CH - 03 Mechanical Systems V-07 PDF

ME 413 System
Dynamics & Control
Dr. A. Aziz Bazoune

Mechanical Engineering Department
King Fahd University of Petroleum & Minerals
Chapter 3
Mechanical Systems
Mechanical Systems
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A. Aziz Bazoune
ME 413 System Dynamics & Control
CH 03 Mechanical Systems Slide 4
CHAPTER CONTENTS
3-1
Introduction
3-2
Mechanical Elements
3-3
Mathematical Modeling of Simple Mechanical Systems
3-4
Work, Energy, and Power
Example Problems and Solutions

Problems
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CHAPTER OBJECTIVES
When you have finished this chapter, you should be able to:
1. Identify the mechanical elements (Mass, Spring and Damper) for translational and
rotational motion.
2. Model systems containing ideal spring elements and ideal damper elements.
3. Obtain the equivalent spring, mass and dampers.
4. Obtain Equations of Motion (EOM) for systems having spring and damper elements.
5. Apply Newtons second law to obtain EOM.
6. Apply energy methods to obtain EOM.
7. Obtain the free and forced response of mass-spring-damper systems.
8. Utilize MATLAB to assist in the response analysis.
A. Aziz Bazoune
Introduction
Mass
The mass of a body is the quantity of matter in it that is assumed to be constant.
Mass is the property of a body that gives it inertia, that is, resistance to starting and
The unit of mass is

kilogram [kg]
in SI units
stopping.
Weight
A body is attracted by the earth, and the magnitude of the force that the earth
exerts on the body is called its weight.
The unit of weight

is Newton [N]
in SI units
Force
Force can be defined as the cause that tends to produce a change in motion of a body on which it acts.
Force
Contact
Forces
come into direct

contact with a body.
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Field
Forces
The unit of force is

Newton [N]
in SI units
Act on a body but do not come into contact with

it. Example: gravitational and magnetic forces.
Mechanical Elements
Any mechanical system consists of mechanical elements. There are three types of basic elements in
mechanical systems:
Mass or (inertia) Element
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Spring Element
Damper Element or Dashpot
Translational Elements
All mechanical systems contain the three basic elements: spring, damper, and mass
(inertia element).
Acceleration
Displacement
Velocity
Spring
Element
damper
Element
Inertia
Element
F kd
F cv
F ma
When each of these in turn is

exposed to a constant force
they react with a constant
displacement, a constant
velocity and a constant
acceleration, respectively.
Similarly we can obtain the same relationships for rotational (torsional) elements.
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Mass or Inertia Elements
Mass and inertia elements. Inertia may be defined as the change in force (torque) required to make a
unit change in acceleration (angular acceleration).
Motion
Translation
Symbol
change in force
inertia (mass) =
change in acceleration
inertia (mass moment of inertia)
m
or
Sketch
N
] or [kg]
ms
Nm
rads2
or
Rotation
=
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Units
change in torque
change in angular acceleration
or
[kg m ]
Spring Elements: Translational Motion

Ideal spring : a mechanical element that is generally assumed to have negligible mass and damping.
A linear spring can be deformed by external force or torque such that the deformation is directly
proportional to the force or torque applied to the element.
Linear Spring force Relationship is given by (Hooks Law) :
(b) both ends of the spring are deflected.
(a) One end of the spring is deflected
F kx
(3.1)
F k x1 x 2
(3.2)
= spring force,
= free length of the spring.
= elongation of the spring (displacement of one end with respect to the other) and
= spring stiffness or spring constant, and has units of [force/displacement] = [N/m] in SI units.
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Examples of Translating Spring Elements
Leaf Spring
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Spring Elements: Torsional Motion

The angular displacement of the free end is
The torque in the torsional spring is
(a) A torque t is applied at one end of

torsional spring and the other end is fixed;
k t
(3.3)
(b) a torque t is applied at both ends.
(3.2)
k t 1 2
= spring torque,
= angular displacement and
= spring stiffness or spring constant, and has units of [ Torque/ang. Disp.] = [N-m/rad] in SI units.
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Examples of Torsional Spring Elements
http://www.esm.psu.edu/courses/emch13d/design/animation/animation.htm
A. Aziz Bazoune
Equivalent Springs: Summary

