Learning Module 3.

Modelling of Mechanical Systems

In this chapter, let us discuss the differential equation modeling of mechanical systems. There
are two types of mechanical systems based on the type of motion.

● Translational mechanical systems

● Rotational mechanical systems

Course Packet 1. Modeling of Translational Mechanical Systems

Translational mechanical systems move along a straight line. These systems mainly consist of
three basic elements. Those are mass, spring and dashpot or damper.
If a force is applied to a translational mechanical system, then it is opposed by opposing forces
due to mass, elasticity and friction of the system. Since the applied force and the opposing forces
are in opposite directions, the algebraic sum of the forces acting on the system is zero. Let us
now see the force opposed by these three elements individually.

1. Mass

Mass is the property of a body, which stores kinetic energy. If a force is applied on a body
having mass M, then it is opposed by an opposing force due to mass. This opposing force is
proportional to the acceleration of the body. Assume elasticity and friction are negligible.
Where,
● F is the applied force
● Fm is the opposing force due to mass
● M is mass
● a is acceleration
● x is displacement

2. Dashpot

If a force is applied on dashpot B, then it is opposed by an opposing force due to friction of the
dashpot. This opposing force is proportional to the velocity of the body. Assume mass and
elasticity are negligible.
Where,
● Fb is the opposing force due to friction of dashpot
● B is the frictional coefficient
● v is velocity
● x is displacement

3. Spring

Spring is an element, which stores potential energy. If a force is applied on spring K, then it is
opposed by an opposing force due to elasticity of spring. This opposing force is proportional to
the displacement of the spring. Assume mass and friction are negligible.

Where,
● F is the applied force
● Fk is the opposing force due to elasticity of spring
● K is spring constant
 ● x is displacement

Course Packet 2. Modeling of Rotational Mechanical Systems

Rotational mechanical systems move about a fixed axis. These systems mainly consist of three
basic elements. Those are moment of inertia, torsional spring and dashpot.
If a torque is applied to a rotational mechanical system, then it is opposed by opposing torques
due to moment of inertia, elasticity and friction of the system. Since the applied torque and the
opposing torques are in opposite directions, the algebraic sum of torques acting on the system
is zero. Let us now see the torque opposed by these three elements individually.

1. Moment of Inertia

In translational mechanical system, mass stores kinetic energy. Similarly, in rotational

mechanical system, moment of inertia stores kinetic energy.
If a torque is applied on a body having moment of inertia J, then it is opposed by an opposing
torque due to the moment of inertia. This opposing torque is proportional to angular acceleration
of the body. Assume elasticity and friction are negligible.

Where,
● T is the applied torque
● Tj is the opposing torque due to moment of inertia
● J is moment of inertia
● α is angular acceleration
● θ is angular displacement
 2. Torsional Spring

In translational mechanical system, spring stores potential energy. Similarly, in rotational

mechanical system, torsional spring stores potential energy.
If a torque is applied on torsional spring K, then it is opposed by an opposing torque due to the
elasticity of torsional spring. This opposing torque is proportional to the angular displacement of
the torsional spring. Assume that the moment of inertia and friction are negligible.

Where,
● T is the applied torque
● Tk is the opposing torque due to elasticity of torsional spring
● K is the torsional spring constant
● θ is angular displacement

3. Dashpot

If a torque is applied on dashpot B, then it is opposed by an opposing torque due to

the rotational friction of the dashpot. This opposing torque is proportional to the angular
velocity of the body. Assume the moment of inertia and elasticity are negligible.
Where,
● Tb is the opposing torque due to the rotational friction of the dashpot
● B is the rotational friction coefficient
● ω is the angular velocity
● θ is the angular displacement

Course Packet 3. Electrical Analogies of Mechanical Systems

Two systems are said to be analogous to each other if the following two conditions are satisfied.

● The two systems are physically different

● Differential equation modelling of these two systems are same
Electrical systems and mechanical systems are two physically different systems. There are two
types of electrical analogies of translational mechanical systems. Those are force voltage
analogy and force current analogy.

1. Force Voltage Analogy

In force voltage analogy, the mathematical equations of translational mechanical system are
compared with mesh equations of the electrical system.
Consider the following translational mechanical system as shown in the following figure.
The force balanced equation for this system is

Consider the following electrical system as shown in the following figure. This circuit consists of
a resistor, an inductor, and a capacitor. All these electrical elements are connected in a series.
The input voltage applied to this circuit is VV volts and the current flowing through the circuit
is ii Amps.

Mesh equation for this circuit is


Translational Mechanical System Electrical System

Force(F) Voltage(V)

Mass(M) Inductance(L)

Frictional Coefficient(B) Resistance(R)

Spring Constant(K) Reciprocal of Capacitance (1c)(1c)

Displacement(x) Charge(q)

Velocity(v) Current(i)

2. Torque Voltage Analogy

In this analogy, the mathematical equations of rotational mechanical system are compared
with mesh equations of the electrical system.
Rotational mechanical system is shown in the following figure.

The torque balanced equation is

3. Force Current Analogy

In force current analogy, the mathematical equations of the translational mechanical
system are compared with the nodal equations of the electrical system.
Consider the following electrical system as shown in the following figure. This circuit consists of
current source, resistor, inductor and capacitor. All these electrical elements are connected in
parallel.

The nodal equation is

while

Update: For the segregation of duties, Electrical System

you can assign members to work
either on reporting, project, or both. �

Force(F) Current(i)

Mass(M) Capacitance(C)

Frictional coefficient(B) Reciprocal of Resistance(1R)(1R)

Spring constant(K) Reciprocal of Inductance(1L)(1L)

Displacement(x) Magnetic Flux(ψ)

Velocity(v) Voltage(V)
 4. Torque Current Analogy

In this analogy, the mathematical equations of the rotational mechanical system are compared
with the nodal mesh equations of the electrical system.

Rotational Mechanical System Electrical System

Torque(T) Current(i)

Moment of inertia(J) Capacitance(C)

Rotational friction coefficient(B) Reciprocal of Resistance(1R)(1R)

Torsional spring constant(K) Reciprocal of Inductance(1L)(1L)

Angular displacement(θ) Magnetic flux(ψ)

Angular velocity(ω) Voltage(V)

These analogies are helpful to study and analyze the non-electrical system like mechanical
system from analogous electrical system.