Chapter 3 Harmonically Excited Vibration 0425 mm Fog 70015 m + (c) a= JE = on = 28-0145 rad/sec ae = 6 Hz = 37-6992 rad/tec X= Se =z Eel 0.015 |—737-6592| = 0-0185 m s=( a iro ea | = 5 sec n= * Bw (4o0-39-9) K= 4000 N/m, m= 10 4g, F(t)= 400 cosiot N = 400N, wee tad/s n= [B= 20 rad/s, Got Beos <4 Response is given by Eg. (3.9): e F, x@)= (*e- paw) cos wt + (Fe Re -) in 8, t+ Papert (@) x, 20-1, x, 20: 1) Eq: (E+!) becomes 0 =f ee }eos2ot + 4° cos sot 4000 = 10(100), 4000 -10(t00) F = 06033333 cos got 40-/33333 cos lot (€-2) (6) x,=0, %,= 10; Eg, €-1) becomes Sige ese lo 5, x= fo Goce (ronp cf 2et + 22 sin zoe Se ee tot {000 tele) = = 0-133333 cos 2ot 4045 sin got + 0-133333 cos lot 145 ey@ Se = Re Fee = 0-025 m Steady state solution ot resonance = x(t) = SH Ort ines t ‘ = 000625 Wat Sint om Gat end of cycle, cost=E and x(t) = 000625(E)sinZ (Boat end of 2 cycles, wt st and X(t) = 0:00625(51) sin 57 (C) at end of 52 cycler, wyt= tt and 009817 ° x(t)= 0-00625( 3m) sin 2377 = — 0.2258 m Sse = Bs He Loos m Coes '-¢ |= See [-@y ri a @, = ahs B= Ys = SOM /.5 = 20.944 rad/ec m= 4/3) = 4000/(60.944)? = 9.1199 fa VFe = [ 50007." = 22.3607 rad/tee Fife = 250/s000 = 0.05 m a = 3, 7 fi le z peace adic: ott) = 15-814 rad/sec 149637) 1= Z (14 ~ 0.099 = 1.68812 x 10* m* ABET _ 48 (200 x 10°)(1.68812 x 10: BE. B00 10). 68612 10") 97181 x 108 Nim é (250 x 10 LS ir m = 200 kg; ©, = Ve 72.01328 rad/see m Eccentricity = r = 5 em, eccentric mass = my = 0.2 kg Radial force due to eccentric mass at resonance = F, = my r o? = (0.2) (5 x 10) (72,01323)? = 51.85905 N Let x (t) = radial displacement of turbine At resonance, Eq. (3.15) gives, for x = x x(t) 5 5,0, tsinw, t Ry _ __51.85905 k 1.087181 x 10'° To activate limit switch, x (t) = 1 em and hence where 6, = = 50x 10° m 102 e (60 x 10-6) (72.01323) t sin 72.01823¢ ie, t sin 72.01328t = 6.554535(E,) Eq. (B)) is solved by trial and error (assuming values of t = 10, 9, 8 7, 6, etc.) t = 6.9058 sec Tip mass = 0.05 kg = mg T= 4 (05 x 10°(0.125 x 109 = 6.138021 x 10-8 SEI _ 3(200 x 10°) (8.138021 x 107) k=l es é (0.25)* 81.25 Nim '800 x (0.25 x (0.5 x 10-%) x (0.125 x 10-%)) = 12.1875 x 10-3 kg : = on eae dis ~ (0.05 + 00121875) ~~~" nd 154x_{_1+@ypt_|F Y (l-1*) + yn? 6.25 1+@xo0r? |? ie, 2? =50= {| * 0.125 G-ry +(x 0.01n? or rf — 1,9996r? + 0.9996 = 0 o — = 0.9999 Oy © = 0.9999 @, = 22.41456 rad/sec hoe Lb vnke ” F(t) Equation of motion for rotational motion about the hinge O: (Jo +M 6) 8 + (ky a? + kp b?) O= F(t) C= Fy Csin wt (@) Steady state response (using Eqs. (3.3) and (3.8)): 6,(t) =Osin wt (2) Foé where O= THD) GMA ® and = Be am(fpaine « ween = 104.72 rad/sec, For given data, Jp = i (10) (12) = 3.3333 kg—m?, w = and 6 =—___ 500) __ 8g srg (10) rad 5000 (0.25? + 0.5*) — (3.3333 + 50 (17) (104.72) 155Equation of motion for rotation about O: : ae £_, 03¢ Be é Jo S54 Mp cos wt he, sis fpveon 8=Mp cos wt 1 fy _7 7 rhe ae —} = — mf = — 2) = 14 —m? where Jp ne +m (7) g™ a (10) (1?) 