Springs in series:
Springs in parallel:
Force is common - flexibilities add
x x 1 x 2 1 k1 1 k 2 P
(1 k eq )P
Displacement is common - stiffnesses add
F k 1x k 2 x
(k 1 k 2 )x k eq x
keq k1 k2
1
1
1

keq k 1 k 2
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Equivalent Springs: Summary

Equivalent to:
Springs in series:
In general
1
1
1
1
keq
k1 k2
kn
1
k
i 1 i
Equivalent to:
Springs in Parallel:
In general
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keq k1 k2 kn
ki
i 1
Compliance or Mechanical Impedance

Spring constants indicate stiffness; a large value of
corresponds to a hard spring, a small value of
to a soft spring.
The reciprocal of the spring constant
Compliance,
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is called compliance or mechanical capacitance .
= 1/ . Compliance indicates the softness of a spring.
Practical Spring versus Ideal Spring

F
Nonlinear Spring
(Hard Spring)
Linear Spring
All practical springs have inertia and damping.
F kx
An ideal spring has neither mass nor damping

(internal friction) and will obey the linear force
displacement law.
Nonlinear Spring
(Soft Spring)
Figure 3-3 Force-displacement characteristic

curves for linear and nonlinear springs.
https://phet.colorado.edu/sims/mass-spring-lab/mass-spring-lab_en.html
A. Aziz Bazoune
Damper Elements: Translational Motion

A damper is a mechanical element that dissipates energy in the form of heat
instead of storing it.
The figure below shows a translational damper, or a dashpot that consists of
a piston and an-oil-filled cylinder.
Any relative motion between the piston rod and the cylinder is resisted by oil
because oil must flow around the piston (or through orifices provided in the
piston) from one side to the other.
Figure 3-4(a) shows a schematic diagram of

translational damper
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Shock absorber components with internal

reservoir.
the rod (A),
the piston with seals (B),
the cylinder (C),
the oil reservoir (D),
the floating piston (E), and
the air chamber (F).
Damping Elements
In many practical systems, the mechanical energy of a system is gradually converted into heat or
sound.
The mechanism by which the vibrational energy is gradually converted into heat or sound is known as
damping.
An ideal damper is assumed to have neither mass nor elasticity, and damping force exists only if
there is relative velocity between the two ends of the damper.
The symbols shown in the figure are the

general symbol for a damping element.
(a) Translational damper; (b) torsional (or rotational) damper

(c) rotational damping in bearings
http://www.acoustics.salford.ac.uk/feschools/waves/shm4.htm
A. Aziz Bazoune
Translation
Rotation
x1
x2
2
x2
x1
(b)
(b) Torsional or rotational damper.
(a)
(a) Translational damper
F b x1 x2 bx
bt 1 2 bt
(3.5)
= damping force,
= damping torque,
= velocity difference = net velocity
= viscous friction coefficient, [force/velocity] =

[Ns/m] in SI units.
(3.6)
= angular velocity difference = net
angular velocity.
= viscous friction coefficient, [torque/angular
velocity] = [Nms/rad] in SI units.
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Examples of Common Uses of Dashpots

Door Stoppers
Door Closer
Vehicle Suspension
Bridge Suspension
Flyover Suspension
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A damper is an element that provides resistance in mechanical motion, and, as such, its effect on the
dynamic behavior of a mechanical system is similar to that of an electrical resistor on the dynamic
behavior of an electrical system.
Consequently, a damper is often referred to as a mechanical resistance element and the viscous
friction coefficient as the mechanical resistance.
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Practical Dampers versus Ideal Dampers

