Problems and Solutions Section 1.1 (1.1 through 1.

26)

1.1 Consider a simple pendulum (see Example 1.1.1) and compute the magnitude of the
restoring force if the mass of the pendulum is 2 kg and the length of the pendulum is
0.5 m. Assume the pendulum is at the surface of the earth at sea level.

Solution: From example 1.1.1, the restoring force of the pendulum is mgl sin , which
has maximum value
kg m m
mgl = 2 9.81 0.5 = 9.81 N m
sec 2

1.2 Compute the period of oscillation of a pendulum of length 1 m at the North Pole where
the acceleration due to gravity is measured to be 9.832 m/s2.
Solution: The natural frequency and period can be computed with the following
relationships:

1.3 The spring of Figure 1.2, repeated here as Figure P1.3, is loaded with mass of 15 kg and
the corresponding (static) displacement is 0.01 m. Calculate the spring's stiffness.

Figure P1.3

Solution:

Free-body diagram: From the free-body diagram and static

equilibrium:

kx = mg (g = 9.81m / s 2 )
k = mg / x
15 9.81 N
= = 14715 N/m
0.01 mand written permission should be obtained
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 kx

m
mg

1.4 The spring of Figure P1.3 is successively loaded with mass and the corresponding (static)
displacement is recorded below. Plot the data and calculate the spring's stiffness. Note
that the data contain some error. Also calculate the standard deviation.

m(kg) 10 11 12 13 14 15 16
x(m) 1.14 1.25 1.37 1.48 1.59 1.71 1.82

Solution:

Free-body diagram: From the free-body diagram and static

equilibrium:
kx
kx = mg (g = 9.81m / s 2 )
k k = mg / x

m ki
= = 86.164
n
mg

20
The sample standard deviation in
computed stiffness is:
n
m 15 (k i )2
= i =1
= 0.164
n 1

10
0 1 2
x
Plot of mass in kg versus displacement in m
Computation of slope from mg/x
m(kg) x(m) k(N/m)

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 10 1.14 86.05
11 1.25 86.33
12 1.37 85.93
13 1.48 86.17
14 1.59 86.38
15 1.71 86.05
16 1.82 86.24

1.5 Consider the pendulum of Example 1.1.1 and compute the amplitude of the
restoring force if the mass of the pendulum is 2 kg and the length of the pendulum is
0.5 m if the pendulum is at the surface of the moon.

Solution: From example 1.1.1, the restoring force of the pendulum is mgl sin ,
which has maximum value
9.81 kg m m
1.5 mgl = 2 0.5 = 1.635 N m
6 sec 2



1.6 Consider the pendulum of Example 1.1.1 and compute the angular natural frequency
(radians per second) of vibration for the linearized system if the mass of the
pendulum is 2 kg and the length of the pendulum is 0.5 m if the pendulum is at the
surface of the earth. What is the period of oscillation in seconds?

Solution: The natural frequency and period are:

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 1.7 Derive the solution of m x + kx = 0 and plot the result for at least two periods
for the case with n = 2 rad/s, x0 = 1 mm, and v0 = 5 mm/s.

Solution:

Given:
x + kx = 0
m (1)
Assume: x(t) = ae . Then: x = are and
rt rt
x = ar e . Substitute into equation (1) to get:
2 rt

mar 2 ert + kaert = 0

mr 2 + k = 0
k
r= i
m
Thus there are two solutions:
k k
m i t m i t

x1 = c1e , and x2 = c2 e
k
where n =
= 2 rad/s
m
The sum of x1 and x2 is also a solution so that the total solution is:

x = x1 + x2 = c1e2it + c2 e2it

Substitute initial conditions: x0 = 1 mm, v0 = 5 mm/s

x ( 0 ) = c1 + c2 = x0 = 1 c2 = 1 c1 , and v ( 0 ) = x ( 0 ) = 2ic1 2ic2 = v0 = 5 mm/s

2c1 + 2c2 = 5 i. Combining the two underlined expressions (2 eqs in 2 unkowns):
1 5 1 5
2c1 + 2 2c1 = 5 i c1 = i, and c2 = + i
2 4 2 4

Therefore the solution is:

1 5 2it 1 5 2it
x= i e + + i e
2 4 2 4
Using the Euler formula to evaluate the exponential terms yields:
1 5 1 5
x= (
i cos2t + isin 2t + + )
i cos2t isin 2t ( )
2 4 2 4
5 3
x(t) = cos2t +
2
(
sin 2t = sin 2t + 0.7297
2
)

