ME354A: Vibration and Control

Thursday 9th February, 2023

Assignment 3
Problem 1. A double pendulum consists of two equal masses m, hanging on weightless
strings of length l each (see Fig. 2). In addition to gravity, there are two mechanical springs
of stiffness k. The equilibrium position is a vertical line. Set up the differential equations of
motion carefully and calculate the two natural frequencies for small oscillations.

Figure 1: Spring corrected double pendulum

Solution 1. Taking the angular momentum balance about point O for mass m1 . We get,

m1 l12 θ̈1 = −m1 g(l1 sin θ1 ) + T2 sin θ2 (l1 cos θ1 ) − T2 cos θ2 (l1 sin θ1 ) − k1 x1 l1

where, T2 is the tension in the rod l2 . For small angle assumption T2 ≈ m2 g.

For m2 , the frame attached to m1 is an accelerating frame. So, a fictitious force will act on
m2 that contributes to the moments acting on m2 .

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 Figure 2: Spring corrected double pendulum

Components of acceleration of m1 in the fixed frame as shown in Fig. 2(a). In the frame
of m1 (accelerating frame), we must add a body force of −m2 a1 to the particle m2 as shown
in Fig. 2(b).
Note: The blue components of acceleration are parallel and perpendicular to l1 , not l2 , but
in the small amplitude regime, we approximate for the purpose of computing the torque of
the inertial force that l1 || l2 and it is given as m2 l2 (l1 θ̈1 ).

Taking angular momentum balance about m1 for mass m2 we get,

m2 l22 θ̈2 = −m2 gl2 sin θ2 − m2 l2 (l1 θ̈1 ) − k2 x2 l2

Since, given m1 = m2 =m, k1 = k2 =k and l1 = l2 =l. Following the small amplitude

assumption sin θ ≈ θ and cos θ ≈ 1.
Also writing x1 , x2 in terms of angles as x1 = lθ1 and x2 = l(θ1 + θ2 ). Above two equations
of motion of mass can be rewritten as, for mass m1

mlθ̈1 + (kl + 2mg)θ1 − mgθ2 = 0

and m2
mlθ̈1 + mlθ̈2 + klθ1 + (mg + kl)θ2 = 0
For the harmonic motion θi = Θi cos ωt ; i=1,2 , above equation becomes
 2    
−ω ml + 2mg + kl −mg Θ1 0
2 2 =
−ω ml + kl −ω ml + mg + kl Θ2 0

The frequency equation can be derived as

−ω 2 ml + 2mg + kl −mg
=0
−ω 2 ml + kl −ω 2 ml + mg + kl

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or, √
2 2mg + kl ± 2mg
ω1,2 =
ml
Problem 2. Find the free-vibration solution of the unrestrained system shown in Fig. 3
for the following data: m1 = 1 kg, m2 = 2 kg, k = 200 N/m, x1 (0)= 0.1 m, x2 (0) = 0, and
x˙1 (0) = x˙2 (0) = 0.

Figure 3: Unrestrained spring-mass system

Solution 2. The equations of motion of the system can be written as (Fig 3(b)):

m1 ẍ1 + k(x1 − x2 ) = 0

m2 ẍ2 − k(x1 − x2 ) = 0
For free vibration, we assume the motion to be harmonic:

xi (t) = Xi cos (ωt + ϕi )

Substituting this into the above equation gives

(−m1 ω 2 + k)X1 − kX2 = 0

−kX1 + (−m2 ω 2 + k)X2 = 0

By equating the determinant of the coefficients of X1 and X2 to zero, we obtain the frequency
equation as
ω 2 [m1 m2 ω 2 − k(m1 + m2 )] = 0
from which the natural frequencies can be obtained:
s
k(m1 + m2 )
ω1 = 0, ω2 =
m1 m2

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for the known data,
s
200(1 + 2)
ω1 = 0, ω2 = = 17.3205 rad/s
1(2)
To compute the mode shapes,
 2    
−ω m1 + k −k X1 0
2 =
−k −ω m2 + k X2 0
For ω1 = 0, the above equation becomes, for the given data,
    
