An Instructor's Solutions Manual to Accompany pT Tele] ile oltre) Vibrations Balakumar Balachandran Edward B. Magrab IM maoussluLL2n0! CENGAGE Learning” :o's CENGAGE © Learning” (© 2008, 2004 Cangage Learning ALL RIGHTS RESERVED. No part ofthis work covered by th ‘copyright herein may be reproduced, transmitted, stored, or ‘used in any form or by any means graphic, electronic, or ‘mechanical, incusing But not ited fo photocopying, recording, scanning, digzing, taping, Web distribution, information networks, oF information storage and retrieval systems, except as permitted under Section 107 or 108 of the 41978 United States Copyright Act, without the por written permission ofthe pubsher except as may be permitted by the fcense toms below. | For rod rfomation and tctnlegy seltnce contact engage Lanming Academie Resource Carter, | 0425-0563 For permission to use material rom this txt or product submit ‘requests chine at www.congage.compermissions. 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This Agreement wil bs ‘governed by and construed pusvant to the laws of fo State of Few York, without regard to such State's confit of aw ules “Thank you fr your asitance in helping to safeguard the Integy ofthe content contained in his Supplement. Wo ust you fa the Supplement a ust teaching oo.Instructor’s Solutions Manual to Accompany Vibrations, Second Edition Balakumar Balachandran, University of Maryland Edward B. Magrab, University of Maryland Table of Contents Chapter 1 — Introduction . rb ibratory Systems Chapter 2 ~ Modeling of Chapter 3 — Single Degree-of-Freedom Systems: Governing Equations... 35 Chapter 4 ~ Single Degree-of-Freedom Systems: Solution for Response and Free Response Characteristics . ses 81 Chapter 5 — Single Degree-of-Freedom Systems Subjected to Periodic Excitations 113 147 Chapter 6 — Single Degree-of-Freedom Systems Subjected to Transient Excitations . Chapter 7 — Multi Degree-of Freedom Systems: Governing Equations and Natural Frequencies and Mode Shapes ......... a 165 Chapter 8 — Multi Degree-of-Freedom Systems: General Solution for Response and Forced Oscillations 243Solutions te Exercises ~ Chapter 1 Solutions to Exerci: Chapter 1 Section 1.1 1.1 Choose any two contributors from Table 1.1, study their contributions, and write a paragraph about each of them. Section 1.2.1 1.2 Consider the planar pendulum kinematics discussed in Example 1.1, start with position vector r”/° resolved in terms the unit vectors i and j, and verify the expressions obtained for the acceleration and velocity given by Eq. (f) of Example 1.1 Solution 1.2 ‘The relationships among the unit vectors are €, = cosOi+sindj e, =—sindi+cosOj Then, the position vector is ((h=Lcos0)j) d 01) +— OE 6 (cosOi + Lsindj) dt = Leos00i+ Lsin06j = = Lbe, The acceleration vector is, ro ad ia, ~Lsin06* + Lcos66)i+(Leos06? + Lsin08) j (Leos06i) +Lbsinodj) 6? (-sin0i + cos0j) + LO(cosOi + sinOj) Lb e, + 10’ e, 1.3 Consider the kinematics of the rolling disc considered in Example 1.2, and verify that the instantaneous acceleration of the point of contact is not zero, 1 (©2009 Cengage Learning. ALL RIGHTS RESERVEDSolutions to Exercises ~ Chapter 1 Sol jon 1. Making use of Eq. (1.7) that relates accelerations of two arbitrary points on a rigid body, we have 0° =” +0x(oxe") +x From Example 1.2, we have and, hence, +10 j-rbi =i Thus, it is verified that the instantaneous acceleration of the point of contact is not zero. 1.4 Show that the acceleration of the particle in the rotating frame of Example 1.3 is a=(%, -20y,-a'x, ~ ay, )e, + (jj, + 20%, —@"y, +X, )e, where @ is the magnitude of the angular acceleration of the rotating frame about the z axis, Solution 1.4 From Eq. (b) of Example 1.3 dr FG, -0y,)¢, +5, +08,)¢, ‘Then the acceleration is dy a dt [G,-0y,e]+2[0, +04, 4] =a ts,-0y)+64,-07) +e, £6, 105)46, 405) =(%, - oy, —ay,)e, +(x, — OY, (Oxe,) + (jj, + Ox, +ax,)e, +(V, +Ox,(Mxe,) where a = da/dt and we have used Eq. (1.8). We note that @ = wk; therefore, xe, =okxe, =0e, xe, =0kxe, =-08, Then 2 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 1 a=(%, ~ 20}, -a°x,-ay,)e, + (33, + 20%, —@y, + ax, )e, ip — 2WYp O°, — AY, )e, + (Fp + 2M, — Oy, + Oye, 15 In Figure E1.5, a slider of mass M, is located on a bar whose angular displacement in the plane is described by the coordinate @ The motion of the slider from the pivot point is measured by the coordinate ry. The acceleration due to gravity acts in a direction normal to the plane of motion. Assume that the point O is fixed in an inertial reference frame and determine the absolute velocity and absolute acceleration of the slider. Se 15 Choose unit vectors e,’ and ey’ fixed to the slider as shown in the figure. Then, the position vector from point O to the slider is ie) +5 (xe}) Noting that @ = Ok, where k is the unit vector that points out of the plane, we find that v, = fel + Ok xe, = el + nde, The absolute acceleration is found from a, =“ (ie + nbet) = et +4 Hh + bes + bes +d a dt at = ie, +i, (wxet) +i bes + res +46 (wxes) = (I-48 ef +(n0-+ 278) es 1.6 A pendulum of mass m is attached to a moving pivot of mass M as shown in Figure E16. Assume that the pivot point cannot translate in the vertical direction, If the horizontal translation of the pivot point from the fixed point O is measured by the coordinate x and the angle @ is used to describe the angular displacement of the pendulum from the vertical, determine the absolute velocity of the pendulum. 3 (©2009 Cengage Learning. ALL RIGHTS RESERVEDSolutions to Exercises ~ Chapter 1 Solution 1.6 The position vector of the location of the mass with respect to the fixed-point 0 is given by 1207 4 1,=xi-le, ‘Then the velocity is v, % ie, = 81—I(« x e,) = 31-I(-OK) xe, = Xi-Ipe, = xi—19(cosgi-sing/) =(4-Ipcos)i+lpsingj We could have also obtained the solution as follows: xi-Isingi-lcospj x-Ising)i—leosgj ‘Then the velocity is =(%-Ipcose)i+losingj Section 1.2.2 1.7 Determine the number of degrees of freedom for the systems shown in Figure E1.7. ‘Assume that the length Z of the pendulum shown in Figure E1.7a is constant and that the Tength between each pair of particles in Figure E1.7b is constant. Hint: For Figure E1.7c, the rigid body can be thought of as a system of particles where the length between each pair of particles is constant. Solution, a) Three coordinates ( = 3) and one inextensible constraint (m = 1): number of degrees of freedom is 3 — 1 = 2. b) Three particles, each with 3 coordinates and three inextensible constraints: number of degrees of freedom is 9-3 = 6. c) Rigid body: number of degrees of freedom is 6; 3 translation and 3 rotational. The system of three particles shown in Figure E1.7b is an example of a rigid body, since the particles are a constant distance apart from each other. In three-dimensional space, for a system of N particles representing a rigid body, the number of degrees of freedom is 3’ — GN ~ 6), where 3N is the total number of coordinates associated with tae N particles and 3N ~ 6 is the total number of inextensional constraints that ensures thet the particles are always at a constant distance apart. By extension to the case shown in Figure E1.7e, the number of degrees of freedom is 6. 4 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter | Section 1.2.3 1.8 Draw free-body diagrams for each of the masses shown in Figure E1.6 and obtain the equations of motion along the horizontal direction by using Eq. (1.15). Solution 1.8 ‘The free-body diagrams for each of the masses in an figure E1.14 are as shown to the right. The force N is shown in the free-body diagram of mass M to account, for the constraint that the pivot mass cannot move in, the j-direction. Summing forces along the édirection, for each of the two masses, we find for the pivot mass from Eqs. (1.15) that -Tsing = Mé and for the pendulum mass that Tsing = m(¥ +19" sing -Ipcos) me 1.9 Draw the free-body diagram for the whole system shown in Figure E1.6, obtain the system equation of motion by using Eq. (1.14) along the horizontal direction, and verify that this equation can be obtained from Eq. (1.15). Solution 1.9 ‘The free-body diagram is shown to the right. Note that the internal force T does not appear in this diagram, Making use of Eqs. (1.14) for the motion along the horizontal direction, we find that Me 0 = Mi+m(i#-+19" sing -Igcosg) which can be obtained by adding the two equations obtained to the solution to Exercise 1.8. ™ 1.10 Determine the linear momentum for the system shown in Figure E1.5 and discuss if itis conserved. Assume that the mass of the bar is Mar and the distance from the point O to the center of the bar is Liar. Solution 1.10 ‘The linear momentum of the system is given by P= Poor + Pair where Poor = Micelra, 9 5 (©2009 Cengage Learning. ALL RIGHTS RESERVEDSolutions to Exercises ~ Chapter 1 Making use of the slider velocity V» determined in the solution to Exercise 1.5, we arrive at Paser = M, (fe, +7 6e') Thus, P= M, fel +(MygLsa +7) Oe) Since there are no external forces acting on the system, by virtue of Eq. (1.14), the system’s linear momentum is conserved. 1.11 Determine the angular momentum of the system shown in Figure 1.6 about the point O and discuss if it is conserved. Solution 1.11 ‘The angular momentum of the system about the point 0 is given by HE =H yetitan + Has [Ok +1, xp where A is the unit vector normal to the plane, the position vector r» runs from point O to the pendulum, and p is the linear momentum of the pendulum. Making use of the solution to Example 1.4, we have 1, =(R+reosp)el +rsingel p=nV, =m(-r(0+4)singe; +(R0+r(p+6)cosp)es) Joi-+(R+rc0sp)(R6-+r($+4)cosg) +r? (+8) Jk which can be written as H=[Jo0+ R047 (946) +R (26+ @)coso |k If no external moments act on the system, since O is a fixed point, from Eq. (1.17) it is clear that the angular momentum of the system is conserved. 1.12 A rigid body is suspended from the ceiling by two elastic cables that are attached to the body at the points 0" and O”, as shown in Figure E1.12. Point G is the center of mass of the body. Which of these points would you choose to carry out an angular-momentum balance based on Eq, (1.17)? Solution 1.12 Since point G is the center of mass of the body, this point would be used to carry out an angular momentum balance based on Eq. (1.17). One cannot use Eq. (1.17) with points 0’ and O” since neither of them is a fixed point. 6 (©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions te Exercises ~ Chapter | 1.13 Consider the rigid body shown in Figure E1.13. This body has a mass m and rotary inertia Jg about the center of mass G. It is suspended from a point O on the ceiling by using an elastic suspension. The point of attachment O' is at a distance / from the center of mass G of this body. (0) is an external moment applied to the system along an axis normal to the plane of the body. Use the generalized coordinates x, which describes the up and down motions of point O” from point O, and 0 which describes the angular oscillations about an axis normal to the plane of the rigid body. For the system shown in Figure E1.13, use the principle of angular-momentum balance given by Eq. (1.17) and obtain an equation of motion for the system. Assume that gravity loading is present. Solution 1.13 The principle of angular-momentum balance given by Eq. (1.17) is applied with respect to the center of mass of the system. Thus, d Mk = Jk) where Aris the unit vector normal to the plane of the system. ‘Then we have -M()=J¢8 If, instead, the principle of angular-momentum balance given by Eq. (1.17) is applied with respect to the fixed point O of the system, the result is -M()k+[(x-Isin0)i-1cos6j]x(mgi) {sob +[(x-/sind)i-1c0s0j]x(m¥,,)) = 4 (Yooh +[(e- Isind)i—1e0s0j]x[ m((i-16c0s0) i+ 16sin04))) where, we have substituted the velocity of the center of mass from the solution to Exercise 1.13. Carrying out the different cross-product operations, we obtain (-M(W) + mglcos0)k = JO +m4(i(x-Isin0)dsind +1(i—I6c0s0)cos0) k which leads to —M(1) + mglcos6 = — 16.0030) cos0) Sand ae + ml-S ((x—1sind) dsind +( Section 1.2.4 1.14 For the system shown in Figure E1.13, construct the system kinetic energy. 7 ©2009 Cengage Learning. ALL RIGHTS RESERVEDSolutions to Exercises ~ Chapter 1 Solution 1.14 We make use of Eq. (1.23) to determine the system kinetic energy. Note that the velocity of the center of mass G can be obtained as in the solution to Exercise 1.6; that is, V,, =(%-10c0s0)i+i6sin0j Then, from Eq. (1.23), the kinetic energy is 1 1 2 T= Job Yuu) +5 Je 4 m( i? +276? -2:16 cos) at IP 2 2 1.15 Determine the kinetic energy of the planar pendulum of Example 1.1. 4 Solu 1.15 From Eqs. (b) and (¢) of Example 1.1, we find that v — Le, — LO(cos0i+sin0j) Then, from Eq, (1.22), the kinetic energy is 1 T= tm») 20 (cos 0+ sin? 0) = 1 m0? 1.16 Consider the disc rolling along a line in Figure E1.16. The disc kas a mass m and a rotary inertia Jc about the center of mass G. Answer the following: (a) How many degrees of freedom does this system have? and (b) Determine the kinetic energy for this system. Solution 1.16 a) One degree of freedom, since one independent coordinate (x or 0) is needed to describe the motion. Due to the non-slip constraint, x =r, and x or @ can always be expressed in terms of the other coordinate. b) Making use of Eq, (1.24), we have Noting from Example 1.2 that we arrive at 8 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 1 1.17 In the system shown in Figure 1.6, if the mass of the pendulum is m, the length of the pendulum is r, and the rotary inertia of the disc about the point O is Jo, determine the system kinetic energy. Solution 1.17 ‘The kinetic energy of the system can be written as T= Tenn +a where 1 Tyna = 5" Vn Ve rss = Vy Ve) 1 52 Trac = 5 Job 2 Noting from the solution to Example 1.4 that -r(9+68)singe; + (26+7(9+6)cosp)es we determine that T jedton = 1.18 Referring to Figure E1.6 and assuming that the bar to which the pendulum mass m is connected is massless, determine the kinetic energy for the system. Solution 1.18 ‘The kinetic energy of the system is given by T=T y+ Tyenton where tr, pend =hm(¥-¥,) $M (it: 2 Making use of the solution for the velocity in Exercise 1.6, we find that = ; m((i-Igcose)i+lpsings)-((x-Ipeosp)i+losingj) ©2009 Cengage Learning. ALL RIGHTS RESERVEDSolutions to Exercises — Chapter | Thus, 1 22, 1 2 zm[(e-Weose) 40 @ sin’ 9 +5 Me =F (m+ Me +hm(r@? —2ilpcose) 1.19 Determine the kinetic energy of the system shown in Figure E1.5. Solution 1.19 ‘The kinetic energy of the system is given by T = Tye + Totter where 1 cae = My Wy Va) Try =I? 2 Making use of the velocity determined in the solution of Exercise 1.5, we find that Tae = 5 My (fel rb) (ie; nds) = M, (8 +04) and, therefore, Ii +hM, (@ +76") = (Jo+M yp) O she 10 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises - Chapter 2 Solutions to Exercises Chapter 2 Section 2.1 2.1 Examine Eqs. (2.1) and (2.5) and verify that the units (dimensions) of the different terms in the respective equations are consistent. Solution 2.1 In Eqs. (2.1), the units of Jg are kg-m? and the units of md” are kg-m. In Eq. (2.5), the units of energy are N-m, and the units of nv are kg(m/s)* = kg(m/s’)m = N-m. Section 2.2 2.2 Consider the slider mechanism of Example 2.2 and show that the rotary inertia Jor about the pivot point O’ is also a function of the angular displacement 9. Solution 2.2 ‘The rotary inertia is Jo =Jy(B)+ Iq, +Iq, +5, where Pr a Poly. , In (B) = mia tma -mlE-(8) +a -atent] To determine how f depends on g, we use geometry. First P(—)= 4? +b*—2abcosp a =r'(g) +b? -2r(g)bcos(4—¢ - f) Combining the above equations, we obtain 7'(—) =1'(g) +b -2r(g)bcos(a — g - B) +b? -2abcosp which leads to b=acosg +r(g)cos(z — 9 - B) and, hence, costa — p= PASS? MW ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 thus, resulting in =n—9-cos'i( $= a0088 pan-o-ca( 9552) ‘Thus, we have expressed the angle f in terms of the angle g. Thus, since J,, is a function of g, Jo is also a function of g. 2.3 Consider the crank-mechanism system shown in Figure E2.3. Determine the rotary inertia of this system about the point O and express it as a function of the angular displacement @. The disc has a rotary inertia J about the point O. The crank has a mass ‘mg and rotary inertia Jg about the point G at the center of mass of the erank. The mass of the slider is mp. Solution 2.3 The total inertia of the system is J ly =JytJ,+Iq where J, is the rotary inertia of the slider about the point O, J; is the rotary inertia of the crank about the point O and and ra is the distance from O to the point G and rp is the distance from O to the point p. From geometry, we see that (reos@ +Ieosy)’ +d? 1% =(rcos0+acosy) +(rsind—asiny)” In addition, rsind =d+lsiny = sin! (180 = 2 1 Thus, the total inertia of the system Jo can be expressed as a function of 8, therefore, Section 2.3.2 2.4 Find the equivalent length ZL. of a spring of constant cross section of diameter d that has the same spring constant as the tapered spring shown in Case 2 of Table 2.3. Both springs have the same Young’s modulus E, 12 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 2 Solution 2.4 From Cases 1 and 2 of Table 2.3, we have that AE _ dE L, 4L, Therefore, the equivalent length is 2.5 Extend the spring combinations shown in Figures 2.6b and 2.6c ‘o cases with three springs. Verify that the equivalent stiffness of these spring combinations is consistent with Eqs. (2.14) and (2.16), respectively. Solution 2.5 In Figure 2.5b, we extend Eq. (2.13) to obtain F(x) -AG)+h@)+ BE) Shr thx thr =(k +k +h)x= which is consistent with Eq. (2.14). In Figure 2.6c, we extend Eq. (2.15) to obtain, Xex ta tH, p+EE.(2 which is consistent with Eq. (2.16). 