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 Using Mathcad the plot is:

5
x t cos 2. t . sin 2. t
2

x t
0 5 10

t
1.8 x + kx = 0 for k = 4 N/m, m = 1 kg, x0 = 1 mm, and v0 = 0. Plot the solution.
Solve m

k
Solution: Here v0 = 0. n = = 2 rad/s . Calculating the initial conditions:
m
x ( 0 ) = c1 + c2 = x0 = 1 c2 = 1 c1
v ( 0 ) = x ( 0 ) = 2ic1 2ic2 = v0 = 0 c2 = c1
c2 = c1 = 0.5
1 2it 1 2it 1 1
x (t ) =
e + e = ( cos 2t + i sin 2t ) + ( cos 2t i sin 2t )
2 2 2 2
x(t)= cos (2t )
The following plot is from Mathcad:

x t cos 2. t
1

x t
0 5 10

t
Alternately students may use equation (1.10) directly to get

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 2 2 (1)2 + 0 2 2 1
x(t) = sin(2t + tan 1[ ])
2 0

= 1sin(2t + ) = cos 2t
2
1.9 The amplitude of vibration of an undamped system is measured to be 1 mm. The phase
shift from t = 0 is measured to be 2 rad and the frequency is found to be 5 rad/s.
Calculate the initial conditions that caused this vibration to occur. Assume the response
is of the form x(t) = Asin( nt + ).

Solution:

Given: A = 1mm, = 2 rad, = 5 rad/s . For an undamped system:

x ( t ) = Asin ( nt + ) = 1sin ( 5t + 2 ) and
v ( t ) = x ( t ) = A n cos ( nt + ) = 5 cos ( 5t + 2 )
Setting t = 0 in these expressions yields:
x(0) = 1sin(2) = 0.9093 mm
v(0) = 5 cos(2) = - 2.081 mm/s

1.10 Determine the stiffness of a single-degree-freedom, spring-mass system with a mass of

100 kg such that the natural frequency is 10 Hz.

Solution: First change Hertz to radians and then use the formula for natural frequency:
cycle 2 rad
10 Hz = 10 = 20 rad / sec
sec cycle
k 1
n2 = k = m n2 = 100kg(20 )2 = 394,784 N/m
m sec 2

1.11 Find the equation of motion for the system of Figure P1.11, and find the natural
frequency. In particular, using static equilibrium along with Newtons law, determine
what effect gravity has on the equation of motion and the systems natural frequency.
Assume the block slides without friction.

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 Figure P1.11

Solution:
Choosing a coordinate system along the plane with positive down the plane, the free-
body diagram of the system for the static case is given and (a) and for the dynamic case
in (b):

In the figures, N is the normal force and the components of gravity are determined by the
angle as indicated. From the static equilibrium: kxs + mg sin = 0 . Summing forces
in (b) yields:
Fi = mx(t) mx(t) = k(x + xs ) + mg sin
x(t) + kx = kxs + mg sin = 0
m
m
x(t) + kx = 0
k
n = rad/s
m

1.12 An undamped system vibrates with a frequency of 10 Hz and amplitude 1 mm. Calculate
the maximum amplitude of the system's velocity and acceleration.

Solution:

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 Given: First convert Hertz to rad/s: n = 2 fn = 2 (10 ) = 20 rad/s. We also have that
A= 1 mm.

For an undamped system:

x ( t ) = Asin ( nt + )

and differentiating yields the velocity: v ( t ) = A n cos ( nt + ) . Realizing that both the
sin and cos functions have maximum values of 1 yields:

vmax = A n = 1( 20 ) = 62.8 mm / s

Likewise for the acceleration: a ( t ) = A n2 sin ( nt + )

amax = A n2 = 1( 20 ) = 3948 mm / s 2
2

1.13 Show by calculation that A sin (nt + ) can be represented as A1sin nt + A2 cosnt and
calculate A1 and A2 in terms of A and .

Solution:

This trig identity is useful: sin ( a + b ) = sin a cosb + cos a sin b

Given: Asin ( nt + ) = Asin ( nt ) cos ( ) + A cos ( nt ) sin ( )

= A1 sin nt + A2 cos nt
where A1 = Acos and A2 = Asin

1.14 Using the solution of equation (1.2) in the form x(t) = A1 sin nt + A2 cos nt
calculate the values of A1and A2 in terms of the initial conditions x0 and v0.

