Problems and Solutions Section 2.1 (2.1 through 2.

19)
2.1 The forced response of a single-degree-of-freedom, spring-mass system is
modeled by (assume the units are Newtons)
x(t )  24 x(t )  6 cos t
6 

Compute the magnitude of the forced response for the two cases  =2.1 rad/s and
 = 2.5 rad/sec. Comment on why one value is larger than the other.
Solution:
Given:
x(t )  24 x(t )  6 cos t
6 

We have to find the magnitude of the forced response xmax for ω1 = 2.1rad / s
and ω2 = 2.5rad / s

First divide through by mass 6 kg to reveal the natural frequency

xt  + 4 xt  = cosωt

rad
Thus f 0 = 1and ωn = 2 . Hence the magnitude of the forced response for
s
rad
ω = 2.1 and
s

fo 1
X= = = 2.4390m
ω ω
2
N
2
4  2.12

rad
Forced response for ω = 2.5 is given by
s
fo 1
X= = = 0.4444 m
ω ω
2
N
2
4  2.5 2

The value of the magnitude of the response at the driving frequency of 2.5 rad/s is
much smaller than at 2.1 rad/s because it is much farther away from the resonance
condition.
2.2 Consider the forced response of a single-degree-of-freedom, spring-mass system
that is modeled by (assume the units are Newtons)

3
(t) + 12x(t) = 3 cosωt

Compute the total response of the system if the driving frequency is 5.0 rad/s and
the initial position and velocity are both zero.

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Solution:
3
(t) + 12x(t) = 3 cosωt
We have to find the total response of the system if the driving frequency is
ω = 5.0rad / s and the initial position x 0  = 0 and velocity x́ (0 )= 0

The total response is given by the equation

vo  f   f 
xt  = sin ωn t  +  x0  2 o 2 cosωn t  +  2 o 2 cosωt 
 ω ω 
ωn  ωn  ω   n 
For zero initial velocity and position becomes

 k  rad
ωn =  = 12 / 3  = 2
m s
 f0 f
x t  = cos ω n t  + 2 0 2 cos ωt 
ω ω
2
n
2
ωn  ω
3 3
x t  = cos 4 t  + cos 2 t 
4  25 4  25
x t  = 0.4287 4 t   0.4287cos 2 t 

The value of the magnitude of the response at a driving frequency 2.5 Hz:

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2.3 Compute the response of a spring–mass system modeled by equation (2.2) to a
force of magnitude 25 N, driving frequency of twice the natural frequency, and
initial conditions given by x0 = 0 m and v0 = 0.2 m/s. The mass of the system is 10
kg, the spring stiffness is 1000 N/m, and the mass of the spring is considered and
known to be 1 kg. What percent does the natural frequency change if the mass of
the spring is not taken into consideration?

Solution:Given:
The force of magnitude F = 25 N, the driving frequency is twice the natural
frequency, and initial conditions are x0 = 0 m and v0 = 0.2 m/s. The mass of the
system is 10 kg, the spring stiffness is 1000 N/m, and the mass of the spring is
considered and known to be 1 kg.
We have to find the response of a spring–mass system and what percent does the
natural frequency change if the mass of the spring is not taken into consideration.

m sp
Given msp = 1kg , Example 1.4.4 yields that the effective mass is me = m + .
3
Thus the natural frequency, X and the coefficients in the equation 2.11 for the
system now become

 1
me = 10 + 
 3
 
 
 1000  rad
ωn = = 9.837
 1 s
 10 +  
 3
rad v 0 0.2
ω = 2ωn = 19.675 , = = 0.020331
s ωn 9.837

F0
f me 2.4194
X= 2 0 2= = = 0.008334
ωN  ω 9.837  19.6752
9.8372  19.6752

xt  = 0.02033sin 9.837t  + 8.3  103 cos 9.837t   cos 19.675t m

The frequency without the spring mass considered is given in example 2.1.1 as 10
rad/s.

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 The percentage change in natural frequency is
0.5
 
0.5  
 1000   1000 
  
 10   1
 10 +  
 3
0.5
= 0.0162  1.62
 1000 
 
 10  

2.4 Compute the response of a spring–mass system modeled by equation (2.2) to a

force of magnitude 23 N, driving frequency of twice the natural frequency, and
initial conditions given by x0 = 0 m and v0 = 0.2 m s.The mass of the system is
10 kg, the spring stiffness is 1000 N m and the mass of the spring is considered
and known to be 1 kg. What percent does the natural frequency change if the
mass of the spring is not taken into consideration?

Solution: Given: m sp = 1 kg, Example 1.4.4 yields that the effective mass is
msp 1
me = m + = 10 + = 10.333 kg.
3 3
Thus the natural frequency, X and the coefficients in equation (2.11) for the
system now become
1000
wn = = 9.837 rad/s, w = 2w n = 19.675 rad/s
10 + 1
3
f F /m 2.2258 v
X = 2 0 2 = 20 e2 = = -0.0077 m, 0 = 0.02033 m
wn - w wn - w 9.837 -19.675
2 2
wn
Thus the response as given by equation (2.11) is

x(t) = 0.02033sin 9.837t + 7.7 ´10 -3 (cos9.837t - cos19.675t) m

The frequency without the spring’s mass consider is given in example 2.1.1 as 10
rad/s. So the percent change by including the spring’s mass is
9.837 - 10
×100 = -1.63%
10
So the mass of the spring reduced the natural frequency by 1.63 %.
2.5 A spring-mass system is driven from rest harmonically such that the displacement
response exhibits a beat of period of 0.4π s. The period of oscillation is measured
to be 0.04π s. Calculate the natural frequency and the driving frequency of the
system.

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 Solution: Given that the displacement response exhibits a beat of period of 0.4 π s.
The period of oscillation is measured to be 0.04 π s.
The beat frequency is

π π rad
Tb = 2  ωb = 2 = 50
ωb Tb s

The period of oscillation is such that

π 2π ω +ω
To = 2  ωo = = 50 = n
ωo To 2
rad
ωn + ω = 100
s
rad rad
Solving these two equations we get ωn = 75 and ω = 25
s s
2.6 An airplane wing modeled as a spring-mass system with natural frequency 50 Hz
is driven harmonically by the rotation of its engines at 49.9 Hz. Calculate the
period of the resulting beat.

Solution: ωn = 2π (50)rad / s ω = 2π ( 49.9) rad / s

ωn  ω
BeatPeriod = = 50  49.9 = 0.1Hz
2π

 T = 10 s

2.7 Compute the total response of a spring-mass system with the following values:
k=1500 N/m, m = 15 kg, subject to a harmonic force of magnitude F0 = 150 N and
frequency of 8.162 rad/s, and initial conditions given by x0 = 0.01 m and v0 = 0.01
m/s. Plot the response.

Solution:Given: k = 1500 N / m , m = 15kg , F0 = 150N , ω = 8.162 rad / s ,

x0 = 0.01m and v0 = 0.01m / s .

Solution:
Differential equation :

15xt + 1500 xt  = 150sin8.162t 

x 0 = 0.01 and x0= 0.01

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Solving the above differential equation for the given conditions we have:
From equation 2.11

vo  f   f 
xt  = sin ωn t  +  x0  2 o 2 cosωn t  +  2 o 2 cosωt 
 ω ω 
ωn  ωn  ω   n 

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2.8 Consider the system in Figure P2.8, write the equation of motion and calculate the
response assuming a) that the system is initially at rest, and b) that the system has
an initial displacement of 0.04 m.

Solution: The equation of motion is m ẍ +k x= 10 sin (10 t )

Let us first determine the general solution for

x + ω 2 x = f 0 sin ωt 

Replacing the cosine function with a sine function in eq 2.4 and following the
same argument, the general solution is
f0
xt  = A1sin ωn t + A2 cosωn t + sin ωt 
ω  ω2
2
n

Using the initial conditions x0  = x0, x 0  = v0 a general expression for the
response of spring mass system to a harmonic (sine) excitation is

v ω f0  f
xt  =  0  sin ωn t  + x0 cosωn t  + 2 0 2 sin ωt 

 ωn ωn ωn  ω ωn  ω
2 2


N rad
Given k = 2000 , m = 100kg,ω = 10
m s
a) Using the general expression obtained above
m
x0 = 0m, v0 = 0
s
xt  = 0 
10
20
0.1
sin  20t + 0 + 0.1
sin 10t 
20 2
 102 202  102

xt  = 0.002975sin 4.472t  + 0.04cos4.472t   1.25103 sin10t 

m
b) x0 = 0.04m, v0 = 0
s

xt  = 0 
10
20  202
0.1
sin  20t   0.04 cos 20t + 0 +
20 
10 0.1
sin 10t 
 10 2  202  10 2 
   
xt  = 0.002975sin 4.472t + 0.04cos4.472t   1.25  10 sin 10t 
3

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2.9 Consider the system in Figure P2.9, write the equation of motion and calculate the
response assuming that the system is initially at rest for the values k1= 200 N/m,
k2 = 1000 N/m and m = 178 kg.

Solution: The equation of motion is m ẍ +k x= 10 sin (10 t )

The general expression obtained for the response of an under-damped spring –
mass system to a harmonic excitation input in problem 2.8 was

v ω f0  f
xt  =  0  sin ωn t  + x0 cosωn t  + 2 0 2 sin ωt 
2 
 ωn ωn ωn  ω  ωn  ω
2

Substituting the following values

1 N
k= = 166.67 ,
 1 1  m
 + 
 200 1000 

m = 178kg,

k  166.67  rad

ωn =   =   = 0.96764 ,
m  178  s

F0 10 N
f0 = = = 0.05618
M 178 kg

and initial conditions x0 = 0 and v0 = 0

The system response is evaluated as

− 04
x (t )= 0.0058607 sin (0.0562t )− 5.6711× 10 sin(10 t )

2.10 Consider the system in Figure P2.10, write the equation of motion and calculate
the response assuming that the system is initially at rest for the values Ө = 30°, k
= 1500 N/m and m = 60 kg.

Solution: Assuming x = 0 to be at equilibrium

∑ F x = m ẍ= − k ( x +Δ)+m g sin (θ)+90 sin ( 25t )

where Δ is the static deflection of the spring.

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 From the static equilibrium in the x direction − k Δ+mgsin (θ)

The equation of motion becomes m ẍ (t )+ k x = 90 sin(2.5 t)

The general expression for the response of a spring- mass system to a harmonic
(sine) excitation (See problem 2.7) is

v ω f0  f
xt  =  0  sin ωn t  + x0 cosωn t  + 2 0 2 sin ωt 
2 
 ωn ωn ωn  ω  ωn  ω
2

rad
Given v0 = 0 , x0 = 0 and ω = 2.5
s

k  1500  rad F 90 N

ωn =   =  =5 and f 0 = = = 1.5
m  60  s M 60 kg

So the response is x t  = 0.04sin 5t + 0.08sin 2.5t 

2.11 Consider the system in Figure P2.11, write the equation of motion and calculate
the response assuming that the system is initially at rest for the values q = 30°, k
= 1000 N/m and m = 50 kg.

