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k, , Ls
mb
Lp
mp
Figure D-1.
1 2
PE kx mp g Lp (1 cos ) (D-1)
2
1 1 1
KE mb x& 2 x& 2 Ls mp ( Lp & x& )2 (D-2)
2 6 2
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Apply the energy method.
d 1 2 1 1 1
mb x& x& 2 Ls mp ( Lp & x& )2 kx 2 mp g Lp (1 cos ) 0
dt 2 6 2 2
(D-3)
1
mb x& &x& x& &x& Ls mp ( Lp & x& )( Lp && &x& ) kx x& mp g Lp (sin )& 0
3
(D-4)
1
mb x& &x& x& &x& Ls mp Lp 2 & && mp Lp & &x& mp Lp &&x& mp x& &x&
3
kx x& mp g Lp (sin ) & 0
(D-5)
Thus,
1
mb x& &x& x& &x& Ls mp Lp 2 & && mp Lp & &x& mp Lp &&x& mp x& &x&
3
kx x& mp g Lp & 0
(D-7)
1
mb &x& &x& Ls mp Lp && mp &x& kx x&
3
mp Lp2 && mp Lp &x& mp g Lp & 0
(D-8)
10
Equation (D-8) can be separated into two equations
1
mb &x& &x& Ls mp Lp && mp &x& kx x& 0
3
(D-9)
And
mp Lp2 && mp Lp &x& mp g Lp & 0
(D-10)
1
mb &x& &x& Ls mp Lp && mp &x& kx 0 (D-11a)
3
1
mb mp Ls &x& mp Lp && kx 0 (D-11b)
3
And
mp Lp2 && mp Lp &x& mp g Lp 0 (D-12a)
1
mb mp 3 Ls mp &x& k 0 x 0
1 1 && Lp 0 g 0
(D-13)
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Alternate Form
Again, the energy method can be used to derive the equation of motion. The following
form can be used if the natural frequency is the only parameter of interest.
Conclusion
The energy method is suitable for reasonably simple systems.
The energy method may be inappropriate for complex systems, however. The reason is
that the distribution of the vibration amplitude is required before the kinetic energy
equation can be derived. Prior knowledge of the mode shapes is thus required.
The Lagrange method is better suited for complex systems, as discussed before.
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