Chapter 2: Modeling Mechanical Systems: Z ZT Z ZT

Chapter 2: Modeling Mechanical Systems
2.1 The free-body diagram (FBD) is shown below, assuming z  zin (t ) and z  zin (t ) :
b1 z
+z
m
k(z – zin) b2  z  zin 
Applying Newton’s second law (summing positive upward):
   F  b1 z  k ( z  zin )  b2 ( z  zin )  mz
Rearrange and put all dynamic variables (z and z ) on the left–hand side and input variables ( zin and z in )
on the right-hand side.
mz  (b1  b2 ) z  kz  b2 zin (t )  kzin (t ) Mathematical model
1
Copyright © 2016 John Wiley & Sons
Chapter 2
2.2 The free-body diagram (FBD) is below, assuming xin (t )  x and x  0
+x
k  xin  x  bx
m
Applying Newton’s second law (positive to the right):
   F  k ( xin  x)  bx  mx
Rearrange with dynamic variables on the left–hand side and input variable xin (t ) on the right-hand side.
mx  bx  kx  kxin (t ) Mathematical model

Chapter 2
2.3 a) The free-body diagram (FBD) is below, assuming x  0
+x
f a (t ) bx
m
Applying Newton’s second law (positive to the right):
   F  f a (t )  bx  mx
Rearrange with dynamic variables on the left-hand side and input variable f a on the right-hand side.
mx  bx  f a (t ) Model using x as dynamic variable
b) Substitute v  x and v  x into the mathematical model in part (a):
mv  bv  f a (t ) Mathematical model using velocity v as dynamic variable

Chapter 2
2.4 FBD of mass m and “massless node,” assuming z1  z2 and z2  0
+ z2 + z1
bz2 k  z1  z2  f a (t )
m
“massless node” mnode
Applying Newton’s second law to “massless node” and mass m (positive is to the right):
Massless node:    F  bz 2  k ( z1  z2 )  mnode z2  0 (node has zero mass; mnode = 0)
Mass m:    F  k ( z  z )  f (t )  mz
1 2 a 1
Rearrange with dynamic variables ( z1 , z2 , z1 , z2 ) on the left-hand side and input variable f a on the right-
hand side:
mz1  k ( z1  z2 )  f a (t ) Mathematical model

bz2  k ( z2  z1 )  0

Chapter 2
2.5 FBD of mass m and “massless node,” assuming z1  z2 and z2  0 :
+ z2 + z1
kz2 b  z1  z2  f a (t )
m
“massless node” mnode
Apply Newton’s second law to “massless node” and mass m.
Massless node:
   F  kz2  b( z1  z2 )  mnodez2  0
Mass m:
   F  b( z1  z2 )  f a (t )  mz1
Rearrange with dynamic variables ( z1 , z2 , z1 , z2 ) on the left-hand side and input variable f a on the right-
hand sides:
mz1  b( z1  z2 )  f a (t ) Mathematical model

b( z2  z1 )  kz2  0

Chapter 2
2.6 FBD of mass m when x < 0.5 m (no contact with spring):
+x
m
bx
Applying Newton’s second law:    F  bx  mx

Rearrange: mx  bx  0 ( holds for x < 0.5 m )
FBD of mass m when x ≥ 0.5 m (contact with spring):
+x
k ( x  0.5)
m
bx
Apply Newton’s second law:    F  bx  k ( x  0.5)  mx

Rearrange: mx  bx  k ( x  0.5)  0 (for x ≥ 0.5 m)
Collect the two equations:
mx  bx  0 for x < 0.5 m Mathematical model

mx  bx  k ( x  0.5)  0 for x > 0.5 m

Chapter 2
2.7 FBD of masses m1 and m2 assuming z1  0, z2  0, and z1  z2
f a (t ) m1 k1 z1
b  z1  z2 
Friction force
k 2 z2
m2
Apply Newton’s second law to each mass (positive to the left):
Mass m1:   F  f (t )  k z  b( z  z )  m z
a 1 1 1 2 1 1
Mass m :    F  k z  b( z  z )  m z
2 2 2 1 2 2 2
Rearrange with dynamic variables on the left-hand side and input variable f a on the right-hand side:
m1 z1  b( z1  z2 )  k1 z1  f a (t ) Mathematical model
m2 z2  b( z2  z1 )  k2 z2  0

