x + kx = 0 !/-0!1+*'!'(#!$#),+'!.*$!/'!+#/)'!'2*!1#$%*0)!

!"#$! "#$%&#!'(#!)*+,'%*-!*.! m!!

.*$!'(#!3/)#!2%'(!!!!4!5!$/06)7!"8!4!9!::7!/-0!#8!4! 5 !::6);!

Solution:
Given:

m!!
x + kx = 0
(1)
rt
2 rt
!
!!
Assume: x(t) = ae . Then: x = are and x = ar e . Substitute into equation (1) to get:
rt

mar 2 ert + kaert = 0

mr 2 + k = 0
r=

k
i
m

Thus there are two solutions:

x1 = c1e

! k $
# m i& t
%
"

, and x2 = c2 e

!
k $
# ' m i& t
%
"

k
= 2 rad/s
m
The sum of x1 and x2 is also a solution so that the total solution is:
where ( n =

x = x1 + x2 = c1e2it + c2 e!2it
Substitute initial conditions: x0 = 1 mm, v0 =

5 mm/s

x ( 0 ) = c1 + c2 = x0 = 1 ! c2 = 1 " c1 , and v ( 0 ) = x! ( 0 ) = 2ic1 " 2ic2 = v0 = 5 mm/s

! "2c1 + 2c2 = 5 i. Combining the two underlined expressions (2 eqs in 2 unkowns):
"2c1 + 2 " 2c1 = 5 i ! c1 =

1
5
1
5
"
i, and c2 = +
i
4
4
2
2

Therefore the solution is:

"1
5 % 2it " 1
5 % !2it
x=$ !
i' e + $ +
i' e
#2 4 &
#2 4 &
Using the Euler formula to evaluate the exponential terms yields:
"1
"1
5 %
5 %
x=$ !
i ' cos2t + isin 2t + $ +
i' cos2t ! isin 2t
#2 4 &
#2 4 &

( x(t) = cos2t +

5
3
sin 2t = sin 2t + 0.7297
2
2

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publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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"n =

! in
k =(b):
m! n = 100kg(20! )

sec 2

= 394,784 N/m

1.11
1.21

Find the equation of motion for the system of Figure P1.11, and find the natural
frequency. In particular, using static equilibrium along with Newtons law, determine
what effect gravity has on the equation of motion and the systems natural frequency.
A machine
part the
is modeled
as a without
pendulum
connected to a spring as illustrated in Figure
Assume
block slides
friction.
P1.21. Ignore the mass of pendulums rod and derive the equation of motion. Then
following the procedure used in Example 1.1.1, linearize the equation of motion and
compute the formula for the natural frequency. Assume that the rotation is small enough
so that the spring only deflects horizontally.
In the figures, N is the normal force and the components of gravity are determined
angle ! as indicated. From the static equilibrium: !kxs + mg sin " = 0 . Summing fo
in (b) yields:
! Fi = m!!x(t) " m!!x(t) = #k(x + xs ) + mg sin$
" m!!
x(t) + kx = #kxs + mg sin $ = 0
" m!!
x(t) + kx = 0

k
rad/s
m
Figure P1.11
1.21 A machine part is modeled as a pendulum connected to a spring as illustrated in Figure
ution:
2014 Pearson Education, P1.21.
Inc., Upper
Saddle River,
NJ. Allof
rights
reserved. Thisrod
publication
is protected
Copyright of
andmotion.
written permission
Ignore
the mass
pendulums
and derive
the by
equation
Then should be obtained
from theapublisher
prior tosystem
any prohibited
reproduction,
storage
inpositive
a retrieval down
system, the
or transmission
in any
form or by any means, electronic, mechanical, photocopying,
oosing
coordinate
along
the
plane
with
plane,
the
free1.12
An
undamped
system
vibrates
with
a
frequency
of
10
Hz
and
amplitude 1 mm. Ca
following
the procedure
used
1.1.1, linearize
thePearson
equation
of motion
and
recording, or likewise. For information
regarding
permission(s),
write in
to: Example
Rights and Permissions
Department,
Education,
Inc., Upper
Saddle River, NJ 07458.
y diagram of the system
for
the
static
case
is
given
and
(a)
and
for
the
dynamic
case
amplitude
of the system's
velocityisand
acceleration.
compute the formula forthe
themaximum
natural frequency.
Assume
that the rotation
small
enough
b):
Figure
P1.21
so that the spring only deflects horizontally.
Solution:
Solution: Consider the free body diagram of the mass displaced from equilibrium:
" %n =

