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003 Engineering Dynamics

Problem Set 11

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Problem 2: 2 DOF cart with a slender rod

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 The linearized equations of motion for the
system are the same as found in problem set
10 except that an external torque, - c ,
resulting from the linear damper at the pivot
must be included in Equation 2 below, the
rotational equation of motion:

l
 m1  m2  x  bx  kx  m2
2
 
 cos    2 sin   0 (1)
2
l l l
m2 x cos   m2   m2 g sin   c  0, and (2)
2 3 2

In the previous problem set the linearized equations were found. When the additional torsional
damping term is included the linearized equations become:

l
 m1  m2  x  bx  kx  m2   0, and (3)
2
l l2 l
m2 x  m2   c  m2 g   0,
2 3 2
These may be expressed in matrix form:
x x x
M     C      K     0, where [M], [C] and [K] are known as the
     
mass, damping and stiffness matrices.

 l
 m1  m2  m2 2   x  b 0   x  
k 0 
    +   +   x  = 0 (4)
  l
 m l l 2    0 c     0 m2 g    0
 2 m2   2
2 3

Substitution of the physical quantities in these equations of motion yields:

2
 1.5kg 0.5kg  m   x  0.05 N  s / m 0   x  10 N / m 0  x
0.5kg  m 0.667 kg  m 2            0
    0 0.025 N  m  s     0 4.905 N  m   
The units are shown to emphasize that a consistent set must be used. Without showing the
units, a very compact statement of the equations of motion results:
1.5 0.5   x  0.05 0.0   x  10 0  x
0.5 0.667      0.0 0.025     0 4.905    0. (5)
        

In Problem Set #10 the undamped, linearized equations of motion were used to find the
following undamped natural frequencies and mode shapes.

1  2.158 radians/second
 2  3.746 radians/second
Mode shapes:
(1)
X / X   1.0 
Mode 1:    
 / X  1.295
(2)
X / X   1.0 
Mode 2:    
 / X  1.5749 

These mode shapes have been normalized by dividing both elements of the mode shape by the
top element,x. This forces the mode shape to be normalized such that the top element is 1.0.
This information is used in this problem to guide the student through a step by step application of
the method of modal analysis. In modal analysis the total system response is found in terms of
each modes contribution to the total. The first step is to define a matrix of mode shapes [U].

a) Express the mode shapes, given above, as a matrix in the following form:
  1 (1)  1 (2) 
U   u u   u2  u2   . [U] is the matrix of mode shape vectors, which in
(1) (2)

  u1   u1  
this case has been normalized so that the top element of each vector is equal to 1. Find UT the
transpose of U, and find the inverse of U. The last is most easily done numerically with a
program such as Matlab. But for a 2x2 matrix it may also be done directly by hand computation.
Refer to any linear algebra text.

b) Compute U T MU , U T KU , and U T CU , the modal mass, modal stiffness and modal damping
matrices. These matrices should be diagonal to within the accuracy of round off errors. Are
they? If not you may not have carried enough significant digits when entering the mode shapes
in carrying out the computations. Considerable precision is required.

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Problem 3: Pump with an imbalanced rotor

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 
Concept question: For what value of is the force transmitted to the wall the greatest?
n

(a) 0.1, (b)1, (c)5

Problem 4: Cart with a massive spring

A cart of mass M is attached to the wall by a spring of constant k, mass m and un-stretched
length lo. a) Find the equation of motion of the system accounting for the mass of the spring.

Hint: Compute the kinetic energy

of the system and account for the
kinetic energy of the spring. Note
that the velocity of the spring
varies from zero at the point of
attachment to the wall to x at the
point of attachment to the moving
mass.

n
b) Compute the ratio where
no
n is the natural frequency of the
system accounting for the mass of the spring, and no is the natural frequency not including the
mass of the spring.

Concept question: Do you expect the mass of the spring to:

(a) increase the computed natural frequency, (b) decrease it, (c) not affect it?

5
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2.003SC / 1.053J Engineering Dynamics

Fall 2011

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