12/5/2013

Engineering Mechanics
Dynamics and Vibrations

Engineering Mechanics Dynamics & Vibrations

Engineering Mechanics Dynamics & Vibrations

Plane Motion of a Rigid Body: Equations of Motion
Motion of a rigid body in plane motion is
completely defined by the resultant and moment
resultant about the mass centre G of the external
forces.

max

may

D'Alembert's principle: inertia forces

The particle acceleration we measure from a
fixed set of axes X-Y-Z (Figure (a)) is its
absolute acceleration a. In this case the
familiar relation
F ma applies

When we observe the particle from a moving

system x-y-z attached to the particle, the
particle necessarily appears to be at rest or in
equilibrium. A fictitious force -ma (so called
inertia force) acts on the particle (figure b)

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Engineering Mechanics Dynamics & Vibrations

Plane Motion of a Rigid Body: D'Alembert's principle
D'Alembert's principle: inertia forces
D'Alembert showed that one can transform an
accelerating rigid body into an equivalent static
system by adding the so-called inertia forces
- The translational inertia must act through the
center of mass and the rotational inertia can act
anywhere. The system can then be analyzed
exactly as a static system.
- The inertia forces are seen to oppose the motion

Engineering Mechanics Dynamics & Vibrations

Spring-Mass System
Small Oscillations

Newtons second law

p (t ) kx mx

d 2x
dt 2

DAlemberts principle
Fx 0
mx kx p (t ) 0

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Engineering Mechanics Dynamics & Vibrations

Spring-Mass System: Gravity Effect
At static equilibrium configuration

k st mg
Now the particle is displaced through a distance xo
from its static equilibrium configuration and released
with a velocity vo, the particle will undergo simple
harmonic motion
From the free body diagram of the mass m at a time
instant t with displacement x(t)

Fv 0
mg k st x m
x0
Governing equation of motion
mx kx 0
k
k

x x 0 where n2
m
m

Engineering Mechanics Dynamics & Vibrations

Free Vibrations of Spring-Mass System
x(t ) C1 sin nt C2 cos nt

General Solution

x is a periodic function and w n is the natural circular frequency of motion.

C1 and C2 are determined by the initial conditions:
x C1 sin n t C 2 cos n t

@ time t=0; x=x o C2 xo

v x C1 n cos n t C 2 n sin n t

o C1
@ time t=0; v=x=v

x (t )

vo
n

v0
sin n t xo cos nt
n

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Engineering Mechanics Dynamics & Vibrations

Simple Harmonic Motion
C1

vo
n

C2 xo

Displacement is equivalent to the x component of the sum of two vectors C1 C2
which rotate with constant angular velocity n .
v
x(t ) 0 sin nt xo cos n t
n

x xm sin n t

xm

v0 n 2 x02 amplitude

tan 1 v0n x0 phase angle

2
period
n
1 n
fn

natural frequency
n 2

Engineering Mechanics Dynamics & Vibrations

Simple Harmonic Motion
Velocity-time and acceleration-time curves can be
represented by sine curves of the same period as the
displacement-time curve but different phase angles.
x x m sin n t

v x
xm n cos n t
xm n sin n t 2
a x
xm n2 sin n t
xm n2 sin n t

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Engineering Mechanics Dynamics & Vibrations

Sample Problem 1
SOLUTION:
For each spring arrangement, determine
the spring constant for a single
equivalent spring.
Apply the DAlemberts principle for
the harmonic motion of a spring-mass
system.
A 50-kg block moves between vertical
guides as shown. The block is pulled
40mm down from its equilibrium
position and released.
For each spring arrangement, determine
a) the period of the vibration, b) the
maximum velocity of the block, and c)
the maximum acceleration of the block.

