CHAPTER 3: MODELLING WITH HIGHER ORDER DIFFERENTIAL EQUATIONS
① Spring mass system
(i) Free undamped motion
Figure 1: Spring mass system
(ii) Free damped motion
Figure 2: Damping devices
(iii) Driven motion
Figure 3: Oscillatory vertical motion of
the support
Suppose that a flexible spring is suspended vertically from a rigid
support and then a mass m is attached to its free end. The amount
of stretch, or elongation s, of the spring will of course depend on
the mass. By Hooke’s law, the restoring force is
da S
𝐹 = 𝑘𝑠 − − − (1)
where k is spring constant and s is amount of elongation. t
After a mass m is attached to a spring, it stretches the spring by an
amount s and attains a position of equilibrium at which its weight,
𝑊 = 𝑚𝑔 is balanced by the restoring force ks. Hence, the
condition of equilibrium is
𝐹 = 𝑊 or 𝑚𝑔 − 𝑘𝑠 = 0 − − − (2)
where 𝑔 is the gravitational acceleration.
If the mass is displaced by an amount 𝑥 from its equilibrium
position, the restoring force of the spring is then 𝑘(𝑥 + 𝑠).
Assuming that there are no retarding forces acting on the system
and assuming that the mass vibrates free of other external forces
—free motion—we can equate Newton’s second law with the net,
or resultant, force of the restoring force and the weight:
𝑑2 𝑥 𝑑2 𝑥
𝑚 2 = −𝑘(𝑥 + 𝑠) + 𝑚𝑔 or 𝑚 2 = −𝑘𝑥 − − − (3)
𝑑𝑡 𝑑𝑡
The motion described by Eq. (3) assumes that there are no
retarding forces (due to surrounding/ friction) acting on the
moving mass.
However, Fig. 2 shows that the mass could be suspended in a
viscous medium or connected to a dashpot damping device, in
which the damping force, 𝐹𝑑 is given by a constant multiple of
𝑑𝑥
𝑑𝑡
. As such, from the Newton’s second law
𝑑2 𝑥 𝑑𝑥
𝑚 = −𝑘𝑥 − 𝛽 − − − (4)
𝑑𝑡 2 ⏟ 𝑑𝑡
𝐹𝑑
where β is a positive damping constant.
Consider an external force 𝑓(𝑡) acting on a vibrating mass on a
spring. For example, 𝑓(𝑡) could represent a driving force causing
an oscillatory vertical motion of the support of the spring. The
inclusion of 𝑓(𝑡) results to
𝑑2 𝑥 𝑑𝑥
𝑚 2 = −𝑘𝑥 − 𝛽 + 𝑓(𝑡) − − − (5)
𝑑𝑡 𝑑𝑡
In solving Eqs. (4) and (5), the solution of the motion can either
be one of these possibilities depending on the roots of the
characteristic equation, ie
(i) overdamped motion  real and distinct roots
(ii) critically damped motion  real and repeated roots
(iii) underdamped motion  conjugate roots
1
Useful conversion: Let:
1. 1 ft = 12 inches downward movement  +ve sign
lb s 2 upward movement  -ve sign
2. 1 slug ( ) = 14.5939 kg
ft
3. 𝑔 = 9.8 m/s2 = 32 ft/s 2

Eg 1: A mass weighing 2 lb stretches a spring by 6 inches. At t = 0, the mass is released from a point 8 inches
4
below the equilibrium position with an upward velocity of ft/s. Determine the equation of motion.
3

2 1
𝐴𝑛𝑠: 𝑥(𝑡) = cos 8𝑡 − sin 8𝑡
3 6
Eg 2: A force of 500 N stretches a spring by 2 m. Then, a mass of 50 kg is attached to the end of the spring and
released from an equilibrium position with an upward velocity of 10 m/s. Determine the equation of motion.

10
𝐴𝑛𝑠: 𝑥(𝑡) = − 𝑠𝑖𝑛√5 𝑡
√5

2
Eg 3: A mass weighing 8 lb stretches a spring 2 feet. Assuming that a damping force numerically equal to 2 times
the instantaneous velocity acts on the system, determine the equation of motion if the mass is initially released
from the equilibrium position with an upward velocity of 3 ft/s.

𝐴𝑛𝑠: 𝑥(𝑡) = −3𝑡𝑒 −4𝑡

Eg 4: A mass weighing 16 lb is attached to a 5-foot-long spring. At equilibrium the spring measures 8.2 feet. If
the mass is initially released from rest at a point 2 feet above the equilibrium position, find the displacements x(t)
if it is further known that the surrounding medium offers a resistance numerically equal to the instantaneous
velocity.