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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper

he figures, N is the normal force and the components of gravity are determined by the
le ! as indicated. From the static equilibrium: !kxs + mg sin " = 0 . Summing forces
b) yields:
$
! Fi = m!!x(t) " m!!x(t) = #k(x + xs ) + mg sinFigure
P1.21
"
m!!
x(t)
+
kx
=
#kx
+
mg
sin
$
=
0
s system to consider, if we take moments about point O
There are two forces acting on the
Solution:
Consider
the
free
body diagram of the mass displaced from equilibrium:
" m!!
x(t) + kx = 0
(then we can ignore any forces at O). This yields
2 "" k
# %m!
$ = %mg!sin
rad/s $ % k!sin $ ! cos$
! M O = JO" "
n =
m
# m!2$"" + mg!sin $ + k!2 sin $ cos$ = 0

undamped system vibrates with a frequency of 10 Hz and amplitude 1 mm. Calculate

maximum amplitude of the system's velocity and acceleration.

ution:

earson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained
publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.

There are two forces acting on the system to consider, if we take moments about point O
(then we can ignore any forces at O). This yields

1.33 The pendulum in the Chicago Museum of Science and Industry has a length of 20
2
Next
the smalldue
! approximations
to location
that sin ! is! known
. Then
! and cos
m andconsider
the acceleration
to gravity at that
to !be=19.803
m/sthe
.
Calculate the
periodofofmotion
this pendulum.
linearized
equation
becomes:

" mg + k" %
!!!(t) + $
'& ! (t) = 0
Solution: Following along #through
1.2.2:
m" Example
2!
2!
Thus the natural frequency is 2!
T=
=
=
= 9.975 s
"n
gmg
/ l + k!9.803 / 20
!n =
rad/s
m!

1.34

Calculate the RMS values of displacement, velocity and acceleration for the

undamped single degree of freedom system of equation (1.19) with zero phase.

1.22

A pendulum has length of 250 mm. What is the systems natural frequency in Hertz?
Solution: Calculate RMS values
Let
Solution:

x (t ) = Asin ! nt

Given: l =250 mm

x (t ) = A! n cos! n t
2 sin
Assumptions: small angle approximation
sin ! n t
x(t ) = " A! nof
From Window 1.1, the equation of motion for the pendulum is as

1.23

T
2
!!2 + g " = 0
follows:Mean
I O!!! +Square
2 I = ml 1 ! "
mg! = Value:
0 , where
x = Olim # x (t)ldt
T!" T
0
The coefficient of ! yields
the natural frequency
T
Tas:
A2
1
A2
2
2
2
x = lim $ A sin # n t dt = lim
(1
%
cos
2
#
t
)
dt
=
n
$0
T!" T
T!" T
2
0
2
g
9.8 m/s
!n =
=
= 6.26 rad/s
0.25 m
l
.
1T 2 2 2
A 2# n 2 T 1
A2# n 2
2
x = lim
$ A # n cos # n!tndt = lim
$ (1 + cos 2# n t ) dt =
T! " T 0
T!" Hz T
2
fn =
= 0.996
0 2
2"
..
1T 2 4 2
A2# n 4 T 1
A 2# n4
x 2 = lim
$ A # n sin # n t dt = lim
$ (1 + cos 2# n t ) dt =
T! " T 0
T! "
T 0 2
2
The pendulum in Example 1.1.1 is required to oscillate once every second. What length
2
x rms = x 2 =
A
should it be?
2
Therefore,
.
.
2
x rms = x 2 =
A!n
Solution:
2

..
Given: f ..= 1 Hz (one
cycle
2 per2 second)
x rms = x 2 =
A!n
014 Pearson Education, Inc., Upper Saddle River, NJ.
reserved. This publication is protected by Copyright and written permission should be obtained
2 All rights

the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
rding, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.

" n = 2!f =

g
l

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publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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1.35

A foot pedal mechanism for a machine is crudely modeled as a pendulum

connected to a spring as illustrated in Figure P1.35. The purpose of the spring is
to keep the pedal roughly vertical. Compute the spring stiffness needed to keep
the pendulum at 1 from the horizontal and then compute the corresponding
natural frequency. Assume that the angular deflections are small, such that the
spring deflection can be approximated by the arc length, that the pedal may be
treated as a point mass and that pendulum rod has negligible mass. The values in
the figure are m = 0.5 kg, g = 9.8 m/s2, !1 = 0.2 m and ! 2 = 0.3 m.

