c

Solutions Manual

to accompany

Mechanical Vibration, First Edition

by

William J. Palm III

University of Rhode Island

Solutions to Problems in Chapter Seven

c Solutions Manual Copyright 2006 by John Wiley & Sons, Inc. Permission required for
use, reproduction, or display.
Problem 7.1
ω = 2π(5) = 10π rad/s
|a| = ω 2 A = 4.1 × 10−3 m/s2
Thus
4.1 × 10−3
A= = 4.1542 × 10−6 m
100π 2
|v| = ωA = 1.305 × 10−4 m/s

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Problem 7.2
ω = 2π(4) = 8π A = 2 × 10−3
|a| = ω 2A = 64π 2(2 × 10−3) = 1.2633 m/s2
|v| = ωA = 8π(2 × 10−3 ) = 0.0503 m/s

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Problem 7.3
ω = 2π(3) = 6π A = 30 × 10−3
|v| = ωA = 6π(30) × 10−3 = 0.5655 m/s
|a| = ω 2 A = 36π 2(30) = 1.0659 × 104 m/s2

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Problem 7.4
A = 20 × 10−3 |a| = 3
|a| 3
ω2 = = = 150
A 20 × 10−3
ω = 12.2474 rad/s
|v| = ωA = 12.2474(20 × 10−3 ) = 0.2449 m/s

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Problem 7.5
|a|rms = 0.13g
Thus the maximum acceleration over the given frequency range is
√
|a| = 2|a|rms = 0.1838g

The displacement amplitude is

|a| 0.1838g
A=
=
ω2 ω2
Since 8π ≤ ω ≤ 16π, the range of the displacement is
0.1838g 0.1838g
2
≤A≤
256π 64π 2
or
(7.2745 × 10−5)g ≤ A ≤ (2.9098 × 10−4 )g

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Problem 7.6 a)
|a|rms = 0.06g
Thus the safe exposure acceleration over the given frequency range is
√
|a| = 2|a|rms = 0.0849g

The displacement is
|a| 0.0849g
A=
=
ω2 ω2
Since 8π ≤ ω ≤ 16π, the displacement over the given frequency range is
0.0849g 0.0849g
2
≤A≤
256π 64π 2
or
(3.3602 × 10−5)g ≤ A ≤ (1.3441 × 10−4 )g
b)
|a|rms = 0.013g
Thus the reduced comfort acceleration over the given frequency range is
√
|a| = 2|a|rms = 0.0183g

The displacement is
|a| 0.0183g
2
A=
=
ω ω2
Since 8π ≤ ω ≤ 16π, the displacement over the given frequency range is
0.0183g 0.0183g
2
≤A≤
256π 64π 2
or
(7 × 10−6 )g ≤ A ≤ (2.9 × 10−5 )g

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Problem 7.7 From Table 4.1-2 or Table 7.3-1,
kX 1
=p
F0 (1 − r2)2 + (2ζr)2

We are given that m = 20, c = 180, k = 800, and F0 = 10ω 2 = 10(2π)2 = 40π 2. Then
ω 2π
r= =p = 0.9935
ωn 800/20

180
ζ= p = 0.7115
2 20(800)
Thus X = 0.349. Also
2ζr
φ = − tan−1 = −1.56
1 − r2
and the steady state response is

xss (t) = 0.349 sin(2πt − 1.56)

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Problem 7.8 We are given that R = 0.025 m, L = 0.1 m, and ω = 1000(2π)/60 = 100π/3.
From Equation (7.2-3),  
R
ẍp = Rω 2 cos ωt + cos 2ωt
L
The plot follows. The MATLAB code to generate the plot is the following.

R = 0.025; L = 0.1; om = 100*pi/3;

period = 2*pi/om;
t = linspace(0,3*period, 500);
accel = R*om^2*(cos(om*t)+(R/L)*cos(2*om*t));
plot(t,accel),grid, xlabel(’t (s)’),ylabel(’Acceleration (m/s^2)’)

400

300

200
Acceleration (m/s )
2

100

−100

−200

−300
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18
t (s)

Figure : For Problem 7.8

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Problem 7.9
Ft 1
= 0.1 = 2
F r −1
which gives r2 = 11. Thus

mω 2 30(40π)2
k= = = 4.3067 × 104 N/m
r2 11

F 1 1000 1
X= 2
= 4
= 2.322 × 10−3 m
k |1 − r | 4.3067 × 10 |1 − 11|

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Problem 7.10 s
Ft 1 + (0.2r)2
= 0.1 =
F (1 − r2)2 + (0.2r)2
This gives
r4 − 5.96r2 − 99 = 0
or r2 = 13.3665 and r2 = −7.4066. Taking the former solution we have

mω 2 40(6π)2
k= = = 1063.3 N/m
r2 13.3665
Thus √ q
c = 2ζ mk = 2(0.1) 40(1063.3) = 41.246 N · m/s

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Problem 7.11
Ft 1
= 0.2 = 2
F r −1
which gives r2 = 6. Thus

mω 2 100(50π/3)2
k= = = 4.5693 × 104 N/m
r2 6
The static deflection is
mg 100(9.81)
∆= = = 0.02147 m
k 4.5693 × 104

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Problem 7.12
Ft 1
= 0.2 = 2
F r −1
which gives r2 = 6. Thus

mω 2 250(90π/3)2
k= = = 3.701 × 105 N/m
r2 6
The static deflection is
mg 250(9.81)
∆= = = 6.663 × 10−3 m
k 3.701 × 105

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Problem 7.13
Ft 3000 1 1
= = = 2
F 21 000 7 r −1
Thus r2 = 8 and
mω 2 m(30π)2
k= = = 1110.3m N/m
r2 8
where m is the machine mass in kilograms.