Figure P2.11


x
Fs
m

mg sin 
F=90 sin 2.5 t (Forces that are normal
to the x direction are
neglected)
Solution: Free body diagram:
Assuming x = 0 to be at equilibrium:

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 åF x x = -k(x + D) + mgsin q + 90sin 25t
= m (1)

where Δ is the static deflection of the spring. From static equilibrium in the x
direction yields

-kD + mgsin q (2)

Substitution of (2) onto (1), the equation of motion becomes

x + k x = 90sin 2.5t
m 

The general expression for the response of a mass-spring system to a harmonic

(sine) excitation (see Problem 2.7) is:

v0 w f f
x(t) = ( - × 2 0 2 )sin w n t + x0 cosw n t + 2 0 2 sin w t
wn wn wn - w wn - w

Given: v0= 0, x0= 0, w = 2.5 rad/s

k 1000 F0 90 9
wn = = = 20 = 4.472 rad/s , f0 = = = N/kg
m 50 m 50 5
So the response is:
x(t) = -0.0732sin 4.472t + 0.1309sin 2.5t

2.12 The natural frequency of a 75-kg person illustrated in Figure P2.12 is measured
along vertical, or longitudinal direction to be 4.5 Hz. a) What is the effective
stiffness of this person in the longitudinal direction? b) If the person, 1.86 m in
length and 0.60 m2 in cross sectional area, is modeled as a thin bar, what is the
modulus of elasticity for this system?
Solution: First change the frequency in Hz to rad/s:
cycles rad rad
4.5 2π = 9π
s cycles s

Then, from the definition of natural frequency:

k = ωn2 m = 2π  4.5  75 = 59957.846N / m

2

From section 1.4 the value of stiffness for the longitudinal vibration of a beam is

kl 59957.846  1.86
E= = = 1858693.22 6 N / m 2
A 0.06

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2.13 If the person in Problem 2.12 is standing on a floor, vibrating at 3.5 Hz with an
amplitude of 1 N (very small), what longitudinal displacement would the person
“feel”? Assume that the initial conditions are zero.
Solution Using equation 2.12 for a cosine excitation and zero initial conditions
F  1  1 1 
yields  X  = 0  2 =  = 4.2217e -05 m
m ωn  ω  759π   3.5  2π  
2 2 2

2.14 Vibration of body parts is a significant problem in designing machines and

structures. A jackhammer provides a harmonic input to the operator’s arm. To
model this situation, treat the forearm as a compound pendulum subject to a
harmonic excitation (say of mass 5 kg and length 30 cm) as illustrated in Figure
P2.14. Consider point O as a fixed pivot. Compute the maximum deflection of the
hand end of the arm if the jackhammer applies a force of 10 N at 2 Hz.
Solution: Using equation 2.12 for a cosine excitation and zero initial conditions
yields (Converting the frequency from Hertz to rad/s using the value of k
calculated in 2.11)

 F    10 
    
Maximum Amplitude 2 m   5  = 0.066874m
  mgR =2 
  2
   3  9.81 2
 16π     16π  
  I      0.3  

2.15 An airfoil is mounted in a wind tunnel for the purpose of studying the
aerodynamic properties of the airfoil’s shape. A simple model of this is illustrated
in Figure P2.15 as a rigid inertial body mounted on a rotational spring, fixed to
the floor with a rigid support. Find a design relationship for the spring stiffness k
in terms of the rotational inertia, J, the magnitude of the applied moment, M0, and
the driving frequency, w, that will keep the magnitude of the angular deflection
less than 6°. Assume that the initial conditions are zero and that the driving
frequency is such that  n2   2  0 ..

Solution: Given
From the figure we have,
0.5

Jθ + qθ = M 0 cosωt , ωn =  
q
θ0 = 0 and θ 0  = 0
J

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  M0 
 
Max Amplitude 2 2 J 2  = Amax


 ωn  ω  

 

2M 0 k 2M 0 2M 0
 ωn2 = ω 2 +    = ω2 +  k = Jω 2 +
JAmax J JAmax Amax

2.16 The spar of an airplane wing is a relatively rigid beam extending along the length
of the wing inside the wing to provide strength. It is typical to model a spar as a
cantilever beam with the fixed end at the body of the aircraft. An example is
given in Figure P2.16. Using the modeling methods given in Section 1.5determine
a single-degree-of-freedom model for the spar and compute its natural frequency.
The spar here is modeled as a cantilever beam of dimensions length 560 mm,
width 38mm and thickness 3.175mm, and has a mass of 13.975 grams. The
beam’s Young's modulus is 10.29 GPa and its shear modulus: 1.65 GPa.
MAKE THIS A BEAM MODELD AS A SDOF SM SYSTEM

Figure P2.16A small, unmanned air vehicle with a rigid spar, modeled as a beam
Solution: This problem requires students to think back to Section 1.5 where an
SDOF model of a beam is given. The stiffness of the beam is given by equation
(1.76) and in Figure 1.26 as
3EI
k=
l3
Where E is the beams elastic modulus, l is the length and I is the area moment of
inertia of a beam in the bending direction given by

(thickness)(width)3 hb 3
I= =
12 12

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 This can be found on google or a strength of materials text. The formula for
frequency now requires the mass which will causes some students confusion.
Looking at Figure 1.28, the effective mass of a system with a tip mass and
substantial beam mass is results in Equation (1.76) for the frequency:

k
w n = 133
M +m
140
Combining these three expressions and letting the tip mass, m, be zero yields the
following expression for the frequency

3E hb3 1.65 ´ 10 9 N/m 2 (0.003175)(0.038)3 4

× × m
l 3 12 = (0.560m)3 4
wn = 33 33
= 352.459 rad/s » 56.1 Hz
M ×13.975 ´ 10 -3 kg
140 140

2.17 Compute the response of a shaft and disc system to an applied moment of
M = 12 sin 312 t
as indicated in Figure P2.17. Assume that the shaft is initially at rest (zero initial
conditions) and J = 0.5 kg m2, the shear modulus is G = 8.2× 1010 N/m2, the shaft
is 1.2 m long, of diameter 6 cm and made of steel.

Solution: Given:

2 πd 2
J = 0.5 kgm G = 8.2  1010 N / m 2 L = 1.2m d = 0.06m a = = 0.0028274 m 2
4

 GJ 
M = 12sin312t   Jθ +  θ = 12sin312t 
 L 

θ0 = 0 and θ 0  = 0

Solution: Summing moments, the equation of motion is

 M  
   
J  ω 
θ t  =  2  2  sinωt    sinωnt 
 ωn  ω   ωn 
  
 

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  24    
 θ t  =  2  sin312t    312 sinωn t 
2    
 ωn  312    ωn  

The natural frequency (see also example 1.5.1) is

Where ωn =
G
=
8.2  10  = 261406rad / s
10

L 1.2

 θ t  = 3.512 1010 sin312t   0.0012sin261406.452t 

2.18 Consider a spring-mass system with zero initial conditions described by

x(t )  4 x(t )  10 cos 2t , x(0)  0, x (0)  0


and compute the form of the response of the system.

Solution: Given:
xt  + 4 xt  = 10cos2t  x 0  = 0 x 0  = 0

rad
Solution: Note that here ω = 2 , so the system is in resonance and the solution
s
is given by equation 2.17.
The solution is of the form:

v0 f
xt  = sin ωt  + x0 cosωt  + 0 tsin ωt 
ω 2ω
rad
ω = 4 = 2
s
10
xt  = tsin 2t 
4
So, the system is in resonance.

2.19 Consider a spring mass system with zero initial conditions described by
x(t )  4 x(t )  10sin 4t , x(0)  0, x (0)  0


and compute the form of the response of the system.

Solution: Given:

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xt  + 4 xt  = 10cos4t  , x 0  = 0 x 0  = 0

Solution:
For equation 2.25 the response is of the form

v ω f0  f
xt  =  0  sin ωn t  + x0 cosωn t  + 2 0 2 sin ωt 
2 
 ωn ωn ωn  ω  ωn  ω
2

ω f0  f0
xt  =  2 
sin ω n t  + sin ωt 
ω
 n n ω 2
 ω  ω 2
n  ω 2

rad
ω = 4  = 2 ,ω = 4
s
 4 10 10
xt  = sin 2t  + 2 sin 4t 
2 2 4
2 2
2  42
xt  = 1.6667sin 2t   0.8333sin 4t 

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Problems and Solutions Section 2.2 (2.20 through 2.38)

2.20 Calculate the constants A and f for arbitrary initial conditions, x 0 and v 0 , in the
case of the forced response given by
()
x t = Ae
- zw n t
( ) (
sin w d t + f + X cos wt - q )
Compare this solution to the transient response obtained in the case of no forcing
function (i.e. F 0 = 0).

Solution: From equation (2.37)

x(t) = Ae-zwn t sin(w d t + f ) + X cos(wt - q) Þ

x˙ (t) = - zw n Ae -zw n t sin(w d t + f ) + Awd e -zwn t cos(w d t + f ) - X w sin(wt - q )
Next apply the initial conditions to these general expressions for position and
velocity to get:
x(0) = A sin f + X cos q
x˙ (0) = -zwn Asin f + A w d cos f + X w sin q
Solving this system of two equations in two unknowns yields:
æ (x0 - X cos q )w d ö
f = tan -1 ç ÷
è v0 + (x0 - X cosq )zw n - X w sin q ø
x0 - X cosq
A=
sin f
Recall that X has the form

F0 / m æ
-1 ç 2zw nw ö
X= and q = tan ÷
è wn - w ø
2 2
(w n2 - w 2 )2 + (2zw nw )2
Now if F0 = 0, then X = 0 and A and  from above reduce to:

æ x0 w d ö
f = tan -1 ç ÷
è v0 + x 0zw n ø
x0 (v0 + zw n x0 )2 + (x 0w d )2
A= =
sin f w d2
These are identical to the values given in equation (1.38).

2.21 Consider the spring-mass-damper system defined by (use basic SI units)

x  t   6 x  t   25 x  t   4 cos 5t

First determine if the system is underdamped, critically damped or overdamped.
Then compute the magnitude and phase of the steady state response.

Copyright © 2015 Pearson Education Ltd.

 Solution:Dividing by the mass yields
xt  + 6 x t  + 25 xt  = 4cos5t 
From examining the coefficients and comparing these definitions of the frequency
and damping ratio we get
c 6
ζ= = = 0.6
2km  225
0.5 0.5

The system is underdamped.

Note that f 0 = 4 . From equation 2.36 magnitude of the steady state response is
F0 4
X= = = 0.1333m
k  mω  + cω
2 2 2
25  252 + 6  52
Note that the system is in resonance. The phase is computed from equation 2.36
cω π
θ = tan 1 = rad (Resonance) or 90 o as it should for resonance.
k  mω 2
2

2.22 Show that the following two expressions are equivalent:

x p( t ) = X cos ( wt - q) and x p ( t ) = As cos wt + Bs sin wt

Solution: From equation (2.28) and expanding the trig relation yields
x p = X cos(w t - q ) = X [ cos w t cosq + sin w t sin q ]
= (X cosq ) cos w t + (X sin q ) sin w t
   
As Bs

Now with As and Bs defined as indicated, the magnitude is computed:

X = As2 + Bs2
and
Bs X sin q æB ö
= Þ q = tan -1 ç s ÷
As X cosq è As ø

2.23 Calculate the total solution of

x + 2ωn x + ωn 2 x = f 0 cost
for the case that m = 1.2 kg,  = 0.01, ωn = 2.5 rad/s. f0= 5 N/kg, and ω = 10
rad/s, with initial conditions x0= 1 m and v0 = 1 m/s, and then plot the response

Solution:Given:
xt  + 2ξωn x t  + ωn 2 xt  = f 0 cost
m = 1.2kg , ζ = 0.01 , ωn = 2.5rad / s , f 0 = 5 N / kg , and ω = 10rad / s ,
with initial conditions x0 = 1m and v0 = 1m / s .

