Dynamics 2

Dynamics 2
• Where can there forcing functions come from?
– Genuine external inputs (road surfaces for example)
– Out of balance vibration
ω
m

x
(M-m)

k
c
 Dynamics 2
•How large a force is generated by
these out of balance rotations?
•Consider the rotating mass “m”
•It experiences acceleration, as it m
ω

is travelling on a circular path –

Centripetal acceleration
•This acceleration acts towards

x
(M-m)

the centre of rotation

k
c
Dynamics 2
a
Centripetal acceleration centripetal   2
r

Hence there is a force generated as a reaction to this

– the “centrifugal” pseudo-force ω
Fc  m 2 r m

x
(M-m)

k
c
Dynamics 2
a
Centripetal acceleration centripetal   2
r

Hence there is a force generated as a reaction to this

– the “centrifugal” pseudo-force ω
Fc  m 2 r m

As the position vector r is travelling

x
(M-m)
in a circle, we can express this as
scalar terms
m rCos and m rSin 
2 2

k
c
In the vertical and horizontal
directions
 Dynamics 2
m 2 rCost  Mx  cx  kx
• We can solve this equation in just the same
way as we have already practised ω
m
m r 2
x0  r
(k  M 2 )  jc

x
(M-m)
Further manipulation gives:
2

k
(rm) 02
x0 

c
M  2  c
1    j
 02  k
 Dynamics 2
m 2 rCost  Mx  cx  kx
• We can solve this equation in just the same
way as we have already practised ω
m
2
(rm ) 02 r
x0 
M  2  c
1  2 j
 0  k

x
(M-m)

Where rm=U, the unbalance

k
And
M is the total mass

c
 Dynamics 2
• A bit more about damping
 Dynamics 2
• A bit more about damping

– We’ve discussed damping so far as a phenomenon

that is a linear function of velocity. This is viscous
damping which is very useful in many cases.

– Other forms of damping need to be understood:

 Dynamics 2
• A bit more about damping

– We’ve discussed damping so far as a phenomenon that is a

linear function of velocity. This is viscous damping which is
very useful in many cases.

– Other forms of damping need to be understood:

• D cx
Examples of damping include:
• [linear viscous] D  c x 2
• [simple air resistance] D c
• [Coulombic (dry) friction]
Dynamics 2
– Unforced motion of mass / spring / Coulombic
damper system
– Recall
mx   kx  Dx (viscous )
becomes
mx   kx  c (coulombic )
where c  Ff the friction force
 Dynamics 2
– Unforced motion of mass / spring / Coulombic
damper system
mx   kx  c (coulombic )
where c  Ff the friction force

• Clearly, if Ff > kX0 there will be no oscillation.

• If Ff < kX0 then2oscillation
;  
koccurs with periodicity
0
0 m

– Same as undamped
 Dynamics 2
– Unforced motion of mass / spring / Coulombic
damper system
mx   kx  c (coulombic )
where c  Ff the friction force

• It can be shown (Rao pages2146 F f et seq.)

• Reduction in amplitude of k every half cycle
(linear reduction with time).
• If, at the end of a half cycle, kx <= Ff then
oscillation stops.
Unforced motion of mass / spring / Coulombic damper system
Unforced motion of mass / spring / Coulombic damper system

Ff 2Ff 1
X p  X0  4p ie amplitude reduces by per cycle
k k 2
1  kX 0 1 
Number of cycles to stop   rounded to nearest half cycle

2  2Ff 2  
 Summary

• We’ve come to understand an important

source of forcing vibrations – imbalance
• We have a better understanding of different
modes of damping, particularly coulombic
fricton