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CH 2

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CH 2

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Problems and Solutions Section 2.1 (2.1 through 2.

19)
2.1 The forced response of a single-degree-of-freedom, spring-mass system is modeled
by (assume the units are Newtons)
x(t) + 12x(t) = 3cos ω t
3

Compute the magnitude of the forced response for the two cases ω =2.1 rad/s and ω = 2.5
rad/sec. Comment on why one value is larger then the other.
Solution:
First divide through by the mass, 3 kg, to reveal the natural frequency.
x(t) + 4x(t) = cos ω t


Thus f0 = 1 and ω n = 2 rad/s . Hence the magnitude of the forced response for ω
=2.1 rad/s is given by equation (2.6):

f0 1
X= = = −2.239 m
ω 2n − ω 2 4 − 2.12

For ω = 2.5 rad/sec this becomes

f0 1
X= = = −0.444 m
ω 2n − ω 2 4 − 2.52

The value of the magnitude of the response at a driving frequency of 2.5
rad/s is much smaller then that at 2.1 rad/s because it is much farther away
from the resonance condition.
2.2 Consider the forced response of a single-degree-of-freedom, spring-mass system that
is modeled by (assume the units are Newtons)
x(t) + 12x(t) = 3cos ω t
3

Compute the total response of the system if the driving frequency is 2.5 rad/s and the
initial position and velocity are both zero.
Solution: Because the total response is asked for this problem differs from
problem 2.1, which only asks for the magnitude of the forced response. The total
response is given by equation 2.11 to be:

v0 ⎛ f0 ⎞ f0
()
x t = sin ω nt + ⎜ x0 −
⎜⎝
⎟ cos ω nt + cos ωt
ωn ω 2n − ω 2 ⎟⎠ ω n2 − ω 2

f0 f0
()
x t =− cos ω nt + cos ωt
ω 2n −ω 2
ω n2 − ω2
= 0.444cos 2t − 0.444cos 2.5t

2.3 To familiarize yourself with the nature of the forced response, plot the total response
() ()
of mx t + kx t = F 0 cosωt with ω = 2 rad/s, for a variety of values of the initial
conditions, values of f0 and values of ωn as given in the following chart:

Case x 0 v 0 f 0 ωn

1 0.1 0.1 0.1 1

2 -‐0.1 0.1 0.1 1

3 0.1 0.1 1.0 1

4 0.1 0.1 0.1 2.1

5 1 0.1 0.1 1

Solution: The total response is given by equation (2.11):

v0 ⎛ f0 ⎞ f0
()
x t = sin ω nt + ⎜ x0 −
⎜⎝
⎟ cos ω nt + cos ωt
ωn ω 2n − ω 2 ⎟⎠ ω n2 − ω 2

Insert the values of x 0 , v 0 , f 0 , and ω n for each of the five cases.

© 2014 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained
from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
2.4 Compute the response of a spring–mass system modeled by equation (2.2) to a force
of magnitude 23 N, driving frequency of twice the natural frequency, and initial
conditions given by x0 = 0 m and v0 = 0.2 m s. The mass of the system is 10 kg, the
spring stiffness is 1000 N m and the mass of the spring is considered and known to be 1
kg. What percent does the natural frequency change if the mass of the spring is not taken
into consideration?

Solution: Given: m sp = 1 kg, Example 1.4.4 yields that the effective mass is
msp 1
me = m += 10 + = 10.333 kg.
3 3
Thus the natural frequency, X and the coefficients in equation (2.11) for the
system now become

x(t) = 0.02033sin 9.837t + 7.7 ×10 −3 (cos9.837t − cos19.675t) m

The frequency without the spring’s mass consider is given in example 2.1.1 as 10
rad/s. So the percent change by including the spring’s mass is
9.837 − 10
⋅100 = −1.63%
10

So the mass of the spring reduced the natural frequency by 1.63 %.

f0
2.5 Show that the solution x(t) = [cos ω t – cos ω n t] can be written
ω −ω2 2
n
f0 ω t + ω nt ω nt − ω t
x(t) = sin sin .
2(ω n − ω )
2 2
2 2

Solution: Using the trig identity

v+u v−u
cosu − cos v = 2sin sin
2 2
Now let u = ωt and v = ωnt and substitute to get that
ω t + ω nt ω nt − ω t
cos ω t − cos ω n t = 2sin sin
2 2
f0
Multiplying by 2 then yields the equation (2.13).
ωn − ω 2

2.6 A spring-mass system is driven from rest harmonically such that the displacement
response exhibits a beat of period of 0.2 π s. The period of oscillation is measured to be
0.02 π s. Calculate the natural frequency and the driving frequency of the system.

Solution: Given: Beat period: Tb = 0.2 π s.

The beat frequency is then
2π 2π 2π
⇒ ωb =
Tb = = = 10 rad/s = ω n − ω (1)
ωb Tb 0.2π
The period of oscillation is T0 = 0.02π s so that
2π 2π 2π ω +ω
T0 = ⇒ ω0 = = = 100 = n ⇒ ω n + ω = 200 rad/s (2)
ω0 T0 0.02π 2

2.7 An airplane wing modeled as a spring-mass system with natural frequency 40 Hz is

driven harmonically by the rotation of its engines at 39.9 Hz. Calculate the period of the
resulting beat.

Solution: Given: ω n = 2 π (40) = 80 π rad/s, ω = 2 π (39.9) = 79.8 π rad/s

4π 4π
Beat period: Tb = = = 20 s.
ω n − ω 80π − 79.8π

2.8 Compute the total response of a spring-mass system with the following values: k 1000
N/m, m = 10 kg, subject to a harmonic force of magnitude F 0 = 100 N and frequency of
8.162 rad/s, and initial conditions given by x 0 = 0.01 m and v 0 = 0.01 m/s. Plot the
response.

Solution: Given: k = 1000 N/m, m = 10 kg, F0=100 N, ω = 8.162 rad/s

x0=0.01m, v0=0.01 m/s

From Eq. (2.11):

v0 f f
x(t) = sin ω nt + (x0 − 2 0 2 )cos ω nt + 2 0 2 cos ω t
ωn ωn − ω ωn − ω

k 1000 F 100
ωn = = = 10 rad / s f0 = 0 = = 10 N / m
m 10 m 10

In Mathcad the solution is

2.9 Consider the system in Figure P2.9, write the equation of motion and calculate the
response assuming a) that the system is initially at rest, and b) that the system has
an initial displacement of 0.05 m.
x (t)

100 kg 10 sin 10t N

Friction-
free
2,000 N/m surface

Figure P2.9
Solution: The equation of motion is
x + k x = 10sin10 t
m 

x + ω n2 x = f0 sin ω t


Replacing the cosine function with a sine function in Eq. (2.4) and following the
same argument, the general solution is:
f
x(t) = A1 sin ω nt + A2 cos ω nt + 2 0 2 sin ω t
ωn − ω

Using the initial conditions, x(0) = x0 and x(0)

 = v0 , a general expression for
the response of a spring-‐mass system to a harmonic (sine) excitation is:
v0 ω f f
x(t) = ( − ⋅ 2 0 2 )sin ω nt + x0 cos ω nt + 2 0 2 sin ω t
ωn ωn ωn − ω ωn − ω

Given: k=2000 N/m, m=100 kg, ω=10 rad/s,

k 2000 F 10
ωn = = = 20 rad/s = 4.472 rad/s f0 = 0 = = 0.1N/kg
m 100 m 100

a) x0 = 0 m, v0 = 0 m/s

Using the general expression obtained above:
10 0.1 0.1
x(t) = (0 − ⋅ 2 )sin 20t + 0 + 2 sin10t
20 20 −10 2
20 −10 2

= 2.795 ×10−3 sin 4.472t −1.25 ×10−3 sin10t

b) x0 = 0.05 m, v0 = 0 m/s

10 0.1 0.1
x(t) = (0 − ⋅ 2 )sin 20t + 0.05cos 20t + 2 sin10t
20 20 −10 2
20 −10 2

= 0.002795sin 4.472t + 0.05cos 4.472t − 0.00125sin10t

= 5.01×10 −2 sin(4.472t + 1.515) −1.25 ×10−3 sin10t

Figure P2.10

Solution: The equation of motion is

1
x(t) + kx(t) = 10sin10t
m where k =
1 1
+
k1 k2

The general expression obtained for the response of an underdamped spring-‐
mass system to a harmonic (sine) input in Problem 2.7 was:
v0 ω f f
x(t) = ( − ⋅ 2 0 2 )sin ω nt + x0 cos ω nt + 2 0 2 sin ω t
ωn ωn ωn − ω ωn − ω

Substituting the following values

k = 1/(1/100+1/500)= 83.333 N/m, m = 89 kg ω = 10 rad/s

k 83.333 F 10
ωn = = = 0.968 rad/s f0 = 0 = = 0.112 N / kg
m 89 m 89

and initial conditions: x0 = 0, v0 = 0

The response of the system is evaluated as

x(t) = 0.0117sin 0.968t − 0.00113sin10 t

90 sin 2.5t N
!

Figure P2.11

θ
x
Fs
m

mg sin θ
F=90 sin 2.5 t (Forces that are normal
to the x direction are
neglected)
Solution: Free body diagram:

Assuming x = 0 to be at equilibrium:

∑F x x = −k(x + Δ) + mgsin θ + 90sin 25t

= m (1)

where Δ is the static deflection of the spring. From static equilibrium in the x
direction yields

−kΔ + mgsin θ (2)

Substitution of (2) onto (1), the equation of motion becomes
x + k x = 90sin 2.5t
m 

The general expression for the response of a mass-‐spring system to a
harmonic (sine) excitation (see Problem 2.7) is:
v0 ω f f
x(t) = ( − ⋅ 2 0 2 )sin ω nt + x0 cos ω nt + 2 0 2 sin ω t
ωn ωn ωn − ω ωn − ω

Given: v0 = 0, x0 = 0, ω = 2.5 rad/s

k 1000 F0 90 9
ωn = = = 20 = 4.472 rad/s , f0 = = = N/kg
m 50 m 50 5

2.12 Compute the initial conditions such that the response of :

x + kx = F 0 cos ω t
m 
oscillates at only one frequency ( ω ).

Solution: From Eq. (2.11):

v0 f f
x(t) = sin ω nt + (x0 − 2 0 2 )cos ω nt + 2 0 2 cos ω t
ωn ωn − ω ωn − ω

x + k x = F0 cos ω t to have only one frequency content,

For the response of m 
namely, of the frequency of the forcing function, ω, the coefficients of the first
two terms are set equal to zero. This yields that the initial conditions have to
be
f0
x0 = and v0 = 0
ω −ω2
2
n

Then the solution becomes

f0
x(t) = cos ω t
ω −ω2
2
n

2.13 The natural frequency of a 65-‐kg person illustrated in Figure P.13 is
measured along vertical, or longitudinal direction to be 4.5 Hz. a) What is the
effective stiffness of this person in the longitudinal direction? b) If the person,
1.8 m in length and 0.58 m2 in cross sectional area, is modeled as a thin bar,
what is the modulus of elasticity for this system?

Solution: a) First change the frequency in Hz to rad/s:
cycles 2π rad
ω n = 4.5 = 9π rad/s . Then from the definition of natural
s cycles
frequency:

k = mω n2 = 65⋅ (9π ) 2 = 5.196 ×104 N/m

b) From section 1.4, the value of the stiffness for the longitudinal vibration of
a beam is

k=
EA
⇒E=
k 5.196 ×10 (1.8)
=
4
( )
= 1.613 ×105 N/m 2 = 1.613 ×105 Pa
 A 0.58

2.14 If the person in Problem 2.13 is standing on a floor, vibrating at 4.49 Hz with
an amplitude of 1 N (very small), what longitudinal displacement would the
person “feel”? Assume that the initial conditions are zero.

Solution: Using equation (2.12) for a cosine excitation and zero initial
conditions yields (converting the frequency from Hertz to rad/s and using
the value of k calculated in 2.11):

F0 1 1 1
X = =
m ωn − ω
2 2
65 k
− (4.49 ⋅ 2π ) 2
m

1 1
= = 0.00443347 = 0.0043 m
65 5.196 ×10 4
− (4.49 ⋅ 2π ) 2

2.14 Vibration of body parts is a significant problem in designing machines and
structures. A jackhammer provides a harmonic input to the operator’s arm.
To model this situation, treat the forearm as a compound pendulum subject
to a harmonic excitation (say of mass 6 kg and length 44.2 cm) as illustrated
in Figure P2.14. Consider point O as a fixed pivot. Compute the maximum
deflection of the hand end of the arm if the jackhammer applies a force of 10
N at 2 Hz.

Figure P2.14 Vibration model of a forearm driven by a jackhammer

Solution: Taking moments about point O yields (referring to Example 1.4.6
for the inertial of a compound pendulum):

m 2  
θ + mg sin θ = FO cosθ cos ω t
3 2

Using the linear approximation for sine and cosine and dividing through by
the inertia yields:

3g 3F
θ + θ = O cos ω t
2 m

Thus the natural frequency is

3g 3(9.81)
ωn = = = 5.77 rad/s (=0.92 Hz)
2 2(0.442)

and the system is well away from resonance. Referring to equation (2.13),
the amplitude for zero initial conditions is (converting the driving frequency
from 2 Hertz to 2(2π) rad/s):

2

Note that sin(0.182) = 0.181 so the approximation made above is valid. The
maximum linear displacement of the hand end of the arm is just

X = r θ = 0.442 ⋅0.182 = 0.08 m

2.15 An airfoil is mounted in a wind tunnel for the purpose of studying the
aerodynamic properties of the airfoil’s shape. A simple model of this is
illustrated in Figure P2.15 as a rigid inertial body mounted on a rotational
spring, fixed to the floor with a rigid support. Find a design relationship for
the spring stiffness k in terms of the rotational inertia, J, the magnitude of the
applied moment, M0, and the driving frequency, ω, that will keep the
magnitude of the angular deflection less then 5°. Assume that the initial
conditions are zero and that the driving frequency is such that ω n2 − ω 2 > 0 .