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Problem 7.14 We are given that M = 400, mR = 0.5 and ωR = 2π(900)/60 = 30π rad/s.
The transmitted force is
s s
2 1 + 4ζ 2 r2 1 + 4ζ 2 r2
Ft = mRωR = 450π 2
(1 − r2)2 + 4ζ 2 r2 (1 − r2)2 + 4ζ 2 r2

where
900π 2
r2 =
k/M
Using one isolator, k = 6 × 106 and ζ = 0.2. Plotting Ft versus M for M ≥ 400 shows
that Ft is always greater than 9000 N. So we must try using two isolators.
For two identical isolators in series, the equivalent stiffness is k = (6 × 106)/2 = 3 × 106
and the equivalent damping ratio is ζ = (0.2)/2 = 0.1. Using these values and plotting Ft
versus M for M ≥ 400 shows that Ft is always less than 5000 N if M ≥ 634. So we use two
isolators in series and add 234 kg to the mass.

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Problem 7.15 s
Ft 1 + (0.04r)2
= 0.2 =
F (1 − r2 )2 + (0.04r)2
This gives
4r4 − 22.7456r2 − 96 = 0
or r2 = 8.507 and r2 = −2.821. Taking the former solution we have

mω 2 50(100π/3)2
k= = = 6.4454 × 104 N/m
r2 8.507

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Problem 7.16 The operating frequency range in rad/s is
100π 200π
≤ ωR ≤
3 3
or
104.7 ≤ ωR ≤ 209.4
The desired transmissibility ratio is
s
Ft 1 + 4ζ 2 r2
Tr = = 1 − 0.8 = 0.2 =
F0 (1 − r2)2 + 4ζ 2 r2

where
2
ωR
r2 =
k/m
With m = 200, k = 106, and ζ = 0.02, the transmissibility ratio is greater than 0.2 for
ωR < 141 rad/s. So we must add mass.
Trying increasing values of m and plotting Tr versus ωR , we find that m must be at
least 550 kg, so we must add 350 kg to the original mass.

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Problem 7.17
Ft 200 1
2 = 2 = 2
mRωR 0.1ωR r −1
Thus
2
0.1ωR
r2 = 1 +
200
Also
2 2 2
ωR ωR 500ωR
r2 = = =
ωn2 k/m k
For ωR = 20π, we have
0.1(20π)2
r2 = 1 + = 2.974
200
and
500(20π)2
k= = 6.637 × 105 N/m
2.974
For ωR = 80π/3,
0.1(80π/3)2
r2 = 1 + = 4.509
200
and
500(20π)2
k= = 7.7826 × 105 N/m
4.509
So choose k = 7.7826 × 105 N/m.

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Problem 7.18 Since we neglect damping, the basic equation becomes

mR r2 mR r2
X= p =
M (1 − r2 )2 + 4ζ 2 r2 M |1 − r2|

We are given that mR = 5(0.4 × 10−3) = 0.002 and ωR = 2π(3500)/60 = 750π/6 rad/s.
The beam mass and beam stiffness are given by

mbeam = ρV = 7800(0.16)(0.12)(0.01) = 1.4976 kg

Ewh3 2 × 1011(0.12)(0.01)3
k= = = 1.4648 × 106 N/m
4L3 4(0.16)3
The total effective mass is

M = 0.23mbeam + 10 = 10.344 kg

Therefore s
k
ωn = = 376.3
M
and
750π/6
r= = 1.044
376.3
Thus
X = 2.34 × 10−3 m

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Problem 7.19
Ft 1
= 0.1 = 2
F r −1
which gives r2 = 11. Thus

mω 2 3(400π/3)2
k= = = 4.7853 × 104 N/m
r2 11

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Problem 7.20
200π
ωR =
3
2
mRωR = 250
250
mR = = 0.0057
(200π/3)2
a)
(200π/3)2
r2 = = 0.2924
3 × 107/200
Since M = 200 and ζ = 0.1,

mR r2
X= p = 1.2 × 10−5 m
M (1 − r2)2 + (2ζr)2

b) s
2 1 + 0.04r2
Ft = mRωR = 274 N
(1 − r2 )2 + 0.04r2

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Problem 7.21 This problem is similar to Example 7.3-5. We are given that mR = 1.3 and
ωR = 2π(1750)/60 = 175π/3. Thus
2
mRωR = 4.3659 × 104

Since we neglect damping,

2
mRωR 1 mR r2
X= =
k |1 − r2 | M |1 − r2 |

With M = m = 500 and X = 0.006, we obtain

1.3 r2
0.006
500 |1 − r2 |

Assuming that r2 > 1, this gives

0.006(500)(r2 − 1) = 1.3r2

whose solution is r2 = 1.7647. Thus

2
ωR
ωn2 = = 19 031
r2
and thus
k = 19 031(500) = 9.5155 × 106 N/m
From the formula for the beam stiffness,

64kL3 64(9.5155 × 106 )(0.15)3

d4 = = = 10−6
3πE 3π(2 × 1011)

and thus d = 0.0323 m.

