13

Example A2.1

Given: The system shown below.

Find: The EOM of this system in terms of the coordinate x and the natural frequency of the
system.

+
x A

!
k

B
m

f(t)
14
Vibrations VI-18 ME274

Example A2.2
Example VI.2.2
Given: Blocks A and B (having masses of m and 3m, respectively) are connected by a cable-pulley
Blocks
system A andbelow.
as shown B (having masses
A spring of m and
of sti↵ness 3k3m, respectively)
is attached betweenareAconnected by aAcable-
and ground. second spring
pulley system as shown below. A spring of stiffness k is attached between A
of sti↵ness k is attached between block B and ground. Let x describe the position of A, and ground.
where the
A vertical force f(t) is applied
springs are unstretched when x = 0. to B. Assume the mass of the pulleys to be negligible. Let x
describe the position of A, where the spring is unstretched when x = 0.
Find:Derive
The the
EOMEOM forfor
thethe system
system in in termsofofthe
terms thecoordinate
coordinatexx.and
Determine the natural
the natural frequency of free
frequency
oscillations for of free
this oscillations for this system.
system.

+
x
3k A
m

B
3m

k
 15

Example A2.3

Given: The block has a downward speed of 2 m/s as it passes through its equilibrium position.

Find: The maximum acceleration of the block over one cycle of oscillation. Use k = 1000 N/m
Vibrations VI-19 ME274
and m = 50 kg.

Example VI.2.3
The block has a downward speed of 2 m/sec as it passes
through its equilibrium position. Determine the maximum
acceleration of the block over one cycle of oscillation. Use k k
k = 1000 N / m and m = 50 kg .

m
+
x

3k
16

Example A2.4

Given: The system shown below.

Find: The di↵erential equation of motion for the system using the coordinate x and the natural
frequency of the system. Assume small oscillations of the system.

x+
m k

L/2
m
k

L/2
 17

Example A2.5

Given: The pulley has a mass moment of inertia of IO .

Find: The di↵erential equation of motion for the system in terms of ✓ and the natural frequency
for the system.

k2
!

r
O 4r

k1
18

Example A2.6

Given: The system shown below.

Find: The value of c corresponding to critical damping. Use k = 30 kN/m and m = 35 kg.

+
m x

c
 19

Example A2.7

Given: The system shown below.

Find: The value of the damping constant c, such that the system has 50 percent of critical damping.
Vibrations
Use k = 3000 N/m and m = 10 kg. VI-23 ME274

Example VI.2.7
Determine the value of the damping constant c such that the system
has 50% of critical damping. Use k = 3000!N / m and m = 10 kg .
k

m
+
x

2k
c
 20

Example A2.8

Given: The system shown below.

Find: The value of the damping constant c, such that the system has 50 percent of critical damping.
Use k = 2000 N/m and m = 10 kg.
Vibrations VI-24 ME274

Example VI.2.8
Determine the value of the damping constant c such that +
the system has 50% of critical damping. Use x k
k = 2000!N / m and m = 10 kg .
4k
m

30°

c
 21

Example A2.9

Given: The system shown below.

Find: The free response of the system corresponding to x(0) = x0 and ẋ(0) = 0. Use c = 2.5
lb-s/ft, k = 36 lb/ft and mg = 8 lb.

+
x
k
m

c
22

Example A2.10

Given: The addition of damping to an undamped system causes the period to increase by 25
percent.

Find: The value of the damping ratio after the addition of damping.
 23

Example A2.11

Given: The free response of the single degree of freedom system:

M ẍ + C ẋ + Kx = f (t)

shown below. It is known that M = 2 kg.

Find: The damping coefficient C from this free response plot.

1.5

0.5
x(t)

0.5

1.5
0 5 10 15 20 25 30
time (sec)
24

Example A2.12

Given: The system shown below is released from rest under the action of gravity.

Find: The initial overshoot past the static equilibrium state of the system. Use m = 3 kg, c = 18
N-s/m and k = 108 N/m.

c k

+
m x
 25

Vibrations
Example A2.13 VI-29 ME274

Given: Block A strikes stationary block B with a speed of v. Upon impact, A sticks to B. Assume
Example VI.2.13
all surfaces to be smooth.
Block A strikes stationary block B with a speed of v. Upon impact, A sticks to B.
Find: The
Determine the time
time history
history of
of motion
motionx(t)
x(t) of
of the
the system
system after
after AA sticks
sticksto
toB.
B.Use v = 30
Assume allm/s, k = 3000
N/m, to
surfaces c =be30smooth.
N-s/m Use
and mv ==30 / sec , k = 3000!N / m , c = 30 N / m ! sec and
10mkg.
m = 10 kg .
+
x
v
B
k m
A
2m

c
26

Example A2.14

Given: The system moves in a horizontal plane.

