1

2/28/2012
ENME 361
Vibrations, Control, and Optimization I
Spring 2013
Midterm 1 Review
Midterm 1 Review
ENME361: Midterm Review
We have covered the following sections in the textbook:
CH 1. Introduction: Preliminaries from Dynamics (1.2)
CH 2. Modeling of Vibratory Systems (2.2, 2.3.1, 2.3.2,
2.3.4, 2.4.1)
CH 3. Single Degree-of-Freedom Systems: Governing
Equations (3.2, 3.3, 3.5.1, 3.5.2, 3.6)
Available course materials:
1. Textbook
2. Homework and solutions
3. Quizzes
2
ENME 361: Midterm Exam Format
75 minute-long exam
4 Problems, not equally weighted
Formulae sheet will be provided
One question: Absolute velocity, absolute acceleration,
and kinetic energy
One to two questions: Equivalent stiffness, equivalent
inertia, and equivalent damping, natural frequency, and
damping factor
Two or more questions: Derivation of equations of motion
Preliminaries from dynamics
Chapter 1: I ntroduction
Kinematics of Particles and Rigid Bodies
How to obtain position vectors in an inertial reference frame and
any other reference frame?
How to calculate absolute velocities and accelerations for the
center of mass or any fixed point of a rigid body?
Generalized coordinates and degrees of freedom
Particle and Rigid-Body Dynamics
Principles of linear momentum and angular momentum
Work and energy: kinetic energy
3
Example 1: Double pendulum(planar motion)
( )
1 1
, x y
1
l
2
l
o
|
( )
2 2
, x y
1
2
Constraint 1:
Constraint 2:
l constant,
l constant.
=
=
4 2 2 N n m = = =
Chapter 1: I ntroduction
Chapter 1: I ntroduction
Kinetic Energy of a Systemof N Particles
( ) ( )
1 1 1
1 1 1
2 2 2
N N N
k k
k k k k k k k
k k k
d d
T m m m
dt dt
= = =
| |
= = =
|
\ .


r r
r r v v
Kinetic Energy for a Rigid Body Moving in the Plane:
( )
2
2
1
2
1
2
1
2
1
2
Rotati Translational
G G
G
on l
G
G G
a
T T
d d
m
d
T
J
J
t dt
m
u
u
= +
| |
= +
|
\ .
= +

r r
v v
4
Chapter 1: I ntroduction
Example 1: Determine i) the absolute velocity
of the pendulum and absolute acceleration
ii) the kinetic energy for the system.
Ch2 Modeling of Vibratory Systems
x
e
k
e
c
e
m
Inertia Element
Stiffness Element
Dissipation Element
Generalized Coordinate
5
Inertia Elements
Chapter 2: Modeling of Vibratory Systems
How to determine the rotary inertia?
How to determine the equivalent mass?
Inertia
Element
Kinetic
Energy

Inertia
Element

Force
and/or
moment
Acceleration
2
1
2
e
m T x =
Stiffness Elements
Chapter 2: Modeling of Vibratory Systems
How to determine the equivalent stiffness?
How to determine the potential energy?
Stiffness
Element
Potential
Energy

Stiffness
Element

Force
and/or
moment
Displacement
( )
F x x k =
2
1
2
e
V k x =
6
Dissipation Elements
Chapter 2: Modeling of Vibratory Systems
Only linear, viscous damping is required
How to determine the equivalent damping coefficient?
How to determine dissipation function?
Dissipation
Element
Energy
Loss

Dissipation
Element

Force
and/or
moment
Velocity
( )
F x x c =
2
1
2
e
c D x =
?
?
?
e
e
e
m
k
c
=
=
=
Chapter 2: Modeling of Vibratory Systems
Example 2:
k
c
1
m
u
O
2
m
G
3
,
G
m J
a
b
l
g
r
2
r
1
7
Force-Balance and Moment-Balance
Method
Chapter 3: Single DOF Systems: Governing
Equations
How to obtain free-body diagram?
Static equilibrium equation, dynamic
equilibrium equation, equilibrium position
Lagranges Equations
Generalized coordinates, velocity, and force
Kinetic energy, potential energy, and
dissipation function
Equation of motion
1 1 1 1 e e e
mq c q k q Q + + =
,
n
e ,
Natural frequency and
damping factor
For a linear, single degree-
of-freedom system
Chapter 3: Single DOF Systems: Governing
Equations
Example 3: For small oscillations, derive the
governing equation of motion, determine the natural
frequency, and determine the damping factor.
m
2
c
2
k
1
c
1
k
x
2
y
1
y
m
2
c
2
k
1
c
1
k
x
2
y
1
y
8
Chapter 3: Single DOF Systems: Governing
Equations
Example 4: (a) for small
oscillations, derive the governing
equation of motion; (b) what is
the value of the damping
coefficient c for which the system
is critically damped? a
b
EI
c
M
m

d
Rigid, weightless
connection
g
y
a
b
EI
c
M
m

d
Rigid, weightless
connection
g
y
Chapter 3: Single DOF Systems: Governing
Equations
Example 5: Derive the
governing equation of motion. F
M(t)