Chapter 03

Lobontiu: System Dynamics for Engineering Students
Solutions: Chapter 3 1
SOLUTIONS TO CHAPTER 3 PROBLEMS

Problem 3.1
According to Table 3.1 and given the examples specification, it follows that:

33 13
140 35
c b
m m = (P3.1)
where the subscripts c and b refer to cantilever and bridge, respectively. The mass of the
bridge is therefore related to the mass of the cantilever as:
0.635
b c
m m = (P3.2)
which results in:
0.635
b b c c
l w l w = (P3.3)
where l and w are length and width. As shown in Appendix D, the mass moments of
inertia of the two members are:

( ) ( )
2 2 2 2
;
12 12
c c b b
c b
m w h m w h
J J
+ +
= = (P3.4)
Table 3.1 shows that the equivalent mass moments of inertia for both a cantilever and a
bridge about their relevant points are equal to 1/3 of the corresponding mass moments of
inertia. On the basis of Eq. (P3.3), equality of the two equivalent mass moments of inertia
requires:

( ) ( )
2 2 2 2
1 1
3 12 3 12
c c b b
m w h m w h + +
= (P3.5)
Taking into account that the two masses are:
;
c c c b b b
m l w h m l w h = = (P3.6)
in combination with Eqs. (P3.3) and (P3.5) results in:

2 2
1.255 0.365
b c
w w h = + (P3.7)
Provided Eq. (P3.6) is satisfied, it is possible that the cantilever and the bridge have
identical equivalent mass moments of inertia with respect to their relevant points (free
end point for the cantilever and midpoint for the bridge).

Problem 3.2
The mass contribution from the four fixed-guided beams is calculated as:

( )
, , , ,
2 2 3 6
e e long e short e short e short
m m m m m = + = = (P3.1)
where m
e,long
, the equivalent mass of a long beam, is twice the equivalent mass of a short
beam, m
e,short
, because the lengths of the two beams are in the same relationship, all other
mass parameters being identical. According to Table 3.1, the equivalent mass of a short
fixed-guided beam is:

2
, 1
13
35 4
e short
d
m l =

(P3.2)
Combination of Eqs. (P3.1) and (P3.2) leads to:

2
1
39
70
e
m d l = (P3.3)
The total moving mass adds the beam contributions to the actual mass of the plate, which
yields:

2 2 2
1 1
39 39
(5 ) 5
70 70
t plate e
m m m l d d l d l dl
| |
= + = + = +
|
\ .
(P3.4)
Taking into account that m
e
=0.1 m
t
leads to:
0.1 or 0.9
t plate t plate t
m m m m m = + = (P3.5)
Combining now Eqs. (P3.4) and (P3.5) yields:

2
1
0.3174 dl l = (P3.6)
which indicates that the beams diameter d and length l
1
are related to the plate
dimension l. As a consequence, once l is specified, either the beam diameter or the beam
length can be selected; the other dimension has to be determined by using Eq. (P3.6).

Problem 3.3
The equivalent stiffness of the original bridge is determined based on Table 3.2 as:

2 4
2
p p
GI GI
k
l l
= = (P3.1)
because the two equivalent end springs act in parallel with respect to the bridge center.
The equivalent stiffness of the cylinder-bridge system results from the two end torsional
springs, each of length (l l
c
)/2, which are connected in parallel, namely:

4
' 2
2
p p
c
c
GI GI
k
l l
l l
= =

(P3.2)
The following stiffness ratio can be formulated by means of Eqs. (P3.1) and (P3.2):

' 1
1 /
c c
k l
k l l l l
= =

(P3.3)
Figure P3.1 shows the variation of the stiffness ratio in terms of the length ratio l
c
/l.
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
1
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
2
l
c
/l
s
t
i
f
f
n
e
s
s

r
a
t
i
o

Figure P3.1 Stiffness ratio as a function of the length ratio

The original equivalent mass moment of inertia with respect to the bridge midpoint is
calculated by means of Table 3.1:

4 4
1
3 3 32 96
e
J d d l
J l = = =

(P3.4)
After the addition of the cylinder, the equivalent mass moment of inertia is the sum of the
actual cylinder mass moment of inertia and the equivalent mass moments of inertia
corresponding to the two end elastic segments, namely:

( )
4 4
'
/ 2
1
2
32 3 32
c c c c
e
d l l d l
J

= +

(P3.5)
The ratio of the two equivalent mechanical moments of inertia is obtained from Eqs.
(P3.4) and (P3.5):

'
4
3
1
c
e c c
e
c
l
J l
l
J l
d
d
= +
| |
|
\ .
(P3.6)
and the 3D plot of Fig. P3.2 illustrates the variation of this ratio.
0.2
0.3
0.4
0.5
0.2
0.3
0.4
0.5
0
200
400
600
800
1000
1200
l
c
/l
d/d
c
M
e
c
h
a
n
i
c
a
l

m
o
m
e
n
t

o
f

i
n
e
r
t
i
a

r
a
t
i
o

Figure P3.2 Mechanical moment of inertia ratio as a function of the length and diameter ratios

For l
c
/l =0.25 and d/d
c
=0.2, which are the particular values of the problem, the stiffness
ratio of Eq. (P3.3) becomes 1.33 and the inertia ratio of Eq. (P3.6) becomes 581.1. The
3D plot has been obtained by means of the following MATLAB
code (used after

specifying the numerical values of the mass densities) where X =l
c
/l and Y =d
c
/d:

>> [ X, Y] =meshgr i d( 0. 2: 0. 01: 0. 5) ;
>> Z=1- X+3*r hoc/ r ho*X. / Y. ^4;
>> mesh( X, Y, Z)

Similarly, the MATLAB
command:

>> ezmesh( ' 1- X+3*7800/ 6300*X/ Y^4' , [ 0. 2, 0. 5] , [ 0. 2, 0. 5] )

produces a similar plot.

Problem 3.4
For both the motion about the y direction and the motion about the z direction, the
lumped-parameter stiffness model is the one of Fig. P3.1.