Solution:
Using the solution of equation (1.2) in the form

()
x t = A1 sin nt + A2 cos nt

and differentiate to get:

= n A1 cos( nt) n A2 sin( nt)
x(t)

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 Now substitute the initial conditions into these expressions for the position and velocity
to get:
x0 = x(0) = A1 sin(0) + A2 cos(0) = A2
= n A1 cos(0) n A2 sin(0)
v0 = x(0)
= n A1 (1) n A2 (0) = n A1

Solving for A1 and A2 yields:

v0
A1 = , and A 2 = x0
n
v0
Thus x(t) = sin nt + x0 cos nt
n

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 1.15 Using the drawing in Figure 1.7, verify that equation (1.10) satisfies the initial velocity
condition.

Solution: Following the lead given in Example 1.1.2, write down the general expression
of the velocity by differentiating equation (1.10):

x(t) = Asin( nt + ) x(t)

= A n cos( nt + )
v(0) = A n cos( n 0 + ) = A n cos( )
From the figure:

2
"v %
A= x +$ 0 '
2
0
# !n &
x0

90
v0
!n
Figure 1.7

2 v0
v n
A = x02 + 0 , cos =
n v
2

x + 0
2

n
0

Substitution of these values into the expression for v(0) yields

v0
2
v n
v(0) = A n cos = x02 + 0 ( n ) = v0
n v
2

x02 + 0
n
verifying the agreement between the figure and the initial velocity condition.

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 1.16 A 0.5 kg mass is attached to a linear spring of stiffness 0.1 N/m. a) Determine the natural
frequency of the system in hertz. b) Repeat this calculation for a mass of 50 kg and a
stiffness of 10 N/m. Compare your result to that of part a.

Solution: From the definition of frequency and equation (1.12)

k 0.5
(a) n = = = 0.447 rad/s
m 0.1
2.236
fn = n = = 0.071 Hz
2 2
50
(b ) n = = 0.447rad/s, fn = n = 0.071 Hz
10 2

Part (b) is the same as part (a) thus very different systems can have same natural
frequencies.

1.17 Derive the solution of the single degree of freedom system of Figure 1.4 by writing
Newtons law, ma = -kx, in differential form using adx = vdv and integrating twice.

Solution: Substitute a = vdv/dx into the equation of motion ma = -kx, to get mvdv = -
kxdx. Integrating yields:
v2 2 x
2
= n + c 2 , where c is a constant
2 2
or v = n2 x 2 + c 2
2

dx
v= = n2 x 2 + c 2
dt
dx
dt = , write u = n x to get:
n x + c 2
2 2

1 du 1 u
t0=
n c u
2 2
=
n
sin 1 + c2
c

Here c2 is a second constant of integration that is convenient to write as c2 = -/n.

Rearranging yields

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 x
nt + = sin 1 n
c
nx
= sin( nt + )
c
c
x(t) = Asin( nt + ), A =
n
in agreement with equation (1.19).

1.18 Determine the natural frequency of the two systems illustrated.

k1
k1 k2 k3
m m

k2

(a) (b)
Figure P1.18
Solution:
(a) Summing forces from the free-body diagram in the x direction yields:
x = k1 x k2 x
m
x + k1 x + k2 x = 0
m
+x x + x ( k1 + k2 ) = 0, dividing by m yields:
m
k +k
x+ 1 2 x = 0

-k2 x m
-k1 x
Examining the coefficient of x
yields:
Free-body diagram for part a
k +k
n = 1 2
m

(b) Summing forces from the free-body diagram in the x direction yields:

+x
-k1 x
-k 3x

-k2 x

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 Free-body diagram for part b

x = k1 x k2 x k3 x,
m
x + k1 x + k2 x + k3 x = 0
m
(k1 + k2 + k3 )
x + (k1 + k2 + k3 )x = 0
m x+ x=0
m
k1 + k2 + k3
n =
m

1.19* Plot the solution given by equation (1.10) for the case k = 1000 N/m and m = 10 kg for
two complete periods for each of the following sets of initial conditions: a) x0 = 0 m, v0 =
1 m/s, b) x0 = 0.01 m, v0 = 0 m/s, and c) x0 = 0.01 m, v0 = 1 m/s.

Solution: Here we use Mathcad:

a) all units in m, kg, s

m 10 k 1000

x0 0.0
v0 1

2.
n T
fn n
2.

n. x0
atan
v0 x t A. sin n. t

parts b and c are plotted in the above by simply changing the initial conditions as
appropriate

1 . 2
A x02. n v02
n

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 0.2

0.1
x t

xb t
0 0.5 1 1.5
xc t

0.1

0.2

1.20* Make a three dimensional surface plot of the amplitude A of an undamped oscillator
given by equation (1.9) versus x0 and v0 for the range of initial conditions given by 0.1 <
x0 < 0.1 m and -1 < v0 < 1 m/s, for a system with natural frequency of 10 rad/s.