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Problem 7.22
t1 0.2
= =1
Tn Tn
Tn = 0.2
2π
ωn = = 10π
0.2
k = mωn2 = 75(10π)2 = 7.4022 × 104 N/m

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Problem 7.23 The given data is
f (Hz) X (mm) f (Hz) X (mm)
0.2 1 3.8 13
1 2 4 11
2 4 5 8
2.6 12 6 7
2.8 18 7 6
3 25 8 6
3.4 18 9 6
3.6 15 10 5
2
The equation of motion is M ẍ + cẋ + kx = mRωR sin ωR t. The frequency transfer
function for this system, with X normalized by M/mR is
MX r2
=p (1)
mR (1 − r2)2 + (2ζr)2
where s
k
r = ωR /ωn ωn =
M
The raw data is plotted in Figure 7.23a, where the frequency data has been converted
to rad/sec and the displacement data has been converted to meters. From this plot we
estimate that the resonant frequency is 19 rad/sec. Assuming that the damping is small
enough so that the resonant frequency is close to ωn , we estimate that ωn = 19, and thus
k = M ωn2 = 100(192) = 36 100 N/m.
0.025

0.02

0.015
X (m)

0.01

0.005

0
0 10 20 30 40 50 60 70
ω = 2π f (rad/s)

Figure : 7.23a

(continued on the next page)

(Problem 7.23 continued)
Next, normalize the frequency data to find r: r = ωR /19. To plot the normalized
displacement M X/mR vs. r, we need to estimate mR. To do this we need to plot the data
and the theoretical curve from (1), and this requires estimates of ζ and mR. Figure 7.23b
shows the results of several attempts, using different values of mR and ζ. The estimates
mR = 0.5 and ζ = 0.1 give a good fit to the data. √ p
With ζ = 0.1 and k = 36 100, we obtain c = 2ζ M k = 2(0.1) 100(36100) = 380
N·s/m.

4
MX/mR

0
0 0.5 1 1.5 2 2.5 3 3.5
r

Figure : 7.23b

(continued on the next page)

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(Problem 7.23 continued)
b) From Table 7.3-1
s
Ft 1 + 4ζ 2r2
Tr = 2 = (2)
mRωR (1 − r2 )2 + 4ζ 2r2

Using the values of ζ = 0.1 and ωn = 19 from part (a), we obtain r = 2π(6)/ωn =
2π(6)/19 = 1.9842. Substituting r = 1.9842 into (2) gives Ft /F = 0.363, or 36.3%.
c) If we neglect damping, we can compute r as follows.

1 + Tr 1 + 0.1
r2 = = = 11
Tr 0.1
Thus !2
2 2π(6)
r = p = 11
k/100
p
This gives k = 12 920 N/m and ζ = 380/2 100(12 920) = 0.1672. Substituting these
values into (2) gives Tr = 0.1484, which is higher than desired. So we iterate using lower
values of k until Tr = 0.1. Thus occurs when k = 3000 N/m. Thus the stiffness must be
decreased, not increased.
If this is not possible, we can try changing the damping. However, to obtain Tr = 0.1
with k = 36 100 requires that ζ 2 = −0.0586, which means that ζ must be imaginary!

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Problem 7.24
3500(2π) 350π
ω= =
60 3
Y = 3 × 10−3 ζ = 0.02
s
1 + (2ζr)2
|ẍ| = ω 2|x| = ω 2 Y
(1 − r2)2 + (2ζr)2
 2 s
350π −3 1 + (0.04r)2
4(9.81) = 3 × 10
3 (1 − r2)2 + (0.04r)2
This gives
r4 − 2.16717r2 − 104.48 = 0
Thus r2 = 11.3624 and r2 = −9.1952. Choosing the former solution, we have

mω 2 15(350π/3)2
k= = = 1.7734 × 105 N/m
r2 11.3624

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Problem 7.25 We are given that m = 50 and ω = 2π(1500)/60 = 50π. The specified
transmissibility is the displacement transmissibility, so that we require Tr = X/Y ≤ 0.25.
Choosing isolator A and assuming its damping ratio to be 0.02, Equation (7.4-6) gives
s
X 1 + (0.04r)2
= = 0.25
Y (1 − r2)2 + (0.04r)2

Squaring both sides and collecting terms, we obtain

r4 − 2.024r2 − 15 = 0

The positive solution for r2 is r2 = 5.015, which gives r = 2.394.

Therefore, the natural frequency of the isolated system must be
50π
ωn = = 65.6139 rad/s
2.394
The static deflection will be
g 9.81
δ= 2
= = 2.28 mm
ωn 4305

Because we are using four isolators, the static load on each isolator (due to the weight of
the instrument) will be 50(9.81)/4 = 122.6 N. The graph for isolator A shows that the
isolator deflection for a load of 122.6 N will be approximately 4.5 mm. The safe static load
for this isolator, however, 150 N. So we should mount the instrument on a block weighing
4(150 − 122.6) = 110 N.

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Problem 7.26 From Example 7.4-1 the static load on each isolator is 98 N. From the curve
for isolator B the safe static load is 250 N. So we can mount the instrument on a block
weighing 4(250 − 98) = 608 N.

