Dynamics II

Dr. Jorge A. Olórtegui Yume, Ph.D.

FREE, UNDAMPED, 1 DOF VIBRATIONS

Lecture No. 2

Mechanical Engineering School

National University of Trujillo
1
 FREE, UNDAMPED 1 DOF VIBRATIONS
•Initially disturbed, then allowed to vibrate freely
•Damping is neglected, i.e. no friction, no dashpots, thus energy preserved

Free, Undamped 1DOF Vibrations 2 Dr. Jorge A. Olortegui Yume

 FREE, UNDAMPED 1 DOF VIBRATIONS
The mass-spring system

m: mass – “Inertia” (kg) Force  W  mg

k: spring constant – “Stiffness” (N/m) W: weight (N)
x
Force  Fs  kx Fs: Spring force (N)
Fs opposed to “x”
c) Apply Dynamics (Newton’s 2nd law)
 
SEP  

a) Define SEP & (+)x displacement   F  m x   Fs  m x  kx  m x
b) Draw FBD @ (+)x displacement
  
EOM: Eq. Of Motion m x  kx  0
d) Solve EOM
Gen. solution or Response xt   X sin nt   
X: Amplitude (m)
k ωn: Natural Freq. (rad/s)
n 
m : Phase (rad)

Free, Undamped 1DOF Vibrations 3 Dr. Jorge A. Olortegui Yume

 FREE, UNDAMPED 1 DOF VIBRATIONS
The mass-spring system (cont´d)
Solution to EOM

2nd order, Linear, Homogeneous, Ordinary Diff. equation
m x  kx  0
Trial solution
 
xt   X sin t xt   X cost xt    X 2 sin t
Mapping into EOM i.e.,
 
m  X 2 sin t  k  X sin t   0 xt   X sin t
   
X sin t m   2  k  0 Is a solution to EOM
 
X sin t k   2 m  0 if k
2 
X  0  xt   0 trivial solution m
sin t  0  t  n , n  0,1,2,... not relevant k
 
k   2m  0   2  k n
m
m Frecuencia Natural (rad/s)

Free, Undamped 1DOF Vibrations 4 Dr. Jorge A. Olortegui Yume

 FREE, UNDAMPED 1 DOF VIBRATIONS
The mass-spring system
Solution to EOM (cont´d)
 One solution is Another solution is
m x  kx  0
xt   X sin nt xt   X cos nt
Superposition principle for linear, ordinary differential equations

General
solution to EOM xt   C1 sin nt  C2 cos nt
(1st form)
 
 cos nt 
Transforming xt   C  C 
C C
2 2
1
sin n t  2
1
C 2 2
 C 2
C 2
 C 2 
 1 2 1 2 
 
x t  X cos  sin  t  sin  cos  t   
2 2
X C 1 C 2
n n

xt   X sin nt   

General
solution to EOM
(2nd form)

Free, Undamped 1DOF Vibrations 5 Dr. Jorge A. Olortegui Yume

 FREE, UNDAMPED 1 DOF VIBRATIONS
The mass-spring system
Solution to EOM (cont´d)

m x  kx  0
In general, the following are all solutions or responses to the EOM

xt   X sin nt

xt   X cos nt
Internatio nal Unit System (S.I.)
x : en m
xt   C1 sin nt  C2 cos nt X : en m
C1 , C 2 : en m
xt   X sin nt    n : en rad/s

xt   X cosnt   
t : en s

Free, Undamped 1DOF Vibrations 6 Dr. Jorge A. Olortegui Yume

 FREE, UNDAMPED 1 DOF VIBRATIONS
Observations

i) 2 ways of expressing the EOM


m x  kx  0
2
1  
 1 k   k  
   m x  kx     0  x  x  0  x    x 0

m   m m  m 


Standard form of the EOM
x  x  02
n

Free, Undamped 1DOF Vibrations 7 Dr. Jorge A. Olortegui Yume

 FREE, UNDAMPED 1 DOF VIBRATIONS
Observations

ii) 2 ways of expressing the EOM solution
x  n2 x  0

EOM Sol’n xt   X sin nt    EOM Sol’n xt   C1 sin nt   C2 cosnt 
X, : Constants C1, C2: Constants

