinté('n fprint£(‘m fprinté(’ time 2.0£\n'.n); = 82.0£\n',m); 10.8e\n\n/, time) ; 4-125fprint£(/Applied force and response: \n\n'}; fprinté() i (a) ea) xh) Ve fprinté(‘\n\n']; for isiin fprinté(’ $2.0f $10.86 410.8e a10.8e\n'.4,. (4) £04) (4) end subplot (121); plot (t, 2); xlabel('t’); ylabel (*F(t)'); Seitle (P(E) ); subplot (122) ; plot (t,x): stitle(‘x(t)"); xlabel (7t")7 ylabel (x(t) ‘): ® 8 function period.m & Ss Eunct: i) omeg=2.0*3.1416/time; omegn=sqrt (2ck/sxm) 7 sumz=0.0; for i= mn (xsin,xcos,pei, phi, £zero, fc, x,xpe, xps] =period (xm, xk, xei,n,m, time, £¥ theta=jtomeg*t (i) 5 fsinef(i)*sin (theta) ; fcos=£(i)*cos (theta) ; sumsssuns+fsin; sume=sume+fcos; end aj=2.0*sume/n; bj=2.0*sums/n; -omeg/omegn phi (3) satan(2.0%xad*4*2/(1-(4%2)02))7 con=sqrt | (1.0-(j*r) 2) *2+(2.0%xai*j*r] 02) 7 xpe(i)= (aj /xk) /eons wpe (}) = (bj /xk) /con: end for 4-126x (4) =fzer0/2/xk; for jelim (4 c(i) expe (3) *cos (J*omeg*t (4) -phi (j})+xps (J) *sin(jtomeg*e (4) -phi (je Ve end end 50 2 0 13 400 20 4 200 Zes0 Zos 200 o| 180 100 05 so o| 0 02 04 08 t Results of Ex4_91 >> programé xm = 1,00000000e+000 xk = 4/00000000e+002 xai = 1,25000000e-001 n 20 n 10 time = 1.00000000e+000 ot Applied force and response: 4 et) 1 .00000000e-002 2 1100000000e-001 3 1,50000000e-001 4% — 2100000000e-001 5 2.500000002-001 6 3.00000000e-001 7 3150000000e-001 8 4100000000e-001 9 130000000e-001 9 5.00000000e-D01 > 6.25000000e+002, 1125000000e+002 1787500000e+002 2.500000002+002 3112500000e+002 3175000000e+002 4.37500000e+002 5,00000000e+002 0; 00000000e+000 0.00000000e+000 4127 02 04 08 08 1 xt) -787892920-001, 185286858e-001 100283762e-001 137031525e-001, 139025654e-001 142110868e-001 158354150e+000 4.1558621926+000 §1563734402-001 “5,23532675e-00311 §.50090000e-001. 0.00000000e+000 ~3.77065247e-002 12 6.00000000e-001. 0.00000000e+000 5. 06616825e-001 13 6.50000000e-001 9,00000000e+000, -3.57481271¢-001 14 7100000000e-001 9,00000000e+000 4,833389996-002 15 7150000000e-001 0:00000000e+000 4,21582779e-001 15 8100000000e-001 0: 00000000e+000 4163545854e-002 27 8150000000e-002 0:00000000e+000 1 102656115e-001 48 $100000000e-001 0:00000000e+000 73.54840551e-001 33 $150000000e-002 0-000000002+000 5110135040e-001 29 _1:00000000e+000 0:00000000e+000 1.71815377e-001 a Programm @Response of a single D.O.F.ystem under arbitrary forcing function ausingthe methods of section 4.1] 8 8 % Run ‘ProgranS' 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 420.1; : Sap = number of points at which value of £ is known, np’ Send of problem-dependent date ntsqrt (1-xai*2) ; Ssolution according to method 1 (using step variation with larger value, Approach 1) ECL) 20; \p-1,np2=np-2 £(1) = 0; ££(1) = 0; for i=2:mp e(i)st(4-2)+delt; £(4) = 1000*(1-cos (pitt (4)))7 . ££(4) = L000*( 1-cos( pit( E(i)+t (4-1) )/2) d; end for i=linpl dele (i) =£ (441) -£(4); end for j=2:np x(4}=0; x4(3) jm 