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March 1, 2010
Example Problems
Contents
1 Free Vibration of Single Degree-of-freedom Systems
1.1 Solved Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Unsolved Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
2
29
36
36
50
64
64
72
76
76
87
1.1
Solved Problems
Problem 1:
For the mechanical system shown to the
right, the uniform rigid bar has mass m and
pinned at point O. For this system:
c) For:
m = 1.50kg, = 45cm,
c = 0.125N/(m/s), k = 250N/m,
O
2m
x
(0)
= 10rad/s.
= k,
k y
FR
k x
c x
aG = x
.
,
2
y = .
The equations of motion for this system can be obtained with linear momentum balance
applied to the block and angular momentum balance aout O on the bar. These can be
written as
MO
F = m aG T k x c x =
O
=
= I T k y k
2
2mx
,
m 2
k.
3
Solving the first equation for T and substituting into the second equation yields
(2 m x
+ k x + c x)
m 2
ky =
.
2
3
5 m 2
,
6
beq =
c 2
,
4
keq =
5 k 2
.
4
c 2
3c
beq
4
q
=
,
=
=
5 k 2 5 m 2
2 keq meq
2 50 k m
2
4
6
s
s
r
5 k 2
keq
3k
4
=
=
n =
5 m 2
meq
2
m
6
p
c) Evaluating the damping ratio and natural frequency we find that for the given values
of the parameters
n = 15.8rad/s,
= 7.91 104 .
Therefore the system is underdamped and the general solution can be written as
p
p
(t) = e n t a sin n 1 2 t + b cos n 1 2 t ,
where a and b are arbitrary constants used to fit the initial conditions. Evaluating (t)
at t = 0 yields
and (t)
(0) = b = 0,
(0)
= n b + n
p
1 2 a = 10rad/s,
Problem 2:
For the mechanical system shown to the
right, the uniform rigid bar has mass m and
pinned at point O. For this system:
c) For:
x
m = 2kg,
= 25cm,
c = 0.25N/(m/s),
k = 50N/m,
(0)
= 10rad/s.
x = ,
z = .
2
2
An appropriate free-body diagram is
shown to the right. Applying linear momentum balance on the block yields
X
F = m aG ,
(T k x c x)
= m x
.
m 2
T k z
k =
k.
2
2
12
k z
T
T
FR
k x
c x
Combining these equations and eliminating the tension, the equation of motion can be
written as
7m
+ c + 2 k = 0.
6
b) For the above equation the equivalent mass, damping, and stiffness are
meq =
7m
,
6
beq = b,
keq = 2 k,
keq
12 k
3b
beq
n =
=
,
= p
.
=
meq
7m
2 keq meq
28k m
Problem 3:
The block shown to the right rests on a frictionless surface. Find the response of the system if the block is displaced from its static
equilibrium position 15cm to the right and
released from rest.
m = 4.0kg,
k1 = 1.5N/m,
k1
k2
m
b = 0.25N/(m/s),
k2 = 0.50N/(m/s).
Solution:
An appropriate free-body diagram is shown to the
right. Notice that the two springs are effectively in
parallel, as the displacement across each spring is
identical. Linear momentum balance on this block
provides
X
F = m aG ,
k1 x
k2 x
b x
(k1 x k2 x b x)
= m x
,
x(0)
= 0cm/s.
Problem 4:
For the system shown to the right, the disk of
mass m rolls without slip and x measures the
displacement of the disk from the unstretched
position of the spring. The surface is inclined
at an angle of with respect to vertical.
k
z
(m, r)
e2
e1
Solution:
a) In addition to x, the displacement of the center of the disk, we identify the coordinates
z and , the displacement across the spring and the rotation of the disk respectively.
These additional coordinates are related to x as
z = 2 x,
x = r .
1
k z e
m g
1
c x e
1
fr e
2
N e
= rGC (m g ),
=
2 ) (m g ) = m g r sin k.
(r e
Since the gravitational force has been included in the development of this equation of
motion, the coordinates are measured with respect to the unstretched position of the
spring.
b) Assuming
the system is underdamped, the frequency of the free vibrations is d =
p
n 1 2 , where
s
r
beq
c
keq
8k
=
,
= p
,
n =
=
meq
3m
2 keq meq
2 6km
so that
d =
8k
3m
c2
,
24 k m
ccr = 2 6 k m.
d) The system is stationary in static equilibrium, so that x x0 = constantboth x and
x
vanish, and the equation of motion reduces to
4 k x0 = m g sin .
Solving for x0 , the equilibrium displacement is
x0 =
m g sin
.
4k
Problem 5:
In the figure shown to the right, in the absence of gravity the springs are unstretched
in the equilibrium position.
z2
k2
r2
b) If the system is released from the unstretched position of the springs, what
is the maximum angular velocity of the
disk during the resulting motion?
r1
z1
m
x
k1
Solution:
7
z1 = r1 ,
k2 z2
z2 = r2 .
FR
T
k1 z1
T
(T m g) = m x
,
m g
MO
(T r1 k1 z1 r1 + k2 z2 r2 ) k
= I O D ,
= I k.
Eliminating the unknown tension T from these equations and using the coordinate
relations, the equation of motion becomes
I + m r12 + k1 r12 + k2 r22 = m g r1 .
The equilibrium rotation of the disk thus is found to be
m g r1
.
eq =
k1 r12 + k2 r22
With this, the equilibrium deflection of each spring is found to be
m g r12
,
k1 r12 + k2 r22
m g r1 r2
.
=
k1 r12 + k2 r22
z1,eq = r1 eq =
z2,eq = r2 eq
(0)
= 0,
B = eq .
1 cos
k1 r12 + k2 r22
t
I + m r12
!!
m g r1
(k1 r12
+ k2 r22 ) (I + m r12 )
Problem 6:
For the mechanical system shown to the
right, the uniform rigid bar has mass m and
pinned at point O. For this system:
z2
z1
Solution:
a) In addition to , we define two additional coordinates, z1 and z2 , to measure the deflection at the left and right ends of the bar.
These coordinates are related as:
z1 = ,
2
k z2
z 2 = = z1 .
2
M G = I G k,
T k z1 cz1
k
2
m 2
k.
12
9
T
T
k z1
G
FR
c z1
3c
.
=
32 k m
Solving for ccr yields:
ccr =
Problem 7:
Find the response of the system shown to the
right if the block is pulled down by 15cm and
released form rest.
m = 2.0kg,
k1 = 0.5N/m,
32 k m
.
3
k1
b
b = 0.5N/(m/s),
k2
k2 = 0.25N/(m/s).
x
m
Solution:
For this system, the two springs in series may be replaced by an equivalent spring, with
constant:
k1 k2
1
keq = 1
1 = k +k .
+
1
2
k1
k2
Therefore, the free-body diagram is shown
to the right. Applying linear momentum
balance to the block yields:
X
F = m aG ,
,
keq x + b x = m x
keq x
b x
mx
+ b x + keq x = 0.
With the numerical values given above, this becomes:
3
1N
1 N
x +
x = 0,
x(0) =
m,
(2kg) x
+
2 m/s
6m
20
10
x(0)
= 0m/s.
1 1
3
s ,
=
.
n =
12
4
Therefore, the system is underdamped and the general response can be written as:
x(t) = e n t A cos(d t) + B sin(d t) .
Using the initial conditions to solve for A and B, we find:
! r
13
3
3 t/8
t +
x(t) =
e
cos
cos
20
13
8 3
Problem 8:
In the figure shown to the right, in the absence of gravity the springs are unstretched
in the equilibrium position.
!!
13
t
.
8 3
x2
k2
r2
r1
b) If the system is released from the unstretched position of the springs, what
is the maximum angular velocity of the
disk during the resulting motion?
m
x1
k1
Solution:
a) We define , x1 , and x2 as indicated in the above figure. In particular, x1 and x2
represent the displacement in their respective springs as measured from their unstretched
position. These coordinates are related through the following transformations:
x1 = r1 ,
11
x2 = r2 .
M G = I G k,
= I G k.
T r1 + k2 r2 x2 k
Also, applying linear momentum balance to
the block yields:
X
F = m aG ,
T k1 x1 m g = m x
1 .
k2 x2
G
FR
T
T
m g
k1 x1
Finally, eliminating the unknown tension from these equations and using the above
coordinate transformations, this single-degree-of-freedom system can be modeled with
the equation:
I G + m r12 + k1 r12 + k2 r22 = (m g r1 ).
This equation of motion determines the equilibrium position eq (with eq = 0) to be:
m g r1
eq =
.
k1 r12 + k2 r22
Therefore, the equilibrium displacements in each spring are:
x1,eq = r1 eq =
m g r12
,
k1 r12 + k2 r22
x2,eq = r2 eq =
m g r1 r2
.
k1 r12 + k2 r22
b) Define new coordinates z1 and z2 , which measure the displacement in springs 1 and 2
with respect to the static equilibrium position, that is:
z1 = x1 x1,eq ,
z2 = x2 x2,eq .
