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m m
..
k k(x+ mx
m m
mg mg
Free Body diagrams
d d 1 2 1 2
KE PE 0 mx kx
dt dt 2 2
k
kxx 0 or mx
i.e. mxx + kx = 0 or x + x = 0,
m
Comparing with the equation of SHM x n x 0,
2
k 1 k
ωn = rad/sec & f n = cps or Hz
m 2π m
(iii) Rayleigh Method:
Rayleigh's Principle assumes that the max strain energy at the extreme
position is equal to the maximum kinetic energy at the mean position.
For a simple harmonic motion, let displacement of the mass from mean
position at any time ' t' be x A sin nt xmax A
Differentiating w.r.t time, Velocity x n A cos nt xmax n A
1 1
Maximum KE of the mass = mx max = mωn2 A2
2
2 2
1 2 1
Equating the energies, kA mωn2 A2
2 2
k 1 k
k mωn ωn =
2
rad/sec & f n = cps or Hz
m 2π m
Solution of governing differential equation of motion
T=2n
slope = v0
A
A x0
n
v0 3
i.e. the equation of motion is x 2.0045sin(22.36t 86.160 )
Numerical Problem 3
v0 125
Time required to reach the first peak
n
(90 ) (90 63.43)
180 180 0.0185sec
n 25
T=2n
slope = v0
A
A x0
n
Numerical Problem 4
dy
l
k
m
x
1 1
m K .E of the spring = m ' lx 2 m s x 2
x 6 6
Spring with self weight
(where ms m ' l Mass of spring)
K.E of the system = K.E of spring + K.E of mass
1 1
K.E of the system m s x2 mx 2
6 2
1 2
Also, potential energy of spring = kx
2
1 1 1 2
Total energy = K.E + P.E = m s x mx kx
2 2
6 2 2
Effect of inertia of spring
d
For a conservative system, total energy =constant Total energy 0
dt
d 1 1 1 1
mx 2 kx 2 0 ms xx mxx kxx 0
i.e. ms x
2
dt 6 2 2 3
ms k
m x kx 0. Rearranging the terms, x
0
3 ms
m
3
k 1 k
ωn = & hence f n =
ms 2 ms
m+ m+
3 3
The above equation shows that the mass of spring is equivalent to
one - third of its value if atached at its free end.
Equivalent stiffness of spring combinations
k1
k1 k2
k2
m
m Springs in parallel
Springs in series
k1
Numerical Problem 6
For the spring mass system shown in fig,
determine; (i) Equivalent stiffness (ii) Natural
frequency of vibration.
k1 k2
10N/mm 10N/mm
5 N/mm
W=109 N
Solution :
Equivalent stiffness for springs k1 & k 2 connected in
parallel is equal to ( k1 k2 ) (10 10) 20 N / mm
Then the third spring 5 N/mm is in series with the above
1 1 1 20 5
Hence keq 4 N / mm 4000 N / m
keq 20 5 (20 5)
1 keq g1 4000 9.81
fn 3.02 Hz
2 W 2 109
Numerical Problem 7
Determine the equivalent spring stiffness & the
natural frequency of the vibrating system when a
mass of 10 kg is ;
(i) Fixed in between two springs of stiffness 5
N/mm & 8 N/mm.
(ii) Fixed between two halves of the spring of
stiffness 5 N/mm.
Solution :
k1
(i) When a mass is placed in between two springs,
it is equivalent to parallel connection.Hence keq k1 k2
m keq 5 8 13 N / mm 13000N / m
1 keq 1 13000
k2 fn 5.74 Hz
2 m 2 10
(ii) Stiffness is inversely proportional to the number of turns
of a spring. When a spring is cut into two halves, the number
of turns is halved & hence the stiffness of each half is double
2k1 that of the original.
Also when the mass is placed between two halves, it amounts
m to springs in parallel.
