12

CHAPTER 1

dependent variable: call it n. Then count the number of basic dimensions involved in the variables; call it r. Then you need n r dimensionless variables or groups. If n 6 and n 3 there are three groups, and the relation has a non-dimensional form of p1 = f (p2, p3)
(1.4)

where 1 is a dimensionless group of parameters involving the dependent variable and 2 and 3 are dimensionless groups that involve only the independent parameters. Usually, the dimensionless parameters have physical meaning. For example, in fluid mechanics when it is desired to find the drag force acting on an airfoil, it is proposed that D = f (v, L, r, m, c)
(1.5)

where D is the drag force, v is the velocity of the flow, L is the length of the airfoil, is the mass density of the fluid, is the viscosity of the fluid, and c is the speed of sound in the fluid. There are six variables which involve three dimensions. Thus, the Buckingham Pi theorem yields a formulation involving three groups. The result is CD = f (Re, M ) where the drag coefficient is D 1 2 rv L 2 the Reynolds number is CD = Re =
(1.7) (1.6)

rvL (1.8) m and the Mach number is v M = (1.9) c The drag coefficient is the ratio of the drag force to the inertia force, the Reynolds number is the ratio of the inertia force to the viscous force, and the Mach number is the ratio to the velocity of the flow to the speed of sound. Dimensional analysis also can be used when a known relationship exists between a single dependent variable and a number of dimensional variables. The algebra leads to a relationship between a dimensionless variable involving the dependent parameter and nondimensional variables involving the independent parameters.
EXAMPLE 1.2

A dynamic vibration absorber is added to a primary system to reduce its amplitude. The absorber is illustrated in Figure 1.9 and studied in Chapter 6. The steady-state amplitude of the primary system is dependent upon six parameters: m1, the mass of the primary system m2, the absorber mass k1, the stiffness of the primary system k2, the absorber stiffness F0, the amplitude of excitation , the frequency of excitation

16

CHAPTER 1

(d) The frequency in rad/s is v = 2pf = 30 rad/s (e) The frequency in revolutions per minute is v = a 20 rad 1 rev 60 s b a b a b = 191.0 rpm s 2p rad 1 min 0.003 b = 0.643 rad 0.004

(e) (f)

(f ) The phase angle is f = tan -1 a

(g) (h)

(g) Written in the form of Equation (1.12), the response is x (t) = 0.005 sin(30t + 0.643) m

1.7 REVIEW OF DYNAMICS

A brief review of dynamics is presented to familiarize the reader with the notation and methods used in this text. The review begins with kinematics of particles and progresses to kinematics of rigid bodies. Kinetics of particles is presented, followed by kinetics of rigid bodies undergoing planar motion.

1.7.1 KINEMATICS
The location of a particle on a rigid body at any instant of time can be referenced to a fixed cartesian reference frame, as shown in Figure 1.11. Let i, j, and k be unit vectors parallel to the x, y, and z axes, respectively. The particles position vector is given by r = x (t)i + y (t)j + z(t)k from which the particles velocity and acceleration are determined v = a = dr # # # = x (t)i + y (t)j + z (t)k dt dv $ $ $ = x (t)i + y (t)j + z (t)k dt
(1.20) (1.21) (1.19)

r = xi + yj + zk j i

p(x, y, z)

FIGURE 1.11

Illustration of the position vector for a particle in three-dimensional space.

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FIGURE 1.21

CHAPTER 1

(a) The analysis of a machine placed on a floor in an industrial plant is one of the benchmark problems. (b) The problem has been idealized as a machine mounted on a fixed-pinned beam. (c) SODF model of mass on beam accounting for inertia effects of beam. (d) A two degreeof-freedom model of the machine when a vibration isolator is placed between the machine and the beam.

Floor Machine

Machine w1430 steel beam

(a)

(b)

Machine Equivalent stiffness of beam

Machine and equivalent mass of beam

Beam

(c)

(d)

moment of inertia of 291 in4. The beams weight per unit foot is 30 lb. Steel has an elastic modulus of 30 106 psi. The basic model is that of a machine on an elastic beam. Initially, the beam is modeled as a mass-less spring whose stiffness is calculated from static-beam deflection theory. The inertia of the spring is then taken into account by calculating an equivalent mass for the beam such that its kinetic energy is approximately that of the kinetic energy of a particle lumped at the location of the machine. This model is shown in Figure 1.21(c). In Chapter 3, the natural frequency of the system is calculated, and the free response of the system is examined when subject to an impulsive load. First, the beam is modeled without damping. Then the hysteretic damping is modeled by an equivalent viscous damping model. The machine develops a harmonic force while operating and the steady-state vibrations of the beam are examined. Then the beam is assumed to be rigid, and a vibration isolator is designed to protect the beam from large forces generated during operation of the machine. The machine could be subject to a harmonic excitation (Chapter 4) or an impulsive loading (Chapter 5). The inertia of the beam is lumped at the location of the mass and a two-degree-offreedom system is assumed as shown in Figure 1.21(d). Natural frequencies of the two degree-of-freedom system are determined, and the forced response is calculated (Chapter 6). The same vibration isolator designed for the rigid beam is placed between the machine and the beam, a multiple degree-of-freedom model is assumed (Chapter 7), and the natural frequencies and mode shapes are calculated (Chapter 8). Then the performance of the vibration isolator is evaluated (Chapter 9). A continuous system model is described in Chapter 10, when natural frequencies are approximated using the Rayleigh-Ritz method. The forced response is obtained by a finiteelement method in Chapter 11.

1.8.2 SUSPENSION SYSTEM FOR A GOLF CART

The design of a suspension system for an automobile is complicated. Some models require up to eighteen degrees of freedom. The suspension system must be able to handle a wide variety of road contours. Suspension system performance is often analyzed using random vibration theory. Thus, a complete analysis is beyond the scope of this book. The focus is