Chapter 2
2.8 Horizontal displacements of the link at the spring connections are L1sinθ (upper) and L2sinθ
(lower). For small rotation angles, sin    .
FBD of the link and mass m assuming L1  x  0 (all springs are in compression) and x  0
+x
k1 ( L1  x) bx
m
J k2 x
k3 L2
Apply Newton’s second law: sum torques about pivot point (clockwise) and sum forces on mass m:
Link: + T  k (L   x)L  k L  L
1 1 1 3 2 2  J
Mass: +   F  k (L   x)  bx  k x  mx
1 1 2
Rearrange with dynamic variables (  , x, x ) on the left-hand side:
J  (k1L12  k3 L22 )  k1L1 x  0 Mathematical model

mx  bx  (k1  k2 ) x  k1L1  0

Chapter 2
2.9 a) Draw FBD with assumption x 2  x1 (spring k2 is in tension) and x1 > 0
k2 ( x2  x1 )
k1 x1
m1 m2
Apply Newton’s second law to each mass (positive is to the right)
Mass m1:   F  k x  k ( x  x )  m x
1 1 2 2 1 1 1
Mass m :    F  k ( x  x )  m x
2 2 2 1 2 2
Rearrange with dynamic variables on the left-hand side:
m1 x1  k1 x1  k2 ( x1  x2 )  0 Mathematical model
m2 x2  k2 ( x2  x1 )  0
b) Use constant total energy to derive the model.
Total system energy = total potential energy + total kinetic energy

1 1 1 1
 total   P   K  k1 x12  k2 ( x1  x2 ) 2  m1 x12  m2 x22
2 2 2 2
total P.E. (two springs) total K.E. (two masses)
Take the time derivative of total energy:
total  constant  total  0

total  k1 x1 x1  k2 ( x1  x2 )  x1  x2   m1 x1 x1  m2 x2 x2  0
Factor out x1and x2 from  total equation:
total   k1 x1  k2 ( x1  x2 )  m1 x1  x1  k2 ( x1  x2 )  m2 x2  x2  0
Because x1 and x2 cannot both be equal to zero for all time 0 ≤ t ≤ ∞, the two bracket terms must be set equal
to zero so that  total  0 . Therefore, set both bracket terms to zero.
m1 x1  k1 x1  k2 ( x1  x2 )  0 Mathematical model - same as part (a)

m2 x2  k2 ( x2  x1 )  0

Chapter 2
2.10 The given model is
m1 x1  b  x1  x2    k1  k2  x1  k1x2  0
m2 x2  b  x2  x1   k1  x2  x1   f a (t )
Observations: 1) Friction term b  x1  x2  depends on relative velocity hence dashpot b

connects masses m1 and m2.
2) Stiffness term k1  x2  x1  depends on relative displacement hence
spring k1 connects m1 and m2.
3) Force f a (t ) acts on mass m2 only and in the positive direction.
4) Spring k2 is only connected to mass m1 .
Mechanical system:
+x1 +x2
b
k2
m1 m2 f a (t )
k1
FBD of both masses assuming x2  x1 (spring k1 in tension), x2  x1  0 , and x1  0 (spring k2 in tension):
b  x2  x1  fa t 
k2 x1
m1 m2
k1 ( x2  x1 )
Apply Newton’s second law:

Mass m1:    F  k2 x1  b  x2  x1   k1 ( x2  x1 )  m1x1
Mass m :    F  b  x
2 2  x1   k1 ( x2  x1 )  f a t   m2 x2
Rearranging:
m1 x1  b  x1  x2    k1  k2  x1  k1 x2  0 Mathematical model - matches

m2 x2  b  x2  x1   k1 ( x2  x1 )  f a t  given modeling equations
10

Chapter 2
2.11 The given mathematical model is
m1 x1  b1 x1  k1  x1  x2   f a (t )
m2 x2  b2 x2  k1  x2  x1   k2 x2  0
Observations: 1) Dashpots b1and b2 are only connected to masses m1and m2 , respectively,

