Chapter 19

CHAPTER 19
PROBLEM 19.1
Determine the maximum velocity and maximum acceleration of a particle which moves in simple harmonic
motion with an amplitude of 5 mm and a period of 0.1 s.
SOLUTION
Simple harmonic motion.
where
Then
x = xm sin(n t + )
2
2
=
= 62.83 rad/s
0.1 s
T
xm = 0.005 m
n =
x = 0.005 sin(62.83t + f)
Differentiate to obtain velocity and acceleration.

v = x = n xm cos(n t + )
a = x = n2 xm sin(n t + )
Maximum velocity.
| xmax | = n xm = (62.83)(0.005)
Maximum acceleration.
| xmax | = n2 xm = (62.83) 2 (0.005 m)
xmax = 0.31 m/s

xmax = amax = 19.74 m/s2
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2111 2115
PROBLEM 19.2
Determine the amplitude
am
and maximum velocity of a particle which moves in simple
sim harmonic motion with a
2
maximum
ximum acceleration of 60 m/s and a frequency of 40 Hz.
ximum
SOLUTION
where
x = xm sin(n t + )
n = 2 f n = ((22 )(4
))(40)
(40)
0) = 80 rad/s
Differentiate to obtain velocity and acceleration.

v = x = n xm cos(
cos(n t + )
vm = n xm
a =
x = n2 xm sin(n t + )
am = n2 xm
Use information given to obtain am

amplitude and maximum velocity.
xm =
am
n2
60 m/s 2
= 0.000950 m
(800 ) 2
(8
vm = n xm = (80
(80 ))(0.000950)) = ..2387 m/s
xm = 0.9500 m
mm
vm = 239 mm/s
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2112
PROBLEM 19.3
A particle moves in simple
sim
harmonic motion. Knowing
K
that the amplitude
am
is 300 mm and the maximum
xim
ximum
acceleration is 5 m/s2, determine the maximum velocity
city of the particle and the frequency of its motion.
SOLUTION
x = xm sin(n t + ) xm = 0
0.300 m
x = (0.300)
(0.300) sin(n t + ) ((m)
x = (0.3)(
(0.3)(n ) cos
cos(
os(n t + ) (m/s)
(m
x = (0.3
(0.3)(
(0
.3)(
)(n ) 2 ssin
in(n t + ) (m/s)
in(
(m
| am | = (0.3 m/s)
m/s)(
m/
s)(n ) 2
s)(
Natural frequency.
n2 =
am = 5 m
m/s
/s 2
| am |
(5 m/s 2 )
=
= 16.667 rad/s 2
(0.3 m) (0.3 m)
n = 4.082 rad/s
fn = n
2
fn =
Maxim velocity.
Maximum
(4.082 rad/s)
= 0.6497 Hz
(2 rad/cycle)
vm = xmn = (0.3 m)(4.082 rad/s)
f n = 0.650 Hz
vm = 1.225 m/s
2113
PROBLEM 19.4
A 15-kg block is supported by the spring shown. If the block is moved vertically
downward from its equilibrium position and released, determine (a) the period and
frequency of the resulting motion, (b) the maximum velocity and acceleration of the
block if the amplitude of its motion is 50 mm.
SOLUTION
(a)

Natural frequency.
x = xm sin(n t + )
n =
k
m
n =
(4000 N/m)
15 kg
k = 4 kN/m
n = 16.33 rad/s
2
n =
n
n =
2
= 0.385 s
16.33
n = 0.385 s
fn =
1
= 2.6 Hz
0.385
xm = 0.05 m
(b)
x = 0.05sin(16.33t + f)
Maximum velocity.
vm = xmn = (0.05 m)(16.33 rad/s)
vm = 0.82 m/s
am = xmn2 = (0.05 m)(16.33 rad/s)2
am = 13.3 m/s2
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2118
2114
PROBLEM 19.5
A 32-kg block is attached to a spring and can move without friction in a
slot as shown. The block is in its equilibrium position when it is struck by
a hammer, which imparts
im
to the block an initial velocity of 250 mm/s.
Determine (a) the period and frequency of the resulting motion, (b) the
amplitude of the motion and the maximum
am
ximum acceleration of the block.
ximum
SOLUTION
x = xm sin(n t + )
(a)
k
12 103 N/m
=
m
32 kg
n =
n = 19.365 rad/s
2
n =
n
2
19.365
n = 0.324 s
n =
(b)
fn =
At t = 0, x0 = 0,
x0 = v0 = 250 mm/s
Thus,
x0 = 0 = xm ssin
sin(
in((n ((0) + )
and
1
= 3.08 Hz
0.324
=0
x0 = v0 = xmn cos(n (0)
(0) + 00)) = xmn
v0 = 0.250
0.250 m/s
m/s = xm ((19.365 rad/s)
xm =
(0.250 m/s)
(19.365 rad/s)
xm = 12.91 103 m
xm = 12.91 mm
am = xmn2 = (12.91 103 m)(19.365 rad/s)2
am = 4.84 m/s 2
2115
PROBLEM 19.6
A simple pendulum consisting of a bob attached to a cord oscillates in a vertical
plane with a period of 1.3 s. Assuming simple harmonic motion and knowing
that the maximum velocity of the bob is 400 mm/s, determine (a) the amplitude of
the motion in degrees, (b) the maximum tangential acceleration of the bob.
SOLUTION
(a)
= m sin(n t + )
2
(2 )
=
n =
n (1.3 s)
n = 4.833 rad/s
= mn cos(n t + )
m = m n
vm = l m = l mn
For a simple pendulum,
m =
vm
ln
n =
g
l
l=
Thus,
n2
(1)
9.81 m/s2
(4.833 rad/s) 2
l = 0.42 m
Amplitude.
m =
From Eq. (1),
vm
(0.4 m/s)
=
ln (0.42 m)(4.833 rad/s)
m = 0.19706 rad
(b)
Maximum tangential acceleration.
m = 10.9
at = l
Maximum tangential acceleration occurs when is maximum.
= mn2 sin(n t + )
max = mn2
(at ) max = l mn2
(at ) max = (0.42 m)(0.19706 rad)(4.833 rad/s)2
(at ) m = 1.93 m/s2
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2120
2116
PROBLEM 19.7
A simple pendulum consisting of a bob attached to a cord of length l = 800 mm
oscillates in a vertical plane. Assuming simple harmonic motion and knowing that
the bob is released from rest when = 6, determine (a) the frequency of
oscillation, (b) the maximum velocity of the bob.
SOLUTION
(a)
Frequency.
n =
g
(9.81 m/s 2 )
=
(0.8 m)
l
n = 3.502 rad/s
(3.502 rad/s)
fn = n =
2
2
(b)

where
Maximum velocity.
f n = 0.557 Hz
= m sin(n t + )
m = 6 = 0.10472 rad
= mn cos(n t + )
m = mn
vm = lm = l mn = (0.8 m)(0.10472)(3.502)
vm = 293.4 103 m/s
vm = 293 mm/s
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2117 2121
PROBLEM 19.8
An instrument package A is bolted to a shaker table as shown. The table
moves vertically in simple harmonic motion at the same frequency as
the variable-speed motor which drives it. The package is to be tested at
a peak acceleration of 50 m/s2 . Knowing that the amplitude of the
shaker table is 60 mm, determine (a) the required speed of the motor in
rpm, (b) the maximum velocity of the table.
SOLUTION
In simple harmonic motion,
amax = xmax n2
50 m/s2 = (0.06 m) n2
n = 28.87 rad/s
fn =
=
n
2
28.87
2
= 4.595 Hz (cycles per second)
(a)
Motor speed.
(b)
Maximum velocity.
speed = 276 rpm
(4.595 rev/s)(60 s/min)

vmax = xmaxn = (0.06 m)(28.87 rad/s)
vmax = 1.73 m/s
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2122
2118
PROBLEM 19.9
The motion of a particle is described by the equation x = 5sin 2t + 4 cos 2t , where x is expressed in meters and
t in seconds. Determine (a) the period of the motion, (b) its amplitude, (c) its phase angle.
SOLUTION
For simple harmonic motion
x = xm sin(n t + )
Double angle formula (trigonometry): sin( A + B ) = (sin A)(cos B ) + (sin B )(cos A)

Let
A = n t , B =
Then
x = xm sin(n t + )
x = xm (sin n t )(cos ) + xm (sin )(cos n t )
x = ( xm cos )(sin n t ) + ( xm sin )(cos n t )
x = 5sin 2t + 4 cos 2t
Given
Comparing,
(1)
xm sin = 4
(2)
n =
(a)
(b)
n = 2 xm cos = 5
2
2
=
= s
n (2 rad/s)
= 3.14 s
Squaring Eqs. (1) and (2) and adding,

xm2 cos 2 + xm2 sin 2 = 42 + 52
xm2 (cos2 + sin 2 ) = xm2 = 41 m 2
(c)
Dividing Eq. (2) by Eq. (1),
tan =
4
5
xm = 6.40 m
= 38.7
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2119 2123
PROBLEM 19.10
An instrument package B is placed on the shaking table C as shown. The table
is made to move horizontally in simple harmonic motion with a frequency of
3 Hz. Knowing that the coefficient of static friction is s = 0.40 between the
package and the table, determine the largest allowable amplitude of the motion
if the package is not to slip on the table.
SOLUTION
Maximum allowable acceleration of B.
s = 0.40
F = ma :
Fm = mam
s mg = mam
am = s g am = 0.40 g
f n = 3 Hz =
n
2
n = 6 rad/s
am = xmn2
0.40 g = xm (6 rad/s) 2
xm = 1.1258 103g
Largest allowable amplitude.

xm = 1.1258 103 (9.81) = 11.044 103 m
xm = 11.04 mm
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2124
2120
PROBLEM 19.11
A 32-kg block attached to a spring of constant k = 12 kN/m can move
without friction in a slot as shown. The block is given an initial 300-mm
displacement downward from its equilibrium position and released.
Determine 1.5 s after the block has been released (a) the total distance
traveled by the block, (b) the acceleration of the block.
SOLUTION
x = xm sin(n t + )
(a)
k
(12 103 N/m)
=
(32 kg)
m
n =
n = 19.365 rad/s
2
(2 )
n =
=
n (19.365)
n = 0.3245 s
Initial conditions.
x(0) = 0.3 m, x (0) = 0

0.3 = xm sin(0 + )
x (0) = 0 = xmn cos(0 + )
2
xm = 0.3
x(t ) = (0.3)sin 19.365t + , n = 0.3245 s

2
x(1.5 s) = (0.3)sin (19.365)(1.5) + = 0.2147 m

2
x (1.5 s) = (0.3)(19.365) cos (19.365)(1.5) + = 4.057 m/s

2
In one cycle, block travels
(4)(0.3 m) = 1.2 m
To travel 4 cycles, it takes
(4 cyc)(0.3245 s/cyc) = 1.2980 s
at t = 1.5 s. Thus, total distance traveled is

4(1.2) + 0.6 + (0.3 0.2147) = 5.49 m
(b)
x(1.5) = (0.3)(19.365) 2 sin (19.365)(1.5) + = 80.5 m/s 2

2
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2121 2125
PROBLEM 19.12
A 2-kg block is supported as shown by a spring of constant k = 400 N/m, which can act
in tension or compression. The block is in its equilibrium position when it is struck from
below by a hammer, which imparts to the block an upward velocity of 2.5 m/s. Determine
(a) the time required for the block to move 100 mm upward, (b) the corresponding velocity
and acceleration of the block.
SOLUTION
x = xm sin(n t + )

Natural frequency.
n =
k
, k = 400 N/m
m
n =
400 N/m
(2 kg)
n = 14.142 rad/s
x(0) = 0 = xm sin(0 + )
=0
x(0) = xmn cos(0 + 0)
x(0) = 2.5 m/s
2.5 = xm(14.142) xm = 0.1768 m
x = (0.1768) sin(14.142t)(m/s)
(a)
(1)
Time at x = 0.1 m
0.1 = 0.1768 sin(14.142t)
t=
(b)
0.1
sin 1 ( 0.1768
)
14.142
= 0.0425 s
Velocity and acceleration.

x = xmn cos(n t )
x = xmn2 sin n t
t = 0.0425
x = (0.1768)(14.142)cos[(14.142)(0.0425)]
x = 2.062 m/s
v = 2.06 m/s
x = (0.1768)(14.142)2 sin[(14.142)(0.0425)]
= 20 m/s 2
a = 20 m/s 2
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2126
2122
PROBLEM 19.13
In Problem 19.12, determine the position, velocity, and acceleration of the block 0.90 s after it has been struck
by the hammer.
SOLUTION
Natural frequency.
x = xm sin(n t + )
n =
k
, k = 400 N/m
m
n =
400 N/m
(2 kg)
n = 14.142 rad/s
x(0) = 0 = xm sin(0 + )
=0
x(0) = xmn cos(0 + 0) x(0) = 2.5 m/s
2.5 = xm(14.142)
xm = 0.1768 m
x = (0.1768)sin (14.142t)(m/s)
x = xm sin(n t + )
x
xmn cos(n t )
x = xmn2 sin(n t + )
At 0.90 s:
x = (0.1768)sin [(14.142)(0.90)] = 0.0284 m
x = 28.4 mm
x = (0.1768)(14.142)cos [(14.142)(0.90)] = 2.468 m
v = 2.5 m/s
x = (0.1768)(14.142)2 sin [(14.142)(0.90)] = 5.683 m/s2
a = 5.7 m/s2
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2123 2127
PROBLEM 19.14
The bob of a simple pendulum of length l = 800 mm is released from rest
when = +5. Assuming simple harmonic motion, determine 1.6 s after
release (a) the angle , (b) the magnitudes of the velocity and acceleration of
the bob.
SOLUTION
g
9.81 m/s
=
0.8 m
l
n = 3.502 rad/s
= m sin(n t + )
Initial conditions:
(0) = 5 =
n =
(5)( )
180 rad
(0) = 0
5
= m sin(0 + )
180
(0) = 0 = mn cos(0 + )
(0) =
2
5
rad
m =
180
5
sin 3.502t +
=
180
2
(a)
At t = 1.6 s:
sin (3.502)(1.6) +
180
2
= 0.06786 rad = 3.89
(b)
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2128
2124
PROBLEM 19.14 (Continued)
(3.502) cos (3.502)(1.6) + 2

