H. A.

GABERSON
Particle Motion on Oscillating Conveyors1
Research Mechanical Engineer,
. S, Naval Civil Engineering Laboratory,
Port Hueneme, Calif.
Part 1. The Equations of Motion and the Rules for
Mem. ASME
Predicting Motion Form Transitions
This analysis concerns the important class of conveyors that may be idealized as a nearly
horizontal plane oscillating sinusoidally in a straight line with direction inclined to the
plane and amplitude great enough to cause particle flights. In Part 1 of this paper it is
shown that particle motion perpendicular to the plane becomes a function of a single
generalized amplitude, while motion along the plane takes any of four forms. The
various equations of motion are derived as well as rules and conditions which predict
and, establish transitions between the separate motion forms. Part 2 continues this
analysis and presents the solutions.

Introduction oscillation, such that the particle always remains on the plane,

osJsciliLATiNG conveyors are common materials-

handling equipment and have been widely used for many years.
Since the trough does not travel with the conveyed material b u t
only oscillates, these conveyors have distinct advantages; for
example, they are self-cleaning, totally encloseable, and me-
chanically simple to drive and maintain. T h e oscillating con-
veyors can be classified by the character of their oscillation. The
oscillation can be sinusoidal or nonsinusoidal, and in a straight
line or in some general two-dimensional orbit. Analyses and
descriptions of nonsinusoidal straight line, and general two-
dimensional oscillating conveyors are contained in reference [ l ] 2
through [6]. Because of attendant manufacturing simplicities,
sinusoidal straight-line motions are the most common and of the
greatest practical interest. If this type of oscillation acts in the
plane of the trough, the conveyor can only convey downhill, but
if the oscillation direction is inclined to the trough, level and even
moderately uphill conveying becomes practical. Finally, de-
pending upon the amplitude of the oscillation, the particle may
remain on the plane and sliding throughout the cycle or may make
small flights during a port-ion of each cycle. Low amplitude
1 of the particle once each cycle, and yet low enough so t h a t the re-
This paper is based in part on the author's thesis submitted in
partial fulfillment of the requirements for the degree Doctor of Philoso-
phy in the field of Applied Mechanics to the Mechanical Engineering
Department of the Massachusetts Institute of Technology, Cam-
bridge, Mass.
2 indicated that completely verifies the theory.
Numbers in brackets designate References at end of Part 1 of
paper.
Contributed by the Design Engineering Division and presented
at T H E VIBRATIONS CONFERENCE, Toronto, Canada, September 8-10,
1971, of T H E AMERICAN SOCIETY OF MECHANICAL ENGINEERS.
Manuscript received at ASME Headquarters, May 11, 1971. Paper
No. 71-Vibr-15.
has been quite extensively studied b y Berry [7], Blekhman and
Dzhanelidze [1], Burton [8], and Booth and McCallion [9].
However, as one might expect, these conveyors are more efficient
if they cause small particle flights during a portion of each cycle.
Friction does not act during the flight. Only a few oversimpli-
fied or incomplete analyses of these conveyor motions are pre-
sented in the literature. For example, Taniguchi, et al. [10],
found one of the many possible solutions and presumed it ap-
plicable to all cases. They further neglected differing impact
friction and hence could not experimentally confirm their theory.
Paz [11] presented an overly simplified analysis of one particular
case. Bleckhman and Dzhanelidze [1] formulated general com-
putational rules b u t did not go on to clearly present the solutions.
Rachner and Jungk [12] grossly approximated for order-of-magni-
t-ude results b u t made no attempt to solve the equations. Finally,
in 1967, Gaberson [13] presented a complete theory, verified ex-
perimentally, which showed the actual complexity of t h e true
solutions. This theory has been extended and is presented in
this two part paper.
The scope of the analysis is described as follows. T h e con-
veyor trough may be inclined to the horizontal with an angle
less than the angle of friction. T h e oscillation is a straight line,
sinusoidal, with a direction inclined to the plane of the trough.
The oscillation amplitude is great enough to cause small flights
sulting particle motions are once-per-cycle periodic. The theory
is applicable to all nonrolling single particles and to a wide
variety of beds of granular materials. Experimental evidence is
Single Particle Theory
Fig. 1 shows a plane inclined to the horizontal at angle /3. T h e
plane is undergoing translational harmonic oscillations in the

