Review Problems For

Exam#2

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Chapter 3
Lagranges Equations of Motion
Time Response of SDOF Systems
Frequency Response of SDOF Systems
Stability of SDOF Systems

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Problem 1

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Problem 1

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Problem 1

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Problem 2

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Problem 2

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Problem 2

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Problem 3

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Problem 3

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Problem 3

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Problem 4
The radius of the pulley is R =100 mm
and its moment of inertia is I = 0.1 kgm2. The mass m = 5 kg, and the spring
constant is k = 135 N/m. The cable does
not slip relative to the pulley. The
coordinate x measures the displacement
of the mass relative to the position in
which the spring is unstretched.
Determine x as a function of time if c =
60 N-s/m and the system is released from
rest with x = 0.

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Problem 4
Equation of Motion

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Problem 4

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Problem 4
The system Response is given by

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Problem 5
Assume the mass of a car is m supported on springs with stiffness k. To analyze
the suspensions behavior, consider the height of the road surface relative to its
mean height is h. If the cars wheels remain on the road and its horizontal
component of velocity is v and the damping due to the suspensions shock
absorbers is neglected, determine:
(a) magnitude of the car vertical steady-state vibration relative to the road.
(b) velocity v at which resonance occurs
x

k
y

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Problem 5

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Problem 5
Equation of Motion of Car

0
mx + k ( x y ) =
m (
x
y ) + k ( x y) =
my
mz + kz =
my
where

=
z ( x y)
2 v
2 v

z + z =
t
h
sin


2

or

2
n

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Problem 5

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Problem 5

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Problem 6
Consider the effect of dropping onto the floor a package that
resides inside a container that has a coefficient of restitution .
If the container falls from a height h, determine the time
response of the motion of the package relative to the container
V0 =

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2 gh

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Problem 6
Equation of Motion
mx + c( x y ) + k ( x y ) =
0

or

mz + cz + kz =
my =
mg

Initial Conditions

z (0) = x (0) y (0) = 0

V0 V0
z (0) =
x (0) y (0) =
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Problem 6
Equation of Motion
m
z + cz + k z =
mg
has the solutions
n t
=
z
Z
e
sin (d t + h )
Homogeneous Solution
h
h

Particular Solution

z p = mg / k

n t
=
z
Z
e
sin(d t + h ) + mg / k
General Solution
h

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Problem 6
At t=0, z(0)=0

=
0 Z h sin h + mg / k

(1)

At t =
0, z (0) =
V0 V0
2
V0 (1 + =

Z
[
sin
1
cos h ]
) h n
h

(2)

Solve eqns. (1) & (2) simultaneously for Zh and h

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Problem 6
From eqns. (1) & (2):

Z h = mg / ( k sin h )

(3)

and
1
tan h =
(1 + )V0n
+

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(4)

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Problem 6
1
tan h =
(1 + )V0n
+

and

=
c

a 2 + b2

1 2

(1 + )V0n
a= +

Zh =
mg / k 1 2 / c

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b
=

(5)

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Problem 7
An underdamped single degree-of-freedom system
is travelling with a velocity Vo when its base impacts
a stationary rigid wall, as shown in the figure below.
Determine:
(a) - the expression of the coefficient of
restitution ,
(b) the amount of energy dissipated during
the interval 0 < t < tvm.

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Problem 7
Barrier

V0

v(t)
0
Time
-V(tvm)

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Problem 7
The bumper remains in contact with the barrier if:

kx + cx > 0
The coeff. of Restitution is given by:

separation relative velocity x (tvm )

=
approach relative velocity
V0

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Problem 7
Equation of Motion

x + 2n x + x =
0
2
n

Homogeneous
Solution xh
=

X he

n t

sin (d t + h )

Xh and h are determined from the initial conditions

x(t=0) = (0) and x (=t 0)= V0

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Problem 7
Constants Xh and h
at t=0:
xh = X h e nt sin (d t + h ) 0= X h 1 sin(h ) h = 0

& as:

xh

d X h e t cos (d t ) X hn e t sin (d t )
n

Then, at t=0:
d X h X=
V=
0
h

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V0

xh =

V0

e nt sin (d t )

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Problem 7
The bumper leaves contact with the barrier if:

k
n
kx + cx = 0 x + x = 0 x +
x=0
2
c

or:

2 1 2
2
t
tan(d t ) =
sin(

)
2

d
2
1 2

n
x ( tvm ) =

x=
Vo e 2
2
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Problem 7

separation relative velocity x (tvm )

=
approach relative velocity
V0
2 2

Vo e

=
V0

2 2

=
e

Dimensionless Energy Dissipation

1
1
2
2 4 2
EDissipated 2 mVo 2 mVo e
4 2
=
= 1 e
1
Einitial
mVo2
2

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Problem 7
1

0.9

0.8

0.7

Dimensionless Dissipated Energy

0.6

0.5

0.4

0.3

0.2

0.1

0
0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

Damping Ratio

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Problem 8

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Problem 8
Equation of Motion

Solution

where
Where also

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Problem 8

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Problem 9
Derive the equation of
motion of the spring-mass
system shown in the figure.
Determine
the
free
response of the mass subjected to
an initial velocity.