Figure P2.15 Vibration model of a wing in a wind tunnel

Solution: Assuming compatible units, the equation of motion is:

k M
J θ(t) + kθ (t) = M 0 cos ω t ⇒ θ(t) + θ (t) = 0 cos ω t
J J

2M 0
θ max = J < 5° π rad = π rad
k 180° 36
−ω2
J
2M 0 k π 36J ⎛ 2M 0 πω 2 ⎞
⇒ < ( − ω 2 ) rad ⇒ + <k
J J 36 π ⎜⎝ J 36 ⎟⎠

2.16 The spar of an airplane wing is a relatively rigid beam extending along the length of
the wing inside the wing to provide strength. It is typical to model a spar as a cantilever
beam with the fixed end at the body of the aircraft. An example is given in Figure P2.16.
Using the modeling methods given in Section 1.5 determine a single-degree-of-freedom
model for the spar and compute its natural frequency. The spar here is modeled as a
cantilever beam of dimensions length 560 mm, width 38 mm and thickness 3.175 mm,
and has a mass of 13.975 grams. The beam’s Young's modulus is 10.29 GPa and its
shear modulus: 1.65 GPa.
MAKE THIS A BEAM MODELD AS A SDOF SM SYSTEM

Figure P2.16 A small, unmanned air vehicle with a rigid spar, modeled as a beam
Solution: This problem requires students to think back to Section 1.5 where an SDOF
model of a beam is given. The stiffness of the beam is given by equation (1.76) and in
Figure 1.26 as
3EI
k=
l3

where E is the beams elastic modulus, l is the length and I is the area moment of inertia of
a beam in the bending direction given by

(thickness)(width)3 hb 3
I= =
12 12

k
ωn =
133
M+m
140

Combining these three expressions and letting the tip mass, m, be zero yields the
following expression for the frequency

3E hb 3 1.65 × 10 9 N/m 2 (0.003175)(0.038)3 4

⋅ ⋅ m
l 3 12 = (0.560m)3 4
ωn = = 352.459 rad/s ≈ 56.1 Hz
33 33
M ⋅13.975 × 10 −3 kg
140 140

2.17 Compute the response of a shaft and disc system to an applied moment of
M = 10 sin 312 t
as indicated in Figure P2.17. Assume that the shaft is initially at rest (zero initial
conditions) and J = 0.5 kg m2, the shear modulus is G = 8 × 1010 N/m2, the shaft is 1 m
long, of diameter 5 cm and made of steel.

Figure P2.17

Solution: Summing moments the equation of motion is:

GJ
0.5θ(t) + p θ (t) = 10sin312t
l
GJ
θ(t) + p θ (t) = 20sin312t
0.5l
The natural frequency (see also Example 1.5.1) is

ωn =
k
=
GJ P
=
(8 × 10 10
N m ⎢
2 ⎡ π
) (
⎣ 32
5 × 10−2 m ) ⎤⎥⎦
4

= 313.33 rad/s
J lJ
(
(1 m ) 0.5 kg ⋅ m 2 )

f0 ⎛ ω ⎞ 20 ⎛ 312
θ (t) = 2 ⎜
sin ω t − sin ω n t ⎟ = sin312t − sin313.329t ⎞
ω −ω ⎝
2
n ωn ⎠ 830.77 ⎝ 313.329 ⎠
= 0.0241sin312t − 0.0238sin313.329t

2.18 Consider a spring mass system with zero initial conditions described by

 + 4x(t) = 12cos 2t, x(0) = 0, x(0)

x(t)  =0

and compute the form of the response of the system.

Solution: Note that here ω = 2 = ωn so that the system is in resonance and the solution is
given by Equation (2.17):
v f 12
x ( t ) = 0 sin ωt + x0 cos ωt + 0 t sin ωt = t sin 2t = 3t sin 2t
ω 2ω 4

2.19 Consider a spring mass system with zero initial conditions described by

 + 4x(t) = 10sin5t, x(0) = 0, x(0)

x(t)  =0

and compute the form of the response of the system.

Solution: From Equation (2..25) the response is

⎛v ω f0 ⎞ f0
x ( t ) = x0 cos ω nt + ⎜ 0 − ⎟ sin ω n t + sin ωt
⎝ ωn ωn ωn − ω ⎠
2 2
ω 2n − ω 2
ω f0 f0
=− sin ω n t + sin ωt
ωn ω2 − ω2 ω 2
− ω 2
n n
5 10 10
=− 2 2
sin 2t + 2 2 sin5t
2 2 −5 2 −5
25 10
= sin 2t − sin5t
9 9

2.20 Calculate the constants A and φ for arbitrary initial conditions, x 0 and v 0 , in the
case of the forced response given by
()
x t = Ae
− ζω n t
( ) (
sin ω d t + φ + X cos ωt − θ )
Compare this solution to the transient response obtained in the case of no forcing function
(i.e. F 0 = 0).

Solution: From equation (2.37)

x(t) = Ae−ζωn t sin(ω d t + φ ) + X cos(ωt − θ) ⇒

x˙ (t) = − ζω n Ae −ζω n t sin(ω d t + φ ) + Aω d e −ζωn t cos(ω d t + φ ) − X ω sin(ωt − θ )
Next apply the initial conditions to these general expressions for position and
velocity to get:
x(0) = A sin φ + X cos θ
x˙ (0) = −ζωn Asin φ + A ω d cos φ + X ω sin θ
Solving this system of two equations in two unknowns yields:
⎛ (x0 − X cosθ )ω d ⎞
φ = tan −1 ⎜ ⎟
⎝ v0 + (x0 − X cosθ )ζω n − X ω sin θ ⎠
x0 − X cosθ
A=
sin φ
Recall that X has the form

F /m ⎛ 2ζω ω ⎞
X= 0
and θ = tan−1 ⎜ 2 n 2 ⎟
(ω − ω ) + (2ζω nω )2
2
n
2 2
⎝ ωn − ω ⎠
Now if F0 = 0, then X = 0 and A and φ from above reduce to:

⎛ x0 ω d ⎞
φ = tan −1 ⎜ ⎟
⎝ v0 + x 0ζω n ⎠
x0 (v0 + ζω n x0 )2 + (x 0ω d )2
A= =
sin φ ω d2
These are identical to the values given in equation (1.38).

2.21 Consider the spring-mass-damper system defined by (use basic SI units)

x ( t ) + 24 x ( t ) + 100x ( t ) = 16cos5t
4
First determine if the system is underdamped, critically damped or overdamped.
Then compute the magnitude and phase of the steady state response.

Also note that f0= 4. From equation (2.36) magnitude of the steady state solution
is
f0 4
X= = = 0.013 m
( ) ( 25 − 25) + ( 2 ⋅0.6 ⋅5⋅5)
2 2 2
ω 2 − ω 2 + 2ζω ω
n
2
( n )
Note that the system in in resonance. The phase is computed from equation
(2.36):
2ζω ω ⎛ 2ζω nω ⎞ π
θ = tan −1 2 n 2 − tan −1 ⎜ ⎟ =−
ωn − ω ⎝ 0 ⎠ 2
or 90° as it should for resonance.

2.22 Show that the following two expressions are equivalent:

() ( ) ()
x p t = X cos ωt − θ and x p t = As cos ωt + Bs sin ωt

Solution: From equation (2.28) and expanding the trig relation yields
x p = X cos(ω t − θ ) = X [ cos ω t cosθ + sin ω t sin θ ]
= (X
cos
θ ) cos ω t + (X
 θ ) sin ω t
sin

As Bs

Now with As and Bs defined as indicated, the magnitude is computed:

X = As2 + Bs2
and
Bs X sin θ ⎛B ⎞
= ⇒ θ = tan −1 ⎜ s ⎟
As X cosθ ⎝ As ⎠

2.23 Calculate the total solution of

x + 2ζω n x + ω 2n x = f0 cos ωt
for the case that m = 1 kg, ζ = 0.01, ω n = 2 rad/s. f0 = 3 N/kg, and ω = 10 rad/s,
with initial conditions x 0 = 1 m and v 0 = 1 m/s, and then plot the response.

Solution: The particular solution is given in equations (2.36) and (2.37).

© 2014 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained
from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
Substitution of the values given yields: x p = 0.03125 cos(10t + 8.333 × 10 −3 ) .
Then the total solution has the form:
x(t) = Ae−0.02t sin(2t + φ ) + 0.03125 cos(10t + 0.008333)
= e−0.02t ( Asin 2t + B cos 2t ) + 0.03125 cos(10t + 0.008333)
Differentiating then yields
 = −0.02e−0.02t ( Asin 2t + B cos 2t ) + sin(2t + φ )
x(t)
+ 2e−0.02t ( A cos 2t − Bsin 2t ) − 0.3125 sin(10t + 0.008333)
Apply the initial conditions to get:
x(0) = 1 = B + 0.03125 cos(0.00833) ⇒ B = 0.969
 = 1 = −0.02B + 2A − 0.3125 sin(0.00833) ⇒ A = 0.489
x(0)
So the solution and plot become (using Mathcad):

Solution: Given m = 100kg, k =30,000 N/m, c = 1000 Ns/m, F0 = 80 N and ω =

6π rad/s:
F 80 k
f0 = 0 = = 0.8 m/s 2 , ω n = = 17.32 rad/s
m 100 m
c
ζ= = 0.289
2 km
0.8
X= = 0.0041 m
( )
17.32 2 + 36π 2 + ( 2(0.289)(17.32)(6π ))
2 2

Next compute the angle from

⎛ 188.702 ⎞
θ = tan −1 ⎜
⎝ −55.323 ⎟⎠
Since the denominator is negative the angle must be found in the 4th quadrant. To
find this use Window 2.3 and then in Matlab type atan2(188.702,-55.323) or use
the principle value and add π to it. Either way the phase is θ =1.856 rad.

2.25 Plot the total solution of the system of Problem 2.24 including the transient.

Solution: The total response is given in the solution to Problem 2.24. For the
values given in the previous problem, and with zero initial conditions the response
is determined by the formulas:
X = 0.0041, θ = 1.856

2. 26 A damped spring-mass system modeled by (units are Newtons)

x(t) + 10 x(t)
100  + 1700x(t) = 1000 cos 4t
is also subject to initial conditions: x0 = 1mm and v0 = 20 mm/s. Compute the total
response, x(t), of the system.

Solution: Following equation (2.26) with the values given here, the system to be
solved has damping ratio
c 10
ζ= = = 0.012
2 mk 2 100 ⋅1700
and thus is underdamped. Next convert the initial conditions to m and m/s to be
consistent with the values given in the equation of motion:
x 0 = 0.001 m,v0 = 0.02 m/s

Dividing through by the mass yields the vibration properties:

F0 1000 m k 1700 rad
f0 = = = 10 2 , ω n = = = 4.123 ,
m 100 s m 100 s
ω d = ω n 1− ζ 2 = 4.123 1− 0.0122 = 4.123 rad/s
Since ω =4 rad/s the system is near resonance. Computing the amplitude and
phase for the particular solution from the values given in Window 2.3 yields:

2ζω nω 2 ⋅0.012 ⋅ 4.123⋅ 4

θ = tan −1 = tan −1 = 0.3805 rad
ω 2n −ω 2
4.1232 − 42

Next compute phase for the transient response:

φ = tan −1
ω d x0 − X cos θ
=
( )
v0 + x0 − X cos θ ζω n − ω X sin θ ( )
4.123(0.001− 9.285⋅0.928)
= 1.191 rad
0.02 + (0.001− −9.285⋅0.928)0.012 ⋅ 4.123− 4 ⋅9.285⋅0.371
The amplitude of the transient is
x0 − X cos θ 0.001− 9.285⋅0.928
A= = = −9.283 m
sin φ 1.191
The total response is then written from equation (2.37) as

x ( t ) = Ae
−ζω nt
( )
sin ω d t + φ + X cos ( ωt − θ )
= −9.283e−0.05t sin(4.123t + 0.3805) + 9.285cos(4t − 1.191) m

2.27 Consider the pendulum mechanism of Figure P2.27 which is pivoted at point O.
Calculate both the damped and undamped natural frequency of the system for small
angles. Assume that the mass of the rod, spring, and damper are negligible. What
driving frequency will cause resonance?

l1 0.05 m

0
l2 0.07 m
c
l 0.10 m

m F(t)

Figure P2.27

Solution: Assume the driving frequency to be harmonic of the standard form to get resonance.
The free body diagram is:

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Here x1 = 1θ and x2 =  2θ so that x2 =  2θ . To get the equation of motion take the moments
about point O to get:
∑ M 0 = Jθ(t) = m2θ(t)
= −k1θ (1 cosθ ) − c 2θ( 2 cosθ )
− mg(sin θ ) + F0 cos ω t( cosθ )
Rearranging and approximating sinθ ~ θ and cosθ ~1 yields:
m 2θ˙˙(t) + c22 θ˙ (t) + (k 21 + mg)θ (t) = F0 cos ωt
Dividing through by the coefficient of the inertia term and using the standard definitions for ζ
and ω yields:
k21 + mg
ωn = which is the resnonant frequency
m2
c22
ζ=
2 (k21 + mg)m2

k21 + mg ⎛ c 2  42 ⎞
ωd = ωn 1 − ζ = 2
⎜ 1− 2⎟
m 2
⎝ 4(k1 + mg)m ⎠
2

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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
2.28 Consider the pivoted mechanism of Figure P2.27 with k = 4 x 103 N/m. l 1 = 0.05
m. l 2 = 0.07 m. and l = 0.10 m. and m = 40 kg. The mass of the beam is 40 kg; it is
pivoted at point 0 and assumed to be rigid. Design the dashpot (i.e. calculate c) so that
the damping ratio of the system is 0.2. Also determine the amplitude of vibration of the
steady-state response if a 10-N force is applied to the mass, as indicated in the figure, at a
frequency of 10 rad/s.

Solution: This is similar to the previous problem with the mass of the beam included this
time around. The equation of motion becomes:
meqθ˙˙ + ceqθ˙ + k eqθ = F0 cos ωt
Here:
1 m
meq = m2 + (3 + 31 ) b = 0.5 kg ⋅ m 2
3  + 1
ceq = c22 = 0.0049c
1
keq = k21 + mg + ( − 1 )mb g = 59 Nm
2
Using the formula the damping ratio and these numbers:
22c
ζ= = 0.2 ⇒ c = 443.6 kg/s
2 meq keq
Next compute the amplitude:
10 / 0.5
X= = 0.425 rad
(keq / meq − 10 2 )2 + (2 ⋅ 0.2 ⋅10 ⋅ ω n )2

2.29 Compute the response of a shaft and disc system to an applied moment of
M = 10 sin 312 t
as indicated in Figure P2.29. Assume that the shaft is initially at rest (zero initial
conditions) and J = 0.5 kg m2, the shear modulus is G = 8 × 1010 N/m2, the shaft is 1 m
long, of diameter 5 cm and made of steel. Assume the damping ratio of steel is ζ = 0.01.

