Oscillat

Mechanics Oscillations - 1 David Apsley
MECHANICS, TOPIC F: OSCILLATIONS AUTUMN 2003

1. Introduction
1.1 Overview
1.2 Degrees of freedom

2. Undamped free vibration
2.1 Generalised mass-spring system
2.2 Natural frequency and simple harmonic motion
2.3 Amplitude and phase angle
2.4 Fixing the solution from initial conditions
2.5 Displacement from equilibrium
2.6 Small oscillations
2.7 Derivation of the SHM equation from energy principles

3. Damped free vibration
3.1 The equation of motion
3.2 Levels of damping

4. Forced vibration
4.1 Mathematical expression of the problem
4.2 Static load
4.3 Undamped forced vibration
4.4 Damped forced vibration

Examples
Answers

1. INTRODUCTION

1.1 Overview

Many important dynamical problems arise from the oscillations of systems responding to
applied disturbances in the presence of restoring forces. Examples include:
response of a structure to earthquakes;
human-induced structural vibrations (e.g. pop concerts);
flow-induced vibrations (e.g. chimneys, pipelines, power lines);
vibration of unbalanced rotating machinery.

We shall see that many systems displaced from a position of equilibrium have a natural
frequency of vibration which depends upon its resistance to motion (inertia) and the strength
of restoring forces (stiffness). If the system is left to oscillate without further input of energy
this is referred to as free vibration.

On the other hand, the examples above are mainly concerned with forced vibration; that is,
oscillations of a certain frequency are imposed on the system by external forces. If the
applied frequency happens to coincide with the natural frequency then there is considerable
transfer of energy and resonance occurs with potentially catastrophic consequences.

In general, all systems are subject to some degree of (deliberate or natural) frictional damping
that removes energy. A freely-vibrating system may be under-damped (oscillates, but with
gradually diminishing amplitude) or over-damped (so restricted that it never oscillates).
When oscillatory forces act on structures, damping is a crucial factor in reducing the
amplitude of vibration.

1.2 Degrees of Freedom

Many systems have several modes of vibration. For example, a long power line or suspended
bridge deck may gallop (bounce up and down) or it may twist and untwist (torsional mode).
Here, for simplicity, we shall restrict ourselves to single-degree-of-freedom (SDOF) systems;
that is, those whose configuration can be described by a single variable such as a
displacement x or an angle . The equation of motion then describes the variation of that
parameter with time.

Examples of dynamical systems and their degree of freedom are:
mass suspended by a spring (vertical displacement);
pivoted body (angular displacement).
In both systems, oscillations occur about a position of static equilibrium in which opposing
forces balance.

2. UNDAMPED FREE VIBRATION

The oscillatory motion of a system displaced from stable equilibrium and allowed to adjust in
the absence of externally-imposed forces is termed free vibration. If there are no frictional
forces the motion is called undamped free vibration.

2.1 Generalised Mass-Spring System

This is a general model for a linear free-vibration problem. It doesnt physically have to
correspond to masses and springs.

m
k
x

A generalised mass-spring system is one for which the resultant force following displacement
from equilibrium is a function of the displacement and of opposite sign. For ideal springs
and, in practice, for small displacements the relationship is linear:
kx F = (1)
k is called the stiffness or spring constant or modulus. For a spring, k is measured in Newtons
per metre (N m
-1
). The equation of motion is then
kx
t
x
m =
2
2
d
d
(2)

2.2 Natural Frequency and Simple Harmonic Motion

To solve (2) note that x m k t x ) / ( /d d
2 2
= and hence we must look for solutions whose
second derivative is proportional to the solution and of opposite sign. The obvious candidates
are sine and cosine functions. The general solution (with two arbitrary constants) may be
written in either of the forms:

t D t C x
t A x
cos sin
) sin(
+ =
+ =
(3)
where

inertia
stiffness
m
k
= = (4)

Any system whose degree of freedom evolves sinusoidally is said to undergo simple
harmonic motion (SHM). is called the natural (circular) frequency and is measured in
radians per second (rad s
-1
). The equation of motion is usually written as
x
t
x
2
2
2
d
d
= or 0
d
d
2
2
2
= + x
t
x
(5)

One complete cycle is completed when 2 = t . Hence:

period of oscillation:
2
= T (6)
natural frequency:
2
1
= =
T
f in cycles per second or Hertz (Hz) (7)

Note that it is widespread practice to refer to rather than f as the natural frequency. Where
there is doubt, specify the units as rad s
-1
or cycles s
-1
(= Hz).

