Ch.03 Single DOF Systems - Governing Equations PDF

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Vibrations 3.01 Single DOF Systems: Governing Equations Vibrations 3.02 Single DOF Systems: Governing Equations
§1.Chapter Objectives
• Obtain the governing equation of motion for single degree-of-
freedom (dof) translating and rotating systems by using force
balance and moment balance methods
• Obtain the governing equation of motion for single dof
translating and rotating systems by using Lagrange’s
03. Single DOF Systems: equations
• Determine the equivalent mass, equivalent stiffness, and
Governing Equations equivalent damping of a single dof system

• Determine the natural frequency and damping factor of a
system
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
§2.Force-Balance and Moment-Balance Methods §2.Force-Balance and Moment-Balance Methods

1.Force Balance Method Vertical Vibrations of a Spring-Mass-Damper System
Newtonian principle of linear momentum - Obtain an equation to describe the motions of the spring-mass-
damper system in the vertical
𝐹−𝑝 =0 (3.1a)
The position vector of
𝐹 : the net external force vector acting on the system the mass from the fixed
𝑝 : the absolute linear momentum of the considered system point 𝑂
For a system of constant mass 𝑚 whose center of mass is 𝑟 = 𝑟𝑗
moving with absolute acceleration 𝑎, the rate of change of = (𝐿 + 𝛿𝑠𝑡 + 𝑥)𝑗
linear momentum 𝑝 = 𝑚𝑎 Force balance along
the 𝑗 direction
𝐹 − 𝑚𝑎 = 0 (3.1b)
−𝑚𝑎 : inertial force
𝑑𝑟 𝑑2𝑟
⟹ The sum of the external forces and inertial forces acting on 𝑓 𝑡 𝑗 + 𝑚𝑔𝑗 − 𝑘𝑥 + 𝑘𝛿𝑠𝑡 𝑗 − 𝑐 𝑗 − 𝑚 2𝑗=0
𝑑𝑡 𝑑𝑡
the system is zero; that is, the system is in equilibrium
under the action of external and inertial forces

- Noting that 𝐿 and 𝛿𝑠𝑡 are constants, rearranging terms to get Static Equilibrium Position
the following scalar differential equation - The static-equilibrium position of a system is the position that
corresponds to the system’s rest state; that is, a position with
zero velocity and zero acceleration
- The static-equilibrium position is the solution of
𝑘 𝑥 + 𝛿𝑠𝑡 = 𝑚𝑔
- The static displacement
𝑚𝑔
𝛿𝑠𝑡 =
𝑘
⟹ 𝑥 = 0 is the static-equilibrium position of the system
- The spring has an unstretched length 𝐿, the static-equilibrium
𝑑2𝑥 𝑑𝑥 position measured from the origin 𝑂 is given by
𝑚 +𝑐 + 𝑘 𝑥 + 𝛿𝑠𝑡 = 𝑓 𝑡 + 𝑚𝑔 𝑥𝑠𝑡 = 𝑥𝑠𝑡 𝑗 = (𝐿 + 𝛿𝑠𝑡 )𝑗
𝑑𝑡 2 𝑑𝑡
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Equation of Motion for Oscillations about the Static-Equilibrium Position Horizontal Vibrations of a Spring-Mass-Damper System
𝑑2𝑥 𝑑𝑥 Consider a mass moving in a direction normal
𝑚 2 +𝑐 + 𝑘 𝑥 + 𝛿𝑠𝑡 = 𝑓 𝑡 + 𝑚𝑔
𝑑𝑡 𝑑𝑡 to the direction of gravity
𝑚𝑔
𝛿𝑠𝑡 = • It is assumed that the mass moves without
𝑘 friction
𝑑2𝑥 𝑑𝑥
⟹𝑚 2 +𝑐 + 𝑘𝑥 = 𝑓 𝑡 (3.8) • The unstretched length of the spring is 𝐿, and
𝑑𝑡 𝑑𝑡 a fixed point 𝑂 is located at the unstretched
Equation (3.8) is the governing equation of motion of a single position of the spring
dof system for oscillations about the static-equilibrium position
• The spring does not undergo any static
• The left-hand side: the forces from the components that deflection and carrying out a force balance
comprise a single dof system along the 𝑖 direction
• The right-hand side: the external force acting on the mass • The static-equilibrium position 𝑥 = 0 coincides with the
position corresponding to the unstretched spring

Force Transmitted to Fixed Surface - Ex.3.1 Wind-drivenOscillationsabouta System’s Static-Equilibrium Position
The total reaction force due to the spring and The wind flow across civil structures typically generates a
the damper on the fixed surface is the sum of excitation force 𝑓(𝑡) on the structure that consists of a steady-
the static and dynamic forces state part and a fluctuating part
𝑑𝑥 𝑓 𝑡 = 𝑓𝑠𝑠 + 𝑓𝑑 (𝑡)
𝐹𝑅 = 𝑘𝛿𝑠𝑡 + 𝑘𝑥 + 𝑐
𝑑𝑡 𝑓𝑠𝑠 : the time-independent steady-state force
𝑓𝑑 (𝑡) : the fluctuating time-dependent portion of the force
If considering only the dynamic part of the A single dof model of the vibrating structure
reaction force-that is, only those forces created 𝑑2𝑥 𝑑𝑥
𝑚 2 +𝑐 + 𝑘𝑥 = 𝑓𝑠𝑠 + 𝑓𝑑 𝑡 ⟹ 𝑥 𝑡 = 𝑥0 + 𝑥𝑑 (𝑡)
by the motion 𝑥(𝑡) from its static equilibrium 𝑑𝑡 𝑑𝑡
position, then 𝑥0 : the static equilibrium position, 𝑥0 = 𝑓𝑠𝑠 /𝑘
𝑑𝑥 𝑥𝑑 (𝑡) : motions about the static position
𝐹𝑅𝑑 = 𝑘𝑥 + 𝑐
𝑑𝑡 𝑑2𝑥 𝑑𝑥
⟹𝑚 2 +𝑐 + 𝑘𝑥 = 𝑓𝑑 𝑡
𝑑𝑡 𝑑𝑡

- Ex.3.2 EardrumOscillations:NonlinearOscillatorand LinearizedSystems Linearization
Determine the static-equilibrium positions of this system and Equilibrium positions 𝑥 = 𝑥0 are solutions of the algebraic equation
illustrate how the governing nonlinear equation can be 𝑘 𝑥0 + 𝑥02 = 0 ⟹ 𝑥0 = 0, 𝑥0 = −1
linearized to study oscillations local to an equilibrium position Subtitute 𝑥 𝑡 = 𝑥0 + 𝑥(𝑡) into (a) with note that
Solution 2
𝑥 2 𝑡 = 𝑥0 + 𝑥 𝑡 ≈ 𝑥02 + 2𝑥0 𝑥 𝑡 + ⋯
The governing nonlinear equation
𝑑 2 𝑥 𝑑 2 𝑥0 + 𝑥 𝑡 𝑑2𝑥
𝑑2𝑥 = = 2
𝑚 2 + 𝑘𝑥 + 𝑘𝑥 2 = 0 (𝑎) 𝑑𝑡 2 𝑑𝑡 2 𝑑𝑡
𝑑𝑡 𝑑2𝑥
⟹ 𝑚 2 + 𝑘 𝑥0 + 𝑥(𝑡) + 𝑘 𝑥02 + 2𝑥0 𝑥 𝑡 = 0
The restoring force of the eardrum has a component with a 𝑑𝑡
quadratic nonlinearity 𝑑2𝑥
𝑥0 = 0 ⟹ 𝑚 2 + 𝑘𝑥(𝑡) = 0
Static-Equilibrium Positions 𝑑𝑡
𝑑2𝑥
Equilibrium positions 𝑥 = 𝑥0 are solutions of the algebraic equation 𝑥0 = −1 ⟹ 𝑚 2 − 𝑘𝑥(𝑡) = 0
𝑑𝑡
𝑘 𝑥0 + 𝑥02 = 0 ⟹ 𝑥0 = 0, 𝑥0 = −1
⟹ the equations have different stiffness terms
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2. Moment-Balance Methods
For single dof systems that undergo rotational motion, the The governing equation of motion
moment balance method is useful in deriving the governing 𝑑𝜃 𝑑2𝜃
equation 𝑀 𝑡 𝑘 − 𝑘𝑡 𝜃𝑘 − 𝑐𝑡 𝑘 − 𝐽𝐺 =0
𝑑𝑡 𝑑𝑡 2
The angular momentum about the center of mass of the disc
𝐻 = 𝐽𝐺 𝜃𝑘
⟹ 𝑀 = 𝐽𝐺 𝜃𝑘 𝑑2𝜃 𝑑𝜃
⟹ 𝐽𝐺 + 𝑐𝑡 + 𝑘𝑡 𝜃 = 𝑀 𝑡
𝑑𝑡 2 𝑑𝑡