Figure P1.35
Solution: You may want to note to your students, that many systems with springs are
often designed based on static deflections, to hold parts in specific positions as in this
case, and yet allow some motion. The free-body diagram for the system is given in
the figure.

For static equilibrium the sum of moments about point O yields (!1 is the static
deflection):

!M

= "!1#1 ( !1 ) k + mg! 2 = 0
$ !21#1k = mg! 2
$k=

mg! 2 0.5%9.8 % 0.3

=
= 2106 N/m
2&
!21#1
( 0.2 )
2
(1)

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the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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!!
x = #A! sin(! nt + " )
2
n

(1.5)

The amplitude of acceleration is A! n2 = 10,000 mm/s2 and !n = 2"f = 2"(8) =

Again take moments about point O to get the dynamic
equation of motion:

J"!! = equation
m" 2"!! = #"
M O =from
16"
(1.12).
!rad/s,
1 k(" + "1 ) + mg" 2 = #" 1 k" + " 1 k"1 # mg" 2"
Next using equation (1) above for the static10
deflection
,000 10yields:
,000
2 "" machine's
2
A
=
=
The
displacement
is
m! 2! + !1 k! = 0
" n2
(16! )2
2
#!k&
" !"" + % 1 2 ( ! = 0
A = 3.96 mm
$ m! 2 '
2

!1 k 0.2 2106
=
= 43.27 rad/s
! 2 m 0.3 0.5
A simple undamped spring-mass system is set into motion from rest by giving it
" )n =

1.39

1.36

initial velocity
of 100
It mass
oscillates
with abymaximum
An an
automobile
is modeled
as amm/s.
1000-kg
supported
a spring ofamplitude
stiffness kof 10
mm. What
its natural
frequency?
= 400,000
N/m.is When
it oscillates
it does so with a maximum deflection of 10

cm. When loaded with passengers, the mass increases to as much as 1300 kg.
Solution:
Calculate
the change in frequency, velocity amplitude, and acceleration amplitude
if the
maximum
remains
cm.
Given:
x0 = 0,deflection
v0 = 100 mm/s,
A 10
= 10
mm
v
v0
100
From
equation
(1.9),
orthrough
, so that: ! n= 10 rad/s
! n = 01.64)
=
A = 1.41
Problems
Section
1.3
(Numbers
Problems
Section
1.3
(Numbers
1.41
through
1.64)
Solution:
A
10
!n

m1 = 1000
kg mass
1.41
Consider
aa spring
1.41Given:
Consider
spring
mass damper
damper system,
system, like
like the
the one
one in
in Figure
Figure 1.9,
1.9, with
with the
the
following
values:
m2 = 1300
kg m
following
values:
m =10
=10 kg,
kg, cc =
= 33 N/s
N/s and
and kk =
= 1000
1000 N/m.
N/m. a)
a) Is
Is the
the system
system
overdamped,
underdamped
or
k = 400,000
N/m
overdamped,
underdamped
or critically
critically damped?
damped? b)
b) Compute
Compute the
the solution
solution if
if the
the
system
initial
xmaxis
A = 10
cm conditions
system
is= given
given
initial
conditions xx00 =
= 0.01
0.01 m
m and
and vv00 =
= 0.
0.
Solution:
Solution: a)
a) Using
Using equation
equation 1.30
1.30 the
the damping
damping ratio
ratio is
is
cc
33
=
=
=
= 0.015
0.015 <
< 11
22 km
km 22 10
10 !1000
!1000
Thus
Thus the
the system
system is
is underdamped.
underdamped.

!! =
=

b)
b) Using
Using equations
equations (1.38)
(1.38) the
the amplitude
amplitude and
and phase
phase can
can be
be calculated
calculated from
from the
the
initial
conditions:
initial conditions:
A
A=
=

