4600:431/531 Fundamentals of Mechanical Vibrations

HW Set 3

Due February 12, 2018

Short answer problems from text

2.38 Calculate the static deflection of a linear spring of stiffness 4000 N/m when it has a mass of 20 kg
hanging from it.
𝑚𝑔
Given: k = 4000 N/m, m=20 kg. The static deflection of the spring is ∆𝑠 = =
𝑘
(20 kg)(9.81 m/s2 )
= 4.91 cm
4000 N/m

2.40 What is the kinetic energy of the system of Figure SP2.40 at an arbitrary instant in terms of x, which
is the downward displacement of the block of mass m? Include an approximation of the inertia effects of
the springs. The mass of each spring is ms .

Given: System of Figure SP2.40. The inertia effects of the springs are approximated by adding a
particle of mass 𝑚𝑠 /3 to the center of the disk and a particle of mass 𝑚𝑠 /3 to the suspended
block. The total kinetic energy of the system is 𝑇 = 𝑇𝑑𝑖𝑠𝑘 + 𝑇𝑝𝑢𝑙𝑙𝑒𝑦 + 𝑇𝑏𝑙𝑜𝑐𝑘 + 𝑇𝑠𝑝𝑟𝑖𝑛𝑔1 +
1
𝑇𝑠𝑝𝑟𝑖𝑛𝑔2. The kinetic energy of the block and the second spring is 𝑇𝑏𝑙𝑜𝑐𝑘 + 𝑇𝑠𝑝𝑟𝑖𝑛𝑔2 = 2 𝑚1 𝑥̇ 2 +
1 𝑚𝑠 𝑥
𝑥̇ 2 The angular displacement of the pulley is 𝜃 = 𝑟 and its kinetic energy is 𝑇𝑝𝑢𝑙𝑙𝑒𝑦 =
2 3 2
1 𝑥̇ 2 1 𝐼 𝑟
𝐼 (𝑟 ) = 2 𝑟 2 𝑥̇ 2 The displacement of the center of the disk is 𝑦 = 𝑟1 𝜃 = 𝑟1 𝑥 . The disk rolls
2 2 2 2
1 1 1 11 1 3 𝑟1 2
̅ = 𝑚2 𝑦̇ + 𝑚2 𝑦̇ = ( 𝑚2 ) ( 𝑥̇ ) . The kinetic
without slipping, 𝑇𝑑𝑖𝑠𝑘 = 2 𝑚𝑣̅ + 2 𝐼 𝜔 2 2 2 2
2 22 2 2 𝑟 2
1 𝑚𝑠 2 1 𝑚𝑠 𝑟1 2 2
energy of the first spring is 𝑇𝑠𝑝𝑟𝑖𝑛𝑔1 = 2 𝑦̇ = 2 [ 3 (𝑟 ) ] 𝑥̇ . The total kinetic energy of the
3 2
1 𝑚𝑠 𝐼 3 𝑟1 2 𝑚𝑠 𝑟1 2
system is 𝑇 = 2 [𝑚1 + + 𝑟 2 + 2 𝑚2 (𝑟 ) + (𝑟 ) ] 𝑥̇ 2 .
3 2 2 3 2

Chapter problems

2.42 Derive the differential equation governing the

motion of the one degree-of-freedom system by
applying the appropriate form(s) of Newton’s laws to
the appropriate free-body diagrams. Use the
generalized coordinates shown in Figure P2.42.
Linearize nonlinear differential equations by
assuming small displacements.
Given: x as generalized coordinate, m, k
Find: differential equation

Solution: Free-body diagrams of the system at an arbitrary time are shown below.
mg

:
2 Kx mx
Kx
=

EXTERNAL FORCES EFFECTIVE FORCES

Summing forces acting on the block

( F ) ext = ( F )eff

gives

− kx − 2 kx = mx
mx + 3kx = 0
3k
x + x =0
m

Problem 2.42 illustrates application of Newton’s law to derive the differential equation
governing free vibration of a one-degree-of-freedom system.

2.43 Derive the differential equation governing the

motion of the one degree-of-freedom system by
applying the appropriate form(s) of Newton’s laws to the
appropriate free-body diagrams. Use the generalized
coordinates shown in Figure P2.43. Linearize nonlinear
differential equations by assuming small displacements.
Given: x as generalized coordinate, k, m, I, r

Find: differential equation

Solution: Since x is measured from the system’s equilibrium position, gravity cancels with the
static spring forces in the governing differential equation. Thus, for purposes of deriving the
differential equation, both are ignored. It is assumed there is no slip between the cable and the
pulley. Thus the angular rotation of the pulley is kinematically related to the displacement of the
block by

x
=
2r
Free-body diagrams of the system are shown below at an arbitrary instant.

