Dynamics and Vibrations

9/20/2013
1
Engineering Mechanics Dynamics & Vibrations
Engineering Mechanics
Dynamics and Vibrations Plane Motion of a Rigid Body: Equations of Motion
x x y y G
F ma F ma M J = = =

Motion of arigid body in planemotion is
completely defined by theresultant and moment
resultant about themass centreG of theexternal
forces.
D'Alembert showed that onecan transforman
accelerating rigid body into an equivalent static
systemby adding theso-called inertiaforces
- Thetranslational inertiamust act through the
center of mass and therotational inertiacan act
anywhere. Thesystemcan then beanalyzed
exactly as astatic system.
- Theinertiaforces areseen to opposethemotion
D'Alembert's principle: inertia forces
Spring-Mass System
DAlemberts principle
0
x
F =
( ) 0 mx kx p t + =
Newtons second law
( ) p t kx mx =
Small Oscillations
2
2
d x
x
dt
=
Spring-Mass System: Gravity Effect
At static equilibriumconfiguration
st
k mg =
Now theparticleis displaced through adistancex
o
from its static equilibriumconfiguration and released
with avelocity v
o
, theparticlewill undergo simple
harmonic motion
Fromthefreebody diagramof themass m at atime
instant t with displacement x(t)
0
v
F =
( ) 0
0
st
mg k x m
mx kx
x =
=
+
+

Governing equation of motion
2
n
0 where
k k
x x
m m
+ = =
9/20/2013
2
Free Vibrations of Spring-Mass System
( ) ( ) t C t C x
n n
cos sin
2 1
+ = 1
@ t=0; x=x
o o
time C x =
2
@ t=0; v=x=v
o
o
n
v
time C =
( ) ( ) t C t C x v
n n n n
sin cos
2 1
= =
0
( ) sin cos
n o n
n
v
x t t x t = +
x is aperiodic function and w

n
is thenatural circular frequency of motion.
C
1
and C
2
aredetermined by theinitial conditions:
1 2
( ) sin cos
n n
x t C t C t = +
General Solution
Simple Harmonic Motion
( ) + = t x x
n m
sin
= =
n
n
2
period
= = =
2
1
n
n
n
f natural frequency
( ) = + =
2
0
2
0
x v x
n m
amplitude
( ) = =

n
x v
0 0
1
tan phase angle
Displacement is equivalent to thex component of thesumof two vectors
which rotatewith constant angular velocity
2 1
C C

+
.
n
1
2
o
n
o
v
C
C x
=
=
( ) + = t x x
n m
sin
Velocity-timeand acceleration-timecurves can be
represented by sinecurves of thesameperiod as the
displacement-timecurvebut different phaseangles.
( )
( ) 2 sin
cos

+ + =
+ =
=
t x
t x
x v
n n m
n n m
( )
( )

+ + =
+ =
=
t x
t x
x a
n n m
n n m
sin
sin
2
2

Simple Harmonic Motion
Sample Problem 1
A 50-kg block moves between vertical
guides as shown. Theblock is pulled
40mmdown fromits equilibrium
position and released.
For each spring arrangement, determine
a) theperiod of thevibration, b) the
maximumvelocity of theblock, and c)
themaximumacceleration of theblock.
SOLUTION:
For each spring arrangement, determine
thespring constant for asingle
equivalent spring.
Apply theDAlembertsprinciplefor
theharmonic motion of aspring-mass
system.
9/20/2013
3
1 2
4kN m 6kN m 50 k k m kg = = =
1 2
4
10kN m 10 N m
eq
k k k = +
= =
4
10
14.14rad s
50
2
eq
n
n
n
k
ec
m
= = =
=
s 444 . 0 =
n
( )( ) s rad 4.14 1 m 040 . 0 =

=
n m m
x v
s m 566 . 0 =
m
v
2
s m 00 . 8 =
m
a ( )( )
2
2
0.040 m 14.14 rad s
m m n
a x =
=
Sample Problem 1
( )
cos v x x t
m n n
= = +
( )
2
sin
m n n
a x x t = = +
1 2
0 mx k x k x + + =
For equilibrium: 0
v
F =
Forcediagram
1 2
( ) 0 mx k k x + + =
0
eq
mx k x + =
Sample Problem 1
m kN 6 m kN 4
2 1
= = k k
n
n
n
m
k
2
s rad 93 . 6
kg 20
400N/m 2
=
= = =
s 907 . 0 =
n
( )( ) s rad .93 6 m 040 . 0 =