Ex.3.3 Hand Biomechanics
All linear single dof vibratory systems are governed by a linear The moment balance about
second-order ordinary differential equation with an inertia term, point 𝑂
a stiffness term, a damping term, and a term related to the 𝑀 − 𝐽0 𝜃𝑘 = 0
external forcing imposed on the system
𝐽0: the rotary inertia of the
• Translational motion forearm and the object
𝑑2𝑥 𝑑𝑥 held in the hand
𝑚 2 +𝑐 + 𝑘𝑥 = 𝑓 𝑡
𝑑𝑡 𝑑𝑡 The net moment 𝑀 acting
• Rotational motion about the point 𝑂 due to gravity loading and the forces due to
𝑑2𝜃 𝑑𝜃 the biceps and triceps
𝐽𝐺 2 + 𝑐𝑡 + 𝑘𝑡 𝜃 = 𝑀 𝑡 𝑙
𝑑𝑡 𝑑𝑡
𝑀 = −𝑀𝑔𝑙𝑐𝑜𝑠𝜃𝑘 − 𝑚𝑔 𝑐𝑜𝑠𝜃𝑘 + 𝐹𝑏 𝑎𝑘 − 𝐹𝑡 𝑎𝑘
2
𝑙
⟹ −𝑀𝑔𝑙𝑐𝑜𝑠𝜃𝑘 − 𝑚𝑔 𝑐𝑜𝑠𝜃𝑘 + 𝐹𝑏 𝑎𝑘 − 𝐽0 𝜃𝑘 = 0
2

