Solutions to B Problems CHAPTER 2 Be2-1, £(t) = 0 t0 Note that 3 sin (5t + 45°) = 3 sin 5t cos 45" + 3 cos 5t sin 45° 3 3 = =o sin 5t + 2 cos St vz Vz So we have F(s) = Gf, (01-22 ,. 25 1 dle, fr t+e fe eis wad. 85 V2 st + 25 (b) £2(t) = 0 t<0 = 0.03(1 - cos 2t) t20 Fo(s) = { [£2(t)] = 0.03 1 - 0.03 _S__ = 0-12 _ 5 82 +22 s(s? + 4)52-3. £(t) =0 to ‘The inverse Laplace transform of F(s) is £(t) = ct - c(t - a)l(t - a) - b1(t - a) B-2-24. A MATLAB program to obtain partial-fraction expansions of the given function F(s) is given below. 1320 0; = residue(num,den) 10From this computer output we obtain 1 70-25 a 0.5 es Se te) 54 + 353 + 252 s+2 s+1 s2 ‘The inverse Laplace transform of F(s) is £(t) = -0.25 e-2t + ect - 0.75 + 0.5 B-2-25. A possible MATLAB program to obtain partial-fraction expansions of the given function F(s) is given below. mum=(0 0 3 4 1) den=[1 2 5 8 10}; [1,p,k] = residue(num,den) r= 0.3661 - 0.48811 0.3661 + 0.4881i -0.3661 - 0.00061 -0.3661 + 0.00061 p= 0.2758 + 1.90811 0.2758 - 1.9081i ~1.2758 + 1.0309) -1.2758 - 1.03091 From this computer output we obtain 2 nists 3s? + 45 +1 84+ 2s3 + 5s2 + 8s + 10 uu= 0-361 - j0.4881__,__(0.3661_ + 0.4981 Ss - 0.2758 - -9081 s - 0.2758 + j1.9081 2 0.3661 - j0.0006 Ey 0.3661 + j0.0006 S + 1.2758 - 51.0309 8 + 1.2758 + 51.0309 Since the poles are complex quantities, we may rewrite F(s) as follows: 0.73225 + 1.6607 + —_10.7322s - 0.9329 (s - 0.2758)2 + 1.90812 (s + 1.2758)? + 1.03092 = ~0.7322(s - 0.2758) + 1.9081 x 0.9762 (s - 0.2758)2 + 1.90812 + —20-7322(s + 1.2758) + 1.0309 x 0.001204 (s + 1.2758)2 + 1.03092 F(s) = Then, the inverse Laplace transform of F(s) is obtained as £(t) = 0.7322 e0-2758t cos 1.9081t + 0.9762 e9-2758t sin 1.9081t - 0.7322 e-1-2758t cos 1.0309t + 0.001204 e-1-2758t sin 1.0309t Bo! % + 4x = 0, x(0) = 5, #(0) = 0 The Laplace transform of the given differential equation is [s2x(s) - sx(0) - (0)] + 4x(s) = 0 Substitution of the initial conditions into this last equation gives (s? + 4)x(s) = 5s Solving for X(s), we obtain 5s 244 X(s) = s' ‘The inverse Laplace transform of X(s) is x(t) = 5 cos 2t This is the solution of the given differential equation. 12ee %(0) = B2-27. x+ @ Px =te 2(0) = ‘The Laplace transform of this differential equation is 2, ti 1 s?x(s) + wv, ?x(s) +s Solving this equation for X(s), we obtain z x(a) ae ge: oe ae Pee. 0,2) 2 s2+ w,2) w,2 ‘The inverse Laplace transform of X(s) is x(t) = Da ya (t Be sin y t) ‘This is the solution of the given differential equation. B-2-28. a+ eex=t, x(0)=0, x(0) = 2 The Laplace transform of this differential equation is 2[s*x(s) - sx(0) - (0)] + 2fex(s) ~ x(0)] + x(s) = + Substitution of the initial conditions into this equation gives 2[sx(s) - 2] + 2sx(s)} + x(s) = (28? + 2s + 1)x(s) = 4 +L Solving this last equation for X(s), we get 4s +1 X(s) z s(2s* + 2s + 1) eS fe 2s? +25+1 9(2s? + 25 + 1) > i 0.5 (s + 0.5)? + 0.25 s{(s + 0.5)? + 0.25] 3=— 4x 0.5 4 42 _ ls + 0.5) + 0.5 (s +0.5)? +0.5? § (5 + 0.5)? + 0.52 ‘The inverse Laplace transform of X(s) gives x(t) = 4 eO-5t sin o.5t +1 - 2-5 cos 0.5 - e-0°5t sin 0.5 =1+3 0-5 sin 0.5¢ - e9-5t cos 0.5 B-2-29., 2 + 7k + 3x = 0, x(0) = 3, %(0) = 0 ‘Taking the Laplace transform of this differential equation, we obtain 2[s%x(s) - sx(0) - £(0)] + 7sx/s) - x(0)] + 3x(s) = 0 By substituting the given initial conditions into this last equation, 2{s?x(s) - 3s] + 7[sx(s) - 3] + 3x(s) = 0 or (2s? + 7s + 3)X(s) = 6s + 21 Solving for X(s) yields x(e)) = ——S8 421 = __ fe. 2 2s2 +73 +3 (28 +1)(s + 3) 3.6 Lore ore _ 0:6 t+l s+3 840.5 s+3 Finally, taking the inverse Laplace transform of X(s), we obtain -0.5t _ -3t x(t) = 3.6 e 0.6¢€ B-2-30. X +x = sin 3t, x(0) (0) The Laplace transform of this differential equation is sx(s) + x(s) Solving this equation for X(s), we get 3 X(s) = ——_+____ = (s? + 1)(s? + 9) 14‘The inverse, Laplace transform of X(s) gives x(t) = sin t - sin 3 1CHAPTER 3 Bs3-1. J = & mR? = § x 100 x 0.52 = 12.5 kg-m* B-3-2. Assume that the body of known moment of inertia Jo is turned through a small angle 6 about the vertical axis and then released. The equation of motion for the oscillation is J =- ke where k is the torsional spring constant of the string. This equation can be written as or where The period Tg of this oscillation is a Qa) Dn Next, we attach a rotating body of unknown moment of inertia J and measure the period T of oscillation. The equation for the period T is 2% (2) pe va By eliminating the unknown torsional spring constant k from Equations (1) and (2), we obtain 2H iy _ 27 IT T T 2 wisi (3) 0 () ‘The unknown moment of inertia J can therefore be determined by measuring the period of oscillation T and substituting it into Equation (3). 