Equivalent Systems

Spring Elements
A spring is a type of mechanical link, which in most applications is
assumed to have negligible mass and damping.

The spring force is proportional

to the amount of deformation

𝑭 = 𝑲𝒙

The work done in deforming a

spring is stored as strain or
potential energy in the spring
𝟏 𝟐
𝑼= 𝐊𝒙
𝟐

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 Equivalent Systems
Torsional Spring

𝑇 = 𝐾𝑡 𝜃

Potential energy in the torsional

spring is given by
Where 1
T torque
𝑈 = 𝐾𝑡 𝜃 2
2
K rotational /torsional stiffness
Ө rotational displacement

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 Equivalent Systems

Spring in series

Spring are said to be in series when

• The deformation of the equivalent spring Ke is the sum of their deformation.
• The equivalent spring force is the same as the forces acting in the individual
springs
Thus, for the two-spring system shown
𝑥 = 𝑥1 + 𝑥2
𝐹 𝐹 𝐹
= +
𝐾𝑒 𝐾1 𝐾2
Therefore
1 1 1
= +
𝐾𝑒 𝐾1 𝐾2
𝑲𝟏 𝑲𝟐
𝑲𝒆 =
𝑲𝟏 + 𝑲𝟐
𝐼𝑛 𝑔𝑒𝑛𝑒𝑟𝑎𝑙, 𝑓𝑜𝑟 𝑛 𝑠𝑝𝑟𝑖𝑛𝑔𝑠 𝑖𝑛 𝑠𝑒𝑟𝑖𝑒𝑠
1 1 1 1
= + + ……….+
𝐾𝑒 𝐾1 𝐾2 𝐾𝑛
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 Equivalent Systems

Spring in parallel: same deformaion case

Springs are said to be in parallel when
• The equivalent spring force is the sum of individual forces
• The spring have the same deformation (true only for the ‘’same deformation
case’’ it is not generally true).
Thus, for the two-spring system shown

𝐹 = 𝐹1 + 𝐹2
𝐾𝑒 𝑥 = 𝐾1 𝑥1 + 𝐾2 𝑥2
But 𝑥1 = 𝑥2 = 𝑥
Therefore
𝐾𝑒 = 𝐾1 + 𝐾2
𝐼𝑛 𝑔𝑒𝑛𝑒𝑟𝑎𝑙, 𝑓𝑜𝑟 𝑛 𝑠𝑝𝑟𝑖𝑛𝑔𝑠 𝑖𝑛 𝑝𝑎𝑟𝑎𝑙𝑙𝑒𝑙 All springs have same displacements
𝑎𝑛𝑑 𝑜𝑓 𝑠𝑎𝑚𝑒 𝑑𝑒𝑓𝑜𝑟𝑚𝑎𝑡𝑖𝑜𝑛 but could have different restoring
𝐾𝑒 = 𝐾1 + 𝐾2 … … . +𝐾𝑛 forces
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 Equivalent Systems

The important observations

• In a series combination, the force taken up by each spring is same.

• In a parallel combination, the deflection undergone by each spring is
same.
These are very important observations.

Ask a question, are the forces same or deflections same?

If the forces are same then it is a series combination.

When a force is applied, both the springs The load applied is shared by the two
k1 and k2 take the same load W. Hence, it springs. But the deflection undergone
is a series combination. by the two springs is same. Therefore, it
is a parallel combination.

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 Equivalent Systems
Beam Spring
cantilever beam

simply supported beam

simply supported beam

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 Equivalent Systems

Cantilevered beam with a mass at the free end In mechanics of materials

W
Elastic elements like beams also behave as springs

P=W
𝑊𝑙 3
𝛿𝑚𝑎𝑥 =
3𝐸𝐼
(a) Actual System

𝑊
Sping constant, 𝐾 =
𝛿
𝑊𝑙 3
Since 𝛿 = W=mg
3𝐸𝐼

3𝐸𝐼
Hence 𝐾 =
𝑙3

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 Equivalent Systems

L
𝛿𝑚𝑎𝑥

𝑊𝑙 3 48𝐸𝐼 𝐺𝐽
𝛿𝑚𝑎𝑥 = 𝐾𝑒𝑞 = 3 𝐾𝑒𝑞 =
48𝐸𝐼 𝐿 𝐿

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 Equivalent Systems

Examples
Determine the equivalent spring constant of the systems?

L/2 L/2

K2 m

K1 K1
K E, I
K2

(b)
F
K3 K3 L

Kb K1

(a) (c)
K2

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 Equivalent Systems

Keq of the system using potential energy

Kt1

Kt2

(d)

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 Equivalent Systems

Helical Coil Springs

Helical springs used in applications such as
industrial machines and vehicle suspension
systems.

