QUESTION 1

A uniform slender rod is bent into the shape as shown in Fig. 1(a). It is 4 m long and has a mass
of 4 kg.

(a) Determine its mass moment of inertia about point A. Answer: ____________

This object is assembled into a mechanism as shown in Fig. 1(b). It is hinged at point A, which
is frictionless. The linear spring attached at the mid-point of AB has a spring constant k = 100
N/m, and an un-stretched length of 0.5 m. At this initial position, determine:

(b) The kinetic energy of the body. Answer: ______________

(c) Let the datum be defined at point A, calculate the total potential of the system.
Answer:_____________

Now, suppose it is released from rest at this initial position, and rotated by 90o counter-
clockwise (where DAB becomes horizontal), determine at this final position:

(d) The total potential energy of the system. Answer: ____________

(e) And the magnitude of velocity at point D at this instant. Answer: _____________

Take g = 9.81 m/s2 in all your calculations.

Figure 1(a) Figure 1(b)

SOLUTION 1

1
Mass moment of inertia of slender rod about its C.M. is 𝐼𝐼𝐺𝐺 = 12 𝑚𝑚𝑙𝑙 2
Parallel axis is, 𝐼𝐼𝐴𝐴 = 𝐼𝐼𝐺𝐺 + 𝑚𝑚𝑑𝑑 2

Moment of inertia for the object is

1 1 1
𝐼𝐼𝐴𝐴 = (2)(22 ) + � (1)(12 ) + (1)(0.5)2 � + � (1)(12 ) + (1)(𝑠𝑠𝑠𝑠𝑠𝑠60)2 �
12 12 12
2
⇒ 𝐼𝐼𝐴𝐴 = 𝟏𝟏. 𝟖𝟖𝟖𝟖𝟖𝟖 𝑘𝑘𝑘𝑘𝑚𝑚 (Answer (a))

Solving this problem using the conservation of energy.

Set the datum at the pivot point A.
At initial position,
𝑇𝑇1 = 𝟎𝟎 (Answer (b))
ℎ𝐴𝐴𝐴𝐴 = 0.25, ℎ𝐶𝐶𝐶𝐶 = 0.75, and 𝑙𝑙1 = √1.02 + 0.52 = 1.118

0.75
0.25
ℎ𝐴𝐴𝐴𝐴 = 0.25 datum

1
𝑉𝑉1 = (1)(9.81)(0.25) + (1)(9.81)(0.75) + (100)(1.118 − 0.5)2
2
𝑉𝑉1 = 𝟐𝟐𝟐𝟐. 𝟗𝟗𝟗𝟗 𝐽𝐽 (Answer (c))
At final position,

datum
0.5sin60

ℎ𝐴𝐴𝐴𝐴 = ℎ𝐶𝐶𝐶𝐶 = −0.5𝑠𝑠𝑠𝑠𝑠𝑠60 = −0.433, and 𝑙𝑙2 = 0

1
𝑉𝑉2 = (2)(9.81)(−0.433) + (100)(0.5 − 0.5)2 = −𝟖𝟖. 𝟒𝟒𝟒𝟒𝟒𝟒 𝐽𝐽 (Answer (d))
2
1
𝑇𝑇2 = 𝐼𝐼𝐴𝐴 𝜔𝜔2 = 0.91665𝜔𝜔2
2

Applying the conservation of energy

28.91 + 0 = −8.495 + 0.91665𝜔𝜔2 ⇒ 𝜔𝜔 = 6.388 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠

The magnitude of velocity at D is

𝑣𝑣𝐷𝐷 = (1)(6.388 ) = 𝟔𝟔. 𝟑𝟑𝟑𝟑𝟑𝟑 𝑚𝑚/𝑠𝑠 (Answer (e))
QUESTION 2

A simplified hammering mechanism is shown in Fig. 2, which comprises a hammer assembly

that is pivoted at point O, with a linear spring at A and a viscous damper at B. The hammer
assembly is made up of a slender rigid rod of length L and mass m, and a circular disk of radius
L/12 and mass m that is welded to the rod at one end.

For a specific system, with L = 1 m, and m = 10 kg.