2.6 Consider the mechanical spring system shown in Figure E2.6. Assume that the bars and determine the equivalent spring constant k., which we can use in the relation Solution 2.6 If the left-hand portion of the spring moves by an amount 5 when the hinged point moves down by an amount x, then VE hx} =5- Ph x -2hx eG 1B (©2009 Cengage Learning, ALL RIGHTS RESERVED. where This leads toSolutions to Exercises ~ Chapter 2 Gal 12h ||_a he _ he 2(a/2y J} 2(@/2yr Since the right-hand portion of the spring also moves by an amount 6, the potential energy in the spring is 4 = V = 5426) ‘Therefore, the equivalent spring constant is ke (2) @ 2.7 Consider the three beams connected as shown in Figure E2.7, The beam that is attached to the ends of the two cantilever beams is pinned so that its ends can rotate unimpeded. Determine the system’s equivalent spring constant for the transverse loading shown. Solution 2.7 ‘The equivalent system is shown at the right. ‘The cantilever beams act as two springs in parallel, with the combination spring 4 having an equivalent stiffness of k. This parallel spring combination is in series with the pinned-pinned beam. ‘Thus, se ae (ea) where, from Table 2.3, Note that as k. > 00, ke —> kas. (©2009 Cengage Learning. ALL RIGHTS RESER’Solutions te Exercises — Chapter 2 2.8 For the weightless pulley system shown in Figure E2.8, determine the equivalent spring constant. Recall that when the center of the pulley moves by an amount x, the rope moves an amount 2x. Solution 2.8 If the pulley attached to spring &, moves down an amount x; and the pulley attached to spring k, moves up an amount x, then the displacement of each spring is The total displacement x of the springs is seay tage te ‘Therefore, the equivalent spring constant is pele Ly “alk, 2.9 Determine the equivalent stiffness for each of the systems shown in Figure E2.9. Each system consists of three linear springs with stiffness k1, kz, and ks. Solution 2.9 (a) The two springs in parallel have an equivalent spring constant kg =k +hy and this equivalent spring is in series with the third spring; therefore, the equivalent spring constant for the system is 1h peftat “ : i) (b) The two springs in series have an equivalent spring constant w-(iez) and this equivalent spring is in parallel with the third spring; therefore, the equivalent spring constant for the system is Kea hy thy 15 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 2.10 For the two cantilever beams whose free ends are connected to springs shown in Figure E2.10, give the expressions for the spring constants 1 and A and determine the equivalent spring constant k, for the system. Solution 2.10 From Table 2.3 be ky > ky=htks > : ode 2.11 For the system of translation and torsion springs shown in Figure E2.11, determine the equivalent spring constant for torsional oscillations. ‘The disc has z radius b, and the translation springs are tangential to the disc at the point of attachment Solution 2.11 From Table 2.3, Case 8, we have for the two torsion in series that 16 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 2 ‘The torque required to rotate the disc is TH1,, 40,40 4% =h,0+k,0 + B°OK, + BOk,, = (ky, +h, +07, +B%,,)O Rewriting this result as rHko ‘we find that the equivalent stiffness is Kah +h, +0? + By 2.12 For the system of translation springs shown in Figure E2.12, determine the ‘equivalent spring constant for motion in the horizontal (x) direction only. Assume that |Ax| << so that the remain constant. Solution 2.12 ‘The equivalent spring constants for the configurations shown are -(—_ kth kg=[tet ye ‘Then the equivalent system is Upon moving the ends of the equivalent springs an amount x in the horizontal direction, the displacement of each spring is 8x3 = xC080, (compression) 6, =xcos(7—0,) (extension) 5, =xc0s(0,—7) (extension) The corresponding force in each spring is 17 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 Fin= hb Fakd, Foo = ks so Then the sum of the forces in the x-direction is F = F,;,00s0, + F,cos( - 0,)+F,, cos(, —) 120 ps 6088, + k,5, COS — O,)+k Sigg C08(0, — 7) = [kins 008" 8, +k, 008" (7 —0,)+k, c05°(0,— 7) |x Rewriting this result as Fokx wwe find that the equivalent stiffness of the spring system is k, 2s C08" 8, + k, €05"( — 0, )+ky, COS*(0,— 2) If the intersection point of the springs is not constrained; that is, confined to a slot to move in the x direction only, then we have an additional constraint on the spring system. This constraint is obtained by setting the sum of the forces in the y-direction to zero. Thus, we have —F,8in8, + F,sin(x ~0,)— F,,sin(@, — x) =0 Upon using the force displacement relations gives, ~hinsBy Sin, + kB, sin( 0.) ~ ky Sin(O, ~ 2) = After substituting for the deflections in terms x, we obtain ky, 6080, sind, + k, cos( st ~0,) sin(zt —0,) — ky, cos(O, ~)sin(@,— 7) =0 2.13 Consider the system shown Figure £2.13, which lies in the X-Y plane. This system, which is called a crab-leg flexure, is used in microelectromechanical sensors. A load along the X direction is applied to the mass to which all of the four crab-leg flexures are attached. Each flexure has a shin of length Z along the X direction, width b along the ¥ direction, and thickness / along the Z direction. ‘The thigh of each flexure has a length L, along the ¥ direction, a width 6, along the X direction, and a thickness along the Z direction, ‘The equivalent stiffness of each of these flexures in the be direction can be shown to 2 (L+1,(6/6)) where the Young's modulus of elasticity is E, which has a value of 160 GPa for the polysilicon material from which the flexure is fabricated. The dimensions of each crab 18 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 leg are as follows: L = 100 um and b = 6, =h=2 ym. For the thigh length Z, spanning the range from 10 um to 75 ym, plot the graph of the equivalent stiffness of the system versus 1, Solution 2.13 ‘The above equation is plotted in the figure below. 10; 95} | 3 2 88) <8 3 75| 7 65) a a a a a er) tm Figure £2.13 ‘MATLAB program used to generate figure for Exercise 2.13. Lt-linspace(10e-6,75e-6,100); Kflex=B*h*b3*(4*L+L1*(b/b0)°3) (L+LA*(bPY 3YL/; plot(10°6*L flex.) set(gca,fontsize'14) label(L_t(\mum,fontsiz’14) ylabel(k_{flexure} (N/m)'*fontsize’,14) axis({10 75 6 10)) 2.14 Based on the expression for knee provided in Exercise 2.13, the sensitivity of the equivalent stiffiness of each flexure with respect to the flexure width b and the thigh width », can be assessed by determining the derivatives dinexedb and dknccyd/db, respectively. Carry out these operations and discuss the expressions obtained, Solution 2.14 We rewrite the expression in Exercise 2.13 as 19. ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 2 ee renee) pom) where derivative dly Differentiating this equation with respect to b and simplifying, we obtain Hk pae ay, (44215 (8/6) +B (6/0)') yr (non = = We see that when L,(b/b) 01 the sensitivity becomes Kram, 3920, db ‘Thus, this sensitivity in this region is most affected by Z, followed by b. When L,(b/b) 01 sensitivity becomes eae 126°C, eer which is four times more sensitive as the previous limiting case. Sensitivity derivative dkigeureldby Differentiating the top equation with respect to b, and simplifying, we obtain Acre £: (o/b) db, 11, (l4L(6/0)) We see that when 1, (6/6) 0.1 the sensitivity becomes A penne, 907°C, _ 9Eh( b, db, L UAL 20 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 which is independent of b. The sensitivity in this region is most affected by the ratio by. 2.15 Find the torsion-spring constant ke of the stepped shaft shown in Figure E2.15, where each shaft has the same shear modulus G. Determine the equivalent spring length of a shaft of constant diameter D, and length L that has the same spring constant as the torsion spring shown in Figure E2.15. lution 2.15, Making use of Eq. (2.18) for three torsion springs in series and Table 2.3 to compute the torsion stiffness, we obtain where ‘Thus, (224, 32h, 32h, aGD; GD! xGDi @) G/L ,h 5 32\ Di” Di” DF Fora shaft of uniform stiffness, we have 4, = Ge 2D! ey eamea2 Ts Upon equating Eqs. (a) and (b), we obtain #G/ L, 32 (DF which leads to Section 2.3.3 2.16 Consider the two nonlinear springs in parallel shown in Figure E2.16. The force- displacement relations for each spring are, respectively, F,G@)= yetkax f=1,2 21 (©2009 Cengage Learning. ALL RIGHTS pSERVED,Solutions to Exercises ~ Chapter 2 a) Obtain the expressions from which the equivalent spring constant can be determined. b) If F = 1000 N, ki = k = 50,000 N/m, and @ = 2 m, determine the equivalent spring constant. Solution 2.16 (a) The linear equivalent stiffness of each spring around an operating point x = x9 is ak, Sy a (k,+3kax? =1,2 al, (k,+3k,ax4 Des i =(k, +3kax2) f=h2 Since these are springs in parallel, the equivalent stiffness coefficient k, is given by = (hy +h) +3(k, +k Jaxd b) When ky = ky = k= SOkN/m, @= 2 m'', and = 1000 N, the total force acting on the system is Foi +P, =2ke+2kax’ where F and are the forces acting on springs I and 2, respectively. For the given value of the force, the static deflection in each spring x» is found by solving the equation 1000 = 2x 50x10" x x +2 50x10? x2x.x3 or 200x3 +100x, Using the MATLAB function root's yields the real root xp = 0.01 m. Making use of the results from Part a), the linear equivalent stifiiness is k= (ky +h) + Hk, + ax; = 2k + boxy =2x50x10° +6%50%10° x2x 0.01? = 100060 N/m 2.17 Consider the two nonlinear springs in series shown in Figure E2.17. The force- displacement relations for each spring are, respectively, E,Q)=kxtkax 7 =1,2 a) Obiain the expressions from which the equivalent spring constant can be determined. b) If F = 1000 N, &, = 50,000 N/m, kz = 25,000 Nim, and @ = 2 m°, determine the equivalent spring constant. Solution 2.17 22 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 2 (a) At the operating point, let the static deflection in the nonlinear spring 1 be xi, and the static deflection in the nonlinear spring 2 be xz. Then, the respective equivalent stiffness of the springs 1 and 2 are given by 4, | yaw =k, +3kax'| =k, +3kax,, j=L2 Since the two springs are in series, the equivalent stiffness coefficient & is given by )' hake Kathe 1 K, (b) For , k; = 50,000 Nim, ko = 25,000 Nim, @=2 m?, we first determine the static deflections in the nonlinear springs. To this end, we note that F(x)=F=k,x,+k ax, j=12 ‘Thus, we obtain the equilibrium equations 100x}, +50x,, -1=0 50x}, +25x,,-1=0 By using the MATLAB function root's on each of these equations, we find that i= 0.02 m and x,,=0.04 m Making use of Part (a), we arrive at ik, = 50x 10° +3x50x10° x2 x 0,02? = $0.12 kN/m ky, =2510! +3x25%10? x2x0.04? = 25.24 kNim and the equivalent stiffiness is 50,12 25.24 = 50.12+25.24 107865 Nim 2.18 Consider the data in Table E2.18 in which the experimentally determined tire loads versus tire deflections have been recorded. ‘These data are for a set of dual tires and a single wide-base tire, The inflation pressure for all tires is 724 KN/m?. Examine the stiffiness characteristics of the two different tire systems and discuss them. Solution 2.18 For the data in the table, we use MATLAB to plot these results, which are shown below. We see that the wide-base tires are less stiff compared to that of the dual tires and their stiffness is almost linear over a wide deflection range. The dual tire is stiffer than the wide-base tire and its stiffness characteristic is discernibly nonlinear. Furthermore, if we fit a second-order polynomial to each of the curves using the MATLAB function Lsqcurvefit, we find that the dual tire relation is 23 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 Fgt-are =81.85-+968.725 421.86" N and that for the wide-base tire is Fete = 149.84 + 784.185 +6325? N where dis the deflection and the coefficient multiplying &* represents the strength of the nonlinearity. We see from the coefficients of these fitted equations that the dual-tire nonlinear coefficient is 3.4 times larger than that for the wide-base tire. asp S 0 S(O CS 080M Deflection (mm) Figure £2.18 MATLAB program used to generate figure for Exercise 2.18 fac=4.44822; % N/Ib_f mm=25.4; % mm/in Fefac*[0 2000 4000 6000 8000 10000]; %Table data in N DDT=mm*{0 0.30 0.55 0.75 0.95 1.10]; % Table data in mm, DWB=mm*[0 0.40 0.75 1.10 1.40 1.65]; % Table data in mm plot(DDT,F ke set(b(1), fonts xlabel(Defleetion (mm), fontsize’,14) ylabel(Force (N);fontsize’14) set(gca,fontsize' 14) ‘opt=optimset(‘display'fof?); fit-inline(x(1)#x(2)*q+x3)*q.°2%') xdt=Isqourveit(it[.1 1000 100), DDT.F,(),0,0p0; dlisp(CF =" num2strxdt(1))* +" num2strxd(2)) d+ num2str(xat(3)) 8-2") xwb-Isqourvefit(fit.1 1000 100, DWB,F,[]{.op0); disp((F =" num2str(xwb(1)) +" num2str(xwb(2)) 'd + num2ste(xwb(3)) "42" 24 (©2009 Cengage Leaming. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 Section 2.3.4 2.19 Consider the manometer shown in Figure 2.16 and seal the ends. Assume that the initial gas pressure of the sealed system is P, and that L, is the initial length of the cavity. Determine the equivalent spring constant of the system when the column of liquid undergoes “small” displacements, Solution 2.19 When the top is sealed, it becomes a piston. Since the energy storage devices undergo equal displacements, the springs are in parallel, and from Eqs. (2.27) and (2.34b), we obtain 284, + a 2.20 Consider “small” amplitude angular oscillations of the pendulum shown in Figure £2.20. Considering the gravitational loading and the torsion spring &; at the pivot point, determine the expression for the system’s equivalent spring constant. The masses are held with rigid, weightless rods for the loading shown, Solution 2.20 In this case, we generate the system’s potential energy and identify the equivalent spring constant ke. V(O)=Vay +Vng +V5, eo Flip =—m,gb—+ mga +260 mg + mga + =F Lh,+mga—m,g6]0° Therefore, k, =k, +mga—m,gb Section 2.4.1 2.21 Determine the equivalent damping of the system shown in Figure £2.21 Solution 2.21 The dampers ¢} and c2 are in parallel; therefore, the equivalent damper is c12 = ¢ + €2. Noting the force location, equivalent damper c12 and damper c3 are in parallel. Thus, the equivalent damper is ¢¢ = ¢12 +63 = ¢1 + ¢2 + ¢5, 2.22 Determine the equivalent damping for the system shown in Figure E2.22. Solution 25 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 Since cy and cp are in series, the equivalent damping of this series combination is and, therefore, the equivalent damping of the system is cg = e12 + ¢3 2.23 Representative damping-force magnitudes versus speed data are given in Table 2.23 for a racecar damper in compression. Examine these data and discuss the type of ‘damping model that can be used to represent them. Solution 2.23 ‘The data are plotted below. It is seen that the damping model will require a nonlinear representation of a viscous damper consisting of three linear pieces. ‘The three linear ranges run from v= 0 to 7.6 mm/s; v= 7.6 to 15.2 mmv/s; and v= 15.2 to 40.6 mm/s. ee a ee) Velocity (mms) Figure £2.23 MATLAB program used to generate ewe for Exeeie 223 fuc4.44822; 96 Nib_f mm-25.4; % main fd-fact[0 1326 40 60 80 100 110 120 130 140 150 160 170 180 190 200}; vd-mm"(00.1 0.20.3 0405 0607080910 1.11213 1415 1.6; plot(vd,fd, ‘ks ‘set(gea, ‘fontsize’,14) abel( Velocity (mv, ontsize'14) | ylubel(Force CN)", "Yontsiz' 14) 26 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 2.24 Determine the viscosity of the fluid that one needs to use to realize a parallel-plate damper when the top plate has an area of 0.02 m’, the gap between the parallel plates / = 0.2 mm, and the required damping coefficient is 20 N-s/m. Solution 2.24 From Eq. (2.50), we find that ch _ 20. Ns'm)(2x10* m) 4 0.02 m? 2 Ns/in® 2.25 Determine the equivalent damping coefficient for the following nonlinear damper FR) =¢,¢+0,%" where c; = 5 N-s/m and c; = 0.6 N-s'/m’. Note: the damper is to be operated around a speed of 5 mvs. Solution 2.25 Using Eq. (2.47), we find that ae =, +3eyi2 =543x0.6x5?=50 Nem 2.26 Represent the vibratory system given in Figure E2.26 as an equivalent vibratory system with mass m, equivalent stiffness k., and equivalent damping coefficient c. Solution 2.26 Since the springs and dampers are in parallel, the equivalent damping coefficient is = c1 +2 and the equivalent spring stiffiness is ke ~ ki + ho. 2.27 Represent the vibratory system given in Figure E2.27 as an equivalent vibratory system with mass m, equivalent stiffness k., and equivalent damping coefficient c. Solution 2.27 ‘The dampers are in parallel; therefore, the equivalent damping coefficient is ce = ci + 2 +¢3. The springs kp and 4; are in series and the equivalent stiffness of this series combination is, 7 1 1 iy=| D4 (e+) ‘The springs k; and fo3 are in parallel; therefore, the equivalent spring stiffiness is ke = ki + has. 2.28 The vibrations of a system with stiffness & and damping coefficient ¢ is of the form x(0) = X,sinex. This type of response, which is called a harmonic response, is possible 27 (©2009 Cengage Leaming. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 when a vibratory system is excited by a harmonic force. Evaluate the work done by the spring force and the work done by the damper force, which are given by the integrals s0x{0) alo E,= | kede= | bot de 20 a safe fore 1) a Solution 2.28 The work done by the spring force is E,= | keidt= [ k(X, sin(on)(X,ocos(wt))ar a 3 ale =koX? f sin(wt)cos(or)dt = KX? fsingcosede = ax:|Lsin'o] 0 ‘The work done by the damper force is E,= f cvtar= "T (X.ecos(on))'dt cx? “f c0s"(ony 2 Ecos’ aol. ie =coX: = coX2| 2 41 sin(2 cox? Jeos (pxd9 = coX? [g +f sin ~| =conX? 2.29 For the system of Exercise 2.28, assume that k = 1000 N/m, c = 2500 N/(m/s), Xo = 0.1 m, and @= 9 rad/s. Plot the graph of the sum of the spring force and damper force versus the displacement; that is, kx-+o% versus x. Solution 2.29 ‘The sum of the spring and damper force is ec + c¥ = 1000 0.1sin(91) +2500%9 x 0.1e0s(91) =100sin(91) +2250cos(91) The result is plotted below as a function of x = 0.1sin(91). It can be seen that the graph has the shape of an ellipse. 28 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions te Exercises ~ Chapter 2 ‘linspace(0.2*pi9, 100); y=100*sin(9*t)+2250*e0s(9*1); x-0.1%sin(9*); plox(syk-) set(gca fontsize'14) ylabel(kxrev; fontsize’14) xlabel(x'fontsize14) 2.30 For the system of Exercise 2.28, assume that k > 0, ¢ > 0, and «> 0. Show that the graph of kx+c% versus x will have the form of an ellipse. Solution 2.30 Let F(x,3)= kx tek Then, if'x = X,sinor, F(x,8) =k + c@X, cost which can be written as F(x,3) =k tcoX,Vi—sin? of and rearranged to obtain (F(,%)-kx' =e? (X2-x*) This leads to the equation 29 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 F(x,3)+( +00”)? -2keF(x,i)— C0, which is the equation of an ellipse in the F(x, #)-r plane. Section 2.4.2 2.31 Consider the viscous-damping model given by Eq. (2.46) and the dry-friction model given by Eq. (2.52). Sketch the force versus velocity graphs in each case for the following parameter values: ¢ = 100 Nimm/s), m= 100 kg, and = 0.1 Solution 2.31 Equation (2.46) gives and Eq, (2.52) yields FQ) = amg sen() = ).1 100 x 9.8sgn(#) = 98sgn(%) ‘These are plotted below. Fo) 200 Foo 100 on 1 ee 12 Fm) Fw) -98 #3. (246) F052) Figure £2.31 2.32 Normalize the linear viscous-damper force given by Eq. (2.46) using the damping coefficient c, the dry-friction force given by Eq. (2.52) using pg, the fluid-damping force given by Eq. (2.54) using the damping coefficient cg, and the hysteretic force given by Eq. (2.57) using Arp. Plot the time histories of the normalized damper forces versus time for harmonic displacement of the form x(/) = 0.4sin (2nt) m. Discuss the characteristics of these plots. Solution 2.32 From Eq. (2.46), we have the viscous foree $= 087 cos(2zt) From Eq. (2.52), we have the dry friction fore 30 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 Fe) sgn(%) =sgn (cos(2m)) ung From Eq. (2.54), we have the fluid force FC) 4 5) = (1.62) |ecos(21) |eos(221) oe From Eq, (2.57), we have the hysteretic force FE) _ son(i)|.x|=0.4sen (cos(221))|sin(220)] kf, These results are plotted below. ‘The normalized viscous damping force versus time plot shows that this force varies harmonically at the frequency @ = 2 rad/s. In all the other cases, the resp. normalized damping forces do not vary harmonically and they contain additional frequency components. In these cases, the damping forces are nonlinear. cous ory ton ‘ 7 oe ea B os) 2 3 go 2 a bos L 4 49 2 4 oO 2 4 ru ttre oa Fecxie) ‘MATLAB program used to generate figure for Exercise 2.32 ‘inspace(0,4,100); subplor@2,2,1) plot(,0.8*pitcos(2*pi*t), ylabel(F(dx/dtV/c',"fontsize’,14) itlecViscous''fontsiz’, 14) ‘set(gea,'fontsize',14) subplot(2,2,2) ot(,sizn(cos(2*pi" 31 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 2 ‘ylabel( F(dx/di) (mama) fontsize 14) ve@)=L.1*V(4); axis(v) title(Dry friction’ fontsize’,14) set(gca, fontsize’ 14) subplot(2,2,3) plot(,(1.6*piy’2*abs(cos(2*pi*t).*eos(2*pittk-) yylabel(F(dwatye_d);'fontsize’,14) label(t(5);'fontsize’ 14) title( Fluid’, Yontsize’ 14) set(gca, fontsize’,14) subplot(2,2,4) plot(,0.4*sign(cos(2*pi*)).*abs(sin(2*pi*),k-) ‘ylabeiCF(dw/at)(Kipilbeta_), fontsize’14) title(Hysteetic’fontsize'4) xlabel(t (5) fontsize 14) set(gea,fontsize’14) _ 2.33 Construct vibratory models for each of the three systems shown in the Figure E2.33. Discuss the number of degrees of freedom and the associated generalized coordinates in each case. Solution 2.33 ) One possible car model: If we ignore the mass of the tires and the elasticity of the car, then we have a ‘rigid’ platform that can ‘* rotate about the long axis of the car (left to right) ‘© rotate about the short axis of the car (front to back) © translate vertically Therefore, this model of the car has 3 degrees of freedom with the three generalized coordinates corresponding to the two rotations and the vertical translation, b) One possible motorcycle model: If we ignore the mass of the tires and the elasticity of the motorcycle, then we have a “rigid” frame that can * rotate about the short axis of the motorcycle (front to back) © translate vertically ‘Therefore, this model of the motorcycle has 2 degrees of freedom with the generalized coordinates being the rotation coordinate and the translation coordinate. ©) One possible model of the cable car: ‘translate vertically * rotate (swing) in the vertical plane ‘Therefore, this model of the car has 2 degrees of freedom with the generalized coordinates being a rotation coordinate and a vertical translation coordinate. 