Analysis of Mechanical Vibrations

ENG 148 and ME 222

Chapter 2: Free Undamped
Vibration of SDOF Systems
Solved Problems
Prof Assoc. Alaa A. Abdelrahman
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Examples Solved Problems
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Examples Solved Problems
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Examples Solved Problems
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Examples Solved Problems
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Examples Solved Problems
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Examples Solved Problems
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Examples Solved Problems
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Problems

Solution
𝟏 𝟏 𝟏 𝟏 𝟏 𝟒𝟎𝟎 𝟒 𝟑𝟎𝟎 𝑵
= + = + = = → 𝒌𝒆𝒒 = = 𝟕𝟓
𝒌𝒆𝒒 𝒌𝟏 𝒌𝟐 𝟑𝟎𝟎 𝟏𝟎𝟎 𝟏𝟎𝟎 × 𝟑𝟎𝟎 𝟑𝟎𝟎 𝟒 𝒎

𝒌𝒆𝒒 𝟕𝟓 𝒓𝒂𝒅
Natural frequency, 𝝎𝒏 = = = 𝟐. 𝟏𝟔𝟓
𝒎 𝟏𝟔 𝒔
𝟏 𝟐𝝅 𝟐𝝅
Natural Period, 𝝉𝒏 = = = = 𝟐. 𝟗𝒔
𝒇𝒏 𝝎𝒏 𝟐.𝟏𝟔𝟓
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Problems
kx1

T
r r
O Ɵ x
x1
Solution
𝒙
𝒙 = 𝒓𝜽 → 𝜽 = and 𝒙𝟏 = 𝟐𝒓𝜽 = 𝟐𝒙
𝒓 x 𝒎𝒙ሷ FBD

ሷ + 𝒌𝒙𝟏 × 𝟐𝒓 = 𝟎 → 𝒎𝒙ሷ + 𝟒𝒌𝒙 = 𝟎

෍ 𝑴𝒐 = 𝟎 → 𝒎𝒙𝒓

𝒌𝒆𝒒 𝟒𝒌 𝒓𝒂𝒅
Natural frequency, 𝝎𝒏 = =
𝒎 𝒎 𝒔
𝟏 𝟐𝝅 𝟐𝝅
Natural Period, 𝝉𝒏 = = = 𝒔
𝒇𝒏 𝝎𝒏 𝟒𝒌
𝒎
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Problems 𝟐𝒎𝒙ሷ
kx1
Problem 3_2
Find the natural period of Oscillation if the pulley T 𝑰𝑮𝜽ሷ
r 𝑮 r
has a mass 2m O Ɵ x
2m x1
Solution
𝒙
𝒙 = 𝒓𝜽 → 𝜽 = and 𝒙𝟏 = 𝟐𝒓𝜽 = 𝟐𝒙
𝒓 x 𝒎𝒙ሷ FBD

