Homework Set 4

Short answer questions

𝐸𝐴
3.41 𝜔𝑛 = √𝑚𝐿

𝐽𝐺
3.42 𝜔𝑛 = √ 𝐼𝐿

48𝐸𝐼
3.43 𝜔𝑛 = √
𝑚𝐿3

Chapter Problems

2.48 Derive the differential equation governing the motion of one-degree-of-freedom system by
applying the appropriate form(s) of Newton’s laws to the appropriate free-body diagrams. Use
the generalized coordinate shown in Figure P2.48.
Linearize nonlinear differential equations by
assuming small displacements.

Given: system shown

Find: differential equation

Solution: Free-body diagrams of the system at an arbitrary instant are shown below

Note that the force developed in the spring is proportional to the change in length of the spring.
When the center of the disk is displaced a distance x from equilibrium, the end of the spring
attached to the center of the disk compresses by x. When the center of the disk displaces x, the
point on the disk to which the spring is attached has translated a distance x and rotated along the
distance an angle . Assuming no slip between the disk and the surface,  = x/r. Hence this end
of the spring has displaced 2x. The total change in length of this spring is 3x.
Summing moments about the point of contact between the disk and surface leads to

 M  C ext   M C eff
1 2 x
 (kx  cx )r  2k (3x)r  2k (3x)( 2r )  mx(r )  mr
2 r
3
mrx  crx  19 krx  0
2

The differential equation is put into standard form by dividing by the coefficient of x leading to

2c 38k
x  x  x0
3m 3m

Problem 2.48 illustrates derivation of the differential equation governing the motion of a one-
degree-of-freedom system using the free-body diagram method.

2.53 Determine the differential equations governing the

motion of the system by using the equivalent systems
method. Use the generalized coordinates shown in
Figure P2.53.

Given: x as generalized coordinate, k, m, I, r

Find: differential equation
Solution: Since x is measured from the system’s equilibrium position, gravity cancels with the
static spring forces in the governing differential equation. Thus, for purposes of deriving the
differential equation, both are ignored. It is assumed there is no slip between the cable and the
pulley. Thus the angular rotation of the pulley is kinematically related to the displacement of the
block by
x

2r

The equivalent systems method is used. The system is modeled by a mass-spring system of an
equivalent mass and equivalent stiffness, using the generalized coordinate, x. The kinetic energy
of the equivalent system at an arbitrary time is
1
T  meq x 2
2

The kinetic energy of the system at an arbitrary instant is

 2
1 1  x 
T  mx 2  I  
2 2  2r 
1 I 
  m  2  x 2
2 4r 

Requiring the kinetic energy of the equivalent system to be equal to the kinetic energy of the
original system at any instant leads to

I
meq  m 
4r 2

The potential energy of the equivalent system at an arbitrary instant is

1
V  keq x 2
2

The potential energy of the system at hand at an arbitrary instant is

2
1  x
v  k 
2 2
1k 2
v x
24
Requiring the potential energies to be equal at any instant leads to

k
keq 
4

The differential equation governing free vibration is

meq x  k eq x  0
 I  k
 m  2  x  x  0
 4r  4
k
x  x 0
 I 
4 m  2 
 4r 

Problem 2.53 illustrates use of the equivalent system method to derive the differential equation
governing free vibration of a one-degree-of-freedom system.

3.1 The mass of the pendulum bob of a cuckoo clock is 30 g. How far from the pin support
should the bob be placed such that its period is 1.0 sec?
Given: m = 30 g, T = 1.0 sec
Find: 

Solution: The pendulum is modeled as a particle of mass m attached to a massless rod. Let  be
the distance between the
particle and its axis of rotation. Let  be the counterclockwise
displacement of the rod, measured from the vertical. Free body diagrams of the particle are shown
at an arbitrary instant.

m 2 2 m

mg =

EXTERNAL FORCES EFFECTIVE FORCES

Summing moments about the axis of rotation

 M  0 ext   M 0 eff
 mg sin   m 2
g
  sin   0

Assuming small angular displacements

g
    0

from which the natural frequency is determined as

g
n 


Requiring the period of motion to be 1 sec leads to

2 
T 1sec   2
n g
m
9.81
g s2
 2 
4 1
4π 2 2
s
  0.248 m

Problem 3.1 illustrates how knowledge of the period is used to determine information about the
system.
3.4 When the 5.1 kg connecting rod of Figure P3.4 is
placed in the position shown, the spring deflects 0.5 mm.
When the end of the rod is displaced and released, the
resulting period of oscillation is observed as 0.15 sec.
Determine the location of the center of mass of the
connecting and the centroidal mass moment of
inertia of the rod.

