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Vibration and Noise 354

Prof A Bekker

Lecture 4: Modeling and energy methods1

Review of Newtonian mechanics
Until now we have used Newtonian mechanics to determine equations of motion. Newton’s
second law:
X d
F = (mv) = ma (1)
dt
For rotational motion about a fixed axis:
X
M = I θ̈ (2)

The energy method

A conservative system is one where no energy is added or lost due to external forces. For
a conservative system the sum of the kinetic and potential energies, T and U , is constant:

T + U = const. (3)
If the time derivative of this equation is taken on both sides, it results that the rate of
change of the total energy in the system is zero:

d
(T + U ) = 0 (4)
dt
Energy principles, Eq.4, may be used as an alternative to Newton’s method to derive
the equation of motion for dynamic systems.
The potential energy of a spring:
1
Uspring = k(δst + x)2 (5)
2
1
Lecture notes adapted from: Inman, DJ; Engineering Vibration; Fourth Edition; pp 93-107; Van
Niekerk, JL; Vibration & Noise 354 class notes; 2016 and Muiyser, J; Vibration & Noise 354 class notes
2018

1
 The potential energy due to gravity:

Ugrav = mgh (6)

where h is the height above the selected reference point. The kinetic energy due to
linear motion of a particle:
1
Tlin = mv 2 (7)
2
The kinetic energy due to rotation of a rigid body:
1
Trot = Iω 2 (8)
2

Example
Consider the simple mass-spring system from the first lecture:

Equilibrium
m
δst
k
x(t)

The sum of the energies if we take the uncompressed position as the reference
are:
1 1
T + U = mẋ2 + k(δst + x)2 − mg(δst + x) = const. (9)
2 2
The derivative of this equation is:

d
(T + U ) = mẋẍ + k(δst + x)ẋ − mg ẋ = 0 (10)
dt

mẍ + kx + kδst − mg = 0 (11)

Noting that kδst = mg we arrive at the equation of motion:

mẍ + kx = 0 (12)

2
Energy example
Consider a uniform rigid disk of radius r that rolls without slipping inside a circular track
of radius R. Obtain the natural frequency of this system by assuming small angular
deflections around the equilibrium.

θ F

N
mg

Energy
The potential energy of disc taking the lowest position as reference:

U = mg(R − r)(1 − cos θ) (13)

The kinetic energy of the disc due to rolling:
1 1
Troll = IC φ̇2 = mr2 φ̇2 (14)
2 4
The kinetic energy of the disc due to translation:
1
Ttrans = m(R − r)2 θ̇2 (15)
2
Summing the energy and taking the derivative:

d
(T + U ) = 0
dt
1 2
mr φ̇φ̈ + m(R − r)2 θ̇θ̈ + mg(R − r) sin θθ̇ = 0
2
3
m(R − r)2 θ̇θ̈ + mg(R − r) sin θθ̇ = 0 (16)
2
For small angles this is the equation of motion is:
3
(R − r)θ̈ + gθ = 0 (17)
2

Typical test question

A thin disk of mass m and radius 3r rolls without slipping and is attached to a spring of
stiffness k. The disk is also attached to a pulley of inner radius r, outer radius 2r and
moment of inertia, Ip . Attached to the outer surface of the pulley is a box of mass 2m
which is supported by a spring of stiffness 2k. Determine the equation of motion of the
system using the energy method.

3
 θ 3r
k
Ip
2r
r
m

2m

2k

T2 Ry
T1 T1 Fk1
2mg Rx
mg

T2
Fk2 N

The free body diagrams for the disk, pulley and mass:
Summing the moments around the pulley to obtain the static deflection:
X
M = rT1 − 2rT2 = 0 (18)
where:

T1 = krθ0 (19)

T2 = 2mg − 4krθ0 (20)

As such:

kr2 θ0 − 2r(2mg − 4krθ0 ) = 0

4mg
θ0 = (21)
9kr
The total potential energy in the system:

4
 1
U = k(rθ + rθ0 )2 + k(2rθ + 2rθ0 )2 − 2mg(2rθ + 2rθ0 )
2
| {z } | {z } | {z }
Bottom spring Height of mass
Top spring
9 2 2 9
= kr θ + 9kr2 θθ0 + kr2 θ02 − 4mgrθ − 4mgrθ0
2 2
(22)

The total kinetic energy is:

  !2 !2
1 1 θ̇ 1 θ̇ 1 2 1
T = m(3r)2 + m(3r)2 + Ip θ̇ + (2m)(2rθ̇)2
2 2 3 2 3 |2 {z } 2
| {z }
Rotation of pulley Translation of mass
| {z } | {z }
Rotation of disk Translation of disk
1 2 2 1 2 2 1
= mr θ̇ + mr θ̇ + 4mr2 θ̇2 + Ip θ̇2
4 2 2
19 2 2 1 2
= mr θ̇ + Ip θ̇ (23)
4 2
The derivative of the total energy must be equal to zero for a conservative system:

d
(T + U ) = 0
dt
19 2
9kr2 θθ̇ + 9kr2 θ̇θ0 − 4mgrθ̇ + mr θ̇θ̈ + Ip θ̇θ̈ = 0 (24)
2
By substituting equation 34 into equation 37 and dividing by θ̇:
 
19 2
mr + Ip θ̈ + 9kr2 θ = 0 (25)
2

Modelling stiffness
Springs in series experience the same force, hence the effective stiffness becomes:

k1 k2
kef f = (26)
k1 + k2
Springs in parallel experience the same elongation, but produce an addative force.
Hence, the effective stiffness becomes:

kef f = k1 + k2 (27)
The stiffness of a bar in the axial direction:

EA
k= (28)
l
The stiffness of a twisting rod:

GJP
k= (29)
l
The stiffness of a helical spring:

5
 Gd4
k= (30)
64nR3
The stiffness of a beam in transverse bending:

3EI
k= (31)
l3