All practical dampers produce inertia and spring effects.
An ideal damper is massless and springless, dissipates
all energy, and obeys the linear force-velocity law (or
linear torque-angular velocity law).
Friction that obeys a linear law is called linear friction, whereas friction that does not is described as
nonlinear.
Examples of nonlinear friction include static friction, sliding friction, and square-law friction. Square
law-friction occurs when a solid body moves in a fluid medium.
http://www.mwit.ac.th/~physicslab/applet_04/fun@learning/JAVA/dho/dho2.html
A. Aziz Bazoune
x
f
f
bT
A. Aziz Bazoune
kT
OBJECTIVES
When you have finished this chapter, you should be able to:
1. Apply Newtons Second Law (NSL) to obtain Equations of Motion (EOM).
A. Aziz Bazoune
Mathematical Modeling of Mechanical Systems

A mathematical model of any mechanical system can be developed by applying Newtons laws to
the system.
Rigid Body
When any real body is accelerated, internal elastic deflections are always present. If
these internal deflections are negligibly small relative to the gross motion of the entire body, the body is
called rigid body. Thus, a rigid body does not deform.
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First Law:
A particle originally at rest, or moving in a straight line at

constant velocity, will remain in this state provided the
particle is not subjected to an unbalanced force.
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Second Law (Translational motion) : If a force is acting on rigid body

through the center of mass in a given direction, the acceleration of the rigid
body in the same direction is directly proportional to the force acting on it and
is inversely proportional to the mass of the body. That is
F a
or
F ma
F
: resultant unbalanced force acting on the body.
: acceleration of the body.
a
F
: mass of the body.
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or
or
: acceleration
: force
Suppose that forces are acting on a body of mass

a mass
. If
is the sum of all forces acting on
through the center of mass in a given direction, then
F m a
(3-7)
: is the resulting absolute acceleration in that direction.
The line of action of the force acting on a body must pass through the center of mass of
the body. Otherwise, rotational motion will also be involved.
(Rotational Motion): For a rigid body in pure rotation about a fixed axis, Newtons second
law states that
: Sum of all torques acting about a given axis
: moment of inertia of a body about that axis, and
: the angular acceleration of the body
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(3-8)
Third Law
The mutual forces of action and reaction between two bodies are equal,
opposite, and collinear.
Law of Action-Reaction: For every action, there is an equal and

opposite reaction.
FB,A FA,B
Body A
FB , A
FA, B
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Body B
Torque or Moment of Force

Torque is the product of a force and the perpendicular distance from a point of rotation to
the line of action of the force.
Torque = force distance
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= Nm
in SI units
Moment of Inertia
The moment of inertia
of a rigid body about an axis is defined by
r dm
2
(3-9)
: element of mass,
:
perpendicular distance from the axis to
m
dm
and integration is performed over the body.

In considering moments of inertia, we assume
that the rotating body is perfectly rigid.

Physically, the moment of inertia of a body is a
measure of the resistance of the body to

angular acceleration.
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Z
Moment of Inertia of Some Common Shapes
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Parallel Axis Theorem

The moment of inertia about an axis that is a distance from the geometrical axis passing
through the center of gravity of the body is the sum of the moment of inertia about the
geometrical axis and the moment of inertia about the new axis when the mass of the body
is considered concentrated at the center of gravity.
For moment of inertia about the z axis,
J z ' JG md 2
m
= MMI about the bodys mass center
= mass of the body
= Perpendicular distance between the parallel axes
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z
Example
A homogeneous cylinder of mass
inertia,
and radius
rolls on a flat surface. Find the moment of

) with the surface.
, of the cylinder about its line of contact (axis
Moment of inertia of the cylinder about axis
is
C
Jc
1
mR2
2
X
R
Moment of inertia of the cylinder about axis
Jx Jc mR
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is
1
3
2
2
mR mR mR2
2
2
Forced Response and Natural response

The behavior determined by a forcing function is called a forced response.
Response due to initial conditions (initial energy storages) is called a natural (free) response.
Forced
response
Natural
response
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x t
xh t
x p t
Homogeneous solution
or transient solution
The behavior determined by a forcing

function is called a forced response.
The response due initial conditions is
Particular solution or
steady state solution
called natural response.