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Problem 7.27
16Ewh3 16(1.38 × 1010)(200 × 10−3 )(1.6 × 10−3 )3
k= = = 1.1038 × 104 N/m
L3 (254 × 10−3 )3

The effective mass is

me = 0.375(0.6) = 0.225 kg
and the natural frequency is
s
1.1038 × 104
ωn = = 221.5 rad/s
0.225

Also
60(2π)
r= = 1.702
221.5
and
1
Tr = = 0.527
|1 − r2 |

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Problem 7.28 We are given that
0.6
mboard = 0.6 and mchassis = = 0.06
10
Thus m = 0.66. We are also given that Tr = 0.25 and ω = 2π(60) = 120π. Choosing
ζ = 0.02, we have s
1 + 16 × 10−4 r2
Tr = 0.25 =
(1 − r2)2 + 16 × 10−4 r2
This becomes
r4 − 2.024r2 − 15 = 0
which gives r2 = 5.015 and r2 = −2.99.
Therefore
mω 2 0.66(120π)2
k2 = 2 = = 1.8704 × 104 N/m
r 5.015
and p
c = 2ζ mk2 = 4.444 N · s/m
Other values are possible by choosing different values for ζ.

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Problem 7.29 Use the following values:

k1 = 1.1038 × 104 k2 = 1.8704 × 104

m1 = 0.375(0.6) = 0.225 m2 = 0.06 c = 4.444

Substituting s = 120πi into the expression for the transfer function X1(s)/Y (s) given on
page 458, we obtain  
 X1(120πi) 
 
 Y (120πi)  = 0.3655

Thus the transmissibility is 36.55%. This calculation is done easily in MATLAB, as shown
by the following program

k1 = 1.1038e+4;k2 = 1.8704e+4;c = 4.444;

m1 = 0.225;m2 = 0.06;
s = 120*pi*i;
sys = tf(k1*[c,k2],[m1*m2,m1*c,m1*k1+m1*k2+m2*k1,c*k1,k1*k2]);
T = abs(freqresp(sys,s))

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Problem 7.30 m = 25 and t1 = 0.05, so from Figure 7.4-9 with ζ = 0, we have
t1
= 0.25
Tn
Thus
t1 0.05
Tn = = = 0.2
0.25 0.25
Thus
2π
ωn = = 10π
Tn
and
k = mωn2 = 25(10π)2 = 2.4674 × 104 N/m

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Problem 7.31
ω = 2π(3.5) = 21.99 rad/s
Thus s
k2
ωn2 = = 21.99
m2
and
k2 k2
m2 = 2
=
(21.99) 483.6
Also,
F 18
= = 2.5 × 10−2
k2 k2
and
18
k2 = = 720 N/m
2.5 × 10−2
Therefore
720
m2 = = 1.489 kg
483.6

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Problem 7.32 The stiffness k1 is
2
k1 = m1 ωn1 = 16(2π)2(4.5)2 = 12 791 N/m

Also
1.489 21.99
µ= = 0.0931 b= = 0.7778
16 9π
From (7.5-12): p
r2 = 1 + µ = 1.0455
From (7.5-13)
0.60497r24 − 2.6613r22 + 2 = 0
whose solutions are
r2 = 1.854, 0.9807
Since ω = 21.99r2, these solutions correspond to input frequencies of

ω = 21.566, 22.991, 40.769 rad/sec

The first two frequencies define the effective frequency range of the absorber, which is
21.566 ≤ ω ≤ 22.991 rad/sec. Since we are discussing the sensitivity of the design to
changes in the forcing frequency from its nominal value, the third solution, ω = 40.769, is
not needed for this analysis.

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Problem 7.33 We are given M = 8 kg, m = 4 kg, R = 3×104 m, and ωR = 3500(2π)/60 =
366.5 rad/sec. Thus the unbalance force amplitude is
2
mRωR = 4(3 × 10−4 )(366.5)2 = 161.9 N

The beam stiffness is

Ewh3 2 × 1011(0.1)(0.01)3
k= = = 1.4815 × 106N/m
4L3 4(0.15)3

The beam mass is m = ρV = 7800(0.15)(0.1)(0.01) = 1.17 kg.

The first design equation for the absorber is r2 = 1, or
ωR 366.5
r2 = =p =1
ωn2 k2/m2

This implies that k2 /m2 = (366.5)2. The second design equation is X2 = 0.025/12 m, where

1 161.19
X2 = F = = 0.025
k2 k2
Thus k2 = 161.19/0.025 = 6447 N/m. Substitute this value into the first design equation
to obtain
k2 6447
m2 = 2
= = 0.048 kg
(366.5) (366.5)2

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Problem 7.34
6000(2π)
ω= = 200π rad/s
60
Thus s
k2
ωn2 = = 200π
m2
and
k2
m2 =
(200π)2
Also,
F 240
= = 2 × 10−3
k2 k2
and
240
k2 = = 1.2 × 105 N/m
2 × 10−3
Therefore
1.2 × 105
m2 = = 0.304 kg
(200π)2

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Problem 7.35
200(2π) 20π
ω= = rad/s
60 3
Thus s
k2 20π
ωn2 = =
m2 3
and
k2
m2 =
(20π/3)2
Also,
F 240
= = 2 × 10−3
k2 k2
and
16
k2 = = 640 N/m
2.5 × 10−2
Therefore
640
m2 = = 1.459 kg
(20π/3)2

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 2
Problem 7.36 a) We are given that m1 = 8 kg, ωn = 2π(6) = 12π rad/s, mRωR = 50 N,
ωR = 4(2π) = 8π rad/s, and X2 ≤ 0.1 m. The design equation for the absorber is
s
k2
= ωR = 8π
m2