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 ^
Fig. 1 The coordinate systems and the angles

direction a to the horizontal. On this plane rests a particle of

mass, m, that is flat enough to inhibit rolling. Two coordinate
systems are used. The x' — y' coordinate system refers to the
position of the plane and is considered fixed to earth. The x-y
coordinate system refers to the position of the particle. The
system is considered fixed to earth in such a way that y = y' when
the particle is resting on the plane. Given the foregoing, the
motion of the plane may be written as follows:
x' = a cos (a — /3) sin coi,
(la)
y' = a sin (a — /3) sin coi,
where a is the displacement amplitude of the oscillations, and to
is the frequency.
Consider the free body diagram of the particle on the plane
shown in Fig. 2. F is the frictional force, N is the normal force,
and mg is the force of gravity. Dynamic equilibrium in the x and
y directions requires t h a t
my = N — mg cos (3,
/3
mgt
Fig. 2 Free body diagram of particle
required for static friction to be developed. Thus, no static co-
efficient is required when the particle instantaneously changes its
relative sliding direction, even though an instant of zero relative
velocity exists. For cases in which a short interval of zero rela-
(16) tive velocity does exist, machine vibration will inhibit the at-
tainment of static conditions. Finally, when the particle has
the same velocity as t h e plane, the friction force will assume the
value required to maintain this velocity.
I t is necessary to limit the ranges of the angles a. and (3 as
follows. As must be expected, a practical limitation for periodic
solutions is t h a t the magnitude of (3 must be less than the angle of
friction. All possible cases of interest are included if a and /3 are
(2a) taken such t h a t

mx — F — mg sin /3. (2b) ir

(3)
The normal force N cannot be negative. I t is positive when the
particle is on the plane, and otherwise zero. When the particle
for a < j3, the direction of the x-axis may be reversed to make
slides on the plane, the frictional force is the product of the coef-
a > (3. Finally, in order to eliminate certain complications, we
ficient of friction, /it, and the normal force. However, during an
shall only consider cases where
impact, when pressures are high, the friction coefficient may be
different from )x. Thus, an impact friction multiplier, e, is intro-
duced t h a t changes the coefficient of friction at impact. On the («-£)< (4)
other hand, a different static coefficient of friction is unnecessary.
Rabinowicz [14] has shown t h a t a certain finite time interval is i.e., cases where the angle between the oscillation vector and the

-Nomenclature-
a = displacement amplitude of plane Xt initial nondimensional .-c-dis- nondimensional time at the be-
oscillation placement ginning of the G Definite
A = generalized amplitude equation initial nondimensional .^-velocity Zone, equation (196)
(66) X' x'/a non-dimensional time at the be-
F = friction force equation (26) x' ginning of the L Definite
Fag = force available for Slide 67 equa- X' = Zone, equation (226)
tion (18a) nondimensional time at the end
Fal — force available for a Slide L of Cr Definite Zone, equation
X' =
equation (186) (19c)
Fr = required force equation (15a) x', v' = displacements of plane, Fig. 1 Teld nondimensional time at end of L
g = acceleration of gravity = accel rations of plane Definite Zone, equation (22c)
•-£', v'
m = mass of particle T; initial nondimensional time
*'. v' = velocities of plane
N — normal force equation (2a) T nondimensional time at ter-
a = angle of oscillation, Fig. I l0
t = time mination of a slide G
X = x/a 0 = angle of plane inclination, Fig. 1
T
tl
nondimensional time at ter-
AX = change of nondimensional x-ve- mination of a Slide L
X = x/aui
locity during impact, equation nondimensional time of flight,
Ti
x (24)'
X = —2 equation (6a)
ao> = generalized table inclination,
'"i'avg = average .r-velocity
r Table 1
T2 nondimensional time of impact,
equations (7)
x, y = displacements of particle, Fig. 1 e = impact friction multiplier 4> generalized friction, Table 1
x, y = velocities of particle M = coefficient of friction * constant, Table 1
x, y = accelerations of particle r = oit, nondimensional time CO angular velocity

