Chapter 5 Two Degree of Freedom Systems @ Equations of motion rm, Kit (Kit Ke) %y— Ky Ky 2X4 kX, — KX, = 0 with x; (t) = X; cos(wt +9); c2 42, Ezs- (Es) give the freguency eguation ° 2 = st mgt yt & - 4 2 kee =o = kp — ust mg + 2 | k, kK, *, *: or wt - ( meh y Byer + SS (E2) ™ ™ ma ™2 Roots of €-(€2) are 2 92 _ kt ke to fap eitte | key 2g wo = See et e(BerR am H tf 3) x) (2) x® x= ; ) and KO = ee 4) x) 2g XE xP on X x” amy ost + «t+ ke ke ye 22 2 SS Ss > xo) Ke —myit + ke L 2) OP ++ Ke Ae xp) am a + tit Ke 5 (es) xD Ke =n, oF + ke General solution of (E1) is x(t) = x cos (crt +t) + x2 cont + 2) xalt) = Vy XY cosCost + #1) + BXP cos (wt +4) where x0, x), dy and g, can be found using Es.(s.48). 9) For msm, msam, ky= « and £,= 2k, (E3) gives ei=@-H)£ , w= G+ FE ()When = |000 N/m and m= 20 &g, y= 39-6603 rad/see and 2 = 13-6603 rad/sec =f * leg = 136604, B= 2 = - 0.36602 — — —m, ue + Kk, =m, 2 + Kp With x0) = 1, kle)=0, x2(0)= 4 and (0) = 0, Es. (5-19) ive (4) Fi ONL oo accon, x@) = —136603, Apso, g= 0 Response of the system is %(t) = — 0-36602 ws 3.66034 — 1.36603 cos 13.6603 ¢ %2(t) = 0-5 cos 3-6603t + 0-5 cos 13-c603t Taxing moments about 0 and mast m, my hE 6, = — 1 (Li sin 84) + 3m ©, (L, cos 04) - & cor & (fy Sin @) = Le + WL (0,-0,) assuming @ 2 W,- (es) mat Be + male (0,8, = — We Ula tin 0) = -whe, Using the relations o, &yt- (Ex) and (Ex) become x “4 and 0,= Wy 2 (2) Aa wate Ke + Dna Me (BEE) oy waht x = 2 ma hz X2 — We Xt + WX =0 ° (6s) €) When mizmzam, fy=f2=f and Wy= W2= mg, €ps.(Ey) and 4) give . mh X4 + 3mz %1— me xX. = 0 (es) 1 2 mi, — me %y + me x, = 0 For harmonic motion x(t) = Xz; cos Wt 5 i= 4,2, Es-(Es) become — tml Kea ame Xy - mg X, ° — chink x, - my X1 + mgeX, = 0 from which the freguency eguation can be obtained as cst mf? — (4 P89) oo + 2 weg? 2 ge hee or, =o (Es)Ratio of amplitudes is given by Ep. (E¢) as Xo - 4 X20 atmo ame ~ ak +3) In mode 1, U% = 0/7654 & T?OTe No node. In mode 2, w,= revs fF, Z ne (YP 2-24) En one node Located at 4: % 2 42% y 320-2930 t 243 Let Ri, R, and R, be the restoring forces in springs, Equations of motion of mass m in x and y directions are mee BR, cos (1) asa nj = Bene, ® A where Rp= — kp ( ¥ cosa: + Yoin x; ) (Es) Egs-(Ex) to (£3) give met Elk: (x cote ty Sint; Bes) = 0 (4) ist WE + Bk: (x sin cose, + ¥ seta) = 0 (es) For y= 45°, X,= 135°, oy = 270° and = kg= ky =k, Eps: (Ey) "1 reduce to “ and (£5) reduce minke no _— mp+2ey =o (7) These equations are uncoupled. For harmonic motion, xe) = X cos (wt +8), ¥lt)= Y cos (wt +9), and fence Wye E for motion in x direction @,= [Fe for motion in y direction Natural modes ore given by yay x cos (Et + #4) yt) = ¥ ws (EE t + 4) L conditions. where X, #4, Yand @ can be determined from init@) Equations of motion in terms of x and @: mkt k(x-Le)+ *2(x+40) 20 (,) % Bt hs (x L0)+ Kale (et La) For free vibration, vo) x(t) = X ws (wt +8) (©3) elt) = @ sor (wtt A) &%) and &ys-(E,) and (E,) become Lm est tet Ke (ey = #2) x ° 7 2. = &) —(& Ri= ee £2) G+ &, 8+ ke e ° Freguency epuation is 2 ame Ket Ke = (K&L — 2 82) ( =o E, h - 2 2 Chi = 2) Gate ke Oe ete ) bey — + 5000 too = 0 Joo — 0-3 W* 4 2030 be, 03094-3530 «s* + lol x10 = 0 ies w*= 6785.3373, 4981-3293 “0 = 70.5785 radfrec , 9, = 82-3732 radfee Mode shapes: Ctoco a7 + 5xt0%) X + oxo @ =0 é a, zy _ Hort x10! ‘ iS) =t000 G+ Sx ies ~~ 7347 and 6 x ot X10 sle = = v0 een =te00 09 + 5 x 10° : . AE _ A (30 (10°) ky =stifiness of rope = —Z~ = 4S = 12.5 (10*) A tb/inm, = mass of trolley = 800/388. my = mass of load = 2000/3886. = 20.7039 Ib—sec” /in 5.1780 Ib—sec” /in Desired frequency value: wy >20Hs. Let u, = 25 Hz = 157.08 rad/see or cH = 24674.1264 (rad/sec)?. Fundamental natural frequency is given by (see Eq. (E3) in solution of Problem 5.1): 2 mt hah, a [kitke | ke kik, w= () “om + oe, 4 ™, my m My 2 1 Using the known values of'k;, mj, and mg, a series of trial values of A are given and Eq. (2) is evaluated to find the corresponding values of w3. The results are given in the table below. It can be seen that A = 1.1 in? yields a frequency that satisfies the specification. A (in?) | ke (Ibfin)_| wi (rad/sec)?_| wy (rad/sec) 0.6 0.7500 (10) | 0.1434 (105) | 119.7 ky 0.7 0.8780 (105) | 0.1715 (105) | 131.0 0.8 0.1000 (10°) | 0.1946 (10°) | 130.5 ™ 0.9 0.1125 (10°) | 0.2176 (10°) | 147.5 T 1.0 0.1250 (10°) | 0.2406 (10°) | 155.1 & x Ad 0.1375 (10°) | 0.2662 (10°) | 163.2 2 12 0.1500 (10°) | 0.2918 (10°) | 170.8 13 0.1625 (10°) | 0.3123 (105) | 176.7 m2 T 14 0.1750 (10°) | 0.3379 (105) | 183.8 1.5. 0.1875 (10°) | 0.3610 (10°) | 190.0 a 1 35 = er 202) gs. .9 x16 N/m (40 Kr 013 210° N/m, mss 1000 kg > m2 = 5000 Ky &.(Es) in the solution of problem 5.1 gives (1-725 = 16704) 10% y= 73992 vad/t, 9, = 38-2704 rad/s From €ps-(Eq) and (Es) of solution of problem 5-4, as eulees = welt? Tm OP s be 000 (54.6007) + < te on3 x10 = G = - 001799 =m, wi + 2 7 $000(3395- 4046) + 0-3 X10 Mode shapes are bo } OO a bo @ meen ge alia}, 2 aL ornee fm@) Frequency equation: |[- oF taj +a]| =0 or (un - 4? mi) ke =0 L Kens (kez — a? m)| 0) Expansion of the determinantal equation (1) gives: (my mg) oo — (omy Kae + my kus) a? + (leas Kea — kha) = 0 @ Roots of Bq. (2): (my Kea +m ki) VJ (ons Kae mg Hera)? +4 my my ke 2m Mg uh, wi = @) Substitution of known expressions for ki1, kz, and kgp into Eq, (3) yields: of, ag = 48 BI (cay +8 ng) + Viemy =8 my)? + 25m, mm (4) 7 mm Eguations of motion : mA se my |= 1000 #3 my % 44%) — ky, = 0 ‘5 ‘ } €) =H A00 N/m my dy + (Kir