2k1 keq 2k1 2k1 4k1 4 5 20 N / mm 20000 N / m
1 keq 1 20000
fn 7.12 Hz
2 m 2 10
Numerical Problem 8
Determine the natural frequency of the spring
mass system shown in fig.
k 2= 4N/mm
a=0.4 m
k 1 = 6N/mm
b=0.6 m
m
k 2= 4N/mm 2
k= k 2(a/b)
a=0.4 m b=0.6 m
k 1 = 6N/mm k 1 = 6N/mm
b=0.6 m
m m
a=0.4 m b=0.6 m
k 1 = 6N/mm k 1 = 6N/mm
b=0.6 m
m m
m
D
1 k 1 g mgl 3
i.e. f n , where; for cantilever with end load
2 m 2 3EI
mgl 3
& for simply supported beam with central load
48 EI
Numerical Problem 1
1 g 1 9.81
fn 3.26 Hz
2 2 23.36 10 3
Numerical Problem 2
48 2 1011 I
d4
But moment of inertia of circular section I
64
d4
3.695 × 10
-9
Dia of shaft d = 0.0166 m = 16.6 mm
64
Natural frequency of torsional vibrations
In case of torsional vibrations, the twisting & untwisting of the
elastic shaft occurs about the axis of the shaft.
l/2
I O mg (l sin ) mr g l sin 0
2
m
Here, I o m r l 2 , sin for small oscillations
l 3
l
mr g mr 2 mr
The equilibrium equation is m l m gl 0.
m 3 2
h
mg mr mr
m g m + g
2 2
i.e. 0ω =
n
& hence
mr l mr l
m m +
3 3
mr
m +
1 2
g
fn =
2π mr l
m +
3
(ii) Considering mass of rod
(ii) Energy method :
1 m 2 2
O
K .E of mass+K .E of rod m r l
2 3
l
l/2 P.E of mass + P.E of rod mgl (1- cos ) mr g (1- cos )
2
m
l i.e.P.E of mass + P.E of rod gl m r (1- cos )
l 2
mr g
d 1 mr 2 2 mr
For a conservative system, m l gl m (1- cos ) 0
m dt 2 3 2
h
m mr mr
mg l g 0 ( sin ) 0. As sin ,
m
3 2
mr
m
mr g mr 2 g
i.e. m m 0 i.e. 0
3 l 2 m l
m
r
3
mr m
m+ g m+ r g
ωn =
2 & hence f = 1 2
n
mr l 2π mr l
m + m +
3 3
Numerical Problem 4
m r k
o
m
K
x
r
2 2
3 2 2 2k
mr kr 0 0
2 3m
2k 1 2k
Comparing with equation of SHM, ωn = & fn =
3m 2π 3m
m
K
x
r
d
(ii) Energy method : K .E P.E 0
dt
K.E of cylinder =Rotational kinetic energy about point A
1 2 1 3 2 2 3
K.E of cylinder I A mr mr 2 θ 2
2 22 4
1 1
P.E of spring kx 2 kr 2 θ 2
2 2
d 3 2 2 1 2 2 3 2 1 2
mr θ kr θ 0 mr 2 kr 2 0
dt 4 2 4 2
2k 2k 1 2k
i.e. 0. ωn = & fn =
3m 3m 2π 3m
Numerical Problem 6
m a
Note:
• The solution is similar to previous one except that there are two springs
in parallel & hence an equivalent stiffness is 2k.