2
2
2
2
(( vv00 ++ !"
!" nn xx 00 )) +
+ (( xx 00"
" dd ))
2

=
=
"
" dd2
1
2
2
1
2 + ( 0.01#9.999 )2 = 0.01 m
(0.015#10
## 0.01)
(0.015#10
0.01)
+
0.01#9.999
= 0.01 m
(
)
9.999
9.999
v1 = A!n1 = 10 cm x 20 rad/s = 200 cm/s
2
xx0#
1"
"1
"1
# dd ==175.4
1" $$2 = 1.556 rad
"1
"1 cm/s
0
tan
=
tan
v2 = A!n2 = 10 !
cm
x
17.54
rad/s
! = tan v + $# x = tan
$$ = 1.556 rad
v00 + $# nn x00
" v Upper
= 175.4
200 NJ.
= All-24.6
cm/s This publication is protected by Copyright and written permission should be obtained
14 Pearson Education, Inc.,
Saddle- River,
rights reserved.
!"# n t
!0.15t
!"#
!0.15t sin
the publisher prior to any prohibited
reproduction,
storage
in nat sin
retrieval
transmission
in any
form or +
any means,
Ae
tt +
$
=
So
the
solution
is
(( 9.999t
)) m.
sin ((#
# ddsystem,
+and
$ ))Permissions
=or 0.01e
0.01e
sin
9.999t
+by1.556
1.556
So the solution is Ae
m.electronic, mechanical, photocopying,
rding, or likewise. For information regarding permission(s), write to: Rights
Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.

Note
Note that
that for
for any
any system
system with
with vv00 =
= 00 the
the phase
phase is
is strictly
strictly aa function
function of
of the
the damping
damping
ratio.
ratio.

earson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained
publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
, or likewise. For informationAlso
regarding
permission(s),
write to:
Rightsbelow
and Permissions
Pearson Education,
Inc., Upper Saddle
note
that the code
given
can be Department,
used to generate
many problems
for River, NJ 07458.

Also note that the code given below can be used to generate many problems for
homework
homework or
or quizzes
quizzes by
by just
just rearranging
rearranging the
the numbers,
numbers, always
always making
making sure
sure to
to
keep
the
damping
low
enough
to
be
underdamped.
Mathematica
and
Matlab
keep the damping low enough to be underdamped. Mathematica and Matlab can
can

Hence the system is underdamped.

1.43

Consider the system !x! + 4 x! + x = 0 for x0 = 1 mm, v0 = 0 mm/s. Is this system

overdamped, underdamped or critically damped? Compute the solution and
determine which root dominates as time goes on (that is, one root will die out

quickly and the other will persist.

Solution: From equation (1.30) the damping ratio is

014 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained
the publisher prior to any prohibited reproduction, storage in a retrievalcsystem, or 4
transmission in any form or by any means, electronic, mechanical, photocopying,
! =to: Rights and
= Permissions
= 2Department,
>1
rding, or likewise. For information regarding permission(s), write
Pearson Education, Inc., Upper Saddle River, NJ 07458.

2 km

2 1"1

Hence the system is overdamped.

Given !x! + 4 x! + x = 0 where x0 = 1 mm, v0 = 0
Let
Substitute these into the equation of motion to get:
ar 2 ert + 4arert + aert = 0

! r 2 + 4r + 1 = 0 ! r1,2 = "2 3
So
( !2 + 3 ) t
( !2 ! 3 ) t
x = a1e
+ a2 e
)
(
x = ( ! 2 + 3 ) a1 e(
+ ( ! 2 ! 3 ) a2 e
Applying initial conditions yields,
!2+ 3 t

!2! 3 ) t

Substitute equation (1) into (2)

Solve for a2
Substituting the value of a2 into equation (1), and solving for a1 yields,

v0 + 2 + 3 x0 ( "2 + 3 ) t
"v0 + " 2 + 3 x0 ( "2 " 3 ) t
e
+
e
2 3
2 3
The response is dominated by the root: !2 + 3 as the other root dies off
very fast.
! x(t) =

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the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,

1.55

Calculate the solution to !x! ! x! + x = 0 with x0 = 1 and v0 =0 for x(t) and sketch the
response.
Solution: This is a problem with negative damping which can be used to tie into
Section 1.8 on stability, or can be used to practice the method for deriving the
solution using the method suggested following equation (1.13) and eluded to at
the start of the section on damping. To this end let x(t) = Ae!t the equation of
motion to get:
(! 2 " ! + 1)e !t = 0
This yields the characteristic equation:
1
3
!2 " ! + 1 = 0 # ! =
j, where j = "1
2
2
There are thus two solutions as expected and these combine to form
3
jt
2

3
jt
2

x(t) = e0.5t (Ae + Be )