180
= mn cos(n t + ) =
(1.6 s) = 0.19223 rad/s
v = l = (0.800 m)(0.19223 rad/s) = 0.1538 m/s
= mn2 sin(n t + )
=
(3.502) 2 sin (3.502)(1.6) +
2
180
= 0.8319 rad/s 2
a = (at ) 2 + (an ) 2
at = l = (0.8 m)( 0.8319 rad/s 2 ) = 0.6655 m/s 2
a = l 2 = (0.8 m)(0.19223 rad/s)2 = 0.02956 m/s 2
n
a = (0.6655) 2 + (0.02956)2 = 0.6662 m/s 2
a = 0.666 m/s 2
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2125 2129
PROBLEM 19.15
A 5-kg collar rests on but is not attached to the spring shown. It is observed that when
the collar is pushed down 180 mm or more and released, it loses contact with the spring.
Determine (a) the spring constant, (b) the position, velocity, and acceleration of the
collar 0.16 s after it has been pushed down 180 mm and released.
SOLUTION
(a)
x = xm sin(n t + )
x0 = xm sin(0 + ) = 0.180 m
x0 = 0 = xm cos(0 + )
2
xm = 0.180 m
x = 0.180sin n t +
2
When the collar just leaves the spring, its acceleration is g and v = 0.
x = (0.180)n cos n t +
2
v = 0 0 = (0.180)n cos n t +
2
n t + =
2 2
a = g = (0.180)(n )2 sin n t +
2
g = (0.180)(n2 ) n =
9.81 m/s 2
0.180 m
n = 7.382 rad/s
n =
k
m
k = mn2
= (5 kg)(7.382 rad/s)2
= 272.5 N/m
k = 273 N/m
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2130
2126
n = 7.382 rad/s
(b)
x = 0.180sin (7.382)t +
2
At t = 0.16 s:
Position.
x = 0.180 sin (7.382)(0.16) + = 0.06838 m

2
x = 68.4 mm below equilibrium position
Velocity.
x = (0.180)(7.382) cos (7.382)(0.16) +

2
= 1.229 m/s
v = 1.229 m/s
Acceleration.
x = (0.180)(7.382) 2 sin (7.382)(0.16) +

2
= 3.726 m/s 2
a = 3.73 m/s 2
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2127 2131
PROBLEM 19.16
An 8-kg collar C can slide without friction on a horizontal rod
between two identical springs A and B to which it is not attached.
Each spring has a constant of 600 N/m. The collar is pushed to the
left against spring A, compressing that spring 20 mm, and released
in the position shown. It then slides along the rod to the right and
hits spring B. After compressing that spring 20 mm, the collar
slides to the left and hits spring A, which it compresses 20 mm.
The cycle is then repeated. Determine (a) the period of the motion
of the collar, (b) the position of the collar 1.5 s after it was pushed
against spring A and released. (Note: This is a periodic motion,
but not a simple harmonic motion.)
SOLUTION
(a)
n =
For either spring,
n =
2
k
mC
2
600 N/m
8 kg
n = 0.7255 s
Complete cycle is 1234, 4321.
Time from 1 to 2 is ( n /4), which is the same as time from 3 to 4, 4 to 3 and 2 to 1.
Thus, the time during which the springs are compressed is 4( n /4) = n = 0.7255 s.
Velocity at 2 or 3.
Use conservation of energy.
v1 = 0 T1 = 0 V1 =
V1 = 0.120 J
1 2 1
kx = (600 N/m)(0.020 m) 2
2
2
1 2 1
mv2 = (8 kg)(v2 ) 2
2
2
V2 = 0
T2 =
T1 + V1 = T2 + V2
Time from 2 to 3 is
t23 =
T2 = 4v22
0 + 0.120 = 4v22
v2 = 0.1732 m/s
(0.020 m)
= 0.11545 s
(0.1732 m/s)
and is the same as the time from 3 to 2.

Thus, total time for a complete cycle is
c = n + 2t2 3
= 0.7255 + 2(0.11545)
= 0.9564
c = 0.956 s
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2132
2128

(b)
From (a), in 0.9564, the spring A is again fully compressed. Spring B is compressed the second time in
1.5 cycles or (1.5)(0.9564) = 1.4346 s. At 1.5 s, the collar is still in contact with spring B moving to the
left and is at a distance x from the maximum deflection of B equal to
2
x = 20 20 cos
(1.5 1.4346)
0.7255
x = 20 16.877
= 3.123 mm
Thus, collar C is 60 3.123 = 56.877 mm from its initial position.

56.9 mm from initial position
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2129 2133
PROBLEM 19.17
A 35-kg block is supported by the spring arrangement shown. The block is
moved vertically downward from its equilibrium position and released. Knowing
that the amplitude of the resulting motion is 45 mm, determine (a) the period and
frequency of the motion, (b) the maximum velocity and maximum acceleration
of the block.
SOLUTION
(a)
Determine the constant k of a single spring equivalent to the three springs

P=k
= 16 + 8 + 8
k = 32 kN/m
Natural frequency.
n =
=
k
m
32 103 N/m
35 kg
(1 N = 1 kg 1 m/s 2 )
n = 30.237 rad/s
n =
2
= 0.208 s
30.23
fn =
(b)
= 4.81 Hz
x = xm sin(n t + ) x0 = 0.045 m = xm
n = 30.24 rad/s
x = 0.045 sin(30.24t + )
x = (0.045)(30.24) cos(30.24t + )
vmax = 1.361 m/s
x = (0.045)(30.237) 2 sin(30.24t + )
amax = 41.1 m/s 2
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2134
2130
PROBLEM 19.18
A 35-kg block is supported by the spring arrangement shown. The block is moved
vertically downward from its equilibrium position and released. Knowing that the
amplitude of the resulting motion is 45 mm, determine (a) the period and frequency
of the motion, (b) the maximum velocity and maximum acceleration of the block.
SOLUTION
(a)
Determine the constant k of a single spring equivalent to the two springs shown.
= 1 + 2 =
1 1
1
=
+
k 16 16
P
P
P
+
=
16 kN/m 16 kN/m k
k = 8 kN/m
Period of the motion.
n =
fn =
(b)
k
m
8 103
35
= 0.416 s
1
= 2.41 Hz
0.416
n = 2 f n = 2 (2.41) = 15.12 rad/s

x = 0.045 sin(15.12t + )
x = (0.045)(15.12) cos(15.12t + )
x = (0.045)(15.12) 2 sin(15.12t + )
vmax = 0.680 m/s

amax = 10.29 m/s 2
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2131 2135
PROBLEM 19.19
A 15-kg block is supported by the spring arrangement shown. If the block is
moved from its equilibrium position 40 mm vertically downward and released,
determine (a) the period and frequency of the resulting motion, (b) the maximum
velocity and acceleration of the block.
SOLUTION
Determine the constant k of a single spring equivalent to the three springs shown.
Springs 1 and 2:
= 1 + 2 , and
Hence,
k =
P1 P1 P1
= +
k k1 k2
k1k2
k1 + k2
where k is the spring constant of a single spring equivalent of springs 1 and 2.

Springs k and 3 Deflection in each spring is the same.
So
Now
P = P1 + P2 , and P = k , P1 = k , P2 = k3
k = k + k3
k = k + k3 =
k=
k1k2
+ k3
k1 + k2
(4)(2.4)
+ 3.2 = 4.7 kN/m
4 + 2.4
m = 15 kg
w 2n =
4700
k
=
= 313.33
15
m
w n = 17.7 rad/s
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2136
2132
(a)
(b)
Period.
n =
Frequency.
fn =
n
n
2
n = 0.355 s
f n = 2.82 Hz

x = 0.04 sin(w t + j)
xm = 40 mm
x = (0.04)(17.7)cos(w t + f)
vm = xm = 0.708 m/s
vm = 0.71 m/s
x = (0.04)(17.7)2 sin(w t + f)
am = xm = 12.532 m/s2
am = 12.5 m/s2
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2133 2137
PROBLEM 19.20
A 5-kg block, attached to the lower end of a spring whose upper end is fixed, vibrates with a period of 6.8 s.
Knowing that the constant k of a spring is inversely proportional to its length, determine the period of a 3-kg
block which is attached to the center of the same spring if the upper and lower ends of the spring are fixed.
SOLUTION
Equivalent spring constant.
k = 2k + 2k = 4k
For case
(Deflection of each spring is the same.)
n1 = 6.8 s
2 2
=
n1 =
= 0.924 rad/s
n1 6.8
n2 =
k
m1
k = m1n21 = (5)(0.924) 2 = 4.2689 N/m
For case
n22 =
4k (4)(4.2689)
=
= 5.6918 (rad/s) 2
3
m2
n 2 = 2.3857 rad/s
2
2
=
n =
n 2 2.3857
n 2 = 2.63 s
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2138
2134
PROBLEM 19.21
A 15-kg block is supported by the spring arrangement shown. The block is moved from its
equilibrium position 20 mm vertically downward and released. Knowing that the period of the
resulting motion is 1.5 s, determine (a) the constant k, (b) the maximum velocity and
maximum acceleration of the block.
SOLUTION
Since the force in each spring is the same, the constant k of a single equivalent spring is
1
1 1 1
=
+ +
k 2k k k
(a)
1n
= 1.5 s =
2p
k
m
k =
k
2.5
2
2p
; k=
(m)(2.5)
1.5
(2 ) 2
(15 kg)(2.5)
(1.5 s)2
= 658 N/m
k=
(b)
k = 658 N/m
x = xm sin(n t + )
x = xmn cos(n t + )
vmax = xmn
n =
2
= 4.189 rad/s
1.5 s
xm = 0.02 m
vmax = (0.02 m)(4.189 rad/s)
vmax = 0.084 m/s
x = xmn2 cos(n t + )
| amax | = xmn2 = (0.02 m)(4.189)2
| amax | = 0.35 m/s2
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2135
2139
PROBLEM 19.22
Two springs of constants k1 and k2 are connected in series to a block A that
vibrates in simple harmonic motion with a period of 5 s. When the same two
springs are connected in parallel to the same block, the block vibrates with a
period of 2 s. Determine the ratio k1/k2 of the two spring constants.
SOLUTION
Equivalent springs.
k1k2
k1 + k2
Series:
ks =
Parallel:
k p = k1 + k2
s =
s
2
ks
m
; p =
2
kp
m
5 2 k p k1 + k2 (k1 + k2 ) 2
= (k k ) =
= =
1 2
2
ks
k1k2
k1 + k2
(6.25)(k1k2 ) = k12 + 2k1k2 + k22

k1 =
(4.25) k2 (4.25) 2 k22 4k22

2
k1
= 2.125 3.516 = 0.250 or 4.00
k2
k1
= 0.250 or 4.00
k2
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2140
2136
PROBLEM 19.23
The period of vibration of the system shown is observed to be 0.6 s. After cylinder B has been
removed, the period is observed to be 0.5 s. Determine (a) the weight of cylinder A, (b) the
constant of the spring.
SOLUTION
m1 = mA + 1.5
1 =
12 =
1
k
m1
m2 = mA
2 =
22 =
(a)
2
k
m2
t1 = 0.6 s
1 =
2
= 3.333 rad/s
0.6
k = m112 = (mA + 1.5)(3.333p)2
(1)
t2 = 0.5 s
2 =
2
= 4 rad/s
0.5
k = m222 = mA(4p)2
(2)
Equating the expressions found for k in Eqs. (1) and (2):

(mA + 1.5)(3.333p)2 = mA(4p)2
mA + 1.5 = 1.4403 mA
mA = 3.407 kg
(b)
Eq. (1):
mA = 3.41 kg
k = (3.407 + 1.5)(3.333p rad/s)2

k = 538 N/m
k = 538 N/m
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2137
2141
PROBLEM 19.24
The period of vibration of the system shown is observed to be 0.8 s.
If block A is removed, the period is observed to be 0.7 s. Determine
(a) the mass of block C, (b) the period of vibration when both blocks A
and B have been removed.
SOLUTION
m1 = mC + 6 kg 1 = 0.8 s
W1 =
12
2
2
=
rad/s
0.8 s 0.8
k
2
; k = m112 = (mC + 6)
=
m1
0.8
(1)
m2 = mC + 3 kg 2 = 0.7 s
2 =
22 =
2
2
=
rad/s
0.7 s 0.7
k
2
; k = m222 = (mC + 3)
m2
0.7
(2)
Equating the expressions found for k in Eqs. (1) and (2):