since the friction terms depend on absolute velocities.
2) Spring k1 is connected to m1 and m2 since the stiffness force depends on
relative displacement.
3) Force f a (t ) is applied directly to mass m1 in the positive direction.
4) Spring k2 is only connected to mass m2 .
Mechanical system:
+x1 +x2
f a (t ) b2
b1 k1
m1 m2
k2
FBD of both masses, assuming x2  x1 , x1  0 , x2  0 and x2  0 :
fa t  b2 x2
m1 m2
b1 x1 k1 ( x2  x1 ) k2 x2
Apply Newton’s second law to each mass:
Mass m1:   F  f t   b x  k ( x
a 1 1 1 2  x1 )  m1x1
Mass m :    F  k ( x  x )  b x
2 1 2 1 2 2  k2 x2  m2 x2
Rearranging:
m1 x1  b1 x1  k1  x1  x2   f a (t ) Mathematical model – matches given

m2 x2  b2 x2  k1  x2  x1   k2 x2  0 modeling equations
11

Chapter 2
2.12 The given mathematical model is
m1 x1  k1 x1  k2  x1  x2   0
m2 x2  k2  x2  x1   0
Observations: 1) No friction terms  no dashpots.

2) No applied forces.
3) Spring k1 is only connected to mass m1 since the stiffness force only
depends on x1 .
4) Spring k2 is connected to masses m1and m2 since the stiffness force
depends on relative displacement.
Mechanical system:
+x1 +x2
k1 k2
m1 m2
FBD of both masses, assuming x2  x1 and x1  0 :
k1 x1
m1 m2
k2  x2  x1 
Apply Newton’s second law to each mass:
Mass m1:    F  k x 1 1  k2 ( x2  x1 )  m1x1
Mass m2:    F  k ( x 2 2  x1 )  m2 x2
Rearranging:
m1 x1  k1 x1  k2  x1  x2   0 Mathematical model - matches
m2 x2  k2  x2  x1   0 given modeling equations
12

Chapter 2
2.13 a) Derive an equation for rate of energy loss (power dissipated).
d 1 2
Power   where total energy   J  (kinetic energy)
dt 2
d d
Therefore    J
d dt
Use Newton’s second law to get the “inertia torque” J 
FBD of disk J:

b ,friction torque
Sum all the torques on disk J with sign convention as positive clockwise:
 T  b = J

Substitute for J  from the torque equation into the power equation (  ):   b  
Power dissipated = b 2
b) Rotational system: Power = torque x angular velocity.
Using the free-body diagram from part (a), the only torque is the friction torque. Summing torques
(positive rotation in clockwise direction):  T  b = J
 
Therefore, Power    b   b 2 Power dissipated =  b 2
The power dissipated equation must have a minus sign since friction causes energy losses,   0
13

Chapter 2
2.14 Free-body diagram of the pulley-system disk J:

Input
torque,
Tin
mg ,
weight of
mass m
b ,friction torque
Apply Newton’s second law to disk, J (sum torques in the counter-clockwise direction)
 T  T in  b  mgr  J
Rearrange with dynamic variables (  and  ) on the left-hand side and input variables Tin and mgr  on
the right-hand side:
J  b  Tin  mgr Mathematical model
Note that mgr acts as a “load torque” on the pulley.
14

Chapter 2
2.15 Free-body diagram of the system, assuming 1  2 and  2  0
   
Torsional
J1 shaft torque, J2
k 1  2  +
+
r2
fc
Contact force fc Friction torque, b 2
Input torque, Gear 1

Tin (no inertia)
Apply Newton’s second law to all three disks:
Gear 1:  T  T in  fc r1  J gear1 gear1  0
Gear 2 + J1:  T  f r  k  c 2 1  2   J11
Disk 2:  T  k  1  2   b2  J 22
1 1
Because Gear 1 has negligible inertia, Tin  f c r1 or f c  Tin . Substitute f c  Tin for the contact force
r1 r1
in the equation for Disk J1 . Rearranging we obtain:
r2
J11  k 1   2   Tin Mathematical model
r1
J 22  b2  k 2  1   0
We can substitute the gear ratio N = r2/r1 into the first equation if desired.
15

Chapter 2
2.16 Free-body diagram of both disks, assuming 1  2 , 1  0 and  2  0 :
   