163-3-3. Define the vertical displacement of the ball as x(t) with x(0) = 0. ‘The positive direction is downward. The equation of motion for the system is mic = mg with initial conditions x(0) = 0 mand %(0) = 20 m/s. So we have g gt + x(0) x= & gt? + X(0)t + x(0) = 4 gt? + 20t Assume that at t = t, the ball reaches the ground. ‘Then eet . 2 100 = & x 9.81 t,? + 20 t, from which we obtain t, = 2.915 s ‘The ball reaches the ground in 2.915 s. B-3-4, Define the torque applied to the flywheel as T. The equation of motion for the system is 6 = @(0) =0, (0) from which we obtain oe @=—t a By substituting numerical values into this equation, we have 20 x 6.28 = Tex 5 ‘Thus T = 1256 N-m B-3-5. gé=-T (9 = braking torque) Integrating this equation, 6=- tte 6(0), (0) = 100 raa/s Substituting the given numerical values, 20 = - -T_ x 15 + 100 a 7Solving for T/J, we obtain ee T= 5.33 Hence, the deceleration given by the brake is 5.33 rad/s”. ‘The total angle rotated in 15-second period is obtained from @(t) = - 2.2 + 6(0)t + 0(0), (0) = 0, (0) = 100 as follows; 2 @(15) = - 5.33 x S + 100 x 15 = 900 rad B-3-6. Assume that we apply force F to the spring system. Then F = k,x + k,(x - y) k(x - y) = kay Eliminating y from the preceding equations, we obtain ky, (k. ne Ory # hey) HRS i + ky 1 efx, + x 1 gk RG B-3-7. The equations for the system are Fek, 7 (x y) ee F k(x - y) = ky 4 + a Eliminating y from the two equations gives = s(e-ee ky +k, 18‘The equivalent spring constant aq is then obtained as 1 oe > 2 Next, consider the figure shown below. Note that A ABD and ACBE are similar. So we have witieg = or OC(OB + 4 OA) = OA(OB - 4 OC) Solving for 0C, we obtain B-3-8. (a) The force £ due to the dampers is £ = by} - X) + bol¥ — X) = (by + by)(¥ - X) In terms of the equivalent viscous friction coefficient Begs force f£ is given by cae £ = Beg(¥ - *) beg = by + bg (b) ‘The force f due to the dampers is £ = by(Z - X) = boy - 2) q@) where z is the displacement of a point between damper b, and damper b2- (Note that the same force is transmitted through the shaft.) From Equation (1), we have (by + bg)z = boy + byx or 1 by + bp (boy + byX) (2) 19In terms of the equivalent viscous friction coefficient beq, force £ is given by f= Beg ¥ ~ 2) By substituting Equation (2) into Equation (1), we have = é os las < 1 * s £ = boly - z) = y= re (bay + byx)] bybg ies 2 (yay by + bz ‘Thus, e & fe byb2 < OS Pegi A) a) Se Hence, bib2 a "eer B-3-9. Since the same force transmits the shaft, we have £ = by (2 - %) = boy - 2) + b3(F - 2) () where displacement z is defined in the figure below. In terms of the equivalent viscous friction coefficient, the force £ is given by £ Deg - *) (2) From Equation (1) we have . by + bye + bye = byx + boy + bay or 1 By + 2+ bs By substituting Equation (3) into Equation (1), we have Tex + (by + b3)¥] @) o= 20* 1 * * * f£ = by(Z - x) = by (yx + ( + vain} ; ats ee Bachibg ip. = i 4 PIT bp by (y - x) (4) Hence, by comparing Equations (2) and (4), we obtain bg + b: Reg 2, 2 <= }- = by + bp + b3 1 aL B-3-10. ‘The equation for the system is ~ (ie, + ik )x ~ kx or m+ (ko + k,)x = mi + (ky +k) + ik)x = 0 ‘The natural frequency of the system is The density p of the liquid is =a toon Where A is the cross-sectional area of the inside of the glass tube. The mathematical model for the system is mk = ~ p Ag’2x a aE a or %+42x-0 ‘The natural frequency is 21B-3-12. For a small displacement x, the torque balance equation for the system is mX(2a) = ~ k(- xa -i/fe.1 [@w. aw, ies: an > 5 14.01 rad/sec 9.81 (b) mx, + bx + Og + kx =X, (c) mx + b,x, + (ky + ky, = KX ma he a B-3-14. A modified diagram for the system shown in Figure 3-55 is given below. ‘A mathematical model for the system is given by the following two equations: 3,8) = -ky0y - k2(@) - €2) 782 = K(@) ~ 02) 22B-3-15, The following two equations describe the motion of the system and they are a mathematical model of the system. mx = -ky(x - y) - by(% ~ ¥) + plt) kay - ky (y - x) - by(¥ - x) Rewriting, we obtain mx + bX + kyx = by + kyy + p(t) my + byy + kyy + koy = Dyk + 1x B-3-16. A mathematical model for the system is mx = -kyx - byX - kox - box mk + (by + bz)x + (ky + kp)x = 0 B-3-17- The equations of motion for the system are JO = (T, - TLR 3, a : 3 a Noting that x = 2y, RO =x - y = y, and J = wR’, the three equations can be rewritten as 1 2g = 1 wry = - ms = (t, - T)R My + ky = 7, + T) Eliminating 7, from the preceding equations gives Ee eae e = Oni oo ey ty + hy et, By changing y into x, ou tn H = - a 2 2 2 or 3 mx ++ wm =0 (m+ WE + ox 23‘The natural frequency is 4) = [2k Un Vin + If mass m is pulled down a distance x, and released with zero initial velocity, the motion of mass m is = 2k x(t) = X, cos eae t B-3-18. Referring to the figure below, we have mx = -T Q@) where T is the tension in the wire. (Note that since x is measured from the static equilibrium position, the term my does not enter the equation.) For the rotational motion of the pulley, we have U8 = -kp(y + RQO)Rg + ko(y - RQ@)Ro + TR, - kyR]X or k2R2?8- - k2R22e + TR, - kyRpx (2) Eliminating T from Equations (1) and (2), we obtain 58 + 2kpRy20 + mR + 1yRpx = 0 Since x = Rj@, we have J6 + 2kpRy20 + mRy28 + R120 = 0 or (3 + mRy2)8 + (2kgRp? + kyRy2)0 = 0 or ae —-2kQR22 + kyRy? @+———____ 9-0 J + mR}? This last equation is a mathematical model of the system. The natural frequency of the system is w 2k2R22 + kyRy2 a J + mR? 24B-3-19, The equation of motion for the system is mk + bk + kx = 0 Substituting the given numerical values for m, b, and k into this equation, we obtain 2K + 4k + 20x = 0 (1) where x(0) = 0.1 and X(0) = 0. The response to the given initial condition can be obtained by taking the Laplace transform of this equation, solving the resulting equation for X(s), and finding the inverse Laplace transform of X(s). The Laplace transform of Equation (1) is 2Ls?x(s) ~ sx(0) - ¥(0)] + 4fsx(s) - x(0)] + 20 X(s) = 0 By substituting the given initial conditions into this last equation, we get 2[s*x(s) - 0.18] + 4[sx(s) - 0.1] + 20 x(s) = 0 Solving this equation for X(s) gives = 0:25 +0.4 _ 0.1 + O.1(s +1) ia Bnaae 2s* + 4s + 20 (s +1)? 43 The inverse Laplace transform of this last equation gives x(t) = o.1(t- et sin 3t + et cos 3t) B-3-20. The equation of motion for the system is . mx = F cos 30° - oN Where F, = (4, (mg - F sin 30°). Rewritting this equation, mk = 0.866 F - 0.3(mg ~ 0.5 F) For a constant speed motion, % = 0 and the a last equation becomes 30" fe x 1.016 F - 0.3 mg = 0 7 or *F y = 9:3 10 x 9.81 - 99 07 y 1.016 25B-3-21 The equations of motion for the system are 2 pe m = mg -T Elimination of T from these two equations gives We + mk = mg = 14,09 "J By substituting M= 2, m= 1, and “= 0.2 into this last equation, we get 3 = 1 x 9.81 - 0.2 x 2 x 9.81 = 5.886 xX = 1.962 Noting that X(0) = 0, we have H(t) = 1.962 t + (0) = 1.962 t " 2 x(t) = 1.962 ae + x(0) Assume that at t = t,, x(t,) - x(0) = 0-5 m. Then 1.962 42 att. 2 1 0.5 or ty = 0.7139 s Thus, the velocity of the block when it has moved 0.5 m can be found as %(0.7139) = 1.962 x 0.7139 = 1.401 m/s 22. The equations of motion for the system are 26‘The natural frequency of the system is ®,, B-3-23. Assume that the direction of the static friction force F, is to the left as shown in the diagram below. The equations for the system are me =F - Fy QQ) ae FR+FR s Where J = mR?. Since the cylinder rolls without sliding, we have x = R6. Consequently, i g = > m6 = (F + FR or = 2(F + F,) (2) By eliminating mx from Equations (1) and (2), we have 2(F + PL) = F- F, Since nr is found to be equal to -(1/3)F, the magnitude of F, is one third of F and its direction is opposite to that assumed in the solution. B-3-24. The equation of motion for the system is nk = F ~ mg sin 30° ~ 44, cos 30°, x(0) = 0, (0) =0 By substituting the given numerical values into this equation, we obtain H =F - 1x 9.81 x 0.5 - 0.2 x 1 x 9.81 x 0.866. or L X = F ~ 4.905 - 1.699X(t) = (F - 6.604)t Re x(t) = (F - 6.604) —— 2 Assume that at t = t,, x(t,) = 6mand X(t,) = 5 m/s. Then « 6 = (F - 6.604) > t,? 5 = (F - 6.604) t, From the last two equations, t, and F are found to be t = 2.40 s, F = 8.69 N Therefore, Work done by force F = F x 6 = 8.69 x 6 = 52.14 Nem Work done by the gravitational force =—mg sin 30° x 6 = - 9.81 x 0.5 x 6 = - 29.43 N-m Work done by the sliding friction force = - 0.2 x mg cos 30°x 6 = - 1.699 x 6 = - 10.19 Nem B-3-25. Torque = T = 50 x 0.5 = 25 Nem Power = Tc = 25 x 100 = 2500 N-m/s = 2500 W B-3-26. The kinetic energy T is a aft 262 1 _m 42,2 mee! m 232 Papas tere ‘+)5 SSS zo ee eee The potential energy U is t u = mg f(1 - cos @) + { Bagi - cos 0) og oe = («+ Bgl (1 - cos €) Since the system is conservative, we have 28Teo = Si + B98? + (w+ Bg l(a - cos 0) = constant Noting that 4(T + U)/dt = 0, we obtain " ° (M+ By 2765 + («+ Bigfsin ed it [cs +B) 0% + (4 + Bog f sin olé = o Since © is not identically zero, we have (6+ 078 + ue Bigf sino = 0 Rewriting, - M+ 62 ee eg fat a For small values of 6, e y+ G4 Ae — a g.ng nd 3 So the natural frequency is B-3-27. The kinetic energy T of the system is Bey 6.2 a2 T= 40,8," + 43,6, and the potential energy U of the system is 3 2 io)" 2 u=% 8) +h (6, 8,) +k k,8,' Using the law of conservation of energy, we have T+U = 4% 8,2 + TBP+ & yO)? + 4 kol0, - 0)? + 4 4,8,? = constant 29Noting that d(T + U)/dt = 0, we obtain 9,9,8, + 5,848, + 0,0)+ (8, ~ 0, (8, - ®) + © oe =0 or E ° (9,6, + 10, + k(0, - @5)) ®, + (3,8, + X28, - ky (8, - 6,)1 8, Since 6, and 6 are not identically zero, we must have 3,8, +6, + k,(@, - 8,) = B82, #1505 tah (8, 125) m0 B-3-28. At t = 0 (the instant the mass M is released to move) the kinetic energy T, and the potential energy U, of the system are 1 20 UD, = mx The potential energy is measured relative to the floor. At the instant mass m hits the floor the kinetic energy T, and the potential energy U, of the system are + 2 wy 2 8,2 = 4 Mv)? + 4 mv,? + 4 J6, oO Where vy is the velocity of the hanging mass m and @, is the angle of rota- tion ofthe aa both at the instant the mass hitsthe floor; ré, = v., and J = & mr? Using the law of conservation of energy, we obtain T, +0, =T) +U, max = i Mvj2 + 4 mv? + i m,r26,2 By substituting x6, ‘, into this last equation, = 2 2 2 max = 4 wv? + mv? + km v2Solving this equation for v, ee V2 + 2m + m P B-3-29. The force F necessary to move the weight is P= Bt = 2000 29.81. 