Helical spring constant under axial load is

𝑮𝒅𝟒
𝑲𝒆𝒒 =
𝟖𝒏𝑫𝟑
Where
d=wire diameter D
D=mean coil diameter
n=number of active turns
G=shear modulus of coil material

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 Equivalent Systems

B
Torsional stiffness of a road 𝐺𝐽
𝐾=
𝐿
C

J, polar moment of a hollow rod is given as

𝜋
𝐽𝑝 = (𝐷4 − 𝑑 4 )
32

wℎ𝑒𝑟𝑒
G Shera modulus of rod
Jp Polar moment of inertia of rod Jp , G
(ability to resist torsion)
J
L Length of rod
J Mass moment of inertia of disk
(measure for resistance to angular acceleration)
L
D Outer diameter
d Inner diameter
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 Equivalent Systems

A
Example
Determine the equivalent spring constant of the B
composite propeller shaft.
C
Section AB comprised of a Steel shaft with
aluminium core whereas Section BC is
hollow steel shaft.

30cm 20cm
Steel
A

A d1 d2 d3 d4 Aluminium
A
B C
Section AA

d1= 40mm, d2= 50mm, d3= 36mm, d4=60mm Gst =80 X 109 N/m2 , GAl =40 X 109 N/m2

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 Equivalent Systems
Mass or Inertia Elements
• The mass or inertia element assumed as rigid body (non deformable)
• It has kinetic energy when in motion
• According to Newton s second law of motion
• Product of the mass and its acceleration = force applied to the mass.
Mass X Acceleration = Force
• Work done on (W.D= Force X Displacement) it stored as kinetic energy

Energy Stored elements

For Translatory System
Inertia(m) of body ẋ
1
𝐾. 𝐸 = 𝑚ẋ2 F
2 m
Spring
Hooke’s Law F= Kx
x
Potential energy stored in spring is equal to work done
by force on the spring F=kx
1 K
𝑃. 𝐸 = 𝑘𝑥 2
2
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 Equivalent Systems

For Rotatory System

J
1 2 1
𝐾. 𝐸 = 𝐽𝜃ሶ 𝑃. 𝐸 = 𝐾𝜃 2 K
2 2

For Flexural System m x

k k
1 2 1 2
𝐾. 𝐸 = 𝑚ẋ 𝑃. 𝐸 = 𝑘𝑥
2 2

For Swinging System

LcosӨ
L

1
𝐾. 𝐸 = 2 𝑚𝜃ሶ 2 𝑃. 𝐸 = 𝑚𝑔h=mgL(1-cos𝜃)
mgcosӨ
h

h=L(1-cosӨ)
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 Equivalent Systems

Combination of masses

In many practical applications, several masses appear in combination. For a simple analysis,
we can replace these masses by a single equivalent mass.

Translational Masses Connected by a Rigid Bar r x

Ө
r
X=rӨ

(c) Arc length & small

angle approximation

Hence from figures (b) & (d) Velocities can be expressed as

Small angle
& x3=l3Ө
x1=l1Ө x2=l2Ө
ሶ
𝑥ሶ 1 = 𝑙1 𝜃ሶ 𝑥ሶ 2 = 𝑙2 𝜃ሶ 𝑥ሶ 3 = 𝑙3 𝜃

(d)
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 Equivalent Systems

Examples: Translation and rotation coupled together

(a)

(b) (c)

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 Equivalent Systems

Example: Consider Simple gear System

K torsional stiffness of shafts

J inertias of the gears
angular coordinates Motor

1 1
𝑇𝑜𝑡𝑎𝑙 𝐾. 𝐸 = 𝐽1 𝜃1 + 𝐽2 𝜃22
2
2 2
𝑛1𝜃1 = 𝑛2 𝜃2

Where
J
𝑛
𝑁 = 𝑛1, N is gear ratio
2
n1 and n2 are no. of teeth of gears

Equivalent Jeq is 1 1
𝐾. 𝐸 = 𝐽1 𝜃1 + 𝐽2 𝑁 2 𝜃12
2
1 1 2 2
𝐾. 𝐸 = 𝐽1 𝜃1 + 𝐽2 𝜃22
2 1 2
𝐾. 𝐸 = 2 𝜃1 (𝐽1 + 𝐽2 𝑁 2 )
2 2
Now 𝜃2 = 𝑁𝜃1 𝐽𝑒𝑞 = 𝐽1 + 𝐽2 𝑁 2

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