1583 kg—m' and w = 1000 rpm = 104.72 rad/see. Steady state solution ist Gy(t) = © cos wt where e-__™ 100 SkA—syuF 5000 (3) (7) = 1.4888 (104.728) = — 0.007772 rad @ ‘k= 4000 N/m, m= 10 9, C= 40 N-S/m, F(t)= 200 cos wt, F,= 200 N, w= 10 rad/s, xX =0-1 m, x =0 ae . 200 a= IE = to rad/s» 3, = CL * Ke (SV, tem) = (40/2 fgooetey ) = “> wr Gn = |1- (oy (20) = 19-999749 rad/s re Gi, = 5 = 08 X= by, (-0*)*+@5r)? = ee / f (057)? + (ondle-5))* Fe = 0066082 m = tan! (35) = tan! (221433 ) = 0132552 rad Steady state Tesponse, Ep. (3-25): *p(t) = X cos(ot—g) = 0066082 cos (ot — 0132552) m Total response, Eg. (3:35) + 156mea es (it - dy + Xeslot-s) (En) Using the initial conditions x, and %,, Eg.(-!) gives He Xe ge Kew C2) Or Re A doz Xo Kos Ce) Hy =~ FOn Koos gp, + Wj Xo sing + WX Sing -4) or , eee Xo Sin Ao = a ft JW, Ko Sh, — UX sin +} 5) For known values, Egs.(E-3) ond (e-5) yield Xq cos f= 0-034498 » Xo sin gd, = - 0000922 Hence 7 . Ror fK &F A)’ + (x, sin ey J? = oo345lo #,= taw! (Xesinfo\ ~ _ 5.026710 Xe Cos Po Thus the total response, Eg, (€-1)» will be X(t)= 0034510 et! cos (1.899741 € +0-026710) + 0066082 cos (lot — 0-132552) m (e-6) &@) fez 4000 N/m, M= 10 KG, C= 40 N-S/m 5 F(t) = 200 cos wt, Fos 200N, w= 10 rad/s, x20, x= 10 m/s From solution of Problem 3-21, Teel, Wy = 19899749 rad/s, r= 0-5, Kz 0066082 m, Pe 0-132552 rad %p (t) = 0066082 cos (iet— 0-132552) m Ko tof py = x,- Koos ge = — 01065502 R singee fase FO, Xjco8 oo — 1 X sings fe or4ais.a7 a Xe = {Ky cot He)’+ (%, Sin doy f? = 0495892 $= tan (Xe Sin fo = = 6439320 Ke cos fo 157Total response + ‘ -2 x(E)= O-261I17 © cos (1%. 899749 £ + 16777828) +025 cos (2ot- Fy) m k= 4000 N/m, m= 10 kg, C= 40 N-s/m, F(t) = 200 cos 20t N, Fes 200 N, @= 20 rad/s X20, ky = 10 m/s From solution of Problem 3.23, Jord Wi= 20 rad/s, wy= 19-899749 rad/s ra} Xzo25, p= 7% Mp(e)= 0.25 cos (cot- B) om % 08 fo= Xo- X cord = o- Ko sin f= ay f%e* JO, Kp hd, - 9X sing F 1 = 4 __ freroiwt0+0 - 20 +025 sind } 19 899-747 = 251260 Hence X,= {(&% cosfe) + (X, sin 4)*}t = 0251260 = tag'(%e sin do = KX, cos do Toted response: ) = 1570793 -2t x(t)= 0251260 € cos (19-899749 & — 1570793) +025 cos (2ot-T) m 159where Jp =0.001N—m?,k, = 625 Nem/rad, ¢ = 0.5 Nems/rad, and = a = 250 rad/s. The steady state value of current fo indicated by ammeter = 1.9386 amperes (this shows that the ammeter is not accurate). x ‘ By. (3-34): Xe . 5 | = t (3:34) Se tle, FT tren . 