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sm003939 A Chopra PDF
sm003939 A Chopra PDF
sm003939 A Chopra PDF
Problem 1.1
If ke is the effective stiffness,
fS = keu
u
k1
k1 u
fS fS
k2 u
k2
Equilibrium of forces: fS = ( k1 + k2 ) u
Effective stiffness: ke = fS u = k1 + k2
Equation of motion: mu&& + keu = p( t )
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Problem 1.2
If ke is the effective stiffness,
fS = keu (a)
u
k1 k2
fS
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Problem 1.3
k1 k3
m Fig. 1.3(a)
k2
⇓
k 1+ k 2 k3
m Fig. 1.3(b)
⇓
u
ke
m Fig. 1.3(c)
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is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
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Problem 1.4
1. Draw a free body diagram of the mass.
O
L T
m mgsinθ mgcosθ
or
mLθ&& + mg sin θ = 0
mLθ&& + mgθ = 0
⎛g⎞ (b)
θ&& + ⎜ ⎟θ = 0
⎝L⎠
4. Determine natural frequency.
g
ωn =
L
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is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
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Problem 1.5
1. Find the moment of inertia about O.
From Appendix 8,
2
1 ⎛ L⎞ 1
I0 = mL2 + m⎜ ⎟ = mL2
12 ⎝ 2⎠ 3
2. Draw a free body diagram of the body in an arbitrary
displaced position.
L/2 x
mg
∑M 0 = I 0θ&&
L 1
− mg sin θ = mL2θ&&
2 3
3 g
ωn =
2 L
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is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
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Problem 1.6 5. Determine natural frequency.
L r ∫
= ρ r 2 ( r α dr )
0
α ρ
= L4 α
4
1 k
= mL 2
2
u
2. Draw a free body diagram of the body in an arbitrary The spring stiffness is determined from the deflection u
displaced position. under a vertical force fS applied at the location of the
lumped weight:
2L/3 fS L3 48 EI
x Simply-supported beam: u = ⇒ k =
48 EI L3
3
θ
fS L 3 EI
Cantilever beam: u = ⇒ k =
3 EI L3
mg fS L3 192 EI
y Clamped beam: u = ⇒ k =
192 EI L3
∑M 0 = I 0θ&&
2L 1
− mg sin θ = mL2θ&&
3 2
4 g
θ&& + =0 (b)
3 L
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is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
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6 recording, or likewise. For information regarding permission(s), write to:
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Problem 1.7
Draw a free body diagram of the mass:
fS
mü
u
p(t)
fS =
FG IJ
AE
H K
L
u (b)
mu&& +
FG IJ
AE
u = p( t )
LH K
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is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
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Problem 1.8
Show forces on the disk:
fS
O
θ
fS =
FG GJ IJ θ J =
π d4
H LK where
32
(b)
I Oθ&& +
GJ FG IJ
θ = 0
L H K
or,
F mR I θ&& + F π d G I θ
2 4
GH 2 JK GH 32 L JK = 0
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is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
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Problems 1.9 through 1.11
In each case the system is equivalent to the spring-
mass system shown for which the equation of motion is
FG w IJ u&& + ku = 0
H gK
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is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
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9 recording, or likewise. For information regarding permission(s), write to:
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Problem 1.12 2. Determine the effective stiffness.
f s = k eu (d)
L
where
u = δ spring + δ beam (e)
simply
EI
k supported f s = kδ spring = k beam δ beam (f)
w
Substitute for the δ’s from Eq. (f) and for u from Eq. (d):
Fig. 1.12a fs f f
= s + s
ke k k beam
kk beam
ke =
k + k beam
ke =
(
k 48 EI / L3 )
Undeformed position 48 EI
k+ 3
δst L
u Static Equlibrium
3. Determine the natural frequency.
u
Deformed position ke
ωn =
m
Fig. 1.12b
fs
fs
..
mu
p(t)
w
Fig. 1.12c
m u&& + f s = w + p (t ) (a)
where
fs = k e u (b)
The equation of motion is:
1
3
3EI c /h
3 EIc 6 EIc
k = 2 × kcolumn = 2 × 3 =
h h3
Equation of motion:
mu&& + ku = p( t )
Base fixity increases k by a factor of 4.
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is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
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11 recording, or likewise. For information regarding permission(s), write to:
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Problem 1.14 k 22 k 23
1. Define degrees of freedom (DOF).
2 3 1
3EI c 4 EI c 5EI c
k 22 = + =
h ( 2h ) h
2 EI c EI c
k 32 = =
( 2h ) h
3EI c
k12 = 2
h
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where
EI c
k tt = [6]
h3
EI c
k t0 = [3h 3h]
h3
EI c ⎡5h 2 h2 ⎤
k 00 = ⎢ ⎥
h 3 ⎣⎢ h 2 5h 2 ⎦⎥
Since
−1 h ⎡ 5 − 1⎤
k 00 = ⎢− 1 5 ⎥
24 EI c ⎣ ⎦
we get
6 EI c EI c h ⎡ 5 − 1⎤ EI c ⎡3h ⎤
k= 3
− 3 [3h 3h] ⋅
24 EI c ⎢− 1 5 ⎥ ⋅ 3 ⎢3h ⎥
h h ⎣ ⎦ h ⎣ ⎦
EI c
k= [6 − 3]
