Primer to Tutorial 8

Tutorial 8: Undamped Free Vibration

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 Question 1
• Two uniform rods, each of mass
m and length L, are welded
A

together to form the T-shaped L

assembly shown. Determine the B

frequency of small oscillations C D

of the assembly. L/2 L/2

[This question tests on concept to calculate the moment of

inertia for compound structures out of basic shapes]

1 18 g
• Answer: fn =
2π 17l
2
 Solution to Question 1
• Moment of inertia • Moment summation
about pivot point A about point A
JA = ? ∑M A =?

CG of Rod AB CG of Rod CD
Rod AB: Rod CD
Rotation Tangential
Rotation
about B travel at a
about A
center of distance L off
gravity the pivot A
• Equation of motion
A
L/2
J Aθ = ∑ M A = ?
L θ mg
1 18 g
B ∴ fn =
C D 2π 17l
3
L/2 L/2 mg
 Question 2
• A slender, uniform rod of mass m is pivoted at the
bottom end and is held in equilibrium by two springs.
What is the natural frequency of vibration for small
amplitudes? k k

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 Solution to Q. 2
• This question shows dependence of natural frequency on the
restoring forces, contributed by both the springs and gravity.
• Let us first draw the free body force diagram
J Oθ = M O Force by gravity Forces by spring

Tip displaces
Lsinθ θ x=Lθ

kx kx

θ θ
L
L mgsinθ L
mg L/2 mg

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 … Solution to Q. 2
• Apply Newton’s 2nd Law to the swinging rod
J Oθ = ∑ M O Sum of moments induced by forces about point O

?θ = ? ?
Weight Spring forces

Because small angle approximation sin θ ≈ θ and cos θ ≈ 1,

• Re-expression yields

• Hence, natural frequency is

Gravity counters the spring forces and ωn 1 6k 3 g
=
fn = −
thus reduces the natural frequency 2π 2π m 2L
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 Question 3
• Determine the natural frequency of the
horizontal pendulum shown. Neglect the mass
of the arm. [Steidel, Problem 2.31, page 65]
[ This question tests your concept of
force orientation in the free body force
analysis. In addition, static force vanishes
in the dynamic equation of motion]

1 a k
• Answer: fn =
2π b m
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 Solution to Question 3
• The mass m is in equilibrium with the spring at
the horizontal position 0 = mgb − ka 2 Θ
• Equation of motion for this dynamic system is
J Oθ = ∑ M O

?θ = ?
O

2
ka 1 a k
ω2 = 2 ⇒ f =
mb 2π b m
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 Detailed force analysis
• Weight does induce static deflection, but does not
affect the dynamics, i.e. natural frequency.
• Static analysis 0 = ∑ M O • Dynamic analysis J Oθ = ∑ M O
≈1 ≈1
=0 mgb cos Θ − kaΘa cos Θ off the equilibrium positions,
vertical or horizontal
Spring extension
• Small angle approximation ?
0= mgb − kaΘa ⇒ Θ = mgb
ka 2

Θ O
Equilibrium B Θ O
B b
position
mg a
b
aΘ mg θ
a
A Perturbed A a(Θ+θ)
kaΘ off ka(Θ+θ) 9
 Question 4
• A mass m is suspended from a spring with a modulus of k,
which is in turn suspended at its upper end from a thin steel
cantilevered beam with a thickness t, a width w, and a length
L. The cantilever and spring have negligible masses.
Determine the natural frequency of the weight’s oscillatory
motion. [Steidel, Problem 2.6, page 49]
[ This question tests your concept about
equivalent spring out of cantilever deformation]

1 kkb
⇒ f =
2π ( k + kb ) m

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 Solution to Question 4
• Given that ∆b=FL3/3EI where I=wt3/12
• Stiffness of the cantilever is kb = ?
• The system has two springs in series
L
keffective = ? ∆b
kb=F/∆b
k
• Equation of motion is m k

mx = ∑ F = ? ∆ +x m
x

• System’s Natural frequency:

1 keffective 1 kkb
=
⇒ f =
2π m 2π ( k + kb ) m 11
 Question 5
• A heavy table is supported by flat steel legs. Its natural period
in horizontal oscillation is 0.4s. When a 30-kg plate is clamped
to its surface, the natural period in the oscillation is increased
to 0.5s. What is the effective spring constant and the mass of
the table?
• [Steidel, Problem 2.8, page 49]

[ This question infers the equivalent mass and spring from the
observed change in free oscillations of mass-spring system] 12
 Solution to Question 5
• This question shows the dependence of natural frequency on
mass. Let us write equation of motion (EOM) for both cases
• Case (a) has the EOM being • Case (b) has the EOM being
mx + kx =
0 ?
– Obtained by force balance – Because of added 30-kg mass
• Its natural frequency is • Its natural frequency reduces to
1 k
fa = fb = ?
2π m
m
x
k

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 … Solution to Question 5
• Let us relate the measured natural period of oscillation to the
derived theory for natural frequency.
• Natural period of Case (a) is • Natural period of Case (b) is

τ a = ? = 0.4s τ b = ? = 0.5s

• Comparing the two measured natural period yields:

τ a 0.4s
= = ? in terms of k and m
τ a 0.5s
• Solving for the table mass m from the relationship above yields
  τ 2   τ 
2
 0.8 2

1 −    m =
a
30kg  a  ⇒ m =  2
1 − 0.8 
30kg=53.3kg
τ
  b   τ
 b 
The table mass is calculated from the
added mass and ratio of period
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 … Solution to Question 5
1 m
• From the formula of period=τ a 0.4s=
= 2π
fa k
of case (a)

• The stiffness is derived as k =?

• Substitution of the measured period τa and calculated table

mass, value of the stiffness is calculated as
m
x
k = 13154 N/m
k

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