Using the Euler relationship for the term in parenthesis as given in Window 1.4,
this can be written as
3
3
0.5t
x(t) = e (A1 cos
t + A2 sin
t)
2
2
Next apply the initial conditions to determine the two constants of integration:
x(0) = 1 = A1 (1) + A2 (0) ! A1 = 1
Differentiate the solution to get the velocity and then apply the initial velocity
condition to get
! =
x(t)

3
3
3
3
3
1 0
e (A1 cos
0 + A2 sin
0) + e0
(!A1 sin
0 + A2 cos
0) = 0
2
2
2
2
2
2
1
" A1 + 3(A2 ) = 0 " A2 = !
,
3
3
1
3
t!
sin
t)
2
2
3
This function oscillates with increasing amplitude as shown in the following plot
which the
shows
the increasing
This
type ofP1.63
response
is referred
to as a
Derive
equation
of motionamplitude.
of the system
in Figure
and discuss
the effect
flutter instability. This plot is from Mathcad.
of gravity on the natural frequency and the damping ratio. You may have to make
some approximations of the cosine. Assume the bearings provide a viscous
damping force only in the vertical direction. (From the A. Diaz-Jimenez, South
" x(t) = e0.5t (cos

1.63

African Mechanical Engineer, Vol. 26, pp. 65-69, 1976)

0

k
h

Solution: First consider a free-body diagram of the system:

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the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
rding, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.

cx(t)

k!!

Solution: First consider a free-body diagram of the system:

cx(t)

k!!

x(t)

Let ! be the angel between the damping and stiffness force. The equation of
motion becomes

mx(t) = !cx (t) ! k("! + # s )cos $

From static equilibrium, the free-body diagram (above with c = 0 and stiffness
force k"s) yields: $ Fx = 0 = mg ! k" s cos # . Thus the equation of motion
becomes
mx + c x + k!!cos " = 0
(1)
Next consider the geometry of the dynamic state:

"

! +#!
x

From the definition of cosine applied to the two different triangles:

h
h+ x
cos ! =
and cos" =
!
! + #!
Next
assume
small
deflections
so
that
the
angles
are nearly the same cos ! = cos
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so that
the publisher prior",
to any
prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
rding, or likewise. For information regardinghpermission(s),
Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
h + x write to: Rights
! and Permissions
x
!
# "! ! x # "! !
h
cos $
! ! + "!
For small motion, then this last expression can be substituted into the equation of
motion (1) above to yield:
mx + c x + kx = 0 , ! and x small
Thus the frequency and damping ratio have the standard values and are not
effected by gravity. If the small angle assumption is not made, the frequency can
be approximated as

k
g 2
c
2
cos " + sin " , # =
m
h
2m! n
as detailed in the reference above. For a small angle these reduce to the normal
values of
k
c
!n =
, and " =
m
2m! n
as derived here.

!n =

1.64

Consider the response of an underdamped system given by

x(t) = e !"# nt Asin(# d t + $ )

1.67

Use the energy method to calculate the equation of motion and natural frequency
of an airplane's steering mechanism for the nose wheel of its landing gear. The
mechanism is modeled as the single-degree-of-freedom system illustrated in
Figure P1.54.
(Steering wheel)

k1

k2

(Tirewheel
assembly)

The steering wheel and tire assembly are modeled as being fixed at ground for
this calculation. The steering rod gear system is modeled as a linear spring and
mass system (m, k2) oscillating in the x direction. The shaft-gear mechanism is
modeled as the disk of inertia J and torsional stiffness k2. The gear J turns
through the angle ! such that the disk does not slip on the mass. Obtain an
equation in the linear motion x.
Solution: From kinematics: x = r! ," x = r!
Kinetic energy:
Potential energy:
Substitute ! =

T=

1 !2 1 2
J! + mx!
2
2

U=

1
1
k 2 x 2 + k1! 2
2
2

x
1 J 2 1 2 1
1 k1 2
:T + U =
x! + mx! + k 2 x 2 +
x
2
r
2r
2
2
2 r2
d (T + U )
=0
dt

Derivative:

J
k
x!!x! + m!!
xx! + k2 xx! + 12 xx! = 0
2
r
r
%! J
# x!! + ! k + k1 # x ( x! = 0
+
m
2
'&" r
" 2 r 2 $ *)
$
Equation of motion:

Natural frequency:

k1 #
!J
# !
x =0
" r2 + m$ x + " k2 + r 2 $

!n =

k2 +

k1

r2 =
J
+m
r2

k1 + r 2 k2
J + mr 2

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the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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1.75