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The total solution has the form
xt  = Ae 0.025t sin 2.4999t +   + 0.0533cos10t + 0.0533
xt  = e 0.025t  Asin 2.499t  + Bcos2.499t  + 0.0533cos10t + 0.0533
Differentiating then yields
x t  = 0.025e 0.025t  Asin 2.499t + Bcos2.499t 
 0.533sin10t + 0.0533+ e 0.025t 2.499 Acos2.499t   2.499Bsin 2.499t 
Applying the initial conditions, A = 0.40963 and B = 0.94667

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 Octave code for plotting is
octave:64> m = 1.2;
octave:65> zeta = 0.01;
octave:66>omega_n = 2.5;
octave:67> f_0=5
octave:68> omega = 10;
octave:69> t1 = f_0/(sqrt((omega_n**2-
omega**2)**2+(2*zeta*omega_n*omega)**2))
t1 = 0.053333
octave:70> theta = atan((2*zeta*omega_n*omega)/(omega_n**2-omega**2))
theta = -0.0053333
octave:71> zeta*omega_n
ans = 0.025000
octave:72>omega_d = omega_n*sqrt(1-zeta**2)
omega_d= 2.4999
octave:73> cos(30)
ans = 0.15425
octave:74> cos(30*pi/180)
ans = 0.86603
octave:75> cos(60*pi/180)
ans = 0.50000
octave:76> cos(0.05333*pi/180)
ans = 1.00000
octave:77> sin(0.05333*pi/180)
ans = 9.3078e-04
ans = 0.94667
ans = 0.40963
A = 0.40963
B = 0.94667
t = linspace(0,10,1000);
xt = exp(-zeta*omega_n*t).*(A*sin(omega_d*t) +
B*cos(omega_d*t))+t1*cos(10*t+0.0533);
plot(t,xt)
t = linspace(0,100,1000);
xt = exp(-zeta*omega_n*t).*(A*sin(omega_d*t) +
B*cos(omega_d*t))+t1*cos(10*t+0.0533);
plot(t,xt)

2.24 A 120 kg mass is suspended by a spring of stiffness 32 103 N/m with a viscous
damping constant of 1200 Ns/m. The mass is initially at rest and in equilibrium.
Calculate the steady-state displacement amplitude and phase if the mass is excited
by a harmonic force of 100 N at 3 Hz.

Copyright © 2015 Pearson Education Ltd.

 Solution: Given: m = 120 kg, k =32000 N/m, c = 1000 Ns/m, F= 100 N
rad
ω = 6π
s
The governing equation is
 
120xt  + 1200xt  + 32  10 3 xt  = 100cos2π  3t 
F
f o = o = 100 / 120 = 0.8333
M
c
ζ= = 0.25516
2 km 

 100 
 
F0  120 
X= = = 0.00003334m
k  mω  + cω
2 2 2
32  10   1206π   + 1200 2π  3
3 2 2 2

Next compute the angle from

θ = tan 1
1200   2π  3 = 1.1312rad (Resonance)
32  10 3   1206π 2
The angle is negative hence must be found in 4th quadrant. To find this we
have to use window 2.3 and then use Octave or find the principle value and add π
to it. Either way the phase is θ = 1.132 rad.

2.25 Plot the total solution of the system of Problem 2.24 including the transient.

Solution:The total response is given in the solution in the problem 2.24. For the
values given in the previous problem, and with zero initial conditions the response
is plotted using octave as given below
Plot:
octave:12> m =120;k=32000;c=1000;F=100;X=0.00003334;theta=-1.1312;
octave:13>omega_n = sqrt(k/m)
omega_n= 16.330
octave:14> zeta = c/(2*sqrt(k*m))
zeta = 0.25516
octave:15>omega_d= omega_n*sqrt(1-zeta**2)
omega_d= 15.789
octave:16> omega=6*pi
omega = 18.850
octave:17> phi = atan((-X*cos(theta)*omega_d)/(-X*cos(theta)*zeta*omega_n -
X*omega_n*sin(theta)))
phi = -0.47694
octave:18> A = -X*cos(theta)/sin(phi)
A = 3.0908e-05
octave:19> t= linspace(0,2,1000);

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octave:20>xt = A*exp(-zeta*omega_n*t).*sin(omega_d*t+phi) + X*cos(6*pi*t -
theta);
octave:21> plot(t,xt)
octave:22>xlabel("t")
octave:23>ylabel("x(t)")

Copyright © 2015 Pearson Education Ltd.

2.26 A damped spring-mass system modeled by (units are Newtons)
x (t )  x (t )  170 x (t )  100 cos 4t
10 
is also subject to initial conditions: x0 = 1mm and v0 = 20 mm/s. Compute the
total response, x(t), of the system.
.
:
Solution:Given
10xt  + x t  + 170 xt  = 100cos4t  that m = 10kg , ζ = 2cωn m , ωn = 17rad / s ,
f 0= 10 N / kg , and ω= 4 rad / s , with initial conditions x = 10 3 m and
0
3
v 0 = 20  10 m / s
N m rad
m = 10kg, k = 170 , c = 1, x0 = 10 3 m, v0 = 20  10 3 , ω = 4
m s s
k  170  rad
ωn =   =   = 4.1231
m  10  s
Following equation 2.26 with the values give here, the system to be solved has
damping ratio and thus is under-damped. Next convert the initial conditions to m
and m/s to be consistent given in the equation of motion
c
ζ= = 1 / 2 170  10  = 0.012127
2 km 
Dividing through the mass yields the vibration properties
 
ωd = ωn 1  ζ 2 = 4.1228
rad
s
F
f = = 10 ,
m
rad
Since ω = 4.1231 the system is near resonance. Computing the amplitude
s
and phase of the particular solution from the values in window 2.3 yields
f0
X= = 9.2848
 
ωn  ω + 2ζωn ω
2 2 2 2

Compute the phase of the transient response:
 2ζω ω 
 = tan 1  2 n 2  = 0.38051
 ωn  ω 
The amplitude of the transient is
x  Xcosθ 
A= 0 = 9.2848
sin  
The total response is then written from the equation 2.37 as
 ζω t
xt  = Ae n sin ωd t + + Xcosωt  q 
xt  = 9.2827e 0.05t sin 4.1228t +1.1906 + 9.2848cos4  0.38051

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2.27 Consider the pendulum mechanism of Figure P2.27 which is pivoted at point O.
Calculate both the damped and undamped natural frequency of the system for
small angles. Assume that the mass of the rod, spring, and damper are negligible.
What driving frequency will cause resonance?

l1
0.05 m

0
l2
0.07 m
c
l
0.10 m

m F(t)

Figure P2.27

Solution: Assume the driving frequency to be harmonic of the standard form to

get resonance. The free body diagram is:

Here x1 = 1q and x2 =  2q so that x2 =  2q . To get the equation of motion take
the moments about point O to get:
å M 0 = Jq(t) = m2q(t)
= -k 1q (1 cosq ) - c 2q ( 2 cos q )
- mg(sin q ) + F0 cos w t( cosq )
Rearranging and approximating sin ~  and cos~1 yields:
m 2q˙˙(t) + c22 q˙ (t) + (k 21 + mg)q (t) = F0 cos wt
Dividing through by the coefficient of the inertia term and using the standard
definitions for  and  yields:

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 k21 + mg
wn = which is the resnonant frequency
m2
c 22
z=
2 (k 21 + mg)m2

k 21 + mg æ c 2  42 ö
wd = wn 1 - z 2 = ç 1 - 2÷
m 2
è 4(k 1 + mg)m ø
2

2.28 Consider the pivoted mechanism of Figure P2.27 with k = 4 x 103 N/m,l1 = 0.06
m,l2 = 0.09 m, and l = 0.12 m. and m = 40 kg. The mass of the beam is 40 kg; it
is pivoted at point 0 and assumed to be rigid. Design the dashpot (i.e. calculate c)
so that the damping ratio of the system is 0.2. Also determine the amplitude of
vibration of the steady-state response if a 15-N force is applied to the mass, as
indicated in the figure, at a frequency of 10 rad/s.
Solution:

2.29Compute the response of a shaft and disc system to an applied moment of

M = 10 sin 312 t

as indicated in Figure P2.29. Assume that the shaft is initially at rest (zero initial
conditions) and J = 0.6 kg m2, the shear modulus is G = 8.2× 1010 N/m2, the shaft
is 1 m long, of diameter 5 cm and made of steel. Assume the damping ratio of
steel is ζ = 0.01.

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 GJ p
Solution: θt  + 2ζωn θ t  + θ t  = 16.67sin 312t 
0.6l

The natural frequency and damped natural frequency of the system is

k  GJ p 
ωn =   =   = 289.58
J  lJ 

ωd = ωn  1.0  0.012 = 289.57 
The magnitude and the phase of the steady state response are from window 2.3
m0
X= = 0.0012249
 
ωn2  ω 2 + 2ζωn ω 
2 2

 2ζω ω 
θ = tan 1  2 n 2  = 0.13319

 ωn  ω  

The phase of the transient is

= tan 1 ωd  x 0  Xcos θ  / v 0 +  x 0  Xcos θ ζωn   ωXsin θ  = 1.4732
The amplitude of the transient is
x  Xcosθ 
A= 0 = 0.0012249
sin  

The Total response is

t
θ t  = Ae sin ωd t +
+ Xcosωt  θ 
 ζωn

θ t  = 0.001249e  0.01289.58t
sin 289.57t  1.4732 + 0.0012249cos312t  0.13319 

2.30Compute the forced response of a spring-mass-damper system with the following

values: c = 250 kg/s, k = 2500 N/m, m = 125 kg, subject to a harmonic force of
magnitude F0= 15 N and frequency of 10 rad/s and initial conditions of x0 = 0.01

Copyright © 2015 Pearson Education Ltd.

m and v0 = 0.1 m/s. Plot the response. How long does it take for the transient
part to die off?

Solution:
Given:
125xt  + 250x t  + 2500xt  = 15cos10t 
m = 125kg ,  = 2cωn m , ωn = 20rad / s , F0 = 15 N , and ω = 10rad / s ,
with initial conditions x0 = 0.01m and v0 = 0.1m / s
The total solution is:
k  2500 
ωn =   =  = 20 rad
m  125  s
f = F0/ m
ωn = k / m = 2500 / 125 = 4.4721
ζ = c / 2 km   = 0.22361
 
ωd = ωn 1   2 = 4.3589
a = ω  ω 
2
n
2

b = 2ωn ω b = 2ωn ω

t1 = ωn2  ω 2  + 2ζω ω t1 = ω
2
n
2 2
n  ω2  + 2ζω ω 
2
n
2

A = x0  fa / t1
 ζω  fa  b v
B =  n    + 0
 ωd  t1  ωd t1  ωd
C = f / t1
xt  = e
  ζ ωnt   Acosω t  + Bsin ω t  + C acosωt  + 2ζω ωsin ωt 
d d n
The Transient nature lasts for about 3 seconds.

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2.31 Compute a value of the damping coefficient c such that the steady state response
amplitude of the system in Figure P2.31 is 0.01 m.
x (t)
c

100 kg 20 cos 6.3t N

Friction
-free
2,000 N/m surface

Figure P2.31
Solution:
From Eq. (2.39), the amplitude of the steady state response is given by
f0
X=
(w n 2 - w 2 )2 + (2zw nw )2
F0 2 2 (w n - w )
2 2 2
Then substitute, 2n = c/m, c = - m into this equation
w2 × X 2 w2
and solve for c:

X = 0.01m w = 6.3 rad / s F0 = 20N m = 100kg

k 2000
w n2 = = = 20 (rad/s) 2 Þ c = 55.7 kg/s
m 100

2.32 Consider a spring-mass-damper systems like the one in Figure P2.31 with the
following values: m = 80 kg, c = 80 kg/s, k = 2400 N/m, F0 = 20 N, and the
driving frequency  = 4.3 rad/s. Compute the magnitude of the steady-state
response and compare it to the magnitude of the forced response of an undamped
system.

