EXAMS OFFICE 13/hilo7| \ENB-BA USE ONLY University of the Witwatersrand, Johannesburg Course or topic Nols) ‘MECN3011 Course or topic name(s) MECHANICAL VIBRATIONS Paper Number & title Examination Test’ to be NOVEMBER 2007 held during monthis) of (oles as splicale) ‘Year of Study THIRD (Arts & Science leave blank) i DegreeiDiplomas fr wich Se (ENG) MECHANICAL ENG. this course i prescribed Ie en oad ich bane) Se (ENG) AERONAUTICAL ENG. Faculties presenting ENGINEERING candidates Internal examiner(s) {and telephone extension MR. T.J. FRANGAKIS (011) 717 7333 number(s) External examiner(s) PROF. P.S. HEYNS, (012) 420 2432 (a Special materials required SCIENTIFIC CALCULATOR. | (graphimusicidrawing paper) ‘maps, diagrams, tables, computer cards, etc. Time allowance Course Number MECN3O11 Hours | 3 Instructions to candidates General remarks: Closed book examination; Show all work. No marks will | (Examiners may wish to use be awarded if logic is not clear. Sum of all maximum marks equal 70. this space to indicate, inter alia, Hire eo teat SEE DETAILED INSTRUCTIONS ON NEXT PAGE examination or test towards ‘A formula sheet is provided at the end of the question paper. The exam. the year mark, if appropriate) counts 70% towards final mark.‘MECN 3011 12 PAGES - PAGE 1 Instructions: 1. Answer as follow: (a) Any TWO questions from Section A (‘otal 50 marks). (b) Any TWO questions from Section B (total 20 marks), 2, In total 4 questions are to be answered with a total mark allocation of 70 marks for the exam; the ‘exam counts 70% towards the final mark. 3. Write neatly in pen and cross out any incorrect work. Mark rough work clearly. 4, State all assumptions and use clearly annotated diagrams where required. 5. Use 4 decimal places in your answers. 6. There are 12 pages in total - the Question Paper has 8 pages (including this one), and the Formula Sheet is 4 pages. Check that you have all the pages.‘MECN 3011 12 PAGES - PAGE2 SECTION A (Answer TWO out of the three questions) QUESTION A.1 Washing Machine Fram Frictontess '_ A Rollers Figure 1: Rotating Imbalance ‘The drum of a front-loading washing machine is supported by means of two equally stiff springs ky and ky mounted inside a rigid frame (see Figure 1). The machine is mounted vertically so that the axis of rotation of the drum is parallel with the floor. The drum is constrained by means of frictionless rollers ‘operating in guides so that it may only move in the vertical direction. During normal operation the mass of the drum and wet washing is 15 kg, and the spin cycle operates at 400 rpm. The washing machine is equipped with a fuzzy logic controller that senses excessive vibrations and is able to stop the operation of the washing machine if the amplitude of vibration of the drum exceeds 25 mm. At a spin cycle speed of 400 rpm an imbalance me = 0.5 kgm will cause an amplitude of vibration of 25 mm and the controller ‘will stop the operation of the machine. Assume that the mass of the entire washing machine is such that the forces generated during rotational imbalance are not able to lift the machine off the ground. (a) Determine the differential equation of motion of the drum in terms of the variable 2, Do not solve for the response 2(t). (4 marks) (b) Using the operational data given, and assuming steady state conditions, determine the limiting spring stiffness at which the allowable imbalance will cause the controller to stop the operation of the machine (4 marks) (©) Using the data given above, and the calculated spring stiffness, determine the force transmitted to the floor at the spin speed of 400 rpm (just before the controller will stop the operation of the machine) (4 marks) (d) Ata later stage spring & snaps just before the spin cycle starts. When the spin cycle starts and the speed is gradually increasing, at what rotational speed will the controller cause the machine to shut down? Use the formula