200 −200 X1 0
=
−200 200 X2 0
the first mode shape
   
X11 1
= a1
X21 1
where a1 is a constant. For ω2 = 17.3205 rad/s, the second mode shape
 2  
X1 1
= a2
X22 −0.5
where a2 is a constant. The free-vibration solution in each mode can be expressed as
 1  
(1) X1 1
x (t) = cos (ω1 t + ϕ1 ) = a1 cos ϕ1
X21 1
 2  
(2) X1 1
x (t) = 2 cos (ω2 t + ϕ2 ) = a2 cos (17.3205t + ϕ2 )
X2 1
The free-vibration solution for any specified initial conditions can be expressed as a linear
combination of the mode shapes as
 
x1 (t)
x(t) = = b1 x(1) (t) + b2 x(2) (t)
x2 (t)
   
1 1
= c1 cos ϕ1 + c2 cos (17.3205t + ϕ2 )
1 −0.5
where b1 , b2 , c1 = a1 b1 and c2 = a2 b2 are unknown constants. The velocities of the masses
can be determined by differentiating the above equation as
 
1
ẋ(t) = −c2 (17.3205) sin (17.3205t + ϕ2 )
−0.5
Using the given initial conditions. We get,
x1 (0) = c1 cos ϕ1 + c2 cos ϕ2 = 0.1
x2 (0) = c1 cos ϕ1 + 0.5c2 cos ϕ2 = 0
ẋ1 (0) = −17.3025c2 sin ϕ2 = 0
ẋ2 (0) = −8.66025c2 sin ϕ2 = 0

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which gives,
c2 = ±0.066666, ϕ2 = 0 or π, c1 cos ϕ1 = 0.033333
The free-vibration solution given by

x1 (t) = 0.033333 ± 0.066666 cos (17.3205t + ϕ2 )

x2 (t) = 0.033333 ∓ 0.033333 cos (17.3205t + ϕ2 )

Note: It can be seen from above equation that the free-vibration response (or solution) is
composed of a constant (translation) and a harmonic term (vibration).

Problem 3. (i) Write the equation of motions showing the system in Fig. 6 being dy-
namically coupled and decoupled.

(ii) Determine the normal mode of vibration of an automobile shown in Fig. 6 modeled
by a simplified two degree of freedom system with the following numerical values:
m = 1460 kg, l1 = 1.35m, l2 = 2.65 m, k1 = 4.2x105 N/m, k2 = 4.55x105 N/m and
J = mr2 where r= 1.22 m.

Figure 4: Simplified car model

Solution 3. Part (i):

If there is some point C in the system along which a force is applied to the system produces
pure translation along the line of action of force as shown in below figure

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 Figure 5: System under vibration and displacements of springs

then the equation of motion is

mẍc + meθ̈ = −k1 (xc − l3 θ) − k2 (xc + l4 θ)

J θ̈ + meẍc = k1 (xc − l3 θ)l3 − k2 (xc + l4 θ)l4

the above equation in the matrix form as

       
m me ẍc (k1 + k2 ) (k2 l4 − k1 l3 ) xc 0
+ 2 2 =
me J θ̈ (k2 l4 − k1 l3 ) (k1 l3 + k2 l4 ) θ 0
When k2 l4 − k1 l3 =0 then the system is statically decoupled and dynamically coupled in
which the equation of motion is
       
m me ẍc (k1 + k2 ) 0 xc 0
+ =
me J θ̈ 0 (k1 l32 + k2 l42 ) θ 0
Let the instant of time the translatory displacement be x and an angular displacement be θ
from its equilibrium position of the model as shown in below figure