Figure P3.1 Lumped-parameter stiffness model for the microspring of Fig. 3.29

The stiffnesses about the two directions are calculated as:

1 2
1 2
1 2 1 2
2 ; 2
y y
z z
y z
y y z z
k k
k k
k k
k k k k
= =
+ +
(P3.1)
where the stiffnesses of the flexible segments of length l
1
and l
2
(which are actually fixed-
guided beams) are determined based on Table 3.2 as:

3 3
3 3
1 2 3 3 3 3 3 3
1 1 1 2 2 2
3 3
3 3
1 2 3 3 3 3 3 3
1 1 1 2 2 2
12 12
12 12
12 12
;
12 12
12 12
12 12
;
z z
y y
y y
z z
w h w h
E E
EI EI Ew h Ew h
k k
l l l l l l
wh wh
E E
EI EI
Ewh Ewh
k k
l l l l l l
= = = = = =
= = = = = =
(P3.2)
In Eqs. (P3.2) w is the beams width (dimension in the plane of Fig. 3.29) and h is the
beams thickness. Substitution of Eqs. (P3.2) into Eqs. (P3.1) yields:

3 3
3 3 3 3
1 2 1 2
2 2
;
y z
Ew h Ewh
k k
l l l l
= =
+ +
(P3.3)
By using Eqs. (P3.3) in conjunction with the problem condition, which is k
y
=4k
z
, results
in w =2h; this indicates the width of the beams needs to be twice the beams thickness.
Numerically, the width is w =2 x 200 nm =400 nm. The lengths l
1
and l
2
can be chosen
arbitrarily.

y or z
k1
k2
k1
k2
Problem 3.5
The lumped-parameter model of the microspring of Fig. 3.30 is shown in Fig. P3.1.

Figure P3.1 Lumped-parameter stiffness model for the microspring of Fig. 3.30

The stiffness of this device is calculated by considering that the two springs of stiffness k
2

situated above the rigid connector (identified by the coordinate x) in Fig. P3.1 are coupled
in parallel; their resultant is also in parallel with each of the two spring series groups
formed of k
1
and k
2
that are situated underneath the rigid connector in Fig. P3.1. As a
consequence, the equivalent stiffness of the microspring is:

1 2
2
1 2
2 2
e
k k
k k
k k
= +
+
(P3.1)
where:

1 2
1 2 3 3
1 2
12 12
;
EI EI
k k
l l
= = (P3.2)
Substitution of Eq. (P3.2) in Eq. (P3.1), transforms the former equation in:

3
2 1 2
3 3 3
2 1 2 2 1
24
1
e
EI I l
k
l I l I l
| |
= +
|
+
\ .
(P3.3)
The moments of inertia of the two beams are:

4 4
1 2
1 2
;
64 64
d d
I I = =

(P3.4)
Using the numerical values of this problem, yields k
1
=1.4608 N/m, k
2
=2.6952 N/m,
and k
e
=7.285 N/m.

k2
k2
k2
k2
k1 k1
x
Problem 3.6
The lumped-parameter spring model of the device of Fig. 3.31(a) is shown in Fig.
P3.1(a), where the two identical springs act in parallel.

Figure P3.1 Lumped-parameter stiffness models for the microdevice shown in: (a) Fig. 3.31(a); (b) Fig.
3.31(b)

The stiffness of this device is therefore:

1
2
a
k k = (P3.1)
The two beams in Fig. 3.31(a) are fixed-guided and therefore their stiffness is the one
given in Table 3.2; as a consequence, the stiffness of Eq. (P3.1) is:

3 3
12 24
2
a
EI EI
k
l l
= = (P3.2)
The lumped-parameter spring model of the device of Fig. 3.31(b) is sketched in Fig.
P3.1(b), where two more identical springs are added to the original springs of Fig.
P3.1(a), as well as two other identical springs resulting from the two horizontal fixed-
fixed beams of Fig. 3.31(b). The six beams are connected in parallel and therefore the
equivalent stiffness is:

1 2
4 2
b
k k k = + (P3.3)
where k
2
is the stiffness of a fixed-fixed beam and is provided in Table 3.2. It follows
that:

3
432
b
EI
k
l
= (P3.4)
By comparing Eqs. (P3.2) and (P3.4) results in:

432
18
24
b
a
k
k
= = (P3.5)
k1
k1
k2
k1
k1
k1
k1
k2
(a) (b)
which indicates that the microdevice of Fig. 3.31(b) is 18 times stiffer than the
microdevice of Fig. 3.31(a).

Problem 3.7
The out-of-plane bending natural frequencies for a cantilever and for a bridge are:

, ,
, ,
, ,
;
e c e b
n c n b
e c e b
k k
m m
= = (P3.1)
where the c subscript denotes cantilever and the b subscript refers to bridge.
The better detection precision is offered by the mechanical member producing a
larger variation in the natural frequency after mass deposition, which also means a larger
variation in the square of the natural frequency; as such, the following ratio can be
formulated:

( )
( )
( )
( )
, ,
2
2 2 *
, , ,
, , , , ,
2 2
2 *
, ,
, , , ,
, ,
, ,
e c e c
n c n c n c
e c e c p e b p e c e b
e b e b
e b e c e c p n b
n b n b
e b e b p
k k
m m m m m k m
k k
k m m m
m m m

+ +
= = =
+

+

(P3.2)
where m
p
is the mass of the particle. Taking into account that:

, , 3 3
, ,
3 192
; ;
33 13
;
140 35
e c e b
e c e b
EI EI
k k
l l
m m m m
= =
= =
(P3.3)
where I is the beam cross-sectional moment of inertia and m is the beam mass, it follows
that:

( )
( )
2
,
,
2
, ,
13
13 13
35
33
528 528
140
p
n c
e b p
e c p n b
p
m m
m m
m m
m m
+
+
= =
+
+
(P3.4)
Equation (P3.4) can be written as:

( )
( )
2
,
2
,
13
13
35
33
528
140
m
n c
n b
m
c
c
+
(P3.5)
with

p
m
m
c
m
= (P3.6)
being the mass ratio. The ratio of Eq. (P3.5) is plotted in Fig. P3.1, which indicates that
n,b
>
n,c
, and therefore the bridge offers a better detection precision compared to the
cantilever.

0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
0.029
0.03
0.031
0.032
0.033
0.034
0.035
0.036
0.037
0.038
0.039
m
p
/m
(
n
,
c
)
2
/
(
n
,
b
)
2

Figure P3.1 Ratio of squared natural frequency ratio in terms of the mass ratio

Problem 3.8
The microbridge-mass system is sketched in Fig. P3.1 below.