1962 N The pover P is given by where W = mgx. So we obtain p = Alma) ~ gk = 9810 x 0.5 = 4905 W B-3-30. From the figure shown to the right, we obtain Te =mg +2 or mg = 7F-2=7x5-2=33N To keep the bar AB horizontal when pulling the weight mg, the moment about point P must balance. ‘Thus, 4x - 2F(0.15 - x) - F(0.3 - x) + 2(0.15 - x) = 0 Solving this equation for x, we obtain 2.7 33 x= = 0.0818 m B-3-31. Note that where w, Tt W, =60x2% =120% rad/s Gear ratio = 1/30 314® rad/s s 1 2 = 60 x 27 xh Since the power T, @ , of the motor is 7, @ | = 2.5 i = 1500 W the torque T, of the driven shaft is w 1 1500 T = = 119. 1, Ie 7 19-4 Nem B-3-32. Assume that the stiffness of the shafts of the gear train is infi- nite, that there is neither backlash nor elastic deformation, and that the number of teeth on each gear is proportional to the radius of gear. Define the angular displacement of shaft 1 and shaft 2,as ®, and @,, respectively. By applying Newton's second law to the system, we obtain for the motor shaft (shaft 1) 7,0, +0, = 4, qa) where T,, is the torque developed by the motor and T, is the load torque on gear 1 due to the rest of the gear train. For shaft 2, we have 338. = T, (2) where T, is the torque transmitted to gear 2. Since the work done by gear 1 is equal to that of gear 2, (3) Substituting Equation (3) into Equation (1), we get 2 am ny a g,8, + ( ) 328, = 7, 321, 1 Jy + bs: fe ‘The equivalent moment of inertia of the gear train referred to the motor shaft is ny, \2 Jeq = 5, + (= JQ 2 Notice that if the ratio n,/n, is very much smaller than unity, then the effect of J, on the equivalent moment of inertia J__ is negligible. B-3-33. The equivalent moment of inertia J, of mass m referred to the motor shaft axis can be obtained from J, % = Torque = mR where is the angular acceleration of the motor shaft and X is the linear acceleration of mass m. Since o&r X, we have Jn X = Mx rR a, = mR im The equivalent moment of inertia J, of the belt is obtained from =e =: 2 = mer =m, X or = mr? Since there is no slippage between the belt and the pulleys, the work done by the belt and the right-side pulley (T,6,) and that by the belt and the left-side pulley (7,6,) must be equal, or 76) = T20> where 7, is the load torque on the motor shaft and T, is the torque trans- mitted to the left-side pulley shaft, @, is the angular displacement of the motor shaft, and @, is the angular diaplacement of the left-side pulley shaft. Since the tvo pulleys are of the same size, we have 6, = @,. HenceFor the motor shaft, we have (Gp + Ip + Tq + Jy)®y + Ty Also, for the left-side pulley shaft, we have T_82 = T Since T, = T,, we have (3, + Ip + Ip + Jy), + 9,8 Since @, , this last equation becomes (Jp + 2p + Ip + J,)%y ‘The equivalent moment of inertia J... of the system with respect to the moto! shaft axis is a Jog = I, + Wy + Iq + Dy 1 2 = J, + 23, + meR + mrCHAPTER 4 So we obtain Ey = pe = Akg, = 0-15 x 50 = 7.5 V 1 Ry + Rg +R as +R; RAR, + R3) A A R. R, : if a af B B ea ® vi B-4-3. Figure 4-55 can be redrawn as shown below. oc D 10 From the right side diagram we obtain the following equations: 10 i, + 20(4, - 43) = E 20 i, + 10(i, + i,) = E 100 43 ‘es 10(i, + i,) = 20(4, - i;) 35which yield So we obtain es 1 = 120 12 20 4, + 20(4, ~ 4) = 420-4, + 2022 Solving for i,, we get Thus, Figure (a) Figure (b) Figure (c) From Figure (a) above ve find R, = 2R>. Referring to Figure (b) above, we get 40 + Ry 40 Ry So R, is obtained as By substituting Ry = 2Ro into this last equation, we obtain R, = 800, R, = 402 36Then, from Figure (c) above, current i is obtained as B-4-5. When switch S is open, resistance between points A and B is 160.2 and we have aoe 49 = Z60 When switch S is closed, resistance between points A and B is 1 aa 100 R Oa ae 100 R So we have 2ip = E 0 100 R * Ga 100 +R Consequently, EL E 160 ~ 100 R 6 + 100 +R Solving for R, we obtain R=3gpR B-4-6. From the circuit diagram we obtain di, S44 Ri, -i = ME ed, a ty te a = = Ri, + c (x, at + Ri, - i) =0 ai L + (R, +R,)i, - Ri, =e me a ere - Ri ae Roi, + (Ry + Rj ig + c> 5 37Each of the preceding two sets of equations constitutes a mathematical model for the circuit. B-4-7. From Figure 4-55, we have for t > 0 Ree, age e a or ts c 5 i, dt +R,(i, - i) =0 ‘Taking Laplace transforms