Given: m = 5.1 kg, ST. = 0.5 mm, T = 0.15 sec, L = 20 cm, k = 3 × 104 N/m

Find: , I

Solution: When the system is in equilibrium the moment of the spring force balances with the
moment of the gravity force when moments are taken about the pin support,

M 0 0
 mg  k ST . L  0
k ST . L

mg
 4 N
 3  10  0.0005 m 0.2 m 
  m
5.1 kg  9.81 m 2 
 sec 
 0.060 m  6.0 cm

Let  be the clockwise angular displacement of the rod after it is released, measured from the
system’s equilibrium position. Assuming small displacements, free body diagrams of the system
at an arbitrary instant are shown below

R =
::
I
mg
m
k (L ST )

EXTERNAL FORCES EFFECTIVE FORCES

Summing moments about O, noting that the static deflection terms cancel with gravity
  M  0 ext .   M 0 eff .
 kL2  m 2  I
 
m 2  I   kL2  0 (1)

kL2
   0
m 2  I
The natural frequency is obtained from eq.(1) as

kL2
n  (2)
m 2  I

The natural frequency is calculated from the natural period by

2
n  (3)
T
Equations (2) and (3) are combined and used to solve for I as

kL2T 2
I  m 2
4 2
 4 N
 3  10  0.2 m  0.15 sec
2 2


m
 5.1 kg 0.060 m 
2
2
4π
 0.666 kg  m 2

Problem 3.4 illustrates the use of a free vibrations test to determine the moment of inertia of a
connecting rod.

3.27 For the system shown in Figure P3.27:

(a) Determine the damping ratio; (b) State

whether the system is underdamped, critically
damped, or overdamped; (c) Determine x(t) or (t)
for the given initial conditions

Given: k = 3.2 × 104 N/m, c = 150 N ∙ s/m, r = 10

cm, Ip = 0.3 kg ∙ m2, m1 = 5 kg, m2 = 40 kg,
 (0)  0, (0)  2.5 rad/s
Find: (a)  (b) nature of damping (c) (t)
Solution: The differential equation is derived using the equivalent systems method. Let x1 = 3r
be the downward displacement of the block of mass m1 and x2 = r be the upward displacement of
the block of mass m2. The kinetic energy of the system at an arbitrary instant is
1 1 1
T  I p 2  m1 (3r) 2  m 2 (r) 2
2 2 2
1

T  I p  9r 2 m1  r 2 m 2  2
2

Since an angular displacement is chosen as the generalized coordinate the appropriate model is
the torsional system. The equivalent moment of inertia is

I eq  I p  9r 2 m1  r 2 m2  1.15 kg  m 2

The potential energy of the system at an arbitrary instant is

V
1
2
2 1
2

k 3r   9kr 2  2 
from which the equivalent torsional stiffness if obtained as

kteq  9kr 2  2.88 103 N  m/rad

The work done by the viscous damper between two arbitrary positions is

 
W12    c r dr     cr 2 d

from which the equivalent viscous damping coefficient is

cteq  cr 2  1.5 N  m  s/rad

Thus the differential equation governing the motion of the system is

1.15  1.5  2.88  10 3  0

  1.304  2.504  10 3  0
The natural frequency of the system is

kteq
n   2.504 103  50.043 rad/s
I eq

(a) The damping ratio is obtained from

c eq
  0.013
2 I eq n

(b) Since the damping ratio is less than 1 the system is underdamped.
(c) The free-vibration response of an underdamped one-degree-of-freedom system is

 (t )  Ae  t sin( d t   d )
n

where the damped natural frequency is

 d  n 1   2
 d  50.0392 rad/s

For the given initial conditions,

A  (0) /  d  0.050 rad

 d  tan 1 (0)  0

Noting that n  (0.013)(50.043)  0.651 , the free-vibration response is

 (t )  0.050e 0.651t sin( 50.0392t ) rad

Problem 3.27 illustrates the free-vibration response of an underdamped one-degree-of-freedom

system.

3.32 The amplitude of vibration of the system of Figure P3.32

decays to half of its initial value in 11 cycles with a period of 0.3
sec. Determine the spring stiffness and the viscous damping
coefficient.