26 (9) #84) + (BOLE (4) /2de) * (1-exxp (xm ( (5) -E (4) ))* (cos tpd* (t (3) -E (4) )) + (om /pa) tein (pa (E14) (8) 1007 A (4) 224 (4) # (GeLE (4) /2ck) exp (mae (t ())t (4) }) tim (wa" (E09) ECL) end x (i) =x (4) 4-128xa (i) =x(4) 2 end Esolution accoréing to method 1 (using step variation with smaller value, Approach 2) for ke2:np2 dele (x) =del2 (k+1) ; end dele (2)=£(3); Gelf (np) =£ (mp); (4) 2% (5) + (Gel (4) /ack) * (1-exp (ant ((5) 8 0) (cos (pat (t (4) -E (4) ))+ (omn/pe) *sin (pa (E59) A) xed (5) =e (5) + (GeLé (4) /2ck) exp (am (t (5) ~E (4) ) tin (BMF (EF) ELI) end end for i=2:np x2 (4) =x (4) 7 02 (i)=xd (i); end Ssolution according to method 2 (using step variation with mid-value, Approach 3) x(1)=0; x (5) = (££ (3) /xde) * (1-exp (~3*del) * (cos (pd*del) + (xn/pa) *sin(pa*éel)))... exp (-xn*del) * (x (3-1) *cos (pa*deL) + ( (xd (3-1) 43x (}-1) ) /pa) *4n(pd*ael) ) ; x4 (3) = (££ (4) *pd/xxk) * exp [-xn"del) * (1+xn*2/(pd*2) )*sin(pd*del) + pd* ... exp (-xn*del) * (-x(J-1) *sin (pa¥del) + ( (xd (5-1) +0" (5-1) ) /pa) *cos (pardel) ..¢ oxn* (x (J-1) 4cos (pd*de) + ( (xd (5-1) +xn*x (5-1) | /pd) *sin (pa*del) ) /pa) ; end 2 x3 (A) ex() x3 (4) =xd (4) end $solution according to method 3 (using linear variation, Approzch 4) x(1) dele (3) =£(5)-£(5-2); x(j)=(del£ (3) / (de*d21) )* (4eL- (2*xa4 /omn) +exp(-xn*del) * ((2*xai/omn) . «. + cos (pd*del) ~ ( (pd*2-2n"2) / (omn*omn*pa) } “sin (pd*del) )) + (£(J~2) /xk) + (1-exp (-xn*del) * (cos (pa*del) + (xn/pd) *sin(pd*del) }) +exp(-n*del) *. (x(J-1) *cos (pd*del) + [ (24 (5-1) een" (j-1) ) /pd) *sin (pa*del) ) + & xd (5) =(deLE (5) / (2de* Gel) )* (1L.—exp (-2n*Gel) * ( ( (xn*2+pa*2) /(omn2))*.. + cos (pdkdel) + { (xn"3+xn*pd*pd/ (pd* (omn”2) }) “sin (pa*del) ))+(£ (5-1) /xk) 4-129& texp (-2nt€el) * ( (2072 /pa) spa) *sin (pd? del) texp (-smtdel) * (x4 (5-1) * % cos (patdel) - ((xm*xd (j-1) samtantx (j-1) +pd"pa*x (4-2) /pa) *sin(pa¥del) )) ¥ xed (3) = (Geld (3) / (xk*del) } * (2. -exp(-an*del) * (cos (pa*de1) 42/pa*. . sin (pé*del) )) +f (5-1) /xk*exp(-xn*del) *omn”2/pd*sin (pa*del) +exp(-2n*del) .. * (xd (1) *cos (pa*del) ~2n/pa* (xd (J-1) +omn/xai*x(J-1)) *sin (pd*del) ); fprinté.. ("Value Approach #1 Approach #2 Approach #32 Approach #4\n"¢ a fprinté... (of (Fig. 436) (Fig. 4.36) Fig. 4.36) (Fig. 436) 7 fprinté("\n\n"); x(i) x(i) x(i) x(4)\n\a"); printf... (82.02 88.62 88.6e 88.62 — 88.Se\n! dx (4), 2214) 23 (4)... x (L)) 5 end fprintt... C\n\n tT xd) xd) xd (4) xa (4) '); fprint£(‘\n\n'); for is2imp fprinté... (82.02 $8.62 88.62 88.62 88.6e\n',i,xd1 (i) x62 (4), x03 (4) ,xd4(4)) 7 end subplot (221); plot (t,x1); hold on; plot (t,2d1) ; xlabel (‘t"); ylabel (’x(t) x(t"); title(/Method #1 (Fig. 4.36)'); subplot (222) ; plot (t,2); hold on; plot (£, x02) ; xlabel ("t'); ylabel(‘x(t) x(t) 1); title('method #1 (Fig. 4.36) '); subplot (223) plot (t,%3) 5 hold on; plot (t, 203); xlabel ('t"): ylabel ("x(t} xd(t)'); title(’Method #2 (Fig, 4.36)'); subplot (224) ; 4-130plot (t, x4) ; hold on; plot (t, x64); xlabel(''); ylabel (x(t) a(t); title('Method #3 (Fig. 4.36)'); Results of Ex4 92 >> programs Value Approach #1 of ig. 4.36) r x(t) 8.463498e-004 21685367e-003 511693128-003 8.1786572-003 12132821e-002 1:437507e-002 11697375e-002 390432e-002 £995267e-002 2:003452e-002 11912848e-002 11733299e-002 481670e-002 183110e-002 1s 8.664674e-003 17 51630116e-003 18 31022466e-003 13 11098443e-003 20 4,531599e-005 21 -3.304897e-005 xa (4) r 2 -1.724478e-006 3. -2,490738e-008 4 -31247781e-006 5 -3.764329e-006 6 -31674900e-006 7 -31530832e-006 8 -21722577e-006 9 -11950123e-006 10 -7,153334e-007 11 3.543858e-007 12 11587911e-006 13 21501541e-006 Ld 313045a9e-006 15 31675776e-006 Ls 31773808e-006 17 31433694e-006 18 21811634e-006 19 11871907e-006 20 71820400e-007 21 -4.100735e-007 Approach #2 Approach#3 Approach #4 Gig. 4.36) ig. 4.36) ig, 4.36) x(i) x(t) (i) 302553e-003 719852e-003, 508402-003 '108890e-002 1454957e-002, 1684852e-002, 1899708e-002 1988503e-002 1008383e-002 1909252e-002 1735920e-002 1479759e-002 184504e-002 654518e-003 1637520e-003 1017069e-003 1102377e-003, 1244805e-005 -3.095846e-005 -8.2377152-004 L 1 1 8 5 3 1 4 xa(i) -8.729107e-006 2.014556e-008 “5.183878e-006 1, 429730e-006 ~8.092879e-005 1.215821¢-006 -5.2676516-006 2.0284440-006 “i. 882855e-005 -391564e-006 '060844e-006 455382-006 7§4982-006 478047e-006 884849e-006, 237571e-006 542582e-006 035826e-006 ~6.050694e-007 2,056210e-006 4-131 128980e-004 7295062-003 1B036112-003 16680762-003 7248582-003 '290593e-002 15731480-002 1804796e-002 1953876e-002 1012346e-002 1969707e-002 1833615e-002 1614852e-002 1336583e-002, 11024989e-002 7.132632e-003 4.254988e-003 11961303e-003 475404862-004 “1.182168e-004 xa (1) ~1.378674e-005 -8.8167572-005 =7,008044e-005 -1.34439de-004 <3.9992472-005 -1,3316270-004 =8.5961710-005 -8.738285e-005 =3.287885e-005 -2.391042e-005 -774625e-005 0630532-005 :749376e-005 10910712-004 223568e-004 11401932004 ‘019865e-004 1419301e-005 4,359287¢-005 5 .2994226-006 2.112992e-003 31732773e-003 1890461e-003 1675836e-003, 1298875e-002 564646e-002 1801666e-002 19408162-002 '002060e-002 54838e-002 3217400-002 602653e-002 132863 4e-002 +019478e-002 1105849e-003 1284352e-003 10339462-003 15482572-004 6.474018e-006 6353012-006 xa (i) 2..450722e-002 2..042474e-002 3.3281932-002 2.9187352-002 3.213625e-002 2.,4782092-002 2.017583e-002 918550852003 1.272298e-003 -9.3881002-003 -1.7718272-002 -21533370e-002 -21973286e-002 ~-31175330e-002 ~3:028136e-002 ~2.612284e-002 =11920680e-002 1055539e-002 7,.6625150-004 5 .5396280-004Approach #1 (Fig. 4.36) Approach #2 Fig. 4.36) = sos i 28 s 3 s & (a ei ane o os 1 15 2 25 : 1 Approach #3 (Fig. 4.36) Approach #4 (Fig. 4.36) oes 004 0.02| 0.02 __ 0018 % oot zg = z 2.006} 000 ol D0 Y 0 05 1 15 2 25 sng O05 1 1 2 25 