for the steady state condition amplitude to estimate the rotational speed and ignore any transient response. G marks) (©) If the broken spring is replaced with a damper, calculate the damping constant such that the maxi- mum amplitude of vibration of the drum is kept below 25 mm and, simultaneously, the force trans- mitted to the floor is limited to 1000 N. The rotational speed of the drum is still 400 rpm. (8 marks) [TOTAL 25 MARKS}MECN 3011 12 PAGES - PAGE3 QUESTION A.2. Answer BOTH parts of this question Part 1: Impulse question: Impulse Mass m TM Fixed Support Figure 2: Impulse system 013, oa) -,[ (0.1900, 0.1195) ott oa 0.09 0.08 0.07 0.08 (1.0000, 0.0487) 0.08 0.04 0.03 0.02 0.01 Displacement (m) -001 ee (2.2200,-0.0133) -0.03} 0.04 (4.4000, -0.032) -0.05} > -0.06} -007] ~0.08} (0.5900,-00771) 09 . 0 02040608 1 121416 18 2 22 242628 3 32343638 4 Time (s) igure 3: Impulse responseMECN 3011 12 PAGES - PAGE 4 ‘A mass-spring-damper system is shown in Figure 2 where the mass is constrained to move in the vertical direction. The mass is initially at rest when it is subjected to an impulse. The resulting displacement of the mass, after the application of the impulse, is recorded and is shown in Figure 3. ‘The mass is measured accurately and is found to be m = 9.1800 kg. (a) Using the information contained in the graph of the measured displacement, determine the numerical values of the damping constant c, stiffness k and magnitude of the impulse J that ‘was applied to the system at time t = 0. Note that the co-ordinates of the peaks and troughs of the displacement graph have been given in the figure, having been rounded off to 4 decimal places. (10 marks) Part 2: General response question: (This must be answered along with Part A) Z x(J=xe" 7 Fixed Support Figure 4: General response A uniform slender beam of mass my and length L is hinged at point O and supported by springs as shown in Figure 4. A second mass 1m is attached to one end of the beam (idealized as a point mass). A displacement x(t) = xqe~ is applied to the spring attached to the other end of the beam as shown in the figure. (a) Determine the differential equation of motion in terms of @ (use any method). (6 marks) (b) Use the Convolution Integral to determine the total system response 0(t). Do not solve for the constants in the transient solution. (9 marks) [TOTAL 25 MARKS]MECN 3011 12 PAGES - PAGES QUESTION A3 L. Fy Trolley | x(t) Ak m, Pulley o8 ¢ Oot Pendulum ms ‘m, % r Suspended Sphere Mees Figure 5: Two degree of freedom system A two degree of freedom system is shown in Figure 5. It consists of a trolley, a pendulum and a suspended mass. The trolley has a mass m; and is constrained such that it can only move horizontally. It is attached to the wall by means of a spring of stiffness k and a damper c. The pendulum consists of a rigid massless rod attached to a spherical bob, and pinned to the trolley so that it is free to oscillate in the plane of the page. The rod has a length L/ measured from the pinned joint O to the centre of the bob, and the spherical bbob has a mass ry and radius r2. mg is the suspended mass, and is attached to the trolley by means of an inextensible massless cable and passes over a pulley, also of negligible mass. The trolley is acted on by a force F(t). Assume that all joints, pins and rollers are frictionless and that @ and «are small (a) Using Lagrange’s equation, determine the differential equations of motion of the trolley and pen- dulum bob in terms of the co-ordinates x and 4, and system parameters rm), mz, ete, Write the differential equations of motion into matrix form. (13 marks) (b) An unforced free vibration two degree of freedom system has the following equations of motion 15 0] (#) , [450 80] (« [0 3] @)+[2 xo] (@) -° Use matrix methods to find the natural frequencies and mode shapes (modal vectors) of the system. Normalize the mode shapes. Show all