Figure P3.1 Microbridge with midpoint deposited mass

In bending, the equivalent stiffness connected to the bridge midpoint is given in Table 3.2,
and for a rectangular cross-section whose moment of inertia is I
y
=wh
3
/12, the stiffness
is:

3
, 3 3
192
16
y
e b
EI
Ewh
k
l l
= = (P3.1)
The equivalent mass at the bridge midpoint is given in Table 3.1 and for the particular
rectangular cross-section is:

,
13
35
e b
m whl = (P3.2)
The original out-of-plane bending natural frequency is therefore:

,
,
,
e b
n b
e b
k
m
= (P3.3)
For the numerical values of this problem, Eqs. (P3.1), (P3.2) and (P3.3) yield: k
e,b
=608
N/m, m
e,b
=2.85 x 10
-9
kg,
n,b
=0.46167 x 10
6
rad/s. The altered bending frequency is
expressed as:

, *
,
e b
b
e b p
k
m m
=
+
(P3.4)
Taking into account that the variation in the bending frequency is:

*
, b n b b
= (P3.5)
Eqs. (P3.3), (P3.4) and (P3.5) enable expressing the deposited mass as:
x
l/2
l
w
z
b
w/2
y
mp

,
, 2
,
,
e b
p e b
e b
b
e b
k
m m
k
m
=
| |
|
|
\ .
(P3.6)
with a numerical value of m
p
=1.94 x 10
-12
kg.
A similar approach is applied to mass detection by torsion where the lumped-
parameter stiffness is expressed in Table 3.2 with the torsional moment of inertia given in
Appendix D for very thin cross-sections as I
t
=wh
3
/3:

3
,
4 4
3
t
e t
GI Gwh
k
l l
= = (P3.7)
The lumped mechanical moment of inertia is determined as in Table 3.1:

( )
2 2
,
1
3 36
e t
whl w h
J J
+
= =

(P3.8)
The original torsional natural frequency is therefore:

,
,
,
e t
n t
e t
k
J
= (P3.9)
Equations (P3.7), (P3.8) and (P3.9) give the numerical values: k
e,t
=2.22 x 10
-5
N-m, J
e,t

=8.55 x 10
-18
kg-m
2
,
n,t
=1.6112 x 10
6
rad/s. The modified torsional frequency is:

, *
2
,
e t
t
e t p
k
J m b
=
+
(P3.10)
The change in the torsional frequency is:

*
, t n t t
= (P3.11)
The parameter b can now be found through combining Eqs. (P3.9), (P3.10) and (P3.11)
as:

,
, 2
,
,
1
e t
e t
p
e t
t
e t
k
b J
m
k
J

(
(
(
=
(
| | (
|
(
|
(
\ .
(P3.12)
with a numerical value of b =22.7 m.

Problem 3.9
The rotation about the x axis can be lumped-parameter modeled as shown in Fig. P3.1
where the two end flexible bars behave as two torsional springs connected in parallel.

Figure P3.1 Lumped-parameter model for the x-axis rotation

The total stiffness results from the torsional springs and is based on Table 3.2, being
calculated as:

4
,
1 1
2
16
p
e t
GI
Gd
k
l l
= =

(P3.1)
where I
p
= d
4
/32 is the cross-sectional polar moment of inertia. The equivalent mass
moment of inertia contains contributions from the middle plate as well as from the two
end flexible bars/cylinders (as indicated in Table 3.1 and in Appendix D) and is
calculated as:

( ) ( )
( )
2 2 2 2 2
2 2
1 2 2 1 2 2
1
4
2 2 1
2 2
1 1 1 1
2 2
12 3 2 2 12 3 2 4 4
12 4
e
l l h l h l l h l h
l d d d
J m
l d
l h l h
+ +
| |
= + = +
|
\ .
(
= + +
(

(P3.2)
The natural frequency corresponding to the systems rotation about the x axis is
calculated as:

,
,
e t
n x
e
k
J
= (P3.3)
With the numerical values of the problem, it is obtained that
n,x
=7,758.6 rad/s.
Figure P3.2 shows the lumped-parameter model corresponding to the plate translation
about the y axis.

x
ke,t
ke,t
Je

Figure P3.2 Lumped-parameter model for the y-axis translation

The two springs acting in parallel produce the total stiffness that is calculated based on
Table 3.1 as:

4
, 3 3
1 1
12 3
2
8
z
e b
EI Ed
k
l l
= =

(P3.4)
with the cross-sectional moment of inertia being I
z
= d
4
/64. The equivalent mass is the
sum between the central plate mass and the contributions by the two end beams
(calculated as in Table 3.2 for a clamped-guided beam), namely:

2 2
1 2 1 1 2
13 13
2
35 4 70
e
d d
m l l h l l l h

(
= + = +
(

(P3.5)
The natural frequency corresponding to the systems translation about the y axis is:

,
,
e b
n y
e
k
m
= (P3.6)
and has a numerical value of
n,y
= 5,596.2 rad/s. The torsion-to-bending natural
frequency ratio is therefore
n,x
/
n,y
=1.386.

y
ke,b
ke,b
me
Problem 3.10
In terms of the z-axis plate translation (out-of-plane motion) the hinges bend as fixed-
guided beams (see Table 3.2) and therefore, act as four springs connected in parallel; the
corresponding bending stiffness is:

4
, 3 3 3
1 1 1
12
12 3
4 4
4
y
x
e tr
EI
EI Ed
k
l l l
= = =

(P3.1)
and its value is k
e,tr
=0.386 N/m. The equivalent mass associated with the out-of-plane
motion results from the actual plate mass and the equivalent mass of the four identical
bending beams (according to Table 3.1), namely:

2 2
, 1 2 1 1 2
13 13
4
35 4 35
e tr
d d
m l l h l l l h
| |
= + = +
|
\ .