𝑙 Linear System Governing “Small” Oscillations about the Static-
−𝑀𝑔𝑙𝑐𝑜𝑠𝜃𝑘 − 𝑚𝑔 𝑐𝑜𝑠𝜃𝑘 + 𝐹𝑏 𝑎𝑘 − 𝐽0 𝜃𝑘 = 0
2 Equilibrium Position
Note that: 𝐹𝑏 = −𝑘𝑏 𝜃, 𝐹𝑡 = 𝐾𝑡 𝑣 = 𝐾𝑡 𝑎𝜃, 𝐹0 = 𝑚𝑙 2 /3 + 𝑀𝑙 2 Consider oscillations about the static-equilibrium position and
𝑚 2 𝑚 expand the angular variable 𝜃 𝑡 = 𝜃0 + 𝜃 𝑡 with note that
⟹ 𝑀+ 𝑙 𝜃 + 𝐾𝑡 𝑎2 𝜃 + 𝑘𝑏 𝑎𝜃 + 𝑀 + 𝑔𝑙𝑐𝑜𝑠𝜃 = 0
3 2 𝑐𝑜𝑠𝜃 = cos 𝜃0 + 𝜃 ≈ 𝑐𝑜𝑠𝜃0 − 𝜃𝑠𝑖𝑛𝜃0 + ⋯
Static-Equilibrium Position
𝑑𝜃(𝑡) 𝑑(𝜃0 + 𝜃)
The equilibrium position 𝜃 = 𝜃0 is a solution of the = = 𝜃(𝑡)
𝑑𝑡 𝑑𝑡
transcendental equation 2 2
𝑚 𝑑 𝜃(𝑡) 𝑑 (𝜃0 + 𝜃)
𝑘𝑏 𝑎𝜃0 + 𝑀 + 𝑔𝑙𝑐𝑜𝑠𝜃0 = 0 = = 𝜃(𝑡)
2 𝑑𝑡 2 𝑑𝑡 2
𝑚 2 2
⟹ 𝑀+ 𝑙 𝜃 + 𝐾𝑡 𝑎 𝜃 + 𝑘𝑒 𝜃 = 0
3
where
𝑚
𝑘𝑒 = 𝑘𝑏 𝑎 − 𝑀 + 𝑔𝑙𝑠𝑖𝑛𝜃0
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§3.Natural Frequency and Damping Factor §3.Natural Frequency and Damping Factor
1.Natural Frequency Rotational Vibrations: Natural Frequency
Translation Vibrations: Natural Frequency 𝑘𝑡
𝜔𝑛 = 2𝜋𝑓𝑛 = (𝑟𝑎𝑑/𝑠) (3.16)
𝑘 𝐽
𝜔𝑛 = 2𝜋𝑓𝑛 = (𝑟𝑎𝑑/𝑠) (3.14)
𝑚 𝑘𝑡 : the torsion stiffness of the system, 𝑁𝑚/𝑟𝑎𝑑
𝑘 : the stiffness of the system, 𝑁/𝑚 𝐽 : the system mass, 𝑘𝑔𝑚/𝑠 2
𝑚 : the system mass, 𝑘𝑔 𝑓𝑛 : the natural frequency, 𝐻𝑧
𝑓𝑛 : the natural frequency, 𝐻𝑧 Period of Undamped Free Oscillations
For the mass-damper-spring system For an unforced and undamped system, the period of free
oscillation of the system is given by
𝑔
𝜔𝑛 = 2𝜋𝑓𝑛 = (𝑟𝑎𝑑/𝑠) (3.15) 1 2𝜋
𝛿𝑠𝑡 𝑇= = (3.17)
𝑓𝑛 𝜔𝑛
𝛿𝑠𝑡 : the static deflection of the system, 𝑚
Ex.3.4 Natural Frequency from Static Deflection of a Machine System - Ex.3.5 Static Deflection and Natural Frequency of the Tibia
The static deflections of a machinery are found to be 0.1, 1, Bone in a Human Leg
10(𝑚𝑚). Determine the natural frequency for vertical vibrations Consider a person of 100𝑘𝑔 mass standing upright. The tibia
Solution has a length of 40𝑐𝑚, and it is modeled as a hollow tube with an
inner diameter of 2.4𝑐𝑚 and an outer diameter of 3.4𝑐𝑚. The
1 𝑔 1 9.81 Young’s modulus of elasticity of the bone material is 2 ×
𝑓𝑛1 = = = 49.85𝐻𝑧
2𝜋 𝛿𝑠𝑡1 2𝜋 0.1 × 10−3 1010𝑁/𝑚2. Determine the static deflection in the tibia bone and
an estimate of the natural frequency of axial vibrations
1 𝑔 1 9.81 Solution
𝑓𝑛2 = = = 15.76𝐻𝑧
2𝜋 𝛿𝑠𝑡2 2𝜋 1 × 10−3 Assume that both legs support the weight of the person
equally, so that the weight supported by the tibia
1 𝑔 1 9.81
𝑓𝑛3 = = = 4.98𝐻𝑧 𝑚𝑔 = 100/2 × 9.81 = 490.5𝑁
2𝜋 𝛿𝑠𝑡3 2𝜋 10 × 10−3
𝑔
𝜔𝑛 = 2𝜋𝑓𝑛 = 𝛿𝑠𝑡
(𝑟𝑎𝑑/𝑠) (3.15)
The stiffness of the tibia Ex.3.6 System with A Constant Natural Frequency
10 𝜋 −2 2
𝐴𝐸 1 × 10 × 4 3.4 × 10 − 2.4 × 10−2 2 Examine how the spring-mounting system can be designed and
𝑘= = −2 discuss a realization of this spring in practice
𝐿 40 × 10
= 22.78 × 106 𝑁/𝑚2 Solution
The static deflection In order to realize the desired objective of constant natural
𝑚𝑔 490.5 frequency regardless of the system weight, we need a
𝛿𝑠𝑡 = = = 21.53 × 10−6 𝑚 nonlinear spring whose equivalent spring constant is given by
𝑘 22.78 × 106
The natural frequency 𝑘 = 𝐴𝑊
𝐴: a constant, 𝑊 = 𝑚𝑔: the weight, 𝑔: the gravitational constant
1 𝑔 1 9.81
𝑓𝑛 = = = 107.4𝐻𝑧 The natural frequency
2𝜋 𝛿𝑠𝑡 2𝜋 21.53 × 10−6
1 𝑘 1 𝑘𝑔 1
𝑓𝑛 = = = 𝐴𝑔𝐻𝑧
2𝜋 𝑚 2𝜋 𝑊 2𝜋
𝑔
𝜔𝑛 = 2𝜋𝑓𝑛 = 𝛿𝑠𝑡
(𝑟𝑎𝑑/𝑠) (3.15) ⟹ 𝑓𝑛 is constant irrespective of the weight of the mass
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Nonlinear Spring Mounting For “small” amplitude vibrations about 𝑥0 , the linear equivalent
When the side walls of a rubber cylindrical tube are stiffness of this spring is determined
𝑐−1
compressed into the nonlinear region, the equivalent spring 𝑑𝐹(𝑥) 𝑎𝑐 𝑥𝑜 𝑐−1 𝑎𝑐 𝑊 𝑐
stiffness of this system approximates the characteristic given 𝑘𝑒𝑞 = = =
𝑑𝑥 𝑏 𝑏 𝑏 𝑏
by 𝑘 = 𝐴𝑊 𝑥=𝑥0
For illustrative purposes, consider a spring that has the The natural frequency of this system
general force-displacement relationship 1 𝑘𝑒𝑞
𝑥 𝑐 𝑓𝑛 =
𝐹 𝑥 =𝑎 2𝜋 𝑊/𝑔
𝑏
𝑎, 𝑏: scale factors, 𝑐: shape factor −1/𝑐
1 𝑔𝑐 𝑊
The static deflection =
2𝜋 𝑏 𝑎
𝑊 1/𝑐 −1/2𝑐
𝑥0 = 𝑏 1 𝑔𝑐 𝑊
𝑎 = 𝐻𝑧
2𝜋 𝑏 𝑎
Representative Spring Data Representative Spring Data
Consider the representative data of a From the figure of 𝑓𝑛 (𝑊)
nonlinear spring shown in the figure • over a sizable portion of the load
Using lsqcurvefit in Matlab to identify range, the natural frequency of the
𝑎 = 2500𝑁, 𝑏 = 0.011𝑚, 𝑐 = 2.77 system varies within the range of 8.8%
1 𝑔𝑐 𝑊 −1/2𝑐 • The natural frequency of a system with
⟹ 𝑓𝑛 = a linear spring whose static
2𝜋 𝑏 𝑎
displacement ranges from 12 ÷ 5𝑚𝑚
= 32.4747𝑊 −1/3.54 𝐻𝑧
varies approximately from 4.5 ÷ 7.0𝐻𝑧
Plot 𝑓𝑛 (𝑊) or approximately 22% about a
frequency of 5.8𝐻𝑧
1 9.8 1 9.8
≈ 4.5𝐻𝑧, ≈ 7𝐻𝑧
2𝜋 0.012 2𝜋 0.005
of 5.8 Hz
2.Damping Factor Rotational Vibrations: Damping Factor
Translation Vibrations: Damping Factor For rotating single dof systems, the damping factor or damping
For translating single dof systems, the damping factor or ratio 𝜁 is defined as
damping ratio 𝜁 is defined as 𝑐𝑡 𝑐𝑡
𝜁= =
𝑐 𝑐 𝑐𝜔𝑛 2𝐽𝜔𝑛 2 𝑘𝑡 𝐽
𝜁= = = (3.18)
2𝑚𝜔𝑛 2 𝑘𝑚 2𝑘 𝑐𝑡 : the system damping coefficient, 𝑁𝑚𝑠/𝑟𝑎𝑑
𝑐: the system damping coefficient, 𝑁𝑠/𝑚 𝑘𝑡 : the system stiffness, 𝑁𝑚/𝑟𝑎𝑑
𝑘: the system stiffness, 𝑁/𝑚 𝐽: the system moment of inertia, 𝑘𝑔𝑚2
𝑚: the system mass, 𝑘𝑔
Critical Damping, Underdamping, and Overdamping
Defining the critical damping 𝑐𝑐
𝑐𝑐 = 2𝑚𝜔𝑛 = 2 𝑘𝑚, 𝜁 = 𝑐/𝑐𝑐 (3.19)
0 < 𝜁 < 1: underdamped, 𝜁 > 1: overdamped, 𝜁 = 1: critically damped
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Governing Equation of Motion in Terms of Natural Frequency - Ex.3.7 Effect of Mass on the Damping Factor
and Damping Factor A system is initially designed to be critically damped - that is,
Rewriting the equation of motion with a damping factor of 𝜁 = 1. Due to a design change, the
𝑑2𝑥 𝑑𝑥 𝑓(𝑡) mass of the system is increased 20% - that is, from 𝑚 to 1.2𝑚.
+ 2𝜁𝜔𝑛 + 𝜔𝑛2 𝑥 = Will the system still be critically damped if the stiffness and the
𝑑𝑡 2 𝑑𝑡 𝑚
If we introduce the dimensionless time 𝜏 = 𝜔𝑛 𝑡 , then the damping coefficient of the system are kept the same?
equation can be written Solution
𝑑2𝑥 𝑑𝑥 𝑓(𝜏) The damping factor of the system after the design change
+ 2𝜁 +𝑥 = (3.23) 𝑐 𝑐 𝑐
𝑑𝜏 2 𝑑𝜏 𝑘 𝜁𝑛𝑒𝑤 = = 0.91 = 0.91 = 0.91
2 𝑘(1.2𝑚) 2 𝑘𝑚 𝑐𝑐
⟹ The system with the increased mass is no longer critically
damped; rather, it is now underdamped
- Ex.3.8 Effects of System Parameters on the Damping Ratio First choice
An engineer finds that a single dof system with mass 𝑚 , Let 𝑐 remain constant, reduce 𝛿𝑠𝑡 by one-half
damping 𝑐, and spring constant 𝑘 has too much static deflection 𝑚𝑔
Before 𝛿𝑠𝑡 = (a)
𝛿𝑠𝑡 . The engineer would like to decrease 𝛿𝑠𝑡 by a factor of 2, 𝑘
while keeping the damping ratio constant. Determine the ′
𝛿𝑠𝑡 𝑚𝑔 𝑚′𝑔
After 𝛿𝑠𝑡 = = = (b)
different options 2 2𝑘 𝑘′
Solution Comparing (a) and (b)
The problem involves vertical vibrations 𝑚′𝑔 𝑚𝑔 𝑚/ 2 𝑔 𝑚
𝑚𝑔 = = ⟹ 𝑚 → 𝑚′ = , 𝑘 → 𝑘′ = 𝑘 2
𝛿𝑠𝑡 = 𝑘′ 2𝑘 𝑘 2 2
𝑘 Check the damping ratio
𝑐 𝛿𝑠𝑡 𝛿𝑠𝑡 1 𝑐 2 𝛿𝑠𝑡
2𝜁 = =𝑐 = 𝛿 ′ 𝑠𝑡 𝛿𝑠𝑡 𝛿𝑠𝑡
𝑚 𝑔 𝑔𝑚2 𝑚 𝑔 2𝜁 ′ = 𝑐 =𝑐 2 =𝑐 = 2𝜉
𝑔𝑚′2 2𝑔 𝑚/ 2 𝑔𝑚2
⟹ there are three ways that one can achieve the goal
Second choice Third choice
Let 𝑚 remain constant, reduce 𝛿𝑠𝑡 by one-half Let 𝑘 remain constant, reduce 𝛿𝑠𝑡 by one-half
𝑚𝑔
𝛿𝑠𝑡 1 𝑐 2 𝛿𝑠𝑡 Before 𝛿𝑠𝑡 = (e)
Before 2𝜁 = 𝑐 = (c) 𝑘
𝑔𝑚2 𝑚 𝑔 𝛿𝑠𝑡 𝑚𝑔 𝑚′𝑔
′
After 𝛿𝑠𝑡 = = = (f)
′ 2 2𝑘 𝑘
′
1 𝑐′2 𝛿𝑠𝑡 1 𝑐′2 𝛿𝑠𝑡
After 2𝜁 = = (d) Comparing (e) and (f)
𝑚 𝑔 𝑚 2𝑔 𝑚 𝑚
𝑚′ = ⟹ 𝑚 → 𝑚′ =
Comparing (c) and (d) 2 2
𝑐 ′2 The constant damping ratio
= 𝑐2 ⟹ 𝑐 → 𝑐′ = 𝑐 2
2 𝛿 ′𝑠𝑡 𝛿𝑠𝑡 2𝛿𝑠𝑡 𝛿𝑠𝑡
The static deflection 2𝜁′ = 𝑐′ = 𝑐′ = 𝑐′ =𝑐 = 2𝜁
𝑔𝑚′2 2𝑔 𝑚/2 2 𝑔𝑚2 𝑔𝑚2
′
𝑚𝑔 𝛿𝑠𝑡 𝑚𝑔
𝛿𝑠𝑡 = = = ⟹ 𝑘 → 𝑘 ′ = 2𝑘 ⟹ 𝑐 → 𝑐′ = 𝑐 2
𝑘′ 2 2𝑘
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§4.Governing Equations for Different Type of Damping §4.Governing Equations for Different Type of Damping
The governing equations of motion for systems with different Fluid Damping
types of damping are obtained by replacing the term Using Eq. (2.54) and Eq. (3.8), the governing equation of motion
corresponding to the force due to viscous damping with the force 𝑑2𝑥
due to either the fluid, structural, or dry friction type damping 𝑚 2 + 𝑐𝑑 |𝑥|𝑥 + 𝑘𝑥 = 𝑓(𝑡) (3.25)
𝑑𝑡
Coulomb or Dry Friction Damping 𝑛𝑜𝑛𝑙𝑖𝑛𝑒𝑎𝑟 𝑓𝑙𝑢𝑖𝑑 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 𝑓𝑜𝑟𝑐𝑒
Using Eq. (2.52) and Eq. (3.8), the governing equation of motion which is a nonlinear equation due to the nature of the damping
takes the form
Structural Damping
𝑑2𝑥 𝑑𝑥
𝑚 2 +𝑐 + 𝜇𝑚𝑔𝑠𝑔𝑛(𝑥) = 𝑓(𝑡) (3.24) Using Eq. (2.57) and Eq. (3.8), the governing equation of motion
𝑑𝑡 𝑑𝑡
𝑛𝑜𝑛𝑙𝑖𝑛𝑒𝑎𝑟 𝑑𝑟𝑦 𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛 𝑓𝑜𝑟𝑐𝑒 𝑑2𝑥
𝑚 2 + 𝑘𝜋𝛽ℎ 𝑠𝑔𝑛 𝑥 |𝑥| + 𝑘𝑥 = 𝑓(𝑡) (3.26)
𝑑𝑡
which is a nonlinear equation because the damping
characteristic is piecewise linear 𝐹 𝑥 = 𝑐𝑑 𝑥 2 𝑠𝑔𝑛 𝑥 = 𝑐𝑑 |𝑥|𝑥 (2.54)
𝐹 𝑥 = 𝜇𝑚𝑔𝑠𝑔𝑛(𝑥) (2.52) 𝐹 = 𝑘𝜋𝛽ℎ 𝑠𝑔𝑛 𝑥 |𝑥| (2.57)
𝑑2 𝑥 𝑑𝑥 𝑑2 𝑥 𝑑𝑥
𝑚 2 + 𝑐 + 𝑘𝑥 = 𝑓 𝑡 (3.8) 𝑚 +𝑐 + 𝑘𝑥 = 𝑓 𝑡 (3.8)
𝑑𝑡 𝑑𝑡 𝑑𝑡 2 𝑑𝑡
§5.Governing Equations for Different Type of Applied Forces §5.Governing Equations for Different Type of Applied Forces
1.System with Base excitation
- The base-excitation model is a prototype that is useful for studying
• buildings subjected to earthquakes
• packaging during transportation
• vehicle response, and
• designing accelerometers - A prototype of a single dof system subjected to a base excitation
- The physical system of interest is represented by a single dof • The vehicle provides the base excitation 𝑦(𝑡) to the
system whose base is subjected to a displacement instrumentation package modeled as a single dof
disturbance 𝑦(𝑡), and an equation governing the motion of • The displacement response 𝑥(𝑡) is measured from the
this system is sought to determine the response of the system’s static-equilibrium position
system 𝑥(𝑡) Assume that no external force is applied directly to the mass;
that is, 𝑓 𝑡 = 0
- The following governing equation of motion - If the relative displacement is desired, the governing equation
𝑑2𝑥 𝑑𝑥 𝑑𝑦 of motion
𝑚 2 +𝑐 + 𝑘𝑥 = 𝑐 + 𝑘𝑦 𝑑2𝑧 𝑑𝑧 𝑑2𝑦
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑚 2 + 𝑐 + 𝑘𝑧 = −𝑚 2
𝑑2𝑥 𝑑𝑥 2
𝑑𝑦 𝑑𝑡 𝑑𝑡 𝑑𝑡
⟹ 𝑚 2 + 2𝜁𝜔𝑛 + 𝜔𝑛 𝑥 = 2𝜁𝜔𝑛 + 𝜔𝑛2 𝑦
𝑑𝑡 𝑑𝑡 𝑑𝑡 with 𝑧 𝑡 ≡ 𝑥 𝑡 − 𝑦(𝑡)
𝑦(𝑡) and 𝑥(𝑡) are measured from a fixed point 𝑂 located in an 𝑑2𝑧 𝑑𝑧 𝑑2𝑦
inertial reference frame and a fixed point located at the ⟹ 2 + 2𝜁𝜔𝑛 + 𝜔𝑛2 𝑧 = − 2
𝑑𝑡 𝑑𝑡 𝑑𝑡
system’s static equilibrium position, respectively
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2.System with Unbalanced Rotating Mass - From the free-body diagram (FBD) of the unbalanced mass 𝑚0
- Assume that the unbalance generates a force that acts on the 𝑁𝑥 = −𝑚0 (𝑥 − 𝜖𝜔2 𝑠𝑖𝑛𝜔𝑡)
system’s mass. This force, in turn, is transmitted through the 𝑁𝑦 = 𝑚0 𝜖𝜔2 𝑐𝑜𝑠𝜔𝑡
spring and damper to the fixed base - From the FBD of mas 𝑀
𝑑2𝑥 𝑑𝑥
𝑀 2 +𝑐 + 𝑘𝑥 = 𝑁𝑥
𝑑𝑡 𝑑𝑡
𝑑2𝑥 𝑑𝑥
⟹ (𝑀 + 𝑚0 ) 2 + 𝑐 + 𝑘𝑥 = 𝑚0 𝜖𝜔2 𝑠𝑖𝑛𝜔𝑡
𝑑𝑡 𝑑𝑡
2
𝑑 𝑥 𝑑𝑥 𝐹(𝜔)
⟹ 2 + 2𝜁𝜔𝑛 + 𝜔𝑛2 𝑥 = 𝑠𝑖𝑛𝜔𝑡
𝑑𝑡 𝑑𝑡 𝑚
where 𝑚 = 𝑀 + 𝑚0 , 𝜔𝑛 = 𝑘/𝑚, 𝐹 𝜔 = 𝑚0 𝜖𝜔2
- The unbalance is modeled as a mass 𝑚0 that rotates with an - The static displacement of the spring
angular speed 𝜔, and this mass is located a fixed distance 𝑒 𝑀 + 𝑚0 𝑔 𝑚𝑔
from the center of rotation 𝛿𝑠𝑡 = =
𝑘 𝑘
3.System with Added Mass Due to a Fluid - The force generated by the fluid on the rigid body
𝑑2𝑥 𝑑𝑥
𝑓1 𝑡 = −𝐾0 𝑀 − 𝐶𝑓
- The equation of motion of the system 𝑑𝑡 2 𝑑𝑡
𝑑2𝑥
𝑚 2 + 𝑘𝑥 = 𝑓 𝑡 + 𝑓1 (𝑡)
𝑑𝑡
𝑥(𝑡) : measured from the unstretched position of the spring 𝑀 : the mass of the fluid displaced by the body
𝑓(𝑡) : the externally applied force 𝐾0 : an added mass coefficient
𝑓1 (𝑡) : the force exerted by the fluid on the mass due to the 𝐶𝑓 : a positive fluid damping coefficient
motion of the mass - The governing equation of motion
𝑑2𝑥 𝑑𝑥
𝑚 + 𝐾0 𝑀 + 𝐶𝑓 + 𝑘𝑥 = 𝑓 𝑡
𝑑𝑡 2 𝑑𝑡
𝐾0 𝑀 : the added mass due to the fluid
§6.Lagrange’s Equations §6.Lagrange’s Equations