Engineering Mechanics Dynamics & Vibrations

Sample Problem 1
k1 4 kN m k 2 6 kN m m 50kg

k eq
m

10 4
14.14 rad s ec
50

2
n
n

n 0.444 s

Force diagram

For equilibrium: Fv 0

mx k1 x k 2 x 0
mx ( k1 k2 ) x 0

mx keq x 0

v x x cos t
m n
n

vm x m n
0.040 m 14.14 rad s

vm 0.566 m s

a
x xmn2 sin n t
am x m n2

keq k1 k2
4

0.040 m 14.14 rad s

am 8.00 m s2

10 kN m 10 N m

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Engineering Mechanics Dynamics & Vibrations

Sample Problem 1
k1 4 kN m k 2 6 kN m

For equilibrium:

Fv 0

mx keq x 0
n
n

P keq x k 2 ( x x1 ) k1 x1

k
2400N/m

6.93 rad s
m
20 kg
2
n

n 0.907 s

k x
x1 2
k1 k2

v x x cos t
m n
n
vm x m n
0.040 m 6.93 rad s

kk
P 1 2 x
k1 k 2

a x xmn2 sin n t

vm 0.277 m s

am x m n2

1
1 1

keq k1 k 2

0.040 m 6.93 rad s

am 1.920 m s 2

Engineering Mechanics Dynamics & Vibrations

Distributed Mass: Rotational Inertia
J = Mass moment of Inertia about C.G

J r 2 dm
x
dx
L/2

L/2

L/2

Displacement diagram

J CG

L/ 2

m mass / unit length

Force diagram

2
x (mdx)

mL3 (mL ) L2 ML2

12
12
12
mL2
J CG

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Engineering Mechanics Dynamics & Vibrations

Distributed Mass: Rotational Inertia
A
L

L/2

L/2

Pure Rotation

Pure Translation

Displacement diagram
Inertia Forces at C.G

=
ML2

12

J A

My
ML

ML

Inertia Forces at C.G

C.G

mL M

JA

Moment at A due to inertia forces

Force diagram

J A

J CG

ML2
3

ML2 ML L ML2

12
2 2
3

Engineering Mechanics Dynamics & Vibrations

Sample Problem 2
k1
m

k2

For the system shown, m=0.4-kg,

K1=2N/mm and K2=3N/mm.
Taking the rod on which the mass
is fixed as light and stiff.
Determine a) Natural frequency
of the system, b) the period of the
vibration.

SOLUTION:
Select a degree of freedom
(small displacement).
Represent deformations of
springs (for elastic forces) and
masses (for inertia forces) in
terms of x(t)

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Engineering Mechanics Dynamics & Vibrations

Sample Problem 2
Gravity Effect

k1

Displacement

2
st
3

1
st
3

st

Static equilibrium

st
3

At static equilibrium configuration

A
k2

MA 0

2 st
3

Static Forces

mg

k1

st
4
k 2 st mg
9
9

Engineering Mechanics Dynamics & Vibrations

Sample Problem 2
1
x(t )
3
1
st
3

2
x(t )
3

x( t )

2
st
3

st

2
2
k2 x(t ) st
3
3

Displacement
For equilibrium: M A 0

1
k1 x(t ) st
3
3

2
1
2
k1 x(t ) st l k2 x(t ) st 2l mx(t )(3l ) mg (3l ) 0
3
3
3
3

mx(t )
forces

mg

1
2 2
1
2
k1 x (t ) st k2 x(t ) st mx(t ) mg 0
3 3
3 3
3
3

k 4k

k 4k
mx(t ) 1 2 x(t ) 1 2 st mg 0
9
9
9
9

k1 4k2
mx(t ) 9 9 x(t ) 0

Equation of Motion

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Engineering Mechanics Dynamics & Vibrations

Sample Problem 2
x( t )

2
x(t )
3

1
x(t )
3

No Gravity Effect
displacement

static equilibrium configuration

Equation of motion
forces

mx(t ) keq x (t ) 0

l
1
k1 x(t )
3

2
k 2 x (t )
3

mx(t )