𝑰𝑮
෍ 𝑴𝒐 = 𝟎 → 𝒎𝒙𝒓 ሷ + 𝑰𝑮 𝜽ሷ + 𝒌𝒙𝟏 × 𝟐𝒓 = 𝟎 → 𝟑𝒎 +
ሷ + 𝟐𝒎𝒙𝒓 𝟐
𝒙ሷ + 𝟒𝒌𝒙 = 𝟎
𝒓
𝒌𝒆𝒒 𝟒𝒌 𝒓𝒂𝒅
Natural frequency, 𝝎𝒏 = = 𝑰
𝒎𝒆𝒒 𝟑𝒎+ 𝑮𝟐 𝒔
𝒓
𝟏 𝟐𝝅 𝟐𝝅
Natural Period, 𝝉𝒏 = = = 𝒔
𝒇𝒏 𝝎𝒏 𝟒𝒌
𝑰
𝟑𝒎+ 𝑮
𝒓𝟐
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Problems 𝟐𝒎𝒙ሷ
Problem 3_2 kx1
Find the natural period of Oscillation if the pulley has a mass 2m
T 𝑰𝑮𝜽ሷ
Solution r 𝑮 r
𝒙 = 𝒓𝜽 → 𝜽 =
𝒙
and 𝒙𝟏 = 𝟐𝒓𝜽 = 𝟐𝒙
O Ɵ x
𝒓
2m x1
𝒅
Using Energy Method Equation of motion 𝑻+𝑽 =𝟎
𝒅𝒕
𝟏 𝟏 𝟏 𝟏 𝟐 x 𝒎𝒙ሷ FBD
𝟐 𝟐 ሶ 𝟐
𝑻 = 𝒎𝒙ሶ + 𝟐𝒎 𝒙ሶ + 𝑰𝑮 𝜽 𝒂𝒏𝒅 𝑽 = 𝑽𝒈 + 𝑽𝒆 = 𝟎 + 𝒌𝒙𝟏
𝟐 𝟐 𝟐 𝟐
𝟐
𝒅 𝒅 𝟏 𝟐
𝟏 𝒙ሶ 𝟏 𝟐
𝟏 𝟏 𝟐𝒙ሶ 𝒙ሷ 𝟏
𝑻+𝑽 =𝟎→ 𝟑𝒎 𝒙ሶ + 𝑰𝑮 + 𝒌 𝟐𝒙 → 𝟑𝒎 𝟐𝒙ሶ 𝒙ሷ + 𝑰𝑮 + 𝒌 𝟒 × 𝟐𝒙𝒙ሶ = 0
𝒅𝒕 𝒅𝒕 𝟐 𝟐 𝒓 𝟐 𝟐 𝟐 𝒓𝟐 𝟐

𝑰𝑮
𝑬𝒒𝒖𝒂𝒕𝒊𝒐𝒏 𝒐𝒇 𝒎𝒐𝒕𝒊𝒐𝒏 → 𝟑𝒎 + 𝟐 𝒙ሷ + 𝟒𝒌 𝒙 = 0
𝒓
𝟏 𝟐𝝅 𝟐𝝅
𝒌𝒆𝒒 𝟒𝒌 𝒓𝒂𝒅 Natural Period, 𝝉𝒏 = = = 𝒔
Natural frequency, 𝝎𝒏 = = 𝑰 𝒇𝒏 𝝎𝒏 𝟒𝒌
𝒎𝒆𝒒 𝟑𝒎+ 𝑮𝟐 𝒔 𝑰
𝒓 𝟑𝒎+ 𝑮
𝒓𝟐
 Chapter 2: Free Undamped Vibrations of SDOF
Problem 4 Solved Problems

Ɵ x2
X=0.9Ɵ , X1=0.6Ɵ, X2=0.3Ɵ x1
x
 Chapter 2: Free Undamped Vibrations of SDOF
Problem 4 Solved Problems

2000x2 Ɵ x2
2000x1 x1
O x
Ɵ x2 x1
x
𝐼𝑜 𝜃ሷ X=0.9Ɵ , X1=0.6Ɵ, X2=0.3Ɵ
FBD
 Chapter 2: Free Undamped Vibrations of SDOF
Problem 4 Solved Problems
2000x2
2000x1
O
෍ 𝑴𝒐 = 𝟎 → 𝑰𝒐 𝜽ሷ + 𝟐𝟎𝟎𝟎𝒙𝟐 × 𝟎. 𝟑 + 𝟐𝟎𝟎𝟎𝒙𝟏 × 𝟎. 𝟔 = 𝟎 Ɵ x2 x1
x
෍ 𝑴𝒐 = 𝟎 → 𝑰𝒐 𝜽ሷ + 𝟐𝟎𝟎𝟎 𝟎. 𝟑𝜽 × 𝟎. 𝟑 + 𝟐𝟎𝟎𝟎 𝟎. 𝟔𝜽 × 𝟎. 𝟔 = 𝟎 𝐼𝑜 𝜃ሷ
FBD
𝑰𝒐 𝜽ሷ + 𝟐𝟎𝟎𝟎 𝟎. 𝟎𝟗𝜽 + 𝟐𝟎𝟎𝟎 𝟎. 𝟑𝟔𝜽 = 𝟎 Ɵ x2 x1
𝑰𝒐 =
𝟓 𝟎. 𝟗 𝟐
+ 𝟏𝟎 𝟎. 𝟗 𝟐 = 9.45 kg. 𝑚2
x
𝟑