SProgramS .m ‘Response of a single D.0.F.ystem under arbitrary forcing function fusingthe methods of section 4.8 Run "Program5* in MATLAB command window. ProgramS.m should be in one & e % folder, and set the path to this folder %& following 11 lines contain problem-dependent data xaiz0.1; ‘mp = number of points at which value of £ is known, nplenp-1,np2=np-2 4end of problem-dependent data mnt sqrt (1-%ai%2) 7 aia Ssolution according to method 1 (using step variation with larger value, Approach 1) t (ist (i-1) +delt; end 4-132£5[0.0 -8.0 -12.0 -15.0 -13.0 -11.0 -7.0 -4.0 3. -8.0 ~10.0 -13.5 -14.0 -12.0 -9.0 -5.5 -0.5 0.0 15.03; on 6.5 12.5 16.5]; (is) -£(4); Approach #1 (Fig. 4.36) Approach #2 (Fig. 4.36) ry 08; bal 0.4] 02 e go02 Ral g Zo2 Zo 04 22 08 o 2 ons HERCAIEMEN RIG Ture s ot 4s 225 : ' Approach #3 (Fig. 4.36) Approach #4 (Fig. 4.36) 3 3 2| 2| =: 31 Zo Fol 4 4 2 Cr OaRaTG SERRE IEE oer a REEDS t t Results of Ex4_93 a Value Approach #1 Approach #2 “Approach #3 ‘Approach #4 of Fig. 4.36) Fig. 436) Cig. 4.36) (Fig. 4.36) = x(4) x(i) x(a) xd) 2 -1.8952560-002 -2.8428860-002 -2.369072e-002-2.216415e-002 3 =71pado7Se-002 -1!1055400-001 “3.aas737e-002 a a3sadec gua 4 =117701726-001 -2'2428510-001 “2.dneaite-001 2.c0a0ssc oe 3 =21901286e-001 -3:307430e-001 “3.in43see-001 3. saa9esccoor § -31g07163e-001 -3191809se-001 “3 ag2635e-001 "3 Lagevocecoor 7 alas76ase-001 © -3!812882e-001 “3 ses26se-001 a ozsydoccost 8 =317611808-001 “2!849867e-001 “3 sosa2ae-001, $7629e-002 3 =215466740-001 “1 l00B869e-001 “i 777773e-001 _a "enaseozooe 0 =5.497595e-002 1.476431e-001 _4.63a3see-002, _4.3435¢96 902 11 1.971323e-001 4.i9865se-001 3.061298e-001, 2-Sa0c08ec00% r xatd xali) xa(t) xaid) 2 ~7.263201e-002 -1.089480e-001 -4.562370e-001 -4.597525e-001 4-1333 -1.577455e-001 -2.093812e-001 -9.224406e-001 -9.313379e-002 4 721252429e-001 -21333148e-001 -11152170e+000 —-1.162393e+000 5 2.186793e-001 -1.824523e-001 -1.000343e+000 —-1.007436e+000 & -1.386163e-001 -5.760411e-002 -4.930222e-001 -4..919218e-001 7 -217422882-004 02153e-002 2.405741e-001 _2.518514e-002 8 1.522037e-001 2.7620852-001 1.076426e+000 —-1.100724e+000 9 3.182622e-001 4.384471e-001 1.90130de+000 —«1.938544e+000 0 41579186e-001 5.284869e-001 2.4784372+000 —-2.523778e+000 1 51229886e-001 5.322201e-001 2.605688e+000 —-2.224476e+000 st Ex4 94m @ This program will use the function & be in the same folder tspan = (0: 0.01: 0.517 xD = 0.0; 0.01; [e-x) = ode23('dfuncé 94:', tspan, x0): disp(' & dee) ALE) disp({t x1); plot (t.2(:,1))7 xlabel ('t'); gtext (x(t) % aguhe4 94m function £ = dfunc4 94(t, x) F = 200*t - 200¥t*stepfunit,0.1)... 420*stepfun (t,0.1)-20*stepfun(t, 0-25); £ = zeros (2,1); £(L) = (2); £(2) = 3/2 ~ 1500 * x(1)/2; ne 4 94m, they should Results of Ex494 >> Exd_94m € x(t) xa(t) ° 0 0 0.0100 0.0000 0.0050 0.0200 0.0001 ~—0.0195 0.0300 0.0004 0.0425 0.0400 0.0010 0.0723 0.0500 0.0019 0.1067 0.0600 0.0031 0.2430 0043 0.2352 "0064 0.1949, 0081 0.1400 +0092 0.0748 10096 0.0039. 