The period between initiation of a
response and the ending is referred to
Transient
as the transient period.
steady state
After the response has become

negligibly small, conditions are said to
have reached a steady state.
General
Solution
http://math.mit.edu/daimp/ForcedDampedVib.html
http://www.aw-bc.com/ide/idefiles/media/JavaTools/vibefdmp.html
A. Aziz Bazoune
Equation of Motion (EOM) Using Newtons Second Law of Motion:

Procedure (Translational Motion)
1. Select a suitable coordinate to describe the position of the mass in the system.
2. Determine the static equilibrium configuration of the system and measure the
displacement of the mass from its static equilibrium.
3. Draw the Free Body Diagram (FBD) of the mass when a positive displacement and
velocity are given to it. Indicate all the active and reactive forces acting on the mass.
4. Apply Newtons Second Law (NSL) of motion to the mass shown by the FBD.
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Translational motion
Rotational motion
Linear Displacement,
Linear Velocity,
Linear Acceleration,
Linear Momentum,
Forces
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Angular Displacement,
Angular Velocity,
Angular Acceleration,
Angular Momentum,
Moments (torques)
Rotational System
Find the free response of a rotor that is mounted in bearings as
shown in figure 3-8. The moment of inertia of the rotor about the axis
of rotation is . The friction in bearings is viscous friction . No
external torque is applied to the rotor.
Fig. 3-8 Rotor mounted in bearings
Apply Newtons second law for a system in rotation.
J J
J b 0

where
J b
=
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b J
1
0 0
b
FBD
is the time constant.

1
0
The above Eq. represents the EOM as well as the mathematical model of the system shown.
It represents a first order system. To find the response
previous equation
1
s s 0 s 0
where
L t
Rearranging and solving for

The denominator + 1
The equation + 1
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, take LT of both sides of the
gives
s 1
is known as the characteristic polynomial.
= 0 is known as the characteristic equation.

Taking inverse LT of the previous Eq. gives the expression of
t e
b / J t
1 / t
It is clear that the angular velocity
Free response of a rotor bearing system

1.5
decreases exponentially as shown.

Since lim
e t
= 0; then for such
=0
decaying system, it is convenient to depict
=0.2
=0.5
(t)
the response in terms of a time constant.
=0.7
=1
0.5
=2
=5
=10
0
0
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10
time (t)
15
20
Time Constant
A time constant is that value of time that makes the exponent equal to -1.
For this system, the time constant
When = , the exponent factor is

t /
/
e e e 1 0.368 36.8 %
This means that when
= , the time response
is reduced to 36.8 % of its initial value.

We also have
time constant
J /b
0.37
4 0.02
http://www.sciences.univnantes.fr/physique/perso/gtulloue/equadiff/equadiff.html
A. Aziz Bazoune
Spring Mass System

Consider the configuration of the spring-mass system shown in the figure below.
For static equilibrium
W mg kst
where
= weight of mass m,
= static deflection
= acceleration due to gravity
Applying NSL of motion to mass
Since
When a mass moves in a vertical direction, we can

ignore its weight, provided we measure the position
of
, we obtain
mx kx k st W
static equilibrium
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FBD
gives
mx k (x st ) W
FBD
from its static equilibrium position.
x k m x 0
http://phet.colorado.edu/sims/mass-spring-lab/mass-spring-lab_en.html
Free Vibration
The EOM of the mass- spring system shown in the Figure can be given by
x k m x 0
or
x n2 x 0
where
k m
is the natural frequency of the system, [ rad/s] .
Taking LT of both sides of the above Eq. where
0 =
and
0 =
m
x t
Mass-spring system
s 2X s sx 0 x 0 n2 X s 0
L x
Rearranging and solving for
gives
Characteristic Eq.
X s
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sx x
s 2 n2
s 2 n2 0
Poles of the characteristic Eq.
s1,2 jn
X s
The response
sx x
is given by
x t L
The response
s 2 n2
x
n
s
x
n s 2 n2
s 2 n2
X s sin nt x cos nt
n
consists of a sine and cosine
x t
slope x
Amplitude
Im
terms and depends on the values of the I. Cs
and .
Periodic motion described by the above equation
If
0 =
to
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= 0,, the previous equation reduces
x t x cos nt
Re
n
is called Simple Harmonic Motion (SHM).
s plane
Period T
http://www.sciences.univnantes.fr/physique/perso/gtulloue/equadiff/equadiff.html
The period ( ): is the time required for a periodic motion to repeat itself.
2
T
n
x t
slope x
Amplitude
The frequency ( ): of a periodic motion is the

