SCHOOL OF ENGINEERING, RMIT UNIVERSITY

MIET 1076 Mechanical Vibrations

Page 1 of 25
 Question No 1

Use Newton’s 2nd law to derive the equations of motion for the system shown in Figure 1 where
the solid, uniform cylinder of mass m and radius R is rolling on a rough slope without slipping.
The cylinder is connected to the fixed surface through a spring with stiffness k and a damper
with damping constant c.

Figure 1

Solution :

The effect of the incline is to cause a non-zero static deflection in the spring. Thus, neither the
gravity force or the static spring force have any effect on the differential equation and both are
ignored in drawing the FREE BODY DIAGRAMS. Assuming the disk rolls without slip, its
angular acceleration is related to the acceleration of the mass center by :

ẋ
α=
r

Consider the Free Body Diagram drawn below at an arbitrary instant :

Page 2 of 25
T net=I θ̈

−Fr=I θ̈ (1)

F net=m ẍ

F−Kx−c ẋ=m ẍ (2)

ẍ=r θ̈

r ( F−krθ−cr θ̇ ) =mr 2 θ̈

We have :

Fr−k r 2 θ−c r 2 θ̇=mr 2 θ̈

I θ̈+ k r 2 θ+ c r 2 θ̇+m r 2 θ̈=0

The Equation of Motion is :

( m r 2 + I ) θ̈+ c r 2 θ̇+k r 2 θ=0

For a Uniform Cylinder, Moment of Inertia is :

mr 2
I=
2

Hence,

3
m r 2 θ̈+ c r 2 θ̇+k r 2 θ=0
2

Question No 2

Page 3 of 25
Derive the equation of motion using Newton’s 2nd law and find the natural frequency of the
single DOF system given in Figure 2 where a slender bar of mass m is connected to two mass
blocks m and 2m. The rotatory inertia of the bar is 2 I mL = /12 .

Figure 2

Solution :

Free Body Diagram of the system at an arbitrary instant are shown below :

From Newton’s 2nd Law, we can have one equation for each FBD as follows :
T net=I θ̈

(−T 1 −T 2 ) L
=I θ̈ (1)
2
F 1net =m ẍ1

Page 4 of 25
 T 1−F k1 −F c 1=m ẍ1 (2)

F 2net =2 m ẍ 2

T 2−F k2 −F c 2=2 m ẍ 2 (3)

Note that :

Lθ
x 1=x 2=x=
2

F k 1=kx

F c1= ẋ c

F k 2=kx

F c2=c ẋ

m L2
I=
12

So, we get :

T 1=m ẍ +kx +c ẋ

T 2=2 m ẍ +kx +c ẋ

Substituting the values into Equation (1) :

1 ( m ẍ+ kx +c ẋ ) L ( 2 m ẍ+ kx +c ẋ ) L
m L2 θ̈+ + =0
12 2 2

This can be simplified as :

5
m θ̈ +c θ̇+ kθ=0
3

After multiplication we get :

3c 3k
θ̈+ θ̇+ θ=0
5m 5m

Page 5 of 25
The Natural Frequency can then be calculated as :

3k
ω n=
√ 5m

Question No 3

For the system in Q1, (i) derive the equation of motion using energy method; (ii) determine the
critical damping constant; (iii) find out at least two different ways that can slow down the

Page 6 of 25
movement of the cylinder (provide justifications for your choice but calculations are not
mandatory).

Solution :

Consider the following figure showing the position of the cylinder when an angular displacement
θ is given :

Calculate the value of linear displacement by using the following relation :

δ
sinθ=
R

For Small Angle :

sinθ ≈ θ

δ =Rθ

i. By Energy Method we know that :

T + U=constant

T = Kinetic Energy

U = Potential Energy

d
(T +U )=0
dt

So, first find Kinetic Energy :

Page 7 of 25
 1
T Trans= m x˙2
2

1
T Trans= M δ˙2
2

As it is rolling on a rough surface without slipping and it is being restrained by the springs so,

1 (1)
T Trans=0T rot = I O θ̇2
2

Calculate Moment of Inertia of the cylinder about the point of contact by parallel axis theorem :