of Equations (1) and (2), we get RT, (s) * RT (s) - L(s)] =0 (s) 44) zee, ae y i a [ aa . | 4,12, 1(s)] 0 where iho) is given by 10) = f in(t) at = q(0) = ec From Equation (3) we have a +R, 2 1s) I,(s) ‘Then Equation (4) can be rewritten as e (% + *) 19(s) = Roty(s) - —2 Substituting Equation (5) into Equation (6) we obtain R, +R ic + *) 6 a 2 1,(s) = R1y(s) - or eQR2° T(s) = 1 R +R, + 38 qa) (2) (3) (5) (6)The inverse Laplace transform of this last equation gives ¢ 4, (t= ae expl-(R + Ra)t/(RRC)] b> 0 Referring to Equation (5) we have (R, + Roe Sie RS P88) z i, (t) = a exp[-(R, + Ro)t/(RRQC)] tt > 0 B-4-8. At steady state (t <0) we have E anh Be and La=ai eis Ca = Btot RR For t > 0 the equation for the circuit is (1) 4 Ri + a5 S idt By differentiating this last equation, we obtain ie a 1 dt c The Laplace transform of this equation is R, [st (s) - i(0)]) ++ 1(s) =0 where i(0) =i, =—= 0 R, +R, Hence 4) ee (Rs + qus) Ra eR aan? or 1(s) = —= Rt Ra e+ he Rc L The inverse Laplace transform of I(s) gives= t/(R,C) , 0 i(t) Rr e 18 te 5-4-9. The equations for the system are dig Rul, tly U2 +e, =e, a 8, SM Ge P pe oe eal ee (3) OF a2 eq “at Where Jeq is the equivalent moment of inertia of the system referred to the motor rotor axis and Peg is the equivalent viscous friction coefficient of the system referred to the same axis. By taking Laplace transforms of Equations (1) and (2), we obtain (s) (R, + L,s)I,(s) + B(s) = E, Bits) = K se, (s) Elimination of &,(s) from the above two equations yields (R, + L8)1,(s) + Ks®,(s) = B,(s) (4) The Laplace transform of Equation (3) is Jeoq8?0, (8) + bgq8@, (5) = KI, (s) Hence Ta(s) «Neat * Peat 0 (6 (5) By substituting Equation (5) into Equation (4), we obtain 2 [e +s) fet Pea? + 5s 9, (s) = B,(s) ie) K (6) BA(s) (R, + 1,8) (Jqq5"+ bags) + KK The numerical values of the equivalent moment of inertia Jeg and equivalent viscous friction coefficient bq are, respectively, 402 - - a =. Gayo a2 x20 + unr? x atx 0 = 5.4 x 105 1b, -et-s? (0.1)? x 4 x 10-2 Z : 3 C ee : ee ¥ j 4x 104 1p,-ft/rad/s Substituting these numerical values into Equation (6), we get 8 (s) 6x 1079 FAS) 0.2(5.4 x 105? + 4 x 10's) +6 x10 x 5.5 x 6 1.08s* + 8.33 = 0.72 (0.12968 + 1) = N,/N, = n= 0.1, we have the transfer function 6,(s)/E,(s) as 67(s) _n(s) 0.072 E,(s) E,(s) s(0-1296s + 1) B-4-10. From the circuit shown to the right, we obtain Oi = 18K $e oe P © i= 2° j, = SA7 80 Se ig = 2 (eq - eg) = ; £o ig = 5 5 41Since iy = ig + ti eave: 1 2 5 q- e & Bs Se ps ee a) Ry Ro” Ry Also, since ig + ig = ig we obtain Lath Ox = 80: _(a8o) Oggleg wing) ne (2) Equation (1) can be written as 1, we must have Bq(s) = Ep(s) Hence R Spee = = E,a(s) = Res +1 Ey(s) Ep(s) +R Eo(s) from which we obtain Eo(s) Rg + Rg 1 Ey(s) R3 RCs +1 B-4-18. The voltage at point A is 1 Pee e) or B(s) = 2 [ey(s) + B,(s)] () The voltage at point B is 44. E,(s) = ee pets Be) (2) 2 * "cs 2 Since (E,(s) - E,(s)]K = KD1 we must haveE(s) = E(s) Thus, equating Equations (1) and (2) we obtain FH (Bs) + 5 (s)] = 2 Fils) cs + or E(s) ~_Res-} B(s) Ros +1 B-4-19. Define the displacement of midpoint between k, and b as x3. ‘Then the equations for the system are mE + kx, + ~ x) + jC, - x,) = ple) mk, + blk, = 3) + Ky (x, - x) blk, - %) = kx, - x) Using the force-voltage analogy, the preceding equations may be converted to 1 1 14a, + a a, + 0 (a, ~ 42) + 4(q, - 43) = e(t) cee el regen nas 0 ” oul + La, + R(G) - 45) + oo (ay - 4) §e=%,) = 2 é R(G, - 4) (a, - 43) The last three equations can be modified to Ta SEEN gt eh (i, - idee +4 \(i, - 1,)at = e(t) tat Cy Jor 5 ae cj 23 ai, a La + i, -i. —+)\ (i, - i, jdt = 0 a pee xc nae i =e a R(i, - ip) ; Sa i,)at From these three equations we can obtain the analogous electrical system as shown to the right. 47B-4-20. Define the cyclic current in the left 1oop as i, and that in the right loop as i>. Then the equations for the circuit aré di. Le stfu, = ip) dt + RUA, - 4p) +4 Sie 1 real us, at +R(i, - 4,) + c (i, -i,) at =0 L. 2 at which can be rewritten as 4% +2 (a, - a2) + RG, - 4) +g, cC CQ ey Pog see Lyf Pes a ge) +o & q,) =0 Using the force-voltage analogy, we can convert the last two equations as follows: a + K(x, - x,) + BGs, - x,) + wy =0 mk, + kx, + DI, - %) + k(x, - x) = 0 From these equations an analogous mechanical system can be obtained as shown to the right. 