14
2 3x4
x103 N/m
N/mm =
keq

9
9
9

For equilibrium: M A 0
1
2

k1 3 x(t ) l k2 3 x (t ) 2l mx(t ) 3l 0

1 1 2 2
mx(t ) k1 k2 x (t ) 0
3 3 3 3

keq

n
n

14000
62.36 rad/sec
9x0.4

2
n

n 0.100 sec

Engineering Mechanics Dynamics & Vibrations

Sample Problem 2
If distributed mass of the bar is considered
ML2 ML

12
2

forces

k1

1
x (t )
3

k2

2
x( t )
3

mx(t )

For equilibrium: M A 0
ML2
1
2

k
x
(
t
)
l

k
x
(
t
)
2
l

mx
(
t
)
3
l

1
2
3
3

x (t )

3l

M
4

1
x(t ) k1 k 2 x(t ) 0
m
3
9

L 3l

one can also use principle

of virtual work to obtain
the equation of motion

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Engineering Mechanics Dynamics & Vibrations

Sample Problem 3
SOLUTION:

Select a degree of freedom (small

displacement).
M=10kg

b=0.05m

Represent deformations of springs (for

elastic forces) and masses (for inertia
forces) in terms of

a=0.1m

Derive the equation of motion of a rectangular block resting on a frictionless

surface as shown for small oscillations in a horizontal plane . Solve the
equation of motion by simplifying it for M=10Kg, a=0.1m, b=0.05m,
k=10KN/m
Determine a)Natural frequency of the system, b) the period of the vibration.

Engineering Mechanics Dynamics & Vibrations

Sample Problem 3
b

a
ab
2

kb
b
ab
2

b/2

ab( a2 b2 )

12

a/2

Forces
Displacements
For equilibrium:

M0 0

mass / unit area

ab( a 2 b 2 )
aa
bb
ab ab kb (b) 0
12
22
2 2

ab M

M (a 2 b 2 )
a2
b2
M M kb 2 0
12
4
4

m(a 2 b2 )
2

kb 0
3

M (a 2 b 2 )
Jo

10

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Engineering Mechanics Dynamics & Vibrations

Sample Problem 3
Equation of motion

0.0416 25 0
k
25

24.514 rad/sec
m
0.0416
2
n
n 0.256 sec
n

Engineering Mechanics Dynamics & Vibrations

Sample Problem 4
SOLUTION:
Select a degree of freedom (small
displacement).
Represent deformations of springs (for
elastic forces) and masses (for inertia
forces) in terms of x
3m

3m

What are the differential equation of motion about the static equilibrium
configuration shown and the natural frequency of motion of body A for small
motion of BC? Neglect inertia effects from BC. Assume K1= 15 N/m, K2= 20
N/m, K3= 30 N/m and WA=30N

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Engineering Mechanics Dynamics & Vibrations

Sample Problem 4

xa
2xD

xD
Force diagram
Displacement diagram

The configuration shown is the static equilibrium and given that rod BC is mass
less (i.e neglect the inertia effect of BC). Here two equilibrium conditions exist i.e

Fv 0 and M c 0

Fv 0
m A xA k1 x A k 2 ( x A xD ) 0

(1)

Engineering Mechanics Dynamics & Vibrations

Sample Problem 4
Mc 0
12k3 xD 3k2 ( x A xD ) 0

(2)

k2
From (2), xD
xA
k 2 4k 3

(3)

Force
diagram

Thus due to inertia less rod BC the 2-dof problem reduces to 1-dof problem
(since xD depends purely on xA).
Substitute (3) in (1)

4k3
mA
x A k1 k2
xA 0
k 2 4k 3

k1k2 4k3 (k1 k2 )

mA (k2 4 k3 )

n 3.242 rad/sec

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Engineering Mechanics Dynamics & Vibrations

Tutorial problem-3
Sample
Problem 5

Rod AB is attached to a hinge at A and to two springs, each of constant k. if

h=700 mm, d=300 mm, and m=20 kg, determine the value of k for which the
period of small oscillation is (a) 1sec, (b) infinite. Neglect the mass of the rod
and assume that each spring can act in either tension or compression.

