Documente Academic
Documente Profesional
Documente Cultură
CHAPTER
19
DYNAMICS
Ferdinand P. Beer E. Russell Johnston, Jr. Lecture Notes: J. Walt Oler Texas Tech University
Mechanical Vibrations
Seventh Edition
19 - 2
Seventh Edition
Seventh Edition
m x + kx = 0
General solution is the sum of two particular solutions, k k x = C1 sin m t + C 2 cos m t
= C1 sin ( n t ) + C 2 cos ( n t )
x is a periodic function and n is the natural circular frequency of the motion. C1 and C2 are determined by the initial conditions:
C 2 = x0 C1 = v 0 n
19 - 4
Seventh Edition
C 2 = x0
Displacement is equivalent to the x component of the sum of two vectors which rotate with constant angular velocity n.
C1 + C 2
x = xm sin ( n t + )
xm =
2 (v0 n )2 + x0 = amplitude
n =
fn =
n
1
= period
=
n = natural frequency 2
19 - 5
Seventh Edition
x = x m sin ( n t + )
v=x = xm n cos( n t + ) = xm n sin ( n t + + 2)
a=x
2 = xm n sin ( n t + ) 2 = xm n sin ( n t + + )
19 - 6
Seventh Edition
g + =0 l = m sin ( n t + )
n =
2003 The McGraw-Hill Companies, Inc. All rights reserved.
= 2
l g
19 - 7
Seventh Edition
g + sin = 0 l
l 2 d n = 4 g 0 1 sin 2 ( 2 ) sin 2 m
2K n = 2
l g
19 - 8
Seventh Edition
A 50-kg block moves between vertical guides as shown. The block is pulled 40mm down from its equilibrium position and released. For each spring arrangement, determine a) the period of the vibration, b) the maximum velocity of the block, and c) the maximum acceleration of the block.
2003 The McGraw-Hill Companies, Inc. All rights reserved.
19 - 9
Seventh Edition
n = n =
P = k1 + k2 k= P
n = 0 .444 s
= k1 + k2
vm = 0.566 m s
= 10 kN m = 10 N m
2 am = x m an
am = 8.00 m s 2
19 - 10
Seventh Edition
n = n =
k = m 2
n = 0 .907 s
vm = x m n
P = k1 + k2 k= P
vm = 0.277 m s
= k1 + k2
= 10 kN m = 104 N m
am = 1.920 m s 2
19 - 11
Seventh Edition
Analysis objective is to determine n. Consider the oscillations of a square plate W (b sin ) = (mb ) + I
1 m (2b )2 + (2b )2 = 2 mb 2 , W = mg but I = 12 3
3g 3g + sin + =0 5b 5b 3g 2 5b then n = , n = = 2 5b 3g n
For an equivalent simple pendulum, l = 5b 3
2003 The McGraw-Hill Companies, Inc. All rights reserved.
19 - 12
Seventh Edition
19 - 13
Seventh Edition
a = r = r
a = r
Based on a free-body-diagram equation for the equivalence of the external and effective forces, write the equation of motion. M A = (M A )eff : Wr T2 (2 r ) = m a r + I
but T2 = T0 + k = 1 W + k (2 r ) 2
Substitute the kinematic relations to arrive at an equation involving only the angular displacement and acceleration.
Wr
1 mr 2 (1 ) ( ) ( ) + = + W 2 kr 2 r m r r 2 2
8k =0 3m
3m n = = 2 n 8k 2
8k n = 3m
2003 The McGraw-Hill Companies, Inc. All rights reserved.
fn =
n 1 8k = 2 2 3m
19 - 14
Seventh Edition
n = 1.13 s
n = 1.93 s
The disk and gear undergo torsional vibration with the periods shown. Assume With natural frequency and spring constant that the moment exerted by the wire is known, calculate the moment of inertia for proportional to the twist angle. the gear. Determine a) the wire torsional spring constant, b) the centroidal moment of inertia of the gear, and c) the maximum angular velocity of the gear if rotated through 90o and released.
2003 The McGraw-Hill Companies, Inc. All rights reserved.
With the natural frequency and moment of inertia for the disk known, calculate the torsional spring constant.
Apply the relations for simple harmonic motion to calculate the maximum gear velocity.
19 - 15
Seventh Edition
W = 20 lb
n = 1.13 s
n = 1.93 s
n =
K I
n =
= 2
I K
With the natural frequency and moment of inertia for the disk known, calculate the torsional spring constant.