2.34 A vibratory system has a mass m = 10 kg, k = 1500 N/m, and c= 2500 Ni(m/s). Given that the displacement response has the form x(t) = 0.2sin(9/) m, plot the graphs of é, the spring force kx, and the damper force ct versus time and discuss them. 32 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions te Exercises ~ Chapter 2 Solution 2.34 The three forces are, respectively, mi = —10 9 x0.2sin(91) =-162sin(91)_N ci =2500%9x0.2sin(91) = 4500c0s(91) N ex = 1500 0.2sin(92) = 300sin(9") N Each force component varies sinusoidally at the same frequency, but the damping force is 90° out of phase with the spring force and the inertial force is 180° out of phase with the spring force. The results are shown below. Force (N) 1 @) Figure £2.34 [LAB used fo generate figure for Exereise 2.34 ‘-linspace(0,2,100); sesin(9*); plot(300*5,k-t4500*c0s(9*1)k~ 3-162" xlabel(tfontsize’14) ylabel(Force (N)'fontsize’4) {abj-legend¢Stifiness' Damping’ Inertia’ set(b(1),fontsize’,14) set(gca,fontsize’ 14) 0 2},{0 0k 33 (©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 2 34 ye Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 Solutions to Exercises Chapter 3 Section 3.2.1 3.1 Rewrite the second-order system given by Eq. (3.8) as a system of two first-order differential equations by introducing the new variables x, =x and x, =. The resulting system of equations is said to be in state-space form, a useful form for numerically determining the solutions of vibrating systems. Solution 3.1 We note that and, therefore, a dt Upon substituting these equations into the governing equation ax de m—>te—+ke= f(t ae eg BLO we find that dx, m ex, +h, = SO dt Thus, the two first order equations are de, 3.2 A vibratory system with a hardening nonlinear spring is governed by the following equation mitck+k(xtax’)=0 Determine the static-equilibrium position of this system for a = 1 and linearize the system for “small” oscillations about the system static-equilibrium position, 35 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 Solution 3.2 To determine the static equilibrium positions, we set the velocity and acceleration terms to zero. Thus, the static equilibrium positions are determined by the roots of the polynomial K(x, +x3)=0 or +x,=0 Xn tty This cubic polynomial has one real-valued root, which is xy = 0. ‘The linearized system describing small oscillations about the equilibrium position x = has the form mi+ck+k(143x2)x=0 For the equilibrium position x= 0, the linearized system is mi +ck+ke=0 3.3 A vibratory system with a softening nonlinear spring is governed by the following equation mitt cit Kx-ax” Determine the static-equilibrium positions of this system for a = 1 and linearize the system for “small” oscillations about each of the system static-equilibrium positions. Solution 3.3 To determine the static equilibrium positions, we set the velocity and acceleration terms to zero. ‘Thus, the static equilibrium positions are determined by the roots of the polynomial or whose roots are ‘The linearized system describing small oscillations about an equilibrium x = x has the form mi + ct-+k(1—3x),)x=0 ion x= 0, the linearized system is mi+ci+ke=0 36 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 For the equilibrium position x4,= +1, the linearized system takes the form mit+ci—2ke =0 3.4 Determine the equation governing the system studied in Example 3.13 by carrying outa force balance, Solution 3.4 From the free-body diagram shown at the right, we carry out a force balance in the vertical direction to obtain m (6, + AL) Le mit+kx+k,(5, +AL)eosO=0 5, Noting that k VE+8-L and coso=—— a wwe find the equation of motion to be ik kyx +h, (5,/L+y ise] - x Vee /E For x/L| << 1, Ji+x°/E ~1 and this equation of motion becomes mi+(k,+6,k,/L)x=0 Since 1d, = 7, we can rewrite the equation of motion as mi+(k,+7/L)x=0 3.5 A mass m is attached to the free end of a thin cantilever beam of length L, as shown in Figure E3.5. The fixed end of this beam is attached to a shaft of radius r that is rotating about its axis at a speed of Q rad/s. Assume that the mass of the bear is negligible and its equivalent stiffness is ks, Derive the governing equation of motion for transverse vibrations of the beam in terms of the variable x and obtain an expression for the system’s natural frequency. Solution 3.5 ‘The centrifugal force in the radial direction is F=(L+ayme Let @be the angle formed by the cantilever beam when the mass m displaces an amount x in a transverse direction to the beam from the static equilibrium position. For small x displacement, P= Fsin0~ FO 37 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 where F; is the component of the force acting in the x-direction. In addition, since 0 is small, x = Ltan@ and therefore, 9 ~ x/L. Thus, the component of force in the x-direction due to the rotation is =(L+a)mE (2) =(I+a/L)mQ%x A summation of forces in the x-direction gives m+ k,x+(14+a/L)mQ?x=0 m+ (kyx-+(I+a/L)mQ?)x=0 where, from Table 2.3, the stiffness of the cantilever beam is where E is the Young’s modulus of the beam material and is the area moment of inertia about the bending axis, Section 3.2.2 3.6 Derive the governing equation of motion for the rocker-arm valve assembly shown in Figure E3.6. Assume “small” motions. The quantity JJ, is the mass moment of inertia about point 0 of the rocker arm of length (a + b), kis the stiffness of the linear spring that is fixed at one end, and M is the external moment imposed by the cam on the system. ‘This moment is produced by the contact force generated by the cam at the end of the rocker arm. Sol a. For ‘small’ rotation @ of the rocker arm, the displacement of the mass m is x= 60, If we ignore the effects of gravity, then the system kinetic energy, system potential energy, dissipation function, and generalized force are, respectively, where k is the unit vector normal to the plane of the system. By using the Lagrange equation fai (eta | eta Neb aa at\36) 00° 36° 36 ~~? 38 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 we arrive at “u. +mb*)6)-0+0-+kb°0 =M (J, +b?) 6 + kb°0 = M 3.7 Derive the governing equation of motion for the system shown in Figure E3.7. The ‘mass moment of inertia of the bar about the point O is Jo, and the torsion stiffiness of the spring attached to the pivot point is k,. Assume that there is gravity loading. Solution 3.7 The kinetic energy, potential energy, respectively, pation function, and generalized force are, SF 2 1 2 where the datum is chosen to be at the bottom of the bar. The Lagrange equation d(ar) av £(5|45—=0 a6)” 00 v ke +g Zc0s0 is used to obtain 454 Le G9) kO—mg sind =0 or 1.0 +k0-mgsind=0 For “small” oscillations about the equilibrium position 0 Joh ~me}0=0 3.8 Determine the equation governing the system studied in Example 3.15 by carrying out a force balan Solution 3.8 39 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 From the free-body diagram shown at the right, we carry out a moment balance about the point O to obtain Lng b IG+ KP + Cykyl, COS ing+ +l, 2 Limg Ly L+h, 2 Considering ‘small’ angular oscillations about the vertical position, we note that ing +[mi+ k(x, -x,)]L,cosp=0 cosp=l, sing=g, x,~Lp, and x,~Lp Then the equation of motion can be written as [Z+mei ore tion] hr kts + ®8(L,-2) Johar Section 3.3.1 3.9 A cylindrical buoy with a radius of 1.5 m and a mass of 1000 kg floats in salt water (p = 1026 kg/m’). Determine the natural frequency of this system. Solution 3.9 From Eq, (2.27), we see that the equivalent stiffness due to the buoyancy force is k, = pgd=1026x98x1x1.5' =71,073 Nim Then, the natural frequency is 2, -[&- 71073 _ 3.43 rad/s mY 1000 3.10 A 10 kg instrument is to be mounted at the end of a cantilever arm of annular cross section. The arm has a Young’s modulus of elasticity E = 72 x 10° N/m? and a mass density = 2800 kg/m*. If this arm is 500 mm long, determine the cross-section dimensions of the arm so that the first natural frequency of the system is above 50 Hz. Solution 3.10 From Table 2.3, the stiffiness of cantilever subjected to a transverse force at its free end isSolutions to Exercises — Chapter 3 Noting that the natural frequency is 1(3E a) 4 foal alm Dae) we obtain from this equation 3nE For fy = 50 Hz and the given parameter values, we find that the cross-section dimensions should be such that 4x10x0.5' x(2a x50)" Bax 72x10” In order for f, to be greater than 50 Hz, the cross-section dimensions should be such that ‘ ‘ % 7.272%107 m’ "i riar'>7272x107 m* 3.11 The static displacement of a system with a motor weight of 385.6 kg is found to be 0.0254 mm. Determine the natural frequency of vertical vibrations of this system. Solution 3.11 o,= 2 = | 98-2115 dis "V5, V254x107 a, From Eq. (3.15) Sy=SE= 98.86 Hz 2a 3.12 A rotor is attached to one end of a shaft that is fixed at the other end. Let the rotary inertia of the rotor be Jc, and assume that the rotary inertia of the shaft is negligible compared to that of the rotor. ‘The shaft has a diameter d, a length L, and it is made from material with a shear modulus G. Determine an expression for the netural frequency of torsional oscillations. Solution 3.12 From Table 2.3 Gd 32L Therefore, 41 ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 o,= [= [2 -£ | aais Jo V32JgL 4 V2 an expression for the natural frequency for the system shown in Figure E3.5. 3.13 Obtail Solution 3.13 From the equation of motion determined in the solution for Exercise 3.5, the natural frequency is foe | m 1 o where ky @, = + m 3.14 Consider the hand motion discussed in Example 3.3 and let the hand move in the horizontal plane; that is, the gravity force acts normal to this plane. Assume that the length of the forearm / is 25 cm, the mass of the fore arm m is 1.5 kg, the object being carried in the hand has a mass M = 5 kg, the constant ky associated with the restoring force of the biceps is 2 x 10° N/rad, the constant K, associated with the triceps is 2 x 10° N/rad, and the spacing a= 4 cm. Determine the equation of motion of this system, and from this governing equation, find the natural frequency and damping factor of the system, Solution 3.14 Since the gravity loading acts normal to the plane, Eq. (¢) of Example 3.3 reduces to (™ + Bros K,a’6+ kad =0 ‘Then the natural frequency can be determined as o- fe ha _ [2x10 008 is o6 sadly "Vim, \(M +mj3)P — \(5+1.5/3)025 and the damping factor can be determined as Ka _ 2x10" x0.04 2@,(M +m/3)P — 2x15.26x(5+1.5/3)x0.25° 305 3.15 A spring clongates 2.5 mm when stretched by a force of 5 N. Determine the static deflection and the period of vibration if a mass of 8 kg is attached to the spring. 42 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 Solution 3.15 The spring constant can be determined as -F-_5_. 5 0.0025 From Eq. (3.6), the static displacement for an 8 kg load is N/m _ mg _ 8x98 we 2000 =n, ft 22 k 2000 3.16 Determine the natural frequency of the steel disk with torsion spring shown in Figure £3.16 when k= 0.488 N-m/rad, d= 50 mm, puss = 7850 kg/m’, and = 2 mm. Solution 3.16 ‘The mass of the disk is m= Fd’ hPan = 4£(7580)(0.05)" (0.002) = 0.02977 kg =39.2 mm 397 s and it mass moment inertia is 1 Jo = gma? = 5(0 02977)(0.05)’ =9.3x10~ kg-m? Then, the natural frequency is 1 fk 1 [0.488 I ae Jo iE + 3.17 Consider a nonlinear spring that is governed by the force-displacement relationship vol) where a = 3000 N, b = 0.015 m, and c= 2.80. If this spring is to be used as a mounting for different machinery systems, obtain a graph similar to that shown in Figure 3.5b and discuss how the natural frequency of this system changes with the weight of the machinery. Solution 3.17 A plot of the equation with the values indicated is given below. The horizontal dashed lines represent a deviation of + 8.7 % about the solid horizontal line. We see that the range of natural frequencies is lower than that shown in Figure 3.5b and the range of Wis slightly wider. 4B ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 eee arene een eee eee eee 820 1a00 1800 2000 2509, 3000 3600 40004500 ‘son wo Figure £3.17 ‘MATLAB program that generated figure for Exercise 3.17 firinline'sqr(9.8%e/b)*(W/a).%-1/(24e) (2*pi) W201; 33000; b=0.015; e-2.8; ‘Welinspace(500,5000); plot(W, fngWa,b.0)k-) Avg tn(1500,3,b,0)*4n(4000,a,b,0))2; sdel=(En(1500,3,6,0)-£1(4000,3,b,0))2; vatdel; ‘Avg-del; disp(deV/Avg*100) hold on plot([500 5000},[thfh~,[500 S000}, 1] k~:{500 5000},(Avg vel) set(gca,'fontsize’14) ylabel('n (H)"fontsize’14) label¢W (N),'fontsize’ 14) vax ¥(1)=500; axis(v) 3.18 The static deflection in the tibia bone of a 120 kg person standing upright is found to be 25 jum. Determine the associated natural frequency of axial vibrations. Solution ‘The relation for the natural frequency is given by Eq. (3.15). Thus, 44 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 [x — | 98 _ 696.1 raais 3, V25x10% 3.19 A solid wooden cylinder of radius r, height h, and specific gravity sis placed in a container of tap water such that the axis of the cylinder is perpendicular to the surface of the water. Assume that the density of the water is py... It is assumed the wooden cylinder stays upright under small oscillations. a) If the cylinder is displaced a small amount, then determine an expression for its natural frequency. b) If the tap water is replaced by salt water with specific gravity of 1.2, then determine whether the natural frequency of the wooden cylinder increases or decreases and by what percentage. Solution 3.19 From Eq, (2.27), we see that the equivalent stiffness due to the buoyaney force is k= BP yom? ‘The mass of the eylinder is Mm, =S,PyptPh = fen [Benet _ [a Nm. Y8PnpAh Vs Ji 12gpyo7? 7 Ong = he = ft 28P no - [28 «0950, m, \SPnotPh \ s,h ‘Therefore, the natural frequency in salt water inereases by 9.5 %. a) For tap water, b) For salt water, ‘Then 3.20 Consider the pulley system shown in Figure E3.20, The mass of each pulley is small compared with the mass m and, therefore, can be ignored. Furthermore, the cord holding the mass is inextensible and has negligible mass, Obtain an expression for the natural frequency of the system. Solution 3. The two massless pulleys and the inextensible cord assumptions permit us to determine an equivalent spring constant k. If the force in the cord is F, then the 45 (©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 displacements in the left and right springs with spring constan's k, and kp are, respectively, 2F 2F Ee ae If the total displacement of the cord is x, then, because we have a pulley system, x=2x, +2, Therefore, upon substitution, Then, the natural frequency is 3.21 A rectangular block of mass m rests on a stationary half-cylinder, as shown in Figure 3.21. Find the natural frequency of the block when it undergoes small oscillations about the point of contact with the cylinder. Solution 3.21 From the figure, we see that the ce length ¢ + b = 0, ¢ = (h/2)tan8, and a=beos@. Then, a=(r0—(h/2)tan8)cos0 =rOcos6 —(h/2)sind For “small” @ about @ = 0, this equation reduces to ax(r-h/2)0 dee Let O be the pivot point as shown in the figure. Then, carrying out 2 moment balance about the pivot point, we obtain JoG+mga=0 or Job+me(r—h/2)0=0 where for “small” angular oscillations about @=0, we have 46 ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 mi? 2 (hy EB (RY me | (ro) +{4) ]~m| £4(# 12 onl ) (3) of E(2)] ‘Then the natural frequency is mg(r-h/2) g(r=h/2) 2/12+(W/2)') (EA2+(H/ )’) Section 3.3.2 3.22 Formulate a design guideline for Example 3.8 that would enable a vibratory system designer to decrease the static deflection by a factor n while holding the damping ratio and damping coefficient constant. Solution 3.22 ‘The approach is based on what is illustrated in Example 3.7. From Eq. (3.6), it is known that There is only one choice that would allow us to keep the damping ratio and the damping coefficient unchanged since 2k that is, the product mk must remain constant. Thus, m and k are changed by the same factor; that is, m m>* and kak vn For this selection, the static deflection is decreased by a factor of n. 3.23 Formulate a design guideline for Example 3.8 that would enable a vibratory system designer to decrease the static deflection by a factor » while keeping the damping ratio and mass m constant, Solution 3.23 Since and m is a constant, then k must be increased by k-onk 47 (©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 to decrease the static deflection by a factor of n. Since the damping ratio must be held constant, then pee (Ogee cet ee cee (ne Img” 2m\nkg 2m Vink jent must be increased by a factor of Vn ; that is, coevn Therefore, the damping coe! 3.24 An instrument’s needle indicator has a rotary inertia of 1.4 x 10° kg-m?. It is attached to a torsion spring whose stiffness is 1.1 x 10° N-m/rad and a viscous damper of coefficient c. What is the value of c needed so that the needle is critically damped? Solution 3.24 From Eq. (3.21), For critical damping, ¢~= 1; therefore, 6, =2ykJ = 201-4 x10" x1.1x10 =7.85 Nm/(rad/s) 3.25 Determine the natural frequency and damping factor for the system shown in Figure £2.26. 1S Solution, The kinetic energy, the potential energy, and the di respectively, pation function are, We use Eq. (3.44) with q; =x and Q; = 0 to obtain Gi) +(6,+6,)+(h+h)x=0 mi +(c,+e,)¥+(k, +k) x=0 We see that the equivalent mass m, =m, the equivalent damping coefficient c. = c1 + c2, and the equivalent stiffness k= ki + ko. Therefore, 48 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 3 3.26 Determine the natural frequency and damping factor for the system shown in Figure E2.27. Solution 3.26 First we determine the equivalent spring constant for the two springs in series ky and ks. Thus, from Eq. (2.16), ky=[2+4 kok Then, the kinetic energy, the potential energy, and the dissipation function are, respectively, 2 Lod 5 Vax + phat = (hs) 2 Datei terrae ae +re+e)# 2 2 2 We use Eq. (3.44) with qi =x and Q: = 0 to obtain a at imi) +(o,+e, +6)+ (ky + hy)x=0 mit+ (6,40, +6,)¥+(k +h,)x=0 We see that the equivalent mass m, = m, equivalent damping coefficient c. = ¢1 + ¢2 +c, and equivalent stiffness ke = ki + hos. ‘Therefore, [k_ [tks m. m +q+e 2mo, Section 3.6 3.27 For the base-excitation prototype shown in Figure 3.6, assume that the base displacement y(f) is known, choose x(f) as the generalized coordinate, and derive the equation of motion by using Lagrange’s equation. 