h3
3EI c
k=
h3
5. Equation of motion.
3EIc
m u&& + u = p(t )
h3
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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,
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Problem 1.15 u3 = 1, u1 = u2 = 0
1
Ib = I c / 2 k23 k33
k
k13
h Ic Ic
2h
⎣6 h
1
2
h2 5h 2 ⎥⎦ ⎪⎩u 3 ⎪⎭ ⎪⎩ 0 ⎪⎭
u2 = 1, u1 = u3 = 0 First partition k as
k22 k32 ⎡ 24 6h 6h ⎤
k12 EI c ⎢ ⎥ ⎡k k t0 ⎤
k = 3 ⎢6 h 5h 2 1
h 2 ⎥ = ⎢ Ttt
h ⎢
2
⎣k t 0 k 00 ⎥⎦
⎣6 h
1
2
h2 5h 2 ⎥⎦
−1 4h ⎡ 5 − 12 ⎤
k 00 = ⎢ 1 ⎥
99 EI c ⎢⎣− 2 5⎥⎦
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we get
24 EI c EI c 4h ⎡ 5 − 12 ⎤ EI c ⎡6h ⎤
k = − 3 [6h 6h] ⋅ ⎢ ⎥⋅
h 3
h 99 EI c ⎣⎢− 12 5⎦⎥ h3 ⎢⎣6h ⎥⎦
EI 144
= 3c (24 − )
h 11
120 EI c
=
11 h3
24 EI c ⎛ 12 ρ +1 ⎞
k = ⎜⎜ ⎟⎟
h 3 ⎝ 12 ρ + 4 ⎠
Substituting ρ = Ib 4 Ic = 1 8 gives
24 EI c ⎛⎜ 12 8 +1 ⎞⎟ 24 EI c ⎛ 5 ⎞ 120 EI c
1
k = = ⎜ ⎟=
h 3 ⎜⎝ 12 18 + 4 ⎟⎠ h 3 ⎝ 11 ⎠ 11 h 3
Equation of motion:
⎛ 120 EI c ⎞
m u&& + ⎜⎜ 3
⎟⎟ u = p (t )
⎝ 11 h ⎠
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is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
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Problem 1.16 u3 = 1 , u1 = u2 = u4 = u5 = 0
u3 m u4
u1
EIc /2
h EIc EIc
u2 u5
u4 =1
12EI c 24EIc
k11 = 2 3 = 3
h h
6 EIc
k 21 = k 31 = k 41 = k 51 =
h
2
4 EIc 4EI c 5EI c
k 44 = + =
h 2(2h) h
u2 = 1 , u1 = u3 = u4 = u5 = 0 6 EI
k14 = 2 c k 24 = 0
h
2 EIc EI c 2EI c
k 34 = = k54 =
2(2h) 2h h
u2 =1
u5 = 1 , u1 = u2 = u3 = u4 = 0
4 EIc 6 EI c
k 22 = k12 = 2 u5 =1
h h
2EI c
k 32 = k 42 = k52 = 0
h
4 EIc 6EI c
k 55 = k15 = 2
h h
2 EIc
k 45 = k 25 = k 35 = 0
h
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is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
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Assemble the stiffness coefficients:
⎡24 6h 6h 6h 6h ⎤
⎢6h 4h 2 2h 2
0 0 ⎥
EI c ⎢ 2 2
⎥
k = 3 ⎢6h 2h 5h 1
2 h2 0 ⎥
h ⎢
6h 0 1
h2 5h 2 2h2 ⎥
⎢ 2
⎥
⎢⎣6h 0 0 2h 2 4h2 ⎥⎦
⎡24 6h 6h 6h 6h ⎤
⎢6 h 4 h 2 2h 2 0 0 ⎥
EIc ⎢ ⎥ ⎡ k tt kt 0 ⎤
k = 3 ⎢6 h 2 h 2 5h 2 1
h2 0 ⎥=⎢ T
k 00 ⎥⎦
2
h ⎢ ⎥ kt 0
⎢6 h 0
1
2 h2 5h 2 2h 2 ⎥ ⎣
⎢⎣6h 0 0 2h 2 4h 2 ⎥⎦
k = k tt − k t 0k −1 kT
00 t 0
24EIc 22EI c 2 EI c
k= − = 3
h3 h3 h
mu&& + ku = p (t )
⎛ 2 EI ⎞
mu&& + ⎜⎜ 3 c ⎟⎟ u = p (t )
⎝ h ⎠
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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,
17 recording, or likewise. For information regarding permission(s), write to:
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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 θ
⎝ L ⎠
⎛ AE ⎞ 2 o 1 AE
= ⎜⎜ ⎟cos 45 =
⎟
⎝h 2⎠ 2 2 h
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is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
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18 recording, or likewise. For information regarding permission(s), write to:
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Problem 1.18
z
h kw h 2
h f uθ = 1
O I O
f
S
where
h2 + h2 mh2
IO = m = (b)
12 6
2. Determine torsional stiffness, kθ .
fS = kθuθ (c)
Introduce uθ = 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,
1 AE
kw =
2 2 h
The torque required to equilibrate these resisting forces is
h h 2 AE
kθ = 8 kw = 2 kw h2 = ( ) h2
2 2 2 2 h
AEh
= (d)
2
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&&θ + uθ = 0
6 2
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is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
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Problem 1.19
ut
m v f
I
k c ut - u
g
f f
S D
ug
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is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
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20 recording, or likewise. For information regarding permission(s), write to:
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