𝑰𝒐 𝜽ሷ + 𝟗𝟎𝟎 𝜽 = 𝟎 → 𝟗. 𝟒𝟓𝜽ሷ + 𝟗𝟎𝟎𝜽 = 𝟎 X=0.9Ɵ , X1=0.6Ɵ, X2=0.3Ɵ

𝑵. 𝒎
𝑰𝒆𝒒 = ‫𝜽 معامل‬ሷ = 𝟗. 𝟒𝟓 𝒌𝒈. 𝒎𝟐 𝒂𝒏𝒅 𝒌𝒕𝒆𝒒 = 𝟗𝟎𝟎
𝒓𝒂𝒅
𝒌𝒕𝒆𝒒 𝟗𝟎𝟎 𝒓𝒂𝒅
𝝎𝒏 = = = 𝟗. 𝟕𝟔
𝑰𝒆𝒒 𝟗. 𝟒𝟓 𝒔
 Chapter 2: Free Undamped Vibrations of SDOF
Problem 4 Solved Problems
Using Energy Method Equation of motion
𝒅
𝑻+𝑽 =𝟎 2000x2
𝒅𝒕 2000x1
O
𝟏 𝟏 𝟏 Ɵ x2
𝑻 = 𝑰𝒐 𝜽ሶ 𝟐 𝟐
𝒂𝒏𝒅 𝑽 = 𝑽𝒆 = 𝟐𝟎𝟎𝟎 𝒙𝟏 + 𝟐
𝟐𝟎𝟎𝟎 𝒙𝟐 x1
𝟐 𝟐 𝟐 x
𝟏 𝟏 𝟏 𝐼𝑜 𝜃ሷ
𝑻 = 𝑰𝒐 𝜽ሶ 𝟐 𝟐
𝒂𝒏𝒅 𝑽 = 𝑽𝒆 = 𝟐𝟎𝟎𝟎 𝟎. 𝟔𝜽 + 𝟐𝟎𝟎𝟎 𝟎. 𝟑𝜽 𝟐 FBD
𝟐 𝟐 𝟐
𝒅 𝒅 𝟏 𝟏 𝟏
𝑻+𝑽 =𝟎→ ሶ 𝟐
𝑰 𝜽 + 𝟐𝟎𝟎𝟎 𝟎. 𝟔𝜽
𝒅𝒕 𝟐 𝒐
𝟐
+ 𝟐𝟎𝟎𝟎 𝟎. 𝟑𝜽 𝟐 =𝟎 Ɵ x2
𝒅𝒕 𝟐 𝟐 x1
𝟏 𝟏 𝟏 x
𝑰𝒐 𝟐𝜽𝜽 + 𝟐𝟎𝟎𝟎 𝟎. 𝟑𝟔 × 𝟐𝜽𝜽 + 𝟐𝟎𝟎𝟎 𝟎. 𝟎𝟗 × 𝟐𝜽𝜽ሶ = 𝟎
ሶ ሷ ሶ
𝟐 𝟐 𝟐
𝟗. 𝟒𝟓𝜽ሷ + 𝟗𝟎𝟎𝜽 = 𝟎
𝟐
X=0.9Ɵ , X1=0.6Ɵ, X2=0.3Ɵ
𝟓 𝟎. 𝟗 𝟐
𝑰𝒐 = + 𝟏𝟎 𝟎. 𝟗 = 9.45 kg. 𝑚2
𝟑

𝑵. 𝒎 𝒌𝒕𝒆𝒒 𝟗𝟎𝟎 𝒓𝒂𝒅

𝑰𝒆𝒒 = ‫𝜽 معامل‬ሷ = 𝟗. 𝟒𝟓 𝒌𝒈. 𝒎𝟐 𝒂𝒏𝒅 𝒌𝒕𝒆𝒒 = 𝟗𝟎𝟎 𝝎𝒏 = = = 𝟗. 𝟕𝟔
𝒓𝒂𝒅 𝑰𝒆𝒒 𝟗. 𝟒𝟓 𝒔
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Problems
(L/4)Ɵ