49 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 ‘The kinetic energy, the potential energy, and the dissipation function respectively, mi’ k(x-y) 1 2 D==c(#-3 3ce-5) We use Eq. (3.44) with g1 =x and Q; = 0 to obtain d A (mi) els) +k(0-y) =0 mi + ck + he = cp thy 3.28 Obtain the equation of motion for the system with rotating unbalance shown in Figure 3.7 by using Lagrange’s equations. Solution 3.28 The position vector from point O to mass ma is h-ccosat)i+(x+esinon)j where /r is the horizontal offset of point O’ from point O and x is measured in the transverse direction from the static-equilibrium position. Therefore, the velocity vector is (cosinon)i-+(%+ ewcost) j Then the total kinetic energy is T Mi? +(e) Mi? +m (cosinor) +(%+20 cosor} | 1 2 a 2 ee ee = Me tom, [e%o? sin? or +3? +2*0* cos? ot + 2iwcos.ar | 4 (+m,)2 +m, [6%0? +2e%0c0s 01] 2 2° Note that the potential energy associated with the gravity loading is not considered here, because motions about the static equilibrium position are considered. ‘The total potential energy and the dissipation function are, respectively, 50 ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 3 Application of the Lagrange equation (ar) ar aD, ov dt a me & results in S ((We+m,) + 0m, c0s01)—0+ cir kx =0 (M +m,)¥—em,0” sinet + ct + ke =0 (M +m, )¥+ ct + ke =em,0* sinot 3.29 Obtain the equation of motion for the system shown in Figure 3.10 by using moment balance and compare it to the results obtained by using Lagrange’s equation. Solution 3.29 Referring to the figure, for ‘small’ angular oscillations, we see that taking the sum of the moments about the pivot point O gives (cL) 1, + (KO) L, +5 o,8+ 2, 2 Jo,O-—mgL, sin 0 -m,g—sind (Jo, +o.) O + eL{0+ (1 =mgl, -mgo-0 where Jo: and Jon are given by Eq, (b) of Example 3.11. We see that this result agrees with that obtained in Example 3.11. 3.30 Derive the governing equation for the single-degree-of-freedom system shown in Figure £3.30 in terms of @ when @ is small, and obtain an expression for its natural frequency. ‘The top mass of the pendulum is a sphere, and the mass m, of the horizontal rod and the mass my of the rod that is supporting m, are each uniformly distributed. The cylinder rolls without slipping. ‘The rotational inertia J, of the cylinder is about the point O and Jip is the total rotational inertia of the rod about the point s. Assume that these rotational inertias are known. Solution 3.30 51 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 3 Assuming that the cantilever beam material has a Young’s modulus of elasticity E and the inertia about the bending axis is J, the two springs at the left-end of the system have an equivalent spring constant ot Ok 3EL } where, The geometric constraint relations are x.=70, x, =Lp x=hp, 4=Lp Therefore, ahem tmp ads (2) ata (2) @ 2 2 2 2°UL 27, See 2 2 Lh If we write the kinetic energy as T=h me 3m we see that If we take the datum plane for the lower half of the pendulum to be a distance L2 away from point s and the datum plane for the upper half of the pendulum and the center of the sphere to be a distance Zs away from point s, then the total potential energy is 52 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 3 eel eee ee L eee — Bg phasl tghal th times (tease) 1-cosg)~m,gl,(1~cos) For “small” g, we have cos <1 and the potential energy becomes [at thal thal tmes aren alee] spomlghalee If we write the potential energy as elton] we find that corral tf lif te) o-son-na() ‘The dissipation function is which can be written as where (z) Then, based on the last of Eqs. (3.47), we obtain the governing equation 33 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 mO+c,0+k,0=M() from which the natural frequency can be determined as 3.31 For the fluid-float system shown in Figure E3.31, J, is the mass moment of inertia about point O and ms is the mass of the bar. Answer the following: a) For “small” angular oscillations, derive the governing equation of motion for the fluid float system 'b) What is the value of the damping coefficient ¢ for which the system is critically damped? Solution 3.31; (a) We represent the rotation of the bar rT i by the generalized coordinate @,the vertical ©» © M_, displacement of the mass by the coordinate = Rigid, x, and the vertical displacement of the ies ae % a damper by the coordinate x, For small 2 | limes rotations, we have that ° LV i ‘Then the system kinetic energy, system potential energy, dissipation function, and generalized force are, foe 7(6) 1) =F IP +3 omit (J, + mL FP v(a)=0 DO)= Fei) =4. Q, =mgi 2(bat) amgi-2-( £074 j)+mgi- Meal 2 Ft ~(Jmae+me)- p22 exo where we have used Eqs. (3.45a). Making use of Eq. (3.44), recognizing that qi = @ and carrying out the different operations, we obtain (©2009 Cengage Learning. ALL RIGHTSSolutions to Exercises ~ Chapter 3 ad 2) 2 1 xa” on Gl (Jo +m? )8) -0+ ea 0--0-(}mg-+me).- p20 (i, +mt?) + ca°6-+ 4a? pel?0 =(m-+m,/2) The term on the right-hand side is a constant term, which would not appear in the governing equation if oscillations about the static-equilibrium position were considered. (b) Comparing the above equation with the standard form given by Eqs. (3.47), we identify the equivalent inertia, the equivalent stiffness, and the equivalent damping as m,=J,+mE ad? pg? ‘Then, making use of Eq. (3.19), the damping coefficient ¢ that will make the system critically damped corresponds to which leads to 2y(u, +ml?)(pxa°gh /4) ‘Therefore, the damping coefficient c that will make the system critically damped is 4 [ucrme\(or8) 3.32 Determine the nonlinear governing equation of motion for the kinematically constrained system shown in Figure 3.32. Consider only vertical motions of my. Solution 3.32 Consider the motion of the linkages and the nomenclature given in the figure. From trigonometry, the displacements of the masses are 55 ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 x, =(a+b)[sind-sin(@—y)] x, =b[sind-sin(0-y)] x, = b[cos(@ -y) -cos0] ‘Then the velocities are 4, = (a+ byycos(O—y) byrcos(O-y) by sin -y) ‘The total kinetic energy is 1 Ailes eee ima + mks + ms 2 , 7 tm(a +b)*ycos*(0-y) + FMB? 0s'(0-y/) +hmpy sin’(0-y) = F[tmcas by +m,b"}cos*(0 —w) + mp sin? (O-y) |W? ‘an be written as Myr where My) ={m(a+by' +m,b"}cos*(0—y) + mB sin’ (0 -y) Assuming that gravity loading is acting normal to the plane, the total potential energy is v fh +hbx = S[h {sind —sin(@-y)}? +, fc0s(0-y)—cos0} | which can be written as v=kw) where Bre npc 2 2 Kw)= Sle {sind —sin(o~y)}’ + & feos(0 -y) —c0s0}"] Given that the system is not damped and there are no extemal forces acting on the system, the Lagrange equation is d(or) ar av al oy 56 ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 which evaluates to a 2-2 (Lager?) ?_xtyy— $(uen)-Z(fuow + 2 xw-o My + My? -harww +Kiy)=0 MW + SM WW? +KWY)=0 where the prime denoted the derivative with respect to y. 3.33 Determine the natural frequency of the angle bracket shown in Figure E3.33. Each leg of the bracket has a uniformly distributed mass m and a length L. Solution 3.33, We can derive the expression for the system natural frequency either one of the following two ways: i) by using the energy expressions and ii) by using the equation of motion derived from the moment balance method. Let @ be the angular displacement of the bracket, with @= 0 corresponding to the initial position. Fach leg of the bracket is at an angle y from the vertical. i) Energy expressions and natural frequency: i on ro t ‘The configuration of the system in the displaced in position is as shown in the figure on the right. Based iwn/ } on the illustration , the potential energy is : Ve ma-£(cos —cos(y +8) = mg % (cost -0)-cosy) =mg £[reosy—cosly +8)—cos(y-8)] om £[aeosy ~200s((y+0-+7-0)/2)e0s((y+0-7+0)/2)] =mgL[cosy —cosy cos] =mgLcosy[1-cos0] For ‘small’ oscillations about @= 0, we have Ve H(mgheos7)o* from which we identify the equivalent stiffness as k= mgLcos@. The kinetic energy is 37 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 1 1 T= LIP + IP =>(2,)0° qih + IF => (24.) where J, = ml7/3 is the mass moment of inertia of each bar about point O. From this expression, we identify the equivalent inertia as m, =2J,. Then the natural frequency is [K _ [mgLeosy ™ ii) Moment balance method and natural frequency: ° 6 Referring to the figure at the right, we have that ro | a . in zsin(y +8) vf i iS Le sin -8) | a le melt Then the sum of the moments about point O gives 2,6 + mgl,—mgl, =0 2J,6 + mg (Ly-L,)=0 26+ mma Sfsiny +0)-sin(y -0)]=0 24,0 + mgLsin ((y +@-y +0)/2)cos((y +0 +y-8)/2)=0 24,6 +mgL.cosy sind = 0 For “small” oscillations about = 0, the above equation reduces to 2,6 + mgL.cos yO =0 mglcosy 2. 3.34 Determine the natural frequency for the vertical oscillations of the system shown in Figure E3.34. Let L be the static equilibrium length of the spring and let |x/L| << 1. The angle vis arbitrary. Solution 3.34 The length of the extended string Z, is related to the amount of downward extension x and the angle yby ‘Therefore, the natural frequency is 2 =D +x? -2xLeos(7-y) =P +x +2xLcos(y) 58 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions te Exercises — Chapter 3 ‘Then, the amount 5 that each spring stretches is given by 5=1,-L= JP +¥ +2xLeos(y)-L = { 1+ (ey + 2eostr) 7 ] For the assumption that |x/L| << 1, we have am t{ie12eosy)-1] =s0087 Since dis the extension of each spring, then the potential energy of the system is 1 v —1ks? Lie? = 2 ty > 3 (2keos" y)s* (2k) 6" ewe cos? y from which we identify the equivalent stiffness as k, =2keos* y The total kinetic energy is, ‘Therefore, the natural frequency is 2, a fe rkeos'y ayy m m 3.35 A planar pendulum of mass m and constant length / is shown in Figure E3.35. This pendulum is described by the following nonlinear equation ml°6 +mglsind =0 where @ is the angle measured from the vertical. Determine the static-equilibrium positions of this system and linearize the system for “small” oscillations about each of the system static-equilibrium positions. Solution 3.35 We rewrite the equation as and let @be of the form 0=0,+8, 59 (©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 where the subscript d indicates the dynamic portion of the solution and the subscript 0 indicates the static (time-independent) portion of the solution. Substituting this assumed solution into the governing equation gives 6, +F sin(0, +8, ‘Thus, the static equilibrium position is given by S sing, =0 1 whose roots are 8, = 0, and @, = 7. Afier using the expansion [see Eq. (f) of Example 3.12)] sin(d, +0.) =sin0, +0, cos0, +... in the nonlinear equation, we obtain the following linear equation for ‘small’ oscillations about an equilibrium position 0= @, 6, +£0,c0s0, + Hsing, =0 For ‘small’ oscillations about 6, = 0, the linearized system is 6, +4, 0 and for ‘small’ oscillations about @, = 7, the linearized system is 6, > =0 3.36 For the translating and rotating disc system of Figure 3.9, choose the coordinate x measured from the unstretched length of the spring to describe the motion of the system. What are the equivalent inertia, equivalent stiffness, and equivalent damping properties for this system? Solution 3.36 In terms of the coordinate x for the system shown in Figure 3.9, the potential energy, energy, and the dissipation function are given by, respectively, 60 ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 3 Upon comparing the above expressions to the standard forms given by Eqs. (3.46b), we determine the equivalent system properties to be Jo m,=m+—% 3.37 For the inverted pendulum system of Figure 3.10, choose the coordinate x; measured from the unstretched length of the spring to describe the motion of the system, What are the equivalent inertia, equivalent stiffness, and equivalent damping properties for this system? Solution 3.37 In terms of the coordinate x, the kinetic energy, the potential energy, and the dissipation function are given by, respectively, Upon comparing the above expressions to the standard forms given by Eqs. (3.46b), we determine the equivalent system properties to be 2my" Lm,D, SE em +2 3 L 38 kak _ msl . Lh 2 ce 3.38 Consider a pendulum with an oscillating support as shown in Figure E3.38. The support is oscillating harmonically at a frequency a that is, u(t) =Ueosat At the point about which the pendulum rotates, there is a viscous damping moment cl” ) Determine expressions for the kinetic energy and the potential energy of the system. 'b) Show that the governing equation of motion can be written as 61 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 3 dod 51S dr 7 -U,Q? cosQz]sind =0 ae where and u,-2 7 ) Approximate the governing equation in (b) for ‘small’ angular oscillations about 8, = 0 using a two-term Taylor expansion for sind, and show that the nonlineac stiffness is of the softening type. Solution 3.38 The position vector and the velocity of the mass with respect to the fixed point O are given by 1, =[u-LeosO]i+ Isindj (Wésind +i)i+16cos0j ‘The kinetic energy of the mass is Tr F(a) = i ml (idsind +i) +((dc0s0) | pole sin? 0+ 16iisind +1 +°O* cos* 6 | : m[ PO +17 + 216tisind | 2 The potential energy of the mass is y mg[-lcos0+u] ‘The Lagrange equation (3.44) takes the form 4(a) mr Vo a\ a6) 00° 08 which evaluates to PO 4 (m1°6 + mliisin®) ~ mibitcos 0 + mgl sind = m6 + mliisinO + ml6icos6 — mlbivcosO + mgl sin 8 + cl’6 =0 mil°6 + cl’6 + mliisinO + mgl sind =0 mP°6 +cl°6+ ml(ii+ g)sind =0 For the given applied harmonic displacement u, we see that 62 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 3 ii=-Uo cosat Thus, the governing equation becomes ml°6 + cl°6-+ ml(g—Ua* cost) sind =0 Introducing @, and the non-dimensional quantities given in the problem statement, wwe obtain 2 2 d'O dO mle; Tate Po, woe Uo" cosot)sind =0 £o, 2 2 (1-U,0% cosQr)sind =0 If we expand sindabout 0= 0 as 7 sing 9-2 6 the governing equation reduces to ae Since the @ term is preceded by a negative sign, the nonlinearity is of the softening type. £0 +2 Bs s(-ustconn(o-Z)-0 3.39 Use Lagrange’s equation to derive the equation describing the vibratory system shown in Figure E3.39, which consists of two gears, each of radius r and rotary inertia J. ‘They drive an elastically constrained rack of mass m. ‘The elasticity of the constraint is k. From the equation of motion, determine an expression for the natural fiequency. Solution 3.39 ‘The kinetic energy and the potential energy are, respectively, 2d? ~([4+ far Jo 2 2 ‘Then, from Eq. (3.44), with q: = 0, D = 0, and Q; = 0, we obtain aie +mr)6|+ k*9=0 (20 +mr?) 6+ k9=0 Therefore, the natural frequency is given by 63 ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 3.40 Obtain the governing equation of motion in terms of the generalized coordinate 0 for torsional oscillations of the wind turbine shown in Figure £3.40, Assume that the turbine blades spin at « rad/s and that the total mass unbalance is represented by mass m, located ata distance e from the axis of rotation. ‘The support for the turbine is a solid circular rod of diameter d, length Z, and it is made from a material with a shear modulus G. The turbine body and blades have a rotary inertia J;, Assume that the damping coefficient for torsional oscillations is ¢, Solution 3.40 The kinetic energy, the potential energy, and the dissipation function are, respectively, where, from Table 2.3, Gad* 32L ‘The mass unbalance is accounted for through the generalized force. Then, from Eq. G.44), with qi = @and from Eq. (3.45) with a 1, Lew coswt we obtain J6+60+k,0 =m,Lew cosat 3.41 The uniform concentric cylinder of radius R rolls without slipping on the inclined surface as shown in Figure E3.41. The cylinder has another cylinder of radius r < R concentrically attached to it. The smaller cylinder has a cable wrapped around it. The other end of the cable is fixed. The cable is parallel to the inclined surface. If the stiffness of the cable is k and the mass and rotary inertia of the two attached cylinders are ‘m and Jo, respectively, then determine an expression for the natural frequency of the system in Hz. The length of the unstretched spring is L. Solution 3.41 We let x be the displacement of the center of the cylinder in the direction parallel to the incline. ‘Then, the kinetic energy and the potential energy are, respectively, lot pp lye 2 zm +5 Job slime +Jo)6 64 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises - Chapter 3 Taking the static equilibrium position as the reference point, the potential energy of the cylinder can be determined from the vertical position of the disk as Vi =mg(y,-%) where Lsina y= (L+AL)sin or =(L-+ RO)sinor ‘Therefore, V, = mg(Lsina -(L+ R0)sin@) =—mgROsina ‘Then, the total potential energy is Saray +h ky*8 —mgROsina ‘The Lagrange equation is Carrying out the indicated operations, we find that (mk? + J,)6 +4770 = mgRsina Then, recognizing that m, =mR? + Jy k= kr? we obtain the natural frequeney as Lf iw 2x \mR?+Jo 3.42 For the pulley shown in Figure E3.42, determine an expression for natural frequeney when, for oscillations about the static equilibrium position. The springs are stretched by an amount x, at the static equilibrium. ‘The rotary inertia of the pulley about its center is Jo, the radius of the pulley is r, and the stiffness of each translation spring is k. Solution 3.42 When one sprin is extended, the other is compressed. Therefore, for displacements about the static equilibrium position, the potential energy is 1 v be het ke? = k(r0)° = kr’? =—(2kr? ) 0° Note that gravity loading is already accounted for, since we are considering oscillations about the static equilibrium position. The kinetic energy is 65 ©2009 Cengage Leaming. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 T=15,0° 2 We identify the equivalent inertia and the equivalent stiffness on the system as m,=Jo Kk, = 2kr? Hence, the natural frequency is 3.43 The pendulum shown in Figure £3.43 oscillates about the pivot at O. If the mass of the rigid bar of length Zs can be neglected, then determine an expression for the damped natural frequency of the system for “small” angular oscillations. olution 3.43 For “small” angular oscillations about the upright position, we determine that the kinetic energy, the potential energy, and the dissipation function are, respectively, 1 270 Sly sind)’ —mg(L,—1,)cos0 T=256° (40) matt ~1)(1- 50") = S(t +e ~h)) 0° ~ mel —h) (7) be £((4.-1)sin0)] o(,—h)' (00508) = he(,-L) where Jo=m(L,-L)° Making use of the Lagrange equation given by Eq. (3.44), we determine that the equation of motion as Job +e(Ly- LY 6+ (kL +mg(L,-h))O= ‘Then, the natural frequency is AL; +mg(L,~L,) _ [kl +mg(Ls-L) Jo (Lh) 66 ©2009 Cengage Learning. ALL RIGHTS RESERVED. ‘The damping factor isSolutions to Exercises ~ Chapter 3 where 3.44 Consider the pendulum shown in Figure £3.44. If the bar is rigid and weightless, then determine the natural frequency of the system and compare it to the natural frequency of the pendulum shown in Figure 2.18b. What conclusions ean you draw? lution 3.44 If gravity acts normal to the plane of the system and the oscillations are small, the inetic energy and the potential energy are, respectively, Tah mee 2 1 2 V ==k(b0) £i(00) Therefore, the governing equation of motion is, m6 + kb? =0 io ao fe mE LNm ‘The natural frequency of the system shown in Figure 2.17b is fi In the current system, the natural frequency is independent of the acceleration due to gravity. However, it is dependent on the mass of the system, the spring stiffness, and the location of the spring. and the natural frequency is 3.45 Consider the weightless rigid rod shown in Figure E3.45. At one end of the rod is a mass m, and from the other end of the rod another mass m is suspended from a taut string. The system is undamped and it is in equilibrium as shown in the figure. For “small” angles of rotation @ about the static equilibrium position @,, obtain an expression for the period. 