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Q2.44 Problem Statement: Derive The Equation of Motion of The System Shown in Fig. Below

The document provides solutions to derive the equations of motion for different mechanical systems using various methods like Newton's laws, D'Alembert's principle, virtual work principle, and conservation of energy. It solves for the equation of motion and natural frequency of systems like a mass-spring system, a rod attached to linear and torsional springs, and a rigid bar attached to linear and torsional springs by relating displacements to angular variables and applying the principles of mechanics.

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370 views

Q2.44 Problem Statement: Derive The Equation of Motion of The System Shown in Fig. Below

The document provides solutions to derive the equations of motion for different mechanical systems using various methods like Newton's laws, D'Alembert's principle, virtual work principle, and conservation of energy. It solves for the equation of motion and natural frequency of systems like a mass-spring system, a rod attached to linear and torsional springs, and a rigid bar attached to linear and torsional springs by relating displacements to angular variables and applying the principles of mechanics.

Uploaded by

ControlGamer21
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Q2.

44

Problem statement: Derive the equation of motion of the system shown in Fig. below
using the following methods:

(a) Newton s second law of motion,


(b) D Alembert s principle
(c) principle of virtual work
(d) principle of conservation of energy

x(t)
Solution:
.. k1x K2x
a) m x k1  k 2 x  0

Note that these two springs have equivalent stiffness shows that these springs are in
parallel configuration.

.. .. ..
b) F t   m x  0  k1 x  k 2 x  m x  0  m x k1  k 2 x  0

 .. 
c) Work done by the mass is due to a virtual distance δv =  m x v  0
 
Work done by the springs = k1  k 2 xv  0

 ..  ..
Total virtual work = 0;  k1  k 2 xv   m x v  0  m x  k1  k 2 x  0
 

1 .2 1 1
d) T  mx U1  k1 x 2 U2  k 2 x 2 now, T + U1 + U2 = constant
2 2 2

1 .2 1 1 d  1 .2 1 1 
so, m x  k1 x 2  k 2 x 2  Cons tan t   m x  k1 x 2  k 2 x 2   0
2 2 2 dt  2 2 2 
..
which results in m x k1  k 2 x  0
Q2.73
Problem statement: A uniform slender rod of mass m and length l is hinged at point A
and is attached to four linear springs and one torsional spring, as shown in Fig. below.
Find the natural frequency of the system if k = 2000 N/m, kt= 1000 N-m/rad, l = 5 m and
m = 10 kg,

Solution:

F.B.D :

kx1 kx1

l/2
l/3

kt θ

2l/3 mg

Kx2 Kx2

First, assume small angle initial excitation (θ) → sin(θ) ≈ θ and the positive direction is
the counterclockwise which in this case, θ is positive and the other moment parts
(springs and weight) are negative because they try to rotate the system clockwise.
Second, apply Newton’s 2nd law of motion to the system:

..
M A J o 
.. l l  2l   2l  l l
J o   kx1    kx1    kx2    kx2    mg    k t
3  3 3 3  2 3
Note that sin(θ) in the weight term (mg) is replaced by θ due to the assumption made
previously. Note also that the moment produced by the torsional spring equal the
torsional stiffness x θ.

Rearrange the terms


..  2l   4l  l
J o   kx1    kx2    mg   k t  0
3 3 6
Now let us relate the translational distances (x1 and x2) to θ :
x l
sin( )    1  x1    
l /3  3
x  2l 
sin( )    2  x2    
2l / 3 3
So the mathematical model becomes:
..  10  l 
J o    l 2 k  mg   k t   0
 9  6 
And hence, the natural frequency equal:
 10  2 l 
 n   l k  mg   k t  / J o
 9  6 

Note that the weight of the beam affects the mathematical model because when the
rod is connected to the springs, its weight does not change the length of any of the
springs (i.e. no deflection in the springs even the trosional one)

Q2.76

Problem statement: Find the equation of motion of the uniform rigid bar OA of length l
and mass m shown in Fig. Also find its natural frequency.

Solution:

F.B.D:

First, assume small angle initial excitation (θ) → sin(θ) ≈ θ and the positive direction is
the clockwise which in this case, θ is positive and the other moment parts (springs ) are
negative because they try to rotate the system counterclockwise.
Second, the weight of the bar causes a primary deflection (static deflection) and will
have no effect on the derivation of mathematical model any more.

Third, apply Newton’s 2nd law of motion to the system:

..
M A J o 
..
J o   k1 x1 a   k 2 x 2 l   k t

Now let us relate the translational distances (x1 and x2) to θ :


x
sin( )    1  x1   a 
a
x
sin( )    2  x2   l 
l
So the mathematical model becomes:
J o   k1 a 2   k 2 l 2   k t  0
..

J o   k1 a 2  k 2 l 2  k t   0
..

And hence, the natural frequency equal:


n  k a
1
2

 k 2l 2  kt / J o

You can also try the following questions from the text book:

1. Q2.40
2. Q2.46
3. Q2.74

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