Ɵ L/4

3L/4 Ɵ

𝐿 𝐿 3𝐿 k(L/4)Ɵ (L/4)Ɵ (3L/4)Ɵ

෍ 𝑀𝑃 = 0 → 𝐼𝑃 𝜃ሷ + 2𝑘 𝜃 + 𝑀𝑔 𝜃 =0
4 4 4 k(L/4)Ɵ
2
Ɵ L/4
𝑘𝐿2 3𝑀𝑔𝐿 3𝐿 9𝑀𝐿2
𝐼𝑃 𝜃ሷ + + 𝜃 = 0, 𝐼𝑃 = 𝑀 = 𝑘𝑔. 𝑚2 P
8 4 4 16
3L/4 Ɵ
9𝑀𝐿2 𝑘𝐿2 3𝑀𝑔𝐿 2𝜋 2𝜋
𝜃ሷ + + 𝜃 = 0, 𝜏𝑛 = = 𝑠
16 8 4 𝜔𝑛 𝑘𝐿2 3𝑀𝑔𝐿
+ 𝐼𝑃 𝜃ሷ
8 4
9𝑀𝐿2
mg (3L/4)Ɵ FBD
16
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Problems
(L/4)Ɵ

Ɵ L/4

3L/4 Ɵ

k(L/4)Ɵ (L/4)Ɵ (3L/4)Ɵ

𝒅 𝟏
𝑻 + 𝑽 = 𝟎, 𝑻 = 𝑰𝑷 𝜽ሶ 𝟐 , 𝑽 = 𝑉𝑔 + 𝑉𝑒 k(L/4)Ɵ
𝒅𝒕 𝟐
3𝐿 1 𝐿 2 Ɵ L/4
𝑽 = 𝑉𝑔 + 𝑉𝑒 = Mg 1 − cos 𝜃 + 2𝑘 𝜃
4 2 4 P
2
𝒅 𝒅 𝟏 3𝐿 1 𝐿 3L/4 Ɵ
𝑻+𝑽 = ሶ 𝟐
𝑰 𝜽 + Mg 1 − cos 𝜃 + 2𝑘 𝜃 =𝟎
𝒅𝒕 𝒅𝒕 𝟐 𝑷 4 2 4

𝑘𝐿2 3𝑀𝑔𝐿 3𝐿
2
9𝑀𝐿2 𝐼𝑃 𝜃ሷ
𝐼𝑃 𝜃ሷ + + 𝜃 = 0, 𝐼𝑃 = 𝑀 = 𝑘𝑔. 𝑚2
8 4 4 16
mg (3L/4)Ɵ FBD
Chapter 2: Free Undamped Vibrations of SDOF
Solved Problems

O (a) (L)Ɵ
O (b)
Ɵ
𝐼𝑜 𝜃ሷ Ɵ
𝑘𝑎𝜃
mg L
L (a)Ɵ
L (a)Ɵ

(L)Ɵ 𝐼𝑜 𝜃ሷ 𝑘𝑎𝜃 Ɵ
(L)Ɵ
mg (c)
O
mg
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Problems
O (a) (L)Ɵ
O (b)
Ɵ
𝐼𝑜 𝜃ሷ Ɵ
𝑘𝑎𝜃
mg L
L (a)Ɵ
L (a)Ɵ
෍ 𝑴𝒐 = 𝟎
𝐼𝑜 𝜃ሷ 𝑰𝒐 = 𝒎𝑳𝟐 𝒌𝒈. 𝒎𝟐
(L)Ɵ 𝑘𝑎𝜃 Ɵ
(L)Ɵ
mg (c)
O
mg