67 (©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 Solution 3.45 At equilibrium, we assume that the rigid rod makes an angle 0, with respect to the vertical. ‘The system oscillates about this equilibrium angle with an angular displacement 4. Then, the potential energy of this system is V =mgL (cos(0,)~cos(0, +0))—mgRsin(9) The kinetic energy is 7 = 1 mb6 ++ mR°6? cos? 0 2 2 For this undamped system, the system equation of motion will be obtained from Lagrange’s equation, which is fai((@ta | Mota sos at\ 06 00 Evaluation of the different terms leads to 4 (3) = m126+mRbcos (0) -2mR*0? sin(0)cos(0) ar 262 oa 0) 59 7 kG sin(0)cos(0) g =mgLsin(0, +0) —mgRcos(0) Noting that the generalized force Qy= 0, the equation of motion is m[ (+R? cos' (0))5— R°6* sin(0)cos(8)+ gLsin(@, +8)— gkcos(4)]=0 For “small” motions about the equilibrium position, we have sin(0, +0) ~sin(0,)+@cos(8,)+ cos(0) sin(@)=0 Retaining only the linear terms in @, the governing equation reduces to (2 +R°)6 + ghcos(0,)0 = gk -gLsin(0,) Noting that at static equilibrium, mgR = mgLsin(6,) we arrive at the following equation of motion (2 +R?)6+ gl.cos(@,)a=0 From the stiffness and inertia terms in this equation, the natural frequency is 68 (©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 and the period is 3.46 For “small” oscillations @ about the nominal position specified by the angle £, determine an expression for the natural frequency of the system shown in Figure £3.46. ‘The springs are not stretched in this nominal position. Solution 3.46 For ‘small’ oscillations, the potential energy is cal k,(L0) + 3h (10) -m,gL(cos(A)—cos(f +9)) +m,g2L(cos(B)—cos(f +0) 2 (a +4,)0! gb (2m,—m)(cos()-cos(8+0)) 2 al +h,)O" + gh(2m, —m)( asin 50" cosp Where we have used cos( +0) ~c0s 8 Osin -7.0" cos f ‘The kinetic energy is L apt 52 @ + 5m, (218) (m,+4m,) 0° To obtain the governing equation of motion for this undamped system, we use Lagrange’s equation, which is a Fo 0. a\a6) 30° 09 ** Noting that the generalized force Qo ~ 0, and after evaluating the different terms, we obtain the governing equation of motion LLL (mm +4m,) 6+ (L(k, +2) + g(2m, ~m,)oos 8) ]=—g (2m, —m,)sin B Then, from the stiffness and inertia terms of this equation, the natural frequency of the system is 69 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 7 L(m,+4m;) 3.47 A circular cylinder of mass m and radius r rolls on the interior of a cylindrical surface of radius R, as shown in Figure E3.47. The system is in equilibrium at 0 = 0. Determine an expression for the natural frequeney of the system for “small” oscillations about this equilibrium position. Sok 3.47 If we let the rotation of the mass about its center be denoted g, then the kinetic energy of mass m is J(d-+0) + MCR where Since KO where *) tm(t—r) = (Rr) ‘The potential energy is given by V =mg(R-r)(1-cos0) which for “small” oscillation about @, = 0 can be approximated as Ve * (R-ne? For this undamped system, the Lagrange equation is (cee arenclae os a\ab) 00" 30 Setting Qo = 0, since there are no external forces other than gravity loading, and evaluating the different terms, we obtain JG+mg(R-r)O=0 From the governing equation, the natural frequency is 70 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 3 3.48 The undamped pendulum pivoted at point O shown in Figure £3.48 has a cylinder of ‘mass mz at its top that rotates without slipping on the interior of a cylinder. At the bottom end of the pendulum, a mass my is attached. ‘The rod connecting the two masses is rigid and weightless. The system is in equilibrium at = 0. Determine an expression for the period of oscillation of the system. Assume that maL2 <2L. Solution 3.48 If we denote the rotation of the mass m about its center by the angle g, then the kinetic energy of the system is given by Ly ily (nga dm pe T= sJob +74a(6+9) +ymlid’ where Since (J, +7,)6 =-ng for no slipping, the kinetic energy of the system can be written as where, Jn ota(t- 22) om Jaa fm (428) +32 (+28) +5mr For “small” angular oscillations about @ = 0 and choosing the pivot point as the datum, the potential energy for the system can be approximated as ¥ =m gh, cos0 +m, 0080 ~& (mm, ~Mmal;)9*— 8 (my —mla) ‘The Lagrange equation for this undamped system is 4(ar) ar av dt\00) 60 00 7 ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 3 Upon substituting the appropriate quantities in this equation and noting that Qo = 0, we obtain J+ g(mL,-m,L,)0=0 From the stiffness and the inertia terms, the natural frequency is 2 = Mls) Qn Since mala 0 when 324y1- 2 rr ce Using £zero from MATLAB, we find that ¢= 0.6953. 4.14 Consider the mercury-filled (p = 13.6 x 10° kg/m*) U-tube manometer shown in Figure 2.16. The total length of the mercury in the manometer is 0.7 m. When the mercury is displaced from its equilibrium position, damped oscillations are observed. The oscillations are such that the peak amplitude nine periods away from the peak amplitude of the first cycle has decreased by a factor of eight. What are the values of the viscous damping factor and the damped frequency of oscillation? Solution 4.14 From the problem statement x» = xy/8, Then from Eq. (4.38), o-tu(%) u u( 8) Li =0231 Ply 9 % and from Eq. (4.40) 95 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 4 i = 0.0367 1+ (22/0.231)° To obtain the natural frequency, we note that the mass m =p4gL. and from Eq. (2.27) =2pg4,, Then the natural frequency is o, = P2! PAL and the damped frequency is that rad/s 2921 — 0.0367? = 5.288 rad/s 0, = 4.15 A truck tire is characterized with a stiffiness of 1.25%10° N/m, a mass of 35 kg, and a damping coefficient of 4200 Ns/m, Determine the natural frequency and damping factor for this system, and obtain the free response of the system initiated from an initial displacement of X, m and zero initial velocity. Solution 4.15 The parameters for the system are 0, = fex10 189° rads 35 © 4200 2me, — 2x35x189 89V1-0.317? =179.3. rad/s $0, =189x0.317 = 59.9 =F vi-0317? tan OSI 0.317 g=tan" =1.25 rad By using Eq. (4.33), we have that eo sin(at+ 9) x()= 9% sin(179.3t + 1.25) © Vi-031 =1.055.X,e" sin(179.3¢ 41.25) m Section 4.2.4 4.16 A microelectromechanical system has a mass of 0.30 ig and a stiffness of 0.15 N/m. Assume that the damping coefficient for the system is negligible and that the gravity 96 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 4 loading is normal to the direction of motion. Determine the displacement response for this system, if the system is provided an initial displacement of 2 m and an initial velocity of $ mm/s. Solution 4.16 The natural frequency is and the velocity ratio is 5x10? 22360.67 x2 «10° After using Eq. (4.42), we find that 0.112 x10°V1+0.112? =2.01 pm 459 rad. and from Eq. (4.41) x(0) = 2.0 1sin(22360.7¢ + 1.459) om 4.17 An empirical formula used for determining the natural frequency associated with translational motions of a steel chimney has the form o, T1004. rads where d is the diameter of the chimney and his the height of the chimney. ‘The damping factor associated with a chimney of diameter 7 m and height of 100 m is 0.002. This chimney is located in a region where wind gusts are capable of producing initial displacements of 0.1 m and initial velocities of 0.4 m/s. Determine the maximum displacement experienced by the chimney and check if it satisfies the construction codes, which require the maximum displacement to be less than 4% of the diameter. If the present chimney does not satisfy this code, what design changes would you propose so that the construction code is satisfied? Solution, From the statement of the problem, we have that X, = 0.1 m, V,= 04 m/s, h= 100 m, d=7m, and ¢= 0.002. Thus, the natural frequency is 71007 100? =4.97 rad/s The velocity ratio is 97 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 4 Vv, 04 “eX, 497%0.1 ia Then, from Eqs. (4.42), 4, =X, 14 GZ — 0,1 f1 4 08054 0.002)" 9 199 m 1-¢ 1-0.002 -Nl=¢? _ ja vI-0.0027 ta tan —— = 0,892 Patan ey, 0.002+0.803 °°? ™ and, from Eq. (4.7), hoe =ae g=tan! BAG" tan? M1=0.002" 1 569 rad c 0.002 igure 4.18, we see that =0 We notice that ay ~ @. From Eq. (4.43) and 2a when Ogb yan + Pa — 9 =O or Olga © Onl gar ™ Olgas = 9 ~ Py = 1.569 — 0.892 = 0.677 ‘Then, the maximum displacement is Fea) = Ae SIMO shyus + Pu) =0.129¢°%""" sin(0,677 +.0.892) 129 m which is less than the maximum allowable displacement of 0.04x7 = 0.28 m. Hence, no design change is necessary. 4.18 A quarter-car model of a heavy vehicle is shown in Figure E4.18, This vehicle is traveling with a constant speed v on a flat road. It hits a bump, which produces an initial displacement of 0.2 m and an initial velocity of 0.1 m/s at the base of the system. If the mass m of the vehicle is 5000 kg, the stiffness & is 2800 KN/m, and the damping coefficient c is 18 kN-s/m, determine the displacement response of this system and discuss when the system returns to its equilibrium position, Sol m. ‘Since the system can be described by a moving base model, the governing equation of motion is obtained from Eq. (3.31). Thus, @z & => + 2a, a, a ae 98 (©2009 Cengage Learning. ALL RIGHTS RESERVED. to}z=Solutions to Exercises ~ Chapter 4 where 2(0) is the relative displacement given by a) =x()~ (0) AD =RO-IO) It is recalled that x() and y(0) are the absolute displacements of the mass and base, respectively. This is an initial value problem with the initial conditions being (0) = #(0) =0 yO)= 30) =%, »(0)=0 1>0 (After bump, on flat surface) ‘Then the governing equation is with the initial conditions From Eqs. (4.8b), (4.41), and (4.42), we have that 2) = Ae sin(ot +9,) where the amplitude and phase are given by -(6+",) In the equation for gy, the negative signs are explicitly preserved in order to get the proper quadrant. We are given that ¥, = 0.2 m, V, = 0.1 m/s, m= 5x10° kg, k= 2,800 kN/m, and c= 18 KNi(m/s). Therefore, @, —E- 2.810" 53.66 rad/s mV 5x10 __e 18x10° =0.076 in 22.8x10°x5x10" 0,8 = 23.66 0.076=1.798=1.8 rad/s 0, =0,)1-2 =23.66Vi -0.076 =23.59 rad/s ¥, 01 0211 0,Y, 23.66%0.2 99 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 4 and =-1.668 rad Since (= 0, 1>0, x(t) = 2(t) = Ae" sin(ot+,) t>0 =0.2e™ sin(23.591- 1.668) 1>0 For £>0, it is seen that the envelop of x(#) decays to 2% of its initial value in about 2.17 s. 4.19 Consider the slender tower shown in Figure E4.19, which vibrates in the transverse direction shown in the figure. It is made from reinforced concrete. An estimate for the first natural frequency of this system is 0.15 Hz. The logarithmic decrement values measured for the tower with uncracked reinforced concrete material and cracked reinforced concrete material are 0.04 and 0.10, respectively. If a wind gust induces an initial displacement of 0.5 m and an initial velocity of 0.2 m/s, determine the peak displacement amplitudes in the cases with uncracked conerete material and cracked concrete material. Solution 4.19 Since the system is underdamped, from Eq. (4.43), we see that the first maximum of the displacement occurs at f= fax When Ogham =P Ps ‘Therefore, from Eqs. (4.42) and (4.41), we find that the maximum displacement is v.+ey 1c =X,f1-G2+(V, +o) ee enim Xan = X(gae) = Xf o,X, For uncracked concrete, the damping factor is 100 (©2009 Cengage Learning. ALL RIGHTS RESERVED.a Van? 40° Solutions to Exercises ~ Chapter 4 0.04 = 0.00637 Var +008 and for cracked concrete the damping factor is o The natural frequency of the system is @, = dimensional initial velocity is 6 ol Van +8 Jan? +01 0.942x0.5 = 0.0159 2atfy = 270.15 = 0.942 rad/s. Then, the non- 02 .425 1 —————- = 1.164 rad Vite, 0.425 + 0.00637 ™ a gq = tan WTS Swe Put. _ 1-564=1.164 _ 9 ggy99 tang, 147.1 XV 1-62. +(V, 45,0)" = 0.5y1+ (0.425 +0.00637)° = 0.5445 Then Kus = 0.5445¢°9™ = 0.5429 m Cracked concrete: neat VE V+. 9g. =tan ieee S = 4, _1.554~1.156 tang. 2.89 1 0.425 +-0.0159 =1,156 rad wtan'—1_.1554 rad 0.015! = 0.00633 Xfl-e2 +(V, +E, ~0.5y/1+(0.425+ 0.0159)" =0.546 m ‘Then 546° = 0.5426 m Thus, for the given changes in the damping due to the cracking of the concrete material, the maximum displacement remains virtually unchanged. 101 ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 4 4.20 A diving platform is shown in Figure E4.20. The damping factor associated with this platform, which is made from reinforced concrete, is 0.012, and the first natural frequency of the platform-slab vibrations is designed to be 12 Hz. When a diver jumps off this platform, an initial displacement of 1 mm and an initial velocity of 0.1 nvs are induced to the platform. Determine the resulting vibrations, Solution 4.20 The first natural frequency of the platform-slab is 0, =2xf, =20x12=75.398 rad/s and the damped natural frequency of the system is. @,=0,Ni-0.01F =o, =75.39 rad/s ement X, = 1 mm and initial velocity V, = 0.1 mm/s, the For the given velocity ratio V, is yy, Ol @,X, 73.39%0.001 Then, from Eq. (4.42), the respective amplitude and phase quantities are = 7 Gh 2 x, AKO FE) =0.01 h +(1.326+0.012) =1.67%109 m MS ay 1 tan! ___ 9.6417. rad o+V, Gav, 0.012 +1.326 and from Eq, (441), the displacement is x( 326 4 = tant Ae sin(a,t+ 9,4) 1.67 x 10% ¢005"™ sin(75.39t +0.642) m =1.67e°™ sin(75.39¢ + 0.642) mm ‘Thus, the form of the underdamped response describing the motions has been obtained, Section 4.3 421 Consider the vibratory model of the microelectromechanical system treated in Example 3.15. If the stiffness of the translation spring &, the stiffness of the torsion spring k, and the system damping coefficient ¢ are all positive values, would it be possible for the system to have unstable behavior? Solution 4.21 Equation (g) of Example 3.15, which is the governing equation, is (J. +m) b + eLib + (k, +L} +g (Ly -L)/2)$ = kL,x,() 102 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 4 For the system to be stable, the equivalent damping c, and the equivalent stiffness k, must be greater than zero. We see that c, is greater than zero and that k, is greater than zero when A, +k + mg(L,—L)/2>0 or 2, msl, . m, Kk, +kE +28 5 M8 AL + TAD > Ta If this relation is not satisfied, the system will be unstable. 4.22 When there is a fluid moving with a speed V through a pipe, the transverse vibrations y of a mass m attached to the pipe can be described by the following equation mj+[k,-eV? ]y= where kis the equivalent stiffness of the pipe and c is a constant that depends on the pipe cross-sectional area, the length of the pipe, and the density of the fluid, If m is always positive, ke is always positive, c is positive, and V is positive, determine when the system can exhibit unstable behavior. Solution 4.22 The system becomes unstable when k,-eV? <0 or when k0 or a > mel > 2 4.24 In studies of aircraft wing flutter, the following simplified model is used to study the system vibrations mi+(c+a)x+kxe=0 where the system parameters are m, c, and k. The damping constant a is due to aerodynamic forces, which change with the angle of attack. Beyond a certain angle of attack, this constant can assume negative values. Determine the conditions on m, c, a, and k for which this system can be unstable. Solution 4, Ifm > 0, k> 0, c> 0, then for the system to be stable c+ 20. For c+ a=0, the system exhibits bounded oscillations. 4.25 Consider the pendulum of length Z and mass m that is rotating about an axis through its hinged point with an angular speed @ At a given @, the pendulum swings out an angle cas shown in Figure E4.aa, a) If the pendulum can oscillate an additional angle g about a, then determine the governing equation of motion for this system. 'b) What are the dynamic equilibrium positions for this system; that is, when @ = @ = 0? ©) Discuss the stability of the system. Solution 4.25 ‘The equation of motion will be obtained by using Lagrange’s equations of motion, To this end, we first construct the expressions for the kinetic energy and the potential energy of the system. The position vector from the point O to a point x shown in the figure below is given by 104 ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 4 r= xcos(a+g)i+ xsin(a+9)j a and the corresponding velocity is given by v=[-xsin(aw + 9)p]i+(-wi)x(xcos(a+9)i)+ [xcos(a +.9)@] j+(—oi)x(xsin(a +) f) xsin(a + 9)p]i+[xcos(a+9)@] j+ ® [osina+—)]k ‘The kinetic energy of the system is given by 14 lh im T= |vnim=5 owas eee m = 2 dx (3) 36 +0°x? sin’ (a+)]7 @) = -i(ae je +0" sin'(a+9)] ‘The potential energy is L Vin ="Ecos(ar+9) 4) a) For the undamped and unforced system, the Lagrange equation of motion d(a ao 5 4% a Evaluating the different terms, we find that the equation of motion is 2 2 ()-(¢ as sin(a + p)cos(a +g) +, : gL sina g)=0 © b) To find the equilibrium position from Eq. (6), we set the time derivatives of ¢ to zero. This leads to [2 Jats cosa) Mesias 9) =0 M whose solutions are sin(a+g)=0 (8a) and = 8b) cos(a +g) = a a L (8b) 105 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 4 The equilibrium positions are (9) where gps is possible when ©) To determine the stability of motions about each of the equilibrium positions, we consider the linearized equation of motion ¢ about each of these positions; that is, P= G+ 4- Noting that for 60s(4+ Py, +8) ~ €05( +94) -GSiN(a+ 9) . 7 7 (10) sin(a + 9, +9) = sin(a + Py) +Pcos(a +My) Eq. (6) becomes (2 )« [cos?(at +94.) ~sin*(a-+94,) | — Me cose oo} ay 2 = (S» costa 9q) BEE lias) From Eqs. (8) and (9), we see that the right hand side of Eq. (11) is zero. Thus, Eq. (11) reduces to (2 )5-(e [cos(c+ 94,)~sin*(c94,)]= 8 cos(a + ie =0 (12) For small oscillations about gx = ~ 38 (4) If the coefficient of ¢ in Eq. (13) is positive and the system exhibits bourded motion about 1; this means that the system is stable from the notion of boundedress introduced in Section 4.3. For small oscillations about g = —cr, Eq. (12) simplifies to 106 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 4 mE) 3 |( mi?) >, mgL| (Fete a Since the coefficient of ¢ in Eq. (15) is negative, the motions about g2 continually grow away from the equilibrium position gp. Hence, this equilibrium position is unstable. For small oscillations about gs, Eq. (12) becomes (5) 3 mgl. TSE c0s(a+ Py) > me Jo” [cos* (a+ 43) —sin*(a+9s)] -) >| 2 0. (2 Jo forces -sin org) Mebsode+n)]=0 (16) If (“Je cos(2(2+94)) the motions about gp; are bounded and this equilibrium position is stable. 4.26 A rigid disk rotates with a constant angular speed @. A mass m is mounted in a slot in the disk as shown in Figure F4.26. Assume that gravity acts normal to the plane of the disk. ‘The mass is restrained by two identical springs of stiffness & and each spring is initially stretched by an amount 6,.. Determine an expression for the natural frequency of the system and the effect that d, and @ have on the natural frequency when the displacement of the mass is small. At what speed does the system become unstable? Solution 4.26 ‘The kinetic energy is lie 2 2 and the potential energy is 1 = 54(5, +3) + 24(6, -x)' =K(82 +2?) For this undamped system, the Lagrange equation is a(ar) ar ov dt\ a& a ok Noting that the external force Q, = 0, and after performing the indicated operations on the expressions for the kinetic energy and potential energy, we obtain ¥+(0?-0*)x= where 107 (©2009 Cengage Leaming. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 4 Therefore, the natural frequency of the system is We sce that the initial elongations of the springs do not affect the natural frequency and that the rotational speed of the disk decreases the natural frequency of the system. In addition, the system becomes unstable when @> ay, 4.27 A mass m shown in Figure E4.27 is suspended in a magnetic field by two springs of length L that each have a tension 7>. The magnetic attraction force on the mass is a function of the magnetic flux ,, and this force is inversely proportional to the square of the distance from the magnet; that is, E, mats where fis a constant. For small values of [xj find a relationship between the magnetic flux and the spring tension for which the system is stable. Solution 4.27 jumming the forces on the mass as shown in the free-body diagram below, we obtain nyt ad " TsinO= Tel Fy [om [or = |” x or 7 Tsind= Tyxlk. @ ®) (@) Forces acting on the mass and (b) free-body diagram of the system. meee F L where, for small |x, 108 ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 4 The system exhibits bounded motions about x = 0 if the coefficient of x is positive. For this system, this means that for stability Section 4.5 4.28 Compare the free-oscillation characteristics of the following systems, when they are set into motion from the initial displacement of 0.1 m and zero initial velocity. a)mét+ci+kx=0 b)métck+kxtax o)m¥+ckt+kx-ax'=0 Assume that the parameter values are as follows: m= 10 kg, ¢= 10 Ns/m, k= 10 Nim, and a= 25 N/m’, Consider another set of free responses, when each of these three systems is set into motion from an initial displacement of 0.6 m. Compare these responses with the previously obtained responses. What can you conclude? Solution 4.28 The results obtained through numerical integration of the respective equations are given below. It is clear that the system responses initiated from (0.1 m, 0 nvs) are virtually identical and one cannot distinguish the responses of the nonlinear systems b) and c) from each other and from the response of the linear system a). On the other hand, the responses of the nonlinear systems b) and c) initiated from (0.6 m, 0 m/s) are clearly different from each other and from the response of the linear system a). All three systems have an equilibrium position at (0,0). In the second case, the initial condition is far away from this equilibrium position compared to the first case, and the nonlinear effects are pronounced. col | ea o a an ce 4 - igure £4.28 109 ©2009 Cengage Leaming, ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 4 ‘MATLAB program us ure for Exercise 428 ‘span-linspace(0.0, 10,200); options-odeset(RelTol le-6,AbsTol'{Le-4 le-4)); m=10; €=10; K-10; Xo~{0.1 0.6); Vo-0.0; Alpha=[0 25 -25]; lab=['k- ‘4 ‘i; for n-:length(Xo) figure(0) hold on for mn=1:length(Alpha) {tx}-ode45(@nonlinearspringtspan,{Xo(n) Vol, optionsym,Alpha(nn) kc); te Debs ») [ab}-legend(q (aq (6yq(6)); set(b(1),fontsize’ 14) xlabel('t,fontsize’,14) ylabel(x()fontsize’,14) title((X_o =" num2str(Xo(a))} ontsize’ 14) set(gca,fontsize'14) box on end function dd-nonlinearspring(t,x,m,Alpha,k,c) (2); -(c*x(2)+K*x(1)+Alpha*x(1)3)/mn]s 4.29 Consider the displacement-time history shown in Figure E4.29 for free oscillations of a vibratory system. Examine this history and discuss if this system can be characterized as having viscous damping Solution 4.29 We notice that the envelope of peak amplitudes does not decay exponentially. In fact, they decay linearly. Therefore, this system is not viscously damped. ‘The observed damping characteristic can be captured by dry friction damping, which is discussed in Section 4.5.2. 4.30 Consider the system with the piecewise-linear spring given in Figure 4.24 and choose the damping factor ¢ to be 0.1. Set the system in motion from the initial conditions (0) = 0 units and the nondimensional initial velocity 4y(0)/dr=V,/(@,d)=20. Obtain the displacement-time histories of the system, and plot them as shown in Figure 4.25 for the following values of the stiffness coefficient ys: a) 0, b) 1, and c) 20. In each case, tabulate the nondimensional period for each cycle of oscillation and discuss the results, Solution 4.30 ‘The results are shown in the figure below. The half periods for each value of ware: 4=0 (Linear case) T2=3.1775 3.1774 3.1773 3.1773 110 ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 4 4=1 (Nonlinear case) 12 =2,2943 2.3197 2.3582 2.4152 4=20 (Nonlinear case) 7/2 =0.7879 0.80301 0.81991 0.84067 We see that in the two nonlinear cases, the periods increase as time increases. Therefore, the frequency is decreasing as time progresses. 20 —— Figure £4.30 ts-linspace(0,tend.Npt); Vodk=20; % Search ranges for fzero. Previously determined from an display of y vs tau ser[2 4; 10; 12 13;23;4.5; 68;9 1050.5 1; 12;23;33.5}; inter=inline( ppval(pp,x);%/pp); opt=optimset( display’ off); cc=0; for k=I:length(mu) [ty]-ode45(@sdofstops2,ts,[0 Vodk}'.]zmu(k)); plot((1:Npt),y(1:Npt,1,e(k,:)) MW (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 4 mae disp(('mu ~' num2str(mu(k))]) +3 coect (kk)=fzero(inter ser(ee,),0ptpp); end d=[r(an) (an disp(((Period {m) r(m+2)r(an+1) r(emt3)-x(m42)]; * num2str(d))) jum2ste(mu(1))},[\mu* num2ste(mu(2))}f\mu~ num2str(mu(3)))); ) plot({0 ts(Npt),(0 0}.e(1.)) xlabel( ‘tau fontsize'14) ylabely(tau);*fontsize’, 14) set(gca, fontsize'14) plot(0:.5:20, Vodk*exp(-[0:.5:20]*2),k:'0:.5:20,-Vodk*exp(-{0:.5:20]*2),k:') function 2-sdofstops2(t,y,z,mu) ifabs(y(1)<=1 b=; else hey(1sigenQ(); end 112 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 5 Solutions to Exercises Chapter 5 Section 5.2.1 5.1 A vibratory system with a natural frequency of 10 Hz. is suddenly excited by a harmonic excitation at 6 Hz. What should the damping factor of the system be so that the system settles down within 5 % of the steady-state amplitude in 200 ms? Solution 5.1 From Eq, (5.10b), we have afl | Ty = Oly z a 2a xt0x0.22 Lig] 20S o 6/10 12.572 Inf 0.0833, i-g] Using the function £2ero in MATLAB, we find that ¢= 0.1994, ‘MATLAB program used to obtained numerical value for Exercise 5.1 -2*pi"6; wn=2*pi*10; 40.05; 140.2; cestinline('wn*td*xHTog(d*sqrt(I-x"2)/(w/wn))x'wni'w'satd); opt-optimset( display’ off); | xi=fzero(esty[.01 .7],opt.wn,w4,td Section 5.2.2 5.2 A 150 kg mass is suspended by a spring-damper combination with a stiffness of 30 x 10° N/m and a viscous-damping constant of 1500 N-s/m. The mass is initially at rest. Calculate the steady-state displacement amplitude and phase if the mass is excited by a harmonic force amplitude of 70 N at 3 Hz. Solution 5.2 ‘The natural frequency and damping factor are, respectively, fe 30000 _ 14.14 rad/s mV 150 c 1500 2ma, — 2x150x14.14 0.354 113, (©2009 Cengage Leaming. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 5 ‘Then the non-dimensional excitation frequency is Q = ea, = (2afla,) = (27%3/14.14) = 1.333. The value of the amplitude response and phase response are, respectively, 1 H(1.33) = =0.818 + (2x 0.354 1.333) 20.354 «1.333 (1.33) = tan”! =~ = 0,882 rad. ieee i s From Eq, (5.17), we have that the steady-state amplitude is . 700.81 Steady-state amplitude = “* 711,333) = 2X98! _ 9.9919 jeady-state amplit PH333) = T0G0 m 5.3 The dynamic amplification or attenuation of a single degree-of-freedom system is defined as the ratio of the steady-state magnitude of the displacement response to its, static displacement F./k, where the mass is being driven by a tarmonic force of magnitude F,. Find the dynamic amplification or attenuation of a single degree-of- freedom system that is being excited at 100 rad/s and has the following system parameters: m~ 100 kg, k~ 20 kN/m, and ¢ = 6000 N-s/m. Solution 5.3 ‘The dynamic amplification/attenuation factor, which is given by Eq. (5.8a), has the form HQ) @ For the given parameter values @, (B 20x10" 141.42 rad/s mY 100 a= 2-10 4.797 ©) @, 14142 c 6000 Oe 04, Vk J100x20%10° Then, substituting from Eqs. (b) into Eq. (a), we determine that 75 © 107°) + (0.424%0.707)" Since the value of (0.707) is larger than 1, there is an amplification of the input. 14 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 5 5.4 Consider the two independent single degree-of-freedom systems in Figure E5.4 that are each being forced to vibrate harmonically at the same frequency @, System 2 starts its vibration at ¢= 1, and the excitation on System #2 starts at =f: that is, SiO) =F sin(ot)u(t) LAO) = Fysin(oft~t,)ut—1,) ) Use Eqs. (5.1) to (5.9) to show that the steady-state responses of the two systems are Sia() = F.11(0,6,)in(O2-0(046,)) Xyq(T) = EMO 0, 16 )i( AL 0,C0~ 1,)-0(Q/0,,7%,)) where Q= dm, @,= Ona/ Om, ¥= G/Gi, and 1 i iS £ b) If both systems are operating in their respective mass-dominated regions, then what is the ratio of the magnitudes of the amplitudes of System 2 to that of System 1 and their relative phase. Solution 5.4 (a) Writing Eq. (5.9) in dimensional form, we have for system #1 xu(O= A sin(w -,) ky (1-(o/a,)') +(2¢,0/0,)° where 6, = tan! 2510/0 1-(a/a) For system #2, we have EyO= fi sin(o(t—1,)-) hy ('-(o/o,)') +(26,0/0,)° where tan! 2.0/0, 1-(a/a,) 1s (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter S Let 2 =a, & = alm, 7= Gli, T= Opt, and % = apf. ‘Then, the steady-state response of the first system can be written as x,,()=$ 4, sin(ar—a,) Ky(1-2) + 26,0)" where 1 26,0. 1-9 and the steady-state response of the second system can be written as E aq (F) =e =sin(Q(z-1,)-@, © (1-2 2) +2590) Kor *.)-4) ky i-2°/0? 6, = tan where Thus, if 1 (1a) +(2ba)" 1 2ba I-a* H(a,b)= 0(a,b) = tan then, the respective steady-state responses can be written as, Xig(t)= a H(Q,¢,)sin(Qr-0(0,4,)) 2 H(Q/o,,76,)sin(Q/.@,(t -2,)-0(Q/ @,,76,)) Aral) =F (b) In the mass-dominated region, Q >> 1 and Q/q, >> 1; therefore, from Eq. (5.33), HiT) issinar -m)=- XP) Ee? sin(a( t-1,)-2)=- ~paesin k,Q? ‘The ratio of the magnitudes of the amplitudes R is bk 2 Ro; F, k, a; 116 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 5 For 12 f, the phase of the response x2 with respect to the phase of the response x; is —0%,, which is a lag. Section 5.2.4 5.5 The control tab of an airplane elevator is shown schematically in the Figure E5.5. The ‘mass moment of inertia JJ, of the control tab about the hinge point O is known, but the torsional spring constant , associated with the control linkage is difficult to evaluate, and hence, the natural frequency @, = ,/J, is difficult to determine. An experiment is designed to determine this natural frequency of the system. In this experiment, the elevator is rigidly mounted, springs with stiffness & and stiffiness fy are attached to the control tab, and the tab is harmonically excited at an amplitude ¢, as illustrated in the figure. The excitation frequency « is varied until resonance occurs at «=, , and this value is noted. Assuming that the damping in the system is negligible, determine an expression for @, in terms of @,, k,,k;yJgyand L.. Solution 5.5 ‘Taking a moment balance about the static equilibrium position, which is assumed to be at = 0, for ‘small’ angular oscillations, we obtain SO +k, +(k, +k )E 10 = kel sin(ot) where ¢ is the amplitude of the displacement provided at the end of the spring kp. Since, the damping is negligible, the resonance frequency is the natural frequency of the modified system; that is, 5.6 Consider translational motions of a vibratory system with a mass m of 200 kg and a stiffness k of 200 Nim. When a harmonic forcing of the form F,sin(/) is suddenly applied to the mass of the system, where F, = 1.0 N, determine the responses of the system and plot them for the following cases: a) @ = 0.2 rad/s, b) @ = 1.0 rad/s, and c) @=2.0 rad/s, and discuss the results. Solution 5.6 ‘The natural frequency of the system is k _ [200 === ==! mas olen fie me M7 (©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 5 Case a): Since @ = 0.2 rad/s, Q = 0.2/1 = 0.2. In this case Q ¥ 1, and the displacement response is given by Eq. (5.2 x()= in(wr) - Qsin(o,1)} ra {sin(0.2t) -0.2sin(¢)} =0.005{sin(0.2r) -0.2sin()} m In this case Q = 1, and the displacement Case b): Since @ = 1 rad/s, Q = 1/1 response is given by Eq. (5.23); that is, x= Fpsino -a,!c0s(o,))} i © 200%2 =0.0025{sin(#) —rcos(s)} m sin(1)—1cos(1)} Case ¢): Since @ = 2 rad/s, Q = 2/1 = 2. In this case Q + 1, and the displacement response is again given by Eq. (5.21); that is, x) tg : = noe -Qsin(o,)} 1 ‘ a 21) —2sin(¢) ZOOR GT Sine) Asin} = 0.0017 {sin(2/)—2sin()}_m From these results, we see that the displacement response is bounded when the excitation frequency is away from the natural frequency of the undamped system, But when the excitation frequency is the same as the natural frequency, the response is unbounded. 118 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Figure £5.6 ‘MATLAB program used to generate figures for Exercise 5.6 ‘linspace(0,200,400); subplot(3,1,1) plott,0.0054(sin(0.2*t)-0.2sin(t))k-’) xlabel(t (8), fontsize’ 14) ylabel(x(0)fontsize’ 14) ‘et(gea,fonisize’,14) subplot(3,1,2) ‘linspace(0,200,400); plot(,0.0025%(sin(t)-t*cos(t))’k-) xlabel(t(5),'fontsize’14) ylabel(x(0),fontsize'14) se1(gea, fontsize’,14) subplot(3,1,3) ‘linspace(0,50,400); plot(t,-0.0017*(sin(2*t)-2*sin(t))k-) xlabel(t (s);fontsize’,14) ylabel('x({)fontsize',14) set(gea, fontsize’14) Section 5.3.3 Solutions to Exercises ~ Chapter 5 5.7 A micromechanical resonator is to be designed to have a Q factor of 1000 and a natural frequency of 2 kHz, Determine the system-damping factor and the system bandwidth. Since {= 1/(20), ¢= 5x10%. Then, from Eqs. (5.47), the system’s upper and lower cutoff frequencies are, respectively, 119 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter $ 2, =2x 2000x510 =2 Hz 5.8 If a sensor modeled as a mass-spring-damper system is to be redesigned so that its is increased by a factor of four, determine the corresponding percentage changes in the system natural frequency and damping ratio. Solution 5.8 Using Eqs. (5.41) with a, = 4, we obtain ) 50% a 2, do, = woo 22a.) 100 % ag = 51) -100(.4-1) 100% Section 5.3.4 5.9 Consider the machine of 25 kg mass that is mounted on springs and dampers shown in Figure E5.9. ‘The equivalent stiffness of the spring combination is 9 kN/m, and the equivalent damping of the damper combination is 150 N-s/m. An excitation force F() is directly applied to the mass of the system, as shown in the figure. Consider the displacement x(0) as the output, the forcing F(¢) as the input, and determine the frequency response of this system. Solution 5.9 From Eq, (5.53), the transfer function is X(s) 1 F(s) ms Gs) cs+k Substituting s = je in the above equation and using the given values for the parameters, we obtain 1 Go) = -25m* +150 jo +9000 Section 5.4 120 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 5 5.10 An air compressor with a total mass of 100 kg is operated at a constant speed of 2000 rpm. ‘The unbalanced mass is 4 kg and the eccentricity is 0.12 m. The properties of the mounting are such that the damping factor = 0.15. Determine the following:(a) the spring stiffness that the mounting should have so that only 20 % of the unbalance force is transmitted to the foundation and (b) determine the amplitude of the transmitted force Solution 5.10 (a) The excitation frequency is 20002 309.44 rad/s 60 Since the fraction of the unbalanced force transmitted to the foundation y= 0.2, from Eq, (9 of Example 5.7, we find that the appropriate non-dimensional frequency ratio is Q= 1-267-426-1472 = yl-2x0.15°(1-0.2") + J(1-2x0.15(0 ~0.27))? -140.27 =2.72 ‘This means that the system natural frequency should be ©, = @/2=209.44/2.72= 76.98 rad/s and the stiffness is = 0,m=(76.98)' x100 =5.926x10° Nim (b) The amplitude of the dynamic force that is transmitted to the base is YE, = ym,e0* = 0.24 x 0.12 x(209.44)? =4211.1 N 5.11 A motor of mass m is mounted at the end of a cantilever beam and it is found that the beam deflects 10 mm. When the motor is running at 1800 rpm, an unbalanced force of 100 N is measured. If the beam damping is negligible and its mass can be neglected, then what speed should the motor operate at so that the amplitude of the dynamic response is less than ay m. Solution 5.11 Using the notation in Section 5.4, the given parameter values are _1800%2 60 Furthermore, for the given static-defleetion value, the natural frequency of the system can be determined by using Eq. (3.15) as F,=100N and o = 607 rad/s 121 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 5 5813132 rad/s 10107 me =, = 0.0028. kg-m te (607) Since F, = m,a?, we have From Eq. (5.64), the amplitude of the dynamic response is given by [e@|= 47,2) where e_ M= m+m, Noting that the damping is negligible, we have that H,(Q)= which can be written as Then Itis required that ol as the input, the acceleration response %(¢) as the output, and determine the frequency-response function of this system Solution 5.12 ‘The governing equation of motion is Gp Gok 30 Bay ‘Taking the Laplace transform of this equation and assuming that the initial conditions are zero, we obtain ms°X(s)+3csX(s) +X (s) =3cs¥(s)+k¥(s) or X(s)___ Bes +k ¥(s) ms? +3es+k ‘The frequency response function is = Hx] z[v0]] where L is the Laplace transform operator and we have assumed that the initial conditions are zero. After the substitution s = jo, we have s(3cs-+k) ms? +3cs +k G(jo) Go 10 or jo (3cjo +k ew + jok Gyo =-—22Ge ) car + Jak ma’ +36jo +k k—ma* +3 1.8. ‘Therefore, let ky = 1.8k; = 288 kN/m. We have to make sure that the 7R at the operating speed is less than 0.08. ‘Thus, we use Eq. G) of Example 5.13, and for © = 439.8/40 = 11 and y= 1.8, we obtain is? +(2x0.3x11<(+1.8) 1.8?(1-1P)' +(2%0.3x11x(1+1 0229 a) which is less than 0.08. 5.17 A compressor weighing 1000 kg operates at 1500 rpm. The compressor was originally attached to the floor of a building, but it produced undesirable vibrations to the building. To reduce these vibrations to the building, it is proposed that a concrete block be poured that is separated from the building and that the compressor then be mounted to this block. The location of the compressor will permit the block to be 1.8 m by 2.2 m. The soil on which the concrete block will rest has a compression coefficient k. = 20 x 10° N/m®. If the density of the concrete is 23 x 10° N/m’, then determine the height of the concrete block so that there is an 80% reduction in the force transmitted to the soil. The height of the concrete block hy affects the mass and the stiffizess of the system. From Eq, (5.105), the transmissibility ratio is TR = 1 — R= 1-0.8~0.2. The forcing frequency is 1500x 27 oa eer 60, 50x rad/s From Eq, (5.104), we find for ¢ = 0 that the non-dimensional exé could also have been estimated from Figure 5.34) Q=2 = fisTR @, which provides us an expression to determine the natural frequency; that is, = 64.13 rad/s o 50a 1+7R Vi+1/0.2 ‘The mass of the system is, 126 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 5 m= My + My = AMPH. 1000 keg 8 where Ayu is the area of the block and psy is the density of the block material. ‘The stiffness is k=kAy Nim Since, k aa ®, then Aunbin Po 4 1999 = bw g 2, which leads to Ag Ing =| “4 —1000 o-oo) _{ 20x10" 218%22 _ 999 ( 98 64.13 1.8x2.2x23x10° =1.965 m Section 5.8 5.18 Show that the work done per cycle by a harmonic force acting directly on the mass ofa linear spring-mass-damper system is equal to the energy dissipated by the system per forcing cycle. For harmonic excitation of the form f(t)= F,sin(or) the displacement, from Eq. (5.9) is, x) =X, sin(or-0(Q)) where 127 ©2009 Cengage Leaming. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 5 Next, we determine the work done by the inertia force, the spring force, and the external force. To this end, we integrate each term in Eq. (5.1a) with respect to x over one cycle of forced oscillation; that is, from ¢= 0 to = 2afw. This leads to W,+W,+W, =W, where W, 7 f(Oidt = FX,0 aff sin(wt)cos(at — O(Q))dt = x.0| 5 sion sinvor -a(2))- 5sin-0(2| 2o 2 l =FX,xsin(O(Q)) From Eq. (2.4), the work done by the mass m is, W,, = "f itidt =—mX%0° J sin(or -0(2)) cos(at -8())dt 3 a =-mX?0"| [ss sin(@t — O(Q))sin(@t — A(Q)) — $sin(0(0) - x2] [sin® (2x -0(Q)) -sin*(@(Q)) ]= 0 From either Eg. (2.48) or (5.109), W,=c | xdt=cw'X} | cos*(wt-O(Q))at a a a tae aslo = ca” afte in(or aco] 2y2{ 2m yl rg tint = car al Git 2-00) ~5F sin"( ay} =cmoX} From Eq. (2.10), we have that w= T kxidt =KX3@ J sin(wt -0(Q))cos(wt - 6(O))dt = wxro[ sinc AQ) sin(ot - OQ) —Fsin( CQ) — aay] ° = ee [sin®(2 -0(@)) -sin?