10083 -010672. 0083 -0.1332 0086 © 0.1893 04s 12313, 0021 -0.2560 4-1340.025 02] xt) 0.015 0.01 0.008; 001 0~C«OSS=C«iTS:*«i SSCS & Ex4_95.n % This program will use the function Afunc 495m, they should % be in the sane folder tepan = (0: 0.01: 0.5]; x0 = (0.0; 0.01; t,x] = ode23('dfuncd 95 ‘, tspan, x0); disp’ & x(t) xd(t)'); disp((t x}7 plot (t,x(:.2))7 xlabel('t"); gtext ('x(t) 07 8 dguned_95.m function £ = dfuncd 95(t,x) F = 200% - 200*e*stepfun(t, 0.1) 420*stepfun(t,0.1)-20*stepfun(t,0.25); £ = zeros(2,1); £(1) = (2); £(2) = F/2 - 10 * x(2)/2 ~ 1500 * x(2)/2; 4-1350.025; ; 0.02| ons} oot 0.005 0.008; x¢t) 001 - ‘008 ot O18 Results of ex4 95 >> Ex4_95 = 0 0.0100 0.0200 9.0300 0.0400, 0.0500 0.0600 0.0700 0.0800 9.0900 0.1000, 0.4100 0.4200 0.4300, 0.4400 0.4500 0.4600 0.4700 0.4800 024900 025000 x(t) ) 0.0000 0.0001 9.0004 0.0010 0.0018 0.0029 0.0044 0.0061 10082 0.0103 0.0000 020033 020035 0.0043 0.0058 0.0062 0.0062 0.0087 00048 0.0037 02 xd(t) 0 0.0089 0.0189 0.0405 0.0678 0.0986 0.1303 021877 012093 012244 0.1962 011797 0.1510 011127 0.0680 0.0206 0.0259 0.0683 -0.1037 -0.1298 025 4-136 08 035, 04 0.45 os2O= SE Jie) C7 sin (t-¥) 4 a But sin Gy(E—t) = sin yt cos YT — cos Wye Him ety -76,t x(t)= fale). sin at - BLE) cos yt } S where mae Alk)= Stree eon cos wy Ae Bw = f*r(e) eFOP™ sin cat de Let F(t) be taken as o piecewise linear function during (t;,, #2) as Fo) Fave EB) (oad tote 4-137We can write edt A(t) = A(Ee1) + ces Wy . FORT af act to tay aT Sle joa BEY = A(tinn) + 2B ty + (Fier7 tt By) ere peat ae elena acne ten tz TOn™ cos cae AT he ie e cos Gy ty yo, a “7e ape Sin (TAT B(ti)= ati) t J Ge of) t; Sent +e (Fen tien a 6? sin TAT. 4 aft = 8 (pa) + AE + (Ream ten Bey) where ¢. Rel et sin aytde ote tee FOP sin cay AE Re J ve sin an Assuming A(t,=0) = B(ti=0) ~50, te athy= gtet [AGED sin coy te - BC Ez) co ote] vm Oy The integrals in Pir Pas Ps and Ty cam be evaluated in closed Form: : The computer program and output are given. PROBLEM 4.96 CNIMERICAL JNTEGRATLUY OF PUNAMEG INTEGRAL PROBLEM-DEPENDENT DATA DIMENSION F(21), X(2t),DELT(21), T(21), ACBL), BC2L? NP=2i XAT=0. 1 OMe. 0 4-13810 DELT(I)=0, 31416 END OF PROBLEM-i A(1)=0. 0 B(1)=0.0 OMD=OMN#SGRT (1, O-XAT#82) TC1)=0. 0 DO 20 I=2,NP TCT) sT (1-1 4DELT(T) TIMEST(I) CALL PIL(TIME, KAT, OMN, OMD, PPL) CALL PIZ(TINE, XAI, OMN, OMD, PP2) CALL PIS(TIME, XAI, OMN, OMD, PPS) CALL PI4(TIME, XA, OMN, OMD, PPA? TIMEST(I-1) CALL PILCTIME, XA, OMN, OND, PML? CALL PIQ(TINE, XA, OMN, ORD, PM? CALL FISTING, XAT, OMN, OMD, PMB) CALL PI4(TIME, ZAI, OMN, OND, PM4? PIsPP1-PMt P2=pP2-PM2 PS=PP3-PM3 Pa=PP4-PN4 DELF=F(1)-F 1-1) ACT) =ACI=1 + (DELF/DELT(T) )4P14(F (1-1 )-T (Ind) #DELF/DELT( 1) 42 BCE) =8¢1-1)4(DELE/DELT(1) )#P44(F (I-1)-T (1-1) #DELF/DELT (1) #P3 XE) S (EXP (=KATSOMN®T CT) )/CSM#OMD) 18 (ACE) #SINCOMDST(T) )— 2 BCI) *#COS(OMDET(I))) 20° CONTINUE PRINT 30 30 FORMAT (//, 2X, $1H NUMERICAL EVALUATION OF DUHAMEL INTEGRAL, 2/4, 8k. 2H 1, 8k, SH TCL), LOX, SH FCT), 10K. SH XCTD, 9 DO 40 [=2, NF 40 PRINT 50, I, TC), F(T), XCT) 5O FORMAT (2X, 15, SE15. 