(P3.2)
and its value is m
e,tr
=6.1665 x 10
-9
kg. The natural frequency corresponding to the z-xis
translation is:

,
,
,
e tr
e tr
e tr
k
m
= (P3.3)
with a numerical value of
e,tr
=7,912.2 rad/s.
When the central plate rotates about the z axis, the four hinges bend in the xy plane
(as fixed-guided beams for small plate rotations) and the equivalent stiffness is:

4
, , 3 3
1 1
12 3
4
4
z
e rot e tr
EI Ed
k k
l l
= = =
(P3.4)
The equivalent mass moment of inertia combines contributions from the plate and the
beams (in equivalent form). The plates moment of inertia is:

( )
2 2
1 2 1 2
,
12
p z
l l h l l
J
+
=

(P3.5)
Figure P3.1 shows the four equivalent lumped (point) masses resulting from the fours
beams. For small motions, as mentioned before, the beams are fixed-guided and therefore,
their equivalent mass is determined according to Table 3.1:

2 2
1
, 1
13 13
35 4 140
b e
d l d
m l = =

(P3.6)
The mass moment of inertia produced by these four equivalent masses about the z axis is:


Figure P3.1 Lumped-parameter model showing the inertia contributions by the four beams

( )
( )
2 2 2
2 2
1 1 2
, 2 2 1 2
, , , 1 2
13
2 2
4 4 2 280
b e
b z b e b e
d l l l
m
l l
J m m l l
+
= + = + =

(P3.7)
where the equivalent mass of Eq. (P3.6) has been used. The equivalent (total) mass
moment of inertia is therefore:

( )
2 2
2
1 1 2
2
, , ,
13
4 3 70
e z p z b z
l l l
l h d
J J J
+
| |
= + = +
|
\ .

(P3.8)
with a numerical value of J
e,z
= 5.7019 x 10
-17
kg-m
2
. The natural frequency
corresponding to the plate rotation in the xy plane is calculated as:

,
,
,
e rot
e rot
e z
k
J
= (P3.9)
and has a numerical value of
e,rot
=8.2282 x 10
7
rad/s.

y
x
l1 l1
l2
l2
mb,e
mb,e
mb,e
mb,e
Problem 3.11
By transferring the lumped-parameter spring from the cantilevers midpoint to the
free end the following stiffness is obtained:

2
/ 2
'
4
l k
k k
l
| |
= =
|
\ .
(P3.1)
and its value is k =2.5 N/m. At the same time, the distributed-parameter cantilever is
replaced by a lumped-parameter mass m
e
and stiffness k
e
, both located at the free end.
These parameters are calculated based on Tables 3.1 and 3.2 as:

2 2
4 4
3 3 3
33 33 33
140 140 4 560
3 3 3
64 64
e
e
d ld
m m l
EI E d Ed
k
l l l
= = =
= = =

(P3.2)
Their numerical values are m
e
=1.194 x 10
-10
kg and k
e
=227.898 N/m.
The mass and two parallel springs are collocated at the cantilevers free end; as a
consequence, the natural frequency of the system is calculated as:

'
e
n
e
k k
m
+
= (P3.3)
whose value is
n
=1,389,300 rad/s.

Problem 3.12
The main coordinates of motion are highlighted in Fig. P3.1 below.

Figure P3.1 Pulley-lever-rod mechanical system with motion coordinates

Apparently, this system is defined by five coordinates: the angles and , and the linear
displacements x, y, and z. However, under the assumption of small motions, the vertical
motion of the rods end point and the vertical displacement of the rods midpoint are:
2 ; y l x l = = (P3.1)
The point identified by coordinate y also belongs to the vertical rod, which attaches to the
pulley whose rotary motion is defined by the angle relating to y as:
y R = (P3.2)
It follows that the actual number of DOF is equal to 2, which is the number of apparent
DOF (5) minus the number of rigid constraints (3).
The kinetic energy of the system is produced by the rotating pulley and translating
mass, namely

2
2 2 2 2 2 2 2 2 2
2
1 1 1 1 4 1
2 4 2 4 2
l
T mz mR mz mR mz ml
R
= + = + = +
(P3.3)
Equation (P3.3) used the relationship between the coordinates and from Eqs.
(P3.1) and (P3.2). The potential energy is elastic in the absence of gravity effects and is
stored by the two springs as
R
k
k
2l
l
y
y

z
m
x
m
( ) ( )
2 2
2 2 2
1 1 1 1
2
2 2 2 2
U kx k z y kl k z l = + = + (P3.4)
The mechanical system being conservative, it follows that
( ) 0
d
T U
dt
+ = (P3.5)
which leads to
( ) ( )
2 2
2 2 5 2 0 mz kz kl z ml kl klz + + + = (P3.6)
Equation (P3.6) is satisfied at all times when:

2 0
2 2 5 0
mz kz kl
ml kz kl
+ =
+ =

(P3.7)
Equations (P3.7) form the mathematical model of the given mechanical system.

Problem 3.13
Let us use the energy method to derive the mathematical model of the mechanical
system for the two sets of coordinates.

(a)
For small motions, the displacements of the two point masses are vertical. The
kinetic energy is:

2 2
1 1 2 2
1 1
2 2
T m x m x = + (P3.1)
and the potential energy when only considering the elastic spring contributions (gravity
effects are neglected) is:

2 2
1 1 2 2
1 1
2 2
U k x k x = + (P3.2)
The system being conservative, the time derivative of the total energy E =T +U is zero,
which results in:
( ) ( )
1 1 1 1 1 2 2 2 2 2
0 x m x k x x m x k x + + + = (P3.3)
As the velocities cannot be zero at all times, it follows that

1 1 1 1
2 2 2 2
0
0
m x k x
m x k x
+ =
+ =
(P3.4)
The two differential Eqs. (P3.4) are the mathematical model for the case where the
motion coordinates are x
1
and x
2
.

(b)
The position of the center of gravity CG can be found by using the conditions:

1 1 2 2
1 2
m gl m gl
l l l
=
+ =
(P3.5)
which results in:

2
1
1 2
1
2
1 2
m
l l
m m
m
l l
m m
(P3.6)
When the coordinates of motion are x (the CG vertical displacement) and (the rods
tilt angle), it is necessary to express the coordinates x
1
and x
2
in terms of x and . The
geometry of Fig. 3.36, which indicates both the original (horizontal) position and the
displaced position, shows that:

1 2
2 2
1 2
tan
x x
l
l x x
l x x

=
(P3.7)
When small motions are only considered, tan is approximated to , and therefore x
1
and
x
2
are found from Eqs. (P3.7) as:

1 1
2 2
x x l
x x l
= +
(P3.8)
Equations (P3.8) are substituted into Eqs. (P3.1) and (P3.2), which give the following
expressions for the kinetic and potential energies:

( ) ( )
2 2
1 1 2 2
1 1
2 2
T m x l m x l = + +

(P3.9)
and
( ) ( )
2 2
1 1 2 2
1 1
2 2
U k x l k x l = + + (P3.10)
The system being conservative, the time derivative of the total energy (the sum of kinetic
and potential energies) is zero, which leads to the equation:

( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
1 2 1 1 2 2 1 2 1 1 2 2
2 2 2 2
1 1 2 2 1 1 2 2 1 1 2 2 1 1 2 2
0
x m m x ml m l k k x k l k l
ml m l x ml m l k l k l x k l k l
( + + + + +

(
+ + + + + + =

(P3.11)
Because the velocities pertaining to the coordinates x and cannot be zero at all times,
the only alternative for the left-hand side of Eq. (P3.11) to be zero is when:

( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
1 2 1 1 2 2 1 2 1 1 2 2
2 2 2 2
1 1 2 2 1 1 2 2 1 1 2 2 1 1 2 2
0
0
m m x ml m l k k x k l k l
ml m l x ml m l k l k l x k l k l
+ + + + + =
+ + + + + =

(P3.12)
Equations (P3.12) are the mathematical model of the mechanical system of Fig. 3.36
when the coordinates of motion are x and and with l
1
, l
2
of Eqs. (P3.6).

Problem 3.14
The mathematical model is:

2 0
2 2 5 0
mz kz lk
ml kz lk
+ =
+ =

(P3.1)
The following substitutions are used in the mathematical model of Eqs. (P3.1):
( ) ( ) sin ; sin z Z t t = = (P3.2)
which, after simplification by sin(t), reduces to:

( )
( )
2
2
2 0
2 5 2 0
k m Z kl
kZ k m l
+ =
(P3.3)
The homogeneous Eqs. (P3.3) have nontrivial solutions (Z, ) when the determinant of
the system is zero (which is the characteristic equation). The following MATLAB
code

>> syms k ml om1
>> sol ve( det ( [ k- m*om1, - 2*k*l ; - 2*k, ( 5*k- 2*m*om1) *l ] ) , om1)

where om1 is the square of the natural frequency, generates the squares of the following
natural frequencies

( ) ( ) 1 2
1 1
7 41 ; 7 41
2 2
n n
k k
m m
= + = (P3.4)
and the numerical values are
n1
= 5.23 rad/s and
n2
=24.785 rad/s.
The following relationship applies between the amplitudes Y and :
2 Y l = (P3.5)
and this is used in the first Eq. (P3.3) to get the following amplitude ratio

2
Y k m
Z k
=

(P3.6)
For =
n1
, Eq. (P3.6) transforms into

1
2.35
n
Y
Z
=
=

(P3.7)
which indicates that during the modal motion corresponding to
n1
, the translating body
and the point at the top of the vertical spring move in opposite directions, and that Y is
larger than Z. The resulting normalized eigenvector is found by solving the system
formed of Eq. (P3.7) and the equation

( ) ( )
1 1
2 2
1
n n
Y Z
= =
+ =

(P3.8)
The eigenvector is therefore:

1
0.9203
0.3916
n
Y
Z
=

=
` `
) )

(P3.9)
For =
n2
, Eq. (P3.6) changes to

2
0.8508
n
Y
Z
=
=

(P3.10)
which indicates that the points denoted by the coordinates y and z move along the same
directions during this modal motion and that the amplitude Y is smaller than the
amplitude Z. Using the normalizing condition

( ) ( )
2 2
2 2
1
n n
Y Z
= =
+ =

(P3.11)
in conjunction with Eq. (P3.10) yields the eigenvector

2
0.648
0.762
n
Y
Z
=

=
` `
) )

(P3.12)
In order to conveniently use MATLAB
to determine the eigenvalues and

eigenvectors, the two Eqs. (P3.1) are written as:

0
5
2 0
2
mz ky kz
my ky kz
+ =
+ =
(P3.13)
where the connection y =2l has been used. Equation (P3.13) can be written as:

0 0
5
0 0 2
2
k k
m y y
m z z k k
(
(
(
+ =
` ` `
(
(
) ) )

(P3.14)
Therefore, the mass matrix [M] and the stiffness matrix [K] are:

| | | |
0
;
5
0 2
2
k k
m
M K
m k k
(
(
(
= =
(
(

(P3.15)
which enables calculation of the dynamic matrix [D] =[M]
-1
[K] with MATLAB
as

>> d = i nv( [ 0, m; m, 0] ) *[ - k, k; 5/ 2*k, - 2*k] ;

whose eigenvalues and eigenvectors are obtained by using

>> [ V, D] = ei g( d)

as

V =
0. 9202 0. 6480
- 0. 3914 0. 7616

D =
614. 3099 0
0 27. 3568

It can be seen that the eigenvectors of [V] are also the ones obtained analytically, while
the squares of the analytical natural frequencies are the eigenvalues of [D].

Problem 3.15
In Example 3.7, Eqs. (3.41) have been determined to be the mathematical model of
the cart-pendulum mechanical system, namely:

( )
1 2 2
0
0
m m x m l kx
x l g
+ + + =
+ + =

(P3.1)
The sinusoidal solution:

( )
( )
sin
sin
x X t
t
=

(P3.2)
is substituted in Eqs. (P3.1), which transform into:

( )
( )
2 2
1 2 2
2 2
0
0
m m k X m l
X l g
( + + =

+ + =

(P3.3)
The characteristic equation corresponding to Eqs. (P3.3) is:

( )
2 2
1 2 2
2 2
0
m m k m l
l g
+ +
=
+

(P3.4)
which is written as:

( )
4 2
1 1 2
0 ml m m g kl kg + + + = (

(P3.5)
The eigenvalues (the roots) resulting from Eq. (P3.5) are:

( ) ( ) ( )
2
2 2 2
1 2 1 2 1 2
2
1,2 1,2
1
2 lg
2
m m g kl m m g k l k m m
ml
+ + + +
= = (P3.6)
The numerical values of the natural frequencies are
1
= 3.48 rad/s and
2
=14.58 rad/s.
From the first Eq. (P3.3), the following ratio can be formed:

( )
2
2
2
1 2
m X
l k m m
=
+
(P3.7)
The specific ratio of Eq. (P3.7) has been chosen in order to compare two similar amounts
(linear displacements), X and l; this equation results in:

1 2
0.0124; 0.9424
X X
l l
= =
= =

(P3.8)
The first ratio of Eq. (P3.8) indicates that during the first modal motion, the rotation of
the pendulum is in the direction shown in the problems figure and that the l > X.
During the second modal motion, the pendulum rotates in a direction opposite to the one
selected as being the positive rotation direction and the magnitude of l is larger than X.
In order to determine the unit-norm eigenvectors (which are also the ones that are
provided by the ei g MATLAB
command), the X/ ratio is needed; this can simply be

found by multiplying the X/(l ) ratio values, which have been determined analytically,
by the value of l; this results in:

1 2
1 2
1 2
0.0099; 0.7539
X X X X
= =
= = = =

(P3.9)
To determine the unit-norm eigenvector corresponding to the natural frequency
1
, the
following two equations system needs to be solved:

1
1
2 2
1 1
0.0099
1
X
X
+ =
(P3.10)
which results in X
1
= 0.0099,
1
=1; similar calculations yield X
2
=0.602,
2
=0.7985.
As a consequence, the two unit-norm eigenvectors are:

1 2
0.0099 0.602
;
1 0.7985
V V

= =
` `
) )
(P3.11)
In order to use MATLAB
for eigenvalue and eigenvectors calculation, the

mathematical model Eq. (P3.1) is written in vector-matrix form as:

1 2 2
0 0
1 0 0
m m m l x k x
l g
+ ( (
+ =
` ` `
( (
) ) )

(P3.12)
with the first matrix in the left hand side of Eq. (P3.12) being the mass (or inertia) matrix
[M] and the second one being the stiffness matrix [K]. The dynamic matrix [D] is
calculated as [D] =[M]
-1
[K]. The following MATLAB
code is used to determine the

dynamic matrix symbolically together with its numerical eigenvalues and eigenvectors:

>> syms m1 m2 k l g;
>> i n=[ m1+m2, m2*l ; 1, l ] ;
>> st i f f =[ k, 0; 0, g] ;
>> d=i nv( i n) *st i f f

This code returns

d =

[ 1/ m1*k, - 1/ m1*m2*g]
[ - 1/ l / m1*k, ( m1+m2) / l / m1*g]

The following code

>> m1=1; m2=0. 2; k=210; l =0. 8; g=9. 8; dn=d;
>>[ v, d] =ei g( dn)

returns

v =
0. 6020 0. 0099
- 0. 7985 1. 0000
d =

212. 5998 0
0 12. 1002

The elements on the diagonal matrix denoted by d are the eigenvalues
1
,
2
; it can be
checked that their square roots are the natural frequencies that have. The two columns of
the matrix denoted by v are the eigenvectors corresponding to the two natural
frequencies, that are, again, identical to the ones that have been obtained by analytic
calculation.

Problem 3.16

The lumped-parameter model of the mechanical microsystem is shown in Fig. P3.1.

Figure P3.1 Lumped-parameter model for the y-axis translation

The total energy of the system is
( )
2
2 2 2 2
1 2 1 1 2 1 2 1 2
1 1 1 1 1
2 2 2 2 2
T U mx mx k x k x x k x + = + + + + (P3.1)
Making zero the time derivative of the energy of Eq. (P3.1) because the system is
conservative, results in:
( ) ( )
1 1 2 1 2 2 1 2 1 2 2 2 1 2
0 mx k k x k x x mx k k x k x x + + ( + + + ( =

(P3.2)
The equation above is zero at all times only when:

( )
( )
1 1 2 1 2 2
2 2 1 1 2 2
0
0
mx k k x k x
mx k x k k x
+ + =
+ + =
(P3.3)
Harmonic solution of the following type is sought for x
1
and x
2
of Eqs. (P3.3):
( ) ( )
1 1 2 2
sin ; sin x X t x X t = = (P3.4)
Substitution of Eqs. (P3.4) in Eqs. (P3.3) results in:

( )
( )
2
1 2 1 2 2
2
2 1 1 2 2
0
0
k k m X k X
k X k k m X
+ =
+ + =
(P3.5)
The nonzero solution of Eq. (P3.5) results from annulling the determinant of that
equations determinant, which yields the following natural frequencies:

1 1 2
1 2
2
;
n n
k k k
m m
+
= = (P3.6)
The spring k
1
is formed of two fixed-guided beams and therefore its stiffness is
calculated as:
x1
k1
m m
k2
k1
x2

3
3
*
1 1 3 3
1 1
12
2
12
2 2
w h
E
Ew h
k k
l l
= = = (P3.7)
whose numerical value is k
1
=37.5 N/m. The middle spring is formed of two parallel
groups that are connected in parallel, each group being formed of two fixed-guided
beams that are in series; the middle spring stiffness is therefore

( )
3
2
*
3
2
*
2 2 * 3 3 3
2 2 2 2
12
12
12
2
2
z
w h
E
k
EI Ew h
k k
k l l l
= = = = = (P3.8)
whose numerical value is k
2
=347.222 N/m. As a consequence, the natural frequencies of
Eqs. (P3.6) are:
n1
= 559,020 rad/s and
n2
=1,326,400 rad/s.
When considering the inertia of the beams, each of two original masses transform
into:
( ) ( )
1 2 1 2
13
' 2 2
35
m m m m m wh l l = + + = + + (P3.9)
Because two long beams and two short beams add their contributions to each of the
masses. The beams being fixed-guided, Table 3.1 gives the mass fraction of Eq. (P3.9).
The following numerical value is obtained: m =1.331 x 10
-10
kg. With this mass instead
of m, Eqs. (P3.6) yield the following natural frequencies:
n1
=530,790 rad/s and
n2
=
1,259,400 rad/s.
From the first Eq. (P3.5), the following ratio results:

1 2
2
2 1 2
X k
X k k m
=
+
(P3.10)
Fo r =
n1
, Eq. (P3.10) results in a value of 1. This indicates the two masses are
moving in a synchronized fashion during the first modal motion and therefore the
corresponding eigenvector is:

1
1
2
1
1
n
X
X
=

=
` `
) )

(P3.11)
For =
n2
, Eq. (P3.7) results in a value of -1. This indicates the two masses are moving
in opposition during the second modal motion; the corresponding eigenvector is:

2
1
2
1
1
n
X
X
=

=
` `
) )

(P3.12)
If unit-norm vectors are sought instead of the straightforward ones of Eqs. (P3.11)
and (P3.12), whose sum of components squares is one, these vectors are:

1 2
1 1
2 2
2 2
2 2
;
2 2
2 2
n n
X X
X X
= =

= =
` ` ` `
) )

) )

(P3.13)
The mass and stiffness matrices are expressed from Eqs. (P3.3) as:

| | | |
1 2 2
2 1 2
0
;
0
k k k m
M K
k k k m
+ ( (
= =
( (
+

(P3.14)
And they enable calculating the dynamic matrix [D] =[M]
-1
[K]. Using MATLAB
and
its ei g command, the following eigenvectors and eigenvalues are obtained for the case
where the inertia of the flexures is neglected:
V =
- 0. 7071 - 0. 7071
- 0. 7071 0. 7071
D =
1. 0e+012 *
0. 3125 0
0 1. 7593
which are the eigenvectors of Eq. (P3.13) and the squares of the natural frequencies
n1

and
n2
. The values of
n1
and
n2
are obtained if m is used instead of m in the
MATLAB
matrix formulation.

