Question 1

A machine of mass 100 kg is supported by two identical springs and a damper, as

1
Question 1…
When the machine is in operation, the imbalance in the machine induced a vertical
sinusoidal force F of amplitude 100 N at 4 Hz. Determine:
(b) The amplitude of the steady-state vibration of the machine.
(c) The maximum reaction forces induced on the base hinges that are attached to the
spring and damper, respectively.

Answers:
(a) 𝑘 = 49.05 𝑘𝑁/𝑚; 𝑓𝑛 = 4.985 𝐻𝑧; 𝑓𝑑 = 4.921 𝐻𝑧; 𝑐𝑐𝑟 = 6264 𝑁𝑠/𝑚
(b) 𝑋 = 2.324 × 10−3 𝑚
(c) 𝐹𝑠 = 114 𝑁; 𝐹𝑑 = 58.41 𝑁

2
Solution 1
(a) Based on static deflection of the spring,
𝑀𝑔 100 9.81
𝛿= ⇒ 0.01 =
𝑘𝑒𝑓𝑓 𝑘𝑒𝑓𝑓
⇒ 𝑘𝑒𝑓𝑓 = 98100 𝑁/𝑚
Since the springs are in parallel, the spring constant for one spring is then
1/2𝑘𝑒𝑓𝑓 = 𝟒𝟗𝟎𝟓𝟎 𝑁/𝑚
Using the natural frequency equation,

𝑘𝑒𝑓𝑓 98100
𝜔𝑛 = = = 31.32 𝑟𝑎𝑑/𝑠
𝑀 100
𝜔𝑛 31.32
𝑓𝑛 = = = 𝟒. 𝟗𝟖𝟓 𝐻𝑧
2𝜋 2𝜋

3
Solution 1…
Critical damping ratio is
𝐶𝑐𝑟 = 2𝑀𝜔𝑛 = 2 100 31.32 = 𝟔𝟐𝟔𝟒 𝑁𝑠/𝑚
Or

𝐶𝑐𝑟 = 2 𝑘𝑒𝑓𝑓 𝑀 = 2 98100 100 = 𝟔𝟐𝟔𝟒 𝑁𝑠/𝑚

Damping ratio is
𝐶 1000
𝜁= = = 0.1596
𝐶𝑐𝑟 6264
Damped oscillation frequency

𝑓𝑑 = 𝑓𝑛 1 − 𝜁 2

⇒ 𝑓𝑑 = 4.985 1 − (0.1596)2 = 𝟒. 𝟗𝟐𝟏 𝐻𝑧

4
Solution 1…
(b) The external force is given by
𝐹 = 100𝑠𝑖𝑛 2𝜋𝑓Ω 𝑡 , where 𝑓Ω = 4 𝐻𝑧
Operating frequency ratio
𝑓Ω 4
𝑟= = = 0.8024
𝑓𝑛 4.985
The state steady response is
𝐹𝑚 Τ𝑘𝑒𝑓𝑓
𝑋=
(1 − 𝑟 2 )2 + 2𝑟 2

100Τ98100
=
2
1 − 0.8024 2 2 + 2 0.1596 0.8024

= 𝟐. 𝟑𝟐𝟒 × 𝟏𝟎−𝟑 𝑚

5
Solution 1…
(c) The steady-state response is given by
𝑥 = 𝑋𝑠𝑖𝑛 2𝜋𝑓Ω 𝑡
⇒ 𝑣 = 𝑋 2𝜋𝑓Ω 𝑐𝑜𝑠 2𝜋𝑓Ω 𝑡
Note that the question asked for the two forces separately. Hence, they should be
analysed individually as:
The maximum reaction force due to the spring is
𝑘 𝑋 + 𝑥𝑜 = 49050 2.324 × 10−3 + 0.01 = 𝟔𝟎𝟒. 𝟓 𝑁
Maximum velocity of the mass is
𝑣𝑚𝑎𝑥 = 𝑋 2𝜋𝑓Ω = 2.324 × 10−3 2𝜋 4 = 0.0584 𝑚/𝑠
Hence the maximum reaction for at the damper is
𝐹𝑑 = 𝐶𝑣𝑚𝑎𝑥 = 1000 0.0584 = 𝟓𝟖. 𝟒𝟏 𝑁

6
Question 2
A simplified hammering mechanism is shown in the figure, which comprises a
hammer assembly that is pivoted at point O, with a linear spring at A and a viscous
damper at B. The hammer assembly is made up of a slender rigid rod of length L and
𝐿
mass 𝑚, and a circular disk of radius and mass 𝑚 that is welded to the rod at one
12
end. Lastly, this system is driven by a sinusoidal varying moment 𝑀 = 𝑀𝑜 𝑠𝑖𝑛 𝛺𝑡 at
O.