2.3 Amplitude and Phase Angle

The general solution (two arbitrary constants) may be written
t D t C x
t A x
cos sin
) sin(
+ =
+ =

The first of these is called the amplitude/phase-angle form. The two forms are easily
interconverted as follows.

Expand the amplitude/phase-angle form:
) sin cos cos (sin ) sin( + = + = t t A t A x
Compare with the second form and equate coefficients of sin t and cos t to obtain
= = sin , cos A D A C
Eliminating and A in turn gives:
amplitude
2 2
D C A + =
phase angle ) / ( tan
1
C D
=

Note that there are two alternative values of with the same value of tan . These may be
distinguished by determining whether C and D are both positive or both negative.

Example. Write the following expressions in amplitude/phase-angle form, ) sin( + t A :
(a) t t 3 sin 5 3 cos 12 +
(b) t t 2 sin 3 2 cos 4

(a) = 3, A = 13, = tan
-1
(12/5) = 1.18 radians or 67.4.
(b) = 2, A = 5, = tan
-1
(4/3) = 2.21 radians or 126.9. (Be careful!)

Example. (Meriam and Kraige). Two fixed counter-rotating pulleys a distance 0.4 m apart are
driven at the same angular speed
0
. A bar is placed across the pulleys as shown. The
coefficient of kinetic friction between bar and pulleys is
k
= 0.2. Show that, if the bar is
initially placed off-centre, then it will undergo SHM and find the period of oscillation.

0.4 m
x
mg
0

0

2.01 s

2.4 Fixing the Solution From Initial Conditions

The equation of motion gives rise to a second-order ordinary differential equation which,
when integrated, yields two arbitrary constants of integration. These may be evaluated if two
additional boundary conditions are specified: typically the initial displacement x
0
and initial
velocity
0
) /d d ( t x .

Example. For the system shown, what is (a) the equivalent single spring; (b) the natural
circular frequency ; (c) the natural frequency of vibration f; (d) the period of oscillation;
(e) the maximum speed of the cart if it is displaced 0.1 m from its position of equilibrium and
then released.
10 kg
k=100 N/m
k=60 N/m
x

(a) k = 160 N m
-1
; (b) 4 rad s
-1
; (c) 0.637 Hz; (d) 1.57 s; (e) 0.4 m s
-1

2.5 Displacement From Equilibrium

For linear systems it is the displacement from a position of static
equilibrium that is important, rather than the absolute displacement.

Consider a mass suspended by a spring. There is an equilibrium
extension y
e
given by balancing weight mg and restoring force ky
e
:
k
mg
y ky mg
e e
= =

The general equation of motion, with both elastic and gravitational forces, is
) (
d
d
2
2
k
mg
y k
mg ky
t
y
m
=
+ =

m
mg
k
m
ky
y

or, writing
uilibrium nt from eq displaceme
k
mg
y Y = =
and noting that
2
2
2
2
d
d
d
d
t
y
t
Y
= , then
kY
t
Y
m =
2
2
d
d

Thus, it is the displacement from static equilibrium that determines the net restoring force. If
we work with an equation for Y then the gravitational contribution is eliminated.

Example. A block of mass 16 kg is suspended vertically by two light springs of stiffness
200 N m
-1
. What is (a) the equivalent single spring; (b) the period of oscillation.

16 kg
k=200 N/m k=200 N/m

(a) k = 400 N m
-1
; (b) T = 1.26 s

Example. A 4 kg mass is suspended vertically by a string of elastic modulus E = 480 N and
unstretched length 2 m. What is its extension in the equilibrium position? If it is pulled down
from its equilibrium position by a distance 0.2 m, will it undergo SHM?