number of cycles per second (cps), and the
1
f
T 2
Period T
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): is the frequency in the free vibration of a system having no damping.
If the natural frequency is measured in Hz or in cps, it is denoted by

denoted by
Re
n
that is 1 Hz = 1 cps.
Underdamped frequency (
s plane
n
standard unit of frequency is the Hertz (Hz);
Im
n 2 fn
. If it is measured in rad/sec, it is
k m
Spring Mass Damper System

Obtain the mathematical model of the mechanical system shown involving
viscous damping.
The FBD is shown in the figure.
Solution
Applying NSL of motion to a system in translation gives
m x
bx kx mx
mx bx kx 0
Rearranging gives
The above equation represents the mathematical model as well as the free
If
= 0.1 kg,
= 0.4 N/m.s and
To obtain the free response
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bx
= 4 N/m, the above Eq. becomes
0.1x 0.4x 4x 0
x t
kx
vibration motion for a second order system.
, assume
x 4x 40 x 0
0 =
and
0 = 0.
m
Free Body Diagram
(FBD)
Taking LT of both sides of the previous Eq. gives
s 2 X s s x 0 x 0 4 sX s x 0 40 X s 0
L x t
x t
L xt
L
Substituting
0 =
&
0 = 0, rearranging and solving for
X s
sx
4x
s 4s 40
gives
s 4
s
4s 40
Characteristic polynomial
The above Eq. can be written as
G s
X s
x
s 4
2
s
4s 40
where
is referred to as the transfer function
of the system. It gives the relationship between the

output
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x
Input
s 4
2
s
4
s
40
Xs
Output
and the input .
Transfer function
The characteristic equation of the system is
+4 + 40 = 0
The roots of the characteristic Eq. can be found by completing the square ,i.e.,
2
2
s 2 4s 40 s
4s 4 36 s 2 62 0
2
s 2
The expression of
X s
Solving for
or
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s1,2 2 j 6
can be written
s 4
2
s 4s 40
s 2
x
2
s 2 62
yields
s 2 2
x
2
2
s 2 6
x t L
s 2
x
2
2
s 2 6
2
2
s 2
1
6
x
2
3 s 2 62
X s x e 2t cos 6t 1 e 2t sin 6t
x t
10
x e 2t sin 6t 71.56
3
x t
Imaginary part
Real part
2t
Im
s1 2 j 6
s plane
1
x t x e2t cos 6t e2t sin 6t
3
j6
Re
j6
Td
s2 2 j 6
Free Vibration of the mass-spring-damper system described by
+ 4 + 40 = 0 with initial conditions
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0 =
&
0 = 0.
Pole-Zero Map
10
s 4
0
Imaginary Axis
s1 2 j 6
2
s
4s 40
Zeros of
-5
-3.5
-3
-2.5
-2
-1.5
-1
Symbol in
PZ-map
s40
s 4
s 2 2 j 6
-10
-4
s 4
G s
Pole-Zero Map
-0.5
Real Axis
Free vibration of mass-spring-damper system
Poles of
1.5
1
x t L1 X s x e 2t cos 6t e 2t sin 6t
x(t)
xo
Symbol in
PZ-map
s 2 4s 40 0
s1,2 2 j 6
0.5
-0.5
0.5
1.5
2.5
t (sec)
3.5
4.5
http://mathlets.org/mathlets/damped-vibrations/
Free Vibration of the mass-spring-damper system described by
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+ 4 + 40 = 0 with I. C s
0 =
&
0 = 0.
Work, Energy and Power

The work done in a mechanical system is the product of a force and a distance (or a
Work
torque and the angular displacement) through which the force is exerted with both force
and distance measured in the same direction.
Units of work in SI units:
work force dista nce