Figure P2.29

Solution: Summing moments the equation of motion is:

GJ
0.5θ(t) + p θ (t) = 10sin312t
l
GJ
θ(t) + p θ (t) = 20sin312t
0.5l

GJ
θ(t) + 2ζω nθ (t) + p θ (t) = 20sin312t
0.5l

where ζ = 0.01. The polar moment of the shaft of diameter d is

πd4
JP =
32
You may have to give this to your students. Its in chapter 1 or the they can google it and
find it. I expect my students to find it on their own. The natural frequency (see also
Example 1.5.1) is

ωn =
k
=
GJ P
=
(8 × 10 10
N m ⎢
2 ⎡ π

⎣ 32
) (
5 × 10−2 m ) ⎤⎥⎦
4

= 313.33 rad/s
J lJ
(
(1 m ) 0.5 kg ⋅ m 2 )
The damped natural frequency is
ω d = ω n 1− ζ 2 = 313.313 rad/s

The magnitude and the phase of the steady state response are (from Window 2.3)

m0 20
X= = = 9.415 × 10−3 m
(ω ) + (2ζω ω ) (313.329 ) + (2 ⋅0.01⋅313.329 ⋅312)
2 2 2 2
2
n − ω2 n
2
− 3122

2ζω ω 2 ⋅0.01⋅313.329 ⋅312

θ = tan −1 2 n 2 = tan −1 = 1.169 rad
ωn − ω 313.3292 − 3122
The phase for the transient is:
ω d ( x0 − X cos θ )
φ = tan −1 = 0.402 rad
v0 + ( x0 − X cos θ ) ζω n − ω X sin θ

The amplitude for the transient is:

x0 − X cos θ −9.415 × 10−3 ⋅0.391

A= = = −9.415 × 10−3 rad
sin φ 0.92
Thus the total response is
θ ( t ) = Ae
−ζω nt
( )
sin ω d t + φ + X cos ( ωt − θ )

= 9.415 × 10−3 ⎡cos(312t − 1.169) − e−3.133t sin(313.329t + 0.402) ⎤ rad

⎣ ⎦

Solution:
Calculate the parameters
k 2000 F0 15
ωn = = = 4.472 rad/s f0 = = = 0.15 N/kg
m 100 m 100
ω d = ω n 1 − ζ 2 = 4.472 1 − 0.224 2 = 4.359 rad/s
c 200
ζ = = = 0.224
2mω n 2 ⋅100 ⋅ 4.472
Initial conditions: x0 = 0.01 m, v0 = 0.1 m/s
Using equation (2.38) and working in Mathcad yields
x(t) = e−t (0.0104 cos 4.359t + 0.025 sin 4.359t) + 1.318 × 10 −6 (0.335 cos10t + 37.7 sin10t)

100 kg 20 cos 6.3t N

Friction
-free
2,000 N/m surface

Figure P2.31
Solution:
From Eq. (2.39), the amplitude of the steady state response is given by
f0
X=
(ω n − ω ) + (2ζω nω )2
2 2 2

F0 2 2 (ω n − ω )
2 2 2
Then substitute, 2ζωn = c/m, c = − m into this equation
ω2 ⋅ X 2 ω2
and solve for c:

Given:
X = 0.01m ω = 6.3 rad / s F0 = 20N m = 100kg

k 2000
ω n2 = = = 20 (rad/s)2 ⇒ c = 55.7 kg/s
m 100

2.32 Consider a spring-mass-damper systems like the one in Figure P2.31 with the
following values: m = 100 kg, c = 100 kg/s, k = 3000 N/m, F0 = 25 N, and the driving
frequency ω = 5.47 rad/s. Compute the magnitude of the steady-state response and
compare it to the magnitude of the forced response of an undamped system.

Solution: (computations done in Mathcad)

Note that the difference is large because the system is near resonance.

c
Figure P2.33
Solution:
The equation of motion is:
1
m˙x˙ + c x˙ + kx = 25cos3t where k =
1/ k1 + 1/ k2
Using Eq. (2.37) in an alternative form, the general solution is:
−ζω t
x(t) = e n ( A1 sin ω d t + A2 cos ω d t) + X cos(ω t − θ )
where
f0 25 / 89
X= = = 0.0347 m
(ω n 2 − ω 2 )2 + (2ζω nω )2 (0.966 2 − 32 )2 + (2 ⋅ 0.116 ⋅ 0.966 ⋅ 3)2

2ζω nω −1 2 ⋅ 0.116 ⋅ 0.966⋅ 3

θ = tan −1 ⋅ 2 = tan ⋅ = 3.058rad (see Window 2.3)
ωn − ω
2
0.9662 − 32
Using the initial conditions, x(0) = 0 and x˙ (0) = 0 , the constants, A1 and A2, are
determined:
A2 = 0.0345 A1 = −0.005
Given: c = 20 kg/sec, m = 89 kg
1 1
k= = = 83N/m
1/ k1 + 1/ k2 1/100 + 1/ 500
k 83 c 20
ωn = = = 0.966 rad/s ζ = = = 0.116
m 89 2mω n 2 ⋅89 ⋅0.966
ω d = ω n 1 − ζ 2 = 0.966 1 − 0.1162 = 0.9595rad/s
Substituting the values into the general solution:
x(t) = e−0.112t (−0.005 sin 0.9595t + 0.0345 cos 0.9595t) + 0.0347 cos(3t − 3.058)

2.34 Write the equation of motion for the system given in Figure P2.34 for the case
that F(t) = F cos ω t and the surface is friction free. Does the angle θ effect the
magnitude of oscillation?
c
k

F (t)

θ
x
Fs
m

mg sinθ
(Forces that are normal
to the x direction are F(t)=F cos ωt
neglected)

Assuming x = 0 to be at the equilibrium:

∑ Fx = F + mg sinθ − Fs = m˙x˙
mg sin θ
where Fs = k ( x + ) and F(t ) = F cos ω t
k
Then the equation of motion is:
m x˙˙ + k x = F cos ω t
Note that the equation of motion does not contain θ which means that the
magnitude of the response is not affected by the angle of the incline.

2.35 A foot pedal for a musical instrument is modeled by the sketch in Figure P2.35.
With k = 2000 N/m, c = 25 kg/s, m = 25 kg and F(t) = 50 cos 2 π tN, compute the
steady state response assuming the system starts from rest. Also use the small
angle approximation.
F(t)

0.05 m 0.05 m 0.05 m

k c

Figure P2.35
Solution: Free body diagram of pedal follows:

Summing the moments with respect to the point, O:

∑ M 0 = F(3⋅ a) − Fc (2 ⋅ a) − Fs (a) = I oθ

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where I o = m(3a)2 = 9a 2 m , Fs = ka sin θ
F = c(2 ⋅ a ⋅ sin θ )′ = 2ca cosθθ
c
Substituting these equations and simplifying ( sin θ ≈ θ , cosθ =1,for small θ):
9 a 2 mθ + 4 a 2 c θ + a 2 k θ = 3a F(t)
Given: k = 2000 N/m, c = 25kg/s , m = 25 kg , F(t ) = 50cos2πt , a = 0.05 m
The equation of motion becomes: 0.5625θ + 0.25θ + 5θ = 7.5cos 2π t
Observing the equation of motion, equivalent mass, damping and stiffness
coefficients are:
F0 7.5
ceq = 0.25, meq = 0.5625, keq = 5 , f0 = = = 13.33 , ω = 2π
meq 0.5625
k eq 5 ceq
ωn = = = 2.981 ζ = = 0.0745
meq 0.5625 2meq ω n
From Eq. (2.36), the steady-state response is:
f0eq 2ζ eqω nω
θ (t) = cos(ω t − tan −1 2 )
(ω n 2 − ω 2 )2 + (2ζω nω )2 ωn − ω 2
⇒ θ (t) = 0.434cos(2π t − 3.051) rad

2.36 Consider the system of Problem 2.15, repeated here as Figure P2.36 with the
effects of damping indicated. The physical constants are J =25 kg m2, k = 2000
Nm/rad, and the applied moment is 5 Nm at 1.432 Hz acting through the distance
r = 0.5 m. Compute the magnitude of the steady state response if the measured
damping ratio of the spring system is ζ = 0.01. Compare this to the response for
the case where the damping is not modeled (ζ = 0).

Figure P2.36 Model of an airfoil in at wind tunnel including the effects of damping.

Solution From equation (2.39) the magnitude of the steady state response for an
underdamped system is

Substitution of the given values yields (here X = rθ)

θ = 0.2 rad and X = 0.1 m for ζ = 0
θ = 0.106 rad and X = 0.053 m for ζ = 0.01
where X is the vertical displacement of the wing tip. Thus a small amount of
damping can greatly reduce the amplitude of vibration. Strictly speaking the
undamped case does not have a steady state, and the above answer is really the
magnitude of the particular solution. To get the actual value undamped value
look at equation (2.13) which has magnitude
2(M0 / J )
θ = = 0.4 rad ⇒ X = 0.2 m
k
−ω 2

J
2.37 A machine, modeled as a linear spring-mass-damper system, is driven at resonance
(ωn = ω =2 rad/s). Design a damper (that is choose a value of c) such that the maximum
deflection at steady state is 0.05 m. The machine is modeled as having a stiffness of
2000 kg/m and the excitation force has a magnitude of 100 N.

Solution: Since the frequency and stiffness are given, we can find the mass from
k 2000
ω n2 = = = 4 rad 2 / s 2 ⇒ m = 500 kg
m m
Thus, f0 = 100/500 = 0.2 N/kg. At resonance the steady state amplitude becomes
f f0 0.2
X= 02= = = 0.05
2ζω ⎛ c ⎞ 2 c
2⎜ ω 4
⎝ 2 km ⎟⎠ (2000)(500)
⇒ c = (2000)(500) = 1,000 kg/s

2.38 Derive the total response of the system to initial conditions x0 and v0 using the
homogenous solution in the form xh (t) = e−ζω n t (A1 sin ω d t + A2 cos ω d t) and hence verify
equation (2.38) for the forced response of an underdamped system.

Solution:
From Sec. 1.3, the homogeneous solution is:
xh (t) = e−ζω n t (A1 sin ω d t + A2 cos ω d t)
From equations (2.29) and (2.35), the particular solution is:
(ω n2 − ω 2 ) f 0 2ζω nωf0
x p (t) = 2 2 2 cos ω t + sin ωt
(ω n − ω ) + (2ζω nω )
2
(ω n − ω 2 )2 + (2ζω nω )2
2

Then the general solution is:

Using the initial conditions, x(0) = x0 yields:

(ω n2 − ω 2 ) f0
x(0) = x 0 = A2 + 2
(ω n − ω 2 )2 + (2ζω n ω )2
(ω n2 − ω 2 ) f0
⇒ A2 = x 0 − 2
(ω n − ω 2 )2 + (2ζω n ω )2

x˙ (0) = v0 yields:

 = v0 = ζω ne −ζω n 0 (A1 sin ω d 0 + A2 cos ω d 0) + e −ζω n 0 (A1 cos ω d 0 − A2 sin ω d 0)

x(t)
(ω n2 − ω 2 )ω f0 2ζω n ω f0
− 2 sin ω 0 + 2 cos ω 0
(ω n − ω ) + (2ζω n ω )
2 2 2
(ω n − ω 2 )2 + (2ζω n ω )2
2ζω n ω f0
⇒ v0 = ζω n A2 + A1 + 2
(ω n − ω 2 )2 + (2ζω n ω )2

v0 ω 2ζω n ω f0 ωn (ω n2 − ω 2 ) f0
A1 = + ⋅ 2 + ζ (x − )
ω d ω d (ω n − ω 2 )2 + (2ζω n ω )2 ω d 0 (ω n2 − ω 2 )2 + (2ζω n ω )2

Then, Eq. (2.38) is obtained by substituting the expressions for A1 and A2 into the general
solution and simplifying the resulting equation.

2.39 Referring to Figure 2.11, draw the solution for the magnitude X for the case m = 100 kg, c
= 4000 N s/m, and k = 10,000 N/m. Assume that the system is driven at resonance by a
10-N force.

Solution:
Given: m = 100 kg, c = 4000 N s/m, k = 10000 N/m, Fo = 10 N,
k
ω = ωn = = 10 rad/s
m
⎡ cw ⎤ ⎡ (40,000) ⎤ π
φ = tan −1 ⎢ 2 ⎥
= tan −1 ⎢ ⎥ = 90° = rad
⎣ k − mω ⎦ ⎣ (10,000 − 10,000) ⎦ 2

F0
cωX

(k-mω2)X

From the figure:

Fo 10
X= =
(k − mω 2 )2 + (c ω )2 (10,000 − 10,000)2 + (40,000)2
X = 0.00025 m

Solution:
From Problem 2.32 ω n = 10 rad/s
ω
(a) ω = n = 5 rad/s
2
10
X= = .000468 m
(10,000 − 2500)2 + (20,000)2
kX = (10,000)(.000468) = 4.68 N
cωX = (4000)(5)(.000468) = 9.36 N
2
mω X = (100) (5) 2 (.000468) = 1.17 N

From the figure given in problem 2.32:

−1 ⎡ 9.36 ⎤
φ = tan = 69.4° = 1.21rad
⎣ 4.68 − 1.17 ⎦

(b) ω = 2ω n = 20 rad/s
10
X= = .000117 m
(10000 − 40000)2 + (80000)2
kX = (10000)(.000117) = 1.17 N
cωX = (4000)(20)(.000117) = 9.36 N
2
mω X =(100) (20) 2 (.000117) = 4.68 N
From the figure:

⎡ 9.36 ⎤
φ = tan −1 ⎢ ⎥ = −69.4° = −1.21 rad
⎣ 1.17 − 4.68 ⎦

Solution:
Given: m = 100kg, k = 30 kN/m, Fo = 80 N, c = 1000 Ns/m,
ω = 3(2π ) = 18.85 rad/s
kX = 30000 X
cωX = 18850 X
2
mω X =35530 X

Following the figure given in problem 2.32:

⎡ cω X ⎤
φ = tan −1 ⎢ ⎥
(
⎢ k − mω 2 X ⎥
⎣ ⎦ )
−1 ⎡ (18850)X ⎤
φ = tan ⎢ = 106.4° = 1.86 rad
⎣ (30000 − 35530)X ⎥⎦
F0
Also from the figure, X =
( k − mω ) + ( cω )
2 2
2

80
X = = 0.00407 m
(30000 − 35530) 2 + (18850) 2

⎡
( 2⎤
)
2
⎢ k − mω 2
+ cω ⎥ ( )
⎣ ⎦
to verify that this is consistent with the equation (2.36):

f0
Xp =
(ω − ω 2 ) + ( 2ζω nω )
2 2 2
n

and hence establish the equivalence of the exponential approach to solving the damped
vibration problem with method of undetermined coefficients.

