ME625A: Applied Dynamics and Vibrations

Tuesday 12th November, 2024

Assignment 6 Solutions
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.

Solution i. For the given system,

1
 Kinetic energy is given by
1 1
T = mtotal vG · vG + ω · Icm · ω
2 2
1 *·0 0 1
= mtotalvG vG
*+ θ̇(−Ê3 ) · J θ̇(−Ê3 )
2 2
1
= J θ̇2
2
Potential energy is given by,
1
E = ke x2
2
1
= 4 × k(aθ)2
2
2 2
= 2ka θ
L=T −V
1
= J θ̇2 − 2ka2 θ2
2
Hence,the Lagrangian is

L=T −V
1
= J θ̇2 − 2ka2 θ2
2
Now, Lagrange’s equation of motion for conservative external forces is given by
 
d ∂L ∂L
− =0
dt ∂ θ̇ ∂θ
Substituting value if L, we get
 
d ∂L ∂L
L.H.S. = −
dt ∂ θ̇ ∂θ
    
1 2 2 2 1 2 2 2
d  ∂ 2
J θ̇ − 2ka θ ∂ 2
J θ̇ − 2ka θ
= −
dt ∂ θ̇ ∂θ

d(J θ̇)
= + 4ka2 θ
dt
= J θ̈ + 4ka2 θ = 0 = R.H.S.

Hence, the equation of motion of the system is

J θ̈ + 4ka2 θ = 0

(ii) A semicircular disc of radius r and mass m is pivoted freely about its center as shown.
P3. Find its EOM.

2
 4r
Solution (ii). Location of CG is given by rc = 3π
, and moment of inertia is given by
I = 12 mr2 about O.

Kinetic energy is given by

1
T = ω · IO · ω
2
1 1
= θ̇(Ê3 ) · ( mr2 )θ̇(Ê3 )
2 2
1 2 2
= mr θ̇
4
Potential energy is given by

V = mg(1 − cos θ)rc

4mgr
= (1 − cos θ)
3π
Hence, the Lagrangian is given by

L=T −V
1 4mgr
= mr2 θ̇2 − (1 − cos θ)
4 3π

3
 Now, Lagrange’s equation of motion for conservative external forces is given by
 
d ∂L ∂L
− =0
dt ∂ θ̇ ∂θ
Substituting value if L, we get
 
d ∂L ∂L
L.H.S. = −
dt ∂ θ̇ ∂θ
d( 12 mr2 θ̇) 4mgr
= + sin θ
dt 3π
1 4mgr
= mr2 θ̈ + sin θ = 0 = R.H.S.
2 3π
Hence, the equation of motion of the system is
3πrθ̈ + 8g sin θ = 0
(iii) A rod of length l2 and mass m is attached to a string of length l1 . Find EOM of the
rod.

Solution (iii). Let the location of COM of the rod is at x and y. For the motion of
the COM we have constraints:
l2
x = l1 sin θ1 + sin θ2
2
l2
y = −l2 cos θ1 − cos θ2
2

4
Rate of change of these constraints:
l2 ˙
ẋ = l1 θ˙1 cos θ1 + θ2 cos θ2
2
l2
ẏ = l2 θ˙1 sin θ1 + θ˙2 sin θ2
2
For kinetic energy of the system:

1 1
T = mtotal vG · vG + ω · Icm · ω
2 2
1 1 ˙2
= m(ẋ + ẏ) + Ic θ2
2 2
1 2 l2 l2
= m(l12 θ˙1 cos2 θ1 + 2 θ22 cos2 θ2 + l1 l2 θ̇1 θ̇2 cos θ1 cos θ2 + l12 θ̇12 sin2 θ1 + 2 θ̇22 cos2 θ2
2 4 4
1 1
+ l1 l2 θ̇1 θ̇2 sin θ1 sin θ2 ) + · ml22 θ̇22
2 12
1 2 2 1 1
= ml1 θ̇1 + ml1 l2 cos (θ1 − θ2 ) θ̇1 θ̇2 + ml22 θ̇22
2 2 6
Potential energy considering θ1 = 0 and θ2 = 0 as reference position:
l2 l2
V = mg(l1 + − l1 cos θ1 − cos θ2 )
2 2
l2
= mgl1 (1 − cos θ1 ) + mg (1 − cos θ2 )
2
Hence, the Lagrangian is:

L=T −V
1 1 1 l2
= ml12 θ̇12 + ml1 l2 cos (θ1 − θ2 ) θ̇1 θ̇2 + ml22 θ̇22 − mgl1 (1 − cos θ1 ) − mg (1 − cos θ2 )
2 2 6 2
Now, Lagrange’s equation of motion for conservative external forces is given by
 
d ∂L ∂L
− =0
dt ∂ θ̇ ∂θ

5
 Substituting value if L and θ = θ1 , we get
 
d ∂L ∂L
L.H.S. = −
dt ∂ θ1 ˙ ∂θ1
  
1 2 2 1 1 2 2 l2
d  ∂ 2
ml θ̇
1 1 + 2
ml 1 l2 cos (θ 1 − θ2 ) θ̇1 θ̇2 + 6
ml θ̇
2 2 − mgl1 (1 − cos θ 1 ) − mg 2
(1 − cos θ2 )
=
dt ∂ θ˙1
 
∂ 12 ml12 θ̇12 + 21 ml1 l2 cos (θ1 − θ2 ) θ̇1 θ̇2 + 16 ml22 θ̇22 − mgl1 (1 − cos θ1 ) − mg l22 (1 − cos θ2 )
−
∂θ1
 
d 1 1
= ml12 θ̇1 + ml1 l2 cos θ1 − θ2 θ̇2 + ml1 l2 sin (θ1 − θ2 ) θ̇1 θ̇2 + mgl1 sin θ1
dt 2 2
1 1 1
= ml12 θ̈1 + ml1 l2 cos θ1 − θ2 θ̈2 − ml1 l2 sin(θ1 − θ2 ) θ̇2 (θ̇1 − θ̇2 ) + ml1 l2 sin (θ1 − θ2 ) θ̇1 θ̇2
2 2 2
+ mgl1 sin θ1 = 0 = R.H.S.

Hence EOM of the sting is:

1 1
ml22 θ̈1 + ml1 l2 cos (θ1 − θ2 ) θ̈2 + ml1 l2 sin (θ1 − θ2 ) θ̇22 + mgl1 sin θ1 = 0
2 2

Now considering θ = θ2
 
d ∂L ∂L
L.H.S. = −
dt ∂ θ˙2 ∂θ2
  
1 2 2 1 1 2 2 l2
d  ∂ 2
ml θ̇
1 1 + 2
ml l
1 2 cos (θ 1 − θ 2 ) θ̇ θ̇
1 2 + 6
ml θ̇
2 2 − mgl1 (1 − cos θ 1 ) − mg 2
(1 − cos θ2 )
=
dt ∂ θ˙2
 
1 2 2 1 1 2 2 l2
∂ 2 ml1 θ̇1 + 2 ml1 l2 cos (θ1 − θ2 ) θ̇1 θ̇2 + 6 ml2 θ̇2 − mgl1 (1 − cos θ1 ) − mg 2 (1 − cos θ2 )
−
∂θ2
 
d 1 2˙ 1 1 l2
= ml2 θ2 + ml1 l2 cos (θ1 − θ2 ) − ml1 l2 sin (θ1 − θ2 )θ˙1 θ˙2 − mg sin θ2
dt 3 2 2 2
1 2 1 1
= ml2 θ̈2 − ml1 l2 sin (θ1 − θ2 ) θ̇1 (θ˙1 − θ˙2 ) + ml1 l2 cos (θ1 − θ2 ) θ̈1
3 2 2
1 l2
− ml1 l2 sin (θ1 − θ2 )θ˙1 θ˙2 − mg sin θ2 = 0 = R.H.S.
2 2
Hence, the EOM of the rod is:

1 2 1 1 l2
ml2 θ̈2 − ml1 l2 sin (θ1 − θ2 )θ̇12 + ml1 l2 cos (θ1 − θ2 )θ̈1 + mg sin θ2 = 0
3 2 2 2

(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

6
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

Solution (iii). As the string is shortening at a constant speed Uo , we can write.

