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Lecture 1
Lecture 1
ET60006
d 2x
f m
dt 2
d 2x
m 2
sx 0
dt
s
0
2
m
d 2x
2
2
x 0
dt 0
at t 0; A x 0
2
0
u0
and tan 1
x
0 0
u U sin(0 t ) where U 0 A
U Speed Amplitude
a 0U cos(0 t )
Complex Exponential method of solution
x A1e j0t A2 e j0t
u0
at t 0; A1 A2 x0 and A1 A2 j
0
1 u0 1 u0
A1 ( x0 j ) and A2 ( x0 j )
2 0 2 0
The real part of the complex solution is by itself a complete general
solution of the original real differential equation.
Ae j
jb
a
Energy of Vibration
x
1 2 1
E p sxdx sx sA2 cos 2 (0t )
0
2 2
1 1
Ek mu mU 2 sin 2 (0t )
2
2 2
1 2 1
E E p Ek sA cos (0t ) mU 2 sin 2 (0t )
2
2 2
1
m 02 A2 s
2
2
U 0 A
0
m
Damped Oscillation
s
m
(dashpot )
Rm
u
d 2x dx
m 2
Rm sx 0
dt dt
d 2 x Rm dx s
2
x0
dt m dt m
d 2x dx
2
2 2
0 x 0
dt dt
Use a trial solution x = A et
2 ( Aet ) 2 ( Aet ) 02 ( Aet ) 0 or
2 0
2 2
0
f (t ) F cos t
f (t ) Fe jt
d 2x dx j t x Ae jt
Rm 0
2
x Fe
dt 2 dt
F
Re{ x} sin(t )
Zm
F
Re{u} cos(t )
Zm
Instantaneous Power i
i fource.speed
F
F cos t cos(t )
Zm
Average Power
T
1 F2
T
0
Zm
cos t cos(t )dt
2 T
F
Zm T 0
cos t cos(t )dt
Rm
F2 2
F Rm cos
cos Zm
2 Zm 2 Zm
2
Mechanical Resonance
At 0 1 Fe jt
u res ( F / Rm ) cos 0t x
j Rm j (m s / )
xres ( F / 0 Rm ) cos 0t
0
Quality factor Q
u l
Z m2 2 Rm2
Rm2 X m2 2 Rm2
X m2 Rm2 X m Rm
u m s / u Rm
l m s / l Rm
u l Rm / m
Consider a tractor driving across a field that has undulations at
regular intervals. The distance between the bumps is about 4.2 m.
Because of safety reasons, the tractor does not have a suspension
system but the driver’s seat is attached to a spring to absorb some
of the shock as the tractor moves over rough ground. Assume the
spring constant to be 2.0104 N.m-1 and the mass of the seat to be
50 kg and the mass of the driver, 70 kg. The tractor is driven at 30
km.h-1 over the undulations.
Will an accident occur?
17
Tractor speed v = x / t = 30 km.h-1 = (30)(1000) / (3600) m.s-1
= 8.3 m.s-1
The time interval between hitting the bumps (x = 4.2 m)
t = x / v = (4.2 / 8.3) s = 0.51 s
Therefore, the frequency at which the tractor hits the bumps and
energy is supplied to the oscillating system of spring-seat-person
f = 1 / t = 1 / 0.51 = 2.0 Hz.
The natural frequency of vibration of the spring-seat-person is
1 k 1 2 104
f 2.1 Hz
2 m 2 120
Q1. A mass of 0.5 kg hangs on a spring. The stiffness of the spring is 100N/m
and the mechanical resistance is 1.4kg/s. The force (N) driving the system is f
= 2cos5t. (a) What will be the steady-state values of the speed amplitude and
average power dissipation? (b) Find the value of phase angle between speed
and force and resonance frequency
Q2. The human leg has a measured natural frequency of around 20 Hz when in
its rigid (knee locked) position, in the longitudinal direction (i.e., along the
length of the bone) assuming no damping. What will be the maximum
displacement and acceleration of the leg? At t=0 the initial speed u 0=0.06 m/s
and displacement x0=0.
Q3. Consider a mass-spring system described by the equation (1) Give the
value(s) of k for which the system is under damped over damped, and critically
damped. If the system is critically damped find out the characteristic time of
the system.
d 2x dx
2 2 3 kx 0 (1)
dt dt