2
2
2
(mC + 6)
= (mC + 3) 0.7
0.8
mC + 6 0.8
; solve for mC :
=
mC + 3 0.7
3 =
32
mC = 6.80 kg
2
k
=
; k = mC 32 = mC
mC
3
(3)
Equating expressions for k from Eqs. (2) and (3),

2
2
2
(mC + 3)
= mC
0.7
3
Recall mC = 6.8 kg:
2
2
2
(6.8 + 3)
= 6.8
0.7
3
2
6.8
3
0.7 = 9.8 ;
0.7
= 0.833
3 = 0.583 s
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2142
2138
PROBLEM 19.25
The period of vibration of the system shown is observed to be 0.2 s. After the spring of
constant k2 = 4 kN/m is removed and block A is connected to the spring of constant
k1, the period is observed to be 0.12 s. Determine (a) the constant k1 of the remaining
spring, (b) the weight of block A.
SOLUTION
Equivalent spring constant for springs in series.
ke =
k1k2
( k1 + k2 )
2
For k1 and k2 ,
For k1 alone,
(a)
(k1 + k2 )(k1 )
k +k
=
= 1 2
(k1k2 )
k2
k2
ke
mA
( k1k 2 )
( m A )( k1 + k2 )
2
k1
mA
= k1 + k2
0.2
=
= 1.6667
0.12
k2 = 4 kN/m
(4 kN/m)(1.6667 s)2 = k1 + 4 kN/m
(b)
mA =
mA =
mA =
k1
mA
k1 = 7.11 kN/m
WA
g
( ) 2 k1
(2 )2
(0.12 s)2 (7110 N/m)
(2p)2
mA = 2.6 kg
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2139
2143
PROBLEM 19.26
The 50-kg platform A is attached to springs B and D, each of which
has a constant k = 2 kN/m. Knowing that the frequency of vibration of
the platform is to remain unchanged when a 40-kg block is placed on it
and a third spring C is added between springs B and D, determine the
required constant of spring C.
SOLUTION
Frequency of the original system.
Springs B and D are in parallel.
ke = k B + k D = 2(2 kN/m) = 4 kN/m
n2 =
ke
4000 N/m
=
mA
(50)
n2 = 80(rad/s)2
Frequency of new system.
Springs A, B, and C are in parallel.
ke = kB + kD + kC = (2)(2000) + kC
(4000 + kC)
ke
=
mA + mB (50 kg + 40 kg)
(n ) 2 = (0.01111)(4000 + kC)
(n ) 2 =
n2 = (n ) 2
80 = (0.01111)(4000 + kC)
kC = 3200 N/m
kC = 3.2 kN/m
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2144
2140
PROBLEM 19.27
From mechanics of materials it is known that when a static load P is
applied at the end B of a uniform metal rod fixed at end A, the length
of the rod will increase by an amount = PL/AE , where L is the
length of the undeformed rod, A is its cross-sectional area, and E is
the modulus of elasticity of the metal. Knowing that L = 450 mm
and E = 200 GPa and that the diameter of the rod is 8 mm, and
neglecting the mass of the rod, determine (a) the equivalent spring
constant of the rod, (b) the frequency of the vertical vibrations of a
block of mass m = 8 kg attached to end B of the same rod.
SOLUTION
(a)
P = k e
PL
AE
AE
P=
L
AE
ke =
L
A=
d2
(8 103 m)2
4
4
A = 5.027 105 m 2
L = 0.450 m
E = 200 109 N/m 2
ke =
(5.027 105 m 2 )(200 109 N/m 2 )

(0.450 m)
ke = 22.34 106 N/m
(b)
fn =
=
ke = 22.3 MN/m
ke
m
2
22.3106
8
2
f n = 266 Hz
= 265.96 Hz
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2141 2145
PROBLEM 19.28
From mechanics of materials it is known that for a cantilever
beam of constant cross section, a static load P applied at end B
will cause a deflection B = PL3 /3EI , where L is the length of
the beam, E is the modulus of elasticity, and I is the moment of
inertia of the cross-sectional area of the beam. Knowing that
L = 3 m, E = 230 GPa, and I = 5 106 mm4, determine (a) the
equivalent spring constant of the beam, (b) the frequency of
vibration of a 250-kg block attached to end B of the same beam.
SOLUTION
(a)
ke =
B
P = k e B
PL3
3EI
3EI
B
P=
L3
B =
3EI
L3
(3)(230 109 Pa)(5 106 m4)
=
(3)3
ke =
ke = 127.78 kN/m
(b)
Natural frequency.
fn =
fn =
ke = 127.8 kN/m
ke
m
2
127,780 N/m
(250 kg)
2
f n = 3.599 Hz
f n = 3.6 Hz
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2146
2142
PROBLEM 19.29
A 40-mm deflection of the second floor of a building is measured directly under a newly installed 4000-kg
piece of rotating machinery, which has a slightly unbalanced rotor. Assuming that the deflection of the floor is
proportional to the load it supports, determine (a) the equivalent spring constant of the floor system, (b) the
speed in rpm of the rotating machinery that should be avoided if it is not to coincide with the natural
frequency of the floor-machinery system.
SOLUTION
(a)

W = ke s
ke =
(4 9.81 kN)
=
(0.04 m)
(b)
Natural frequency.
fn =
ke = 981 kN/m
ke
m
2
981,000 N
(4000 kg)
f n = 2.492 Hz
1 Hz = 1 cycle/s
= 60 rpm
Speed = (2.492 Hz)
= 149.5 rpm
(60 rpm)
Hz
Speed = 150 rpm
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2143 2147
PROBLEM 19.30
F= x
SOLUTION
a
mg =
mg =
F = mg
= x
x =
dF
=
dx x
x =
fn =
dF
dx =
x
ke =
fn =
ke
m
fn =
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2148
2144
PROBLEM 19.31
If h = 700 mm and d = 500 mm and each spring has a constant k = 600 N/m,
determine the mass m for which the period of small oscillations is (a) 0.50 s,
(b) infinite. Neglect the mass of the rod and assume that each spring can act in
either tension or compression.
SOLUTION
xs = x
d
h
2 F = 2kxs = 2k
d
x
h
M A = ( M A )eff : 2 Fd mgx = ( mx)h
2k x d mgx = mxh
h
2kd 2 g
x+
x=0
2
h
mh
2kd 2
n2 =
mh
n2
Data:
2k d
g
=
m h
h
(1)
d = 0.5 m
h = 0.7 m
k = 600 N/m
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2145 2149
(a)
For t = 0.5 s:
Eq. (1):
t=
(4 ) 2 =
; 0.5 =
n = 4
2(600) 0.5 9.81
m 0.7
0.7
m = 3.561 kg
(b)
2
n
m = 3.56 kg
n = 0
For t = infinite:
t=
Eq. (1):
2(600) 0.5 9.81

0=
m 0.7
0.7
m = 43.69 kg
m = 43.7 kg
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2150
2146
PROBLEM 19.32
Denoting by ST the static deflection of a beam under a given load, show that the frequency of vibration of the
load is
f =
1
2
ST
Neglect the mass of the beam, and assume that the load remains in contact with the beam.
SOLUTION
k=
m=
n2 =
ST
W
g
k
=
m
ST
W
g
ST
Fn =
n
1
=
2 2
ST
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2147 2151
PROBLEM 19.33*
Expanding the integrand in Equation (19.19) of Section 19.4 into a series of even powers of sin and
integrating, show that the period of a simple pendulum of length l may be approximated by the formula
= 2
l
g
1 2 m
1 + 4 sin 2
where m is the amplitude of the oscillations.
SOLUTION
Using the Binomial Theorem, we write
1
1 sin 2
( )
m
2
= 1 sin 2 m
2
sin 2
sin
1/ 2
1
= 1 + sin 2 m sin 2 +
2
2
Neglecting terms of order higher than 2 and setting sin 2 = 12 (1 cos 2 ), we have
1 2 m
1 + sin
2
2
2 (1 cos 2 ) d
n = 4
l
g
=4
l
g
=4
l
g
1 2 m
+ sin
4
2
1 2 m
8 sin 2 sin 2
=4
l
g
1 2 m
+ sin
2
2 4
2 + 0
2
0
2
0
1 2 m 1 2 m
cos 2 d
sin
1 + sin
2 4
2
4
/2
n = 2
l
g
1 2 m
1 + 4 sin 2
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2152
2148
PROBLEM 19.34*
Using the formula given in Problem 19.33, determine the amplitude m for which the period of a simple
pendulum is 12 percent longer than the period of the same pendulum for small oscillations.
SOLUTION
For small oscillations,
( n )0 = 2
l
g
n = 1.005( n )0
We want
l
g
= 1.005 2
Using the formula of Problem 19.33, we write
1
4
n = ( n )0 1 + sin 2
sin 2
sin
m
2
m
2
m
2
= 1.005( n )0
m
2
= 4[1.005 1] = 0.02
= 0.02
= 8.130
m = 16.26
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2149 2153
PROBLEM 19.35*
Using the data of Table 19.1, determine the period of a simple pendulum of length l = 750 mm (a) for small
oscillations, (b) for oscillations of amplitude m = 60, (c) for oscillations of amplitude m = 90.
SOLUTION
(a)
n = 2
l
(Equation 19.18 for small oscillations):
g
n = 2
0.750 m
9.81 m/s 2
n = 1.737 s
= 1.737 s
(b)
For large oscillations (Eq. 19.20),

2k
n = 2
g

=
For m = 60,
2k
(1.737 s)
k = 1.686 (Table 19.1)
n (60) =
2(1.686)(1.737 s)
= 1.864 s
(c)
For m = 90,
n (60) = 1.864 s
n =
k = 1.854
2(1.854)(1.737 s)
= 2.05 s
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2154
2150
PROBLEM 19.36*
Using the data of Table 19.1, determine the length in mm of a simple pendulum which oscillates with a
period of 2 s and an amplitude of 90.
SOLUTION
For large oscillations (Eq. 19.20),
n =
for
2k
l
g
m = 90
k = 1.854 (Table 19.1)
(2 s) = (2)(1.854)(2)
l
9.81 m/s2
(2 s) 2 (9.81 m/s2 )
[(4)(1.854)]2
= 0.713 m
l=
l = 0.71 m
2151
PROBLEM 19.37
The 5-kg uniform rod AC is attached to springs of constant
k = 500 N/m at B and k = 620 N/m at C, which can act in tension
or compression. If the end C of the rod is depressed slightly and
released, determine (a) the frequency of vibration, (b) the amplitude
of the motion of Point C, knowing that the maximum velocity of
that point is 0.9 m/s.
SOLUTION
FB = k B ( xB + ( ST ) B )
= k B (0.7 + ( ST ) B )
FC = kC ( xC + ( ST )C )
= kC (1.4 + ( ST )C )
Equation of motion.
M A = (M A )eff :
(0.7)[ k B [(0.7 + ( ST ) B ) mg ] + 1.4[kC (1.4 + ( ST )C )] = I (0.7)(mat )
But in equilibrium ( = 0),
M A = 0 = 0.7[ k B ( ST ) B mg ] + 1.4 kC ( ST )C
(1)
(2)
Substituting Equation (2) into Equation (1),

I + 0.7mat + (0.7) 2 k B + (1.4)2 kC = 0
Kinematics ( = ):
at = 0.7 = 0.7
[ I + m(0.7) 2 ] + [(0.7)2 k B + (1.4) 2 kC ] = 0

1
ml 2
12
1
= (5 kg)(1.4 m) 2
12
= 0.8167 kg m 2
I =
(.7)2 m = (0.49 m 2 )(5 kg)

= 2.45 kg m 2
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2156
2152

(0.7) 2 k B + (1.4) 2 kC = (0.49 m 2 )(500 N/m) + (1.96 m 2 )(620 N/m)
= 245 + 1215.2
= 1460.2 N m
[0.8167 + 2.45] + 1460.2 = 0
(1460.2 N m)
+
=0
(3.267 kg m 2 )
+ 447 = 0
(a)
Natural frequency.
(N/kg m = s 2 )
n = 447 s 2
= 21.14 rad/s
fn =
(b)
Maximum velocity.
n 21.14
=
= 3.36 Hz
2
2
= m sin(n t + )
= ( m )(n ) cos(n t + )
Maximum angular velocity.