Given: X11 = 1/2X0, T = 0.3 sec, J = 2.4 kg ∙ m2, m = 5 kg,

R1 = 20 cm, R2 = 40 cm
Find: c, k

Solution: Let x represent the displacement of the block, measured positive downward from the
system’s equilibrium position. The equivalent system method is used to derive the differential
equation governing free vibration. The angular rotation of the disk is

x

R1

The change in length of the spring due to a displacement x is

R2
x2  x  2x
R1
The kinetic energy of the system is

1 2 1 2 1  J 
T mx  J   m  2   2
2 2 2 R1 

Hence the system’s equivalent mass is

J 2.4 kg  m 2
meq  m   5 kg   65 kg
R12 0.2 m2
The potential energy of the system is

V
1 2 1
2

kx2  4 kx 2
2

Hence the equivalent stiffness is

keg  4 k

The work done by the damping force is

W    cxdx

which implies that

ceq  c

Thus the differential equation governing free vibrations of the system is

65x  cx  4 kx  0
c 4k
x  x  x 0
65 65
The natural frequency is determined from the differential equation as

4k
n 
65

The damping ratio is determined as

c
 
130 n

From the information given, the logarithmic decrement is

 1  x0  1
 ln    ln 2  0.0630
11  x11  11

from which the damping ratio is calculated as


   0.01
4 2   2

The damped natural frequency is

2 2 rad
d    20.94
Td 0.3 sec sec

The undamped natural frequency is obtained as

d rad
n   20.94
1  2 sec

The spring stiffness is

n2 N
k  65  7130
4 m

The damping coefficient is

N  sec
c  130n  27.2
m
Problem 3.32 illustrates (a) application of the equivalent system method derive the differential
equation governing free vibration of a one-degree-of-freedom system and (b) use of measured free
vibration characteristics to determine system parameters.
Out of book problems

1. A thin disk of mass 350 grams and radius 10 mm is attached to the end of a circular shaft of
length 20 cm, radius 3 mm that is made from a material of elastic modulus 150x109 N/m2 and
shear modulus 50x109 N/m2. What are the (a) natural frequency for longitudinal motion of the
disk, (b) natural frequency for torsional oscillation of the disk and (c) natural frequency for
transverse motion of the disk. Assume the shaft is massless in all cases.
 2. A 10 kg mass is hanging from a spring of stiffness 3x105 N/m. The spring is given a displacement
of 3 mm downward from equilibrium and the system released from rest. (a) What is the static
deflection of the spring? (b) What is the frequency of the resulting motion in Hz? (c) What is the
period of the resulting motion? (d) If the spring was given a displacement of 4 mm downward
how long would it take the mass to execute one cycle of motion? (e) If the mass is increased
what happens to the period: does it decrease, stay the same as before or increase? Why?

(d) If the mass is increase the natural frequency is decreased which leads to an increase of the perioid.
 3. The 10 kg mass in Problem 2 is suspended from the same spring and a viscous damper of
coefficient 1000 N ∙ s/m. The mass is given a displacement of 3 mm downward and released
from rest. (a) What is the frequency of the resulting motion? (b) What is the period of the
resulting motion? (c) What is the energy present in the system at t=0? (d) What is the
logarithmic decrement? (e) What is the amplitude at the end of the second cycle of motion? (f)
energy dissipated by the viscous damper during the first two cycles of motion?

The damping ratio of the system is

c 1000 N  s/m
    0.289
2mn 2 10 kg 173.2 r/s 

(a) The damped natural frequency is

d  n 1   2  173.2 r/s  1  0.2892  165.8 r/s

(b) The damped period is

2 2
Td    0.0379 s
d 165.8 r/s

(c) The energy present in the system at t=0 is the potential energy of

V
1 2 1
2 2
 
kx0  3 105 N/m  0.003 m   1.35 J
2

(e) The logarithmic decrement is

2 2  0.289 
   1.90
1  2 1  0.2892

(f) The amplitude at the end of two cycled of motion is given by

1 0
  ln   2  e2  0  e21.90  0.003 m   6.71105 m
2 2

(g) The energy dissipate by the viscous damper during the first two cycled is

W12  T2  V2  T1  V1
1
  
2
 0 3 105 N/m 6.71105 m  0  1.35 J=1.349 J
2
4.
5,