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The Practice of Engineering Dynamics
The Practice of Engineering Dynamics

Ronald J. Anderson
Queen’s University
Kingston, Canada
This edition first published 2020
© 2020 John Wiley & Sons Ltd

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Library of Congress Cataloging-in-Publication data

Names: Anderson, Ron J. (Ron James), 1950- author.

Title: The practice of engineering dynamics / Ronald J Anderson, Queen's
University, Kingston, Canada.
Description: First edition. | Hoboken, NJ, USA : John Wiley & Sons, Inc.,
[2020] | Includes bibliographical references and index.
Identifiers: LCCN 2020004354 (print) | LCCN 2020004355 (ebook) | ISBN
9781119053705 (hardback) | ISBN 9781119053682 (adobe pdf) | ISBN
9781119053699 (epub)
Subjects: LCSH: Machinery, Dynamics of. | Mechanics, Applied.
Classification: LCC TJ170 .A53 2020 (print) | LCC TJ170 (ebook) | DDC
620.1/04–dc23
LC record available at https://lccn.loc.gov/2020004354
LC ebook record available at https://lccn.loc.gov/2020004355

Cover Design: Wiley

Cover Image: © kovop58/Shutterstock

Set in 9.5/12.5pt STIXTwoText by SPi Global, Chennai, India

Printed and bound by CPI Group (UK) Ltd, Croydon, CR0 4YY

10 9 8 7 6 5 4 3 2 1
To June, Stacey, and Kate
 vii

Contents

Preface xi
About the Companion Website xv

Part I Modeling: Deriving Equations of Motion 1

1 Kinematics 3
1.1 Derivatives of Vectors 3
1.2 Performing Kinematic Analysis 5
1.3 Two Dimensional Motion with Constant Length 6
1.4 Two Dimensional Motion with Variable Length 8
1.5 Three Dimensional Kinematics 10
1.6 Absolute Angular Velocity and Acceleration 13
1.7 The General Acceleration Expression 14
Exercises 16

2 Newton’s Equations of Motion 19

2.1 The Study of Motion 19
2.2 Newton’s Laws 19
2.3 Newton’s Second Law for a Particle 20
2.4 Deriving Equations of Motion for Particles 21
2.5 Working with Rigid Bodies 25
2.6 Using F⃗ = m⃗a in the Rigid Body Force Balance 26
⃗
2.7 Using F⃗ = ddtG in the Rigid Body Force Balance 28
2.8 Moment Balance for a Rigid Body 30
2.9 The Angular Momentum Vector – H ⃗ O 33
2.10 A Physical Interpretation of Moments and Products of Inertia 36
2.11 Euler’s Moment Equations 40
2.12 Throwing a Spiral 41
2.13 A Two Body System 42
2.14 Gyroscopic Motion 48
Exercises 52
viii Contents

3 Lagrange’s Equations of Motion 55

3.1 An Example to Start 55
3.2 Lagrange’s Equation for a Single Particle 58
3.3 Generalized Forces 62
3.4 Generalized Forces as Derivatives of Potential Energy 64
3.5 Dampers – Rayleigh’s Dissipation Function 65
3.6 Kinetic Energy of a Free Rigid Body 67
3.7 A Two Dimensional Example using Lagrange’s Equation 70
3.7.1 The Kinetic Energy 70
3.7.2 The Potential Energy 71
3.7.3 The 𝜃 Equation 72
3.7.4 The 𝜙 Equation 73
3.8 Standard Form of the Equations of Motion 73
Exercises 74

Part II Simulation: Using the Equations of Motion 77

4 Equilibrium Solutions 79
4.1 The Simple Pendulum 79
4.2 Equilibrium with Two Degrees of Freedom 80
4.3 Equilibrium with Steady Motion 81
4.4 The General Equilibrium Solution 84
Exercises 85

5 Stability 87
5.1 Analytical Stability 87
5.2 Linearization of Functions 92
5.3 Example: A System with Two Degrees of Freedom 95
5.4 Routh Stability Criterion 99
5.5 Standard Procedure for Stability Analysis 103
Exercises 105

6 Mode Shapes 107

6.1 Eigenvectors 107
6.2 Comparing Translational and Rotational Degrees of Freedom 111
6.3 Nodal Points in Mode Shapes 115
6.4 Mode Shapes with Damping 116
6.5 Modal Damping 118
Exercises 122