Maximum velocity at C.
m = mn
( xC ) m = 1.4m
= (1.4 m) ( m )(n )
m =
(0.9 m/s)
(1.4 m)(21.14 rad/s)
= 0.03041 rad
Maximum amplitude at C.
( xC ) m = (1.4 m)( m )
= (1.4 m)(0.03041)
( xC ) m = 0.0426 m
( xC ) m = 42.6 mm
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2153 2157
PROBLEM 19.38
The uniform rod shown has a mass of 7.5 kg and is attached to
a spring of constant k = 800 N/m. If end B of the rod is
depressed 10 mm and released, determine (a) the period of
vibration, (b) the maximum velocity of end B.
SOLUTION
k = 800 N/m
m = 7.5 kg
F = k ( x + ST )
where
= k (0.5 + ST )
$
$
ma = mr = 7.5 kg(0.125 m)q = 0.9375q
$
1
(7.5 kg)(0.75 m)2 q
12
$
= 0.3516q
I =
(a)
Equation of motion.
M C = ( M C )eff : mg(0.125 m) F(0.5 m) = I a + ma(0.125 m)

$
$
mg(0.125) k(0.5q + dST)(0.5 m) = 0.3516q + 0.9375q (0.125)
But in equilibrium, we have

Thus,
mg(0.125 m) kdST(0.5 m) = 0
$
k(0.5)2q = (0.3516 + 0.1172)q
$
(800 N/m)(0.5)2q = 0.4688q
$
q + (426.62)q = 0
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2158
2154

Natural frequency and period.
n2 = 426.62
n = 20.655 rad/s
2
2
=
=
n 20.655 rad/s
(b)
At end B.
= 0.304 s
xm = 0.01 m
vm = xmn
= (0.01 m)(20.655 rad/s)

= 0.2065 m/s
vm = 0.21 m/s
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2155 2159
PROBLEM 19.39
A 15-kg uniform cylinder can roll without sliding on a 15incline.
A belt is attached to the rim of the cylinder, and a spring holds the
cylinder at rest in the position shown. If the center of the cylinder
is moved 50 mm down the incline and released, determine (a) the
period of vibration, (b) the maximum acceleration of the center of
the cylinder.
SOLUTION
x A = x0 + x A/0
Spring deflection.
x A/0 = r
x0
r
x A = 2 x0
FS = k ( x A + ST ) = k (2 x0 + ST )
M C = (M )eff : 2rk (2 x0 + ST ) + rw sin15 = rmx0 + I
(1)
x0 = 0
But in equilibrium,
M C = 0 = 2rkST + rw sin15
Substituting Eq. (2) into Eq. (1) and noting that

rmx0 + I
(2)
x0
x
, = 0
r
r
x0
+ 4rkx0 = 0
r
1
I = mr 2
2
3
mrx0 + 4rkx0 = 0
2
8k
x0 +
x0 = 0
3m
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2160
2156
Natural frequency.
n =
(a)
n =
Period.
8k
=
3m
2
(8)(6000 N/m)
(3)(15 kg)
= 32.7 s1
2
= 0.192 s
32.7
n = 0.192 s
x0 = ( x0 )m sin(n t + )
(b)
At t = 0,
x 0 = 0
x0 = 0.05 m
x0 = ( x0 )m n cos(n t + )
t=0
0 = ( x0 )m n cos
Thus,
2
t =0
x0(0) = 0.05 m = (x0)m sin f = (x0)m(1)
(x0)m = 0.05 m
x0 = ( x0 ) m n2 sin(n t + )
(a0 ) max = ( x0 )max

= ( x0 ) m n2
= (0.05 m)(32.7 s1)2
= 53.5 m/s2
(a0 ) max = 53.5 m/s2
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2157 2161
PROBLEM 19.40
A 7.5-kg slender rod AB is riveted to a 6-kg uniform disk as shown. A
belt is attached to the rim of the disk and to a spring which holds the
rod at rest in the position shown. If end A of the rod is moved 20 mm
down and released, determine (a) the period of vibration, (b) the
maximum velocity of end A.
SOLUTION
Equation of motion.
M B = ( M B )eff : mg
where x = r + ST and from statics, mg
L
L
cos kxr = I AB + m
2
2
L
+ I Disk
2
(1)
L
= k ST r
2
Assuming small angles (cos 1), Equation (1) becomes

mg
I AB +
Data:
L
L
kr 2 krST = I AB + m
2
2
+ I Disk
mL2
+ I Disk + kr 2 = 0
4
m
= 7.5 kg
mdisk = 6 kg
L
= 0.9 m
= 0.25 m
= 6 kN/m
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2162
2158
1
mL2
12
1
= (7.5)(0.9)2
12
= 0.50625 kg m2
I AB =
1
mDisk r 2
2
1
= (6)(0.25)2
2
= 0.1875 kg m2
I Disk =
$
1
0.50625 + (7.5)(0.9)2 + 0.1875 q + (6000)(0.25)2q = 0
4
$
$
2.2125q + 375q = 0 or q + 169.49q = 0
(a)
n2 = 169.49 (rad/s)2
n = 13.02 (rad/s)
2
2
=
=
n 13.02
(b)
Maximum velocity.
vm = n xm = (13.02)(0.02)
= 0.483 s
vm = 0.26 m/s
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2163
2159
PROBLEM 19.41
An 8-kg uniform rod AB is hinged to a fixed support at A and is
attached by means of pins B and C to a 12-kg disk of radius
400 mm. A spring attached at D holds the rod at rest in the
position shown. If Point B is moved down 25 mm and released,
determine (a) the period of vibration, (b) the maximum velocity
of Point B.
SOLUTION
(a)
M A = (M A )eff : FS = k (0.6 + ST )
Equation of motion.
0.6( mR g FS ) + 1.2mD g = ( I R + I D ) + 0.6( mR )(at ) D + 1.2( mD )(at ) B
At equilibrium ( = 0),
FS = k ST
M A = 0 = 0.6(mR g k ( ST )) + 1.2mD g
Substituting Eq. (2) into Eq. (1),
(1)
(2)
( I R + I D ) + 0.6 mR (at ) D + 1.2mD ( at ) B + (0.6)2 k = 0
=
( at ) B = 0.6
(a ) = 1.2
t D
1
1
mR l 2 = (8)(1.2) 2
12
12
= 0.960 kg m
1
1
I D = mD R 2 = (12)(0.4) 2 = 0.960 kg m
2
2
IR =
[0.960 + 0.960 + (0.6)2 (8) + (1.2)2 (12)] + (0.6) 2 (800) = 0

288 N m
+
=0
(22.08 kg m 2 )
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2164
2160

(a)

288
22.08
= 3.6116 rad/s
2
2
n =
=
n 3.6116
n =
(b)
n = 1.740 s
Maximum velocity at B.
(vB )max = (1.2)(max )
yB
1.2
0.025
m =
= 0.02083 rad
1.2
= m sin(n t + )
= cos( t + )
m =
max
= mn = (0.02083)(3.612) = 0.07524 rad/s
(vB )max = (1.2)(max ) = (1.2 m)(0.07524) rad/s

(vB )max = 0.09029 m/s
(vB )max = 90.3 mm/s
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2161 2165
PROBLEM 19.42
Solve Problem 19.41, assuming that pin C is removed and
that the disk can rotate freely about pin B.
SOLUTION
(a)
Note: This problem is the same as Problem 19.41, except that the disk does not rotate, so that the effective
moment I D = 0.
Equation of motion.
M A = (M A )eff : FS = k (0.60 + ST )
(0.6)(mR g FS ) + 1.2mD g = I R + (0.6)(mR )(at ) D + 1.2(mD )(at ) B
At equilibrium ( = 0),
(1)
FS = k ST
M A = 0 = 0.6(mR g ST ) + 1.2 mD g
(2)
I R + 0.6 mR (at ) D + 1.2mD (at ) B + (0.6) 2 k = 0
=
( at ) B = 0.6
(a ) = 1.2
t D
1
1
mR l 2 = (8)(1.2) 2
12
12
= 0.960 kg m
IR =
[0.960 + (0.6)2 (8) + (1.2) 2 (12)] + (0.6)2 (800) = 0

(288 N m)
+
=0
21.12 kg m 2
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2166
2162

(a)

288
21.12
= 3.693 rad/s
2
2
n =
=
n 3.693
n =
(b)
n = 1.701 s
Maximum velocity at B.
(vB ) max = (1.2)() max
0.025
= 0.02083 rad
1.2 1.20
= m sin(n t + )
= cos( t + )
m =
max = mn
(vB )max
= (0.02083)(3.693)
= 0.07694 rad/s
= (1.2)( )
max
= (1.2)(0.07694)
= 0.09233 m/s
(vB )max = 92.3 mm/s
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2163 2167
PROBLEM 19.43
A belt is placed around the rim of a 240-kg flywheel and attached as
shown to two springs, each of constant k = 15 kN/m. If end C of the
belt is pulled 40 mm down and released, the period of vibration of the
flywheel is observed to be 0.5 s. Knowing that the initial tension in the
belt is sufficient to prevent slipping, determine (a) the maximum
angular velocity of the flywheel, (b) the centroidal radius of gyration of
the flywheel.
SOLUTION
Denote the initial tension by T0.
Equation of motion.
M 0 = ( M 0 )eff : TA r + TB r = I
(T0 + k r )r + (T0 kr ) = I
Data:
m = 240 kg
= 0.5 s
2
=
;
n
(a)
2kr 2
=0
I
2 kr 2
n2 =
I
(1)
k = 15 kN/m
r = 0.45 m
2 2
=
= 4 rad/s
n =
0.5
Maximum angular velocity. If Point C is pulled down 40 mm and released,
m = max
40 mm
=
450 mm
= 88.89 103 rad
m = mn
= (88.92 103 rad)(4 rad/s)
m = 1.117 rad/s
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2168
2164

(b)
Centroidal radius of gyration.

2kr 2
I
2(15 kN/m)(0.45 m) 2
(4 rad/s) 2 =
I
I = 38.47 kg m 2
n2 =
or since
I = mk 2
(240 kg) k 2 = 28.47 kg m 2
k = 0.4004 m
k = 400 mm
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2165 2169
PROBLEM 19.44
A 75-mm-radius hole is cut in a 200-mm-radius uniform disk, which is
attached to a frictionless pin at its geometric center O. Determine (a) the
period of small oscillations of the disk, (b) the length of a simple pendulum
which has the same period.
SOLUTION
Equation of motion.
M 0 = (M 0 )eff :
mH g (0.1) sin = I D I H (0.1) 2 mH

mD = t R 2
= ( t )(0.2) 2
= (0.04) t
mH = t r 2
= ( t ) (0.075) 2
= (0.005625) t
1
1
I D = mD R 2 = (0.04 t )(.2) 2
2
2
6
= 800 10 t
1
I H = mH r 2
2
1
= (0.005625 t )(0.75)2
2
= 15.82 106 t
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2170
2166

Small angles.
sin
[(800 106 15.82 106 (0.1) 2 (0.005625 )] t
+ (0.005625) t (9.81)(0.1) = 0
727.9 106 + 5.518 103 = 0
(a)

5.518 103
727.9 106
= 7.581
n2 =
n = 2.753 rad/s
2
n =
n
(b)
n =
2
= 2.28 s
2.753
Length and period of a simple pendulum.
n = 2
l
g
2

l= n g
2
2
(2.753)
2
l=
(9.81 m/s )
2
l = 1.294 m
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2167 2171
PROBLEM 19.45
Two small weights w are attached at A and B to the rim of a uniform disk of radius r
and weight W. Denoting by 0 the period of small oscillations when = 0, determine
the angle for which the period of small oscillations is 2 0 .
SOLUTION
=
at = r = r
ID =
1W 2
r
2 g
Equation of motion.
M C = (M C )eff : wr sin( ) wr sin( + ) =
2w
rat + I
g
wr[sin( ) sin( + )] = 2wr sin cos

sin
2w 2 W 2
r +
r + (2 wr cos ) = 0
2g
g
Natural frequency.
n =
2 wg cos
4 g cos
=
W
( 2w + 2 ) r (4 + Ww )r
=0
n =
0 =
2
cos
(4 + Ww ) r
2
=
0
= 2 0 =
(1)
2
4g
(4 + Ww ) r
4
4g
(4 + Ww ) r
1
1
cos = =
4
2
= 75.5
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2172
2168
PROBLEM 19.46
Two small spheres of mass 50 g each are attached at A and B to the rim of a 1.5-kg
uniform disk of radius r = 100 mm. Determine the frequency of small oscillations
when b = 60.
SOLUTION
=
at = r = r
ID =
1W 2
r
2 g
Equation of motion.
M C = (M C )eff : wr sin( ) wr sin( + ) =
2w
rat + I
g
wr[sin( ) sin( + )] = 2wr sin cos

sin
2w 2 W 2
r +
r + (2 wr cos ) = 0
2g
g
Natural frequency.
Data:
2 wg cos
4 g cos
=
W
( 2w + 2 ) r (4 + Ww )r
n =
w = 50 g
W = 1500 g
r = 0.1 m
W
= 30
w
(4)(9.81) cos60
= 2.4022 rad/s
(4 + 30)(0.1)
n =
fn =
b = 60
(1)
n 2.4022
=
2
2
f n = 0.38 Hz
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2169
2173
PROBLEM 19.47
For the uniform square plate of side b = 300 mm, determine
(a) the period of small oscillations if the plate is suspended as
shown, (b) the distance c from O to a Point A from which the
plate should be suspended for the period to be a minimum.
SOLUTION
(a)
Equation of motion.
M 0 = (M 0 )eff : =
1 2
mb
6
at = (OG )( )
I =
OG = b
2
2
2
at = b
(OG )(sin )( mg ) = (OG )mat I
sin
2
2 1
2
b
m b
mg = 0
+ mb 2 + b
2 2
2
2
1 1
mg = 0
(b) + m +
2
2 6
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2174
2170
( )g = 0
2
2
( )b
2
3
3 2 g
or +
=0
4 b

3 2 g 3 2(9.81)
=
= 34.68
4 b
(4) (0.3)
= 5.889 rad/s
n20 =
n 0
n0 =
(b)
Suspended about A.
2
n 0
n 0 = 1.067 s
Let e = (OG c)
at = e
Equation of motion.
M A = ( M A )eff :
mge sin = emat I = ( me 2 + I )

