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1. The document describes a dynamical system consisting of a point mass attached to a rigid massless rod suspended between two identical springs at a 45 degree angle. 2. The objectives are to derive the natural frequencies of small vibrations, normalize the frequencies, plot the normalized frequencies versus a dimensionless spring constant parameter, and derive the normal modes. 3. The work steps include simplifying the system by rotating it 45 degrees, deriving the equations of motion, solving the equations to obtain the natural frequencies, which are normalized as a function of the spring constant and system parameters.

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Christian Gerald Daniel
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71 views6 pages

Dadada

1. The document describes a dynamical system consisting of a point mass attached to a rigid massless rod suspended between two identical springs at a 45 degree angle. 2. The objectives are to derive the natural frequencies of small vibrations, normalize the frequencies, plot the normalized frequencies versus a dimensionless spring constant parameter, and derive the normal modes. 3. The work steps include simplifying the system by rotating it 45 degrees, deriving the equations of motion, solving the equations to obtain the natural frequencies, which are normalized as a function of the spring constant and system parameters.

Uploaded by

Christian Gerald Daniel
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOC, PDF, TXT or read online on Scribd
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ABSTRACT

1.
2.
3.
4.

Christian Gerald Daniel (4512502)


Yvonne van den Bloom (4523415)
Timo Molenkamp (4521773)
Koen van der Vlugt (4420586)

Assignment 8 Dynamics
1 PROBLEM
Consider a dynamical system depicted in Figure 1. This system consists of two identical
springs of length l located under 45 to the vertical (the length and the angle are both in the
undisturbed situation, when no external force is applied to the springs).
The upper ends of the springs are fixed to immovable supports, whereas the lower ends are
attached to each other and to the upper end of a rigid massless rod of length L that is
suspended on the springs. To the lower end of the rod a point mass is attached. The system is
subject to gravity and can move both vertically and horizontally.
0

2 OBJECTIVES

Derive analytically the natural frequencies of small vibrations of the system.


Normalize the natural frequencies dividing them by a combination of the system
parameters with the dimension of frequency.
Plot the normalized natural frequencies versus a dimensionless parameter that is
proportional to the spring constant k.
Derive the normal modes of the system and give a graphical interpretation of those.

3 WORK STEPS
A. Simplification of the system.
At first we will simplify our system a little bit by rotating the whole system by 45
degree. This is allowed because when we use the Mohr circle of this system. It
will turn out that there is no circle but just a point for any rotation because the
springs are under an angle of 90 degree of each other.

cos
sin

sin u1
x
s

cos u2
ys
u1 ( ) u2 ( 90) u2 ( 2 )
sin u2
sin( 2 )
x
s
sin

sin( 2 ) u2
ys

sin u2
sin( 2 )
xs

sin

y
sin( 2 ) u2
s

This holds for every .

Rotate 450

So now we have one spring for vertical movement and one for horizontal
movement.

B. Derive analytically the natural frequencies of small vibrations of the system.


We have a 2 degree of freedom system left. We will make a calculation of the
eigenvalues of the horizontal and vertical vibrations of the mass. To calculate this
we add the horizontal and vertical displacements of the mass and the pendula.
At the spring point we have:

xs
ys
At the mass we have

xm xs l *sin
ym ys l *cos
and
x&m x&s l *cos *&
y& y& l *sin *&
m

Then we can put in the formula for the kinetic and potential energy.

1
m *( x&m y&m )
2
1
P * k *( xm 2 ym 2 ) mgl cos
2
1
1
L m *( x&s l *cos *& y&s l *sin *&) * k *( xm 2 ym 2 ) mgl cos
2
2
K

This could be written in the following way

1
m *( x&s 2 2* x&s * l *cos *& l 2 *&2 *cos y&s 2 2* y&s * l *sin *& l 2 *&2 *sin )
2

1
* k *( xm 2 ym 2 ) mgl cos
2
Before computing the derivatives, a multi-dimensional Tayler series with respect
to the generalized coordinates and their time derivatives is made. We keep
terms up to and including the second order, so that linear equations are obtained
when derivatives are taken. The following trigonometric functions did substitute
for sin = 0 and for cos = 1 or 1 /2

This results in:

1
1
2
m *( x&s 2 2 x&s l& l 2&2 y&s 2 ) k *( xm 2 ym 2 ) mgl mgl
2
2
2

We are now taking appropriate derivatives and back subsitute the generalized
coordinates and their time derivatives, alowing to take time derivatives. Also
were consindering the dislacements of the mass. The displacement of the mass
is the total displacement, also those of the spring so x s=xm, etc.

dL
xm * k
dx
dL &
&* l * m &
x&
m *m
dx&
dL
mgl *
d
dL &
&* l 2 * m &
x&
m *l * m
d&
dL
ym * k
dy
dL
&
y&
m *m
dy&
Now we can form the equations of motion:

&
&
&
x&
m * m * lm xm * k 0
&
y&
m * m ym * k 0
&* l &
&
x& g * 0
m

The equation of motion in y direction is static and is not influenced by theta or x.


We can substitute the other two motion in each to get one equation of motion for
the x.

&* l &
&
x&
m g *
&
&
&
x&
m * m ( xm g * ) * m xm * k 0
xm * k * gm 0
xm * k
gm
x&
m *k
& &
&
gm

This gives us the final equations:

kl
) xm * k 0
g
&
y&
m * m ym * k 0

&
x&
m *( m

When we look at the physics of this, this is logical because the motion in y
direction is only depending on the mass and the spring stiffness, it is simply
bouncing up and down. The motion in x direction is depending on the mass and
the spring stiffness as well, but also the gravity and the length of the pendula
have some influence. Those factors are caused by the motion of the pendula
and so this is a combined system, what was expected.
If we will solve this differential equations it is useful to add an constant 2, the
natural quadratic natural frequency.

x(t ) C1 * eit C2 * e it
with

kg
mg kl

y (t ) C3 * eit C4 * e it
with

k
m

The natural frequencies are:

kg
mg kl

k
m

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