Solution:
The magnitude of the steady state response in the undamped condition is:
 F   20 
   
=2 2 m  =2 80  = 0.04344m
 ωn  ω 2    2400  
  4.3 
2
  
    80  
The magnitude of the steady state response in the damped condition is:
F 20
= m = 80 = 0.00025433m
k  mω  + cω
2 2 2
2400  804.3  + 804.32 2 2

2.33 Compute the response of the system in Figure P2.33 if the system is initially at

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 rest for the values k1 = 200 N/m, k2 = 1000 N/m, c = 20 kg/s and m = 175 kg.

Solution:
Given:
 
 1 
175xt  + 20x t  +   xt  = 25cos3t 
 1 1 
 + 
 200 1000 
1 1
k= =
1 1 1 1
+ +
k1 k 2 200 1000
that m = 175kg , ζ = 2cωn m , F0 = 25 N , and ω = 3rad / s ,
With initial conditions x0 = 0.0m and v0 = 0.0m / s
k  2500 
ωn =   =  = 20 rad
m  125  s
Total Solution
f = F0 / m
ωn = k / m  = 2500 / 125 = 4.4721
ζ = c / 2 km   = 0.22361
 
ωd = ωn 1   2 = 4.3589
a = ω  ω 
2
n
2

b = 2ζωn ω

t1 = ωn2  ω 2  + 2ζω ω 
2
n
2

A = x0  fa / t1
 ζω  fa  b v
B =  n    + 0
 ωd  t1  ωd t1  ωd
C = f / t1
  ζ ωnt  
xt  = e Acosωd t  + Bsin ωd t  + C acosωt  + 2ζωn ωsin ωt 

2.34 Write the equation of motion for the system given in Figure P2.34 for the case
that F(t) = F cos w t and the surface is friction free. Does the angle  affect the
magnitude of oscillation?

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 c
k

F (t)

Figure P2.34
Solution:
Free body diagram:

q
x
Fs
m

mg sinq
(Forces that are normal
to the x direction are F(t)=F cos wt
neglected)

Assuming x = 0 to be at the equilibrium:

å F = F + mgsinq - F = mx˙˙
x s
mg sin 
where Fs  k ( x  ) and F(t) = F cos w t
k

Then the equation of motion is:

m ˙x˙ + k x = F cos w t
Note that the equation of motion does not contain  which means that the
magnitude of the response is not affected by the angle of the incline.

2.35 A foot pedal for a musical instrument is modeled by the sketch in Figure P2.35.
With k = 2400 N/m, c = 30 kg/s, m = 32 kg and F(t) = 50 cos tcompute the
steady state response assuming the system starts from rest. Also use the small
angle approximation.

Solution: Given: m = 32 kg, k = 2400 N/m, c= 30 kg/s, F t  = 50cos2πt N , a =

0.05m
Summing the moments about the point O
θ o = m3a  = 9a 2 m, Fs = kasin θ , Fc = c2  a  sin ' = 2cacos
2

M o = F 3a   Fc 2a   Fs a  = I
Substituting these equations and simplifying
9a 2 m2 2 t 

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 Observing the equation of motion, equivalent mass, damping and stiffness
coefficients are

2.36 Consider the system of Problem 2.15, repeated here as Figure P2.36 with the
effects of damping indicated. The physical constants are J =24 kg m2, k = 2500
Nm/rad, and the applied moment is 5 Nm at 1.432 Hz acting through the distance
r = 0.5 m. Compute the magnitude of the steady state response if the measured
damping ratio of the spring system is  = 0.01. Compare this to the response for
the case where the damping is not modeled ( = 0).

SolutionGiven: From equation 2.39 the magnitude of the steady sate response for
an under-damped system is
J = 24 k = 2500 M = 5 ω = 2π  1.432 = 8.9975rad / s r = 0.5
ζ = 0 . 01

 M0 
 
 J 
X=
ω 2
n  ω2  + 2ζω ω 
2
n
2

For ζ = 0 Magnitude of Steady State response damped Condition

 M   5 
   
= 2 2 J 2  = 2 24  = 0.01795m
 ωn  ω   2500 / 24   8.99752 
   
   
for ζ = 0.01 , the magnitude of Steady State response for an underdamped system
is

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 M
= J
k  J ω  + cω
2 2 2

5
= 24 = 0.00021537 m
2500  248.9975  + 248.9975
2 2 2

where X is the vertical displacement of the wing tip. Thus a small amount of
damping can greatly reduce the amplitude of vibration. Strictly speaking, the
undamped case does not have a steady state, and the above answer is really the
magnitude of the particular solution. To get the actual value undamped value
look at equation (2.13).

2.37 A machine, modeled as a linear spring-mass-damper system, is driven at

resonance (n =  =2 rad/s). Design a damper (that is choose a value of c) such
that the maximum deflection at steady state is 0.05 m. The machine is modeled as
having a stiffness of 2000 kg/m and the excitation force has a magnitude of 100
N.

Solution: Since the frequency and stiffness are given, we can find the mass from
k 2000
w n2 = = = 4 rad 2 / s2 Þ m = 500 kg
m m
Thus, f0 = 100/500 = 0.2 N/kg. At resonance the steady state amplitude becomes
f f0 0.2
X= 02= = = 0.05
2zw æ c ö 2 c
2ç w 4
è 2 km ÷ø (2000)(500)
Þ c = (2000)(500) = 1,000 kg/s

2.38 Derive the total response of the system to initial conditions x0 and v0 using the
homogenous solution in the form xh (t) = e-zw n t (A1 sin w d t + A2 cos w d t) and hence
verify equation (2.38) for the forced response of an underdamped system.

Solution:
From Sec. 1.3, the homogeneous solution is:
xh (t) = e-zw n t (A1 sin w d t + A2 cos w d t)
From equations (2.29) and (2.35), the particular solution is:
(w n2 - w 2 ) f 0 2zw nwf0
x p (t) = 2 2 2 cos w t + sin wt
(w n - w ) + (2zw nw )
2
(w n - w 2 )2 + (2zw nw )2
2

Then the general solution is:

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x(t) = xh (t) + x p (t) = e-z w n t (A1 sin w d t + A2 cos w d t)
(w n 2 - w 2 ) f 0 2zw n wf0
+ cos w t + sin wt
(w n - w ) + (2zw n w ) (w n - w ) + (2zw nw )
2 2 2 2 2 2 2 2

Using the initial conditions, x(0) = x0 yields:

(w n2 - w 2 ) f0
x(0) = x0 = A2 + 2
(w n - w 2 )2 + (2zw n w )2
(w n2 - w 2 ) f0
Þ A2 = x 0 - 2
(w n - w 2 )2 + (2zw n w )2

x˙ (0) = v0 yields:

 = v0 = zw ne -zw n 0 (A1 sin w d 0 + A2 cos w d 0) + e -zw n 0 ( A1 cos w d 0 - A2 sin w d 0)

x(t)
(w n2 - w 2 )w f0 2zw n w f0
- sin w 0 + 2 cos w 0
(w n - w ) + (2zw n w )
2 2 2 2
(w n - w 2 )2 + (2zw n w )2

2zw n w f0
Þ v0 = zw n A2 + A1 +
(w - w 2 )2 + (2zw n w ) 2
2
n

v0 w 2zw n w f0 wn (w n2 - w 2 ) f0
A1 = + × 2 + z (x - )
w d w d (w n - w 2 )2 + (2zw n w )2 w d 0 (w n2 - w 2 ) 2 + (2zw n w )2

Then, Eq. (2.38) is obtained by substituting the expressions for A1 and A2 into the
general solution and simplifying the resulting equation.

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Problems and Solutions Section 2.3 (2.39 through 2.44)

2.39 Referring to Figure 2.11, draw the solution for the magnitude X for the case m = 80 kg, c
= 3200 N s/m, and k = 8,000 N/m. Assume that the system is driven at resonance by a
10-N force.

Solution:
Given: Given m = 80 kg, c = 3200 N s/m, k = 8000 N/m F = 10 N
k  8000  rad
ω=   =   = 10
m  80  s
cω π
θ = tan −1
(k − mω ) 2
2
= rad

From the figure

F 10
m 80
((8000 - 80 × 100) )
X= = = 3.125e - 04m
(k - mω ) + (cω)
2 2 2 2
+ (3200 × 10)
2

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2.40 Use the graphical method to compute the phase shift for the system with m = 100 kg, c =
4000 N s/m, k = 10,000 N/m, and F 0 =10 N, if ω = ωn /2 and again for the case ω = 2ωn .

Solution:
From Problem 2.32 = 10 rad/s
(a) = 5 rad/s

kX = (10,000)(.000468) = 4.68 N
cωX = (4000)(5)(.000468) = 9.36 N
= (100) (.000468) = 1.17 N

From the figure given in problem 2.32:

rad

(b) rad/s
m

kX = (10000)(.000117) = 1.17 N
cωX = (4000)(20)(.000117) = 9.36 N
=(100) (.000117) = 4.68 N
From the figure:

rad

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2.41 A body of mass 80 kg is suspended by a spring of stiffness of 25 kN/m and dashpot of
damping constant 800 N s/m. Vibration is excited by a harmonic force of amplitude 60 N
and a frequency of 3 Hz. Calculate the amplitude of the displacement for the vibration
and the phase angle between the displacement and the excitation force using the graphical
method.

Solution:
Given: m = 80 kg, C = 25 kN/m, F 0 =60 N c = 800 Ns / m

ω = 32π = 18.85
Kx = 25000 x
cωω= 800 × 28.274 x = 15079.6447 x
mω 2 x = 80 × 28.274 2 x = 28424.4606 x
F
m 60
((25000 − 28424.4606) )
X= = = 0.00388m
(k − mω ) + (cω)
2 2 2 2
+ 15079.6447 2
cω 4800π
θ = tan −1 = tan −1 = −1.3479rad = −77.2056
k − mω 25 − (80)(6π )
2 2

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2.42 Calculate the real part of equation (2.55):

to verify that this is consistent with the equation (2.36):

and hence establish the equivalence of the exponential approach to solving the damped
vibration problem with method of undetermined coefficients.

Solution:
Equation (2.55)

whereθ

Using Euler’s Rule:

The real part is:

Rearranging:

which has the same form as Equation (2.36).

2.43 Referring to equation (2.56):

and a table of Laplace Transforms (see Appendix B), calculate the solution x(t) by using
a table of Laplace transform pairs and show that the solution obtained this way is
equivalent to (2.36).

Solution: Taking the Laplace transform of the equation of motion is given in Equation
(2.56):
Solving this expression algebraically for X yields

Using Laplace Transform pairs from the table, this last expression is transformed into the
time domain to get:

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 cos (ωt- )

2.44 Solve the following system using the Laplace Transform method and the table in
Appendix B:

Check your solution against equation (2.11) obtained via the method of undetermined
coefficients.

Solution: Frist divide through by the mass to get:

Taking the Laplace Transform of the equation of motion considering the initial conditions
yields (remember the formulas in table B.1 are for zero initial conditions):

Solving this for X(s) yields

Using table B.1 and taking the Inverse Laplace transform of each term yields

which is in agreement with equation (2.11) derived by the method of undetermined

coefficients. Note that the last term used table B.1, entry 21.

Copyright © 2015 Pearson Education Ltd.

 2- 27

Problems and Solutions Section 2.4 (2.45 through 2.60)

2.45 For a base motion system described by

x + c x + kx = cYw b cos w b t + kYsin w b t
m
With m = 100 kg, c = 50 kg/s, k = 1000 N/m, Y = 0.03 m and b = 3 rad/s. compute the
magnitude of the particular solution. Last compute the transmissibility ratio.