ee) xa- ky m1 =0 t Let x,(t)= X, cos(wt+): ajo 39 a G2) re 3. CE.) becomes o-fm ES 6974 te, ~k x, 3 oh amy ky + ey aon } Freguency eguation is =m, 4 Ky - =o 2 7K mm, + Kit keg wen mm; 4 — (mk) +m, kz) Oo — km, 4 Krk, = 6ke, 2 [Ctr me a mate) # (mee + meee mie) + 2m? ky ke “ ~ ammatite + 2mm ke) ] ame (&) Since m= 1000 €9, ™2> 300 Kg, k= 4x10" N/m and k= 5x1 N/ms &. (Es) gives = 14-4539 rad/sec 5 G5, = 56-4897 7 ile $j2 4:4539 Hy = 4% (1008) = ar sens arte (2) Bre where f= 6m and & is in km/hr. A= critical velocity #1 = Met539 (21-6) 2 49-6887 km/be ~ 564397 $= 5S:49397 4 tooo * oa a a(t) ~ 6 Bye critical velocity #2= 56: 36.4997 (auc) = 1941968 tm/he. Epuations of motion for rotation tok oand A mg li 8, =— WL, sine, 4. @ sin 0, (L, of.) —@ cot 9, (f, Aino) = - Wh, + @U(2- 41) = her + wf, (e2- 0,) since @ = Wa. - (1) = W, 2; sino, —W, hz 6, ---- 2 Roa k, es (ord (62) become |) Famg e, -— mg 6 =O oe . myhe @ +m, by (2, 6, For m=msm and mf mL 6+ mL o, + mg 6. =0 Assuming 9.(t) = @; cos (ot +H) s c=n2, we get Poy aoe fbf © pefining y= OmS 2 Sh fre : ined oes OF quency epnation cam be oblained as se A+? a4 = -Att Jz BeMtezoAis 2-8 = 05858, Dar 24 VE = 39-4142 Wy= 07654 iF > W_ = 19478 For 3, first egpabion in (E3) gives for @,= 4, ls O,= - M42 = VE Hhige aga First mode For «,, first eguation in (Es) gives for @, = 4, O,= -d\o +2 = -J2 = - 4142 Location of node: node ol oe rae = 5% = or 4i4e = qua Second _mode Ey. (3) in the Solution of problem s.1 gives whet = tet, te amg For msm, =m 2 tk 42, = + wy = 03392 & aye event fE, ,> eo fE Mode shapes are given by (see Eps. (4) and Es) of problem 5. a a) y= —— i=. . a) ae ore cre 82 Cheap te none 3 RRS AP ah sm, OF + Ke 0-610 For the system of a 5. 2), 57 pe FO 2 yf 2 2] fete OKO cole Jf} @) = x,? xO (m+ mat te) meme = mem Cts nw HMO) + kat ka /\- mz OF + e+ ks )7D 2 2 2 N= my (= m2 Wt kat 3)(— m2 OF + ka + Ks) + m2 Kr Land D= Com WP + Het 3) Gm OP + 2 + 4) But whereBy substituting 2 2 ™, e+ Ks) mg +k, (K2+ fe) ™ wat = Chet) 2 + (Ke: aff m+ ket cha amma, mM - 4 Chit #2) (eat 1) = 2 4 we "oct mime = met wr at 2 N= mymz Gg — mim, Ke We - mymz ky WE — mms Kz 09, bom, ke + my Ka Ka — mms fee Oy + my Ha ey em KS KE mnt { (3 yt fapmat (Met a _ s (cries oz amr mma (ky + kay (eat 3) — KF Se Gye kaya + (Hat sm ~4 (GemiGurtn sb] f - mms fore mecteertony kit #2) ma + Chat 4) my rm : 30-5624 rad/s ) E;.(Es) in the solution of problem 5.41 gives + gt $000, 6ooo - fi aooe 2 % “i a (Ae ) 917-2, 13082-9 n= = z y= 30-2353 vad/sec , 3, = 114+3801 rad/s Fes (€4) and (Es) of solution of problem 5-1 give pate es = 2008 = rises 5 X= ae px —m OE + Ke = 917-2 +6000 (1805) — 6000 et Bef sanbe? amon + te = 13082-3+ 6000 Same as example 5.4 with mem, =25 9 and t= t= Ky = 50000 Nm n= f= ee = 44-7214 rad/s + f2# = [F828 = 77.4597 rad/s General mation is given by &%-(E~) of Example 5.4:w(t) = x) ok (44-7214 E48,) + XY cos (77-4597 + #2) X(t) = x6? cos (44-7214 t +1) — xD cos (77-4597E+ #2) @ 3.510) gives at 2 if 2. 4 §3000(2)+ 4000(2)} _ 4 [§3000(2) + 4000(1))”_ freetne) os ah of af fsteo(e eooota 4 [feel + oonld even) wnt = 1633-9746, 3366-0254 Wy= 40-4225 rad/x, W,= 59-0175 rad /s Ke 1000 = = ———____ = 1-660 =m Oly Kit Ks -2 (1633-9746) + 4000 Re = — 3660 "Telia kek 7 oO ms Or + Ket Ks -2 (3366-0254) + 4000 When x,(0) = x, (0) = %,(0-) = 0 and %,(0) = 20 ™/4> Olt r+0- 366 (20) " * €0-366—1-3 66) lecereraee ] = -0-1046 @ 1 1-366 (20) x? 2 4 __ = 0-279 “* sa Epes J ont B= $= towt(co)= = Motion of the tuo masses is given by Ey. (5-15) = x4(4) = 01046 sin 40-4225¢ 40.2719 Sin SR-OLISE %q (4) = +(1-3660) 1046) Sin 4o-4.225¢ — (-0-3660)(- 0-2719) Sin 58-01 75¢ = 0+1429 Sin 40.4225 — 009952 Sin 58-0175¢ i) @) wh=917-2, whsi3092-@, = i805, m= 0-847) X10) = 0-2, %2() = %,(0)= %,l0) = &y- (5-18) gives ty 4 co .2)] = 0:08356 x” = cae) {e 0-84 71)(0-2) J ° x” 4 yes LE 186-97 = Oll644 = #5 tav'(e) =0 x CE) = 0108356 cS30-2853E + O-NGEF Cos 114+ 3901 t x,(E) = (11805) (0108 356) cS 30-2953t + (2-847!) (0.11644) cs ME -a301t = 0-09964 Co 30-2953 t - 007864 cof 114-4801 t (b) x0) = 0-2, %2€)= %,(0)= 0, (0) = SO Ey (5:18) gives % x sia [ beeen} + OLY = - ones% ) 4 it. 02} * fo 2 — -_—[f 1805 (eay} + J 2 poe a 50 -1 - = tas! fey CdD OD = tom! (- 09745) 21135-7399 fi 30-2953 aoe ¢ ) eet fe ye, ° f= tows f Ta-sae1 (ores) Gap } = tam (0-185) = 10.4895 x(t) = - 0-67 cof (30-2953 t 4 135-7399") Oe (4-380 t + 10-4995") x,(b) = (11805) 0-167) eh Go-2853E 4135-7399") = 0-847 (-2-1194) cof (14-3801 t + 10-4895") = = 0378 cod (30-2953 t + 135-7399" ) +. 0:1003 cs Cg 3801 4 10-4895") @ Equivalent system is shown in figure: *, k= 2 (24 8b: 2 2] id e yo . Le x,t) k= ks aor smyeim, msm *% (Kit 2) x, - «2.x, = 0 fix, + k,%,. = 0 CE) = Xe cof (EB) 5 mem — For harmonic motion ba, we get Cam + k)+ k2) ~ x ° ~kz (omy + ws) eH ~ \; } 7 |) Frequency eguation is Carm, + «+ £2) = ke —«, Cotmt tay] = ° Gs 34 mm, = O* (maki ma Ket mks) + kya =O a oo (mz ky + make +m ke) + VGr2 Ky my ea + mE = 4 mma ky Ke amma for given data, 7 2 (mk tm ome) t VGak+mk+am kK) — 8m? _« A o= aa £6 vr = 05412 (E' = 3.7455 [Ez w,- +2066 JE = a.0524 [Er " mh From €3- Gi), we get -@) psro) 2 x2 rim + eit Ke amet eth — 2(0-2027k) Hak Mh x) Ke * 5 a = balan a n 2 Hs Xt © wim + tithe, — -am wf prt _ -2 (17071) 2k x? Ka ~ % * = 4g Mode shapes are: =) { Le pe x= lvatens' Mo f bo RO = 1h l42 First mode Second mode Location of node: (ne node) Cone node) eo Lo tek, Tatai = “E+ Fe osess Let P be the tension in the string. Horizontal components of tension (along xy direction) in the string fying above and belw m, are - at and cen? » respectively. Newton's second eat ‘Gives Carne) F ™ Ay Similarly gy meat SEP 2 With x(t) = X; cos (ot +4) 5 i=L2,and 2 Lek, meme, 2, 2? P emo + *P) “fr my) ge > + Cros ae Xe 5 This gives the frequency equation Cres 2 ot y - (Ey = Cre t Demet a 4) 0 oO Py ae From serst of eqs (1), ©)rede shapes ares oy 12K | ge moe No node one node at middle of the two masses &) For m= 3m, ma=m, t= 3k and €2= &, &-(E) in Solution of problem 5-17 gives z 2 Ae ta Gre tm time) t (Omer meesmey. 