Solution:
Fo
Equation (2.55) x p (t) = e j(ωt −θ )
(k − mω ) + (c ω )
2 2 2

⎡ cω ⎤
where θ = tan −1 ⎢ 2 ⎥
⎣ k − mω ⎦
Fo
Using Euler’s Rule: x p (t) = [cos(ω t − θ ) + j sin(ω t − θ )]
(k − mω 2 )2 + (cω )2
Fo
The real part is: x p (t) = cos(ω t − θ )
(k − mω 2 ) 2 + (c ω )2
⎛
Fo / m −1 ⎡ 2ζω nω ⎤
⎞
Rearranging: x p (t) = cos ⎜ ω t − tan ⎢ ⎥ ⎟
⎣ ω n − ω ⎦⎠
2 2
(ω 2 − ω 2 )2 + (2ζω nω )2 ⎝
which has the same form as Equation (2.36).

2.43 Referring to equation (2.56):

F0 s
( ms 2
+ cs + k ) X(s) =
s +ω2
2

and a table of Laplace Transforms (see Appendix B), calculate the solution x(t) by using
a table of Laplace transform pairs and show that the solution obtained this way is
equivalent to (2.36).

Solution: Taking the Laplace transform of the equation of motion is given in Equation
2 Fs
(2.56): X p = (ms + cs + k)X (s) = 2 o 2
s +ω
Solving this expression algebraically for X yields
F0 s f0 s
X(s) = = 2
(ms + cs + k)(s + ω ) (s + 2ζω n s + ω 2 )(s 2 + ω 2 )
2 2 2

2.44 Solve the following system using the Laplace Transform method and the table in
Appendix B:
x(t) + kx(t) = F0 cos ω t, x(0) = x 0 , x(0)
m  = v0
Check your solution against equation (2.11) obtained via the method of undetermined
coefficients.

Solution: Frist divide through by the mass to get:

 + ω n2 x(t) = f0 cos ω t, x(0) = x 0 , x(0)
x(t)  = v0
Taking the Laplace Transform of the equation of motion considering the initial conditions
yields (remember the formulas in table B.1 are for zero initial conditions):
sf
s 2 X(s) − sx 0 − v0 + ω n2 X(s) = 2 0 2
s +ω
sf
⇒ ( s 2 + ω n2 ) X(s) = sx 0 + v0 + 2 0 2
s +ω
Solving this for X(s) yields
sx + v sf0
X(s) = 2 0 20 + 2
s + ω n ( s + ω n )( s 2 + ω 2 )
2

s ⎛v ⎞ ω sf0
= ( x0 ) +⎜ 0 ⎟ 2 n 2 + 2
s + ω n ⎝ ω n ⎠ s + ω n ( s + ω n )( s 2 + ω 2 )
2 2 2

Using table B.1 and taking the Inverse Laplace transform of each term yields

v0 f
x(t) = x 0 cos ω n t + sin ω n t + 2 0 2 (cos ω t − cos ω n t)
ωn ωn − ω
v0 ⎛ f ⎞ f
sin ω n t + ⎜ x 0 − 2 0 2 ⎟ cos ω n t + 2 0 2 cos ω t
=
ωn ⎝ ωn − ω ⎠ ωn − ω
which is in agreement with equation (2.11) derived by the method of undetermined
coefficients. Note that the last term used table B.1, entry 21.

Problems and Solutions Section 2.4 (2.45 through 2.60)

2.45 For a base motion system described by

x + c x + kx = cYω b cos ω b t + kYsin ω b t
m
with m = 100 kg, c = 50 kg/s, k = 1000 N/m, Y = 0.03 m and ωb = 3 rad/s. compute the
magnitude of the particular solution. Last compute the transmissibility ratio.

Solution: First define the usual vibration properties by dividing through by the mass to get
1000 c 50
ωn = = 3.1623 rad/s, ζ = = = 0.079
100 2 mk 2 100,000
ωb 3
r= = = 0.94868
ω n 3.1623
Then use equation (2.70) to compute the magnitude of the particular solution:
1
⎡ 1+ ( 2ζ r )2 ⎤2 ⎡ 1+ ( 2 ⋅ 0.079 ⋅ 0.94868 )
2 ⎤
X =Y ⎢ ⎥ = 0.03 ⎢ ⎥ = 0.033 m
⎢⎣ (1− r 2 ) + ( 2ζ r ) ⎥⎦ ( )
2 2 2
⎢ 1− ( 0.94868 )2 + ( 2 ⋅ 0.079 ⋅ 0.94868 )2 ⎥
⎣ ⎦
Thus the transmissibility is 1.111> 1 and motion is amplified by the system. This is
because the system is near resonance and there is very little damping in the system.

2.46 For a base motion system described by

x + c x + kx = cYω b cos ω b t + kYsin ω b t
m
with m = 100 kg, c = 50 N/m, Y = 0.03 m and ωb = 3 rad/s, find largest value of the
stiffness k and that makes the transmissibility ratio less than 0.75.

Solution: Using the formula from equation (2.71) students can write a program to calculate
values of X/Y for decreasing values of k. Note that if you increase k the ratio r increases moving
the response to values lower then 1 per figure 2.14. Such a procedure yields a value of about k =
665 N/m for a transmissibility ratio of 0.747.

2.47 A machine weighing 2000 N rests on a support as illustrated in Figure P2.47. The
support deflects about 5 cm as a result of the weight of the machine. The floor under the
support is somewhat flexible and moves, because of the motion of a nearby machine,
harmonically near resonance (r =1) with an amplitude of 0.2 cm. Model the floor as base
motion, and assume a damping ratio of ζ = 0.01, and calculate the transmitted force and
the amplitude of the transmitted displacement.

Figure P2.47

Solution:

Given: Y = 0.2 cm, ζ = 0.01, r = 1, mg = 2000N. The stiffness is computed from the
static deflection and weight:
mg mg 2000
Deflection of 5 cm implies: k = = = = 40,000 N/m
Δ 5cm 0.05
1/ 2
⎡ 1 + (2ζ r)2 ⎤
Transmitted displacement from equation (2.70): X = Y ⎢ 2 ⎥
= 10 cm
⎣ (1 − r ) + (2ζ r) ⎦
2 2

1/ 2
⎡ 1 + (2ζ r)2
2
⎤
Transmitted force from equation (2.77): FT = kYr ⎢ 2 ⎥
= 4001N
⎣ (1 − r ) + (2ζ r) ⎦
2 2

2.48 Derive Equation (2.70):

1/ 2
⎡ 1 + (2ζ r)2 ⎤
X=Y ⎢ 2 ⎥
⎣ (1 − r ) + (2ζ r) ⎦
2 2

from (2.68):

1/ 2
⎡ ω 2 + (2ζω b )2 ⎤
x p (t) = ω nY ⎢ 2 n 2 2 2 ⎥
cos( ω bt − θ1 − θ 2 )
⎢⎣ (ω n − ω b ) + (2ζω nω b ) ⎥⎦

to see if the author has done it correctly.

Solution:

Equation (2.68) states:

1/ 2
⎡ ω n2 + (2ζω b )2 ⎤
x p (t) = ω nY ⎢ 2 2 ⎥
cos( ω bt − θ1 − θ 2 )
⎢⎣ (ω n − ω b ) + (2ζω nω b ) ⎥⎦
2 2

1/ 2
⎡ ω n2 + (2ζω b )2 ⎤
The magnitude is: X = ω nY ⎢ 2 2 ⎥
⎢⎣ (ω n − ω b ) + (2ζω nω b ) ⎥⎦
2 2

1/ 2
⎡ (ω n−4 )(ω n2 + (2ζω b )2 ) ⎤
= ω nY ⎢ −4 2 ⎥
⎢⎣ (ω n )((ω n − ω b ) + (2ζω nω b ) ) ⎥⎦
2 2 2

1/ 2
⎡ (ω n−2 )(1 + (2ζ r)2 ) ⎤
= ω nY ⎢ 2 ⎥
⇒
⎢⎣ (1 − r ) + (2ζ r) ⎥⎦
2 2

1/ 2
1 ⎡ 1 + (2ζ r)2 ⎤
= ω nY ⎢ 2 ⎥
⇒
ω n ⎣ (1 − r ) + (2ζ r) ⎦
2 2

1/ 2
⎡ 1 + (2ζ r)2 ⎤
X =Y ⎢ 2 ⎥
⎣ (1 − r ) + (2ζ r) ⎦
2 2

This is equation (2.71).

2.49 From the equation describing Figure 2.13, show that the point ( 2 , 1)
corresponds to the value TR > 1 (i.e., for all r < 2 , TR > 1).

Solution:

1/ 2
X ⎡ 1 + (2ζ r)2 ⎤
Equation (2.71) is TR = =⎢ 2 ⎥
Y ⎣ (1 − r ) + (2ζ r) ⎦
2 2

Show TR > 1 for r < 2

1/ 2
X ⎡ 1 + (2ζ r)2 ⎤
TR = = ⎢ 2⎥
>1
⎣ (1 − r ) + (2ζ r) ⎦
2 2
Y
1 + (2ζ r)2
>1
(1 − r 2 )2 + (2ζ r)2

1 + (2ζ r)2 > (1 − r 2 )2 + (2ζ r)2

1 > (1 − r 2 )2

1 − r 2 < +1 or 1 − r 2 < −1 ⇒
Take the real solution:
−r 2 > −2 ⇒ r 2 < 2 ⇒ r < 2

2.50 Consider the base excitation problem for the configuration shown in Figure P2.50. In this
case the base motion is a displacement transmitted through a dashpot or pure damping
element. Derive an expression for the force transmitted to the support in steady state.

Figure P2.50
Solution: The entire force passes through the spring. Thus the support sees the force FT =
kX where X is the magnitude of the displacement. From equation (2.65)
2ζω nω b kY
FT = kX =
(ω n − ω b2 )2 + (2ζω nω b )2
2

2ζ rkY
=
(1 − r 2 )2 + (2ζ r)2

2.51 A very common example of base motion is the single-degree-of-freedom model of an

automobile driving over a rough road. The road is modeled as providing a base motion
displacement of y(t) = (0.01)sin (5.818t) m. The suspension provides an equivalent
stiffness of k = 3.273 x 104 N/m, a damping coefficient of c = 231 kg/s and a mass of
1007 kg. Determine the amplitude of the absolute displacement of the automobile mass.

Solution:
From the problem statement we have (working in Mathcad)

2.52 A vibrating mass of 300 kg, mounted on a massless support by a spring of stiffness
40,000 N/m and a damper of unknown damping coefficient, is observed to vibrate with a
10-mm amplitude while the support vibration has a maximum amplitude of only 2.5 mm
(at resonance). Calculate the damping constant and the amplitude of the force on the
base.

Solution:

Given: m = 300 kg, k = 40,000 N/m, ω b = ω n (r = 1) , X = 10 mm, Y = 2.5 mm.

Find damping constant (Equation 2.71)

1/ 2 1/ 2
X ⎡ 1 + (2ζ r)2 ⎤ 10 ⎡ 1 + 4ζ 2 ⎤
=⎢ ⎥ ⇒ =⎢ ⎥ ⇒
Y ⎣ (1 − r 2 )2 + (2ζ r)2 ⎦ 2.5 ⎣ 4ζ 2 ⎦
1 + 4ζ 2 1 c2
16 = ⇒ ζ 2
= = or
4ζ 2 60 4km
4(40,000)(300)
c= = 894.4 kg/s
60

Amplitude of force on base: (equation (2.76))

1/ 2
⎡ ⎤
2⎢ 1 + (2ζ r)2 ⎥
FT = kYr ⇒
⎢
( ) ( ) 2 ⎥
2
⎢⎣ 1 − r + 2ζ r
2
⎥⎦
1/ 2
⎡ ⎛ 1 ⎞⎤
⎢1 + 4 ⎜ ⎟ ⎥
⎝ 60 ⎠ ⎥
FT = (40,000)(0.0025)(1)2 ⎢ ⇒
⎢ ⎛ 1⎞ ⎥
⎢ 4⎜ ⎟ ⎥
⎣ ⎝ 60 ⎠ ⎦
FT = 400 N

2.53 Referring to Example 2.4.2, at what speed does car 1 experience resonance? At what
speed does car 2 experience resonance? Calculate the maximum deflection of both cars
at resonance.

Solution:

Given: m 1 = 1007 kg, m 2 =1585 kg, k = 4x10 5 N/m; c = 2,000 kg/s, Y = 0.01m
Velocity for resonance: (from Example 2.4.1)
ω b = 0.2909v (v in km/h)
k 4 × 10 4
Car 1: ω 1 = = = ω b = 0.2909v1
m 1007
v 1 = 21.7 km/h

k 4 × 10 4
Car 2: ω 2 = = = ω b = 0.2909v2
m 1585
v 2 = 17.3 km/h

Maximum deflection: (Equation 2.71 with r = 1)

1/ 2
⎡ 1 + 4ζ 2 ⎤
X=Y ⎢ ⎥ ⇒
⎣ 4ζ ⎦
2

c 2000
Car 1: ζ1 = = = 0.158
2 km1 2 (4 × 10 5 )(1007)
1/ 2
⎡ 1 + 4(0.158)2 ⎤
X 1 = (0.01) ⎢ 2 ⎥ = 0.033 m
⎣ 4(0.158) ⎦

c 2000
Car 2: ζ 2 = = = 0.126
2 km2 2 (4 × 10 4 )(1585 )
1/ 2
⎡ 1 + 4(0.126)2 ⎤
X 2 = (0.01) ⎢ 2 ⎥ = 0.041 m
⎣ 4(0.126) ⎦

2.54 For cars of Example 2.4.2, calculate the best choice of the damping coefficient so that the
transmissibility is as small as possible by comparing the magnitude of ζ = 0.01, ζ = 0.1
and ζ = 0.2 for the case r = 2. What happens if the road “frequency” changes?