0.1635 m; no (string becomes unstretched).

2.6 Small Oscillations

Small-oscillations problems typically occur when there is restricted motion about a fixed
point i.e rotation and rely on the approximations

) - 1 sometimes, or, ( 1 cos
sin
2
2
1
(8)
when is measured in radians. These may be
derived formally by power-series expansion, but
their essential validity is easily seen geometrically
(see right).

The following table shows that the approximation for sine is accurate to about 1% or better
for angles as large as 15. If a structural member were actually displaced by this much then
oscillation would be the least of your worries!
(degrees) 5 10 15 20
(radians) 0.0873 0.175 0.262 0.349
sin 0.0872 0.174 0.259 0.342

2.6.1 Oscillations Driven by Gravity

The simplest small-oscillation problems are pendulums objects swinging freely under
gravity.

In a simple pendulum all the mass is concentrated at one point. This can be treated using the
force-momentum principle.

In a compound pendulum the mass is distributed; the system must be analysed by rotational
dynamics. Many bodies are effectively pivoted about one point and, therefore, constitute a
compound pendulum.

Simple Pendulum

Two forces act on the mass: its weight mg and the tension in the string. The
latter can be eliminated if we resolve in the tangential direction:
R( )
2
2
d
d
sin
t
mL mg =
sin
d
d
2
2
L
g
t
=
For small oscillations, sin , so that
d
d
2
2
L
g
t
=
This is SHM with natural frequency
L
g
= .
mg
L
L
..
T
L
. 2
sin
1

Compound Pendulum

Since this is an extended body and not a point mass it must be treated by rotational
mechanics.

Two forces act on the body the weight of the body (which acts through the centre of
gravity) and the reaction at the axis. Only the former has any moment about the axis.

Let the distance from axis to centre of gravity be L and let the angular
displacement of line AG from the vertical be .

The line of action of the weight Mg lies at a distance L sin from the
axis of rotation, and hence imparts a torque (or moment) sin MgL in
the opposite sense to :
2
2
d
d
sin
t
I MgL
momentum angular of change of rate torque
=
=

Making the small-oscillation approximationsin , one has
0
d
d
2
2
= +
I
MgL
t

This is SHM with natural circular frequency
I
MgL
= .

Example. A uniform circular disc of radius 0.5 m is suspended from a horizontal axis passing
through a point halfway between the centre and the circumference. Find the period of small
oscillations.

1.74 s
L
Mg
A
G

Example. A pub sign consists of a square plate of mass 20 kg and sides 0.5 m, suspended
from a horizontal bar by two rods, each of mass 5 kg and length 0.5 m. The sign is rigidly
attached to the rods and swings freely about the bar. Find the period of small oscillations.

1.70 s

2.6.2 Oscillations Driven By Elastic Forces

Example. A uniform bar of mass M and length L is allowed to pivot about a horizontal axis
though its centre. It is attached to a level plane by two equal springs of stiffness k at its ends
as shown. Find the frequency of small oscillations.

L
k
k

M
k 6
=
The Dog
and Duck
0.5 m
0.5 m
0.5 m

2.7 Derivation of the SHM equation from Energy Principles

For a body, of mass m, subject only to elastic forces with stiffness k, the total (i.e. kinetic +
potential) energy is constant:
constant kx mv = +
2
2
1
2
2
1

and, hence, differentiating with respect to time gives
0 ) (
d
d
2
2
1
2
2
1
= + kx mv
t

or, by the chain rule for each term:
0
d
d
) (
d
d
d
d
) (
d
d
2
2
1
2
2
1
= +
t
x
kx
x t
v
mv
v

0
d
d
d
d
= +
t
x
kx
t
v
mv
Replacing v by dx/dt:
0
d
d
d
d
d
d
2
2
= +
t
x
kx
t
x
t
x
m

Finally, dividing by dx/dt:
0
d
d
2
2
= + kx
t
x
m

Example. (Examination, January 2003).
A sign of mass M hangs from a fixed support by two rigid rods of negligible mass and length
L (see below). The rods are freely pivoted at the points shown, so that the sign may swing in
a vertical plane without rotating. the rods making an angle with the vertical.