Solution: First define the usual vibration properties by dividing through by the mass to
get
1000 c 50
wn = = 3.1623 rad/s, z = = = 0.079
100 2 mk 2 100,000
wb 3
r= = = 0.94868
w n 3.1623
Then use equation (2.70) to compute the magnitude of the particular solution:
1
é 1+ ( 2z r ) 2 ù2 é 1+ ( 2 × 0.079 × 0.94868 )2 ù
X =Y ê ú = 0.03 ê ú = 0.033 m
êë (1- r ) + ( 2z r ) úû
2 2 2
( )
ë 1- ( 0.94868 ) + ( 2 × 0.079 × 0.94868 ) û
ê 2 2 2
ú
Thus the transmissibility is 1.111> 1 and motion is amplified by the system. This is
because the system is near resonance and there is very little damping in the system.

2.46 For a base motion system described by

x + c x + kx = cYw b cos w b t + kYsin w b t
m
with m = 100 kg, c = 50 N/m, Y = 0.03 m and b = 3 rad/s, find largest value of the
stiffness k and that makes the transmissibility ratio less than 0.75.

Solution: Using the formula from equation (2.71) students can write a program to
calculate values of X/Y for decreasing values of k. Note that if you increase k the ratio r
increases moving the response to values lower then 1 per figure 2.14. Such a procedure
yields a value of about k = 665 N/m for a transmissibility ratio of 0.747.

2.47 A machine weighing 1800 N rests on a support as illustrated in Figure P2.47. The
support deflects about 4 cm as a result of the weight of the machine. The floor under the
support is somewhat flexible and moves, because of the motion of a nearby machine,
harmonically near resonance (r =1) with an amplitude of 0.2 cm. Model the floor as base
motion, and assume a damping ratio of = 0.01, and calculate the transmitted force and
the amplitude of the transmitted displacement.

Solution:
The differential equation will be of the form:
m x́ +c (x́ − ý )+ k (x − y )= 0
And in this case after substituting the known parameters we have
(183.48 )x́ + (406.37 )(x́ − ý )+ (45000 )(x − y )= 0
1800
k= = 45000 N / m
0.04
ζ = 0.01

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 2- 28

 45000  1800 
0.5

c = 2ζ km  = 2  0.01    = 406.37 Ns / m

0.5

 9.81 
Transmitted displacement from equation 2.70 is
1 1
 1 + 2ζr 2 2 1+ 2  0.01  2
2
X =Y  = 0.002  2 
= 0.10002m
 
 1  r + 2ζr  
2 2 2
 2  0.01 
The Transmitted force is given from equation 2.77
F = kr 2 X = 45000  0.10002 = 4500.9 N

2.48 Derive Equation (2.70):

1/ 2
é 1+ (2z r)2 ù
X = Yê 2ú
ë (1- r ) + (2z r) û
2 2

from (2.68):

1/ 2
é w 2 + (2zw b )2 ù
x p (t) = w nY ê 2 n 2 2 2ú
cos( w bt - q1 - q 2 )
êë (w n - w b ) + (2zw nw b ) úû

to see if the author has done it correctly.

Solution:

Equation (2.68) states:

1/ 2
é w n2 + (2zw b )2 ù
x p (t) = w nY ê 2 2ú
cos( w bt - q1 - q 2 )
êë (w n - w b ) + (2zw nw b ) úû
2 2

1/ 2
é w n2 + (2zw b )2 ù
The magnitude is: X = w nY ê 2 2ú
êë (w n - w b ) + (2zw nw b ) úû
2 2

1/ 2
é (w n-4 )(w n2 + (2zw b )2 ) ù
= w nY ê -4 2 ú
êë (w n )((w n - w b ) + (2zw nw b ) ) úû
2 2 2

1/ 2
é (w n-2 )(1 + (2z r)2 ) ù
= w nY ê 2 ú
Þ
êë (1 - r ) + (2z r) úû
2 2

1/ 2
1 é 1 + (2z r) 2 ù
= w nY ê ú Þ
w n ë (1 - r 2 )2 + (2z r)2 û
1/ 2
é 1+ (2z r)2 ù
X = Yê 2ú
ë (1- r ) + (2z r) û
2 2

This is equation (2.71).

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 2- 29

2.49 From the equation describing Figure 2.13, show that the point ( 2 , 1) corresponds to the
value TR > 1 (i.e., for all r < 2 , TR > 1).

Solution:

1/ 2
X é 1+ (2z r)2 ù
Equation (2.71) is TR = =ê ú
Y ë (1- r 2 )2 + (2z r)2 û
Show TR > 1 for r< 2
1/ 2
X é 1 + (2z r)2 ù
TR = = ê 2 ú
>1
Y ë (1- r ) + (2z r) û
2 2

1 + (2z r)2
>1
(1 - r 2 )2 + (2z r)2
1 + (2z r)2 > (1 - r 2 )2 + (2z r)2
1 > (1 - r 2 )2

1 - r 2 < +1 or 1 - r 2 < -1 Þ
Take the real solution:
-r 2 > -2 Þ r 2 < 2 Þ r < 2

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 2- 30

2.50 Consider the base excitation problem for the configuration shown in Figure P2.50. In this
case the base motion is a displacement transmitted through a dashpot or pure damping
element. Derive an expression for the force transmitted to the support in steady state.

Figure P2.50
Solution: The entire force passes through the spring. Thus the support sees the force FT =
kX where X is the magnitude of the displacement. From equation (2.65)
2zw nw b kY
FT = kX =
(w n - w b2 )2 + (2zw nw b )2
2

2z rkY
=
(1 - r 2 )2 + (2z r)2

2.51 A very common example of base motion is the single-degree-of-freedom model of an

automobile driving over a rough road. The road is modeled as providing a base motion
displacement of y(t) = (0.01)sin (5.818t) m. The suspension provides an equivalent
stiffness of k = 3.273 x 104 N/m, a damping coefficient of c = 231 kg/s and a mass of
1007 kg. Determine the amplitude of the absolute displacement of the automobile mass.

Solution:
From the problem statement we have (working in Mathcad)

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 2- 31

2.52 A vibrating mass of 250 kg, mounted on a massless support by a spring of stiffness
32,000 N/m and a damper of unknown damping coefficient, is observed to vibrate with a
10-mm amplitude while the support vibration has a maximum amplitude of only 2.5 mm
(at resonance). Calculate the damping constant and the amplitude of the force on the
base.

Solution:

Given:
m= 250 kg k = 32000 X = 0.01 m Y = 0.0025 m r= 1
Solution:
Finding damping constant (Equation 2.71)
1
1 + 2ζ 2  2
We know that X = Y   at resonance
 2 ζ  2

X2 1

2= +1
Y 4 ξ2
Y 0.0025
ξ= = = 0.13
2 X Y 2 0.01  0.0025
2 2 2 2

 c = 2ζ km = 2  0.13  32000 250 = 735.4Ns / m

Amplitude of force on base (Equation 2.76)

2
 1 + 2ζr 2  2
FT = kYr   = kr X
 
 1  r + 2ζr  
2 2 2

Also F = kr X = 32000  0.01 = 320 N

2

2.53 Referring to Example 2.4.2, at what speed does car 1 experience resonance? At what
speed does car 2 experience resonance? Calculate the maximum deflection of both cars
at resonance.

Solution:

Given: m 1 = 1007 kg, m 2 =1585 kg, k = 4x10 5 N/m; c = 2,000 kg/s, Y = 0.01m
Velocity for resonance: (from Example 2.4.1)
w b = 0.2909v (v in km/h)
k 4 ´ 10 4
Car 1: w 1 = = = w b = 0.2909v1
m 1007
v 1 = 21.7 km/h

k 4 ´ 10 4
Car 2: w 2 = = = w b = 0.2909v2
m 1585
v 2 = 17.3 km/h

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 2- 32

Maximum deflection: (Equation 2.71 with r = 1)

1/ 2
é 1 + 4z 2 ù
X = Yê 2 ú
Þ
ë 4z û
c 2000
Car 1: z1 = = = 0.158
2 km1 2 (4 ´ 10 5 )(1007)
1/ 2
é 1+ 4(0.158) 2 ù
X 1 = (0.01) ê 2 ú
= 0.033 m
ë 4(0.158) û

c 2000
Car 2: z 2 = = = 0.126
2 km2 2 (4 ´ 10 4 )(1585 )
1/ 2
é 1+ 4(0.126) 2 ù
X 2 = (0.01) ê 2 ú
= 0.041 m
ë 4(0.126) û

2.54 For cars of Example 2.4.2, calculate the best choice of the damping coefficient so that the
transmissibility is as small as possible by comparing the magnitude of z = 0.01, z = 0.1
and z = 0.2 for the case r = 2. What happens if the road “frequency” changes?

Solution:

From Equation 2.62, with r = 2, the displacement transmissibility is:

1/ 2 1/ 2
X é 1+ (2z r)2 ù é 1 + 16z 2 ù
=ê ú =ê 2 ú
Y ë (1 - r 2 )2 + (2z r)2 û ë 9 + 16z û
X
For z = 0.01, = 0.334
Y
X
For z = 0.1, = 0.356
Y
X
For z = 0.2, = 0.412
Y
The best choice would be z = 0.01.

If the road frequency increases, the lower damping ratio would still be the best choice.
However, if the frequency decreases, a higher damping ratio would be better because it
would approach resonance.

2.55 A system modeled by Figure 2.13, has a mass of 200 kg with a spring stiffness of 3.0 
104 N/m. Calculate the damping coefficient given that the system has a deflection (X) of
0.7 cm when driven at its natural frequency while the base amplitude (Y) is measured to
be 0.3 cm.

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 2- 33

Solution:
Given: m = 200 kg , k = 30000 , X = 0.007m , Y = 0.003m , r = 1
Solution:
We know that the base excitation Equation 2.71 gives:
1
1 + 2ζ   2
2
X =Y  with r =1
 2ζ  
2

2
X 1

= +1
Y 2
4ζ2
Y 0.003
ζ= = = 0.23717
2 X Y 2 0.007  0.003
2 2 2 2

 c = 2ζ km = 2  0.23717 30000 200 = 1161.89Ns / m

2.56 Consider Example 2.4.2 for car 1 illustrated in Figure P2.56, if three passengers totaling
200 kg are riding in the car. Calculate the effect of the mass of the passengers on the
deflection at 20, 80, 100, and 150 km/h. What is the effect of the added passenger mass
on car 2?

Figure P2.56 Model of a car suspension with the mass of the occupants, mp, included.

Solution:

Add a mass of 200 kg to each car. From Example 2.4.2, the given values are:
m 1 = 1207 kg, m 2 = 1785 kg, k = 4x104 N/m; c = 2,000 kg/s, w b = 0.29v.
k 4 ´ 10 4
Car 1: w 1 = = = 5.76 rad/s
m 1207
c 2000
z1 = = = 0.144
2 km1 2 (4 ´ 10 5 )(1207)

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 2- 34

k 4 ´ 10 4
Car 2: w 2 = = = 4.73 rad/s
m 1785
c 2000
z2 = = = 0.118
2 km2 2 (4 ´ 10 5 )(1785)
1/ 2
é 1 + (2z r)2 ù
Using Equation (2.71): X = Y ê 2ú
produces the following:
ë (1 - r 2 2
) + (2z r) û

Speed (km/h) wb r1 r2 x1 x2
(rad/s) (cm) (cm)
20 5.817 1.01 1.23 3.57 1.77
80 23.271 3.871 4.71 0.107 0.070
100 29.088 5.05 6.15 0.072 0.048
150 2.40 7.58 9.23 0.042 0.028

At lower speeds there is little effect from the passengers weight, but at higher speeds the
added weight reduces the amplitude, particularly in the smaller car.

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 2- 35

2.57 Consider Example 2.4.2. Choose values of c and k for the suspension system for
car 2 (the sedan) such that the amplitude transmitted to the passenger compartment is as
small as possible for the 1 cm bump at 50 km/h. Also calculate the deflection at 100
km/h for your values of c and k.

Solution:

For car 2, m = 1585 kg.