Solution:

From Equation 2.62, with r = 2, the displacement transmissibility is:

1/ 2 1/ 2
X ⎡ 1 + (2ζ r)2 ⎤ ⎡ 1 + 16ζ 2 ⎤
=⎢ ⎥ = ⎢ 2 ⎥
Y ⎣ (1 − r 2 )2 + (2ζ r)2 ⎦ ⎣ 9 + 16ζ ⎦
X
For ζ = 0.01, = 0.334
Y
X
For ζ = 0.1, = 0.356
Y
X
For ζ = 0.2, = 0.412
Y
The best choice would be ζ = 0.01.

If the road frequency increases, the lower damping ratio would still be the best choice.
However, if the frequency decreases, a higher damping ratio would be better because it
would approach resonance.

2.55 A system modeled by Figure 2.13, has a mass of 225 kg with a spring stiffness of 3.5 × 10
4
N/m. Calculate the damping coefficient given that the system has a deflection (X) of
0.7 cm when driven at its natural frequency while the base amplitude (Y) is measured to
be 0.3 cm.

Solution:

Given: m = 225 kg, k = 3.5x10 4 N/m, X = 0.7 cm, Y = 0.3 cm, ω = ω b .

Base excitation: (Equation (2.71) with r = 1)
1/ 2 1/ 2
X ⎡ 1 + 4ζ 2 ⎤ 0.7 ⎡ 1 + 4ζ 2 ⎤
=⎢ ⎥ ⇒ =⎢ ⎥ ⇒
Y ⎣ 4ζ 2 ⎦ 0.3 ⎣ 4ζ 2 ⎦
c
ζ = 0.237 =
2 km
c = (0.237)(2)[(3.5x10 4 )(225)] 1/2
c = 1331 kg/s

2.56 Consider Example 2.4.2 for car 1 illustrated in Figure P2.56, if three passengers totaling
200 kg are riding in the car. Calculate the effect of the mass of the passengers on the
deflection at 20, 80, 100, and 150 km/h. What is the effect of the added passenger mass
on car 2?

Figure P2.56 Model of a car suspension with the mass of the occupants, mp, included.

Solution:

Add a mass of 200 kg to each car. From Example 2.4.2, the given values are:
m 1 = 1207 kg, m 2 = 1785 kg, k = 4x104 N/m; c = 2,000 kg/s, ω b = 0.29v.
k 4 × 10 4
Car 1: ω 1 = = = 5.76 rad/s
m 1207
c 2000
ζ1 = = = 0.144
2 km1 2 (4 × 10 5 )(1207)
k 4 × 10 4
Car 2: ω 2 = = = 4.73 rad/s
m 1785
c 2000
ζ2 = = = 0.118
2 km2 2 (4 × 10 5 )(1785)
1/ 2
⎡ 1 + (2ζ r)2 ⎤
Using Equation (2.71): X = Y ⎢ 2 ⎥
produces the following:
⎣ (1 − r ) + (2ζ r) ⎦
2 2

Speed (km/h) ωb r1 r2 x1 x2
(rad/s) (cm) (cm)
20 5.817 1.01 1.23 3.57 1.77
80 23.271 3.871 4.71 0.107 0.070
100 29.088 5.05 6.15 0.072 0.048
150 2.40 7.58 9.23 0.042 0.028

At lower speeds there is little effect from the passengers weight, but at higher speeds the
added weight reduces the amplitude, particularly in the smaller car.

2.57 Consider Example 2.4.2. Choose values of c and k for the suspension system for
car 2 (the sedan) such that the amplitude transmitted to the passenger compartment is as
small as possible for the 1 cm bump at 50 km/h. Also calculate the deflection at 100
km/h for your values of c and k.

Solution:

For car 2, m = 1585 kg.

Also, ω b = 0.2909(50) = 14.545 rad/s and Y = 0.01 m.
From equation (2.70),
1/ 2
⎡ 1 + (2ζ r)2 ⎤
X =Y⎢ 2 ⎥
⎣ (1 − r ) + (2ζ r) ⎦
2 2

From Figure 2.9, we can choose a value of r away from resonance and a low damping
ratio. Choose r = 2.5 and ζ =0.05.

ωb 14.545
So, r = 2.5 = =
ω k / 1585
k = 53,650 N/m
c
ζ = 0.05 =
2 km
c = 922.2 kg/s
1/ 2
⎡ ⎤
⎢ 1 + [2(0.05)(2.5)]2 ⎥
So, X = (0.01) ⎢ ⎥ = 0.00196 m
( ( ))
2
⎢ 1 − 2.5 2 + [2(0.05)(2.5)]2 ⎥
⎢⎣ ⎥⎦

ωb
At 100 km/h, ωb = 29.09 rad/s and r = = 5.
k/m

2.58 Consider the base motion problem of Figure 2.13. a) Compute the damping ratio needed
to keep the displacement magnitude transmissibility less then 0.55 for a frequency ratio
of r = 1.8. b) What is the value of the force transmissibility ratio for this system?

Solution: Working with equation (2.71), make a plot of TR versus ζ and use equation
(2.77) to compute the value of the force transmissibility. The following Mathcad session
illustrates the procedure.

From the plot a value of ζ = 0.2 keeps the displacement transmissibility less then 0.55 as
desired. The value of the force transmissibility is then 1.697. Precise values can be
found by equating the above expression to 0.55.

2.59 Consider the effect of variable mass on an aircraft landing suspension system by
modeling the landing gear as a moving base problem similar to that shown in Figure
P2.56 for a car suspension. The mass of a regional jet is 13, 236 kg empty and its
maximum takeoff mass is 21,523 kg. Compare the maximum deflection for a wheel
motion of magnitude 0.50 m and frequency of 35 rad/s, for these two different masses.
Take the damping ratio to be ζ = 0.1 and the stiffness to be 4.22 x 106 N/m.

Solution: Using a Mathcad worksheet the following calculations result:

Note that if the suspension stiffness were defined around the full case, when empty the
plane would bounce with a larger amplitude then when full. Note Mathcad does not have
a symbol for a Newton so the units on stiffness above are kg/sec2 in order to allow
Mathcad to compute the units.

2.60 Consider the simple model of a building subject to ground motion suggested in Figure
P2.60. The building is modeled as a single degree of freedom spring-mass system where
the building mass is lumped atop of two beams used to model the walls of the building in
bending. Assume the ground motion is modeled as having amplitude of 0.1 m at a
frequency of 7.5 rad/s. Approximate the building mass by 105 kg and the stiffness of
each wall by 3.519 x 106 N/m. Compute the magnitude of the deflection of the top of the
building.

Figure P2.60 A simple model of a building subject to ground motion, such as an

earthquake.

Solution: The equation of motion is

x(t) + 2kx(t) = 0.1cos7.5t
m
The natural frequency and frequency ratio are
2k ω 7.5
ωn = = 8.389 rad/s and r = = = 0.894
m ω n 8.389
The amplitude of the steady state response is given by equation (2.70) with ζ = 0 in this
case:

1
= 0.498 m
X =Y
1− r2
Thus the earthquake will cause serious motion in the building and likely break.

Problems and Solutions Section 2.5 (2.61 through 2.68)

2.61 A lathe can be modeled as an electric motor mounted on a steel table. The table plus the
motor have a mass of 50 kg. The rotating parts of the lathe have a mass of 5 kg at a
distance 0.1 m from the center. The damping ratio of the system is measured to be ζ =
0.06 (viscous damping) and its natural frequency is 7.5 Hz. Calculate the amplitude of
the steady-state displacement of the motor, assuming ω r = 30 Hz.

Soltuion:
Given: m = 50 kg, mo = 5 , e = 0.1m, ζ = 0.06 , ω n = 7.5 Hz
Let ω r =30 Hz
ω
So, r = r = 4
ωn
From Equation (2.84),
me r2 (5)(0.1) 42
X= o =
m (1− r 2 )2 + (2ζ r)2 50 (1− 4 2 )2 + [2(0.06)(4)]2
X = 0.011m
X = 1.1 cm

2.62 The system of Figure 2.19 produces a forced oscillation of varying frequency. As the
frequency is changed, it is noted that at resonance, the amplitude of the displacement is
10 mm. As the frequency is increased several decades past resonance the amplitude of
the displacement remains fixed at 1 mm. Estimate the damping ratio for the system.

Solution: Equation (2.84) is

me r2
X = o
m (1 − r 2 ) 2 + (2ζr ) 2
mo e 1
At resonance, X = 10 mm =
m 2ζ
10m 1
=
mo e 2ζ
Xm
When r is very large, = 1 and X = 1 mm, so
mo e
m
=1
mo e
1
Therefore, 10(1) =
2ζ
ζ = 0.05

2.63 An electric motor (Figure P2.63) has an eccentric mass of 10 kg (10% of the total mass of
100 kg) and is set on two identical springs (k = 3200 /m). The motor runs at 1750 rpm,
and the mass eccentricity is 100 mm from the center. The springs are mounted 250 mm
apart with the motor shaft in the center. Neglect damping and determine the amplitude of
the vertical vibration.

m e ! 0.1 m
e "r t k ! 3200 N/m
m ! 10 kg

Figure P2.63 Vibration model for an

electric motor with an unbalance.

k k

125 mm 125 mm

Solution:
Given m0 = 10 kg, m = 100 kg, k = 2x3.2 N/mm, , e = 0.1 m
rev min 2π rad rad
ω r = 1750 ( ) = 183.26 rad/s
min 60sec rev s
Vertical vibration:

2(3.2)(1000)
ωn = = 8 rad/s
100
ω r 183.3
r= = = 22.9
ωn 8
From equation (2.84)
m r2
X =e 0 == 0.01 m
m |1 − r 2 |

2.64 Consider a system with rotating unbalance as illustrated in Figure P2.63. Suppose the
deflection at 1750 rpm is measured to be 0.05 m and the damping ratio is measured to be
ζ = 0.1. The out-of-balance mass is estimated to be 10%. Locate the unbalanced mass
by computing e.

Solution: Given: X = 0.05 m, ζ = 0.1, me = 0.1m, and from the solution to problem
2.53 the frequency ratio is calculated to be r = 22.9. Solving the rotating unbalance
Equation (2.84) for e yields:

m0 e r2 mX (1 − r 2 )2 + (2ζ r)2
X= ⇒e= = 0.499 m
m (1 − r 2 )2 + (2ζ r) 2 m0 r2
This sort of calculation can be introduced to discuss the application of machinery
diagnostics if time permits. Machinery diagnostics deals with determining the location
and extend of damage from measurements of the response and input.

2.65 A fan of 45 kg has an unbalance that creates a harmonic force. A spring-damper system
is designed to minimize the force transmitted to the base of the fan. A damper is used
having a damping ratio of ζ = 0.2. Calculate the required spring stiffness so that only
10% of the force is transmitted to the ground when the fan is running at 10,000 rpm.

Solution: The equation of motion of the fan is

m˙x˙ + c x˙ + kx = m0 eω 2 sin(ωt + θ)
The steady state solution as given by equation (2.84) is
me r2
x(t) = 0 sin ω t
m (1 − r 2 )2 + (2ζ r)2
where r is the standard frequency ratio. The force transmitted to the ground is
m0 e kr 2 m0 e cω r 2
F(t) = kx + cx = sin ω t + cos ω t
m (1 − r 2 )2 + (2ζ r)2 m (1 − r 2 )2 + (2ζ r)2
Taking the magnitude of this quantity, the magnitude of the force transmitted becomes
m0 e r 2 k 2 + c 2ω 2 1 + (2ζ r)2
F0 = = m0 eω
m (1 − r 2 )2 + (2ζ r)2 (1 − r 2 )2 + (2ζ r)2
From equation (2.81) the magnitude of the force generated by the rotating mass Fr is
Fr = m0 eω
2

The limitation stated in the problem is that F0 = 0.1Fr, or

1 + (2ζ r)2
m0 eω 2 = 0.1m0 eω 2
(1 − r ) + (2ζ r)
2 2 2

Setting ζ = 0.2 and solving for r yields:

4 2
r − 17.84r − 99 = 0
2
which yields only one positive solution for r , which is
2
ω2 k ⎛ 10000 × 2π ⎞ 1
r = 22.28 =
2
⇒ =⎜ ⎟
k m ⎝ 60 ⎠ 22.28
m
2
⎛ 10000 × 2π ⎞ 1
⇒ k = 45 ⎜ ⎟ = 2.21 × 106 N/m
⎝ 60 ⎠ 22.28

2.66 Plot the normalized displacement magnitude versus the frequency ratio for the out of
balance problem (i.e., repeat Figure 2.21) for the case of ζ = 0.05.

Solution: Working in Mathcad using equation (2.84) yields:

2.67 Consider a typical unbalanced machine problem as given in Figure P2.67 with a machine
mass of 120 kg, a mount stiffness of 800 kN/m and a damping value of 500 kg/s. The out
of balance force is measured to be 374 N at a running speed of 3000 rev/min. a)
Determine the amplitude of motion due to the out of balance. b) If the out of balance
mass is estimated to be 1% of the total mass, estimate the value of the e.

Guide Guide

x(t)
Machine of total mass m
m0
e
rt

Friction free
Rubber floor mounting
k c surface
modeled as a spring
and a damper

Figure P2.67 Typical unbalance machine problem.

Solution:
a) Using equation (2.84) with m0e = F0/ωr2 yields:

b) Use the fact that F0= m0eωr2 to get

in meters.

2.68 Plot the response of the mass in Problem 2.67 assuming zero initial conditions.

Solution: The steady state response is the particular solution given by equation (2.84)
and is plotted here in Mathcad:

Problems and Solutions Section 2.6 (2.59 through 2.62)

2.59 Calculate damping and stiffness coefficients for the accelerometer of Figure 2.23 with
moving mass of 0.04 kg such that the accelerometer is able to measure vibration between
0 and 50 Hz within 5%. (Hint: For an accelerometer it is desirable for Z / ! b2 Y =
constant.)

Solution: Use equation (2.90):

Given: m = 0.04 kg with error < 5%

0.2f = 50 Hz ! f = 250 Hz ! ω = 2 !f = 1570.8 rad/s
Thus, k = m! 2 = 98,696 N/m
1
When r = .2, 0.95 < <1.05 (± 5% error)
(1 " r 2 ) 2 + (2!r ) 2

This becomes 0.8317+0.1444 ! 2 <1<1.016+0.1764 ! 2

c
Therefore, ! = 0.7 =
2 km

c = 2(.7) (98696)(.04)

c = 87.956 Ns/m

2.60 The damping constant for a particular accelerometer of the type illustrated in Figure 2.23
is 50 N s/m. It is desired to design the accelerometer (i.e., choose m and k) for a
maximum error of 3% over the frequency range 0 to 75 Hz.