𝒂 𝑰𝒐 𝜽ሷ + 𝒎𝒈𝑳𝜽 = 𝟎 𝒃 𝑰𝒐 𝜽ሷ + 𝒎𝒈𝑳 + 𝒌𝒂𝟐 𝜽 = 𝟎 𝒃 𝑰𝒐 𝜽ሷ + −𝒎𝒈𝑳 + 𝒌𝒂𝟐 𝜽 = 𝟎

𝒎𝒈𝑳 𝒈 𝒓𝒂𝒅 𝒎𝒈𝑳 + 𝒌𝒂𝟐 𝒓𝒂𝒅 −𝒎𝒈𝑳 + 𝒌𝒂𝟐 𝒓𝒂𝒅

𝒂 𝝎𝒏 = = 𝒃 𝝎𝒏 = 𝒄 𝝎𝒏 =
𝒎𝑳 𝟐 𝑳 𝒔 𝒎𝑳𝟐 𝒔 𝒎𝑳𝟐 𝒔
𝑪 𝑪𝒐𝒏𝒅𝒊𝒕𝒊𝒐𝒏𝒂𝒍𝒍𝒚 𝑺𝒕𝒂𝒃𝒍𝒆
𝑺𝒕𝒂𝒃𝒊𝒍𝒊𝒕𝒚 𝒄𝒐𝒏𝒅𝒊𝒕𝒊𝒐𝒏
𝒃 𝑺𝒕𝒂𝒃𝒍𝒆 𝑺𝒕𝒂𝒃𝒊𝒍𝒊𝒕𝒚 𝒄𝒐𝒏𝒅𝒊𝒕𝒊𝒐𝒏 − 𝒎𝒈𝑳 + 𝒌𝒂𝟐 ≥ 𝟎
𝒂 𝑺𝒕𝒂𝒃𝒍𝒆 𝒎𝒈𝑳
𝒌≥ 𝟐
𝒂
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Problems (L)Ɵ
O (a) O (b)
𝑼𝒔𝒊𝒏𝒈 𝑬𝒏𝒆𝒓𝒈𝒚 Ɵ Ɵ
𝐼𝑜 𝜃ሷ 𝑘𝑎𝜃 mg L
L (a)Ɵ (a)Ɵ
L
𝒅 𝟏 𝐼𝑜 𝜃ሷ 𝑘𝑎𝜃 Ɵ
𝑻 + 𝑽 = 𝟎, 𝑻= 𝑰𝑶 𝜽ሶ 𝟐 , (L)Ɵ
𝒅𝒕 𝟐 (L)Ɵ
(c)
O
mg mg
𝒂 𝑽 = 𝑚𝑔𝐿 1 − 𝑐𝑜𝑠𝜃 + 0 1 2 1
𝒃 𝑽 = 𝑚𝑔𝐿 1 − 𝑐𝑜𝑠𝜃 + 𝑘 𝑎𝜃 𝒃 𝑽 = −𝑚𝑔𝐿 1 − 𝑐𝑜𝑠𝜃 + 𝑘 𝑎𝜃 2
2 2
𝒅
𝑻 + 𝑽 = 𝟎, 𝒂 𝑰𝒐 𝜽ሷ + 𝒎𝒈𝑳𝜽 = 𝟎 𝒃 𝑰𝒐 𝜽ሷ + 𝒎𝒈𝑳 + 𝒌𝒂𝟐 𝜽 = 𝟎 𝒃 𝑰𝒐 𝜽ሷ + −𝒎𝒈𝑳 + 𝒌𝒂𝟐 𝜽 = 𝟎
𝒅𝒕