Apply IC’s (i.e., t=0) to find constants in both cases. Assuming: x0  xo ; x0  vo
x0  X sin n 0     xo  X sin  x0  C1 sin n 0  C2 cosn 0
xo  C2

xt   Xn cosnt   

x0  Xn cosn 0     vo  Xn cos  
xt   C1n cosnt   C2n sin nt 
n xo xo tan 
 tan   
vo vo n x0  C1n cosn 0  C2n sin n 0
n xo 2  vo2 vo
xo
X X vo  C1n  C1 
sin  n n

Free, Undamped 1DOF Vibrations 8 Dr. Jorge A. Olortegui Yume

 FREE, UNDAMPED 1 DOF VIBRATIONS
Special case
Vertical mass-spring system
a) Define SEP & (+)y displacement
b) Draw FBD @ (+) y position
No need to draw W=mg if:
•“y” measured From SEP

SEP •“mg” is not restoring force

y +
c) Apply Dynamics
y  
  
  F  m y   Fs  m y  ky  m y
 

Static offset (dst) “ωn” experimentally EOM m y  ky  0
FBD @ SEP
From Statics d) Solve EOM
yt   Y sin nt   
 F  0  kd st  mg  0
Response
k g k ωn: Natural Freq. (rad/s)

m d st

n 
g n  Y: Amplitude (m)
d st m : Phase (rad)

Free, Undamped 1DOF Vibrations 9 Dr. Jorge A. Olortegui Yume

 FREE, UNDAMPED 1 DOF VIBRATIONS
Plots, Period and Frequency yt   Y sin nt

k   2N / m
A=10mm
m  9kg

SEP
y +
t=6 s
y

Period (t)
Time between 2 correspondent points
yt   Y sin nt  Y sin n t  t   sin nt  nt   sin nt  2  nt  2
2 2  2
t t : en s. Example: n   rad / s t 6s
n  /3
9 3
Frequency (f) No. of oscillations per unit time
1 1
 f  f   0.167 Hz
f  n f : en oscillatio ns/s  Hz (Hertz). t 6s
2

Free, Undamped 1DOF Vibrations 10 Dr. Jorge A. Olortegui Yume

 FREE, UNDAMPED 1 DOF VIBRATIONS
Plots, Period and Frequency yt   Y sin nt   
 y
t 
n t

y0  Y sin 
Y
Ysin
t

k t  2 1
n  2f
n  f 
m n t

Free, Undamped 1DOF Vibrations 11 Dr. Jorge A. Olortegui Yume

 FREE, UNDAMPED 1 DOF VIBRATIONS
Brief Review on Dynamics Paralell axis theorem
For particle systems, rigid bodies of
I CM known
constant mass, and plane motion
I P  I CM  md 2
F1 F2
ac Example: Concentrated mass
FR 0
r1 I P  I CM  md 2
rc
P F3 I P  md 2
NOTE: “P” must be:
 Fi FR  maCM •C.M.
Kinematics of rolling

 M i  r i x F i  M R   P
 I P
•Fixed point
(v  0 & a0 )

FR  Resultant Force of external forces (N)

a CM  r CM Absolute acceleration of “C.M.” (m/s2) r (m ) s  x  r  (rad)
m Mass of rigid body (kg) x (m)   
M  R P
Resultant Moment of external forces (N.m)
v (m/s)
v  x  r  (rad/s)

I P  Mass moment of Inertia about “P” (kg.m2)   

  Angular acceleration of rigid body (rad/s2) a (m/s2) a  x  r  (rad/s2)

Free, Undamped 1DOF Vibrations 12 Dr. Jorge A. Olortegui Yume

 FREE, UNDAMPED 1 DOF VIBRATIONS
Example

Free, Undamped 1DOF Vibrations 13 Dr. Jorge A. Olortegui Yume

 FREE, UNDAMPED 1 DOF VIBRATIONS
Example

Free, Undamped 1DOF Vibrations 14 Dr. Jorge A. Olortegui Yume

 FREE, UNDAMPED 1 DOF VIBRATIONS
Example

Free, Undamped 1DOF Vibrations 15 Dr. Jorge A. Olortegui Yume

 FREE, UNDAMPED 1 DOF VIBRATIONS
Example: (Simple pendulum) Derive the EOM for the oscillating mass.
Determine also the EOM general solution and natural frequency
Solution: a) SEP & (+)
b) FBD @ arb. pos. Kinematics diagram c) EOM Solution
Some non-linear ODEs have explicit solns.


