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Goeasi: Megieg
Goeasi: Megieg
Inertia Elements
translational Rotational
F = m x to =
da
↳
+ md
T =
!mi2 M =
j0 ·
2 T
I/0
=
Case 1
① is =- Di i e
i
assume
legt
=-
:
, , ,
② equat ke :
Megieg= m
,
i,
+ me in +
! m
,
in
*
Meg =
m
,
+ (f? me + ()" ms
Case 2
Translational & rotational mass
coupled together
n ->
s translational
equivalent pinion
ranslational mass :
rach -
Iminte Goeasi
D ke of mak
By pinion ,
5 :
② :1 e
Ke of
equivalent mass
,
Teg I
Meqlg= matt (i
2
↳
do
60
Meg m
= +
-
R2
rotational
equivalent mass :
&
⑧
B &R
Oeg
= ci =
j 1 mj0R) !
I beg
=
2
+
!6 .
p2
:
Jeg 60+ = m
①8"'s
2 ,
7
Stiffness Element
Linear force -
deflection relations :
F kn k constant,
Spring spring stiffness or
spring rate
= =
U =
1ku2 4 =
Strain or
potential energy in the
spring
2
6
Equivalent Spring Constants (table) type of conditions
Sping in parrallel
55k2 Keg kn
: = k +k ...
k ,
,
a)
Spring in series
⑤
I = 1 + 1 ...
k,
Key K
, K2 kn
k2
Damping Elements
viscous
damping Fd :
=
Ch Claminar flow of riscons fluids , daspots ,
damper, shock absorber)
Dry Piction :
Ed MN (unlubricated surfaces
Hysteresis ,
stuctiral or material
damping
:
Ed 24
(Hystones's :
riscoelastic materials
, ,
C2
Damper in Parallel
-I
F
S
I
Ceg
C
=
, +Czt ...
(n C,
Damper in Series :
I
=
+ + 1 + - - + 1 *
Ceq C Ce On
Harmonic Motion
Displacement Velocity : Acceleration :
R =
AsinD =
Asinct i =
duldt =
wAcoswE ri =
du/dt2 = - w2Asin Wt
--ws
n =
A Sin (wt>
, ,
natural frequency , Wh Uz =
Arsin(wt +
q)
5x "
, ,
I - I +
1 +
->
1
/ keg ,
-
Se
ke 2kz
32"
-
X
↳ 1
keg , -H
=
11
24 ,
+ 1
ky
+
2k3
+)+ ka
43"+
is k
, -
5
= 2)1
2
,
Yet
I
"X
. . . . . . . . .
Q2 Similarly R I
:
,
=
↳k
2
0 = 21
Fr
· F2 k2(4/2) (k/2)
So , =
and F =
K
,
,
x-
- k
=
k 1111111:
[
&
>
=ku
2
=2kb
2
=
kx
k,
Creaction Porce -> F =
,
F(1/2) -
Fe(1/2) -
F
,
(1/4) =
0
4F P ↓ F Ec kn
applied El
-ku+ 3kx
=
z +
=
=
↓
Porce
-R
34 , I 2 2
F
u2303 2
⑧Acw(-3 A cwC- >
F
Kegl ::
Requ Ik Keg I
V kn
G =
=
+ =
(w(+)
consider small angle of O .
-> u =
10 and re =
P
?
0 and O 42
24
= =
l
Q3
W En compress H
K (lsinR)
k2 =
My 1 l
x
"g
.
sinD) C
,
& /2 k
= 1
o
"
114 1eX tend >
3
O ⑧ W ~ W
1
⑧ ....
111'
sing
Solution
Consider moment at
pirot point 0 :
T =
mgt sinc-[Ck ,
I since 3-E(Kelsinale
,
=(mg - - e site
Torsional moment ,
T =
k
&
O
:
ko : (mgl-2-Kel Y &
2 16
12
k= k12X
k,
mg1
=
- -
16
CHAPTER 2
Rotational motion
2 3 .
translational -> F =
mi 32 321
transverse -> M = 18
Apply M = 6
E .
g
:
Translational (horizontal position) j =
kIO
-
case 1 : no
damping system -> JP +
kq0 0 =
M
"msu Method 2
U = T
:
Principle
+
V =
of Conservation of
constant
Energy
Draw FBD :
& (t +
v) = 0
ku
M
dt
L
UCE)
>
2Fx =
ma Case 1 :
no
damping
-
kx = mi
-> matke = 0
(equation of motion) apply v =
Iku2 B T =
1
mi
Case 2 With
damping d(1
mikn) matkace= (mi ku) 0
:
system = + =
dt 2
k
u M
->
mit ke = 0
-
C
OR
x
1 +
k0 = 0
Draw FBD :
2 H Solution for Equ of Motion
sku .
with No
Damping .
<n si se ,
consider :
mi+ ka = O
It
F ci F msi Find solution it form of sect) de
apply
= =
: :
,
↑t
rict) =
A de
mccet) +
k(xaet >
(m12 +
k) det =
0
m12 + k = 0
↓
devive
nCt) A
=
,
cos Wnt +
As Sin Wit
Or
Ar
i
ceCt) A Sin (Wnt q( 1x 0
Wn X
+
+
= =
=
,
m
-> +
wax = 0
C