N m = J oule = J
1
k x dx k x 2
2
F
W F d cos q
W F d
Figure 3-19
F
q
Work done by a linear spring

x
Work done by a force
F
l
lx
Work done by a torsional spring
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kt d
1
kt 2
2
Energy can be defined as ability to do work.
Energy
Energy can be found in many different forms and can be converted from one
form to another.
For instance, an electric motor converts electrical energy into mechanical energy, a
battery converts chemical energy into electrical energy, and so forth.
According to the law of conservation of energy, energy can be neither created nor destroyed.
This means that the increase in the total energy within a system is equal to the net energy input to
the system. So if there is no energy input, there is no change in the total energy of the system.
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The Energy that a body possesses because of its position is called potential
Potential
Energy
energy.
In mechanical systems, only mass and spring can store potential energy.
The change in the potential energy stored in a system equals the work required to
change the systems configuration.
Potential energy is always measured with reference to some chosen level and is
relative to that level.
Refer to Figure, the potential energy
of the mass
mg dx
is
mgh
mg
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For a translational spring, the potential energy
, (sometimes called strain energy which is potential
energy that is due to elastic deformations) is:

x
F dx
k x dx
If the initial and final values of
are
1 2
kx
2
and
, respectively, then
x2
Change in potential energy = U
x2
F dx
x1
k x dx
x1
1 2 1 2
k x 2 k x1
2
2
Similarly, for a torsional spring, we obtain

2
Change in potential energy = U
T d
1
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kT d
1
1
kT 22 kT 12
2
2
Kinetic
Energy
Only inertia elements can store kinetic energy in mechanical systems.
Kinetic energy of a body in translation having a mass
and a linear velocity

Change in Kinetic energy:
1
T m x 2
2
T W
Kinetic energy of a body in rotation having a mass moment of inertia
1
1
m x 22 m x 12
2
2
and an angular velocity
Change in Kinetic energy:
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1 2
J
2
T W
1 2
1
J 2 J 12
2
2
Dissipated
Energy
Consider the damper shown in figure in which one end is fixed and the other
end is moved from
to
The dissipated energy of a body in translation having a mass

x2
x1
x2
F dx
x1
in the damper is equal to.
t2
t2
dx
b x d x b x
d t b x 2 d t
dt
t
t
F
x2
x1
x
b
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Power
Power is the time rate of doing work. That is,
Power =
The unit of power is
Passive
Elements
Active
Elements
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dW
dt
denotes work done

during time interval
P ower N m J oule Watt W
s
s
Non-energy producing element.

They can only store energy, not generate it such as springs and masses.
Energy producing elements such as external forces and torques.
Energy Method for Deriving Equations of Motion (EOM)

Equations of motion (EOM) are derived from the fact that the total energy of a system remains the
same if no energy enters or leaves the system.
Conservative Systems
Systems that do not involve friction (damping) are called conservative systems.
T U

C ha nge in th e tota l e ne rgy

If no external energy enters the system,
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N e t w ork done on the

s y s te m by e x te rna l forc e s
= 0 , no work done by external forces, then
T U
or
Conservation of energy only

for conservative systems
T U C on s ta n t
(No friction or damping)
Example
A system is said to be conservative if no energy is lost due to friction or energy dissipating.
If no work is done on the conservative system by external forces, the total energy of the system remains
constant. Thus the principle of conservation of energy can be expressed as:
d
(T U ) 0
dt
T U constant
Kinetic energy
Strain energy
(E-1)
1
2
(E-2)
1
=
2
(E-3)
Substitution of Eqs. (E-2) & (E-3) into Eq. (E-1) yields the desired equation
T U
1
1
mx 2 kx 2
2
2
d
d 1
1 2
2
mx
kx 0
T U
dt
dt 2
2
x mx kx 0
A. Aziz Bazoune
1
1
2kxx 0
2mxx
2
2
Since
0, then
x k m x 0
(E-4)
Example
The natural frequency of a conservative system can be obtained from a consideration of the kinetic
energy and the potential energy of the system.
Assuming that the datum line for the potential energy at the equilibrium state is zero.
For such a conservative system, the max. kinetic energy equals the max. potential energy ,
Tmax U max
Example
The spring force is a conservative force, so in a frictionless system the energy is constant.
The displacement of the mass-spring system is given by
x A sin t
1 mx 2
2
k 2 2
2
1 kA2 cos2 t
A
cos
2
2