Thus k2 = 50/0.1 = 500 N/m, and

k2 500
m2 = 2
= = 0.792 kg
(8π) (8π)2

b) We have that k1 = m1 ωn2 = (12π)2m1 = 1421(8) = 11 368 N/m. From (7.5-5),

X1 (iω) 1 1 − r22
T1 (iω) = =  2
F (iω) 11 368 b2r2 − [1 + (1 + µ)b2] r22 + 1

where
ωn2 8π 2
b= = =
ωn1 12π 3
m2 0.792
µ= = = 6.336
m1 8
1 + (1 + µ)b2 = 4.2604
2
The amplitude of F (iω) is mRωR , where r2 = ωR ωn2 = ωR /8π. Thus
2 1 − r2


X1 1 ωR 2
= 4
mR 11368 9 r22 − 4.2604r22 + 1
or  
2
ωR
2
ωR 1−
X1 1 64π 2
=  
mR 11368 4 4
ωR ω2
9 4096π 4 − 4.2004 64πR2 + 1

The plot is shown in Figure 7.36. This plot shows that the effective frequency range is from
approximately 12 rad/s to approximately 72 rad/s, and above approximately 81 rad/s.
(continued on the next page)

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(Problem 7.36 continued)

0.9

0.8

0.7

0.6
X1/mR

0.5

0.4

0.3

0.2

0.1

0
0 10 20 30 40 50 60 70 80 90 100
Forcing frequency ω (rad/s)

Figure : 7.36

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Problem 7.37
ω = 2π(5) = 10π
k2 = m2ω = 100π 2(0.3) = 296 N/m
2

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Problem 7.38 a) The equations of motion are

m1ẍ1 = f − k1 x1 + k2(x2 − x1 ) + c(ẋ2 − ẋ1 )

m2ẍ1 = −k2(x2 − x1 ) − c(ẋ2 − ẋ1 )

The transfer functions are found in the usual way.

X1 (s) m2s2 + cs + k1 + k2
=
F (s) D(s)

X2(s) cs + k2
=
F (s) D(s)
where
D(s) = (m1s2 + cs + k1 + k2 )(m2s2 + cs + k2) − (cs + k2)2
The following MATLAB program can be used to obtain the response plots shown in Figure
7.38a.

m1 = 7.3;m2=1.46;k1=3391;k2=520;
c=45;
D1=[m1,c,k1+k2];
D2=[m2,c,k2];
D3=[c,k2];
D = conv(D1,D2)-[0,0,conv(D3,D3)];
sys1=tf(D2,D);
sys2=tf(D3,D);
dt=1/300;
t=[0:dt:6/3];
f=13*sin(6*pi*t);
[x1,t]=lsim(sys1,f,t);
[x2,t]=lsim(sys2,f,t);

The effect of the damping is to cause the produce a transient response that eventually
disappears, leaving the steady state response at a single frequency, the forcing frequency.
With no damping, the steady state response has three harmonic components: the two
natural frequencies and the forcing frequency.
(continued on the next page)

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(Problem 7.38 continued)

0.03
c = 45 c=0
0.02

0.01

0
x (m)
1

−0.01

−0.02

−0.03

−0.04
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
t (s)

0.05
c=0
c = 45
x (m)

0
2

−0.05
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
t (s)

Figure : For Problem 7.38a

(continued on the next page)

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(Problem 7.38 continued)
b) Figure 7.38b, which is for c = 45, shows that the response amplitude is larger for the
larger-amplitude forces, as expected.

0.06
F = 22 F = 13
0 0
0.04

0.02
x (m)

0
1

−0.02

−0.04

−0.06
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

0.06

0.04 F = 22 F = 13
0 0

0.02

0
x (m)
2

−0.02

−0.04

−0.06

−0.08
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
t (s)

Figure : For Problem 7.38b

(continued on the next page)

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(Problem 7.38 continued)
c) The absorber was designed for a frequency of 6π, so we would expect that the response
would be greater if the forcing frequency were changed from 6π. Figure 7.38c, which is for
c = 0, shows this to be true.

0.03
ω =6pi ω = 5pi
0.02

0.01
x (m)

0
1

−0.01

−0.02

−0.03
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
t (s)

0.1
ω = 5pi
ω = 6pi
0.05

0
x (m)
2

−0.05

−0.1

−0.15
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
t (s)

Figure : For Problem 7.38c

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Problem 7.39 a) From Newton’s law,

m1ẍ1 = f − kx1 + c(ẋ2 − ẋ1 )

m2 ẍ2 = −c(ẋ2 − ẋ1 )

Transform these equations with zero initial conditions to obtain

(m1s2 + cs + k)X1(s) − csX2 (s) = F (s)

−csX1 (s) + (m2s2 + cs)X2(s) = 0

The solutions obtained with Cramer’s rule are
m2s2 + cs
X1(s) = F (s)
D(s)
cs
X2(s) = F (s)
D(s)
where Cramer’s determinant is
h i
D(s) = s m1 m2s3 + c(m1 + m2 )s2 + (km2 + c2 )s + ck

Then n h i o
D(iω) = ω m1 m2 ω 3 − (m2k + c2)ω + c k − (m1 + m2)ω 2 i
or
D(iω) = ω(A + Bi)
where
A = m1m2 ω 3 − (m2k + c2)ω
B = c(k − (m1 + m2)ω 2 )
Thus
X1(iω) −m2 ω 2 + cωi
=
F (iω) D(iω)
q
 
 X1(iω)  m2 ω 2 + c 2
 = √ 2
 F (iω)  2 2
A +B
(Continued on the next page)

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(Problem 7.39 continued)

X2(iω) cωi
=
F (iω) D(iω)

 
 X2(iω)  c
 
 F (iω)  = √
A2 + B2
b)The design problem here is to select the two parameters m2 and c. Normally m2 is a
fraction of the primary mass m1 , with the ratio µ = m2/m1 = 0.25 being√ a common choice.
The c is selected to give a specified damping ratio ζ such that: c = 2ζ m1 k.
Figure 7.39 shows
p an example for which m1 = k1 = 1, m2 = 0.25, for three values of
ζ, where r = ω/ k1/m1. The results are what you would expect: increasing the damping
reduces the displacement of the main mass. Increasing the damping also limits the motion
of the absorber mass.

