Problems 121

3.6. The system shown in Fig. P3.1 consists of a mass m and a massless rod of
length l. The system is supported by two springs which have stiffness coeffi-
cients k1 and k2 , as shown in the figure. Derive the system differential equation
of motion assuming small oscillations. Determine the natural frequency of the
system.

O
a
k1

k2

Fig. P3.1

3.7. If the two springs k1 and k2 in Problem 3.6 are to be replaced by an equivalent
spring which is connected at the middle of the rod, determine the stiffness
coefficient ke of the new spring system.

3.8. In the system shown in Fig. P3.2, m = 5 kg, k1 = k5 = k6 = 1000 N/m,

k3 = k4 = 1500 N/m, and k2 = 3000 N/m. The motion of the mass is assumed
to be in the vertical direction. If the mass is subjected to an impact such
that the motion starts with an initial upward velocity of 5 m/s, determine the
displacement, velocity, and acceleration of the mass after 2 s.

k1

k3
k2
k4

k5

k6

Fig. P3.2
122 3 Free Vibration

3.9. The system shown in Fig. P3.3 consists of a uniform rod which has length
l, mass m, and mass moment of inertia about its mass center I . The rod is
supported by two springs which have stiffness coefficients k1 and k2 , as shown
in the figure. Determine the system differential equation of motion for small
oscillations. Determine also the system natural frequency.

l/2
k1

k2

Fig. P3.3

3.10. If the shafts shown in Fig. P3.4 have modulus of rigidity G1 and G2 , derive
the differential equation of the system and determine the system natural
frequency.

D1 l1

k
r

D2 l2

Fig. P3.4
Problems 123

3.11. Determine the natural frequency of the system shown in Fig. P3.5.

D1 l1

D2 l2

Fig. P3.5

3.12. The uniform bar shown in Fig. P3.6 has mass m, length l, and mass moment
of inertia I about its mass center. The bar is supported by two springs k1
and k2 , as shown in the figure. Obtain the differential equation of motion and
determine the natural frequency of the system in the case of small oscillations.

k1

a
O

k2

Fig. P3.6

3.13. An unknown mass m is attached to the end of a linear spring with unknown
stiffness coefficient k. The system has natural frequency of 30 rad/s. When a
0.5-kg mass is added to the unknown mass m, the natural frequency is lowered
to 20 rad/s. Determine the mass m and the stiffness coefficient k.
124 3 Free Vibration

3.14. A viscously damped single degree of freedom mass–spring system has

m = 0.5 kg, k = 1000 N/m, and c = 10 N · s/m. The mass is set in motion with
initial conditions x0 = 0.05 m and ẋ0 = 0.5 m/s. Determine the displacement,
velocity, and acceleration of the mass after 0.3 s.

3.15. A viscously damped single degree of freedom mass–spring system has a mass
m of 2 kg, a spring coefficient k of 2000 N/m, and a damping constant c of
5 N · s/m. Determine (a) the damping factor ξ , (b) the natural frequency ω,
(c) the damped natural frequency ωd , and (d) the spring coefficient needed to
obtain critically damped system.

3.16. An overdamped single degree of freedom mass–spring system has a damping

factor ξ = 1.5 and a natural frequency ω = 20 rad/s. Determine the equation
of the displacement and plot the displacement and velocity versus time for
the following initial conditions: (a) x0 = 0, ẋ0 = 1 m/s; (b) x0 = 0.05 m,
ẋ0 = 0; and (c) x0 = 0.05 m, ẋ0 = 1 m/s.

3.17. Repeat Problem 3.16 if the system is critically damped.

3.18. For the system shown in Fig. P3.7, let m = 0.5 kg, k1 = k2 = k3 = 1000 N/m,
and c = 10 N · s/m. Derive the equations of motion of the system and deter-
mine the natural frequency. Determine also the displacement and velocity of
the mass after 0.2 s if the initial conditions are x0 = 0.05 m and ẋ0 = 2 m/s.

k1 k2

k3

Fig. P3.7

3.19. Derive the differential equation of motion of the inverted pendulum shown
in Fig. P3.8. Let m = 0.5 kg, l = 0.5 m, a = 0.2 m, and k = 3000 N/m. Deter-
mine the damping coefficient c if: (a) the system is underdamped with
ξ = 0.09, (b) the system is critically damped; and (c) the system is over-