1 20 8 2 2 I =1 mr = = 0 . 138 lb ft s 2 2 32 .2 12
1.13 = 2
2003 The McGraw-Hill Companies, Inc. All rights reserved.
0.138 K
K = 4.27 lb ft rad
19 - 16
Seventh Edition
W = 20 lb
n = 1.13 s
n = 1.93 s
Apply the relations for simple harmonic motion to calculate the maximum gear velocity.
= m sin n t
= m n sin n t
m = m n
m = 90 = 1 .571 rad
m = m
2 2 ( ) = 1 . 571 rad 1.93 s n
n =
K I
n =
= 2
I K
m = 5.11rad s
K = 4.27 lb ft rad
19 - 17
Seventh Edition
2 1 Wb m 2
2 1 2 T2 = 1 m v I + m 2 m 2 1 ( ) =1 m b + m 2 2 2 2 2 (2 ) m mb 3
V2 = 0
=1 2
2 2 (5 ) m mb 3
T1 + V1 = T2 + V2
2 1 5 mb 2 2 2 + 0 0+ 1 Wb = m m n 2 2 3
2003 The McGraw-Hill Companies, Inc. All rights reserved.
n = 3 g 5b
19 - 18
Seventh Edition
Determine the period of small oscillations of a cylinder which rolls without slipping inside a curved surface.
19 - 19
Seventh Edition
T1 + V1 = T2 + V 2
T1 = 0
V1 = Wh = W ( R r )(1 cos )
2 W (R r ) m 2
2 1 I 2 T2 = 1 m v + m 2 m 2 2 1 1 mr 2 R r 2 ( ) =1 + m R r m m 2 2 2 r
V2 = 0
2 2 ( ) =3 m R r m 4
19 - 20
Seventh Edition
T1 = 0
2 2 ( ) T2 = 3 m R r m 4
2 V1 W ( R r ) m 2
V2 = 0
T1 + V1 = T2 + V2
0 + W (R r )
2 m
2
2 m
2 2 ( ) =3 m R r m + 0 4 2 2 ( ) ( ) =3 m R r m n m 4
(mg )(R r )
2 n
2003 The McGraw-Hill Companies, Inc. All rights reserved.
2 g = 3 Rr
3 Rr = 2 n = 2 g n
19 - 21
Seventh Edition
F = ma :
Pm sin f t + W k ( st + x ) = mx mx + kx = Pm sin f t
2003 The McGraw-Hill Companies, Inc. All rights reserved.
W k st + x m sin f t = mx mx + kx = k m sin f t
19 - 22
Seventh Edition
m x + kx = Pm sin f t m x + kx = k m sin f t
At f = n, forcing input is in resonance with the system.
2003 The McGraw-Hill Companies, Inc. All rights reserved.
19 - 23
Seventh Edition
Seventh Edition
n =
19 - 25
Seventh Edition
Pm = man = mr 2
6 (125.7 )2 = 15.33 lb = (0.001941) 12
n = 57.5 rad/s
( )
)2
xm =
1 f n
Pm k
= 0.001352 in
xm = 0.001352 in. (out of phase)
19 - 26
Seventh Edition
F = ma :
W k ( st + x ) cx = m x m x + cx + kx = 0
m 2 + c + k = 0
c k c = 2m m 2m
k cc =0 m 2m
2003 The McGraw-Hill Companies, Inc. All rights reserved.
k cc = 2 m = 2m n m
19 - 27
Seventh Edition
m 2 + c + k = 0
c k c = 2m m 2m
x = C1e 1t + C 2 e 2t
Critical damping: c = cc
x = (C1 + C 2 t ) e n t
d = n 1 c = damped frequency c
2003 The McGraw-Hill Companies, Inc. All rights reserved.
19 - 28
Seventh Edition
m x + cx + kx = Pm sin f t xm x = m = Pm k tan =
[1 (
( )
2
n )
2 2
] + [2(c c )(
c
n )]2
2(c c c ) f n 1 f n
Seventh Edition
19 - 30
Seventh Edition
19 - 31
Seventh Edition
m2 x2 + c2 ( x2 x1 ) + k 2 ( x2 x1 ) = Pm sin f t
For the electrical system, q1 q1 q 2 L1q1 + R1 (q1 q 2 ) + + =0 C1 C2 q q L2 q2 + R2 (q2 q1 ) + 2 1 = Em sin f t C2 The governing equations are equivalent. The characteristics of the vibrations of the mechanical system may be inferred from the oscillations of the electrical system.
2003 The McGraw-Hill Companies, Inc. All rights reserved.
19 - 32