ME2001- Basic Mechanical

ME101 Basic Mechanical Engineering

Delivered on Engineering
2021-06-03

Lecture 25 - Practice Problems

Lecture 22
Prof. Dr.-Ing. Mukhtar Ullah
Practice Problems of System Dynamics
Head of Electrical Engineering
FAST NUCES, Islamabad

Engineer Faryal Gula

Department of Electrical Engineering,
NUCES FAST, Islamabad
 Upper control arm
Example 4.3.4 (Palm III)
The figure shows the suspension of one front wheel of a car in which 𝐿1 = Frame
0.4 m, 𝐿2 = 0.6 m. The coil spring is of stiffness 𝑘 = 3.6 × 104 N∕m
and the car weight associated with that wheel is 3500 N. Determine the Wheel L1 Lower
L2 control arm
suspension’s natural frequency for vertical motion.
Write 𝑥 and 𝑦 for the displacements of the spring and frame, both from equilibrium.
Similar triangles: (𝐿2 − 𝐿1 ) ∕𝑥 = 𝐿2 ∕𝑦 ⇒ 𝑥 = 𝑦 (𝐿2 − 𝐿1 ) ∕𝐿2 = 𝑦∕3
Moment balance about the wheel (𝑊 = 3500 N):
𝑊𝐿2 = 𝑘𝛿st (𝐿2 − 𝐿1 ) ⇒ 𝑊𝑦 = 𝑘𝛿st 𝑦 (𝐿2 − 𝐿1 ) ∕𝐿2 = 𝑘𝛿st 𝑥
The kinetic energy of the system
1 9
𝒦 = 𝑚𝑦̇ 2 = (𝑊∕𝑔) 𝑥̇ 2
2 2
The potential energy of the system (assume zero value for gravitational P.E. at 𝑦 = 0)
1 2 1 1 1 1
𝒱 = 𝑘 (𝑥 + 𝛿st ) − 𝑊𝑦 = 𝑘𝑥2 + 𝑘𝛿st2 + 𝑘𝑥𝛿st − 𝑊𝑦 = 𝑘𝑥 2 + 𝑘𝛿st2
2 2 2 2 2
Apply the Rayleigh method, 𝒦max = 𝒱max − 𝒱min , and solve for the natural frequency
√
1 2 9 2 2 1 2 1
(𝑊∕𝑔) 𝑥̇ max = (𝑊∕𝑔) 𝜔𝑛 𝑥max = 𝑘𝑥max ⇒ 𝜔𝑛 = 𝑔𝑘∕𝑊 = 3.35 rad∕s
2 2 2 3
 L1
Problem 4.35 (Palm III)
Use the Rayleigh method to obtain an expression for the natural m k
frequency of the system shown in the figure. The equilibrium position x
L2
corresponds to 𝑥 = 0.
Write 𝑦 for displacement of the point mass and 𝛼 for the rod’s angle with the horizontal.
Similar triangles: sin 𝛼 = 𝑥∕𝐿2 = 𝑦∕𝐿1 ⇒ 𝑥 = 𝑦𝐿2 ∕𝐿1
Moment balance about the pivot
𝑚𝑔𝐿1 cos 𝛼 = 𝑘𝛿st 𝐿2 cos 𝛼 ⇒ 𝑚𝑔𝑦 = 𝑘𝛿st 𝑦𝐿2 ∕𝐿1 = 𝑘𝛿st 𝑥
The kinetic energy of the system
1 1 2
𝒦 = 𝑚𝑦̇ 2 = 𝑚 (𝐿1 ∕𝐿2 ) 𝑥̇ 2
2 2
The potential energy of the system (assume zero value for gravitational P.E. at 𝑦 = 0)
1 2 1 1 1 1
𝒱 = 𝑘 (𝑥 + 𝛿st ) − 𝑚𝑔𝑦 = 𝑘𝑥2 + 𝑘𝛿st2 + 𝑘𝑥𝛿st − 𝑚𝑔𝑦 = 𝑘𝑥2 + 𝑘𝛿st2
2 2 2 2 2
Applying the Rayleigh method ,𝒦max = 𝒱max − 𝒱min , and solve for the natural frequency
√
1 2 2 1 2 1 2
𝑚 (𝐿1 ∕𝐿2 ) 𝑥̇ max = 𝑚 (𝐿1 ∕𝐿2 ) 𝜔𝑛2 𝑥max
2
= 𝑘𝑥max ⇒ 𝜔𝑛 = (𝐿2 ∕𝐿1 ) 𝑘∕𝑚
2 2 2
 θ
Problem 4.37 (Palm III) m

