i S t 3 This illustration shows the elements of the left-front suspension on an all-wheel-drive automobile. The spring and shock absorber are coaxial in this McPherson-strut type of suspension.VIBRATION AND Time RESPONSE CHAPTER OUTLINE 8/1 Introduction 8/2 Free Vibration of Particles 8/3 Forced Vibration of Par Vibration of Rigid Bodies 8/5 Energy Methods 8/6 Chapter Review 8/1 ‘An important and special class of problems in dynamics concerns the linear and angular motions of bodies which oscillate or otherwise re- spond to applied disturbances in the presence of restoring forces. A few examples of this class of dynamics problems are the response of an engi- neering structure to earthquakes, the vibration of an unbalanced rotat- ing machine, the time response of the plucked string of a musical instrument, the wind-induced vibration of power lines, and the flutter of aircraft wings. In many cases, excessive vibration levels must be re- duced to accommodate material limitations or human factors. In the analysis of every engineering problem, we must represent the system under scrutiny by a physical model. We may often represent a continuous or distributed-parameter system (one in which the mass and spring elements are continuously spread over space) by a discrete or lumped-parameter model (one in which the mass and spring elements are separate and concentrated). The resulting simplified model is espe- cially accurate when some portions of a continuous system are relatively massive in comparison with other portions. For example, the physical model of a ship propeller shaft is often assumed to be a massless but twistable rod with a disk rigidly attached to each end—one disk repre- senting the turbine and the other representing the propeller. As a sec- ond example, we observe that the mass of springs may often be neglected in comparison with that of attached bodies. [Not every system is reducible to a discrete model. For example, the transverse vibration of a diving board after the departure of the diver is TRODUCTION—— Eaquilibriuen | al position am @ o a somewhat difficult problem of distributed-parameter vibration. In this chapter, we will begin the study of discrete systems, limiting our discus- sion to those whose configurations may be described with one displace- ‘ment variable. Such systems are said to possess one degree of freedom. For a more detailed study which includes the treatment of two or more degrees of freedom and continuous systems, you should consult one of the many textbooks devoted solely to the subject of vibrations. ‘The remainder of Chapter 8 is divided into four sections: Article 8/2 treats the free vibration of particles and Art. 8/3 introduces the forced vibration of particles. Each of these two articles is subdivided into undamped- and damped-motion categories. In Art. 8/4 we discuss the vibration of rigid bodies. Finally, an energy approach to the solu tion of vibration problems is presented in Art. 8/5, ‘The topic of vibrations is a direct application of the principles of ki- netics as developed in Chapters 3 and 6. In particular, a complete free- body diagram drawn for an arbitrary positive value of the displacement variable, followed by application of the appropriate governing equations of dynamics, will yield the equation of motion. From this equation of motion, which is a second-order ordinary differential equation, you can obtain all information of interest, such as the motion frequeney, period, or the motion itself as a function of time, 8/2 _ FREE VIBRATION OF PARTICLES ‘When a spring-mounted body is disturbed from its equilibrium posi- tion, its ensuing motion in the absence of any imposed external forces is termed ree vibration. In every actual case of free vibration, there exists some retarding or damping foree which tends to diminish the motion. ‘Common damping forces are those due to mechanical and fluid friction. In this article we first consider the ideal case where the damping forces are small enough to be neglected. Then we treat the case where the damping is appreciable and must be accounted for. Equation of Motion for Undamped Free Vibration We begin by considering the horizontal vibration of the simple frictionless spring-mass system of Fig. 8/1a. Note that the variable x denotes the displacement of the mass from the equilibrium position, which, for this system, is also the position of zero spring deflection. Figure 8/1b shows a plot of the force F, necessary to deflect the spring versus the corresponding spring deflection for three types of springs. Although nonlinear hard and soft springs are useful in some applica- tions, we will restrict our attention to the linear spring. Such a spring exerts a restoring force ~kx on the mass—that is, when the mass is displaced to the right, the spring force is to the left, and vice versa. ‘We must be careful to distinguish between the forces of magnitude F, which must be applied to both ends of the massless spring to cause tension or compression and the force F = —kx of equal magnitude which the spring exerts on the mass. The constant of proportionality ‘is called the spring constant, modulus, or stiffness and has the units Nim or lb/ftArticle 6/2 n of ticles ‘The equation of motion for the body of Fig, 8/la is obtained by first drawing its free-body diagram. Applying Newton's second law in the form 2F, = mi gives “ke smi or me + ke =0 en The oscillation of a mass subjected to a linear restoring force as de- scribed by this equation is called simple harmonic motion and is charac- terized by acceleration which is proportional to the displacement but of ‘opposite sign. Equation 8/1 is normally written as (82) where (8/3) is a convenient substitution whose physical significance will be clarified shortly. Solution for Undamped Free Vi Because we anticipate an oscillatory motion, we look for a solution which gives x as a periodie funetion of time, Thus, a logical choice is x= A008 wgt + Bain wet (sia) or, alternatively, sin (gt + ¥) (8/5) Direct substitution of these expressions into Eq, 8/2 verifies that each expression is a valid solution to the equation of motion. We determine the eonstants A and B, or C and y, from knowledge of the initial dis- placement x» and initial velocity zy of the mass. For example, if we work with the solution form of Eq. 8/4 and evaluate x and + at time ¢ = 0, we obtain X= and y= Boy ‘Substitution of these values of A and B into Bq, 8/4 yields 2 = x c08 a4t +22 sin ot 616) ‘The constants C and of Eq. 8/5 can be determined in terms of ‘given initial conditions in a similar manner. Evaluation of Eq. 815 and its first time derivative at ¢ = 0 gives Xo=Csing — and ig = Ca, 08h604 Chapter Je Re: Solving for C and y yields C= Yap? + Hola) w= tan" Maqery/to) ‘Substitution of these values into Eq. 85 gives = Vig? + Gola sin [oyt + tan"(xginyko)] iD Equations 8/6 and 8/7 represent two different mathematical expressions for the same time-dependent motion. We observe that C = JA? + B? ‘andy = tan "A/B). Graphical Representation of Motion ‘The motion may be represented graphically, Fig. 812, where x is seen to be the projection onto a vertical axis of the rotating vector of length C, The veetor rotates at the constant angular velocity «., = vkim, which is called the natural circular frequency and has the units radians per second. The number of complete cycles per unit time is the natural frequency fy = an/2z and is expressed in hertz (1 hertz (Hz) = 1 eycle per second). The time required for one complete motion cycle (one rota- tion of the reference vector) is the period of the motion and is given by Vf, = Brey. Figure 8/2 We also see from the figure that x is the sum of the projections onto the vertical axis of two perpendicular vectors whose magnitudes are A and B and whose vector sum Cis the amplitude, Vectors A, B, and C ro- tate together with the constant angular velocity «,.Thus, as we have al- ready seen, C = JA¥ + B® and y= tan“(AVB). Equilibrium Position as Reference As a further note on the free undamped vibration of particles, we see that, if the system of Fig. 8/la is rotated 90° clockwise to obtain the system of Fig. 8/3 where the motion is vertical rather than horizontal,Article 6/2 Free Vibration of Particles 605 the equation of motion (and therefore all system properties) is un- changed if we continue to define x as the displacement from the equilib- rium position. The equilibrium position now involves a nonzero spring deflection 5. From the free-body diagram of Fig. 8/3, Newton’s second law gives RG, +2) + mg = mE Equilibrium position At the equilibrium position x = 0, the foree sum must be zero, so that a | sn awww} hig + mg = 0 me ‘Thus, we see that the pair of forces —, Figure a/3 motion equation cancel, giving and mg on the loft side of the mi + he =0 which is identical to Ba. 8/1. ‘The lesson here is that by defining the displacement variable to be zero at equilibrium rather than at the position of zero spring de- flection, we may ignore the equal and opposite forces associated with equilibrium.” k Equation of Motion for Damped Free Vibration very mechanical system possesses some inherent degree of fei tion, which dissipates mechanical energy. Precise mathematical models of the dissipative friction forces are usually complex. The dashpot or vis gain - cous damper is a device intentionally added to systems for the purpose “ 1 of limiting or retarding vibration. It consists of a eylinder filled with a aa viscous fluid and a piston with holes or other passages by which the fluid can flow from one side of the piston to the other. Simple dashpots “ L arranged as shown schematically in Fig. 8/4a exert a force Fy whose ‘magnitude is proportional tothe velocity of the mass, as depicted in Fig, Ny 8/4b. The constant of proportionality c is called the viscous damping co- efficient and has units of N-s/m or Ib-sec/ft. The direction of the damp- « ing force as applied to the mass is opposite that of the velocity ¢. Thus, the force on the mass is ~e. fh Complex dashpots with intemal flow-rate-dependent one-way valves ean produce different damping coefficients in extension and in compression; nonlinear characteristics are also possible. We will restrict ur attention to the simple linear dashpot. ‘The equation of motion for the body with damping is determined from the free-body diagram as shown in Fig. 8/4a. Newton's second law gives kx c= mi or mE +k +h =—0 (8/8) ® “For nonlinear systems, all frees, inching the state foros associated with equlbaium, should be ineluded in the analysis. Figure 8/4606 Chapter 8 _vibrati In addition to the substitution #, = /kim, it is convenient, for reasons which will shortly become evident, to introduce the combination of constants £=ell2me,) The quantity ¢ (zeta) is ealled the viscous damping factor or damping ratio and is a measure of the severity of the damping. You should verify that ¢ is nondimensional. Equation 8/8 may now be written as Solution for Damped Free ration In order to solve the equation of motion, Eq. 8/9, we assume solu- tions of the form Substitution into Bg. 8/9 yields 22+ Ww,d +0,2=0 which is called the characteristic equation. Its roots are Aya og -E + VED Ag a(-g ~ VD Linear systems have the property of superposition, which means that the general solution is the sum of the individual solutions each of which corresponds to one root of the characteristic equation. Thus, the general solution is Aye! + Age! = Aen 4 Ay tid (no) Categories of Damped Motion Because 0 = ¢ = =, the radicand (¢? ~ 1) may be positive, negative, or even zero, giving rise to the following three categories of damped motion: L. £> 1 (overdamped). The roots A, and Ay are distinet, real, and negative numbers. The motion as given by Eq. 8/10 decays so that-x approaches zero for large values of time ¢. There is no os cillation and therefore no period associated with the motion. Il, £ = 1 (critically damped). The roots A, and Az are equal, real, and negative numbers (A; = Az = —«,). The solution to the dif: ferential equation for the special case of equal roots is given by (A, + AbemL Article 6/2 30) Conditions: = 1kg, k= 9 Nim 10 min, ip = 15 N-sim (f= 2.5), overdamped =6 Nef (f=, critically damped Figure 8/5 Again, the motion decays with x approaching zero for large time, and the motion is nonperiodic. A critically damped system, when excited with an initial velocity or displacement (or both), will ap- proach equilibrium faster than will an overdamped system. Fig- ure 8/5 depicts actual responses for both an overdamped and a critically damped system to an initial displacement xp and no ini- tial velocity (p= 0). £ < 1 (underdamped). Noting that the radieand (¢? ~ 1) is negative and recalling that &®'® = e'e’, we may rewrite Eq. 8/10 as = Aye Pad 4 Aye NT Faye tet where i = /=1. It is convenient to let a new variable w, repre- sent the combination w,/1 ~ £2. Thus, = (Ayeitd + Ag inthe fot ‘Use of the Euler formula e** = cos x * j sin x allows the previ- ous equation to be written as, 2 = (Ay(cos ost + isin oye) + Ag(oos agt ~ isin wgt)}e-lt = (Ay + Ap) 008 af + HA, ~ Ay) sin oythorCr! = {Ag cos gt + Ay sin wythe™tt ny where As = (A; + As) and Ag = iA, ~ Az). We have shown with Eqs. 8/4 and 8/5 that the sum of two equal-frequeney harmon- ies, such as those in the braces of Eq. 8/L1, can be replaced by a single trigonometric function which involves a phase angle. ‘Thus, Bq. 8/11 can be written as {Csin (ug + Whe-t or sin (og +0) (siz) Free Vibr ion of Particles 607Equation 8/12 represents an exponentially decreasing harmonic function, as shown in Fig. 8/6 for specific numerical values. The frequency ag = ol 2 is called the damped natural frequency. The damped period is given by rg = 2nleas = 2milo,V1 - 2). It is important to note that the expressions developed for the con- stants C and ¢ in terms of initial conditions for the caso of no damping are not valid for the case of damping. To find C and # if damping is pres- ent, you must begin anew, setting the general displacement expression Figure 0/6 of Eq. 8/12 and its first time derivative, both evaluated at time ¢ = 0, ‘equal to the initial displacement x and initial velocity , respectively. Determination of Damping by Experiment We often need to experimentally determine the value of the damp- ing ratio { for an underdamped system. The usual reason is that the value of the viseous damping coefficient ¢ is not otherwise well known. ‘To determine the damping, we may excite the eystem by initial condi- tions and obiain a plot of the displacement x versus time t, such as that shown schematically in Fig. 8/7. We then measure two suecessive ampli- tudes and x, a full eycle apart and compute their ratio By Corto iy Cer ‘The logarithmic decrement 6 is defined as = in (2!) = gory = boy —BE = 2 ooh & font Sno e@ fi-@ ‘x= Ce‘ sin (oyt +¥) From this equation, we may solve for ¢ and obtain 3 Figure 077 For a small damping ratio, x; = x2 and 8 << 1, so that ¢ = 4/2n. Iz, and, are so close in value that experimental distinction between them jis impractical, the above analysis may be modified by using two ob- served amplitudes which aren eycles apart.A body weighing 25 Ib is suspended from a spring of constant k = 160 Ibi At time = 0, it has a downward velocity of 2 fUsee as it passes through the posi- tion of statie equilibrium. Determine (a) the static spring deflection 8, () the natural frequency of the system in both rad/see (,) and ceyclesisee (fy) (©) the system period r (@) the displacement x as a function of time, where x is measured from the position of static equilibrium (©) the maximum velocity Una attained by the mass (A) the maximum acceleration da attained by the mass. Equilibrium, ‘sition Solution. (a) From the spring relationship F, = kx, we see that at equilibrium me _ 35 © me ~ hy —5=™= 25 gs62 Ror e75in, Ams m4 Hotpful Hints [sab redl ® i= | piitg= 198 mace Ane Yon sd aay ee xen 1 subject of vibrations tie qute cosy .