1
I O= M R 2 + M R 2
2

3
I O= M R 2
2

Put the value of I O in equation (1) :

1 3
T rot = (
2 2
M R 2 θ̇2) (2)

Now find the Potential Energy of the spring :

1
P . E= k x 2
2

1
P . E= k δ 2
2

As we know :

δ =Rθ

1
P . E= k (Rθ)2 (3)
2

Now find the Energy possess by the Damper :

E Damper =F . x

E Damper =(c ẋ ). x

Page 8 of 25
 E Damper =(c δ̇). δ

As, δ =Rθ

So,

E Damper =(cR θ̇). Rθ

E Damper =(c θ̇)(θ R2 ) (4)

T Trans+ T rot + P. E spring + E Damper =constant

1 3 1
( (
0+
2 2 )
M R 2 θ̇2 + k ( Rθ)2+(c θ̇)(θ R 2) =constant
2 )
Take Derivative on both sides :

d 1 3 1 d
dt( (
0+
2 2 )2 dt )
M R 2 θ̇2 + k ( Rθ)2+(c θ̇)( θ R 2) = (constant )

After simplifying :

3
θ̇ (( 2 ) )
M R 2 θ̈+k R2 θ+( c)( R2 θ̇) =0

By taking R2 common and dividing it on both sides, the final Equation of motion obtained :

3
Mθ̈+ c θ̇+2 k θ=0
2

2c 4k
θ̈+ θ̇+ θ=0
3M 3M

ii. Determine Critical Damping Constant :

Equation of motion is :

3
Mθ̈+ c θ̇+2 k θ=0
2

This is the Homogeneous Second Order Differential Equation, it can be solved by assuming a
solution of the from :

Page 9 of 25
x=e st

Where s is a constant to be determined :

Substitute x=e st in equation of motion :

2c 4k
θ̈+ θ̇+ θ=0
3M 3M

( s + 32Mc s + 34Mk ) e =0
2 st

which is satisfied for all values of t when :

2c 4k
s2 + s+ =0
3M 3M

This is the homogeneous characteristic equation which has two roots :

−b ± √ b2−4 ac
s1,2=
2a

After putting the values we get :

−2 c 2c 2 4 k
s1,2=
6M
±
√( 6M) −
3M

Now critical Damping is the value of c which reduces the radical to zero.

2 cc 2 4 k
√( 6M ) −
3M
=0

4k
c c =3 M
√ 3M

c c =2 √ 3 kM

iii. Find out at least two different ways that can slow down the movement of the cylinder :

Page 10 of 25
 If we increase the stiffness of spring then we can slow down the movement of the

cylinder. Because as the stiffness of spring increases, the movement of cylinder will be

restrained.

 If we decrease the angle (θ ¿, then we can also slow down the movement of the cylinder.

 If we increase the Damping Coefficient c, so it can also lead to the slow movement of

cylinder.

Question No 4

Page 11 of 25
For the system shown in Figure 3, (i) derive the equation of motion using energy method; (ii)
determine the damped natural frequency and damping ratio; (iii) state whether the system is
underdamped, overdamped or critically damped; (iv) determine θ(t) for the given initial
conditions.

Figure 3

Solution :
The differential equation is derived using the equivalent systems method. Let we have x1 = 3rθ
be the downward displacement of the block of mass m1 and x2 = rθ be the upward displacement
of block of mass m2.
i Derive The Equation of Motion Using Energy Method :
The potential energy of the system at an arbitrary instant is :
1
V = k ( 3 rθ )2
2
1
V = ( 9 k r2 ) θ 2
2

From which the Equivalent Torsional Stiffness if obtained as :

k t =9 k r 2
eq

Page 12 of 25
 m
k t =2.88 x 103 N .
eq
rad
The work done by the viscous damper between two arbitrary positions is :

W 1 → 2=−∫ c ( r θ̇ ) d(rθ)

W 1 → 2=−∫ c ( r 2 θ̇ ) dθ

From which the Equivalent Viscous Damping Coefficient is :

s
c t =c r 2=1.5 N . m
eq
rad
Thus the differential equation governing the motion of the system is :

1.15 θ̈+1.5 θ̇+2.88 x 103 θ=0

θ̈+1.304 θ̇+ 2.504 x 103 θ=0

The Natural Frequency of the system is :

kt
ω n=
√ eq

I eq

ω n=√ 2.504 x 103

rad
ω n=50.043
s

ii The Damping Ratio is obtained from :

C eq
ζ=
2 I eq ωn
ζ =0.013
Where, the damped natural frequency is :

ω d=ωn √ 1−ζ 2

50.0392 rad
ω d=
sec

Page 13 of 25
iii As we can see from above that the Damping Ratio is less than 1, so the system is
UNDERDAMPED.

