Springs in Series:

k eq=
E
( πa t 3 d 2
4 πd 2 b3 +lat 3 )
δ ST =δ 1+ δ 2  Equivalent k of a Crane
If k eq denotes the equivalent spring constant, then The boom AB of the crane shown in (a) below is a
for the same static deflection, uniform steel bar of length 10 m and area of cross
W =k eq δ ST section 2500 mm2. A weight W is suspended while
1 the crane is stationary. The cable CDEBF is made
k eq= of steel and has a cross-sectional area of 100 mm 2.
1 1 1
+ +…+ Neglecting the effect of the cable CDEB, find the
k1 k2 kn
equivalent spring constant of the system in the
 Equivalent k of a Suspension System
vertical direction.
Figure below shows the suspension system of a
freight truck with a parallel-spring arrangement.
Find the equivalent spring constant of the
suspension if each of the three helical springs is
made of steel with a shear modulus
9 2
G=80 x 10 N /m and has five effective turns,
mean coil diameter D=20 cm and wire diameter
d=2cm .

d4G
k=
8 D3n
Ans: 26.43 x 106 N/m
Ans: 120 kN/m  Equivalent k of a Rigid Bar Connected by
 Torsional Spring Constant of a Propeller Springs
Shaft A hinged rigid bar of length l is connected by two
Determine the torsional spring constant of the steel springs of stiffness k 1 and k 2 is subjected to a force
propeller shaft shown F as shown in (a) below. Assuming that the angular
displacement of the bar θ is small, find the
equivalent spring constant of the system that
relates the applied force F to the resulting
displacement x.

() ()
2 2
l1 l2
k eq=k 1 +k 2
l l
JG π ( D 4 −d 4 )
k = ∧J =
l 32
Ans: 6.6 x 106 N-m/rad
 Equivalent k of Hoisting Drum
A hoisting drum, carrying a steel wire rope, is
mounted at the end of a cantilever beam as shown
Notes:
below. Determine the equivalent spring constant of
If the force F is applied at another point D of the
the system when the suspended length of the wire
rigid bar as shown in, the equivalent spring
rope is l. Assume that the net cross-sectional
constant referred to point D can be found as
diameter of the wire rope is d and Young’s modulus
of beam and the wire rope is E.
 () ()
l1 2 2
l2
k eq=k 1 + k2
l3 l3

Note: the formula of parallel springs cannot be used

because the displacements of the two springs are CASE 1: Translational Masses Connected by a
not the same. Rigid Bar
 Spring Constant Associated with Restoring Let the masses be attached to a rigid bar that is
Force due to Gravity pivoted at one end, as shown below. The
Figure below shows a simple pendulum of length l equivalent mass can be assumed to be located at
with a bob of mass m. Considering an angular any point along the bar.
displacement θ of the pendulum, determine the
equivalent spring constant associated with the
restoring force (or moment).

k t=mgl

() ()
l2 2 2
l3
meq =m 1+ m2 +m3
l1 l1
Case 2: Translational and Rotational Masses
Coupled Together
Let a mass m having a translational velocity ẋ be
coupled to another mass (of mass moment of
2.5 – Mass or Inertia Elements
The mass or inertia element is assumed to be a inertia J o ) having a rotational velocity θ̇ as in the
rigid body; it can gain or lose kinetic energy rack-and-pinion u arrangement shown
whenever the velocity of the body changes. From
Newton s second law of motion, the product of the
mass and its acceleration is equal to the force
applied to the mass.
 Combination of Masses
For a simple analysis, we can replace these
masses by a single equivalent mass, as indicated
below 1. Equivalent translational mass
Jo
meq =m+
R
2. Equivalent rotational mass
J eq =J o +mR
 Equivalent Mass of a System
Find the equivalent mass of the system shown
below, where the rigid link 1 is attached to the
pulley and rotates with it.
 damping force is proportional to the velocity of the
vibrating body.
 Damping Constant of Parallel Plates
Separated by Viscous Fluid
Consider two parallel plates separated by a
distance h, with a fluid of viscosity μ between the
plates. Derive an expression for the damping
constant when one plate moves with a velocity v
relative to the other as shown.

μA
c=
2
Jp 1 m l m l m l
1 1 2 1
2
C 1
2
h
meq =m+ + + +
r 2p 3 r 2
r
p r 2
p
2
p

Clearance in a Bearing
A bearing, which can be approximated as two flat
plates separated by a thin film of lubricant, is found
 Cam-Follower Mechanism to offer a resistance of 400 N when SAE 30 oil is
A cam-follower mechanism is used to convert the used as the lubricant and the relative velocity
rotary motion of a shaft into the oscillating or between the plates is 10 m/s. If the area of the
reciprocating motion of a valve. The follower plates is 0.1m2, determine the clearance between
system consists of a pushrod of mass a rocker arm the plates. Assume the absolute viscosity of SAE
of mass and mass moment of inertia about its C.G., 30 oil as 50 μreyn or 0.3445 Pa-s. Ans: 0.86mm
a valve of mass and a valve spring of negligible  Damping Constant of a Journal Bearing
mass. Find the equivalent mass of this cam- A journal bearing is used to provide lateral support
follower system by assuming the location of as (i) to a rotating shaft as shown. If the radius of the
point A and (ii) point C. shaft is R, angular velocity of the shaft isω radial
clearance between the shaft and the bearing is d,
viscosity of the fluid (lubricant) is μ and the length of
the bearing is l, derive an expression for the
rotational damping constant of the journal bearing.
Assume that the leakage of the fluid is negligible.

2 2
J r mv l 2 mr l 3
m eq =m p+ 2
+ 2 + 2
l1 l1 l1
J r mP l 21 mr l32 2 πμ R3 l
meq =mv + 2 + 2 + 2 ct =
l2 l2 l2 d
 Piston-Cylinder Dashpot
2.6 – Damping Elements
Develop an expression for the damping constant of
The mechanism by which the vibrational energy is
the dashpot shown
gradually converted into heat or sound is known as
damping. Due to the reduction in the energy, the
response, such as the displacement of the system,
gradually decreases.
 Viscous Damping
Mechanical systems vibrate in a fluid medium such
as air, gas, water, or oil, the resistance offered by
the fluid to the moving body causes energy to be
dissipated. In this case, the amount of dissipated

[ )]
energy depends on many factors, such as the size
and shape of the vibrating body, the viscosity of the
fluid, the frequency of vibration, and the velocity of
c=μ
4d 3 (
3 π D3 l
1+
2d
D
the vibrating body. In viscous damping, the  Linearization of a Nonlinear Damper
The linearization process gives the equivalent
damping constant as
dF
c=
dv
 Combination of Dampers
Parallel dampers:
c eq =c 1 +c 2
Series dampers:
1
c eq =
1 1
+
c1 c2