7
Question 2…
(a) Using the parallel axis theorem, show that the mass moment of inertia of the
hammer assembly about the pivot point O is given by 𝐼𝑂 = 0.84375 𝑚𝐿2 .
(b) Sketch the free body diagram of the system with all the forces included, and
derive its equation of motion for small angular displacement 𝜃 about the pivot
point O.
(c) Suppose it is required that the damping ratio  for this system to be equal to
0.2. Determine the damping coefficient c (expressed in terms of 𝑚, L and k) that
is needed for this condition to be satisfied.
(d) For this damping ratio  = 0.2, determine the operating frequency 𝛺 (again
expressed in terms of 𝑚, L and k) that gives rise to optimal performance, i.e. at
maximum amplification factor.
Answers:
16
(b) 13.5𝑚𝜃ሷ + 𝑐 𝜃ሶ + 𝑘𝜃 = 2 𝑀𝑜 𝑠𝑖𝑛 𝛺𝑡
𝐿
(c) 𝑐 = 1.470 𝑚𝑘
(d) Ω = 0.2611 𝑘Τ𝑚

8
 Solution 2

3𝐿/4 + 𝐿/12

𝐿/4
𝑂 𝐼𝐷
𝐼𝑅

(a) Using parallel axis theorem, the mass moment of inertia of the hammer assembly is
2 2
𝐿 3𝐿 𝐿
𝐼𝑂 = 𝐼𝑅 + 𝑚 + 𝐼𝐷 + 𝑚 +
4 4 12
2 2 2
1 2
𝐿 1 𝐿 3𝐿 𝐿
= 𝑚𝐿 + 𝑚 + 𝑚 +𝑚 +
12 4 2 12 4 12

⇒ 𝐼𝑂 = 𝟎. 𝟖𝟒𝟑𝟕𝟓 𝒎𝑳𝟐

9
Solution 2…
b) Free body diagram of the assembly is

𝑚𝑔
𝐿
𝑘 𝜃 + 𝛿𝑜
4

𝑚𝑔

At equilibrium state,
𝐿 𝐿 5𝐿
𝑘𝛿𝑜 + 𝑚𝑔 + 𝑚𝑔 =0
4 4 6

10
Solution 2…
Taking moment about O, gives
𝐿 𝐿 𝐿 𝐿 𝐿 5𝐿
𝑀𝑜 𝑠𝑖𝑛 𝛺𝑡 − 𝑘 𝜃 + 𝛿𝑜 − 𝑐 𝜃ሶ − 𝑚𝑔 − 𝑚𝑔 = 𝐼𝑂 𝜃ሷ
4 4 4 4 4 6

2 2
2 ሷ
𝐿 𝐿 Zero from
⇒ 0.84375 𝑚𝐿 𝜃 + 𝑐 ሶ𝜃 + 𝑘 𝜃 = 𝑀𝑜 𝑠𝑖𝑛 𝛺𝑡
4 4 static analysis

𝐿 𝐿 5𝐿
− 𝑘𝛿𝑜 + 𝑚𝑔 + 𝑚𝑔
4 4 6

16
13.5𝑚𝜃ሷ + 𝑐 𝜃ሶ + 𝑘𝜃 = 𝑀 𝑠𝑖𝑛 𝛺𝑡
𝐿2 𝑜
𝑂𝑟
𝑐 𝑘 𝑀𝑜
𝜃ሷ + 0.074074 ሶ𝜃 + 0.074074 𝜃 = 1.1852 2 𝑠𝑖𝑛 𝛺𝑡
𝑚 𝑚 𝑚𝐿

11
Solution 2…
(c) Damping ratio of this system is given by
𝑐
=
𝑐𝑐𝑟
𝑐
⇒ 0.2 =
2 13.5𝑚 𝑘

⇒ 𝑐 = 2 0.2 13.5𝑚 𝑘 = 𝟏. 𝟒𝟕𝟎 𝒎𝒌

𝑘 𝑚
⇒ 𝑐 = 2 0.2 0.074074 = 𝟏. 𝟒𝟕𝟎 𝒎𝒌
𝑚 0.074074

12
Solution 2…

Amplification factor
(d) The maximum amplification occurs when
Ω
𝑟= = 1 − 22
𝜔𝑛

1 − 22 frequency ratio, 𝒓

2
𝑘 𝒌
⇒ Ω= 1 − 2 0.2 0.074074 = 𝟎. 𝟐𝟔𝟏𝟏
𝑚 𝒎

13