~1436( 2) = 228 leiee ns. a 4 an)” 228 ere to commit errors due to mixing of foot and inches, eles and radians @ danza other pairs which, frquentiy 5 enter the cleulatons. © From By © Recall that when we refer the mo . thon to the position a stati oui Fe xpcaoyt + rium, the equation of mtion, nd . : therefore is solution, far the pres = (0) cs 1.864 + Fags 14.861 ent system is identical to that fo the horizontally vibrating atom = 01988 sin 14.96 Ans ‘As an exercise, let us determine « from the alternative Bq. 8/7: = arn) (2 ysin “tant { (0014.36) Taha] = 0.1999 sin 14.36¢ (©) The velocity is % = 14.86(0.1893) cos 14.36¢ = 2 cos 14.36¢. Because the cosine function eannot be greater than 1 or less than —1, the maximum velocity 2 ftlse, which, in this ease, isthe intial velocity. ‘Ans (J) The acceleration is 14.36(2) sin 14.861 = —28.7 sin 14.364 ‘The maximum acceleration dye is 28.7 fsec*. Ans,610 Chapter 9 vibration and Sample Problem 8/2 ‘The 8g body is moved 0.2 m to the right of the equilibrium position and “ i released from rest at time ¢ ~ 0. Determine its displacement at time ¢ = 2. The viscous damping coefficient cis 20 N-s/m, and the spring stiffness is 82 Nim. Solution. We must first determine whether the system is underdamped, citi " cally damped, or overdamped. For that purpose, we compute the damping ratio ¢. ce __ 20 Ino, ~ Hea ~ [kim = J2I8 = 2radls ¢ Since ¢ <1, the system is underdamped. The damped natural frequency is ‘13 = O/T ~ 2 » 2V1 ~ (0.625) = 1.561 rads, Tho motion is given by Eq. 8/12 and is = Cet sin (agt + W) = Ce~!28' sin (1.561 +) ‘The velocity is then 4 = ~1.250e"!2% sin (1.561 + 9) + 1.561Ce1% cos (1.5612 + W) N Evaluating the displacement and velocity at time t= 0 gives, p= Csiny=02 — fg~ -125C sing + 1.5610 cos 0 Helpful Hint Solving the two equations for C and y yields C = 0.256 m and y = 0.896 rad. (J) We note that the exponential factor ‘Therefore, the displacement in meters is e148 ig 0.0821 at ¢ = 2s, Thus, za ossme BS (ssitaone {= 0.625 represents severe damp. ing, although the motion is still Evaluation for time = 2 s gives x» = -0.01616 m. Ans. oxillatory Sample Problem 8/3 ‘9p. A round bar is placed off center on the pulleys as shown, Determine the nat- ural frequency of the resulting bar motion. The coefficient of kinetie friction be- ‘tween the bar and pulleys Titi mates lzranist meeps (C—O) Conia? poten ‘Solution. The free-body diagram of the bar is constructed for an arbitrary dis f & mol placement x from the central position as shown, The governing equations are = ig? IBF, = mil eee Pan Srp a = ae = i Nal me Ne a ate (Grzpe0 : 2*s}ne Helpful Hints Eliminating Ny and Np from the fst equation yields © Because the bar is slender and does ; 20; rosie, the we of a moment 3+ tise eer eon @® We note that the angular speed «wy oes not enter the equation of mo: tion, The reason for this is our as- sumption that the force does not depend on the relative velocity at the contacting surface. ‘We recognize the form of this equation as that of Eq, 8/2, so that the natural fre- quency in radians per second is og = vy and the natural frequency in ey- cles per second is Jnetie frietion Sn qe Pune Ans,a je 8/2 Problems 611 ee ee PROBLEMS (Unless otherwise indicated, all motion variables are re- ferred to the equilibrium position.) Introductory Problems-Undamped, Free Vibrations 8/1 When a 3:kg collar is placed upon the pan which attached to the spring of unknown constant, the ad- ditional statie deflection of the pan is observed to be 42 mm, Determine the spring constant & in Nim, Ijin, and lott. Ans. k = 701 Nim 4.00 Ibi 48.0 Ibi Problem 8/1 8/2 Show that the natural frequency of a vertically or ented spring-mass system, such as that of Prob. 8/1, may be expressed 88 w, = s/fi6, where bis the stat deflection 48/3 Determine the natural frequency of the spring-mass system in both radians per second and eycles per se- ‘ond (Hi), Ans. w, = 18 radisec, j, = 2.86 He {8/4 For the system of Prob. 8/3, determine the position x of the mas as a function of time if the mass is re- leased from rest at time ¢ = 0 from a position 2 inches to the left of the equilibrium position, Determine the ‘maximum velocity and maximum acceleration of the ‘mass over one eycle of motion. 8/5 For the system of Prob, 8/8, determine the position x asa function of time if the mass is released at time {= 0 from a position 2 inches to the right of the equi Iibrium position with an initial velocity of 8 in,/see to the left. Determine the amplitude C and period > of the motion, Ana. c 06 sin (AB¢ + 1.816) in, (06 in,, += 0.349 sec {8/6 For the spring-mass system shown, determine the stax tie deflection 5,, the system period z, and the maxi- mum velocity Ug Which result if the eylinder is displaced 100 mm downward from its equilibrium po- sition and released, = 98 Ni Bquilibeium ~~] y ma2ke Problem 8/6 9/7 The eylinder of the aystem of Prob. 86 is displaced 100 mm downward from its equilibrium position and released at time ¢ = 0. Determine the position y, ve- locity v, and seceleration a when t = 3 5. What is the ‘maximum acceleration? ‘Ans. y = ~0,0548 m, v = ~ 0.586 mis 0 = 2.68 mist, dingy = 4:9 mis?/8 In the equilibrium position, the 30-kg cylinder causes astatie deflection of 50 mm in the coiled spring, Ifthe eylinder is depressed an additional 25 mm and re- leased from rest, calculate the resulting natural fre- queney f,of vertical vibration ofthe eylinder in eyeles per second (Hz). Problem 8/8 18/9 For the eylinder of Prob. 8/8, determine the vertical displacement x, measured positive down in willime- ters from the equilibrium position, in terms of the ‘me ¢ in seconds measured from the instant of release from the position of 25 mm added deflection, ‘Ans. x= 25 008 14,014 mm 8/10 The vertical plunger has a mass of 2.5 kg and is sup- ported by the two springs, which are always in com: pression. Caleulate the natural frequency f, of vibration of the plunger if it is deflected from the equilibrium position and released from rest. Frietion in the guide is negligible. kN Fixed hy = 1.8 NI 25 kg Problem 9/10 8/11 I?the 100-kg mass has a downward velocity of 0.5 mis a it passes through its equilibrium position, ealeulate the magnitude Oya, of its maximum seceleration. Each of the two springs has a stiffness & = 180 kim. Ans, Qyay = 30 mis : a Problem 6/11 Representative Problems—Undamped, Free Vibrations 8/12 Prove that the natural frequency f, of oscillation for ‘the mass m is indopondent of 8 a Problem 8/12 18/13 An old car being moved by a magnetic crane pickup dropped from a short distanee above the ground, Neglect any damping effects of its worn-out shock absorbers and calculate the natural frequeney f., in eyeles per second (Hz) of the vertieal vibration ‘which occurs after impact with the ground. Each of the four springs on the 1000-kg car has a constant ‘of 17.5 KNim. Because the center of mass is located ‘midway between the axles and the ear is level when dropped, there is no rotational motion. State any ‘sssumptions. Ans. fy = 1.892 HaArticle 9/2, Problems 613 Blectromagnet Problem 8/13 8/14 During the design of the spring-support system for the 4000-ky weighing platform, it is decided that the frequency of free vertical vibration in the un- loaded condition shall not exceed 3 cycles per sec- ond, (a) Determine the maximum acceptable spring constant F for each of the three identical springs. (@) For this spring constant, what would be the nat tural frequeney f, of vertical vibration of the plat form loaded by the 40-Mg truck? Problem 8/14 8/15 Replace the springs in each of the two cases shown by a single spring of stiffness & (equivalent spring stiffness) which will eause each mass to vibrate with its original frequency. = ht hp @b=ded Ans k= ht hy OEE tL @ ® Problem 8/15 8/16 Explain how the values of the mass my and the spring constant & may be experimentally determined if the mass m, is known. Develop expressions for m; ‘and k in terms of specified experimental results. [Note the existence of at least three ways to solve the problem. Problem 8/16 9/17 A.90-kg man stands atthe end ofa diving board and causes a vertical osilation whichis observed to have a period of 0.6 s, What isthe statie deflection 5. at the end ofthe board? Neglect the mass ofthe boar. Ans. 8 = 89.5 mm be Problem 8/17 8/18 With the assumption of no slipping, determine the ‘mass m of the block which must be placed on the top of the 6-kg cart in order that the system period be 0.78 s, What isthe minimum coefficient of static fric- tion 4, for which the block will not slip relative to the cart if the cat is displaced 50 mm from the equi- Librium position and released? fhe 600 Nim Problem 8/18614 Chapt vib ion and Time Response 8/19 Calculate the natural frequency «, of the system shown in the figure, The mass and frietion of the pulleys are negligible - [a ns. = Problem 8/19 8/20 An energy-absorbing car bumper with its springs ini tially undeformed has an equivalent spring constant of 3000 Ibjn. If the 2500-I car approaches a massive ‘wall with a speed of 5 milbr, determine (a) the velocity wv of the car as @ function of time during contact with the wall, whore 1 = 0 is the beginning of the impact, and (6) the maximum deflection Sige ofthe bumper. Problem 8/20 8/21 A small particle of mass m is attached to two highly ‘tensioned wires as shown. Determine the system natural frequency a, for small vertial oscillations if the tension T'in both wires is assumed to be con: stant. Is the calculation of the small statie deflection of the particle necessary? Problem 8/21 8/22 The large cement bucket suspended from the erane by an elastic cable has a mass of 4000 kg. When the bucket is disturhed, a vertical oscillation of period 045s is observed. What is the static deflection 8, of the bucket? Neglect the mass of the cable and as- sume that the crane is rigid for the inboard support position shown. Problem 6/22 8/23 The cylindrical buoy floats in salt water (density 1030 kg/m) and has a mass of 800 kg with a low een: tor of mass to keep it stable in the upright position Determine the frequency f, of vertieal oscillation of the buoy. Assume that the water Ievel remains undisturbed adjacent to the buoy. ‘Ans. f, = 0.801 Hz 06m Problem 8/23ob 615 8/2 18/24 The eylindor of mass m is given a vertical displace- ‘ment yg from its equilibrium position and released. Write the differential equation for the vertical vibra- tion of the eylinder and find the period + of its mo- tion, Neglect the friction and mass of the pulley. Problem 9/24 18/25 Shown in the figure is a model of a one-story build- ing, The bar of mass m is supported by two light elas- tie upright columns whose upper and lower ends are fixed against rotation. For each column, if a force P ‘and corresponding moment M were applied as shown in the right-hand part of the figure, the deflection 3 ‘would be given by 8 = PL*/12EI, where L isthe effec- tive column length, B is Young's modulus, and I is the area moment of inortia of the column eross sec- tion with respect to its neutral axis. Determine the ‘natural frequency of horizontal osillation of the bar ‘when the columns bend as shown in the figure. Anson = 2 a ay Ground level Problem 8/25 8/26 Derive the differential equation of motion for the system shown in lerms of the variable x. The mass of the linkage is negligible. State the natural fre- Problem 8/26 8/27 A S.kg piece of putty is dropped 2 m onto the tially stationary 28-kg block, which is supported by our springs, each of which has a constant k = 800 "Nim, Determine the displacement x as a function of time during the resulting vibration, where x is mea- sured from the initial position ofthe block as shown. Ans. x = 9.20(10"4)1 ~ cos 10.16!) + 59.7(10-% sin 10.16¢ m akg a. am Problem 3/27616 chapter SP. oe ee Introductory Problems-Damped, Free Vibrations 18/28 Determine the value of the damping ratio ¢ for the simple spring-mass-dashpot system shown, = 25 Ib-seot b= Sibin, Problem 8/28 {8/28 Determine the value of the viscous damping coefficient for which the system shown is critically damped, ‘Ans, ¢ = 2050 N-sla 30 kN/m 35k Problem 6/29 8/30 ‘The 8:1b body of Prob, 8/28 is released from rest a distance x to the right of the equilibrium position, Determine the displacement x a8 a function of time t, where = 0 is the time of release, 9/31 The addition of damping to an undamped spring- ‘mass system causes its period to increase by 25 per- cent. Determine the damping ratio Ans. £= 06 8/52 A linear harmonic oscillator having a mass of 1.10 kg is set into motion with viscous damping. If the fre- ‘quency is 10 Hz and if two successive amplitudes a full cycle apart are measured to be 4.65 mm and 4.30 mm as shown, compute the viscous damping coeficient bs65/ |, 5) ‘Time Problem 8/32 {8/33 Determine the value of the viscous damping coefficient «for which the system shown is eritially damped. Ans. ¢ = 1544 Th-secit 200 Ibn 0b Problem 8/33617 18/34 The 2.5-kg spring-supported cylinder is set into free vertical vibration and is observed to have a period of (0.75 s in part (a) of the figure. The system is then completely immersed in an oil bath in part (6) of the ‘igure, and the cylinder is displaced from its equilib- ‘rium position and released. Viscous damping ensues, and the ratio of two successive positive-displacement ‘amplitudes is 4. Caleulate the viscous damping ratio 4, the viscous damping constant c, and the equiva- Tent spring constant h. @) 6 Problem 8/34 Representative Problems-Damped, Free Vibrations 0/35 "The figure repre the menue dle to rrp fr avant snl donpng Roeit wipro auto eae} ano the nu eal spt no sere iy trees fr the ns Stunner foc on te menue er EUS ican Nodes =(3) whore 6 exes Problem 8/35 18/36 For the damped spring-mass system shown, deter amine the viscous damping coefficient for which ert cal damping will occur. Problem 8/368/37 A damped spring-mass systom is released from rest from a positive initial displacement p. If the suc- ceeding maximum postive displacement is x92, de- termine the damping ratio ¢ of the system, ‘Ans, ¢= 0.1097 Problem 8/37 8/38 If the amplitude of the eighth eyele of a linear oseil- lator with viscous damping is sixteen times the am- plitude of the twentieth eycl, caleulate the damping ratio‘. 