Torsional
Input J1 shaft J2
+
torque, + torque,
Tin k1 1  2 
Spring torque, k2θ2

Friction torque, b1
Apply Newton’s second law to each disk:
Disk J1:  T  Tin  b1  k1 (1  2 )  J11
Disk J2:  T  k 
1 1  2   k22  J 22
Rearranging we obtain:
J11  b1  k1 (1   2 )  Tin Mathematical model

J 22  k1 2  1   k22  0
16

Chapter 2
2.17 Free-body diagram assuming   0 and   0
kd1 b  d 2  d3  
+ 
f a (t )
Note that for small angle  , the vertical deflection of the left end is d1 sin   d1 and the vertical
deflection of the right end is  d2  d3  sin    d2  d3  .
Hence the vertical velocity of the right end is  d2  d3  .
Apply Newton’s second law and sum torques about the pivot (counter-clockwise):
 T  kd  d1 1  f a d2  b  d2  d3   d2  d3   J
Rearranging we obtain:
J  b  d 2  d3    kd12  f a (t )d 2
2
Mathematical model
17

Chapter 2
2.18 Using the polyfit command in MATLAB, fit the data with the spring deflection as the
independent variable and the load force as the dependent variable. The MATLAB commands are
>> F = [ -50 -45 -35 -25 -15 -10 0 10 15 25 35 45 50 ];

>> x1 = [-7.2055 -6.2354 -4.6099 -3.1938 -1.8822 -1.2482 0 1.2482 … ]
>> pp1 = polyfit(x1,F,3)
The third-order polynomial coefficients are pp1 = [-0.0213 -0.0000 8.0449 -0.0000 ] and
hence the spring force is Fk  0.0213 x 3  8.0449 x where x is in mm. The MATLAB command
polyval is used to evaluate the polynomial for -8 < x < 8 mm
>> x1_fit = linspace(-8,8,200); % displacement ranges from -8 mm to +8 mm

>> F_fit = polyval(pp1,x1_fit); % evaluate 3rd-order polynomial for spring force
The same steps are applied to the data for Spring #2. However, Spring #2 exhibits a linear relationship
with deflection (see plots below):
Spring #1 has a nonlinear relationship with deflection (cubic polynomial), while Spring #2 has a
linear relationship with deflection.
60 80
Data 60
40 Polynomial fit Data
Linear fit
Load force on spring, N
Load force on spring, N
40
20
20
0 0
-20
-20
-40
-40
-60
-60 -80
-8 -6 -4 -2 0 2 4 6 8 -8 -6 -4 -2 0 2 4 6 8
Spring #1 deflection, mm Spring #2 deflection, mm
18

2.19 The M-file for computing the friction force is below, along with the plot.
%
% Problem 2.19
%
% constants
Fst = 10;
Fc = 7;
b = 70;
cpts = [ 0.001 0.002 0.005 ];
xdot = linspace(-0.05,0.05,10000);
for i=1:3
c = cpts(i);
Ff(i,:) = sign(xdot).*(Fc + (Fst-Fc).*exp(-abs(xdot)./cpts(i))) + b.*xdot;
end
plot(xdot,Ff)
grid
xlabel('Relative velocity, m/s')
ylabel('Friction force, N')
15
c = 0.001 m/s
10 c = 0.002 m/s
c = 0.005 m/s
5
Friction force, N
-5
-10
-15
-0.05 -0.04 -0.03 -0.02 -0.01 0 0.01 0.02 0.03 0.04 0.05
Relative velocity, m/s
At very low relative velocities (near zero) the friction force instantaneously switches between +/- the static
friction force Fst (i.e., -10 N to +10 N) regardless of the value for the velocity coefficient c. As the
magnitude of the relative velocity increases from zero the friction force decreases to a value nearly equal to
the dry friction force FC = 7 N. The “rate” of decrease in friction force near zero velocity depends on the
coefficient c where smaller values of c produce a sharper decrease in friction near zero relative velocity. At
higher relative velocities (such as 0.02 m/s) the friction force is simply the sum of dry friction FC = 7 N and
viscous friction bx regardless of coefficient c.
19
2.20 The Mfile for creating the plot is below:
%
% Problem 2.20
%
xdot = [-1.5:0.1:1.5]; % range of xdot values (m/s)
v = 0.2; % m/s
Fd = 4500*xdot./sqrt(xdot.^2 + v^2);
plot(xdot,Fd)
grid
xlabel('Relative velocity, m/s')
ylabel('Damper force, N')
The plot shows that when the magnitude of relative velocity is small, the damper force is linear with
velocity, but when the magnitude of relative velocity is large, the damper force is large and nearly
constant at  4500 N.
5000
4000
3000
2000
Damper force, N
1000
-1000
-2000
-3000
-4000
-5000
-1.5 -1 -0.5 0 0.5 1 1.5
20
Chapter 2
2.21 The Mfile for creating the plot of damper force vs. relative velocity is
%
% Problem 2.21
%
xdot = linspace(-1.5,1.5,500);
v1 = 0.06;
v2 = 0.19;
Fd = (3389*(xdot-v1)./sqrt((xdot-v1).^2 + v2^2) ) + 1020.84;
plot(xdot,Fd)
5000
4000
3000
Damper force, N
2000
1000
-1000
-2000
-3000
-1.5 -1 -0.5 0 0.5 1 1.5
The plot looks much like the plot from Problem 2.20. When the relative velocity is “small” (near zero)
the damper force is approximately linear with x . Note that the magnitude of the damper force for
negative values of relative velocity (compression stroke) is much less than corresponding force from
Problem 2.20. Large positive relative velocity exhibits a nearly constant damper force of about 4400 N
(extension) while large negative relative velocity shows a nearly constant damper force of about -2300 N
(compression).
21

