1

Math 316
Spring 04
set V
Solutions
3.4 p.192 (1*,10*,14*,16*,23*)
7.1 p.444(5*,21*,25*,28*,35*)
3.4.1 (192) Determine the period and frequency of the simple harmonic motion of a
4-kg mass on the end of a spring with spring constant 16 N/m.
Solution: We have
k 16 N / m m * kg / sec^ 2
0    4  2 sec 1
m 8kg m * kg
2
and T   3.14 sec
0

3.4. 10 (192) Consider a floating cylindrical buoy with radius r , height h and
uniform density   0.5 (recall that the density of water is  w  1g / cm ). The buoy is
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initially suspended at rest with its bottom at the top surface of the water and is released at
time t  0 . Thereafter it is acted on by two forces: a downward gravitational force equal
to its weight mg  r 2 hg and an upward force of buoyancy equal to the weight
r 2 xg w of water displaced, where x  x (t ) is the depth of the bottom of the buoy
beneath the surface at time t (Fig. 1). Conclude that the buoy undergoes simple
harmonic motion around its equilibrium position x e  h with period p  2 h / g .
Compute p and the amplitude of the motion if   0.5 g / cm 3 , h  200cm and
g  980cm / s 2 .

Solution: Balance of forces gives

h
xgr 2
x

mg  hgr 2

Figure 1
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d 2x d 2x   x
F  m 2  mg  xgr  w  gr  h  x   2  g 1  w 
2 2

dt dt  h 
d x w g
2

which is simplified to the ODE  xg

dt 2 h
The particular solution is xe  h /  w as can be easily verified by looking for the
equilibrium solution: set d 2 x / dt 2  0 to get  w gx / h  g  xe  h /  w . Then we look
for the solution in the form x  x h  x e so that the homogeneous solution x h satisfies
d 2 xh  w g
 xh  0
dt 2 h
so that x h  C1 cos  0 t  C 2 sin  0 t with  0  g w / h . The general solution is then
x  C1 cos  0 t  C 2 sin  0 t  h /  w . Satisfying IC:
x t   C1 cos  0 t  C 2 sin  0 t  h /  w  x 0  C1  h  0  C1   h /  w
.
x'  t    0   C1 sin  0 t  C 2 cos  0 t   x'  0   0 C 2  0  C 2  0
h
Finally: x t   1  cos  0 t  .
w
The amplitude is
 
h / 2  w  0.5 * 200 g / cm 2 / 2 * 1g / cm 3  50cm 
and the period
h 100cm
p  2 /  0  2  2 * 3.14 *  3.0106s
w g 980cm / s 2
where we have included  w in all formulas to get the units right (of course, since it is
equal to 1, one could carry out all manipulations without units and get the right answer,
since all work is done in the CGS system of units.
3.4. 10 (193) Suppose that the mass in a mass-spring-dashpot system with m  25 ,
c  10 , and k  226 is set in motion with x 0   20 and x'  0   41 . (a) Find the
position function x t  and graph it. (b) Find the pseudoperiod of the oscillations and the
equations of the ‘envelope curves’.
d 2x dx
Solution: The equation of motion is dt 2  c dt  kx  0 with solution
m
x t   C e  pt cos t   Ce  pt sin  t  where p  c / 2m  10 / 50  0.2 and
   02  p 2   k / m 2  p 2   226 / 25 2  0.04  9.0378 . Satisfying the IC we have
x t   C1e  pt cos t   C 2 e  pt sin  t   x 0  C1  20
x'  t   C1e  pt   p cos t    sin  t    C 2 e  pt   pin t    cos t  
 x'  0  C1   p   C 2     41  C 2   v 0  x0 p  /   4.9791
In order to graph this function and its envelope, we reduce first to the combined form
A  C12  C 22  2.5 ,   tan  C 2 / C1   .6435
1

x t   Ae  pt cos t   
We graph this with the matlab script
» msd_system1(25,10,226,0,20,20,41)
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pseudoperiod T = 2.094e+000 Amplitude = 2.500e+001 delta = 6.435e-001

25

20

15

10

5
x(t)

