1.
2 Derive the solution of mx˙˙ + kx = 0 and plot the result for at least two periods for the case
with ωn = 2 rad/s, x0 = 1 mm, and v0 = 5 mm/s.
Solution:
Given:
m!x! + kx = 0 (1)
Assume: x(t) = ae . Then: x! = are and !x! = ar e . Substitute into equation (1) to
rt rt 2 rt
get:
mar 2 ert + kaert = 0
mr 2 + k = 0
k
r=± i
m
Thus there are two solutions:
! k $ ! k $
# m i& t # ' m i& t
" % " %
x1 = c1e , and x2 = c2 e
k
where ( n = = 2 rad/s
m
The sum of x1 and x2 is also a solution so that the total solution is:
x = x1 + x 2 = c1e 2it + c 2 e !2it
Substitute initial conditions: x0 = 1 mm, v0 = 5 mm/s
x ( 0 ) = c1 + c2 = x0 = 1 ! c2 = 1 " c1 , and v ( 0 ) = x! ( 0 ) = 2ic1 " 2ic2 = v0 = 5 mm/s
! "2c1 + 2c2 = 5 i. Combining the two underlined expressions (2 eqs in 2 unkowns):
1 5 1 5
"2c1 + 2 " 2c1 = 5 i ! c1 = " i, and c2 = + i
2 4 2 4
Therefore the solution is:
"1 5 % 2it " 1 5 % !2it
x=$ ! i' e + $ + i e
#2 4 & #2 4 '&
Using the Euler formula to evaluate the exponential terms yields:
"1 5 % "1 5 %
x=$ ! i ' ( cos 2t + i sin 2t ) + $ + i ( cos 2t ! i sin 2t )
#2 4 & #2 4 '&
5 3
( x(t) = cos 2t + sin 2t = sin ( 2t + 0.7297 )
2 2
Using Mathcad the plot is:
5.
x t cos 2. t sin 2. t
2
x t
0 5 10