Likewise, let represent the angular displacement of the disk from the static equilibrium
position:
= eq .
Therefore, the potential energy of this system can be written as:
V
=
=
1
1
k1 z12 + k2 z22 ,
2
2
1
k1 r12 + k2 r22 2 .
2
=
=
1 G 2 1
I + m z12 ,
2
2
1 G
I + m r12 2 .
2
12
If the system is released from rest at the unstretched position of the springs, then:
(0) = eq =
m g r1
,
k1 r12 + k2 r22
(0)
= 0.
V0 =
(m g r1 )2
.
2(k1 r12 + k2 r22 )
Problem 9:
For the system shown to the right, the disk of
mass m rolls without slip and x measures the
displacement of the disk from the unstretched
position of the spring.
x
z
3k
Solution:
a) We define the three coordinates as shown as the figure, related as:
x = r ,
z = 2 r ,
z = 2 x.
3k z
G
k x
c x
The equations of motions can be developed directly with angular momentum balance
about the contact point, so that:
X
M C = I C k,
2
= 3 m r k.
(3k z) 2r + (k x) r + (c x)
r k
2
13
1 2 . With
26 k
2 c2
.
3m
9 m2
Problem 10:
In the system shown to the right, the pulley
has mass m and radius r, so that the moment
2
of inertia about the mass center is IG = mr
2 .
r
2
m
k
k
Solution:
a) We choose coordinates (x1 , x2 , ), where x1 measures the displacement of the first mass
in the direction, x2 measures the displacement of the second mass in the direction,
direction. The kinetic and
and measures the angular rotation of the wheel in the k
potential energies for this system are:
T
1
1 mr2 2
1
m x 21 + m x 22 +
,
2
2
2 2
1
1
k x21 + k x22 .
2
2
r
,
2
x2 = r .
Further, the generalized force resulting from the viscous damper becomes:
Q =
cr2
,
4
so that the equation of motion for this system can be reduced to:
(7m) + c + (5k) = 0.
b) For this system the natural frequency and damping ratio are:
r
5k
c
.
n =
,
=
7m
2 35 km
Therefore, the damped natural frequency becomes:
r
r
p
c2
5k
d = n 1 2 =
1
.
7m
140 km
c) For a critically damped system, = 1, so that we may solve for c = ccr to yield:
ccr = 2 35 km.
Problem 11:
In the figure, the disk has mass m, radius r,
2
and moment of inertia IG = mr
about the
2
mass center G, and is attached to a block of
mass m which rolls across the surface. If the
disk rolls without slip ( is sufficiently large),
while the block moves without friction:
b
G
k
= mr k,
(rf ) k
2
(T ) = m
x .
In addition, x and are related through the kinematic constraint:
x = r.
15
10km b2
.
25m2
x1 = 1.00m
m
x + bx + kx = 0,
bc
x2 = 0.75m
1
4 2 + 12
1 = ln
x1
x0
= ln
0.75m
1.00m
= 0.288,
and we find that = 0.0457. With m = 1kg, the damping constant b is given as:
b = 2 km = 0.183N/(m/s).
We note that with m given, we can also find the period of the oscillations to be:
T =
2
d
=
=
2
p
,
n 1 2
p 2
m 4 + 12
= 3.145s.
k
Problem 13:
The rigid beam (mass m = 2kg, length l =
1.5m) is supported by an elastic spring (k =
4N/m) and damper (b = 2N/(m/s)), and is
pinned to the ground.
(m, l)
z
b
Solution:
a) We will define the inclination of the bar from the horizontal position as , so that the
Therefore, using angular momentum balance about the
angular acceleration is k.
point of rotation, we find:
mbar l2
+ bl z + kl z = 0.
3
We assume that the coordinates and z are related by z = l sin , which for small
rotations reduces to z = l. Using this constraint to eliminate , the equation of motion
reduces to:
mbar
z + b z + k z = 0.
3
For the parameter values given above, this becomes:
2
kg z + 2N/(m/s) z + 4N/m z = 0.
3
For this system, the damping ratio and natural frequency can be expressed as:
r
3k
3b
n =
,
=
mbar
2 kmbar
r
3
= 6rad/s
.
=
8
p
b) The frequency of oscillation, d = n 1 2 , reduces to:
s
2
3k
15
3b
d =
rad/s = 1.94rad/s.
=
mbar
2mbar
2
c) If the mass of the spring is considered, it is treated as an additional equivalent mass
meq = mspring /3 located at the end of the bar. Therefore the new moment of inertia of
17
=
=
=
mbar l2
+ meq l2 ,
3
mbar l2 mspring 2
l ,
+
3
3
(mbar + mspring ) l2
.
3
3b
3k
= 3rad/s = 1.73rad/s.
d =
(mbar + mspring )
2(mbar + mspring )
Problem 14:
The non-uniform beam supports an end-mass
of m = 10kg. If the response of the system is
such that:
x1 = 0.25m
t1 = 1.00s
x2 = 0.20m,
t2 = 4.00s,
(t1 , x1 )
(t2 , x2 )
bc
Solution:
a) The logarithmic decrement is defined as = ln |x2 /x1 |. In terms of this quantity and
the period of oscillation T , the damping ratio and natural frequency are defined as:
p
(2)2 + 2
.
n =
,
=p
T
(2)2 + 2
Therefore, the stiffness and damping constants reduce to:
k = m n2 = m
(2)2 + 2
,
T2
b = m 2n = m
2
.
T
For this system, we find that T = 4s and = 0.223, and the stiffness and damping
constant reduce to:
k = 24.7N/m,
18
b = 1.12N/(m/s).
Problem 15:
For the single-degree-of-freedom mechanical
system shown in the figure:
2r
b) what are the damping ratio and undamped natural frequency of this system;
= 0,
k
x = 0.
4
b
b
keq
k
= .
,
n =
= p
=
m
2 m
2 keq m
km
In terms of the given parameters, we find = 4.0 and n = 3rad/s. We note that the
damping ratio has no units.
c) For an overdamped system, the general solution is:
p
p
x(t) = exp(n t) c1 exp (n 2 1)t + c2 exp (n 2 1)t ,
19
3
3
4
+
4
15
15
e 2 15t +
e 2 15t ,
= x0 e6t
2 15
2 15
= x0 e6.0t 1.016e5.81t + 0.01640e5.81t .
Problem 16:
For the spring-mass-damper system shown to
the right, x is measured from the static equilibrium position, and the surface is frictionless.
x
m
2c
6k
x(0)
= 5.0m/s,
F damper = 2c x .
(n2 )
x = 0,
with
n =
6k
,
m
c
.
=
6km
20
b) In p
terms of and n , the period of oscillation is simply T = (2)/d , where d =
n 1 2 . Therefore, for this system, the period reduces to:
T =r
6k
m
m
2
2 = 2 6km c2 ,
c
1
6km
ccritical = 6km.
d) With these parameter values, the equation of motion reduces to:
x
+ 4 x + 144 x = 0,
so that n = 12rad/s, and = 1/6. For these values, the general solution can be written
as:
x(t) = A e2 t sin 2 35 t + ,
where A and are arbitrary constants used to fit the initial conditions. Solving for A
and , we find:
r
5
m,
= 0rad,
A=
28
so that the general solution can be written as:
r
5 2 t
x(t) =
e
sin 2 35 t m.
28
Problem 17:
For the single-degree-of-freedom mechanical
system shown in the figure:
a) determine the governing equations of
motion;
k
b) what are the damping ratio and undamped natural frequency of this system;
2k
b
g
Solution:
We assume that the and directions are standard orthonormal basis in the horizontal
and vertical directions respectively.
21
F damping = b x
.
With the inclusion of the gravitational force, the equation of motion for this system can
be written:
X
F = m (
x) ,
3k x + b x
mg = m
x.
b
3k
x +
x = g,
m
m
b
,
m
n2 =
3k
,
m
3k
,
m
b
=
.
2 3mk
mg
.
3k
Problem 18:
For the single-degree-of-freedom mechanical
system shown in the figure:
k
4k
Solution:
22
(m, l)
l sin
.
2
As a result, the total moment produced by the springs about the center of mass G is:
X
MG
l2
=
sin k.
4
=
M G = I G k,
5kl2
sin k
4
ml2
k.
12
For small angular displacements sin , and the governing equations of motion are
therefore:
15k
= 0.
+
m
b) This system is undamped. Therefore the frequency of the oscillation is equal to the
undamped natural frequency:
r
15k
.
= n =
m
c) This system possesses the general solution:
(t) = c1 sin t + c2 cos t,
which, for the initial conditions given above, yields the solution:
r
15k
(t) = 0 cos
t.
m
Problem 19:
We obtain the differential equation:
m
x + bx + kx = 0,
as a model for a spring-mass-damper system with:
m = 2,
k = 18.
k
b
x + x = 0,
m
m
.
