Fall 2020

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ENME361: MID-TERM EXAM I

PLEASE PAY ATTENTION TO THE FOLLOWING:

1. This is an open book/notes exam. However, smart phone access is NOT allowed.
2. Please write neatly. You can write on the printed exam packet or on separate paper.
3. Writing on a tablet is NOT allowed.
4. There are four problems, not equally weighted.
5. State all assumptions made and provide all steps (e.g., free body diagrams).
6. Maximum time allowed for exam: 9:30am -10:45am, after this you will be given 10 mins
to upload your exam.
7. When you upload your completed exam to Gradescope, please assign your answer pages
to each problem individually.

Problem 1: (17) Consider the slider-crank mechanism shown in the figure below. The mass of
the slider is mp, and the rods (PQ and O’Q) are rigid and massless. The length of PQ is l and
O’Q is r. Note that the point O’ only has a vertical motion y(t) and the distance d (SO’) is fixed.
a) (4) Determine the degrees of freedom of the system;
b) (9) determine the absolute velocity of the mass mp;
c) (4) determine the kinetic energy of the system.
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Problem 2: (23) A vibratory system is shown in the figure below.

i) (10) Derive the equation of motion of the system for “small” oscillations.
ii) (10) Determine the natural frequency and damping factor of the system.
iii) (3) What is the value of damping coefficient c for which the system is critically damped?

Note: the mass of the beam can be neglected and the coordinate y is measured from the static-
equilibrium position.

c
a b

EI y M
Rigid, weightless m
connection
r
d

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Problem 3: (35) A sphere m1 is attached to a slender uniform bar of mass m2 . The bar is pivoted
at the point O, where a rotational spring with a torsional spring constant kt is attached. The top
end of the bar is connected to a damper with a damping coefficient c. The sphere is attached to a
horizontal spring with a spring constant of k.
a) (20) Determine the equation of motion by using the force/moment balance method
without assuming “small” angular motions.
b) (3) Determine the static equilibrium position.
c) (6) Determine the equation of motion for “small” angular oscillations about the static
equilibrium position.
d) (6) Determine equivalent mass, equivalent stiffness, and equivalent damping
coefficient.

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Problem 4: (25) Consider an oscillating system shown in the figure below. A disc with a mass of
md is rolling without slipping. The disc is connected to a uniform bar with a rigid and massless
link. There is an external force 𝐹(𝑡) applied to the center of the disc and an external moment M(t)
applied to the bar.
Use the disc center displacement x(t) as the generalized coordinate. Obtain the equation of
motion of the system by using the Lagrange’s equations. Assume small displacements.

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TABLE 1 Mass moments of inertia about axis z normal

to the x-y plane and passing through the center of mass.
L
1
Slender bar JG = mL2
L/2 12
z

R
1
Circular disk JG = mR 2
2
z

R
2
Sphere JG = mR 2
5
z

TABLE 2 Spring constants for some common elastic elements.

L AE
1 Axially-loaded rod or cable k=
L
F, x

d1

pEd1d 2
2 Axially-loaded tapered rod L k=
4L
d2
F, x

GI
kt =
L
3 Hollow circular rod in torsion L
p (d out
4
- d in4 )
I=
t, q 32

F, x 3EI
4 Cantilever beam k=
L3
L

F, x
a b 3EI (a + b)
5 Pinned-pinned beam k=
a 2b 2

F, x
3EI (a + b)3
6 Clamped-clamped beam a b k=
a3b3

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t, q kte = kt1 + kt 2
7 Two circular rods in torsion kt1 kt2 GjI j
ktj =
L1 L2 Lj
-1
æ 1 1 ö
t, q kte = ç + ÷
kt1 kt2 k
è t1 k t2 ø
8 Two circular rods in torsion
L1 L2 GI
ktj = j j
Lj

Lagrange’s Equations:

d æ ¶T ö ¶T ¶D ¶V
1 ± z » 1 ± z / 2 -ç... for÷ -|z |<< 1+ + = Qj for j = 1, 2,..., N
1
dt çè ¶q! j ÷ø ¶q j ¶q! j ¶q j
» 1 ! z / 2 - ... for |z |<< 1
1± z ¶rl ¶ωl
Q
cos(a ± b) = cos a cos
j = å
b ! sinl a sin b +
l
F ×
¶q
å Ml ×
l ¶q! j
sin(a ± b) = sin a cos b ± cos a sin bj
a sin wt ± b cos wt = a 2 + b 2 sin(wt ±y ) where y = tan -1 ( b a )
j2
cos(q o + j ) » cos(q o ) - j sin(q o ) - cos(q o ) + ...
2
j2
sin(q o + j ) » sin(q o ) + j cos(q o ) - sin(q o ) + ...
2

d æ ¶T ö ¶T ¶D ¶V
ç ÷- + + =Q
dt è ¶q" ø ¶q ¶q" ¶q
¶rl ¶ω
Q = å Fl × + å Mm × m
l ¶ql m ¶q"m

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