8/39 Further design refinement for the weighing platform of Prob. 8/14 is shown here where two viscous dampers are to be added to limit the ratio of succes sive positive amplitudes of vertical vibration in the unloaded condition to 4. Determine the necessary vis- cous damping coefficient e for each of the dampers, Ans. c= 16.2400") Neal Problem 8/39 8/40 ‘The 2-kg mass is released from rest at @ distance 2p to the right of the equilibrium position. Determine the displacement as a function of time. Problem 6/40 1) The aystem shown is released from rest from an initial position xy, Determine the overshoot displacement x, Assume translational motion in the x-direction, ‘Ans, x, = ~0.1630x, sxtatttn 8 Nein Problem 9/41 8/42 The mass of a given critically damped system is re- leased at time = 0 from the position x) > 0 with a negative initial velocity. Determine the critical value 9) of the initial velocity below which the mass will pass through the equilibrium position 8/63 ‘The mass of the system shown is reloased from rost at x" Gin. when f = 0. Determine the displacement x at 1 = 05 se if(a) c= 12 Ibseolt and (b)¢ = 18 Ibseci, ‘Ans, (a)x = 4.42 in,, (@)x = 4.72in, h=Tlbvin. Problem 8/438/44 ‘The owner of a 3400-Ib pickup truck tests the action ‘of his rear-wheel shock absorbers by applying a steady 100-Ib force to the rear bumper and measur- ing a static deflection of 9 in. Upon sudden release of the force, the bumper rises and then falls to a maxi- mum of 1 in, below the unloaded equilibrium posi- tion of the bumper on the first rebound. Treat the action as a one-dimensional problem with an equiva lent mass of half the truck mass. Find the viscous ‘damping factor £ for the rear end and the viscous ‘damping coefficient c for each shock absorber assum: ing its action to be vertical, {Baul position Problem 8/44 18/45 Derive the differential equation of motion for the system shown in its equilibrium position. Neglect the mass of link AB and assume small oscillations. ne. [m + Sima + et + ke = 0 Problem 8/45, Article 8/2 Problems 619 {8/46 Develop the equation of motion in terms of the vari- able x for the system shown. Determine an expres- sion for the damping ratio ¢ in terms of the given system properties. Neglect the mass of the crank AB ‘and aasume small oscillations about the equilibrium position shown, Problem 8/46620 Chapter 8 Vibration and Time Response 8/3 _Forcep VIBRATION OF PARTICLES Although there are many significant applications of free vibrations, the most important class of vibration problems is that where the motion is continuously excited by a disturbing force. The force may be exter- nally applied or may be generated within the system by such means as unbalanced rotating parts, Forced vibrations may also be excited by the motion of the system foundation. Harmonic Excitation Various forms of forcing functions F = F(t) and foundation displace- ments 2p = xp(t) are depicted in Fig. 8/8. The harmonie force shown in part a of the figure occurs frequently in engineering practice, and the understanding of the analysis associated with harmonic forces is a nec- essary first step in the study of more complex forms, For this reason, we will focus our attention on harmonic excitation, We first consider the system of Fig. 8/9a, where the body is subjected to the external harmonic force F = Fy sin wf, in which Fy is the foree am- plitude and « is the driving frequency (in radians per second). Be sure to distinguish between w, = him, which is a property of the system, and w, i Which is a property of the force applied to the aystem. We also note that 5 fora force F = Fy cos wt, one merely substitutes os ot for sin tin the re- el sults about to be developed. 5 3 FAO or xt) 5 testing of its suspen LAAN AAA: Triangle Saw tooth Fidvor gt) Por z9(0) DAD DAA Hat sine ence (Pere Nonharmonie FO) or xl) Ramp Cycloidal Impulse Random (e)Nonperiodie Figure 6/8From the free-body diagram of Fig. 8/9a, we may apply Newton's second law to obtain hy ~ ci + Fy sin ot = me In standard form, with the same variable substitutions made in Art. 8/2, the equation of motion becomes (Font sae en In many cases, the excitation of the mass is due not to a directly ap- plied force but to the movement of the base or foundation to which the ‘mass is connected by springs or other compliant mountings. Examples of such applications are seismographs, vehicle suspensions, and struc- tures shaken by earthquakes, ‘Harmonie movement of the base is equivalent to the direct applica- tion of a harmonic foree. To show this, consider the system of Fig. 8/90 where the spring is attached to the movable base. The free-body dia- gram shows the mass displaced a distance x from the neutral or equilib rium position it would have if the base were in its neutral position. The base, in turn, is assumed to have a harmonic movement xp = b sin at. Note that the spring deflection is the difference between the inertial dis- placements of the mass and the base, From the free-body diagram, New ton’s second law gives, Base Excitation Kx ~ xp) ~ 04 = mi " [Foams coceo dia oe ‘We see immediately that Eq, 8/14 is exactly the same as our basic equa- tion of motion, Eq. 8/13, in that Fo is replaced by kb. Consequently, all the results about to be developed apply to either Eq. 8/13 or 8/14. Undamped Forced Vibration First, we treat the case where damping is negligible (c = 0). Our basic equation of motion, Eq. 8/13, becomes os ee ‘The complete solution to Eq. 8/15 is the sum of the complementary solution x, which is the general solution of Eq, 8/15 with the right side set to zero, and the particular solution x,, which is any solution to the complete equation. Thus, x = x, + x. We developed the complementary solution in Art. 6/2. A particular solution is investigated by assuming Neutral position ® Figure 8/9 ag2 bain otsponse oooeeeeaaeunQ0QqQqqququqnNqhae Figure 2/10 that the form of the response to the force should resemble that of the force term. To that end, we assume ty = Xsin wt (aie) where X is the amplitude (in units of length) of the particular solution. Substituting this expression into Eq. 8/15 and solving for X yield Folk xe 8/17) (ela, er ‘Thus, the particular solution becomes Fulk ft sin at (ss) eT elo ‘The complementary solution, known as the transient solution, is of no special interest here since, with time, it dies out with the small ‘amount of damping which is always unavoidably present. The particular solution x, describes the continuing motion and is called the steady-state solution. Its period is r = 2z/w, the same as that of the forcing function, Of primary interest is the amplitude X of the motion. If we let 6 stand for the magnitude of the static deflection of the mass under a sta- tie load Fy, then 5, = Folk, and we may form the ratio -x 1 MoS -taF 1/19) ‘The ratio M is called the amplitude ratio or magnification factor and is a ‘measure of the severity of the vibration. We especially note that M ap- proaches infinity as w approaches «,. Consequently, if the system pos- ssesses no damping and is excited by a harmonie force whose frequency w approaches the natural frequency «, of the system, then M, and thus X, increase without limit. Physically, this means that the motion ampli: tude would reach the limits of the attached spring, which is a condition to be avoided. ‘The value w, is called the resonant or critical frequency of the sys- tem, and the condition of w being close in value to a, with the resulting large displacement amplitude X is called resonance. For w < wp, the ‘magnification factor M is positive, and the vibration is in phase with the force F. For > wy, the magnification factor is negative, and the vibra- tion is 180° out of phase with F. Figure 8/10 shows a plot of the absolute value of M as a function of the driving-frequeney ratio wry. Damped Forced Vibration ‘We now reintroduce damping in our expressions for forced vibra- tion, Our basic differential equation of motion is, Fosin of E+ York + ole = (8/131 , the complete solution is the sum of the complementary solution % which is the general solution of Eq. 8/13 with the right side equal tozero, and the particular solution x,, which is any solution to the com- plete equation. We have already developed the complementary solution ry in Art. 8/2. When damping is present, we find that a singl sine term, such as we were able to use for the undamped case, is not suf- ficiently general for the particular solution. So we try x, 7X,cosat+Xpsinot or x, = Xsin (ot ~ 8) Substitute the latter expression into Eq. 8/13, match coefficients of sin wt and cos a, and solve the resulting two equations to obtain Folk x- - (8/20) (11 — ow, FF + [fel }2) ile, = tan~! | ele (g/21) $= tan [7 =| (21) The complete solution is now known, and for underdamped systems it can be written as = Cent! sin (wt + y) + Xin (ot ~ 6) (si22) Because the first term on the right side diminishes with time, it is anown as the transient solution. The particular solution x, is the steady- state solution and is the part of the solution in which we are primarily interested. All quantities on the right side of Eq. 8/22 are properties of the system and the applied force, except for C and ¥ (which are deter ‘minable from initial conditions) and the running time variable ¢, ication Factor and Mag Angle Near resonance the magnitude X of the steady-state solution is a strong funetion of the damping ratio £ and the nondimensional fre- queney ratio w,, Tt is again convenient to form the nondimensional ratio ‘M = XP), which is called the amplitude ratio or magnification factor 1 {11 = (w/o, )°? + [geo] 2? ‘An accurate plot of the magnification factor M versus the frequency ratio wl, for various values of the damping ratio ¢ is shown in Fig. 8/11. | ‘This figure reveals the most essential information pertinent to the forced vibration of a single-degree-of-freedom system under harmonic excitation. It is clear from the graph that, if'a motion amplitude is exces- sive, two possible remedies would be to (a) increase the damping (to ob- tain a larger value of £) or (6) alter the driving frequency so that w is farther from the resonant frequency «),. The addition of damping is most effective near resonance. Figure 8/11 also shows that, except for { = 0, the magnification-factor curves do not actually peak at wlio, = 1 ‘The peak for any given value of £ can be calculated by finding the maxi- | mum value of M from Eq. 8/23. (8/23)624 Chapter 8 ion and Time Response ote, Figure 6/11 Figure 9/12 ‘The phase angle ¢, given by Eq. 8/21, can vary from 0 to and rep- resents the part of a eycle (and thus the time) by which the response 1, lags the forcing function F. Figure 8/12 shows how the phase angle & varios with the frequency ratio for various values of the damping ratio Note that the value of when w/o, = 1 is 90° for all values of ¢. To fur- ther illustrate the phase difference between the response and the fore- ing function, we show in Fig. 8/13 two examples of the variation of F and x, with of. In the first example, o wy, and ¢ is taken to be 37/4.Applications Vibration-measuring instruments such as seismometers and ac- celerometers are frequently encountered applications of harmonte exci- tation, The elements of this class of instruments are shown in Fig. 8/14a, We note that the entire system is subjected to the motion ap of the frame. Letting x denote the position of the mass relative to the frame, we may apply Newton's second law and obtain ca-membern) © Ee get hee te ‘where (x + xp) is the inertial displacement of the mass. If zp = sin ot, then our equation of motion with the usual notation is B+ Yugk + o,2x = bu? sin of which is the same as Eq, 8/19 if bu is substituted for Fyim. "Again, we are interested only in the steady-state solution x». Thus, from Eq. 8/20, we have dwlo,)* {L1 ~ (wlo, PP + oto, } sin (wt ~ ) If X represents the amplitude of the relative response x,, then the nondimensional ratio X/b is xi (lo, where M is the magnification ratio of Eq. 8/23. A plot of Xib as a func- tion of the driving-frequency ratio a/a, is shown in Fig. 8/146. Thi larities and differences between the magnification ratios of Figs. 6/145 and 8/11 should be noted. quilibrium position Tag = bein of Neutral 7 position Figure 8/14 625626 If the frequency ratio w/o, is large, then X/b = 1 forall values of the damping ratio ¢. Under these conditions, the displacement of the mass relative to the frame is approximately the same