,
n =
=
m
2 km
= 1 corresponds to critical damping, so that:
bcritical = 2 km = 12.
b) For b = 24 we find:
b
=
= 2,
2 km
n =
k
= 3.
m
4
5.0
6 + 3 3
Problem 20:
For the single-degree-of-freedom mechanical
system shown in the figure, the bar has mass
2
m and length l (so that IO = ml3 ). If the
spring is unstretched when = 0:
(m, l)
Neglect gravity.
Solution:
a) Using angular momentum balance about the fixed point O, we find:
X
M O = IO F,
2
2
l
= ml k,
kl2 sin c cos k
4
3
24
3c
,
8 km
d =
m
8m
Problem 21:
In the system shown to the right, the pulley
has mass m and radius r, so that the moment
2
of inertia about the mass center is IG = mr
2 .
r
2
m
k
k
Solution:
direction (clockwise), and
a) Define as the angular displacement of the disk in the k
x1 and x2 as the displacements of the two blocks so that:
x1 =
r
,
2
x2 = r.
We define the tension in the left and right cable as T1 and T2 respectively. Thus, linear
momentum balance on the two blocks, and angular momentum balance on the disk
25
yield:
r
T2 r
2
T1 kx1 cx 1
T1
T2 + kx2
mr2
,
2
= m
x1 ,
= m
x2 .
Eliminating the two unknown tensions from these three equations, we find that the
equation of motion (on ) can be reduced to:
2
7mr2
cr
5kr2
= 0.
+
+
4
4
4
2
x
b
a) Find the resulting solution if the system is released from the unstretched
position with initial velocity x(0)
=
10.0m/s
m
k
0,
0,
13
+ 9 = 0,
2
13 5
.
4
Thus the system has two purely real eigenvalues and the resulting system is overdamped
and decays exponentially with no sustained oscillations. The general solution is given
as:
9
x(t) = c1 e 2 t + c2 e2t .
For the initial conditions x(0) = 0m, x(0)
c2 = 4m,
and the general solution to this equation, subject to these initial conditions, becomes:
1
1
x(t) = 4m
e(9/2s )t e(2s )t .
b) For this system, the damping ratio is:
b
.
=
2 km
Thus, for a critically damped system = 1, and solving for b with m = 2kg and
k = 18N/m, we find:
bcr = 12(N s)/m.
Problem 23:
In the figure, the disk has mass m, radius r,
2
about the
and moment of inertia IG = mr
2
mass center G.
g
x
b
G
(m, r)
direction as measured
We define as the angular displacement of the disk in the k
from the equilibrium position of the disk (when the spring is unstretched). Assuming
that the disk rolls without slip, the rotation and translation of the disk can be related
through the constraint equation:
x = r.
27
a) The frictional force, which is unknown, is defined as f = f, while the forces due to the
spring and damper are:
F spring = kx ,
F damper = bx .
Using linear and angular momentum balance on the disk, we find that:
X
F = (f kx bx)
= m
x = maG ,
2
X
= IG F.
= mr k
M G = (f r) k
2
Eliminating the unknown frictional force, and using the kinematic constraint, we find
the equation of motion is:
3m
x
+ bx + kx = 0.
2
b) We can write this differential equation in standard form, that is:
r
x
+ (2n )x + (n2 )x = 0,
with
n =
2k
,
3m
b
.
6km
If the system is critically damped, then this implies that the damping ratio is unity.
Therefore, solving for b when = 1, we find:
bcritical = 6km.
c) When the system is critically damped, the general solution takes the form:
x(t) = c1 + c2 t en t ,
while this can be differentiated with respect to time to obtain the velocity:
x(t)
= (c2 n c1 ) (n c2 ) t en t .
If the system is released from rest when a known initial displacement, then the initial
conditions are (x(0), x)
= (x0 , 0). Thus, returning these to the general solution, we find:
x0 = x(0)
0 = x(0)
= c1 ,
= c2 n c1 .
(2k)/(3m).
28
Problem 24:
In the figure, the disk has mass m, radius r,
and moment of inertia IG about the mass center, and the applied moment has a constant
If the disk rolls without slip
magnitude M k.
( is sufficiently large):
g
x
M k
(m, r)
I
,
r2
ceq = c,
keq = k.
1.2
M
.
kr
Unsolved Problems
Problem 25:
In the figure, the disk has mass m and radius
r. The cable wraps around the disk with no
slip and is inextensible, attached to a spring
of stiffness k and a damper with coefficient c.
Problem 26:
In the figure, the disk has mass m, radius r,
2
about the
and moment of inertia IG = mr
2
mass center G and is assumed to roll without
slip.
r/2
G
Problem 27:
In the spring-mass-damper system shown,
the block slides on a frictionless surface,
where the coordinate x measures the displacement of the system from the unstretched
position of the spring. The mass of the block
is m = 2kg, while the spring and damping coefficients are k = 288N/m and b =
16(N s)/m. Finally, the plane is inclined
down by an angle = 20 .
(m, r)
x
g
b
k
a) Determine the static equilibrium displacement of the block from the unstretched position;
b) Find the resulting solution if the system is released from the unstretched
position with initial velocity x(0)
=
3.0m/s;
c) Identify the damping constant b that
gives rise to critical damping;
30
Problem 28:
For the system shown to the right
k2
r2
r1
Problem 29:
For the mechanical system shown to the
right, the uniform rigid bar has mass m and
pinned at point O. For this system:
a) find the equations of motion;
c) For:
m = 2.50kg,
c = 1.00N/(m/s),
= 30cm,
O
k = 200N/m,
2m
(0)
= 0rad/s.
31
Problem 30:
In the figure, the disk and the block have
mass m and the radius of the disk is r.
a) Find the equations of motion for this
system.
c
(m, r)
m
4k
r = 9cm,
c = 63N s/m,
Problem 31:
For the system shown to the right, the disk of
mass m rolls without slip and x measures the
displacement of the disk from the unstretched
position of the spring.
b) With
c = 16N/(m/s),
m = 2kg,
r = 0.10m
for what value of the spring stiffness k
is the damping ratio of the system onehalf of the critically damped value, so
that = cr /2?
c) With these parameter values, find the
displacement of the disk if it is rolled
20cm to the right (from static equilibrium) and released from rest.
32
(m, r)
Problem 32:
From the figure shown to the right
k2
k1
r
2
Problem 33:
In the figure, the disk has mass m, radius r,
2
and moment of inertia IG = mr
about the
2
mass center G and is assumed to roll without
slip. The identified coordiante measures the
rotation of the disk with respect to the equilibrium position.
m = 3kg,
k = 36N/m,
G
k
33
(m, r)
Problem 34:
For the spring-mass-damper system shown to
the right, x is measured from the static equilibrium position. If the surface is assumed to
be frictionless:
m
6k
x(0)
= 0m/s.
Problem 35:
For the system shown to the
sured from the unstretched
spring. Each block has mass
has moment of inertia I and
gravitational constant is g:
x
(I, r)
k
m
Problem 36:
In the figure, the disk has mass m, radius r,
2
and moment of inertia IG = mr
about the
2
mass center G.
g
x
c
G
34
(m, r)
Problem 37:
For the spring-mass-damper system shown to
the right, x is measured from the static equilibrium position. If the surface is assumed to
be frictionless:
m
6k
= x 0 ;
Problem 38:
For the system shown to the right, x is measured from the unstretched position of the
spring. Each block has mass m and the disk
has moment of inertia I. If the gravitational
constant is g:
x
(I, r)
k
m
35
2.1
Solved Problems
Problem 39:
For the system shown to the right, the disk of
mass m rolls without slip and the inner hub
has radius /2.
z
2k
M (t)
(m, )
b = 2N/(m/s),
= 0.125m
z=
3
x.
2
(k x + b x)
+
M (t) k
2 k z
which yields
m g
b x
k x
fr
N
2
3
= 3 m k.
(2 k z) + M (t) k
2
2
b) For the numerical values given above (with consistent units), this equation reduces to
3x
+ 2 x + 88 x = 8 sin(4 t),
36
F
8
r
M(r, ) =
k
88
1
1
= .
q
2
26
6 2
1
6
1 11
+ 2 264
11
tan =
2 r
=
1 r2
1
2 264
6
11
6
11
1
,
5
37
Problem 40:
For the mechanical system shown to the
right, the uniform rigid bar has mass m and
pinned at point O. For this system:
f (t) = sin( t)
b) if c = 0.25N/(m/s), k = 32N/m, m =
2kg, and = 0.25m, find the amplitude
of the force transmitted to the ground
through combination of the spring and
damper when = 4 rad/s.
Solution:
a) In addition to , we define the additional coordinate z, which measures the deflection
at the left end of the bar, with and z related as:
2
A free-body diagram for this system is
shown to the right. Applying angular momentum balance on the bar eliminates the
appearance of the reaction force and leads
to:
X
M G = I G k,
z=
f (t) k z c z
k
2
f (t)
k z1
G
FR
c z1
m 2
k.
