Derive EOM for mechanical system

The figure shows a mechanical system with two elastic cables, represented as stiffnesses K1 and K2, connected by a pulley and (inextensible) cables to a heavy block weighing W=Mg. The block can slide along the smooth wall (=60) . The cables do NOT slip on the pulleys. The system is initially at rest at its static equilibrium position.
K2 K1
Non extensible cables

Fixed wall

g
M
Frictionless wall
=60

F(t),
applied at t>0

At time t>0 s, external force F(t) on the block drives the system into motion. A dashpot with damping coefficient C drags the block motion. a) Select suitable coordinates for motion of the block and springs, show them on the Figure, and explain rationale for your choice. Identify the kinematic constraint relating motions of the block and spring 1. b)Find the static deflection (s) of each spring element c) Draw free body diagrams applicable for time t>0 s. Label all forces and relate them to the motion coordinates. d)Using Netwons Laws, derive the EOM for the block (t>0 s ). Use motion of block as independent coordinate e) Given K1=105 lb/in, K2=2K1, W=5000 lb and C= 1500 lb-sec/in, =60 . Find the system natural frequency [Hz] and viscous damping ratio ().
Explain your solution procedure, detail assumptions. No partial credit for incorrect use of physical units.

P3 SP08 - Derive EOM for simple mechanical system

L San Andres (c) 2008

The figure shows a mechanical system with two elastic cables, represented as stiffnesses K1 and K2, connected by a pulley and (inextensible) cables to a heavy block weighing W=Mg. The block can slide along the smooth wall ( =60) . The cables do NOT slip on the pulleys. The system is initially at rest at its static equilibrium position. At time t>0 s, external force F(t) on the block drives the system into motion. A dashpot with damping coefficient C drags the block motion. a) Select suitable coordinates for motion of the block and springs, show them on the Figure, and explain rationale for your choice. Identify the kinematic constraint relating motions of the block and spring 1. b) Find the static deflection ( s) of each spring element c) Draw free body diagrams applicable for time t>0 s. Label all forces and relate them to the motion coordinates. d) Using Netwon's Laws, derive the EOM for the block (t>0 s ). Use as independent coordinate motion of block. e) Find the system natural frequency [Hz] and viscous damping ratio ( ).

W := 5000 lb W M := g :=
3

lb K1 := 10 5 in K2 := 2 K1
Fixed wall

Y2

K2 K1

Y1

Non extensible cables

g
X

sec C := 1500 lb in

M
Frictionless wall
=60

F(t),
applied at t>0

(a) coordinate system and kinematic constraint - inextensible cable

Static equilibrium position defines origin of The cable length is constant, thus coordinates X, Y1 and Y2 describing the l c = l c + 2 x y 1 motion of block and springs 1 and 2, respectively. and the kinematic constraint follows as y 1 = 2 x

(1)

(b) Static deflection of springs

By definition of SEP (Static equilibrium position), i.e. when X=Y1=Y2=0 and at rest (without motion):

0 = W sin + 2 T

( )

&

T = Fs1_ = Fs2_

T :=

W sin ( )
2
(2)

Fs_ is the static force from springs needed to HOLD the block w/o motion

Static deflection of the springs are:

s1 :=

T K1

s2 :=

T K2

(3)

s1 = 0.022 in

s2 = 0.011 in

(c) Assume a state of motion with x>0, y 1>0 , y2>0

Wall reaction force
Spring forces

K2

Y2 Y1

K1

Non extensible cable

FS2=FS1

T T: cable tension

g
X

N=W cos
=60

M
W sin

F(t),
applied at t>=0

Free body diagram

Dashpot force:

FD =C dX/dt

From the FBD diagram, Newton's 2nd law gives:

d2 dt

x = W sin ( ) FDamper 2 T + F ( t) 2
(5) is the viscous drag force

(4)

d where F Damper = C x dt

N = W cos ( )
wall reaction force

T = FS1 = FS2 (6) Tension = Elastic reaction forces in springs, given by FS1 = K1 ( y1 y2) + W sin ( )
2

FS2 = K2 y2 +

W sin ( )
2

(7)

K1 ( y1 y2) = K2 y2 = KS y1 K1 y1 = ( K2 + K1) y2
Then

K1 K1 ( y1 y2) = K1 1 y1 K + K 2 1

K1 y2 = y (K2 + K1) 1
Thus, the equivalent stiffness equals

K1 K2 = y = KS y1 K1 + K2 1

K1 K2 KS := K1 + K2

(8)

That is, SPRINGS are in SERIES

lb KS = 6.667 10 4 in

Substitute Eq. (8) into the (7) = (6)=T (Tension) to obtain

T = KS y1 +

W sin ( )
2

(9)

Of course, one could also use the (prior) knowledge of SPRINGS IN SERIES and state directly equation (9) above (d) Derive single EOM for block motion
Note: EOM cannot contain internal forces (Tension for example). The tension is DETERMINED by the motion.

d x = W sin ( ) C x ( 2 KS y1) W sin ( ) + F ( t) 2 dt dt d2

and substituting the constraint

and thus the final EOM is:

y 1 = 2 x
(10)

d x + C x + Keq x = F ( t) 2 dt dt

d2

Keq := 4 KS lb Keq = 2.667 10 5 in

(e) Calculate natural frequency and viscous damping ratio:

Keq n := g W
:= C

.5

n = 143.497

sec

fn :=

n
2

fn = 22.838 Hz Tn :=
1

W 2 Keq g

.5

= 0.404

fn

d := n 1

2 0.5

d = 131.291

rad sec

fd :=

d
2

The damping ratio is rather large - motion will be oscillatory but quickly damped! The damped natural frequency and period of motion are:

fd = 20.896 Hz

Td = 0.048 sec

Td :=

fd