8) sToP noaaco SUBROUTINE PIL (T, XAT, OMN, OMD, P? DEN= (KAT #OMN) ##2+OMDe#2 T#EXP (XAI#OMNST) /BEN} + (XAT #OMN#COS (OMD#T)+OMD#S1NCOMD#T) 3 2 - (EXP (KAT#OMN@T) / (DEN##2) ) ( ( (XAT#OMN) ##2-OMD*#2 )#COS (OMD#T) 2 42, OFXAT#OMN#CMD#SIN(OMD#T} ) RETURN END 4-139conan o9an0 SUBROUTINE PI SUBROUTINE PI2 (Ty DEN Pei Bk (xAT=OMM RETURN END SUBROUTINE PIS XAT, GHN, OMD, P? RAISONN) ##2+0MDe22 27) /DEN) =< XAT#OMNECOS. SUBROUTINE PIS (T. XA) OMN, OND, P? DEN=( XAI#OMN) ##240MDe82 PeCEXP (ZAI *OMN=T) /DEN) *(XAT#OMN®SIN(OMD*T}—OMD#COS{OND*T) 1 RETURN END SUBROUTINE FI4 SUBROUTINE PI4 DEN=( XAT=OMN) ##2+0MDEe2 Pe(THEXP( XATSOHN®T) /DEN)# (XAT SOMRSIN(OMDST )-OMD#COS(OMDST) 3 2 EXP (KATSOMNET) / (DEN##2) 1#( ( (KAT#ONN) #22-ORD##2) #85 IN (OMD (7) XAT, OMN, OMD, P? 3 2. O#XAT#ONN#OMD#COS(OMDST) ) RETURN END #7] +OMDESINGOM NUMERICAL EVALUATION OF DUHAMEL INTEGRAL 1 TD) FcD) xa) 2 0.91418999E+00 0, a4a5997HE+O0 0. a54199G8E-01 3 @. ABG199RE+C0 0. 67097978E+00 G. 14977741E+00 4 0. 94247997E+CO C. S4400000E+00 0. 524977405400 2 0, 1256409E+01 0. 41219997E+00 0. 497476755400 % 0. 15708008E+01 0. 27270003E+00 0. 65152758E+00 7 0, LBBAFS11E+01 0. 1909979EErO 9. 74237210400 BO. Q1971215E+01 0. LOPODOOZE+OO ©. BizsEarEE+0O 9 0. B5LS2BISE+O1 0. 469S7977E-01 0. 77G2417SE+00 10 0. BB27a42RE+01 6. 1290979GE-c1 CO 7O4EZ814E+00 11 0, 31414029E+01 0. 00000000E+00 0, 95444867E+00 12 0. 34557627E+01 0. 0OCOOCE+CO 0. 34494141E+00 13 0. 37679232E+01 0. Q0000000E+00 0. 14971566E+00 14 0. 40840836E+01 C. O000GO0GE+G0-6. 64291847E-C1 15 0. 49982497E+01 0. 00000000E+00-0. 25274461E+00 16 ©. 47124043E+01 0. 00000000E+00-0, 42234131E+00 17 0. S0265648E+01 0. OCOOCOGNE+C0-C. SazLesZiE+00 18 0, $2407247E+01 0. 00000000E+00-0. S2483124E+00 19 0. 56948859E+01 ©. Co00200CE+C0-0. 57E7E975E+00 20 0. S969704S4E+01 9. 00000000E+00-0, 91817197E+00 21 0. 62EG2060E+01 9, 00000000E+00-0. 41212624E+00 4-140The computer program of problem 4.96 can be used to find the (47) relative displacement 3(£) of the water tank provided —m¥(r) is used in place of F(c). Here S=0, Oy= 22-3607 rad/sec and F(R) = wooo nae x HCC) if Zi in g's The problem- dependent data for the . 496 and the output are given program of problem a c ¢ ¢ PROBLEM 4,97 ¢ ¢ ¢ PROBLEN-DEPENDENT DATA DIMENSION F(15), (15), DELT(15), T(18), AC15),B¢15) NP=is XAT=O. 0 OMN=22. 3607 XM=10000. 0 DATA F/. 0, 45,-. 8; 2-1. 1,71. 4,-1. 08.07 DO 10 f=1,15 10 DELT¢1)=0. 025 DO 11 T=1,15 AL FCT) =-xMe9, B14F(T) © END OF PROBLEN-DEPENDENT DATA 95, 1.75, 1. 65). 25, NUMERICAL EVALUATION OF DUHAMEL INTEGRAL I To FID xq) 2 0, 24999999E-01-0, 441449976E+05-0. 45271125E-05 3 0. 