1
2
Kinetic energy
Strain energy
U 21 kx 2 21 kA2 sin2 t
Total energy
E T U 12 kA2 cos2 t sin2 t 21 kA2
A. Aziz Bazoune
Principle of Conservation of Energy

E T U 21 kA2
Total energy
In either plot, notice that

T U constant
The total energy is
constant
at all times, and is (proportional to the
U
T
square of the amplitude).
U 21 kx 2
T 21 mx 2
Energy is continuously being

transferred between potential energy
stored in the spring, and the kinetic
energy of the block.
A. Aziz Bazoune
Example: Kinetic Energy of rolling motion

The disc shown in the figure rolls without slipping find the equivalent mass (inertia).
Solution
1
1
mx 2 J 2
2
2
Translation
Non slip condition
Rotation
x r
Equivalent translational mass

2
1
1
x
1
J 2
1
2
T = mx J
m x meq x 2
2
2 r2
2
2
r 2
meq
r 2
Equivalent rotational inertia
1
1
1
1
T = mr 2 2 J 2 mr 2 J 2 Jeq 2
2
2
2
2
A. Aziz Bazoune
Jeq mr 2 J
Example:
Use the energy method to calculate the EOM and natural frequency of an airplanes steering
mechanism for the nose wheel of its landing gear. The mechanism is modeled as the SDOF system
illustrated in the figure below. The steering wheel and tire assembly are modeled as being fixed at
ground for this calculation. The steering rod gear system is modeled as a linear spring and mass
system ( ,
inertia
) oscillating in the
and torsional stiffness
-direction. The shaft-gear mechanism is modeled as the disk of
. The gear turns through the angle
such that the disk does not slip
on the mass. Obtain an equation in the linear motion .
Solution
Kinematic relation
Kinetic Energy:
and
1
1
mx 2 J 2
2
2
Translation
Potential Energy:
Rotation
1
1
k2x 2 k1 2
2
2
Translation
A. Aziz Bazoune
Rotation
T U
Total Energy:
Substitute
and
1
1
1
1
mx 2 J 2 k2x 2 k1 2
2
2
2
2
= and rearranging gives
Equivalent Mass:
k1 2
1
J 2 1
T U m x k2 x
2
2
2
r 2
r
Meq
Meq m J r 2
Equivalent Stiffness:
Keq
Jeq k2 k1 r 2
Differentiating the above expression wrt time gives
d
T U Meq xx Keq xx 0
dt
Since
0, the EOM simplifies to
Meq x Keq x 0
The natural frequency of the system is given by
A. Aziz Bazoune
or
x n2 x 0
Keq
Meq
k2
m
k1
r2
J
r2
Example:
A control pedal of an aircraft can be modeled as the single-degree-of-freedom system as shown in the
figure below. Consider the lever as a massless shaft and the pedal as a lumped mass at the end of
the shaft. Use the energy method to determine the equation of motion in
frequency of the system. Assume the spring to be unstretched at
Solution
Let the mass at
is 1
cos
Kinetic Energy:
1
1
mx 2 m l22 2
2
2
Potential Energy:
2
1
k l1 mgl2 1 cos
2
Total Energy:
T +U
Derivative of Total Energy:

A. Aziz Bazoune
= 0.
= 0 be the lowest point for potential energy.
Then, the height of the mass

Kinematic relation
and calculate the natural
2
1 2 2 1
m l2 k l1 mgl2 1 cos
2
2
d
k l 2 mgl sin 0
T +U m l22
1
2
dt
For small angles measured in radians sin .

