Dynamic System Analysis

MECH 432

Transactional Mechanical Motion

Free Body Diagrams
Obtaining a Model for the System

• We must use the interconnection laws

• Newton 2nd, Newton 3rd, reaction, displacement
• as well as account for all the forces acting on the system
• inertia, external, spring, friction, gravity,…
 Animate the
Free Body Diagram arrows

• To simplify obtaining the model of the system, we utilize a graphical representing of the
system identifying all the forces acting on the system

We need to identify the directions of the forces

Applying D’Alembert’s Law
• We need to figure out the signs of the forces
• Inertial force …………….
• Damper force (friction) ...
• Spring force …………….
• External force …………..

±𝑚𝑥ሷ 𝑡 ± 𝐵𝑥ሶ 𝑡 ± 𝐾𝑥 𝑡 ± 𝑓𝑎 𝑡 = 0
My approach to Get the Signs Right

• Classify forces into two families

• Forces that resist motion

• Spring, friction, inertia, damper

• Forces that assist motion

• External force, gravity
• Worry about the direction of these forces with respect to the positive x
 Animate the
Free Body Diagram arrows

• To simplify obtaining the model of the system, we utilize a graphical representing of the
system identifying all the forces acting on the system
Assist motion
Draw as is

Resist motion
- x direction
My Approach to Get the Sign Right Animate the
arrows
• Forces that resist motion = Forces the assist motion
𝑥 𝑚𝑥ሷ 𝑡 + 𝐵𝑥ሶ 𝑡 + 𝐾𝑥 𝑡 = ±𝑓𝑎 𝑡 𝑥
𝑓𝑎 (𝑡)
𝑓𝑎 (𝑡)

𝑚𝑥ሷ 𝑡 + 𝐵𝑥ሶ 𝑡 + 𝐾𝑥 𝑡 = 𝑓𝑎 𝑡 𝑚𝑥ሷ 𝑡 + 𝐵𝑥ሶ 𝑡 + 𝐾𝑥 𝑡 = −𝑓𝑎 (𝑡)

𝑥
𝑥
𝑓𝑎 (𝑡)
𝑓𝑎 (𝑡)

𝑚𝑥ሷ 𝑡 + 𝐵𝑥ሶ 𝑡 + 𝐾𝑥 𝑡 = −𝑓𝑎 (𝑡) 𝑚𝑥ሷ 𝑡 + 𝐵𝑥ሶ 𝑡 + 𝐾𝑥 𝑡 = 𝑓𝑎 (𝑡)

 Example 2.2

• Draw the FBD and apply D’Alembert’s law to write a modeling equation for the system
shown.
Example 2.2
• Draw the FBD and apply D’Alembert’s law
For 𝑀1 : For 𝑀2 :

Resistive: Resistive:
𝐾1 : 𝑓𝐾1 = 𝐾1 𝑥1 − 𝑥wall = 𝐾1 𝑥1 𝑀2 : 𝑓𝐼 = 𝑀2 𝑥ሷ 2
𝑀1 : 𝑓𝐼 = 𝑀1 𝑥ሷ 1 𝐵: 𝑓𝐵 = 𝐵 𝑥ሶ 2 − 𝑥ሶ 1
𝐵: 𝑓𝐵 = 𝐵 𝑥ሶ 1 − 𝑥ሶ 2 𝐾2 : 𝑓𝐾2 = 𝐾2 𝑥2 − 𝑥1
𝐾2 : 𝑓𝐾2 = 𝐾2 𝑥1 − 𝑥2
B ( x1 - x2 ) Assistive:
K 2 ( x1 - x2 ) Assistive: 𝑓𝑎 𝑡 : +𝑓𝑎 (𝑡)
N/A

𝑀1 𝑥ሷ 1 + 𝐵 𝑥ሶ 2 − 𝑥ሶ 1 + 𝐾1 𝑥1 + 𝐾2 𝑥1 − 𝑥2 = 0

𝑀2 𝑥ሷ 2 + 𝐵 𝑥ሶ 2 − 𝑥ሶ 1 + 𝐾2 𝑥2 − 𝑥1 = +𝑓 𝑎 (𝑡)
Example 2.2

• Draw the FBD and apply D’Alembert’s law to write a modeling equation for the system
shown.

𝑥2
Example 2.2
• Draw the FBD and apply D’Alembert’s law
For 𝑀1 : For 𝑀2 :
𝑥2
Resistive: Resistive:
𝐾1 : 𝑓𝐾1 = 𝐾1 𝑥1 − 𝑥wall = 𝐾1 𝑥1 𝑀2 : 𝑓𝐼 = 𝑀2 𝑥ሷ 2
𝑀1 : 𝑓𝐼 = 𝑀1 𝑥ሷ 1 𝐵: 𝑓𝐵 = 𝐵 𝑥ሶ 2 − (−𝑥ሶ 1 )
𝐵: 𝑓𝐵 = 𝐵 𝑥ሶ 1 − −𝑥ሶ 2 𝐾2 : 𝑓𝐾2 = 𝐾2 𝑥2 − (−𝑥1 )
𝐾2 : 𝑓𝐾2 = 𝐾2 𝑥1 − (−𝑥2 )
B ( x1 + x2 ) Assistive:
Assistive: 𝑓𝑎 𝑡 : −𝑓𝑎 (𝑡)
K 2 ( x1 + x2 )
N/A

B ( x2 + x1 )
𝑀1 𝑥ሷ 1 + 𝐵 𝑥ሶ1 + 𝑥ሶ 2 + 𝐾1 𝑥1 + 𝐾2 𝑥1 + 𝑥2 = 0
K 2 ( x2 + x1 )
𝑀2 𝑥ሷ 2 + 𝐵 𝑥ሶ 2 + 𝑥ሶ 1 + 𝐾2 𝑥2 + 𝑥1 = −𝑓 𝑎 (𝑡)
Summary
Resistive forces:
Assistive:
𝑓𝐾 = 𝐾 𝑥 − 𝑥𝐾 = 𝐵(𝑥 + 𝑥𝐾′ )
x 'B 𝑓𝐵 = 𝐵 𝑥ሶ − 𝑥𝐵ሶ = 𝐵(𝑥ሶ + 𝑥ሶ 𝐵′ )
𝑓𝑎 (𝑡)

x 𝑓𝐼 = 𝑀𝑥ሷ x
xB
fK
fB M fa ( t )
fI

xK 𝑀𝑥ሷ + 𝐵 𝑥ሶ − 𝑥ሶ 𝐵 + 𝐾 𝑥 − 𝑥𝐾 = 𝑓𝑎 (𝑡)
Or
x 'K 𝑀𝑥ሷ + 𝐵 𝑥ሶ + 𝑥′ሶ 𝐵 + 𝐾 𝑥 + 𝑥′𝐾 = 𝑓𝑎 (𝑡)