3.5

ζ = 0.2
3

2.5

2
kX /F
1

1.5
ζ = 0.5

ζ = 0.9
0.5

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
r

Figure : For Problem 7.39

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Problem 7.40 a) From Newton’s law,

m1 ẍ1 = f − kx1 + k2(x2 − x1 ) + c(ẋ2 − ẋ1)

m2ẍ2 = −k2(x2 − x1 ) − c(ẋ2 − ẋ1 )

Transform these equations with zero initial conditions to obtain

(m1s2 + cs + k1 + k2 )X1(s) − (cs + k2 )X2(s) = F (s)

−(cs + k2)X1(s) + (m2s2 + cs + k2)X2 (s) = 0

The solutions obtained with Cramer’s rule are
m2 s2 + cs + k2
X1(s) = F (s)
D(s)

cs + k2
X2(s) = F (s)
D(s)
where Cramer’s determinant is

D(s) = m1m2 s4 + c(m1 + m2 )s3 + (m2k1 + m2 k2 + m1k2 )s2 + ck1s + k1k2

Then
h i
D(iω) = m1 m2 ω 4 − (m2k1 + m2 k2 + m1k2 )ω 2 + k1 k2 + ck1ω − c(m1 + m2 )ω 3 i

or
D(iω) = A + Bi
where
A = m1 m2 ω 4 − (m2k1 + m2 k2 + m1k2 )ω 3 + k1k2
B = ck1ω − c(m1 + m2)ω 3
Thus
X1 (iω) −m2 ω 2 + k2 + cωi
=
F (iω) D(iω)
  p
 X1(iω)  (k2 − m2ω 2 )2 + c2ω 2
  √
 F (iω)  = 2 2
A +B

(continued on the next page)

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(Problem 7.40 continued)

X2 (iω) k2 + cωi
=
F (iω) D(iω)
q
 
 X2(iω)  k 2 + c2 ω 2
 = √2
 F (iω)  2 2
A +B
b) This is a difficult design problem because three parameters must be chosen: m2, k2,
and c. Normally m2 is a fraction of the primary mass m1 , with the ratio µ = m2/m1 = 0.25
being a common choice. Often k2 is selected according to k2 = µβk1 , with β = 1 being
a common choice. √The c is selected to give a specified damping ratio ζ for the absorber
subsystem: c = 2ζ m2 k2.
Figure 7.40a shows
p an example for which m1 = k1 = 1, m2 = k2 = 0.25, for three values
of ζ, where r = ω/ k1/m1 . The results are counterintuitive because one would expect that
increasing damping would reduce the displacement of the main mass. However, increasing
the damping can sometimes limit the motion of the absorber mass, but if the damping is
increased too much, the absorber motion can increase, as shown in Figure 7.40b.

2.5

ζ = 0.9
2

1.5
k X /F
1 1

ζ = 0.2

0.5
ζ=0

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
r

Figure : For Problem 7.40a

(continued on the next page)

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(Problem 7.40 continued)

ζ=0
5

4
X /F

3
2

ζ = 0.9

1 ζ = 0.2

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
r

Figure : For Problem 7.40b

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Problem 7.41 The equation of motion with the controller is

125ẍ + (5000 + KD )ẋ + (7 × 106 + KP )x = 100 sin ωt

where ω = 2500(2π)/60 = 261.8. It is desired that

s
7 × 106 + KP
ωn = 100 =
125

which gives KP = (1.25)2 × 108 − 7 × 106 = 1.4925 × 108 N/m.

Also
5000 + KD
ζ= p = 0.5
2 125[(125)2 × 108]
√
This gives KD = 6.25 5 × 104 − 5000 = 1.3475 × 105 N·s/m.
Substituting these values into the equation of motion and simplifying, we obtain
√
ẍ + 500 5ẋ + 1.25 × 106x = 0.8 sin ωt

The steady state amplitude is

0.8
X(ω) =  √ 
−ω 2 + 1.25 × 106 + 500 5ωi

The actuator force is f = −KP x − KD ẋ. So at steady state

q
F (ω) = |KP + KD ωi|X(ω) = X(ω) KP2 + (KD ω)2

At ω = 261.8 rad/s, the amplitude of the displacement is X = 6.5726 × 10−7 m, and the
actuator force is
F (261.8) = 100.7987 N

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Problem 7.42 From the given information, the stiffness is

k = mωn2 = 20(13.2)2 = 3485

and the damping is q

c = 2(0.28) 20(3485) = 147.8
It is desired that ωn = 141. Thus
s
k + KP
ωn = 141 =
20

and
KP = (141)220 − k = 3.9414 × 105 N/m
The damping ratio is
c + KD
ζ= p = 0.707
2 20(k + KP )
which gives q
KD = 2(0.707) 20(k + KP ) = 3987 N · s/m