(9(Q)) ]=0 Therefore, since W» = Wi=0, 128 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 5 or cxoX? = FX, 2sin(O(Q)) which can be simplified slightly to yield cox, = F,sin(()) After substituting F, Ane t H(Q) we have that P M(a)=sin(0()) Since c= 2¢/(may), we obtain 22H (Q) = sin(Q)) But 26 sin(@(Q)) = 2¢2H(Q) oY +Q¢ny Thus, we find that 2¢RH(Q) = 26QH(Q) and, therefore, Wa= Wj. 5.19 A spring-mass system with m = 20 kg and & = 8000 N/m vibrates horizontally on a surface with coefficient of friction 4s = 0.2. When excited harmonically at 5 Hz, the steady-state displacement of the mass is 10 cm. Determine the equivalent viscous damping. Solution 5.19 Making use of Eq, (5.114), the equivalent viscous damping is ¢, -Abmg __4x0.2x20%9.8 OX, x2xx5x(10/100) =15.9 Ni(m/s) 5.20 The area of the hysteresis loop of a cyclically loaded system, which is the energy dissipated per forcing cycle, is measured to be 10 N-m, and the measured maximum response X, of the deflection is 2 cm. Calculate the equivalent viscous damping coefficient of this system if the driving force has a frequency of 30 Hz. 129 (©2009 Cengage Leaming, ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 5 Solution 5.20 From Eq, (5.121), the energy dissipated per cycle is E sucrnat = 2kABX? Therefore, E, kp lnk Then, from Eq, (5.122), we have 10 21.11 N/(mis) 2a x2 x30% 0.02 Section 5.9 5.21 Torsional oscillations of a vibratory system is governed by the following equation I,G+6,0+ kp = M, cos(af) + M, cos(o,t) where 20 N-m/(rad/s) rad/s, and @,=2.0rad/s J, =20kg-m*, k, =20N-m/rad, M,=10N-m, M,=20N-m, Determine the steady-state response of the system. Solution 5.21 The steady-state response of the system can be obtained from Eq, (5.155) as. 1 k, YH(,)M, cos( or -0(0,)) where Q, HQ, Me @ (Q,) = tan? 252 From the given parameters, 130 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 5 = fh =) =1 rows J, V20 20 ¢ “J 2J,0, 2x20x1 0.5 Then, ‘Therefore, +“ cos (21 - 2.678) 20 =0.5cos(t—1.571) +0.277 cos (2t-2.678) rad 5.22 Determine an expression for the output of an accelerometer with the damping factor and natural frequency @, when it is mounted on a system executing periodic displacement motions of the form y=Asinos+ A, sino,t Solution 5.22 We use the material from Sections 5.6 and 5.9 to determine that the accelerometer ‘output is given by 2()=2,()+2,() where, from Eq. (5.98), (1) = 4,0; H(o,)sin (wt -0(@,)) 2,(0) = 4,0} H(o,)sin(a,t-0(«,)) and 131 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 5 Ha) = +(2£0,/0,) ey] 5.23 A single degree-of-freedom system is driven by the periodic triangular wave excitation as shown in Case d of Appendix B. If the period 7'= 2 s and the amplitude f, = 10 N, then find the steady-state response of the system by considering the first three harmonies of the forcing. Assume that the system parameters are k= 10 kN/m, c = 10 N-sim and m =1 kg. Solution 5.23 From entry d of Appendix B and Eqs. (5.157) and (5.158), we find that the coefficients in the Fourier series are 1,2 4, 1/2)o, ‘Then, considering the first three harmonics, from Eq. (5.159) we obtain the response as 4f, he — 008 (2,r-0(Q, Sne[ ep font F -(2,)) cos(Q,7-9(Q, | 10 2x1x100 2 Fax rad/s 132 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter $ Then the response is x(7)= mals = A (cost 20) 5cos(37/200)+ agcon(re/20)] m 5.24 Consider again the results of Example 5.17, where the response of a single degree- of-freedom system to a periodic pulse train was studied. If we were ‘o differentiate Eq. (©) of this example with respect to rand set the result equal to zero, then the value of r= ax that satisfies this equation in one period is the time at which the maximum value Xpax =x(Tingx) Occurs. Use MATLAB (or a similar programming language), to deteninine xnay a a function of the damping ratio for Q, = 0.042426 and a= 0.4. The results should look like those shown in Figure E5.24. Solution 5.24 Upon differentiating Eq. (c) of Example 5.17 and setting the results to zero, we obtain Fan) = YE (QQ, €05( 2,7, —Q,) + ¥,) =0 where the quantities appearing in the equation are defined in Example 5.17. The value of ‘oax that satisfies this equation in one period gives the value of x(t) = Xmaxe Which is determined from Equation (c) of Example 5.17; that is, pax = ¥Enge) = ab, [ +Ye (Q,)sin(Q,7,,4, —(Q,) +y, | The results are plotted below. 133 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Figure E5.24 function ExerciseS_24 alpha=0.4; Omo-0.0424; L2-0.05; z-linspace(L7,.7.25); opt-optimset( display fofP); xmax=zer0s(length(2),1); for k=I:length(z) =fzero( @xmaxpulsetrain,{120 123],0pt,2(k),alpha,Omo,0); -xmax(k)-xmaxpulsetran(,2(K).alpha,Omo, 1); end plot(2,xmax,'k-) veaxis; w(I)=Lzs axis(v) xlabel( zeta’ fontsize’4) ylabel(x_{max}',fontsize'14) set(gea fontsize’14) function xdot-xmaxpulsetrain(tay,2,alpha,Omo,z2) n=1:200;, Om-Omotn; psi=atan2(sin(n*pi*alpha),0); th=atan2(2*z*Om, 1-Om."2); alpha*abssin(a*pitalpha)/(n*palpha))Jsqr(I-Om."2) 24(2*2*Om)."2), itz=0 o=<.*Om; xdot-e*cos{Om'*tau-repmatth | length(tau)}repmatps' | engthau)); else xxdot-alphae*sin(Om'*tau-repmat(t,length(tau)trepmat(si | ength(au); end 134 (©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 5 5.25 Repeat Exercise 5.24, except for the abscissa use the nondimensional bandwidth of the system. Explain your results, Solution 5.25, The results are shown in the figure below. The bandwidth in terms of the non- dimensional frequency coefficient is obtained from Eqs. (5.47) and (5.48a); that is, 267 4261-6? - 1-267 -2¢ fl-?_ ¢<0.3827 =Vl-267 +26 1-6? = ¢>0.3827 A discontinuity occurs at ¢= 0.3827, which corresponds to By ~ 1.189. At values greater than this value, the bandwidth is a function of the upper cutoff frequency only, which decreases for values of ¢ beyond the value {= 0.3827. Recall Figure 5.2a. B, 18) 17] 15) 1a) 13 02 0408 o8 1 42 By Figure B5.25 MATL used i te figure for Exercise 525 function Exercises 25 4; Omo=0.0424; 20.08; opt-optimset(‘display’ oft); for k=I:length(z) 1(k)>fzero(@xmaxpulsetrain,[120 123] opt,2{k),alpha,Omo,0); xmax(k)=xmaxpulsetrain(1(k),2(K),alpha,Omo,1); if (k)<-0.382 mdo-sartl-2*2(ky242*2fk) sank) 2) 1-2*2(K)-2-242) Sqr -20)'2)); else [ist meni sone 135 (©2009 Cengage Leaming, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 5 end plot(Bw.xmax, veaxis; v()-Bw(1); v1.25 axis(v) xlabel(B_w,fontsize’14) ylabel('x_{max}';fontsize’14) ‘set(geafontsize’,14) function xdot-xmaxpulsetrain(tau.z,alpha,Omo,zz) = 1:200; Om=Omorn; psi=atan2(sin(n*pi*alpha),0); tan2(2*2*Om,1-Om."2); alpha*abs(sin(n*pi*alpha).((n*pi*alpha)) /sqet((I-Om."2)."2+(2*2*Om)."2); 0 -c.*0m; xdot-e*cos(Om'*tau-repmat(t | Jength(tau))*repmat(ps,Jength(tau)); else xxdot=alpha-c*sin(Om'*tau-repmat(t I length(tau))+repmat(ps I length(tau)) end. 5.26 Consider the base excitation of a single degree-of-freedom system shown in Figure 3.6 and whose motion is described by Eq. (5.76). If the displacement of the base is the periodic sawtooth waveform described by Case ¢ in Appendix B, then obtain an expression for the displacement of the system's mass. Solution 5.26 Since the force created by the displacement of the base of the system is f=% 24 y where vonr(5 aly (in) Yc0s (10,7) Therefore, . S()= fl)+ KO) where 269.2. Se5(i Yeos(iQ,7) We shall solve this as two separate problems and then combine (sum) the results, For AA2), from Eqs. (5.158) and (5.159), the Fourier series coefficients are 136 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises - Chapter 5 a,=0, and b=-2 is Thus, the corresponding displacement response is (j= 2S MO) 59(i0,-—a¢i0,)) er For fi(2),the Fourier series coefficients are > =0, b=0, and ‘Then, the corresponding displacement response is x(t) = -22.. 5° H(Q, oo (i0,r-0(10,)) ete Combining the results, we obtain SH(Q,)c0s (i H@,) = sin(i2,r-(2,)) ALi Yo _ Yo HiQ,)) +5 7 5.27 Consider a sine wave forcing of magnitude F, and frequency 0 that has a duration of N periods fp, where fy = 2/@,. This sine wave is repeated every period T, where T = Mry = 271@, MN, and N and M are integers. If this periodic waveform is applied to the ‘mass of a single degree-of-freedom system, then SO=F,sin(o)[u)—uat-4,)] OStsT, O<4, + 0.38— +4 x-Sx? =0.15c0s(0.333r) ar ir where r= apf. The solutions obtained after numerical integration carried out from the initial conditions (0, 0) are shown below. Itis clear that the response of the linear system contains a dominant peak at @ = 1.49 rad/s while the response of the nonlinear system contains peaks at 0, 30, and Sa, Figure 5.28 143 (©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 5 MATLAB program used to generate figure for Exercise $28 function Exercises_28 z2ta0.19; Omega=1/3; Fo-O.15; ‘T=140; Nsamp~24000; tspan-linspace(0,T,Nsamp-1); options={]; [txlin]-odes5(@ForeedOse,tspan,(0.01 0.1,options,zet,0,Omega,I,Fo); ‘figure(1) indx=find(¢==100), plot(t(indx) xin(indx,1)/ hold on xlabel( ‘tau fontsize' 4) yilabel(x(\tau)''fontsize14) titleCalpha = 0''fontsize14) set(gca fontsize’14) figure) [t,xnonlin]~ode45(@ForcedOsc,tspan,[0.01 0.1},options,zeta,5,Omega,1,Fo); plot((inds),xnonlin(indx,1)/k~) xlabel(\tau'fontsiz’,14) yilabel(x(\tau)'"fontsize14) titlealpha = 10000 Nim3' ont set(gc, fontsize',14) N-2°14; Nstart~5000; Fs-Nsamp/T F-(Fs*(0:N-1)/N)*2.0*pi; AmpLin-abs(fitlin(Nstart.Nstart*N,1).N)N; ‘AmpNonLin=abs(ffi(xnonlin(Nstar:Nstart+*N,1),N))IN; figure(3) inde=find(F=2), 10*log10(2* AmpLin(inde)); max(zlg); plot(4.47*flinde).2lg-zmax, ‘ylabelB fontsize’ 14) xlabel( omega (rad/s;'fonsize’14); set(gea fontsize’14) titl(\alpha ~ 0, Tontsize14) figure(4) lg=20"log10(2*AmpNonl in(inde)), 2zmax-max(zlg); plot(4.47*tinde),2le-2max ylabel(dB'fontsize’ 14) xlabel(‘omega (radis),'fontsize14); set(gca fontsize'14) title(\alpha = 10000 Nim'3'fontsize',14) function df-ForcedOse(t,x,221,alph, Omega,betFo) Af [x@); -2°zeta*x(2)-bet°x(1}alphi"x(1)°3 +Fo*cos(Omega")]: 5.29 Consider the following nonlinear single degree-of-freedom system subjected to a harmonic excitation, with the same values of parameters as in Exercise 5.28, except that now the excitation frequency is at = a. mié+ci+k-+ax = f, cost 144 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 5 Compute the response of the system and compare it with that of the corresponding linear system. In addition, for this harmonic excitation compare the differences between the Fesponses of the system of softening stiffness discussed in Exercise 5.28 and the system of this exercise with hardening stiffness. Solution 5.29 The numerical results obtained through integrations from the initial conditions (0, 0) are shown below. It is clear that the response of the systems with the hardening spring and the softening spring have only one dominant peak in the spectrum as in the linear case. The amplitude of the steady-state motion is largest in the linear case, followed by the amplitude of the system with the hardening spring, and the amplitude of the system With the softening spring. The responses of the two nonlinear systems do not show any discemible nonlinear characteristics. If the excitation frequency is chosen to be ‘slightly” larger than the natural frequency, then the response of the system with the hardening spring will also show discemible nonlinear characteristics. On the other hand, if the excitation frequency is ‘slightly’ Jess than the natural frequency the response of the system with the softening spring will show discernable nonlinear characteristics, WTA | Hi i ud | HA Wii | II Ih 4AM 145, (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 5 tt I : i ie MATLAB program used to generate figure for Exereise 5.29 ‘Omega=1; Fo-0.15; 140; Nsamp=24000; tspan-linspace(0,T;Nsamp-1); N=214; Notart~5000; F-Noamp/T; FFs* O:N-1YIN)*2.0% alphok=[0 5-5]; ForeedOsc=inline([x(2); -2*zetatx(2)-bet*x(1)- alph*x(1)°3+Foteos(Omega*0)x'/dummy’,zeta'alph' Omega’ bet,'Fo' for j=1:length(alphok) [tx}-ode4s(ForcedOse,tspan,[0.01 0.1),],zet,alphok(),Omega,1,Fo); figure@*G-1)+1) indx=find<=60); plot((indx),x(indx,1),-) hold on xlabel\tau’fontsize, ‘ylabel(s(\tau)’ fon title({\alpha =" num2str(2000*alphok(j))],fontsize’,14) set(gea, fontsize’,14) figure@*(-1)12) AmpL in=abs( M(x(NstartNstart+N,1),N)VN; inde=find(f==2), zlg~20*log10(2* AmpLin(inde)); zzmax-max(zlg); plot(4.47°Mlinde),zlg-zmax,k-) ylabeldB',fontsize',14) xlabel(‘omega (rad/s, Yontsize'14); set(gca,fontsize'14) title((alphia =" num2str(2000*alphok())], fons: end 14) 146 ©2009 Cengage Learning. ALL RIGHTS RESER)Solutions to Exercises ~ Chapter 6 Solutions to Exercises Chapter 6 Section 6.2 6.1 Determine the response of a vibratory system governed by the following equation. (0) + 0.2%( 0) +3.5x(1) =1.Ssin(ot)u(t) +45(t-3) ‘Assume that m = 1 kg, the initial conditions are x(0) = 0.1 m and %(0)=0 m/s, and the tion frequency «= 1.4 rad/s. Plot the response. exci Solution 6.1 From the coefficients of the terms in the equation, we note that c = 0.2 N-s/m, and k= 3.5 Nim. Then c 0.2 = 0.0535 $= Fina, ~ Delx1.87 We shall break the solution into three parts by solving the responses to the initial conditions, the harmonic force input, and the delta funetion input separately and use the principle of superposition to determine the combined response of the system. The first part is the solution to an initial value problem with the initial velocity equal to zero. ‘Then from Eq. (4.33) where ten’ vi-0.05357 0.0535 0, =0, 87V1-0.0535? =1.868 rad/s 0,8 =1.868x0.0535 = 0.1 =1.517 rad ‘Then the displacement due to the initial conditions is OL x) -™ sin(1.867t +1.517)u(t) =0.1e™ sin(1.868¢ +1.517)u(t) m 147 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 6 ‘The second portion of the solution is obtained from the suddenly applied sinusoidal excitation. For this solution, we use Eqs. (5.7) and (5.8). Thus, nei 4t—0(0)) + 26 “sin(ayti—2 * ae) ao 6a E, part) = k where Q = @/ a = 1.4/1.87 = 0.749, Fo/k = 1.5/3.5 = 0.429 m and, 1 1 H(Q)= - = 2088 (1-2) +(2gny’ (10.749) +(2«0.0535x0.749)" (0) = tan? 262 = tay? 20.0535%0-749 9.1799 rad - 1-0.749° (0) tan 26 gy 220053500535 941 yg 27-2) 2x 0.0535" —(1-0.749") ‘Then Suet) =0 s2sx.2%4sin( = 0.1799) + 0496 sin(1.8681-+2.901) fucty Vi-0.053: = [0.9535 (1.41—0.1799) +0.713e°°™ sin (1.8681+2.901) ]u()_ m. ‘The third part of the solution is due to the delta function of magnitude 4 N-s. For the delta function input, we use Eq. (6.1a) to determine the response and find that Fatal) = ) sin(w,[t—)5(9—3)dq, ae) sin(o,{t—3)u(t-3) mo, =2.141e°") sin(1.868[¢—3))u(t-3)_m The response of mass is (0) =X (0) + Xa + Xa which is plotted below. 148, (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 6 MATLAB program used to-generate figure for Exercise 6.1 13.5; m=1; €=0.2; Xo=.1; w=1.45 Fo=l wn=sqrt(im); zel@*m*wn); ‘Ao-Xo‘sqri(I-2"2); phiratan(sqrt(I-2°2)/2); wd-wn*sqr(1-2”2), inspace(0,60,600); xic=Aotexp(-z* wn"?).tsin(wd*tt phi; rewivn; He/sqet((1-'2)' 24242412), Theatan2(2*2*r 11°2); ‘The-atan2(2*2*sqet(I-2"2)2%772-(1-42)), xhar-Fo/k* H*(sin(w*t-Th) !1¥exp(-z*wn').*singwd*t#Taysqrt(1-2"2)); xdelta4*exp(-ztwn4(-3) *singd®(t-3)).%(=3)imiwd plot(xietxharéxdelta,I-) label(t (5)'ontsize’ 4) ylabel(x(®) (m)fontsize’ 14) ca, fontsize’ 4 6.2. Consider the when the system i lowing single degree-of-freedom system excited by two impulses itially at rest FO +24) + 4x) = 6 + 500-5) Determine the displacement response of this vibratory system and plot the results. 149 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 6 Solution 6.2 We use the principle of superposition to determine the response of the system to the two impulse inputs. From the coefficients of the terms in the equation, we find that f =2 rad/s 2 2x12 2V1-0.5? =1.73 rad/s So, =0.5x2=1 rad/s 2, c ‘Then, from Eq. (6.1a), we find that na fe moog 5 ma, x) HP sin(co,[t—m)[5(n) + (9 -S)] dy [eM sin(o,p)u(s) +e" sin(o,{¢ -S)u(t-5) | = [ersin(1.739)u(1) + 6° sinG.73[1—Spu(e—5)] The result is plotted below. 6 2 t@ Figure £62 150 ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 6 MATLAB program used to generate igure for Exercise 6.2 ke; m=; 0-2; wn-sqrt(him); z-el2*m*wn); vwd-wn*sqrt( 1-22); inspace(0, 12,300); xt-(exp(2* wn) sind) expCz*wn"(-5).*sin(wd(C-) plotitxti-) xlabei(t ()'"fontsize'14) ylabel(x(t) (mfontsiz' 14) set(gea fontsize' 14) “(e=S)yimiwds 6.3 From extensive biomechanical tests, the spinal stiffness k of a person is estimated to be 50,000 N/m. Assume that the body mass is 80 kg. Let us assume that this person is driving an automobile without wearing a seat belt. On hitting an obstacle, the driver is thrown upwards, and drops in free fall onto an unpadded seat and experiences an impulse with a magnitude of 100 N-s. Determine the resulting motions if an undamped single degree-of-freedom model is used to model the vertical vibrations of this person. Solution 6.3 ‘The response of the system after the fall can be determined from the model (o where m = 80 kg, = 50,000 N/m, and the forcing is (0) =1005() N [50000 Making use of Eq. (6.4a) with £= 0 since the syste f 2 sin(o,t)u(t) me, mi + kee In addition, we see that 25 rad/s is undamped, we arrive at x(r 5 fim 25uCD) =0.05sin(25¢)u(t) m 6.4 Determine the response of the vibratory system discussed in Example 6.4 when the forcing due to the wind spectrum is of the following form [FUp|=200f6°°" N where fis the frequency in Hz. Plot the result for the values of 45 given in Example 6.4. Solution 6.4 Using Eq, (¢) of Example 6.4, the displacement response in the frequency domain is determined as 151 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 6 254 2 bean |=? (129609 £ k k ‘The results for the three values of k used in Example 6.3 are plotted below. Therefore, in order to satisfy the requirement that |X(/f)|max < 5 cm, a lamppost with the stiffness k; is needed, F(t) Figure B6.4 Mi used to generate figun 64 function Exercise6_4 felinspace(0,10,300); k=[20000 30000 40000); " length(k) jindload2(k(n),m,2); plot(f,100°X,c(a,:)) hold on end {a bJ-legend((k_1 set(b(1),fontsize14) Jk 2 =" num2str(k(2))' Nim],['k_3 =" num2str(k(3)) "Nim; function (X,weib]-windload2(f,m,2) weib=2004F.exp(0.5 152 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 6 2 *pisFsqrt(avky, HL Jsqr((I-r2)°242%241) 72); Xeweib.* Hk; Section 6.3 6.5 Determine the response of an underdamped single degree- subjected to the force f(t) = Fe. Assume that the system is initially at rest. Solution 6.5, We start with Eq. (6.16) and determine the response as x(2)= aiee Jestsn(e i=2*) pr) where T= Onl, f@=hew and @% = aa. ‘Then, “a! Ve © sin(EVI=G") ag By using MATLAB’s symbolic toolbox and Eq. (D.12) in Appendix D, we find that x(2) “que nel eo ae ~2agsin(rVi=<* he ~w) |e) K(1+@2 -2a£)Vi-¢* -g? where When a = 0, the results reduce to that of a single degree-of-freedom system subjected to a unit step function given by Eq. (6.25). 6.6 Repeat Example 6.5, when the step change in road elevation a is 4 em and the vehicle speed is 100 km/h. Solution 6.6 For the given vehicle speed, we find that fo = (160 m)x(3600 s/hr)((100%10* m/r) = 5.76 s. Then, the displacement response is 153 ‘©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 6 ") sin(w, (¢-1,))u(t—t,) een) in(e, (t-1,) +s) -t,) 0.3580, 8 358191-5) sin (17.81 (5.76) u(t —5.76) vVi-0358" asta 0K-578) $0.04) | — Jom sin (17.81 (¢ - 5.76) + 1.21) |u(t - 5.76) ( vi-0.358" (781¢ J | J = 0.0316" sin(17.81(1-5.76)) u(t 5.76) +0.04 0.04286 °°" sin(17.81(r-5.76) +121) m The results are plotted below. 85 6 te) Figure £6.6 ‘MATLAB program used to generate figure for Exercise 6.6 xdis=inline( /sqr(1-22)texp(-z*wntt).*sin(wm* sqrt(I-22)*t+phi 105.76; 2-0.04; phi 1.21; wn=19.07; 20.338; ‘linspace(5,7,250); xt-(2*atz*xdis((-10,z,n,0)+a*(|I-xdis(t-0,2,n,phi)).*(=t0); plot(txtk-'{5 Tha a ylabel(x() inold on 154 ©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions te Exercises ~ Chapter 6 xlabel(t (5), fontsize,14) set(gea,'fontsize’ 14) reaxis; | 1)=-01; | axis(r) 6.7 Refer to the Kelvin-Voigt-Maxwell combination shown in Figure E6.7. Obtain an expression for the displacement response in the Laplace transform domain of the mass when the mass is subjected to a step-function force of magnitude F. 6. Fora step function force, Solu SO = FRO The Laplace transform is given by pair 6 of Table A.1. Thus, F(s) Then Eq. (a) of Example 4.7 becomes, after a change in notation, mE cH heh (x-2,)= FO a, k(x-x,)=¢ Se i(x— x)= 67 or, using nondimensional quantities, E+ 2GK4(l+y)x-yx, YE 74 = Shy where and the over dot indicates the derivative with respect to x. Taking the Laplace transform of these equations using pair #2 in Table A.1 of Appendix A gives (s° #254147) X()-7X,(8) = G(s) 1X(3)-(7 +2783) X,()=0 where it has been assumed that x,(0) = 0 and £ Gs) = FO 626 +5)x(0)450) = when the initial conditions are zero. 155, ‘©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 6 Upon solving for X(s), we obtain G74 2y7.S8 +(7 447.5") s + (27S (147) +267) s+7 The result can be compared with equation (h) of Example 4.7with c = 0 and by noting that while ¢-» 0, 2%. 