The Free-Vibration response of an underdamped ONE DEGREE OF FREEDOM system is :

θ ( t )= Ae−ζ ω t sin ⁡(ωd t +ϕ d )

n

The given initial conditions :

θ̇ ( 0 )
A=
ωd

A=0.05 rad

ϕ d=tan −1 ( 0 )=0

Noting that ζ ω n=( 0.013 ) ( 50.043 )=0.651

The Free Vibration response is :

θ ( t )=0.050 e−0.651t sin ( 50.0392 t ) rad

Page 14 of 25
 Question No 5

The amplitude of free vibration of a mechanical system decays to half of its initial value in 11
cycles with a period of 0.3 sec. Find out the spring constant and damping constant of the system

4k c
if the natural frequency ω n=
√ 65
and the damping ratio ζ = 130 ω .
n

Solution :

The logarithmic decrement is :

1 x
δ= ln ⁡( 0 )
11 x11

1
δ= ln ⁡(2)
11

δ =0.0630

From which the Damping Ratio is calculated as :

δ
ζ=
√ 4 π 2+ δ 2
ζ =0.01

The Damped Natural Frequency is :

2π
ω d=
Td

2π
ω d=
0.3 sec

rad
ω d=20.94
sec

Undamped Natural Frequency is obtained as :

ωd
ω n=
√1−ζ 2

Page 15 of 25
 rad
ω n=20.94
sec

The Spring Stiffness is :

ωn2
k =65
4

sec
k =7130 N .
m

Damping Coefficient is :

c=130 ζωn

sec
c=27.2 N .
m

Page 16 of 25
 Question No 6

A boy riding a bicycle can be modeled as a spring-mass-damper system with an equivalent

weight, stiffness and damping constant of 800N, 50,000N/m, and 1,250N-s/m, respectively. Due
to the different setting of the concrete blocks on the road, the level surface decreases suddenly as
indicated in Fig. 4. Assume that the bicycle is free of vertical vibration before encountering the
step change on the road surface, determine the vertical displacement of the boy caused by the
step change in the road surface.

Figure 4

Solution :
Assume that the bicycle and the boy fall as a rigid body by 5 cm at point A. Thus, the mass (meq)
will be subjected to an initial downward displacement of 5 cm (t = 0 assumed at point A).
x o = 0.05 m

x˙o = 0

k eq
ω n=
√ meq

ω n=
√ (50000)(9.81)
(800)

rad
ω n=24.7614
s

cc = 2mω n

Page 17 of 25
 800
cc = 2 ( ) (24.7614)
9.81

cc = 4038. 5566 N-s/m

c
ζ=
cc

1250
ζ=
4038.5566

ζ =¿ 0.3095 (System is UNDERDAMPED)

ω d=ωn √ 1−ζ 2

ω d= ( 24.7614 ) √ 1−(0.3095)2

rad
ω d=23.545
s
Response of the system :

x(t) = Xe−ζ ω t sin ⁡(ωd t +ϕ)

n

Where :

2 x o+ ¿ ζ˙ ωn x o 2 1/2
X = {xo + ( ¿) }
ωd

X = {(0.05)2 + (¿ ¿)2 }1/2

X = 0.05258 m
As we know that :

ϕ=tan−1 ¿ )

ϕ=tan−1 ¿ )

ϕ=71.97 ˚
Displacement of Boy in Vertical direction (Positive Downward) :

x(t) = (0.05258) e−7.6636 t sin ⁡(23.545 t+ 71.97˚ )

Page 18 of 25
 Question No 7
For the rotational system subjected to an applied torque M o sin25t shown in Figure 5, (i) derive
the equation of motion; (ii) find the steady-state response; and (iii) find out for what values of Mo
the forced amplitude of angular displacement of the bar will be less than 3˚.