Consider a system with 𝑁 degrees of freedom that is described The generalized force 𝑄𝑗 that appears in the 𝑗 𝑡ℎ equation
by a set of 𝑁 generalized coordinates 𝑞𝑖 , 𝑖 = 1,2, … 𝑁. In terms 𝜕𝑟𝑙 𝜕𝜔𝑙
of the chosen generalized coordinates, Lagrange’s equations 𝑄𝑗 = 𝐹𝑙 + 𝑀𝑙
𝜕𝑞𝑗 𝜕𝑞𝑗
have the form 𝑙 𝑙
𝑑 𝜕𝑇 𝜕𝑇 𝜕𝐷 𝜕𝑉 𝐹𝑙 , 𝑀𝑙 : the vector representations of the externally

− + + = 𝑄𝑗 , 𝑗 = 1,2, … , 𝑁 (3.41) applied forces and moments on the 𝑙 𝑡ℎ body
𝑑𝑡 𝜕𝑞𝑗 𝜕𝑞𝑗 𝜕 𝑞𝑗 𝜕𝑞𝑗
𝑞𝑗 : generalized coordinate 𝑟𝑙 : the position vector to the location where the force
𝐹𝑙 is applied
𝑞𝑗 : generalized velocity
𝜔𝑙 : the 𝑙 𝑡ℎ body’s angular velocity about the axis
𝑇 : the kinetic energy of the system along which the considered moment is applied
𝑉 : the potential energy of the system
𝐷: the Rayleigh dissipation function
𝑄𝑗 : the generalized force that appears in the 𝑗 𝑡ℎ equation
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Linear Vibratory Systems Single Degree-Of-Freedom
For vibratory systems with linear characteristics The case of a single degree-of-freedom system, 𝑁 = 1, the
1
𝑁 𝑁 Lagrange’s equation
𝑇= 𝑚𝑗𝑛 𝑞𝑗 𝑞𝑛 𝑑 𝜕𝑇 𝜕𝑇 𝜕𝐷 𝜕𝑉
2 − + + = 𝑄1 (3.44)
𝑗=1 𝑛=1 𝑑𝑡 𝜕𝑞1 𝜕𝑞1 𝜕𝑞1 𝜕𝑞1
𝑁 𝑁
1 where the generalized force is obtained from
𝑉= 𝑘𝑗𝑛 𝑞𝑗 𝑞𝑛
2 𝜕 𝑟𝑙 𝜕𝜔𝑙
𝑗=1 𝑛=1 𝑄1 = 𝐹𝑙 + 𝑀𝑙
𝑁 𝑁 𝜕𝑞1 𝜕𝑞1
1 𝑙 𝑙
𝐷= 𝑐𝑗𝑛 𝑞𝑗 𝑞𝑛
2
𝑗=1 𝑛=1
𝑚𝑗𝑛 : the inertia coefficients
𝑘𝑗𝑛 : the stiffness coefficients
𝑐𝑗𝑛 : the damping coefficients

