Faculty of Maritime Engineering and Marine Sciences

Ship Dynamics

Assignment #1: Review on mechanical oscillations May 21st /2021

Student: Andres Toala Hours: 30
1. Handwrite a 150-word essay on:
“What does the 24th of may represent to you as an Ecuadorian citizen”.
Every May 24th Ecuadorian citizen commemorate a glorious act in which heroes offered their lives
for our freedom. The battle of Pichincha sealed the independence of Ecuador and the beginning of
our country´s republican an autonomous life.
This year this date is special, since a new president was possessed, who will try to better manage
our resources for the following year, the bicentennial can be celebrated with good vibes and feel
that the country is recovering and strengthening in all the aspects.
This will only be achieved if we all work together without discrimination, or looking for interests,
we must work together to propose solutions to current problems and not generate more. Just like
on this day, 199 years ago not only did Quito patriots fight, warriors from all over Ecuador joined,
and even from other countries. That came together by an ideal, by feelings, not for economics
interest or ambitions, but for a deep love the homeland.
2. Prepare a plan of how you have organized your time in a week, during this semester.
Include a short explanation of the difficulties that you expect to complete this plan.
MONDAY TUESDAY WEDNESDAY THURSDAY FRIDAY SATURDAY SUNDAY
07:00 - 08:00 BREAKFAST
08:00 - 09:00
09:00 - 10:00 HOMEWORKS HOUSEWORKS
10:00 - 11:00
11:00 - 12:00
CLASS CLASS CLASS CLASS
12:00 - 13:00
13:00 - 14:00 LUNCH
14:00 - 15:00
CLASS CLASS CLASS
15:00 - 16:00
PRACTICES
16:00 - 17:00
CLASS
17:00 - 18:00
18:00 - 19:00 COOK
19:00 - 20:00 DINNER
20:00 - 21:00
21:00 - 22:00
HOMEWORKS
22:00 - 23:00
23:00 - 24:00

The main difficulty that I would have would be to carry out practices that, even if they are
communal, will take time and attention.
3. Explain the origin of the oscillatory motion of the German Folk Art Toy Swinging
Santa shown in the video: https://www.youtube.com/watch?v=iOsZRoMjGl4.
The centroid of the doll does not pass through the point where the doll is supported, perhaps it is
below, which would turn it into a kind of pendulum, which after moving it to one side and releasing
it begins an oscillatory movement like that of a simple pendulum.
Problem 5.
The equations of motion for each of the masses are:
𝑀1 0 0 𝑢̈ 1 𝐶1 + 𝐶2 −𝐶2 0 𝑢̇ 1 2𝐾 −𝐾 0 𝑢1 𝑉𝐾 + 𝑖𝜔𝐶1
[0 𝑀2 0 ] {𝑢̈ 2 } + [ −𝐶2 𝐶2 + 𝐶3 −𝐶3 ] {𝑢̇ 2 } + [−𝐾 2𝐾 −𝐾 ] {𝑢2 } = { 0 }
0 0 𝑀3 𝑢̈ 3 0 −𝐶3 𝐶3 𝑢̇ 3 0 −𝐾 𝐾 𝑢3 0
Eq. 1. Motion equations

To calculate the amplitudes of the response functions, the following complex algebraic system of
equations must be solved:
(2𝐾 − 𝜔2 𝑀1 ) + 𝑖𝜔(𝐶1 + 𝐶2 ) −𝐾 − 𝑖𝜔𝐶2 0 𝑈1 𝑉𝐾 + 𝑖𝜔𝐶1
2
[ −𝐾 − 𝑖𝜔𝐶2 (2𝐾 )
− 𝜔 𝑀2 + 𝑖𝜔(𝐶2 + 𝐶3 ) −𝐾 − 𝑖𝜔𝐶3 ] {𝑈2 } = { 0 }
0 −𝐾 − 𝑖𝜔𝐶3 (𝐾 − 𝜔2 𝑀1 ) + 𝑖𝜔𝐶3 𝑈3 0

Eq. 2. Complex system of equations

Taking the following system values

E [N/m^2] 2,10E+11 M1 [Kg] 1
Ic [m^4] 5,08095E-11 M2 [Kg] 0,5
L [m] 0,4 M3 [Kg] 0,5
Ku [N/m] 2,00E+03
Keq [N/m] 4,00E+03

The natural frequencies are calculated by making the determinant of the coefficient matrix null, but
previously neglecting the shock absorbers and leaving aside the excitations. The summary of this
calculation is presented below, where the determinant is:
𝑑𝑒𝑡 = (2𝐾 − 𝜔2 𝑀1 )[(2𝐾 − 𝜔2 𝑀2 )(2𝐾 − 𝜔2 𝑀1 ) − 𝐾2 ] − 𝐾2 (𝐾 − 𝜔2 𝑀1 ) = 0
so that the three natural frequencies are:

i ωₒᵢ [rad/s]
1 37,649
2 89,457
3 150,300

Continuing with the calculation of free oscillation, the two vibration modes are determined below;

−𝐾 0 𝑈̅ 2
[ ] { ̅2 } = {𝜔 𝑀1 − 2𝐾}
2𝐾 − 𝜔2 𝑀2 −𝐾 𝑈3 𝐾
Solving the system for each natural frequency we obtain the modes of vibration.

wo1 wo2 wo3

U1/U1 1,000 1,000 1,000
U2/U1 1,646 0,000 -3,646
U3/U1 2,000 -1,000 2,000
 Fig. 1, Mode shapes of system

