20.3220.

61

Problems

Problems
20.32 The spring-mass system is at rest in the equilibrium position x = 0 when

the harmonic force P(t) = P0 sin t is applied at t = 0, where P0 = 100 N and

= 25 rad/s. Determine (a) the expression for the displacement x(t) (include both
the transient and steady-state solutions); (b) the magnication factor; and (c) the
maximum value of x(t).

k = 5 kN/m

2 kg

20.33 The spring-mounted mass is driven by the force P(t) = P0 sin t, where

P0 = 100 N. Calculate the two values of for which the amplitude of the steadystate vibration is 50 mm.

20.34 The 0.2 kg mass is suspended from a rigid frame. Pin A at the end of

P(t)

Fig. P20.32, P20.33

arm OA engages a slot in the frame, causing the frame to oscillate in the vertical
direction as the arm turns. If the angular velocity of OA is = 35 rad/s, determine
the amplitude of the steady-state vibration of the weight relative to the frame.

k = 310 N/m

0.2 kg
A

13
O

mm

Fig. P20.34

20.35 The block of mass m = 4 kg is attached to a spring of stiffness k. When

the harmonic force P0 sin t is applied to the block where P0 = 0.25 kg and
= 6 rad/s, the steady-state amplitude is 7.5 mm. Determine the two possible
values of k.

20.36 The spring-mass system is being driven by the harmonic force P0 sin t.

When = 5 rad/s, the steady-state amplitude of the block is 20 mm. When the
frequency is increased to = 10 rad/s, with P0 unchanged, the amplitude becomes
4 mm. Determine (a) the natural frequency p of the system; and (b) the zerofrequency deection P0 /k.

20.37 The system shown consists of the mass m = 6 kg and a nonlinear spring.

The force-extension relationship of the spring is F = kx[1 + (x/b)2 ], where x is

measured in meters, k = 1200 N/m, and b = 0.25 m. The amplitude and frequency
of the driving force are P0 = 60 N and = 14.142 rad/s, respectively, the latter
being equal to the natural circular frequency ofthe system
for small amplitudes.
(Note that if x  b, then F kx, and p = k/m = 1200/6 = 14.142 rad/s.)

x
k

P0 sin t

Fig. P20.35P20.37

573

574

CHAPTER 20

Vibrations
The system starts from rest in the equilibrium position x = 0 when t = 0. (a) Show
that the differential equation of motion is
x = 200x(1 + 16x 2 ) + 10 sin 14.142t m/s2
(b) Integrate the equation of motion numerically from t = 0 to t = 2 s, and plot x
versus t.

y (t)

20.38 The block of mass m = 1 kg is connected to the shaker table by a spring

of stiffness k = 2100 N/m. When the spring is unstretched, the distance between
the block and a stop attached to the table is b = 25 mm. If the table is being driven
at y = 6 sin t mm, determine the range of for which the block will not hit the
stop. Consider only the steady-state vibration.

Fig. P20.38

20.39 The enclosure of the system shown undergoes the vertical displacement
y(t) = Y sin t. Knowing that Z = 5Y , where Z is the steady-state amplitude of
the mass m relative to the support, determine the forcing frequency .

m
e

M
m

x
k

y(t) = Y sin t

Fig. P20.39

y(t)

Fig. P20.40

20.40 An electric motor and its base, with a combined mass of M = 12 kg, are
supported by four identical springs, each of stiffness k = 480 kN/m. The unbalance of the rotor is equivalent to a mass m = 0.005 kg located at a distance
e = 90 mm from its axis. (a) Calculate the angular speed of the motor that would
cause resonance. (b) Compute the maximum steady-state displacement of the
motor when its angular speed is 99 percent of the speed at resonance.
20.41 The pendulum of length L and mass m is suspended from a sliding collar.
If the horizontal displacement y(t) = Y sin t is imposed on the collar, show that
for sufciently small , the steady-state amplitude of the pendulum is

max =
m

Fig. P20.41, P20.42

2 L
Y
|g 2 L| L

20.42 The pendulum of length L = 1.09 m is suspended from a sliding collar,

the displacement of which is given by y(t) = 0.545 sin 5t m, where t is in seconds.

It is known that at time t = 0, = 30 and = 0. (a) Derive the differential

20.3220.61

575

Problems

equation of motion for the pendulum, choosing as the independent coordinate

(do not restrict to small angles). (b) Integrate the equation of motion numerically from t = 0 to t = 10 s, and plot versus t for the period of integration.
(c) Describe the motion of the pendulum during this period.