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Problem 7.43 Assuming that xs , xw , and xr are measured from the equilibrium positions,
the equation of motion for the sprung mass is

ms ẍs = c(ẋw − ẋs ) + ks (xw − xs ) + f

where f is the actuator force. Since we are neglecting the tire mass, a force balance at that
point gives
mw ẍw = 0 = kt(xr − xw ) − ks (xw − xs ) − c(ẋw − ẋs ) − f
The actuator force is
f = −Kp (xs − xw ) − KD (ẋs − ẋw )
Taking the Laplace transform of these equations, using zero initial conditions, eliminat-
ing the variables f and xw , and reverting back to the time domain, we obtain

d 3 xs d 2 xs dxs
ms (c + KD ) + ms (ks + kt + KP ) + kt(c + KD ) + kt(ks + KP )xs
dt3 dt 2 dt
dxr
= kt (c + KD ) + kt(ks + KP )xr
dt

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Problem 7.44 First create the following function file. Note that the program uses the
nondimensional time scale T = t/tn , so the triangle input ends at t = 1.

function [f, t] = triangle(t_max)

ta = [0:0.001:0.5];
tb = [0.501:0.001:1];
tc = [1.001:0.001:t_max];
fa = 2*ta;
fb = ones(size(tb)) - 2*ta(:,1:500);
fc = zeros(size(tc));
t = [ta, tb, tc];
f = [fa, fb, fc];

Then modify the program shown on page 476 by replacing [f, t] = modified_ramp(T_max);
with [f, t] = triangle(t_max);. The program produces the following plot (which has
been edited to add the ζ values. Since this program is computationally intensive, you may
need to wait a while before the plot appears on the screen (depending on the speed of your
computer).

1.6
ζ=0

1.4

ζ = 0.2
1.2

ζ = 0.7
max o
/F

0.8
kx

ζ=1
0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3 3.5 4
t /T
1 n

Figure : For Problem 7.44

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Problem 7.45 First create the following function file. Note that the program uses the
nondimensional time scale T = t/tn , so the pulse input ends at t = 1.

function [f, t] = rect_pulse(t_max)

ta = [0:0.001:1];
tb = [1.001:0.001:t_max];
fa = ones(size(ta));
fb = zeros(size(tb));
t = [ta, tb];
f = [fa, fb];

Then modify the program shown on page 476 by replacing [f, t] = modified_ramp(T_max);
with [f, t] = rect_pulse(t_max);. The program produces the following plot (which has
been edited to add the ζ values. Since this program is computationally intensive, you may
need to wait a while before the plot appears on the screen (depending on the speed of your
computer).

2.5

ζ=0
2

ζ = 0.2

1.5
max o
/F

ζ = 0.7
kx

ζ=1

0.5

0
0 0.5 1 1.5 2 2.5 3 3.5 4
t1/Tn

Figure : For Problem 7.45

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Problem 7.46 First create the following function file. Note that the program uses the
nondimensional time scale T = t/tn , so the pulse input ends at t = 1.

function [f, t] = half_triangle(t_max)

ta = [0:0.001:1];
tb = [1.001:0.001:t_max];
fa = ones(size(ta))-ta;
fb = zeros(size(tb));
t = [ta, tb];
f = [fa, fb];

Then modify the program shown on page 476 by replacing [f, t] = modified_ramp(T_max);
with [f, t] = half_triangle(t_max);. The program produces the following plot (which
has been edited to add the ζ values. Since this program is computationally intensive, you
may need to wait a while before the plot appears on the screen (depending on the speed of
your computer).

1.8
ζ=0

1.6

1.4 ζ = 0.2

1.2
kxmax/Fo

1
ζ =0.7

0.8

ζ=1
0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3 3.5 4
t /T
1 n

Figure : For Problem 7.46

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or instructional purposes only to students enrolled in courses for which the textbook has been adopted. Any
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United States Copyright Act without the permission of the copyright owner is unlawful.
Problem 7.47 The model is
mẍ + cẋ + kx = f (t)
where the force transmitted to the base is

ft = cẋ + kx

Following the same procedure as on pages 446-447, we obtain the following non-dimensional
model.
z 0 0 + 4ζπbx0 + 4π 2b2z = 4π 2b2f (T )
ft ζ 0
u= = z +z
F0 πb
where
kx t1
z= b=
F0 Tn
So the transfer function is
U (s) 1 Ft (s) 1 Ft (s) Z(s)
= =
F (s) F0 F (s) F0 Z(s) F (s)

Thus  
ζ
U (s) 4π 2b2 πb s+1
= 2
F (s) s + 4ζπbs + 4π 2b2
Modify the program shown on page 476 by replacing the definition of sys with the
following line:

sys = tf([4*pi^2*b^2[zeta/(pi*b),1],[1,4*pi*zeta*b,4*pi^2*b^2]);

Then change the y axis label to ylabel(’FT_max/F_o’).

(continued on the next page)

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or instructional purposes only to students enrolled in courses for which the textbook has been adopted. Any
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United States Copyright Act without the permission of the copyright owner is unlawful.
(Problem 7.47 continued)
The program produces the following plot (which has been edited to add the ζ values).
Since this program is computationally intensive, you may need to wait a while before the
plot appears on the screen (depending on the speed of your computer).

