Chapter 1

IN SI UNITS
November 2017
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These solutions represent a preliminary version
of the Instructors' Solutions Manual (ISM). It is
possible and even likely that at this preliminary
stage of preparing the ISM there are some
omissions and errors in the draft solutions.
These will be corrected and this manual will be
republished.
Spring force is given by F(x) = 157 x + 0.2 x3 (1)
F = 1000 N
With x in mm,
1000 = 157 x* + 0.2 (x*)3
or 0.2 (x*)3 + 157 x*1000 = 0 (2)
The roots of the cubic equation (2) can be found from MATLAB as
x* = 6.08,3 ± 28.5i
Thus x* is given by the real root of Eq (2) and is 6.08 mm.
(a) Equivalent linear spring constant of rubber mounting at its static equilibrium
position, using Eq. (1.7), is
dF
k eq   0.6 (x *)2  157
dx x*
 0.6(6.08)2  157  179.2 N mm
(b) Deflection of rubber mounting corresponding to keq is
F 1000
k   5.58 mm
Keq 179.2
F(x) = 34.6 x + 0.34 x2 + 0.002 x3
The steady-state deflection is 12.7 mm = x*
The force extended on the spring is therefore
F = 34.6 (12.7) + 0.34 (12.7)2 + 0.002 (12.7)3 = 498.3 N
Equivalent linear spring constant at its steady deflection is given by Eq (1.7):
dF
k eq   34.6  0.68 x  0.006 x 2
dx x  x*
 34.6  0.68(12.7)  0.68(12.7)2

 44.2 N mm
rA2
k where r  1.4 for air
v
(1.5  106 )(1.4) A2 A2
12000    5.71  103
v v
(0.006)2
Let diameter of piston = d = 6 cm; A   2.82  103 m2
4
8  106
A2  8  106   v  .0014 m 3
5.71  10 3
d 2 l
Volume of cylinder   Al
4
2.82  10-3 l  0.0014 m 3
l  0.496 m
Gd4 R Gd4
For a helical spring, k  sinc e D  k
64nR 3 2 8nD3
(80  109 )(0.05)4
k STEEL   231.5 k N m
8  10  (0.3)3
(24  109 )(0.025)4
k ALUM   7.5 k N m
(8)(10)(0.25)3
(a) Spring 2 inside spring 1: keq = k1 + k2 = 239 kN/m
1 1 1
(b) Spring 2 on top of spring 1:  
k eq k1 k2
k1 k 2 (231.5)(7.5)
which gives k eq    7.26 kN m
k1  k 2 231.5  7.5
Gd4 R Gd4
For a helical spring, k  D k
64nR 3 2 8nD3
(80  109 )(0.025)4
k1   14.5 k N m
(8)(10)(0.3)3
(24  109 )(0.0125)4
k2   0.468 k N m
(8)(10)(0.25)3
(a) keq = k1 + k2 = 14.968 kN/m
k1 k 2
(b) k eq   0.453 kN m
k1  k 2
x2  y sin 30
x1  y cos 30
Equivalence of strain energies:
1 1 1
k eq y2  k2 x 22  k1 x12
2 2 2
1 1
 k1 y2 cos2 30  k2 y2 sin2 30
2 2
3 1
i.e., k eq  k1  k 2
4 4

A1 E 1 (0.252  0.242 )(207  109 )
k1   4  318.5 m N m
l1 2.5

A2 E2 (0.182  0.1682 )(207  109 )
k2   4  357.1 m N m
l2 1.9
3 1
Therefore, k eq  (318.5)  (357.1)  328.2 m N m
4 4
Similarly, the equivalent dampting constant can be found as (using equivalence of kinetic
energies):
3 1 3 1
c eq  c1  c2  (70)  (52)  65.5 N  s / m
4 4 4 4
Stainless steel: E = 200 × 109 N/m2, G = 86 × 109 N/m2

For each tube:
D = 8.25 mm = 0.00825 m
d = 8.00 mm = 0.008 m
l = 1.3 m
Axial stiffness for a single tube
AE  (D2  d2 )E  (0.008252  0.0082 )(200  109 )

ka     490.6 kN / m.
l 4 l 4 13
Torsional stiffness for a single tube
G (86  104 )(0.008254  0.008 4 )

kT  (D4  d4 )   3.48 N  m / rad.
32 l (1.3)32
Total kA for 6 tubes = 6 KA = 6 × 490.6 = 2.94 mN/m
Total kT for 6 tubes = 6 KT = 6 × 3.48 = 20.88 N  m/rad
 3 D3 l   2d 
c   3  1   ; D=diameter of piston, l = axial length of piston, d = radial clearance
 4d   D
µ = 0.30 Pa ∙ s
Let d = 0.02 mm, D = 70 mm, and above equation gives
3 l(703 )   2  0.02  
18  106  0.30 3 
1    
4(0.02)   70  
Therefore, l = 0.229 m = 22 cm
x(t) = 0.4 sin 4t + 5.0 cos 4t cm (1)
By expressing Eq. (1) as
x(t) = A sin(4t + ) = A (sin4t cos + cos4t sin)
we obtain
A cos = 0.4 (2)
A sin = 5.0 (3)
Eqs. (2) and (3) yield;
5.0
tan    12.5    85.4261  1.4910 rad
0.4
and
0.4 0.4
A   5.0181
cos  0.0797
 x(t)  5.0181 sin(4t  1.4910)cm
Velocity:
x  20.0724 cos(4t  1.4910) cm/s
Acceleration:
2
x  80.2896 sin(4t  1.4910) cm s

