©3;20 0m loe University of the Witwatersrand, Johannesburg Course or topic Nots) Course or topic name(s) Paper Number & title Class test’ to be hheld during month(s) of (les os appli) Year of Study (Arts & Science leave blank) Degree/Diptomas for which this course is prescribed (85e (En) should indicat wtih branch) Faculty/ies presenting candidates Internal examiner(s) and telephone extension number(s) Extemal examiner(s) Special materials required (raph/musicidrawing paper) ‘maps, diagrams, tables, ‘computer cards, etc. Time allowance Instructions to candidates (Examiners may wish to use this space to indicate, inter alia, the contribution made by this ‘examination or test towards the year mark, if appropriate) HaAtt.29-BAL MECN 360 MECHANICAL VIBRATIONS November 2006 BSc (ENG) MECHANICAL and AERONAUTICAL, ENGINEERING Professor Radoslaw Iwankiewicz, X77 363, Professor Stephan Heyns, University of Pretoria None Course Nos. MECN 360 als “This question paper consists of 7 pages, excluding this ‘one. ANSWER : ANY TWO QUESTIONS FROM SECTION A AND EITHER QUESTION 81 OR QUESTION 52 FROM SECTION B Contribution made by this exam towards the year mark is 70%‘7 PAGES ~ PAGE 1 ‘ MECN 360 Answer any two questions from the Section A. QUESTION A.1 (25 Marks) Motion of a uniform, rigid, slender bar of a total mass m and length / is controlled by constrained ‘movement ofits small rollers 4 and B of negligible mass (Fig. A.1.). The rollers A and B move in the smooth guides, vertical and horizontal, respectively. The vertical linear spring, of stiffness k = mg/'3, and the horizontal linear spring, of stiffness 2k = 2mg/3, are unstretched/uncompressed when the bar is in the vertical position. Assuming as the generalised coordinate the indicated angle 8 of rotation of the bax, carry out the following tasks: 1. Determine the static equilibrium position(s) of the system. (4 Marks) 2. Examine stability of this/these equilibrium position(s). (6 Marks) 3 Using Lagrange’s equation derive the equation of motion of the system in terms of the indicated angle @(t) of rotation. (5 Marks) 4, Derive the equation of stall motion around the stable static equilibrium position (linearise the equation of motion about the stable static equilibrium position), (8 Marks) 4, Find the natural frequency «, of small vibrations of the system. (2 Marks) k i ie & 19 Ra mb fl Fig. AL 2 | ok Beak QUESTION A.2 (25 Marks) Consider the system shown in Figure A.2. The pulley *1” is the uniform disc of total mass m/4 and radius r/2, the pulley "2" is the uniform disc of total mass m and radius r. Pulleys rotate in such a ‘way that there is no slip between them and the cable. Assume that the cable is inextensible and is always under tension and that there is no friction between the block and the incline. Assuming as the generalized coordinate the indicated displacement x(t), carry out the following tasks: 1, Find the expression for the potential energy of the system. (5 Marks) 2. Find the expression for the kinetic energy of the system. (10 Marks) 3. Using Lagrange’s equation derive the equation of motion of the system around the state of equilibrium, (6 Marks) 4. Find the natural frequency «, of small vibrations of the system. (4 Marks) PTO/Page2...7 PAGES ~ PAGE 2 MECN 360 Fig. A2 QUESTION A.3 (25 Marks) The block of mass m with the spring of stiffness k attached to itis dropped from height h. The spring is assumed to be massless and it is unstretched/uncompressed when it touches the ground (the foundation) (Fig. A.3.). The block starts then oscillatory motion, assumed to be constrained to the vertical direction. Write down the equation of this motion, assuming as the generalised coordinate: 1. The downward vertical displacement x(t) measured from the position ‘when the spring is uncompressed. (5 Marks) HINT; then x(t) is the total: static plus dynamic displacementj.e. x(t) =x, +xa(0) 2. The downward vertical displacement x(t) measured from the state of static equilibrium. (5 Marks) HINT: then xg(¢) is a pure dynamic displacement. 3. For both approaches find the expressions for the total displacement x(¢) (6 Marks) and for the dynamic displacement xg(t). (6 Marks) 4. Show that both approaches yield the same results. (@ Marks) eae PTO/Page3...PAGES ~ PAGE 3 MECN 360 SECTION B Answer either question B.1 or question B.2. QUESTION B.1 (50 Marks) B.UPart I (25 Marks). For the system shown in Fig, B.1/I derive the equations of motion with respect to the state of static equilibrium (configuration as shown in figure). Assume small displacements in the system and the gen- eralised coordinates as indicated in Fig. B.1/I, i.e. q(t) = [x1(¢),x2(¢),0(8)|”. Carry out the following tasks: 1. Find the expression for the kinetic energy of the system. (4 Marks) 2. Find the expression for the potential energy of the