48CHAPTER 5 B-5-1. By substituting the given numerical values into 128 L ch = a0 Sg x we obtain 6 ae 128 x 1.004 x 10 X2— = 3.2594 x 104 s/m2 9.81 x 3.14 x (4 x 10°) We shall solve this problem by using two different approaches: ‘one based on the exact method and the other based on the use of an average resistance. (1) Solution by the exact method. For the liquid-level system we have C di = (9, - Q) dt By substituting C = 2 m?, Q, = 0.05 m/s, and Q = 0.02 /if into this 1ast equation, we obtain 2 an = (0.05 - 0.02 /H) at or me OO 2 ee 0.05 - 0.02 Jn let Ja and dH = 2x dx. So we have 2x dx = 200 (3 +2x+5 lax a Assume that at t = t, the level reaches 2.5m. Then, t, is obtained as t as ‘e 5 fe-f 200 ate i ) x = = 200 x] + sco i aa 200( /2-5 - 1) + 1000 Ch 1n(5 - 2x) = - 200 x 0.581 - 500(1n 1.838 - 1n 3) = - 200 x 0.581 - 500(0.6087 - 1.0986) 128.8 s 49(2) Solution by use of an a resi: » Since Q = 0.02 JH, the average resistance R is obtained from eo 2.5 - 1.0 r=. = aQ 0.03162 - 0.02 re = Q - 0.02 and gq, =h/R. For the liquid-level ¢ dh = (q, - q dat i ° or dh. a a Cra i 795 = Sh oe which can be rewritten as dh cr <*+n=q.R dt a Substituting C = 2 m*, R = 129 s/m?, and a, = 0-05 - 0.02 = 0.03 m/s into this last equation yields ah 258 2h +h = 3.87, 0) = cre n(0) Taking Laplace transforms of both sides of this last equation, we obtain 258[sH(s) - n(0)] + H(s) = 3:82 (258s + 1)H(s) Solving this equation for H(s), aR? a) (258s + 1) 4s ak — =3.07(4 met) ‘The inverse Laplace transform of this last equation gives sie k W(t) = 3.87(1 - e 257°) Assume that at t = t,, h(t,) = 1.5. The value of t, can be determined from ogee 1.5 = 3.87(1 - e7 757 “1) Rewriting, 50oF *1 = 0.6124 or = 0.4904 258 So we have t, = 0.4904 x 258 = 126.5 5 This solution has been obtained by use of an average resistance. B-5-3. The equations for the ligquid-level system are ~ 4, )at F eydh, = (Q +4 - Cydn, = (Q +a) -Q- a, )dt Since R, = h,/a, and Ry = hy/qy, the system equations can be rewritten as ah, h 1 -q=q-— 1 ae a- ay 4 Ry (1) Gh. hh 1 2 c. =4,-% = ~ (2) 2 at te RE a From Equations (1) and (2) we obtain Sy ak He Aa (3) By differentiating Equation (2) with respect to t, we get Pn, ey dh, Seiya aera te (4) + ph Ts 2 a2 Ry at R, at By eliminating dh, /at from Equations (3) and (4), we obtain ging (Re, +R) 22 +n =R ae og: + — tne Ae a2 Neigh peels 2 Substitution of h, = R,q, into this last equation yields 2, a i) 7 RS Sem ts ELC See Hence the transfer function of the system when q is the input and q7 is the output is given by 51Gals) _ 1 As) (R1Cys + 1)(R2C2s + 1) B-5-4. The equations for the system are Can, = qa Cydhy = (a; - a, - ay)dt yay = (a2 = qg)at vhere ‘Thus, we have (a) (2) (3) From Equation (1) we obtain Cysty(s) = ae [H2(s) - Hy(s)] or ES Hy(s) = —————— F(a) (4) RiCys + 1 From Equation (3) we get Re R3 C3R38H3(s) + H3(s) = 7 Ho(s) - > H3(s) 52or 3 Bz By adding Equations (1), (2), and (3), and taking the Laplace transform Of the resulting equation, we obtain R2 Ha(s) = Ga (Ryoye + 1+ )3(s) (5). Cystin(s) + Cystig(s) + cgstig(s) = Qs) -—Hg(s) (6) ‘3 By substituting Equations (4) and (5) into Equation (6), we get Cys Rg R3 I eats + cae) (2) (ngegs +1 +) + (eas + = Jone = Qi(s) Since H3(s) = R30g(s), this last equation can be written as [fe + Ca)s + RYCyCzs? RCs + 1 (RgRQC3s + Rz + Rg) + (R3C3S + »| Qole) = Qs) from which we obtain Qo(s) RiCis + 1 Qs) [(C + Ca)s + RiCyCys?](RgRZC3s + Rp + Ry) + (RZC3S + 1)(RACyS + 1) This is the transfer function relating Qo(s) and Q;(s). B-5-5. For this system CaH=-Qdt, HH = 3r, c= 22 = (8) x i 2 & 7 au = -0.005 [Ht at Ht-5 gy = -0.005 ju Assume that the head moves down from H = 2m to x for the 60 second period. Then = 60 1.5 9 H dH = -0.005 —— at col ( i. 2 0 or 4 (x2+5 — 22-5) = -0.01432(60 - 0) 53which can be rewritten as x2-5 — (1.414213)5 = - 2.1480 or 22-5 = 5.6569 - 2.1480 = 3.5089 Taking logarithm of both sides of this last equation, we obtain a 5 1 = 3.5089 Renee G eo G or x = 1.652 B-5-6. From Figure 5-32 we obtain hy cy —=4- a lie te qQ) aha Co —2=q; - 2 2a TA ~ 82 (2) a ale au @) a= dove TR (4) Ae Using the electrical-liquid-level analogy given below, equations for an analogous electrical system can be obtained. Electrical systems Liguid-level systems e (voltage ) q (flow rate) q (charge) h (head) i (current) an/at C (capacitance) R (resistance) R (resistance) C (capacitance) Analogous equations for the electrical system are Ryiy =e - ey (5) Roig = e) - e2 (6) Say at a; = ) Cy 54S22 at == 2 cp (8) Based on Equations (5) through (8), we obtain the analogous electrical system shown below. B-5-7. The equations for the liquid-level system of Figure 5-20 are hy ne Varroa: So (1) oy See (2) = ee hy — bg Gp et 1 “Fi (3) ng 0 (4) Using the table of electrical-liquid-level analogy shown in the solution of Problem B-5-6, we can obtain an analogous electrical system. The analogous electrical equations are Rij =e - ey (5) Rgi2 = ey - e2 (6) Stay - ig) at ape ee 1 Fi (7) Sine 5 (8) C2 Based on Equations (5) Shroxah (8), we obtain the analogous electrical system shown on next page. 55pV = mRairT In this problem P= 7X 105 + 1.0133 x 105 = 8.0133 x 105 N/m? abs T = 273 + 20 = 293 K ‘The mass m of the air in the tank is pv 8.0133 x 105 x 10 BOO = 20!" = 165,09) RairT 287 x 293 is If the temperature of compressed air is raised to 40°C, then T = 273 + 40 = 313 