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Ch01-149763
Ch01-149763
Problem 1.1
If ke is the effective stiffness,
fS = keu
k1 k2 u fS k1 u k2 u fS
fS = ( k1 + k2 ) u ke = fS u = k1 + k2 && + keu = p( t ) mu
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Problem 1.2
If ke is the effective stiffness,
fS = keu
k1 k2 u fS
(a)
(b)
(c)
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Problem 1.3
k1 k2 k 1+ k 2
k3 m
Fig. 1.3(a)
k3 m
Fig. 1.3(b)
ke m
Fig. 1.3(c)
This problem can be solved either by starting from the definition of stiffness or by using the results of Problems P1.1 and P1.2. We adopt the latter approach to illustrate the procedure of reducing a system with several springs to a single equivalent spring. First, using Problem 1.1, the parallel arrangement of k1 and k2 is replaced by a single spring, as shown in Fig. 1.3(b). Second, using the result of Problem 1.2, the series arrangement of springs in Fig. 1.3(b) is replaced by a single spring, as shown in Fig. 1.3(c):
1 1 1 = + ke k1 + k2 k3
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Problem 1.4
1. Draw a free body diagram of the mass.
O L m
mgsin mgcos T
(a)
This nonlinear differential equation governs the motion for any rotation . Method 2: Equilibrium of moments about O yields
&& = mgL sin mL2
or
&& + mg sin = 0 mL
3. Linearize for small . For small , sin , and Eq. (a) becomes
&& + mg = 0 mL && + = 0 g L
(b)
n =
g L
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Problem 1.5
1. Find the moment of inertia about O. From Appendix 8,
I0 = 1 1 L mL2 + m = mL2 2 12 3
2
L/2
mg
M
mg
&& = I 0
(a)
4. Specialize for small . For small , sin and Eq. (a) becomes
mL2 && mgL + =0 3 2 && + 3 g =0 2 L
(b)
n =
3 g 2 L
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Problem 1.6
1. Find the moment of inertia about about O.
n =
4 g 3 L
I0 =
r
0
dA
In each case the system is equivalent to the springmass system shown for which the equation of motion is
w && + ku = 0 g u
= r 2 ( r dr )
L4 4 1 = mL 2 2 =
w
The spring stiffness is determined from the deflection u under a vertical force fS applied at the location of the lumped weight: Simply-supported beam: u = Cantilever beam: u =
fS L3 48 EI k = 48 EI L3
2L/3 x
fS L
3 EI
fS L3 192 EI
k =
k =
3 EI L3
192 EI L3
mg
Clamped beam: u =
M
mg
&& = I 0
(a)
4. Specialize for small . For small , sin , and Eq. (a) becomes
mL2 && 2mgL + =0 2 3
or
&& + 4 g =0 3 L
(b)
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Problem 1.7
Draw a free body diagram of the mass:
fS
m u p ( t)
(a)
FG IJ H K
(b)
Substitute Eq. (b) into Eq. (a) to obtain the equation of motion: AE && + mu u = p( t ) L
FG IJ H K
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Problem 1.8
Show forces on the disk:
fS O
where
IO =
m R2 2
(a)
FG GJ IJ H LK FG IJ H K
where
J =
d4
32
(b)
F mR I F d GI GH 2 JK && + GH 32 L JK
2 4
= 0
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FG w IJ u H g K && + ku = 0
k
w u
The spring stiffness is determined from the deflection u under a vertical force fS applied at the location of the lumped weight: 48 EI f L3 Simply-supported beam: u = S k = 48 EI L3 3 f L 3EI Cantilever beam: u = S k = 3EI L3 3 192 EI f L Clamped beam: u = S k = 192 EI L3
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Problem 1.12
L
(d)
u = spring + beam
f s = k spring = k beam beam
(e) (f)
EI
Substitute for the s from Eq. (f) and for u from Eq. (d): Fig. 1.12a
fs f f = s + s ke k k beam ke =
Undeformed position st u u Deformed position Static Equlibrium
kk beam k + k beam k 48 EI / L3 48 EI k+ 3 L
ke =
n =
ke m
Fig. 1.12b
fs
fs mu p(t) w
..
Fig. 1.12c 1. Write the equation of motion. Equilibrium of forces in Fig. 1.12c gives
&& + f = w + p (t ) mu s
(a)
where
fs = k e u
(b)
(c)
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Problem 1.13
Compute lateral stiffness:
1 3 EI c /h h
3
k = 2 kcolumn = 2
3 EIc 6 EIc = 3 h h3
Equation of motion:
&& + ku = p( t ) mu
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Problem 1.14
1. Define degrees of freedom (DOF).
2 3 1
k 22
k 23
k 22 = k 32 k12
2. Reduced stiffness coefficients. Since there are no external moments applied at the pinned supports, the following reduced stiffness coefficients are used for the columns. Joint rotation:
EI
3EI L2
L 1
u3 = 1, u1 = u2 = 0
k23
k33
k13
3 EI L
3 EI L2
Joint translation:
EI
3EI L3
1
3EI L2 3EI
L3
Hence
6 3h EI c k = 3 3h 5h 2 h 2 3h h 3h h2 5h 2
k21
k 31
4. Determine lateral stiffness. The lateral stiffness k of the frame can be obtained by static condensation since there is no force acting on DOF 2 and 3:
6 3h EI c 3h 5h 2 h3 2 3h h 3h u1 f S h 2 u2 = 0 5h 2 u3 0
k11 = 2
3EI c h
3
= h2
6 EI c h3
k 21 = k31 =
3EI c
First partition k as
6 3h EI c k = 3 3h 5h 2 h 2 3h h 3h k tt h2 = k t0 5h 2 k t0 k 00
u2 = 1, u1 = u3 = 0
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where
k tt = k t0 = k 00 = EI c h3 EI c h3
[6] [3h
3h] h2 5h 2
EI c 5h 2 2 h3 h
Since
1 k 00 =
h 24 EI c
5 1 1 5
we get
k= k= k= 6 EI c h EI c
3
EI c h
3
[3h
3h]
h 24 EI c
5 1 EI c 3h 1 5 3 3h h
h3 3EI c h3
[6 3]