Also, w b = 0.2909(50) = 14.545 rad/s and Y = 0.01 m.
From equation (2.70),
1/ 2
é 1 + (2z r)2 ù
X =Yê 2ú
ë (1 - r ) + (2z r) û
2 2

From Figure 2.9, we can choose a value of r away from resonance and a low damping
ratio. Choose r = 2.5 and z =0.05.

wb 14.545
So, r = 2.5 = =
w k / 1585
k = 53,650 N/m
c
z = 0.05 =
2 km
c = 922.2 kg/s
1/ 2
é ù
ê 1 + [2(0.05)(2.5)]2 ú
X = (0.01) ê ú = 0.00196 m
( ( ))
So, 2
ê 1- 2.5 2 + [2(0.05)(2.5)]2 ú
êë úû

wb
At 100 km/h, b = 29.09 rad/s and r = = 5.
k/m

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 2- 36

2.58 Consider the base motion problem of Figure 2.13. a) Compute the damping ratio needed
to keep the displacement magnitude transmissibility less than 0.50 for a frequency ratio
of r = 1.5. b) What is the value of the force transmissibility ratio for this system?

Solution: Working with equation 2.71 make a plot of TR versus ζ and use equation 2.77
to compute the value of force transmissibility.
r=1 . 8 M (ζ )= 0.50
Solution:
1
 1+ 2ζr  2 2
We know that TRζ  =   at resonance
 
 1  r 2 + 2ζr  
2 2

Using Octave plotting the TR and Mr

The force transmissibility of this problem is
F ζ t = r 2TRζ 
F 0.1596 = 1.82  0.4976 = 1.596
From the plot the value of ζ = 0.1596 keeps the displacement less than 0.5 as desired.
The value of force transmissibility is less than 1.596. Precise values can be found out by
equating the expression to 0.50.

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 2- 37

2.59 Consider the effect of variable mass on an aircraft landing suspension system by
modeling the landing gear as a moving base problem similar to that shown in Figure
P2.56 for a car suspension. The mass of a regional jet is 13, 236 kg empty and its
maximum takeoff mass is 21,523 kg. Compare the maximum deflection for a wheel
motion of magnitude 0.50 m and frequency of 35 rad/s, for these two different masses.
Take the damping ratio to be  = 0.1 and the stiffness to be 4.22 x 106 N/m.

Solution: Using a Mathcad worksheet the following calculations result:

Note that if the suspension stiffness were defined around the full case, when empty the
plane would bounce with a larger amplitude then when full. Note Mathcad does not have
a symbol for a Newton so the units on stiffness above are kg/sec2 in order to allow
Mathcad to compute the units.

2.60 Consider the simple model of a building subject to ground motion suggested in Figure
P2.60.The building is modeled as a single degree of freedom spring-mass system where
the building mass is lumped atop of two beams used to model the walls of the building in
bending. Assume the ground motion is modeled as having amplitude of 0.1 m at a
frequency of 7.5 rad/s. Approximate the building mass by 105 kg and the stiffness of
each wall by 3.519 x 106 N/m. Compute the magnitude of the deflection of the top of the
building.

Figure P2.60 A simple model of a building subject to ground motion, such as an

earthquake.

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 2- 38

Solution: The equation of motion is

x(t) + 2kx(t) = 0.1cos7.5t
m
The natural frequency and frequency ratio are
2k w 7.5
wn = = 8.389 rad/s and r = = = 0.894
m w n 8.389
The amplitude of the steady state response is given by equation (2.70) with  = 0 in this
case:
1
X =Y = 0.498 m
1- r2
Thus the earthquake will cause serious motion in the building and likely break.

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 2- 39

Problems and Solutions Section 2.5(2.61 through 2.68)

2.61 A lathe can be modeled as an electric motor mounted on a steel table. The table plus the
motor have a mass of 60 kg. The rotating parts of the lathe have a mass of 4 kg at a
distance 0.12 m from the center. The damping ratio of the system is measured to be ζ =
0.06 (viscous damping) and its natural frequency is 7.5 Hz. Calculate the amplitude of
the steady-state displacement of the motor, assuming  r = 30 Hz.

Soltuion:
Solution: Given m = 60 kg, mo=4 kg, e = 0.12 m ζ = 0.06, ω n = 7.5 Hz,  r = 30 Hz
ωr 30
so, r= ω = 7.5 = 4
n
From equation 2.84
m0 e r2 4  0.12  42
X= =
m 1  r 2 2 + 2ξr 2 60 1  4 2 2 + 2  0.06  42
= 0.0066183m = 0.66183cm

2.62 The system of Figure 2.19 produces a forced oscillation of varying frequency. As the
frequency is changed, it is noted that at resonance, the amplitude of the displacement is
10 mm. As the frequency is increased several decades past resonance the amplitude of
the displacement remains fixed at 1 mm. Estimate the damping ratio for the system.

Solution: Equation (2.84) is

me r2
X = o
m (1 - r 2 ) 2 + (2zr ) 2
mo e 1
At resonance, X = 10 mm =
m 2z
10m 1
=
mo e 2z
Xm
When r is very large, = 1 and X = 1 mm, so
mo e
m
=1
mo e
1
Therefore, 10(1) =
2z
z = 0.05

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2.63 An electric motor (Figure P2.63) has an eccentric mass of 12 kg (12% of the total mass of
100 kg) and is set on two identical springs (k = 3000 N/m). The motor runs at 1800 rpm,
and the mass eccentricity is 100 mm from the center. The springs are mounted 250 mm
apart with the motor shaft in the center. Neglect damping and determine the amplitude of
the vertical vibration.

Solution:
N
Given mo = 12kg,m = 100kg , k = 3000 , e = 0.1
m
rev  min rad  rad
ωr = 1800  2π  = 188.50
min  60 sec rev  s

Vertical vibration
ωn = 3000 / 100  = 5.4772 rad
s
ωr 188.50
r= = = 34.415 m
ωn 5.4772
From equation 2.84
 m e  r 2 
X =  o   = 0.012010
 m  1  r 
2 

2.64 Consider a system with rotating unbalance as illustrated in Figure P2.63. Suppose the
deflection at 1800 rpm is measured to be 0.05 m and the damping ratio is measured to be
ζ = 0.1. The out-of-balance mass is estimated to be 10%. Locate the unbalanced mass
by computing e.

Solution: Solution: Given x = 0.05 m, ζ = 0.1 and from the solution to the problem 2.53
the frequency ratio is calculated to be 34.414
2π  1800
60
r=
 3000 / 100 
= 2π 30 = 34.414

Solving the rotating unbalance from equation 2.84 for e yields

 mX
e = 


1  r  + 2ζr 
2 2 2

=

10  0.05  1  34.414   + 2  0.1 34.414
2 2 2

= 0.49958m
 m0  r2 34.4142
This sort of calculation can be introduced to discuss the application of machinery
diagnostics if time permits. Machinery diagnostics deals with determining the location
and extent of damage from measurements of the response and input.

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 2- 41

2.65 A fan of 45 kg has an unbalance that creates a harmonic force. A spring-damper system
is designed to minimize the force transmitted to the base of the fan. A damper is used
having a damping ratio of z = 0.2. Calculate the required spring stiffness so that only
10% of the force is transmitted to the ground when the fan is running at 10,000 rpm.
Solution: The equation of motion of the fan is
m˙x˙ + c x˙ + kx = m0 ew 2 sin(wt + q)
The steady state solution as given by equation (2.84) is
m0 e r2
x(t) = sin w t
m (1 - r 2 )2 + (2z r)2
where r is the standard frequency ratio. The force transmitted to the ground is
m0 e kr 2 m0 e cw r 2
F(t) = kx + cx = sin w t + cos w t
m (1 - r 2 )2 + (2z r)2 m (1 - r 2 )2 + (2z r)2
Taking the magnitude of this quantity, the magnitude of the force transmitted becomes
m0 e r 2 k 2 + c 2w 2 1 + (2z r)2
F0 = = m0 ew
m (1 - r 2 )2 + (2z r)2 (1 - r 2 )2 + (2z r)2
From equation (2.81) the magnitude of the force generated by the rotating mass Fr is
Fr = m0 ew 2
The limitation stated in the problem is that F0 = 0.1Fr, or
1 + (2z r)2
m0 ew 2
= 0.1m0 ew 2
(1 - r ) + (2z r)
2 2 2

Setting  = 0.2 and solving for r yields:

4 2
r -17.84r - 99 = 0
which yields only one positive solution for r2, which is
2
w2 k æ 10000 ´ 2p ö 1
r = 22.28 =
2
Þ =ç ÷
k m è 60 ø 22.28
m
2
æ 10000 ´ 2p ö 1
Þ k = 45 ç ÷ = 2.21 ´ 106 N/m
è 60 ø 22.28

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 2- 42

2.66 Plot the normalized displacement magnitude versus the frequency ratio for the out of
balance problem (i.e., repeat Figure 2.21) for the case of z = 0.05.

Solution: Working in Mathcad using equation (2.84) yields:

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 2- 43

2.67 Consider a typical unbalanced machine problem as given in Figure P2.67 with a machine
mass of 150 kg, a mount stiffness of 1000 kN/m and a damping value of 600 kg/s. The
out of balance force is measured to be 374 N at a running speed of 3000 rev/min. a)
Determine the amplitude of motion due to the out of balance. b) If the out of balance
mass is estimated to be 1% of the total mass, estimate the value of the e.

Fo
Solution: Using equation 2.84 with mo e =
ωr2
m = 150 kg, stiffness k = 1000 K N / m and c = 600 kg/s
r=
ω
=
100π  = 3.8476
k 10 6
m 150
 F0   374 
 ω2  2    3.8476 
2
  r  10000π 2 
X= =
m
1  r  +  2ζr 
2 2 150
2 2
   
 
2 2
1   3.8476  +  2 
600
 2 150 106  
  
3.8476  


= 0.00002709m

And
F 374
e= = = 0.00002526m
mω 2
150  10000  π 2

2.68 Plot the response of the mass in Problem 2.67 assuming zero initial conditions.

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 2- 44

Solution: The steady state response is the particular solution given by equation (2.84)
and is plotted here in Mathcad:

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 2-42

Problems and Solutions Section 2.6 (2.69 through 2.72)

2.69 Calculate damping and stiffness coefficients for the accelerometer of Figure 2.24 with
moving mass of 0.04 kg such that the accelerometer is able to measure vibration between
0 and 50 Hz within 5%. (Hint: For an accelerometer it is desirable for =
constant.)

Solution: Use equation (2.90):

Given: m = 0.04 kg with error < 5%

0.2f = 50 Hz f = 250 Hz ω=2 = 1570.8 rad/s
Thus, k= = 98,696 N/m
When r = .2, 0.95 < <1.05 (± 5% error)

This becomes 0.8317+0.1444 <1<1.016+0.1764

Therefore,

c = 87.956 Ns/m

2.70 The damping constant for a particular accelerometer of the type illustrated in Figure 2.26
is 50 N s/m. It is desired to design the accelerometer (i.e., choose m and k) for a
maximum error of 3% over the frequency range 0 to 75 Hz.

Solution: Given 0.2f = 75 Hz f = 375 Hz ω n= 2 = 2356.2 rad/s. Using

equation (2.93) when r = 0.2:
0.97 < <1.03 (± 3% error)

This becomes 0.8671 + 0.1505 <1<0.9777+0.1697

Therefore, 0.3622 < <0.9395

Choose

m = 0.015 kg
= 8.326 × 104 N/m

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2.71 The accelerometer of Figure 2.24 has a natural frequency of 120 kHz and a damping ratio
of 0.2. Calculate the error in measurement of a sinusoidal vibration at 60 kHz.