Solution: Working in Mathcad the solution is generated as follows:

n 10

N 25
i 0 .. N
j 0 .. N
0.2 .
2. x0i 0.1 i
v0j 1 j N
N

1 . 2
A x0 , v0 n . x0 2 v0 2
n

Mi , j A x0i , v0j

0.1

0.05 0

10
0
0 20
10
20

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M
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
Amplitude vs initial conditions
 1.21 A machine part is modeled as a pendulum connected to a spring as illustrated in Figure
P1.21. Ignore the mass of pendulums rod and derive the equation of motion. Then
following the procedure used in Example 1.1.1, linearize the equation of motion and
compute the formula for the natural frequency. Assume that the rotation is small enough
so that the spring only deflects horizontally.

Figure P1.21

Solution: Consider the free body diagram of the mass displaced from equilibrium:

There are two forces acting on the system to consider, if we take moments about point O
(then we can ignore any forces at O). This yields

M O = JO m2 = mgsin ksin cos

m2 + mgsin + k2 sin cos = 0

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 Next consider the small approximations to that sin and cos =1 . Then the
linearized equation of motion becomes:
mg + k
(t) + (t) = 0
m

Thus the natural frequency is

mg + k
n = rad/s
m

1.22 A pendulum has length of 250 mm. What is the systems natural frequency in Hertz?

Solution:
Given: l =250 mm
Assumptions: small angle approximation of sin
From Window 1.1, the equation of motion for the pendulum is as
g
follows: I O + mg = 0 , where I O = ml 2 + = 0
l
The coefficient of yields the natural frequency as:

g 9.8 m/s 2
n = = = 6.26 rad/s
l 0.25 m

n
fn = = 0.996 Hz
2

1.23 The pendulum in Example 1.1.1 is required to oscillate once every second. What length
should it be?

Solution:
Given: f = 1 Hz (one cycle per second)

g
n = 2f =
l

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 g 9.81
l = = = 0.248 m
(2f ) 2 4 2

1.24 The approximation of sin = , is reasonable for less than 10. If a pendulum of length
0.5 m, has an initial position of (0) = 0, what is the maximum value of the initial angular
velocity that can be given to the pendulum with out violating this small angle
approximation? (be sure to work in radians)

Solution: From Window 1.1, the linear equation of the pendulum is

g
(t ) + (t ) = 0

For zero initial position, the solution is given in equation (1.10) by

v0 g v
(t) = sin( t) 0
g g

since sin is always less then one. Thus if we need < 10= 0.175 rad, then we need to
solve:

v0 0.5
= 0.175
9.81

for v0 which yields:

v0 < 0.773 rad/s.

1.25 A machine, modeled as a simple spring-mass system, oscillates in simple harmonic

motion. Its acceleration is measured to have an amplitude of 10,000 mm/s2 with a
frequency of 8 Hz. Compute the maximum displacement the machine undergoes during
this oscillation.

Solution: the equations of motion for position and acceleration are:

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 x = Asin( nt + ) x = A n2 sin( nt + )
and

Since the sin is max at 1, the maximum acceleration is

A n2 = 10,000 mm/s2
n = 2 f = 2 (8) = 16 rad/s

Solving for A yields:

10,000 10,000
A= = = 3.96 mm
n2 (16 )2

1.26 Derive the relationships given in Window 1.4 for the constants a1 and a2 used in the
exponential form of the solution in terms of the constants A1 and A2 used in sum of sine
and cosine form of the solution. Use the Euler relationships for sine and cosine in terms
of exponentials as given following equation (1.18).

Solution: Let = t for ease of notation. Then:

2sin j = e j e j and 2 cos = e j + e j
e j e j e j + e j
A1 sin = A1 and A2 cos = A2
2j 2
Adding these to in order to form x(t) yields:
e j e j e j e j
x(t) = A1 A1 + A2 + A2
2j 2j 2 2
e j e j e j e j
x(t) = A1 j + A1 j + A2 + A2
2 2 2 2
j j
e e
x(t) = ( A2 A1 j) + ( A1 j + A2 )
2 2
Comparing this last expression to x(t) = a1e j + a2 e j yields:

A2 A1 j A + A1 j
a1 = and a2 = 2
2 2

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