Figure 6: System under vibration and displacements of springs

then the equation of motion is

mẍ = −k1 (x − l1 θ) − k2 (x + l2 θ)
J θ̈ = +k1 (x − l1 θ)l1 − k2 (x + l2 θ)l2

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Rearranging the above two equations we have,
mẍ + (k1 + k2 )x + (−k1 l1 + k2 l2 )θ = 0
J θ̈ + (−k1 l1 + k2 l2 )x + (k1 l12 + k2 l22 )θ = 0
the above equation in the matrix form as, the system is now dynamically decoupled.
       
m 0 ẍ (k1 + k2 ) (k2 l2 − k1 l1 ) x 0
+ 2 2 =
0 J θ̈ (k2 l2 − k1 l1 ) (k1 l1 + k2 l2 ) θ 0

Part (ii):
Using the equation of motion for the system and since x and θ are independent coordinates
for the harmonic solution, we assume:
x(t) = X cos (ωt + ϕ) θ(t) = Θ cos (ωt + ϕ)
substituting them in the equation of motion, we obtain,
    
(−ω 2 m + k1 + k2 ) (−k1 l1 + k2 l2 ) X 0
2 2 2 =
(−k1 l1 + k2 l2 ) (−ω J + k1 l1 + k2 l2 ) Θ 0
Substituting the value of m, J, k1 , k2 , l1 and l2 , the frequency equation can be derived as
ω 4 − 1523ω 2 + 542900 = 0
For ω 2 = λ, we get a quadratic equation in λ whose roots are: λ1 = 569.59, λ2 = 953.13.
Thus, ω1 = 23.86 rad/s and ω2 = 30.87 rad/s. With these values, the ratio of amplitudes
can be found as,
X (1) X (2)
= −14.57, = 1.2371
Θ(1) Θ(2)
The node locations can be obtained by noting that the tangent of a small angle is approx-
imately equal to the angle itself. From the below figure, we find that the distance between
the C.G. and the node is -14.57 m for ω1 and 1.2371 m for ω2 . The mode shapes are shown
by dashed lines in the below figure.

Figure 7: Modes shapes of model

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Problem 4. An airfoil of mass m is suspended by a linear spring of stiffness k and a torsional
spring of stiffness kt in a wind tunnel, as shown in Fig. 9. The center of gravity is located
at a distance of e from point O. The mass moment of inertia of the airfoil about an axis
passing through point O is J0 . Find the natural frequencies of the airfoil.

Figure 8: Airfoil in wind tunnel

Figure 9: FBD of Airfoil in wind tunnel

Solution 4. Applying LMB along x-direction, we get:

m(ẍ − eθ̈) + kx = 0

Applying AMB about the C.G, we get:

JCG θ̈ + kt θ + kx(e) = 0
(J0 − me2 )θ̈ + kt θ + kxe = 0

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Writing these in matrix form:
       
m −me ẍ k 0 x 0
2 + =
0 (J0 − me ) θ̈ ke kt θ 0
Assuming x = X sin(ωt), θ = Θ sin(ωt) for harmonic motion, we get:
    
−mω 2 + k meω 2 X 0
2 2 =
ke −(J0 − me )ω + kt Θ 0
or,
−mω 2 + k meω 2
=0
ke −(J0 − me2 )ω 2 + kt
or,
(J0 − me2 )mω 4 − (J0 k + mkt )ω 2 + kkt = 0
Solving the above equation, we get:
p
2 (J0 k + mkt ) ± (J0 k + mkt )2 − 4(J0 − me2 )mkkt
ω1,2 =
2m(J0 − me2 )
Problem 5. In Fig. 10, a massless rope passes over a circular cylinder and does not slip
during motion. The assembly is in its equilibrium position when the spring k1 is unstretched,
and mass m2 has acquired static equilibrium under the influence of gravity. All subsequent
motions happen from this state of the system. Now, for the given system parameters, do the
following:

Figure 10: Spring-mass-pulley system

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 (i) Identify suitable degrees of freedom. Draw neat free-body diagrams and derive the
equations of motion.