Linear Single Degree-Of-Freedom Systems To obtain the governing equation of motion of a linear vibrating
The expressions for the system kinetic energy, the system system with viscous damping
potential energy, and the system dissipation function reduce to • Obtains expressions for the system kinetic energy 𝑇 ,
1 1 system potential energy 𝑉, and system dissipation function 𝐷
1 1 1
𝑇= 𝑚𝑗𝑛 𝑞𝑗 𝑞𝑛 = 𝑚11 𝑞12 ≡ 𝑚𝑒 𝑞12 • Identify the equivalent mass 𝑚𝑒 , equivalent stiffness 𝑘𝑒 ,
2 2 2
𝑗=1 𝑛=1 and equivalent damping 𝑐𝑒
1 1
1 1 1 • Determine the generalized force
𝑉= 𝑘𝑗𝑛 𝑞𝑗 𝑞𝑛 = 𝑘11 𝑞12 ≡ 𝑘𝑒 𝑞12 (3.46)
2 2 2 • Apply the governing equation
𝑗=1 𝑛=1
1 1 𝑚𝑒 𝑞1 + 𝑐𝑒 𝑞1 + 𝑘𝑒 𝑞1 = 𝑄1
1 1 1
𝐷= 𝑐𝑗𝑛 𝑞𝑗 𝑞𝑛 = 𝑐11 𝑞12 ≡ 𝑐𝑒 𝑞12 • Determine the system natural frequency
2 2 2
𝑗=1 𝑛=1
𝑘𝑒 𝑐𝑒 𝑐𝑒
𝑚𝑒 , 𝑘𝑒 , 𝑐𝑒 : the equivalent mass, stiffness, and damping 𝜔𝑛 = , 𝜁= =
𝑚𝑒 2𝑚𝑒 𝜔𝑛 2 𝑘𝑒 𝑚𝑒
From Lagrange’s equation
𝑚𝑒 𝑞1 + 𝑐𝑒 𝑞1 + 𝑘𝑒 𝑞1 = 𝑄1

- Ex.3.9 Motion of A Linear Single Degree-Of-Freedom System Identify the following
Obtain the governing equation for the mass-damper-spring 𝑞1 = 𝑥, 𝐹𝑙 = 𝑓(𝑡)𝑗, 𝑟𝑙 = 𝑥𝑗, 𝑀𝑙 = 0
system Determine the generalized force
Solution 𝜕 𝑟𝑙 𝜕𝑥𝑗
Identify the following 𝑄1 = 𝐹𝑙 +0=𝑓 𝑡 𝑗 = 𝑓(𝑡)
𝜕𝑞1 𝜕𝑥
𝑙
𝑞1 = 𝑥, 𝐹𝑙 = 𝑓(𝑡)𝑗, 𝑟𝑙 = 𝑥𝑗, 𝑀𝑙 = 0 The system kinetic energy 𝑇, system potential energy
Determine the generalized force 𝑉, and system dissipation function 𝐷
𝜕 𝑟𝑙 𝜕𝑥𝑗 1 1 1
𝑄1 = 𝐹𝑙 +0=𝑓 𝑡 𝑗 = 𝑓(𝑡) 𝑇 = 𝑚𝑥 2 , 𝑉 = 𝑘𝑥 2 , 𝐷 = 𝑐𝑥 2
𝜕𝑞1 𝜕𝑥 2 2 2
𝑙
⟹ 𝑚𝑒 = 𝑚, 𝑘𝑒 = 𝑘, 𝑐𝑒 = 𝑐
The system kinetic energy 𝑇, system potential energy 𝑉, and
system dissipation function 𝐷 The governing equation
1 1 1 𝑑2𝑥 𝑑𝑦
𝑇 = 𝑚𝑥 2 , 𝑉 = 𝑘𝑥 2 , 𝐷 = 𝑐𝑥 2 𝑚 2 +𝑐 + 𝑘𝑥 = 𝑓(𝑡)
2 2 2 𝑑𝑡 𝑑𝑡
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- Ex.3.10 Motion of A System that Translates and Rotates The potential energy
Obtain the governing equation of motion for “small” oscillations 1 1 1
𝑉 = 𝑘𝑥 2 = 𝑘(𝑟𝜃)2 = 𝑘𝑟 2 𝜃 2
about the upright position 2 2 2
Solution ⟹ the equivalent stiffness 𝑘𝑒 = 𝑘𝑟 2
Choose the generalized coordinate The kinetic energy of the system
1 1
𝑞1 = 𝜃, 𝐹𝑙 = 0, 𝑀𝑙 = 𝑀 𝑡 𝑘, 𝜔𝑙 = 𝜃𝑘 𝑇= 𝑚𝑥 2 + 𝐽 𝜃2
2 2 𝐺
The generalized force 𝑡𝑟𝑎𝑛𝑠𝑙𝑎𝑡𝑖𝑜𝑛 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙
𝜕𝜔𝑙 𝜕 𝜃𝑘 𝑘𝑖𝑛𝑒𝑡𝑖𝑐 𝑒𝑛𝑒𝑟𝑔𝑦 𝑘𝑖𝑛𝑒𝑡𝑖𝑐 𝑒𝑛𝑒𝑟𝑔𝑦
𝑄1 = 𝑀𝑙 ∙ =𝑀 𝑡 𝑘∙ = 𝑀(𝑡) 1 1 3
𝜕𝑞1 𝜕𝜃 𝑚𝑟 2 + 𝐽𝐺 𝜃 2 =
⟹𝑇= 𝑚𝑟 2 𝜃 2
𝑙
2 2 2
3
⟹ the equivalent mass of the system 𝑚𝑒 = 𝑚𝑟 2
2
1
𝐽𝐺 = 𝑚𝑟 2
2

The dissipation function - Ex.3.11 Inverted Pendulum
1 1 1 Obtain the governing equation of motion for “small” oscillations
𝐷 = 𝑐 𝑥 2 = 𝑐(𝑟𝜃)2 = (𝑐𝑟 2 )𝜃 2
2 2 2 about the upright position
⟹ the equivalent damping coefficient Solution
𝑐𝑒 = 𝑐𝑟 2 The total rotary inertia of the system
The governing equation of motion 𝐽𝑂 = 𝐽𝑂1 + 𝐽𝑂2
3
𝑚𝑟 2 𝜃 + 𝑐𝑟 2 𝜃 + 𝑘𝑟 2 𝜃 = 𝑀(𝑡) 𝐽𝑂1 : mass moment of inertia of 𝑚1 about point 𝑂
2
Natural frequency and damping factor 𝐽𝑂2 : massmomentof inertiaof the baraboutpoint𝑂
2
𝑘𝑒 𝑘𝑟 2 2𝑘 𝐽𝑂1 = 𝑚1 𝑟 2 + 𝑚1 𝐿21
𝜔𝑛 = = = 5
𝑚𝑒 3𝑚𝑟 2 /2 3𝑚 1 𝐿2 2 1
𝐽𝑂2 = 𝑚 𝐿2 + 𝑚2 = 𝑚2 𝐿22
𝑐𝑒 𝑐𝑟 2 6 12 2 2 2 3
𝜁= = =
2𝑚𝑒 𝜔𝑛 2(3𝑚𝑟 2 /2) 2𝑘/3𝑚 6𝑘𝑚

