Dynamic System Analysis

Transactional Mechanical Motion 2

Inputs
• Inputs are variables that are specified functions of time.

• Inputs are completely known and do not depend on the system’s components.

• Inputs for translational mechanical systems are either forces or displacements.

• In a displacement input, we assume that the mechanism that provides the specified
displacement has sufficient energy to carry out the displacement regardless of the
retarding forces.

• Similarly, a force input is assumed available regardless over whatever range of

displacement.
Example 2.3

• In this problem the input is displacement x2 (we know x2,

dx2/dt and d2x2/dt2). We don’t know f2.
• Write the equation governing the motion.
Example 2.3

• Write the equation governing the motion.

For M1 :

Resistive:
𝐾1 : 𝑓𝐾1 = 𝐾1 𝑥1 − 𝑥𝑤𝑎𝑙𝑙 = 𝐾1 𝑥1
𝑀1 : 𝑓1 = 𝑀1 𝑥1ሷ
𝐵: 𝑓𝐵 = 𝐵(𝑥ሶ 1 − 𝑥ሶ 2 )
𝐾2 : 𝑓𝐾2 = 𝐾2 𝑥1 − 𝑥2
Assistive:
N/A

𝑀1 𝑥ሷ 1 + 𝐵 𝑥ሶ1 − 𝑥ሶ 2 + 𝐾1 𝑥1 + 𝐾2 𝑥1 − 𝑥2 = 0
⇒ 𝑀1 𝑥ሷ 1 + 𝐵𝑥ሶ 1 + 𝐾1 𝑥1 + 𝐾2 𝑥1 = 𝐵𝑥ሶ 2 + 𝐾2 𝑥2
Relative Motion
Relative Displacement

• In some problems, the position of a mass may be measured with respect to

some other moving body, rather than from a fixed reference.
• In such situations we express this relative displacement as one of the
variables.

𝑥 + 𝑧 = 𝑥2
𝑥ሶ + 𝑧ሶ = 𝑥ሶ 2
𝑥ሷ + 𝑧ሷ = 𝑥ሷ 2
 Example 2.4

• Find the equations describing the system For 𝑀2 :

For 𝑀1 :
Resistive:
Resistive:
𝑀2 : 𝑓𝐼 = 𝑀2 𝑥ሷ 2 = 𝑀2 (𝑥ሷ + 𝑧)ሷ
𝐾1 : 𝑓𝐾1 = 𝐾1 𝑥 − 𝑥wall = 𝐾1 𝑥 𝐵2 : 𝑓𝐵2 = 𝐵2 𝑥ሶ 2 − 𝑥ሶ = 𝐵2 𝑧1ሶ
𝑀1 : 𝑓𝐼 = 𝑀1 𝑥ሷ
𝐾2 : 𝑓𝐾2 = 𝐾2 𝑥2 − 𝑥wall
𝐵1 : 𝑓𝐵1 = 𝐵1 𝑥ሶ − 𝑥ሶ wall = 𝐵1 𝑥ሶ
= 𝐾2 𝑥2 = 𝐾2 (𝑥 + 𝑧)
𝐵2 : 𝑓𝐵2 = 𝐵2 𝑥ሶ − 𝑥ሶ 𝑀2 = 𝐵2 𝑥ሶ − 𝑥ሶ 2 = 𝐵2 (−𝑧)ሶ
𝐵3 : 𝑓𝐵3 = 𝐵3 𝑥ሶ − 𝑥ሶ wall = 𝐵3 𝑥ሶ
Assistive:
Assistive:
Not applicable 𝑓𝑎 : +𝑓𝑎 (𝑡)

𝑥 + 𝑧 = 𝑥2
𝑥ሶ + 𝑧ሶ = 𝑥ሶ 2
𝑥ሷ + 𝑧ሷ = 𝑥ሷ 2
 Example 2.4
• Find the equations describing the system
𝐵2 (𝑥ሶ − 𝑥ሶ 2 )

For 𝑀2 :
For 𝑀1 :
Resistive:
Resistive:
𝑀2 : 𝑓𝐼 = 𝑀2 𝑥ሷ 2 = 𝑀2 (𝑥ሷ + 𝑧)ሷ
𝐾1 : 𝑓𝐾1 = 𝐾1 𝑥 − 𝑥wall = 𝐾1 𝑥
𝐵2 : 𝑓𝐵2 = 𝐵2 𝑥ሶ 2 − 𝑥ሶ = 𝐵2 𝑧1ሶ
𝑀1 : 𝑓𝐼 = 𝑀1 𝑥ሷ For M 2 :
𝐾2 : 𝑓𝐾2 = 𝐾2 𝑥2 − 𝑥wall
𝐵1 : 𝑓𝐵1 = 𝐵1 𝑥ሶ − 𝑥ሶ wall = 𝐵1 𝑥ሶ
Resistive: = 𝐾2 𝑥2 = 𝐾2 (𝑥 + 𝑧)
𝐵2 : 𝑓𝐵2 = 𝐵2 𝑥ሶ − 𝑥ሶ 𝑀2 = 𝐵2 𝑥ሶ − 𝑥ሶ 2 = 𝐵2 (−𝑧)ሶ
M 2 : f I = M 2 x2 = M 2 ( x + z )
𝐵3 : 𝑓𝐵3 = 𝐵3 𝑥ሶ − 𝑥ሶ wall = 𝐵3 𝑥ሶ B2 : fB2 = B2 ( x2 - x ) = B2 z1
K 2 : fK2 = K 2 ( x2 - xwall )
Assistive:
Assistive:
             = K 2 x2 = K 2 ( x + z ) 𝑓𝑎 : +𝑓𝑎 (𝑡)
Not applicable
𝑀1 𝑥ሷ + 𝐵1 𝑥ሶ + 𝐵2 𝑧ሶ + 𝐵3 𝑥ሶ + 𝐾1 𝑥 = 0 Assistive:
𝑀2 𝑥ሷ + 𝑧ሷ + 𝐵2 𝑧ሶ + 𝐾2 𝑥 + 𝑧 = +𝑓𝑎 (𝑡) fa : + f a ( t )