3) For the system shown in Figure 1 below, find the input-output relation between the input force Fa

and the output position x1 . Assume that the positions are defined from static equilibrium.

b1

k1
m

Fa

x1

k2

x2

Figure 1

Solution:
The force acting on mass m is the same force Fa that acts on the spring k 2 .

b1

k1
m

x1
Fa

Hence, the input-output relation is

mx1 k1x1 b1x1 Fa

(1)

4) For the system shown in Figure 2 below, find the input-output relation between the input force Fa
and the output position x . This should be an ordinary differential equation involving Fa and x
and (possibly) their derivatives. No other time-varying variables should be involved.
xA

k1
Fa

k2

b1

Figure 2
Solution:
Free body diagrams:

Fa

k1 ( x x A )

k1 ( x x A )

b1 ( x x A )

b1 ( x x A )

k2 ( x A )

Hence, applying Newtons 2nd law to the systems shown in the free body diagram:
mx Fa k1( x x A ) b1( x x A )

(1)

k1( x x A ) b1( x x A ) k2 x A

(2)

Using the p operator, from equation (2)

xA

k1x b1x
k1 k 2 b1 p

(3)

Substituting in equation (1)

mx Fa k1x b1x (k1 b1 p)

(k1 b1 p)
x
k1 k2 b1 p

(4)

or
(k1 k2 b1 p)mx ( Fa k1x b1x )( k1 k2 b1 p) (k1 b1 p) 2 x

(5)

(k1 k2 )mx b1mx (k1 k2 )( Fa k1x b1x ) b1( Fa k1x b1x) k12 x 2k1b1x b12 x

(6)

or