Equivalent Stiffness

Equivalent method works for 1 DOF only. There are two techniques that can be used to calculate
equivalent (combined) stiffness of the spring elements appearing in the system:
(1) Series/Parallel formulas and (2) potential energy method
Parallel Springs
The load will be distributed between the springs however in order to maintain the symmetry
the deflection remain the same for all the springs in parallel
Potential Energy Method
Spring elements can store potential
energy by virtue of their deflection
Overall stiffness when loaded. The sum of potential
of the system energy of all springs must be equal to
increases !
the potential energy of the equivalent
Series Springs spring at the desired location.
The load remains the
same in each spring (linear) & U = ½ kθ2 (angular)
however the deflection
is different. The total 1/2 keqx2 = ∑Ni=1 (1/2 kix2i + 1/2kiθ2i )
deflection is sum of all
deflections though. xi = f(x)
where
Overall θi = f(x)
stiffness Must be done by considering the
decreases geometry or equilibrium equations.
 Equivalent Mass (Inertia)
Like the stiffness elements the mass or inertia elements can also be combined. However in this
case the sum of kinetic energy of all inertia elements in the system must be equal to the kinetic
energy of the equivalent mass of the system.

In general: K.E = Rolling motion

xi = f(x) & θi = f(x)

Examples

Rotation coupled with translation

Translations motion only motion

Rolling motion
 Equivalent Damping
In order to estimate the equivalent damping of the system, same rules are applied as for
equivalent springs.

NOTE:
Damping force Fd = -c ẋ= - cv This force is opposite (-ve) to the motion of the body
& will only exist if there is some relative velocity between the two ends of a damper.
Viscous Damping:
The most commonly used damping method e.g. pneumatic and hydraulic piston cylinder dashpot.
The resistance is provided by the viscosity of a fluid (gas or oil). Damping force is not a constant.
Coulomb Damping:
This damping takes place when two solid materials rub against each other. The damping force
remains constant. It is due to dry friction.
Material Damping:
This damping takes place when atomic planes within the material slide/slip relative to each other
when the material is deformed. It is due to friction between the atomic planes. Rubber has high
material damping.
Dampers are energy dissipating elements therefore, in case when they are neither in
series nor in parallel we can calculate the equivalent damping constant by using the fact
that energy dissipated by all the dampers present in the system must be equal to the
energy dissipated by the equivalent damper.

W = - cẋ x = - Fd x
In general
ceq ẋ x = ∑Ni=1 (ci ẋi xi)+(ci θ̇i θi)
xi = ẋi f(x) & θi = θ̇ f(x)

Dampers that are not in series or parallel combinations can also be solved using
equations of equilibriums (i.e. summation of forces and moments)
 Determining the Material Damping
Determining the material damping constant could be vital in selecting a material as
vibration isolator. The material damping constant can be experimentally determined by
loading and unloading a test material under uniaxial tensile test up to say the yield
point of the material. If the graph exhibits a hysteresis loop than we can say the
material possess some intrinsic damping against vibrations. The area enclosed within
the hysteresis loop represents the material damping ability per unit volume.

Rubber

Metal matrix CNT

composite

We can say that rubber B has more material

damping than rubber A. However, rubber A is
behaving more like a spring than a damper Metallic foams
1.9 Rao 5th edi

Find the equivalent stiffness of the system in the direction of θ.

1.18 Rao 5th edi
1.49 Rao 5th edi
1.52 Rao 5th edi
Problem

Using x as the generalized coordinate find keq and meq

for the system shown. Assume the disk rolls without
slipping.

Done in class
1.73 Rao 5th edi