=
n m m
x v
s m 277 . 0 =
m
v
2
s m 920 . 1 =
m
a ( )( )
2
2
0.040 m 6.93 rad s
m m n
a x =
=
( )
cos v x x t
m n n
= = +
( )
2
sin
m n n
a x x t = = +
0
eq
mx k x + =
For equilibrium: 0
v
F =
2 1 1 1
2
1
1 2
1 2
1 2
1 2
( )
1 1 1
eq
eq
P k x k x x k x
k x
x
k k
k k
P x
k k
k k k
= = =
=
+
=
+
= +
Distributed Mass: Rotational Inertia
J =Mass moment of Inertiaabout C.G
2
J r dm =
}
dx
x
L/2 L/2
/ 2
2
/ 2
3 2 2
( )
/
( )
12 12 12
L
L
J x mdx
m mass unit length
mL mL L ML
=
=
= = =
}
Displacement diagram
CG
J
Forcediagram
2
12
CG
mL
J =

L
A
=
A
y
+
PureTranslation PureRotation
C.G
InertiaForces at C.G =
2
ML
My =

+
CG
J
L/2 L/2
mL M =
2
ML
2
12
ML
InertiaForces at C.G
A
J
A
Forcediagram
Moment atA dueto inertiaforces
2 2
12 2 2 3
A
ML ML L ML
J
| |
= + =
|
\ .

Distributed Mass: Rotational Inertia
2
3
A
ML
J =
9/20/2013
4
Sample Problem 2
For thesystemshown, m=0.4-kg,
K
1
=2N/mmand K
2
=3N/mm. Taking the
rod on which themass is fixed as light
and stiff.
Determinea)Natural frequency of the
system, b) theperiod of thevibration.
SOLUTION:
Select adegreeof freedom(small
displacement).
Represent deformations of springs (for
elastic forces) and masses (for inertia
forces) in terms of x(t)
k
1
k
2
m
l l l
Displacement
1
3
st
2
3
st
st
Static Forces
mg
2
2
3
st
k

1
3
st
k

At static equilibriumconfiguration
1 2
4
9 9
st st
k k mg

+ =
0
A
M =
A
Sample Problem 2
Static equilibrium
Gravity Effect
forces
For equilibrium: 0
A
M =
A
( ) mx t
2
2 2
( )
3 3
st
k x t
| |
|
\ .
1
1
( )
3 3
st
k x t
| |
|
\ .
mg 1 2
1 2 2
( ) ( ) 2 ( )(3 ) (3 ) 0
3 3 3 3
st
st
k x t l k x t l mx t l mg l

| | | |
=
| |
\ . \ .

1 2
1 1 2 2 2
( ) ( ) ( ) 0
3 3 3 3 3 3
st
st
k x t k x t mx t mg

| | | |
=
| |
\ . \ .

1 2 1 2
4 4
( ) ( ) 0
9 9 9 9
st
k k k k
mx t x t mg
( ( | | | |
+ + + + =
| | ( (
\ . \ .
1 2
4
( ) ( ) 0
9 9
k k
mx t x t
( | |
+ + =
| (
\ .
Equation of Motion
Sample Problem 2
Displacement
( ) x t
2
( )
3
x t
1
( )
3
x t
1
3
st
2
3
st
st

Sample Problem 2
static equilibriumconfiguration
displacement
( ) x t
2
( )
3
x t
1
( )
3
x t
For equilibrium: 0
A
M =
( ) mx t
| | 2
2
( )
3
k x t | | 1
1
( )
3
k x t
forces
A
l l l
| | 1 2
1 2
( ) ( ) 2 ( ) 3 0
3 3
k x t l k x t l mx t l
( (
+ + =
( (

1 2
1 1 2 2
( ) ( ) 0
3 3 3 3
mx t k k x t
(
+ + =
(

Equation of motion
( ) ( ) 0
eq
mx t k x t + =
2 3x4
9 9
eq
k
(
= +
(

N/mm=
3
14
x10
9
N/m
14000
9x0.4
2
eq
n
n
n
k
m
= = =
=
0.100sec
n
=
62.36rad/sec
No Gravity Effect
9/20/2013
5
If distributed mass of the bar is considered
For equilibrium: 0
A
M =
2
ML
2
12
ML
( ) mx t
| | 2
2
( )
3
k x t | | 1
1
( )
3
k x t
forces
A
l l l
| |
2
1 2
1 2
( ) ( ) 2 ( ) 3 0
3 3 3
( )
3
ML
k x t l k x t l mx t l
x t
l
( (
+ + + =
( (