Figure 5

Solution :
When the rotational system is subject to an angle due to the applied torque :

Where,
L
x = 4
θ

Page 19 of 25
Where the Potential Energy of the System is :
1 1
V = k x2 + k x2
2 2
2
L
V =k ( )
4
θ

k L2 2
V= θ
16
The Kinetic Energy of the System is :
1
T = J 0 θ˙2
2

1 m L2 2
L
T= {
2 12
+m
4 ( ) } x θ̇ 2

1 7 m L2
T= {
2 48 }
x θ˙
2

Energy Dissipated in the system is :

Q = Mo sin25t

i. Derive the Equation of Motion :

From the Lagrange :
L=T −V

1 7 m L2 k L2 2
L= {
2 48 } 2
x θ̇ −
16
θ

Finding the Equation of Motion :

d δL δL
( )
− =Q
dt δ θ̇ δθ

7 m L2 k L2
{ 48
θ̈+ }16
θ=M o sin25 t

¿
0.01866 θ̈+200 θ=M o sin 25 t

Page 20 of 25
 ii. Find the Steady-state Response :

0.01866 θ̈+200 θ=M o sin 25 t

0.01866(−ω2 θ)+ 200θ=M o sin 25t

M o sin 25 t
θ(t )= 2
200−0.01866 ( ω )
M o sin 25t
θ(t )= 2
200−0.01866 ( 25 )

θ ( t )=0.0053 M o sin25 t

iii. Find out for what values of Mo the forced amplitude of angular displacement of the bar
will be less than 3˚.

θ ( t )=0.0053 M o sin25 t

π
θ ( t )< 3 x
180
0.0053 M o sin 25t <0.0523
9.823
M o<
sin 25 t
Mo will have value only if sin25t ≠ 0.
9.823
For value other than [0, nπ] and for all values less than angular displacement of bar will
sin 25t
be less than 3˚.

Question No 8

Page 21 of 25
A system of mass 30kg and natural frequency 120rad/sec is subjected to a harmonic force F(t) =
2000sin(150t) (N). (i) determine the steady state response of the system; (ii) if the excitation
frequency of the force may change from 100 rad/sec to 200 rad/sec, identify the range of the
system’s spring stiffness in order to avoid the resonance.

Solution :

m=30 kg

rad
ω n=120
sec

F ( t )=2000 sin(150 t) N (1)

Comparing the equation (1) with :

F ( t )=F O sin(ωt )

F O=2000 N

rad
ω=150
sec

k
ω n=
√ m

k
ω 2n=
m

k =m ω2n

k =30 x ( 120 )2

N N
k =432000 =432 K
m m

i. Determine the steady state response of the system :

Page 22 of 25
 FO /k
x=
2 2 2
(2)
√{
1−
ω
ωn ( )} ( ) +
2 ζω
ωn

Since, there is no Damping so, ζ =0

Putting all the values in the above equation (2) :

2000/432000
x=
150 2
( )
120
−1

x=8.23 x 10−3 m

ii. If the excitation frequency of the force may change from 100 rad/sec to 200 rad/sec,
identify the range of the system’s spring stiffness in order to avoid the resonance.

rad
ω 1=100
s

rad
ω 2=200
s

FO /k 1
x=
2 2

√{ 1−
ω1
ωn( )}
FO /k 1
x= 2
ω1
1−
( )
ωn

2000
8.23 x 10−3= 2
100
[ ( )]
k 1 1−
120

After simplifying :

N
k 1=795316
m

Page 23 of 25
 KN
k 1=795.3
m

rad
When, ω 2=200 :
s

FO /k 2
x=
ω2 2
( )
ωn
−1

2000
8.23 x 10−3=
200 2
k2 [( ) ]
120
−1

N
k 2=136695
m

KN
k 2=136.695
m

Range of the system’s spring stiffness is given as :

KN KN
k = 136.695 to 795.3 Answer
m m

Page 24 of 25
Page 25 of 25