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CH 21
CH 21
A system is said to undergo free vibration when it oscillates only under an initial disturbance with no external forces after the initial disturbance. Examples The oscillations of the pendulum of a clock The vertical oscillatory motion felt by a bicyclist after hitting a road bump The motion of a child on a swing under an initial push
d2y dy a1 2 + a2 + a3 y = 0 dx dx
Auxiliary equation:
a1r 2 + a2 r + a3 = 0
r1 , r2
y = C1e + C2 e
r1 x
r2 x
y = (C1 + C2 x)e
r1 x
y = C1e
From Euler identity:
( a + bi ) x
+ C2 e
( a bi ) x
e i = cos + i sin
y = e ax ( A1 cos(bx ) + A2 sin(bx ))
or
y = Ae sin(bx + )
ax
(m and k are always positive, the roots of the aux. eq. are complex numbers)
k k x = A1 cos( t ) + A2 sin( t )) m m
or
x = A sin(
k t +) m
x = A sin(
k t +) m
n = k m
and
2 k m
n = 2f n = 2
k m
Free vibration only occurs at a certain frequency n. Response is sinusoidal and not decaying (undamped).
2 & &(t ) + n x x (t ) = 0
(1) (2)
and
= tan 1
n x0
v0
x(t ) = A sin( n t + )
Acceleration
2 & &(t ) = n x A sin(nt + )
Example: (m, k, n)
A vehicle wheel, tire, and suspension assembly can be modeled crudely as a single-degree-of-freedom spring-mass system. The mass of the assembly is measured to be about 300 kilograms (kg). Its frequency of oscillation is observed to be 10 rad/s. What is the approximate stiffness of the tire, wheel, and suspension assembly? [Inman ex1.1.2]