dr(t) dr
= = −Uo
dt dt
Kinetic energy is given by
1 1
T = mtotal vG · vG + ω · Icm · ω
2 2
1 1
= m(Uo Ê1 + θ̇rÊ2 ) · (Uo Ê1 + θ̇rÊ2 ) + ω ·  *·0ω
Icm


2 2
1
= m(Uo2 + r2 θ̇2 )
2
Potential energy is given by
V = mg(lo − r cos θ)

7
Hence, the Lagrangian can be written as

L=T −V
1
= m(Uo2 + r2 θ̇2 ) − mg(lo − r cos θ)
2
Now, Lagrange’s equation of motion for conservative external forces is given by
 
d ∂L ∂L
− =0
dt ∂ θ̇ ∂θ

Substituting value if L, we get

 
d ∂L ∂L
L.H.S. = −
dt ∂ θ̇ ∂θ
d
= (mrθ̇) + mgr sin θ
dt
= −2mrUo θ̇ + mr2 θ̈ + mgr sin θ = 0 = R.H.S.

Equation of motion is
rθ̈ − 2Uo θ̇ + g sin θ = 0
Now, we convert
dθ dθ dr dθ
θ̇ = = = −Uo
dt dr dt dr
and
d(−Uo dθ )
dr dr
2
2d θ
θ̈ = = Uo
dr dt dr
Using these two results, equation of motion can be written as

d2 θ d θ g sin θ
r 2 +2 + =0,
dr dr U02

To find the tension in the string, consider the FBD given below:

8
 LMB:
X
F = maG
mg cos θê1 − mg sin θê2 − T ê1 = m aO + arel + wE/Eo × (wE/Eo × rG/O ) + α E/Eo × rG/O


+2wE/Eo × vrel
0  0

mg cos θê1 − mg sin θê2 − T ê1 = m aO
*+ arel
*+ wE/Eo × (wE/Eo × rG/O ) +  α E/E
 :×
 0r
 o G/O


+2wE/Eo × vrel
 
= m θ̇ê3 × (θ̇ê3 × rê1 ) + (2θ̇ê3 × −Uo ê1 )
= −mθ̇2 rê1 − 2mUo θ̇ê2
On comparing L.H.S. and R.H.S., we get
mg cos θ − T = −mθ̇2 r
T = mg cos θ + mθ̇2 r

Using above results, we get

 2
dθ
T = mg cos θ + mrU02
dr

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.

Solution (2). As we have to find bending moment in shaft at A, we will consider a frame
{E0 , A, Êi } at this point.

9
 Let A1 , A2 and A3 be the reaction forces at point A. We don’t need to find these values
as reaction moment can be evaluated directly by considering AMB about point A.
AMB:-
X X
ri/A × Fi + Mi = rG/A × maA + IA · α E/Eo + wE/Eo × IA · wE/Eo

= rG/A × m 0 I ·α  0w
aA
*+ E/Eo × IA · wE/Eo

A E/E
:+
o

= wE/Eo × IA · wE/Eo

LHS of AMB, in the frame {E0 , A, Êi } :-

X X
L.H.S. = [ri/A ]E0 × [Fi ]E0 + [Mi ]E0
2mgr
= M1 Ê1 + M2 Ê2 + M3 Ê3 + Ê1
π

RHS of AMB, in the frame {E0 , B, Êi } :-

R.H.S. = [wE/Eo ]E0 × [IA ]E0 · [wE/Eo ]E0

 
= [wE/Eo ]E0 × [I13 ]A ω Ê1 + [I23 ]A ω Ê2 + [I33 ]A ω Ê3
 
= ω Ê3 × [I13 ]A ω Ê1 + [I23 ]A ω Ê2 + [I33 ]A ω Ê3
= ω 2 (−[I23 ]A Ê1 + [I13 ]A Ê2 )

10
 Now, from the above figure
Z
[I13 ]A = − x1 x3 dm
Zs
=− x1 (2r + r cos θ)ρ dA
Zs
=− x1 (2r + r cos θ)ρ rdθ dx1
s
Z πZ b
2
= −ρr x1 (2 + cos θ) dθ dx1
0 −b
π x1 =b
x2
Z 
= −ρr 2
(2 + cos θ) dθ · 1 =0
0 2 x1 =−b

and,
Z
[I23 ]A = − x2 x3 dm
Zs
=− −r sin θ(2r + r cos θ)ρ dA
Zs
=− −r sin θ(2r + r cos θ)ρ r dθ dx1
s
Z πZ b
3
= ρr sin θ(2 + cos θ) dθ dx1
0 −b
Z π
3
= 2bρr sin θ(2 + cos θ) dθ dx1
0
4mr2 m
= 8bρr3 = (as, ρ = )
π 2πrb