(ii) For r = 17.29π m, k1 = k2 = 1 N/m, and m1 = m2 = 1 kg, find the natural frequencies
and the mode shapes of the system.

(iii) If the cylinder is subjected to a harmonic torque of T (t) = 10 sin(t), determine the
amplitude of oscillation of m2 .

Figure 11: Spring-mass-pulley system

Solution 5. The equation of motion is:

m2 ẍ + k2 (x − rθ) = 0
J θ̈ + (k1 + k2 )r2 θ − k2 xr = 0

Writing these in Matrix form:

       
m 0 ẍ k2 −k2 r x 0
+ =
0 J θ̈ −k2 r (k1 + k2 )r2 θ 0
 
      0
M Ẍ + K X =
0

Assuming X = X0 cos(ωt), for harmonic motion. Thus we get the following:

K X0 = ω 2 M X0
     
 −1    
K X0 = ω 2 X0
 
M
 −1  
This is an eigenvalue problem with ωi2 as eigenvalues of the matrix, M K . Thus we
get ω1 = 2.14 rad/s and ω2 = 0.662 rad/s, and the eigenvectors corresponding to ω1 , ω2

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respectively are:
 
−15.25
v1 =
1
 
96.73
v2 =
1

Now, if the cylinder is subjected to the given harmonic torque, the equations of motion
become:
 
      0
M Ẍ + K X =
T (t)

To solve this, we rewrite this equation in the modal frame. For that, we need the mass
normalized modal matrix of this system:
 
v1 0.3690
ϕ1 = p =
v1T Mv1 0.0242
 
v2 0.9294
ϕ2 = p =
v2T Mv2 0.0096
 
  0.3690 0.9294
=⇒ U =
0.242 0.0096
 
Transforming to modal coordinates using X = U q, we get:

q̈1 + ω12 q1 = 0.242 sin(ωt)

q̈2 + ω22 q2 = 0.096 sin(ωt)

Since these are two independent equations of motion, we can calculate individual ampli-
tudes.
q10 = 0.0679
q20 = 0.1711

Transforming back to physical coordinates, we get:

x10 = 0.1841
x20 = 0

Thus the amplitude of mass m2 is 0.1841 m.

Problem 6. An electric motor of mass 20 kg and operating speed 1350 rpm is placed on
a fixed-fixed steel beam of width 15 cm and depth 1.2 cm, as shown in Fig. 12. The
motor has a rotating unbalance of 0.1 kg-m. The beam’s amplitude of vibration under the
motor’s steady-state operation is suppressed by attaching an undamped vibration absorber
underneath the motor. Determine the absorber’s mass and stiffness such that the absorber’s
amplitude is less than 2 cm.

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 Figure 12: Vibration absorber for a motor with unbalance

Solution 6. Motor: m1 = 20 kg, ω = 1350 rpm = 141.372 rad/s, me = 0.1 kg-m. The
deflection of point A is given by:
P b2 a2 (3al − a(3a + b)
yA = ,
6EIl3
where I = 1
12
wd3 = 1
12
(0.15)(0.0123 ) = 2.16(10−8 ) m4 . We can compute the stiffness:

P (207(109 ))(2.16(10−8 ))(1.53 )

k1 = = = 362167.2 N/m
yA (0.52 )(12 )[3(1)(1.5) − 1(3(1) + 0.5)]
The natural frequency of the motor on the beam:

Figure 13: Vibration absorber for a motor with unbalance

r r
k1 362167.2
ω1 = = = 134.5678 rad/s
m1 20
The natural frequency of the absorber:
r
k2
ω2 = = ω = 141.372 rad/s
m2

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Selecting m2 = 10 kg, we obtain

k2 = 10(141.3722 ) = 19.9860(104 ) N/m

The amplitude of the absorber at forcing frequency ω:

F0
X2 = −
m2 ω 2

where F0 is the amplitude of the forcing function = meω 2 . Hence,

meω 2 me 0.1
X2 = − 2
=− =− m = −0.01 m
m2 ω m2 10

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