Find: The value of c for critical damping. Assume small oscillations.

k c
O

b
 27

Example A2.15

The location center of percussion P for a rigid body is given by: h = IO /md, where h is the distance
from the support point O to P, d is the distance from the support point O to the center of mass G
and IO is the mass moment of inertia of the body about the support point O. In this example, we
will explore using the free vibration response of a baseball bat suspended from support point O to
determine the location of the bat’s center of percussion.

1. Draw an FBD of the bat.

2. Develop the equation of motion (EOM) of the bat in terms of the angle ✓. Linearize this
EOM for small ✓ (recall that for small ✓ we have sin ✓ ⇡ ✓).
Vibrations VI-31 ME274
3. Based on your linearized EOM, what is the natural frequency of free response of the bat in
terms of the parameters of the problem?
Example VI.2.15
4. Determine the relationship between the distance h to the center of percussion and the natural
frequency of free oscillations for the bat.

5. Discuss how you could set up a simple experiment to determine the location of the center of
percussion of the bat.

O
d h

G
P
28

Example A2.16

Given: When particle A is at rest and with the spring unstretched, a projectile P traveling with
a speed of v impacts and immediately sticks to A.

Find: For this problem:

a) Determine the speed of A immediately after impact. (HINT: Use conservation of momentum
for P and A together to determine this speed. Ignore the influence of the spring and dashpot
on the motion of the block during impact.)
b) Using the coordinate x, determine the equation of motion for the system for times following the
impact of P and A.
c) Determine the response found from the equation of motion in b) above. What is the maximum
displacement of A during this response?

m k
m
P
v
A c

Use the following parameters: v = 10 m/sec, m = 4 kg, k = 3200 N/m and c = 64 kg/sec.
 29

Example A2.17

Given: The two-DOF system shown is described by the coordinates x and ✓. The block and bar
each have a mass of m. The thin bar is homogeneous in its mass distribution and has a length of
L. Let g/L = 2k/m.

Find: For this problem:

a) Determine the mass and sti↵ness matrices for the linearized equations of motion for the system
corresponding to small motion of the coordinates x and ✓.
b) Determine the natural frequencies and modal vectors for the system. Leave your answers for
frequencies in terms of m and k and for modal vectors in terms of L.
c) Determine the response of the system for initial conditions of x(0) = A, and ✓(0) = x(0) =
˙
✓(0) = 0.
30

Example A2.18

Given: The absolute coordinates y1 , y2 and y3 are used to describe the motion of A, B and the
center of mass G of the homogeneous wheel. Blocks A and B, as well as the wheel, each have a
mass of m.

Find: For this problem:

a) Determine the mass and sti↵ness matrices for the system corresponding to the coordinates y1 ,
y2 and y3 .
b) Derive the characteristic equation for the system.
p Express this characteristic equation in terms
of non-dimensional natural frequencies !/ k/m.
c) Determine the natural frequencies from the characteristic equation found in b). You will need
to use a numerical solver from Matlab (or Mathematica). Leave your final answers in terms of
m and k.
d) Using your results from c), determine the modal vectors.
~ (i)T [M ]Y
e) Numerically verify the orthogonality properties of the modal vectors: Y ~ (j) = Y
~ (i)T [K]Y
~ (j) =
0; i 6= j.
 31

Example A2.19

Given: The system shown below is released from rest with the initial displacement conditions of
x1 (0) = x2 (0) = 0 and x3 (0) = A.

Find: Determine the responses x1 (t), x2 (t) and x3 (t).

x1 x2 x3

3
4k k 2m
1 2
m m
32

Example A2.20

Given: Consider the two-DOF system shown below whose motion is to be described by the absolute
generalized coordinates x1 and x2 .

Find: For this problem:

a) Determine the natural frequencies and modal vectors for the system.
b) Determine the beat period of response for the system corresponding to ↵ << 1.

x1 x2

1 2
k αk 2k
2m

A
m m
 33

Example A2.21

Given: Consider the damped two-DOF system shown below whose motion is to be described by
the absolute generalized coordinates x1 and x2 .

Find: For this problem:

a) Determine the undamped natural frequencies and modal vectors for the system.
b) Suppose we would like to create a Rayleigh-damped system: [C] = ↵[M ] + [K] where ↵ = c/m
and = 2c/k. Determine values for c2 , c2 and c3 that produces this desired Rayleigh damping.
These values should be in terms of the parameter c.
c) Write down the two modally-uncoupled
p EOMs. What are the two modal damping ratios ⇣1 and
⇣2 corresponding to c/ km = 0.1?

x1 x2

c1 c2 c3

k m k 2m k