• Also the distance of the spring force from the point of contact A is (r+a)
K x K
m a
r
A
(i) Newton's method : Taking moments about 'A'
Inertia torque + Restoring Torque =0 I A (2kx)(r a ) 0, where;
2k=combined stiffness of the springs in parallel
is the angular displacement & x deformation of spring (r a )
1 2 3
By parallel axis theorem,I A I O mr mr mr mr 2
2 2
2 2
3 2 4 k ( r a ) 2
mr 2k (r a) 2 0 2 0
2 3mr
4k(r + a)2 1 4k(r + a)2
Comparing with equation of SHM, ωn = & f n =
3mr 2 2π 3mr 2
K x K
m a
r
A
d
(ii) Energy method : K .E P.E 0
dt
K.E of cylinder =Rotational kinetic energy about point A
1 2 1 3 2 2 3
K.E of cylinder I A mr mr 2 θ 2
2 22 4
1
P.E of spring (2k ) x 2 k(r + a)2 θ 2
2
d 3 2 2 2 2 3 2
mr θ k(r + a) θ 0 mr 2 k ( r a ) 2
2 0
dt 4 4
4 k ( r a ) 2
4k(r + a)2 1 4k(r + a)2
i.e. 2 0. ωn = & f n =
3mr 3mr 2 2π 3mr 2
Numerical Problem 7
k a
m
(i) Newton's method : Taking moments about 'O'
O
Inertia torque + Restoring Torque =0
k a I mg (l ) (ka )a 0,
o
mgl ka 2
Or 2 0
ml
mgl + ka 2
ωn = 2 &
ml
1 mgl + ka 2
fn = 2
2π ml
d
O
(ii) Energy method : K .E P.E 0
dt
1 1
k a K.E of mass = I o2 ml 2 2
2 2
L P.E P.E of mass P.E of spring
1
P.E mgl (1 cos ) k (a ) 2
2
m
d 1 1 2
mg
dt 2
ml
2 2
mgl (1 cos )
2
k ( a )
0
mgl ka 2
Or 2 0
ml
mgl + ka 2
ωn = 2 &
ml
1 mgl + ka 2
fn =
2π ml 2
Numerical Problem 8
k L
Note:
• The solution is similar to previous one except that the moment due to ‘mg’ is negative
as it tends to move the body away from equilibrium.
(i) Newton's method :
Taking moments about 'O'
Inertia torque + Restoring Torque =0
mg
I mg (l ) (ka )a 0,
o
k L where a deformation of spring &
a I O Mass moment of inertia about 'o'=ml 2
ml 2 (ka 2 mgl ) 0
O
ka 2
mgl
Or 2 0
ml
ka 2 mgl
ωn = 2 &
ml
1 ka 2 mgl
fn = 2
2π ml
d
(ii) Energy method : K .E P.E 0
dt
1 1
K.E of mass = I o2 ml 2 2
mg 2 2
P.E P.E of mass P.E of spring
k L 1
P.E mg (l cos ) k (a ) 2
2
a
d 1 1 2
dt 2
ml
2 2
mg (l cos )
2
k ( a )
0
O
ml 2 mgl ka 2 0
ka 2
mgl
Or 2 0
ml
ka 2 mgl
ωn = 2 &
ml
1 ka 2 mgl
fn =
2π ml 2
Numerical Problem 9
k
a
m
L
Note:
The solution is similar to previous one except that the moment due to ‘mg’ is cancelled by
the moment due to spring force due to its static elongation.
(i) Newton's method :
k Taking moments about 'O'
a Inertia torque + Restoring Torque =0
L
m
I (ka )a 0,
o
ka 2
Or 2 0
ml
a k 1 a k
ωn = & fn =
l m 2π l m
d
(ii) Energy method : K .E P.E 0
dt
k 1 2 1
a K.E of mass = I o ml 2 2
2 2
m 1
L
P.E of spring k (a ) 2
2
d 1 1 2
dt 2
ml
2 2
2
k ( a )
0
ka 2
Or 2 0
ml
a k 1 a k
ωn = & fn =
l m 2π l m
Numerical Problem 10
k2
k1
m
From the geometry of the given system, it is evident that if the
elongation of spring 1 is x, the deformation of spring 2 must be 2x.
As there are two springs, it is necessary to find the combined stiffness.
Let k be the equivalent of spring 2 at the center of the pulley.