1.9

1.8

1.7

1.6 ζ = 0.2
FTmax/Fo

1.5

1.4

1.3
ζ = 0.7
1.2

1.1 ζ=1

1
0 0.5 1 1.5 2 2.5 3 3.5 4
t1/Tn

Figure : For Problem 7.47

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or instructional purposes only to students enrolled in courses for which the textbook has been adopted. Any
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United States Copyright Act without the permission of the copyright owner is unlawful.
Problem 7.48 The model is
mẍ + cẋ + kx = f (t)
where the force transmitted to the base is

ft = cẋ + kx

Following the same procedure as on pages 446-447, we obtain the following non-dimensional
model.
z 0 0 + 4ζπbx0 + 4π 2b2z = 4π 2b2f (T )
ft ζ 0
u= = z +z
F0 πb
where
kx t1
z= b=
F0 Tn
So the transfer function is
U (s) 1 Ft (s) 1 Ft (s) Z(s)
= =
F (s) F0 F (s) F0 Z(s) F (s)

Thus  
ζ
U (s) 4π 2b2 πb s+1
= 2
F (s) s + 4ζπbs + 4π 2b2
Modify the program shown on page 476 by replacing the definition of sys with the
following line:

sys = tf([4*pi^2*b^2[zeta/(pi*b),1],[1,4*pi*zeta*b,4*pi^2*b^2]);

Then change the y axis label to ylabel(’FT_max/F_o’).

(continued on the next page)

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or instructional purposes only to students enrolled in courses for which the textbook has been adopted. Any
other reproduction or translation of this work beyond that permitted by Sections 107 or 108 of the 1976
United States Copyright Act without the permission of the copyright owner is unlawful.
(Problem 7.48 continued)
Then modify the program shown on page 476 by replacing [f, t] = modified_ramp(T_max);
with the program [f, t] = half_sine(t_max); given on page 477. The program produces
the following plot (which has been edited to add the ζ values. Since this program is com-
putationally intensive, you may need to wait a while before the plot appears on the screen
(depending on the speed of your computer).

1.8

1.6 ζ=0
ζ = 0.2

1.4

ζ = 0.7
1.2

ζ=1
1
max o
/F
FT

0.8

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3 3.5 4
t1/Tn

Figure : For Problem 7.48

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or instructional purposes only to students enrolled in courses for which the textbook has been adopted. Any
other reproduction or translation of this work beyond that permitted by Sections 107 or 108 of the 1976
United States Copyright Act without the permission of the copyright owner is unlawful.
Problem 7.49 The model is

mẍ + cẋ + kx = cẏ + ky

Following the same procedure as on pages 446-447, we obtain the following non-dimensional
model.
z 0 0 + 4ζπbx0 + 4π 2b2 z = 4ζπbu0 + 4π 2b2u
where
x y
z= u=
Y0 Y0
t1
b=
Tn
So the transfer function is
Z(s) 4ζπbs + 4π 2b2
= 2
U (s) s + 4ζπbs + 4π 2b2

(continued on the next page)

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or instructional purposes only to students enrolled in courses for which the textbook has been adopted. Any
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United States Copyright Act without the permission of the copyright owner is unlawful.
(Problem 7.49 continued)
Modify the program shown on page 476 by replacing the definition of sys with the
following line:

sys = tf([4*zeta*pi*b,4*(pi^2)*(b^2)],[1,4*pi*zeta*b,4*pi^2*b^2]);

Then change the y axis label to ylabel(’x_max/Y_o’).

The program produces the plot shown in the following figure (which has been edited to
add the ζ values). Since this program is computationally intensive, you may need to wait
a while before the plot appears on the screen (depending on the speed of your computer).

1.9

ζ=0
1.8

1.7

1.6 ζ = 0.2
max o
/Y

1.5
x

1.4

1.3
ζ = 0.7
1.2

1.1
ζ=1

1
0 0.5 1 1.5 2 2.5 3 3.5 4
t1/Tn

Figure : For Problem 7.49

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or instructional purposes only to students enrolled in courses for which the textbook has been adopted. Any
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United States Copyright Act without the permission of the copyright owner is unlawful.
Problem 7.50 The model is

mẍ + cẋ + kx = cẏ + ky

Following the same procedure as on pages 446-447, we obtain the following non-dimensional
model.
z 0 0 + 4ζπbx0 + 4π 2b2 z = 4ζπbu0 + 4π 2b2u
where
x y
z= u=
Y0 Y0
t1
b=
Tn
So the transfer function is
Z(s) 4ζπbs + 4π 2b2
= 2
U (s) s + 4ζπbs + 4π 2b2
Modify the program shown on page 476 by replacing [f, t] = modified_ramp(T_max);
with [f, t] = half_sine(t_max);, where the function half_sine(t_max) is given on page
477. Then replace the definition of sys with the following line:

sys = tf([4*zeta*pi*b,4*(pi^2)*(b^2)],[1,4*pi*zeta*b,4*pi^2*b^2]);

Then change the y axis label to ylabel(’x_max/Y_o’).

The program produces the plot shown in Figure 7.4-9 (which has been edited to add the
ζ values). Since this program is computationally intensive, you may need to wait a while
before the plot appears on the screen (depending on the speed of your computer).

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or instructional purposes only to students enrolled in courses for which the textbook has been adopted. Any
other reproduction or translation of this work beyond that permitted by Sections 107 or 108 of the 1976
United States Copyright Act without the permission of the copyright owner is unlawful.