Problem 3.17
(a)
The free-body diagrams of the two rods are shown in Fig. P3.1.

Figure P3.1 Free-body diagrams of two-pendulum mechanical system

Newtons second law of motion is applied in the rotation variant, which yields the
equations:

( ) ( ) ( )
( ) ( ) ( ) ( )
2
1 1 1 1 1 1
2
2 2 2 2 2 2 2
2 2 2 sin cos
2 2 2 sin cos 2 cos
d e
d e
m l f l m g l f l
m l f l m g l f l f l

= +
= +
(P3.1)
The damping forces and the elastic (spring) forces are:
( ) ( ) ( )
1 1 2 2 2 1
2 ; 2 ; sin sin
d d e
f c l f c l f k l l = = =

(P3.2)
By using the small-displacement approximations:
cos 1; sin (P3.3)
in conjunction with Eqs. (P3.2), Eqs. (P3.1) can be written in the form:

( )
( )
1 1 1 1 1 2
2 2 2 1 2 2
4 4 2 0
4 4 2 2
ml lc m g kl kl
m l lc kl m g kl f
+ + + =
+ + + =

(P3.4)
Equations (P3.4) are the mathematical model of the two-pendulum mechanical system.

(b)
With the numerical parameters of the problem, Eqs. (P3.4) are rewritten as:
fe
1
2
fe
fd1
fd2
f
m1g
m2g

1 1 1 2
2 2 1 2
220 101.12 95 0
91.67 39.58 45.71 78.13sin(10 ) t

= + =
= + +

(P3.5)

The Simulink
diagram that is based on the equations above and simulate the two-
pendulum mechanical system is shown in Fig. P3.2, and the time response of this system
to the sinusoidal input is given in Fig. P3.3.

Figure P3.2 Simulink
diagram of the two-pendulum mechanical system

2

time response of the two-pendulum mechanical system

2
Problem 3.18
Figure P3.1 shows the free-body diagrams of the mechanical system. This system has
two DOF, which are the pulley rotation angle and the mass m
3
translation x
2
. For small
motions, the coordinate x
1
is:

1 2
x R = (P3.1)

Figure P3.1 Free-body diagrams of pulley and translatory body

Newtons second law of motion for the pulley rotation and the body translation is
expressed as:

2 1 1 2
3 2 2
e e
e d
J f R f R
m x f f f
=
(P3.2)
where:

( )
( )
2 2
1 1 2 2
1 1 1 1 2
2 2 2 1
2
1
2
e
e
d
J m R m R
f k x k R
f k x R
f cx
= +
= =
(P3.3)
Substitution of Eqs. (P3.3) into Eqs. (P3.2) results in:

( ) ( )
2 2 2 2
1 1 2 2 1 2 2 1 2 1 2
3 2 2 2 1 2 2
1
0
2
m R m R k R k R k R x
m x cx k R k x f
+ + + =
+ + =
(P3.4)
Equations (P3.4) can be written with the numerical values of the problem as:

2
2 2 2
258 2963 0
64 200 3 2
x
x x x f
= + =
= + +
(P3.5)
The forcing input can be specified by means of the Si gnal Bui l der block in the
x2
f
m3
fe2
fd
x1
R2
m2
R1 m1
fe2
fe1

Sour ces library of Simulink
. Horizontal and vertical plot segments can be displaced

and values of the function and variable can be changed interactively. The input force in
this problem has been defined as shown in Fig. P3.2.

0 1 2 3 4 5 6 7 8 9 10
0
1
2
3
4
5
Signal 1
Time (sec)
pr2_28/Signal Builder : Group 1

Figure P3.2 Input created by means of a Signal Builder Simulink
source

The Simulink
diagram and time response curves (t) and x

2
(t) are shown in Figs. P3.3
and P3.4.


diagram of the pulley-mass mechanical system

(a)


(b)

time response: (a) pulley rotation angle (t); (b) linear-motion body
displacement x
2
(t)

Problem 3.19
The total energy of the system shown in Fig. P3.1 is:

( )
( ) ( )
2
2 2 2 2
3 2 1 1 2 2 1 3 2
2
2 2 2 2 2 2 2
1 1 2 2 3 2 1 2 2 2 1 3 2
1 1 1 1 1
2 2 2 2 2
1 1 1 1 1
4 2 2 2 2
E T U J m x k x k x R k x
m R m R m x k R k x R k x
= + = + + + +
= + + + + +

(P3.1)

Figure P3.1 Two-DOF mechanical system

The time derivative of the total energy needs to be zero as the system is conservative,
which leads to:

( ) ( )
( )
2 2 2 2
1 1 2 2 1 2 2 1 2 1 2
2 3 2 2 1 2 3 2
1
2
0
x m x k R k k x
(
+ + +
(

+ + + = (

(P3.2)
The velocities cannot be zero at all times and therefore the brackets have to be zero,
which results in the following equations:

( ) ( )
( )
2 2 2 2
1 1 2 2 1 2 2 1 2 1 2
3 2 2 1 2 3 2
1
0
2
0
m x k R k k x
+ + + =
+ + =
(P3.3)
The solution to this mathematical model is of sinusoidal form:

( )
( )
2 2
sin
sin
t
x X t
=
(P3.4)
which, substituted into Eqs. (P3.3), result in:
k1
k2
x2
x1
m3
R2
m2
k3
R1 m1


( )
( )
2 2 2 2 2
1 1 2 2 1 2 2 1 2 1 2
2
2 1 3 2 3 2
1
0
2
0
m R m R k R k R k R X
k R m k k X
(
+ + + =
(