12
m 2 c 2 k 2
+
+
= f (t).
12
4
4
2
b) In standard form, this equation of motion can be written as:
6
3k
3c
=
sin( t),
+
+
m
m
m
so that:
n =
3k
,
m
3c
=
,
2 km
38
M0 =
6
.
m
The amplitude of the moment transmitted to the ground can be written as:
p
1 + (2 r)2
MT = (meq M0 ) p
,
(1 r2 )2 + (2 r)2
q
2
p
1 + c k
k 2 + (c )2
q
q
=
=
.
2
2 2
2 2
2
2
2
1 m3 k
k m 3
+ c k
+ (c )
The amplitude of the force transmitted to the ground is then FT = MT /(/2), or:
p
k 2 + (c )2
.
FT = q
2 2
2
+ (c )
k m 3
Substituting in the numerical values given in the problem statement, we find that:
FT = 1.50 N
c) The amplitude of the steady-state vibrations can be written as:
=
=
M0
1
p
,
2
2
n2
(1 r ) + (2 r)2
1
2
2
q
q
=
2
2
2
k
1 m3 k
k
+ c k
1
m 2 2
3
+ (c )
Substituting in the numerical values given in the problem statement, we find that:
=
k
8
2 2
3
2 2
3
48
48 2 2
+
,
,
6
2 2
.
k
3
2 2
48
.
3
Since this condition must be satisfied for all 20rad/s, we take the second inequality
and find that:
2 (20)2
48
k
= 251.
3
39
Problem 41:
For the system shown to the right, the disk of
mass m rolls without slip and x measures the
displacement of the disk from the unstretched
position of the spring.
x
3k z
f (t)
z = 2 r ,
z = 2 x.
3k z
G
k x
f (t)
fr
The equations of motions can be developed directly with angular momentum balance
about the contact point, so that:
X
M C = I C k,
2
= 3 m r k.
(3k z) 2r + (k x) r f (t) r k
2
Finally, writing this equation in terms of a single coordinate, we obtain:
3 m r2
+ 13 k r2 = r f (t).
2
In standard form:
+
26 k
3m
2 f (t)
.
3mr
40
F ( ) h(t ) d,
1
h(t) =
sin(n t) =
n
3m
sin
26 k
!
26 k
t .
3m
Because the forcing function changes abruptly at t = t0 , the solution must be written
separately for 0 < t t0 , and t > t0 :
Z
2 f0 t sin(n (t ))
d,
0 < t t0 ,
x(t) =
3m 0
n
Z
Z t
f0
sin(n (t ))
2 f0 t0 sin(n (t ))
d +
d,
t > t0 .
x(t) =
3m 0
n
3 m t0
n
Evaluating these integrals, the solution becomes:
x(t) =
x(t) =
2 f0
26 k
f0
26 k
1 cos(n t) ,
0 < t t0 ,
1 + cos(n (t t0 )) 2 cos(n t) ,
Problem 42:
The system shown to the right is subject to
base excitation. Find the steady-state response of the system in terms of z, with:
m = 2.0kg,
k1 = 3.00N/m,
t > t0 .
b = 4.0N/(m/s),
k2 = 12.00N/m.
k1
k1
z
b
x
k2
Solution:
a) We define the addition coordinate x which measures the absolute displacement of the
mass with respect to the ground, so that:
x = z + u(t).
Notice that the collection of springs can be
replaced by a single equivalent spring, with:
keq =
1
2 k1
1
+
1
k2
2 k1 k2
= 4N/m.
2 k1 + k2
41
m
keq
b
u(t)
keq z
b z
with u
(t) = (u0 2 ) sin( t).
Therefore, linear momentum balance on the mass yields:
X
F = m aG ,
keq z b z = m x
Writing this in terms of z, the equation of motion is:
m z + b z + keq z = m u
(t),
and in standard form:
z + 2 n z + n2 z = u0 2 sin( t),
with:
n =
keq
,
m
b
= p
.
2 keq m
tan =
2 r
,
1 r2
and r =
so that:
1
= ,
2
2,
2
= ,
5
tan =
r=
2,
2
1
Recall that the phase shift must be positive, so that is tan is negative, then is in
the second quadrant, so that = 3.03rad. Finally:
1
z(t) = sin(2 t 2.03).
5
42
Problem 43:
The disk shown in the figure rolls without
slip and is subject to a time-varying moment
M (t) = sin(t).
g
x
M (t) k
G
(m, r)
Solution:
represent the standard orthonormal basis, while the translaa) We assume that (, , k)
Linear and angular
tional displacement of G is x and the angular displacement is k.
momentum balance on the disk yield:
m
x = kx bx f ,
2
mr
= f r M (t),
2
where f is the unknown frictional force. If the disk rolls without slipping, we find the
kinematical relation x = r, and, eliminating f from the above balance laws, we find
the governing equation of motion can be expressed as:
M (t)
3m
x
+ bx + kx =
.
2
r
b) ForpM (t) = 0, the frequency of oscillation is the damped natural frequency d =
n 1 2 , where:
r
r
2k
2
b
1
=
,
=
= ,
n =
3m
3
2
6km
so that the damped natural frequency is d =
1
3
= 0.577.
2
2
= .
3m
3
Recall that the magnification factor for a harmonically driven system is:
M= p
1
(1
43
r2 )2
+ (2r)2
3
2,
so that M =
2 .
13
F0
2
M = = 0.555.
2
n
13
d) The response of the disk is x(t) = A sin(t + ), where A is given above and:
2r
3
.
tan =
=
1 r2
21
From the expression for angular momentum balance, we find:
f
where cos =
1
13
m
M (t)
x
,
2
r
1
= sin(t + ) sin(t),
13
1
1
sin cos(t) + cos + 1 sin(t) ,
=
13
13
=
and sin =
2 3
,
13
Problem 44:
In the figure, the disk has mass m, radius r,
2
about the
and moment of inertia IG = mr
2
mass center G, subject to an applied moment
of the form:
g
x
M (t) = M0 sin(t)k.
M (t)
G
k
(m, r)
F damper = bx .
Using linear and angular momentum balance on the disk, we find that:
X
F = (f kx bx)
= m
x = maG ,
2
X
= mr k
= IG .
M G = (M0 sin(t) + f r) k
2
Eliminating the unknown frictional force, and using the kinematic constraint, we find
the equation of motion is:
M0
3m
x
+ bx + kx =
sin(t).
2
r
b) For the given values of the parameters, we find that:
n2 =
8
,
3
1
= ,
8 6
F0 =
M0
.
3r
=
=
F0
M,
n2
q
Problem 45:
The mass m = 2kg is supported by an elastic cantilever beam attached to a foundation which undergoes harmonic motion of the
form:
u(t) = 4 sin(t)m,
8
3
0
M
3r
2
2 +
2
6
b) what is the amplitude of the resulting motion in terms of the forcing frequency ?
Solution:
a) The equivalent spring for this cantilever beam is:
keq =
16N
AE
=
= 80N/m.
l
0.2m
= m u
,
2
= 4 sin( t).
b) For this undamped system, the amplitude of the resulting steady-state motion is:
X
4 2
q
40
1
1
2
40
4 2
.
|40 2 |
Problem 46:
The unbalanced rotor shown in the figure is
pinned to a frame and supported by a spring
and damper. If the total mass is m while the
mass center G is located at an eccentricity of
from the the center of rotation O,
2 ,
x
m
Solution:
We define x(t) as the vertical displacement of the geometric center of the rotor as
measured from static equilibrium. As a result, the mass center G is described by the
position z(t) = x(t) + sin(t). Note that measures the eccentricity of the mass
center, not the location of the mass imbalance. Consequently, the governing equations
of motion can be written:
m z = k x b x,
mx
2 sin( t) = k x b x,
b
k
x + x = 2 sin(t).
m
m
k
m
and =
b ,
2 km
b2
k
.
m 4m2
2
(n2
2 )2
+ (2n )2
u(t) = 4 sin(t)m,
If the mass and stiffness are m = 2kg, and
k = 8N/m:
k
x
m g
k z
Substituting in the expression for u(t), and taking the component in the direction, we
obtain the governing equation of motion:
m z + k z
z + (4s2 )z
= m g m u
,
= 9.81m/s2 + 4 2 sin(t)m,
Notice that each term has units of acceleration, that is, m/s2 . In what follows we will
dispense with the explicit inclusion of the units. For this system n = 2, = 0, and the
amplitude of the forcing is F = 4 2 . Thus we have frequency-squared excitation.
b) Using the above values for the natural frequency and the damping ratio, we find that
47
the forced response can be written as z(t) = Z sin(t + ), where the amplitude Z is:
Z = U (r, )
= Up
r2
(1 r2 )2 + (2r)2
4r2
.
|1 r2 |
4r2
(1 r2 )2
4r2
(1 r2 )2
2 4Z
Zcr
cr
,
2 16
Zcr
)
(r
r
Zcr
Zcr
.
