220 CHAPTER 4 Spring and Damper Elements in Mechanical Systems

ME  360  Section  1   Figure   P4.36 I = 0.8 kg · m2 , and cT = 0.1 N · m · s. Find the speed v
 
W15  1/22/2015     Due  
initially at rest and the torque1/29/15  
T is a step function of ma
cT
4.37 Derive the equation of motion for the lever system show
Problem Set 3 the force f as the input and the angle θ as the output. T
R corresponds to the equilibrium position when f = 0. T
! about the pivot. Assume small displacements.
1. A heavy disk is fastened to a wall with aT cylindrical I shaft. Both shaft and
! ! !" ! In the system shown in Figure P4.38, the input is the di
4.38
disk are made of steel (𝜌 = 7.88 ⋅ 10  kg/m , 𝐺 = 7.6 ⋅ 10  N/m ). A
output is theTdisplacement
! x of the mass m. The equilib
motor torque actspalm-38591
on the disk.
book The disk
December has radius
17, 2008 12:4 25 cm, thickness
v 5 cm.
corresponds to x = y = 0. Neglect any friction between
The shaft has radius 1.5 cm, length 8 cm. m surface. Derive the equation of motion and find the tran
a. Draw a lumped parameter model for the system. g
Hint: Use one of the handout
X (s)/Y (s). tables.
b. Calculate parameter220 values for the model, C H A Pbased on the
T E R 4 Spring dimensions
and Damper Elements inabove.
Mechanical Systems
c. Find an input-output differential equation for the system, T asFigure input,P4.37
and angular displacement 𝜃 Figure P4.38

of the disk as output. (Leave the parameters as symbols, notT numbers.)

Figure P4.36 I = 0.8 kg · m 2
, and c = 0.1 N · m · s. Find the speed v(t) if the system is x
initially at rest and the torque T is a step cfunction of magnitude 300 N · m.
d. Suppose the system is found to chave T
response time 10 ms, meaning the time for an impulse at the k2
4.37 Derive the equation of motion for the lever Lsystem shown in Figure P4.37, with
motor to be felt at the wall. Now draw a multi-segment
the force f as thelumpedinput and parameter
the angle θ as themodel
2
thatposition
output. The would θ =0 m
"
capture that behavior.!
BeR
sure to justify the number
corresponds of
to theelements
equilibriumchosen.
position when f = 0. The lever has an inertia I
k
about the pivot. Assume small displacements.
f
T I
4.38 In the system shown in Figure P4.38, the input is the displacement y and the
I
2. Consider the differential equation 2 x +1x = 2u ( t , with
)
output is theinput () () andm. The
u t x=of1thetL1mass
displacement ( ) = 4 . position
x 0equilibrium
v corresponds to x = y = 0. Neglect any friction between the mass and the
a. Sketch the input and output timem
response, and tryDerive
surface. to sketch ()
the equation without
x tof motion explicitly
and find the Ltransfersolving
3
function the
g X (s)/Y (s).
differential equation, as discussed in class..
Figure P4.37 Figure P4.38
b. Sketch the input and output for u (t ) = 1(t ) −1(t −10) , with zero initial
4.39 conditions.
Figure P4.39a showsAlsoa Houdaille
express
y
damper, which is a de x
mathematically either using multiple time intervals
c
L2
or using the unitengine
step function.
crankshaft
k2
to reduce
k1 vibrations. The damper has
to rotate within an
m enclosure filled with viscous fluid. T
c. In class we described two methods to find
" (t ) = δof(the
an impulse response to uinertia t ) . fan-belt
What are cthose
pulley. Modeling the crankshaft a
k
f
methods? Use both methods to find the impulse response I
with zero initial
the conditions,
damper system canand sketch
be modeled as shown in part (b)
L1 the equation of motion with the angular displacements θ
the input and output time response.
d. Find the impulse response with initial condition 𝑥 0 L= 1. and the crankshaft angular displacement φ as the input.
3
Figure P4.39

3. From textbook (4.39): The figure shows a Houdaille damper,

4.39 Figure P4.39a showswhich
a Houdaille damper, which is a device attached Ip to an
attaches to an engine crankshaft to reduce vibrations. The damper
engine crankshaft to reduce vibrations. The damper has an inertia Id that is free
to rotate within an enclosure filled with viscous fluid. The inertia I p is the
has an inertia 𝐼! that is free to rotate within an enclosure filled
inertia of the fan-belt Crankshaft
palm-38591pulley.
bookModeling
Decemberthe crankshaft
17, 2008
Viscous fluid
kT 12:4 as aIdtorsional spring k T , kT
with viscous fluid. The inertia 𝐼! is of the fan-belt pulley,
the damper system can be modeled as shown in part (b) of the figure. Derive
#
the equation of motion with the angular displacements θ p and θd as the outputs
which rotates with the crankshaft, itself Figure
modeledP4.40
andastheacrankshaft
torsional angular displacement φ as the input. Pulley
z
spring 𝑘 ! . The lumpedFigure P4.39
parameter model of thisk system is shown at right. # Probl