Solution: Given 0.2f = 75 Hz ! f = 375 Hz ! ω n= 2 !f = 2356.2 rad/s. Using

equation (2.93) when r = 0.2:
1
0.97 < <1.03 (± 3% error)
(1 " r ) + (2!r ) 2
2 2

This becomes 0.8671 + 0.1505 ! 2 <1<0.9777+0.1697 ! 2

Therefore, 0.3622 < ! <0.9395

c 50
Choose ! = 0.7 = =
2m" 2m(2356.2)
m = 0.015 kg
k = m! 2n = 8.326 × 104 N/m
2-43

2.61 The accelerometer of Figure 2.23 has a natural frequency of 120 kHz and a damping ratio
of 0.2. Calculate the error in measurement of a sinusoidal vibration at 60 kHz.

Solution:

Given: ω = 120 kHz, ! = .2, ! b = 60 kHz

1 1
So, = = 1.288 > 1
(1 ! r ) + (2"r )
2 2 2
(1 ! .5 ) + (2(.2)(.5)) 2
2 2

1.288 ! 1
The error is × 100% = 28.8%
1

2.62 Design an accelerometer (i.e., choose m, c and k) configured as in Figure 2.23 with very
small mass that will be accurate to 1% over the frequency range 0 to 50 Hz.

Solution:

Given: error < 1% , 0.2f = 50 Hz ! f = 250 Hz ! ω = 2 !f = 1570.8 rad/s

1
When r =0.2, 0.99 < <1.01 (± 1% error)
(1 " r ) + (2!r ) 2
2 2

This becomes 0.9032 + 0.1568 ! 2 <1<0.9401 + 0.1632 ! 2

Therefore, 0.6057 < ! <0.7854

Choose m = 0.01 kg , then k = m! 2 = 24,674 N/m

c
Thus ! = 0.7 = implies that: c = 21.99 Ns/m
2 km
2-44

Problems and Solutions Section 2.7 (2.73 through 2.89)

2.73 Consider a spring-mass sliding along a surface providing Coulomb friction, with stiffness
1.2 × 10 4 N/m and mass 10 kg, driven harmonically by a force of 50 N at 10 Hz.
Calculate the approximate amplitude of steady-state motion assuming that both the mass
and the surface that it slides on, are made of lubricated steel.

Solution: Given: m = 10 kg, k = 1.2x 10 4 N/m, Fo = 50 N, ω =10(2 π ) = 20 π rad/s

k
ω= = 34.64 rad/s
m
for lubricated steel, µ = 0.07

2
⎡ 4 µ mg ⎤
1− ⎢ ⎥
Fo ⎢⎣ π (Fo) ⎥⎦
From Equation (2.109) X =
k (1 − r 2 )
2
⎡ 4(.07)(10)(9.81) ⎤
1− ⎢ ⎥
50 ⎣ π (50) ⎦
X=
1.2 × 104 ⎛ 20π ⎞
2

(1 − ⎜ )
⎝ 34.64 ⎟⎠
X =1.79 × 10 −3 m

2.74 A spring-mass system with Coulomb damping of 10 kg, stiffness of 2000 N/m, and
coefficient of friction of 0.1 is driven harmonically at 10 Hz. The amplitude at steady
state is 5 cm. Calculate the magnitude of the driving force.

Solution:
Given: m = 10 kg, k = 2000 N/m, µ = 0.1, ω =10(2 π ) = 10(2 π ) = 20 π rad/s,
k
ωn = = 14.14 rad/s, X = 5 cm
m
F0 2
k ⎡ 4 µ mg ⎤
Equation (2.108) X= ⇒ F0 = Xk (1 − r ) + ⎢ 2 2
⎥
⎡ 4 µ mg ⎤
2
⎣ π kX ⎦
(1 − r ) + ⎢
2 2
⎥
⎣ π kX ⎦

2
⎛ ⎡ 20π ⎤ 2 ⎞ ⎛ 4(0.1)(10)(9.81) ⎞ 2
F0 = (0.05)(2000) ⎜ 1 − ⎢ ⎟ + = 1874 N
⎜⎝ ⎣ 14.14 ⎥⎦ ⎟⎠ ⎜⎝ π (2000)(.05) ⎟⎠

2.75 A system of mass 10 kg and stiffness 1.5 × 10 4 N/m is subject to Coulomb damping. If
the mass is driven harmonically by a 90-N force at 25 Hz, determine the equivalent
viscous damping coefficient if the coefficient of friction is 0.1.

Solution:
Given: m = 10 kg, k = 1.5x 10 4 N/m, F0 = 90 N, ω = 25(2 π ) = 50 π rad/s,
k
ωn = = 38.73 rad/s, µ = 0.1
m
Steady-state Amplitude using Equation (2.109) is
2 2
⎡ 4 µ mg ⎤ ⎡ 4(0.1)(10)(9.81) ⎤
1− ⎢ ⎥ 1− ⎢ ⎥
F0 ⎣ π (Fo ) ⎦ 90 ⎣ π (90) ⎦
X= = = 3.85 × 10−4 m
k (1 − r )
2
1.5 × 10 4
⎛ 50π ⎞
2

1− ⎜
⎝ 38.73 ⎟⎠
From equation (2.105), the equivalent Viscous Damping Coefficient becomes:
4 µ mg 4(0.1)(10)(9.81)
ceq = = = 206.7 Ns/m
πω X π (50π )(3.85 × 10−4 )

2.76 a. Plot the free response of the system of Problem 2.75 to initial conditions of x(0) = 0
and x (0) = |F 0 /m| = 9 m/s using the solution in Section 1.10.
b. Use the equivalent viscous damping coefficient calculated in Problem 2.75 and plot
the free response of the “equivalent” viscously damped system to the same initial
conditions.

Solution: See Problem 2.75

Fo
(a) x(0) = 0 and x (0) = = 9 m/s
m
k 1.5x10 4
ω= = =38.73 rad/s
m 10

From section 1.10:

x + kx = µ mg for x < 0
m
x + kx = − µ mg for x > 0
m

Let Fd = µ mg = (0.1)(10)(9.81) = 9.81 N

 = ω n B1 = 9
To start, x(0)
F 9
Therefore, A1 = d and B1 =
k ωn
F 9 F
So, x(t) = d cos ω nt + sin ω nt − d
k ω k
This will continue until x = 0, which occurs at time t1 :
F
x(t) = A2 cos ω nt + B2 sin ω nt + d
k
x (t) = −ω n A2 sin ω nt + ω n B2 cos ω nt
F
x(t1 ) = A2 cos ω nt1 + B2 sin ω nt1 + d
k
 1 ) = 0 = −ω n A2 sin ω nt1 + ω n B2 cos ω nt1
x(t
Therefore, A2 = ( x(t1 ) − Fd / k ) cos ω nt1 and B2 = ( x(t1 ) − Fd / k ) sin ω nt1
Fd
So, x(t) = ⎡⎣( x(t1 ) − Fd / k ) cos ω nt1 ⎤⎦ cos ω nt + ⎡⎣( x(t1 ) − Fd / k ) sin ω nt1 ⎤⎦ sin ω nt +
k

Again, when x = 0 at time t 2 , the motion will reverse:

Fd
x(t) = A3 cos ω nt + B3 sin ω nt −
k
x (t) = −ω n A3 sin ω nt + ω n B3 cos ω nt
F
x(t 2 ) = A3 cos ω nt 2 + B3 sin ω nt 2 − d
k

 2 ) = 0 = −ω n A3 sin ω nt 2 + ω n B3 cos ω nt 2
x(t
Therefore, A3 = ( x(t 2 ) + Fd / k ) cos ω nt 2 and B3 = ( x(t 2 ) − Fd / k ) sin ω nt 2
Fd
So, x(t) = ⎡⎣( x(t 2 ) + Fd / k ) cos ω nt 2 ⎤⎦ cos ω nt + ⎡⎣( x(t 2 ) + Fd / k ) sin ω nt 2 ⎤⎦ sin ω nt −
k
This continues until x = 0 and kx < µ mg = 9.81 N

(b) From Problem 2.75, ceq = 206.7 kg/s

The equivalently damped system would be:
x + ceq x + kx = 0
m
k 1.5x10 4
Also, ω n = = = 38.73 rad/s
m 10
ceq 206.7
ζ= = 0.2668
2 km 2 (1.5x104 )(10)
ω d = ω n 1 − ζ 2 = 37.33 rad/s

The solution would be found from Equation 1.36:

x(t) = Ae−ζω n t sin(ω d t + φ )

 = −ζω n Ae−ζω n t sin(ω d t + φ ) + ω d Ae−ζω n t cos(ω d t + φ )
x(t)
x(0) = Asin φ = 0
 = −ζω n Asin φ + ω d A cos φ = 9
x(0)

9
Therefore, A= = 0.2411m and φ = 0 rad
ωd
So, x(t) = 0.2411e−10.335t sin(37.33t)

2.77 Referring to the system of Example 2.7.1; a spring–mass system with sliding friction
described by equation (2.97) with stiffness k = 1.5 × 104 N/m, driving harmonically a 10-
kg mass by a force of 90 N at 25 Hz, calculate how large the magnitude of the driving
force must be to sustain motion if the steel is lubricated. How large must this magnitude
be if the lubrication is removed?

Solution:

From Example 2.7.1 m = 10 kg, k = 1.5 × 10 4 N/m, Fo = 90 N,

ω = 25(2π ) = 50π rad/s
Lubricated Steel µ = 0.07
Unlubricated Steel µ = 0.3
4 µ mg 4(0.07)(10)(9.81)
Lubricated: Fo > =
π π
Fo = 8.74 N
4 µ mg 4(0.3)(10)(9.81)
Unlubricated: Fo > =
π π
Fo = 37.5 N

2.78 Calculate the phase shift between the driving force and the response for the system of
Problem 2.77 using the equivalent viscous damping approximation.

Solution:

From Problem 2.67: m = 10 kg, k = 1.5 × 10 4 N/m, Fo = 90 N,

ω = 25(2π ) = 157.1 rad/s
k
ωn =
= 38.73 rad/s
m
From Equation (2.111), and since r>1
⎡ ⎤
⎢ ⎥
⎢ −4 µ mg ⎥
θ = tan −1 ⎢ ⎥
⎢ ⎛ 4 µ mg ⎞
2 ⎥
⎢π F 1− ⎥
⎢⎣ 0 ⎜ πF ⎟ ⎥⎦
⎝ o ⎠

Since in Problem 2.67, π Fo = 4 µ mg , this reduces to

⎡ −1 ⎤ −π
θ = tan −1 ⎢ ⎥ = rad = -90˚
⎣0⎦ 2

2.79 Derive the equation of vibration for the system of Figure P2.79 assuming that a viscous
dashpot of damping constant c is connected in parallel to the spring. Calculate the energy
loss and determine the magnitude and phase relationships for the forced response of the
equivalent viscous system.
k x(t)

m F0 cos t
Coulomb
c friction

Figure P2.79

Solution: Sum of the forces in Figure P2.79

mx = −kx − cx − µ mg sgn ( x)
mx + cx + µ mg sgn ( x) + kx = 0
Assume the mass is moving to the left ( x(0)  = 0, x(0) = x0 )
mx − cx + µ mg + kx = 0
x + 2ζω n x − µ g + ω n2 x = 0

The solution of the form:
µg
x(t) = aert + 2
ωn
Substituting:
ar 2 ert + 2ζω n arert − µ g + ω n 2 aert + µ g = 0
r 2 + 2ζω n r + ω n 2 = 0
−2ζω n ± 4ζ 2ω n 2 − 4ω n 2
r= = −ζω n ± ω n ζ 2 − 1
2
2 2 µg
So, x(t) = a1e(−ζω n + ω n ζ −1)t + a1e(−ζω n − ω n ζ −1)t + 2
ωn
−ζω n t −ζω d t −ζω d t µg
x(t) = e (a1e + a2 e )+
ω n2
µg
x(t) = Xe−ζω n t sin(ω d t + θ ) +
ω n2
Initial conditions
µg
x(0) = X sin(θ ) + = xo
ω n2
 = X(−ζω n )(sin θ ) + Xω d cosθ = 0
x(0)
− Xζω n sin θ + Xω d cosθ = 0
ω ⎡ω ⎤
tan θ = d ⇒ θ = tan −1 ⎢ d ⎥
ζω n ⎣ ζω n ⎦

⎛ µg ⎞
⎜⎝ xo − ω 2 ⎟⎠ ω d + (ζω n )
2 2

X= n

ωd
⎛ µg ⎞
⎜ x(0) − 2 ⎟ ω d + (ζω n )
2 2

⎝ ωn ⎠ −ζω t
⎛ ⎡ ω ⎤⎞ µ g
x(t) = e n sin ⎜ ω d t + tan −1 ⎢ d ⎥⎟ + 2 (1)
ωd ⎝ ⎣ ζω n ⎦⎠ ω n

 =0:
This will occur until x(t)
 = X(−ζω n )e−ζω n t sin(ω d t + θ ) + A0 e−ζω n tω d cos(ω d t + θ ) = 0
x(t)
−ζω n sin(ω d t + θ ) + ω d cos(ω d t + θ ) = 0
ω
⇒ tan(ω d t + θ ) = d
ζω n
π
t=
ωd
π
So Equation (1) is valid from 0 ≤ t ≤
ωd
For motion to the right

Initial conditions (From Equation (1)):

⎛ µg ⎞
⎛ π ⎞ ⎜ x(0) − 2 ⎟ ζω n
⎛ π ⎞ − ζω n⎜ ⎟ µg ⎝ ωn ⎠ −ζω n ( ωπ ) µg
x ⎜ ⎟ = Xe ⎝ ω d ⎠ cosθ + 2 = e d
+ 2
⎝ ωd ⎠ ωn ωd ωn
⎛ π ⎞
x ⎜ ⎟ = 0
⎝ ωd ⎠
µg
x(t) = A1e − −ζω n t sin(ω d t + θ1 ) −
ω n2
⎛ µg ⎞
⎜ x(0) − 2 ⎟ ζω ⎛ π ⎞
µg ⎝ ωn ⎠ −ζω n ⎜ ⎟ µg
x(0) = A1 sin θ1 − 2 = e ⎝ ωd ⎠ + 2
ωn ωd ωn
 = A1 (−ζω n )sin θ1 + Xω d cosθ1 = 0
x(0)