as the absolute displace- ‘ment of the frame, and the instrument acts as a displacement meter. To obtain a high value of w/e,, we need a small value of w, = kim, which means a soft spring and a lange mass. With such a combination, the ‘mass will tend to stay inertially fixed. Displacement meters generally have very light damping. On the other hand, ifthe frequency ratio o/w, is small, then M ap- roaches unity (see Fig. 8/11) and Xb = (w/a,)2 or X = B(wlo,)?. But bo? is the maximum aceeleration of the frame. Thus, X is proportional to the maximum acceleration of the frame, and the instrument may be used as an accelerometer, The damping ratio is generally selected so that M ap- proximates unity over the widest possible range of w/i,. From Fig. 8/1 we see that a damping factor somewhere between ¢ = 0.5 and ‘would meet this criterion, Electric Circuit Analogy An important analogy exists between electric circuits and mechani- cal spring-mass systems. Figure 8/15 shows a series circuit consisting of a voltage F which is a function of time, an inductance L, a capacitance ©, and a resistance R. If we denote the charge hy the symbol g, the equa- tion which governs the charge is +R thee wns) ‘This equation has the same form as the equation for the mechanical sys: tem. Thus, by a simple interchange of symbols, the behavior of the elec- trical circuit may be used to predict the behavior of the mechanical system, or vice versa. The mechanical and electrical equivalents in the following table are worth noting: ‘MECHANICAL-ELECTRICAL EQUIVALENTS MECHANICAL ELECTRICAL QUANTITY SYMBOL — SIUNIT | QUANTITY SYMBOL SLUNIT Mass m kg Inductance L H henry Spring stiffness k Nim Capacitance we MF Vfarad Foree F N Voltage E vo wot Velocity é ms Current 1 A ampere Displacement x m Charge 4 © coulomb Viscous damping constant e Nesim Resistance R 2 ohmArticle 8/3 Sample Problem 8/4 ‘A 50-kg instrument is supported by four springs, each of stiffness 7500 N/m. If the instrument foundation undergoes harmonic motion given in meters by xp = 0.002 cos 50t, determine the amplitude ofthe steady-state motion ofthe in- strument, Damping is negligible. Solution. For harmonic osillation of the base, we substitute kb for Fo in our par- ticular solution results, so that, from Eq. 817, the steady-state amplitude becomes ‘The resonant frequency is w, = kim = /4(7500) pressed frequency « = 60 radis is given. Thus, 24.5 radls, and the im- 0.002 @ rc —6.9210-4)m or -0.632mm Ans. T= wo2a5F , Note that the frequency ratio w/a, is approximately 2, so that the condition of resonance is avoided. Forced Vibration of Particles 627 tt Helpful Hints © Note that either sin 50¢ or cos 501 ean be used for the foreing function with this same result @ The minus sign indicates that the ‘motion is 180° out of phase with the applied excitation. Sample Problem 8/5 ‘The spring attachment point B is given a horizontal motion xp = b 008 wt. Determine the critical driving frequency w for which the oscillations of the mass ‘m tend to become excessively large, Neglect the friction and mass associated ‘with the pulleys. The two springs have the same stiffness Solution. The free-body diagram is draven for arbitrary positive displacements «x and zp, The motion variable xis measured downward from the position of sta- tie equilibrium defined as that which exists when xp = 0. The additional stretch © in the upper spring, beyond that which exists at static equilibrium, is 2x ~ xp. "Therefore, the dynamic spring foree in the uppor spring, and henee the dynamic © tension Tin the cable, is k(2x ~ x). Summing forces in the x-direction gives (ar, = mi} -2k(2e — 25) ~ ke = mi which becomes ‘The natural frequency of the aystem is ay ~ Jkim. Thus, kim Ans. > Neutral position xq b cos ot (2: Hi 3 rr tt Equitrium | tin i } =a Helpful Hints @ Ifa review of the kinematics of con- strained motion is necessary, see Art. 219. @ We leaned from the discussion in ‘Art, 822 that the equal und opposite forces associated with the position of static equilibrium may be omitted from the analysis. Our use of the terms dynamic spring foree and dy- ‘namie tension stresses that only the force increments in addition to the static values need be considered.628 Chapter 8 Vibration and Time Response p=po sin wt ‘The 100:1b piston is supported by a spring of modulus & = 200 Ibjin. A ds pot of damping coefficient c = 85 Ib-secft acts in parallel with the spring. A fue- tuating pressure p = 0.625 sin 80 in bin acts on the piston, whose top surface area is 80 in? Determine the steady-state displacement as a function of time and the maximum force transmitted to the base Solution. We begin by computing the system natural frequency and damping rai [i [OOO 95g ree Fepasinot —__ Paullrium Vin~ V toasag ~ 97874 pasnet _—Soation £89462 undentenpod) fo Fre (200) or) 322, ‘The steady-state amplitude from Eg. 820, Folk {{1 = (wien, + (2feu/e,7*) bog - 0.625,¢0)1:200)125 (Dynami forces only) {(1 ~ (80/27.8)")? + [2(0.492)(30/27.8))?})" ae Helpfat Hints © You are encouraged to repeat these ‘The phase angle, from Eq. 8/21, is calculations with the damping coeff @ eta [ 2] the lnuoncs ofthe raiely loge 1 (lw, amount of damping present = tan? | 2(0.492)(80127.8) | @® Not nt = L704 ad pale sameraior end « nope ‘he steady-state motion i thn gvon by the seand term on the igh sheaf thes Nog dnt neat a bya. ran. Real thatthe done Sage ofdis0 6.50 radisee 18/52 Ifthe driving frequency for the system of Prob. 8/60 6 radisee, determine the required value of the damping coefficient c ifthe steady-state amplitude is, not to exceed 3 in. 18/53 The 4b body is attached to two springs, each of ‘which has a stiffness of 6 Ibjin. The body is mounted ‘on a shake table which vibrates harmonically in the horizontal direction with an amplitude of 0.5 in. and. 4 frequency f which can be varied. Power to the shake table is turned off when electrical contact is ‘made at A or B. Determine the maximum value of the frequency f at which the shake table may be op- ‘erated without turning the power off as it starts from rest and increases its frequency gradually Damping may be neglected. The equilibrium posi- tion is centered between the fixed contacts. Ans, § = 3.89 He Problem 8/5319/54 ‘The block of weight W = 100 Ib is suspended by two springs each of stiffness k = 200 Tht and is acted uupon by the force F = 75 eos 15¢ Ib where ¢ is the time in seconds. Determine the amplitude X of the steady-state motion if the viscous damping cooffi- cient c is (a) 0 and (6) 60 Ib-sceft. Compare these amplitudes to the static spring deflection 3. Problem 6/54 8/95 A viseously damped spring-mass system is forced harmonically at the undamped natural frequeney (ova, = 1) I'the damping ratio {is doubled from 0.1 to 0.2, compute the percentage reduction R in the steady-state amplitude, Compare with the result Ry of @ similar calculation for the condition wi, = 2. Verify your results by inspecting Fig. 8/11 ‘Ans, Ry = 5086, Ry = 2.52% Representative Problems 18/56 A single-cylinder four-stroke gasoline engine with @ mass of 90 kg is mounted on four stiff spring pads, each with a stiffness of 80(10%) kNim, and is de- igned to run at 3600 revimin. The mounting system ‘is equipped with viseous dampers which have a large ‘enough combined viscous damping coefficient c so that the system is critically damped when it is given « vertical displacement and then released while not running. When the engine is running, it fires every other revolution, causing a periodic vertical displace- ‘ment modeled by 1.2 eos ut mm with ¢ in seconds, Determine the magnification factor M and the over- all damping coefficient c. 8/57 Tt was noted in the text that the maxima of the ccurves for the magnification factor M are not located. at ola, = 1. Determine an expression in terms of the damping ratio for the frequency ratio at which the maxima ooeur. Ans. & = Ji at {8/58 The circular disk of mass m is secured to an elastic shaft which is mounted in a rigid bearing at A. With the disk at rest a lateral force P applied to the disk produces a lateral deflection 3, so that the equivalent spring constant isk = P/A. Ifthe center of mass of the disk is off center by a small amount e from the shaft ‘centerline, determine the expression for the lateral deflection 6 of the shaft due to unbalance at-a shaft speed w in terms of the natural frequency «, = kim. of lateral vibration of the shaft. At what evtical speed ‘a, would the deflection tend to become lange? Neglect damping, | Problem 8/58 8/59 Fach 0.5-kg ball is attached to the end of the light clastic rod and deflects 4 mm when a 2-N force is statically applied to the ball Ifthe central collar is given a vertical harmonic movement with a fre- queney of 4 Hz and an amplitude of 3 mmm, find the ‘amplitude yp of vertical vibration of each ball Ans. yoProblem 8/59 18/60 Derive the equation of motion for the inertial dis- placement x; of the mass of Fig. 8/14. Comment on, Jbut do not carry out, the solution to the equation of ‘motion. {8/61 The motion of the outer cart B is given by xp = b sin of, For what range of the driving frequency © is the amplitude of the motion of the mass m rela- tive to the cart less than 2b? Problem 8/61 8/62 The 20-kg variable-speed motorized unit is re- strained in the horizontal direction by two springs, teach of which has a stiffness of 2.1 kN/m. Each of the two dashpots has a viscous damping evefficient ¢ = 58 N-sim. In what ranges of speeds IV can the rotor be run for which the magni will not exceed 2? sation factor M Problem 8/62 19/63 When the person stands in the center of the floor system shown, he causes a static deflection 3, of the floor under his feet. I he walks (or runs quickly’) in the same area, how many steps per second would ‘cause the floor to vibrate with the greatest vertical ‘amplitude? [fe -4 Ans. = 5 5 Problem 8/63652_Chapter 8 ration and Time Respon: eeeeeeeeees=S=lEaaElRR {8/64 The instrument shown has @ mass of 43 kg and is ‘pring-mounted to the horizontal base. Ifthe ampli- tude of vertical vibration of the base is 0.10 mm, eal- culate the range of frequencies f, of the base vibration which must be prohibited if the amplitude of vertical vibration of the instrument is not to ex- ceed 0.15 mm, Each of the four identical springs has stiffness of 7.2 kN/m. Problem 0/64 8/65 Attachment B is given a horizontal motion x = cos of. Derive the equation of motion for the mass 'm and state the critical frequency a, for which the oscillations of the mass become excessively large. Ans. mi + ei + (y+ kyle = hy 008 wt Problem 6/65 8/86 Attachment B is given a horizontal motion xp = 6 c08 af. Derive the equation of motion for the mass ‘m and state the critical frequeney «, for which the oscillations of the mass become excessively large. ‘What is the damping ratio for the system? ' | ip 8 co ot — ee rm per | y Problem 6/66 8/67 The equilibrium position of the mass m occurs where y = O and yp = 0. When the attachment B is given a steady vertical motion yp = b sin of, the ‘mass m will acquire a steady vertical oscillation. De- rive the differential equation of motion for m and specify the circular frequency «i, for which the oscil- lations of m tend to become excessively large, The stiffness of the spring is k, and the mass and frition of the pulley are negligible, ann 3+ Sy = Bina = 20 equilibrium position Problem 6/67 {8/68 Derive an expression for the transmission ratio T for the system of the figure. This ratio is defined as the ‘maximum force transmitted to the base divided by the amplitude F of the forcing funetion. Express ‘your answer in terms off, &, &,, and the magnifica tion factor M. F=Fysin ot Base Problem 6/68je 8/3 Problems 633 18/69 A device to produce vibrations consists of the two ‘counter-rotating wheels, each earrying an eccentric ‘mass my ~ 1 kg with a center of mass at a distance ‘¢ © 12 mm from its axis of rotation. The wheels are synchronized so that the vertical positions of the ‘unbalanced masses are always identical, The total ‘mass of the deviee is 10 kg. Determine the two pos- sible values of the equivalent spring constant # for the mounting which will permit the amplitude of the periodic force transmitted to the fixed mount ing to he 1500 N due to the imbalance of the rotors at a speed of 1800 rev/min. Neglect damping "Ans, k = 227 kNim or 823 kNim Problem 8/69 18/70 Derive and solve the equation of motion for the mass ‘which is subjected to the suddenly applied foree F that remains constant after application. ‘The di placement and velocity of the mass are both zero at time ¢ = 0, Plot x versus f for several motion eyeles Porce F F, ~— i F, Problem 8/70 8/71 The seismie instrument is mounted on a structure which has a vertical vibration with a frequency of 5 Hz and a double amplitude of 18 mm. The sens~ ing element has a mass m = 2 kg, and the spring stiffness is # = 1.5 kNim. The motion of the mass relative to the instrument base is recorded on a re- volving drum and shows a double amplitude of 24 mm. during the steady-state condition. Caleulate the vi ‘cous damping constant 44.6 N-sim Problem 8/71 | 8/72 Determine the amplitude of vertical vibration of the spring-mounted trailer as it travels at a velocity of 26 km/h over the corduroy road whose contour may be exptessed by # sine or cosine term. The mass of the trailer is 500 kg and that of the wheels alone ‘may be neglected. During the loading, each 75 kx ‘ded to the load caused the trailer to sag $ mm on its springs. Assume that the wheels are in contact with the road at all times and neglect damping. At ‘what eritical speed u, is the vibration of the trailer greatest? ‘Ans, X= 14.75 mmm, v, = 15,29 ken’ Problem 8/72634 Chapter 8 _Vibr © Figure 8/16, n_and Time Response 8/4 _Viration oF Ricip Bopies ‘The subject of planar rigid-body vibrations is entirely analogous to that of particle vibrations, In particle vibrations, the variable of interest is one of translation (x), while in rigid-body vibrations, the variable of pri- ‘mary concern may be one of rotation (6). Thus, the principles of rotational dynamics play a central role in the development of the equation of motion, We will see that the equation of motion for rotational vibration of rigid