Amplitudes of displacement, velocity and acceleration are:

2
x max  5.0181 cm, x max  20.0724 cm s, x max  80.2896 cm s
Speed = 100 rpm
In a minute, a point will be subjected to the maximum pressure,

A = pmax = 690 kPa, 100 × 4 = 400 times. Hence
60
period     0.15 s pressure, p(t)
400
  A = pmax
A, 0  t 
 4
p(t)  
0,   t  
 4
  0 τ τ 5τ 2τ 9τ time, t
2 A 2 4
a 0   p(t) dt  A(t)   345 kPa 4 4 4
 0  2 0
2A  sin m t 
4
m

2 A
a m   p(t) cos m t dt     sin
 0   m  m 2
0
2A  cos m t  A  
4
m

2
bm   p(t) sin m t dt       cos  1
 0   m  m  2 
0
Evaluation of am and bm:
m=1 m=2 m=3

A  A A A 3
a1  sin  sin   0
 219.6 kPa a2  a3  sin  73.2 kPa
 2  2 3 2
A  A A 3
b1   (cos  1)  219.6 kPa b2   (cos   1)  219.6 kPa b3   (cos  1)  73.2 kPa
 2 2 3 2
a0 
p(t)    (a m cos m t  bm sin m t) Pa
2 m 1
Speed = 200 rpm
In a minute, a point will be subjected to the maximum pressure,
A = pmax = 690 kPa, 200 × 6 = 1200 times.
Hence
60
period     0.05 s . pressure, p(t)
1200
  A = pmax
A, 0  t 
 4
p(t)  
0,   t  
 4
0 τ τ 5τ 2τ 9τ time, t

2 A 2 
4 4 4
a 0   p(t) dt  A(t)04   345 kPa
 0  2

2A  sin m t 
4
2 
A m
a m   p(t) cos m t dt     sin
 0   m  m 2
0
2A  cos m t  A  
4
2 
m
bm   p(t) sin m t dt       cos  1
 0   m  m  2 
0
Evaluation of am and bm:
m=1 m=2 m=3

A  A A A 3
a1  sin   219.5 kPa a2  sin   0 a3  sin  73.2 kPa
 2  2 3 2
A   A A  3 
b1    cos  1   219.5 kPa b2   (cos   1)  219.5 kPa b3    cos  1   73.2 kPa
  2  2 3  2 
a0 
p(t)    (a m cos m t  bm sin m t) Pa
2 m 1
Goal: Mass to be maintained at 2.5 kg/min +/0.25 kg/min
Parameters to be determined: Angular velocity of crank (), lengths of crank and connecting
rod, dimensions of the wedge, dimensions of the orifice in the hopper, dimensions of the
actuating rod and dimensions of the lever arrangement.
Given: Density of the material in the hopper.
Procedure:
Select  based on available motor. Determine the dimensions of the orifice in the hopper which
delivers approximately 2.5 kg/min (assuming continuous flow of material). For trial dimensions
of the wedge, determine the increase/decrease in the size (diameter) of the orifice. Choose the
final dimensions of the wedge such that the material flow rate delivered by the orifice lies within
the specified range.
Force to be applied = 900 N, frequency = 50 Hz = 314.16 rad/s

Procedure:
1. Select a motor that provides either directly or through a gear system the desired
frequency. Assume that it is connected to the cam.
2. Determine the sizes and dimensions of the plate cam and roller.
3. Choose the dimensions of the follower.
4. Select the mass as 90 kg. From the geometry, determine the range of displacements
(vertical motion) of the mass.
5. Determine the force exerted due to the falling mass.

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IN SI UNITS

1000 = 157 x* + 0.2 (x*)3

or 0.2 (x*)3 + 157 x*1000 = 0 (2)

Thus x* is given by the real root of Eq (2) and is 6.08 mm.

 0.6(6.08)2  157  179.2 N mm

(b) Deflection of rubber mounting corresponding to keq is

The steady-state deflection is 12.7 mm = x*

The force extended on the spring is therefore

F = 34.6 (12.7) + 0.34 (12.7)2 + 0.002 (12.7)3 = 498.3 N

Equivalent linear spring constant at its steady deflection is given by Eq (1.7):

 34.6  0.68(12.7)  0.68(12.7)2

(a) Spring 2 inside spring 1: keq = k1 + k2 = 239 kN/m

(a) keq = k1 + k2 = 14.968 kN/m

Equivalence of strain energies:

Stainless steel: E = 200 × 109 N/m2, G = 86 × 109 N/m2

AE  (D2  d2 )E  (0.008252  0.0082 )(200  109 )

G (86  104 )(0.008254  0.008 4 )

Total kA for 6 tubes = 6 KA = 6 × 490.6 = 2.94 mN/m

Total kT for 6 tubes = 6 KT = 6 × 3.48 = 20.88 N  m/rad

Let d = 0.02 mm, D = 70 mm, and above equation gives

By expressing Eq. (1) as

x(t) = A sin(4t + ) = A (sin4t cos + cos4t sin)

A cos = 0.4 (2)

A sin = 5.0 (3)

Eqs. (2) and (3) yield;

x  20.0724 cos(4t  1.4910) cm/s

Amplitudes of displacement, velocity and acceleration are:

In a minute, a point will be subjected to the maximum pressure,

Evaluation of am and bm:

m=1 m=2 m=3

Evaluation of am and bm:

m=1 m=2 m=3

Force to be applied = 900 N, frequency = 50 Hz = 314.16 rad/s

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or 0.2 (x)3 + 157 x1000 = 0 (2)