36 4m = AG) om * @= 05657, 167 y= Or 7524 >. O = ba295 “ 2 x ~ Ot my + b+ Ke rose57(3) +341 Ge y= ee 6 + = 23029 2 ne em thet ke -1ETEG) +344 13028 = < ato * Xa. -rsoae a feo o =@ ue w %. ss z i! px » X= Lensoze fp % 23029 No node one node, BL td, seses 3er_3e(pet?) Eat? Eat? ” bP 4b 41> Keantilever f= AES mate + aa mp From problem 5-1, ¥2= Krope 2 = wr = Kit ke Kes fafeiths | ea kee Woe}. % ue zm * 2m, * a( rt RO ae . Eat? aad? 7 = =S + THE)? 4 matep 4b 4h Jw, akw, = fle iGs- awd? ae o naeg Peat rd® 3 4b Ww 40w, 1626? wy Wo 2) From solution of Problem 5.1, we find that for m, = m, m = 2m,k; = k andk, = 2k, i=@-Va)* 5 gaeevayt x ke = 1 PACS as OX" Tarot ~ a4-V3nok ke _ ox “Sm sk Vs First mode shape: xf) cos (an t + 41) x{) (24 cos (a4 t + $3) For the motion to be identical with the first normal mode, we need to have X(?) = 0. This requires that (from Eq. (5.18): 2 2 5 =a [- 1 x1(0) + =o} + a fs (0) - ixo} | =o x() | Ex{) cos (wy t + 41) sc] ~ Jos 20 cos (un ¢ + nd] ot (0) 2400) = 0) = . . X; (0) 44(0) =n 0) = FA Let m, = m, m; =2m,k, =k, kp = 2k. Initial conditions: x,(0) = 0, x2(0) = Eqs. (5.18) yield: .1 m, x; (0) = 0, x2(0) =0 1 x = [o_-oap]? -82_ 8 O.1 __ Ot ee 1 Va 3-1 x) = 2]? O01 O41 esta boul! aoa 7 , = tan (0) =0 $2 = tan (0) =0 where w and uy are given by Eq, (B3) of solution of Problem 5.1. Resulting motion: xx(t) =X) cos (a, t + 4) +X" conten +4) = = SE for ronan xa(t) = 11 Xf cos (a4 t+ 41) + ry XP) cos (ue t + on) Jk Sb]essb otal bailcos wy, t — oo? = Grew) = 3947-8602 (rad/sec)* From solution of problem 5-20, this ineguality can be expressed az: a gat? wde) 2 wa*eg Br = ag? ) * 42 zw Blw, Lf(eat i) 2, mate3)? stat? md® 9 RS 4h /™ 4hwe wel b? WW, = 3947-8602 (&) Pata: E=30x10% psi, W= W000 Lb, w= 500 Mb, g = 386-4 ft, =30 in, f=60im. Unknowns = at, d- let a=jot and d=t. For this data, t is incremented from 0.4 im in increments of oot in and the Legt hand side of the ineguality (E)) is evaluated. This gives w value of t= |.5qin for satisfying (E,) - <+ Design is 2054", data 54", a= tot= 15.4” With Key= ke, Kee 2%. T=, 5, =27 ,%,=0 and M,= Mazo, Ege: (5-20) give U6, + 34, 0,-2%1 6, a0 256,-2 e+ 2%, = 0 For harmonic solution, 9.(t) = ©; wt (WEE) 5 i en + 3%) ~2 ky co ° -2K Crean) te} = ( j Freguency epyotion is [:%2 +a ke —2ke “2, 2areot 8yRk om 24 ° . a — + 5 —uk, -2S HH rk, ome + to ag) Kt ota (23 Ss Oy = 0.5176 fe. @,= verig [EE| [s=2- 2680 First mode second mode ) Equation of motion of mass m: mE = -k,(x-1e). ---(@) Equation of motion of cylinder of mass my and mass moment of Zo = -kr'e-*, (rer ~~ (ED inertia = Lmor? : For x(t) = xX cos(t+$) and o(t)=@ cos(wt+9), &e-(Er) and (£2) give the freguency eguation may Kz -*2" | Hk mer ot eye kyr ae Se tint), ete ° 2 7 =o 2 2 of, w= *2, ¥ [= (4 2 + te) 2, Ke 4 \w* me 7 re 7 ie @ For Jj Io, =2%, k= Ky= Ky,= Kyrand Me= Me, = $20) give e ($20) 9 GG,+ the, - Ke, = 0 2056, - #6, + 2k, 0, = 0 For harmonic motion, these eguations give [oes - ®, ° ~te -2¢%+2%-] @, f~ ef from which the Frequency eguation can be obtained a8 2 2 ret- cm, or 43 kL =0 ot, = 40 FF) +e Ke %(2) Eys. (5.20) give + GK O,- 5*E 0, =O 5% 6, —-5t,O) + 5k, O2 = 0 These eguations can be expressed at, fr harmonic notin, = wT 46 Re -5k, e, ° = 5 ky — 5H + 5 ky ofr iet Freguency epyation is wot-Tky ZS +kE =0 = (234%) = 09-1459 3, = 2-61803 = 1708 = - 01708 G) Using =) amd_oft): For translatory motion: ~ K(f) ~c, (22,6) a — K(x the) - (x +6)---€) & For rotational motion mx Il alls = c-@.: 3 a] .8 Z Sat (e-hohve (z-26)%, Fe ree % Ke (x70) bp — Co +86) he --- Ex) Egs-(E,) and (Ex) can be rewritten as(ii) Using 4) amd elt): For tramslataty om mh a mig He) FN, 4 (yt te) ~c(5+ G6) - mee For yotational metion : - &) HE = ty (y- 0) & 40,(4- 26) & te (y+ $e) 14 — ca S400 8) Kf -me Eps. (es) amd (&,) cam be ritilfin os oo 4) “a+ é + yO i <6 eK} tg eG © Fae pee my hf @, = — Wf, Sin ©) + & (£202-2,61) L, oof m2 YF 6, = sh him og - &(N0,- Le) Got Oy or mitt 8 + 0) (Wfi+ #97) # ff, 0, <0 MAE, + Or( Wk + KLE) 4S, fe = 0 Ad : 1 h, For harmonic mation, O:(t)= ©, wt (ot +p); ten? , we gt [ants Why + te oP =i be ®, °} — hyde Gatwanwalle le {; Frequency egpation i oot (meng PRE) = 69 [my LE (Mihir KLE) + mm, REC We hee kL] tC ki we + Wee th a wh KLE JT =O ----) Roots of this epuakion give the natin frigumcize ©, and 69, Amplitude rolies ane geen by “w fs 1 oe. Pom f2 + Why + fe RP oe +h oe ot we Kee he Se = Tee mR Rt ER oe wemg, Wem g- ‘ hhEquations of motion: 4mP6 =-klek- «lerxh mx = —k2 — «(lo +x) we. 4mPG42KxPo + khx =0 r me + anx 4+ ke = 0 kex For harmonic motion, these eguations give aml os 420 «KL @ ° el cies] mheted Feeguency equation is amtost io um wg 4 18? <0 rs ) *« Sz o34see HK, 2isig y= 05904 + Oh, = bhgees Amplitude ratios are x? —4mlioe +240) “= 90 = EF = -o0-6oseh XO 4m Post + ak tt a> pt ad = 660s h Mode shapes ore _ay fo 1 3” X= VOT = YW o-gosck +0) o® a fe on { xo f * i Je «-cosed Equations of motion: -e8) =~ 4x =-kpe - Kxe ie. mx+kx — me =o G-me)o+ tpernex=0 For harmonic motion, we get the freguency epuation as —mist4 & me Ke -(%— me? a 4 Ky ° * (%-me)m of (Herm OE # HE Roots of this epuation give the natural freguencies of the system.Speed becomes unfavorable when it is related to £ as vets h ie, VE Th Example 5.6 gives = 5.8593 rad/sec (bouncing) (= 94341 rad/sec (pitching) 1 vs Lr 2 189593) _ 13,5980 m/s (Bouncing) ” 27 aT % pia 3s (3:4341) = ao-sac2 m/s (pitebing) C) 17 *y He) kr » ty ™ ™I]I - Toon * = Ce) #(%.