H7092

THE UNIVERSITY OF SUSSEX

ENGINEERING & DESIGN

BEng (Final Year) and MEng Year 3 Examination 2013

DYNAMICS OF MACHINES AND VEHICLES

Date Time

Candidates should answer THREE Questions out of FOUR

Time allowed: 2 hours.

Where a question indicates the division of marks between different

parts, this information is for guidance only; the examiners reserve
the right to make small adjustments to the division.
H7092 DYNAMICS OF MACHINES AND VEHICLES
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1. Answer both parts of this question.

Part 1: 2-Dimensional Rigid Body Dynamics

A mobile conveyor, for raising baggage to the entrance of the hold of passenger aircraft,
is shown in figure Q1a. The vehicle has a conveyor belt that is elevated to correct height
by a hydraulic ram. Figure Q1b shows an equivalent representation of the 500 kg belt
support structure as a 2D plane rigid body with mass centre G. At the instant shown, the
vehicle is fast approaching an aircraft but braking rapidly, causing horizontal
deceleration as shown by vector m/s2. At the same time, the belt is being
raised rapidly by anti-clockwise rotation of the support structure with angular
velocity of magnitude rad/s. All other kinematic components can be ignored.

y
Hydraulic Ram

2m

2m G
B
o
a O 30
x

Figure Q1a Figure Q1b

i) Write down the acceleration vector for the mass centre G, in terms of unit
vectors i and j associated with the xy reference frame.
[5 marks]

ii) Assuming the hydraulic ram can only apply forces in the normal direction at
point B, and that the support at point O is a frictionless pin joint, draw a free-
body diagram. Then construct Newtonian equations of motion, and use just
the moment equation about Point O to calculate the instantaneous force in
the hydraulic ram at point B.
[5 marks]

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H7092 DYNAMICS OF MACHINES AND VEHICLES
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Part 2: 3-Dimensional Rigid Body Dynamics

A 3-bladed horizontal axis wind generator is shown in figure Q1c spinning at constant
speed n about the x axis. At the instant shown, following a change in wind direction, the
turbine tower is being turned about the vertical axis with constant angular velocity N. A
moving principal frame of reference Gxyz is shown fixed to the bladed-rotor at the
centre of mass G. At any instant in time t, the angular displacement of the nearest blade
to the horizontal, is measured by angle nt. The principal moments of inertia of the rotor
are Ixx, Iyy, and Izz, respectively, where it should be noted that Iyy= Izz.

y N

j
nt G i
k

n
x
𝛀𝒛

Figure Q1c
z
i) Write down the angular velocity vector  for the moving frame Gxyz
[2 marks]

ii) Write down the rotor angular velocity vector  .

[2 marks]

iii) Write down the rotor angular momentum vector H about point G.
[2 marks]

iv) By using Coriolis’ theorem, write down the x component mx of the

instantaneous moment vector at the point G (when expressed in terms of the
Gxyz frame).
[4 marks]
d[ ] [ ]
    [ ] may be used directly)
xyz
(Note: Coriolis’ theorem
dt t
Turn over
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H7092 DYNAMICS OF MACHINES AND VEHICLES
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2. Figure Q2a shows a lightweight multiple-unit passenger train comprising 3

identical carriages. Figure Q2b shows an equivalent 3DOF lumped-mass model
for the train, showing masses m1, m2, and m3. The masses are linked by two pairs
of identical linear springs in parallel, each of stiffness k; and identical linear
dampers, each of damping coefficient c. External forces f1(t), and f3(t) are shown
to represent the action of braking applied to the front and rear carriages i.e. to m1,
and m3.

z1 z2 z3

f1(t) f3(t)
m1 m2 m3
Figure Q2a

Figure Q2b

i) Using free-body diagrams and Newtonian mechanics, construct 3DOF

equations of motion for the physical displacement variables z1, z2, and z3,
then put the equations into matrix form, and appropriately identify the
excitation vector p(t ) , and the mass, stiffness, and damping matrices [m],[k],
and [c].
[10 marks]

ii) In a particular study using the model, parameters are assigned assuming one
carriage is full, one partially full, and one empty, giving lumped-masses
values m1 = 22  103 kg, m2 = 20  103 kg, and m3 = 18  103 kg; and a stiffness
value k= 106 N/m. The modal matrix [U] associated with E  [m]-1 [k] is then:

 0.3493 0.6693 0.5774 

[U]  - 0.8093 - 0.0706 0.5774 
 0.4723 - 0.7396 0.5774 

And when additional damping is assigned, the damping matrix [c] and is found to
be proportional to mass such that the magnitude of [c]=10*[m].

Question continued over

4
H7092 DYNAMICS OF MACHINES AND VEHICLES
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Use the modal matrix [U] to transform the system to normal coordinates, then
obtain three undamped modal natural frequencies (in rad/s or Hz), and then
determine the two modal damping factors associated with the oscillatory modes.
Note: The following matrix multiplication magnitudes (to 4 decimal places) will be
useful:

1.9798 0 0 5.9695 0 0
[U]T [m][U]   0 1.9802 0   10 4 and [U]T [k ][U]  0 1.9901 0  10 6
 0 0 2 0 0 0 

[10 marks]

3 To undertake balancing calculations for a downsized four-cylinder in-line diesel

engine running at a maximum speed of 5000 rpm, the main moving parts are
idealised to a set of rotating masses, and a set of reciprocating masses. The four
rotating masses, each of 2 kg, are at a crank radius of 50 mm. And the four
identical reciprocating masses, each of 1 kg, have effective piston rod lengths of
150 mm. The phasing of the crank arrangement is: 1, 4, 3, 2, phased 90o apart,
where the axial distance between each unit is 100 mm. The engine is fitted with a
flywheel (closest to Unit 4) such that the mass centre of the rotating assembly lies
in the plane through which the vertical centre axis of Unit 3 passes.

In terms of primary and secondary forces and moments, determine the state of
external balance of the engine.
[12 marks]

To eliminate the primary yawing moment, balance masses are to be fitted on the
crankshaft in the planes of Unit 2 and Unit 4, at the crank radius. Find the
magnitude and relative angular positions of the pair of balance masses needed.

[8 marks]

Turn over

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H7092 DYNAMICS OF MACHINES AND VEHICLES
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4 Answer both parts of this question.

Part 1: The Principle of Virtual Work

A model for the vertical part of a vehicle passenger seat is shown in Figure Q4a. This
comprised a uniform beam built-in at the base, of height L and bending stiffness EI, and
mass distribution m kg/m. A large headrest is modelled as a concentrated mass M
positioned at the top of the beam. Assuming a 1-DOF generalised displacement
y(x, t)   (x)z(t) with displacement pattern  (x)  ( x/L) , use the Principle of Virtual
3

Work, to obtain an equation of motion for free vibration of the seat in terms of variable
z(t), making use of the single coordinate virtual bending work w B given as:

w B     EI( (x)) 2dx z z .

L

 0  
[10 marks]

M
(Headrest)

y(x,t)

x L
𝜓(𝑥)

Figure Q4a

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H7092 DYNAMICS OF MACHINES AND VEHICLES
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Part 2: Lagrange Equations

Figure Q4b shows a 2DOF system comprising: a block of mass M, supported in a

frictionless guide by a pair of linear springs of stiffness k1; and a mass m, suspended
from the block by linear spring of stiffness k2. Coordinates X1 and X2 describe, from their
free (undeflected) positions, the respective vertical displacements of the block, and the
mass m.

X1

k2

m
X2
k1 k1

Figure Q4b
i) Write down the system kinetic energy T, and potential energy V in terms of
coordinates X1 and X2.
[3 marks]

ii) Construct, in terms of coordinates X1 and X2 , a coupled pair of equations of

motion, by making use of the Lagrange equations in the usual form:

d  T  T V
     Qr (r = 1, 2 , …, m)
dt  q r  q r q r
[7 marks]

End of Paper