+ + + =
(P3.5)
The characteristic equation corresponding to the differential Eq. (P2.167) is:

( )
2 2 2 2 2
1 1 2 2 1 2 2 1 2 1
2
2 1 3 2 3
1
0 2
m R m R k R k R k R
k R m k k
+ + +
=
+ +
(P3.6)
With the numerical values of this problem, Eq. (P3.6) yields the natural frequencies
1
=
15 rad/s and
2
=23 rad/s.
The second Eq. (P3.5) can be written as:

2
2 3 3 1
2 2
k k m R
X k
+
=

(P3.7)
which, for the two natural frequencies, becomes:

1
2
1
2
1
2
1.375;
0.145
n
n
R
X
R
X
=
=
(P3.8)
Because X
2
represents length in the numerator of Eq. (P3.8), the amount R
1
, which is
also a length, has been used in the numerator of the same equation in order to enable
comparison of similar amounts. The first Eq. (P3.8) shows that the pulley rotation and
mass translation directions are in concert and that the tangential displacement at the
point where the spring k
2
is applied (and which is R
1
) is larger than the displacement of
the translating body X
2
. During the second modal motion, the two motions mentioned
above are in opposition; the tangential displacement at the point where the spring k
2
is
applied is smaller than the displacement of the translating body, X
2
.
The unit-norm eigenvector corresponding to
1
is found by solving the system:

1
1
2 21
2 2
1 21
91.6667
1
X X
X
=

= =
+ =

(P3.9)
The first ratio of Eqs. (P3.9) has been obtained through division by R
1
of the first ratio of
Eq. (P3.8). The solution to Eqs. (P3.9) is:
1
=0.9999 and X
21
=0.0109, such that the
eigenvector corresponding to the first natural frequency is:

1
0.9999
0.0109
V

=
`
)
(P3.10)
The unit-norm eigenvector corresponding to
2
is found by solving the system:

2
2
2 22
2 2
2 22
9.6667
1
X X
X
=

= =
+ =

(P3.11)
and the solution to Eqs. (P2.173) is:
2
=0.9947 and X
22
= 0.1029, such that the
eigenvector corresponding to the first natural frequency is:

2
0.9947
0.1029
V

=
`
)
(P3.12)
In order to use specialized MATLAB
commands to determine the eigenfrequencies

and eigenvectors, Eqs. (P3.3) are written in vector-matrix form as:

( )
2 2 2 2
1 1 2 2 1 2 2 1 2 1
2 2 1 2 3 2
3
1
0 0
2
0
0
m R m R k R k R k R
x k R k k x
m
(
( + +
(
+ =
` ` ` (
(
+
) ) )

(P3.13)
where the mass (inertia) matrix [M] and the stiffness matrix [K] are:

| |
( )
| |
2 2 2 2
1 1 2 2 1 2 2 1 2 1
2 1 2 3
3
1
0
; 2
0
m R m R k R k R k R
M K
k R k k
m
(
( + +
(
= =
(
(
+

(P3.14)
The dynamic matrix [D] is obtained by using MATLAB
s symbolic calculation
capability as:

| | | | | |
( )
2 2
1 2 2 1
2 1
2 2 2 2
1
1 1 2 2 1 1 2 2
2 3 2 1
3 3
2
2
k R k R
k R
m R m R m R m R
D M K
k k k R
m m
(
+
(
+ +
(
= =
(
+
(
(

(P3.15)
The command [ v, D] = ei g( d) with d being the matrix [D] defined in Eq. (P3.15)
produces the following result for the numerical parameters of this problem:

v =
- 0. 9999 0. 9957
- 0. 0109 - 0. 0923

d =
225. 4067 0
0 532. 3711

The eigenvalues are the elements on the diagonal of the d matrix above; their square
roots are the natural frequencies
1
= 15.0136 rad/s and
1
=23.0732 rad/s, which are
the ones that have been obtained analytically. The two columns of v are the eigenvectors,
and it can be seen that they have components that are very close to the ones of the
analytical unit-norm eigenvectors calculated previously. The minus sign in both
components of the first eigenvector (column) above is irrelevant as it can be changed to
plus without losing the physical significance that and X
2
produce displacements that
are in concert during the first modal motion.

Problem 3.20
(a)
Figure P3.1 highlights the relevant angles of rotation.

Figure P3.1 Gear system with inertia, damping, stiffness, loading and relevant rotation angles

Newtons second law of motion is applied to the cylinders J
2
and J
3
, while transferring
the load and physical properties from the actuation and load shafts; the following
equations are obtained:

( )
( )
2
2 2
1 2 1 1 1 2
1 1
2
3 3
4 3 2 2 2 1
4 4
a
l
N N
J J m c k
N N
N N
J J m c k
N N
(
| |
( + =
|
(
\ .

(
| |
( + =
|
(
\ .

(P3.1)
Equations (P3.1) form the mathematical model of the mechanical system studied in this
problem.

(b)
In order to enable integrations to be performed by means of Simulink
, Eqs. (P3.1)
are expressed in terms of the numerical parameters of this problem as:

6
1 1 1 2
5
2 2 1 2
17,778 177,780 177,780 3.33 10
14,693 146,930 146,930 2.5187 10
= + +
= +

(P3.2)
The Simulink
diagram and time response curves are shown in Figs. P3.2, P3.3, and
P3.4.
2
1
k
N3
N4
ml
J3
c c
N2
J2
J1
ma
J4
N1

diagram of the gear mechanical system


(a) (b)

time response of the gear mechanical system angles (in radians): (a)
1
; (b)
2

(a) (b)

time response of the gear mechanical system angular velocities (in rad/s): (a)
1
; (b)
2

Chapter 03

Încărcat de

Informații document

Descriere originală:

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

Chapter 03

Încărcat de

Drepturi de autor:

Formate disponibile

Lobontiu: System Dynamics for Engineering Students

code (used after

to determine the eigenvalues and

command), the X/ ratio is needed; this can simply be

for eigenvalue and eigenvectors calculation, the

code is used to determine the

diagram of the two-pendulum mechanical system

time response of the two-pendulum mechanical system

. Horizontal and vertical plot segments can be displaced

diagram and time response curves (t) and x

diagram of the pulley-mass mechanical system

commands to determine the eigenfrequencies

diagram of the gear mechanical system

S-ar putea să vă placă și