:
Ix
m pg 2r
Kx
2

=
R

:
mx

Summing moments about the center of the pulley

( M ) c ext = ( M c )eff

leads to

− kx (r ) = mx (2r ) + x

1 I
2 2r
 I  1
 2rm +  x + krx = 0
 2r  2
k
x + x=0
 I 
2 2m + 2 
 2r 

Problem 2.43 illustrates application of Newton’s law to derive the differential equation
governing free vibration of a one-degree-of- freedom system. This problem also illustrates the
benefits of using external and effective forces. Use of this method allows one free-body diagram
to be drawn showing all effective forces. If this method were not used, one free-body diagram for
the block and one free-body diagram of the pulley must be drawn. These free-body diagrams
expose the tension in the pulley cable. Application of Newton’s laws to the free-body diagrams
yield equations involving the unknown tension. The tension must be eliminated between the
equations in order to derive the differential equation.
Not from the book problems

1. What is the energy dissipated between t = 0 and t = 0.1 sec by a viscous damper of damping
coefficient 1000 N  s/m if the particle it is attached to has a displacement of x(t ) = 0.001e −3t
m?
The energy dissipated by the viscous damper is equal to the work done by the viscous damper
and is
0.1
W1→2 =  −cxdx =  −cx dt
2

where x = −0.003e−3t m/s . Hence for the values given

 0.1 0.1

 −1000 ( −0.003e ) e
−3t 2 −6 −6 t
W1→2 = dt = −9  10
0 0
0.1
 e −6t 
= −9  10−6   = 1.5  10 (1 − e ) = 6.77  10 J
−6 −0.6 −7

 − 6 0
2. Use 𝑥, the displacement of mass center of the disk as the chosen generalized coordinate.
(a) Use the free-body diagram method to derive the differential equation of the system shown.
(b) Use the equivalent systems method to derive the differential equation.
(a) Free-body diagram method: Free-body diagrams of the disk and the remainder of the
system are drawn at an arbitrary instant

Summing moments about the contact point for the disk leads to
 M C , ext =  M C ,eff
1 x
−2kx(r ) + T (r ) = mx(r ) + mr 2  
2 r
3
T = mx + 2kx
2
Summing moments about the pin support leads to
M O , ext =  M O ,eff
 3x  3r   3x  3r   3x  3r   x 
M (t ) − T (r ) − c    − k    = m    + I  
 2  2   2  2   2  2   r 
 15 I 9 17
 mr +  x + crx + krx = M (t )
4 r 4 4
(b) Equivalent systems method
Kinetic Energy
2 2 2
1 2 1 1 2  x  1  x  1  3x 
T= mx + mr   + I   + m  
2 22 r 2 r 2  2 
1  15 I 
=  m + 2  x2
2 4 r 
15 I
meq = m + 2
4 r
Potential energy
2
1 1  3x  1  17 
V = 2kx 2 + k   =  k  x 2
2 2  2  2 4 
17
keq = k
4
Work done by viscous damper
3  3  9
W1→2,d =  −c  x d  x  =  − cxdx
2  2  4
9
ceq = c
4
Work done by external moment
 x 1
W1→2,m =  M (t )d   =  M (t )dx
r r
1
Feq (t ) = M (t )
r
The governing equation is
meq x + ceq x + keq x = Feq (t )
  15 I  9 17 1
 m + 2  x + cx + kx = M (t )
 4 r  4 4 r

3. Consider the system shown below. Use 𝜃, the clockwise defined angular displacement of the
bar, as the chosen generalized coordinate. Assume small 𝜃.
(a) Use the free-body diagram method to derive the differential equation governing the motion
of the system.
(b) Use the equivalent systems method to derive the differential equation governing the motion
of the system.

(a) The FBDs at an arbitrary instant are shown below.

Summing moments about the point of support gives

M O ,ext =  M O ,eff
 L  L   L   2 L  2 L   4 L  4 L 
−5k    − F (t )   − c     − k    =
 5  5   5   5  5   5  5 
1  3L  3L  1  4 L  4 L 
m1 L2 + m1     + m2 r 2 + m2    
12  10  10  4  5  5 

Cleaning up the above expression leads to

 13L2 16 L2 r2  4cL2 21kL2 L

 m1 + m2 + m2  +  +  = − F (t )
 75 25 4  25 25 5

Substituting given parameters leads to

0.0788 + 2 + 42000 = −3sin 60t

(c) The kinetic energy of the system at an arbitrary instant is

 1 1 1 1
T= m1vb2 + I b2b2 + m2vd2 + I d2d2
2 2 2 2
2 2
1  3L  1  1  1  4L  1  1 
= m1    +  m1 L2   2 + m2    +  m2 r 2   2
2  10  2  12  2  5  24 
1  9 L2 L2 16 L2 r2 
=  m1 + m1 + m2 + m2   2
2  100 12 25 4 
1  13L2 16 L2 r2 
=  m1 + m2 + m2   2
2  75 25 4 
13L2 16 L2 r2
Thus I eq = m1 + m2 + m2
75 25 4
The potential energy at an arbitrary instant is
2 2
1  4L  1  L 
V = k    + 5k   
2  5  2 5 
1  21kL2  2
=  
2  25 
21kL2
Thus kt ,eq =
25
The work done by the viscous damper is
 2L   2L 
2
4L
W1→2 =  −c   d    =  −c  d
 5   5  25
4 L2
Thus ct ,eq = c
25
The work done by the externally applied force is
L  L
W1→2 =  − Fd    =  − Fd
5  5
L
Hence the equivalent moment is M eq = − F (t )
5
Thus the differential equation becomes
 13L2 16 L2 r2  4cL2 21kL2 L
 m1 + m2 + m2  +  +  = − F (t )
 75 25 4  25 25 5