11
Now, substituting all these values in LHS and RHS of AMB, we get:
2mgr
M1 Ê1 + M2 Ê2 + M3 Ê3 + Ê1 = ω 2 (−[I23 ]A Ê1 + [I13 ]A Ê2 )
π
2mgr *0
Ê1 = ω 2 (−[I23 ]A Ê1 + 

M1 Ê1 + M2 Ê2 + M3 Ê3 + [I13
]A Ê2 )

π
2mgr 4mω 2 r2
M1 Ê1 + M2 Ê2 + M3 Ê3 = − Ê1 − Ê1
π π
On comparing, we get
2mgr 4mω 2 r2
 
2mr
M1 = − + =− (g + 2ω 2 r)
π π π
M2 = 0
M3 = 0

Hence the required moment magnitude is:

2mr
|M| = (g + 2ω 2 r)
π
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.

12
Solution 3. Let’s assume disk A and disk B have the angular velocity ωA and ωB , respec-
tively about ê2 . We also know that velocity of CoM will be v G = v E1 /E0 = v0 ê1 = ẋÊ1 + ẏ Ê2 .
In the Frame E1 , the point of contact(P ) of disk A and (Q) of disk B with ground will have
the following velocity in frame E1 :
L
[rP ]E1 = − ê2 − Rê3
2
∂rP
[v P ]E1 = + ω E2 /E1 × rP
∂t
L
= (ωA ê2 + ϕ̇ê3 ) × (− ê2 − Rê3 )
2
L
= −ωA Rê1 + ϕ̇ ê1
2
Since we know that [v P ]E0 = 0,

[v P ]E0 = [v P ]E1 + v E1 /E0

L
= −ωA Rê1 + ϕ̇ ê1 + v0 ê1 = 0
 2

1 L
ωA = v0 + ϕ̇
R 2

13
Similarly, if we do for point Q,
 
1 L
ωB = v0 − ϕ̇
R 2

Now, we will write the constraint equation as we know that the velocity along the rod will
remain zero. Therefore,

ẏ cos ϕ − ẋ sin ϕ = 0 (1)

Since the vertical position of CoM doesn’t change, we can assume potential energy to be
zero. The kinetic energy can be written as:
1 1 1
T = Mtot v G · v G + ω E2 /E0 · IA/G · ω E2 /E0 + ω E3 /E0 · IB/G · ω E3 /E0
2 2 2
 mL2  
 4 0 0 0
1 1 mR2
= (2m)(ẋ + ẏ)2 + 0 ωA ϕ̇  0 2
0   ω A
2 2 mL2
0 0 4
ϕ̇
 mL2  
 4 0 0 0
1 mR 2
+ 0 ωB ϕ̇  0 2
0  ωB 
2 mL2
0 0 4
ϕ̇
R2 2 L2 2
 
2 2 1 2
= m(ẋ + ẏ ) + m (ωA + ωB ) + 2m ϕ̇
2 2 4
2
  
1 L 1
= m(ẋ2 + ẏ 2 ) + 2m v02 + ϕ̇2 + mL2 ϕ̇2
4 4 4
1 3 3 3
= m(ẋ2 + ẏ 2 + v02 ) + mL2 ϕ̇2 = m(ẋ2 + ẏ 2 ) + mL2 ϕ̇2
2 8 2 8
We know that L = T − V = T − 0 = T and the Lagrangian formulation for system with
constraints
 
d ∂L ∂L ∂C
− =λ
dt ∂ q̇ ∂q ∂q

where q are the parameters, C is the constraint equation and λ is the Lagrangian multiplier.
For our system, the parameters q are {ẋ, ẏ, ϕ̇}. Applying the above formulation for each
parameter, we get the following equations:

3mẍ = −λ sin ϕ (2)

3mÿ = λ cos ϕ (3)
3
mL2 ϕ̈ = 0 (4)
4
Solving the eq. (4) using the initial condition ϕ(0) = 0, we get