1
m e 2 + b 2 + mge = 0
6
n2 =
Frequency and period.
n2 =
n2 =
For n to be minimum,
eg
e + 16 b 2
2
4 2
n2
4 2
g
4 2 (e2 + 16 b 2 )
eg
b2
e +
6e
d
b2
e + = 0
6e
de
1
b2
=0
6e 2
b2
=6
e2
e=
b
6
2
b
b
= 0.29886b
2
6
c = (0.29886)(300 mm)
c = OG e =
c = 89.7 mm
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2171 2175
PROBLEM 19.48
A connecting rod is supported by a knife-edge at Point A; the period of its small
oscillations is observed to be 0.87 s. The rod is then inverted and supported by a knifeedge at Point B and the period of small oscillations is observed to be 0.78 s. Knowing
that ra + rb = 250 mm determine (a) the location of the mass center G, (b) the centroidal
radius of gyration k .
SOLUTION
Consider general pendulum of centroidal radius of gyration k .
Equation of motion.
M 0 = ( M 0 )eff : mgr sin = ( mr )r + mk 2

gr
sin = 0
r +k2
For small oscillations, sin , we have
gr
=0
r +k2
2
n2 =
=
For rod suspended at A,
gr
r +k2
2
= 2
r2 +k2
gr
ra2 + k 2
gra
A = 2
g A2 ra = 4 2 ra2 + k 2
For rod suspended at B,
(1)
(2)
rb2 + k 2
grb
B = 2
g B2 rb = 4 2 rb2 + k 2
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2176
2172
(a)
Value of ra .
Subtracting Eq. (2) from Eq. (1),
g A2 ra g B2 rb = 4 2 ra2 rb2
g A2 ra
g B2 rb
= 4 ( ra + rb )(ra rb )
2
Applying the numerical data with ra + rb = 0.25 m

(9.81)(0.87)2 ra (9.81)(0.78) 2 rb = 4 2 (0.25)(ra rb)
7.425ra 5.968rb = 9.87(ra rb)
3.902 rb = 2.445 ra
rb = 0.6266 ra
0.25 = ra + 0.6266 ra
ra = 0.1537 m
ra = 154 mm
rb = 0.0963 m
rb = 96 mm
rb = 0.25 0.1537
(b)
Centroidal radius of gyration.

From Eq. (1),
4 2 k 2 = g A2 ra 4 2 ra2
= (9.81)(0.87)2 (0.1537) 4 2 (0.1537)2 = 0.2086 m2
k = 0.0727 m
k = 73 mm
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2173 2177
PROBLEM 19.49
For the uniform equilateral triangular plate of side l = 300 mm, determine
the period of small oscillations if the plate is suspended from (a) one of
its vertices, (b) the midpoint of one of its sides.
SOLUTION
h=
For an equilateral triangle,
3
b,
2
A=
1
3 2
bh =
b
2
4
3
1
1 3
3 4
I x = bh3 = l
l =
l
36
36 2
96
3
3
1 b
1 3 l
3 4
Iy = 2 h =
l =
l
12 2
6 2 2
96
3 4
I z = I x + I4 =
l
48
I
1
1
k 2 = z = l 2 = (0.300) 2 = 0.0075 m 2
12
A 12
Let r be the distance from the suspension point to the center of mass.
I = mk 2
where
mrg = m (r 2 + k 2 )
For small angle ,
+
Natural frequency:
( M 0 )eff : mge sin = r ( mr ) + I
M 0 =
Equation of motion.
gr
=0
r +k2
2
n2 =
gr
r +k2
2
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2178
2174

(a)
Plate is suspended from a vertex.

2
2 3
2 3
h=
l=
(0.3 m)
3
3 2
3 2
= 0.173205 m
r=
r 2 = 0.03 m 2
(9.81)(0.173205)
n2 =
= 45.31
0.03 + 0.0075
n = 6.7313 rad/s
=
(b)
= 0.933 s
Plate is suspended at the midpoint of one side.

1
1 3 1 3
r= h=
l =
(0.3)
3
3 2 3 2
= 0.0866025 m
r 2 = 0.0075 m 2
(9.81)(0.0866025)
n2 =
= 56.64
0.0075 + 0.0075
n = 7.5258 rad/s
= 0.835 s
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2175 2179
PROBLEM 19.50
A uniform disk of radius r = 250 mm is attached at A to a 650-mm rod AB of
negligible mass, which can rotate freely in a vertical plane about B. Determine
the period of small oscillations (a) if the disk is free to rotate in a bearing at A,
(b) if the rod is riveted to the disk at A.
SOLUTION
1 2
mr
2
1
m
= (0.250)2 m =
2
32
at = l = 0.650
=
I =
(a)
The disk is free to rotate and is in curvilinear translation.

I = 0
Thus,
M B = ( M B )eff :
mgl sin = lmat
sin
ml 2 mgl = 0
g 9.81 m/s 2
=
I
0.650 m
= 15.092
n2 =
n = 3.885 rad/s
2
2
=
n =
n 3.885
n = 1.617 s
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2180
2176

(b)
When the disk is riveted at A, it rotates at an angular acceleration .

M B = ( M B )eff :
mgl sin = I + lmat
I=
1 2
mr
2
1 2
2
2 mr + ml + mgl = 0
n2 =
=
gl
2
r
2
+ l2
(9.81 m/s 2 )(0.650 m)

0.2502 + (0.650) 2
2
= 14.053
n = 3.749 rad/s
n =
=
2
n
2
3.749
n = 1.676 s
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2177 2181
PROBLEM 19.51
A small collar of mass 1 kg is rigidly attached to a 3-kg uniform rod of length L = 1 m.
Determine (a) the distance d to maximize the frequency of oscillation when the rod is
given a small initial displacement, (b) the corresponding period of oscillation.
SOLUTION
Equation of motion.
L
L
sin WC d sin = I R + mR (at ) R + mC d (at )C
2
2
M A = (M A )eff :
WR
sin
= , (at ) R =
I R + mR
L
2
L
L
= , (at )C = d = d
2
2
L
+ mC gd = 0
2
+ mC d 2 + mR g
IR =
L
2
I R + mR
1
mR L2
12
mR L2
3
mR L2
L
+ mC d 2 + mR g + mC gd = 0
3
2
(
+
(
L
2
L2
3
mC
mR
+
+
mC
mR
d g
d2
=0
mC 1
= L=1m
mR 3
( 12 + 13 d ) g = 0
1
3
+ 13 d 2
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2182
2178
n2
Natural frequency.
(a)
1
+ 13 d ) g ( 1.5 + d ) g
(
2
=
=
1
3
+ 13 d 2
1 + d2
To maximize the frequency, we need to take the derivative and set A equal to zero.
( )
2
1 d n
(1 + d 2 )(1) (1.5 + d)(2d)
=
=0
g dt
(1 + d 2 ) 2
d 2 + 1 3d 2d 2 = 0
d 2 + 3d 1 = 0
Solve for d.
d = 0.3028 or 3.3028
d = 0.303 m
(1.5 + 0.3028)(9.81)
1 + (0.3028) 2
= 16.2
d = 303 mm
n2 =
(b)
Period of oscillation.
n =
2
4.025
n = 4.025 rad/s
n = 1.56 s
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2179 2183
PROBLEM 19.52
A compound pendulum is defined as a rigid slab which oscillates about a fixed Point O
called the center of suspension. Show that the period of oscillation of a compound
pendulum is equal to the period of a simple pendulum of length OA, where the distance
from A to the mass center G is GA = k 2 /r . Point A is defined as the center of oscillation
and coincides with the center of percussion defined in Problem 17.66.
SOLUTION
M 0 = ( M 0 )eff : W r sin = I + mat r

mgr sin = mk 2 + mr 2
gr
sin = 0
r +k2
(1)
For a simple pendulum of length OA = l ,
g
l
+ = 0
Comparing Equations (1) and (2),
l=
(2)
r2 +k2
r
GA = l r =
k2
Q.E.D.
r
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2184
2180
PROBLEM 19.53
A rigid slab oscillates about a fixed Point O. Show that the smallest period of oscillation
occurs when the distance r from Point O to the mass center G is equal to k .
SOLUTION
See Solution to Problem 19.52 for derivation of
gr
sin = 0
r +k2
2
For small oscillations, sin and
n =
For smallest n , we must have r +
k2
r
r2 +k2
2
=
gF
g
= 2
r+
k2
r
as a minimum:
d r+
dr
k2
r
) =1 k
r2
r2 =k2
=0
r = k Q.E.D.
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2181 2185
PROBLEM 19.54
Show that if the compound pendulum of Problem 19.52 is suspended from A instead of O, the period of
oscillation is the same as before and the new center of oscillation is located at O.
SOLUTION
Same derivation as in Problem 19.52 with r replaced by R.
Thus,
gR
=0
R +k
2
Length of the equivalent simple pendulum is

R2 + k 2
k2
=R+
R
R
2
k
L = (l r ) + 2 = l
L=
k
r
Thus, the length of the equivalent simple pendulum is the same as in Problem 19.52. It follows that the period
is the same and that the new center of oscillation is at O. Q.E.D.
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2186
2182
PROBLEM 19.55
The 8-kg uniform bar AB is hinged at C and is attached at A to a spring of
constant k = 500 N/m. If end A is given a small displacement and released,
determine (a) the frequency of small oscillations, (b) the smallest value of
the spring constant k for which oscillations will occur.
SOLUTION
I =
1 2 1
ml = (8)(0.250) 2
12
12
I = 0.04167 kg m 2
=
at = 0.04 = 0.04
sin
Equation of motion.
MC = ( MC )eff :
(0.165) 2 k + 0.04mg = I + (0.04)2 mA

(0.04167 + 0.01280) + (0.02722k 0.32 g ) = 0
(a)
(1)
Frequency if k = 500 N m.
0.05447 + (10.47) = 0
fn =
(b)
For n
or n
From Equation (1),
n
=
2
10.47
0.05447
f n = 2.21 Hz
0, oscillations will not occur.
n2 =
k=
0.02722k 0.32 g
=0
(0.05447)
0.32 g
(0.32)(9.81)
=
0.02722
(0.02722)
k = 115.3 N/m
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2183 2187
PROBLEM 19.56
A 20-kg uniform square plate is suspended from a pin located
at the midpoint A of one of its 0.4-m edges and is attached to
springs, each of constant k = 1.6 kN/m. If corner B is given a
small displacement and released, determine the frequency of the
resulting vibration. Assume that each spring can act in either
tension or compression.
SOLUTION
=
b
b
at =
2
2
sin
Equation of motion.
b
b
M 0 = ( M 0 )eff : mg + 2kb 2 = I +
2
2
b
I +m
2
1 2
5
b2
mb + m
= mb 2
6
4 12
b
5
mb 2 + mg + 2kb = 0
12
2
12 g 24k
+
=0
10 b 5mb
b = 0.4 m; m = 20 kg
Data:
k = 1.6 kN/m
(12)(9.81) (24)(1600)
+
=0
(10)(0.4) (5)(20)(0.4)
+ 989.43q = 0
n2 = 989.43 n = 31.455 rad/s
Frequency.
fn =
n 31.455
=
2
2
f n = 5 Hz
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2188
2184
PROBLEM 19.57
Two uniform rods, each of mass m = 12 kg and length L = 800 mm,
are welded together to form the assembly shown. Knowing that the
constant of each spring is k = 500 N/m and that end A is given a
small displacement and released, determine the frequency of the
resulting motion.
SOLUTION
Equation of motion.
M 0 = ( M 0 )eff :
2
2
L
L
L
m AC g 2k = ( I AC + I BD ) + mAC
2
2
2
mBD = m AC = m
I BD = I AC = I =
1 2
mL
2
2
L
1 1 2 L
+
2
mL
k
mg
= 0
6 4

2
10 2 kL2 mgL
6(kL mg )
2
mL +
= 0 n =
5mL
24
2
2
Data:
Frequency.
L = 800 mm = 0.8m, m = 12 kg, k = 500 N/m
n2 =
6[(500)(0.8) (12)(9.81)]
= 35.285
(5)(12)(0.8)
n = 5.9401 rad/s
fn =
n
2
f n = 0.945 Hz
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2185 2189
PROBLEM 19.58
The rod ABC of total mass m is bent as shown and is supported in
a vertical plane by a pin at B and by a spring of constant k at C. If
end C is given a small displacement and released, determine the
frequency of the resulting motion in terms of m, L, and k.
SOLUTION
2
1 m 2 mL2
I =
L =
12 2
24
sin cos 1
= at =
Equation of motion.
M B = ( H B )eff :
mg L
mg L
m L
sin +
cos kL( L + ST )cos = 2 I + 2 at
2 2
2 2
2 2
mgL
mgL
mL2 mL2
+
kL2 kL2 ST =
+
4
4
12
4
But for equilibrium ( = 0),
M B = 0 =
m L
g kL2 ST
2 2
(1)
(2)
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2190
2186
mL2
mgL
2
4 kL = 3
+
Frequency.
( kL ) = 0
mgL
4
mL2
3
n2 =
3k 3 g
m 4L
n = 3
fn =
n
2
k
g
m 4L
fn =
3
2
k
g
m 4L
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2187 2191
PROBLEM 19.59
A uniform disk of radius r = 250 mm is attached at A to a 650-mm rod AB of
negligible mass which can rotate freely in a vertical plane about B. If the rod is
displaced 2 from the position shown and released, determine the magnitude of
the natural frequecy, assuming that the disk (a) is free to rotate in a bearing at A,
(b) is riveted to the rod at A.
SOLUTION
I =
Kinematics:
1 2
mr
2
=
at = l = l
(a)
The disk is free to rotate and is in curvilinear translation.