Dividing by
0, and rearranging gives :
m l22 kl12 mgl2 0
Equation of motion of the system.
Ieq Keq 0
Equivalent Inertia:
Equivalent Stiffness:
Ieq ml22
Keq kl12 mgl2
The above Eq. is a harmonic Eq. that can be written in a standard form as
Keq
Ieq
A. Aziz Bazoune
or
n2 0
Keq
Ieq
kl12 mgl2
m l22
Figure 3-17 shows a homogeneous cylinder of radius
and mass
that is free to rotate about its axis
of rotation and that is connected to the wall through a spring.
Assuming that the cylinder rolls on a rough surface without sliding, obtain the kinetic energy and
potential energy of the system.
Derive the EOM from the fact that the total energy is constant. Assume that
and
are measured
from respective equilibrium positions.
Solution
Kinematic relation
Kinetic Energy:
2
1
1
1
1
x
1
J 2
2
2
2
T mx J mx J m
x
2
2
2
2 R
2
R
Potential Energy:
Since the total energy
1 2
kx
2
+U = const in this
conservative system, it follows that

A. Aziz Bazoune
1
J 2 1 2
T U m
x kx const.
2
2
2
R
Since =
, the previous Eq. can be written as
T U
3
1
mx 2 kx 2 const.
4
2
d
3
kxx 0
T +U mxx
dt
2
or
3
mx kx 0
2
or
The natural frequency of the system is
A. Aziz Bazoune
2k
x 0
3m
x n2 x 0
2k
3m
http://www.mwit.ac.th/~physicslab/applet_04/fun@learning/JAVA/dho/dho2.html
http://www.geneseo.edu/~heap/applets/Spring/spring.html
http://www.cabrillo.edu/~jmccullough/Applets/oscillations.html
http://phet.colorado.edu/en/simulation/mass-spring-lab
QUESTIONS ...?
A. Aziz Bazoune

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ME 413 System

Dynamics & Control

Dr. A. Aziz Bazoune

ME 413 System Dynamics & Control

CH 03 Mechanical Systems Slide 4

Mathematical Modeling of Simple Mechanical Systems

Work, Energy, and Power

Example Problems and Solutions

ME 413 System Dynamics & Control

CH 03 Mechanical Systems Slide 5

ME 413 System Dynamics & Control

CH 03 Mechanical Systems Slide 6

The unit of mass is

The unit of weight

come into direct

The unit of force is

Act on a body but do not come into contact with

CH 03 Mechanical Systems Slide 7

Mass or (inertia) Element

ME 413 System Dynamics & Control

Damper Element or Dashpot

CH 03 Mechanical Systems Slide 8

When each of these in turn is

ME 413 System Dynamics & Control

CH 03 Mechanical Systems Slide 9

Mass or Inertia Elements

inertia (mass moment of inertia)

ME 413 System Dynamics & Control

CH 03 Mechanical Systems Slide 10

Spring Elements: Translational Motion

(b) both ends of the spring are deflected.

(a) One end of the spring is deflected

ME 413 System Dynamics & Control

CH 03 Mechanical Systems Slide 11

Examples of Translating Spring Elements

ME 413 System Dynamics & Control

CH 03 Mechanical Systems Slide 12

Spring Elements: Torsional Motion

The torque in the torsional spring is

(a) A torque t is applied at one end of

(b) a torque t is applied at both ends.

ME 413 System Dynamics & Control

CH 03 Mechanical Systems Slide 13

Examples of Torsional Spring Elements

ME 413 System Dynamics & Control

CH 03 Mechanical Systems Slide 14

Equivalent Springs: Summary

Force is common - flexibilities add

Displacement is common - stiffnesses add

ME 413 System Dynamics & Control

CH 03 Mechanical Systems Slide 15

Equivalent Springs: Summary

ME 413 System Dynamics & Control

CH 03 Mechanical Systems Slide 16

Compliance or Mechanical Impedance

corresponds to a hard spring, a small value of

is called compliance or mechanical capacitance .

= 1/ . Compliance indicates the softness of a spring.

ME 413 System Dynamics & Control

CH 03 Mechanical Systems Slide 17

Practical Spring versus Ideal Spring

All practical springs have inertia and damping.

An ideal spring has neither mass nor damping