Let us now consider calculating the forced response, that the dampers have coefficients that
correspond to 3% of the critical, with the first natural frequency, that is:
C1 [N*s/m] 4,518
C2 [N*s/m] 2,259
C3 [N*s/m] 2,259
V [m] 0,001

Next, the solution of the system of complex algebraic equations will be implemented using an
Excel electronic sheet. The following table presents a summary of this calculation, in which the
excitation frequency is varied.
ωₒᵢ [1/s] D11 D12 D13 D21 D22 D23 D31 D32 D33
18,8244522 7648,14+127,57i -4001,25-42,52i 0,00E+00 -4001,25-42,52i 7825,32+85,05i -4001,25-42,52i 0,00E+00 -4001,25-42,52i 3824,07+42,52i
23,8244522 7434,89+161,45i -4001,25-53,82i 0,00E+00 -4001,25-53,82i 7718,69+107,64i -4001,25-53,82i 0,00E+00 -4001,25-53,82i 3717,45+53,82i
28,8244522 7171,65+195,34i -4001,25-65,11i 0,00E+00 -4001,25-65,11i 7587,07+130,23i -4001,25-65,11i 0,00E+00 -4001,25-65,11i 3585,82+65,11i
33,8244522 6858,4+229,22i -4001,25-76,41i 0,00E+00 -4001,25-76,41i 7430,45+152,81i -4001,25-76,41i 0,00E+00 -4001,25-76,41i 3429,2+76,41i
38,8244522 6495,16+263,11i -4001,25-87,7i 0,00E+00 -4001,25-87,7i 7248,83+175,4i -4001,25-87,7i 0,00E+00 -4001,25-87,7i 3247,58+87,7i
43,8244522 6081,91+296,99i -4001,25-99i 0,00E+00 -4001,25-99i 7042,2+197,99i -4001,25-99i 0,00E+00 -4001,25-99i 3040,96+99i

Solving the system of equations (Eq. 2) by Cramer's rule:

DETERMINANT
45164233594,4518+2222820983,95135i
34736868578,3399+2446229369,45682i
22816629574,6271+2430714689,99848i
9967573950,3422+2143883483,92597i
-3173624121,2415+1567380737,73281i
-15914707977,3347+692710584,35007i
DET U1 DET U2 DET U3 U1 U2 U3 ABS(U1) ABS(U2) ABS(U3)
27812814,890204+1191917,380372i
30585194,969944+1277435,298284i
32002776,5722+1320860,344484i
0,000615622715114969-3,90799743371135E-06i
0,000676951766696522-5,03290492855595E-06i
0,000708310390637376-5,61477157461804E-06i
0,00061564 0,00067697 0,00070833
25342648,38801+1403790,62688i
29722329,4185+1574418,379005i
31992675,2127+1661744,348505i
0,000728792186596805-0,0000109106617756583i
0,00085459584156061-0,0000148579618359168i
0,000919807865820486-0,0000169363759947353i
0,00072887 0,00085472 0,00091996
22352456,355009+1663279,190119i
28652466,336861+1992034,862803i
31975051,50655+2162488,907528i
0,000976341651445313-0,0000311145343436685i
0,00125087573467227-0,0000459527625409443i
0,00139564973791616-0,0000539053065876601i
0,00097684 0,00125172 0,00139669
18890895,25008+1717784,21128i
27385075,16904+2232741,209952i
31959408,4668+2503275,095952i
0,00184686293463417-0,000224896724370957i
0,00267198454881735-0,000350705432533348i
0,00311619374868605-0,000419107120286372i
0,00186051 0,0026949 0,00314425
15001607,37723+1684168,969101i
25916161,35481+2440246,71865i
31941456,8125+2843846,424525i
-0,00358937374901146-0,00230338690549331i
-0,00625956065460949-0,00386036942224981i
-0,00773534160938479-0,00471639718222284i
0,00426488 0,00735422 0,0090598
10739792,88196+1553544,63475i
24245962,521+2610141,6i
31921176,375+3184515,05625i
-0,000669317457020522-0,000126749917396613i
-0,00151348795504684-0,000229884879506284i
-0,00199327980047305-0,00028685924228774i
0,00068121 0,00153085 0,00201382
 Fig. 2 Response amplitudes as a function of the excitation frequency

As expected, there are three resonance zones, around 37.6, 89.5 and 150.3 1 / sec, corresponding
to the three natural frequencies. It was also expected that the width of the third story building, have
greater amplitude since it is the highest.

Fig. 3. Accelerations of each dof

In the experimental part, using the conversion rule, and taking periods, averages of acceleration
and frequency were obtained:
𝑚𝑉 𝑚
𝑈̈1,𝑒𝑥𝑝 = 9.8 ∗ [ ]
80 𝑠 2
Freq Accel
12,842 0,182
14,427 0,305
16,427 1,098
20,396 0,453
28,858 0,280
38,793 0,773
42,537 1,821
46,977 3,915
48,785 5,776
50,280 8,371
51,233 10,636
52,473 12,274
55,929 15,004
58,810 12,242
60,342 8,117
61,503 4,783
62,056 3,086
63,246 2,482
65,077 1,738
72,899 0,512
77,386
In this graph it 0,171
can be shown that it has the same shape as the acceleration graph obtained
79,217
analytically, 0,513infers that the proposed model can make physical sense, after this, the
which
80,088 where
frequencies 2,166
it presents resonances do not coincide with the analytical frequencies. The
81,203 4,771
acceleration values differ 22% considering the maximum values.
82,709 6,716
84,231 9,108
86,669 8,141
89,022 6,286
89,022 6,286
91,953 3,245
92,480 4,032
94,755 0,543