µg
Solution: x(t) = A1e−ζω n t sin(ω d t + θ1 ) −
ω n2
⎡⎛ µg ⎞ ⎤
⎢ x(0) − ζω ⎥
ω d2 + (ζω n )2 ⎢ ⎜⎝ ω n 2 ⎟⎠ n −ζω n ⎜⎝ ω d ⎟⎠ µ g ⎥
⎛ π ⎞

A1 = ⎢ e + 2⎥
ωd ωd ωn
⎢ ⎥
⎢ ⎥
⎣ ⎦

⎡ω ⎤
θ = tan −1 ⎢ d ⎥
⎣ ζω n ⎦
Forced Case:
x − cx + µ mg sgn ( x)
m  + kx = Fo cos(ω t)

Approximate Steady-state Response:

xss (t) = X sin(ω t − θ )

Energy Dissipated per Cycle:

2π
ω
⎡ dx dx ⎤
ΔE = ∫ Fd dx = ∫ ⎢⎣ cx dt + µ mg sgn x dt ⎥⎦ dt
2π
2π 2π
ω ω
= ∫ (cx dt) + µ mg ∫ sgn( x) xdt
2

2π 2π

ΔE = π cω X + 4 µ mgX
2

This results in an equivalent viscously damped system:

x + 2(ζ + ζ eq )ω n x + ω n 2 x = Fo cos ω t

2µg
where ζ eq =
πω nω X
The magnitude is:
F0
X= k
(1 − r) + (2(ζ + ζ eq )r)2
2

Solving for X:

c 2 r 2 ⎤ ⎡⎢⎛ 4 µ gr ⎞ ⎛ F0 ⎞ ⎤⎥
2 2
⎛ 8µ gcr 2 ⎞ ⎛ 8µ gcr 2 ⎞ ⎡
⎜⎝ π kω ⎟⎠ + ⎜⎝ π kω ⎟⎠ − 2 ⎢(1 − r ) + km ⎥ ⎢⎜ πω ω ⎟ − ⎜⎝ k ⎟⎠ ⎥
2 2

⎣ ⎦ ⎣⎝ n ⎠
⎦
X=
⎡ c2r 2 ⎤
4 ⎢(1 − r 2 )2 + ⎥
⎣ km ⎦
The phase is:
⎡ 4 µ gr ⎤
⎢ 2ζ r + ⎥
⎡ 2(ζ + ζ eq )r ⎤ πω nω X
θ = tan −1 ⎢ ⎥ = tan −1 ⎢ ⎥
⎢⎣ 1 − r
2
⎥⎦ ⎢ 1− r2 ⎥
⎢ ⎥
⎣ ⎦

2.80 A system of unknown damping mechanism is driven harmonically at 10 Hz with an

adjustable magnitude. The magnitude is changed, and the energy lost per cycle and
amplitudes are measured for five different magnitudes. The measured quantities are:

Δ E(J) 0.25 0.45 0.8 1.16 3.0

X (M) 0.01 0.02 0.04 0.08 0.15
Is the damping viscous or Coulomb?
Solution:

For viscous damping, ΔE = π cω X 2

For Coulomb damping, ΔE = 4 µ mgX

For the data given, a plot of ΔE vs X 2 yields a curve, while ΔE vs X yields a straight
line. Therefore, the damping is likely Coulomb in nature

2.81 Calculate the equivalent loss factor for a system with Coulomb damping.

Solution:

ΔE
Loss Factor: η=
2πU max
For Coulomb damping: ΔE = 4 µ mgX
1
U max = kX 2
2
4 µ mgX 4 µ mg
η= =
⎛1 ⎞ π kX
2π ⎜ kX 2 ⎟
⎝2 ⎠
Substituting for X (from Equation 2.109):
4 µ mg 1 − r2
η=
π Fo ⎛ 4 µ mg ⎞
2

1− ⎜
⎝ π Fo ⎟⎠

2.82 A spring-mass system (m = 10 kg, k = 4 × 10 3 N/m) vibrates horizontally on a surface

with coefficient of friction µ = 0.15. When excited harmonically at 5 Hz, the steady-
state displacement of the mass is 5 cm. Calculate the amplitude of the harmonic force
applied.

Solution: Given: m = 10 kg, k = 4 × 10 3 N/m, µ = 0.15, X = 5 cm = 0.05 m,

k
ω = 5(2π ) = 10π rad/s, ω n = = 20 rad/s
m
Equation (2.109)

F0
X= k ⇒
2
⎛ 4 µ mg ⎞ (1 − r 2 )2 + ⎛ 4 µ3mg⎛⎞ ⎛ 10π ⎞ ⎞ ⎛ 4(0.15)(10)(9.81) ⎞
2 2 2 2

Fo = kX (1 − r ) + ⎜2 2
= (0.05)(4 ×⎜⎝ 10 ) ⎜⎟⎠1 − ⎜ ⎟ ⎟ +⎜
⎝ π kX ⎟⎠ π kX
⎝ ⎝ 20 ⎠ ⎠ ⎝ π (4x10 )(0.05) ⎠
3 ⎟

Fo = 294 N

2.83 Calculate the displacement for a system with air damping using the equivalent viscous
damping method.

Solution:

The equivalent viscous damping for air is given by Equation (2.131):

8
ceq = αω X
3π

From Equation 2.31:

Fo Fo
X= =
(ω ) + ( 2ζω ω )
2 2 2 2
2
−ω ⎛c ⎞
n n
(ω 2
n −ω )
2 2
+ ⎜ eq ω n ⎟
⎝ m ⎠
Fo Fo m
X= =
2 2
⎛ 8 ⎞ ⎛ 8 ⎞
(ω 2
n −ω )
2 2
+⎜
⎝ 3π m
αω X ⎟
⎠
k (1 − r ) + ⎜
2 2
⎝ 3π m
αr2 X⎟
⎠

Solving for X and taking the real solution:

2
1 1 ⎛ 16Foα r 2 ⎞
− (1 − r ) +
2 2
(1 − r ) + ⎜
2 2

2 2 ⎝ 3π km ⎟⎠
X=
⎛ 8α r 2 ⎞
⎜⎝ 3π m ⎟⎠

2.84 Calculate the semimajor and semiminor axis of the ellipse of equation (2.119). Then
calculate the area of the ellipse. Use c = 10 kg/s, ω = 2 rad/s and X = 0.01 m.

Solution: The equation of an ellipse usually appears when the plot of the ellipse is
oriented along with the x axis along the principle axis of the ellipse. Equation (2.1109) is
the equation of an ellipse rotated about the origin. If k is known, the angle of rotation can
be computed from formulas given in analytical geometry. However, we know from the
energy calculation that the stiffness does not effect the amount of energy dissipated. Thus
only the orientation of the ellipse is effected by the stiffness, not its area or axis. Thus we
can use this fact to answer the question. First re-write equation (2.119) with k = 0 to get:
F 2 + c 2ω 2 x 2 = c 2ω 2 X 2
2 2
⎛ F ⎞ ⎛ x⎞
⇒⎜ + =1
⎝ cω X ⎟⎠ ⎜⎝ X ⎟⎠
This is the equation of an ellipse with major axis a and minor axis b given by
a = X = 0.01 m, and b = cω X = 0.2 kg m/s 2
The area, and hence energy lost per cycle through the damper then becomes
π cω n X 2 = (3.14159)(10)(2)(.0001) = 0.006283 Joules.
Alternately, realized that Equation 2.119 is that of ellipse rotated by an angle θ defined
by tan2 θ = -2k/( c 2ω n2 + k 2 − 1). Then match the ellipse to standard form, read off the
major and minor axis (say a and b) and calculate the area from π ab . See the following
web site for an elipse http://mathworld.wolfram.com/Ellipse.html

2.85 The area of a force deflection curve of Figure 2.29 is measured to be 2.5 N- m, and the
maximum deflection is measured to be 8 mm. From the “slope” of the ellipse the
stiffness is estimated to be 5 × 10 4 N/m. Calculate the hysteretic damping coefficient.
What is the equivalent viscous damping if the system is driven at 10 Hz?

Solution:

Given: Area = 2.5 N • m , k = 5x 10 4 N/m, X = 8 mm, ω = 10(2π ) = 20π rad/s

Hysteric Damping Coefficient:

ΔE = Area = π k β X 2
2.5 = π (5 × 10 4 )β (0.008)2
β = 0.249

Equivalent Viscous Damping:

k β (5 × 10 4 )(0.249)
ceq = =
ω 20π
ceq = 198 kg/s

2.86 The area of the hysteresis loop of a hysterically damped system is measured to be 5
N • m and the maximum deflection is measured to be 1 cm. Calculate the equivalent
viscous damping coefficient for a 20-Hz driving force. Plot c eq versus ω for 2 π ≤ ω ≤
100 π rad/s.

Solution:

Given: Area = 5 N • m , X = 1 cm, ω = 20(2π ) = 40π rad/s

Hysteric Damping Coefficient:

ΔE = Area = π k β X 2
5 = π k β (0.01)2
k β = 15,915 N/m

Equivalent Viscous Damping:

k β 15915
ceq = =
ω 40π
ceq = 126.65 kg/s

To plot, rearrange so that

π ceqω X 2 = ΔE
ΔE 5 50, 000
ceq = = =
πω X 2
πω (.01) 2
πω

2.87 Calculate the nonconservative energy of a system subject to both viscous and hysteretic
damping.

Solution:

ΔE = ΔEhys + ΔEvisc
ΔE = π cω X 2 + kπβ X 2
ΔE = (cω + k β )π X 2

2.88 Derive a formula for equivalent viscous damping for the damping force of the form, F d =
c( x ) n where n is an integer.

Solution:

Given: Fd = c( x)
 n
Assume the steady-state response x = X sin ω t.
The energy lost per cycle is given by Equation (2.99) as:
2π 2π
ω ω

∫ Fd dx =
ΔE =  ∫ c( x)  = c ∫ ( x)
 n +1 dt
n
xdt
0 0
Substituting for x :
2π
ω

∫ ⎡⎣ω
n +1
ΔE = X n +1 cos n +1 (ω t) ⎤⎦ dt
0
Let u = ω t :
2π

∫ ( cos )
n +1
ΔE = cX ω n n +1
u du
0
Equating this to Equation 2.91 yields:
2π

π ceqω X = cX ω ∫ (cos
2 n +1 n n +1
u)du
0
2π
cX n −1ω n −1
∫ (cos
n +1
ceq = u)du
π 0

2.89 Using the equivalent viscous damping formulation, determine an expression for the
steady-state amplitude under harmonic excitation for a system with both Coulomb and
viscous damping present.

Solution:

ΔE = ΔEvisc + ΔEcoul
ΔE = π cω X 2 + 4umgX

Equate to Equivalent Viscously Damped System

π ceqω X 2 = π cω X 2 + 4 µ mg
π cω X + 4 µ mg 4 µ mg
ceq = = c+ = 2ζ eqω n m
πω X πω X
2µg
ζ eq = ζ +
πωω n X
Amplitude:
Fo Fo
X= k = k
(1 − r ) + (2ζ eq r)2
2 2
⎛ 4 µ mg ⎞
2

(1 − r ) + ⎜ 2ζ r +
2 2
⎟
⎝ π kX ⎠
Solving for X:
c 2 r 2 ⎤ ⎡⎛ 4 µ gr ⎞ ⎛ Fo ⎞ ⎤
2 2
⎛ 8 µ gcr 2 ⎞ ⎛ 8 µ gcr 2 ⎞ ⎡ 2

−⎜ + ⎜ − 4 ⎢(1 − r ) +
2 2
⎥⎢ −⎜ ⎟ ⎥
⎝ π kω ⎟⎠ ⎝ π kαω ⎟⎠ ⎣ km ⎦ ⎢⎜⎝ πω nω ⎟⎠ ⎝ k ⎠ ⎥
⎣ ⎦
X=
⎡ cr ⎤
2 2
2 ⎢(1 − r 2 )2 +
⎣ km ⎥⎦

Problems and Solutions Section 2.8 (2.90 through 2.96)

2.90*. Numerically integrate and plot the response of an underdamped system

determined by m = 100 kg, k = 20,000 N/m, and c = 200 kg/s, subject to the initial
conditions of x0 = 0.01 m and v0 = 0.1 m/s, and the applied force F(t) = 150cos5t. Then
plot the exact response as computed by equation (2.33). Compare the plot of the exact
solution to the numerical simulation.

Solution: The solution is presented in Matlab:

First the m file containing the state equation to integrate is set up and saved as ftp2_72.m

function xdot=f(t, x)
xdot=[-(200/100)*x(1)-(20000/100)*x(2)+(150/100)*cos(5*t); x(1)];
% xdot=[x(1)'; x(2)']=[-2*zeta*wn*x(1)-wn^2*x(2)+fo*cos(w*t) ; x(1)]
% which is a state space form of
% x" + 2*zeta*wn*x' + (wn^2)*x = fo*cos(w*t) (fo=Fo/m)

clear all;

Then the following m file is created and run:

%---- numerical simulation ---
x0=[0.1; 0.01]; %[xdot(0); x(0)]
tspan=[0 10];
[t,x]=ode45('fp2_72',tspan,x0);
plot(t, x(:,2), '.');
hold on;

%--- exact solution ----

t=0: .002: 10;
m=100; k=20000; c=200; Fo=150 ; w=5
wn=sqrt(k/m); zeta=c/(2*wn*m); fo=Fo/m; wd=wn*sqrt(1-zeta^2)
x0=0.01; v0= 0.1;
xe= exp(-zeta*wn*t) .* ( (x0-fo*(wn^2-w^2)/((wn^2-w^2)^2 ...
+(2*zeta*wn*w)^2))*cos(wd*t) ...
+ (zeta*wn/wd*( x0-fo*(wn^2-w^2)/((wn^2-w^2)^2+(2*zeta*wn*w)^2)) ...
- 2*zeta*wn*w^2*fo/(wd*((wd^2-w^2)^2 ...
+ (2*zeta*wn*w)^2))+v0/wd)*sin(wd*t) ) ...
+ fo/((wn^2-w^2)^2+(2*zeta*wn*w)^2)*((wn^2-w^2)*cos(w*t) ...
+ 2*zeta*wn*w*sin(w*t))

plot(t, xe, 'w');

hold off;

This produces the following plot:

2.91*. Numerically integrate and plot the response of an underdamped system

determined by m = 150 kg, and k = 4000 N/m subject to the initial conditions of x0 = 0.01
m and v0 = 0.1 m/s, and the applied force F(t) = 15cos10t , for various values of the
damping coefficient. Use this “program” to determine a value of damping that causes the
transient term to die out with in 3 seconds. Try to find the smallest such value of
damping remembering that added damping is usually expensive.