,
=
Zcr 4
Zcr + 4
2
0<r<
, or r > 2.
3
Problem 48:
The single-degree-of-freedom system shown is
subject to a harmonic force. If the natural
frequency is n = 4rad/s and m = 1kg:
a) determine the spring and damping constants when the system is critically
damped;
k
F (t)
b
x + x =
.
m
m
m
a) In terms of the system parameters, the damping ratio and natural frequency can be
written as:
r
k
b
.
=
,
n =
m
2 km
48
So, for a critically damped system = 1, and solving for k and b we find:
k = 16N/m,
b = 8N s/m.
b) The amplitude
p of the total force transmitted to the ground, which is defined as Ft , is
Ft = Xn2 1 + (2r)2 , where X is the amplitude of the response and r = n = 41 is
the frequency ratio. Thus, for this system:
!
p
F0
1
p
n2 1 + (2r)2 ,
Ft =
2
2
2
2
n (1 r ) + (2r)
p
F0 1 + (2r)2
8 5
=
= p
= 1.05.
17
(1 r2 )2 + (2r)2
Problem 49:
A constant force is applied to the undamped
single degree-of-freedom system for a duration of t1 , at which point it is removed, that
is:
0 t < t1 ,
F0 ,
F (t) =
0,
t t1 .
x
F (t)
m
4k
If the system starts with zero initial conditions, determine the resulting displacement
of the mass x(t). You may either use the
convolution integral or you may try to solve
this explicitly.
Solution:
The equation of motion for this system is:
x
+
4k
F (t)
x=
,
m
m
n = 2
k
.
m
Therefore, using the convolution integral, the response of the system is:
Z t
F ()h(t ) d,
x(t) =
0
Z t
F0 sin(n (t ))
d,
0 t < t1 ,
0 m
n
=
Z
F0 sin(n (t ))
d,
t t1 .
n
0 m
F0
cos(
t)
,
0 t < t1 ,
n
mn2
=
F0
cos(
(t
t
))
cos(
t)
,
t t1 .
n
1
n
mn2
49
2.2
Unsolved Problems
Problem 50:
For the system shown to the right the block
of mass m = 100kg is supported by springs
and dampers with coefficients
k1 = 1200N/m,
b1 = 100N/(m/s),
b2
k2 = 3600N/m
b2 = 120N/(m/s),
m
F (t)
F (t) = F0 sin( t) ,
k2
b1
k1
b) Write these equations as a set of firstorder equations (as you would for numerical simulation within MATLAB);
c) What is the steady-state response of
the forced response;
d) What is the magnitude of the force
transmitted to the ground?
Problem 51:
The unbalanced rotor shown in the figure is
pinned to a frame and supported by a spring
and damper. The total mass is measured as
m = 200kg. When the system is operated
at = 25rad/s the phase of the response
with respect to the rotation of the unbalanced
disk is measured to be /2rad and the steadystate vibration amplitude is X = 2.00cm.
When the rotation rate of the disk is much
larger than this value the amplitude reduces
to X = 0.50cm. Find the stiffness and damping coefficient for the foundation, as well as
the distance between the center of rotation
C and the mass center G.
x
m
50
Problem 52:
For the system shown to the right, the disk
of mass m and radius r rolls without slip. If
x measures the displacement of the disk from
the unstretched position of the spring.
2k
f (t)
g
k
M (t)
/2
(m, )
b) With
m = 4kg,
= 0.10m,
M0 = 2 N m,
the frequency ratio of the system is
r = 1 when = 2 . If, in addition, the amplitude of the response is
= /2rad, find the damping coefficient c and the stiffness k for this system.
51
Problem 54:
In the figure shown to the right, the machine
of mass m = 100kg rests on a regid support
and is subject to a harmonic force
f (t)
f (t)
If the support is redesigned as an elastic foundation, find the stiffness k and damping coefficient c so that the natural frequency of the
new system is n = 10 , and when the system operates with a frequency ratio r = 3
the amplitude of the force transmitted to the
ground is 20% of the applied forcing amplitude.
Original
Redesigned
Problem 55:
The base of the seismograph shown to the
right is subject to harmonic ground motion
of the form
m
b) With
u(t)
k = 0.25N/m,
c = 0.40N/(m/s),
m = 0.50kg,
Determine the steady-state amplitude
of the response for u0 = 0.005m and
= 2 rad/s.
52
Problem 56:
For the system shown to the right the bar
of length has mass m and is subject to a
time-dependent moment of the form
M (t) = M0 sin( t) k.
M (t)
k
G
m = 3kg,
b = 16N/(m/s),
1
k = 8N/m, = m,
4
1
Nm
= 4rad/s, M0 =
16
Problem 57:
The block of mass m = 20 kg shown to the
right rests on a rigid foundation and is subject to a time-dependent load
f (t)
F (t) = f0 sin( t) .
a) Design an undamped foundation to
achieve isolation 33% for all forcing
frequencies > 3 rad/s;
53
Problem 58:
In the figure shown to the right, the disk is
subject to a time dependent moment of the
form
M (t) = M0 sin( t).
M (t) k
r
b) With
k = 280N/m, b = 12N/(m/s),
m = 4kg,
I = 0.40kg m2 , r = 0.10m
M0 = 3N m, = 5rad/s,
Problem 59:
The unbalanced rotor shown in the figure is
pinned to a frame and supported by a spring
and damper. The total mass of the structure
is m, with a small rotating component (10%
of the total mass) offset by a distance r from
the center of rotation C.
r
C
b = 12N/(m/s),
r = 10cm
54
Problem 60:
In the figure, the disk has mass m, radius r,
2
about the
and moment of inertia IG = mr
2
mass center G and is assumed to roll without
slip. The attached plate undergoes harmonic
motion of the form
g
u(t)
c
G
(m, r)
b) What are the damping ratio and natural frequency for this system?
c) If the system is critically damped, find
the amplitude of the relative displacement of the disk for
m = 3kg,
k = 36N/m,
r = 0.10m
c = 3N/(m/s)
u0 = 0.05m,
= 5rad/s
Problem 61:
For the mechanical system shown to the
right, the uniform rigid bar is massless and
pinned at point O while a force is applied at
A of the form
f (t) = t e t .
2
3
f (t)
c) With
m = 2kg,
= 30cm,
c = 0.25N/(m/s),
= 2.00s
k = 50N/m,
1
find the convolution integral for the response of the system. You need not
evaluate the integral.
Assume that the system is in static equilibrium at = 0, and that all angles remain
small.
55
Problem 62:
The unbalanced rotor shown in the figure is
pinned to a frame and supported by a spring
and damper. The total mass of the structure
is m, with a small rotating component (10%
of the total mass) offset by a distance r from
the center of rotation C.
k = 108N/m,
m = 3kg,
b = 9N/(m/s),
r = 7.5cm
Problem 63:
For the mechanical system shown to the
right, the uniform rigid bar has mass m and
length , and is pinned at point O. A harmonic force is applied at A. For this system:
c) For:
4m
f0 sin( t)
m = 6kg, = 25cm,
c = 0.50N/(m/s), k = 80N/m,
f0 = 2.00N, = 10rad/s,
56
Problem 64:
In the figure, the disk has mass m, radius r,
2
about the
and moment of inertia IG = mr
2
mass center G and is assumed to roll without
slip. The attached plate undergoes harmonic
motion of the form
g
u(t)
c
G
a) Find the equation of motion in terms of
the angular rotation of the disk;
(m, r)
b) What are the damping ratio and natural frequency for this system?
c) If the system is critically damped, find
the amplitude of the rotation of the disk
for
m = 3kg, k = 36N/m,
u0 = 10cm, = 3rad/s
Problem 65:
The unbalanced rotor shown in the figure is
pinned to a frame and supported by a spring
and damper. The total mass is measured as
m = 200kg. When the system is operated
at = 25rad/s the phase of the response
with respect to the rotation of the unbalanced
disk is measured to be /2rad and the steadystate vibration amplitude is X = 2.00cm.
When the rotation rate of the disk is much
larger than this value the amplitude reduces
to X = 0.50cm.
Find the stiffness and damping constant for
the foundation and the distance between the
center of rotation C and the mass center G.
C
m
57
Problem 66:
For the mechanical system shown to the
right, the uniform rigid bar is massless and
pinned at point O while a harmonic force is
applied at A. For this system:
A
2
3
c) For:
c
f0 sin( t)
m = 2kg, = 30cm,
c = 0.25N/(m/s), k = 50N/m,
f0 = 2.00N, = 10rad/s,
k
x
58
(m, r)
M (t)
Problem 68:
The unbalanced rotor shown in the figure is
pinned to a frame and supported by a spring
and damper. If the total mass is m while the
mass center G is located at an eccentricity of
from the the center of rotation O,
O
m
b = 16N/(m/s),
= 2.5cm
g
x
M (t) = M0 sin(t)k.