Series soln. for  t 
   I 
= Small “θ”, Non-linearLinear (Linearization)

   sin    EOM
mL   mgL  0

 2

 
SEP View as meq   keq  0
 

c) EOM - Dynamics  M A  IA  meq  mL2  I A keq  mgL
 
 

T 0  W L sin    mL 
2
Take series 1st term OR solve as before

  Response to EOM  t    sin nt   


 mgL sin    mL  2

: Angular amplitude (rad) 9.81m / s 2

n 
mL   mgLsin   0 EOM

2 keq g 0.5m
n   n 
Non-linear ODE, 2nd Order, Homogeneous meq L n  4.429 rad / s

Free, Undamped 1DOF Vibrations 16 Dr. Jorge A. Olortegui Yume

 FREE, UNDAMPED 1 DOF VIBRATIONS
Example: Determine EOM in terms of “x” and “ωn”. (Jo mass moment
of Inertia respect to “o”)

Free, Undamped 1DOF Vibrations 17 Dr. Jorge A. Olortegui Yume

 FREE, UNDAMPED 1 DOF VIBRATIONS
Example: Determine EOM in terms of “x” and “ωn”. (Jo mass moment
of Inertia respect to “o”)
Solution: a) SEP & (+)x and b) FBD
Modeling:
•Assumed small “” (obtain linear EOM)
Kinematic constraints
x  r
x1  r  x1  x
Equivalent springs
x2  4r  x2  4 x
•Force “W=mg” can be neglected
k 
eq A  k1  k 2
( “m”, inertia cannot) k 
eq B  k3  k 4
•System can be viewed as:
c) Dynamics
 

FBD wheel   M o  I o  
 
 T  r  keq A  x2  4r  keq B  x1  r  J o 


 

FBD block  F  m x
   

T  m x

Free, Undamped 1DOF Vibrations 18 Dr. Jorge A. Olortegui Yume

 FREE, UNDAMPED 1 DOF VIBRATIONS
Solution: (cont’d)
 
 16 keq A  keq B  x   2o  m  x
J  
 T  r  keq A  x2  4r  keq B  x1  r  J o 

r 

 
x  r  x  r   x  r 
 

EOM in terms of “x”  r 2  m  x  16 keq A  keq B  x  0
 Jo  


 
x 
 k  eq A  k1  k 2
r with
  
 T  r  keq A  x2  4r  keq B  x1  r  J o  
 x k  eq B  k3  k 4
r
x x   Can be viewed as :
J 
meq   2o  m 
1

x2  4 x meq x  keq  x  0 with r 
  

keq  16 keq A  keq B 
 T  r  keq A  4 x  4r  keq B  x  r  J o  
 x
r
  keq 16 keq A  keq B 16 k1  k 2   k 1  k 4
n   
   meq Jo Jo

 T  16 keq A  keq B   x
 x  Jo  2 
r 
r 2
m
r2
m

 
 Solution to EOM in terms of “x”
T  m x
  

 m x  16 keq A  keq B   x

 x  Jo  2 
r 
xt   X sin nt   
 

Free, Undamped 1DOF Vibrations 19 Dr. Jorge A. Olortegui Yume

 FREE, UNDAMPED 1 DOF VIBRATIONS
Solution: (Note: EOM and solution in terms of “θ”)

 Jo
 2  m
 
 
 x  16 keq A  keq B  x  0
 r 

x x 
 
r r

 Jo
 2  m
 
 
  r   16 keq A  keq B  r    0
 r 

EOM in terms of “θ”)

 
  mr    r 16 keq A  keq B    0
 Jo   Jo
 r 
meq   mr
r
Solution to EOM in terms of “θ”
 t    sin nt   

keq  r 16 keq A  keq B 
 : Angular amplitude (rad)

Free, Undamped 1DOF Vibrations 20 Dr. Jorge A. Olortegui Yume