=
1 2
1 4
( ) ( ) 0
3 9 9
M
m x t k k x t
| | (
+ + + =
| (
\ .
Sample Problem 2
one can also use principle
of virtual work to obtain
the equation of motion
3 L l =
Sample Problem 3
Derivetheequation of motion of arectangular block resting on africtionless
surfaceas shown for small oscillations in ahorizontal plane. Solvethe
equation of motion by simplifying it for M=10Kg, a=0.1m, b=0.05m,
k=10KN/m
Determinea)Natural frequency of thesystem, b) theperiod of thevibration.
SOLUTION:
displacement).
forces) in terms of
k
a=0.1m
b=0.05m M=10kg
0
0 M =
2 2
2
( )
0
3
m a b
kb
( +
+ =
(

For equilibrium:
Sample Problem 3
b
Displacements
a/2
b/2
0
kb
Forces
2 2
( )
12
ab a b

+

2
a
ab
2
b
ab
2 2
2 2 2 2
2
( )
( ) 0
12 2 2 2 2
( )
0
12 4 4
ab a b a a b b
ab ab kb b ab M
M a b a b
M M kb
+ | | | |
+ + + = =
| |
\ . \ .
+
+ + + =

2 2
( )
3
o
M a b
J
( +
= (

/ mass unit area =
0.0416 25 0 + =
Equation of motion
25
0.0416
2
n
n
n
k
m
= = =
=
0.256 sec
n
=
24.514 rad/sec
Sample Problem 3
9/20/2013
6
3m 3m
What are the differential equation of motion about the static equilibrium
configuration shown and thenatural frequency of motion of body A for small
motionof BC? Neglect inertiaeffects fromBC. AssumeK
1
=15N/m, K
2
=20
N/m, K
3
=30N/mandW
A
=30N
SOLUTION:
displacement).
forces) in terms of x
Sample Problem 4
2xD xD
Forcediagram
0 0
v c
F and M = =
The configuration shown is the static equilibriumand given that rod BC is mass
less(i.eneglect theinertiaeffect of BC). Heretwo equilibriumconditions exist i.e
1 2
0
( ) 0 (1)
v
A A A A D
F
m x k x k x x
=
+ + =
Sample Problem 4
x
a
3 2
0
12 3 ( ) 0 (2)
c
D A D
M
k x k x x
=
+ =
2
2 3
(2), (3)
4
D A
k
From x x
k k
| |
=
|
+
\ .
Thus dueto inertialess rod BC the2-dof problemreduces to 1-dof problem
(sincex
D
depends purely on x
A
).
Substitute(3) in (1)
3
1 2
2 3
1 2 3 1 2
2 3
3.242
4
0
4
4 ( )
( 4
rads
)
/ ec
A A A
n
n
A
k
m x k k x
k k
k k k k k
m k k
( | |
+ + = ( |
+
\ .
+
=
=
+
+
Sample Problem 4
Force
diagram
Tutorial problem-3
Rod AB is attached to ahinge at A and to two springs, each of constant k. if
h=700mm, d=300mm, and m=20kg, determinethevalueof k for which the
periodof small oscillation is (a) 1sec, (b) infinite. Neglect themass of therod
andassumethat eachspringcanact ineither tensionor compression.
Sample Problem 5.0
9/20/2013
7
A
Forces
d
h
m
Displacements
2
2
2
2
2
( ) 2 ( ) ( ) 0
2
0
2
n
mh h kd d mg h
kd g
mh h
kd g
mh h

+ =
(
+ =
(

(
=
(

Sample Problem 5
(a)
(b)
Sample Problem 5
A
m
L
L
k
A
[ ( )] m L t
[ ( )] m L t
[ ( )] M L t
[L/2 ( )] M t
( ) J t
( ) J t
[L/2 ( )] M t
[ ( )] k L t
Forces
m
(t)
L(t)
L/2(t)
L(t)
L/2(t)
L(t)
L(t)
M,J
M,J
Displacements
Sample Problem 6
0
A
M = For equilibrium:
2 2
2 2 2
2 2
2
4 12
0
12 4
ML ML
mL mL ML
ML ML
kL
+ + + + +
+ =

2 2 2 5
2 0
3
mL ML kL
| |
+ =
|
\ .


Dynamics and Vibrations

Hochgeladen von

Dokumentinformationen

Copyright

Verfügbare Formate

Dieses Dokument teilen

Dokument teilen oder einbetten

Freigabeoptionen

Stufen Sie dieses Dokument als nützlich ein?

Sind diese Inhalte unangemessen?

Copyright:

Verfügbare Formate

Dynamics and Vibrations

Hochgeladen von

Copyright:

Verfügbare Formate

9/20/2013

x is aperiodic function and w

( )( ) s rad 4.14 1 m 040 . 0 =

( )( ) s rad .93 6 m 040 . 0 =

Engineering Mechanics Dynamics & Vibrations

Das könnte Ihnen auch gefallen