-5

-10

-15

-20

-25
0 2 4 6 10 8
12 14 16 18 20
time t
%script for graphing the solution to a mass-spring-dashpot
% system and its envelope
function msd_system1(m,c,k,t0,t1,x0,v0)
%m mass; %k springconstant; c damping; t0/t1 start/end time
% x0 initial displacement; v0 initial velocity
t = linspace(t0,t1,100);
p = c/(2*m);
omega0 = (k/m)^.5;
omega = ((k/m)-p^2)^.5;
T = 2*pi/omega;
C1 = x0;
C2 = (v0+C1*p)/omega;
A=(C1^2+C2^2)^.5;
delta = atan(C2/C1);
disp(sprintf('pseudoperiod T = %5.3e Amplitude = %5.3e delta = %5.3e
',...
T,A,delta))
y1 = A*exp(-p*t);
y2 = -A*exp(-p*t);
x =y1.*(cos(omega*t-delta));
plot(t,x,t,y1,'.',t,y2,'.')
xlabel(' time t')
ylabel('x(t)')
3.4. 16 (194) Suppose that the mass in a mass-spring-dashpot system with m  3,
c  30 , and k  63 is set in motion with x 0   x 0  2 and x'  0   v 0  2 . Find the
position function x t  and determine whether the motion is overdamped, critically
damped or underdamped. If it is underdamped write the solution in amplitude-phase
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form. Also find the undamped position function that would result if all was the same but
the damping constant is set to zero. Graph the two solutions and compare.
Solution: For the original system, we have:
p  c / 2m  5 ,  0  k/m  21 so that p   0 and the system is overdamped.
Then, we can write the solution as x t   C1e p1t  C 2 e p2t with p1   p  p 2   2  3 0

and p 2   p  p 2   2  7 . To determine the constants:

0

x t   C1e p1t
 C2 e p 2t
 x 0  C1  C 2  x0
x'  t   p1C1e p1t  p 2 C 2 e p2t  x'  0  p1C1  p 2 C 2  v0
so that
x0 1
v p2 x p  v0 x0 p 2  v0
C1  0  0 2   4.0
1 1 p 2  p1  2 p 2   02
p1 p2
1 x0
p1 v0 v 0  x 0 p1 v 0  x 0 p1
C2     2.0 .
1 1 p 2  p1  2 p 2   02
p1 p2

For this type of problem, the following script is helpful

(it can handle all cases, so it can be used to work all problems in this subsection)

» msd_system2(3,30,63,0,1,2,2)
omega0 = 4.583e+000 p = 5.000e+000
system is overdamped
p1 = -3.000e+000 p2 = -7.000e+000 C1 = 4.000e+000 C2 = -2.000e+000

% Problems 15-21
%script for graphing the solution to a mass-spring-dashpot
% system and its envelope; this version treats all cases
function msd_system2(m,c,k,t0,t1,x0,v0)
%m mass; %k springconstant; c damping; t0/t1 start/end time
%x0 initial displacement; v0 initial velocity
t = linspace(t0,t1,100);
p = c/(2*m);
omega0 = (k/m)^.5;
disp(sprintf(' omega0 = %5.3e p = %5.3e ',omega0,p))
% undamped analog
U1 = x0;
U2 = v0/omega0;
AU = (U1^2+U2^2)^.5;
deltau = atan(U2/U1);
xu = AU*cos(omega0*t-deltau);
if omega0 >= p % decide if it is underdamped
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omega = ((k/m)-p^2)^.5;
disp(sprintf(' omega = %5.3e ',omega))
if omega0 == p then % this means it is critically damped
disp('system is critically damped')
% solution is x(t) = exp(-p*t)*(C1 + C2*t)
C1 = x0;
C2 = v0+p*x0;
x = exp(-p*t).*(C1 + C2*t);
plot(t,x,t,xu,'k')
xlabel(' time t')
ylabel('x(t)')
else
disp('system is underdamped')
% Now x(t) = exp(-pt)*(C1*cos(omega*t)+C2*sin(omega*t))
T = 2*pi/omega;
C1 = x0;
C2 = (v0+C1*p)/omega;
A=(C1^2+C2^2)^.5;
delta = atan(C2/C1);
disp(sprintf('pseudoperiod T = %5.3e Amplitude = %5.3e delta =
%5.3e ',...
T,A,delta))
y1 = A*exp(-p*t);
y2 = -A*exp(-p*t);
x =y1.*(cos(omega*t-delta));
plot(t,x,t,y1,'.',t,y2,'.',t,xu,'k')
xlabel(' time t')
ylabel('x(t)')
end
else
disp('system is overdamped')
% x(t) = C1*exp(p1*t) + C2*exp(p2*t)
pp = (p^2-omega0^2)^.5;
p1 = -p + pp; p2 = -p-pp;
det = -2*pp;
C1 = (x0*p2-v0)/det;
C2 = (v0-x0*p1)/det;
disp(sprintf('p1 = %5.3e p2 = %5.3e C1 = %5.3e C2 =
%5.3e',p1,p2,C1,C2))
x = C1*exp(p1*t)+C2*exp(p2*t);
plot(t,x,t,xu,'k')
xlabel(' time t')
ylabel('x(t)')
title('overdamped case')
end
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overdamped case
2.5