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Problem 9

Standard linear
solid model

If k1

Maxwell model

leads to Kelvin-Voigt model

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Problem 9
Equation of Motion
&

&
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Problem 9
The resulting dimensionless equations, are

Applying the Laplace Transform, gives

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Problem 9
Solution of the transformed equations, are

Force Transmitted to the Fixed Support

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Problem 9

If

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Problem 9
%********Review of Exam 2***************
%***********Problem 6******************
syms s t z g
F=(1+2*z*s)/(s^2+2*z*s+1);
z=0.15;
FS=subs(F);
ft=ilaplace(FS,s,t)
t=linspace(0,15,100);
fs=subs(ft);
plot(t,fs,'b',T,fgt,'r','linewidth',3)
hold on
%*************************************

z=0.15; g=1;
n=[2*z*(1+g) g];
d=[2*z g 2*z*(1+g) g];
[R,P,K]=residue(n,d);
for ij=1:1000
t=0.015*(ij-1);
fgt(ij)=R(1,1)*exp(P(1,1)*t)...
+R(2,1)*exp(P(2,1)*t)...
+R(3,1)*exp(P(3,1)*t);
T(ij)=t;
end
%************************************

plot(T,fgt,'r','linewidth',3)
xlabel('t');
ylabel('FB/(kVo/\omegan)');
grid

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Problem 9
1

FB/(kVo/ n)

=inf

=1

0.5

-0.5

-1
0

10

15

time

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Problem 10
m

Derive the equation of

motion of the pendulum
system shown in the figure.
Study the stability of the
system as function of the
damping coefficient c of the
damper.

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c
L

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Problem 10
Kinetic Energy

1 2 2
T = mL
2

Potential Energy
1
2
k ( L x ) + kx 2 mgL (1 cos )

2
1
2
k ( L x ) mgL 2 + kx 2
=

U
=

D
Rayleigh Dissipative Function=

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2
1
c L x

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Problem 10
Equations of Motion
D
d L L

dt

&

d L L
D

dt x x
x

mL2 + kL ( L x ) mgL =
cL L x

k ( L x ) + kx= c L x

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Problem 10
Using the Laplace Transform
mL2 s 2 X + kL ( L X ) mgL =
cLs ( L X )

(1)

k ( L X ) + kx
= cs ( L X )

(2)

From eqn. (2)

X
cs + k
=

L cs + 2k

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(3)

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Problem 10
From eqns. (1) & (3)
kL mg )
2 c
(
k
=
s + s+

mL

c X
+ s
m m L

kL mg )
2 c
(
k c cs + k
= + s

s + m s +

mL
m m cs + 2k

Let

c
/ m, 2p g / L
= 2=
n , n2 k=
m
3 n 2
n 2
2
2
2
+
+

s
s

n
p
n
p

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0
=

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Problem 10
Divide by , the characteristic equation becomes
s +
3

s + 1
2

s+

1 2=
0

where
=

,s
=

Putting the characteristic equation into Root

Locus form gives
2 1
2
s
+

N (s )
1
2

1+
= 0 1 + gain
=0
2
2
D (s )
s s +1

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Problem 10
Root Locus
1
0.8

0.68

0.56

0.42

0.28

0.14

0.8

MATLAB

0.91

0.6

w=.5;%w=2
n=[1 0 0.5-w];
d=[1 0 1-w 0];
rlocus(n,d)

0.4

-1

0.975

Imaginary Axis (seconds

0.2

1.2

1.4
0

0.8

0.6

0.4

0.2

System: sys
Gain: 1.41
Pole: -0.707

-0.2

Damping: 1
Overshoot (%): 0

0.975

Frequency (rad/s): 0.707

-0.4

-0.6

Best Design of damper

= 1/gain
= 1/1.414 = 0.707

0.91

-0.8

0.68

0.8

0.56

0.42

0.28

0.14

-1
-1.4

-1.2

-1

-0.8

-0.6
Real Axis (seconds

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-0.4

-0.2

0.2

-1

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END

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