Choosing 𝑞1 = 𝜃 as the generalized coordinate, the system The equivalent inertia, the equivalent stiffness, and the
kinetic energy takes the form equivalent damping properties of the system
1 1 1 2 1 2 1
𝑇 = 𝐽𝑂 𝜃 2 = 𝐽𝑂1 + 𝐽𝑂2 𝜃 2 𝑇= 𝑚 𝑟2 + 𝑚1𝐿21 + 𝑚2𝐿22 𝜃2 ⟹ 𝑚𝑒 = 𝑚1𝑟2 +𝑚1𝐿21 + 𝑚2𝐿22
2 2 2 5 1 3 5 3
1 2 1 1 𝐿2 2 𝐿2
= 𝑚1 𝑟 2 + 𝑚1 𝐿21 + 𝑚2 𝐿22 𝜃 2 2
𝑉 = 𝑘𝐿1 − 𝑚1𝑔𝐿1 − 𝑚2𝑔 2
𝜃 ⟹ 𝑘𝑒 = 𝑘𝐿1 −𝑚1𝑔𝐿1 − 𝑚2𝑔
2 5 3 2 2 2
For small 𝜃 ⟹ 𝑥1 ≈ 𝐿1 𝜃 1 1
𝐷 = 𝑐 𝑥12 = 𝑐𝐿21 𝜃 2 ⟹ 𝑐𝑒 = 𝑐𝐿21
The system potential energy 2 2
1 1 1 𝐿2 The governing equation of motion 𝑚𝑒 𝜃 + 𝑐𝑒 𝜃 + 𝑘𝑒 𝜃 = 0
𝑉 = 𝑘𝑥12 − 𝑚1 𝑔𝐿1 𝜃 2 − 𝑚2 𝑔 𝜃 2
2 2 2 2 Natural frequency
1 𝐿2 2
= 𝑘𝐿21 − 𝑚1 𝑔𝐿1 − 𝑚2 𝑔 𝜃 𝑘𝑒 𝑘𝐿21 − 𝑚1 𝑔𝐿1 − 𝑚2 𝑔𝐿2 /2
2 2 𝜔𝑛 = =
The dissipation function 𝑚𝑒 𝐽𝑂1 + 𝐽𝑂2
1 1
𝐷 = 𝑐 𝑥12 = 𝑐𝐿21 𝜃 2 𝑘𝑒 can be negative, which affects the stability of the system
2 2
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• Natural Frequency of Pendulum System - Ex.3.12 Motion of A Disk Segment
Now locate the pivot point 𝑂 on the top, the Derive the governing equation of motion of a disk segment
equivalent stiffness of this system Solution
𝐿2
𝑘𝑒 = 𝑘𝐿21 + 𝑚1 𝑔𝐿1 + 𝑚2 𝑔 The position vector from the fixed point 𝑂 to the
2 center of mass 𝐺
and the natural frequency of this system 𝑟 = −𝑅𝜃 + 𝑏𝑠𝑖𝑛𝜃 𝑖 + (𝑅 − 𝑏𝑐𝑜𝑠𝜃)𝑗
𝑘𝑒 𝑘𝐿21 + 𝑚1 𝑔𝐿1 + 𝑚2 𝑔𝐿2 /2 The absolute velocity of the center of mass
𝜔𝑛 = =
𝑚𝑒 𝐽𝑂1 + 𝐽𝑂2 𝑟 = − 𝑅 − 𝑏𝑐𝑜𝑠𝜃 𝜃𝑖 + 𝑏𝑠𝑖𝑛𝜃𝜃𝑗
If 𝑚2 ≪ 𝑚1 , 𝑟 ≪ 𝐿1 , and 𝑘 = 0, then Selecting the generalized coordinate 𝑞1 = 𝜃 ,
the system kinetic energy
𝑚1 𝑔𝐿1 1 + 𝑚2 𝐿2 /𝑚1 𝐿1 𝑔 1 1
𝜔𝑛 = → 𝑇 = 𝐽𝐺 𝜃 2 + 𝑚 𝑟 ∙ 𝑟
𝑚1 𝐿21 1 + 2𝑟 2 /5𝐿21 𝐿 2 2
→ the natural frequency of a pendulum composed of a rigid, 1 1
⟹ 𝑇 = 𝐽𝐺 𝜃 2 + 𝑚 𝑅 2 + 𝑏 2 − 2𝑏𝑅𝑐𝑜𝑠𝜃 𝜃 2
weightless rod carrying a mass a distance 𝐿1 from its pivot 2 2

Choosing the fixed ground as the datum, the system potential The equivalent inertia of the system
energy 1
𝑇 ≈ 𝐽𝐺 + 𝑚 𝑅 − 𝑏 2 𝜃 2 ⟹ 𝑚𝑒 = 𝐽𝐺 + 𝑚 𝑅 − 𝑏 2
𝑉 = 𝑚𝑔 𝑅 − 𝑏𝑐𝑜𝑠𝜃 2
Small Oscillations about the Upright Position The potential energy is not in standard form because of the
Express the angular displacement as constant term 𝑚𝑔 𝑅 − 𝑏
1
𝜃(𝑡) = 𝜃0 + 𝜃(𝑡) 𝑉 ≈ 𝑚𝑔 𝑅 − 𝑏 + 𝑚𝑔𝑏𝜃 2
2
Since 𝜃0 = 0 , and small 𝜃 , using 𝑠𝑖𝑛𝜃 ≈ 𝜃 ,
1 However, since the datum for the potential energy is not
𝑐𝑜𝑠𝜃 ≈ 1 − 𝜃 2 , rewrite the energy functions unique, we can shift the datum for the potential energy from
2
1 1 the fixed ground to a distance (𝑅 − 𝑏) above the ground
𝑇 ≈ 𝐽𝐺 + 𝑚 𝑅 − 𝑏 2 𝜃 2 , 𝑉 ≈ 𝑚𝑔 𝑅 − 𝑏 + 𝑚𝑔𝑏𝜃 2 1
2 2
𝑉 = 𝑚𝑔𝑏𝜃 2
2
Taylor series expansion
1 Then, the equivalent stiffness can be defined
𝑐𝑜𝑠𝜃 = 𝑐𝑜𝑠 𝜃0 + 𝜃 ≈ 𝑐𝑜𝑠𝜃0 − 𝜃𝑠𝑖𝑛𝜃0 − 2 𝜃 2 𝑐𝑜𝑠𝜃0 + ⋯
1
𝑘𝑒 = 𝑚𝑔𝑏
𝑠𝑖𝑛𝜃 = 𝑠𝑖𝑛 𝜃0 + 𝜃 ≈ 𝑠𝑖𝑛𝜃0 − 𝜃𝑐𝑜𝑠𝜃0 − 2 𝜃 2 𝑠𝑖𝑛𝜃0 + ⋯

The governing equation - Ex.3.13 Translating System with a Pre-tensioned/compressed Spring
2 Derive the governing equation of motion for vertical
𝐽𝐺 + 𝑚 𝑅 − 𝑏 𝜃 + 𝑚𝑔𝑏𝜃 = 0
Natural Frequency translations 𝑥 of the mass about the static
equilibrium position of the system
𝑘𝑒 Solution
𝜔𝑛 =
𝑚𝑒 The equation of motion will be derived for
“small” amplitude vertical oscillations; that is,
𝑚𝑔𝑏
= 2
𝑥/𝐿 ≪ 1
𝐽𝐺 + 𝑚 𝑅 − 𝑏
The horizontal spring is pretensioned with a tension, which is
𝑔 produced by an initial extension of the spring by an amount 𝛿0
= 2
𝐽𝐺 + 𝑚 𝑅 − 𝑏 𝑇1 = 𝑘1𝛿0
𝑚𝑏 The kinetic energy of the system
1
𝑇 = 𝑚𝑥 2
2
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The potential energy of the system Chose the generalize coordinate 𝑞1 = 𝑥
1 2
1 1
𝑉 = 𝑘1 𝛿0 + ∆𝐿 + 𝑘 𝑥2 𝑇 = 𝑚𝑥 2
2 2 2 2
𝑓𝑜𝑟 𝑠𝑝𝑟𝑖𝑛𝑔 𝑘1 𝑓𝑜𝑟 𝑠𝑝𝑟𝑖𝑛𝑔 𝑘2 𝑑 𝜕𝑇 𝑑
⟹ = 𝑚 𝑥 = 𝑚𝑥
∆𝐿 : the change in the length of the spring with 𝑑𝑡 𝜕𝑥 𝑑𝑡
stiffness 𝑘1 due to the motion 𝑥 of the mass 𝜕𝑇 𝜕𝐷
= 0, = 0, 𝑄=0
∆𝐿 = 𝐿2 + 𝑥 2 − 𝐿 = 𝐿 1 + (𝑥/𝐿)2 − 𝐿 𝜕𝑥 𝜕𝑥
2 2
Assume that |𝑥/𝐿| ≪ 1, using binomial expansion 1 𝐿 𝑥 1
𝑉 = 𝑘1 𝛿0 + + 𝑘2 𝑥 2
1 1 2 2 𝐿 2
1 + (𝑥/𝐿)2= 1 + (𝑥/𝐿)2 1/2 = 1 + (𝑥/𝐿)2+ (𝑥/𝐿)4+⋯
2 8 𝜕𝑉 𝐿 𝑥 2 2𝑥 𝑘1𝛿0 𝑘1 𝑥3 𝑇1
⟹ ∆𝐿 ≈ 𝐿 1 + (𝑥/𝐿)2/2 − 𝐿 = 𝐿(𝑥/𝐿)2/2 ⟹ = 𝑘1 𝛿0 + +𝑘2𝑥 = 𝑘1 + 𝑥 + 2 ≈ 𝑘2 + 𝑥
𝜕𝑥 2 𝐿 𝐿 𝐿 2𝐿 𝐿
1 𝐿 𝑥 2 2 1
⟹ 𝑉 = 𝑘1 𝛿0 + + 𝑘2 𝑥 2
2 2 𝐿 2
𝑛 1 𝑑 𝜕𝑇 𝜕𝑇 𝜕𝐷 𝜕𝑉
Binomial expansion 1+𝑥 = 1 + 𝑛𝑥 + 2 𝑛(𝑛 − 1)𝑥 2 + ⋯ 𝑑𝑡 𝜕𝑞1
− 𝜕𝑞 + 𝜕𝑞 + 𝜕𝑞 = 𝑄1 (3.44)
1 1 1

