Tutorial class 1

1. Spring Constant

1.1: Spring Constant of a Rod

 Assignment 1
Q1. Spring Constant of a Cantilever Beam (Assignment)

Find the equivalent spring constant of a cantilever beam subjected to a concentrated load F
at its end as shown below: Assume, for simplicity, that the self weight (or mass) of the
beam is negligible and the concentrated load F is due to the weight of a point mass (W=mg)
Q2. Spring Constant of pulley system (Assignment)
Q3. Angular motion (Torsional Spring Constant of a Propeller Shaft) (Assignment)
1.4. Combination of Spring B. Spring in series
A. Spring in parallel
𝑘1 𝑥𝑠𝑡 𝑘2 𝑥𝑠𝑡

𝑥𝑠𝑡

𝑊 = 𝑘1 𝑥𝑠𝑡 + 𝑘2 𝑥𝑠𝑡

𝑊 = 𝑘𝑒𝑞 𝑥𝑠𝑡

In general, if we have n springs with spring constants

in parallel, then the equivalent spring constant can be
obtained
C. Spring in both parallel and service
Spring in angular motion

The equivalent spring constant of the system

referred to the point of application of the force
F can be determined by considering the
moment equilibrium of the forces about the
hinge point O
2. Mass or Inertia Elements
1. Let the masses be attached to a rigid bar that is pivoted at one end, as shown below. Obtain the equivalent
mass of the system,
• The equivalent mass can be assumed to be located at any point along the bar. To be specific, we assume the
location of the equivalent mass to be that of mass M1. )
Translational and Rotational Masses Coupled Together
3. The equation of motion
with
equivalent torsional spring = Kt eq
equivalent torsional damper = Ct eq
Mass equivalent determined at B = 𝑱𝟎 + 𝒎𝑹𝟐

𝑱𝟎 + 𝒎𝑹𝟐 𝜽ሷ + 𝑪𝒕 𝒆𝒒 𝜽ሶ + 𝑲𝒕 𝒆𝒒 𝜽 = 𝟎
Q4. Equivalent mass moment of inertia of gear train (Assignment)
3. Damping element
3.1. Coulomb or Dry-Friction Damping.
It is caused by friction between rubbing surfaces that either are dry or have insufficient lubrication.
Here the damping force is constant in magnitude but opposite in direction to that of the motion of the
vibrating body.

3.2. Material or Solid or Hysteretic Damping.

When a material is deformed, energy is absorbed and dissipated by the material. The effect is due to
friction between the internal planes, which slip or slide as the deformations take place.

3.3. Viscous Damping.

Viscous damping is the most commonly used damping mechanism in vibration analysis. When
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 the vibrating body. In viscous damping, the
damping force is proportional to the velocity of the vibrating body
If you are interested,

3.3.1. Damping Constant of Parallel Plates Separated by Viscous Fluid

Consider two parallel plates separated by a distance h, with a fluid of viscosity between the plates.
Derive an expression for the damping constant when one plate moves with a velocity v relative to
the other as shown in Fig below:

FIG: Parallel plates with a viscous fluid in between

If you are interested,
Solution: Let one plate be fixed and let the other plate be moved with a velocity v in its
own plane. The fluid layers in contact with the moving plate move with a velocity v,
while those in contact with the fixed plate do not move. The velocities of intermediate
fluid layers are assumed to vary linearly between 0 and v, as shown in Fig. According to
Newton s law of viscous flow, the shear stress (𝜏)developed in the fluid layer at a
distance y from the fixed plate is given b
If you are interested, Damping Constant of a Journal Bearing
A journal bearing is used to provide lateral support to a rotating shaft as shown in Fig below. If
the radius of the shaft is R, angular velocity of the shaft is 𝜔, 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
Solution: The damping constant of the journal bearing can be determined using the equation for the shear stress in
If you are interested,
viscous fluid. The fluid in contact with the rotating shaft will have a linear velocity (in tangential direction) of while
the fluid in contact with the stationary bearing will have zero velocity. Assuming a linear variation for the velocity of
the fluid in the radial direction, we have
𝑣𝑟 𝑟𝑅𝜔
𝑣 𝑟 = =
𝑑 𝑑
The shearing stress (𝜏) in the lubricant is given by the product of the radial velocity gradient and the viscosity of the
lubricant:
𝑑𝑣 𝜇𝑅𝜔
𝜏= 𝜇 =
𝑑𝑟 𝑑
The force required to shear the fluid film is equal to stress times the area. The torque on the shaft (T)
is equal to the force times the lever arm, so that
𝑇 = 𝜏𝐴 𝑅
Where 𝐴 = 2𝜋𝑅𝑙 is the surface area of the shaft exposed to the lubricant. Thus
𝜇𝑅𝜔 2𝜋𝜇𝑅3 𝑙𝜔
𝑇= 2𝜋𝑅𝑙 𝑅 =
𝑑 𝑑
From the definition of the rotational damping constant of the bearing
𝑇
𝐶𝑡 =
𝜔
we obtain the desired expression for the rotational damping constant as:
2𝜋𝜇𝑅3 𝑙
𝐶𝑡 =
𝑑
If you are interested, Piston-Cylinder Dashpot
Develop an expression for the damping constant of the dashpot
Combination of Dampers

In some dynamic systems, multiple dampers are used. In such cases, all the dampers
are replaced by a single equivalent damper. When dampers appear in combination,
we can use procedures similar to those used in finding the equivalent spring constant
of multiple springs to find a single equivalent damper
Problems
Examples

1. Derive the equation of motion for the systems shown below

1. A loaded mine cart, weighing 5,000 lb, is being lifted by a frictionless pulley and a
wire rope, as shown in Fig. below. Find the natural frequency of vibration of the cart
in the given position.
4. Drive the system equation of motion, its natural frequency and find the response of the
system shown in fig below. If d =0.01m, L = 0.25m R = 1m, K = 500 N/m, 𝐶 = 200 𝑁. 𝑠/𝑚,
the shaft material has modulus of rigidity 𝐺 = 0.8 ∗ 1011 𝑁/𝑚2 and the mass of disk m =
20 𝐾𝑔 (initial velocity 𝜃ሶ 0 = 5𝑟𝑎𝑑/𝑠, initial rotation 𝜃0 = 0)
Q5. (Assignment)
The restroom door shown below is equipped with a torsional spring (at the lower hinge) and a torsional
viscous damper (at the upper hinge) so that it automatically returns to its closed position after being
opened. The door has a mass of 60kg and a centroidal moment of inertia about an axis parallel to the axis
of the door’s rotation of 7.2 kg. m2. The torsional spring has a stiffness of 25 N.m/rad.

A. Draw the FBDs (for external forces and internal forces separately) at an arbitrary instant of time.
B. Considering a one-degree-of-freedom system, model the restroom door mathematically.
C. What will be the damping coefficient so that the system is critically damped?
D. A man with an arm load of packages, but in a hurry, kicks the door to cause it to open. What
angular velocity must his kick impart to cause the door to open 70o?
E. Show the response graphically