a. Derive equations of motion with outputs 𝜃! and 𝜃! and inputIp𝜙.4.41 In the system shown(a) cT I
in Figure P4.41, thedinput is the force f and the output
= "xdA the spring is at its free length
b. Eliminate 𝜃! to find a single equation Lwith 1 output 𝜃!kT and Iinput 𝜙. fluid
Viscous
the displacement
Derive the equation
x A of point A. When x
Crankshaft
L2 L d kT of motion.
c. Find the steady-state 𝜙! for a unit step in 𝜙. Is this # 3 related to the Figure P4.41
Ip
FigureExamples
P4.42
Figure P4.40 Section 4.5 Additional Modeling "p
homogenous or particular solution? c I Pulley x xA y x

d. The full response includes

z
k the steady-state plus a transient. How 4.40 The mass#m in Figure P4.40 is attached to a rigid rod ha
m m m
f the pivot and
A negligible pivot friction. c The input k2 is the d
many exponential terms do you expect in the transient,(a)and what basic requirement
k c
do
(b)
you have of
k1
z = θ = 0, the spring is at its free length. Assuming tha
L1
these terms if you expect the L 2 Lcrankshaft will not
3
" destroy itself? 4.42 In equation
the systemof motion
shown forP4.42,
in Figure θ with z as isthe
the input theinput.
displacement y and th
e. If a sinusoidal input 𝜙c 𝑡 = Icos 𝜔𝑡 is applied, Section 4.5what formModeling
Additional will the steady-state response
output is the displacement
Examples take?
x. When
lengths. Derive the equation of motion.
x = y = 0 the springs are at their free

Answer briefly with a short phrase m or general

4.40 The math
mass mexpression, but
in Figure P4.404.43 do
is attachednot
Figure to asolve
P4.43 rigid
shows for
rod coefficients.
having an inertia
a rack-and-pinion gearI about
in which a damping force and a
the pivot and negligible pivot friction.
springThe input is the displacement z. When
f. In order to find the total solution for a unit step input, what initial conditions
z = θ = 0, the spring is at its freethelength.
force
system
act are
Assuming
against needed?
that θ torque
with the applied is small,(E.g.,
the rack. Develop
derive
T as
the equivalent rotational model of
the variable and the angular
the input
for a first-order system, only " one initial condition x(0)
equation of is needed.)
motion for θ with z asdisplacement
the input. θ is the output variable. Neglect any twist in the shaft.
g. Suppose a unit impulse is applied to 𝜙. What is the new initial Figure condition
P4.43 immediately after? Figure P4.44

4. From textbook (4.43): This is a rack and pinion, with a rigid shaft R

transmitting input torque T and producing output motion x. Ip

x
a. Derive the differential equation for the system. c
b. Develop an equivalent rotational system with 𝜃 as output, Im mr I1

and find its natural frequency. T

! k
T1
!1

4.44 Figure P4.44 shows a drive train with a spur-gear pair. The first shaft turns
N times faster than the second shaft. Develop a model of the system includi
the elasticity of the second shaft. Assume the first shaft is rigid, and neglect
gear and shaft masses. The input is the applied torque T1 . The outputs are th
angles θ1 and θ3 .
4.45 Assuming that θ is small, derive the equations of motion of the systems
ME  360  Section  1      
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5. Consider the differential equation 𝑥 + 5𝑥 + 4𝑥 = 2𝑢 𝑡 .

a. Find the unit step response.
b. Find the impulse response.
c. Find the free response with initial conditions 𝑥 0 = 1, 𝑥 0 = 0.
d. Find the free response with initial conditions 𝑥 0 = 0, 𝑥 0 = 2. Compare with your answer
from (b), and comment on the similarity.
e. What is the response to a unit step input, with initial conditions 𝑥 0 = 2, 𝑥 0 = 0? Try to solve
this without much effort, using information already known.
f. What is the response to input 𝑢 𝑡 = 2 ⋅ 1 𝑡 − 1 𝑡 − 4 ? Sketch both the input and output, no
need to express mathematically.
g. Suppose a unit impulse is applied 𝑢 𝑡 = 𝛿 𝑡 . What is the new initial condition just after t = 0?
Find the values for x and its time-derivatives as appropriate.

6. Second-order responses are often described in terms of the damping ratio ζ, which determines the
shape of a time response, as shown in textbook Fig. 9.3.2, and in the handout on second-order
responses. Use that information to find the value of ζ for each of the response (A – D) below left. One
of the responses is first-order, in which case find the time constant instead of ζ .

3 ω1
2 T J
1
B
t
2 4 6 8 10

7. Shown above right, a rotor with moment of inertia J (50 kg-m2) is mounted in a bearing with
unknown rotational damping B (N-s/m). The rotor at time t = 0 is at rest. A step torque T is then
applied and the angular velocity is shown. Find the numerical values of rotational damping B and
torque T.