5. Equation of motion.
&& + mu
3EIc u = p(t ) h3
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Problem 1.15
Ib = I c / 2 h Ic 2h Ic 1 k
u3 = 1, u1 = u2 = 0
k23 k33
k13
Hence
24 EI c k = 3 6 h h 6 h 6h 5h
1 2 2
h2
k11 = 2
12 EIc 24 EIc = h3 h3
The lateral stiffness k of the frame can be obtained by static condensation since there is no force acting on DOF 2 and 3:
24 EI c 6 h h3 6 h 6h 5h
1 2 2 1 2
k21 = k31 =
6 EIc h2
h2
6 h u1 f S h 2 u 2 = 0 5h 2 u 3 0
u2 = 1, u1 = u3 = 0
k22 k32 k12
First partition k as
24 EI c k = 3 6 h h 6 h 6h 5h
1 2 2 1 2
h2
6h k tt h2 = T k t 0 5h 2
k t0 k 00
k22 =
k32 = k12 =
where
ktt = kt 0 =
EIc 24 h3 EIc 6h 6h h3
k 00 =
EI c 5h 2 1 2 h3 2 h
1 2
h2 5h 2
Since
1 = k 00
4h 99 EI c
5 1 2 1 5 2
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we get
k = 6h 24 EI c EI c 4h 5 1 2 EI c 3 [6h 6h] 1 3 3 5 99 EI c h h h 2 6 h EI 144 ) = 3c (24 11 h 120 EI c = 11 h3
Substituting = Ib 4 Ic = 1 8 gives
k = 12 1 +1 24 EI c 5 120 EI c 8 = 24 EI c = 3 1 3 h 12 8 + 4 h 11 11 h 3
Equation of motion:
120 EI c && + mu 11 3 h u = p (t )
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Problem 1.16
1. Define degrees of freedom (DOF).
u3 h EIc u2 2h m EIc /2 EIc u5 u4
u3 = 1 , u1 = u2 = u4 = u5 = 0
u3 =1
u1
u4 = 1 , u1 = u2 = u3 = u5 = 0
u4 =1
k11 = 2
12 EI c 24 EIc = 3 3 h h 6 EIc 2 h 4 EIc + h 6 EI k14 = 2 c h 2 EIc k 34 = = 2(2h ) k 44 = 4EI c 5EI c = 2(2h) h k 24 = 0 EI c 2h k54 = 2EI c h
k 21 = k 31 = k 41 = k 51 = u2 = 1 , u1 = u3 = u4 = u5 = 0
u2 =1
u5 = 1 , u1 = u2 = u3 = u4 = 0
k 22 = k 32
4 EIc h 2EI c = h
k12 =
6 EI c 2 h
u5 =1
k 25 = k 35 = 0
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6h 0 h2 5h 2 2h 2
h2 0
6h 0 0 2 h2 4 h2
6h
1 2
0 h2
h2 0
5h 2 2h 2
6h 0 k tt 0 = T kt 0 2h 2 4h 2
kt 0 k 00
k=
24 EIc 22EI c 2 EI c = 3 h3 h3 h
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Problem 1.17
(a) Equation of motion in the x-direction. The lateral stiffness of each wire is the same as the lateral stiffness of a brace derived in Eq. (c) of Example 1.2:
AE 2 kw = cos L AE 2 o 1 AE cos 45 = = 2 2 h h 2
Each of the four sides of the structure includes two wires. If they were not pretensioned, under lateral displacement, only the wire in tension will provide lateral resistance and the one in compression will go slack and will not contribute to the lateral stiffness. However, the wires are pretensioned to a high stress; therefore, under lateral displacement the tension will increase in one wire, but decrease in the other; and both wires will contribute to the lateral direction. Consequently, four wires contribute to the stiffness in the x-direction:
kx = 4 kw = 2 AE h
(b) Equation of motion in the y-direction. The lateral stiffness in the y direction, ky = kx , and the same equation applies for motion in the y-direction:
&&y + kyuy = 0 mu
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Problem 1.18
z h h O f f Fig. 1.18(a)
I
kw h 2 O u = 1
Fig. 1.18(b)
1. Set up equation of motion. The elastic resisting torque fS and inertia force fI are shown in Fig. 1.18(a). The equation of dynamic equilibrium is
&& + fS = 0 fI + fS = 0 or IOu
(a)
where
IO = m h2 + h2 mh2 = 12 6
(b)
(c)
Introduce u = 1 in Fig. 1.18(b) and identify the resisting forces due to each wire. All the eight forces are the same; each is kw h 2 , where, from Problem 1.17, kw = AE 2 2 h
h h 2 2 2 AE h
(d)
3. Set up equation of motion. Substituting Eq. (d) in (c) and then Eqs. (c) and (b) in (a) gives the equation of motion:
mh2 AEh && + u u = 0 6 2
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Problem 1.19
ut m k c ug Fig. 1.19(a) Fig. 1.19(b) v ut - u
g
Displacement u t is measured from the static equilibrium position under the weight m g . From the free-body diagram in Fig. 1.19(b)
fI + fD + fS = 0
(a)
where
(b)
Noting that x = vt and transferring the excitation terms to the right side gives the equation of motion:
&&t + cu & t + ku t = cu &g ( vt ) + kug ( vt ) mu
2012 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. For information regarding permission(s), write to: 20 Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.