20 Se = 2 5(22-) = cog 5 ,) 4 o By. (3-30): xX ss 5s orzo & Be G2) + (230) &n be. Oroh _ i €:) Be (= 0--75*)* + @ yeo75)* Fgs- (Ei) and (2) give oral 4 0045 — — fongiw+ 225 57 onty + 2-25 T2216 57 te Te ortt8o be zt (@) Eguation of motion of mest ¢, x > mes o($-%) eX - wx tt “\(¥-*) ies mR + Cees) & + yx =e, 9 aecjay sin wot (b) wglt = — (io ¥/ey sin (#t-#) [G-eF + (237)? a1 f2zr, where 12 Wan, T= (ert afry and go tax'(225), (€) steady-state force transmitted to point P: = #2, pt Ge Xp = Gey) fom(st-#) + S22 cos(wt -#} 163(b) Maximum torgue transmitted to the support: M(t) = ky (ty + cy 6(t) = @ wh (wt-2) = % @@ sin (wt- 9) ("max = Gp 8) + (0 a) = {129908 sia) f+ f300 (ae of = 967-2 N-m & Complete solution is x(t) = x, e717 cos (yt+4)+ xX cot (wt - 4) am(3-5) = 29912 vad/sec, Ue 2502 = 15.8114 rad /see = 8 Sy = +e = Ho, = 0.072 m 45 = a = 32 aha. * Feces OM, Tees 21-9912, 158th = 13908 JOn= 225, Y= JTF Ope 15-6505 a Sut . 2.072 Vere Grr? (Gatos?) + (2 x0-¥27 « 13908) ] = 0-07095 m b= tect etry. tact ( p2ast 3953 Tots = 22-9594" x(t)= X, € 4 (15-6505 +H) + 0.07095 cot (21-9712E + 22-9591") = 22st 2st ‘Ain ((5-4505t 48), E(t)= 225K = A (15-6505¢ + gy ~ 15.6505 x, = 21-9912 (0.07095) Aen (21-9912 ¢ + 22-959") x(0) = 0.015 = X GBA, + -0TORS cof 22-959" X wh dg = — 0- 05033 ---- (61) Oss =2-25 Xp AG, = 15-6505 Xo tin Hy 15603 Atm 22-9591" = 0 6086 — 2:25 Xo we 5 X Aim fy = 15-6505, Eps-(€1) and (E,) give X= {€0-05033)*+ (conssnyty = 03547 1 03511 . % = tan’ ( Fb) = tem'(6-9760) = gi. 9423 =- 045i ----(E) 165#) = ae) = Actot ; b= A swot+ B 2 A t . ae) HO) s - Br cet + Bet Be WLLLELELELA Assuming y(0) = He) =0, we get % He) = — Ay corot : Equation of motion: mE + & (Z-¥) ben mee ey e-mF em %(6) = amA cos ot where y= x-% Solution is: =mA ost w= TS “ x(b)= ¥@)+ oe) = (SH es aA cos oot From solution of problem 3.41, loo (2) Sin 2st ot #108 — 2000 For maximum x(t), x(e)= ¢ «Maximum horizontal displacement of Fleer = 0:3339 mm 200 st) ss e Siien ™ z izeo) Sin 25¢ = ~3.339/x10 Sin 25E 170wGi-#) + t(x-z) =-m fom % e) Here ¥(t) = X(t) = Xy swt, and &g- (Er) becomes y+ pe marx, eset with z= 2-¥ Solution is: (4) = mex, wsat xX, r* cos wt k= m o9* ~ ith 25x 108 " = (SFR = is. 24 rad/sec ond r= 0/3, = 200/15. Bua = 12-6431 (ty = 1264917 a (3 —e > Weasit area cos 200 =~ 9.01509 cas 200¢ m (ED = (0) + 204) = fo-015 ws 20ot —lovcisoa| cot ret} m + Amplitude of vibration ef floor = 0:03009 m = 30-09 mm- Time fazen by car to travel one cyele (5m) is Tt. 35x3600 60 x 1000 a a) a Excitation freguency = «9 = 4 = 2.992 vad ec (9, 2W(2) = 12-5664 mad/ec , r= = 02384, T= 0-15 Amplitude of vibration of car is given: by &g.