MCHE 485: Mechanical Vibrations

Spring 2016 Mid-Term 1

Tuesday, March 1
Name:

CLID:

Directions: Complete the attached problems making sure to clearly indicate your answer,
show your work, and list any assumptions that you have made (with justification for them, if necessary). If you need extra space for any question, you may
attach additional sheets of paper, which will be provided to you. No calculators
are allowed.
Academic Honesty (just a reminder):
An essential rule in every class of the University is that all work for which a
student will receive a grade or credit be entirely his or her own or be properly
documented to indicate sources. When a student does not follow this rule,
s/he is dishonest and s/he defeats the purpose of the course and undermines
the goals of the University.

MCHE 485 Mid-Term 1 March 1, 2016

CLID:

Problem 1 25 Points
The system in Figure 1 consists of mass, m, connected to ground through springs of spring
constants k1 and k2 and a damper of damping coefficient c.
a. Write the equations of motion for this system.
b. What is the natural frequency?
c. What is the damping ratio?
d. Plot the response, x(t), to initial conditions:
x(0) = x0

and x(0)

= v0

for damping ratios of = 0.0, = 0.2, and = 0.7. Be sure to clearly label the axes
and dierentiate between the responses.
e. Write the response, x(t), to these same initial conditions.

x
k2

Figure 1: A Multi-Spring-Mass-Damper System

a.

b.

Problem 1 (cont.)
c.

d.

e.

MCHE 485 Mid-Term 1 March 1, 2016

CLID:

Problem 2 25 Points
The system in Figure 2 consists of mass m attached to the end of a massless, inextensible link
of length l. The mass is also connected to a
spring, k, the other end of which is connected
to an always-horizontal displacement input y.
a. Write the equations of motion for this system.

b. Assuming small angles about a eq = 0

equilibrium, write the linearized equations
of motion.
c. What is the natural frequency?

m
d. Assume that y(t) = y cos !t. Write the
transfer function from the amplitude of the
excitation, y, to the amplitude of the re- Figure 2: The Pendulum-spring Syssponse.
tem
e. Write the response, (t), to the input, y(t).
f. Sketch the approximate frequency response
for the system. Be sure to include both
magnitude and phase.

a.

b.

Problem 2 (cont.)
c.

d.

e.

f.

MCHE 485 Mid-Term 1 March 1, 2016

CLID:

Problem 3 25 Points
The system in Figure 3 consists of a thin rod of mass m and length l. It is connected to
ground via a a spring, k, at a distance of l1 from the rods perfect-pin pivot point and a
damper attached at distance l2 from the pivot. There is a pure torque, , acting on the rod.
You can ignore any gravitational eects and assume that the spring is at its equilibrium
when = 0.
a. Write the linearized equations of motion for this system.
b. What is the natural frequency?
c. Assuming (t) = ei!t , write the transfer function from the amplitude of the torque,
, to the amplitude of the response.
d. Sketch the approximate frequency response (both magnitude and phase) for = 0.0,
= 0.2, and = 0.7. For each damping ratio, be sure to indicate:
i. Amplitude and phase as ! approaches 0.
ii. Amplitude and phase as ! approaches infinity.
iii. Amplitude and phase when ! equals the natural frequency of the system, !n .

mass, m
length, l

Figure 3: A Thin Rod with a Direct Torque Input

a.

Problem 3 (cont.)

b.

c.

Problem 3 (cont.)
d.