-™) \ [=] mits Equations of motion: T ymane %2(t) im, 5 + (ky +) kee hp y Free body diagrams my Xp —k xy +k x, =0 of masses Since velocity of crane in z-direction = 30 ft/min = 0.5 ft/sec, 7 = time to complete one cycle = 10/0.5 = 20 sec, and w = An 5 eg = 0.31416 rad/see. Base motion for m, (girder motion due to unevenness of rails): y(t) =Ysin wt where Y = 2 in and w = 0.31416 rad/sec. Road surface varies sinusoidally with amplitude, Y = 0.05 m and wavelength, d m, If v = velocity of automobile (m/sec), time to travel one wave length = 7 Qn _ any sec. T= 10/v sec, w= —™ = rad/sec. voo= 50 km/hr ey (50 (10°))/(60 (60)) = 13.8889 — m/sec, 10 jv Jo = m rz = 1000 (0.9)? = 810 kg—m?. Equations of motion:% (de) = Ground or base displacement of front (rear) wheels, dounwards For motion along x: m +x (kr + ky) +4 (ke fp — ky) = ke or the We @) For motion along & Jo 8 +x (ta ky — 6, ke) +8 (ke OF + hy 2) = he Co Ye — ke Ee Tt @) where the ground (base) motions can be expressed as yilt) =Y sin wt = 0.05 sin ae tm (3) y;(t) =¥ ein (wt — 6) = 0.05 sin (2s to arte, +6) m (4) For given data, Eqs. (1) and (2) take the form: 1000 ¥ + 40 (10°) x + 15000 @ = 900 sin 8.7267 t + 1100 sin (8.7267 t — 1.5708) (5) 810 8 + 15000 x + 67500 6 = 1650 sin (8.7267 t — 1.5708) — 900 sin 8.7267 t (6) 6) Natural frequencies are given by: rm. 0 aa kz!) [Xi] _ fo — uF = 1) o fe “| fe 0 i 200 - 500 rx = f pulley = 22 th—sec?/in ; mm; = eon 2 where m, mass of pulley = 5° Ib—see"/in ; my = mass of motor = 00 Ib-sec" in X, = amplitude of pulley, X; = amplitude of motor, (30 (10°)) (2 (24 a = ee = 32.3210 Ib/in Frequency equation becomes:(-a m +ku) ae =0 eae (— a? mz + koe) or (mm my) of — (yy my + kop my) o? + (kn ker — kha) =0 (2) From known data, Eq. (2) can be expressed as: 0.6698 a — 11563.2894 u? + 7.3108 (10°) =0 (3) Roots of Eq. (3): u? = 657.26642, 16606.5300 (4) or uy = 25.6372 rad/sec, wy = 128.8863 rad/sec x tN mass (™), mass moment of inertia (Jy) ¥@ 4) 1. Model the bicycle and the rider as a two d.o.f system as shown in figure. 2. Find the equivalent stiffness (k,) and damping coefficient (¢;) of the front wheel in the vertical direction. 3. Find the equivalent stifiness (ky) and damping coefficient (cz), if applicable, of the rear wheel in the vertical direction. 4. Describe the road roughness under the wheels as y;(t) and ya(t). 5. Derive the equations of motion of the system subjected to base excitation. 6. Solve the resulting system of equations to find the steady state response. 3) (3) Choose unknown coordinates as x(t) and 6(t). Equations of motion: m&=—k (x —¢ 6/2) —2k (x + ¢ 0/3) + F(t) Jo 8 =k (x — € 6/2) (6/2) — 2k (x + € 8/3) (¢/3) + F(t) (€/3)or im o}fs| fax kes Pf | i Jo} {gl * le e/e 17 x e/a] [af [eR ‘ $$ 4 where Jo = a> and F(t) = Fo sin wt. a= &(x-be) : ax(xt£e) (b) Blastic or static coupling. kn + Oo, ME Lee) cx (arm)z Free body 7 diagram J a Equations of motion with coordinates x(t) and 6(t): For motion along x: —kx—cx—(m ¢/2) 6 cos 0—m¥ +(m ¢/2) & sin 6 +F(t) (a) For rotation about O: J. 6 + (m €/2) 6 (€/2) +m ¥ (€ cos 6/2) =~ m g (¢/2) sin 8 + M(t) (2) Mx Using J, =4me, cos8~ 1 and sin@*~@ and neglecting the nonlinear term involving 6° in Eq. (1), Eqs. (1) and (2) can be rewritten in matrix form as: [ ; x +f 0 ft -£8,} oo} Ja} ” fo mg ¢/2} [ef [M(t + (M+m) mep in é2 (3, +me*/A)yx, — Te Free body diagram N = normal reaction between cylinder and trailer, F = friction force, Ry, Rp = reactions between trailer and ground. Equation of motion for linear motion of cylinder: DF =mk, or m¥ =—F —k; (x, —m) Equation of motion for rotational motion of cylinder: SMo =Jo$ or Ip G=Fr 2 Xy where Jy =i mF and 0 = Equation of motion for linear motion of trailer: DF =M& or M& =—ky xy tke (xp —x1) + F Eq. (2) gives mg; 2 &—%) Substitution of Eq. (4) into Eqs. (1) and (3) yields the equations of motion as: Bme 1 TR-Zmh—-keo +k, x, =0 (M+) Sa — Fite tx (hy +h) — hea = 0 (1) (2) (3) (a) (8) (8) @) Natural freguencies of the %, * tt [ing [we= 100 000 tb From problem 5-4, p= 6x8 M/in 2 Ky t Fe ka oy, = fit he x i 2m) * ima te[ am, [w= 40000 iE es axial Blin@, = 66. 3408 vad Jee @, = 208-8557 rad/sec the impact of tup From conservation of momentum principle, ‘momentum of tip pls momentum of anvil just before impact momentum of tup plus momentum of anvil just afer impact €) Mey Veup t Manvel (2) = Meap Yo t Manyit V2 velocity of rebound of tup aster impact bey Where V= Also. Coefficient of restitution (2)=( selative wsleity efter imprehy relative vebcity before impact. es e= Merle © Up er Ve= Ve © Veup 2) From Egs. (€))-and (2), Va = Meup Veu (1+¢) @) st 3 Lup t Manvel For given data, v,= $900 (180) (405) _ ip.gs a im Jee 105 000 + Initial conditions are: ACL=0, Xe)=0 %e(C)= 0, %, (0) = 12°857t in/secresults of section 5.3 with a) = to ye “el 2 IMO + #t ke - rm (401-096) + 910° ay x 6 xd = 2342 y= Xs? = rm + tke 40 208 (42 620. 