2¢, where in the present notation, 2¢= cy/(ma,). X(s)= Section 6.4 6.8 A machine system of mass 30 kg is mounted on an undamped foundation of stiffness 1500 N/m. During the operations, the machine is subjected to a force of the form shown in Figure E6.8, where the horizontal axis time ¢ is in seconds and the vertical axis is the amplitude of the force in Newtons. Assume that the machine system is initially at rest and determine the displacement response of the system. tion 6.8 ‘The governing equation of motion of the system can be written as mi+ke= f(t) where m = 30 kg, k= 1500 N/m; hence, @ = 7.07 rad/s. The forcing is Se (t-1,)-ut—1)] ! FO=F-[u—ule=t,)]- 7 ite where, from the figure, F,, = 2500 N, f, = 0.5 s, and 4; = 2.0s. If we let @pl, then we can write the above equation as f SO) =F [u(e)—uee—1)]-F, u(e—,)—u(r -1))] Upon rearranging this result, we find =F yy—-— eh = 7 7 7 FO)= Fate) meee 1,)u(t—1,)+—*—(r 1, )u(r—F,) Then, from Eq. (6.1b), with ¢= 0 FE k x0 [2 foor-pemerag— | y hiner (Ene rae a(t, -F) 9 A fomce—sne-a)ue-nys] From the discussion following Eq, (6.36), this equation can be written as 156 (©2009 Cengage Learning, ALL RIGHTS RESERVE]Solutions to Exercises ~ Chapter 6 u(t—t,) * rn -De SG) euaeea Mean) “singer, -5eas| [2 Joiner -gae — mo Nye) MED eyo MEDDe-s)| a 1,(7-t) iF where Wa) Using the given parameters, we have that 7 = 7.07%0.5 = 3.64, 7 = 7.07*2.0 = 14.14, and, therefore, 2500/ u(r u(r -3.54 u(e-14.14 (Fr) BOO HO) HERD Hea yo MD eg 19| =1.667[0.2825h(r)u(r) - 0.0266h(r —3.54)u(r —3.54) 40.0943A(r —14.14)u(r—14.14)] -sint 6.9 In Example 6.7, assume that the motions of the slab floor are damped with the damping factor being 0.2. Determine the response of this damped system for the forcing and system parameters given in Example 6.7. Also, find the earliest time at which the ‘maximum displacement response occurs. Plot the results. Solution 6.9 From Example 6.7, we have that F, = 1000N, k =2x10° N/m, m = 1000 kg, @ = 20 rad/s, and f, = 1 s. Then @yf = 20, = 19.6 rad/s, and ¢é, = 0.2x20 = 4 rad/s. Thus, from Eqs. (6.37) and (6.38) we obtain, a= [ul -H—1utt-1)] 2000 faut) Mt —t.att—1.)} mo =S[h(u()— het, )u(t—1,)] mm where 157, ‘©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 6 2 +a,t+e [acento in wa} 1 Fe 2x02?-1., =5-4-2x0.2+201+e™| 2x 0.2cos(19.61) += a [ (19.6) vi-0.27 0.02 +1 +.0.05e“"[ 0.4cos(19.6) - 0.939 sin(19.61) ] The results are plotted below. The earliest maximum value occurs at f= 1.2854 s where the value of the displacement is 5.272 mm, 6 . PAS / ‘ ‘a ts) wcramimariauatTkt — Fo=1000; k=200000; wn=20; teo=1; 2-0; wd=wnt sqt(1-2°2); inspace(0,2,400); €=1000*F ok; xt-c*(ht(wn, wd.z,t20)-htt-t20,wn,wd,z.120).*(0=t20)); plot(xt'k-\(0 2}, ylabel(x() label(t (6 set(gca,fontsize,14) opt-optimset(Display’joff); [tmin xtmin]fminbnd{@floorslab2, 1,1 4.opt.c,wn,wd.z,t20); ddisp((Earliest _max =" num2str(-xtmin) "mm at t=" num2str(tmin) 's') hold on | plt{min min 0 -xtmin) 14) 158 ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 6 text(imin,-xtmin®1-05,'x_{max}", fontsize’, 4, HorizontalAlignment, Right) text(tmin'-05,0.2,_{max}'Yontsize’14,'HorizontalAlignment Left) function zxht(t,wn,wd,z,tz0) zx (-2*z+ wnt exp(-z* wnet).*(2*z*cos(wd*t)#(2*2"2-1)¢sin(wd*th/sqri(1-2°2))/(wn*tz0); function m=floorslab2(t,wn,wdz,tz0) m=-c*(bt(,wn,wd.z.tz0)-i(t wn, wd, tz0).*(>~tz0)) 6.10 Consider the Boltzmann sigmoidal function, whose general form is given by S(taybja,r,)=a+b(14e"?) where a, b, a and 7 are constants and S(t, a, b, a, t) = a+ 6/2. This function can be used to create a step-like function as shown in Figure E6.10 for S(t 0, 1, 60, 0.1), Determine the response of a system for (2) = F,S(, 0, 1, 60, 0.1) and f(z) = F,S(r, 0, 1, 6, 1) and graphically compare them to the response of the system to the step input given by Eq. (6.23). The solutions have to be obtained numerically. Solution 6.10 60, «,=0.4 Figure E.10 MATLAB program used to generate figure for Exercise 6.10 function Exercise6_10 alp={60, 6]; to={0.1,1]; 0.25; 7-0. linspace(0,¢,600); 159 ‘©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 6 for k=1:2, [ttyy}-odes5(@od,{0,35],(0 0},1,2,0,1,t0(k),alp(k));, plot(ttyy(:,1),col(k:)) hold on 142,[0,35],(0 O}.0.2); xlabel( size 14) ‘ylabel(x(\tau)/F_o''fontsize',14) [a, bl-legend(("alpha-" num2st(alp(1) tau_o=" ‘num2str(to(1)). Crap num2strto@2))|S set(b(1),'fontsize’,14) function hh~Sigmoid(a,b,t0,v0) hh=atb /(1+exp(vo*(to-t))); function yy=odtt.y,7,,b,to,v0) yO) 2*24¥2)}-y(1 10id(.a,b,t0,v0)]; funetion yy=od2(ty,2) yyrty(2)s-24z4y2)-y()+ Section 6.6 6.11 Determine the response of the damped second-order system described by H() + ci() + a(t) = FO to the rectangular pulse shown in Figure £6.12. Plot the displacement response for m = 1 kg, $= 0.1, a= 4 rad/s, fy = 1 N, and t, = Solution 6.1 Using Eqs. (6.52), (6.56), (6.57), and (6.8), we have x)= Lfecou— st )ut-)] where sin(@,t+ 9) From the given values, 160 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions te Exercises ~ Chapter 6 rad $0, =0.1x4=0.4 rad/s ff. 19.9625 m k mon 1x# an. 2 4 6 8 10 1@) Figure £6.11 ‘MATLAB program used to generate figure for Exercise 6.11 wn=4; 70.1; t1= vwd=wn*sqrt(1-22); phiratan(sqrt(1-2"2)2);, Aefolm/wn’2; ‘gt-inline(1-exp(-z* wn*t).*sin(wd*tphi) tlinspace(0,10.200); Xt=A4(at(twn,wd,z,phi)-at(t-t1,wn,wdz,phi).(>=t1)); fo=1; 161 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 6 6.12 Plot the energy density and then determine the bandwidth of the following pulse: f() =0.5(1-coso,t)[u() -u(t-27/@,)] Solution 6.12 Let f= ata, then F(0)=0.5(1-cose,t)[u(t)—ut-1,)] =0.5[u(t)—u(t-1,)]-cose,t[u(t) —u(t-1,)] We notice that os @, (¢-2/@,)]= [o(~-4)] Then FO=R(-hO where (= 0.5[u()—uer~1,)] A(t) =0.5cos(a,) u(t) —0.5cos[a, (t—t,)]u(t-1,) Taking the Laplace transform of /(#), we find that F(s)=G(s)-H(s) where, from pair 8 of Table A, and from pairs 3 and 18, 0.58 H(s)= Then, [Note: This result could have been obtained directly from the definition of the Laplace transform by performing the respective integrations] 162 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 6 The magnitude of the amplitude spectrum is obtained by making the substitution s = jo and then determining the magnitude of this quantity. Thus, ) 05 al(1-0°/0;)) [1-2e0ser, +c0s* or, +sin* or, |” which can be written as 4, \FUa)|= 3} ‘The cutoff frequency @, is determined from the value of the ratio @/a, that is a solution to 1 1-22 /o,' in(x@, /,) F Uo.) 0,10, 1/2 ‘After using the MATLAB function £2ero, we find that @/@, = 0.720. ‘The plot of the amplitude density is shown below. 163 ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 6 05) 04s} 04] 0.35} “I 0.5} Foyt) 5 on .05| — = 05 1 15 2 Figure £6.12 ‘MATLAB program used to generate figure for Exercise 6.12 Om=Hinspace(0.01,3,101); F-{0.5 0.5*abs(sin(pitOm).(pi#Om)).*abs(1 (1-Om/2))} plot((0 Om),F,k-) xlabel(\omega/iomega 0, fontsize'14) ylabel(|F(jiomega)'Of'fontsize’4) 164 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 7 Solutions to Exercises Chapter 7 Section 7.2.1 7.1 Consider the “small” amplitude motions of the pendulum-absorber system shown in Figure 7.9 and derive the equations of motion by using force-balence and moment- balance methods. TA The free-body diagram of the system is shown at the right, along with the inertial forces. We have used Eqs. (f) of Example 1.1 me to construct this figure. The summation of the = fo forces in the horizontal direction and the sum of | +=— ae the moments about the pivot of the pendulum gives, respectively, Solu | -m Wdsino +800) I 1m i-+m,i+m, (Lb cos0— 16" sind) + ‘mt +1 (LBcond— 14" sind) ke=f) m, 06 +m,kLcos0 +m,gLsin@ =0 mi+m,i-+m, (L6.cos0- 16" sind) + k=f) m,L6 + m,iLcos0 +m,gLsin 0 =0 Considering ‘small” angular oscillations about the equilibrium position, we obtain (m, +m, )¥+m,LO + ke = f(0) m,L6 +m,L +mgL0 =0 which agrees with Eq. (h) of Example 7.7. 7.2 Derive the equations of the hand-arm system treated in Example 7.11 by using force- balance and moment-balance methods for “large” and “small” oscillations about the nominal position. Solution 7.2 The equations of motion will be obtained by carrying out a force balance along the horizontal direction for masses my and m2, a force balance along the horizontal and vertical directions about the center of mass of the rigid body m3, and a moment balance about the pivot point at the lower end of mass ms. The free-body diagram for the masses ‘m,, m2, and ms are shown below, along with the inertia forces and moments. 165 ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 7 toca Aix) ~~ kay), kG) «(aa | es) slim) ka (0 +) +en6, The governing equations of motion for large os From kinematies, we have lations are obtained as follows. 5, = 8, ~ 1,6, sin(9 +0.) - 1,6; cos(0 +.) Say = 55 + L,8,c05( +0,) - 1,6 sin(5 +0) x =%+L008(0+0,) and 5, =%,-16,sin(O-0,) y= +Lsin(G+0,) and J, = 3, + 10,c05(0+0,) Force balances along the horizontal direction for the masses m; and m, lead to mi, + (ky +k) x, hax, + (c+ ey) 5% gt, = hx, +e, @ imi, + (by +) 44 kam — es +(e, +65) yep eps =0 * Considering mass ms and carrying out a force balance along the horizontal direction and a force balance along the vertical direction results in m,| 8, ~1,6,sin(4-+0,) ~ 1,63 e0s(8+8,) |+(k, +k) +k Leos(9 +8,) + (c, +e) esx, ~e,0,Lsin(8 +0, a ae oe © m,| 5i,+1,0,c0s(0+0,) -1,6% sin(O +0,) |+k,| », +2, sin(+0,)] +65[ 5, + £,0,008(6 +8,) |+mg =0 ky Carrying out a moment balance about the pivot point at the lower end of the mass m3 leads to Iygbj — msi gL, in (5 +8,) + m,5i gL, 008(0-+0)) +k, (9+8,) + c,.0, —k,x,Lsin( +0,) —¢,i,Lsin(0 +6.) +k,y,Le0s(0+6,) ) +e,j,Lc0s(5 +0.) +mgl, cos(6 +8) =0 166 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 7 After substituting for ¥,,,s.,%s4,Js» and j, and rearranging terms, we obtain [Ye + mE; J6, +m, [-X, sin(6 +0) + 5,005(0+6,)]+k,(0+8,) ~kLsin(9-+6,)| x, + Leos(9+0,)]+k,Lc0s(4 +6,)| y, + Lsin(d+0,)] +¢,6;~cLsin(0 +0,)] %, - 16,sin(d+0,)] +e,Lc05(0+0,)| 3, + 10, cos(d +0) ]+mgb., cos(3-+8,) =0 © Equations (a), (b), and (c) are the equations of motion for large oscillations. Linearization and governing equations of motion for “small” oscill: We now linearize the nonlinear system of equations given above about the nominal position to describe “small” oscillations about this position. To this end we use the ‘Taylor series expansions sin(9+0,) ~sind +0, cos cos(d+0,) = cos-0, sind ‘Making use of these expansions in the nonlinear equations of motion and retaining only linear terms, we obtain the following system of linear equations that can be used for smail oscillations. mi, +(k, +k) a + (6, +6) Gt, = hx, ted, —C,% =0 mks + (ly hy) % hax hax +(6, +6) Gy kL, sind Loos6 1,6, sin |+(ky +h.) 45% +) 3% —G%, —¢,L6, sin m,[ 5, + 1,0, 0080 ]+k.[ y, + £8, c0s0] +c,{ , + L8,cos0|=-m,g—kLsind ind (Jag mF; )6, + mL, [- j, 0080 | +k,,0, —kyLsind| x, - 10, sind | 20, 00s? 8+ k,L.00s6| y, + L0, cos |- 170, sin” 8 +00, —c,LsinO[ x, - 18, sind |+ ¢,Lcos6[ J, + £0, cos |-m,gt,0, sin = —mgl, 0080 —k, 6 +(k, -k,) 2 sin cos ‘These equations can be assembled in the following matrix form 167 ©2009 Cengage Leaming, ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 7 m0 0 0 0 i 0 m 0 0 0 ¥ 0 0 m; 0 mL, sin |} x, b+ 0 0 0 m, mL, C088 || 5, 0 0 -mL,sind m,L,cosd Jy, +m? ||6, G+, -C, 0 0 0 x, “Gt 0 offs -¢, ete, 0 ~c,Lsin8 |) b+ 0 0 0 & c,Leosd || j, 0 0 -c,Lsind c,Lcosd C55 6, kth ky 0 0 0 x kx, tex, -k kth -k 0 0 lia, 0 0 -k, kth, 0 -k,Lsin6 |} x,4=4 -k,Leosd 0 0 0 ky k,Lcos6 || y,| |-myg—k,Lsind 0 0 6 6 ky |18 6, where 65 =¢5 +¢,17 sind +c,1? cos gg = ky +E (sin? O—cos* 8) + kL? (cos* O-sin® 6)—m.gh, O, =-m,gl, cos —k,,6 +(k,—k,) E sind cos It is clear from these equations that the system inertia, damping, and stiffness matrices are symmetric matrices. These equations form a system of five second-order ordinary differential equations that can be used to study “small” motions about the nominal position 0. It is noted that this position is not an equilibrium position, but rather an operating point where 8=0. It is noted also that depending on the application, linearization of a nonlinear system may need to be carried out about a reference position different from the equilibrium position. 7.3 A container of mass me is suspended by two taut cables of length L as shown in Figure E7.3. The tension in the cables is 7,. Inside the container, a mass m is elastically supported by a spring k. a) Determine the equivalent spring constant for the cable-mass system and sketch the equivalent vibratory system. b) For the equivalent system determined in part (a), determine the equations governing the motion of this system. 168 ©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 7 Solution 73 (@) Let the mass m. move only in the vertical direction by an amount xy. If )ry/Z| << 1, then from Eq. (d) of Example 2.8 the ‘equivalent spring constant for this two cable combination is 2r L The vibratory system can be modeled as shown at the right. k, (©) For oscillations about the static equilibrium position, the equation of motions are obtained form Eq. (7.1a) by noting that kt = keg, C1 = 02 = = 0, ke = k, my = mg and m, =m. ‘Thus we obtain im. + (ke + KX, — hey mK, + ey — ko, 7.4 A two degree-of-freedom system with a nonlinear spring element is described by the following system of equations: mk, +x, +x; +k, (x, =x) + a(x, — x) my +h (x —) + hax, —%)" Determine the system equilibrium positions. Assume that m, mp, ki, and ky are positive and qis negative. Solution 7.4 The system equilibrium position (x10, x20) is a solution to the algebraic equations Bi, + 0% + (Sy ¥p.) +a, —¥,)' =O Ka (x, — x.) +h (a —%) = 0 From the second equation, we see that xip= 2x2 Therefore, from the first equation, we obtain Kx, tax, =0 which leads to Since @ < 0, we have two additional equilibrium positions apart from the trivial equilibrium point. ‘Thus, the system has three equilibrium positions. 169 (©2009 Cengage Leaming. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 7 Section 7.2.3 7.5 Derive the equations of motion of the systems shown in Figures E7.5a and E7.5b and present the resulting equations in each case in matrix form. Solution 7.5 ‘The governing equations of motion can be obtained by using either force balance or Lagrange’s equations. (@) The system shown in Figure E7.5a is a special case of the system shown in Figure 7.Ja, and the solution can be obtained directly from Eqs. (7.5b); that is, the mass, stiffness and damping matrices are given by ‘m 0 0 [M]=|0 m0 0 0, kth -k 0 [K]=| -b bth Wh ° =k ky thy qty, (0 [l=] -a ate -e 0-4 Gty and the governing equation of motion is ¥ 4 x) (0 [v]} ¥ p+1C]})% $+[K]y p= 40 % ES fe (0) where x1, x2, and x3, are used to represent the displacements of masses m, m2, and ms, respectively. ‘The equations can also be obtained using Lagrange’s equations. The kinetic energy, the potential energy, and the Rayleigh dissipation function are, respectively, eee Le im? +imi +m 2 2 2 12,1 2, 1 2,1, 2 V =—kx? += (x, - x) +k, — =k, ph +h my + pha) +k ereees sa sscssateaeasmaasess liz sail +7044) + eC 8) + pe From Eq. (7.7), and noting that we do not have any extemal forces, the Lagrange equations are 170 (©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions te Exercises ~ Chapter 7 which yield mi, + hx, +h) — x) +64 +68, -4) = 0 44) + (4 — 4) A — 2) + Ga 9) = 0 gy — 05 —%s) + Cah — hy — 5) + ek = 0 ms, ~ O,(%, ‘These equations can be rewritten as =0 IMS + (Cy + C3) ¥q ~ Cok, — Cys + (hy + Ke )Xa — bax Bx = 0 Ms, + (Cy + C4 Vhs — Cha + (hy + hy )X5 — hgh = 0. my + (ky + hy) — baXy + (6, + 05) — C2%y Placing these equations in matrix form gives the same form as that shown above. (b) For the system shown in Figure E7.5b, we again use x), x2, and xs, to represent the displacements of masses my, mz, and ms, respectively. Then, the kinetic energy, potential energy, and the Rayleigh dissipation funetion are determined to be 2g dy tg? mai + maka tym iA Eg (s a) Fh a) +S 5) 4 kd D=teai +e -ay ey # Using the Lagrange equations given in Part (a), we obtain mix holm) h(a) Heh, Healy —H) =O m%, ~~) +h, — 4) = 0 mis — 64 ~ ¥3) + Cs ~ hy (Xp — %3)— hy = ¥4) + kX = 0 ‘These equations can be rewritten as Imi, + (+ ky + ka) — fata — has +(G, + ee) ee: MS + (hy + hy) — kaX — bX (ky + he) hots — kya =0 yi +(e, +65)%5— Putting these results in matrix form yields m1 (©2009 Cengage Learning, ALL RIGHTS RESERVED.Solutions to Exercises — Chapter 7 m 0 0 [¥]=|0 m 0 0 0 m, Kthth Wk ky [K]=| -h thy hy ak, mk kth th, 4 0 ete, and the governing equation is of the form ¥ % x) (0 [M]}% p+[C]}% p+[K]} 5} =40 Ea a x} [0 716 Derive the equations of motion for the model of an electronic system mp contained in a package mi, as shown in Figure E7.6, and present them in matrix form. Solution 7.6 Let x; and x2 be measured from the static equilibrium position of masses m and ma, respectively. Furthermore, let x3 be a prescribed displacement. ‘The kinetic energy, potential energy, and the Rayleigh dissipation function are, respectively, T= jms + imi? Kasay thay (3-8) + LeG 4) From Eq. (7.7), and noting that we do not have any extemal forces, we obtain the Lagrange equations $(Z) ar aD av 2(S)-2 4, at\ a, ) a,” ai,” ax, pai ft late tad ioe at\ a) ex,” Gi which yield mB — G(s — 8) + 6% — Hp) — hy(%3 — 41) +H —) = 0 myXy ~ (4, — %)— ky —)=0 172 (©2009 Cengage Learning. ALL RIGHTS RESERVED,Solutions to Exercises ~ Chapter 7 These equations can be rewritten as mi, + (ky +b) bax + (6, +.) ny =e HS Imps + Gy, Cp + 2% Hk, = 0 Putting these results in matrix form yields m 0 |f%, el kth, kh) f% | qte, -@] fm] _ fat thx 0 mile) Lh ble Be Gilalial: 20 Note that gravitational loading has not been considered, because oscillations around the static-equilibrium position have been assumed. 7.1 Derive the equations of motion of the vehicle model shown in Figure E7.7. Solution 7.7 Assuming that the displacements yi, y2, and ys, are measured from the static equilibrium and y, is a prescribed displacement, the kinetic energy, the potential energy, and the Rayleigh dissipation function are, respectively, Pasms?+tmjt+tm,je pms tymaia ty msIs al ol 2 Vash.) +g han) +7 ha — I) 1 ‘ 1 . 1 2 D=zah.- I) +zAa— HW) +7) From Eq. (7.7), and noting that we do not have any extemal forces, we obtain the Lagrange equations a which yield m3, — Ks) adh m,3y a. — 2) + Ka — Ys) + x2 ~ Ya) ~ Ca Fe = Ia) + Ga — i) + Da — Ir ms — kya — Ys) a — Is) = ‘These equations can be rewritten as 173 (©2009 Cengage Learning. ALL RIGHTS RESERVED.Solutions to Exercises ~ Chapter 7 my, + bY, — kyr + O91 — 9, =0 MS. + (ky + hy +h) Va yy kaa + (Cp +0, + )P2 — OH Css = He HOI. mJ, + ks — kya t+ Is — C552 =0 7.8 Derive the equations of motion of the pendulum absorber shown in Figure E7.8 for large oscillations and then linearize these equations about the static-equilibrium po: corresponding to the bottom position of the pendulum. Present the final equations in matrix form. Solution 7.8 Let x be measured from the initial position of the system. The position vector of the pendulum mass from point O and the corresponding velocity vector are, respectively, 1, =—lsingi+(x-leosg)j -Ipcosgi +(+/@sing)j ‘Then, the total kinetic energy is 7 1 ui? +1 m(y, Cy, ) 2 2 Pah 1 2 1 2 Me + jm[6* cos’ 9 +. Fe +m)x + imi +mligsing ‘The total potential energy is and the dissipation function is ‘The Lagrange equations are 174 ©2009 Cengage Learning, ALL RIGHTS RESERVED. Feit +} ml (-Iacoso)' + (3 +19sing)] ? + 2ilpsing +1°¢" sin’ ] kx? +mg(x—lcosp)+ Mgx ec +(M + m)gx—mgleosp