Taking moments about 'A' (kx)r k 2 (2 x)2r k 4k 2
k2 k=4k2
k1 k1
m m
k=4 k2
k1
M r
m
(i) Newton's method :
k Taking moments about 'A'
M Inertia torque + Restoring Torque =0
r x=2r
(mx)2r I (kr )r 0,
A
where x 2r displacement of mass ' m '
I A Mass moment of inertia about 'A'
m
1 3
I A ( I o Mr )= Mr Mr Mr 2
2 2 2
2 2
3
4mr 2 Mr 2 kr 2 0
2
3
Or 4m M k 0
2
k 1 k
ωn = & fn =
3 2π 3
4m + M 4m + M
2 2
d
k (ii) Energy method : K .E P.E 0
dt
M K.E=(Translational K.E of mass)+(Rotational K.E of pulley about 'A')
r x=2r
1 1 3
K.E= mx2 I A2 , But x 2r , I A Mr 2
2 2 2
1 3 3
m K.E == m4r 22 Mr 2 2 2m + M r 2 θ 2
2 4 4
1 1
P.E of spring k (r ) 2 kr 2 2
2 2
d 3 2 2 1 2 2
2 m M r kr 0
dt 4 2
3 1
2m M 2 k (2 ) 0
4 2
3
Or 4m M k 0
2
k 1 k
ωn = & fn =
3 2π 3
4m + M 4m + M
2 2
Numerical Problem 12
M r
m k
(i) Newton's m ethod :
M r Taking moments about fulcrum 'O'
x
Inertia torque + Restoring Torque =0
(mx)r I (kr )r 0,
O
m k where x r displacement of mass ' m '
x
1
I O Mass moment of inertia about 'O' = Mr 2
2
2 1
mr Mr 2 kr 2 0
2
M
Or m k 0
2
k 1 k
ωn = & fn =
M 2π M
m + m +
2 2
d
M r
(ii) Energy m ethod : K .E P.E 0
dt
x K.E=(Translational K.E of mass)+(Rotational K.E of pulley about 'O')
1 1 1
K.E= mx2 I O2 , But x r , IO Mr 2
2 2 2
m k 1 1 m M 2 2
x K.E == mr 22 Mr 2 2 + r θ
2 4 2 4
1 1
P.E of spring k (r ) 2 kr 2 2
2 2
d m M 2 2 1 2 2
r kr 0
dt 2 4 2
m M 1
2 k (2 ) 0
2 4 2
M
Or m k 0
2
k 1 k
ωn = & fn =
M 2π M
m + m +
2 2
Numerical Problem 13
R
A'
r
D
B C r
mg A
O
R
A'
r
D
B C r
mg A
Solution : When the cylinder is in the lowest position, the point of contact is A
and it occupies the position A' when the point of contact changes to B such that;
R
Arc AB Arc A ' B R r =
r
R
Net rotation of the cylinder = 1
r
O
3 2
But I B Mass moment of inertia about B = mr
2
Rr
( ) , & sin
r
3 2 R r 2g
mr mgr 0 Or 0
2 r 3( R r )
2g 1 2g
ωn = & fn =
3(R - r) 2π 3(R - r)
d
K .E P.E 0
O
(ii) Energy method :
dt
1
R Rotational K.E of pulley about 'B'= I B ( ) 2
A' 2
r
Rr 3
B
C r
D
But ( )
r
, I B
2
mr 2
3 2 ( R - r ) 2 2 3
mg A K.E = mr 2
m(R - r)2 2
θ
4 r 4
M shown in fig.
R
M
O
r Note : The distance of the cg of a semicircular disk
CG
4R
of radius 'R' about its cenetr 'O' is
3
Mg
r =(4R/3
Hence
1 Mg 4 R (sin ) 0. For small oscillations, sin
MR 2 2
4 3
8g 8g 1 8g
Hence 0 ωn = & fn =
3 R 3 R 2π 3 R
Numerical Problem 15
r m
(i) Newton's method :
k Taking moments about 'A'
r m Inertia torque +Restoring Torque =0
i.e. I kx(2r ) 0
x =2r
A
3 2
But I A Mass moment of inertia about A = mr
2
From the geometry of the arrangement , x 2r
3 2 8k
mr 4kr 0 Or 0
2
2 3m
8k 1 8k
ωn = & fn =
3m 2π 3m
d
(ii) Energy method : K .E P.E 0
dt
k
1 2
K.E=Rotational K.E of pulley about 'A' = I A
r m 2
3 3
But I A Mr K.E = Mr 2 θ 2
x =2r
2
2 4
1 2 1
P.E of spring kx k (2r ) 2 2kr 2 θ 2
2 2
d 3 2 2
dt 4
Mr 2kr 0
2 2
3 8k
M 2 2k (2 ) 0 Or 0
4 3M
8k 1 8k
ωn = & fn =
3m 2π 3m
Assignment: Determine the natural frequency of the
following systems shown in figs (a) & (b) below.
3 kg
O
0.4 m
b k
K=1kN/m a
0.2 m
l
k
K=1kN/m
m