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Things To Learn Today: 1. Equivalent Spring Stiffness 2. A Pendulum
Things To Learn Today: 1. Equivalent Spring Stiffness 2. A Pendulum
2. A pendulum
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Session 1.2 Undamped Free Vibration
Spring elements:
a. spring in parallel
k eq
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Session 1.2 Undamped Free Vibration
An example:
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Session 1.2 Undamped Free Vibration
b. spring in series
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Session 1.2 Undamped Free Vibration
4.3 A pendulum
mg
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Session 1.2 Undamped Free Vibration
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Session 1.2 Undamped Free Vibration
4.4 Effect of gravitational force
Consider a mass-spring system where the gravitational force is
active
m
xs m
xd(t) m
xs m xd(t) m
mg mg
x(t)
mx(t ) kx(t ) 0
The solution can be assumed as
x(t ) De st
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Session 1.2 Undamped Free Vibration
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Session 1.2 Undamped Free Vibration
The acceleration:
x(t ) n2 ( A cos n t B sin nt ) n2 x(t )
x(t ) n2 x (t ) 0
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Session 1.2 Undamped Free Vibration
A = x0
n B x0 B x0 / n
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Session 1.2 Undamped Free Vibration
x(t ) C sin(nt 0 )
or
x(t ) C cos(nt )
where
2
x
amplitude: C A 2 B 2 x02 0
n
B x
phase angle: tan 1 tan 1 0
A x 0 n
x0 n
0 tan 1
x0
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Session 1.2 Undamped Free Vibration
n circular natural frequency, in rad/sec
frequency n
fn natural frequency, in Hz
2
1
natural period: n
fn
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Session 1.2 Undamped Free Vibration
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Session 1.2 Undamped Free Vibration
Important facts:
n k / m , kxs mg
n k / m g / x s
n 1 g 1 x
fn n 2 s
2 2 xs fn g
This indicates that both natural frequency and natural period can
be computed simply by the measured static deflection xs.
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Session 1.2 Undamped Free Vibration
x(t ) C cos(nt )
x (t ) Cn sin(nt ) Cn cos(nt )
2
x(t ) Cn2 cos(n t ) Cn2 cos(n t )
( sin cos( ); cos cos( ).)
2
The velocity and the acceleration lead the displacement by / 2
and , respectively.
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Session 1.2 Undamped Free Vibration
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Session 1.2 Undamped Free Vibration
T2 k T1
0
m
x
mg
T1
free body diagram for pulley free body diagram for weight
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Session 1.2 Undamped Free Vibration
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Session 1.2 Undamped Free Vibration
r1mg r22 k 0 0
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Session 1.2 Undamped Free Vibration
mr12 r22 k J
2
r2k
0
( J mr1 )
2
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Session 1.2 Undamped Free Vibration
k
r
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Session 1.2 Undamped Free Vibration
r
kx
mg
Ff
N
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Session 1.2 Undamped Free Vibration
x r ; x r
From Eq. (2)
J 0 1 2 x 1
Ff mr 2 mx (3)
r 2 r 2
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Session 1.2 Undamped Free Vibration
Putting Eq. (3) into Eq. (1) yields the equation of motion
3 (4)
mx kx 0
2
Hence the natural frequency is
n 2k / 3m
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Session 1.2 Undamped Free Vibration
Additional Examples:
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Session 1.2 Undamped Free Vibration
Solution:
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Session 1.2 Undamped Free Vibration
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Session 1.2 Undamped Free Vibration
2. Derive the equation of motion and determine the natural
frequency of the system below
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Session 1.2 Undamped Free Vibration
Solution:
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Session 1.2 Undamped Free Vibration
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