676) + axe xo 7 Le ee v 2 Cx woe == 134t Response of the system can be computed using Eys- (5-18): “) t x 4 m= oy (2)- +— (2 ee b Vo, 2/3693 \ 66.3409 xO > a (ee _ 2 23683 eeetice)) eae é,= tan 22) 3 2% = tan! §- %OYIO& fas te" {40} Response is given by Eys-(5-15) x (4) = x cos (,t4+8,) + x! cos (t+) = -0r08183 cos (66-3408 t +E) —0-02597 cos (208-8557 -F) ine le = XM cos (et 9) + my X® cos (wt + pe) = -0-1010 cos (66.3408 + HE) + 0:02947 cos (208-9557 E-T) (0) Natural fre Eguations of motion guencies : me +e ee = (ED ED Mm Xp + (Kt K2)%_— x= 0 (EB) Freguency eguation: 09 my + Ky —*y —*, eeor = Ky Kin te [i (su tt ty Kit 2 zm zm, + Val ™e me Here m= 2x10 5 #9, M= 25x10 kg, k= 150 x10 N/m and k= 75 x108 N/m- wt = 150 x08 225 x 108 Hx? 5x10 = 150, tS00 (red /sec)* 1 (1SOx® | 225 x8 \* 150x75: y (Se + eS) - $ = 16 2x10 25 X10 5x10 = 1212474 rad/see > = 38-7298 rad/sec (Ex) com be willin as mA? (4) + # BHA) = CA) = FA) wp A? Ra) + (tt 2) FA) =, HG) = 0 ee. (mst a er) RCH) — X24) = FG) =, FCA) Cm Are rt 2) FC) = Scullion of, these eppalions giver 2 - zs) -{ Ga P+ + #2) pre ----(€) Time AA BE (my tm Ra ty Hi) + Kite * = 5s) = FG) ~~~ G4) #4) {= Bg SB (m tr + mye meer) + Ke } For the forcing Sunckion given, Fee) A= Fay= REs-e" (L-2)}---€) & For the given data, “ope (€3) to (Es) become 5 gh < ° = 2:5 x0" A? + 225 x10 4) = UA. Ra) (xe? ats e250 4? + 1250 x10") Fe) =)< I50 x 10) = #4) = FG) Sxio? At 4 825 xi! £2 4 0250 x40? 30 = RCD ---- ©) tot at 4 (65 x10" 57 4 225 x10 ~ —o5s hae Fade oe (EE (GE -)I ---- (€*) the inverse transforms of (Eg) and (Er) yield x(t) amd x2(t)- Eguations of motion for free vibration are (from &gs-(su) and (62)): ny p+ Cert Ca) + (ky 2) 1 C2 — He =O } &) ma Xp t (cor cadet Chat Ks) %2- be 1 ax, =O Assuming the solution a4 cA x(b= Tre 3 f=4,2 &s- (£1) cam be rewritten as © mm, B24 (C4 C2) 4 + (4+ 2) = (442) Ir} {} — (424+ «2 mg 5+ Ca+cs) A+ (Kar tay Gy “le For a non-trivial solution of &. (€2), (2) = (c, 5+ #2) |- | mae (reat Kit te m5 (Cnt C2) s+ Ket Ks} — (23+ 2) tes A*C moma) +" [oi (co+ Go) + ma (crrez)] + 4* [mm Cat #3) + Gir ea) (Gata) + me (eit 2-2 J + 4 [G+ cx) (e+ #8) + Gat) (kit ka) — 2622) + [+ fa)(Ka+ &)—*2 J=0 (>) This epyokien cam he expressed as a, B+ a, A +a, sty as4+4+ a, 20 &) Where ag, 45-1 4 Cam be therbipad by comparing &s- (4) amd (£3) -ee aE : If 4, 42,43 and Sy one He voots of &- (ey), the general solution of the system can be expressed as x(t) = cf ef ee et ® ety oO tt nalt)= of oe oO oie oO) Ste oO om? } & where the cmitarte 2 (2144, can be found from the four “initial conditions of the system, namely, (0), %2(0), %(e) amd X2(2). The vatior of amplitudes BOK —O com be ditimmind from Eye. (Ea) as e 2 © Ce So + Ke Mm, 4+ Cat Sct K+ Ky ty = 3 Cy? mm AE (Gy aca) Ait Kt Ke Ca4et Ke d= 234 () If any root 4; has a positive reat part , x(t) amd x2(t) will increase With time. xf alk 4: have negative real parts as Ay,= — é wry sy Wriwy then the solution, x,(t), can be expressed az 4 : - ; = @ -yyt iuzt 4 G@)oget ty= + os x(t) fe! et ee ee 2 =z e (cos yt +s tin 3) If two roots 4, amd 42 are complex conjugates os A= (Nth) amd Az=-( 4 -émn), X(t) cam be expressed as art 7 m(t)= 6" fe cos wt — 2 CO sin ED =nt +e! hice cost tz 6 sin wt} @ t 4yt +, > ft LO Se Similar expressions can be derived for x, (t).*2= 2000 N/m > &3= 2 N/m> ms m,= 10 49, * C= 00 N-S/ms C2 = C3=1 N-4/m- Eguations (E3) and (4) in the solution of Problem 5.42 9've Qy= mmz= 100 Q,= 10(2) +10 (101) = 1030 2= 10 (2002) + Io! (2) + 10 (4080) -1 = 60221 @,= lot(2002) + 2(4000) -2(i)(20ee) = 206202 y= 4000 (2002) - 4 xio® = 4008 000 ond loo 4° 4 1030 4° + Go 221 47+ 206 202 4 + 4O0FO0e =O >) Using PROGRAM to, the roots of Ey-(E:) can be found as Bin = U4 Xi 88272 © (Ez) 43,4 = -3-6786 + i 22-0668 Thus the solution is given by 4 G) 45¢ 4 GG) at m= BETO eS 1 ayes oP Ge) : pet where €,9) , 3 =1,2.3,4, cam he found from the initial conditions, and the ratios of amplitudes {iss } cam be obtained from &.(E¢) in problem 5.42: a 2) _ 4g + Ke 43 + 2000 co ~ De cs = 3 2 m, 45 + (6462) 55 + ky ke lo Aj +101 33 + 4000 F=LaA (€) For g=1s a,= -1.4714 + £ 8-8272 and (E¢) gives? a) a, = Br Ze = 06207 ~ ¢ 09-1239 @,) For g=2, Ap= 474 —< 9-8272 and (Ee) gives y ‘ COD = 09-6207 +4 01239 (es) For f= 3, 43= -3-6786 +i 22: 0668 and (Ee) yields Ky= COO) - 1.3908 i 0.7758 (€5)For g=4, 84 = —3:6796 —¢ 22-0668 and (Es) yields y= BOAO = — 3909 + 60-7758 (0) Thus the solution of Eys- (E,) ard (Es) can be rewritten as 4 py Ast 4 pe m= 2 x, Oe n(t)= 2 ox, © (€u,82) Since the pairs (a), ¢2), (43, %4), (41. 42) and (43, 44) ome complex conpugsls, we cam express them as K,k2= Ptids 5 My = Ft oe, } €) 4,425 wtiv, 5 43,845 Mat iV, amd (Ey) and (E;2) can be simplifyed Surther. However, We proceed directly with (E),) amd (E,2) amd use the initial conditions te evaluate the constants C4); 921234: y x00oy= % C6 4 CO ges CO ee, OM 202 m= Be oO + of) 4 oO sol . © 2 é KO)= sat Cee ante Oe tyes CO 4 ayy oa o | EW) . @) RC= Aes 4 4n te 4 tp OP 4 4, oP 20 Once @{F) , §=123.4 are Aboimined from Epa- (Ete), the displacements of masses x(t) amd x,(t) con be obtained using Egs- (Ey) amd (E,2)- (=) +i (2ab) athe cde xe @HOG—4y _ Gettd) (eet) >» it can be rewritten as «x= 4d? ctrat (ct+d*)ass aE (zee) = 125-664 rad/sec m F(t) = me us cos ot 43 F(t) os 2 =(2—)@) (125-064) cos 125 cegt weu)® x es ‘ ma = 122-6044 cos (25.664t bb F(t) m= 800/s¢6-4 = 2.0704 4B tS Jen m,= 2000/396-4= 5.1760 t-S7in 4y= 2000 tins ‘z= 1000 Lb/in » Cp= 200 be-sfy » Fig= '22- 6044, Fre=o- Eqpokions of motion ane [substitute t= 2» = Cas m= M2> Feo, ge yy p= 0, mem mis Rea Fe €z=0, 6220 in G69) [* ERE ERETRY SG} - fhe JER GbE dae © Comparing (E2) with €-(5-27), we find tat P= my MHE=O, Mane Mes CH => C=O, Car= S29 kum Ky Kyze amd ° Kore Kit Kae Application of &- (5.3}) heads to Zp (6) = em, +209 cyt ky = + Ki Zin 6) = eo m4 69 Cat ky, = - KI Zz2 6) = — 09% gy + 609 Cay + Ken = mg OHI Crt yt He Response of the system can be expressed as %e)= x; e'WF = xy ws wt (real part) with X; given by Ep. (5-35): x, (cca) « 22220) - Fie — 2126): Fro Zi (iw). 