Thus,
Equation of motion.
I = 0
M B = (M B )eff : mgl sin = lmat , sin
ml 2 + mgl = 0
Frequency.
g
l
9.81
=
0.650
= 15.092
n = 3.8849 rad/s
n2 =
n = 3.885 rad/s
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2192
2188

(b)
When the disk is riveted at A, it rotates at an angular acceleration .

Equation of motion.
M B = (M B )eff : mgl sin = I + lmat , I =
1 2
mr , sin
2
1 2
mr + ml 2 + mgl = 0
2
Frequency.
n2 =
=
gl
r
2
1
2
(9.81)(0.650)
(0.250) 2 + (0.650)2
+ l2
= 14.053
n = 3.7487 rad/s
n =
= 1.676 s
n = 3.75 rad/s
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2189 2193
PROBLEM 19.60
A 3-kg slender rod is suspended from a steel wire which is known to
have a torsional spring constant K = 2.25 N m/rad. If the rod is rotated
through 180 about the vertical and released, determine (a) the period
of oscillation, (b) the maximum velocity of end A of the rod.
SOLUTION
Equation of motion.
K
=0
I
K
+ n2 = 0 n2 =
I
M G = ( M G )eff : K = I
Data:
m = 3 kg
l = 0.2 m
I =
1
1
ml 2 = (3)(0.2)2
12
12
= 0.01 kgm2
K = 2.25 Nm/rad
n2 =
2.25
= 225
0.01
n = 15 rad/s
(a)
Period of oscillation.
Simple harmonic motion:
n =
2
15
n = 0.419 s
= m sin (n t + )
= n m cos (n t + )
m = n m
l
1
(v A )m = m = l A m
2
2
m = 180 = radians
(b)
Maximum velocity at end A.
(v A ) m =
1
(0.2)(15)( )
2
(v A )m = 4.7 m/s
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2194
2190
PROBLEM 19.61
A homogeneous wire bent to form the figure shown is attached to
a pin support at A. Knowing that r = 220 mm and that Point B is
pushed down 20 mm and released, determine the magnitude of the
velocity of B, 8 s later.
SOLUTION
Determine location of the centroid G.

Let
= mass per unit length
Then total mass
m = (2r + r ) = r (2 + )
About C:
2r
mgc = 0 + r g = 2r 2 g

y=
2r
for a semicircle
r (2 + )c = 2r 2 , c =
Equation of motion.
M 0 = ( M 0 )eff : = at = c = c
mgc sin = I + mcan
( I + mc 2 ) + mgc = 0
Moment of inertia.
2r
(2 + )
sin
I 0 + mgc = 0
I + mc 2 = I 0
I 0 = ( I 0 )semicirc. + ( I 0 )line = msemicirc.r 2 + mline
msemicirc. = r
mline = 2 r
m
(2 + )r
(2r ) 2
12
r2
mr 2
2
I 0 = r 2 r + 2r =
+
3
3 (2 + )
mr 2
2
2r
+ + mg
=0
(2 + )
3
(2 + )
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2191 2195
Frequency.
n2 =
2g
(2)(9.81)
=
2
( + 3 ) r ( + 23 ) (0.220)
n2 = 23.418 s 2 n = 4.8392 rad/s

= m sin(n t + ) yB = r
At t = 0,
yB = 20 mm, y B = 0
y B = 0 = ( yB ) m n cos(0 + ), =
yB = 20 mm = ( yB ) m sin 0 + , (yB ) m = 20 mm
2
yB = (20 mm) sin n t + n = 4.8392 rad/s

2
y B = 20 cos n t + = (20 mm)n sin n t

2
At t = 8 s,
y B = (20)(4.8392) sin[(4.8392)(8)] = (96.88)(0.8492)
vB = 82.2 mm/s
= 82.2 mm/s
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2196
2192
PROBLEM 19.62
A homogeneous wire bent to form the figure shown is attached to a pin
support at A. Knowing that r = 400 mm and that Point B is pushed down
40 mm and released, determine the magnitude of the acceleration of B,
10 s later.
SOLUTION
Determine location of the centroid G.

Let
= mass per unit length
Then total mass
m = (2r + r ) = r (2 + )
About C:
mgc = 0 + r
y=
2r
g = 2r 2 g
for a semicircle
r (2 + )c = 2r 2
Equation of motion.
2r
c=
2r
(2 + )
M 0 = ( M 0 )eff : =
mgc sin = I + mcan
at = c = c
sin
( I + mc 2 ) + mgc = 0 I 0 + mgc = 0
Moment of inertia.
I + mc 2 = I 0
I 0 = ( I 0 )semicirc. + ( I 0 )line = msemicirc.r 2 + mline
msemicirc. = r
mline = 2 r
I0 = r r 2 +
(2r ) 2
12
m
r (2 + )
2r r 2
2
mr 2
+
=
3
(2 + )
3
2
2r
mr 2
+ + mg
=0
(2 + )
3
(2 + )
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2193 2197
Frequency.
n2 =
2g
( +
2
3
)r
(2)(9.81)
2
(0.4)
3)
( +
n2 = 12.88 s2 n = 3.59 rad/s

= m sin(n t + ) yB = r
yB = r m sin(n t + ) = ( yB ) m sin(n t + )
At t = 0,
yB = 0.04 m yB = 0
(t = 0): yB = 0 = ( yB ) m cos(0 + ) =
yB = 0.04 m = ( yB )m sin 0 +
yB = (0.04 m) sin n t +
n = 3.59 rad/s
yB = (0.04)(n ) cos nt +
( )
= (0.04)n sin n t
yB = (0.04) n2 sin nt +
At t = 10 s,
( yB ) m = 0.04 m
= 0.04 n2 cos n t
(aB )t = yB = (0.04)(3.59)2 cos(3.59)(10) = 0.1167 m/s2

(vB ) = yB = (0.04)(3.59)sin(3.59)(10) = 0.14 m/s
aB = (aB )t2 +
vB2
1
2
= (0.1167)2 +
(0.14)
0.4
1
2 2
= 0.127 m/s2
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2198
2194
PROBLEM 19.63
A uniform disk of radius r = 120 mm is welded at its center to two
elastic rods of equal length with fixed ends at A and B. Knowing that
the disk rotates through an 8 angle when a 0.5 N m couple is
applied to the disk and that it oscillates with a period of 1.3 s when the
couple is removed, determine (a) the mass of the disk, (b) the period of
vibration if one of the rods is removed.
SOLUTION
Torsional spring constant.
k=
0.5 N m
(8) ( 180
)
k = 3.581 N m/rad
Equation of motion.
M 0 = ( M 0 )eff : K = J
n2 =
Period.
n =
Mass moment of inertia.
J=
K
J
2
= 2
J
K
n2 K
(1.35) 2 (3581 N m/r)
=
(2 ) 2
(2 ) 2
J = 0.1533 N m s 2 =
1 2 1
mr = m(0.120 m) 2
2
2
(a)
Mass of the disk.
m=
(0.1533 N m s 2 )(2)
(0.120 m) 2
(b)
With one rod removed:
K =
K 3.581
=
= 1.791 N m/rad
2
2
Period.
K
=0
J
= 2
J
(0.1533 N m s 2 )
= 2
1.791 N m/rad
K
m = 21.3 kg
= 1.838 s
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2195 2199
PROBLEM 19.64
A 5-kg uniform rod CD of length l = 0.75 m is welded at C to two
elastic rods, which have fixed ends at A and B and are known to have
a combined torsional spring constant K = 30 N m/rad. Determine
the period of small oscillation if the equilibrium position of CD is
(a) vertical as shown, (b) horizontal.
SOLUTION
(a)
Equation of motion.
l
l
at = =
2
2
l
l
M C = ( M C )eff : K (mg ) sin = I + (mat )
2
2
K
1
1
mgl sin = I + ml 2
2
4
I +
1 2
1
ml + mgl sin + K = 0
4
2
1
1
1
ml 2 + ml 2 + K + mgl = 0
12
4
2
1 2
1
ml + K + mgl = 0
3
2
3K 3 g
=0
+
ml 2 2l
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2200
2196
K = 30 N m/rad, m = 5 kg,
Data:
l = 0.75 m
(3)(30)
(3)(9.81)
=0
+
2
(2)(0.75)
(5)(0.75)
+ 51.62q = 0
n2 = 51.62 n = 7.185 rad/s
Frequency.
Period.
(b)
2
7.185
n = 0.875 s
If the rod is horizontal, the gravity term is not present and the equation of motion is
3K
=0
ml 2
n2 =
3K
(3)(30)
=
= 32
ml 2 (5)(0.75)2
n = 5.657 rad/s =
2
5.657
n = 1.111 s
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2197 2201
PROBLEM 19.65
A 1.8-kg uniform plate in the shape of an equilateral triangle is
suspended at its center of gravity from a steel wire which is known to
have a torsional constant K = 0.035 N m/rad. If the plate is rotated
360 about the vertical and then released, determine (a) the period of
oscillation, (b) the maximum velocity of one of the vertices of the
triangle.
SOLUTION
Mass moment of inertia of plate about a vertical axis:
h=
For area,
3
b
2
Ix = Iy =
A=
1 3
3b 4
bh =
36
96
3 4
b
48
Iz = Ix + I y =
For mass,
I =
=
I =
Equation of motion.
1
3 2
bh =
b
2
4
m
( I z )area
A
4m
3b
3 4
1
b = mb2
48
12
1
(1.8)(0.150) 2 = 3.375 103 kg m 2
12
+ M G = ( M G )eff : K = I
+
Frequency.
K
=0
I
K
35 103
=
= 10.37
I
3.375 103
n = 3.2203 rad/s
n2 =
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2202
2198
(a)
(b)
Period.
2
3.2203
Maximum rotation.
m = 360 = 2 rad
Maximum angular velocity.
m = n m = (3.2203)(2 ) = 20.234 rad/s
= 1.951 s
Maximum velocity at a vertex.

vm = rm =
2
2 3
2 3
h m =
b =
(0.150)(20.234)
3
3 2
3 2
vm = 1.752 m/s
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2199 2203
PROBLEM 19.66
A horizontal platform P is held by several rigid bars which are
connected to a vertical wire. The period of oscillation of the platform is
found to be 2.2 s when the platform is empty and 3.8 s when an object
A of unknown moment of inertia is placed on the platform with its mass
center directly above the center of the plate. Knowing that the wire has
a torsional constant K = 30 N m/rad, determine the centroidal moment
of inertia of object A.
SOLUTION
Equation of motion.
M G = ( M G )eff : K = I
+
Case 1. The platform is empty.
K
K
= 0 n2 =
I
I
n1 =
I1 =
Case 2. Object A is on the platform.
n 2 =
I2 =
Moment of inertia of object A.
1
K
n21
2
2
K
n22
2
= 2.856 rad/s
2.2
30
= 3.678 kg m 2
(2.856)2
2
= 1.653 rad/s
3.8
30
= 10.979 kg m 2
2
(1.653)
I A = 7.3 kg m 2
I A = I 2 I1
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2204
2200
PROBLEM 19.67
A thin rectangular plate of sides a and b is suspended from four
vertical wires of the same length l. Determine the period of small
oscillations of the plate when (a) it is rotated through a small
angle about a vertical axis through its mass center G, (b) it is
given a small horizontal displacement in a direction perpendicular
to AB, (c) it is given a small horizontal displacement in a direction
perpendicular to BC.
SOLUTION
(a)
Plate is rotated about vertical axis.
Similarly, for B, D, and C,
r
mg
M G = ( M G )eff : 4T r = J T =
l
4
2
mgr
1
=
= 0 J = m( a 2 + b 2 )
Jl
12
1
r 2 = (a 2 + b 2 )
4
n =
n = 2
(b)
Jl
mgr 2
= 2
1
12
m(a 2 + b 2 )l
2
mg (a + b )
1
4
= 2
l
3g
Plate is moved horizontally.

