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Vibration Energy Method

The document describes analyzing the natural frequency of oscillation of several mechanical systems using the energy method. 1) It analyzes a compound pendulum with a tip mass to derive an expression for the natural frequency that depends on the mass of the pendulum bar, tip mass, and length. 2) It then analyzes a simple pendulum connected to a spring, linearizing the equation of motion to determine the natural frequency in terms of the spring stiffness, tip mass, and length. 3) The document next analyzes an aircraft control pedal modeled as a mass on a massless lever connected to a spring, calculating the natural frequency of the system.

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Ibrahim Hussain
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© © All Rights Reserved
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213 views

Vibration Energy Method

The document describes analyzing the natural frequency of oscillation of several mechanical systems using the energy method. 1) It analyzes a compound pendulum with a tip mass to derive an expression for the natural frequency that depends on the mass of the pendulum bar, tip mass, and length. 2) It then analyzes a simple pendulum connected to a spring, linearizing the equation of motion to determine the natural frequency in terms of the spring stiffness, tip mass, and length. 3) The document next analyzes an aircraft control pedal modeled as a mass on a massless lever connected to a spring, calculating the natural frequency of the system.

Uploaded by

Ibrahim Hussain
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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1.

65

CalculatethefrequencyofthecompoundpendulumofFigureP1.65ifamassmTisadded
tothetip,byusingtheenergymethod.Assumethemassofthependulumisevenly
distributedsothatitscenterofgravityisinthemiddleofthependulumoflengthl.

FigureP1.65Acompoundpendulumwithatipmass.
SolutionAddingatipmassaddsbothkineticandpotentialenergytothesystem.
Ifthemassofthependulumbarism,anditislumpedatthecenterofmasstheenergies
become:

PotentialEnergy:

1
U ( cos )mg ( cos )mtg
2

(1 cos )(mg 2mtg)


2

KineticEnergy:

1 2 1 2 1 m2 2 1
J J t
mt2 2
2
2
2 3
2
1
1
( m mt )2 2
6
2

Conservationofenergy(Equation1.51)requiresT+U=constant:

1
1
2 2
(1 cos )(mg 2mtg) ( m mt )
C
2
6
2
Differentiatingwithrespecttotimeyields:

1
2

(sin )(mg 2mt g) ( m mt )

0
2
3
1
1

( m mt )

(mg 2mt g)sin 0


3
2
Rearrangingandapproximatingusingthesmallangleformulasin~,yields:

m
mt

(t) 2
1
m mt
3

g
(t) 0 n

3m 6mt g
rad/s
2m 6mt

Notethatthissolutionmakessensebecauseifmt=0itreducestothefrequencyofthe
pendulumequationforabar,andifm=0itreducestothefrequencyofamassless
pendulumwithonlyatipmass.

1.68 ConsiderthependulumandspringsystemofFigureP1.68.Herethemassofthependulum
rodisnegligible.Derivetheequationofmotionusingtheenergymethod.Thenlinearize
thesystemforsmallanglesanddeterminethenaturalfrequency.Thelengthofthe
pendulumisl,thetipmassism,andthespringstiffnessisk.

FigureP1.68Asimplependulumconnectedtoaspring
Solution:Writingdownthekineticandpotentialenergyyields:

1
1
T ml 2 2 , U kx2 mgh
2
2
1
U kl 2 sin 2 mgl(1 cos )
2
Herethesoringdeflectsadistancelsin,andthemassdropsadistancel(1cos).
Addingupthetotalenergyandtakingitstimederivativeyields:

d 1 2 2 1 2 2
ml kl sin mgl cos

dt 2
2
(ml 2 ) (kl 2 sin cos ) mgl sin 0
ml 2 kl 2 sin cos mgl sin 0
Forsmall,thisbecomes

ml 2 kl 2 mgl 0
kl mg

0
ml
n

kl mg
rad/s
ml

1.69 Acontrolpedalofanaircraftcanbemodeledasthesingledegreeoffreedomsystemof
FigureP1.69.Considertheleverasamasslessshaftandthepedalasalumpedmassatthe
endoftheshaft.Usetheenergymethodtodeterminetheequationofmotioninand
calculatethenaturalfrequencyofthesystem.Assumethespringtobeunstretchedat=
0.
k
l1

l2
m

FigureP1.69
Solution:Inthefigureletthemassat=0bethelowestpointforpotentialenergy.Then,the
heightofthemassmis(1cos)2.
Kinematicrelation:x=1

T
KineticEnergy:

1 2 1 2 2
mx m2
2
2

U
PotentialEnergy:

1
2
k(
1 ) mg
2 (1 cos )
2

Takingthederivativeofthetotalenergyyields:

d
2
2

(T U ) m
2 k(
1 ) mg
2 (sin ) 0
dt
Rearranging,dividingbyd/dtandapproximatingsinwithyields:
2
(k
m22
1 mg
2 ) 0

2
k
1 mg
2
2
m
2

1.80

ConsiderthediskofFigureP1.80connectedtotwosprings.Usetheenergymethodto
calculatethesystem'snaturalfrequencyofoscillationforsmallangles(t).
(t)
k

s
a
x(t)

m mass

FigureP1.80
Solution:

Jo

x r , x r

Known:
Kineticenergy:

and

Trot

1 2
mr
2

1 2 1 mr 2 2 1 2 2
J o
mr

2
2 2
4

1
1
Ttrans mx2 mr 2 2
2
2
1
1
3
T Trot Ttrans mr 2 2 mr 2 2 mr 2 2
4
2
4

1
2
k a r k a r 2 2
2

U 2

Potentialenergy:
Conservationofenergy:
T U Constant
d
T U 0
dt
d 3 2 2
mr k a r 2 2 0

dt 4
3 2
2
0
mr 2 k a r 2
4
3 2
2
mr 2k a r 0
2

Naturalfrequency:

n 2

2
keff
2k a r

3 2
meff
mr
2

a r k
rad/s
r
3m

1.111 ConsiderthesystemofFigureP1.111.(a)Writetheequationsofmotionintermsofthe
angle,,thebarmakeswiththevertical.Assumelineardeflectionsofthespringsand
linearizetheequationsofmotion.(b)Discussthestabilityofthelinearsystems

solutionsintermsofthephysicalconstants,m,k,and .Assumethemassoftherodacts
atthecenterasindicatedinthefigure.

FigureP1.111
Solution:Notethatfromthegeometry,thespringsdeflectadistance

kx k(sin )

cos

and

thecgisadistance
upfromthehorizontallinethroughpoint0takenaszero
gravitationalpotential.Thusthetotalpotentialenergyis
1
mg
U 2 k(sin )2
cos
2
2

Usingtheinertiaforathinrodoflengthlrotatingaboutitsend,thetotalkineticenergyis
1
1 m2 2
T J O 2

2
2 3
TheLagrangeequation(1.64)becomes
d T
U d m2
1

2ksin cos mgsin 0

dt
dt 3
2
Usingthelinear,smallangleapproximations

sin and cos 1

yields

a)

m2
mg
2k2
0
3
2

Sincetheleadingcoefficientispositivethesignofthecoefficientof determinesthe
stability.
if 4k mg 0 4k mg the system is stable

if 4k mg (t) at b the system is unstable


b)

if 4k mg 0 4k mg the system is unstable

Notethatphysicallytheseresultsstatethatthesystemsresponseisstableaslongasthe
springstiffnessislargeenoughtoovercometheforceofgravity.

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