ϕ = ωt (5)

14
Putting eq. (5) into equations (2) and (3)
λ
ẍ = − sin ωt
3m (6)
λ
ÿ = cos ωt
3m
From these expressions and eq. (1), we find that λ is constant. Therefore, we can write
λ
ẋ = cos ωt + A1
3mω
λ
ẏ = sin ωt + B1
3mω
where A1 and B1 are constants. We know that ẏ(0) = 0 which implies B1 = 0. Also,
ẋ(0) = v0 ,
λ
A1 = v0 −
3mω
If we use the above equations into ẋ2 + ẏ 2 = v02 :
 2
λ λA1
+ cos ωt + A21 = v02
3mω 3mω
 2    2
λ λ λ λ
+ v0 − cos ωt + v0 − = v02
3mω 3mω 3mω 3mω
 2
λ λv0
(2 − cos ωt) − (2 − cos ωt) = 0
3mω 3mω
λ = 3v0 mω

Using the initial conditions x(0) = 0, y(0) = 0, we can integrate the equations of ẋ and ẏ,
v0
x= sin ωt
ω
v0
y= (1 − cos ωt)
ω
Using the above equations, we can write:
 v0 2 v2
x2 + y − = 02
ω ω
indicating that the path is a circle of radius v0 /ω with its center at x = 0 and y = v0 /ω.

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?

15
Solution 4. We will solve for the EOM of this system using the Euler-Lagrange Equations.
To write the kinetic energy of the particle we need its velocity. For that we assign the frames
to the system as shown:
The angular velocity of frame E as seen from base frame Eo can be written as:

ωE/Eo = ω Ê2

The basis of both the frames are related by the equation:

êi = RÊ3 (θ)Êi

Êi = RTÊ3 (θ)êi

Using these, we can write ωE/Eo in frame E as:

[ωE/Eo ][ E] = ω(sin(θ)ê1 + cos(θ)ê2 )

Position of particle is:

rP/O = rê2
Writing the velocity of the particle:
δr
ṙP/O = ê2 + ωE/Eo × (rê2 )
δt
= ṙê2 + (ω(sin(θ)ê1 + cos(θ)ê2 )) × rê2
= ṙê2 + rω sin(θ)ê3

16
 Using this, we can write the kinetic energy of the particle:
1
T = mṙ · ṙ
2
1 1
= mṙ2 + mr2 ω 2 sin2 (θ)
2 2
and potential energy:
V = mgr cos(θ)
Writing the Lagrangian using these:
1 1
L = mṙ2 + mr2 ω 2 sin2 (θ) − mgr cos(θ)
2 2
Applying the EL equation on this, we get:
 
d ∂L ∂L
− =0
dt ∂t ∂r
d(mṙ)
− (mrω 2 sin2 (θ) − mg cos(θ)) = 0
dt
r̈ − rω 2 sin2 (θ) + g cos(θ) = 0

The final equation of motion this becomes:

r̈ − Ar + B = 0

where A = ω 2 sin2 (θ) and B = g cos(θ)

Solving this to get velocity of the particle:

ṙdṙ = (Ar − B)dr

Z ṙ Z r
ṙdṙ = (Ar − B)dr
ṙ0 r0
2
ṙ − ṙ02 (r2 − r02 )
=A − B(r − r0 )
2 2
Now, when the ball reaches r = rmin , the velocity of the ball becomes zero, i.e., ṙ = 0. This
gives us:
2
Armin − Ar02 − 2Brmin + 2Br0 + ṙ02 = 0
2
Armin − 2Brmin − [Ar02 − 2Br0 − ṙ02 ] = 0

Solving above equation, we get:

p
4B 2 + 4A[Ar02 − 2Br0 − ṙ02 ]
2B +
rmin1 =
p 2A
2B − 4B 2 + 4A[Ar02 − 2Br0 − ṙ02 ]
rmin2 =
2A

17
 q
2g
p gr0
Putting the values given in the question (θ = π3 , ω = r0
, r(0) = r0 , ṙ(0) = − 2
) to get
the final values:
2
rmin1 = r0
3
rmin2 = 0
2r0 2r0
the velocity of the particle will become zero once it reaches r = 3
. Therefore, r = 3
is the only solution.
Now, we examine the acceleration.