K and the pressure p becomes ait 95.29 x 287 x 313 = se, 25220 26 287 5 313 05 N/m2 P & 8.560 x 105 N/m? abs 7.547 x 105 N/m? gage = 7.695 kg¢/cm? gage 109.4 Ibg/in.? gage B-5-9. Note that C dp, = g dt where q is the flow rate through the valve and is given by = Py from which we obtain Pols) 1 P;(s) "RCs +1 For the bellows and spring, we have the following equation:Ap, = kx ‘The transfer function X(s)/P,(s) is then given by Xie). X06) Fol?) an R(s) Bls)py(s) Ros +7 B-5-10. Note that P) = 0.5 x 10° N/m? gage = 1.5133 x 10° n/n abs = 0 N/n* gage = 1.0133 x 10° N/m? abs Tf p2 > 0.528p,, the speed of air flow is subsonic. So the flow throughout the system is subsonic. The flow rate through the inlet valve is 9, = JP, =P, ‘The flow rate through the outlet valve is 4, = KVP, ~ Py Since both valves have identical flow characteristics, we have K, ‘The equation for the system is c ap, = gq, )at (q, ap, Cae = KVP, -P, - K YP) = P5 At steady state, we have dp,/dt = 0 and this last equation becomes kK /r, 3 K fe; -P3 P, - P, or or Hence Py + P3 _ 1.5133 x 10° + 1.0133 x 10° 2 2 = 1.2633 x 10° W/m? abs = 0.25 x 10° N/m? gage 57B-S-1l. For the toggle joint shown in Figure 5-37, we have ah eh rope Aa B.5-12. Q = 0.1 /H = £(H) = £(8) + 9 gy cee = + Sea H) + = _ (HB) + oe H=H Neglecting the higher-order terms, a linearized equation for the system can be written as Q - £(8) = a(H - 1H) where £(H) = £(4) = 0.2 HEE Thus, a linearized equation becomes Q - 0.2 = 0.025(H - 4) B-5-13. z = 5x? = £(x) @) +E em + A linearized equation for the system is zZ-Z=a(x - X) = 10x 20 x=2,2= 20 Thus, a linearized equation becones Z — 20 = 20(x - 2) or 58z ~ 20x = - 20 BoS-14. z= x2 + Ixy + Sy? = £(x, y) A linearized mathematical model is x-H+SE-7) where X = 11, ¥ = 5, ar SS =m+ = 22 +10 = 32 ox Seats eae ar SS = 2x + 10y = 22 +50=72 ay | =5 Thus, the linearized equation is 2 - 356 = 32(x - 11) + 72(y - 5) or 32x + T2y - z = 356 B-5-15. Define the radius and angle of rotation of the pinion as r and @, respectively. Then, relative displacement between rack C and pinion B is r@. pox trek c 7 @) fo73 tral Relative displacement between rack A and rack C is 2r@ and this mst equal displacement x. Therefore, we have 2x0 = x Since x = r@ + y, we obtain 59B-5-17. ‘The heat balance equations for the system are €,40, = (u - q, at (a) C,d8, = (a, - a,)at (2) Noting that % = 6c8,, gy = GeO, Equations (1) and (2) can be modified to (3) (4) from which we get Cy8@, (s) = U(s) - Gc®,(s) C78@2(s) = Gc@, (s) - Ge8,(s) By eliminating @,(s) from the preceding two equations, we obtain Ge (cys + Gc)@,(s) = eure or (Cys + Ge)(C,s + Ge)@,(s) = GcU(s) Thus the transfer function @,(s)/U(s) can be given by @,(s) . Ge U(s) (C,s + Ge)(C,s + Ge)CHAPTER 6 Define the current in the circuit as i(t), where t 20. The jon for the circuit for t > 0 is B61. equal 1 (R, + R,)i + c, fa at =E Since the capacitor is not charged for t <0, the Laplace transform of this equation becomes (Ry + R,)1(s) +L 1(s) = 2 os 3 Hence EC. se i Tae TEA +1 R +R th 1 + RAIS 2 Since = =a E,(s) = (R, + aats) we obtain ates RCs +1 EC, O Cos (Ry + R,)C)s +} er i> a eee s (Rt R,)Cs + R, sE/+t- ze 1 s R Ry (R, + RA)Cy The inverse Laplace transform of E,(s) gives oe t/URy + R5)Cy] \ eft) = oe ° B-6-2. The equation for the circuit is di rt : L att Rit c Siw 612, r29,p%9%,1 q26 at? a oC Since q(0) = 0 and i(0) = q(0) = 0, the Laplace transform of this last equa- tion gives 1s29(s) + ReQ(s) + g(s) = 2 c Ss or z 2 = s(Ls* + Rs + i ) Q(s) = Since the current i(t) is dq(t)/dt, we have 1(s) = sQ(s) = ——=___ Is? + Rs + + The current i(t) will be oscillatory if the two roots of the characteristic equation 24+Rs+t-o See are complex conjugate. If two roots are real, then the current is not osci- latory. Case 1 (Two roots of the characteristic equation are complex conjugate): For this case, define = fae , My 1c I(s) = EC al s+ 25us +0," 2 ‘The inverse Laplace transform of I(s) gives i(t) = wo Bo SW nt sin(w fh - 52 &) sent sin(w, J1 - 52 t) (t20) ‘The current i(t) approaches zero as t approaches infinity. Case 2 (Two roots of the characteristic equation are real): For this case define 62s+ Big + ts (e+ als +b) ‘Then I(s) = =z a L (s + a)(s +b) The inverse Laplace transform of I(s) gives A(t) = Et (ett _ gb) Notice that B-6-3. Referring to the circuit diagram Zz shown to the right, we have ieee l os z, rd a - Tae | Hence e i | & 21g + RCs +1 : 21 (Ry + R)eys +1 a aa ha ace Next, we shall find the response e,(t) when the input e,(t) is the unit step function of magnitude E,. Since os +1 a (R) +R)Cos +1 s 7 Fieg, (Ry, + R,)e,8 +1 EV(s) = 63the inverse Laplace transform of E,(s) is en(t) = E, -—Fi_ ot/U(R, + R,)¢,] if 17” ee Which gives the response to the step input of magnitude E, . B-6-4, The system equations are ky Oy - ¥) = by (y - %) BF - $y) = hx, which can be