The governing equation of motion - Ex.3.14 Equation of Motion for a Disk with An Extended Mass
𝑇1 Determine the governing equation of motion
𝑚𝑥 + 𝑘2 + 𝑥=0
𝐿 and the natural frequency for the system
The natural frequency Solution
𝜔𝑛 = 𝑘𝑒 /𝑚𝑒 = 𝑘2 + 𝑇1 /𝐿 /𝑚 The velocity of 𝑚
If the spring of constant 𝑘1 is compressed instead of being in 𝑑 𝑟𝑚
𝑣𝑚 =
tension, then we can replace 𝑇1 by −𝑇1 , and the natural 𝑑𝑡
frequency 𝑑
= 𝑥 + 𝐿𝑠𝑖𝑛𝜃 𝑖 + 𝐿 − 𝐿𝑐𝑜𝑠𝜃 𝑗
𝜔𝑛 = 𝑘𝑒 /𝑚𝑒 = 𝑘2 − 𝑇1 /𝐿 /𝑚 𝑑𝑡
= −𝑅𝜃 + 𝐿𝜃𝑐𝑜𝑠𝜃 𝑖 + 𝐿𝜃𝑠𝑖𝑛𝜃𝑗
The natural frequency 𝜔𝑛 can be made very low by adjusting
the compression of the spring with stiffness 𝑘1 . At the same
time, the spring with stiffness 𝑘2 can be made stiff enough so
that the static displacement of the system is not excessive

The kinetic energy of the system 𝑇 = 𝑇𝑑 + 𝑇𝑝 The potential energy of the system
1 1 1
𝑇𝑑 = 𝑚𝑑 𝑥 2 + 𝐽𝐺 𝜃 2 𝑉 = 𝑘𝑥 2 + 𝑚𝑔(𝐿 − 𝐿𝑐𝑜𝑠𝜃)
2 2 2
1 1 1
= 𝑚𝑑 𝑅 2 𝜃 2 + 𝐽𝐺 𝜃 2 = 𝑘𝑅 2 𝜃 2 + 𝑚𝑔𝐿 1 − 𝑐𝑜𝑠𝜃
2 2 2
1 2 1 1 𝜃2
𝑇𝑝 = 𝑚𝑣𝑚 ⟹ 𝑉 = 𝑘𝑅 2 𝜃 2 + 𝑚𝑔𝐿𝜃 2 𝑐𝑜𝑠𝜃 ≈ 1 −
2 2 2 2
1 2 1 1
= 𝑚 −𝑅𝜃 + 𝐿 𝜃𝑐𝑜𝑠𝜃 𝑖 + 𝐿𝜃𝑠𝑖𝑛𝜃𝑗 2 2
= 𝑘𝑅 + 𝑚𝑔𝐿 𝜃 ≡ 𝑘𝑒 𝜃 2
2 2 2
1
= 𝑚(𝑅 2 + 𝐿2 − 2𝐿𝑅𝑐𝑜𝑠𝜃)𝜃 2 The dissipation function
2 1 1 1
1 𝐷 = 𝑐 𝑥 2 = 𝑐𝑅 2 𝜃 2 ≡ 𝑐𝑒 𝜃 2
≈ 𝑚 𝐿 − 𝑅 2𝜃 2 2 2 2
2 The governing equation
1 1 𝑘𝑒 𝑘𝑅 2 + 𝑚𝑔𝐿
⟹ 𝑇 = 𝑇𝑑 + 𝑇𝑝 = 𝑚 𝐿 − 𝑅 2 + 𝑚𝑑 𝑅 2 + 𝐽𝐺 𝜃 2 ≡ 𝑚𝑒 𝜃 2 𝑚𝑒 𝜃 + 𝑐𝑒 𝜃 + 𝑘𝑒 𝜃 = 0, 𝜔𝑛 = =
2 2 𝑚𝑒 𝑚(𝐿 − 𝑅)2 +𝑚𝑑 𝑅 2 + 𝐽𝐺
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- Ex.3.15 Micro-Electromechanical System 1 1 1
𝑉 = 𝑘𝑡 𝜑 2 + 𝑘 𝑥0 𝑡 − 𝐿2 𝜑 2 + 𝑚2 𝑔(𝐿2 − 𝐿1 )𝜑 2
Determine the governing equation of motion and the natural 2 2 4
frequency for the micro-electromechanical system The potential energy is not in the standard form ⟹ the
governing equation must be derived from Lagrange’s equation
Solution
𝜕𝑉 1
The potential energy = 𝑘𝑡 + 𝑘𝐿22 + 𝑚2𝑔(𝐿2 − 𝐿1) 𝜑 − 𝑘𝐿2𝑥0 𝑡
𝜕𝜑 2
1 1 1
𝑉 = 𝑘𝑡𝜑2 + 𝑘 𝑥0 𝑡 − 𝑥1 2 + 𝑚2𝑔(𝐿2 − 𝐿1)𝜑2 = 𝑘𝑒 𝜑 − 𝑘𝐿2 𝑥0 𝑡
2 2 4
1 1 1 The governing equation of motion
= 𝑘𝑡𝜑2 + 𝑘 𝑥0 𝑡 − 𝐿2𝜑 2 + 𝑚2𝑔(𝐿2 − 𝐿1)𝜑2 𝑚𝑒 𝜑 + 𝑐𝑒 𝜑 + 𝑘𝑒 𝜑 = 𝑘𝐿2 𝑥0 (𝑡)
2 2 4
The kinetic energy The natural frequency
1 1 1 1
𝑇 = 𝐽0𝜑2 + 𝑚1𝑥12 = 𝐽0 + 𝑚1𝐿22 𝜑2 ≡ 𝑚𝑒𝜑2 𝑘𝑒 𝑘𝑡 + 𝑘𝐿22 + 𝑚2 𝑔(𝐿2 − 𝐿1 )/2
2 2 2 2 𝜔𝑛 = =
𝑚𝑒 𝐽0 + 𝑚1 𝐿22
Dissipation function
1 2 1 2 2 1
𝐷 = 𝑐 𝑥2 = 𝑐𝐿1 𝜑 ≡ 𝑐𝑒 𝜑 2
2 2 2

Ex.3.16 Slider Mechanism System Kinetic Energy
Obtain the equation of motion of the slider mechanism 1 1 1 1
𝑇 = 𝐽𝑚𝑏 + 𝐽𝑚𝑒 𝜑2 + 𝐽𝑚𝑙𝛽2 + 𝑚𝑠𝑟2 + 𝑚𝑠𝑟2𝛽2
Solution 2 2 2 2
1
The geometric constraints on the motion where 𝐽𝑚𝑏 = 𝑚𝑏𝑏2
3
𝑟 2 𝜑 = 𝑎2 + 𝑏 2 − 2𝑎𝑏𝑐𝑜𝑠𝜑 (a) 1
𝑎𝑏 𝐽𝑚𝑒 = 𝑚𝑒𝑒2
⟹𝑟 𝜑 = 𝜑𝑠𝑖𝑛𝜑 3
𝑟(𝜑) 1
𝐽𝑚𝑙 = 𝑚𝑙 𝑙2
𝑟 𝜑 𝑠𝑖𝑛𝛽 = 𝑏𝑠𝑖𝑛𝜑 (b) 3
2 2
𝑎 = 𝑟 𝜑 𝑐𝑜𝑠𝛽 + 𝑏𝑐𝑜𝑠𝜑 (c) 2
𝑎𝑏𝑐𝑜𝑠𝜑 − 𝑏2 𝑎𝑏𝑠𝑖𝑛𝜑
𝑚 𝜑 ≡ 𝐽𝑚𝑏 + 𝐽𝑚𝑒 + 𝐽𝑚𝑙 + 𝑚𝑠𝑟 + 𝑚𝑠
⟹ 𝑟 𝜑 𝑐𝑜𝑠𝛽 − 𝑟 𝜑 𝛽𝑠𝑖𝑛𝛽 − 𝑏𝜑𝑠𝑖𝑛𝜑 = 0 𝑟2(𝜑) 𝑟(𝜑)
𝑟 𝜑 𝑐𝑜𝑠𝛽 − 𝑏𝜑𝑠𝑖𝑛𝜑 𝜑 1
⟹𝛽= = 2 𝑎𝑏𝑐𝑜𝑠𝜑 − 𝑏 2 ⟹ 𝑇 = 𝑚(𝜑)𝜑 2
𝑟(𝜑)𝑠𝑖𝑛𝛽 𝑟 (𝜑) 2