bodies has a mathematical form identical to that developed in Arts. 8/2 and 8/8 for translational vibration of particles. As was the case with particles, itis convenient to draw the free-body diagram for an arbitrary Positive value of the displacement variable, because a negative displace- ‘ment value easily leads to sign errors in the equation of motion. The practice of measuring the displacement from the position of static equi- librium rather than from the position of zero spring deflection continues to simplify the formulation for linear systems because the equal and op- posite forces and moments associated with the static equilibrium posi tion cancel from the analysis, Rather than individually treating the cases of (a) free vibration, un- damped and damped, and (b) forced vibrations, undamped and damped, as was done with particles in Arts. 8/2 and 818, we will go directly to the damped, forced problem. Rotational Vibration of a As an illustrative example, consider the rotational vibration of the uniform slender bar of Fig. 8/16a. Figure 8/166 depicts the free-body dia- gram associated with the horizontal position of static equilibrium. Equating to zero the moment sum about O yields apt at 1 me a £) +me(b) 0 pam where Pis the magnitude of the stati spring fore. Figure 8/16 depicts the freo-body diagram associated with an arbi- trary postive angular displacement #. Using the equation of rotational motion Mg = [of as developed in Chapter 6, we write nent) ne) oufa(nt) + cos at cos 8) = Emi? where Ig = I + md® = mi*/12 + mi(J/6)? = ml*/9 is obtained from the DurlleLans theorem for mase moments oferta, For small angular deflections, the approximations sin @ = 0 and cos = 1 may be used, With P = mg, the equation of motion, upon Fe arrangement and simplification, becomes ‘bg _ oll) c08 wt m mE G+£b44 (8/25)Articl ‘The right side has been left unsimplified in the form My(cos ot)/To, where My = Fl/3 is the magnitude of the moment about point O of the externally applied force. Note that the two equal and opposite mo- ments associated with static equilibrium forces canceled on the left side of the equation of motion. Thus, it is not necessary to include the static-equilibrium forces and moments in the analysis. Rotational Counterparts of Translational Vibration At this point, we observe that Eq, 8/25 is identical in form to Eq 8/13 for the translational case, so we may write _ My cos ut 5 + fod + 0,20 (626) To ‘Thus, we may use all of the relations developed in Arts. 8/2 and 8/3 merely by replacing the translational quantities with their rotational counterparts. The following table shows the results of this procedure as applied to the rotating bar of Fig, 8/16: ‘TRANSLATIONAL ANGULAR (for current problem) mY aa Cet ain og +) Corte sin ot + 9) y= Keos(at - 9) t= Peas ot 6) fr wenn x=?) o- aie a In the preceding table, the variable R in the expression for © represents the equivalent torsional spring constant of the system of Fig. 8/16 and is determined by writing the restoring moment of the spring. For a small angle 6, this moment about 0 is (My = ~(k(21/3) sin 6]((21/3) cos 6] = —GkI?)0 Thus, ke = $27, Note that Mo/ky is the static angular deflection which would be produced by a constant external moment Mo. ‘We conclude that an exact analogy exists between particle vibra tion and the small angular vibration of rigid bodies. Furthermore, the utilization of this analogy ean save the labor of complete rederivation of the governing relationships for a given problem of general rigid-body vibration.oO 636 Chapter 8_vi tion and Time Response Sample Problem 8/7 A simplified version ofa pendulum used in impact tests is shown in the figure. Derive the equation of motion and determine the period for small oscillations ‘about the pivot, The mass center is located a distance F = 0.9 m from O, and the Fadius of gyration about Q iso = 0.95 m, The friction of the bearing is negligible. Solution. We draw the free-body diagram for an arbitrary, positive value of the angular-displacement variable 6, which is measured counterclockwise for the coor- dinate system chosen, Next we apply the governing equation of motion to obtain [Mo = Ipod) mgr sin = kg? © or Ans. 4 me Note that the governing equation Is independent of the mass, When @ is small, sin @ = 6, and our equation of motion may be written as Helpful Hints we ® With our choice of point O us the or aeee moment center, the bearing reac tions 0, and O, never enter the equation of motion, f 1 [se @ For large angles of oscillation, deter VS Ans. fo Os Vag? mining the period for the pendulum requires the evaluation ofan elliptic For the given properties: Ana, intogeal 1 1 h—+ i Sample Problem 8/8 The uniform bar of mass m and length ! is pivoted at its center. The spring. of constant fat the left end is attached to a stationary surface, but the rightend spring, also of constant k, is attached to a support which undergoes a harmonic ‘motion given by yp = 6 sin ef. Determine the driving frequency «, which eauses Solution. We use the moment equation of motion about the fixed point O to obtain -(& 4 sino) 4 cos 0 — a( sin Ecos (tf.ine) Lane -a(lsino-r5) Assuming small deflections and simplifying give us Lat anes 5+ Mo = Maines ‘The natural frequency should be recognized from the now-familiar form of the equation to be (6k ‘Thus, o, = o, = JGkim will result in resonance (as well as violation of our small- angle assumption) Ans. BEA Joa bsin wi Helpful Hints © As previously, we consider only the changes in the forces due to a move- ment away from the equilibrium | (Leino -3) position @ The standard form here is 8+ 0,20 ~ Mg sin at ib winere My = MP and tg To" ™here Mo ihmltThe natural frequency o, ofa sSstem does not depend on the exter nal disturhanee.Article 8/4 Vibration of Rigid Bi Sample Problem 8/9 Derive the equation of motion for the homogeneous cireular cylinder, which rolls without slipping. Ifthe eylinder mass is 50 kg, the cylinder radius 0.5 m, the spring constant 75 Nim, and the damping coefficient 10 N-s/m, determine (@) the undamped natural frequency @) the damping ratio () the damped natural frequency (d) the period of the damped aystem. In addition, determine x asa function of time ifthe cylinder is released from rest at the position x = ~0.2 m when ¢ = 0. Helpful Hints Solution. We have a choice of motion variables in that either x or the angular displacement @ of the cylinder may be used. Since the problem statement in- The angle @ is taken positive clock: Solves x, we draw the free-body diagram for an arbitrary, postive value of x and" We bs Kiacnticaiy cones’ write the two motion equations for the cylinder as witha x, EF, = mi) wo — he + F= mi @ Tho frition force F may be as - 1 sumed in either direction, We will (Mg = 10) ata find that the actual direction is to ‘The condition of rolling with no slip is # ~ r@. Substitution of this condition "0" "SGN | ane oe into the moment equation gives F = -4mi. Inserting this expression for the Os ie cai friction fore into the fore equation forthe x-direction yields ct-te-Ingemi or 24222+24e 20 uiibriam Z ee position = oy Comparing the above equation with that for the standard damped Tes oscillator, Eq. 89, allows us to state directly f \ oe “Gay * pe 27s cy - 1 rads Aas (@) Vim 380 as A -_ 1e __10 10 — 9.066 Ane. (6) Smo, 501) 7 N ence, the damped natural frequency and the amped period are ] wy = (0.0667)* = 0.998 rad/s Ans. (4) %g= ring = 270.888 = 6.305 Ans From Bq, 8/12, the underdamped solution to the equation of motion is WOE sin (0.9988 +) = CeO sin (og + 9) ‘The velocity is = ~0.0667C2-%*7 sin (0.9981 + J) + 0.998026" cos (0.9984 + ¥) [Attime¢ = 0, and # become 02 m= Csing ig = -0.0667C sin # + 0.998C cos y= 0 "The solution to the two equations in C and y gives C= -0200m = 1.504 rad ‘Thus, the motion is given by = 0.2000 0067 gin (0.998 + 1.504) m Ans.638 ch PROBLEMS Introductory Problems 8/73 The light rod and attached small spheres of mass m each are shown in the equilibrium position, where all four springs are equally precompressed. Deter- ‘mine the natural frequency o, and period r for small oscillations about the frictionless pivot 0. Problem 8/73 (8/74 Derive the differential equation for small oscillations of the spring-loaded pendulum and find the period. ‘The equilibrium position is vertical as shown, The ‘mass of the rod is negligible Problem 6/74 8/75 The uniform rod of length J and mass m is sus- pended at its midpoint by a wire of length L. The re- sistance of the wire to torsion is proportional to its angle of twist @ and equals (JGIZ)8 where J is the polar moment of inertia of the wire eross section and Gis the shear modulus of elasticity. Derive the ex- pression for the period r of oscillation of the bar ‘when it is set into rotation about the axis of the wire, oa mete 82 dns. r= 3o( MEL Problem 8/75, 18/76 uniform rectangular plate pivots about a horizon- tal axis through one of its corners as shown, Deter- ‘mine the natural frequency «of small osillations. Problem 6/76= 639 EE 46/17 The thin-walled eylindrieal shell of radius rand height h is welded to the small shaft at its upper end ‘as shown, Determine the natural cireular frequency ‘a, for small osillations of the shell about the y-axis. fenf [re ae anon oN e+8 Problem 8/77 10/78 Determine the natural frequency fy for small oscilla tions in the vertical plane about the bearing O for the semicircular disk of radius r Problem 8/78 16/79 The wniform rod of mass m is freely pivoted about a horizontal axis through point O. Assume small osc]- lations and determine an expression for the damping ratio ¢. For what value ¢, of the damping coefficient will the systom be critically damped? [3,22 fim Bey im" BY 8 Ans.¢ Problem 8/79 18/80 The thin square plate is suspended from a socket (not shown) which fits the small ball attachment at 0. Ifthe plate is made to swing about axis A-A, de- ‘termine the period for small oscillations. Neglect the ‘small offset, mass, and frietion of the ball. Problem 8/80 {9/91 If the square plate of Prob. 8/80 is made to oscil- late about axis B-B, determine the period of small cetilistons dns. 7 2 og 18/82 The homogeneous 250-kg rectangular block is piv- ted about a horizontal axis through O and sup- ported by two springs, each of stiffness k. The base of the block is horizontal in the equilibrium position ‘with each spring under a compressive force of 250 N. Determine the minimum stiffness & of the springs which will ensure vibration about the equilibrium position 450 mmf 450 m=| k ke 6m 315mm Problem 8/82Representative Problems 9/83 The circular ring of radius r is suspended from a socket (not shown) which fits the small ball attach- ‘ment at O. Determine the ratio R of the period of ‘small oscillations about axis B-B to that about axis ACA. Nogloct the small offset, mass, and friction of the ball Ans. R= 2 Problem 8/84 The mechanism shown oscillates in the vertical plane about the pivot O. The springs of equal stiff- ness & are both compressed in the equilibrium posi- tion @ = 0. Determine an expression for the period r of small oscillations about O. The mechanisms has a ‘mass m with mass center G, and the radius of gyra- tion of the assembly about 0 is ho, Vertical“; Problem 6/84 /85 The mass of the uniform slender rod is 3 kg. Deter- ‘mine the position x for the 1.2-kg slider such that the system period is 1 s. Assume small oscillations about the horizontal equilibrium position shown, “Ans = 0568 m 250 Nin oO Ske as |—$2ee— F arr | Problem 983, 18/96 The uniform square plate is suspended in a horizon- tal plane by its four corner cables from fixed points A ‘and B on a horizontal line a distance 6 above the plate. Determine an expression for the frequency fy ‘of small oscillations ofthe plate about the axis A-B. Problem 8/86— joblems 641 8/87 When the motor is slowly brought up to speed, a ‘rather large vibratory oscillation of the entire motor about 0-0 occurs at a speed of 360 revimin, which shows that this speed corresponds to the natural fre- {quency of frve oscillation of the motor. If the motor thas a mass of 43 kg and a radius of gyration of 100 mm about 0-0, determine the stiffness & of each of the four identical spring mounts, Ans, b = 3820 Nim Problem 18/88 Determine the value mypof the mass of system (6) so that the frequency of system (b) is equal to that of system (a), Note that the two springs are identical ‘and that the wheel of system (a) is a solid homoge- ‘nous cylinder of maas mp. The cord does not slip on the cylinder. (@) Problem 6/88 {8/89 ‘The system of Prob. 8/45 is repeated here. Ifthe link [AB now has mass ma and radius of gyration ko about. point O, determine the equation of motion in terms of the variable x. Assume small oscillations. The damping coefficient for the dashpot isc we settnas AE efot Problem 8/89 18/90 The system of Prob. 8/46 is repeated here. If the crank AB now has mass my and a radius of gyration ‘ho about point O, determine expressions for the un- damped natural frequency #,, and the damping ratio Z in terms of the given system properties. Assume small oscillations. The damping coefficient for the damper isc. Problem 8/90Resp eS pone 8/91 Two identical uniform bars are welded together at a righ angle and are pivoted about a horizontal axis through point O ax shown. Determine the eritieal driving frequency w, of the block B which will result in excessively large oscillations of the assembly. The ‘mass of the welded assembly is m. Ans. G4) Problem 8/91 18/92 Determine the natural frequency f, for small oscilla- tions of the composite body in the vertical plane about the bearing 0. Approximate the body as a slender bar of mass m/5 and a semicircular disk of ‘ase m, both with the dimension r as shown, Problem 8/92 8/93 The uniform solid cylinder of mass m and radius + rolls without slipping during its oscillation on the circular surface of radius R. Ifthe motion is confined to.small amplitudes @ = 8, determine the period + of the oscillations, Also dotermine the angular velocity ‘of the cylinder as it crosses the vertical centerline (Caution: Do not confuse w with or with w, as ‘used in the defining equations. Note also that # is not the angular displacement of the cylinder.) Ans. =, [RP = 90 (99th =F ~s Problem 6/93 {8/94 The homogeneous solid cylindrical pulley has mass ‘m; and radius r. Ifthe attachment at B undergoes the indicated harmonie displacement, determine the ‘equation of motion of the system in terms of the variable x. The eord which connects maas ms to the ‘upper spring does not slip on the pulley. xp=b eos ot | Problem 6/94 68/95 The circular disk of mass m and moment of inertia T about its central axis is welded to the steel shaft which, in turn, is welded to the fixed block. ‘The disk js given an angular displacement f and then ro- leased, causing a torsional vibration of the disk with @ changing between +4 and ~#, The shalt resists the twist with a moment M = JGBIL, where J is the polar moment of inertia of the cross section of the shaft about the rotation axis, Gis the shear modulus of elasticity of the shaft (resistance to shear stress), @ is the angle of twist in radians, and L is the length of the twisted shaft. Derive the expression for the natural frequency f, of the torsional vibration, 1 fie A Ie eIa Problems 643 6 8/4 —_—_—— Problem 8/95 '8/96 "The segmented “dummy” of Prob. 6/107 is repeated here, The hip joint O is assumed to remain fixed to the car, and the torso above the hip is treated as a rigid body of mass m, The center of mass of the torso is at G and the radius of gyration of the torso about (Oiisko, Assume that muscular response acts as an in- ternal torsional spring which exerts a moment M = Ki ‘on the upper torso, where K is the torsional spring constant and 0 is the angular defiection from the ini tial vertical position. Ifthe ear is brought to a sud= den stop with a constant deceleration a, derive the differential equation for the motion of the torso prior to its impact with the dashboard, 8/97 ‘The elements of the “swing-axle” type of indepen- dent rear suspension for automobiles are depicted in the figure. The differential D is rigidly attached to the car frame. The hal-asles are pivoted at their in- board ends (point O for the halfsaxle shown) and are rigidly attached to the wheels. Suspension elements not shown constrain the wheel motion to the plane of the figure, The weight of the wheel-tire assembly is W= 100 Ib, and its mass moment of inertia about 4 diametral axis passing through its mass center Gis, 1 Ib-fe-see?, The weight of the half-ale is negligible. ‘The spring rate and shock-absorber damping coeffi cient are h = 50 Ibin. and ¢ = 200 Ib-seeft, respec tively, If a static tire imbalance is present, as represented by the additional concentrated weight w ~ 0.6 1b as shown, determine the angular velocity ‘@ which results in the suspension system being dri- ven at its undamped natural frequency. What would be the corresponding vehicle speed u? Determine the damping ratio £. Assume small angular deflections aand noglect gyroscopic effects and any car frame bration, Tn order to avoid the complications assoc! ated with the varying normal force exerted by the road on the tire, teat the vehicle as being on a lift with the wheels hanging free. 11.95 ftsee Problem 8/97 8/98 For the automobile suspension system of Prob. 8197, determine the amplitude X of the vertical motion of point G if the angular velocity of the tire corre- sponds to (a) the undamped natural frequency of the system and (6) a vehicle speed of 85 michr. Reconcile ‘the two results. Ans, (a) X = 0.0198 in tb) X = 0.0614 in.644 Chapter 8 Vibration and Time Response i Te Response rr Ss 2 2 3 He & jee figween? 8/5 _ENeRcy MeTHops In Arts, 6/2 through 8/4 we derived and solved the equations of mo- tion for vibrating bodies by isolating the body with a free-body diagram and applying Newton’s second law of motion. With this approach, we were able to account for the actions of all forces acting on the body, in- cluding frictional damping forces. There are many problems where the effect of damping is small and may be neglected, so that the total energy of the system is essentially conserved. For such systems, we find that the principle of conservation of energy may frequently be applied to consid- erable advantage in establishing the equation of motion and, when the ‘motion is simple harmonic, in determining the frequency of vibration. Determining the Equation of Motion To illustrate this alternative approach, consider first the simple case of the body of mass m attached to the spring of stiffness h and vibrating in the vertical direction without damping, Fig. 8/17. As previously, we find it convenient to measure the motion variable x from the equilib- rium position. With this datum, the total potential energy of the system, elastie plus gravitational, becomes V=V,+Vy= BAC + 89)! — $b? — maz where 3. mgik is the initial static displacement. Substituting &é, ‘mg and simplifying give v= det ‘Thus, the total eneray ofthe system becomes 1 74 Ve bmi + Beet Because T + V is constant for a conservative system, its time deriv- ative is zero. Consequently, 48 + bd = 0 Canceling i gives us our basic differential equation of motion mi + hx =0 which is identical to Eq. 8/1 derived in Art. 8/2 for the same system of Fig. 818 Determi 1g the Frequency of Vibration Conservation of energy may also be used to determine the period or frequency of vibration for a linear conservative system, without having to derive and salve the equation of motion. For a system which oscillates with simple harmonic motion about the equilibrium position, from which the| Article 8/5 Energy Methods 645 smn» displacement x is measured, the energy changes from maximum kinetic ‘and zero potential at the equilibrium position x = 0 to zero kinetic and ‘maximum potential at the position of maximum displacement x = nae Thus, we may write 1, Venus ‘The maximum kinetic energy is }m(imax)*, and the maximum potential Thon? energy is ht nax)® For the harmonie oscillator of Fig. 8/17, we know that the displace ment may be written a5 x = Xpax sin (wt + 9), 0 that the maximum ve- locity i8 Sax = Oxtmaxe Thus, we may write 1 2 Srm(og mas)” = Renal ‘where xmay is the maximum displacement, at which the potential energy is a maximum, From this energy balance, we easily obtain o, = kin ‘This method of directly determining the frequency may be used for any linear undamped vibration, ‘The main advantage of the energy approach for the free vibration of conservative systems is that it becomes unnecessary to dismember the system and account for all of the forces which act on each member. In Art. 3/7 of Chapter 3 and in Arts. 6/6 and 6/7 of Chapter 6, we learned for a system of interconnected bodies that an active-force diagram of the complete system enabled us to evaluate the work U' of the external ac- tive forces and to equate it to the change in the total mechanical energy T + Vof the system. ‘Thus, for a conservative mechanical system of interconnected parts with a single degree of freedom where U’ = 0, we may obtain its equa- tion of motion simply by setting the time derivative of its constant total mechanical energy to zero, giving a = GT +V=0 Here V = V, + Vj is the sum of the elastie and gravitational potential energies of the system. ‘Also, for an interconnected mechanical system, as for a single body, the natural frequency of vibration is obtained by equating the expres- sion for its maximum total kinetic energy to the expression for its maxi- mum potential energy, where the potential energy is taken to be zero at the equilibrium position. This approach to the determination of natural frequency is valid only if it can be determined that the system vibrates with simple harmonic motion.® 646 Chapt Vibration and Time Response Sample Problem 8/10 ‘The small sphere of mass m is mounted on the light rod pivoted at O and supported at end A by the vertical spring of stiffness k. End A is displaced small distance yp below the horizontal equilibrium position and released. By the energy method, derive the differential equation of motion for small oscillations ‘of the rod and determine the expression for its natural frequency «, of vibration, Damping is negligible Solution. With the displacement y of the end of the bar measured from the equilibrium postion, the potential enorgy in the displaced position for small val- ues ofy becomes + %y= iy + 898 = Lat — mel 8 Vet Vy = by + 34)" L482 ma(2s) where bis the static deflection ofthe spring at equilibrium. But the force in the spring in the equilibrium position, from a zero moment sum about O, is (Gilg = ht, Substituting this value in the expression for Vand simplifying yield = 1 nl T=} where we see that the vertical displacement of m is (/2y. Thus, with the energy sum constant, its time derivative is zero, and we have 3) +4ee]-0 d -@ which yields Ey=0 Ans. when j is canceled. By analogy with Bq. 8/2, we may write the motion frequency directiy as, L =f Vii Ans, Alternatively, we can obtain the frequency by equating the maximum ki- netic energy, which occurs at y = 0, to the maximum potential energy, which oc- ‘curs at y = ¥p = Yun, Where the deflection is a maximum. Thus, lj Yoday 2 Vou ives }im(3 ju) = En Ton = Knowing that we have a harmonic oscillation, which ean be expressed as y Yone SiN cyt, WE HAVE Jue = Jmtta Substituting this relation into our energy balance gives us Lsn(® yon, = Dy? Aim(#soaita)'= bya? —sothat fim Ans, 3 as before. pt Equilibriam position Helpful Hints © Por large values of y, the eireslar motion of the end of the bar would cause our expression for the deflee tion ofthe spring to be in extor @® Mere again, we note the simplicity of the expression for potential eneriy when the displacement is measured from the equilibrium positiona re ee ® ® Sample Problem 8/11 Determine the natural frequency 0, of vertical vibration of the 3-kg collar to which are attached the two uniform 1.2-kg links, which may be treated as slender bars. The stiffness of the spring, which is attached to both the collar and the foundation, is k = 1.5 kN/m, and the bars are both horizontal in the equilib- rium position. A small roller on end B of each link permits end A to move with the collar. Frictional retardation is negligible. Solution. 1 the equilibrium pstion the comprston P in the spring equal fhe welgt ofthe 3tgcolla, plus half the weight of each link or P= MO.) + HUDLLaN@.AD = 41.2N. The correponding tte defotion ofthe wring in Ba = Pik = 41.2/1.5(10°) = 27,5(10~) m. With the displacement variable y measured owwud fom th eqlirum postion, which eeomes the pation ofr po tential energy the potential energy fr each member in th plated pion is » vi= Day + Ay? Baba? = Lig? + Spring) V, =} AY + 8y)®— 5 hba? = 510" + hay = Ea.sao'y? + 1.5:10°)27.5,10-y = Ty? + 41293 (Calls) Vy = =may = 28819 = Ceachink) Vy = -mg}= 129802 «86094 ‘The total potenti energy of theta then Became = Tay a: — 2849 — 269 = 8049 ‘The maximum kinetic energy occurs at the equilibrium position, where the velocity j of the collar has its maximum value. In that position, in whieh links AB are horizontal, end B is the instantaneous eenter of zero velocity for each link, and each link rotates with an angular velocity ;/0.3. Thus, the kinetic en- ergy of each part is (Collar) T ach link) T=} Toa? laa? - 029? = haayt = 029 ‘Thus, the kinetic energy of the collar and both links is With the harmonie motion expressed by 9 = Ynys Sin ay!, We ha¥e Fae 0 that the energy balance Tru = Vnux With 3 Jinax Becomes 190 mnt%s)® = 780yma? OF y= VTSOLG = 19.87 Hz Ans, Article 8/5 6a7 Energy Methods Helpful Hints @ Note that the mass centor of each link moves down only half as far as the collar @ We note again that measurement of the motion variable y from the equilibrium position results in the total poentil energy being simply vate @® Our knowledge of rigid-body kine- matics is essential at this point @ To appreciate the advantage of the work-onergy method for this and similar problems of interconnected systems, you are encouraged to ex- plore the steps required for solution by the foree and moment equations of motion of the separate parts, © If the oscillations were large, we ‘would find that the angular velocity of each link in its general position would equal 3/,0.09 9%, which would eause a nonlinear response no longer described by y ~ y648 Chapter 8 Vibration and Time Response PROBLEMS 8/101 Determine the natural frequency J, of the inverted pendulum. Assume small oscillations, and nate any (Solve the following problems by the energy method of restrictions on your solution Art. 85.) Introductory Problems 18/99 Derive the equation of motion for the pendulum ‘which consists of the slender uniform rod of mass m and the bob of mass M. Assume small oscillations, and neglect the radius of the bob, g(m + 2M <0) Bim + aa |? ~ ° Ans. + Problem 8/101 18/102 The 1.6-Kg bar OA is suspended vertically from the bearing O and is constrained by the two springs each of stiffness & ~ 120 Nim and both equally pre- compressed with the bar in the vertical equilibrium Problem 6/99 Position. Treat the bar as a uniform slender rod and compute the natural frequency f, of smal os {8/100 The potential eneray V of linear spring-mass ys cillations about 0. tem is given in ineh-pounds by 64x¢, where xis the displacement in inches measured from the neutral ‘equilibrium position. The kinetic energy of the system in inch-pounds is given by 82. Determine the differential equation of motion for the system and find the period + ofits oscillation, Neglect en- ray Toss Problem 8/1028/103 Determine the period + for the uniform circular ‘hoop of radius 7 as it oscillates with small ampli- tude about the horizontal knife edge. Ans.1= Problem 8/103 19/108 ‘The spoked wheel of radius r, mass m, and cen- ‘roidal radius of gyration B rolls without slipping ‘on the incline. Determine the natural frequency of ion and explore the limiting cases of k = 0 Problem 8/108 jems_ 649 icle 8/105 Determine the period + of small oscillations of the cylindrical shell of Prob, 8/77, repeated here, about a “= 2 [re soe caanfi JE Problem 8/105 18/106 The length of the spring is adjusted so that the equilibrium position of the arm is horizontal as shown, Neglect the mass ofthe spring and the arm and calculate the natural froqueney f, for small oscillations. le 1 — Problem 8/106650 Chapter # Vibration and Time Response eaoaaaeaeaoaaaouununumuuamaSe SSS Representative Problems 8/107 Caleulate the frequency f, of vertical oscillation of ‘he system shown. The 40-kg pulley has a radius of gyration about its center O of 200 mara, Ans. fy = Problem 8/107 8/108 ‘The disk has mass moment of inertia Ig about O and is acted upon by a torsional spring of constant. K. The position of the small sliders, each of which hhas mass m, is adjustable. Determine the value of x {or which the system has a given period +. Jo Problem 8/108, 18/109 By the method of this article, determine the pe- a/it0 riod of vertical oscillation. Each spring has a stiff: ness of 6 Ibfn., and the mass of the pulleys may be neglected, Ans. += 0.826 see Problem 8/109 ‘The rotational axis of the turntable is inclined at an angle a from the vertical. The turntable shaft pivots freely in bearings which are not shown, If a small block of mass m is placed a distance r from point O, determine the natural frequency «, for small rotational oscillations through the angle 0. ‘The mass moment of inertia of the turntable about the axis ofits shaft is J Problem 8/110 4Article 8/5 Problems 651 8/111 ‘The homogeneous circular cylinder of Prob. 8193, re 8/113 The uniform slender rod of length J and mass mg is peated here, rolls without slipping on the track of ra- secured to the uniform disk of radius {/5 and mass eet len gn it cee ee eens ue cee ee acne dans Sri a yo te eleam pps into ° — | [ti 8/112 The ends of the uniform bar of mass m slide freely in the vertical and horizontal slots as shown. If the bar is in static equilibrium when 9 = 0, determine Problem 8/113 the natural frequeney «of small oscillations. What condition must be imposed on the spring constant & 4 Derive the natural frequency f, of the system com- inorder that ositions tke pls? one owe homogeneous clr einer, ach ‘of mass M, and the connecting link AB of mass m. ‘Assume stall oscillations. 