(a) Write down exact expressions for the potential energy and kinetic energy of the sign
in terms of M, L, g (the aceleration due to gravity). the displacement angle and its
time derivative
&
.
(b) If the sign is displaced an angle = /3 radians and then released, find an expression
for its maximum speed.
(c) Find an expression for the total (i.e. kinetic + potential) energy using the small-angle
approximations sin ,
2
2
1
1 cos .
(d) Show that, for small-amplitude oscillations, the assumption of constant total energy
leads to simple harmonic motion, and find its period.

M
L L

3. DAMPED FREE VIBRATION

All real dynamical systems are subject to friction, which opposes relative motion and
consumes mechanical energy. For a system undergoing free vibration, we shall show that:
moderate damping decaying amplitude and reduced frequency;
excessive damping prevents oscillation altogether.
The level at which oscillation is just suppressed is called critical damping.

3.1 The Equation of Motion

The direction of friction is such as to oppose relative motion. For a frictional force that
depends on velocity, the damping force is often modelled as

t
x
c F
d
d
d
= (9)
c is the viscous damping coefficient. If x is a displacement then c has units of N s m
-1
. In
practice, c may vary with velocity, but a useful analysis may be conducted by assuming it is a
constant, in which case the damping is termed linear.

m
k
x
c

The equation of motion for a damped mass-spring system is
t
x
c kx
t
x
m
d
d
d
d
2
2
=
or
0
d
d
d
d
2
2
= + + kx
t
x
c
t
x
m (10)
Dividing by m, this can be written
0
d
d
) (
d
d
2
2
2
= + + x
t
x
m
c
t
x
(11)
where m k/ = is the natural frequency of the undamped system.

The undamped system (c = 0) has solutions of the form ) sin( + t A . In the presence of
damping we expect the solution to decay in magnitude and have a slightly different
frequency. Hence we try solutions of the form
) sin( + =

t Ae x
d
t
(12)
where A and are arbitrary constants and and
d
are to be found. Successive
differentiations give, after some algebra,
)] cos( 2 ) sin( ) [(
d
d
)] cos( ) sin( [
d
d
2 2
2
2
+ + =
+ + + =
t t Ae
t
x
t t Ae
t
x
d d d d
t
d d d
t

Substituting these into (11) and collecting coefficients of ) cos( + t
d
gives:
0 2 = +
d d
m
c

whence
0 ) 2 ( =
m
c
d

Hence. either
d
= 0 (no oscillation) or the exponential decay constant is given by

m
c
2
= (13)

Similarly, collecting coefficients of ) sin( + t
d
gives:
0
2 2 2
= +
m
c
d
(14)
Assuming initially that oscillation is possible. we may substitute for and rearrange for
2
d
:
] )
2
( 1 [
2 2 2
m
c
d
=
The RHS is positive - and hence oscillation is possible if and only if the damping ratio

2m
c
= (15)
is less than 1.

If > 1 then an oscillatory solution of the form (12) is not possible: the general solution is a
combination of two decaying exponentials
t t
Be Ae x
2 1

+ =
where
1
and
2
are the roots of (14) when
d
= 0.

If = 1 the above two roots are equal: the appropriate solution is then of the form
t
e Bt A x ) (

+ =
This is the point where the system just fails to oscillate. We say that it is critically damped.

3.2 Levels of Damping

Summarising the analysis of Section 3.1, the damped mass-spring equation
0
d
d
d
d
2
2
= + + kx
t
x
c
t
x
m
has solutions that depend on

undamped natural frequency:
m
k
=
damping ratio:
2m
c
=

Case (1): = 0. Undamped system (c = 0)
The general solution may be written
) sin( + = t A x (16)

Case (2): 0 < < 1. Under-damped system (0 < c < 2m )

The general solution may be written
) sin(
2
+ =

t Ae x
d
m
ct
(17)
where

2
1 =
d
(18)

Note that there is oscillation with:
reduced amplitude, decaying exponentially as
t
e

reduced frequency,
2
1 =
d

The amplitude reduction factor over one cycle ( 2 = t
d
or
d
t / 2 = ) is
}
1
2
exp{
2
(19)
and this may be used to determine the damping ratio experimentally.