(3-68): x. a+ (2yr)2 YY, ¥ “Gono as. (@) (i-r*}? + (2 3r) 7 2381) te x= ot f AL + (2% 0-15 x 0-2381)' } (A= 0r2381*)* + (2x 0-15 x 0-2384)*, = 0+ 105977 m The most unfavorable speed corresponds to the maximum of % in & (Et). For maximum of % with respect & r, HE 1+ 457 r* ae ee erase en Gt rt-arte gsr (estr 14st )(eriares (14 r4-arts @ ctr)? war (2st 4 rt) 20 be, roo er pts ott vives fe, I.Feasible value of yee cit Vita (ors) = 09586 4 (0-15)* re & He = 09791 7 (= 0-979! (12.5664) = (2+3035 rad/sec = +E = 35% where 7 = 2353600 ot 52 speed of car in km/hr. ge RiR0ES x35 2 te 246-7279 tm/br. Eguations (3-73) and (3-68) give Foe mote meyer 1% : fee + (23r)F W Fro mot T__ ae (ere? \" = 7 =: + (areyt 2 [ 1+ Gry 7% (t-r?)* + (2rryt Ey .(3-75); Met CEH KZ = —m~s may cs wt steady-state solution is: p@) = BOTY es@t~ my) &- ma*)* + Eo)* where gy = tan (SS fe Damping force = ¢ es ~ cos Z sin (wst- 9) Energy fas per fee ty the damper (E)= es ca Be dy = fire Z sin(wt-p,)ff-« Z sin (ats) } dt = Z ws (t-#1) < * [Reet $i) at = Tew Z* Sine Ze me “ay [&-m 0") + CoP Ee f weed (mat) &- mor + ca* For maximum power, dE gE =o 172fee f(e-mea*ecta*} (ro mY) — me wraty (260*) fe- mt + to fF en c= samary, =o Linear displacement of point Q due to @ = se 6 and net compression of spring PQ = $ €9—x(t). Equation of motion: coe £8 3 seta 242 x9] sf (a) where b= pmtrm(tyatm 14 @= 4 (10) (12) = 1.4583 ke—m? Hence Eq, (1) can be rewritten as wis [Fee]o— [Pees] ana () Steady state angular displacement of the bar is given by Eq. (3. 3 5 on[tuea|[ixe v4] (3) - {: (1000) (2) cos] A (1000) (12) — 1.4583 (10%)] = 0.01565 rad and hence 6(t) = © sin wt = 0.01565 sin 10 t rad Equation of motion: 3 oe eae 3¢ 3¢ bene 6 -<£i6y «(Meo 0) $42 a ag a3 ‘ ie, b+ se cF + ke =P kext) q ke xo sinwt @) : where p= ml +m (¢) = Fmt =F (0) () = 14880 ken? 17363) Equation of motion: Mitex+kx=mew sinwt = 200027) — 314.16 rad/see, M = 100 kg, 0.1 m. Steady state response is: w(t) =Xsin (wt = 9 where X= lus Mu? +(c ol = —__ 21 (0.1) Gia) 1st) = 110.9960 (10-*) m 2000 N-s/m, k = 10° N/m, 2 fie ius} + (2000 (314.16))? ‘ and s-u| a tant | 2000 (314.18) k—Ma?|~ "| 10° — 100 (314.167) 63) = spring constant of cantilever beam = — 0.07072 rad = — 4.0520° m 220 Ky ail section Gels mass 2240 9) |! = BED 3(25 x1) EL2 25 MN/m , Y= OAS o Pee = 0-172 x08 N/m ——_ —_ = [A = ferti72 xf mm, +0-25 ™, Top o-25 (240) = 38-2753 rad/sec os 27 (1800)/E0 = 157-08 rad/sec v= Cea, = 157+08/38-2753 = 4-1040 , Forced response is given by Ey. (3-79) Xp(t) = X sin (st - py res 16-9428 where me, x= = (i= teag28y + (2x 0015 4- 1040) = 3-9747 x10 m = 3-9747 mm 176Sen = = MZ _ 380% 9-81 GB fer Hin = AP = tose be, k= 82,840 N/m = [tie =, Pete ue \a.7e48 tadfec 5 = 193-26 " T4640 ee (i) Amplitude a vibration v2 ols 154-0566 G-r*)*4 @yr)" ~ 380 f(isa-0sce)e +0 = 3+9732 x10 -* m (ii) Force transmitted to ground =X = (82040) (3.9732 x10") = 32-3140 N x= Ts 4 (0-5) (0-4)? = o-4167 x ” a ka I2EE L182 (r07 10") (04167 x1") _ 4.3249 x10” N/m ee sy ©) w= JE = [iezarx et 2 420-2856 rad/ec Ws rm(i200)f4 = 125-664 rad/rec te %, = 125-664/ 420. 