Outline of this Lecture

• Part-I: Translational Mechanical System

• Part-II: Rotational Mechanical System

• Part-III: Mechanical Linkages

1
Basic Types of Mechanical Systems
• Translational
– Linear Motion

• Rotational
– Rotational Motion

2
Part-I

TRANSLATIONAL MECHANICAL SYSTEMS

3
Basic Elements of Translational Mechanical Systems

Translational Spring
i)

Translational Mass
ii)

Translational Damper
iii)

4
 Translational Spring
• A translational spring is a mechanical element that
can be deformed by an external force such that the
deformation is directly proportional to the force
applied to it.

Translational Spring
i)

Circuit Symbols
Translational Spring

5
 Translational Spring
• If F is the applied force
x1
x2

• Then x1 is the deformation if x2  0 F

• Or ( x1  x2 ) is the deformation. F

• The equation of motion is given as

F  k ( x1  x2 )
• Where k is stiffness of spring expressed in N/m
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 Translational Mass
• Translational Mass is an inertia Translational Mass
element. ii)

• A mechanical system without

mass does not exist.

• If a force F is applied to a mass x(t )

and it is displaced to x meters
then the relation b/w force and F (t )
M
displacements is given by
Newton’s law.

F  Mx
7
 Translational Damper
• When the viscosity or drag is not
negligible in a system, we often
model them with the damping
force.

• All the materials exhibit the Translational Damper

iii)
property of damping to some
extent.

• If damping in the system is not

enough then extra elements (e.g.
Dashpot) are added to increase
damping.
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 Common Uses of Dashpots
Door Stoppers
Vehicle Suspension

Bridge Suspension
Flyover Suspension

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 Translational Damper

F  Cx F  C( x1  x 2 )

• Where C is damping coefficient (N/ms-1).

10
 Modeling a Simple Translational System
• Example-1: Consider a simple horizontal spring-mass system on a
frictionless surface, as shown in figure below.

mx  kx
or
mx  kx  0
11
 Example
• Consider the following system (friction is negligible)

k
x
F
M

• Free Body Diagram

fk
M fM
F

• Where f k and f M are force applied by the spring and

inertial force respectively.
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 Example
fk
M fM
F

F  fk  fM
• Then the differential equation of the system is:

F  Mx  kx
• Taking the Laplace Transform of both sides and ignoring
initial conditions we get

F ( s )  Ms 2 X ( s )  kX ( s )
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 Example
F ( s )  Ms 2 X ( s )  kX ( s )
• The transfer function of the system is

X (s) 1

F(s) Ms 2  k

• if
M  1000kg
k  2000 Nm 1

X (s) 0.001
 2
F(s) s 2
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 Example

X (s) 0.001
 2
F(s) s 2

• The pole-zero map of the system is

Pole-Zero Map
40

30

20
Imaginary Axis

10

-10

-20

-30

-40
-1 -0.5 0 0.5 1
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Real Axis
 Example
• Consider the following system

k
x
F
M

C
• Free Body Diagram
fk fC
M fM
F

F  f k  f M  fC
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 Example
Differential equation of the system is:

F  Mx  Cx  kx
Taking the Laplace Transform of both sides and ignoring
Initial conditions we get

F ( s )  Ms 2 X ( s )  CsX ( s )  kX ( s )

X (s) 1

F(s) Ms 2  Cs  k

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 Example
X (s) 1

F(s) Ms 2  Cs  k

• if 2
Pole-Zero Map

1.5
M  1000kg 1

k  2000 Nm 1

Imaginary Axis
0.5

1
C  1000 N / ms
0

-0.5

-1

X (s) 0.001
-1.5

 2 -2
F(s) s  s  1000 -1 -0.5 0
Real Axis
0.5 1

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 Example
• Consider the following system

• Free Body Diagram (same as example-3)

fk fB
M
F fM X (s) 1

F(s) Ms 2  Bs  k
F  fk  fM  fB
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 Example
• Find the transfer function of the mechanical translational
system given in Figure-1.
Free Body Diagram
fk fB

Figure-1

f (t ) fM

X (s) 1
f (t )  f k  f M  f B 
F(s) Ms 2  Bs  k
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 Example
• Find the transfer function X2(s)/F(s) of the following system.

Free Body Diagram

f k1 f k f B f k1 fB
2

M2 M1
k2
F (t ) f M 2 f M1

F (t )  f k1  f k2  f M 2  f B

0  f k1  f M1  f B
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Automobile Suspension

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Automobile Suspension

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 Automobile Suspension

mxo  b( xo  xi )  k ( xo  xi )  0 (eq .1)

mxo  bxo  kxo  bxi  kxi eq.2

Taking Laplace Transform of the equation (2)

2
ms X o ( s )  bsX o ( s )  kX o ( s )  bsX i ( s )  kX i ( s )

X o (s) bs  k

X i ( s ) ms 2  bs  k
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 Train Suspension

Car Body
Bogie-2
Bogie-1
Secondary

Suspension
Bogie

Frame
Primary
Wheelsets
Suspension

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Example: Train Suspension

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