Consider Problem 1.74 with k = 400,000 N/m, m = 1500 kg, J = 100 m2!kg/rad, r
= 25 cm, and c = 8000 kg/s. Calculate the damping ratio and the damped natural
frequency. How much effect does the rotational inertia have on the undamped
natural frequency?
Solution: From problem 1.74:

!=

and & d =

'

c2

2
J
J$
J$
"
"
m
+
4 m2+ 2
2
2 k m+ 2 1
2
Potential energy: #U = r2 "% k [( a + r )! ] $ =rk ( a +#r ) ! 2r %

Given:
Conservation of energy:

#2

T + U k== Constant
4 ! 10 5 N/m
d m = 1.5 ! 10 3 kg
(T + U ) = 0
dt J = 100 m 2 kg/rad
d " 3r = 0.25
2
mr 2!! 2 +mk (and
a + r) !2$ = 0
#
%
dt 4
c = 8 ! 10 3 N "s/m
3 2 ! !!
2
! )=0
2!! ) + k ( a + r ) ( 2!!
Inserting the given valuesmr
yields
(
!4= 0.114 and " d = 11.29 rad/s
3 2 !!
2
mr ! + 2k ( a + r ) ! = 0
k
2 frequency, ! =
For the undamped natural
n
Natural frequency:
m + J / r2
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2 by Copyright and written permission should be obtained
keff orrad/s
2k ( a +inrany
)
the publisher prior to any prohibited
reproduction,
storage
in a retrieval
system,
transmission
form or by any means, electronic, mechanical, photocopying,
!
=
11.36
With the
rotational
inertia,
! n=
=
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2
meff
Without rotational inertia, ! n = 16.33 rad/s 2 mr
The effect of the rotational inertiaais+ that
r itk lowers the natural frequency by almost
!
=
2
rad/s
n
33%.
3m
r
1.81
1.76

A pendulum of negligible mass is connected to a spring of stiffness k at halfway

Use Lagranges formulation to calculate the equation of motion and the natural
along its length,
l, as illustrated
FigureModel
P1.81.each
Theofpendulum
has as
two
masses
frequency
of the system
of FigureinP1.76.
the brackets
a spring
fixed
to it, onek,at and
the connection
pointinertia
with theofspring
one atisthenegligible.
top. Derive
of
stiffness
assume the
the and
pulleys
the equation of motion using the Lagrange formulation, linearize the equation and
compute the systems natural frequency. Assume that the angle remains small
enough so that the spring only stretches significantly in the horizontal direction.

Figure P1.81
Figure P1.76
Solution:Let
Using
the Lagrange
formulation
the relevant
energies
Solution:
x denote
the distance
mass m 2moves,
then each
spring are:
will deflects
l
1
1
a distance x/4. Thus the potential energy
of the springs is
T = m ! # %! 2 + m l 2%! 2

Figure P1.81
Solution: Using the Lagrange formulation the relevant energies are:
2
l
1
1
T = m1 ! # %! 2 + m2l 2%! 2
2
2 " 2$
1
U = kx 2 + m1gh1 + m2 gh2
2
From the trigonometry of the drawing:
l
l
x = sin ! , h1 = cos! , h2 = l cos!
2
2

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So the potential
energy writing
terms
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rding, or likewise. For information
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andof
Permissions

1.91

Calculate the natural frequency 2and damping ratio for the system in Figure P1.91
1 "l
l
sin ! $ + m g cos
! + m2 gl cos!
given the valuesU m= =2 k10
# 2kg, c %= 100 1kg/s,
2 k1 = 4000 N/m, k2 = 200 N/m and k3 =
Setting
L=
T-U Assume
and taking
required
the Lagrangian
yields:
1000
N/m.
thatthe
noderivatives
friction acts
on the for
rollers.
Is the system
overdamped,
critically damped or underdamped?
c2