MCHE 485 Mid-Term 1 March 1, 2016

CLID:

Problem 4 25 Points
The transportation of liquid can result in liquid-sloshing conditions that result in spills,
leading to dangerous conditions. As a first approximation, the simple model shown in Figure
4 can be used to describe the liquid sloshing inside the container. In this model, the liquid
sloshing may be represented by the horizontal motion, x, of the liquid mass, m, connected
by a springs, k, and dampers, c, to the container walls, which are considered to be rigid.
The displacement of the container is described by y.
a. Write the equations of motion for this simplified model of the liquid-sloshing system.
b. What is the natural frequency?
c. Assume a pure harmonic input of y(t) = y sin (!t). Write the transfer function from
the amplitude of the input to the amplitude of the response.
d. Sketch the approximate frequency response for damping ratios of = 0.0, = 0.2, and
= 0.7. For each damping ratio, be sure to indicate:
i. Magnitude and phase as ! approaches 0.
ii. Magnitude and phase as ! approaches infinity.
iii. Magnitude when ! equals the natural frequency of the system, !n .
e. Write the time response, x(t), of the liquid, given the input y(t) = y sin (!t).

y
x
k

k
m

Figure 4: Simplified Liquid Sloshing Model

Problem 4
a.

b.
c.

Problem 4 (cont.)
d.

e.

MCHE 485 Mid-Term 1 March 1, 2016

CLID:

Possibly Useful Equations

f = m
a
X
0
I0
=
M

f (t) =
an =

cos(a b) = cos(a) cos(b) sin(a) sin(b)

ei!t = cos(!t) i sin(!t)
i!n t

!0

!0
=

bn

!0
=
2

a0

d
dt

L
qi

det K

!n t

[a cos(!d t) + b sin(!d t)]

p
b b2 4ac
x=
2a
Z
Z
u dv = uv
v du
X
oc V = 8
x(t) =

!n2 y
sin(!t)
!n2 ! 2

RD
+
qi

L
= Qi ,
qi

a b
c d

f (t) cos(n!0 t)dt

2
!0

f (t) sin(n!0 t)dt

0
2
!0

f (t)dt

0
!tn

p
[C(!, )]2 + [S(!, )]2
1

i = p
X
1

Xi
XiT M Xi

1
d
=
c
ad bc

!n t

b
a

[a cos(!d t) + b sin(!d t)]

1
= ln
N

x(0)
x(N tp )

x(0)
= ln
x(tp )

=p

i = 1, . . . , n

bn sin(n!0 t)

4 2 +

2
p
!p = !n 1 2 2

=0
!2M X

2 + 2 = 2 2 = 2 = 0b0010 = 0x2
p
i
1
Z t
x(t) =
f ( )h(t )d
0
Z t
x(t) =
f (t )h( )d
0

1
X
n=1

2
!0

x(t) = c + e

+ C X + KX = F
MX
!2M = 0

V (!, ) = e

x(t) = a cos !n t + b sin !n t

x(t) = e

an cos(n!0 t) +

n=0

sin(a b) = sin(a) cos(b) cos(a) sin(b)

x(t) = aei!n t + be

1
X

2!n

E = mc2
A=

0
K

K
C

B=

K 0
0 M

+ U T KU H = U T F cos !t
UT MU H

MCHE 485 Mid-Term 1 March 1, 2016

CLID:

Possibly Useful Equations

f
(2!!n ) m
cos !t + 2
(!n2 ! 2 )2 + (2!!n )2
(!n
"
#
f
1
p
=
cos (!t
m (!n2 ! 2 )2 + (2!!n )2

x(t) =

g(!) =
=

f
(!n2 !) m
sin !t
! 2 )2 + (2!!n )2

), where

= tan

!n4 + (2!!n )2
ei , where
(!n2 ! 2 )2 + (2!!n )2

2!
1
and
1
2 , where 1 = tan
!n

= tan

1 + (2)2
ei , where
(1 2 )2 + (2)2

2
1
1
= tan (2) tan
1 2

g() =

1
p
e
2
2
m (!n ! )2 + (2!!n )2

2!!n
1
= tan
!n2 ! 2

g(!) =

x(t) = p

e !2

(!n2

where

x(t) = p
(1

, where

cos(!t
! 2 )2 + (2!!n )2

2!!n
1
= tan
!n2 ! 2
e 2

2 )2 + (2)2

2
1
= tan
1 2

cos(!t

),

), where

2!!n
!n2 ! 2

2!!n
!n2 ! 2