20.43 When the mass m is attached to the end of a light elastic rod, its static
deection is 20 mm. The sliding collar supporting the rod is then given a vertical
harmonic displacement of amplitude 5 mm at a circular frequency of 18 rad/s.
Determine the steady-state amplitude of the mass relative to the collar.

Fig. P20.43

20.44 A slightly unbalanced motor of mass m is attached to the middle of a

light elastic beam. The unbalance is equivalent to a mass m/400 located at a
distance e = 0.2 m from the axis of the motor. When the motor is rotating at
= 1280 rev/min, which is known to be less than the speed at resonance, its
steady-state amplitude is xmax = 0.001 m. Find the angular speed of the motor
at which resonance will occur.

Fig. P20.44

20.45 For the damped system shown, prove that the maximum steady-state
amplitude
for a given damping factor occurs at the frequency ratio / p =

1 2 2 for 2 1/2. Also show that the corresponding maximum amplitude is

P0 k
xmax = 
2 1 2

20.46 For the system shown, m = 0.2 kg and k = 2880 N/m. When the system
is driven by the harmonic force of amplitude P0 , it is observed that the amplitude
of the steady-state vibration is the same at = 96.0 rad/s and = 126.4 rad/s.
Calculate the damping coefcient c.
20.47 For the system shown, mg = 14 kg, k = 880 N/m, and c = 117 N s/m.

The frequency of the applied force is one-half of the resonant frequency. Determine the amplitude P0 of the applied force if the amplitude of the steady-state
vibration is 75 mm.

20.48 The mass m = 7-kg is suspended from a nonlinear spring and a viscous damper with the damping coefcient c = 270 N s/m. The force-deformation
relationship of the spring is F = kx[1 + (x/b)2 ] lb, where k = 1750 N/m,
b = 50 mm, and x is measured in inches from the undeformed position of the
spring. The amplitude of the applied force is P0 = 45 N, and its circular frequency
is = 12 rad/s. (a) Show that the differential equation of motion of the mass is
x = 250x(1 + 400x 2 ) 38.57x + 9.8 + 6.43 sin 12t m/s2
where x is the displacement in feet measured from the undeformed position of
the spring (not the equilibrium position) and t is the time in seconds. (b) Use
numerical integration to determine the maximum and minimum values of x for
the steady-state motion. (Hint: Start with the system at rest in the equilibrium
position and integrate until the transient term has been damped out.) Is the motion
symmetric about the equilibrium position?

k
c
m
P0 sin t

Fig. P20.45P20.48

576

CHAPTER 20

Vibrations

20.49 (a) Derive the differential equation of motion for the system shown.
(b) Compute the amplitude of the steady-state vibration and the phase angle if
m = 3 kg, k = 7300 N/m, c = 265 N s/m, Y = 38 mm, and = 20 rad/s.
y(t) = Y sin t

x(t)

x(t)
k

x(t)

1750 N/m

350 g

Fig. P20.49
P0 sin t

7 N.s/m

y(t) = Y sin
t
c

Fig. P20.50

20.50 (a) Derive the differential equation of motion for the system shown.
(b) Determine the amplitude of the steady-state vibration and the angle by which
x lags y if m = 6 kg, k = 8 kN/m, c = 40 N s/m, Y = 80 mm, and = 30 rad/s.
20.51 Determine the expression for the steady-state displacement x(t) of the
block if P0 = 0.5 N and = 60 rad/s. Does x(t) lead or lag the applied force?

Fig. P20.51

20.52 Find the expression for the steady-state response x(t) of the block
if Y = 10 mm and = 600 rad/s. Does x(t) lead or lag the imposed displacement y(t)?

20 Ns/m

0.2 kg

20.53 Block A is connected to the shaker table B with a spring and a viscous
damper. When the horizontal displacement y(t) = Y sin t is imposed on the
table, the resulting steady-state displacement of the block relative
to the table
is z(t) = Z sin(t ). Show that if the damping factor 1/ 2, then Z never
exceeds Y regardless of the value of .

x(t)
50 kN/m

y(t) = Y sin t

y(t)

Fig. P20.52

Fig. P20.53P20.55
m

20.54 For the system described in Prob. 20.53, determine the largest possible
value of Z and the corresponding frequency ratio / p if = 1/2.
20.55 For the system shown, m = 5.5 kg, k = 2300 N/m, and c = 37 N s/m.
The horizontal displacement imposed on the shaker table B is y(t) =
2.5 sin 18t mm, where the time t is measured in seconds. Determine the steadystate amplitude of the block.