Chapter 2
Gd 4
2.22 The round-wire spring constant is k 
8 ND3
where G = modulus of elasticity in shear
d = wire diameter ( = 1 mm)
N = number of coils ( = 5)
D = spring diameter ( = 1.5 cm = 15 mm)
For stainless steel, G = 77.2 GPa = 77.2 (109) Pa (or N/m²)
k
 77.2 10  N/m  1 mm 
9 2 4
1 m   571.85 N/m
8  515 mm 
3
1000 mm 
22

Chapter 2
2.23 For a square-wire coiled spring (cross-sectional area = 0.8 mm2), the spring constant is
Gt 4
k
5.6 ND3
where G = modulus of elasticity in shear
t = width (or height) of square wire ( = 0.8 mm2 )
N = number of coils ( = 5)
D = spring diameter ( = 1.5 cm = 15 mm)
t  0.8  0.894 mm , using G = 77.2 (109) or N/m² for stainless steel:
k
 77.2 10  N/m   0.894 mm 
9 2 4
1 m   522.84 N/m
5.6  515 mm 
3
1000 mm 
23

Chapter 2
2.24 Draw the FBDs for all three disks, assuming 1   2 and  2  3
     
Viscous Torsional
Tin friction + shaft + TL
+ torque, torque,

b 1   2  k ( 2  3 )
Disk J1 Disk, J2 Disk, J3
(Impeller) (Turbine) (Load)
Apply Newton’s second law to each disk (positive clockwise direction):
Disk J1:  T  T in  
 b 1   2  J11
Disk J2:   T  b  1 
  2  k  2   3   J 2 2
Disk J3:  T  k  2  3   TL  J 33
Rearrange with all dynamic variables on the left-hand sides:
 
J11  b 1   2  Tin (t ) Mathematical model
J 2 2  b  2     k 
1 2  3   0
J 33  k 3  2   TL
24

Chapter 2
2.25 Draw FBDs of gears 1, 2 and robot arm assuming 1  2 :
 
d
Robot arm
 
mg
Gear 2 Torsional
+ shaft torque,
+
Disk J1 k 1  2 
d cos 2  90
fc Contact force fc
Input torque,
Gear 1
Tin
Note that the moment of inertia of the robot arm about the rotation axis is J 2  J cm  md 2 (parallel axis
theorem) where J cm is the moment of inertia of the arm about its c.m.
Sum torques for each inertia:
Gear 1 (neglect inertia):  T  T in  fc r1  J gear1gear1  0
1
 fc  Tin
r1
Gear 2 + Disk J1:  T  f r  k  c 2 1  2   J11
Robot Arm:  T  k  1  2   mgd cos 2  90  J 22
r2
Substitute for contact force f c and gear ratio N  and rearrange:
r1
J11  k 1  2   NTin Mathematical model