System Kinetic Energy - Ex.3.17 Oscillations of A Crankshaft
1 Obtain the equation of motion of the crankshaft
𝑇 = 𝑚(𝜑)𝜑 2
2 Solution
System Potential Energy
• Kinematics
1 1
𝑉 = 𝑘𝑟 2 (𝜑) + 𝑘𝑑 𝑑 𝑡 − 𝑒𝜑 2 The position vector of the
2 2
slider mass 𝑚𝑝
Equation of motion
𝑟𝑃 = 𝑟𝑐𝑜𝑠𝜃 + 𝑙𝑐𝑜𝑠𝛾 𝑖 + 𝑑 𝑗
𝑑 𝜕𝑇 𝑑 𝜕𝑇
= 𝑚(𝜑)𝜑 = 𝑚(𝜑)𝜑, = 𝑚′ 𝜑 𝜑2 The position vector of the center of mass 𝐺 of the crank
𝑑𝑡 𝜕𝜑 𝑑𝑡 𝜕𝜑
𝜕𝑉 𝑟𝐺 = 𝑟𝑐𝑜𝑠𝜃 + 𝑎𝑐𝑜𝑠𝛾 𝑖 + 𝑟𝑠𝑖𝑛𝜃 + 𝑎𝑠𝑖𝑛𝛾 𝑗
= 𝑘𝑟 𝜑 𝑟 ′ 𝜑 + 𝑘𝑑 𝑒 2 𝜑 − 𝑘𝑑 𝑒 2 𝑑(𝑡) From geometry
𝜕𝜑 𝑟 𝑐𝑜𝑠𝜃
1 𝑟𝑠𝑖𝑛𝜃 = 𝑑 + 𝑙𝑠𝑖𝑛𝛾 ⟹ 𝑟𝜃𝑐𝑜𝑠𝜃 = 𝑙𝛾𝑐𝑜𝑠𝛾 ⟹ 𝛾 = 𝜃
⟹ 𝑚 𝜑 𝜑 + 𝑚′ 𝜑 𝜑 2 + 𝑘𝑟 𝜑 𝑟 ′ 𝜑 + 𝑘𝑑 𝑒 2 𝜑 = 𝑘𝑑 𝑒 2 𝑑(𝑡) 𝑙 𝑐𝑜𝑠𝛾
2 The slider velocity
𝑑 𝜕𝑇 𝜕𝑇 𝜕𝐷 𝜕𝑉
− 𝜕𝑞 + 𝜕𝑞 + 𝜕𝑞 = 𝑄1 (3.44) 𝑣𝑃 = 𝑟𝑃 = −𝑟𝜃𝑠𝑖𝑛𝜃 − 𝑙𝛾𝑠𝑖𝑛𝛾 𝑖 = −𝑟𝜃 𝑠𝑖𝑛𝜃 + 𝑡𝑎𝑛𝛾𝑐𝑜𝑠𝜃 𝑖
𝑑𝑡 𝜕𝑞1 1 1 1
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The velocity of the center of mass 𝐺 of the crank • Equation of Motion
𝑣𝐺 = −𝑟𝜃𝑠𝑖𝑛𝜃 − 𝑎𝛾𝑠𝑖𝑛𝛾 𝑖 + 𝑟𝜃𝑐𝑜𝑠𝜃 − 𝑎𝛾𝑐𝑜𝑠𝛾 𝑗 The governing equation of motion has the form
𝑎 𝑏 𝑑 𝜕𝑇 𝜕𝑇
⟹ 𝑣𝐺 = − 𝑠𝑖𝑛𝜃 + 𝑡𝑎𝑛𝛾𝑐𝑜𝑠𝜃 𝑟𝜃 𝑖 + 𝑐𝑜𝑠𝜃 𝑟𝜃 𝑗 − = −𝑀(𝑡)
𝑙 𝑙 𝑑𝑡 𝜕𝜃 𝜕𝜃
• System Kinetic Energy After performing the differentiation operations
The total kinetic energy of the system 1 𝜕𝐽(𝜃) 2
1 1 1 1 1 𝐽 𝜃 𝜃+ 𝜃 = −𝑀(𝑡)
𝑇 = 𝐽𝑑 𝜃 2 + 𝑚𝐺 𝑣𝐺2 + 𝐽𝐺 𝛾 2 + 𝑚𝑃 𝑣𝑃2 ≡ 𝐽(𝜃)𝜃 2 2 𝜕𝜃
2 2 2 2 2 The angle 𝜃 can be expressed
where, 2 2
2
𝑎 𝑏 𝜃 𝑡 = 𝜔𝑡 + 𝜙(𝑡)
𝐽 𝜃 = 𝐽𝑑 + 𝑟 𝑚𝐺 𝑠𝑖𝑛𝜃 + 𝑡𝑎𝑛𝛾𝑐𝑜𝑠𝜃 + 𝑐𝑜𝑠𝜃
𝑙 𝑙 Then
2
𝑟 𝑐𝑜𝑠𝜃 1 𝜕𝐽(𝜃) 2
+𝐽𝐺 + 𝑟 2 𝑚𝑃 𝑠𝑖𝑛𝜃 + 𝑡𝑎𝑛𝛾𝑐𝑜𝑠𝜃 2 𝐽 𝜃 𝜙+ 𝜔 + 𝜙 = −𝑀(𝑡)
𝑙 𝑐𝑜𝑠𝛾 2 𝜕𝜃
𝑟 𝑑
𝛾 = 𝑠𝑖𝑛−1 𝑠𝑖𝑛𝜃 −
𝑙 𝑙

- Ex.3.18 Vibration of A Centrifugal Governor The potential energy with respect to the static equilibrium position
Derive the equation of motion of 1
𝑉 𝜑 = 𝑘 2𝐿 1 − 𝑐𝑜𝑠𝜑 2 − 2𝑚𝑔𝐿𝑐𝑜𝑠𝜑
governor by using Lagrange’s equation 2
Solution Using equation (3.44) with
The velocity vector relative to point 𝑞1 = 𝜑
𝑂 of the left hand mass 𝐷=0
𝑉𝑚 = −𝐿𝜑𝑐𝑜𝑠𝜑 𝑖 + 𝐿𝜑𝑠𝑖𝑛𝜑𝑗 𝑄1 = 0
+(𝑟 + 𝐿𝑠𝑖𝑛𝜑)𝜔𝑘 and performing the required
operations, to obtain the following
The kinetic energy governing equation
1
𝑇 𝜑, 𝜑 = 2 𝑚 𝑉𝑚 𝑉𝑚 𝑚𝐿2 𝜑 − 𝑚𝑟𝐿𝜔2 𝑐𝑜𝑠𝜑 − 𝑚𝜔2 + 2𝑘 𝐿2 𝑠𝑖𝑛𝜑𝑐𝑜𝑠𝜑
2
+𝐿 𝑚𝑔 + 2𝑘𝐿 𝑠𝑖𝑛𝜑 = 0
= 𝑚 −𝐿𝜑𝑐𝑜𝑠𝜑 2 + 𝐿𝜑𝑠𝑖𝑛𝜑 2 + 𝑟 + 𝐿𝑠𝑖𝑛𝜑 𝜔 2
= 𝑚𝜔2 𝑟 + 𝐿𝑠𝑖𝑛𝜑 2 + 𝑚𝜑 2 𝐿2 𝑑 𝜕𝑇 𝜕𝑇 𝜕𝐷 𝜕𝑉
− + + = 𝑄1 (3.44)
𝑑𝑡 𝜕𝑞1 𝜕𝑞1 𝜕𝑞 1 𝜕𝑞1

𝑚𝐿2 𝜑 − 𝑚𝑟𝐿𝜔2 𝑐𝑜𝑠𝜑 − 𝑚𝜔2 + 2𝑘 𝐿2 𝑠𝑖𝑛𝜑𝑐𝑜𝑠𝜑 - Ex.3.19 Oscillations of A Rotating System
+𝐿 𝑚𝑔 + 2𝑘𝐿 𝑠𝑖𝑛𝜑 = 0 Determine the change in the equilibrium position of
Introducing the quantities the wheel and the natural frequency of the system
𝑟 𝑔 2𝑘 about this equilibrium position
𝛾≡ , 𝜔𝑝2 ≡ , 𝜔𝑛2 ≡
𝐿 𝐿 𝑚 Solution
Rewrite the equation The spring force = the centrifugal force
2
𝜑 − 𝛾𝜔 𝑐𝑜𝑠𝜑 𝑅 2
𝑘
− 𝜔2 + 𝜔𝑛2 𝑠𝑖𝑛𝜑𝑐𝑜𝑠𝜑 𝑘𝛿 = 𝑚(𝑅 + 𝛿)Ω2 ⟹ 𝛿 = 2 , 𝜔1𝑛 =
𝜔1𝑛 𝑚
+ 𝜔𝑝2 + 𝜔𝑛2 𝑠𝑖𝑛𝜑 = 0 −1
Ω2
Assume that the oscillation 𝜑 about 𝜑 = 0 are small (𝑐𝑜𝑠𝜑 ≈ 1, For small angles of rotation, the kinetic energy
2
𝑠𝑖𝑛𝜑 ≈ 𝜑) to get the final equation 1 1 𝑥 1 1 3
𝑇= 𝑚𝑟 2 + 𝑚𝑥 2 = 𝑚 𝑥2
𝜑 + 𝜔𝑝2 − 𝜔2 𝜑 = 𝛾𝜔2 2 2 𝑟 2 2 2
The potential energy for oscillations about the equilibrium
position
14
4/10/2014
§6.Lagrange’s Equations Exercises

The potential energy for oscillations about the equilibrium position
1
𝑉 = 𝑘𝑥 2
2
The Lagrange equation for this undamped system
𝑑 𝜕𝑇 𝜕𝑇 𝜕𝐷 𝜕𝑉
− + + = 𝑄𝑥 = 𝑚𝑥Ω2
𝑑𝑡 𝜕𝑥 𝜕𝑥 𝜕𝑥 𝜕𝑥
where the centrifugal force 𝑚𝑥Ω2 is treated as an external force
The governing equation
3
𝑚 𝑥 + 𝑘 − 𝑚Ω2 𝑥 = 0
2
The natural frequency
𝑘 2 2
𝜔𝑛 = = 𝜔 − Ω2
𝑚 3 1𝑛
15

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Governing Equations equivalent damping of a single dof system

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