Solution:

Given: ω = 120 kHz, = 60 kHz

So,

The error is × 100% = 28.8%

2.72 Design an accelerometer (i.e., choose m, c and k) configured as in Figure 2.24 with very
small mass that will be accurate to 1% over the frequency range 0 to 50 Hz.

Solution:

Given: error < 1% , 0.2f = 50 Hz f = 250 Hz ω=2 = 1570.8 rad/s

When r =0.2, 0.99 < <1.01 (± 1% error)

This becomes 0.9032 + 0.1568 <1<0.9401 + 0.1632

Therefore, 0.6057 < <0.7854

Choose m = 0.01 kg , then = 24,674 N/m

Thus implies that: c = 21.99 Ns/m

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 2-44

Problems and Solutions Section 2.7 (2.73 through 2.89)

2.73 Consider a spring-mass sliding along a surface providing Coulomb friction, with stiffness
1.25 × 104 N/m and mass 10 kg, driven harmonically by a force of 50 N at 10 Hz.
Calculate the approximate amplitude of steady-state motion assuming that both the mass
and the surface that it slides on, are made of lubricated steel.

Solution: Given m = 10 kg,

N rad rad
k = 1.25 × 10 4 , F = 50 N, ω = 10 Hz = 20 × 2π = 125.66
m s s
k  1.25 ×10 4  rad
ωn =   =   = 35.355
m  10  s
For lubricated steel
20π
r= = 0.1777m
1.25 × 10 4 × 10
From equation 2.109
2
 4 μmg   4 × 0.07 × 10 × 9.81 
2
1 −   1−  
F0  πF 0  50  π × 50 
( ) ( )
X= = = 0.0040688m
k 1− r 2
1.25 × 10 4 1 − 0.1777 2

2.74 A spring-mass system with Coulomb damping of 10 kg, stiffness of 2400 N/m, and
coefficient of friction of 0.15 is driven harmonically at 10 Hz. The amplitude at steady
state is 4 cm. Calculate the magnitude of the driving force.
.
Solution:
Given m = 10 kg, k = 2400 N/m and
rad
μ = 0.15, ω = 10 Hz = 20π
s
 2400 
ωn = (k / m ) =   = 15.492
rad
 10  s
20π
r= = 4.0557
240

F0 =
|
kX 1 − r 2 | =
(2400 × 0.04 × ((4.05577) − 1)) = 1483.248N
2

2 2
 4 μmg   4 × 0.15 ×10 × 9.81 
1 −   1 −  
 πF0   F0 × π 

2.75 A system of mass 10 kg and stiffness 1.8 x 104 N/m is subject to Coulomb damping. If
the mass is driven harmonically by a 90-N force at 25 Hz, determine the equivalent
viscous damping coefficient if the coefficient of friction is 0.12.

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Solution:
N rad rad
Given m = 10 kg, k = 1.8 × 10 4 , F = 90 N, ω = 25 Hz = 25 × 2π = 157.08
m s s
k  1.8 ×10 4
 rad
ωn =   =   = 42.426
m  10  s
50π
For lubricated steel μ = 0.12 , r = = 0.18512m
1.8 × 10 4 × 10
From equation 2.109
2
 4 μmg   4 × 0.12 × 10 × 9.81 
2
1 −   1−  
F0  πF0  90  π × 50 
( ) ( )
X= = = 0.0049393m
k 1− r 2
1.8 × 10 4
1 − 0.18512 2

From equation 2.105 the equivalent viscous damping coefficient becomes

4 μmg 4 × 0.12 × 10 × 9.81 Ns
c eq = = = 19.319
πωX π 50π 0.0049393 m

2.76 a. Plot the free response of the system of Problem 2.75 to initial conditions of x(0) = 0
and (0) = |F /m| = 9 m/s using thesolution in Section 1.10.
b. Use the equivalent viscous damping coefficient calculated in Problem 2.75 and plot
the free response of the “equivalent” viscously damped system to the same initial
conditions.

Solution: See Problem 2.75

(a) x(0) = 0 and (0) = = 9 m/s

=38.73 rad/s

From section 1.10:

for
for

Let = (0.1)(10)(9.81) = 9.81 N

To start,
Therefore, and

So, x(t) =
This will continue until = 0, which occurs at time :

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 2-46

x(t) =
(t) =

Therefore, and

So,

Again, when = 0 at time , the motion will reverse:

x(t) =
(t) =

Therefore, and

So,
This continues until = 0 and = 9.81 N

(b) From Problem 2.75, = 206.7 kg/s

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 2-47

The equivalently damped system would be:

Also, = 38.73 rad/s

0.2668

= 37.33 rad/s

The solution would be found from Equation 1.36:

=9
Therefore, = 0.2411m and = 0 rad

So,

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 2-48

2.77 Referring to the system of Example 2.7.1; aspring–mass system with sliding friction
described by equation (2.97) with stiffness k = 1.5 ×104 N/m, driving harmonically a 10-
kg mass by a force of 90 N at 25 Hz, calculate how large the magnitude of the driving
force must be to sustain motion if the steel is lubricated. How large must this magnitude
be if the lubrication is removed?

Solution:

From Example 2.7.1 m = 10 kg, k = 1.5 × N/m, = 90 N,

rad/s
Lubricated Steel
Unlubricated Steel
Lubricated:
= 8.74 N
Unlubricated:
= 37.5 N

2.78 Calculate the phase shift between the driving force and the response for the system of
Problem 2.77 using the equivalent viscous damping approximation.

Solution:

From Problem 2.67: m = 10 kg, k = 1.5 × N/m, = 90 N,

rad/s

rad/s
From Equation (2.111), and since r>1

Since in Problem 2.67, , this reduces to

rad = -90˚

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 2-49

2.79 Derive the equation of vibration for the system of Figure P2.79 assuming that a viscous
dashpot of damping constant c is connected in parallel to the spring. Calculate the energy
loss and determine the magnitude and phase relationships for the forced response of the
equivalent viscous system.

Figure P2.79

Solution: Sum of the forces in Figure P2.79

sgn
sgn +kx= 0
Assume the mass is moving to the left

The solution of the form:

Substituting:

So,

Initial conditions

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 2-50

(1)

This will occur until

So Equation (1) is valid from

For motion to the right

Initial conditions (From Equation (1)):

Solution:

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 2-51

Forced Case:
sgn

Approximate Steady-state Response:

Energy Dissipated per Cycle:

This results in an equivalent viscously damped system:

where

The magnitude is:

Solving for X:

The phase is:

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 2-52

2.80 A system of unknown damping mechanism is driven harmonically at 10 Hz with an

adjustable magnitude. The magnitude is changed, and the energy lost per cycle and
amplitudes are measured for five different magnitudes. The measured quantities are:

E(J) 0.25 0.45 0.8 1.16 3.0

X (M) 0.01 0.02 0.04 0.08 0.15
Is the damping viscous or Coulomb?
Solution:

For viscous damping,

For Coulomb damping,

For the data given, a plot of vs yields a curve, while vs X yields a straight
line. Therefore, the damping is likely Coulomb in nature

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2.81 Calculate the equivalent loss factor for a system with Coulomb damping.

Solution:

Loss Factor:

For Coulomb damping:

Substituting for X (from Equation 2.109):

2.82 A spring-mass system (m = 10 kg, k = 4 × 103 N/m) vibrates horizontally on a surface

with coefficient of friction µ = 0.18. When excited harmonically at 5 Hz, the steady-state
displacement of the mass is 5 cm. Calculate the amplitude of the harmonic force applied.
rad rad
Solution: Given m = 10 kg, k = 4 x 103 N/m μ = 0.18, ω = 5 Hz = 10π = 31.414
s s
 4 ×103 
ωn = (k / m ) =
  = 20
rad
 10  s
From equation 2.109
F0
X= k
 4 μmg 
2

(1 − r ) 2 2
+ 
 πkX 
20π
r= = 4.0557
240
  
 4000 × 0.05 ×   10π  − 1 
2

F0 =
|
kX 1 − r 2 | =


  20 



⇒ F0 = 294.34 N
2 2
 4 μmg   4 × 0.18 ×10 × 9.81 
1 −   1 −  
 πF 0   F0 × π 

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 2-54

2.83 Calculate the displacement for a system with air damping using the equivalent viscous
damping method.

Solution:

The equivalent viscous damping for air is given by Equation (2.131):

From Equation 2.31:

Solving for X and taking the real solution:

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2.84 Calculate the semimajor and semiminor axis of the ellipse of equation (2.119). Then
calculate the area of the ellipse. Use c = 10 kg/s, ω = 2 rad/s and X = 0.01 m.

Solution: The equation of an ellipse usually appears when the plot of the ellipse is
oriented along with the x axis along the principle axis of the ellipse. Equation (2.1109) is
the equation of an ellipse rotated about the origin. If k is known, the angle of rotation can
be computed from formulas given in analytical geometry. However, we know from the
energy calculation that the stiffness does not effect the amount of energy dissipated. Thus
only the orientation of the ellipse is effected by the stiffness, not its area or axis. Thus we
can use this fact to answer the question. First re-write equation (2.119) with k = 0 to get:

This is the equation of an ellipse with major axis a and minor axis b given by

The area, and hence energy lost per cycle through the damper then becomes
= (3.14159)(10)(2)(.0001) = 0.006283 Joules.
Alternately, realized that Equation 2.119 is that of ellipse rotated by an angle defined
by tan2 = -2k/( ). Then match the ellipse to standard form, read off the
major and minor axis (say a andb) and calculate the area from . See the following
web site for an elipse http://mathworld.wolfram.com/Ellipse.html

2.85 The area of a force deflection curve of Figure 2.29 is measured to be 2.5 N- m, and the
maximum deflection is measured to be 8 mm. From the “slope” of the ellipse the
stiffness is estimated to be 5 × 10 N/m. Calculate the hysteretic damping coefficient.
What is the equivalent viscous damping if the system is driven at 10 Hz?

Solution:

Given: Area = 2.5 , k = 5x N/m, X = 8 mm, rad/s

Hysteric Damping Coefficient:

= Area =
2.5 =

Equivalent Viscous Damping:

c eq = 198 kg/s

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 2-56

2.86 The area of the hysteresis loop of a hysterically damped system is measured to be 5 N•m
and the maximum deflection is measured to be 1 cm. Calculate the equivalent viscous
damping coefficient for a 24-Hz driving force. Plot c versus ω for 2 ω 100
rad/s.

Solution:
rad
Given Area = 5 N.m, X = 1cm ω = 2π 24 = 150.8
s
Area of the hysteresis loop: A = πcωX 2
Hysteric Damping Coefficient
DE = Area = πkbX 2
N
5 = πkb0.012 ⇒ kb = 15915
m
Equivalent viscous damping is
kb 15915
c eq = = = 105.54
ω (48π )

To plot rearrange so that

ΔE 50000
c eq = =
πωX 2
πω
Plot:

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2.87 Calculate the nonconservative energy of a system subject to both viscous and hysteretic
damping.

Solution:

2.88 Derive a formula for equivalent viscous damping for the damping force of the form, F =
c( ) where n is an integer.

Solution:

Given:
Assume the steady-state response
The energy lost per cycle is given by Equation (2.99) as:

Substituting for

Let :

Equating this to Equation 2.91 yields:

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 2-58

2.89 Using the equivalent viscous damping formulation, determine an expression for the
steady-state amplitude under harmonic excitation for a system with both Coulomb and
viscous damping present.

Solution:

Equate to Equivalent Viscously Damped System

Amplitude:

Solving for X:

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 2- 60

Problems and Solutions Section 2.8 (2.90 through 2.96)

2.90*.Numerically integrate and plot the response of an underdamped system determined

by m = 100 kg, k = 20,000 N/m, and c = 200 kg/s, subject to the initial conditions of x0 =
0.01 m and v0 = 0.1 m/s, and the applied force F(t) = 160cos5t. Then plot the exact
response as computed by equation (2.33). Compare the plot of the exact solution to the
numerical simulation.