(a) Determine the moment of inertia of this hammer assembly about O. Answer:
____________

(b) Given that the spring constant k = 1000 N/m. Then for small amplitude of oscillation, what
is the natural angular frequency of the system. Answer: ____________

(c) And suppose it is required that the damping ratio ζ for this system is equal to 0.2.
Determine the damping coefficient c that is needed for this condition to be satisfied.
Answer: _____________

(d) Finally, what is the damped oscillation frequency of this system? Answer:_____________
SOLUTION 2

(a) The mass moment of inertia of the hammer assembly is

𝐿𝐿 2 3𝐿𝐿 𝐿𝐿 2
𝐼𝐼𝑂𝑂 = �𝐼𝐼𝑅𝑅 + 𝑚𝑚 � � � + �𝐼𝐼𝐷𝐷 + 𝑚𝑚 � + � �
4 4 12
1 2
𝐿𝐿 2 1 𝐿𝐿 2 3𝐿𝐿 𝐿𝐿 2
= � 𝑚𝑚𝐿𝐿 + 𝑚𝑚 � � � + � 𝑚𝑚 � � + 𝑚𝑚 � + � �
12 4 2 12 4 12
⇒ 𝐼𝐼𝑂𝑂 = 𝟎𝟎. 𝟖𝟖𝟖𝟖𝟖𝟖𝟖𝟖𝟖𝟖 𝒎𝒎𝑳𝑳𝟐𝟐
Substituting the numeric, we have

𝐼𝐼𝑂𝑂 = 𝟎𝟎. 𝟖𝟖𝟖𝟖𝟖𝟖𝟖𝟖𝟖𝟖 (𝟏𝟏𝟏𝟏)(𝟏𝟏)𝟐𝟐 = 𝟖𝟖. 𝟒𝟒𝟒𝟒 𝒌𝒌𝒌𝒌𝒎𝒎𝟐𝟐

(b)

Taking moment about O, gives

𝐿𝐿 𝐿𝐿 𝐿𝐿 𝐿𝐿
−𝑘𝑘 � 𝜃𝜃� � � − 𝑐𝑐 � 𝜃𝜃̇ � � � = 𝐼𝐼𝑂𝑂 𝜃𝜃̈
4 4 4 4
𝐿𝐿 2 𝐿𝐿 2
⇒ 0.84375 𝑚𝑚𝐿𝐿2 𝜃𝜃̈ + 𝑐𝑐 � � 𝜃𝜃̇ + 𝑘𝑘 � � 𝜃𝜃 = 0
4 4
⇒ 135𝜃𝜃̈ + 𝑐𝑐𝜃𝜃̇ + 1000𝜃𝜃 = 0
𝑂𝑂𝑂𝑂
𝜃𝜃̈ + 0.0074074𝑐𝑐𝜃𝜃̇ + 7.4074𝜃𝜃 = 0

Based on either form of EOMs, we get

1000
𝜔𝜔𝑛𝑛 = � = 𝟐𝟐. 𝟕𝟕𝟕𝟕 𝒓𝒓𝒓𝒓𝒓𝒓/𝒔𝒔, 𝑂𝑂𝑂𝑂 𝜔𝜔𝑛𝑛 = √7.4074 = 𝟐𝟐. 𝟕𝟕𝟕𝟕 𝒓𝒓𝒓𝒓𝒓𝒓/𝒔𝒔
135
(c) Given the damping ratio is 0.2, the damping constant is

𝑐𝑐 𝑐𝑐
= = 0.2
𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 2√𝑚𝑚𝑘𝑘

⇒ 𝑐𝑐 = 2(0.2)�(135)(1000) = 𝟏𝟏𝟒𝟒𝟒𝟒 𝑵𝑵𝑵𝑵/𝒎𝒎

OR
0.0074074𝑐𝑐 = 2ζ𝜔𝜔𝑛𝑛
2(0.2)(2.72)
⇒ 𝑐𝑐 = = 𝟏𝟏𝟒𝟒𝟒𝟒 𝑵𝑵𝑵𝑵/𝒎𝒎
0.0074074

(d) The damped oscillation frequency is

𝜔𝜔𝑑𝑑 = 𝜔𝜔𝑛𝑛 �1 − ζ2 = (2.72)�1 − (0.2)2 = 𝟐𝟐. 𝟔𝟔𝟔𝟔 𝒓𝒓𝒓𝒓𝒓𝒓/𝒔𝒔