d # !L & d # 1 # l & !k2 1

2 2&
%$ ! (' = % m1 $ ' " 1 + m2l "! (
2
2 m '
dt !"
dt $ 2
k3
m l 2 + 4m2l 2 !!
d # 1 k2 2 !
m1l " + m2l 2"! & = 1
"
'
dt $ 4
4
Figure P1.91
Solution: Following
the
procedure
ofl Example 1.5.4, the equivalent spring
"L kl
!
= sin # cos# ! m1gsin # ! m2 gl sin #
constant is:
"# 2
2
Thus the equation of motion becomes
k 2 k3
(200)(1000)
keq 2=
= 4000l+
= 4167 N/m
l 2 k!!1 + kl
m1l 2 + 4m
+ k!3 cos! " m1gsin
1200
! + k 2 sin
! " m2 gl sin ! = 0
2
2
4
Then
using
the
standard
formulas
for
frequency
and damping ratio:
Linearizing for small ! this becomes
k
4167
! n 2=l 2 !! eq kl
= l
= 20.412 rad/s
m1l 2 + 4m
!+
m1g " m2 gl)! = 0
m( " 10
2 2
4
100
So the natural frequency is " = c =
= 0.245
2m!2k
2(10)(20.412)
n " 2m
g
"
4m
g
1
2
!n =
Thus the system is underdamped.
m1l + 4m2l

1.92

Calculate the natural frequency and damping ratio for the system in Figure P1.92.
Assume that no friction acts on the rollers. Is the system overdamped, critically
damped or underdamped?.

Figure P1.92
Solution: Again using the procedure of Example 1.5.4, the equivalent spring
constant is:
kk
2 !3
k eq = k1 + k2 + k3 + 4 5 = (10 + 1 + 4 +
)kN/m = 16.2 kN/m
k4 + k5
2 +3

Figure P1.92
P1.94
A plot
of displacement
time for
a vibrating
system.spring
Solution:
Again
using
the procedureversus
of Example
1.5.4,
the equivalent
constant
is:From the plot, the period is T =4 seconds. Thus the damped natural
Solution:
k4 k5
2 !3
k eq =
frequency
is k1 + k2 + k3 + k + k = (10 + 1 + 4 + 2 + 3 )kN/m = 16.2 kN/m
4
5
Then using the standard formulas
2" for
2"frequency and damping ratio:
!d =
=
= 1.5708 rad/s
T
4s
keq
16.2 " 10 3
Using the formula for
log
decrement
and noting
fromrad/s
the plot that the first peak is
!n =
=
= 40.25
m
10
about y(t1) = 0.74 cm and the second peak is about y(t2) = 0.2 cm yields
c
1
#=
= 0.74
= 0.001242 $ 0.001
"
$ = 1.3083
2m!! n= ln2(10)(40.25)
# in
% very
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publication
is protected by Copyright and written permission should be obtained
0.2
Thus the system is underdamped,
fact
lightly damped.
he publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
ding, or likewise. For information
regarding
permission(s),
Rights andration
Permissions
Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
Using
equation
(1.83)write
theto:damping
is then:
1.93 A manufacturer makes a cantilevered leaf spring from steel (E = 2 x 1011 N/m2)
" through 1.101)
Problems and Solutions Section!1.6
(1.94
= 0.2039
and sizes the spring so that=the device
has
a specific frequency. Later, to save
2
2
4# + "
weight, the spring is made of aluminum (E = 7.1 x 1010 N/m2). Assuming that the
1.94 The
displacement
of a vibrating
spring-mass-damper
system is recorded on an x The
natural
frequency
is than that of the device
massundamped
of the spring
is much
smaller
the spring is attached
y plotter and reproduced
in Figure1.5709
P1.94. The y coordinate is the displacement in
!
d
to, determine if!the= frequency
and
by how much.
= increases or decreases
$ 1.6046
rad/s
n
2 time in seconds.2 From the plot determine the natural
cm and the x coordinate
is
1" #(1.67) to
1"write
(0.2039)
Solution: Use equation
the expression for the frequency twice:
frequency, the damping ratio and the damped natural frequency.
3Eal
3Esteel
rad/s
! al =
and ! steel =
3
m!
m!3

Dividing yields:

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3EalThis publication is protected by Copyright and written permission should be obtained
the publisher prior to any prohibited reproduction, storage in a retrieval system,
or transmission
10 in any form or by any means, electronic, mechanical, photocopying,
7.1 " 10Department,
! alwrite to: Rights
m! 3 and Permissions
rding, or likewise. For information regarding permission(s),
Pearson Education, Inc., Upper Saddle River, NJ 07458.

! steel

3Esteel
m! 3

2 " 1011

= 0.596

Thus the frequency is decreased by about 40% by using aluminum.

P1.94 A plot of displacement versus time for a vibrating system.