Determine the natural frequency of the system shown in the figure using
Rayleigh’s method. Assume small angles of oscillation.
L2
Small angles of oscillation lead to near horizontal motion. The displacement
of the point mass is 𝐿2 𝜃 and the spring deflections are ±𝐿1 𝜃 which follows
from similar triangles.
The kinetic energy of the system L1
1 ( )2 1
𝒦 = 𝑚 𝐿2 𝜃̇ = 𝑚𝐿22 𝜃̇ 2
2 2 k k
The potential energy of the system (assume zero value for gravitational P.E.
at the pivot)
1 2 1
𝒱 = 𝑘 (𝐿1 𝜃) + 𝑚𝑔𝐿2 = 𝑘𝐿12 𝜃2 + 𝑚𝑔𝐿2
2 2
Applying the Rayleigh method ,𝒦max = 𝒱max − 𝒱min , and solve for the
natural frequency
√
1 1 1 𝐿 𝑘
𝑚𝐿22 𝜃̇ max
2
= 𝑚𝐿22 𝜔𝑛2 𝜃max
2
= 𝑘𝐿12 𝜃max
2
⇒ 𝜔𝑛 = ( 1 )
2 2 2 𝐿2 𝑚
Example 4.3.5 (Palm III)
k y
The rod shown acts like a spring when an axially applied force stretches or
compresses the rod. Determine the equivalent mass of the rod. m L dy

The mass of the rod is 𝑚𝑟 = 𝜌𝐴𝐿 where 𝐴 is cross-sectional area and 𝜌 is the density of x
mc
the rod. The mass d𝑚𝑟 of a small element of the rod is 𝜌𝐴 d𝑦 . The kinetic energy of the
small element is
1 1 1 2 1( )
d𝒦𝑟 = 𝑦̇ 2 d𝑚𝑟 = 𝑦̇ 2 𝜌𝐴 d𝑦 = 𝜌𝐴 (𝑦∕𝐿) 𝑥̇ 2 d𝑦 = 𝜌𝐴∕𝐿2 𝑥̇ 2 𝑦 2 d𝑦
2 2 2 2
where 𝑦̇ = (𝑦∕𝐿) 𝑥̇ is assumed. Integrate over the entire rod length to get
𝐿
1( ) 1( )( )( ) 1 1
𝒦𝑟 = 𝜌𝐴∕𝐿2 𝑥̇ 2 ∫ 𝑦 2 d𝑦 = 𝜌𝐴∕𝐿2 𝑥̇ 2 𝐿3 ∕3 = (𝜌𝐴𝐿∕3) 𝑥̇ 2 = (𝑚𝑟 ∕3) 𝑥̇ 2
2 2 2 2
0
The equivalent mass of the rod is therefore 𝑚𝑟 ∕3. The equivalent mass of the overall system is
𝑚 = 𝑚𝑐 + 𝑚𝑟 ∕3.
Equivalent Mass of Elastic Elements
Nomenclature: Equivalent system
mc = concentrated mass
md = distributed mass
me = equivalent lumped mass Massless
k Rest
System model: spring
me ẍ + kx = 0 x position
me

Helical spring, or rod in tension/compression Cantilever beam

md mc

md md
me = mc + 0.23md
mc mc
me = mc + md ∕3
Simply supported beam Fixed-end beam

mc md L∕2 L∕2
mc md

L∕2 L∕2
me = mc + 0.50md me = mc + 0.38md
Equivalent Inertia of Elastic Elements
Nomenclature: Equivalent system
Ic = concentrated inertia
Id = distributed inertia
Ie = equivalent lumped inertia Massless
System model: spring kT
Ie 𝜃̈ + kT𝜃 = 0
Ie

Helical spring Rod in torsion

Id Id

Ic Ic

θ θ
Ie = Ic + Id ∕3 Ie = Ic + Id ∕3
Example 4.3.6 (Palm III)
A 10 kg mass is attached to a 1.8 kg spring. The mass vibrates at a frequency of 20 Hz when
disturbed. Estimate the spring stiffness 𝑘 .
The given data are
𝑚𝑐 = 10 kg, 𝑚𝑑 = 1.8 kg, 𝑓𝑛 = 20 Hz
The effective mass of the system
𝑚𝑑 1.8 kg
𝑚𝑒 = 𝑚𝑐 + = 10 kg + = 10.6 kg
3 3
Expression for the natural frequency of a mass-spring system,
√
𝑘
2𝜋𝑓𝑛 = 𝜔𝑛 =
𝑚𝑒
can be solved for 𝑘 :
2 2 1N
𝑘 = 𝑚𝑒 (2𝜋𝑓𝑛 ) = (10.6 kg) (2𝜋 × 20 rad∕s) ( ) = 1.674 × 105 N∕m
1 kg ⋅ m∕s2
Example 4.3.7 (Palm III)
The vibration of a motor mounted in the middle of a fixed-end beam can be modeled as a
mass-spring system. The motor mass is 40 kg, and the beam mass is 13 kg. When the motor is
placed on the beam, it causes an additional static deflection of 3 mm. Find the equivalent mass
𝑚𝑒 , the spring constant 𝑘 , and the natural frequency.
The given data are
𝑚𝑐 = 40 kg, 𝑚𝑑 = 13 kg, 𝛿st = 𝑚𝑐 𝑔∕𝑘 = 3 mm
The effective mass of the system
𝑚𝑒 = 𝑚𝑐 + 0.38𝑚𝑑 = 40 kg + 0.38 (13 kg) = 44.94 kg
The spring constant
( )
𝑚𝑐 𝑔 (40 kg) 9.81 m∕s2 103 mm 1N
𝑘= = ( )( ) = 1.308 × 105 N∕m
𝛿st 3 mm 1m 1 kg ⋅ m∕s2
The natural frequency of a mass-spring system,
√ √
𝑘 √
√ 1.308 × 105 N∕m 1 kg ⋅ m∕s2
𝜔𝑛 = = ( ) = 53.95 rad∕s
𝑚𝑒 44.94 kg 1N
Example 4.3.8 (Palm III) Motor
mc
The figure shows a motor mounted on a beam with two fixed-end supports. md
An imbalance in the motor’s rotating mass will produce a vertical force 𝑓 that
oscillates at the same frequency as the motor’s rotational speed. Determine the
f
natural frequency of the beam-motor system.The rod shown acts like a spring
when an axially applied force stretches or compresses the rod. Determine the me
equivalent mass of the rod. x
The effective mass of the system k