49999997E-01 0. 78480000E+05-0. 17452337E-02 4 0. 7A9999EBE-01 0. SB27O000E+05 0. 11150774E-02 5 0. 99999964E-01 0. 58840004E+05 0. 84075147E-02 © 0. 12499994E+00 0. 73575000E+05 0. 17519452E-01 7 0. 14999992E+00 0. 68470000E+05 0. 25374268E-01 @ 0. 174999789E+00-0. S37SS000E+05 0. 2847S131E-01 °. 9 0. 19999987E+00-0.17167500E+04 0. 17474924E-01 10 0. 22499985E+00-0. 14186494E+06-0, 42401228E-02 11 0. 249999782E+00-0, 24525000E+09-0. 35448214E-01 12 0. 27497980E+00 0. 10771006E+06-9. 57387743E-01 19 0. 29999977E+00 0. 13734000E+04-0, 54341448E-01 14.0. 324997979E+00 0. 10300504E+04-0. 30493871E-01 15 0. 34999973E+00 0. 00000000E+00 0. 10307007E-01 4-141The problem- dependent data (to be used in the program of Problem 4.96) and output are given. ALEM-DEPENDENT DATA DIMENSTON FCO) ,XC 30) ,NELT (39), T(30) /AC30) (39) NB=i0 XAJ=0.9 DaweA, 690254 xHs2 60 DATA’ F 700.0 /60.0,640,60,0/60,0/100,0,100,0,100.0,10040, 100.0, 2 Nb eo, 3000430095 306043960) 30604040 ,020,0,0,020 404040404040, 040, §40y 0.07060 )0014 369, 0607 io 19 Let,30 lo ELT CL) =0,01 CEN UF PROBLET=DEPENDANT DATA c PH NUMERICAL EVALUATLON MF DUNAMEL INTEGRAL FU xa) 2 0,9999999R-02 0, 60009000E+02 0,14990796E~02 3 0120000040E-01 1,G000NDNNE +02 0,59849964E-02 4 02299999499R=01 0,0000000UE402 0,13424230E=01 5 053999999¥F-01 D-pODOUDNDEFO? 0,23760952E-01 6 7 8 0,500000UsE-01 9,10000000F.+03 0.372507 35E-01 0260000002E=01 0,19000000E403 0.51 25091F~01 OL 7AOYoOGE=21 A, 10000000E403 0,77583194E=05 9 0.7999999RE-ut 0,10000000F+03 0.10445669H409 [0 0189499996E-01 0, 10000000K+03 0, 1355440BR400 {1 0,99999994E-01 v,30NO9NOK+02 0,17002963EF00 12 0710999999E+0H 0, 30000000E+02 0, 20532255E+0U 13 0511999999E+00 0,3000000NEF02 0,24057558E+00 14 041 3000N90E+00 0.30000A00E+02 0,27552453E+00 15 0714900090E+00 0, 300U0D0DE+02 0, 309907 44E+00 16 0150000012409 0,30000090R+02 0, 34346649400 17 0,16000001F +400 .0000090F+00 0,37570029E+00 18 0,17000002£40N 0,00000000E+00 0, 40536803E+00 19 OF19000002E+uN 0,0000000DE+00 0. 43199742E400 20 01190D00038400 D.00D0DNNOE+00 0, 45538804E+00 21 0120000003E+00 0,00000090E+U0 0, 47536695E+00 22 0,2100UU04EFUN 0,00900000E+00 0, 49178207E+00 23 01 22000004E+00 0,00000000E400 0.50451112E+00 24 0,23000NNSE4U9 0,0090D000F+00 0.51 345861E+00 25 912400005400 0,00000000E+00 0.51855767E+00 26 0125000006E+u0 9,00000000R+00 1, 519769BDEt00 27 9. 26000V05E400 0,00000040E+00 0517086338400 28 0527000004E400 9,0000000NE+00 0,51052707E+N0 29 0, 280900N3Et00 9,00000000EF00 0,50914120E+00 30 0, 290000026400 1, 0OdRO00NE FON 0, 4R6UUHTLEFOO 4-142Find natural _frepuenc Be wl some ke o* errs (esiecit © ee ka fe k. ae (e . [ee is oe it) Find eguation of motion when the base and tence the pivot o is displaced by x(t)» we) the displacement of mass m, x(t), is Given by x(t)= ¥(t) + £ alt) (&) Relative displecement of mass is H(t) = x(t) — 4) = b alt) €) Eguation of motion: Zi