r̈ = Ar − B
3gr g
r̈ = −
2r0 2
r0
For r = , r̈ = 0
3
r0
For r < , r̈ < 0
3
r0
For r > , r̈ > 0
3

For the particle to reach r = 0, we only need to take it till r = r30 , after that the negative
acceleration will take over and automatically take it to r = 0. Therefore, we put ṙ = 0 and
r = r30 in the velocity equation above:

−ṙ02 ( r0 )2 − r02 r0
=A 3 − B( − r0 )
2 2 3
2

2 3g (−8r0 ) g (−2r0 )
ṙ0 = −2 ∗ ( ) +
2r0 9 2 3
2gr 0
ṙ02 =
r3
2gr0
ṙ0 =
3
q
Therefore, for the particle to reach r = 0, ṙ0 > 2gr 3
0

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.

18
Solution 5. The FBD of the rod is as shown below:
For static equilibrium, we can write:

T cos(α) = N
T sin(α) = mg
mg
⇒ tan(α) = (7)
N
Applying moment balance at point B:

3L sin(θ)
mg = N.3L cos(θ)
2
2N
tan(θ) = (8)
mg

using (1) and (2), we can write:

tan(θ) tan(α) = 2 (9)
Now, by geometry:

L cos(α) = 3L sin(α) − 2L
cos(α) = 3 sin(α) − 2

It is clear that α < π2 should be strictly satisfied for static equilibrium, otherwise there is no
force opposing the normal force from the wall. This gives the following condition on θ:
2
sin(θ) ≥ (10)
3
further
p
sin(α) = 1 − cos2 (α)
q
= −9 sin2 (θ) + 12 sin(θ) − 3 (11)

19
Putting the above two equations in (3) and expanding, we get:
p
sin(θ) (1 − sin(θ))(9 sin(θ) − 3)
=2
cos(θ) 3 sin(θ) − 2
sin2 (θ)(−9 sin( θ) + 12 sin(θ) − 3) = 4(1 − sin2 (θ))(9 sin2 (θ) − 12 sin(θ) + 4)
27 sin4 (θ) − 36 sin3 (θ) − 23 sin2 (θ) + 48 sin(θ) = 16 = 0

Solving this polynomial and using (4), we get the final value for θ:

sin(θ) = 0.8216
⇒ θ = 67.16o

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.

Solution 6. The Equations of the motion can be written as:

mẍ1 + k(x1 − x2 ) = Fo (12)

mẍ2 − k(x1 − x2 ) = 0 (13)

If we subtract equation (12) - (13), we get

m(ẍ1 − ẍ2 ) + 2k(x1 − x2 ) = Fo

Let’s assume z = x1 − x2 , then the above equation becomes

mz̈ + 2kz = Fo

20
Solving the above differential equation using z = zh + zp , we get,
r ! r !
2k 2k
zh = A cos t + B sin t
m m
Fo
zp =
2k r ! r !
2k 2k Fo
z = A cos t + B sin t +
m m 2k

Assuming the initial conditions as z(0) = 0 and ż(0) = 0, we get,

Fo Fo
z(0) = A + = 0 =⇒ A = −
r 2k r ! 2kr r !
2k 2k 2k 2k
ż(0) = A sin (0) + B cos (0) = 0 =⇒ B = 0
m m m m

Therefore,
r !!
Fo 2k
z= 1 − cos t
2k m
Fo
zmax = , zmin = 0
2k
If you want to calculate the x1 and x2 separately, then you can use equations for displacement
of centre of mass of the system as measured from the initial position,
x1 + x2
xc =
2
Fo = 2mẍc

Using the initial conditions xc (0) = 0 and ẋc (0) = 0,

Fo 2
xc = t
4m
Solving the above equations, we get,
r !!
z F0 2 Fo 2k
x1 = xc + = t + 1 − cos t
2 4m 4k m
r !!
z F0 2 Fo 2k
x2 = xc − = t − 1 − cos t
2 4m 4k m

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.