𝑚𝑒 = 𝑚𝑐 + 0.38𝑚𝑑
The spring constant can be read from the table of spring constants:
16𝐸𝑤ℎ3
𝑘=
𝐿3
The natural frequency of a mass-spring system,
√ √
𝑘 16𝐸𝑤ℎ3 ∕𝐿3
𝜔𝑛 = =
𝑚𝑒 𝑚𝑐 + 0.38𝑚𝑑
Example 4.3.9 (Palm III)
I2
The figure shows an inertia 𝐼1 rigidly connected to two shafts, each
I1
with inertia 𝐼2 . The other ends of the shafts are rigidly attached to the
supports. The applied torque is 𝑇1 . (a) Derive the equation of motion. I2
(b) Calculate the system’s natural frequency if 𝐼1 is a cylinder 5 in. in T1
diameter and 3 in. long; the shafts are cylinders 2 in. in diameter and θ
6 in. long. The three cylinders are made of steel with a shear modulus kT
𝐺 = 1.73 × 109 lb∕ft2 and a density 𝜌 = 15.2 slug∕ft3 .
(a) Equation of motion Ie
𝐼𝑒 𝜃̈ = 𝑇1 − 𝑘𝑇𝑒 𝜃 where 𝐼𝑒 = 𝐼1 + 2𝐼2 ∕3, 𝑘𝑇𝑒 = 2𝑘𝑇 kT
(b) 𝐿1 = 5 in., 𝐷1 = 3 in., 𝐷2 = 2 in., 𝐿2 = 6 in. T1
θ
From tables of torsional spring constants
𝜋𝐺𝐷24 kTθ
𝑘𝑇 = kTθ
32𝐿2
( ) 4
𝜋 1.73 × 109 lb∕ft2 (2 in.) 1 ft
3
= ( ) = 2.62 × 105 lb ⋅ ft∕rad Ie
32 (6 in.) 12 in. T1
θ
From tables of inertia, 𝐼𝑖 = (1∕2) 𝑚𝑖 𝑟𝑖2 :
1 𝐷1 4 1 ( ) 3 in.
4
1 ft
5
3
𝐼1 = 𝜋𝜌𝐿1 ( ) = 𝜋 15.2 slug∕ft (5 in.) ( ) ( ) = 1.12 × 102 slug ⋅ ft2
2 2 2 2 12 in.
1 𝐷 4 1 ( ) 2 in.
4
1 ft
5
𝐼2 = 𝜋𝜌𝐿2 ( 2 ) = 𝜋 15.2 slug∕ft3 (6 in.) ( ) ( ) = 5.76 × 104 slug ⋅ ft2
2 2 2 2 12 in.
The natural frequency is
√ √
𝑘𝑇𝑒 2𝑘𝑇
𝜔𝑛 = =
𝐼𝑒 𝐼1 + 2𝐼2 ∕3
√
√
√ 2 × 2.62 × 105 lb ⋅ ft 1 slug ⋅ ft∕sec2
= ( )
[1.12 + 2 (5.76 × 104 ) ∕3] (1 slug ⋅ ft2 ) 1 lb
= 6720 rad∕sec
Problem 4.43 (Palm III)
The vibration of a motor mounted on the end of a cantilever beam can be modeled as a mass-spring
system. The motor weighs 40 lb, and the beam weighs 9 lb. When the motor is placed on the
beam, it causes an additional static deflection of 0.9 in. Find the equivalent mass 𝑚 and equivalent
spring constant 𝑘 .
The given data are
𝑊𝑐 = 40 lb, 𝑊𝑑 = 9 lb, 𝛿st = 𝑊𝑐 ∕𝑘 = 0.9 in.
The effective mass of the system
𝑊𝑐 + 0.23𝑊𝑑 40 lb + 0.23 (9 lb) 1 slug ⋅ ft∕sec2
𝑚 = 𝑚𝑐 + 0.23𝑚𝑑 = = ( ) = 1.308 slug
𝑔 32.174 ft∕sec2 1 lb
The equilvalent spring constant
𝑊𝑐 40 lb 12 in.
𝑘= = ( ) = 533.33 lb∕ft
𝛿st 0.9 in. 1 ft