J 22  k 2  1   mgd cos 2  90
25

Chapter 2
2.26 Draw the FBDs of masses m1 and m2 assuming xin > x2 (spring k2 is compressed), x1 > x2
(spring k1 is in tension), xin  x2 , and x1  x2 .
+ x2 + x1
Stiffness force
Stiffness force
Frame stiffness force between cart and head
between cart and head
k2  xin  x2  k1  x1  x2  k1  x1  x2 
m2 m1
Frame vibrational friction Friction force between Friction force between
b2  xin  x2 
cart and head cart and head
b1  x1  x2  b1  x1  x2 
Sum forces (positive is to the right):
Mass 1:    F  k1  x1  x2   b1  x1  x2   m1 x1
Mass 2:    F  k2  xin  x2   b2  xin  x2   k1  x1  x2   b1  x1  x2   m2 x2
Move all dynamic variables to the left-hand sides and all input variables to the right-hand sides:
m1 x1  b1  x1  x2   k1  x1  x2   0
Mathematical model
m2 x2  b2 x2  b1  x2  x1   k1  x2  x1   k2 x2  b2 xin  k2 xin
26
Chapter 2
2.27 FBD of both masses assuming z1  zw , z2  z1 (i.e., both springs are in compression) and z2  z1 ,
and z2  0 :
k1  z1  zw 
m1 z z
Only if 1 w
(compression only)
k2  z2  z1  b1  z2  z1 
m2
f a (t ) b2 z2
Apply Newton’s second law to each mass (summing positive upwards):
Head:    F  k  z  z   k  z  z   b  z  z   m z
1 1 w 2 2 1 1 2 1 1 1
Frame:    F  k  z  z   b  z  z   f  b z  m z
2 2 1 1 2 1 a 2 2 2 2
Rearrange the above equations:
k ( z  z ) if z1  zw
m1z1  b1 ( z1  z2 )  k2 ( z1  z2 )   1 w 1 Mathematical model
 0 if z1  zw
m2 z2  b1 ( z2  z1 )  b2 z2  k2 ( z2  z1 )  f a (t )
Note: the spring k1 can only be in compression ( z1  zw )
27

Chapter 2
2.28 When θ = 0 (level), the return spring k2 has compressive pre-load force FL . When xc    0 ,
pushrod “spring” k1 is undeflected.
Draw the FBD of the rocker arm (moment of inertia J) and assume a small rotation angle θ so that the
vertical deflection of each end of the rocker arm is L1 sin   L1 (left end) and L2 sin   L2 (right end).
Furthermore, assume θ > 0 and xc  L1 (pushrod spring k1 is compressed)
friction
torque,
+
b
k1  xc  L1 
k2 L2  FL
Pushrod force
(compressive only)
Sum torques about the pivot (clockwise is positive)
 T  k  x
1 c  L1  L1  b   k2 L2  FL  L2  J
Rearrange to obtain the mathematical model:
k ( x  L1 ) L1  FL L2 if xc  L1
J  b  k2 L22   1 c Mathematical model
  FL L2 if xc  L1
Note that the pushrod force can only be compressive, which occurs when xc  L1
In order to compute the cam-follower displacement xc for static equilibrium with a level rocker arm
(θ = 0) use the compressive pushrod equation with       0
J   b  k2 L22   k1  xc  L1  L1  FL L2  k1 xc L1  FL L2  0
FL L2
Cam-follower displacement to balance return-spring pre-load force: xc 
k1 L1
28

Chapter 2
2.29 FBD of each mass assuming z1  z2 , z2  z3 (springs in tension) and z1  z2 and z2  z3
b  z1  z2  b  z2  z3 
Fa
m1 m2 m3
br z1 k ( z1  z2 ) br z2 k ( z2  z3 ) br z3
friction friction friction
Apply Newton’s second law (sum forces positive to the left):
Mass m1:   F  F a  b  z1  z2   k  z1  z2   br z1  m1z1
Mass m2:    F  b  z  z   k (z  z )  b  z
1 2 1 2 2  z3   k  z2  z3   br z 2  m2 z 2
Mass m3:    F  b z 2  z3   k  z2  z3   br z3  m3 z3
Rearrange and place all dynamic variables on the left-hand sides:
m1z1  b( z1  z2 )  br z1  k ( z1  z2 )  Fa

m2 z2  b( z2  z1 )  b( z2  z3 )  br z2  k ( z2  z1 )  k ( z2  z3 )  0 Mathematical
m3z3  b( z3  z2 )  br z3  k ( z3  z2 )  0 model
29