Solution: The solution is given by the following Mathcad session. A value of c = 350
kg/s corresponding to ζ = 0.226 gives the desired result.

2.92*. Compute the total response of a spring-mass system with the following values: k
1000 N/m, m = 10 kg, subject to a harmonic force of magnitude F 0 = 100 N and
frequency of 8.162 rad/s, and initial conditions given by x 0 = 0.01 m and v 0 = 0.01 m/s,
by numerically integrating rather than using analytical expressions as was done in
Problem 2.8. Plot the response.

Solution: The following session in Mathcad illustrates the solution:

a) zero initial conditions

b) Using and initial condition of x(0) = 0.05 m. Note the difference in the response.

2.93*. A foot pedal for a musical instrument is modeled by the sketch in Figure P2.93.
With k = 2000 N/m, c = 25 kg/s, m = 25 kg and F(t) = 50 cos 2 π tN, numerically simulate
the response of the system assuming the system starts from rest. Also use the small angle
approximation.
F(t)

0.05 m 0.05 m 0.05 m

k c

Figure 2.9
Solution: From problem 2.30, the equation of motion is
9 a 2 m θ + 4 a 2 c cosθθ + a 2 k sin θ = −3a F(t)
where k = 2000 kg, c = 25 kg/s , m = 25 kg , F(t) = 50 cos 2π t , a = 0.05 m
Placing the equation of motion in first order form and numerically integrating
using Mathcad yields

2.94*. Numerically integrate and plot the response of an underdamped system determined
by m = 100 kg, k = 2000 N/m, and c = 200 kg/s, subject to the applied force F(t) = 150
cos 10t, for the following sets of initial conditions:
a) x0 = 0.0 m and v0 = 0.1 m/s
b) x0 = 0.01 m and v0 = 0.0 m/s
c) x0 = 0.05 m and v0 = 0.0 m/s
d) x0 = 0.0 m and v0 = 0.5 m/s
Plot these responses on the same graph and note the effects of the initial conditions on the
transient part of the response.

Solution: The following are the solutions in Mathcad. Of course the other codes and
Toolbox will yield the same results.
a)

Note the profound effect on the transient, but of course no effect on the steady state.

2.95*. A DVD drive is mounted on a chassis and is modeled as a single degree-degree-

of-freedom spring, mass and damper. During normal operation, the drive (having a mass
of 0.4 kg) is subject to a harmonic force of 1 N at 10 rad/s. Because of material
considerations and static deflection, the stiffness is fixed at 500 N/m and the natural
damping in the system is 10 kg/s. The DVD player starts and stops during its normal
operation providing initial conditions to the module of x0 = 0.001 m and v0 = 0.5 m/s.
The DVD drive must not have an amplitude of vibration larger then 0.008 m even during
the transient stage. First compute the response by numerical simulation to see if the
constraint is satisfied. If the constraint is not satisfied, find the smallest value of damping
that will keep the deflection less then 0.008 m.
Solution: The solution is given by the following Mathcad session:

This yields c =17 kg/s as a solution.

2.96 Use a plotting routine to examine the base motion problem (see Figure 2.13) by
plotting the particular solution (for an undamped system) for the three cases k =
1500 N/m, and k = 700 N/m. Also note the values of the three frequency ratios

and the corresponding amplitude of vibration of each case compared to the input.
Use the following values: ωb = 4.4 rad/s, m = 100 kg, and Y = 0.05 m.

Solution: The following Mathcad worksheet shows the plotting:

Note that k2, the softest system (smallest k) has the smallest amplitude, smaller
than the amplitude of the input as predicted by the magnitude plots in section 2.3.
Thus when r > 2 , the amplitude is the smallest.

Problems and Solutions Section 2.9 (2.97 through 2.103)

2.97*. Compute the response of the system in Figure P2.97 for the case that the damping
is linear viscous and the spring is a nonlinear soft spring of the form
k(x) = kx − k1 x 3
and the system is subject to a harmonic excitation of 300 N at a frequency of
approximately one third the natural frequency (ω = ωn/3) and initial conditions of x0 =
0.01 m and v0 = 0.1 m/s. The system has a mass of 100 kg, a damping coefficient of 170
kg/s and a linear stiffness coefficient of 2000 N/m. The value of k1 is taken to be 10000
N/m3. Compute the solution and compare it to the linear solution (k1 = 0). Which system
has the largest magnitude?
x (t)
k

m F (t)
c

Figure P2.97

Solution: The following is a Mathcad simulation. The green is the steady state magnitude
of the linear system, which bounds the linear solution, but is exceeded by the nonlinear
solution. The nonlinear solution has the largest response.

x0 := 0.01
v0 := 0.1 m := 100 k := 2000 c := 170 2.964
1.09
α := 100
k F0 := 300
ωn := ζ :=
c F0 ωn
m f0 := ω :=
2 km m 3
x0
X := Y := X
v0 X1
D ( t , X) :=
( 2 ζ ωn X1 ωn X0
2
) α ( X0) + f0 cos ( ω t)
3

Y1
L( t , Y) :=
2 ζ ωn Y1 ωn Y0 + f0 cos ( ω t)
2
Z := rkfixed ( X , 0 , 10 , 4000 , D)
0
t := Z x := Z 1 W := rkfixed ( Y , 0 , 10 , 4000 , L)

xL := W 1 d ( t) :=
f0
α m = 1 × 10
4

2.964
( ωn2 ω
2 2 ) + ( 2 ζ ωn ω)
2
F := d ( t)

0.2

0.1
x
xL
0 2 4 6 8 10
F
0.1

0.2

2.98*. Compute the response of the system in Figure P2.97 for the case that the damping
is linear viscous and the spring is a nonlinear hard spring of the form
k(x) = kx + k1 x 3
and the system is subject to a harmonic excitation of 300 N at a frequency equal to the
natural frequency (ω = ωn) and initial conditions of x0 = 0.01 m and v0 = 0.1 m/s. The
system has a mass of 100 kg, a damping coefficient of 170 kg/s and a linear stiffness
coefficient of 2000 N/m. The value of k1 is taken to be 10000 N/m3. Compute the

solution and compare it to the linear solution (k1 = 0). Which system has the largest
magnitude?

Solution: The Mathcad solution appears below. Note that in this case the linear
amplitude is the largest!

x0 := 0.01
v0 := 0.1 m := 100 k := 2000 c := 170 2.964
α := 100 1.09
k F0 := 300
ωn := c ωn
m ζ := f0 :=
F0
ω :=
2 km m 1
x0
X := Y := X
v0 X1
D ( t , X) :=
( 2 ζ ωn X1 ωn X0
2
) α ( X0) + f0 cos ( ω t)
3

Y1
L( t , Y) :=
2 ζ ωn Y1 ωn Y0 + f0 cos ( ω t)
2
Z := rkfixed ( X , 0 , 10 , 4000 , D)

t := Z 0 x := Z 1 W := rkfixed ( Y , 0 , 10 , 4000 , L)

xL := W 1 f0
d ( t) :=
α m = 1 × 10
4

2.964
( ωn2 ω
2 2 ) + ( 2 ζ ωn ω)
2
F := d ( t)

0.4

0.2
x
xL
0 2 4 6 8 10
F
0.2

0.4

2.99*. Compute the response of the system in Figure P2.97 for the case that the damping
is linear viscous and the spring is a nonlinear soft spring of the form
3
k(x) = kx − k1 x
and the system is subject to a harmonic excitation of 300 N at a frequency equal to the
natural frequency (ω = ωn) and initial conditions of x0 = 0.01 m and v0 = 0.1 m/s. The
system has a mass of 100 kg, a damping coefficient of 15 kg/s and a linear stiffness
coefficient of 2000 N/m. The value of k1 is taken to be 100 N/m3. Compute the solution
and compare it to the hard spring solution ( k(x) = kx + k1 x 3 ).

Solution: The Mathcad solution is presented, first for a hard spring, then for a soft spring

Next consider the result for the soft spring and note that the nonlinear response is higher
in the transient then the linear case (opposite of the hardening spring), but nearly the
same in steady state as the hardening spring.

2.1000*. Compute the response of the system in Figure P2.97 for the case that the
damping is linear viscous and the spring is a nonlinear soft spring of the form
3
k(x) = kx − k1 x
and the system is subject to a harmonic excitation of 300 N at a frequency equal to the
natural frequency (ω = ωn) and initial conditions of x0 = 0.01 m and v0 = 0.1 m/s. The
system has a mass of 100 kg, a damping coefficient of 15 kg/s and a linear stiffness
coefficient of 2000 N/m. The value of k1 is taken to be 1000 N/m3. Compute the solution
and compare it to the quadratic soft spring ( k(x) = kx + k1 x 2 ).

Solution: The response to both the hardening and softening spring are given in the
following Mathcad sessions. In each case the linear response is also shown for
comparison. With the soft spring, the response is more variable, whereas the hardening
spring seems to reach steady state.

2.101*. Compare the forced response of a system with velocity squared damping with
equation of motion given by:
()
x + α sgn x x 2 + kx = F0 cos ωt
m
using numerical simulation of the nonlinear equation to that of the response of the linear
system obtained using equivalent viscous damping as defined by equation (2.131):
8
ceq = αωX
3π

Use as initial conditions, x0 = 0.01 m and v0 = 0.1 m/s with a mass of 10 kg, stiffness of
25 N/m, applied force of 150 cos (ωnt) and drag coefficient of α = 250.

Solution:

2.102*. Compare the forced response of a system with structural damping (see table 2.2)
using numerical simulation of the nonlinear equation to that of the response of the linear
system obtained using equivalent viscous damping as defined in Table 2.2. Use as initial
conditions, x0 = 0.01 m and v0 = 0.1 m/s with a mass of 10 kg, stiffness of 25 N/m,
applied force of 150 cos (ωnt) and solid damping coefficient of b = 25.

Solution: The solution is presented here in Mathcad

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CH 2

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CH 2

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Problems and Solutions Section 2.1 (2.1 through 2.

For ω = 2.5 rad/sec this becomes

1 0.1 0.1 0.1 1

2 -­‐0.1 0.1 0.1 1

3 0.1 0.1 1.0 1

4 0.1 0.1 0.1 2.1

Insert the values of x 0 , v 0 , f 0 , and ω n for each of the five cases.

x(t) = 0.02033sin 9.837t + 7.7 ×10 −3 (cos9.837t − cos19.675t) m

So the mass of the spring reduced the natural frequency by 1.63 %.

Solution: Using the trig identity

Solution: Given: Beat period: Tb = 0.2 π s.

2.7 An airplane wing modeled as a spring-mass system with natural frequency 40 Hz is

Solution: Given: ω n = 2 π (40) = 80 π rad/s, ω = 2 π (39.9) = 79.8 π rad/s

Solution: Given: k = 1000 N/m, m = 10 kg, F0=100 N, ω = 8.162 rad/s

From Eq. (2.11):

In Mathcad the solution is

100 kg 10 sin 10t N

Using the initial conditions, x(0) = x0 and x(0)

Given: k=2000 N/m, m=100 kg, ω=10 rad/s,

a) x0 = 0 m, v0 = 0 m/s

= 2.795 ×10−3 sin 4.472t −1.25 ×10−3 sin10t

b) x0 = 0.05 m, v0 = 0 m/s

= 0.002795sin 4.472t + 0.05cos 4.472t − 0.00125sin10t

Solution: The equation of motion is

Substituting the following values

k = 1/(1/100+1/500)= 83.333 N/m, m = 89 kg ω = 10 rad/s

and initial conditions: x0 = 0, v0 = 0

The response of the system is evaluated as

Assuming x = 0 to be at equilibrium:

∑F x x = −k(x + Δ) + mgsin θ + 90sin 25t

−kΔ + mgsin θ (2)

Given: v0 = 0, x0 = 0, ω = 2.5 rad/s

2.12 Compute the initial conditions such that the response of :

Solution: From Eq. (2.11):

x + k x = F0 cos ω t to have only one frequency content,

Then the solution becomes

k = mω n2 = 65⋅ (9π ) 2 = 5.196 ×104 N/m

Thus the natural frequency is

X = r θ = 0.442 ⋅0.182 = 0.08 m

Solution: Assuming compatible units, the equation of motion is:

3E hb 3 1.65 × 10 9 N/m 2 (0.003175)(0.038)3 4

Solution: Summing moments the equation of motion is:

 + 4x(t) = 12cos 2t, x(0) = 0, x(0)

and compute the form of the response of the system.

 + 4x(t) = 10sin5t, x(0) = 0, x(0)

and compute the form of the response of the system.

Solution: From Equation (2..25) the response is

Solution: From equation (2.37)

x(t) = Ae−ζωn t sin(ω d t + φ ) + X cos(ωt − θ) ⇒

2.21 Consider the spring-mass-damper system defined by (use basic SI units)

2.22 Show that the following two expressions are equivalent:

Now with As and Bs defined as indicated, the magnitude is computed:

2.23 Calculate the total solution of

Solution: The particular solution is given in equations (2.36) and (2.37).

Solution: Given m = 100kg, k =30,000 N/m, c = 1000 Ns/m, F0 = 80 N and ω =

Next compute the angle from

2. 26 A damped spring-mass system modeled by (units are Newtons)

Dividing through by the mass yields the vibration properties:

2ζω nω 2 ⋅0.012 ⋅ 4.123⋅ 4

Next compute phase for the transient response:

Solution: Summing moments the equation of motion is:

where ζ = 0.01. The polar moment of the shaft of diameter d is

2ζω ω 2 ⋅0.01⋅313.329 ⋅312

The amplitude for the transient is:

x0 − X cos θ −9.415 × 10−3 ⋅0.391

= 9.415 × 10−3 ⎡cos(312t − 1.169) − e−3.133t sin(313.329t + 0.402) ⎤ rad

100 kg 20 cos 6.3t N

Solution: (computations done in Mathcad)

2ζω nω −1 2 ⋅ 0.116 ⋅ 0.966⋅ 3

Assuming x = 0 to be at the equilibrium:

0.05 m 0.05 m 0.05 m

Summing the moments with respect to the point, O:

Substitution of the given values yields (here X = rθ)

Then the general solution is:

Using the initial conditions, x(0) = x0 yields:

 = v0 = ζω ne −ζω n 0 (A1 sin ω d 0 + A2 cos ω d 0) + e −ζω n 0 (A1 cos ω d 0 − A2 sin ω d 0)

2 -‐0.1 0.1 0.1 1