Solution: Given: 100 xt  + 200 x t  + 20000 x t  = 160cos5t  with initial conditions
x0 = 0.01m; v0 = 0.1m / s

Total Analytical Solution in Octave:

First the m file containing the state equation to integrate is set up and saved as
Func_P290.m

functionxdot=f(t, x)
xdot=[-(200/100)*x(1)-(20000/100)*x(2)+(160/100)*cos(5*t); x(1)];
% xdot=[x(1)'; x(2)']=[-2*zeta*wn*x(1)-wn^2*x(2)+fo*cos(w*t) ; x(1)]
% which is a state space form of
% x" + 2*zeta*wn*x' + (wn^2)*x = fo*cos(w*t) (fo=Fo/m)
clear all;
Then the following m file is created and run:
%---- numerical simulation ---
x0=[0.1; 0.01];
%[xdot(0); x(0)]
tspan=[0 10];
[t,x]=ode45(@Func_P290,tspan,x0);
plot(t, x(:,2), '.');
hold on;
%--- exact solution ----
t=0: .002: 10;
m=100; k=20000; c=200; Fo=160 ; w=5
wn=sqrt(k/m); zeta=c/(2*wn*m); fo=Fo/m; wd=wn*sqrt(1-zeta^2)
x0=0.01; v0= 0.1;
xe= exp(-zeta*wn*t) .* ( (x0-fo*(wn^2-w^2)/((wn^2-w^2)^2 ...
+(2*zeta*wn*w)^2))*cos(wd*t) ...
+ (zeta*wn/wd*( x0-fo*(wn^2-w^2)/((wn^2-w^2)^2+(2*zeta*wn*w)^2)) ...
- 2*zeta*wn*w^2*fo/(wd*((wd^2-w^2)^2 ...
+ (2*zeta*wn*w)^2))+v0/wd)*sin(wd*t) ) ...
+ fo/((wn^2-w^2)^2+(2*zeta*wn*w)^2)*((wn^2-w^2)*cos(w*t) ...
+ 2*zeta*wn*w*sin(w*t))
plot(t, xe, 'r');
hold off;
This produces the following plot:

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2.91*.Numerically integrate and plot the response of an underdamped system determined

by m = 120 kg, and k = 3200 N/m subject to the initial conditions of x0 = 0.01 m and v0 =
0.1 m/s, and the applied force F(t) = 15cos10t , for various values of the damping
coefficient. Use this “program” to determine a value of damping that causes the transient
term to die out within 3 seconds. Try to find the smallest such value of damping
remembering that added damping is usually expensive.

Solution:
The solution is given by the following Octave code for C = 350 kg/s and corresponding
ζ = 0.28241; ωn = 5.1640 gives the desired result
clear all
clc
xo =[0.01;0.1];
ts=[0,10];
[t,x] = ode45(@Func1_p291,ts,xo);
figure(1)
plot(t,x(:,1),'r') ;
functionxd = func1_p291(t,x)
m= 120;
k=3200;
c=350;
omega_n=sqrt(k/m);
zeta = c/(2*sqrt(k*m));
Fo = 15;
omega = 10;
xd=[x(2);-x(1)*omega_n**2 - 2*x(2)*zeta*omega_n + Fo/m*sin(omega*t)];
end

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2.92*.Compute the total response of a spring-mass system with the following values: k =
1000 N/m, m = 12 kg, subject to a harmonic force of magnitude F0= 100 N and frequency
of 8.162 rad/s, and initial conditions given by x0 = 0.01 m and v0 = 0.01 m/s, by
numerically integrating rather than using analytical expressions as was done in Problem
2.8. Plot the response.

Solution: The following Octave code illustrates the solution with given initial conditions
Function to be used in the code
function v = func1_p292(t,x)
m = 12;
k=1000;alpha = 0.005;
Fo= 100;
omega_n = sqrt(k/m);
omega = 8.162;
ceq = sqrt(8*m*alpha*Fo/m/3/pi);
v=[x(2);x(1).*-k/m + x(2).*-ceq/m + Fo/m*sin(omega*t)];
end
clear all
clc
xo =[0.01;0.01];
ts=[0,20];
[t,x] = ode45(@func1_p292,ts,xo);
figure(1)
plot(t,x(:,1),'r') ;

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2.93*.A
A foot pedal for a musical instrument is model
modeled
ed by the sketch in Figure P2.93.
P2.93
With k = 2000 N/m, c = 25 kg/s, m = 25 kg and , F(t) = 50 cos 2p t N, numerically
simulate the response of the system assuming the system starts from rest. Also use the
small angle approximation.
F(t)

0.05 m 0.05 m 0.05 m

m

k c

Figure 2.9

Solution: From problem 2.30, the equation of motion is

9 a 2 m q + 4 a 2 c cosqq + a 2 k sin q = -3a F(t)
kg/s , m = 25 kg , F(t) = 50 cos 2p t , a = 0.05 m
wherek = 2000 kg, c = 25 kg/
Placing the equation of motion in first order form and numerically integrating using
Mathcad yields

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2.94*.Numerically
Numerically integrate and plot the response of an underdamped system determined
by m = 100 kg, k = 2000 N/m, and c = 200 kg/s, subject to the applied force F(t) = 150
cos 10t, for the following sets of initial conditions:
a) x0 = 0.0 m and v0 = 0.1 m/s
b) x0 = 0.01 m and v0 = 0.0 m/s
c) x0 = 0.05 m and v0 = 0.0 m/s
d) x0 = 0.0 m and v0 = 0.5 m/s
Plot these responses on the same graph and note the effects of the initial conditions on the
transient part of the response.

Solution: The following are the solutions in Mathcad. Of course the other codes and
Toolbox will yield the same results.
a)

b)

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c)

d)

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Note the profound effect on the transient, but of course no effect on the steady state.

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2.95*. A DVD drive is mounted on a chassis and is modeled as a single degree-degree-

degree
of-freedom
freedom spring, mass and damper. During normal operation, the drive (having a mass
of 0.4 kg) is subject to a harmonic force of 1 N at 10 rad/s. Because of material
considerations
rations and static deflection, the stiffness is fixed at 500 N/m and the natural
damping in the system is 10 kg/s. The DVD player starts and stops during its normal
operation providing initial conditions to the module of x0 = 0.001 m and v0 = 0.5 m/s.
Thee DVD drive must not have an amplitude of vibration larger then 0.008 m even during
the transient stage. First compute the response by numerical simulation to see if the
constraint is satisfied. If the constraint is not satisfied, find the smallest value of damping
that will keep the deflection less then 0.008 m.

Solution: The solution is given by the following Mathcad session:

This yields c =17 kg/s as a solution.

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2.96 Use a plotting routine to examine the base motion problem (see Figure 2.13) by
plotting the particular solution (for an undamped system) for the three cases k =
1500 N/m, and k = 700 N/m. Also note the values of the three frequency ratios
and the corresponding amplitude of vibration of each case compared to the input.
Use the following values: b = 4.4 rad/s, m = 100 kg, and Y = 0.05 m.

Solution: The following Mathcad worksheet shows the plotting:

Note that k2, the softest system (smallest k) has the smallest amplitude, smaller
than the amplitude of the input as predicted by the magnitude plots in section 2.3.
Thus when r > 2 , the amplitude is the smallest.

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Problems and Solutions Section 2.9 (2.97 through 2.103)

2.97*.Compute the response of the system in Figure P2.97 for the case that the damping
is linear viscous and the spring is a nonlinear soft spring of the form
k(x) = kx - k1 x 3
and the system is subject to a harmonic excitation of 300 N at a frequency of
approximately one third the natural frequency (= n/3) and initial conditions of x0 =
0.01 m and v0 = 0.1 m/s. The system has a mass of 100 kg, a damping coefficient of 170
kg/s and a linear stiffness coefficient of 2000 N/m. The value of k1 is taken to be 10000
N/m3. Compute the solution and compare it to the linear solution (k1 = 0). Which system
has the largest magnitude?

Figure P2.97

Solution: The following is a Mathcad simulation. The green is the steady state magnitude
of the linear system, which bounds the linear solution, but is exceeded by the nonlinear
solution. The nonlinear solution has the largest response.

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2.98*.Compute the response of the system in Figure P2.97 for the case that the damping
is linear viscous and the spring is a nonlinear hard spring of the form
k(x) = kx + k1 x 3
and the system is subject to a harmonic excitation of 300 N at a frequency equal to the
natural frequency ( = n) and initial conditions of x0 = 0.01 m and v0 = 0.1 m/s. The
system has a mass of 100 kg, a damping coefficient of 170 kg/s and a linear stiffness
coefficient of 2000 N/m. The value of k1 is taken to be 10000 N/m3. Compute the
solution and compare it to the linear solution (k1 = 0). Which system has the largest
magnitude?

Solution: The Mathcad solution appears below. Note that in this case the linear
amplitude is the largest!

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2.99*.Compute
Compute the response of the system in Figure P2.97 for the case that the damping
is linear viscous and the spring is a nonlinear soft spring of the form
k(x) = kx - k1 x 3
and the system is subject to a harmonic excitation of 300 N at a frequency equal to the
natural frequency ( = n) and initial conditions of x0 = 0.01 m and v0 = 0.1 m/s. The
system has a mass of 100 kg, a damping coefficient of 15 kg/s and a linear stiffness
coefficient of 2000 N/m. The value of k1 is taken to be 100 N/m3. Compute the solution
and compare it to the hard spring solution ( k(x) = kx + k1 x ).
3

Solution: The Mathcad solution is presented, first for a hard spring, then for a soft spring

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Next consider the result for the soft spring and note that the nonlinear response is higher
in the transient then the linear case (opposite of the hardening spring), but nearly the
same in steady state as the hardening spring.

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2.100*.Compute
Compute the response of the system in Figure P2.97 for the case that the damping
is linear viscous
scous and the spring is a nonlinear soft spring of the form
k(x) = kx - k1 x 3
and the system is subject to a harmonic excitation of 300 N at a frequency equal to the
natural frequency ( = n) and initial conditions of x0 = 0.01 m and v0 = 0.1 m/s. The
system has a mass of 100 kg, a damping coefficient of 15 kg/s and a linear stiffness
coefficient of 2000 N/m. The value of k1 is taken to be 1000 N/m3. Compute the solution
and compare it to the quadratic soft spring ( k(x) = kx + k1 x ).
2

Solution: The response to both the hardening and softening spring are given in the
following Mathcad sessions. In each case the linear response is also shown for
comparison. With the soft spring, the response is more variable, whereas the hardening
hardenin
spring seems to reach steady state.

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2.101*. Compare the forced response of a system with velocity squared damping with
equation of motion given by:
()
mx + a sgn x x 2 + kx = F0 cos wt
using numerical simulation of the nonlinear equation to that of the response of the linear
system
m obtained using equivalent viscous damping as defined by equation (2.131):
8
ceq = awX
3p

Use as initial conditions, x0 = 0.01 m and v0 = 0.1 m/s with a mass of 10 kg, stiffness of
25 N/m, applied force of 150 cos ((nt) and drag coefficient of  = 250.

Solution:

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2.102*. Compare the forced response of a system with structural damping (see table 2.2)
using numerical simulation of the nonlinear equation to that of the response of the linear
system obtained using equivalent viscous damping as defined in Table 2.2. Use
Us as initial
conditions, x0 = 0.01 m and v0 = 0.1 m/s with a mass of 10 kg, stiffness of 25 N/m,
applied force of 150 cos (nt)) and solid damping coefficient of b = 25.

Solution: The solution is presented here in Mathcad

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