34 Chapter 2

Figure 12 Mass-spring-damper model.

If we examine the motion about the equilibrium point (where kx mg), then the
constant force mg can be dropped out since the spring force due to the equilibrium
deection always balances it. Separating the inputs on the right and the outputs on
the left then results in
m y00 b y0 k y F
or expressed as
d 2y dy
m b kyF
dt2 dt
This should be review to anyone with a class in dierential equations, vibra-
tions, systems modeling, or controls. Continuing on, we nish the mechanical-trans-
lational section with an example incorporating two masses interconnected, as shown
in Figure 13.
mb is the mass of the vehicle body.
mt is the mass of the tire.
ks is the spring constant of the suspension.
b is the damping from the shock absorber.

Figure 13 Simple vehicle tire/suspension model.