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610 Chapter 8 Vibration and Time Response
Sample Problem 8/2
x
The 8-kg body is moved 0.2 m to the right of the equilibrium position and c
released from rest at time t 0. Determine its displacement at time t 2 s. The
viscous damping coefficient c is 20 N s/m, and the spring stiffness k is 32 N/m. 8 kg
Solution. We must first determine whether the system is underdamped, criti- k
cally damped, or overdamped. For that purpose, we compute the damping ratio .
c 20 Equilibrium
n k/m 32/8 2 rad/s 0.625
2mn 2(8)(2) position
x
Since 1, the system is underdamped. The damped natural frequency is mg
d n1 2 21 (0.625)2 1.561 rad/s. The motion is given by Eq. 8/12
and is cx· = 20x·
x Cent sin (dt ) Ce1.25t sin (1.561t ) kx = 32x
The velocity is then
ẋ 1.25Ce1.25t sin (1.561t ) 1.561Ce1.25t cos (1.561t ) N
Evaluating the displacement and velocity at time t 0 gives
x0 C sin 0.2 ẋ 0 1.25C sin 1.561C cos 0 Helpful Hint
Solving the two equations for C and yields C 0.256 m and 0.896 rad. We note that the exponential factor
Therefore, the displacement in meters is e1.25t is 0.0821 at t 2 s. Thus,
0.625 represents severe damp-
x 0.256e1.25t sin (1.561t 0.896)
ing, although the motion is still
Evaluation for time t 2 s gives x2 0.01616 m. Ans. oscillatory.
Sample Problem 8/3
The two fixed counterrotating pulleys are driven at the same angular speed
0. A round bar is placed off center on the pulleys as shown. Determine the nat- ω0 ω0
a
ural frequency of the resulting bar motion. The coefficient of kinetic friction be-
tween the bar and pulleys is k. Central y
position
Solution. The free-body diagram of the bar is constructed for an arbitrary dis- a a
–– ––
placement x from the central position as shown. The governing equations are 2 2
x
[ΣFx mẍ] k NA k NB mẍ
A G B
[ΣFy 0] NA NB mg 0 µk NA µk NB
NA mg NB
[ΣMA 0] aNB a2 xmg 0 Helpful Hints
Eliminating NA and NB from the first equation yields Because the bar is slender and does
2k g not rotate, the use of a moment
ẍ a x 0 equilibrium equation is justified.
We note that the angular speed 0
We recognize the form of this equation as that of Eq. 8/2, so that the natural fre-
does not enter the equation of mo-
quency in radians per second is n 2k g/a and the natural frequency in cy-
tion. The reason for this is our as-
cles per second is
sumption that the kinetic friction
1 force does not depend on the relative
ªn 2k g/a Ans.
2 velocity at the contacting surface.
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Article 8/4 Vibration of Rigid Bodies 637
Sample Problem 8/9
x
Derive the equation of motion for the homogeneous circular cylinder, which
rolls without slipping. If the cylinder mass is 50 kg, the cylinder radius 0.5 m, m
k r
the spring constant 75 N/m, and the damping coefficient 10 N s/m, determine c
(a) the undamped natural frequency
(b) the damping ratio
(c) the damped natural frequency
(d) the period of the damped system.
In addition, determine x as a function of time if the cylinder is released from rest
at the position x 0.2 m when t 0.
Helpful Hints
Solution. We have a choice of motion variables in that either x or the angular
displacement of the cylinder may be used. Since the problem statement in- The angle is taken positive clock-
volves x, we draw the free-body diagram for an arbitrary, positive value of x and wise to be kinematically consistent
write the two motion equations for the cylinder as with x.
[ΣFx mẍ] cẋ kx F mẍ The friction force F may be as-
sumed in either direction. We will
[ΣMG I ¨] Fr 12 mr2 ¨ find that the actual direction is to
the right for x 0 and to the left
The condition of rolling with no slip is ẍ r ¨. Substitution of this condition
1 for x 0; F 0 when x 0.
into the moment equation gives F 2 mẍ. Inserting this expression for the
friction force into the force equation for the x-direction yields
1 2 c 2 k
cẋ kx mẍ mẍ or ẍ ẋ x0 Equilibrium
x
2 3m 3m position
+θ
Comparing the above equation with that for the standard damped mg
oscillator, Eq. 8/9, allows us to state directly
kx cx·
O
(a) n 2
2 k
3m
n 23 mk 23 7550 1 rad/s Ans.
F
2 c 1 c 10
(b) 2n 0.0667 Ans.
3m 3 mn 3(50)(1) N
Hence, the damped natural frequency and the damped period are
(c) d n1 2 (1)1 (0.0667)2 0.998 rad/s Ans.
(d) d 2/d 2/0.998 6.30 s Ans.
From Eq. 8/12, the underdamped solution to the equation of motion is
x Cent sin (dt ) Ce(0.0667)(1)t sin (0.998t )
The velocity is ẋ 0.0667Ce0.0667t sin (0.998t )
0.998Ce0.0667t cos (0.998t )
At time t 0, x and ẋ become
x0 C sin 0.2
ẋ 0 0.0667C sin 0.998C cos 0
The solution to the two equations in C and gives
C 0.200 m 1.504 rad
Thus, the motion is given by
x 0.200e0.0667t sin (0.998t 1.504) m Ans.
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