Engineering Mechanics Dynamics & Vibrations

Sample Problem 5
h

m
d

Displacements

Forces

mh(h) 2kd (d ) mg (h ) 0
2kd 2 g
2 0
h
mh
2
2kd
g
n2 2
h
mh

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Engineering Mechanics Dynamics & Vibrations

Sample Problem 5
(a)

(b)

Engineering Mechanics Dynamics & Vibrations

Sample Problem 5
One can also use principle of minimum potential energy to obtain k when T is
infinite

By minimum potential energy, We have

V mg (h cos ) 2 k (d )2
2

For equilibrium

dV
mg (h sin ) kd 2 (2 ) 0
d
=00 is a equilibrium configuration

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Engineering Mechanics Dynamics & Vibrations

Sample Problem 5
For stability of Equilibrium:

d 2V
mg (h cos ) 2kd 2
2
d
d 2V
mgh 2kd 2 0
2
d
mgh
k
2d 2
k >763 N/m
i.e. =00 ,Configuration is stable for k >763N/m ( which is
same as that of vibrational analysis)

Engineering Mechanics Dynamics & Vibrations

Sample Problem 6
k

M,J

L(t)

L/2(t)
L(t)

M,J

L(t)

Displacements

M [L/2(t )]

M [L/2 (t )]

L(t)

(t)

k[ L (t )]

L/2(t)

J(t )
M [ L(t )]

m[ L(t )]

J(t )

m[ L(t )]

Forces

For equilibrium: M A 0
ML2
ML2
mL2 mL2
ML2

4
12
2
2
ML ML

kL2 0
12
4

2
2
2
2mL ML kL 0
3

15

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Engineering Mechanics Dynamics & Vibrations

Damped Free Vibrations
All vibrations are damped to some degree by
forces due to dry friction, fluid friction, or
internal friction.
With viscous damping due to fluid friction,

F ma :

W k st x cx mx
mx cx kx 0

Substituting x = elt and dividing through by elt

yields the characteristic equation,
m2 c k 0

c
k
c


2m
m
2m

Define the critical damping coefficient such that

2

k
cc

0
m
2m

c c 2m

k
2m n
m

Engineering Mechanics Dynamics & Vibrations

Damped Free Vibrations
Define damping ratio

Characteristic equation,
2

m2 c k 0

c
k
c

2m
m
2m

cc 2mn critical damping coefficient

c
c

cc 2mn

n in 1 2

Light damping : c < cc

c 2m t
x e C1 sin d t C2 cos d t

n t

Underdamped System

C1 sin d t C2 cos d t

d n 1 2 damped frequency
Critical damping: c = cc
x C1 C 2 t e n t

Heavy damping: c > cc

x C1e 1t C 2 e 2t

Critically damped System

- double roots
- nonvibratory motion
- negative roots
- nonvibratory motion

Overdamped System

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Engineering Mechanics Dynamics & Vibrations

Damped Vs. Undamped Free Vibrations
Damped
x t e

nt

Undamped

vo n xo
sin Dt
xo cos Dt

v n xo
xo2 o

x = xo cos n t

vo
sin n t
n

v
xo2 o
n

In the figure use:

u=x
u(0)=xo
o )= vo
u(

Engineering Mechanics Dynamics & Vibrations

Damped Free Vibrations (logarithmic decrement)
From the two successive peaks

xn
= enTD
xn1
d n 1 2 TD

Note, Tn

ln

Tn
1 2

2
c
and
n
2mn

xn
2
= nTD
xn 1
1 2

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Engineering Mechanics Dynamics & Vibrations

Damped Free Vibrations

o )= vo 0 ,i.e no initial velocity

For u(

Engineering Mechanics Dynamics & Vibrations

Sample Problem

A loaded railroad car weighing 30,000 lb is rolling at a

constant velocity vo when it couples with a spring and dashpot
bumper system. The recorded displacement-time curve of the
loaded railroad car after coupling is as shown. Determine (a) the
damping constant, (b) the spring constant.
Source: BJ

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Engineering Mechanics Dynamics & Vibrations

Sample Problem

D
x1
= en D e 2 m n
x2

19