Chapter 2
2.30 Draw the FBD of both masses assuming z2  z1 (spring k1 is in compression), z2  z1 , and
zin  z2 (ignore weight terms since displacements are measured from static equilibrium)
m1
k1 ( z2  z1 ) b( z2  z1 )
m2
k2  zin  z2 
Apply Newton’s second law and sum all forces (positive upward):
¼ car mass:    F  k1 ( z2  z1 )  b( z2  z1 )  m1z1
Wheel/axle mass:    F  k1 ( z2  z1 )  b( z2  z1 )  k2 ( zin  z2 )  m2 z2
Rearrange and place all dynamic variables on the left-hand side and input (zin) on the right-hand
side:
m1z1  b( z1  z2 )  k1 ( z1  z2 )  0 Mathematical model

m2 z2  b( z2  z1 )  k1 ( z2  z1 )  k2 z2  k2 zin (t )
30

Chapter 2
2.31 Draw the FBD of both masses with sliding friction (dry friction), assuming x1  x2 and x1 > 0
m2
Ff (sliding friction force)
kx1
bx1 m1
FPZT
where Ff  Fdry sgn  x1  x2   k Nc sgn  x1  x2  and  k is the kinetic friction coefficient and Nc is the
normal clamp force.
Apply Newton’s second law and sum forces on all masses (positive to the right):
Clamp mass:    F   Ff  kx1  bx1  FPZT  m1 x1 (holds for sliding contact)

Slide mass:    F  Ff  m2 x2
For the case of “stiction,” we have x1  x2 and there is no relative motion between mass m1 and
m2 (in addition x1  x2 ). The FBD for the stiction case is below:
m2
kx1 m1 m1  m2
+x1
bx1
FPZT
Sum forces on single joined mass:

   F  kx1  bx1  FPZT   m1  m2  x1
Therefore the mathematical model for the stiction case is (m1  m2 ) x1  bx1  kx1  FPZT
To compute stiction force Fc , draw FBD with equal and opposite stiction force acting on m1 and m2 :
m2
Fst “sticking friction” force
kx1
bx1 m1
FPZT
31

Chapter 2
Summing forces (positive to the right)
Slide mass:    F  Fst  m2 x2  m2 x1 (note that x2  x1 for stiction)

Clamp mass:    F  kx1  bx1  FPZT  Fst  m1 x1
Because x1  x2 , substitute clamp-mass equation (stiction case) for x1 and solve for Fst :
Fst 
m2
FPZT  bx1  kx1  Stiction force (for joined masses)
m1  m2
For the “no-clamp” (release) case, use the first FBD with F f  0 (no friction) and FPZT = 0:
Clamp mass:    F  kx1  bx1  m1x1
Slide mass:    F  0  m2 x2  x2  0 , or x2  constant
Complete mathematical model (three cases):
Sliding contact case: m1 x1  bx1  kx1  k Nc sgn  x1  x2   FPZT

m2 x2  k Nc sgn  x1  x2 
“stiction” (joined) case:  m1  m2  x1  bx1  kx1  FPZT
No contact (release) case: m1x1  bx1  kx1  0

m2 x2  0
32

Chapter 2
2.32 Draw the FBD of all three masses assuming x1  x3 (spring k1 is compressed), x3  x2 (spring k2
is compressed), and positive displacements and velocities for all masses:
k1 ( x1  x3 ) k2 ( x3  x2 )
f1 f2
b1 x1 m1 m2
b2 x2
k3 x3 m3 b3 x3
Sum forces on all masses and apply Newton’s second law (positive is to the right):
Mass m1:    F  f1  b1 x1  k1  x1  x3   m1 x1
Mass m2:    F  k2 ( x3  x2 )  b2 x2  f 2  m2 x2
Mass m3:    F  k3 x3  k1 ( x1  x3 )  k2 ( x3  x2 )  b3 x3  m3x3
Rearrange with all dynamic variables on the left-hand sides and the two input forces on the right-hand
sides:
m1x1  b1 x1  k1 ( x1  x3 )  f1
m2 x2  b2 x2  k2  x2  x3   f 2 Mathematical model
m3 x3  b3 x3  k1  x3  x1   k2  x3  x2   k3 x3  0
33