M (t)
G
k
59
(m, r)
Problem 70:
In the figure, the disk has mass m, radius r,
and moment of inertia IG = m about the
mass center G. The disk is subject to a timevarying force f (t) = 4 sin( t).
g
x
c
G
f (t)
(m, r)
M (t)
z2
z1
6k
60
2k
Problem 72:
The system shown in the figure is supported
by a foundation that undergoes an exponentially decaying motion of the form:
u(t) = 16et/4 .
If the mass and stiffness are m = 5kg, and
k = 45N/m:
u(t)
2r
k = 4N/m,
r = 1cm.
61
Problem 74:
In the mechanical system shown each spring
is identical, with spring constant k. If m =
1kg:
f (t)
x(0)
= 2m/s,
m = 4kg,
b = 0.5(N s)/m,
= 0.1m,
k = 8N/m
x
m
2k
62
Problem 76:
The disk shown in the figure has mass m =
4kg, and is subject to a time-dependent mo If k = 2N/m and
ment M (t) = M0 sin(t) k.
r = 0.2m:
4k
IG
M0 = 12N m.
r
2
2k
63
3.1
Solved Problems
Problem 77:
The block shown to the right rests on a rough
surface with coefficient of friction and
m = 6kg,
k = 128N/m.
g
x
z
A
k
k
Solution:
In addition to the variable x identified in the problem statement, we also define z to
be the stretch in the spring parallel with the cable system. As a one degree-of-freedom
system, the variables x and z are directly related. The relative velocity across the spring
can be identified as
vB v A
= z ,
= (x ) (x ) ,
so that z = 2 x.
Therefore the kinematic
relationship becomes
z = 2 x.
m g
T
k x
T
fr
N
T
T = k z = 2 k x.
mg
.
5k
Problem 78:
The system shown in the figure has mass m
and rests on a plane inclined at an angle
. The coefficient of friction for the rough
surface is and the system is released from
rest at the unstretched position of the spring
(with stiffness k).
2
2
k = 32N/m,
= 0.35,
Solution:
The unit directions 2 and 2 are defined to be coincident with the inclined plane and
the coordinate x represents the displacement of the mass from the unstretched position
of the spring, as shown in the figure.
A free-body diagram for this system is
shown to the right. Notice that the force in
the upper spring depends on z, rather than
x, while the friction force has an unknown
magnitude f . Because the disk is assumed
to roll without slip, we are unable to specify
the value of f , but instead can relate the displacement and rotation of the disk through
the coordinate relations above.
65
k x 2
N 2
m g
f 2
Therefore, if the system is released from x = 0, the block begins to slide when:
tan = .
c) Define z to be a new coordinate measuring the displacement of the system from static
equilibrium:
mg
z =x
sin ,
k
so that the equations of motion become:
m z + k z = f,
N = m g cos .
with initial displacement z(0) = (m g sin )/k. Over one complete cycle of motion,
for a frictionally damped system the amplitude decreases by a value:
A=
4N
.
k
Therefore, if the system comes to rest at exactly the equilibrium position, then this
decrease in amplitude must exactly match the initial displacement. That is:
4 N m g
=
sin = |z(0)|.
| A| =
k
k
Solving for :
tan = 4 .
66
Problem 79:
For the spring-mass system with Coulomb
damping:
x
Solution:
a) We measure the displacement of the mass from the static equilibrium of the frictionless
system, i.e., = 0, so that the acceleration of the block is aG = x
. Thus linear
momentum balance yields:
m
x = Fspring + f + (N mg).
The spring force is Fspring = 2kx, while the force due to sliding friction opposes the
velocity and is simply:
x
f = mg ,
|x|
since the normal force balances the gravitational force, i.e., N = mg. If the block
is stationary the magnitude of the frictional force is less than mg. Therefore, the
governing equations of motion are:
m
x + 2kx = f ,
with
f
|f |
= mg |xx|
|x|
=
6 0,
mg
x = 0.
b) Coulombic damping does not effect the frequency of oscillation, which is simply:
r
2k
=
.
m
Therefore the period of the oscillation is:
T =
67
2
2 m
.
=
2k
Problem 80:
For the spring-mass system with Coulombic
damping, x is measured from the unstretched
position of the spring. If the coefficient of
friction is and the gravitational constant is
g:
x
I=0
k
m
=
0), for what values of will the system
move;
c) what is the displacement (from the unstretched position) of the upper block
when it first comes to rest?
Solution:
Notice that x describes the displacement of both masses and, since the pulley is massless,
the tension in the string connecting the masses is constant, say T . Also, notice that in
part c we ask for the displacement from the unstretched position of the spring, rather
than from equilibrium. Therefore we include the gravitational force which will influence
this result.
a) With the frictional force defined as F = f , linear momentum balance on the upper
and lower block yields:
mx
+ k x = f + T,
mx
= m g T,
where the frictional force is defined as:
x
f = mg |x|
,
|f | mg,
x 6= 0,
x = 0.
b) If the system is released from rest in the unstretched position, it will remain there
provided the magnitude of the frictional force is less than mgthe transition to movement occurs when |f | = mg. Thus the system does not move is |f | mg and x
= 0.
Substituting these conditions into the equations of motion we find:
|f | = |kx mg| mg,
68
which, solving for with x(0) = 0, implies that the system does not move if 1.
Therefore, the system does move when:
< 1.
c) The displacement of the upper block when it first comes to rest is:
x1 =
2(1 )mg
.
k
This can be found by either solving the equations of motion explicitly, or through a
work-energy analysis. Since the initial and final kinetic energy is zero, the work done
by the frictional force balances out the change in potential energy from the spring and
gravity.
Problem 81:
For the spring-mass system with Coulombic
damping, x is measured from the unstretched
position of the spring. If the coefficient of
friction is and the gravitational constant is
g:
g
m
Solution:
a) The equations of motion can be written as:
m
x + kx = f,
where f is the force due to friction, modeled by Coulombs law of friction as:
f
= mg
|f |
mg,
x
,
|x|
x 6= 0,
x = 0.
b) If the system is released from rest, the initial displacement must be sufficiently large so
that the block slides, rather than remaining at rest. Sliding does not occur if the force
due to friction is sufficient to balance the elastic force, that is, mg f = kx(0). Thus,
solving for x(0) we find, that for sliding to occur:
|x(0)| >
mg
.
k
However, if |x(0)| is too large, the system will undergo multiple reversals as the amplitude of the motion decays. Consider the block sliding to the left (x < 0), released from
69
mg
k .
m
x + kx = mg,
which has the general solution:
mg
k
mg
t +
.
cos
x(t) = x(0)
k
m
k
Therefore, when the block comes again to rest at time t1 (unknown), the mass is at the
position:
mg
x(t1 ) = 2
x(0).
k
At this point, the block sticks if and only if |x(t1 )|
we find that:
mg
.
x(0) 3
k
mg
k .
< x(0) 3 mg
So for a block with x(0) > 0, the allowable range for x(0) is mg
k
k .
Together with an identical argument for x(0) < 0 yields the total allowable range as:
mg
mg
< |x(0)| 3
.
k
k
Problem 82:
For the system shown to the right, x is measured from the unstretched position of the
spring. Each block has mass m and the disk
has moment of inertia I and radius r. The
coefficient of friction between the upper block
and the table is . If the gravitational constant is g:
x
(I, r)
k
m
mg |xx|
x 6= 0
,
f=
f0 , |f0 | mg, x = 0.
b) The minimum value for slip is simply min = 0. If we would like to find the range of
for which slip occurs, we resort to the value of f at static equilibrium. Assuming
(x,
x
) = (0, 0), the equations of motion reduce to:
kx = fstatic + mg,
where fstatic represents the force required to maintain static equilibrium. Solving for
this quantity and using the frictional inequality, we find:
|fstatic | = |kx0 mg| mg.
Therefore, solving for yields:
kx0
kx0
1 = 1
,
mg
mg
which provides a necessary condition for sticking at x = x0 . So for sliding to occur for
x0 = 0, this implies that < 1.
c) The period of oscillation for a frictionally damped system is identical to that of an
undamped system. Therefore:
s
2m + rI2
2
= 2
.
T =
n
k
d) Let describe the displacement of the system from equilibrium. The amplitude of
oscillation will decay by a value of = 4mg/k over one cycle of motion. Therefore,
Since the system will come to rest within the range:
mg
mg
< |final |
,
k
k
71
the initial displacement 0 from the equilibrium in the absence of friction must be in
the range:
3mg
5mg
mg
mg
+=
< |0 |
=
+ .
k
k
k
k
However, the equilibrium position corresponds to xeq = mg
k , and so the allowable range
of x0 is:
mg 5mg
3mg
< x0
.
k
k
k
3.2
Unsolved Problems
Problem 83:
In the figure, the block rests on a rough surface with coefficeint of friction . If the disk
and the blocks have mass m and the radius
of the disk is r:
(m, r)
r = 9cm,
= 0.375.