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 plane is not obtuse. Obscure cases where this angle is obtuse
must be treated separately, and the rules developed in this theory
are not applicable to these cases.
Particle Y-Motion
Since the particles will impact the trough once each cycle, con-
sideration must first be given the value of the coefficient of
restitution. Clearly, a zero coefficient of restitution is called for
in the analysis of a bed of loose granular material, because all
impact energy is dissipated by local particle motions. In-
terestingly enough, the zero coefficient of restitution is applicable
to a much larger class of impacts of nonrolling single particles.
Experimentally, there appears to be some limiting height (per-
haps dependent on some characteristic particle dimension) under
which a particle can be dropped on a flat surface and no sig-
nificant rebound will occur. For example, consider the dropping
of a horizontal pencil from a height of l/i in. onto a flat table;
this results in virtually no rebound at all. On actual conveyors,
as the amplitude is increased, one does indeed reach an amplitude
where gross tumbling and rebounding does set in; b u t this ampli-
tude is invariably much greater than t h a t vised in practical con-
veyors and, in fact, is so severe that the impacts become damag-
ing and the particles become so unstable t h a t they bounce out
of the trough. Thus, for any practical conveying device, a zero
coefficient of restitution is actually attained. This means t h a t
generally, no bouncing will follow an impact. The only time
the particle will leave the plane is when the force of gravity is in-
suffi cient to keep it there.
Just prior to a flight, the particle has the same ^/-velocity, dis-
placement, and acceleration as the plane. Furthermore, the
normal force acting on the particle is positive and is becoming
smaller; the time at which the normal force becomes zero is the
time of initiation of a flight. Since the particle is on the plane
prior to the flight and has the y-acceleration of the plane at that
time, the expression for the normal force prior to flight is obtained
by substituting the ^-acceleration of the plane, obtained from
equation (lb), in the ^/-equilibrium equation (2a), giving
of impact, n, is found by equating these displacements. After
some manipulation, the following transcendental equation is
obtained:
sin n = Bu1 + CTI + D (7a)
where
B = i/j sin TI, (7b)
C = Ti sin Ti + cos Ti, (7c)
D = l 2
— /i Ti sin Ti — T, cos Ti + sin Ti. (7d)
Thus it is seen that both Ti and Tu are functions of A alone. They
are plotted in Fig. 3.
In reference [13], it is proved that TJ lies outside the "definite
fly zone." This can be inferred since a negative normal force
would be required for the particle to be on the plane as soon as
the end of the zone by remaining on the plane throughout the
zone. Thus, it is assured t h a t a particle with a zero coefficient of
restitution, undergoing once-per-cycle periodic behavior, will
always fly at T\ as given by equation (6a) and remain flying until
Ti, as given by equations (7); throughout the rest of the cycle, the
particle will be on the plane.
As was mentioned in the foregoing, this analysis is only con-
cerned with steady-state solutions, that are once-per-excitation-
cycle periodic. This once-per-cycle limitation leads to an upper
limit on the amplitude, A. For once-per-cycle periodic behavior,
the termination of the flight must come before the next time of
flight, and, in the limiting case, the time of impact will occur just
at the next time of flight. By letting Tj = Ti + 27r, in equations
(7), this limiting value is found to be
4ih„ = V ^ T T ~. 3.297. (8)
This value of A is shown as a horizontal dotted line in Fig. 3.
Therefore, this analysis is concerned with a range of amplitudes,
A, greater than unity, to assure a flight and less than V t r 2 -\- 1 to
assure periodic once-per-cycle behavior, or, in symbols

A7 = m[ — aco2 sin ( a — /3) sin at + g cos j3]. (5) 1.0 < A < v V + 1. (9)

Equating this expression to zero yields the time of flight n, as

follows: Particle X- Motion
sin Ti = 1/4, (6a) As is usually the case, nondimensional variables simplify
manipulations and computations. The nondimensional coordi-
where nates are defined in the symbols table. A nondimensional fric-
tion, 4>, and plane tilt, f, are defined in Table 1; one can show
A = «M?L^£) ^. m [13] the range of values to be as given. A positive multiplier, \p,
cos p g will be continually retained on the left-hand side of almost all
T = Ut. (6c) equations; attention is called to the fact that this positiveness as-
sures no difficulties when used in inequalities.
The quantity A, the general amplitude, is an important pa-
rameter. I t is the ratio of the y component of the maximum
plane acceleration to the y component of gravitational accelera- 1 /
tion or the relative y-acceleration. Condition (3) shows that A i A = y7r2 +1 , Periodic
1 Limit
1
is always positive and equation (6a) shows t h a t A must be greater
than unity. This last restriction comes ahout because the study
is only concerned with cases in which a flight occurs.
1 t
i
1
1
1
V
/
1
Note that equation (6a) yields two values of Ti in an interval of

I
1
one cycle; one in the first quadrant and one in the second. A 1
1
negative normal force, A', would be required for the particle to 1
2
remain on the plane within this interval. A negative A7 is im- 1
/
possible, so this interval is a "definite fly zone," a zone in which i
1
the particle cannot remain on the plane. If the impact occurs 1
1
within this interval, the particle will instantly fly again; if not, the \
particle will remain on the plane.
The ^-acceleration during a flight is found from equation (2a)
V SI 1
1

H 1— —)
with A7 set equal to zero. Double intergation yields the y dis- 0 i 7T/2 2 3 IT 4 3TT/2 5 6 27T 7 57T/2

placement during the flight. The flight began with equal y-dis- Nondimensional Time ~ T

placement of the particle and the plane, and the flight terminates Fig. 3 Time of flight ( n ) and time of impact (rs) as functions of the gen-
when these two displacements are again equal. Thus, the time eralized amplitude, A (equations (6) and (7))

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 The particle z-motion can take any one of four different forms:
sliding with a velocity greater or lesser than the plane, riding with
the same velocity as the plane, and flying above the plane. We
now develop these four sets of motion equations.

Table 1 Nondimensional operating conditions

Symbol Definition Range

sil1
— (« - ft) 1 < A < VTI-'+ 1
A (amplitude)
g cos ft (~3.3)

e (impact friction experimentally deter 0 < e

multiplier) mined Fig. 4 A comparison of the required force and the available force for a
slide L for a typical case in which a Slide L Definite zone exists
ix + cot ( a — ft) 1 < (f> < °s (and
cj> (friction)
H + tan ft only for a = TT/2
can <j> = 1)
T h e Slide L (sliding with a velocity less than the plane) equa-
0.5 < f < co (f = 1 tions are obtained as previously, except that the frictional force
f (plane tilt) for ft = 0)
ix + tan ft is positive. Thus, the analogous equations for a Slide L are:
0* + tan ft) sin ( a - ft) 0 < \p < 2/i x = )ig cos ft — /xaw2 sin {a — ft) sin ut — g sin ft, (13a)

X 1 „
j = - 2f - 1) - f SUIT, (13b)
For reference, the ^-motion equations of the plane in terms of \f/ A
the nondimensional variables become

X' ~ = j (2f - 1)0- - Ti) + f (cos r - cos T^ + —'', (13c)

= (<t> - f ) sin r, (10a)

X 1
X' (2f - l ) ( r - TiY + f (sin r - sin r ; )
= W> - f ) cos T, (106) 4/ 2A

X' + ( T77 "~ f cos T

« ) <.r ~~ r i ) + T7" (13d)
= ~ W> - f ) sin r . (10c)
-A
T h e flight equations are obtained from equation (2b) with the
During a ride, the particle has the acceleration and the velocity frictional force zero; thus, the acceleration is
of the plane. Its displacement is obtained by integration and
hence the equations are x = — o sin ft. (14a)

X Again, we introduce the nondimensional variables and integrate

= -(</> - f) sin r, (Ha) twice to obtain

X
(i - n, (14b)
f ) COS T, (Ub)

Xj
"7 = W> - f) (sin T - sin T,-) + -j. (lie) Z - -\<X - Mr - rt) (14c)