222 (6) — 2,2 (ces)me OH C09 Cy + K+ kz) Fig Gm 7 + 1) Come w+ C09 Cp + Kit 2 — KP {-5:176 (125-664) +£(i25-664)(200) + 3000 } 122: 6044 © {E 20704 (125-668) + 2000][-5.176 (125.664) + i(125-460)(200) +3000] — 4x } = (-40-0042 — 0-01919 2) «154 tn = 7 2ZnC) Fo t 21%) fo Fo 2n (49) ZirS) — Z7(eo) Zylees) Z, (69) - 2,2 (62) 2000 (122-6044) -4, a a . Bi)xw Mm Gaara G-o22t + 02948 oxi Ke Kicom = HEE Get?) wea t? cam = OE = KEge LD 41> Keeam Equations of motion: ™ my Xr + Ki ay t ke (= Ma) = (C= cos ot Ge) ge HP AO mx, + ke(xz-™) =O ‘ Assuming harmonic response ot x(t) a (t)= Xz es ot 5 sone Egs-(Ery yield Cea — ma 9) Fe X= 1 Crt a= m3") (ha maot) — 4b ka Fo % = Chi K2- mm) *) (k2- mz a*) — KZ For no steady state vibration of the beam, X,=9 and hence the condition to be satisfied is Ke 2 gs” ma an Eppalions of motion: : + (eit 2) X4- Ke %2 = F(t) = Fe Sint — ---- ED mek t MeX2 = 2% = 0 ~--- (&)F ef?" (with t= FL) for F(t) and conifder only We use the imaginary part at the end. Let x(t) = x, et pene Egs- (1) aad (Ex) become tse wat set amor x, St 4 Kit te) MOO” 4. Xe” she t : -myu* X, e” + Hr Me! ot _ gx, eft =o ve EzGey JX = E =2>= (6s) where. _, x a Fol _ fF \ ee {hy}. E- {mys EF}. ZG) 2, @e) [zc] = Z,,(io) ened | . ZyG@O) = —m w+ tye ke, ZC) = Z,GO)= - kr, Zy (4) = -m,* + 2- Eps.(5-35) give 2 x, (408) Como" + #2) Cm, 4 + tet Kz) (ma 4 2) = 41 fe X,G@) = (Co + e+ #2) Cmis*+ 2) — #2 Since F% sin wt = Im (FR e'Ot y, (0) = To (X est j= Xj sine Co. 8+ #2) fo CGS" + tye Ham O*4 2) — KP k Fo ) = 3 ssn wt 2 Com wt kit 2) Crmis*+ ea) — &P x(t) = sin oot Equations of motion: ty)= mm) = = CX) = fa (22) weree m2 X= = te (X2-*D ™ or mp + (K+ Ka) H) — K R= KY ort ---€) Fe mit KX. K2%) = 0 --@) Cm 4 As there is no damping , the masses wibrafe eithin ae im phate or 180° cau oh phase atthe nenpeck The frase motion. ‘the response com be takin a8x(t) = Xp etwot 5 pe 42 --- (&) &ps. (E,) amd (Ex) reduce to (- whim + tt 2) X) - a Xp = Ky Yo =X) + (-O m+ 2) X, = 0 : =e ge fey. Bef} £4 ve [xzCew)] X = F where X= 3x, f° Fi oS Zy Es) =- orm + K+ fe, 2, (60) = Zy (EO)= - ke, Za, 0) =- tm + Ke: Eps. (5.35) and (Es) give (cotme + #1) 4% cs ot Cm, 0 + 4) + 2) Cm tt #2) - KE x,t) = oe ky #2 Yo Com ort Kit Fa) ms 04 te) — eb + Equations of ees uk oh 500) a gtk vm, X 4 Cert ea) ey a(t Mex PEMA AD “ . iust -G3,-k2 = l= Me + Cp Ke + ke Xa C2 -2%, =0 art rad/e A), ' ' i bet x(t) = % eet ypxne 4 (t) Eguations of motion become Erm, +29 (et e2) + tte] XK, (ie t 2) X= --= () = (f09e,+ 2) X, + C-w m+ia crt 2] xX, = 0 --- (€2) For given data, (E,) amd (Ez) become fee@]i- & --- (6) where 7 (ie) = 400i + 999 ZaCi@) = Zr,(@) = -2004 - S00 Zz, (i@) = 2002 +499 rd F, 5 > Xr = & = ° x fp &o feb fo} Solution of (Es) is, using Egs-(5.35).x, =_G@ooir 499) A ~ (2004 +499) Fo (400i +999)(200 1+ 499)— (-200i -500)" (199 400i + 20850!) _ Goo i +471) Git? 4ooi + 208501) Fo (1974001 + 208501) © 199400 ¢ + 208501) = (17-2915 a4 — 69444 xe o) Y= Goo i + 500) (400 i + 999) (200 1 +499) — (- 2001-500) - ©) (200i + S00) Fo ((99400i+ 208501) 2004 + 500) 1994001 + 208501) Fo C7 400< + 208501) (- 199400 t+ 209501) = (17-3165 niet - 69684 x10 LS) Final solution is given by the real parts a4 xb) = Re(x,e*S* ) = Re (x, ott + ix, Ae wt) = Re CL (7- 2715 dt Cque cits) & sot 417-2915 x14 6 + 6-9444 xtot ) Fo Sim OE J ---- (és) = 17-2915 14 Fe cof wot + 6.9444 mid! Fe tin wt --- (Ee) x(t) = Re (xpe“O*) = Re ( xp etot +2 x4 Am Ot) = Re [(17- 3165 xx — 67694 K0 tL) Fo cs ot + (17-3165 xd tS 46-7684 Kiet) Fo tm wt ] 217565 xist fe ch Ot + 6-9684 x54 F wm cot --- (Er) Epyations of mation: ™ 4 (eit ha) xy — Hare = Fp cot ET Re(Fio € OF) ny a + (ket Ki) %q— kari Fg of ot = Re (Fig O°") Assuming x(t) = X, eet 1 geht alongwith 6 (t)= Be es go12, the eguations of motion can be expressed as Cutrwrt #2) X)— 2X2 = Fro — 2% + Cwm + Kt) X, = Fo te fac] X= ---- ©) where ZS) = - Om + tye 2, ZK) = ZO) = - ta, Za. (ics) = —-@o ma + Ket tea, sm ZF X= Ube & {e,}Solution of (E,) can be expressed, using Eps.(5-35), as x= Cw? mi + k2t t3) Fig + Ke Feo co) a ~--- (&) (70? m+ kt kz) © oma t ket £3) — KP 7 ke fig + (- Wm + #1 +42) Fro 2 = ----(€. Cot + kt Ke) (-etmit kot ka )— #2 ©) Since x, and x, are real (Since there is no damping), the final solution is given by X(t) = X, ce wt x2(t) = X, cos wot thine xX, and X, ome given Ly (Ez) and (Es)- From the solution of problem 5-46, we have Qmuw*+ 2) Be x,( = sin cot Comoe tit Kz) (- mo*+ 2) — KP xy(Q) =e Fe gi ete Comet4 + K2)(-™ + Ka) KE For the data F(t)=50 tnawt, = 50N, oo= 47 rad/s, malo ke, mi= 5 49, k= $000 Nin amd &,= 2000 N/m» x(t) = _C5 #6 W + 2000) 50 sin grt Clo nie w* + 8000 +2000)(-5x 16 T* +2000) —(2000)" = 0009773 Aim 4 t meters 2000(s0) . x(t) = = Aen art Cio x16 174 8000 + 2ce0)(— 5 x16 T*4 2000) — OOO} = 0016148 Aim grt meters 4) = total stiffness = $00 N/m @) total stiffness = €00 N/m 09, m= 50 Kg =o2m, w= 7 val/s Eqpattions of mation : r ¢ Hl ' =k (1-9) ~ #2 (%1- *2) Poly eye Y sm ot = (2-4) ie. my % + (kit KX KX. KY = KY Ae Ot ma Xet KiX2— 2%) =O@ Assuming x,(t)= X; we ots ist, ve gt Com, ot tit He) Xe Xe = HT aX) + Cm or + e) X= O For given data, these eppotions tana the fem (50%* + 1400) x, ~ eco Xz = (800)(0-2) -600 X) + (-50T* +600) x, = 9 Solution of these eppalions gives X,=-0-06469 m, K,=-0-9643F m + X(t) =-0-06469 Aim Tt m5 x,(t)=—0-36499 Sint om- Epuations of mation: amy) + (Ky + Ka) my - Ke Xe= FE) --- (1) ma Xa + (k,+ ks) X2— Ka X= 0 --- (€2) mt Laplace tiantgime of (€,) amd (E,) ome FQ) We x(¢) wy (44) x (0) — ©) J+ (i+ 2) %, (4) — (4) = 6) MLE O)-4 x,(0)- X20) J+ (et K)%CA)- &2 14) =0 Rearramging the eppalions, we get ts Cy BY y+ Kt) HA) — a Ka(#) = F(A) 4 ary 0) 4m) (0) — = Kp XA) + (mn 424 tat a) RCV 42 MO) + ma X20) --- Ey) When = ky = Ks = * amd mpamz =m, (Es) ant (£4) give Gm a p24) RA) -& (4) = F(A) 4 em x) +m (0) --- (Es) —& C4) + (mag zn) £4) = 4m 2,0) 4m %, (0) --+ e) Shakin of Epp (€5) amd (Ec) gives (mst428) £F CA) +m 2,0). 4+ mm H(0) Fe frm 200): Atm X20) $ RG= (mn A* 4a) (om At 4 2k) — KER EDs m x60) 5 + HOD fe (Fer LAO) 4 tm F200} (ma? + 2) Cm stp ae) — et These eppations Lecome , for x0) = *2(0) = % (0) = % (2) =O F)= 5 ult), F4)=Z om=ai ond k= 100, Ey) = RA) = 200) Pe t00) i, 4 [@*+ 200)* - 10000] A(At+ 300) (4% + 100) RG@)= e(Z)___4 _____ 520 ---€3) [G*+200)"— 10000] 8 (47+ 300) (4? +100)By expressing 5 (Abe 200) 5c) = Et) AL, AAD Ag tt As 2(s 4300) 4100) Fg gi00 ate 100 Ry) = — 2° ___ B , weatts 4 M4 +Bs A (5*+ 100) (474100) P+ (00 AF+ 300 we can find Ay, Ag,.-- > Bi, Bayes (porkiad frackions wilted) this heads te E@)e A - 4 SsO-.--. FO) = 505 - Fores) ~ wo CAs 300) ©) x. a eT (~My %14) = goa ~ 4o(atei00) * 120 (4*4 300) re) Inverse Laplace transforms of (Ey) and (Ei) dive x(t) = (ag - Ze Ot — Bp cot VF E) u(t) w(t) =(b-4+ ek + as et) u(t) 60 40 120 Te i te he atid tat x(t) = gh maa amd x2(6)= gp ou te atehic deylections atocated with su dete Foe applied t& mass my U2 10 rad/s amd C9,= 0 Nod /e ane te fir negonant prguencie? accatid uith he im epee of frrdom Ayton. guilt mass 4 fied, repect & x2= (maeg= m+ Eppalions of motion m X= —& (%)— x2) (m2)eg =k (x2- %) ies mit KX — & XZ=O0 & re -& (at %) Bt km - x =0 ~--- (2) Assuming x,(t)= xX, af (E+ 8) s i=u2, Es (Er) ond (Er) am le whe as Cmort+k) x, - & xX, = 0 =X + COt{ms Bp er) x z0 Freppsmey eopation x Emote) (otm- ot Joe % +#)- * =0 2) gt (mat ky *%)=0 azo, a fas me Boma + my} ort (mmt TeEppivedent mass of nck x) — ( 2 + 2k —ké (.) (0 ic mé 7 allel" (k@-1mgo)] lof = Io} ete a 2 12 Assuming a solution of the form: x(t)=Xe** and t)=Oe't (9) Eq. (8) can be expressed as: 6m —- Me! [ek -ke 2 x 0) 2 ste | me met |to -[28£-«4] f: -{} (10) 2 3 By setting the determinant of the coefficient matrix in Eq. (10) equal to zero, we obtain: 2 (6ms? +2k) -("sF +44 = (1) -[Ss2] (gt -aet one] which, upon expansion, gives: [fara]4([Smreantede+(-meeeseee} (12) A comparison of Eq. (12) with Eq. (5.43) gives: ee t mi & a, =0 = imke ami ge a, =0 ay =2k? O—mkgeConditions for the stability of the system: 1. All coefficients a; must be positive: 8 mg >0 k>— > a 20 or k> ye 20 ork >> BB 420 or k> > 2. Ay @2 ag > ap a3 tay at This is not applicable since both sides of the inequality are zero. ‘Thus the condition for stability is: k > 2. BS, 22 Eguations of motion are (Eps (5-1) and (s-2)) Ay am Xt 3 xy 2 em = CED see) mk, 2k % 43K 42 = 0 crema ° ose vee f= [2 ]- [8%]. G1= BH St = [e. -tee2]- =4000 000 ea {8} ° Freguency eguation is [-wo* tm] +@3|= w*_ 900 w* + 00 000 = © Hence = 11-3949 rad/s, = 27-7517 rad /? and t= 05514 4 +» T= 02264 4 We select at= 0-02 4 and use central difference method for numerical solution (see chapter |} for details). the main program which calls CpiFF, the subroutine EXTFUN and the output are given below. PRUGRAM MAIN PROGRAM @HICH CALLS CDIFF FOLLOWING 10 LINES CONTAIN PROBLEM-DEPENDENT DATA PEAL M(2,2),K(2,2) MCC 2,2) MK (2,2) MCIC2,2) -MMC (2,2) DIMENSION C(2,2),X1(2) ,XO1C2) ,XDDLC2) ,XM1 (2), F C2) /RC2),RRCZ), 2 XMKC2),XMIC2) ,-KM2C2) ,XPL(2), ZAC2),ZBC2),ZC(2),LAC2),LB(2,2), 3 SC2),X(50,2),XD(50,2),XDD(50,2) DATA’ U,NSIEP, NSTEP{ ,DELT/2,49,50,0.02/ DATA X1/0.9,0.0/ DATA X01/0.0,0.0/ DATA 6/200, 0.07040, 10.07 DATA C/0.0,0.0,0.0,0.07 DATA K/6000.0,~4000,0,-1000.0,6000,0/ © END OF PRORLEM-DEPENOENT DATA CALL COIFF (M,C,KyXL,XDL,XODI,N,NSTEP,DELT,F,R-RRAXM1,XM2,XPL, AC /NK, MCT, XMK, MC ,XUT,2A,ZR,2C,UA, LB »S,X,X0, XDD, NSTEPL c ¢ € c c c ¢ 2STEP 46 47 48 49 to 20 30 40 50 nAanaan wRITE (13,10) FORMAT (//,38H SOLUTION BY CENTRAL DIFFERENCE METHOD,/) WRITE (13,20) N,NSTEP,DELT FORMAT (12H GIVEN DATA:,/,3H N2,I5,4X,7H NSTEP=,15,4X,6H DEL 2 E15.8,/) WRITE (13,39) FORMAT (10H SOLUTION?,//,5H STE,3X,SH TIMF,3X,7H X(1,1),3%, BA XDCL,1) ,2X,9% XDDCL-1), 4X, 7H XC1,2),3X,8H XOCI,2),2%, 9H XDD(I,2),/) Do 40, T=1,NSTEP1 TIMESKEAL (1-1) *DELT WRITE (13,50) I, TIME,XCL,1) -XDCI,1),XODC, 1) pXCL42) -XDCT, 2), XCDC 2 0/2) FORMAT (1X,14,F8.4,8C1X,, TOP END £10.43) SUBROUTINE EXTFUN THIS SUBROUTINE [S$ PROBLEM=DEPENDENT SUBROUTINE EXTFUN (F,TIME,N) DIMENSION FCN) F(1)=0.0 F(2)20,0 IF (TIME LE, 0.5) F(1)2500,0 RETURN END SOLUTION BY CENTRAL OIFFERENCE METHOD GIVEN DATA: N= 2 NSTEP= 49 DELT= 0,20000000E-01 SOLUTION: TIME XCEL) XDCT 41) XDMCL, 1) X(T,2) XDCL,2)— xODCT,2 0.0000 0,0000E+90 0,00008400 0,2500E+02 0.00005400 0,0000E+00 0,0000E+00 0.0200 4,5009E=02 1,0000E+00 0.2500E+02 0.0000F+00 0.0000E+00 0,0000E400 0,0400 0,1940E-01 0,4850£+00 