Solution: From the plot, the period is T =4 seconds. Thus the damped natural
frequency is

!d =

2" 2"
=
= 1.5708 rad/s
T
4s

Using the formula for log decrement and noting from the plot that the first peak is
about y(t1) = 0.74 cm and the second peak is about y(t2) = 0.2 cm yields
0.74 $
= 1.3083
! = ln "
# 0.2 %

Using equation (1.83) the damping ration is then:

!=

"
2

4# + "

= 0.2039

!=

"
2

4# + "

= 0.2039

The undamped natural frequency is

!n =

!d
1" #

1.5709
1" (0.2039)2

$ 1.6046 rad/s

1.101 A damped system is modeled as illustrated in Figure 1.9. The mass of the system
is measured to be 5 kg and its spring constant is measured to be 5000 N/m. It is
observed that during free vibration the amplitude decays to 0.25 of its initial value
after five cycles. Calculate the viscous damping coefficient, c.

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Solution:
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Note that for any two consecutive peak amplitudes,

xo x1 x2 x 3 x4
!
=
=
=
=
= e by definition
x1 x 2 x3 x 4 x5
!

xo
1
x x x x x
5#
=
= 0 " 1 " 2" 3 " 4 =e
x5 0.25 x1 x2 x 3 x4 x 5

So,
1
! = ln (4 ) = 0.277
5

and

# =

!
4" + !
2

= 0.044

Solving for c,
c = 2! km = 2 ( 0.044 ) 5000 ( 5)
" c = 13.914 N-s/m

Thus, aluminum requires 1/3 fewer turns than steel.

1.107 Try to design a bar that has the same stiffness as the helical spring of Example
1.7.2 (i.e., k = 103 N/m). This amounts to computing the length of the bar with its
cross sectional area taking up about the same space at the helical spring (R = 10
cm). Note that the bar must remain at least 10 times as long as it is wide in order
to be modeled by the stiffness formula given for the bar in Figure 1.23.
Solution:
From Figure 1.21, k =

EA
l

For steel, E = 210 ! 109 N/m2

From Example 1.7.2, k = 103 N/m

(210 ! 10 ) A
=
9

So, 10

l = (2.1 ! 108 ) A

If A = 0.01 m2 (10 cm2), then

l = ( 2.1! 108 ) (10 "2 ) = 2.1! 10 6 m

Not very practical at all. Sometimes in the course of design, the requirements
cannot be met.
1.108 Repeat Problem 1.107 using plastic (E = 1.40 ! 109 N/m2) and rubber (E = 7 ! 106
N/m2). Are any of these feasible?
Solution:
From problem 1.53, k = 10 3 N/m =

EA
l

For plastic, E = 1.40 ! 109 N/m 2

So, l = 140 m
For rubber, E = 7 ! 10 6 N/m2
So, l = 0.7 m
Rubber may be feasible, plastic would not.

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the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
rding, or likewise. For
information
regarding
permission(s),
write to:of
Rights
and Permissions
Department,
Pearson
Education,
Inc.,of
Upper
Saddle River, NJ 07458.
1.109
Consider
the
diving board
Figure
P1.109. For
divers,
a certain
level
static

deflection is desirable, denoted by !.

Compute a design formula for the

dimensions of the board (b, h and ! ) in terms of the static deflection, the average
divers mass, m, and the modulus of the board.

Problems and Solutions Section 1.10 (1.124 through 1.136)

1.124 A 2-kg mass connected to a spring of stiffness 103 N/m has a dry sliding friction
force (Fc) of 3 N. As the mass oscillates, its amplitude decreases 20 cm. How
long does this take?
Solution: With m = 2kg, and k = 1000 N/m the natural frequency is just

!n =
From equation (1.101): slope =

1000
= 22.36 rad/s
2

!2 mg" n !2Fc" n $x
=
=
#k
#k
$t

Solving the last equality for !t yields:

" !x# k "(0.20)(# )(103 )

!t =
=
= 4.68 s
2 fc $ n
2(3)(22.36)

1.125 Consider the system of Figure 1.41 with m = 5 kg and k = 9 " 103 N/m with a
friction force of magnitude 6 N. If the initial amplitude is 4 cm, determine the
amplitude one cycle later as well as the damped frequency.
Solution: Given m = 5 kg, k = 9 ! 103 N/m, fc = 6 N, x0 = 0.04 m , the amplitude

4 fc
(4)(6)
= 0.04 !
3 = 0.0373 m
k
9 " 10
Note that the damped natural frequency is the same as the natural frequency in the
after one cycle is x1 = x 0 !

case of Coulomb damping, hence ! n =

k
=
m

9 " 10 3
= 42.43 rad/s
5

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the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
rding, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.