2
𝐴𝑛𝑠: 𝑥(𝑡) = 𝑒 −𝑡 (−2𝑐𝑜𝑠3𝑡 − 𝑠𝑖𝑛3𝑡)
3
3
Eg 5: A mass of 1 slug when attached to a spring, stretches 2 ft and then, comes to rest in equilibrium position at
t = 0 with an external forces equal to 𝑓(𝑡) = 8 𝑠𝑖𝑛4𝑡 is applied to the system. Find the equation of motion if the
surrounding medium offers a damping force numerically equal to 8 times of instantaneous velocity.

1
𝐴𝑛𝑠: 𝑥(𝑡) = 𝑐1 𝑒 −4𝑡 + 𝑐2 𝑡𝑒 −4𝑡 − 𝑐𝑜𝑠4𝑡
4
4
Eg 6: A mass of 1 slug is attached to a spring whose constant is 5 lb/ft. Initially, the mass is released 1 foot below
the equilibrium position with a downward velocity of 5 ft/s, and the subsequent motion takes place in a medium
that offers a damping force that is numerically equal to 2 times the instantaneous velocity. Find the equation of
motion if the mass is driven by an external force equal to 𝑓(𝑡) = 12𝑐𝑜𝑠2𝑡 + 3𝑠𝑖𝑛2𝑡.

𝐴𝑛𝑠: 𝑥(𝑡) = 𝑒 −𝑡 𝑐𝑜𝑠2𝑡 + 3 sin 2𝑡

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② Deflection of a beam

A beam is a structural element that is capable of withstanding load primarily by resisting the lateral loads applied
to the beams axis. It is commonly found in civil engineering structural elements, automotive automobile frames,
aircraft components, machine frames, and other mechanical or structural systems.

Deflection, in structural engineering terms, refers to the movement of a beam or node from its original position due
to the forces and loads being applied to the member. It is also known as displacement and can occur from externally
applied loads or from the weight of the structure itself, and the force of gravity in which this applies.

Figure 4: Deflection of a homogeneous beam.

Let us assume that a beam of length L is
homogeneous and has uniform cross sections
along its length. In the absence of any load on the
beam (including its weight), a curve joining the
centroids of all its cross sections is a straight line
called the axis of symmetry. See Figure 1a.
If a load is applied to the beam in a vertical plane
containing the axis of symmetry, the beam, as shown
in Figure 1b, undergoes a distortion, and the curve
connecting the centroids of all cross sections is
called the deflection curve or elastic curve. The
deflection curve approximates the shape of the beam.

The deflection of a beam is given by

𝑑4 𝑦
𝐸𝐼 4 = 𝑤(𝑥) − − − (6)
𝑑𝑥

where E and I are constants, ie E is the elasticity of the material and I is the moment of inertia of a cross
section of the beam, and w(x) is the load per unit length.
The boundary conditions associate to (6) depend on how the ends of the beam are supported. If one of the end

(i) is embedded (ii) is free (iii) is simply supported or hinged

bc: 𝑦 = 0, 𝑦′ = 0 bc: 𝑦′′ = 0, 𝑦 ′′′ = 0 bc: 𝑦 = 0, 𝑦 ′′ = 0

6
Eg 7: Set up the boundary conditions for the problems below:

(a) The beam is embedded at both ends.

(b) The beam is simply supported at both ends.
(c) The beam is embedded at its left end and simply supported at its right end.
(d) The beam is supported at left end and free at the right end.

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Eg 8: A beam of length L is embedded at both ends. Find the deflection of the beam if a constant load w0 is
uniformly distributed along its length- that is, w(x) = w0, 0 < x < L.

𝑤0
𝐴𝑛𝑠: 𝑦 = ( ) 𝑥 2 (𝐿2 + 2𝐿𝑥 + 𝑥 2 )
24𝐸𝐼

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③ RLC series circuit
Let 𝑖(𝑡) denotes the current at time t in the RLC circuit. By using Kirchoff’s second
law, the sum of the voltage drops across the inductor (L), resistor (R) and capacitor
(C ) is given by

Figure 5: RLC series circuit 𝑑𝑖 1

𝐿 + 𝑅𝑖 + 𝑞 = 𝐸(𝑡) − − − (7)
𝑑𝑡 𝐶

where 𝑞(𝑡) is the charge on the capacitor related to the current

𝑑𝑞
𝑖(𝑡)by 𝑖 = . Hence, Eq. (7) becomes
𝑑𝑡

𝑑2 𝑞 𝑑𝑞 1
𝐿 2
+𝑅 + 𝑞 = 𝐸(𝑡) − − − (8)
𝑑𝑡 𝑑𝑡 𝐶

Eg 9: Find the charge 𝑞(𝑡) on the capacitor in an RLC series circuit when L = 0.25 henry, R = 10 ohms, C = 0.001
farad, 𝐸(𝑡) = 0, 𝑞(0) = 𝑞0 coulombs and 𝑖(0) = 0.

