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homeworkExo2

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1 views

homeworkExo2

yyyutyyu

Uploaded by

akremhadad23
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Solution to Exercise 2: Forced Damped Oscillations of

a Rod

Problem Summary
A rod of length L and mass M is pivoted at O and connected to a spring (k) at its end.
A damper (f ) is attached at the midpoint. An external force F (t) = F0 sin(ωt) is applied
at the end. Given Jrod/O = 13 M L2 , determine:

1. The equation of motion.

2. The steady-state amplitude and phase.

3. The total solution.

4. The mechanical impedance and equivalent circuit.


q
3k
5. System behavior as ω → M .

1. Differential Equation of Motion


ˆ Moment of inertia: J = 13 M L2 .

ˆ Restoring torque: τspring = −kL2 θ.


2
ˆ Damping torque: τdamping = − f L4 θ̇.

ˆ External torque: τexternal = F0 L sin(ωt).

ˆ Inertial torque: τinertia = J θ̈ = 31 M L2 θ̈.

From τinertia = τspring + τdamping + τexternal :

1 f
M θ̈ + θ̇ + kθ = F0 sin(ωt)
3 4

1
2. Amplitude and Phase in Steady State
Assume θ(t) = Θ sin(ωt − ϕ). Substituting derivatives:

1 f
M (−ω 2 Θ sin(ωt − ϕ)) + (ωΘ cos(ωt − ϕ)) + kΘ sin(ωt − ϕ) = F0 sin(ωt)
3 4
Equating coefficients of sin(ωt) and cos(ωt):
fω
F0 4
Θ= q  , tan ϕ = 1
2 fω 2 k− M ω2
k − 31 M ω 2 + 4
3

3. Total Solution
The total solution is:

θ(t) = Ae−γt cos(ωd t + ϕ) + Θ sin(ωt − ϕ)

where:
f
r
3k
q
4
γ= 1 , ωd = ω02 − γ 2 , ω0 =
3
M M

4. Mechanical Impedance and Equivalent Circuit


The mechanical impedance Zm relates torque to angular velocity:

k − 31 M ω 2 + i ωf
4
Zm =
ω
The equivalent electrical circuit is:

ˆ Inertia 1

3
M → Inductance L.

ˆ Damping f

4
→ Resistance R.

ˆ Spring stiffness (k) → Capacitance C = k1 .

q
3k
5. Behavior as ω → M

At resonance: r
3k 1
ω= , k − M ω2 → 0
M 3
The amplitude Θ → ∞ if damping f = 0. With damping, Θ peaks at a finite value.
Energy transfer is maximized at resonance.

2
Final Answers
1. Differential equation:
1 f
M θ̈ + θ̇ + kθ = F0 sin(ωt)
3 4
2. Amplitude and phase:
fω
F0 4
Θ= q  , tan ϕ = 1
2 fω 2 k− M ω2
k − 13 M ω 2 + 4
3

3. Total solution:
θ(t) = Ae−γt cos(ωd t + ϕ) + Θ sin(ωt − ϕ)

4. Impedance:
k − 31 M ω 2 + i ωf
4
Zm =
ω
5. At resonance, Θ peaks due to energy transfer maximization.

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