21
Solution 7. We know that initially the angular velocity will be zero and we can find the
acceleration of center of mass aG with respect to Point P ,
0  0 0 0 0
aG/P = 
arel
*+

 w*E/Eo × (
 w*
E/E
o × rG/P ) + α E/Eo × rG/P + 2
w
*E/E
o ×
v
>rel

L
= −θ̈ê3 × ê1
2
Lθ̈
= − ê2
2

22
Applying AMB about point P :
X X 0 0
ri/P × F i + M j = rG/P × maG + Icm · αrod + w
rod × Icm · w
rod
i j
!
L L Lθ̈
Lê1 × 2k(Lθ)ê2 + ê1 × (−mg)ê2 + Kθê3 = ê1 × m − ê2
2 2 2
mL2
+ (ê2 ⊗ ê2 + ê3 ⊗ ê3 ) · (−θ̈)ê3
12
mgL mL2 θ̈ mL2 θ̈
2kL2 θê3 − ê3 + Kθê3 = − ê3 − ê3
2 4 12
mgL mL2
−(2kL2 + K)θ + = θ̈
2 3
Therefore,
r
3(2kL2 + K)
ωn = rad/sec
mL2

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

23
Solution 8. Using the FBD, we can write the equations of motions as following:

mẍ + kx + k1 (x − x1 ) + c1 (ẋ − ẋ1 ) = Fo cos ωt

m1 ẍ1 + k1 (x1 − x) + c1 (ẋ1 − ẋ) = 0

Using complex algebra approach Fo cos ωt = Re{Fo eiωt }; x = Re{X̄eiωt }; x1 = Re{X̄1 eiωt }
where X̄ and X̄1 are complex numbers, we get
   
k + k1 2 iωc1 k1 iωc1 Fo
−ω + X̄ − + X̄1 =
m m m m m
   
k1 iωc1 k1 iωc1
− + X̄ + − ω2 + X̄1 = 0
m1 m1 m1 m1

Solving the above equations for X̄, we get,

     
k + k1 2 iωc1 k1 2 iωc1 1 Fo k1 2 iωc1
X̄ −ω + −ω + − (k1 + iωc1 ) = −ω +
m m m1 m1 mm1 m m1 m1

Simplifying the above expression using the parameters defined in the question and q = p, we
get,

X̄ µ(1 − r2 ) + i2ζr
=
Xst µ(1 − r2 )2 − µ2 r2 + i2ζr(1 − r2 − µr2 )

We note that
s
X + iY X2 + Y 2
=
P + iQ P 2 + Q2

24
Hence,
s
X µ2 (1 − r2 )2 + (2ζr)2
=
Xst µ2 [(1 − r2 )2 − µr2 ]2 + (2ζr)2 (1 − r2 − µr2 )2

To get the response x, of mass m independent of damping c1 , we can eliminate the term of
ζ from the above expression which can be done in the following way:
s s
X A + f (ζ) 1 A + f (ζ)
= =
Xst C + Df (ζ) D (C/D + f (ζ))

So if A = C/D then our expression can be independent of ζ:

2
2 2 2 µ2 [(1 − r2 )2 − µr2 ]
µ (1 − r ) =
(1 − r2 − µr2 )2
µ [(1 − r2 )2 − µr2 ]
µ(1 − r2 ) = ±
1 − r2 − µr2

When we take the (+) sign, then we get r = 0 i.e. ω = 0 =⇒ X = Xst for all values of ζ
whereas when we take (-) sign, we get,
s r
4 4 2 2 µ
µr + 2r − 2µr − 4r + 2 = 0 =⇒ r = 1 ±
2+µ

At these two values of r, X/Xst will be same for all values of ζ.

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?

25
Solution 9. (i) FBD will have only 2 forces: spring force and contact force

(ii) The position, velocity and acceleration vectors of the mass m in the frame E1 can be
written as:
r = (lo + x)ê1
∂r
v= + ωE1 /Eo × r
∂t
= ẋê1 + Ωê3 × (lo + x)ê1
= ẋê1 + Ω(lo + x)ê2
0 0
a= >+ arel + ωE1 /Eo × (ωE1 /Eo × r) + α
aO 7 × r + 2(ωE1 /Eo × v rel )