1.5

0.5
x(t)

-0.5

-1

-1.5

-2

-2.5
0 0.5 1 1.5 2 2.5 3 3.5 4
time t

3.4. 23 (194) This problem deals with a highly simplified model of a car of weight
3200lb (mass = 0.375 slugs in fps units). Assume that the suspension system acts like a
single spring and its shock absorbers like a single dashpot, so that its vertical vibrations
satisfy mx" cx' kx  0 with appropriate values of the coefficients. (a) Find
the stiffness coefficient k of the spring if the car undergoes free vibrations at 80 cycles
per minute when it shock absorbers are disconnected. (b) With the shock absorbers
connected the car is set into vibration by driving it over a bump, and the resulting damped
vibrations have a frequency of 78 cycles/min. After how long will the time-varying
amplitude be 1% of its initial value?
Solution: This problem is about using the values of the natural frequency  0  k / m
and damped frequency    02  p 2   k / m  2   c / 2m  2 which are
easily measured to determine the spring stiffness k and damping factor p.
We have
2
3200lb  80 * 2 *  
 0  k / m  k  m 02  *  80cycles / min   100 * 
2
  7018.4lb / ft
32 ft / s 2  60 s 
2
Also, p  c / 2m   02   2  80 2  78 2  1.8615 / s
60s
so that the time varying amplitude is given by
A(t )  A(0)e  pt  .01A 0   t   ln(.01) / p  2.47s
7.1. 5 (444) Apply the definition to compute the Laplace transform of f  t   sinh t .
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Solution: First we derive the answer with Matlab (for fun!)

» F=laplace(sinh(t))
F = 1/(s^2-1)
Now we do it honestly:
   
F  s    sinh te  st dt 
1
2 0
  1 1
e t  e t e  st dt   e ( s 1) t dt   e  s 1 t dt 
20 20
0

1 1 1 1 1
F  s   
2 s 1 2 s 1 s2 1
7.1. 21 (444) Find the Laplace transform using the table for f  t   t cos 2t .
Solution: Matlab answer:
» F=laplace(t*cos(2*t))
F = -1/(s^2+4)+2*s^2/(s^2+4)^2
We have cos 2t    e i 2t  e i 2t  ; we will use the shift formula
1
2
 
L f  t  e at  F  s  a  which, for f  t   t , F  s  
1
s2
and for a  2i gives:

 
L te 2it  F  s  2i  
1
, Lte   F  s  2i  
 2 it 1
 s  2i  2
 s  2i  2 , so that, combining

1  s  2i    s  2i 
2 2
s2  4
t
 
 1
L  e i 2 t  e i 2 t  
1

1 1
 
2  2  s  2i 
2
2  s  2i  2 2  s  2i  2  s  2i  2 s2  4 2

1 2
7.1. 25 (444) Find the inverse transform for F  s   s  s 5 / 2
Solution: Matlab answer:
» f=ilaplace(1/s-2/s^(5/2))
f =1-8/3*t^(3/2)/pi^(1/2)

1 2  1  1  2   5 / 2   2
L1   5 / 2   L1    2 L1  5 / 2   1  L1  5 / 2   1  t 3/ 2
s s  s s   5 / 2   s   5 / 2 
5 3  3 3 1 1 3 
But          so that finally
2 2  2 2 2  2 4
1 2  8 3/ 2
L1   5 / 2   1  t
s s  3 

3s  1
7.1. 28 (444) Find the inverse transform for F  s   s 2  4
Solution: Matlab answer:
» f=ilaplace((3*s+1)/(s^2+4))
f = 3*cos(2*t)+1/2*sin(2*t)
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1  3s  1   s  1 1  2  1
We have L  2   3L1  2   L  2   3 cos 2t   sin  2t 
s  4  s  4 2  s  4 2

7.1. 35 (444) Use the tabulated integral

e ax
 e ax
cos  bx  dx   a cos bx   b sin  bx    C
a2  b2
to obtain L cos kt   directly from the definition.
 
 e  st 
L cos kt     cos kt e  st dt   2   s cos kt   k sin  kt    
k  s
2
0
Solution: 0

1
L cos kt     2   s cos 0  k sin  0    2 s 2
k s 2
k s