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M X + D X + K X = F ( t ) (1)
X M X dX + X D X dX + X K X dX = X F ( t ) dX (2)
1 1 1 1
= d X , X = d X
X
The acceleration and velocity are defined as dt dt
,
respectively. Using these definitions, write Eq. (2) as:
t2 t2 X2 X2
d X dX dX 1
t1
M
dt d t
dt + D X
t
d t
dt +
X1
K d X 2 =
2 X1
F ( t ) dX
1
or,
t2 t2 X2 X2
d X 1
t
M
dt t
X dt + D X X dt +
X
K d X 2 =
2 X F ( t ) dX
1 1 1 1
(3)
X 2 t2 X2 X2
1 1
X
2 t
M d X 2 + D X X dt +
X
K d X 2 =
2 X F ( t ) dX
1 1 1 1
t2 X2
1 1
2 t
M ( X 22 X 12 ) + D X 2 dt + K ( X 22 X 12 ) = F ( t ) dX
2 X
(4)
1 1
W1 2 = F ( t ) dX
X1
(5.c)
t1
E v1 2 = D X 2 dt = v dt
t1
(5.d)
(T 2
) ( )
T1 + V2 V1 + Ev12 = W1 2 (6)
Note that Eq. (1) and Eq. (6) are NOT independent. They actually
represent the same physical concept. Note also that Eq. (6) is not to
One can particularize Eqn. (6) for the initial time t0 with initial
displacement and velocities given as ( X 0 , X 0 ) , and at an arbitrary
time (t) with displacements and velocities equal to ( X ( t ), X ( t )) ,
respectively, i.e.,
(T + V ) + E
t t vt = Wt + T0 + V0 (7)
t X(t )
1 1 1 1
2
M X (2t ) + K X (2t ) +
2
t0
D X 2 dt =
X0
F ( t ) dX + M X 02 + K X 02
2 2
(8)
Note that the last two terms in the right hand side of equation (8)
are constant and represent the initial state of (kinetic + potential)
energy of the system.
d 1
t X(t )
1 1 1
d t 2
M X (2t ) + K X (2t ) +
2 D X 2 dt = F ( t ) dX + M X 02 + K X 02
2 2
t0 X0
(9)
2 dX ( t ) 2 dX ( t ) dX ( t )
M X(t ) + K X(t ) + D X 2 = F ( t )
2 dt 2 dt dt
Since for most times the velocity is different from zero, i.e. system
is moving; then
M X + D X + K X = F ( t ) (1)
Suggestion/recommended work:
Rework the problem for a rotational (torsional) mechanical system
and show the equivalence of conservation of mechanical energy to
the principle of angular
momentum, i.e. start with the
following Eqn.
I + D + K = T ( t )
where (I, D, K) are the equivalent
mass moment of inertia, rotational
viscous damping and stiffness
coefficients, T(t)=Text is an applied
external moment or torque, and (t) is the angular displacement of
the rotational system.