= ẍê1 + Ωê3 × (Ωê3 × (lo + x)ê1 ) + 2(Ωê3 × ẋê1 )
= ẍê1 − Ω2 (lo + x)ê1 + 2Ωẋê2
Applying LMB:
X
F i = ma
i
−kxê1 + Fc ê2 = m(ẍê1 − Ω2 (lo + x)ê1 + 2Ωẋê2 )

26
 Comparing LHS and RHS, we get:

mẍ + kx − mΩ2 (lo + x) = 0, Fc = 2Ωẋ

We know that ẍ(arel ) will be zero at the equilibrium position, hence we put it zero in
the above equation:

mΩ2 (l0 + x) = kx
ml0 Ω2
x=
k − mΩ2
Therefore, equilibrium position will be at a distance of l0 + x from origin:

kl0
xeq = ê1
k − mΩ2

(iii) We can find the equations of motion using Lagrangian Formulation -

1 1
T = mẋ2 + m(l0 + x)2 Ω2
2 2
1 2
V = kx
2
1 1 1
L = T − V = mẋ2 + m(l0 + x)2 Ω2 − kx2
2 2 2

 
d ∂L ∂L
− =0
dt ∂ ẋ ∂x
mẍ − m(l0 + x)Ω2 + kx = 0

Therefore, Equation of motion is:

mẍ + (−mΩ2 + k)x − ml0 Ω2 = 0

(iv) From the above equation, we know that it is a simple harmonic motion (ẍ = −ωn2 x)
type motion. Hence, the angular frequency will be

k − mΩ2
ωn2=
m
r
k − mΩ2
ωn =
m

(v) Yes, the contact force Fc is a function of ẋ, and since x is varying harmonically, so will
its derivative(velocity) and hence Fc will also vary harmonically.

27
(vi) As it is evident from the expression of xeq , that when k − mΩ2 ≈ 0, the position of
equilibrium point will be at ∞. Hence, it can be said that when
p the angular velocity
of rod is equal to the natural frequency of the system i.e Ω = k/m then the system
will become unstable.

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 ]

Solution 10. In this problem, the mass m2 is free to oscillate along the rope, and the pulley
of mass m1 can freely rotate about the ground joint. The FBD of both the masses are as
shown:

28
 Thus, the equations of motion of both the masses can be written as:

mẍ + k2 (x − rθ) = 0
J θ̈ − k2 xr + (k1 + k2 )r2 θ = 0
These can be written in matrix form as:
   
m 0 k2 −k2 r
Ẍ + X=0
0 J −k2 r (k1 + k2 )r2
[M]Ẍ + [K]X = 0
Let the solution of this system be X = X0 cos(ωt). Substituting this, we get:

[K]X0 = ω 2 [M]X0
[M]−1 [K]X0 = ω 2 X0
This is the eigenvalue equation. Therefore, the values of ωi′ s are the related to the eigenvalues
of the matrix [M]−1 [K] as:
ωi2 = λi ([M]−1 [K])
Putting in the values given in the question and solving, we get:
p
ω1 = λ1 = 2.14rad/sec
p
ω2 = λ2 = 0.6622rad/sec
and the eigenvectors:
 
−15.25
v1 =
1
 
96.73
v2 =
1
Now, if the cylinder is subjected to the given harmonic torque, the equations of motion
become:
     
m 0 k2 −k2 r 0
Ẍ + X=
0 J −k2 r (k1 + k2 )r2 T (t)
 
0
[M]Ẍ + [K]X =
T (t)
To solve this, we will rewrite these equation in the modal frame. For that we need the mass
normalized modal matrix of this system:
 
v1 0.3690
ϕ1 = p =
v1T M v1 −0.0242
 
v2 −0.9294
ϕ2 = p =
v2T M v2 −0.0096
 
0.3690 −0.9294
⇒ [U] =
−0.242 −0.0096

29
Let us assume a transformation X = [U]q. Writing the equation of motion in modal coor-
dinates:

q̈1 + ω12 q1 = −0.242 sin(ωt)

q̈2 + ω22 q2 = −0.096 sin(ωt)

Since these are two independent equations of motion, we can calculate individual amplitudes
using the result x0 = m(ω2F−ω2 ) :
n

q10 = −0.0679
q20 = 0.1711

Thus, the physical coordinates have an amplitude of

x10 = 0.1841
x20 = 0.00

The amplitude of mass m2 is 0.1841 m.

30