MEEM 3700

Mechanical Vibrations
Mohan Rao
Chuck Van Karsen
Mechanical Engineering-Engineering Mechanics
Michigan Technological University
Copyright 2003

MEEM 3700

Lecture 5-Energy Method

Single Degree of Freedom Free Vibration-Energy

Method

M
Given an initial condition, Determine the resulting motion
MEEM 3700

Lecture 5-Energy Method

Energy Method: Conservation of Energy

K

K.E. +P.E. = constant

T + U = constant

X
Total Kinetic energy in the system

1 &2
T= mX
2

MEEM 3700

Lecture 5-Energy Method

Energy Method: Conservation of Energy

U = Total potential energy in the system
K
X

U = potential energy in the spring +

change in potential energy due to
elevation

1
U=mgx+ Kx 2 -mgx
2

MEEM 3700

Lecture 5-Energy Method

Energy Method: Conservation of Energy

T + U = constant
Therefore the rate of change of
system energy must be zero

d (T + U )
=0
dt

1
1
T+U= mx& 2 + Kx 2
2
2

d(T+U) 2
2
&&& Kxx=0
&&&
= mxx+
dt
2
2

MEEM 3700

Lecture 5-Energy Method

Energy Method: Conservation of Energy

d (T + U ) 2 & && 2
& =0
= mXX + KXX
dt
2
2
Equation of motion

mx&& + Kx = 0

Solution to equation of motion (as before)

x& (0)
x(t) = x(0) cosn t +
sin n t
n
MEEM 3700

n = K m
or n =

K eq
m eq

eq = equivalent values

Lecture 5-Energy Method

The classic pendulum problemproblemEnergy Method

Case 1: Energy method
Determine the equation of motion
and the natural frequency

Kinetic Energy

1 d (sin )
T = m
L
2 dt

for small angles sin

2
1
T = m(& L )
2
MEEM 3700

Lecture 5-Energy Method

Potential energy U, is proportional to

the change in elevation of the mass
L

L L cos

U = mg(L L cos )

MEEM 3700

Lecture 5-Energy Method

T + U = constant
2
1
T + U = m(& L ) + mg(L L cos )
2
d (T + U )
=0
dt
2 & 2&&
mL + mgL sin & = 0
2
L

L&& + g = 0 Equation of motion

n = g

MEEM 3700

Lecture 5-Energy Method

The classic pendulum problemproblemNewton

Newtons Method
Case 2: Newtons method

F = m&x&
L

M = J&&

MEEM 3700

10

Lecture 5-Energy Method

Free body diagram

T

mgcos

m
mg

mg

mgsin

MEEM 3700

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Lecture 5-Energy Method

Free body diagram

M = J&&

mg sin L = J&&
mgsin

mg

mL2&& + mgL = 0
L&& + g = 0
MEEM 3700

n = g

L
12

Lecture 5-Energy Method

Pendulum problem: mass of bar is considered

Kinetic Energy

Connecting bar
Mass M, length L

1
1
T = Tbar + Tbob = Jo&2 + mL2&2
2
2
2

2
L ML
L
Jo = Jcg + M =
+M
12
2
2
M
1
T = m + L2&2
2
3

MEEM 3700

13

Lecture 5-Energy Method

Pendulum problem: mass of bar is considered

Connecting bar
Mass M, length L

Potential Energy

U = U bar + U bob
L L
U = Mg ( cos ) + mg ( L L cos )
2 2
MEEM 3700

14

Lecture 5-Energy Method

Equation of Motion
d
(T + U ) = 0
dt
d 1
M 2 &2
L

m + L + Mg (1 cos ) + mgL(1 cos ) = 0

3
2
dt 2

M 2 &&
M

m + L + m + gL sin = 0
3
2

for small angles sin =

M 2 &&
M

m + L + m + gL = 0
3
2

m+
2
n =
M

m+
3

MEEM 3700

15

Lecture 5-Energy Method

Compound Pendulum problem

= J 0&&

pivot
o

mg sin d = J 0&&
cg

J o&& + mgd = 0
MEEM 3700

16

Lecture 5-Energy Method