Chapter 2: Modeling Mechanical Systems: Z ZT Z ZT

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Chapter 2: Modeling Mechanical Systems

k(z – zin) b2  z  zin 

Applying Newton’s second law (summing positive upward):

   F  b1 z  k ( z  zin )  b2 ( z  zin )  mz

mz  (b1  b2 ) z  kz  b2 zin (t )  kzin (t ) Mathematical model

2.2 The free-body diagram (FBD) is below, assuming xin (t )  x and x  0

Applying Newton’s second law (positive to the right):

mx  bx  kx  kxin (t ) Mathematical model

Copyright © 2016 John Wiley & Sons

2.3 a) The free-body diagram (FBD) is below, assuming x  0

Applying Newton’s second law (positive to the right):

mx  bx  f a (t ) Model using x as dynamic variable

b) Substitute v  x and v  x into the mathematical model in part (a):

mv  bv  f a (t ) Mathematical model using velocity v as dynamic variable

Copyright © 2016 John Wiley & Sons

2.4 FBD of mass m and “massless node,” assuming z1  z2 and z2  0

“massless node” mnode

Massless node:    F  bz 2  k ( z1  z2 )  mnode z2  0 (node has zero mass; mnode = 0)

mz1  k ( z1  z2 )  f a (t ) Mathematical model

Copyright © 2016 John Wiley & Sons

“massless node” mnode

Apply Newton’s second law to “massless node” and mass m.

mz1  b( z1  z2 )  f a (t ) Mathematical model

Copyright © 2016 John Wiley & Sons

Applying Newton’s second law:    F  bx  mx

FBD of mass m when x ≥ 0.5 m (contact with spring):

Apply Newton’s second law:    F  bx  k ( x  0.5)  mx

Collect the two equations:

mx  bx  0 for x < 0.5 m Mathematical model

Copyright © 2016 John Wiley & Sons

2.7 FBD of masses m1 and m2 assuming z1  0, z2  0, and z1  z2

Apply Newton’s second law to each mass (positive to the left):

Copyright © 2016 John Wiley & Sons

Rearrange with dynamic variables (  , x, x ) on the left-hand side:

J  (k1L12  k3 L22 )  k1L1 x  0 Mathematical model

Copyright © 2016 John Wiley & Sons

2.9 a) Draw FBD with assumption x 2  x1 (spring k2 is in tension) and x1 > 0

Apply Newton’s second law to each mass (positive is to the right)

Rearrange with dynamic variables on the left-hand side:

b) Use constant total energy to derive the model.

Total system energy = total potential energy + total kinetic energy

total P.E. (two springs) total K.E. (two masses)

Take the time derivative of total energy:

total  constant  total  0

Factor out x1and x2 from  total equation:

m1 x1  k1 x1  k2 ( x1  x2 )  0 Mathematical model - same as part (a)

Copyright © 2016 John Wiley & Sons

2.10 The given model is

Observations: 1) Friction term b  x1  x2  depends on relative velocity hence dashpot b

FBD of both masses assuming x2  x1 (spring k1 in tension), x2  x1  0 , and x1  0 (spring k2 in tension):

Apply Newton’s second law:

m1 x1  b  x1  x2    k1  k2  x1  k1 x2  0 Mathematical model - matches

Copyright © 2016 John Wiley & Sons

2.11 The given mathematical model is

Observations: 1) Dashpots b1and b2 are only connected to masses m1and m2 , respectively,

FBD of both masses, assuming x2  x1 , x1  0 , x2  0 and x2  0 :

Apply Newton’s second law to each mass:

m1 x1  b1 x1  k1  x1  x2   f a (t ) Mathematical model – matches given

Copyright © 2016 John Wiley & Sons

2.12 The given mathematical model is

Observations: 1) No friction terms  no dashpots.

FBD of both masses, assuming x2  x1 and x1  0 :

Apply Newton’s second law to each mass: