ME2001- Basic Mechanical

ME101 Basic Mechanical Engineering

Engineering
Delivered on 2021-06-01

Lecture 24 - Practice Problems

Lecture 21
Prof. Dr.-Ing. Mukhtar Ullah
PracticeHead
Problems of System Dynamics
of Electrical Engineering
FAST NUCES, Islamabad

Engineer Faryal Gula

Department of Electrical Engineering,
NUCES FAST, Islamabad
Simple Harmonic Motion
4
SHM is a solution to the 2nd-order ODE d 2x/dt 2
2
1 d𝑥 d d𝑥 3
𝑥̈ = −𝜔𝑛2 𝑥 ⇒ − 2 d𝑡 2
= (− )=𝑥
𝜔𝑛 d𝜔𝑛 𝑡 d𝜔𝑛 𝑡 2 dx/dt

Rewrite as a pair of 1st-order ODEs 1 x

d𝑥 d𝑦
= −𝑦, =𝑥 0
d𝜔𝑛 𝑡 d𝜔𝑛 𝑡
–1
Capsule as a single ODE in complex plane
d (𝑥, 𝑦)
= (−𝑦, 𝑥) = j (𝑥, 𝑦)
–2

d𝜔𝑛 𝑡 –3
Solution subject to 𝑥 (0) = 𝑥0 , 𝑥̇ (0) ∕𝜔𝑛 = −𝑦0 :
–4
(𝑥, 𝑦) = (𝑥0 , 𝑦0 ) ej𝜔𝑛 𝑡 = 𝐴ej𝜃 ej𝜔𝑛 𝑡 = 𝐴ej(𝜙−𝜋∕2) ej𝜔𝑛 𝑡 0 1 2 3
t
4 5 6 7

Recover real solutions

d
𝑥 = 𝐴 cos (𝜔𝑛 𝑡 + 𝜃) = 𝐴 sin (𝜔𝑛 𝑡 + 𝜙) ≡ j𝜔𝑛
d𝑡
𝑥̇ = 𝜔𝑛 𝐴 cos (𝜔𝑛 𝑡 + 𝜃 + 𝜋∕2) = 𝜔𝑛 𝐴 sin (𝜔𝑛 𝑡 + 𝜙 + 𝜋∕2)
𝑥̈ = 𝜔𝑛2 𝐴 cos (𝜔𝑛 𝑡 + 𝜃 + 𝜋) = 𝜔𝑛2 𝐴 sin (𝜔𝑛 𝑡 + 𝜙 + 𝜋)
 x
Problem 4.23 (Palm III) y
m
In the figure shown, assume that the cylinder rolls without R k
slipping. The spring is at its free length when 𝑥 and 𝑦 are
θ
zero. Derive the equation of motion in terms of 𝑥 , with 𝑦 as
the input.
Force balance in the 𝑥 -axis (assume 𝑥 < 𝑦 ):
𝑚𝑥̈ = −𝑓𝑡 + 𝑘 (𝑦 − 𝑥)
Moment balance (about mass center):
1
𝑚𝑅2 𝜃̈ = 𝑓𝑡 𝑅
2
Divide by 𝑅 and add the last equation to the first one
1
𝑚𝑥̈ + 𝑚𝑅𝜃̈ = 𝑘 (𝑦 − 𝑥)
2
Incorporate no-slip assumption, 𝑥 = 𝑅𝜃 :
3
𝑚𝑥̈ = 𝑘 (𝑦 − 𝑥)
2
Example 4.2.6 (Palm III) k2 x2 k2 x2
k2
Derive the equations of motion of the two-mass system shown
in the figure. x2
Force balance in the 𝑦 -axis (assume 𝑥1 > 𝑥2 ): m2 m2 m2

𝑚1 𝑥̈ 1 = 𝑓 − 𝑘1 (𝑥1 − 𝑥2 )
𝑚2 𝑥̈ 2 = −𝑘2 𝑥2 + 𝑘1 (𝑥1 − 𝑥2 ) k1 k1(x1 − x2) k1(x2 − x1)

x1
m1 m1 m1

f f f
(a) (b) (c)
Problem 4.25 (Palm III)
The figure shown models the three shafts as massless torsional
k3T
springs. When 𝜃1 = 𝜃2 = 0, the springs are at their free I2
lengths. Derive the equations of motion with the torque 𝑇2 as
k2T
the input. I1 T2
• The restoring torque by spring 𝑘1 is against 𝜃1 . k1T θ2
• The restoring torque by spring 𝑘3 is against 𝜃2 .
• Assuming 𝜃1 < 𝜃2 , the restoring torque by spring 𝑘2 θ1
– on rigid body 𝐼1 favors 𝜃1 .
– on rigid body 𝐼2 is against 𝜃2 .
• Accordingly, the moment equations are:
𝐼1 𝜃̈1 = −𝑘1𝑇 𝜃1 + 𝑘2𝑇 (𝜃2 − 𝜃1 )
𝐼2 𝜃̈2 = 𝑇2 − 𝑘3𝑇 𝜃2 − 𝑘2𝑇 (𝜃2 − 𝜃1 )
Energy methods
Hamiltonian
ℋ =𝒦+𝒱
Mechanical energy change equals work done by nonconserva-
tive forces
∆ℋ = 𝑊 nc ←→ ℋ̇ = 𝑊̇ nc
Lagrangian
ℒ=𝒦−𝒱
Euler-Lagrange equations
dℒ𝑥̇ ∕ d𝑡−ℒ𝑥 = 𝑓𝑥nc , dℒ𝑦̇ ∕ d𝑡−ℒ𝑦 = 𝑓𝑦nc , dℒ𝜃̇ ∕ d𝑡−ℒ𝜃 = 𝑀𝜃nc
Example 4.3.1 (Palm III) W
The figure shows a representation of a spring system to isolate the foundation h Platform
from the force of a falling object. Suppose the weight 𝑊 is dropped from a height
ℎ above the platform attached to the center spring. Determine the maximum d x
spring compression and the maximum force transmitted to the foundation. k1
k2 k2
The given values are 𝑘1 = 104 N∕m, 𝑘2 = 1.5 × 104 N∕m, 𝑑 = 0.1 m, and
ℎ = 0.5 m. Consider two cases: (a) 𝑊 = 64 N and (b) 𝑊 = 256 N.
Since the weight must come to rest when the spring compression is maximum,
∆𝒦 = 0. The change in potential energy is
⎧ 1 𝑘1 𝑥max
2
− 𝑊 (ℎ + 𝑥max ) 0 < 𝑥max < 𝑑
∆𝒱 = 2
⎨1 2 1 2
𝑘1 𝑥max + (2𝑘2 ) (𝑥max − 𝑑) − 𝑊 (ℎ + 𝑥max ) 𝑥max ≥ 𝑑
⎩2 2
No non-conservative forces means ∆ℋ = ∆𝒱 = 0. Divide by 𝑘1 𝑑2 :
( )
⎧ 1 𝑥̂ 2 − 𝑊̂ ℎ̂ + 𝑥̂ 0 < 𝑥̂ < 1
∆𝒱 2
0= = ( )
𝑘1 𝑑2 ⎨ 1 2 ̂ 2
̂ ℎ̂ + 𝑥̂ 𝑥̂ ≥ 1
𝑥̂ + 𝑘2 (𝑥̂ − 1) − 𝑊
⎩2
where ℎ̂ = ℎ∕𝑑 = 5, 𝑘̂ 2 = 𝑘2 ∕𝑘1 = 1.5, 𝑥̂ = 𝑥max ∕𝑑, 𝑊
̂ = 𝑊∕ (𝑘1 𝑑). Solve for 𝑊
̂:
⎧ 𝑥̂ 2
⎪ 2 (𝑥̂ + 5) 0 < 𝑥̂ < 1
̂ =
𝑊
⎨ 𝑥̂ 2 + 3 (𝑥̂ − 1)2
⎪ 𝑥̂ ≥ 1
2 (𝑥̂ + 5)
⎩
Note that 𝑊 ̂ increases with 𝑥̂ and crosses the value 1∕12 at 𝑥̂ = 1.
̂ = 𝑊∕ (𝑘1 𝑑) = 64∕103 < 1∕12, solve 𝑥̂ 2 − 0.128𝑥̂ − 0.64 = 0 and choose the positive
(a) 𝑊
solution 𝑥̂ = 0.867. Then
𝑥max = 𝑥𝑑 ̂ = 0.867 (0.1 m) = 0.0867 m
( )
𝑓max = 𝑘1 𝑥max = 104 N∕m (0.0867 m) = 867 N
(b) 𝑊̂ = 𝑊∕ (𝑘1 𝑑) = 256∕103 > 1∕12, solve 4𝑥̂ 2 − 6.512𝑥̂ + 0.44 = 0. and choose the
greater-than-unity solution 𝑥̂ = 1.56. Then
𝑥max = 𝑥𝑑 ̂ = 1.56 (0.1 m) = 0.156 m
𝑓max = 𝑘1 𝑥max + 2𝑘2 (𝑥max − 𝑑)
[ ] ( )
= 𝑘1 𝑑 𝑥̂ + 2𝑘̂ 2 (𝑥̂ − 1) = 104 N∕m (0.1 m) [1.56 + 3 (1.56 − 1)] = 3240 N
Example 4.3.2 (Palm III) L
Use the energy method to derive the equation of motion of the mass 𝑚 attached to a k δst
spring and moving in the vertical direction, as shown in the figure. x
Mechanical energy (assume zero P.E. at 𝑥 = 0) m
1 1 2
ℋ = 𝑚𝑥̇ 2 + 𝑘 (𝑥 + 𝛿st ) − 𝑚𝑔𝑥 =
2 2
1 1 2 1 2
= 𝑚𝑥̇ 2 + 𝑘𝑥 + 𝑘𝛿st + 𝑘𝑥𝛿st − 𝑚𝑔𝑥
2 2 2
1 1 2 1 2
= 𝑚𝑥̇ 2 + 𝑘𝑥 + 𝑘𝛿st ←, [𝑚𝑔 = 𝑘𝛿st ]
2 2 2
Since there is no non-conservative force,
0 = ℋ̇ = 𝑚𝑥̇ 𝑥̈ + 𝑘𝑥𝑥̇
Since 𝑥̇ is not always zero, the equation of motion reads
𝑚𝑥̈ + 𝑘𝑥 = 0
 x
Problem 4.31 (Palm III)
k
For the figure shown, the equilibrium position corresponds to m1
𝑥 = 0. Neglect the masses of the pulleys and assume that the
cable is inextensible, and use conservation of energy to derive
the equation of motion in terms of 𝑥 . m2
Mechanical energy (zero P.E. at 𝑥 = 0)
1 1 2
ℋ= (𝑚 + 𝑚2 ) 𝑥̇ 2 + 𝑘 (𝑥 + 𝛿st ) − 𝑚2 𝑔𝑥
2 1 2
1 1 2 1 2
= (𝑚1 + 𝑚2 ) 𝑥̇ 2 + 𝑘𝑥 + 𝑘𝛿st + 𝑘𝑥𝛿st − 𝑚2 𝑔𝑥
2 2 2
1 1 2 1 2
= (𝑚1 + 𝑚2 ) 𝑥̇ 2 + 𝑘𝑥 + 𝑘𝛿st ←, [𝑚2 𝑔 = 𝑘𝛿st ]
2 2 2
Since there is no non-conservative force,
0 = ℋ̇ = (𝑚1 + 𝑚2 ) 𝑥̇ 𝑥̈ + 𝑘𝑥𝑥̇
Since 𝑥̇ is not always zero, the equation of motion reads
(𝑚1 + 𝑚2 ) 𝑥̈ + 𝑘𝑥 = 0
Rayleig’s method for SHM
Energy conservation for SHM:
𝒦max + 𝒱min = 𝒦min + 𝒱max
Since 𝒦min = 0, the conservation reduces to

𝒦max = 𝒱max − 𝒱min

which can be employed to determine the natural frequency
without deriving equations of motion.
Example 4.3.3 (Palm III)
k x
Apply Rayleigh’s principle to determine the natural frequency of the cylinder
shown in the figure. The mass moment of inertia about the cylinder’s center
m
of mass is 𝐼 and its mass is 𝑚. Assume the cylinder rolls without slipping. R
Kinetic energy (roll without slipping) ω
1 1 1( )
𝒦 = 𝑚𝑥̇ 2 + 𝐼𝜔2 = 𝑚 + 𝐼∕𝑅2 𝑥̇ 2
2 2 2 α
1( ) 2 1( )
𝒦max = 𝑚 + 𝐼∕𝑅2 𝑥̇ max = 𝑚 + 𝐼∕𝑅2 𝜔𝑛2 𝑥max
2
2 2
Potential energy
1 2 1 1 1 1 2 1
𝒱 = 𝑘 (𝑥 + 𝛿st ) −𝑚𝑔𝑥 sin 𝛼 = 𝑘𝑥2 + 𝑘𝛿st2 , 𝒱min = 𝑘𝛿st2 , 𝒱max = 𝑘𝑥max + 𝑘𝛿st2
2 2 2 2 2 2
Rayleigh’s principle,
1( ) 1 2
𝑚 + 𝐼∕𝑅2 𝜔𝑛2 𝑥max 2
= 𝒦max = 𝒱max − 𝒱min = 𝑘𝑥max
2 2
Solve for natural frequency:
√
𝜔𝑛 = 𝑘∕ (𝑚 + 𝐼∕𝑅2 )