Case (3): = 1. Critically-damped system (c = 2m )

The general solution has the form

t
e Bt A x ) (

+ = (20)
There is no oscillation and the amplitude decays to zero.

Case (4): > 1. Over-damped system (c > 2m )

The general solution is of the form

t t
Be Ae x
) 1 ( ) 1 (
2 2
+
+ = (21)
There is no oscillation and the amplitude decays to zero more slowly with greater
damping.

Key Points
(1) The effect of damping depends on the damping ratio
2m
c
= .
(2) If 1 the system is under-damped, with:
decaying-amplitude
t
e

reduced frequency
2
1 =
d

(3) If > 1 the system is over-damped and no oscillation occurs.
(4) The fastest return to equilibrium occurs when the system is critically damped ( = 1).

Example
m = 1 kg, k = 64 N m
-1

= 8 rad s
-1

x
0
= 0.05 m, 0 ) /d d (
0
= t x .

Cases:
c = 1.6 N s m
-1
( = 0.1)
c = 16 N s m
-1
( = 1)
c = 64 N s m
-1
( = 4)

Exercise. Use Microsoft Excel or any other computer package to compute and plot the
solution for various combinations of {mass, stiffness, damping} = {m, k, c}.

Example. Analyse the motion of the system shown. What is the damping ratio? Does it
oscillate? If so, what is the period? What value of c would be required if the system is to be
critically damped?

40 kg
c=60 N s/m
k=700 N/m

It oscillates with = 0.179, T = 1.53 s; for critical damping, c = 335 N s m
-1

Example. Find the solution of the equation
0 10
d
d
2
d
d
2
2
= + + x
t
x
t
x

such that x = 3 and 0 /d d = t x at t = 0. By what factor is the amplitude reduced over each
cycle?

) 3 cos 3 3 (sin t t e x
t
+ =

. The amplitude is reduced by a factor
3 / 2
e at each oscillation.

4. FORCED VIBRATION

Systems that oscillate about a position of equilibrium under restoring forces at their own
preferred or natural frequency are said to undergo free vibration.

Systems that are perturbed by some externally-imposed oscillatory forcing are said to
undergo forced vibration. Examples which may be encountered in civil engineering are:
concert halls and stadiums;
bridges both traffic- and wind-induced oscillations;
earthquakes the lateral oscillations of the foundations are equivalent to oscillatory
forcing in a reference frame moving with the surface.

The natural frequency and damping ratio are important parameters for systems responding to
externally-imposed oscillations. Large-amplitude vibrations occur when the imposed
frequency is close to the natural frequency (the phenomenon of resonance). In general, the
systems free-vibration properties will affect both amplitude and phase of response to
external forcing.

4.1 Mathematical Expression of the Problem

m
k
x
c
F sin t
0

The general form of the equation of motion with harmonic forcing is
t F kx
t
x
c
t
x
m sin
d
d
d
d
0
2
2
= + + (22)
or
t
m
F
x
t
x
m
c
t
x
sin
d
d
) (
d
d
0 2
2
2
= + + (23)
where the undamped natural frequency is given by
m
k
=
2

Second-order differential equations of the form (23) will be dealt with in more detail in your
mathematics course next semester. The general solution is the sum of a complementary
function (containing two arbitrary constants and obtained by setting the RHS = 0) and a
particular integral (which is any particular solution of the equation and is obtained by a trial
function based on the nature of the RHS). The complementary function is a free-vibration
solution and, if there is any damping at all, will decay exponentially with time. The large-
time behaviour of the system, therefore, is determined by the particular integral which, from
the form of the RHS, should be a combination of sin t and cos t.

4.2 Static Load

A useful quantity for comparison is the displacement under a steady load F
0
, rather than a
variable load t F cos
0
. The steady-state displacement x
s
is given by
0
F kx
s
=
i.e.

2
0 0
m
F
k
F
x
s
= = (24)
This is simply the position of static equilibrium.