1
𝐴𝑛𝑠: 𝑞(𝑡) = 𝑒 −20𝑡 𝑞0 (𝑐𝑜𝑠60𝑡 + sin 60𝑡)
3

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Exercises

1. A mass weighing 8 pounds is attached to a spring. When set in motion, the spring/mass system exhibits simple
harmonic motion. Determine the equation of motion if the spring constant is 1 lb/ft and the mass is initially
3
released from a point 6 inches below the equilibrium position with a downward velocity of 2
ft/s.

1 3
𝐀𝐧𝐬: 𝑥 = 𝑐𝑜𝑠2𝑡 + 𝑠𝑖𝑛2𝑡
2 4

2. A 1 kg mass is attached to a spring whose constant is 16 N/m, and the entire system is submerged in a liquid
that imparts a damping force numerically equal to 10 times the instantaneous velocity. Determine the equation
of motion if
(a) the mass is initially released from rest from a point 1 meter below the equilibrium position, and then
(b) the mass is initially released from a point 1 meter below the equilibrium position with an upward velocity
of 12 m/s.

4 −2𝑡 1 −8𝑡 2 −2𝑡 5 −8𝑡

𝐀𝐧𝐬: (a) 𝑥 = 𝑒 − 𝑒 , (b) 𝑥=− 𝑒 + 𝑒
3 3 3 3

3. A mass weighing 16 pounds stretches a spring 83 feet. The mass is initially released from rest from a point 2
feet below the equilibrium position, and the subsequent motion takes place in a medium that offers a damping
force that is numerically equal to 12 the instantaneous velocity. Find the equation of motion if the mass is driven
by an external force equal to 𝑓(𝑡) = 10 cos 3𝑡.

√47 2 √47 10
𝐀𝐧𝐬: 𝑥 = 𝑒 −𝑡/2 (2 cos 𝑡+ sin 𝑡) + (𝑐𝑜𝑠3𝑡 + 𝑠𝑖𝑛3𝑡)
2 √47 2 3

4. Solve Eq. (6) subject to the appropriate boundary conditions. The beam is of length L, and wo is a constant.
a. The beam is embedded at its left end and free at its right end, and w(x) = wo, 0 < x < L.
Ans:

b. The beam is embedded at its left end and simply supported at its right end, and w(x) = wo, 0 < x < L.
Hint: The initial condition is y(0)=0, y'(0) = 0, y(L)=0, y"(L)=0
Ans:

c. The beam is simply supported at both ends, and w(x) = wo x, 0 < x < L.
Ans:

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 5. A cantilever beam of length L is embedded at its right end, and a horizontal tensile force of P pounds is applied
to its free left end. When the origin is taken at its free end, as shown in the figure below,

the deflection y(x) of the beam can be shown to satisfy the differential equation

Find the deflection of the cantilever beam if w(x) = wo x, 0 < x < L, and y(0) = 0, y’(L) = 0.

√𝑃 𝑥
𝑃 𝑤𝑜 2 𝑤𝑜 𝐸𝐼
−√ 𝑥
𝐀𝐧𝐬: 𝑦(𝑥) = 𝑐1 𝑒 𝐸𝐼 + 𝑐2 𝑒 𝐸𝐼 + 𝑥 + 2
2𝑃 𝑃

6. Find the charge on the capacitor in an RLC series circuit at t = 0.01s when L= 0.05 henry, R = 2 ohm, C =
0.01 farad, E(t) = 0 volt, q(0) = 5 coulombs, and i(0) = 0 ampere.

5
𝐀𝐧𝐬: 𝑞(𝑡) = 𝑒 −20𝑡 (5 cos 40𝑡 + 𝑠𝑖𝑛 40𝑡)
2

7. Find the charge on the capacitor and the current in the given RLC circuit:
5 1
𝐿= h, 𝑅 = 10 ohms, 𝐶= f, 𝐸(𝑡) = 300 V, 𝑞(0) = 0 C, 𝑖(0) = 0 A.
3 30

𝐀𝐧𝐬: 𝑞(𝑡) = 10 − 10𝑒 −3𝑡 (cos 3𝑡 + 𝑠𝑖𝑛 3𝑡) and 𝑖(𝑡) = 2𝑒 −50𝑡 − 70𝑡𝑒 −50𝑡

8. Find the steady state charge and steady state current in an RLC circuit when
𝐿 = 1 h, 𝑅 = 2 ohms, 𝐶 = 0.25 f, 𝐸(𝑡) = 50 𝑐𝑜𝑠𝑡 V

150 100 150 100

𝐀𝐧𝐬: 𝑞(𝑡) = 𝑐𝑜𝑠𝑡 + 𝑠𝑖𝑛𝑡 and 𝑖(𝑡) = − 𝑠𝑖𝑛𝑡 + 𝑐𝑜𝑠 𝑡
13 13 13 13

Please check the ans for q7 and no ic given for quest 8

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