Concepts assumed to be already known for this section:

• Linearity; linear differential equations;

• Polar Coordinate System
• Taylor's Theorem

Multiple Spring -Mass systems

The steps to solve this system are exactly the same as earlier. This represents a single degree of
freedom system, that is we only need to define one general coordinate – x

Assume springs undeformed at x=0

x1>0, x2>0, x2>x1,
Consider mass 1

FBD of mass 1

Note here that we set x2 > x1 . The displacement of mass 2 is greater than mass 1. This means that the
spring and damping force 2 will act towards the right. If x1>x2 then the forces of 2 would act
towards the left.

F=ma
−k 1 x 1−c 1 ẋ1 k 2  x 2− x 1c2  ẋ 2− x˙1 =m 1 ẍ1

 m1 x¨1c 1c 2  x˙1−c2 x˙2 k 1k 2 x 1−k 2 x 2=0

Similarly for mass 2:

−k 2  x 2−x 1−c 2  x˙2− x˙1 −k 3 x 2−c 3 ẋ 2=m2 x¨2

 m2 ẍ 2 c2 c 3 x˙2−c2 x˙1k 2k 3 x 2−k 2 x 1=0

We can now write this as a matrix involving the mass matrix, damping matrix and stiffness matrix

 m1 0
0 m2   
x¨1
x¨2
c c
 1 2
−c2
−c 2 c 2c 3   
x˙1
x˙2
k k
 1 2
−k 2
−k 2 k 2k 3    
x1
x2
F t
= 1
F 2 t

Spring mass system with gravity involved

For the case when x 0 ; ẋ 0

−kx F tmg=m ẍ
 m ẍkx=F tmg

Because this is a linear system , we can use superposition

Let x=x 1 x 2
m ẍ1 kx 1=F t 
m x¨2kx 2=mg

We know that the displacement caused by the weight , x 2 is:

x 2=mg /k
Deriving equations of motion using polar coordinates

We know from dynamics that:

v r =ṙ
a r =r̈ −r ̇2

v =r ̇
a =r ̈2 ṙ ̇

Now consider the system:

For the case0 ; ̇0

F =ma∈the ' r ' direction:

−T mgcos =ma r =m−L ̇2 

F =ma∈the '  direction:

−mgsin =ma =m[L ̈]

 mL ̈mgsin =0

LINEARLIZTION

The equation we obtained above is a non-linear equation. We can linearize this by using Taylor's
theorem and assuming that angular displacement is small.
 By Taylor ' s theorem :
3 5
sin =−  −....
3!  5 ! 
 sin ≈

Therefore , for the relationobtained above :

mL ̈mg =0

More Vibration Elements

Torsional Spring

k t torsional spring constant

M =k t 
where M isthe moment

Assumptions:
1) massless
2)stores/releases P.E.

1 2
V = kt 
2

Torsional Dashpot

N.m
c t torsional spring constant [ ]
s
M =c t ̇
∂ E 
=c t ̇2
∂t

Assumptions:
1) massless
2) 2) dissipates energy
DERIVING EQUATIONS OF MOTION USING LAGRANGIAN MECHANICS

We can reach the same equations of motion that we derived using Newtonian Mechanics using
Lagrangian Mechanics. The latter deals with energy, power, and other scalars.

Here we introduce 2 new concepts:

1 Power developed on system 
Fx
=
t

=M t ̇

2 Power dissipated by damper 

1
= ct ̇2
2
1
= x˙2
2c

If qi is the generalized coordinate , then Lagrange Equationis :

d ∂ L dL [∂ −]
− =
dt ∂ q̇ i  dq i [∂ q̇i ]

Consider the following spring mass system:

 For x0 ; ẋ0

1
1 Derive K.E :T = m ẋ 2
2
1
2 Derive P.E. :V = kx 2
2
1 1
3 L=T −V = m ẋ2− kx 2
2 2
4 =F ẋ
1
5 = c  ẋ 2
2

6 Now solve the Lagrangian equation :

d ∂ L dL [∂−]
− =
dt ∂ ẋ  dx [∂ ẋ ]
 m ẍ−kx=F −c ẋ
m ẍc ẋkx=F t