2956 = 0-299 , r2s 00894 Amplitude of steady-state vibration is given by Gy: (3-30) with ys0: On fe so00 Jre-a] RCP DL Gaz4 Pan )(0- P06) = 0-GI45 110% m x= (by Using the effective mass due to sels weight of beam (for a cantilever) to be valid tere also, [x o, —___ N+ 02387 m where f= mass of motor =75 &9, and me matt of beam = (540.5 xot)( 76:5 410") = 1949. 5373 "y @, = 13-248 x 106 75+ (9495313)(o2357) = 157-4939 rad/tec v= Oy, = 125+ 664/87.4339 = 0-7982 , o-ea7t 3st Fo ee X= TaD 7% [ra] > (3248 x10") (0-3629) = 0400 x 18? m 17Let wid =0:5m and thickness = m. 7 3 re k (os)t ke BEF = a(207K0")( 724) = 2007x108 t? N/m L @ 6, = /—*& "(iat 02357 z where m= mass of beam= (5x05* t)( 19g 95-41 wy a / 207 x! t* ™ 7S + 062357 (19495-41t) ve iw (25-664) [75 + 45t5- core t 2 St Ta : seco _ . 7 75 + 4595 06st t G07 xt 4) f Ces cea) [Uebsseeeert] — 1} fen nots! 4595.069& 74,367 20 By trial and error, the value of £ is found os tz oem: 7 Since this is too large, we can start with o new widtt suchas fo 8 m2 60.91) N, = 2100/69 = 04-72 rad/sec & = 6 (6000) = 36,000 N/m Ym = = 24. rad/sec 0, = Vin" = [reccef gan) = 24.261 rad/s r= Og, = 104-TZ/rqre = 493164 | r?s 18-631 2 x= oT = RES where my= unbalanced mass Pre [renal and = eccentricity ies Me (104-72)* 36000 |17-6311| Usxiw” = 4 mee = 01447 Ky-m unbalance = Wee = mge = orlu47 (P81) = 14195 Nom 178A helical spring with stiffness 8 x 10° N/m 6) Compressor weight 5000 N operating at 1500 rpm another with a stiffness of 2.5 x 10° Nim Solution: m= 29° = 510.2 kg, @ = 240500 98 60 Possible isolators are: (with only one spring) @ k=8x10°Nm, C=0 Gi) k= 2.5x 10°N/m, C= 0 Gi) kK=8x 105 Nim, | = 0.15 (iv) k= 2.5 x 10° Nim, €= 0.15 = 157.08 rad/sec We will compare the force transmissibilities of these isolators. 1+@ty? ya-"y +@en? Force transmissibility = T, 125.2208 rad/see Gi) 0, = EE [8x 10° ae \nte \i6102 r= 12544, = 1.5736, 6=0.15 = 125.2203 rad/sec 1+ @ x 1.2644 x 0.15)" 1, —— 5 TV - 1.5736)? + (2 x 1.2544 x 0.15) (iv) ©, = 70 rad/sec, r= 2.244, r?= 5.0355, $= 0.15 | 1+ (2 x 2.244 x 0.15) Va — 5.0355)" + (2 x 2.244 x 0.15)? Isolation Gi) is best. = 1.5575 2946 179shaft diameter 5 mm, rotor weight 100 N, eccentricity e 0.0002 m find: (b) the power needed to drive the shaft. Solution: = 2% (1500) = 157.08 radi aa 08 rad/see (a) Force due to eccentricity of rotor ~ (0.0002) (157.08)? = 50.3554 N ‘orce) (eccentricity) (angular velocity) (50.3554) (0.0002) (157.08) 5820 (W) Plate weight 500 N, Dashpot C = 200 N-sec/m Fan weight 200 N, rotating at 750 rpm, Spring k = 40 kN/m Center of gravity of fan is 3 mm offset from axis of rotation. Solution: — 2 k x 10° ©, fon = Ya = YUE = 44.2719 radisce vn Von — ¥ 200/9.8 = 2850) _ 78.54 rad/sec 60 1 a a Gyptate + ton = 3 a+ (0.125)? = 17.8257 kg» m? 200 me w* e (0.008) (78.54)? = 377.6652 N 181