your steps. Present your answer in vector form. (12 marks) [TOTAL 25 MARKS]MECN 3011 12 PAGES - PAGE 6 SECTION B (Answer TWO out of the three questions) QUESTION B.1 Figure 6: Single degree of freedom system (One end of a slender rod of length [= 1.2m and mass m; = 4 kg is pivoted about a pin at O (see Figure 6) so that itis free to oscillate in the vertical plane, The other end of the rod is pinned to a spring on the one side and an inextensible cable on the other side. The spring has a stiffness k = 200 N/m and is anchored to the wall as shown. The cable passes over a pulley which has a mass ma = 3 kg and a radius r2 = 0.15 1m, The cable is attached to a mass mg = 3 kg which is constrained to move in the vertical direction only. Assume that all pinned joints and the axle of the pulley are frictionless. Assume also that the pulley can be modelled as a cylindrical disc, the cable remains in contact with the pulley at all times, and the cable does not slip on the pulley. The system is in the static equilibrium position with the slender rod vertical, as shown in the figure. (@) Stating all necessary assumptions, determine the algebraic differential equation of motion of the system in terms of the variable 8 (use either Newton's laws or the Energy Method). Do not solve for the system response 6(t). (6 marks) (b) Determine the numerical value of the natural frequency of the system, (2 marks) (©) Ifthe mass moment of inertia of the pulley is now ignored, what would the % error be in the natural frequency? (2 marks) [TOTAL 10 MARKS]MECN 3011 12 PAGES - PAGET QUESTION B.2 Figure 7: Disc in torsional vibration ‘A oylindrical disc is attached to a solid rod of length [= 1.8192 m and diameter D = 16.5 mm, as shown in Figure 7. The disc has a mass moment of inertia J = 5 kg.m? about the axis of the rod. A torsional damper is attached to the disc (shown schematically), and has a damping value ce = 20 Nms/rad. The rod is made of steel with a density p = 7800 kg/m® and a shear modulus G = 80 GPa. At time ¢ = 0 an initial, angular displacement @ = 0.2 rad is applied to the disc. The disc is held momentarily at this position and then released, The mass, and therefore mass moment of inertia, of the rod may be ignored, (a) Draw a free body diagram and derive the differential equation of motion of the disc, Using the information supplied, determine the response 6(t) of the disc. Show all steps in the derivation of the equation @(+) and calculation of coefficients. (6 marks) (b) Ifa hollow tube of the same length is used to suspend the disc (instead of a solid rod), and the hollow tube has an outer diameter of 20 mm, determine the inner diameter such that the system natural frequency remains the same, Would the mass of the resulting hollow tube be more or less than the the original rod? Comment on the implications of using a hollow tube instead of a solid rod, Ignore the mass of the tube in the calculation of the natural frequency. (2 marks) (©) Referring again to the original system (which made use of the solid rod attached to the disc): It is now required that the system be critically damped while still maintaining the existing system natural frequency. However, itis mot possible to change the damper (cy = 20 Nms/rad). Therefore, determine new values for the mass moment of inertia ofthe disc and stiffness of the solid rod such that the system becomes critically damped while maintaining the system natural frequency. (2 marks) [TOTAL 10 MARKS)MECN 3011 12 PAGES - PAGE8 QUESTION xO m Speed of car Neglected ~ unsprung mass 0.02 m Figure 8: Single DOF system - car traveling on rough road ‘The suspension system of a car of mass 1250 kg can be idealized as the spring-mass-damper system shown in Figure 8, where all four springs and dampers for the wheels are represented as one equivalent spring and damper. It is driven along a rough road where the bumps can be modelled as a