4.3 Undamped Forced Vibration

In the idealised case of no frictional damping, the equation of motion is
t
m
F
x
t
x
sin
d
d
0 2
2
2
= +
The form of the forcing function suggests a particular integral of the form t C x sin = . By
substitution, one finds that this satisfies the equation of motion if

2 2 2 2
0
/ 1 ) (
=
=
s
x
m
F
C (25)
where, as above,
2
0
/m F x
s
= is the displacement under a static load of the same amplitude.

Hence the magnitude of forced oscillations is Mx
s
, where the amplitude ratio or
magnification factor M is given by

2 2
/ 1
1
= M (26)

Key Points

(1) The response of the system to external forcing depends on the ratio of the forcing
frequency to the natural frequency .

(2) There is resonance (M ) if the forcing frequency approaches the natural
frequency ( ).

(3) If < the oscillations are in phase with the forcing (because the system can
respond fast enough).

(4) If > the oscillations are 180 out of phase with the forcing (because the imposed
oscillations are too fast for the system to respond).

4.4 Damped Forced Vibration

The ultimate, most complete analysis of vibrations for a SDOF oscillating system is for
forced motion with damping. The equation of motion is
t
m
F
x
t
x
m
c
t
x
sin
d
d
) (
d
d
0 2
2
2
= + +
Because of the dx/dt term, a trial solution for the PI must contain both t sin and t cos .
Substituting a trial solution of the form
t D t C x cos sin + =
produces a solution (optional exercise) of the form

s s
x D x C
2 2 2 2 2 2 2 2
2 2
) / 2 ( ) / 1 (
/ 2
,
) / 2 ( ) / 1 (
/ 1
+
=
+
= (27)
where the damping ratio is
2m
c
=
and the displacement under static load is
2
0
/m F x
s
=
This is most conveniently written in the amplitude/phase-angle form
) sin( = t Mx x
s
(28)
where the amplitude ratio M is given by

2 2 2 2
2 2
) 2 ( ) / 1 (
1
/
D C M
+
= + = (29)
and the phase lag by

2 2
/ 1
/ 2
tan
= =
C
D
(30)

Key Points

(1) The response of the system to forcing
depends on both the ratio of forcing to natural
frequencies ( / ) and the damping ratio .

(2) Damping prevents the blow-up (M ) as
.

(3) The imposed frequency at which the
maximum amplitude oscillations occur is
reduced below the undamped natural
frequency . In fact
2
max
2 1 =

(4) The phase lag varies from 0 (as 0) to (as ). However, the phase lag is
always /2 when = . irrespective of the level of damping.

Example. Write down general solutions for the following differential equations:
(i) 12 4
d
d
2
2
= + y
t
y

(ii) t x
t
x
t
x
2 sin 130 15 5
d
d
4
d
d
2
2
+ = + +

(i) 3 2 cos 2 sin + + = t D t C y (or, equivalently, 3 ) 2 sin( + + = t A y ).
(ii) t t t Ae x
t
2 cos 16 2 sin 2 3 ) sin(
2
+ + + =

(or equivalent)

Example. (Meriam and Kraige) The seismometer shown is attached to a structure which has a
horizontal harmonic vibration at 3 Hz. The instrument has a mass m = 0.5 kg, a spring
stiffness k = 20 N m
-1
and a viscous damping coefficient c = 3 N s m
-1
. If the maximum
recorded value of x in its steady-state motion is 2 mm, determine the amplitude of the
horizontal movement x
B
of the structure.

x (t)
B
m
c
x
k

1.89 mm

Examples

Mathematics of Oscillating Systems

Q1.
Find general solutions for the following differential equations:
(a) 0 25
d
d
2
2
= + x
t
x

(b) 0 9
d
d
2
d
d
2
2
= + +
t t

Undamped Free Vibration

Q2.
A 4 kg mass is suspended vertically by a spring of stiffness
k = 900 N m
-1
. Find:
(a) the static displacement at equilibrium;
(b) the natural circular frequency of vibration.