𝒎𝒈𝑳 𝒈 𝒓𝒂𝒅 𝒎𝒈𝑳 + 𝒌𝒂𝟐 𝒓𝒂𝒅 −𝒎𝒈𝑳 + 𝒌𝒂𝟐 𝒓𝒂𝒅

𝒂 𝝎𝒏 = = 𝒃 𝝎𝒏 = 𝒄 𝝎𝒏 =
𝒎𝑳 𝟐 𝑳 𝒔 𝒎𝑳𝟐 𝒔 𝒎𝑳𝟐 𝒔
𝑪 𝑪𝒐𝒏𝒅𝒊𝒕𝒊𝒐𝒏𝒂𝒍𝒍𝒚 𝑺𝒕𝒂𝒃𝒍𝒆
𝑺𝒕𝒂𝒃𝒊𝒍𝒊𝒕𝒚 𝒄𝒐𝒏𝒅𝒊𝒕𝒊𝒐𝒏
𝒃 𝑺𝒕𝒂𝒃𝒍𝒆 𝑺𝒕𝒂𝒃𝒊𝒍𝒊𝒕𝒚 𝒄𝒐𝒏𝒅𝒊𝒕𝒊𝒐𝒏 − 𝒎𝒈𝑳 + 𝒌𝒂𝟐 ≥ 𝟎
𝒂 𝑺𝒕𝒂𝒃𝒍𝒆 𝒎𝒈𝑳
𝒌≥ 𝟐
𝒂
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Problems
900 × 0.4Ɵ
𝐼𝑂 × 𝜃ሷ

0.4Ɵ O
Ɵ
1.2Ɵ

600 × 1.2Ɵ
5 × 1.62
෍ 𝑴𝒐 = 𝟎 → 𝐼𝑂 × 𝜃ሷ + 900 × 0.16Ɵ + 600 × 1.44Ɵ = 0, 𝐼𝑂 = 5 × 1.22 + 8 × 0.42 + + 5 1.2 − 0.8 2
12

𝟏 𝟏 𝟏
𝑻 = 𝑰𝒐 𝜽ሶ 𝟐 𝑽 = 𝑽𝒆 = 𝟔𝟎𝟎 × 𝟏. 𝟐𝜽 𝟐
+ 𝟗𝟎𝟎 × 𝟎. 𝟒𝜽 𝟐
𝟐 𝟐 𝟐
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Problems
𝑥 𝑎𝑥 𝑏𝑥
𝑥 = 𝐿𝜃 → 𝜃 = , 𝑥1 = 𝑎𝜃 = , 𝑥2 = 𝑏𝜃 =
𝐿 𝐿 𝐿

𝑘2 𝑥2 𝑚𝑥ሷ
𝑥1
𝑂
𝜃 𝑥2
𝑥
𝑘1 𝑥1
𝑎2 𝑏2
෍ 𝑴𝒐 = 𝟎 → 𝑚 × 𝑥ሷ × 𝐿 + 𝑘1 𝑥1 × 𝑎 + 𝑘2 𝑥2 × 𝑏 = 0, → 𝑚 × 𝑥ሷ × 𝐿 + 𝑘1 𝑥 + 𝑘2 𝑥=0
𝐿 𝐿
𝑎2 𝑏2
𝑚𝑥ሷ + 𝑘1 + 𝑘2 2 𝑥=0
𝐿2 𝐿

𝟏 𝟏 𝟏
𝑻= 𝒎𝒙ሶ 𝟐 𝑽 = 𝑽𝒆 = 𝒌𝟏 𝒙𝟐𝟏 + 𝒌𝟐 𝒙𝟐𝟐
𝟐 𝟐 𝟐
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Problems

𝐸, 𝐼 𝑚
𝐿
𝑘1 2

𝑘𝑏

𝑚
𝑥

𝟏 1 1 3𝐸𝐼
= + , 𝑘 = 3 → 𝑚 × 𝑥ሷ + 𝑘𝑒𝑞 𝑥 = 0
𝒌𝒆𝒒 𝑘1 + 𝑘2 𝑘𝑏 𝑏 𝐿
 Chapter 2: Free Undamped Vibrations of SDOF
Solved Problems

𝑚
𝑥
𝑘𝑏 𝑘3

𝑘1 × 𝑘2 3𝐸𝐼
𝒌𝒆𝒒 = + 𝑘𝑏 + 𝑘3 , 𝑘𝑏 = 3 → 𝑚 × 𝑥ሷ + 𝑘𝑒𝑞 𝑥 = 0
𝑘1 + 𝑘2 𝐿
Any Questions