Problem 84:
The block shown to the right rests on a rough
surface with coefficient of friction and the
block is subject to a compressive force of N =
20N (do not include gravity, just this normal
load and assume that any cables can support
compression and tension).
x
k
(m, r)
M (t)
k = 64N/m,
= 0.50,
= 4rad/s.
72
Problem 85:
For the system shown to the right, the block
slides on a rough surface (coefficient of friction ) inclined at an angle of with respect
to vertical. If the block is subject to a periodic force of the form
g
k
F (t)
= 2.00rad/s,
Problem 86:
The spring mass system rests on a surface
with coefficient of friction and x is measured from the unstretched position of the
spring.. If the initial conditions of the system are chosen to be x(0) = 0 and x(0)
= x 0 ,
find the range of x 0 so that the system comes
to rest after exactly one cycle of motion.
g
m
Problem 87:
For the spring-mass-damper system shown to
the right, x is measured from the static equilibrium position. If the coefficient of friction
is :
m
6k
2k
73
Problem 88:
The block shown to the right rests on a rough
surface with coefficient of friction (assume
that any cables can support compression and
tension). Find the amplitude of the vibrations of the block if f (t) = f0 cos( t), with
m = 4.0kg,
x
k
k = 64N/m,
= 0.05,
f0 = 40N,
= 4rad/s.
m
f (t)
Problem 89:
For the system shown to the right, the block
slides on a rough surface (coefficient of friction ) inclined at an angle of with respect
to vertical. If the block is subject to a periodic force of the form
g
k
= 2.00rad/s,
74
F (t)
Problem 90:
The block shown to the right rests on a rough
surface with coefficient of friction and the
block is subject to a compressive force of N =
20N (do not include gravity, just this normal
load and assume that any cables can support
compression and tension).
x
k
f (t)
k = 64N/m,
= 0.50,
= 4rad/s.
75
(m, r)
4
4.1
Problem 91:
In the figure shown to the right, in the absence of gravity the springs are unstretched
in the equilibrium position. Determine the
equations of motion for this system.
x2
k2
IG
m
r2
r1
x3
z
k1
x1
k1
Solution:
Because we can, we define five different coordinates to describe the dynamical behavior
of this two degree-of-freedom system, leading to the following transformations:
x2 = r2 ,
x3 = r1 ,
z = x3 x1 .
(k2 x2 + b x 2 )
Block 1:
Block 2:
Disk:
F = m a G1 ,
k1 z k1 x1 = m x
1
X
F = m a G2 ,
2
T b x 2 k2 x2 = m x
MG
T r2 + k1 r1 z k
= I G D ,
= I G k
76
FR
k1 z
k1 z
k1 x1
From the equations on block 2 and the disk, we eliminate the unknown tension T from
the system to obtain:
I G m r2 x
2 b r2 x 2 k2 r2 x2 k1 r1 z = 0.
From this equation, and the equation on block 1, we eliminate the coordinates z and
x2 , and obtain the equations of motion to be:
I +
m r22
b r22
mx
1 + 2 k1 x1 + k1 r1
+ k1 r1 x1 + k1 r12 + k2 r22
Problem 92:
For the system shown in the figure:
0,
0.
(I, r)
2m
m
Solution:
a) This system contains three masses which are each allowed to move in only one direction. The upper mass slides horizontally with displacement x1 , while the disk rotates
through an angle . Finally, the suspended mass moves vertically and its position can
be described by the coordinate x2 . However, because the disk and the suspended mass
are connected by an inextensible string, their motion can be related by:
x2 = r.
So this system has only two independent coordinates and therefore it is a two-degreeof-freedom system.
b) We utilize the coordinates x1 , x2 , and , as measured from the unstretched position of
the two springs. Therefore, the kinetic and potential energies are written as:
T
1
1
1
(2m) x 21 + m x 22 + I 2 ,
2
2
2
1
1
2
2
k x1 + k (r x1 ) m g x2 .
2
2
However, x2 and are related by the above relationship. Thus eliminating , the energies
become:
T
1
1
1 I 2
(2 m) x 21 + m x 22 +
x ,
2
2
2 r2 2
1
1
k x21 + k (x2 x1 )2 m g x2 ,
2
2
77
0,
= m g.
Problem 93:
For the system shown in the figure:
k2
k1
m2
m1
k3
m3
k3
Solution:
We choose the coordinates (x1 , x2 , x3 ), which represent the positions of the three masses.
a) To determine the stiffness matrix, we use the stiffness influence coefficients. Maintaining
a unit displacement of each mass in turn requires forces of the form:
(x1 , x2 , x3 )
(x1 , x2 , x3 )
(x1 , x2 , x3 )
=
=
=
(1, 0, 0)
(0, 1, 0)
(0, 0, 1)
f
f
f
=
=
=
(k1 + k2 , k2 , 0)T ,
(k2 , k2 + 2k3 , 2k3 )T ,
(0, 2k3 , 2k3 )T .
k1 + k2
k2
0
k2 + 2k3 2k3
K = k2
0
2k3
2k3
Alternatively, we can define the potential energy of the system as:
V
=
=
1
1
1
(k1 )(x1 )2 + k2 (x2 x1 )2 + (2k3 )(x3 x2 )2 ,
2
2
2
1
1
1
2
(k1 + k2 )(x1 ) (2k2 )(x1 x2 ) + (k2 + 2k3 )(x2 )2
2
2
2
1
1
(2k3 )(x2 x3 ) + (2k3 )(x3 )2 ,
2
2
1
1
1
m1 x 21 + m2 x 22 + m3 x 23 .
2
2
2
m1
M = 0
0
78
0
m2
0
0
0
m3
b) With this choice of coordinates, the mass matrix is diagonal and the stiffness matrix
contains nonzero off-diagonal terms. Thus, the system is statically coupled but dynamically uncoupled.
Problem 94:
The two-degree-of-freedom system shown is
subject to a harmonic force applied to the
block of mass 2m, of the form:
f (t) = (2 sin(t))N .
f (t)
2m
k
If the system is subject to proportional damping with = 0.25, m = 2kg, and k = 4N/m,
find:
2m
k
79
Problem 95:
In the multi-degree-of-freedom system shown
in the figure, the block with mass 4m slides
on a smooth, frictionless surface. If the pulley
is massless:
x1
2k
k
4m
x2
2m
c) find the general solution to these equations for the above values of m and k.
Solution:
a) We identify the three coordiantes x1 , x2 , and z, with
z = x2 x1 .
Measuring the response from static equilibria and neglecting the gravitational potential
energy, the kinetic and potential energies for this system can be written as
T
1
1
4 m x 21 +
2 m x 22 ,
2
2
1 2
1
2 k x21 +
k z ,
2
2
2
1
1
1
1
1 2
2 k x21 +
k x2 x1 =
3 k x21 +
2 k x1 x2 +
k x2 .
2
2
2
2
2
0,
0,
or in matrix form
m
4
0
0
2
x
1
x
2
+k
3
1
1
1
x1
x2
= 0.
1
1
m
m
2
2
80
= 2 + = 0,
4
2
8
4
4
with the solution
53
=
8
= =
k
k
,
4m m
Returning this to the eigenvalue problem, the mode shapes are defined by the equation
3
1
ui1 ui2 = i ui1 ,
4
4
so that
ui =
1
3 4 i
ci
u1 =
1
2
c1 ,
u2 =
0
2m
1
1
c2 .
1
(3 4 i )
Solving for ci
ci =
1
2 m (2 + (4 i 3)2 )
c1 =
2 =
1
, c2 =
12 m
k
,
m
u2 =
"
1
6m
1
6m
61 m
c) With the above mode shapes and natural frequencies the general solution becomes
2
X
x1 (t)
q(t) =
(Ai sin(i t) + Bi cos(i t)) ui ,
=
x2 (t)
i=1
#
!
!! "
r
r
1
k
k
12
m
=
A1 sin
t + B1 cos
t
2
4m
4m
12 m
!
!! "
#
r
r
1
k
k
6m
+ A2 sin
t + B2 cos
t
.
61 m
m
m
Problem 96:
For the system shown in the figure:
a) find the mass and the stiffness matrices;
k3
k1
m1
81
k2
m3
k1
m2
Solution:
a) For coordinates we choose (x1 , x2 , x3 ) as the displacements of each mass with respect
to inertial space. Using influence coefficients, we find that:
m1 0
0
k1 + k2
k2
0
k1 + 2k2 k2
M = 0 m2 0 ,
K = k2
0
k2
k2
0
0 m3
Alternatively, if we choose coordinates (x1 , x2 , z), where z represents the stretch in the
spring connecting m2 and m3 , we can determine the mass and stiffness matrices from
the Lagrangian. The kinetic and potential energies are:
T
1
1
1
m1 x 21 + m2 x 22 + m3 (x 2 x 3 )2 ,
2
2
2
1
1
1
1
2
k1 x1 + k2 (x2 x1 )2 + k2 z 2 + k1 x22 .