The plate is in curvilinear translation.
sin
cos 1
l cos l = a
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2201 2205
Fy = 0 = 4(T cos ) mg = 0
T=
mg
4
FH = ( FH )eff : 4T sin = ma
l + g = 0
(c)
n = 2
Since the oscillation about axes parallel to AB (and CD) is independent of the length of the sides of the
plate, the period of vibration about axes parallel to BC (and AD) is the same.
n = 2
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2206
2202
PROBLEM 19.68
A circular disk of radius r = 0.8 m is suspended at its center C from
wires AB and BC soldered together at B. The torsional spring constants
of the wires are K1 = 100 N m/rad for AB and K 2 = 50 N m/rad for
BC. If the period of oscillation is 0.5 s about the axis AC, determine the
mass of the disk.
SOLUTION
Spring constant. Let T be the torque carried by the wires.
B/A =
T
K1
C/ B =
T
K2
1
1
T
+
T =
K eq
K1 K 2
C/A = B/A + C/B =

1
1
1
=
+
K eq K1 K 2
Equation of motion.
Keq =
M C = ( M C )eff : K eq = I
+
n2 =
But n = 0.5 s:
K1 K 2
(100)(50)
=
= 33.333 N m/rad
K1 + K 2 100 + 50
n =
K eq
or
I
2
K eq
I
I =
=0
K eq
n2
2
= 12.566 rad/s
0.5
Then
I =
33.333
= 0.21109 kg m 2
(12.566)2
For a circular disk,
I =
1 2
mr
2
m=
2 I (2)(0.21109)
=
r2
(0.8) 2
m = 0.660 kg
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2203 2207
PROBLEM 19.69
Determine the period of small oscillations of a small particle which
moves without friction inside a cylindrical surface of radius R.
SOLUTION
Datum at
Position
T1 = 0
V1 = WR (1 cos m )
Small oscillations:
(1 cos m ) = 2sin 2
V1 =
m
2
m2
2
WR m2
2
Position
vm = Rm
T2 =
1 2 1
mvm = mR 2m2
2
2
V2 = 0
Conservation of energy.
T1 + Y1 = T2 + V2
0 + WR
m2
2
1
mR 2m2 + 0 m = n m
2
W = mg
mgR
m2
2
Wn =
1
mR 2n2 m2
2
g
R
n =
Period of oscillations.
= 2
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2208
2204
PROBLEM 19.70
A 400-g sphere A and a 300-g sphere C are attached to the ends of a rod AC of
negligible weight which can rotate in a vertical plane about an axis at B. Determine the
period of small oscillations of the rod.
SOLUTION
Datum at
Position
T1 = 0
V1 = WC hC WA hA
hC = BC (1 cos m )
hA = BA(1 cos m )
Small angles.
m2
1 cos m =
V1 = [(WC )( BC ) (WA)( BA)]
m2
2
V1 = [(0.3g N)(0.2 m) (0.4g N)(0.125 m)]

V1 = 0.0981
m2
2
m2
2
Position
V2 = 0 T2 =
T2 =
1
1
mC (v0 ) 2m + m A (v A ) 2m , (vC ) m = 0.2 m2
2
2
1
1
mC (0.2)2 m2 + m A (0.125)2
2
2
m2 ( vA ) m = 0.125 m2
1
T2 = [(0.3)(0.2)2 + (0.4)(0.125)2 ] wn2 m2 m2 = w n m
2
T2 =
1
0.01825 w n2 m2
2
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2205 2209
T1 + V1 = T2 + V2 : 0 + 0.0981
m2
2
0.01825 2 2
wn m
2
w n2 = 5.375
n =
2
2
=
wn
5.375
n = 2.71 s
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2210
2206
PROBLEM 19.71
A 1.8-kg collar A is attached to a spring of constant 800 N/m and can slide
without friction on a horizontal rod. If the collar is moved 70 mm to the
left from its equilibrium position and released, determine the maximum
velocity and maximum acceleration of the collar during the resulting
motion.
SOLUTION
Datum at :
Position
T1 = 0 V1 =
1 2
kxm
2
Position
1 2
mv2 V2 = 0 v2 = xm
2
xm = n xm
T2 =
T1 + V1 = T2 + V2
1 2 1
kxm = mn2 xm2
2
2
1 2 1 2
kxm = mxm + 0
2
2
k
800 N/m
n2 = =
m
1.8 kg
0+
n2 = 444.4 s 2 n = 21.08 rad/s

xm = n xm = (21.08 s 1 )(0.070 m) = 1.476 m/s
xm = n2 xm = (21.08 s 2 )(0.070 m) = 31.1 m/s 2
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2207 2211
PROBLEM 19.72
A 1.5-kg collar A is attached to a spring of constant 1 kN/m and can slide without friction on a horizontal rod.
The collar is at rest when it is struck with a mallet and given an initial velocity of 1 m/s. Determine the
amplitude of the resulting motion and the maximum acceleration of the collar.
SOLUTION
m = 1.5 kg
Position
k = 1 kN/m
Immediately after collar is struck:

x = 0, v = 1 m/s
1
1
V1 = 0, T1 = mv 2 = (1.5)(1)2 = 0.75 J
2
2
Position
v = 0, x is maximum, i.e., x = xm
V2 =
1 2 1
kxm = (1000) xm2 = 500 xm2
2
2
T2 = 0
T1 + V1 = T2 + V2
0.75 + 0 = 0 + 500 xm2
Amplitude of motion.
xm = 0.03873 m
xm = 39 mm
Maximum force:
Fm = kxm = (1000)(0.03873) = 38.73 N
am =
Fm 38.73
=
1.5
m
am = 25.82 m/s2
am = 25.8 m/s2
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2212
2208
PROBLEM 19.73
A uniform rod AB can rotate in a vertical plane about a horizontal axis at C located
at a distance c above the mass center G of the rod. For small oscillations, determine
the value of c for which the frequency of the motion will be maximum.
SOLUTION
Find n as a function of c.
Datum at :
Position
T1 = 0 V1 = mgh
V1 = mgc(1 cos m )
1 cos m = 2sin 2
V1 = mgc
Position
T2 =
m2
m2
1 2
I C m
2
1 2
ml + mc 2
12
1 l2
T2 = m + c 2 m2
V2 = 0
2 12
I C = I + mc 2 =
T1 + V1 = T2 + V2
0 + mgc
m = n m
l2
2
= m + c 2 m + 0
2
12
2
m2
l2
gc = m + c 2 n2
12
gc
n2 = 2
l
+ c2
12
Maximum c, when
g
d n2
=0=
dc
l2
12
+ c 2 2c 2 g
l
12
+ c2
l2
c2 = 0
12
=0
c=
l
12
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2209 2213
PROBLEM 19.74
A homogeneous wire of length 2l is bent as shown and allowed to
oscillate about a frictionless pin at B. Denoting by 0 the period of
small oscillations when = 0, determine the angle for which the
period of small oscillations is 2 0 .
SOLUTION
We denote by m the mass of half the wire.
Position Maximum deflections:

l
l
T1 = 0, V1 = mg cos( m ) mg cos( m + )
2
2
l
= mg (cos m cos + sin m sin + cos m cos sin m sin )
2
V1 = mgl cos cos m
1
cos m 1 m2
2
V1 = mgl cos +
1
mgl cos m2
2
Position Maximum velocity:
Thus,
T2 =
1 2
I B m
2
T2 =
1 2 2 2
ml m
23
but
I B = 2 ml 2
3
V2 = 2mg cos = mgl cos

2
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2214
2210

T1 + V1 = T2 + V2
mgl cos +
Setting m = mn ,
1
1
mgl cos m2 = ml 2m2 mgl cos
2
3
1
1
mgl cos m2 = ml 2 m2 n2
2
3
n2 =
3g
2
2l
cos =
= 2
2 l
3 g cos
n
But for = 0,
For = 2 0 ,
0 = 2
2
(1)
2l
3g
2l
2l
= 2 2
3 g cos
3g
Squaring and reducing,

1
1
= 4 cos =
cos
4
= 75.5
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2211 2215
PROBLEM 19.75
The inner rim of a 40-kg flywheel is placed on a knife edge, and the
period of its small oscillations is found to be 1.26 s. Determine the
centroidal moment of inertia of the flywheel.
SOLUTION
Datum at
Position
T1 =
1
J 0 m2 V1 = 0
2
Position
T2 = 0 V2 = mgh
h = r (1 cos m ) = r 2sin 2
r
m
2
m2
2
V2 = mgr
m2
2
T1 + V1 = T2 + V2 :
m = n m
For simple harmonic motion,

I 0n2 m2 = mgr m2
Moment of inertia.
n2 =
I 0 = I + mr
I =
2
1
I 0 m2 + 0 = 0 + mgr m
2
2
mgr
4 2 (4 2 ) I 0
n2 = 2 =
J0
mgr
n
I + mr
( ) (mgr ) mr
2
n
( ) (mgr )
=
2
n
4 2
(1.265) 2 (40g N)
(0.175 m) 40 kg (0.175 m) 2
2
4
I = 1.558 kg m 2
I = 1.56 kg m 2
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2216
2212
PROBLEM 19.76
A connecting rod is supported by a knife edge at Point A; the period of its small
oscillations is observed to be 1.03 s. Knowing that the distance ra is 150 mm, determine
the centroidal radius of gyration of the connecting rod.
SOLUTION
Position Displacement is maximum.
T1 = 0, V1 = mgra (1 cos m )
1
mgra m2
2
Position Velocity is maximum.

(vG ) m = r m
1 2 1 2 1 2 2 1
mvG + I m = mra m + mk 2m2
2
2
2
2
1
= m ra2 + k 2 m2
2
V2 = 0
T2 =
m = n m
T1 + V1 = T2 + V2
0+
Data:
1
1
mgra m2 = m ra2 + k 2 n2 m2 + 0
2
2
gr
gr
n2 = 2 a 2 or k 2 = 2a ra2
ra + k
n
n = 1.03 s n =
2
= 6.1002 rad/s
1.03
ra = 150 mm = 0.15 m g = 9.81 m/s 2

k2 =
(9.81)(0.15)
(0.15) 2 = 0.039543 0.0225 = 0.017043 m 2
2
(6.1002)
k = 0.13055 m
k = 130.6 mm
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2213 2217
PROBLEM 19.77
The rod ABC of total mass m is bent as shown and is supported in a
vertical plane by a pin at B and a spring of constant k at C. If end C is
given a small displacement and released, determine the frequency of the
resulting motion in terms of m, L, and k.
SOLUTION
Position
T1 =
1 2
1
I B m V1 = k ( ST )2
2
2
m
m L
1
gh g sin m + k ( L m + ST )2
2
2 2
2
L
L
h = (1 cos m ) = 2 sin 2 m
2
2
2
2
mL
m L
m L
1
h
V2 = g m2 g m + k ( L m + ST ) 2
4
2 4
2 2
2
sin m m
Position
T2 = 0 V2 =
T1 + V1 = T2 + V2
1 2 1
1
m L 2 mg L
2
2
m + k L2 m2 + ST
=0 g m
+ 2 L ST m
I B m + k ST
2
2
2
2
4
2 2
(1)
When the rod is in equilibrium,

M B = 0 =
m L
g kL ST
2 2
(2)
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2218
2214

Substituting Eq. (2) into Eq. (1)
mgL 2
m m = n m
I Bm2 = kL2
4
mgL 2
m
I Bn2 m2 = kL2
4
n2 =
kL2
IB
mgL
4
2
1 m 2 mL
IB = 2
L =
3
3 2
n2 =
kL2
mL2
3
mgL
4
3k 3g
m 4L
Frequency of oscillation.
3
fn = n =
2 2
k
g
m 4L
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2215 2219
PROBLEM 19.78
A 7.5-kg uniform cylinder can roll without sliding on an incline
and is attached to a spring AB as shown. If the center of the
cylinder is moved 0.4 in. down the incline and released, determine
(a) the period of vibration, (b) the maximum velocity of the center
of the cylinder.
SOLUTION
(a)
Position
T1 = 0 V1 =
1
k ( ST + r m ) 2
2
Position
1 2 1
J m + mvm2
2
2
1
V2 = mgh + k ( ST ) 2
2
T2 =
T1 + V1 = T2 + V2 : 0 +
1
1
1
1
k ( ST + r m ) 2 = J m2 + mvm2 + mgh + k ( ST ) 2
2
2
2
2
2
2
k ST
+ 2k ST r m + kr 2 m2 = J m2 + mvm2 + 2mgh + k ST
(1)
When the disk is in equilibrium,

M c = 0 = mg sin r k ST r
Also,
h = r sin m
Thus,
mgh k ST r = 0
(2)
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2220
2216

Substituting Eq. (2) into Eq. (1)
kr 2 m2 = J m2 + mvm2
m = n m
vm = r m = rn m
kr 2 m2 = ( J + mr 2 ) m2 n2
n2 =
n2 =
kr 2
J + mr 2
J =
kr 2
1 2
mr + mr 2
2
2 k
3m
n =
(b)
1 2
mr
2
2p
2p
= 0.702 s
2 (900 N/m)
3 (7.5 kg)
Maximum velocity.
vm = r m
m = m n
vm = r mn
r m = 0.01 m
vm = (0.01 m)
2p
= 90 mm/s
0.702 s
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2217 2221
PROBLEM 19.79
Two uniform rods, each of mass m = 600 g and length l = 200 mm, are welded
together to form the assembly shown. Knowing that the constant of each
spring is k = 120 N/m and that end A is given a small displacement and
released, determine the frequency of the resulting motion.
SOLUTION
Mass and moment of inertia of one rod.
I =
m = 0.6 kg
1
1
ml 2 =
(0.6)(0.2) 2 = 2 10 3 kg m 2
12
12
Approximation.
sin m tan m m
1 cos m = 2sin 2
Spring constant:
Position
1
m2
2 2
k = 120 N/m
T1 = 2
1 2
1
l
I m + m m
2
2
2
.
.
1
1
(2 10 3) q 2m +
(0.6 )(0.1 qm )2
2
2
.
= 5 10 3 q 2m
= (2)
V1 = 0
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2222
2218

