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Ce (Pe) 704a - Arindam Tudu
Ce (Pe) 704a - Arindam Tudu
Ce (Pe) 704a - Arindam Tudu
A single degree of freedom (SDOF) system is one for which only a single
coordinate is required to completely specify the configuration of the system.
(This is a suitable working definition for now.) There are typically many
possible choices for the coordinate to be used, although some are more
natural than others. With a single degree of freedom system, we get one
governing differential equation of motion. The specifics of the equation depend
on the exact nature of the problem.
Figure 2.3:
FBD/MAD of mass using as the coordinate (assuming )
Figure 2.3 shows the FBD/MAD for our system using as the coordinate.
Applying Newton’s Laws we get:
or(2.1) Dividing by results in:
and defining
(2.2)
(2.3)
Equation 2.3 is the standard form of the equation of motion for the
undamped free vibrations of SDOF system. If a different coordinate had
been used it would simply replace in equation 2.3. For example if we had
chosen as the coordinate, the equation of motion would have the form
EXAMPLE
The compound pendulum shown below has a mass and centroidal moment of
inertia . The distance from the support to the center of mass is . Determine the
equation of motion for this pendulum. Use as the coordinate and assume that only
small motions occur.
2.1.1 SOLUTION OF EQUATION 2.3
Equation 2.3 is a second order linear ordinary differential equation (ODE) with
constant coefficients. Accordingly, we assume a soltuion of the form:
(2.5)
(Note that and must be allowed to be complex numbers here.) To
proceed we make use of Euler’s identity
to write
Defining*
(2.6)
* Note: Since the response of the system in equation 2.6 must be real,
and must be real which implies that and
are complex conjugates.
Equation 2.6 is the general solution to equation 2.3 and is the free undamped
vibration response of a SDOF system. The response is simple harmonic
motion which occurs at a frequency which is called the natural frequency of
the system. For the simple spring mass system we are considering, we see
from equation 2.2 that
For a general SDOF system, recall that the standard form of the equation
of motion is
so that
or
(2.7)
which completely specifies the response of the system for all time .
2.1.2 OTHER FORMS OF THE GENERAL RESPONSE
While equation 2.7 represents the response of the SDOF undamped system,
the solution may be expressed in other equivalent forms:
where
where
(2.8)
so that
(2.9)
where is the natural frequency expressed in Hertz. Similar to
Equation 2.8 we note that
which also rotates at a rate . The fixed angles and can be seen to be
then the position can be interpreted as the vertical component of the rotating
vector . As can be seen from Figure 2.5, this vertical component can be
expressed as
which agrees with our previous results (noting that ).
Similarly, since represents the speed of the mass, the kinetic energy in the
system is
or
(2.11)
Equation 2.11 must hold for all times and for all values of . The only way
this can be satisfied (since for all times ) is to require that
Using an energy approach, determine the equation of motion for a simple pendulum of
length and mass as shown below. Use as the coordinate and assume
that only small motions occur.