20.56 An electric motor and its base have a combined mass of M = 12 kg.
k, c

k, c

Fig. P20.56

Each of the four springs attached to the base has a stiffness k = 480 kN/m and
a viscous damping coefcient c. The unbalance of the motor is equivalent to a
mass m = 0.005 kg located at the distance e = 90 mm from the center of the shaft.
When the motor is running at = 400 rad/s, its steady-state amplitude is 1.8 mm.

20.3220.61

Problems

Determine (a) the damping coefcient of each spring; and (b) the phase angle
between the displacement of the motor and t.

577

35 N.s/m
B

20.57 When the system is in the position shown, the spring is undeformed.
Determine the amplitude of the steady-state vibration of the weight C caused by
the harmonic forcing function acting at A. Neglect all weights except that of C.

2 sin 5t N

20.58 (a) Derive the differential equation of motion for the 10-kg block in

terms of its absolute displacement x(t). (b) Determine the expression for the
steady-state response if the forcing frequency equals the natural frequency p
of the system.
x(t)

5 N.s/m

500 m
500 m
O
150 N/m
600 mm

y(t) = 5 sin t mm

100 N/m
10 kg

50 N/m

C 3 kg

Fig. P20.57
Fig. P20.58

20.59 The two masses are attached to the L-shaped bar that is free to rotate
about the pin at O. (a) Neglecting the mass of the bar, derive the differential
equation of motion for small angular displacements of the bar. (b) Compute the
amplitude  and the phase angle of the steady-state vibration if m = 0.6 kg,
k = 150 N/m, c = 4 N s/m, b = 0.5 m, P0 = 2 N, and = 8 rad/s.
P0 sin t
O

m
k
1.25 MN/m

2b
5 kg
x
c
m

Magnet
P(t)

Fig. P20.59

Fig. P20.60

20.60 An iron cylinder is suspended from a spring and placed in a container lled with uid. An electromagnet at the base of the container applies
the force P(t) = P0 sin t to the cylinder, where P0 = 1.0 kN and = 500 rad/s.
The damping force acting on the cylinder due to the uid is Fd = c x 2 , where
c = 250 N s2 /m2 . (a) Derive the differential equation of motion of the cylinder.
(b) Estimate the steady-state amplitude of the cylinder by numerical integration
of the equation of motion. [Hint: Start with the initial condition x(0) = x(0)
= 0,
and integrate until the transient motion has been damped out.]

578

CHAPTER 20

Vibrations

20.61 The 0.2-kg mass is suspended from a rigid frame as shown. Pin A at the
end of the rotating arm OA engages a slot in the frame, causing the frame to
oscillate in the vertical direction. The arm is accelerated uniformly from rest at
t = 0 and = 0 at the rate = 100 rad/s2 . (a) Show that the differential equation
of motion of the weight in terms of the relative displacement z = x y is
z = 1750z 10z 1.27(cos 50t 2 100t 2 sin 50t 2 ) m/s2
where z and t are measured in feet and seconds, respectively. (b) Use numerical
integration to obtain the plot of z versus t from t = 0 to t = 1.0 s. (c) Use the
numerical results of part (b) to determine the largest value of z.
c = 2 N.s/m

k = 350 N/m

x(t)

0.2 kg
A

12

y(t)

.7

mm

Fig. P20.61

20.4

Rigid-Body Vibrations

The analysis of rigid-body vibrations is fundamentally no different from the analysis of vibrating particles. We rst derive the equation of motion utilizing the
free-body and mass-acceleration diagrams of the body, and then seek a solution of
this equation. If the system is linear, the equation of motion will be a second-order
linear differential equation with constant coefcients. For a harmonically driven
system with a single degree of freedom, this equation will have the general form
M q + C q + K q = F0 sin t

(20.33)

where q is a variable that denes the position of the body (either a linear or an
angular position coordinate). Because Eq. (20.33) has the same form as the equation of particle motion, m x + c x + kx = P0 sin t, we can write its solution by
analogy. For example, the solution of forced, steady-state motion is
q = Q sin(t )
where
Q=


F0 K
[1 (/ p)2 ]2 + (2 / p)2

(20.34a)

(20.34b)