Q3.
A block of mass 16 kg is suspended vertically by two light springs of
stiffness 100 N m
-1
and 300 N m
-1
hung end-to-end as shown. Find:
(a) the stiffness of an equivalent single spring;
(b) the period of oscillation.

Q4.
(a) Assuming that it does not slip, what mass m
must be placed on the top of the 20 kg cart in
order that the period of oscillation be 2 s?

(b) What is the minimum coefficient of static
friction
s
such that the mass will not slip if the
cart is pulled 0.2 m away from the equilibrium
position and then released?

4 kg
k=900 N/m
16 kg
k=100 N/m
k=300 N/m
20 kg
m
k=300 N/m

Oscillating Systems Other than Mass-Spring

Q5.
(a) A floating buoy consists of a cylinder of mass 3 kg and radius
0.1 m. If it is pushed down (but not submerged) and then released,
show that it undergoes SHM and find the natural circular frequency of
oscillation. (The density of seawater.
w
, is approximately 1050 kg m
-3
;
neglect its motion and assume that the buoy is stable).
(b) If the buoy is replaced by an inverted cone of mass m and semi-
vertex angle . write down an equation of motion in terms of
submerged depth and show that any oscillatory motion is not SHM.

Small Oscillations

Q6. (Examination, January 2002)
A light rigid rod of length L = 0.8 m is able to swing in a
vertical plane about a pivot P at a distance L/4 from one end
(see Figure). At the lower end is a concentrated mass M = 5 kg.
The top of the rod is joined by two springs of stiffness
k = 200 N m
-1
to fixed supports.

(a) By considering the combined torque of all elastic and
gravitational forces (or otherwise), calculate the period
of small oscillations.
(b) If the rod is turned an angle 0.2 radians from the vertical
and then released, calculate the maximum speed of the
mass M.

Q7.
A uniform rod of mass 5 kg and length 0.9 m
supports a concentrated mass of 10 kg at one end
and is pivoted at the other. It is supported by two
springs, each of stiffness k = 2000 N m
-1
,
positioned as shown. Its equilibrium position is
horizontal. Calculate the period of small
oscillations.

0.1m
y

P
M
k k
L
L
1
4
3
4
0.9 m
0.3 m 0.3 m
10 kg
5 kg

Damped Free Vibrations

Q8. (Meriam and Kraige)
The cannon fires a 4.5 kg cannonball with velocity
of 250 m s
-1
at 20 to the horizontal. The combined
mass of the cannon and its cart are 750 kg. If the
recoil mechanism consists of a spring of constant
k = 27 kN m
-1
and a damper with viscous coefficient
c = 9000 N s m
-1
, determine the maximum recoil
deflection x
max
of the cannon unit.

Forced Vibrations

Q9. (Meriam and Kraige)
The 30 kg cart is acted upon by a harmonic
force t F cos 25 = Newtons as shown.
Determine the ranges(s) of the driving
frequency for which the amplitude of the
steady-state response is less than 75 mm if c
takes the values (a) 0 and (b) 36 N s m
-1
.

20
o
k
c
m
250 m/s
k=1080 N/m
c
30 kg
F=25 cos t

Answers

A1. (a) ) 5 sin( B t A x + = or t D t C x 5 cos 5 sin + =
(b) ) 2 2 sin( B t Ae
t
+ =

or ) 2 2 cos 2 2 (sin t D t Ce
t
+ =

A2. (a) 0.0436 m; (b) 15 rad s
-1

A3. (a) k = 75 N m
-1

(b) T = 2.90 s

A4. (a) 10.4 kg; (b) 0.201

A5. (a) 10.4 rad s
-1

(b)
3 2
3
1
2
2
) tan (
d
d
y g
t
y
m
w
=

A6. (a) 1.25 s
(b) 0.603 m s
-1

A7. 0.644 s

A8. 86.4 mm

A9. (a) 4.99 rad s
-1
and > 6.86 rad s
-1

(b) < 5.18 rad s
-1
and > 6.62 rad s
-1

Oscillat

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Mechanics Oscillations - 1 David Apsley

MECHANICS, TOPIC F: OSCILLATIONS AUTUMN 2003

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