rewritten as bY + ky = kx, + bx, bk, + kx, = BLY Noting that x,(0-) = 0 and y(0-) = 0, by taking the jj transform of these two equations we obtain (bys + k,)¥(s) = k) x; (s) + b)sX,(s) (bs + k,)X,(s) = by s¥(s) By eliminating ¥(s) from the preceding two equations, we get bys +k (bs + k)) aoe X,(s) = kX; (s) + b,sx,(s) a Simplifying, [(k, + ka)bys + kyk2] X,(s) = kb, sx; (s) or Xols) kybys : as Xi(5) © (ey + ey )bys + Hyg (Ge + b+ ‘The response of the system to x, (t) = X,1(t) can be obtained by taking the inverse Laplace transform of (b, /k2)s x, iS tae ees jt +4-\pnsti. cm 5) 1 64as follows: B6-5. The equations of motion for the system are ky Ox, - x) = B(x, - ¥) b) (x, - ¥) = ky Rewriting these equations, = + b. Kx, +b, Fo * Mh oy by + ky = bok, Noting that x(0-) = 0 and also y(0-) = 0, £_ transforms of these two equations become (bos + kx, (8) = kx, (s) * b,ev(s) (bs + k,)¥(s) = b sx (s) Eliminating ¥(s) from the last two equations, we obtain b,sX,(s) (bys + k))X,(s) = jx; (s) +bs oe eae which can be simplified as ((k, + k,)bs + k,k,)X)(s) = (bys + k,)x, (8) Hence Xs) _ k, (bys + kp) Xy(s) (ky + kp)Bo8 + Ky ky Since the input x,(t) is given as 65x(t) =X O T. Note that x(t) can be made identically zero for t 2T if we choose A=1, = eens 3x fe! Oe ‘Thus, the motion of mass m can be stopped by another impulse force, such as x _ 3 Be Bue - es S(t jae S(t TR” B-6-12. The system equation is me + bx = S(t), x(0-) = 0, X(0-) = 0 Te {_ transform of this equation is (ms? + bs)X(s) = 1 Solving for X(s), we get 1 1] Ee ‘The response x(t) of the system isx(t) =-L (1 ~ e(b/m)t The velocity x(t) is X(t) = 2b er(bme (0) = ™ The initial velocity can also be obtained by use of the initial value theorem. 2. X(O+) = 1im sx(s) = 1im —S— = 1 m see: soo ms? + bs 13. ‘the moment of inertia of the pendulum about: the pivot is J = mf?. The angle of rotation of the pendulum is @ rad. Define the force that acts on x the pendulum at the time of sudden stop as F(t). Then, the torque that acts on the pendulum due to the force F(t) is F(t)£cos 6. The equation for the pendulum system can be given by m £26 = F(t) £cos @ - mfsin @ Q) We shall linearize this nonlinear equation by assuming F‘Q<- angle @ is small. (Although @ = 20° is not quite small, the resulting linearized equation will * approximate solution.) By approximating cos @ and sin © 2 6, Equation (1) can be written as ng m p28 = F(t) £- mg fo five an or mfS + me = F(t) (2) Since the velocity of the car at t = 0- is 10 m/s and the car stops in 0.3 s, the deceleration is 33.3 m/s2, By assuming a constant acceleration of magnitude 33.3 m/s? to act on the mass for 0.3 seconds, F(t) may be given by F(t) 33.3 m(1(t) - 1(t - 0.3)] Then, Equation (2) may be written as mf6 + mgo = 33.3 m [1(t) - 1(t - 0.3)] 6 +S 9 = 233 [1(e) - a(t - 0.3)1 Since / = 0.05 m, this last equation becomes 26 + 196.2 0 = 666 [1(t) - 1(t - 0.3)] Taking Laplace transforms of both sides of this last equation, we obtain (=? + 196.2)@(s) = 656 (L- -L e-0.35)) (3) where we used the initial conditions that 6(0-) = 0 and 6(0-) = 0. Solving Equation (3) for @(s), @(s) = 866 _ (y ~ ¢-0.3s) 3(s? + 196.2) (see 8 eT) Ea : -( = ga at) 196.2, (2 - e0-38) ‘The inverse Laplace transform of @(s) gives @(t) = 3.394 (1 - 14t) - 3.394 free - 0.3) - [cos 14(t - 0.3)Ju(t - 0.3)f (4) 0.3491 rad. Then by ten— 0.3, we solve the following Note that 1(t - 0.3) = 0 for 0¢ t < 0.3. Let us assume that at t = ty, @ = 20° tatively assuming that t, occurs before t equation for t;: 0.3491 = 3.394(1 - cos 14t,) which can be simplified to cos 14ty = 0.8971 The result is ) = 0.0327 s Since t, = 0.0327 < 0.3, our assumption was correct. The terms involving 1(t - 0.3) in Equation (4) do not affect the value of tj. It takes approximately 33 ms for the pendulum to swing 20°. B-6-14. ‘The equation of motion for this system is (M + 2)K + bk + kx = 2g By substituting the mumerical values for M, b, k, and g into this equation, we obtain 12K + 40% + 400x = 2 x 9.81 By taking the Laplace transform of this last equation assuming zero initial conditions, we obtain B12s2x(s) + 40sx(s) + 400x(s) = 8. or 19.62 X(s) = s(12s2 + 40s + 400) 1,635 s(s2 + 3.3333s + 33.3333) Dyess Ss 0.035 + 0.1 s s2 + 3.33335 + 33.3333 titers ale s+ 1.6666 = (s + 1.6666)2 + (5.5277)2 10030)5 eS (s + 1.6666)? + (5.5277)2 The inverse Laplace transform of X(s) gives x(t) = 0.04905(1 - e71-6666t cos 5.5277t - 0.3015 e-1-6666t sin 5.5277t) Next, we shall obtain the response curve x(t) versus t with MATLAB. Note that X(s) can be written as eee 1.635 ea. s? + 3.3333s + 33.3333 $ Now define num=[0 0 1.635] = [1 3.3333 33,3333] A possible MATLAB program to obtain the response curve is given below. % ***** MATLAB program to solve Problem B-6-14 *#*** num=[0 0 1.635); den=[1 3.3333 33.3333); step(num,den) grid eralttees x(t)) xlabel('t abel) ) 74