7 Frequency Domain Analysis 125

7.1 Modeling Frequency Response 125
7.2 Seismic Disturbances 132
7.3 Power Spectral Density 133
 Contents ix

7.3.1 Units of the PSD 138

7.3.2 Simulation using the PSD 139
Exercises 143

8 Time Domain Solutions 145

8.1 Getting the Equations of Motion Ready for Time Domain Simulation 146
8.2 A Time Domain Example 147
8.3 Numerical Schemes for Solving the Equations of Motion 149
8.4 Euler Integration 149
8.5 An Example Using the Euler Integrator 151
8.6 The Central Difference Method: An 𝒪(h2 ) Method 153
8.7 Variable Time Step Methods 155
8.8 Methods with Higher Order Truncation Error 157
8.9 The Structure of a Simulation Program 159
Exercises 163

Part III Working with Experimental Data 165

9 Experimental Data – Frequency Domain Analysis 167

9.1 Typical Test Data 167
9.2 Transforming to the Frequency Domain – The CFT 169
9.3 Transforming to the Frequency Domain – The DFT 172
9.4 Transforming to the Frequency Domain – A Faster DFT 174
9.5 Transforming to the Frequency Domain – The FFT 175
9.6 Transforming to the Frequency Domain – An Example 176
9.7 Sampling and Aliasing 179
9.8 Leakage and Windowing 184
9.9 Decimating Data 187
9.10 Averaging DFTs 189
Exercises 189

A Representative Dynamic Systems 193

A.1 System 1 193
A.2 System 2 193
A.3 System 3 194
A.4 System 4 194
A.5 System 5 195
A.6 System 6 195
A.7 System 7 196
A.8 System 8 197
A.9 System 9 197
A.10 System 10 198
A.11 System 11 198
A.12 System 12 199
x Contents

A.13 System 13 200

A.14 System 14 200
A.15 System 15 201
A.16 System 16 201
A.17 System 17 202
A.18 System 18 202
A.19 System 19 203
A.20 System 20 203
A.21 System 21 204
A.22 System 22 204
A.23 System 23 205

B Moments and Products of Inertia 207

B.1 Moments of Inertia 207
B.2 Parallel Axis Theorem for Moments of Inertia 208
B.3 Parallel Axis Theorem for Products of Inertia 210
B.4 Moments of Inertia for Commonly Encountered Bodies 210

C Dimensions and Units 213

D Least Squares Curve Fitting 215

Index 219
 xi

Preface

The design of a mechanical system very often includes a requirement for dynamic analysis.
During the early concept design stages it is useful to create a mathematical model of the
system by deriving the governing equations of motion. Then, simulations of the behavior
of the system can be produced by solving the equations of motion. These simulations give
guidance to the design engineers in choosing parameter values in their attempt to create a
system that satisfies all of the performance criteria they have laid out for it.
There is a logical progression of analyses that are required during the design. The design
engineer needs to determine, from the nonlinear differential equations of motion:
● The equilibrium states of the system – these are places where, once put there and not

disturbed, the system will stay. The time varying terms are removed from the differential
equations of motion, leaving a set of nonlinear algebraic equations. The solutions to these
equations provide knowledge of all of the equilibrium states.
● The stability of the equilibrium states – the question here is: if the system is disturbed

slightly from an equilibrium state, will it try to get back to that state or will it move
farther away from it? It is usually not good practice to design systems around unstable
equilibrium states since the system will always tend to move towards a stable equilib-
rium condition. Answering the stability question involves a linearization of the equations
of motion for small perturbations away from the equilibrium states.
● How the system behaves around a stable equilibrium state – the study of small motions

of a mechanical system around a stable equilibrium state lies in the realm of vibrations
and leads to predictions of natural frequencies, mode shapes, and damping ratios, each
of which is very useful during the design process. The linearized differential equations of
motion are used.
● The response to harmonically applied external forces – systems, in stable equilibrium, are

often subjected to harmonic external disturbances at known forcing frequencies and their
response to these forces provides critical design information. The linearized equations of
motion are used.
● The response of the system in the time domain – the fully nonlinear equations of

motion are solved numerically to simulate the response of the system to known external
forces. Large scale motions and the nonlinear characteristics of system elements are
included. This is the numerical equivalent to conducting performance experiments with
xii Preface

a prototype of the system. The design information gleaned from these simulations is,
perhaps surprisingly to some, not very useful in the early stages of the design. Accurate
nonlinear simulations require precise knowledge of system parameters that simply
isn’t available in the early design phases of a project. The time domain simulations are
best left to the prototype testing stage when they can be validated through comparison
of predicted and measured system response. Validated time domain simulations are
valuable tools to use when considering design changes aimed at improving the measured
performance of the system.