The Slide G (sliding with a velocity greater than the plane) f = - ^ ( l - r ) ( r - r , ) . + ^ ( r - r ( ) + | ' . (141)
equations are obtained from equation (2b) by noting t h a t the
frictional force is negative, and t h a t this frictional force is the
product of the normal force (equation (5)) and the coefficient of
friction. Making these substitutions of the s-acceleratkm be- Motion Form Transitions
comes We now discuss the conditions that determine the transitions
between the four .^-motion types.
x = — jxg cos ft + yitaw2 sin (a — ft) sin wi — g sin ft. (12a)
A flight takes precedence over all; in every case a flight initiates
Substitution of the nondimensional variables in the foregoing and at Ti and terminates at Ti.
integrating twice yields the three following equations for the ac- The ride-slide and slide-ride terminations require more analysis.
celeration, velocity, and displacement during a Slide G. Either slide (Slide G or Slide L) terminates as soon as the particle
velocity becomes equal to the plane velocity. A ride or another
X _ -1 slide will instantly ensue, but the specific slide in question ter-
f sin T. (12b) minates when these velocities become equal. For convenience,
we shall refer to times when the particle is on the plane with the
X velocity of the plane, as Decision Times. Thus, a ride occurs
—- (T - T{) - f (cos r - cos T{) + -7-*. (12c) during a sequence of Decision Times, and a slide terminates in a
4> A y/
Decision Time.
X Available and Required Force. During a ride, the particle main-
(T - TiY f (sill r — sin T{) tains the acceleration of the plane. Thus, the frictional force
1> 2A
acting on the particle during a ride must equal the product of the
v Xi (12d) particle mass and the plane acceleration. This force is termed
(fcosr.+ ^ ' J (r
the required force and denoted as Fr. Substitution of equation