26 Problem 8/112652_Chapter 8 Vibration and Time Res 8/115 Bach of the two uniform 1.5-kg slender bars is 8/117 ‘The semicylinder of mass m and radius rolls with- hinged freely at A with its small upper-ond guide ‘out slipping on the horizontal surface. By the roller free to move in the horizontal guide. The method of this article, determine the period + of bars are supported in their 45° equilibrium posi- small osillatons. tions by the vertical spring of stiffness 1050 Nim. If Ans. = 18/98 point A is given a very small vertical displacement and then released, calculate the natural frequency ° of the resulting motion, Ans, fy = 365 Hz Vertical Problem 8/117 19/118 Bach ofthe two slider blocks A has a mass m and is constrained to move in one of the smooth radial slots of the flywheel, which is driven at a constant ‘angular speed w. Each of the four springs has a stiffness A. Is it correct to state that the aystem composed of the flywheel, blocks, and springs pos- sesses a constant energy? Explain your answer. 7, 8/116 The 12-kg block is supported by the two 5-kg a links with two torsion springs, each of constant K = 500 N-m/rad, arranged as shown. The springs are sufficiently stiff so that stable equilibrium is established in the position shown. Determine the natural frequency f, for small oscillations about this equilibrium position, Problem 8/115 Problem 8/116Article 8/5 Problems 653 aug ‘The frontend suspension of an automobile is shown, Each of the coil springs hus a stiffness of 270 Ihjin. Ifthe weight of the front-end frame and ‘equivalent portion of the body attached to the front ‘end is 1800 Ib, determine the natural frequency f ‘of vertical oscillation of the frame and body in the absence of shock absorbers. (Hint: To relate the spring deflection to the deflection of the frame and body, consider the frame fixed and let the ground ‘and wheels move vertically.) Ans, fy = 1142 He 6/119 ‘The uniform slender rod of length 2b is supported in the horizontal plane by a bifilar suspension. The rod is set into small angular oscillation about the vertical axis through its center Q. Derive the ex- pression for the period + of oscillation. (Hint: Prom the auxiliary sketch note that the rod rises a dis- tance h corresponding to an angular twist #. Also note that J = bd for small angles and that cos B may be replaced by the first two torms of its series ‘expansion. A simple harmonic solution of the form 9 pp sin asf may be used for small angles.) Problem 8/120, 8/121 The semicireular eylindrical shell of ri ius r with small but uniform wall thickness is set into small rocking oscillation on the horizontal surface. If no slipping occurs, determine the expression for the period + of each complete ost Problem 8/121 9/122 A hole of radius Rid is drilled through a eylinder of : radius R to form a body of mass m as sh body rolls on the horizontal surface without slip- ping, determine the period + for small oscillations. Inthe Problem 8/122654 Chapter 8 Vibration and Time Response 8/6 _CHaprer Review In studying tho vibrations of particles and rigid bodies in Chapter 8, wwe have observed that the subject is simply a direct application of the fundamental principles of dynamics as presented in Chapters 3 and 6. However, in these previous chapters, we determined the dynamic behav- ior of a body only at a particular instant of time or found the changes in motion resulting from only finite intervals of displacement or time. Chapter 8, on the other hand, has treated the solution of the defining, differential equations of motion, so that the linear or angular displace- ‘ment can be fully expressed as a function of time 1 Particle Vibration We divided our study of the time response of particles into the two categories of free and forced motion, with the further subdivisions of nogligible and significant damping. We saw that the damping ratio £ is a convenient parameter for determining the nature of unforced but vis- cously damped vibrations. ‘The prime lesson associated with harmonic forcing is that driving a lightly damped system with a force whose frequency is near the natural frequency can cause motion of excessively large amplitude—a condition called resonance, which usually must be carefully avoided. Rigid-Body Vibration In our study of rigid-body vibrations, we observed that the equation of small angular motion has a form identical to that for particle vibra- tions. Whereas particle vibrations may be deseribed completely by the equations governing translational motion, rigid-body vibrations usually require the equations of rotational dynamics, Energy Methods In the final article of Chapter 8, we saw how the energy method can facilitate the determination of the natural frequency «, in free vibration problems where damping may be neglected. Here the total mechanical energy of the system is assumed to be constant, Setting its first time de- rivative to zero leads directly to the differential equation of motion for the system, The energy approach permits the analysis of a conservative system of interconnected parts without dismembering the system. Degrees of Freedom ‘Throughout the chapter, we have restricted our attention to systems having one degree of freedom, where the position of the system can be specified by a single variable. If system possesses n degrees of freedom, it has m natural frequencies. Thus, if « harmonic force is applied to such a system which is lightly damped, there are n driving frequencies which can cause motion of large amplitude. By a process called modal analysis, complex system with n degrees of freedom can be reduced to n single- degree-of-freedom systems. For this reason, the thorough understanding of the material ofthis chapter is vital for the further study of vibrations.a lems 655 icle 8/6 Review P' —_—_—_ SSeS irr r'— REVIEW PROBLEMS 8/123 The 0.1-kg projectile is fired into the 10-kg block Which is initially at rest with no force in the spring. ‘The spring is attached at both ends. Calculate the ‘maximum horizontal displacement X of the spring and the ensuing period of oscillation of the block ‘and embedded projectile. ‘Ans, X= 0.287 m,7= 365 5 Oke. <= <— 500ms Problem 8/123 8/126 A.20-m F-boam is being hoisted by the eable arrange- ‘ment shown, Determine the period + of small oscilla- tions about the junction O, which is assumed to ‘remain fixed and about which the cables pivot freely. ‘Treat the beam asa slender rod. p= — a Problem 8/128 19/125 "The uniform circular disk is suspended by a socket (not shown) which fits over the small ball attach- ‘ment at O. Determine the period of small motion if the diak swings freely about (a) axis AA and (6) axis B-B, Neglect the small offset, mass, and friction of the bal le - fe Ana (a) on = 24/5 ey = 96 Problem 8/125 8/126 The uniform triangular plate pivots freely about a horizontal axis through point 0. Determine the ‘natural frequency of sinall oscillations bs sie ssi Problem 8/126Vibration 18/127 Determine the period + for small oscillations of the 8/129 A slender rod is shaped into the semicircle of radius assembly composed of two light bars and two part 1-95 shown, Determine the natural frequency f, for cles, each of mass m. Investigate your expression a small oscillations of the rod when it is pivoted on the angle a approaches values of 0 and 180° the horizontal knife edge at the middle ofits length, Problem 8/129 Problem 8/127 8/130 Determine the largest amplitude xp for which the 19/128 Determine the natural frequency f, of vertical os- ‘uniform circular disk will roll without slipping on cillations of the eylinder of mass m. ‘The mass and the horizontal surface. {ction of the stepped drum are negligible. Problem 8/130 48/131 Calculate the damping rato fof the system shown if the weight and radius of gyration of the stepped ‘cylinder are W= 20 Ib and = 6.5 in, the spring con- stant is & = 15 Ibn, and the damping coefcient of the hydraulic eylinder is ¢ = 2 Ib-seit. The cyinder Problem 8/128 rolls without slipping on the radius r = 6 in. and the spring can support tension as wel as compression. Ans. £= 0.0697 Problem 8/131Article 6/6 Review Problems 657 —_—__ EO eerie a/isz ass aise A linear oscillator with mass m, spring constant, ‘and viscous damping coefficient cis set into motion ‘when released from a displaced position, Derive an ‘expression for the energy loss @ during one com: plete cycle in terms of the amplitude x at the start ‘of the cycle. (See Pig, 817.) ‘The eplinder A of radius r, mass m, and radius of ipration F is driven by a eable-spring system at- tached ta the deve cylinder B, which oscillates as indicated. If tho cables donot slip on the ylinders, and ifhoth springs are strotched tothe degree that they do not go slack during a motion eyele, deter ‘mine an expression for the amplitude Qua, of the steady-state oscillation of eylinder A jak EVm i = ayens ot 3) ANS. Ons Bo here 0, ~ i Problem 8/133 ‘The seismic instrument shown is secured to a ship's deck near the stern where propelle-induced vibration is most pronounced. The ship has a single three-bladed propeller which turns at 180 rev/min ‘and operates partly out of water, thus causing a shock as each blade breaks the surfuce. The damp- ing ratio of the instrument is ¢ ~ 0.5, and its un- amped natural frequency is 3 Hz, Ifthe measured amplitude of A relative to its frame is 0.75 mm, compute the amplitude By of the vertical vibration of the deck, Problem 8/138 ass sss A 604 bullet is fired with u velocity of 800 mis at the kg block mounted on a stiff but light ean- tilever beam. The bullet is embedded in the block, ‘which is then observed to vibrate with a frequency ‘of 4 Hz. Compute the maximum displacement A in the vibration and find the damping constant c in Nesim if the ratio of two amplitudes ten full cycles ‘apart is 0.6, Neglect any energy loss during the first quarter eyele. ‘Ans, A= 0.1416 m,¢ = 2.07 N-sim Se Problem 8/135 ‘An experimental engine weighing 480 Ib is mounted on a test stand with spring mounts at A and B, each with a stiffness of 600 Ibyin, ‘The radius ‘of gyration of the engine about its mass center G is 4.60 in, With the motor not running, calculate the natural frequency (f,), of vertical vibration and (Jon of rotation about G. If vertical motion is sup- pressed and a slight rotational imbalance occurs, at ‘what speed NV should the engine not be run? Problem 8/136658 Chapter 6 vibi tion and Time Response 8/137 A 200-kg machine rests on four floor mounts, each of which has an effective spring constant = 250 KNim and an effective viscous damping. coefficient ¢ = 1000 N-sim. The floor is known to vibrate vertically with a frequency of 24 Hz, ‘What would be the effect on the amplitude of the absolute machine oscillation if the mounts were replaced with new ones which have the same ef: fective spring constant but twice the effective damping coefficient? ‘Ans. Amplitude increases by 28.9%! © “computercrientedProbiems “8/138 Plot the response x of the 50-Ib body over the time interval 05 ¢ = 1 second, Determine the maximum and minimum values of x and their re- spective times. The initial conditions are x and i, = 6 ft/sec. | P = (160 cos 608) Ib — 100 tin, ANN Problem 8/138 "8/139 The mass of a critically damped system having a natural frequency a, = 4 radis is released from rest at an initial displacement xy. Determine the time t required for the mass to reach the position = Oda Ans. = 0.9728 "8/140 ‘The 4-kg mass is suspended by the spring of stiff ness & = 350 N/m and is initially at rest in the equilibrium position. If a downward foreo F = Ct is applied to the body and reaches a value of 40 N when ¢ = 1s, derive the differential equation of ‘motion, obtain its solution, and plot the displace- ment y in millimeters as a function of time during the first second, Damping is negligible Problem 8/140 "0/141 Shown in the figure are the elements of a di placement meter used to study the motion yy = } sin wf of the base. The motion of the mass rela- tive to the frame is recorded on the rotating Gram, If, = 1.2 fh lp = 1.6 ff) = 28, W = 2b, = 0.1 Ib-secift, and w = 10 radlsec, determine the range of the spring constant # over which the magnitude of the recorded relative displacement is less than 1.56, It is assumed that the ratio an, must remain greater than unity. Ans. 0-