sinusoid. The total displacement of the tyre from peak to trough of the bump is 0.02 m, and the distance between successive peaks in the road is 15 m. The dampers together have an equivalent damping constant of 20 kNs/m. Vibration tests of the car without occupants (mass 1250 kg) revealed that the natural frequency of the car is 10 rad/s. On a particular day there are 4 occupants in the car, each of average mass of 75 kg. The stiffness and mass of the tyre and axle can be ignored, (a) Using a suitable free-body diagram, derive the differential equation of motion of the system. Do not solve for the system response 2) (3 marks) (b) Determine the steady state amplitude of vibration of the car body if it is traveling at 30 km/h on the rough road. Also determine the amplitude of the vertical acceleration of the car at this speed. (4 marks) (©) Determine the force transmitted to the car body when the car is traveling at 60 km/h. (3 marks) [TOTAL 10 MARKS]MECN 3011 12 PAGES - PAGE9 FORMULA SHEET Equivalent Stiffness Rod under axial load SSS eg = Hollow circular shaft under torsion (outer diam. D, inner diam. d) Cantilevered beam of length L with ‘end load Simply supported beam of length L With load at the middle { 192ET Fixed-fixed beam of length J with keg = 5 load at the middle Spring Elements: Parallel: keg = ky + hg-+++++ hy Series: Force: kr Torque: ki Energy: Ska? Damper Elements: Fore: ct Torque: ed ‘Mass and Inertia Elements: Force: mé Torque: Jo Energy: }ma? Energy: }.Jo6 Free Vibration mi + ke = 0 elt) = Ay coswnt + Agsinwnt ; Ay = fo Az = do/wn wn = kim métor+ke=0: 412 = (c+ Ve = dink) /2m Forunder-damped systems, z(t) = e~S#"¢ (Ay coswyt + Az sinwat) Ai =29 — Ap= (Got Gunto)/ua un = Rm wnVI-E C= e/ (2mm) Forcritically damped system, 2(¢) = [ry + (#0 + wazo)tle~e"* For over damped systems, a(t) = Bye ®t" + Bye came + #0 axto + ¢0 = n= a2 — a1 ay — a9MECN 3011 12 PAGES - PAGE 10 Forced Vibration mi+ct+ke=Psinut + 2p(t)=Xsin(ut—) | 2 (= any (cay? = r+ Or)? - ow -1 (_2¢r b= ar (pe) stat (BM) red Fro 1+ (2¢r? FY Base Excitation mitch+ke=kytey where y(t)=Ysinut + 2,(t)=Xsinut -¢) x Pal Te ou Y ~ V = e%m)?+ (oy? =r? (Gr? = 1+ (26r)? U . ae “VC waar Rotating Unbalance Mi-+ ck + kx = mew*sinut + a(t) =Xsin(ut - 9) M = total mass including rotating mass Balancing of Rotating Machinery Several unbalanced masses in a single transverse plane: DVorarisin 6; + MRsin® = 0 YL mir: cos 4; + MReos © = 0MECN 3011 12 PAGES - PAGE 11 Several unbalanced masses in different transverse planes: . 8 DYE mirisinds + OM Rj sine, fi c= ® A DY mir; cos 6; + > MjR; cos O; = 0 a rat . ‘ Do marilisin + D7 Mj RjL; sin ®; = 1 i A Domirilscos 6; + }> My RjLj cos; = 0 a et Excitation by a Periodic Force mi+ci+kr= F(t) ; F(t)=Periodic force. F(t) = a9 +) “(aq cos nat + bp sin nwt) Fa Oe if P(t)at, ann? F(t)cosnwtdt, by 2f F(t)sinnwtdt, = OF on) - a(t) = Rty Gare Bla cos(nut — bn) s On/k) Hee = tan? (2600 +L Srey nett) t= ta (72) 7 ‘cosnwt | tsinnwt)” ff tcsemetat = [55 = |; [ sinnutdt = [ame _ tesnet] 0 mw So Response to Impulse a(t) = e-Snt {+ cost + 22+ Sento I sinwgt b + ¢-Gonlt-7) - 5 at } + -€ sinwa(t —7) t Response to Arbitrary Force mi+ct+ke= F(t) ; F(t) = Arbitrary force ‘ 20 = 20+ ['Finglt= dr 5 alt=) = eon sinwalt 1) * [ sinwy(t—7)dr = b 1 | ff rsinantt ner = [z [ | f Psinwa(t— r)dr 7 fe "sinb(t—r)dr = loMECN 3011 12 PAGES - PAGE 12 ‘Table 1: Some moments of inertia for common bodies | Mame +1/.amt haz Ame +1/3mP 1/2mP x L Uniform Slender Rod Multi degree of freedom systems Equation of motion of an n-DOF system is [M]{#} + [C]{#} + [K]{z} = {F(é)} ‘Natural frequencies and the mode shapes are obtained from H — MI where H = M~1K “The free vibration solution in vector form ni(t) 1 1 1 0(t)| = |r21] Ay, cos(ait + vs) + [722] tz cos(ieat +2) + |723] Ars cos(weat + va) Lagrange’s equation 4 (ar) _ar ov dt \8q:) Aq” Aq: ‘Taylor Series approximations singx6-G cos 1-H =VIFOR14+$ VI-dx1-$