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 (lc), the plane acceleration, into equation (26), the ^-dynamic
equilibrium equation, multiplication by the mass of the particle,
together with the inclusion of the nondimensional variables of
Table 1, yields the following expression for the nondimensional
required force.
r (<t> - - f ) sin r, (15a)
where the nondimensional required force is defined to be
F = Shr
F, = (166)
mad)2
I t is well to note the amplitude of the sine term in equation
(15a). From Table 1, this is seen to be
cot (a - j8)
- t H + tan /3
(16)
Thus, the restriction that (a — /}) not be obtuse is seen to assure
that this amplitude remains positive. And hence, Fr is most
negative in the 1st and 2nd quadrants, and most positive in the
3rd and 4th quadrants. We can prove that F,. definitely becomes
negative in the 1st and 2nd quadrants and definitely becomes posi-
tive in the 3rd and 4th quadrants by examining the amplitude and
the constant terms in equation (15a). As long as the amplitude
is greater than the constant term, this will be the case. Recall
t h a t (4> — I) is positive and that both A and (f> are greater than to the time of flight.
unity. Then
(«-{•)> i> X
A
r (17! lapping must be considered. The Fly Definite Zone takes pre-
which proves the contention.
Now that we have discussed the force required to maintain a
ride, we turn to a consideration of the force available from friction; Hence virtually all situations will contain this portion of the G
when the required force exceeds in magnitude t h a t available from
friction, the ride can no longer be maintained. This available
force is simply given by the product of the normal force and the
coefficient of friction. The available force can act both posi-
tively and negatively. (Positive force is associated with a Slide
L, and negative force is associated with a Slide G; think of the
force acting on the particle.) Thus, we write it as having two
values; the friotional force available in the case of an impendin]g
Slide G, Fag, and the available force for a Slide L, Fal; the forces
are always equal in magnitude but opposite in sign. The equa-
tions are obtained as the product of the normal force given in
equation (5) and the appropriately signed coefficient of friction;
expressed in terms of the nondimensional variables of Table 1,
they are
F t
(18a)
and
t sin T, (186)
\p A
where
F Fal
F, ail and F„, = (18c)
mau1
" ~ mats,*
Slide G Definite Zone. Now, that portion of the cycle for which
Fr is more negative than Fag is a zone in which a ride cannot be
maintained. I t is a zone in which a Decision Time results in a
Slide G. If, for any reason, the particle attains the velocity of
the plane within this zone (i.e., a Decision Time occurs), a Slide G
will instantly ensue. This zone is called the G Definite Zone.
The extent of this zone is found by subtracting Fag, equation (18a),
from F„ equation (15a), and requiring the result to be negative.
This yields
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sin T > -— . (19a)
A<p
Since the product Arf> is definitely positive and greater than unity,
this is a zone centered about x / 2 with its extremities given by the
equality. Using principal value notation, the boundaries of the
G Definite Zone may be written in terms of the limiting times Thgd
(time at the beginning of G definite) and Trgd (time at end of G
definite) as follows.
T
b„d (1%)
A*/
' egd
J_ (19c)
A4>
One further important point can be deduced from the above.
Since <f> > 1 (except for a = 7r/2), the sin Tbgd will always be less
than the sin Ti, and since both angles are definitely in the first
quadrant
T
bg,l ^ T
<- (20)
Thus, if a ride is occurring in the first quadrant, it will always
make a transition to a Slide G prior to the flight. Only in the
special case of a. = ir/2, can a ride persist in the first quadrant up
Since both the G Definite Zone and the Fly Definite Zone are in
the first and second quadrants, the consequences of this over-
cedence, for to have any slide at all, the particle must be on the
plane. Except when <j> = 1 (the special case of a = ir/2), some
portion of the G Definite Zone always exists prior to the flight.
Definite Zone. However, for extremely low amplitudes, r 2 , the
impact time, can occur prior to Tegd, and a second portion of the G
Definite Zone will then exist following the impact. This is
definitely a complicating factor in the analysis and leads to
several different, although uncommon, solutions. Fortunately,
the amplitude for which the impact time, T2, equals ir, is approxi-
mately 1.1 5, a value far below that normally used in applications,
Since Tegd is always less than 7r, one need not be concerned with
this possibility when the amplitude, A, exceeds 1.15. However,
any analysis of cases with very low amplitudes would definitely
have to admit this possibility. No such cases were computed
in this study.
Slide L Definite Zone. Now we consider the existence of a Slide L
Definite Zone, i.e., a portion of the cycle during which the required
force, F„ is positive, and more positive than the available friotional
force for a Slide L, Fal. Let us compare the expression for F„
equation (15a), and Fal, equation (186). Since f > 1/i, the mean
value of Fal is always greater than the mean value of Fr. Further,
the amplitude of the sinusoidal term in each expression must be.
negative, (recall: f > 1 / j , (<j> — f) > 0), hence both curves have
maxima at 37r/2. TWO typical curves are drawn in Fig. 4. Note
that, given the above two conditions, Fr can only exceed Fal in
the 3rd and 4th quadrants, and that the maximum value of this
excess occurs at 'Air/2. The times when the two curves have
equal ordinates are the limits of the Slide L Definite Zone, rhld
(the time at the beginning of L definite) and Teld (the time at the
end of L definite). Note t h a t these limiting values must lie
within the 3rd and 4 th quadrants, and also that Fr must be
greater than Fal at 37r/2 for any L Definite Zone to exist. Now
let us form the difference between Fr and Fal by subtracting
equation (186) from equation (15a) and further examine the
ramifications of requiring a positive difference in the L Definite
zone.
1 - 2f (21a)
- W> - 2f) sin r > 0.
Transactions of the ASME
 This expression is a sine curve with a negative mean value since
f > Vs. In order t h a t any Slide L Definite Zone exist, the ex-
pression must be positive at r = 37r/2 or, in other words
1 2f
- (2f - <f>)> 0
becomes a necessary and sufficient condition for the existence of
an h Definite Zone. The extent of the zone is defined when
equation (21a) is set equal to zero, the two values being obtained
from the relation
2r i
2f -
Since TbU! must be in the 3rd quadrant and Teld in the 4th quad-
rant, these limits may be precisely expressed using the principal
value notation as follows
'2f - 1 1/
Tbld = T Sirr
2f - <*>'A.
'2f
27T + Sin
i_2r - 4>
Slide Termination. Any slide will terminate in one of two ways.
Clearly, any slide t h a t is occurring just prior to the time of flight
terminates at the time of flight. All other slides terminate when
the particle velocity becomes equal to the plane velocity, i.e., at
a Decision Time. Given that a slide is occurring, it will ter-
minate at the very next Decision Time, except for the special
termination at the time of flight.
A very useful fact for predicting the character of the solutions
is the fact that no slide may terminate in the corresponding
Definite Zone, except the Slide 0 at the time of flight, since the
time of flight takes priority over all other behavior. This can be
formally proved [13] by examining the relative acceleration of the
particle with respect to the plane within the Slide Definite Zones.
One notes t h a t the sign of this relative acceleration is opposite to
that required to make the particle and plane velocities equal.
The relationships for determining the time of termination of a
slide are obtained by equating the velocity of the particle during
that slide with the velocity of the plane. The time of termination
of a Slide G, r, 0 , is obtained by equating equation (12c) with
equation (106), which yields:
COS Tlg + + f COS T, +
A4> . «
The time of termination for a Slide L, r „ , is obtained by equating
equation (13c) with equation (106) which yields:
1 2r - i" 1 must terminate at the beginning of the next Slide Zone in the
cos T„ +
A |_2f - <$>. Tn + (2f
i: - 4>)
m - DT,-
f COS Ti + = 0.
Results of the Impact. T h e impact takes place in zero time.
Thus, no displacement occurs during the impact and the particle
suffers an instantaneous ?y-velocity change, and generally, an
.t-velocity change. Usually, just prior to impact, the ^-velocity
of the particle differs from the ^-velocity of the plane. The Mo-
tional impulse during impact acts so as to decrease the magnitude
of the relative velocity between the particle and the plane. One
may show, [13], that the maximum .r-velocity change during im-
pact is merely the product of the coefficient of friction and the
?/-velocity change during impact. The 2/-velocity change at im-
pact is obtained by subtraction of the plane velocity from the
particle velocity, both evaluated at T%. The product of this
velocity change and the coefficient of friction, JX, expressed in
terms of the nondimensional variables of Table 1, is
Journal of Engineering for Industry
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A.Y
(24)
=r (T 2 Ti) + COS T-t — COS Ti
The probability that the friction law and the coefficient of fric-
tion are more complicated than has been assumed can now be in-
(216)
troduced in the form of an impact friction multiplier, e. It is as-
sumed t h a t the actual frictional velocity change attained during
impact is obtained as the product of the velocity change com-
puted from equation (24) and a quantity, e, the impact friction
multiplier. This change in impact friction has been snggested by
Blekhman[l].
In summary, the impact velocity change, eAX, is the maximum
(22a) velocity change that can occur. I t is only possible as long as a
relative velocity exists between the particle and the plane
throughout the impact. If the two velocities become equal
during the impact, something less than eAX is attained and a
Decision Time results. If the particle, just prior to impact, has
an .r-velocity greater than the plane ^-velocity in excess of eAX,
the particle x-velocity will be reduced by eAX and a Slide G will
(22b] ensue. Similarly, if the particle ^-velocity prior to impact is less
than the plane .T.-velocity by an amount exceeding eAX the
1 particle ^-velocity is increased by eAX and a Slide L ensues.
(22c)
A
Summary of the Theory
In concluding Part 1 of this paper, it is appropriate to review
the prominent points of the theory before proceeding to the
solutions.
a The axes are ordered such that the condition (3) is met.
The magnitude of (3 must be less than the angle of friction, and
(a — /3) cannot be obtuse.
6 The operating conditions are used to compute the nondi-
mensional variables of Table 1.
c For the motion to be "once-per-rev" periodic and contain a
flight A, must satisfy condition (9).
d The particle definitely flies at Ti given by equation (6) and
definitely lands at r 2 given by equation (7). At all other times
it is on the plane.
e In nondimensional variables, the motion of the plane is given
by equation (10).
/ There are four possible forms the ^-motion can take; these
are a Slide O, Slide L, Ride, and Flight, and the corresponding
equations of motion are (12), (13), (11), and (14), respectively.
g The limits of the Slide G Definite Zone are Thgd and regd, as
given by equation (19).
7— 0. (23a) h For a Slide L Definite Zone to exist, condition (216) must
Y .
be met.
i If a Slide L Definite Zone exists, its limits are Thld and TeU,
as given by equation (22).
j Rides only occur between the Definite Slide Zones and
corresponding slide.
k I t is possible, when the amplitudes are very low, for Tbrjd to
exceed Tj; this causes complications.
(236) I Slides must terminate at the time of flight T\, or at Decision
i> J
Times given by equation (23).
m A slide cannot terminate within its respective definite
zone.
n The impact causes a velocity change and results in either a
slide or a Decision Time.
o If a Decision Time occurs in a Definite Slide Zone, the
corresponding slide ensues. If not, a Ride ensues.
This summarizes the theory required to obtain the solutions
which are presented in P a r t 2.
References
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Permeschchenie" (Vibrational Transporting), Izdatel'stvo Nauka
(Publishing House, Science), Moskva (Moscow), 1964.
FEBRUARY 1 9 7 2 / 55
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Transactions of the ASME