ME625A: Applied Dynamics and Vibrations

Monday 4th November, 2024

Assignment 5
NOTE:
1. The following notation has been used: -

(i) Straight bold small case symbols will be vectors (e.g.: a, b)

(ii) Straight bold capital symbols will be tensors. (e.g. A, B)

2. Make neat Free-Body Diagrams wherever required and solve the questions systemati-
cally with proper equations as taught in class

Problem 1. Find the equation of motion(EOM) using the Lagrange’s equation of motion,
in the following:
(i) An electric motor is supported by four springs, each having spring constant k N/m as
shown.The moment of inertia of the motor about the central axis is J, find its EOM.

(ii) A semicircular disc of radius r and mass m is pivoted freely about its center as shown.
Find its EOM.

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(iii) A rod of length l2 and mass m is attached to a string of length l1 . Find EOM of the
rod.

(iv) A simple undamped pendulum which is confined to a single vertical plane through a
fixed point O, is modified by shortening the string at a constant speed U0 , using a motor
as shown. The motion begins at time t = 0 when the string length is lo , when the bob
of the pendulum is in its lowest position and it has angular speed ω0 . Let the position
of the bob of the pendulum at time t be specified by its plane polar coordinates (r, θ)
with respect to the point of support at O, where θ is the angle between the pendulum
string and the downward vertical. Prove that the EOM is
d2 θ d θ g sin θ
r + 2 + = 0,
dr2 dr U02
also, prove that tension in the string is
 2
dθ
T = mg cos θ + mrU02
dr

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Problem 2. The half-cylindrical shell of radius r, length 2b, and mass m revolves about the
vertical z -axis with a constant angular velocity ω as indicated. Determine the magnitude M
of the bending moment in the shaft at A due to both the weight and the rotational motion
of the shell.

Problem 3. Two disks are connected by a massless rod of length L. They roll without
slipping on the horizontal xy plane. Consider the coordinates of the CoM as (x, y) and the
angle ϕ, measured from the line parallel to the y axis, gives the orientation of the rod. The
rod is always parallel to the normal vector of the plane of disks. If v(0) = vo êx , ϕ(0) = 0
and ϕ̇(0) = ω, write the equations of motion for the system and find the equation of path
followed by CoM.
[Hint:] Write differential equations of constraints and then apply Lagrangian formulation.
Solve the equations using boundary conditions.

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Problem 4. A particle of mass m can slide without friction in a tube which is rigidly
◦
attached
p at a constant angle θ = 60 to a vertical shaft which rotates at a constant p rate
ω = 2g/ro . If the particle is released with the initial conditions r(0) = ro , ṙ(0) = − gro /2,
find rmin . What is the minimum magnitude and sign of the initial radial velocity ṙ(0) such
that the particle will hit the shaft, that is, reach the position r = 0?

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Problem 5. One end of a thin uniform rod of mass m and length 3l rests against a smooth
vertical wall. The other end is attached by a string of length l to a fixed point O which is
located at a distance 2l from the wall. Assuming that the rod and the string remain in the
same vertical plane perpendicular to the wall, find the angle θ between the rod and the wall
at the position of static equilibrium.

Problem 6. Two bodies, each of mass m connected by a spring of stiffness k and un-
stretched length l lie on a frictionless plane. A constant force F0 is impressed on one of
the bodies. What will be the maximum and minimum separation between the two masses
during the ensuing motion.

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Problem 7. A uniform stiff rod is restrained to move vertically by both linear and torsional
springs as shown in figure below. Calculate the natural frequency of oscillation of the rod.

Problem
p p8. For the two-degree-of-freedom system shown in figure below, the parameter
k/m = k1 /m1 What are the excitation frequencies ω, for which the response x, of mass
m, is independent of damping c1 . (You can define the following parameters for convenience).
p p
p = k/m; q = k1 /m1 ; ζ = c1 /2mp; Xst = F0 /k
r = ω/p; µ = m1 /m

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Problem 9. The mass m of a spring-mass system slides without friction on a horizontally
rotating rod OA with constant angular velocity Ω rad/sec. The unstretched length of the
spring is l0 . Now do the following:
(i) Draw a neat free body diagram of the mass.
(ii) Determine the equilibrium position of the mass from O.
(iii) Derive the equation of motion of m about equilibrium position.
(iv) Determine the natural frequency of oscillation of the mass.
(v) Will the contact force between the mass and rod change during oscillations?
(vi) Under what condition the system looses stability?

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Problem 10. In the following figure a massless rope passes over a circular cylinder and does
not slip during motion. Assembly is prepared such that in its equilibrium position spring k1
is unstretched and mass m2 has acquired static equilibrium under the influence of gravity.
All subsequent motions happen over this state of the system. Now, for the given system
parameters do the following:

(i) Identify suitable degrees of freedom and draw neat free body diagrams to derive the
equations of motion.

(ii) Derive the equations of motion.

(iii) For r = 17.29π meters, k1 = k2 = 1 N/m, and m1 = m2 = 1 kg find the natural

frequencies and explain the mode shapes of the system.

(iv) If the cylinder is subjected to a harmonic torque of T (t) = 10 sin t, determine the
amplitude of oscillation of m2 .

[Mass moment of inertia of a cylinder of radius r and mass m about its axis J = 0.5mr2 ]