‫ﺑﺴﻢ اﷲ اﻟﺮﺣﻤﻦ اﻟﺮﺣﻴﻢ‬

King Abdulaziz University Mechanical Vibrations

Engineering College MENG 470
Department of MENG Spring 1425 H
3rd Homework Assignment Due Wed.: 19/1/1425 H

1) Give the amplitude, frequency, and period of oscillation for the signal illustrated
in Figure P1.1.

1
y[cm]

-1

-2

-3

-4
0 1 2 3 4 5 6 7 8 9 10
t

Figure 1

Sol.:

Amplitude = 4
1
Period = τ n = = 4 sec
fn
1
Frequency = f n = = 0.25 Hz
τn
2) What is the natural frequency for the system illustrated in Figure 2 in terms of m,
k1, k2, k3 and k4?

k1 k2
k4

k3

Figure 2

Sol.:

1 1 1
= +
k12 k1 k1
k1k2
∴ k12 =
k1 + k2
k1k2 k k +k k +k k
k123 = k12 + k3 = + k3 = 1 2 1 3 2 3
k1 + k2 k1 + k2
k1k2 + k1k3 + k2 k3 k k +k k +k k +k k +k k
keq = k123 + k4 = + k4 = 1 2 1 3 2 3 1 4 2 4
k1 + k2 k1 + k2
keq
∵ ωn =
m
k1k2 + k1k3 + k2 k3 + k1k4 + k2 k4
∴ ωn =
m ( k1 + k2 )
3) Derive the equation of motion of the system shown in Figure 3, using the
following methods: (a) Newton's second law of motion, (b) D'Alembert's principle, (c)
principle of virtual work, and (d) principle of conservation of energy.

Figure 3

Sol.:

a) Newton’s Second Law of motion:

F (t ) = − k1 x − k2 x = mx
mx + (k1 + k2 ) x = 0
k1 x m k2 x = mx

b) D’Alembert Principle:

F (t ) − mx = 0 k2 x
(k1 + k2 ) x − (−mx) = 0
k1 x m
mx
mx + (k1 + k2 ) x = 0

c) Principle of Virtual Work:

When mass m is given a virtual displacement δ x

Virtual work done by the spring force = - (k1 + k2 ) xδ x
Virtual work done by the inertia force = - (mx)δ x
The total virtual work done by all forces = 0
-mxδ x - (k1 + k2 ) xδ = 0
mx + (k1 + k2 ) x = 0
 d)

1 2
T= mx
2
1
U = (k1 + k2 ) x 2
2
T + U = Const.
d
(T + U ) = 0
dt
mx + (k1 + k2 ) x = 0

4) Draw the free-body diagram and derive the equation of motion using Newton's
second law of motion for the system shown in Figure 4.

Figure 4
Sol.:

Consider the springs connected to the pulleys (by rope) to be in series. Then:
1 1 1
= +
keq k 5k
5
∴ keq = k
6
Let the displacement of mass m be x.
Then the extension of the rope (Spring Connected to the pulleys) = 2x.
From the free body diagram , the equation of motion m becomes:
mx + 2kx + keq = 0
11
∴ mx + kx = 0
3
 4) Draw the free-body diagram and derive the equation of motion using Newton's
second law of motion for the system shown in Figure 5.

Figure 5
Sol.:

Equation of Motions:
Mass m : mg − T = mx (1)
Pulley J 0 : J 0θ = Tr − k 4r (θ − θ 0 )4r (2)
Where θ0 is the angular deflection of the pulley under the weight, mg, given by:
mg
mgr = k (4rθ 0 )4r or θ0 = (3)
16rk

Subs. Eqs. (1) and (3) into (2):

•• •• mg
J 0 θ = (mg − m x )r − k16r 2 (θ + ) (4)
16rk
•• ••
Using x = rθ and x = r θ , Eq. (4) becomes:
••
J 0 + mr 2 ) θ + (16r 2 k )θ = 0
Alternative Method (Conservation of Energies):

Kinetic Energy = T = Tmass + Tpulley

1 2 1 1
= mx + J 0θ 2 = (mr 2 + J 0 ) θ 2
2 2 2
1 2
Potential Energy = U = kxs
2
1
= k (4rθ ) 2
2
1
= k (16r 2 )θ 2
2
d
Using (T + U ) = 0, gives:
dt
(mr + J 0 )θ + (16r 2 k )θ = 0
2
6) Derive the equation of motion of the system shown in Figure 6, using the
following methods:
(a) Newton's second law of motion,
(b) D' Alembert's principle.
(c) Principle of virtual work.

Figure 6
Sol.:

let θ be measured from static equilibrium position so that the force of gravity need not be considered.
a) Newton ′s second law of motion
⎛ l⎞l ⎛ 3l ⎞ ⎛ 3l ⎞
J 0θ = −3k ⎜ θ ⎟ − k ⎜ θ ⎟ ⎜ ⎟
⎝ 4⎠4 ⎝ 4 ⎠⎝ 4 ⎠
3
J 0θ + kl 2θ = 0
4
b) D′Alembert′s Principle
M(t) − J 0θ = 0
⎛ l⎞l ⎛ 3l ⎞ ⎛ 3l ⎞
−3k ⎜ θ ⎟ − k ⎜ θ ⎟ ⎜ ⎟ − J 0θ = 0
⎝ 4⎠4 ⎝ 4 ⎠⎝ 4 ⎠
3
J 0θ + kl 2θ = 0
4
c) Principle of Virtual Work
virtual work done by the spring force :
⎛ l ⎞⎛ l ⎞ ⎛ 3l ⎞⎛ 3l ⎞
δ Ws = −3k ⎜ θ ⎟ ⎜ δθ ⎟ − k ⎜ θ ⎟⎜ δθ ⎟
⎝ 4 ⎠⎝ 4 ⎠ ⎝ 4 ⎠⎝ 4 ⎠
the virtual work done by the moment of inertia :
δ Wm == − ( J 0θ ) δθ
Setting the total of virtual work done by all forces and moments equal to zero,we obtain:
3
J 0θ + kl 2θ = 0
4