0.2340F+02 0,A000E-03 0.2000E-01 0,2000E+01 9.0600 0.0800 021000 0.1200 0.1400 0.1600 G.1a00 0.9000 029200 0.9400 0.9600 0.9800 O,4154E-01 0,9134E+00 0,1934E+02 0,4512F-02 0.1128E400 0,72R0E+01 G.o9OSE-U1 O,1241E+01 9.1344E4+02 0.1379E-01 0,3247E400 0,1391F 402 0,9938E-01 9,1446E401 0.7043E+01 0,3080E-01 016572E+00 0,1935F +02 013026400 0,1530E+01 0,1347E+01 0,56326-01 0,1063F 401 0.2127" +02 O,16O0EF0O OL1515E+O1 = 2ALOE+O1 U.9917E-O1 OL1459F O01 0,1831E +02 OL1B77EFO0 ULTA36ETOL = .5164E+OL 0.1262b400 O21 7497EFO1 0.10508 +02 OL2129F 400 UL1323E403 =.6059E+01 011630F400 O.1846E401 -,6577E FOU 0.2345E+00 9.21016+00 21842E+00 Ol1S72E+00 0,1290Es00 -1N23EF01 =, B737EFOL O.1991E490 -,5925E+00 -.27148402 M165EU1 ~,5533E401 OL17ISE*O0 ~.1120F 401 -.2565t+02 SU2SBE40L =.37) 7E+01 011365E+00 ~11566E+01 ~.1AR9EL02 S1325401 -12906E4+01 OLOMORE-OL =L1837E+01 -2A195F+0 sA379EVOL = .2515E401 O.6131F-O1 ~.1879E401 0.3993F+01(a) Frequency eguation is |-o*[s? 2.) +D8 : ‘ 2] |. et-2700"s 100 = 6 C PHUGRAM @ € MAIN PROGRAM FOR CALLING THE SUBROUTINE QUART ¢ c 32 C SOLUTION OF: ACLS (XFS) +A CD) FCLER3 IFAC 3)4 (KHZ) FACE) AKERS) = DIMENSTUN ACS) ,RR(4) RICA) © FOLLOWING LINE CONTATNS PROLLEN-DEPENDENT DATA DATA A/1.0,9.0,7270.049.0/ 8100.07 © END GF PROBLEM*DEPENDENT DATA WRITE (26,10) (ACT), T=1,5) 10 FORMAT (//,31H SOLUTION OF § QUARTIC EQUATION, //,6H DATAt,/, 74 ACL) =,E15.6,7, 7H ACZ) =,E15.647,7H ACB) =, EIS .66/, TH ACA) =,£15.6,/,74 ACS) =,E19.6,/) CALL QUAPT CA,RP/FI) WRITE (26,20) 20 FORMAT (/,7H BOOTS: ,//,9H ROOT NO.,3X,10H REAL PART, 5X, 2 15H IMAGINARY PART, /) DD 30 [a1,4 30 ARETE (20,40) 1,PPCL),R1(I) 40 FORAAT (15,3X,E15.6,3X,£15.6) STOP Eno SOLUTIDN OF A QUARTIC EQUATLUA DATA: AGL) = 0,100000z+01 AQ) 0.000000E +00 AGB) = -0,270000E+93 AC4) = 0.000000b+00 ACS) = O.810000E4n4 ROOTS: ROOT NO, REAL PART IMAGINARY PART 4 -0,153500E+492 49,900000E+90 2 -0.586319R491 0,000000E+00 3 025863198401 0,000000E+00 4 0,153500E+02 0.000009 +00 ) Gor oF +36) xf? -18 xP =0 | gout, fo a 2) pm pact 0 writing y= (roast tiey Q 2 yy xf. eye OF 8a = Le rs0704 tye fron (15-35)? +36] /ig = -0- 6190278 Eps (5-18) give x) = 44722, x = 055279, #= He 0 Displacements of masses m and m, are given by Gys.(5-15): mle) = 144722 Cos (5-BC3ITE) + 0-55279 UH (1535 ED H2(t) = 2.34165 cos (5:963I7E) — 0-34164 cos (15-95)PROBLEM 5.64 naan BLAEISLON C(2,2) F202) REAL KC2,2),8(2,2) COMPLEX 2(2,2),X(2),A4,PR,OEN tweur DATA DATA 470,1,U.0,0.0,0.17 DATA C/14949 204069, 000/ DATA K/40.9,-20.0,"20.0, 40.07 DRER FL/100, 2097 AF =S,9 ¢ END UF CAbUT Dara bo 19 121,2 bo 10 J21,2 A== COU HRZIEM(T, JIAK(T I) HEOMF OCCT, J) 10 “UL, I)SCMOLK C4, 8) De CL, 10 9202,29-201,2)9201,2) AASZ(2,2) #CHPLX(FZC1), 9.0) (1,2) #CHPLXCF202),9.9) ACH) SCAASBR) DEN AASZ(1,1) #CMPLX(FZ(2),0.9) (142) CMPLX(FZ1) 900) KOQVS CRANE) EN PLE 20, XC1),XC2) 20 FUPMAT (//,2X,254 SOLUTION OF PRUALE* 5.49,//,2X, 2TH KCL) = 2E1908, 7420, 7H XC2) =, 2E1S085/) PRINT 30, OF 30 FORMAT (2x, 6H O4F stop ENO SOLUTION OF PROBLEM 5. 64 5 E158) XCL) = 0,200958948+90-0,646201 382-01 X(2) = 0,343953t0E+00-0.7423016E~01 OMF = 0,50000000F+01 The system shown in Fig. A f RB can be drawn in epuivalent Where both pulleys have the same radius, 7. Driver, % Driven, 3 The equivalent mass Fig. A moment of inertia of pulley 2 can be computed —. — in diggerent speed ratios as:2% (speed ratio)” a’ = A 2 =n (150)%, x (282 = 4 (350) .* (350) + % (422) 5 x (282) 350, 2 350, o-5102 T, , M6531 ; 4.5918 or T/ = 0-1837 Hs Stiffness of the belt (on cach side) is given by = AE ee TT where Az cross-sectional area of belt, E= Youngs modulus Length of He belt (distance and = Length of the belt. Fig. A) isgiven by PoP i t= 4 [te (v-4y7 ]* cam, Datm, d= 0-25 m™ and hence In this example, an% he 2 [4(8Y-(1-0-28) )” = 4.9959 m i ke AGe. = 2.0057 x10 A N/m Eguation of motion: T 6, + ty (@+e2)=0 > e+ €e (G+ O2)=0 > Hert 02 ( J ) (see solution of problem 2-54). ank I= 0-2 g-m*. In order for the T+ Kee (1+ kes 2k Here ot kgm natural freguency 09, to be away from the speeds 150, 250,350, 450 amd 750 cpm for, 15.708, 26.190, 36.652, 47.124 and 79-540 vad/sec} , S 15-709 rad /sec “, < W, = 78.540 vad/sec Since W, involves A (through &,), it can be determined where from the above inegualities.Velocity of tup before impact is given by: y Map 7 = Map gh or v= V2gh = V2 (9.81) (2) = (a) Impact is inelastic: 2642 m/sec Conservation of momentiim leads to: Mp Viup + Maayit (0) = (Map + Maayit) Vo (1000) (6.2642) (1000 + 5000) = 1.0440 m/sec or v= () Natural frequencies: ky +k 2m tae as Thus the natural frequency requirement can be stated as: 2 oT 2 me oo Ga aot jth, e _ SS) (2-7)? |"30000 ~ 10000 4 125 (10°) Q@) (c) Free vibration response: Initial conditions: x1 (0) = x2(0) = %:(0) =0, %2(0) = vo = 1.0440 m/sec Maximum forces in the springs: Fy =k |e (2) Fa = ke (2 4) | max (3) For a helical spring, the shear stress (7) under an axial force F is given by: 8FD T=k, (4) 7a (4) D+ ld where k, = shear stress correction factor = —“ , D — mean coil diameter, and d = wire diameter. Ref: J. E. Shigley and C. R. Mischke, "Mechanical Engineering Design,” 5th Ed., McGraw-Hill, New York, 1989.Since stress is to be less than the yield stress witth 2 factor of safety of 1.5, we have Tyield as (5) Tyield <= 8) ns ) where 7; and 7; denote the shear stresses induced in the springs ky and kp, respectively, and Tye is the shear stress corresponding to the yield stress of the material. pr Lz reece 42 te pi = 25000 kg #