2
2
2
2
Thus, with these coordinates the mass and stiffness matrices become:
k1 + k2
k2
m1
0
0
k1 + k2
K = k2
M = 0 m2 + m3 m3 ,
0
0
0
m3
m3
0
0
k2
b) With the first choice of coordinates, the mass matrix is diagonal while the stiffness
matrix is not, the system is statically coupled but dynamically uncoupled. With the
latter coordinates neither matrix is diagonal so that the system is both statically and
dynamically coupled.
Problem 97:
In the system shown to the right, the pulley
has mass m and radius r, so that the moment
2
of inertia about the mass center is IG = mr
2 .
r
2
m
m
k
Solution:
a) Let the displacement of the left block, disk, and right block be described as (x1 ),
and (x2 ) respectively. Although x1 and are related by the following constraint:
( k),
x1 =
82
r
,
2
x2 is independent from the above two coordinates. Therefore, the system has two
degrees-of-freedom.
b) With the above coordinates, the kinetic and potential energies can be written as:
T
1
1 mr2 2
1
mx 21 + mx 22 +
,
2
2
2 2
1 2 1
kx + k(x2 r)2 ,
2 1 2
Thus, using the above kinematic constraint to eliminate , the Lagrangian becomes:
L
= T V,
1
1 2
=
m 3x 1 + x 22 k 5x21 4x1 x2 + x22 .
2
2
=
=
0,
0.
c) From the above equations, the mass and stiffness matrices can be written as:
3 0
5 2
M =m
,
K=k
0 1
2 1
The characteristic matrix, A = M 1 K becomes:
5
k
23
3
A=
,
m 2 1
and the characteristic equation can be written as:
2
1
8
+ = 0,
3
3
k
where, if is a solution to this equation, = m
is an eigenvalue of the characteristic
matrix A. This quadratic equations has solutions of the from:
4 13
=
.
3
13
2
83
for
13
.
3
u
(u, u)M
=p
Problem 98:
For the system shown in the figure, the surface is assumed to be frictionless. If each
block is displaced by a distance d (down and
to the right), find the resulting motion of the
system.
u
3u21 + u22
x1
(m, r)
k
m
k
m
Solution:
We define the coordinates x1 , x2 , , and z as shown in the figure, so that
x1 = r ,
z = r x2 .
With these coordinates, the kinetic and potential energies can be written as
2 1 m r2
1
1
2 +
m x 1 +
m x 22 ,
T =
2
2
2
2
1 2 1 2
k x1 +
k z .
V=
2
2
Expressing these only in terms of the coordinates x1 and x2 , we obtain
1 3m
1
T =
x 21 +
m x 22 ,
2
2
2
1
1
1 2
1 2 1
2
k x1 +
k (x1 x2 ) =
2 k x21 +
2 k x1 x2 +
k x2 .
V=
2
2
2
2
2
Therefore, the mass and stiffness matrix can be identifed as
3
2 1
x1 (t)
0
2
M =m
,
K=k
with q(t) =
1 1
x2 (t)
0 1
and the equations of motion are:
3
x
1
2 1
x1
0
+k
= 0.
m 2
x
2
x2
1 1
0 1
84
x2
The solution to this equation requires the solution of an eigenvalue problem of the
form
4 2
k
1
3
3
u = u,
(M K) u =
m 1 1
which is determined from the characteristic equation
4
2
k
1
= 0,
(1 )
det M K I =
m
3
3
with =
k
m
With this, the eigenvectors are determined by returning to the original eigenvalue equation
4 2
3 i 4
ui1
ui1
3
3
, ui2 =
= i
ui1
ui2
ui2
1 1
2
In addition, normalizing the eigenvectors by the mass matrix
3m 0
6 + (3 i 4)2
ui1
2
.
1 = uTi M ui = ui1 ui2
= m u2i1
ui2
0 m
4
Solving for ui1 the normalized eigenvectors are
"
#
u1 =
2
15 m
3
15
m
u2 =
"
2
10 m
2
10 m
2
X
i=1
Ai sin(i t) + Bi cos(i t) ui
d
d
q(0)
=
0
0
Bi ,
uTi M q(0)
= uTi M ui
(Ai i ).
Since uTi M ui = 1 from our normalization, the constants are directly solved to be
r
r
m
m
A1 = 0, B1 = 6 d
,
A2 = 0, B2 = d
15
10
85
Problem 99:
The two-degree-of-freedom system shown is
subject to a harmonic force applied to the
block of mass 2m, of the form:
f (t)
m
2m
f (t) = (2 sin(t) N) .
x1
2k
z
x2
5
1
= 2 4 + = 0.
2
2
3
( 8 3) k ( 8 + 3) k
2
.
,
,
=
=2
2
2m
2m
Returning to the eigenvalue equation, the eigenvectors satisfy the equation
ui1
1
ui2 = i ui1
2
86
ui2 = 2 (1 i ) ui1
so that
s
( 8 3) k
1
,
1 =
, u1 =
62
2m
s
( 8 + 3) k
1
2 =
.
, u2 =
( 6 + 2)
2m
For each eigenvector the kinetic energy inner product is
uT1 M u1 = 14 4 6,
uT2 M u2 = 14 + 4 6,
Finally, the modal equation for the first mode can be
1 + uT K u1 Q1
uT1 M u1 Q
1
1 + 2 Q1
Q
1
3) k
1 + ( 8
Q1
Q
2m
written as
= uT1 f (t),
=
=
uT
1 f (t)
,
uT
1 M u1
f (t)
,
144 6
,
Q2 = 14+4
Q
2m
6
4.2
Unsolved Problems
Problem 100:
For the system shown to the right the block
on the left is wrapped around an inner hub.
k1
a) Find the equations of motion using Lagranges equations (you may neglect
gravity or equivalently assume that all
coordinates are measured from static
equilibrium);
r2
c1
m = 10kg,
r1 = 10cm,
k1 = 400N/m,
r1
k2 = 200N/m,
find the mode shapes and natural frequencies for this system;
k2
f (t)
c2
Problem 101:
For the mechanical system shown to the
right, the uniform rigid bar with mass m
and length is supported by identical springs
while a block of mass 2 m is suspended from
the bar. For this system find the equations
of motion in terms of x, z, and .
k
k
m,
m
Problem 102:
For the mechanical system shown to the
right, the uniform rigid bar has mass m,
length and is pinned at point O while the
block is suspended with a spring from B.
Find the equations of motion for this system
in terms of and x. Assume that the system
is in static equilibrium at = 0, and that all
angles remain small.
O
m
k
2
3
Problem 103:
For the system shown to the right
a) use Lagranges equations to determine
the equations of motion;
F (t)
m
2k
88
4m
k
(4
m
,d
Problem 104:
For the system shown to the right
a) find the equations of motion;
b) are your equations statically coupled,
dynamically coupled, both or neither?
2 d)
(m,
f (t)
m
2k
Problem 105:
For the system shown to the right
a) use Lagranges equations to determine
the equations of motion;
k
4k
b) find the mode shapes and natural frequencies of the system. Normalize the
mode shapes so that uT M u = 1.
3m
k
k
m
89
Problem 106:
For the system shown to the right the bar
of length is massless and the block on the
right is subject to a time-dependent force of
the form
k
k
The intermediate springs are located a distance 2 from the center of the bar.
x2
x1
m
m
G
m,
F0 sin( t)
m
b) for = = 2, find the natural frequencies and mode shapes of the system and
normalize the mode shapes by M ;
c) determine the equations of motion that
describe the response of each mode.
90
m
k
Problem 109:
For the system shown at right:
k2
k1
k1
m1
m1
k2
m2
Problem 110:
In the system shown to the
and stiffness matrix are:
m1 0
M =
0 m2
k1 + k2
K =
k2
k2
k2
m2 = 1.0kg,
k2 = 2.0N/m,
= 0.1,
= 0.1
k
4m
(m, r)
b) Find the mode shapes and natural frequencies of the resulting motion.
91
Problem 112:
The multi-degree-of-freedom system shown in
the figure is subject to harmonic forcing of
the form f (t) = sin(4 t).
k
2k
2k
2 = 2.62rad/s,
3 = 1.41rad/s.
m
Find
the
corresponding
mode
shapes and normalize them so that
(ui , ui )M = 1.
m
f (t)
c) Determine the forced, uncoupled equations of motion for the modal amplitudes Qi (t).
Problem 113:
For the mechanical system shown to the
right, the uniform rigid bar with mass m
and length is supported by identical springs
while a block of mass 2 m is suspended from
the bar. For this system
k
k
G
m,
1 = 15.65rad/s, 2 = 48.48rad/s,
3 = 77.50rad/s,
find the corresponding mode shapes for
this system;
92