Forces almg y (vertical) direction =o > Fy-tae=mi (&) & Moments about P =o > Fy-b-xa0(b-2)=0 &) Solve (Es) for Fy and substitute the result in (Es): (eae +me)b- ka @(b-@) =0 ben mbx+ end =o €s) Bt x= ¥4+h and o(t)= + 3(*) Hence (Eg) becomes : mb z+ EE p= —mbjZ omer ety img &) &%-(E7) can be compared with a standard forced vibration eguation for an undamped system: 4-143peek = EO ) Comparison of (E7) and (Eg) shows that xs R, Bem t= Land es (es) i) Find solution + Solution of &- (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. A) Design: &5-(E,) gives VE = Gow Vm or *=3600T7m — (E,) Following procedure can be used to selve the problem: @ Assume a Value of a b. Assume @ small value of m c. Find 4 from &- (E,)- d. Evaluate the solution numerically as outlined in part (iii) . e. If the maximum relative displacement is arger than or eguel %& o-02m, the design is complete. #. Otherwise , increase the value of m and go to step c. BIg necessary change the value of ain skep a. Let + and m denote the eguivalent stiffness and mass of the cutting head. Exuation of motion is mk + kx = F(E) &) where F(E) is given by Figs. 4.75(a) and 4.75(6). Solutvon of &%-(&)) under the force given by Figs. 4.75(a) can be obtained as in problem 4,27, Solution of (€,) under the force of Fig. (4.75(b) 1 can be determined using ~ procedure similar to that of problem 4,25, The values of & and m con be determined as follows: @. Assume @ small value for m- b. Assume @ small value for k. c. Evaluate the response under F(t) given by Fig.4.75(@). 4-144d. Evaluate the response under F(t) given by Fig (4.750) e. xf the responses in steps ¢ ond d are approximately ual to od mm and oS mm, the current values of mand « are the desired values. f. otherwise, increment the value of m and/or & and ge t step c. Model the system as 2 single d.o.f. torsional system with: Jy = 0.1 N-m? ; ¢ =0 (no damping sssumed) 5 GI _ 1 eo noty (s ae 0.25 2 (a3 — af) e where d, = outer diameter of shaft, and d; = inner diameter. ‘ky = 02.882 (10°) (a4 — df) @ Torque acting on the arbor due to breakage of one tooth can be modeled as shown in gure. cutter mice a Arbor iz é an 2 = 500 Nem, r= 27 = 27 __ — of = 60/1000 = 0.08 5 = Mo 500 Nem, 7 == NE qe 60/N /10¢ 0.06 see where N speed of cutter = 1000 rpm. Express M,(t) in Fourier series: Mil) 2S +H (on coom wt thy sin aut] (2) i (eee solution of Problem 4.6 for procedure). where = 2 x = 104.72 rad/see. Equation of motion: Jo b+, 6 = Mi(t) (3) where M,(t) is given by Eq. (2). Find solution of Eq. (3) and determine the maximum value of 8, Onax- This value must be less than 1°. Note: ‘The solution requires an iterative procedure. Assume values for dj and d,. Compute kt, find solution of 6(t), and the value of Onax- If Omaz exceeds 1°, choose a different set of values for d; and d, and continue the process until @nax comes out to be less than Vv. 4-145