system. (4 Marks) 3. Find the expression for the Rayleigh dissipation function. (1 mark) 4, Write down the expression for the virtual work of external non-conservative forces and determine the generalised non-conservative forces. (3 Marks) 5. Using Lagrange’s equation derive the equations of motion of the system. (7 Marks) 6, Identify all the matrices in the equations of motion. (6 Marks) Fig. Bal PTO/Page4...7 PAGES ~ PAGE 4 MECN 360 B,1/Part II (25 Marks). A uniform rod of a mass density p, a cross-sectional area A and Young's modulus E is elastically sup- ported atthe ends by linear springs of stiffness k and 2k, respectively (Fig. B.1/I1). The rod is performing longitudinal vibrations. Carry out the following tasks: 1. Formulate the boundary conditions. (8 Marks) 2. Derive the characteristic (frequency) equation. (8 Marks) 3. Find the general expression for the nth mode shape. (9 Marks) ; QUESTION B.2 (50 Marks) B.2/Part I (25 Marks). ‘The system of two pin-connected uniform rigid bars, supported by one spring is performing motion in the horizontal plane. Assuming small displacements in the system and the absolute angles of rotation 6(¢) and 62(7) of the bars A —B and B—C, respectively, as the generalized coordinates, carry out the following tasks: 1. Determine the generalized mass matrix. (6 Marks) 2, Determine the generalized stiffness matrix. (G Marks) 3. Find the eigenvalues and natural frequencies. (6 Marks) 4, Find the normal modes (mode shapes). (8 Marks) 5. Discuss what kind of motion these normal modes correspond to. (2 Marks) kK om 8 m Cc yl bk # Fig. BM PTO/PageS...‘7 PAGES ~ PAGE 5 B.2/Part I (25 Marks) MECN 360 Consider small transverse vibrations of a uniform taut string of mass density p and a cross-sectional area A, shown in Fig. B.2/II. One end of the string is fixed and the other end is attached to a slider of ‘mass m, which is elastically supported by a spring of stiffness &. In addition, the string is carrying at its mid-point a lumped mass m, which is elastically supported by a spring of stiffness k. Two external, non-conservative forces F(t) and F(t) are applied to the string as shown in figure. Formulate a discrete, three-degree-of-freedom model of the system, with the aid of approximate Ritz method. As the approximating functions assume: o@)=sint, ala) = sin, 302) = sin SE For this model: 1, Determine the generalized mass matrix. 2. Determine the generalized stiffness matrix. 3. Determine the generalised non-conservative forces. 4, Write down the equations of motion in matrix form. a (8 Marks) (8 Marks) (6 Marks) @ Marks) PTO/ Page 6...7 PAGES ~ PAGE 6 MECN 360 FORMULAE SHEET Equation for free vibrations of an undamped single-degree-of-freedom system: mith =0 Q) General solution: x(0) = Acos ant + Bsin yt, @ where oy = /F]m. Lagrange’s equations: @) where & is a Rayleigh dissipation function. In order to find the generalized forces the expression for the virtual work of external non-conservative forces should be rearranged as su =S0,095a © i ‘Moments of inertia: ‘Mass moments of inertia Ig and J, of a uniform, slender rod of the total mass m and the length 1, about its mass center G, and about its tip 4: Lae teat? Te wm + ay al? (6) Mass moment of inertia Jp of a uniform disc of the total mass m and the radius r about its center 0: toa nw? o 2 Longitudinal vibrations of an elastic rod: Equation governing the undamped free vibration: Pulxt) 9 pA) x (8) Method of separation of variables: ua,t) = UQ)TO, o where T(t) =Acoser+Bsinar. (10) General solution for a uniform rod: UG) =CreosS +Crsin, an PTO/Page7...‘7 PAGES ~ PAGE 7 MECN 360 ‘Transverse vibrations of a taut elastic string: Equation governing the undamped forced vibration: Fowl a pay Me) 2 (p Ox Kinetic energy T and elastic potential (strain) energy ©) in the case of small (linear) transverse vibrations of a taut string carrying additional lumped masses my at positions x, and with additional clastic supports (linear springs) ky atx r ; ate (289) ac +15 m (ey 3) ore)» fet 2) Vo = 2 if P(x) ( ote) ate SY hwo A) (14) j Approximate Ritz method for the string: wlsst) = Sai) (2) =a" 6G) = 9" ale), «asy Elements of the generalized mass matrix M and the generalized stiffness matrix K for a string, as resulting from Ritz method: n A(x) u(x) 6) (x) + Lemus (ve) oye), Ky 1; (2) ;(2)a +S hndiln) Qj Cn) (16) where (..J = 4. Virtual transverse displacement of the string Sues) = 56a), an Virtual work done by the distributed external non-conservative loading f(x) and by point (concen- trated) non-conservative external forces F;(¢) applied at x, 1 80 =F 54 f fe ola)ae + Loa LH O(a) 8) od 7 In onder to find the generalized forces j(t) the expression (5) for the virtual work of extemal non- conservative forces can be used. Some useful results: + as) for i odd and j odd and i#j (20) END.