S-ar putea să vă placă și

• Fear: Trump in the White House

  

  De la Everand

  Fear: Trump in the White House

  Bob Woodward

  Evaluare: 3.5 din 5 stele

  3.5/5 (738)
• A Man Called Ove: A Novel

  

  De la Everand

  A Man Called Ove: A Novel

  Fredrik Backman

  Evaluare: 4.5 din 5 stele

  4.5/5 (4609)
• A Heartbreaking Work Of Staggering Genius: A Memoir Based on a True Story

  

  De la Everand

  A Heartbreaking Work Of Staggering Genius: A Memoir Based on a True Story

  Dave Eggers

  Evaluare: 3.5 din 5 stele

  3.5/5 (231)
• • Reviste
  • Podcast-uri
  • Partitură
• The Sympathizer: A Novel (Pulitzer Prize for Fiction)

  

  De la Everand

  The Sympathizer: A Novel (Pulitzer Prize for Fiction)

  Viet Thanh Nguyen

  Evaluare: 4.5 din 5 stele

  4.5/5 (121)
• Grit: The Power of Passion and Perseverance

  

  De la Everand

  Grit: The Power of Passion and Perseverance

  Angela Duckworth

  Evaluare: 4 din 5 stele

  4/5 (588)
• Yes Please

  

  De la Everand

  Yes Please

  Amy Poehler

  Evaluare: 4 din 5 stele

  4/5 (1891)
• Devil in the Grove: Thurgood Marshall, the Groveland Boys, and the Dawn of a New America

  

  De la Everand

  Devil in the Grove: Thurgood Marshall, the Groveland Boys, and the Dawn of a New America

  Gilbert King

  Evaluare: 4.5 din 5 stele

  4.5/5 (266)
• The Little Book of Hygge: Danish Secrets to Happy Living

  

  De la Everand

  The Little Book of Hygge: Danish Secrets to Happy Living

  Meik Wiking

  Evaluare: 3.5 din 5 stele

  3.5/5 (400)
• Never Split the Difference: Negotiating As If Your Life Depended On It

  

  De la Everand

  Never Split the Difference: Negotiating As If Your Life Depended On It

  Chris Voss

  Evaluare: 4.5 din 5 stele

  4.5/5 (838)
• Shoe Dog: A Memoir by the Creator of Nike

  

  De la Everand

  Shoe Dog: A Memoir by the Creator of Nike

  Phil Knight

  Evaluare: 4.5 din 5 stele

  4.5/5 (537)
• The Emperor of All Maladies: A Biography of Cancer

  

  De la Everand

  The Emperor of All Maladies: A Biography of Cancer

  Siddhartha Mukherjee

  Evaluare: 4.5 din 5 stele

  4.5/5 (271)
• The Subtle Art of Not Giving a F*ck: A Counterintuitive Approach to Living a Good Life

  

  De la Everand

  The Subtle Art of Not Giving a F*ck: A Counterintuitive Approach to Living a Good Life

  Mark Manson

  Evaluare: 4 din 5 stele

  4/5 (5794)
• The World Is Flat 3.0: A Brief History of the Twenty-first Century

  

  De la Everand

  The World Is Flat 3.0: A Brief History of the Twenty-first Century

  Thomas L. Friedman

  Evaluare: 3.5 din 5 stele

  3.5/5 (2259)
• The Hard Thing About Hard Things: Building a Business When There Are No Easy Answers

  

  De la Everand

  The Hard Thing About Hard Things: Building a Business When There Are No Easy Answers

  Ben Horowitz

  Evaluare: 4.5 din 5 stele

  4.5/5 (344)
• Principles: Life and Work

  

  De la Everand

  Principles: Life and Work

  Ray Dalio

  Evaluare: 4 din 5 stele

  4/5 (599)
• Rise of ISIS: A Threat We Can't Ignore

  

  De la Everand

  Rise of ISIS: A Threat We Can't Ignore

  Jay Sekulow

  Evaluare: 3.5 din 5 stele

  3.5/5 (137)
• Team of Rivals: The Political Genius of Abraham Lincoln

  

  De la Everand

  Team of Rivals: The Political Genius of Abraham Lincoln

  Doris Kearns Goodwin

  Evaluare: 4.5 din 5 stele

  4.5/5 (234)
• The Gifts of Imperfection: Let Go of Who You Think You're Supposed to Be and Embrace Who You Are

  

  De la Everand

  The Gifts of Imperfection: Let Go of Who You Think You're Supposed to Be and Embrace Who You Are

  Brené Brown

  Evaluare: 4 din 5 stele

  4/5 (1090)
• John Adams

  

  De la Everand

  John Adams

  David McCullough

  Evaluare: 4.5 din 5 stele

  4.5/5 (2409)
• The Glass Castle: A Memoir

  

  De la Everand

  The Glass Castle: A Memoir

  Jeannette Walls

  Evaluare: 4.5 din 5 stele

  4.5/5 (1712)
• Hidden Figures: The American Dream and the Untold Story of the Black Women Mathematicians Who Helped Win the Space Race

  

  De la Everand

  Hidden Figures: The American Dream and the Untold Story of the Black Women Mathematicians Who Helped Win the Space Race

  Margot Lee Shetterly

  Evaluare: 4 din 5 stele

  4/5 (895)
• Her Body and Other Parties: Stories

  

  De la Everand

  Her Body and Other Parties: Stories

  Carmen Maria Machado

  Evaluare: 4 din 5 stele

  4/5 (821)
• Sing, Unburied, Sing: A Novel

  

  De la Everand

  Sing, Unburied, Sing: A Novel

  Jesmyn Ward

  Evaluare: 4 din 5 stele

  4/5 (1103)
• Angela's Ashes: A Memoir

  

  De la Everand

  Angela's Ashes: A Memoir

  Frank McCourt

  Evaluare: 4.5 din 5 stele

  4.5/5 (440)
• Wolf Hall: A Novel

  

  De la Everand

  Wolf Hall: A Novel

  Hilary Mantel

  Evaluare: 4 din 5 stele

  4/5 (3811)
• A Tree Grows in Brooklyn

  

  De la Everand

  A Tree Grows in Brooklyn

  Betty Smith

  Evaluare: 4.5 din 5 stele

  4.5/5 (1929)
• The Woman in Cabin 10

  

  De la Everand

  The Woman in Cabin 10

  Ruth Ware

  Evaluare: 3.5 din 5 stele

  3.5/5 (2322)
• The Light Between Oceans: A Novel

  

  De la Everand

  The Light Between Oceans: A Novel

  M.L. Stedman

  Evaluare: 4.5 din 5 stele

  4.5/5 (789)
• The Constant Gardener: A Novel

  

  De la Everand

  The Constant Gardener: A Novel

  John le Carré

  Evaluare: 3.5 din 5 stele

  3.5/5 (104)
• The Perks of Being a Wallflower

  

  De la Everand

  The Perks of Being a Wallflower

  Stephen Chbosky

  Evaluare: 4.5 din 5 stele

  4.5/5 (2102)
• The Art of Racing in the Rain: A Novel

  

  De la Everand

  The Art of Racing in the Rain: A Novel

  Garth Stein

  Evaluare: 4 din 5 stele

  4/5 (4200)
• Elon Musk: Tesla, SpaceX, and the Quest for a Fantastic Future

  

  De la Everand

  Elon Musk: Tesla, SpaceX, and the Quest for a Fantastic Future

  Ashlee Vance

  Evaluare: 4.5 din 5 stele

  4.5/5 (474)
• The Outsider: A Novel

  

  De la Everand

  The Outsider: A Novel

  Stephen King

  Evaluare: 4 din 5 stele

  4/5 (1839)
• The Unwinding: An Inner History of the New America

  

  De la Everand

  The Unwinding: An Inner History of the New America

  George Packer

  Evaluare: 4 din 5 stele

  4/5 (45)
• The Yellow House: A Memoir (2019 National Book Award Winner)

  

  De la Everand

  The Yellow House: A Memoir (2019 National Book Award Winner)

  Sarah M. Broom

  Evaluare: 4 din 5 stele

  4/5 (98)
• On Fire: The (Burning) Case for a Green New Deal

  

  De la Everand

  On Fire: The (Burning) Case for a Green New Deal

  Naomi Klein

  Evaluare: 4 din 5 stele

  4/5 (73)
• Little Women

  

  De la Everand

  Little Women

  Louisa May Alcott

  Evaluare: 4 din 5 stele

  4/5 (104)
• Brooklyn: A Novel

  

  De la Everand

  Brooklyn: A Novel

  Colm Toibin

  Evaluare: 3.5 din 5 stele

  3.5/5 (1937)
• Manhattan Beach: A Novel

  

  De la Everand

  Manhattan Beach: A Novel

  Jennifer Egan

  Evaluare: 3.5 din 5 stele

  3.5/5 (792)
• Bad Feminist: Essays

  

  De la Everand

  Bad Feminist: Essays

  Roxane Gay

  Evaluare: 4 din 5 stele

  4/5 (1015)
• Steve Jobs

  

  De la Everand

  Steve Jobs

  Walter Isaacson

  Evaluare: 4.5 din 5 stele

  4.5/5 (806)
• 2

  

  Document16 pagini

  2

  HashemYahyaQ.Almahdi

  Încă nu există evaluări
• HW 11

  

  Document7 pagini

  HW 11

  Devendraa Muniandy

  Încă nu există evaluări
• Creativity UTHM

  

  Document29 pagini

  Creativity UTHM

  HashemYahyaQ.Almahdi

  100% (1)
• Ch10 ISM

  

  Document23 pagini

  Ch10 ISM

  HashemYahyaQ.Almahdi

  Încă nu există evaluări
• Ch09 ISM

  

  Document56 pagini

  Ch09 ISM

  HashemYahyaQ.Almahdi

  Încă nu există evaluări
• Free Study (Fluid Mechanics)

  

  Document37 pagini

  Free Study (Fluid Mechanics)

  Jeric Ponteras

  Încă nu există evaluări
• Chapter 7 Electric and Electronics Devices Electric Motor PDF

  

  Document44 pagini

  Chapter 7 Electric and Electronics Devices Electric Motor PDF

  HashemYahyaQ.Almahdi

  Încă nu există evaluări
• CH 1 To 4

  

  Document42 pagini

  CH 1 To 4

  HashemYahyaQ.Almahdi

  Încă nu există evaluări
• Input and Output Statements

  

  Document16 pagini

  Input and Output Statements

  HashemYahyaQ.Almahdi

  Încă nu există evaluări