The presentation of material in this book divides the practice of engineering dynamics
into three parts.

Part 1. Modeling: Deriving Equations of Motion

Dynamic analysis is based on the use of accurate nonlinear equations of motion for a sys-
tem. Deriving these complicated equations is a task that is prone to error. Because of this, it
is important to derive the governing equations twice, using two different methods of anal-
ysis, and then prove to yourself that the two sets of equations are the same. This is a time
consuming activity but is vital because predictions made from the equations of motion are
critical in the design process. Predictions made using equations with errors are not of any
use. The first part of the book discusses the generation of nonlinear equations of motion
using, firstly, Newton’s laws and, secondly, Lagrange’s equation. Only when the two meth-
ods give the same equations can the analyst proceed to part 2 with confidence.

Part 2. Simulation: Using the Equations of Motion

The second part presents a logical progression of analysis techniques and methods applied
to the governing equations of motion for systems. The progression is from equilibrium solu-
tions that find in what states the system would like to be, to analyzing the stability of these
equilibrium states (stability is usually considered only in textbooks on control systems but
it is vitally important to dynamic systems), to considering small motions about the stable
equilibrium states (this topic is covered in textbooks on vibrations but is, again, vital to engi-
neers doing dynamic analysis), to frequency domain analysis (vibrations again), and finally
to time domain solutions (these are rarely covered in textbooks).

Part 3. Working with Experimental Data

While not usually considered a part of the design process, analysis of experimental data
measured on dynamic systems is critical to creating a successful product. To assist engineers
in developing capabilities in this area, part 3 covers the practical use of discrete fourier
transforms in analyzing experimental data.
In order to emphasize the idea that any dynamic mechanical system can be analyzed
using the sequence of steps presented here, all the exercises at the ends of the chapters are
based on 23 mechanical systems defined in an appendix. Any one of these systems could be
used as an example of all of the types of dynamic analysis.
 Preface xiii

This book is based on course notes that I have developed while teaching a one-semester
graduate course on dynamics over more than two decades. It could just as well be used in
a senior undergraduate dynamics course.

November, 2019 Ronald J. Anderson

Kingston, Canada
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MRS. EWING’S A FLAT IRON FOR A FARTHING.
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MRS. EWING’S MRS. OVERTHEWAY’S REMEMBRANCES.
MRS. EWING’S JAN OF THE WINDMILL.
MRS. EWING’S A GREAT EMERGENCY, and other Tales.
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MRS. GATTY’S PARABLES FROM NATURE. Two Series. Each 1s.
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MISS SHAW’S HECTOR: a Story for Young People.

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ADAM SMITH’S WEALTH OF NATIONS. 2 vols. 3s. 6d. each.
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BURNS’S LIFE. By Lockhart. 3s. 6d.
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 GRIFFITH, FARRAN, & CO.’S
ECONOMICAL SCHOOL & CLUB
LIBRARIES.
MESSRS. GRIFFITH, FARRAN, & CO. desire to call the attention
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others to their new method of supplying cheap Libraries for Schools,
as described below.
All the Books are of the most approved kind, and are thoroughly
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and, in order to meet the needs of the smaller as well as the larger
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These Libraries can be had from any local Bookseller; but, should
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⁂ Specimen Copies of any of the Books will be sent post-free on
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St. Paul’s Churchyard, London.
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CHURCH ECHOES: a Tale Illustrative of the Daily Service of the
Prayer Book. By Mrs. Carey Brock, Author of “Sunday Echoes
in Week-day Hours.” Price 5s. cloth.
“Will be found very useful in leading thoughtful young people to an intelligent use
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By the same Author.

CHANGES and CHANCES. 5s.

WORKING and WAITING. 5s.
MARGARET’S SECRET. 5s.
CHARITY HELSTONE. 5s.
MICHELINE. 5s.
MY FATHER’S HAND. 2s.
CHILDREN at HOME. 5s.
The RECTORY and the MANOR. 5s.
HOME MEMORIES. 5s.
The VIOLETS of MONTMARTRE. 5s.
DAME WYNTON. 3s. 6d.
ALMOST PERSUADED. 1s.

SUNDAY ECHOES IN WEEKDAY HOURS. A Series of Illustrative

Tales. Eight Vols. 5s. each.

1. The Collects.