T2 = 0
Position
Wl
1
l
V2 = (1 cos m ) + 2
k m
2
2
2
(0.6 g)(0.2) 1 2
1
0.2
(120)
m + (2)
m
2
2
2
2
0.9057 m2
T1 + V1 = T2 + V2
5 103 m2 + 0 = 0 + 0.9057 m2
m = 13.459 m
m = n m
n = 13.459 rad/s
Frequency.
fn =
n
2
f n = 2.14 Hz
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2219 2223
PROBLEM 19.80
A slender 8-kg rod AB of length l = 600 mm is connected to
two collars of negligible mass. Collar A is attached to a spring
of constant k = 1.2 kN/m and can slide on a vertical rod, while
collar B can slide freely on a horizontal rod. Knowing that the
system is in equilibrium and that = 40, determine the period
of vibration if collar B is given a small displacement and
released.
SOLUTION
Vertical rod.
y = l sin
y = l cos
y = l cos
x = l cos
x = l sin
x = l sin
y=
y
2
x=
x
2
Position (Maximum velocity, m)

1
1
J () m2 + m ( xm ) 2 + ( y ) m2
2
2
2
2
l
1 1
l

T1 = ml 2 () m2 + 1m sin + cos () m2
2 12
2

2
T1 =
1 2 1 1 2 1 2 1 2
ml + ( m ) = ml ( m )
2
2
3
12 4
1
V1 = k ( ST ) 2 + mg y
2
T1 =
Position (Zero velocity, maximum m )

T2 = 0
V2 =
1
k ( y + ST ) 2 + mg ( y ym )
2
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part of
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reproduced or
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2224
2220

T1 + V1 = T2 + V2 :
1 2 1 2 1 2
1
ml + ( m ) + k ST + mgy = 0 + ( y + ST )2 + mg ( y ym )
2
3
2
2
1
2
2
ml 2 (m ) 2 + k ST
+ mgy = k ( y 2 + 2 y ST + ST
) + mg ( y y x )
3
(1)
But when the rod is in equilibrium,

M B = mg
x
k ST x = 0 mg = 2k ST
2
(2)

1
ml 2 (m )2 = k ym2 ym = l cos m
3
2 1
ml (m )2 = kl 2 cos 2 ( m ) 2
3
= m sin(n t + )
m = mn
1
m( m )2 n2 = k cos 2 ( m ) 2
3
k
3(1200 N/m)
n2 = 3 cos 2 =
cos 2 40
8kg
m
n2 = 264.07
Period of vibration.
n =
2
264.07
n = 0.387 s
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2221 2225
PROBLEM 19.81
A slender rod AB of length l = 600 mm and negligible mass is
connected to two collars, each of mass 8 kg. Collar A is attached to
a spring of constant k = 1.2 kN/m and can slide on a vertical rod,
while collar B can slide freely on a horizontal rod. Knowing that
the system is in equilibrium and that = 40, determine the period
of vibration if collar A is given a small displacement and released.
SOLUTION
Horizontal rod.
Y = l sin
Y = l cos
= l cos
g
x = l cos
x = l sin
= l sin
x
Position (Maximum velocity, m )
1
1
m( y m ) 2 + m( xm )2
2
2
1
T1 = m[(l cos ) 2 + (l sin ) 2 ](m ) 2
2
1 2 2
T1 = ml ( m )
2
V1 = 0
T1 =
Position (Zero velocity, maximum )

T2 = 0
V2 =
1
k ym2
2
T1 + V1 = T2 + V2
1 2 2
1
ml ( m ) + 0 = k ym2
2
2
ym = l cos m
2
ml (m ) 2 = kl 2 cos 2 ( m ) 2
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2226
2222

= m sin (n t + )
m = mn
ml 2 ( m )2 n2 = kl 2 cos 2 ( m )2
k
cos 2
m
1200 N/m
n2 =
cos 2 40 = 88.02 s 2
8 kg
n2 =
n =
2
88.02
= 0.6697 s
n = 0.670 s
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2223 2227
PROBLEM 19.82
A 3-kg slender rod AB is bolted to a 5-kg uniform disk. A spring of
constant 280 N/m is attached to the disk and is unstretched in the
position shown. If end B of the rod is given a small displacement and
released, determine the period of vibration of the system.
SOLUTION
r = 0.08 m
l = 0.3 m
Position
1
1
J diskm2 + ( JA ) rod m2
2
2
V1 = 0
T1 =
1
m0 r 2
2
1
= m AB l 2
3
Jdisk =
( JA ) rod
Position
T2 = 0
V2 =
1
l
k (r m ) 2 + mAB g (1 cos m )
2
2
1 cos m = 2sin 2
V2 =
m
2
m2
2
l
1 2 2 m AB g ( 2 ) 2
m
kr m +
2
2
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2228
2224

T1 + V1 = T2 + V2 :
11
1
1
1
l
m0 r 2 + m AB l 2 m2 + 0 = 0 + kr 2 m2 + m AB g m2
2 2
3
2
2
2
m = n m
1
l 2
1
2
2
2 2 2
2 m0 t + 3 mAB l n m = kr + m AB g 2 m
n2 =
n2 =
n2 =
n =
kr 2 + m AB gl
1
2
m0 r 2 + 13 m AB l 2
(280 N/m)(0.08 m) 2 + (3 kg)(9.81 m/s 2 ) ( 0.3

m)
2
1
2
(5 kg)(0.08 m) 2 + 13 (3 kg)(0.300 m) 2
6.207
= 58.55
0.106
2
2
58.55
n = 0.821 s
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2225 2229
PROBLEM 19.83
A 400-g sphere A and a 300-g sphere C are attached to the ends of a 600-g rod AC,
which can rotate in a vertical plane about an axis at B. Determine the period of small
oscillations of the rod.
SOLUTION
Position
.
.
1
1
1
1
T1 = mA (0.125qm )2 + mC (0.2qm )2 + mAC (0.0375 m )2 + IAC m2
2
2
2
2
I AC =
1
mAC (0.325)2
12
T1 =
1
1
[0.4(0.125)2 + 0.3(0.2)2 + 0.6(0.0375)2 +
(0.6)(0.325)2 ] m2
2
12
T1 =
1
(0.024375) m2 (J)
2
V1 = 0
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2230
2226

Position
T2 = 0
V2 = WA 0.125(1 cos qm ) + WC 0.2(1 cos qm ) + WAC 0.0375(1 cos qm )
1 cos m = 2sin 2 m/2
m2
2
V2 = [ (0.4 g)(0.125) + (0.3 g)(0.2) + (0.6 g)(0.0375)]

V2 =
m2
2
(J)
0.318825 m2
2
T1 + V1 = T2 + V2:
1
0.318825 2
(0.024375) m2 + 0 = 0 +
m
2
2
m = n m
n2 =
n =
0.318825
= 13.08
0.024375
2
n = 1.737 s
13.08
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orteachers
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2227
2231
PROBLEM 19.84
Three identical rods are connected as shown. If b = 34 l , determine the
frequency of small oscillations of the system.
SOLUTION
l = length of each rod
m = mass of each rod
Kinematics:
Position
l
vm = m
2
(vBE ) m = bm
T1 = 0
l
V1 = 2mg cos m mgb cos m
2
V1 = mg (l + b) cos m
Position
l
mgb
2
= mg (l + b)
V2 = 2mg
1
1
1
T2 = 2 I m2 + mvm2 + m(vBE ) m2
2
2
2
2
1
1
l
ml 2m2 + m m + m(bm ) 2
12
2
2
1
1
T2 = l 2 + b 2 mm2
3
2
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2232
2228
1
1
T1 + V1 = T2 + V2 : 0 mg (l + b) cos m = l 2 + b 2 mm2 mg (l + b)
2
3
1
1
mg (l + b)(1 cos m ) = l 2 + b 2 mm2
3
2
But for simple harmonic motion,
1
(1 cos m ) = m2
2
1
1
1
mg (l + b) m2 = l 2 + b 2 mm2
2
2
3
m = n m :
1
1
1
mg (l + b) m2 = l 2 + b 2 m(n m )2
2
2
3
n2 =
n2 = 3g
or
For b =
1
l+b
g 2
1
2 3 l + 12 b 2
3
l , we have
4
n2 = 3g
= 3g
l + 34 l
2l 2 + 3 ( 34 l )
n = 1.1932
(1)
7
l
4
59 2
l
16
= 1.4237
fn =
l +b
2l + 3b 2
2
g
l
g
l
n
2
1.1932
2
g
l
f n = 0.1899
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2229 2233
PROBLEM 19.85
An 800-g rod AB is bolted to a 1.2-kg disk. A spring of constant
k = 12 N/m is attached to the center of the disk at A and to the wall
at C. Knowing that the disk rolls without sliding, determine the
period of small oscillations of the system.
SOLUTION
Position
2
1
1
1
1
l
T1 = ( I G ) AB m2 + mAB r m + ( I G )disk m2 + m disk r 2m2

2
2
2
2
2
1
1
( I G ) AB = ml 2 = (0.8)(0.6)2 = 0.024 kg m 2
12
12
2
m AB r = (0.8)(0.3 0.25) 2 = 0.002 kg m 2

2
1
1
( I G )disk = mdisk r 2 = (1.2)(0.25) 2 = 0.0375 kg m 2
2
2
2
2
mdisk r = 1.2(0.25) = 0.0750 kg m 2
1
[0.024 + 0.002 + 0.0375 + 0.0750]m2
2
1
T1 = [0.1385]m2
2
V1 = 0
T1 =
Position
T2 = 0
V2 =
1
l
k (r m ) 2 + mAB g (1 cos m )
2
2
1 cos m = 2sin 2
V2 =
m
2
m2
2
(small angles)
2
1
0.6 m m
(12 N/m)(0.25 m)2 m2 + (8 kg)(9.81 m/s 2 )
2
2 2
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2234
2230

1
V2 = [0.750 + 2.354] m2
2
1
= (3.104) m2 N m
2
T1 + V1 = T2 + V2
2 = 2 2
m
n m
1
1
(0.1385) m2 n2 + 0 = 0 + (3.104) m2
2
2
N m)
(3.104
n2 =
(0.1385 kg m 2 )
= 22.41 s 2
n =
2
2
=
= 1.327 s
n
22.41
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2231 2235
PROBLEM 19.86
Two uniform rods AB and CD, each of length l and mass m, are attached to gears
as shown. Knowing that the mass of gear C is m and that the mass of gear A is
4m, determine the period of small oscillations of the system.
SOLUTION
Kinematics:
2r A = rC
2 A = C
2A = C
Let
A = m
2 m = (C )m
2m = (C )m
Position
T1 =
1 2 1
1
1
I A m + I C (2m ) 2 + I ABm2 + I CD (2m ) 2
2
2
2
2
2
1
1
l
+ mAB m + mCD 2m
2
2
2
2
1
(4m)(2r ) 2 = 8mr 2
2
1
1
I C = (m)(r ) 2 = mr 2
2
2
1
1
2
I AB = ml
I CD = ml 2
12
12
r2
1
l2 l2 l2
T1 = m 8r 2 + 4 + + + + l 2
2
12 3 4
2
1
5
T1 = m 10r 2 + l 2 m2
2
3
V1 = 0
IA =
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2236
2232

Position
T1 = 0
l
mgl
V1 = mg (1 cos m ) +
(1 cos 4 m )
2
2
For small angles,
1 cos m = 2sin 2
m2
2
2
1 cos 4 m = 2sin 2 m = 2 m2
2
V1 =
2
1
5 2
1
mgl m + 2 m2 = mgl m
2
2
2
2
T1 + V1 = T2 + V2
m2 = n2 m2
5 2
1
1 2 5 2 2 2
m 10r + l n m + 0 = 0 + mgl m
2
3
2
2
n2 =
=
5
2
2
gl
10r + 53 l 2
3gl
12r 2 + 2l 2
n =
= 2
12r 2 + 2l 2
3gl
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2233 2237
PROBLEM 19.87
Two uniform rods AB and CD, each of length l and mass m, are attached to gears
as shown. Knowing that the mass of gear C is m and that the mass of gear A is
4m, determine the period of small oscillations of the system.
SOLUTION
Kinematics:
Let
2r A = rC
2A = C
2 A = C
A = m
2 m = (C ) m
2m = (C )m
Position
T1 =
1 2 1
1
1
1
1
l
I A m + I C (2m ) 2 + I ABm2 + I CD (2m ) 2 + m AB m + mCD 2m

2
2
2
2
2
2
2
2
1
(4m)(2r )2 = 8mr 2
2
1
1
I C = (m)(r 2 ) = mr 2
2
2
1
1
2
I AB = ml
I CD = ml 2
12
12
r2
l2 l2 l2
1
T1 = m 8r 2 + 4 + + + + l 2 m2
2
12 3 4
2
IA =
T1 =
1 2 5 2 2
m 10r + l m
2
3
V1 = 0
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2238
2234

Position
T2 = 0
l
mgl
V2 = mg (1 cos m ) +
(1 cos 2 m )
2
2
For small angles,
1 cos m = 2sin 2
m
2
m2
2
1 cos 2 m = 2sin m 2 m2
l m2 mgl 2
+
2 m
2
2 2
1
3
= mgl m2
2
2
T1 + V1 = T2 + V2
m = n m
V2 = mg
1 2 5 2 2 2
1
3
m 10r + l mn + 0 = 0 + mgl m2
2
3
2
2
n2 =
=
3
2
2
gl
10r + 53 l 2
9 gl
60r + 10l 2
2
n =
= 2
60r 2 + 10l 2
9 gl
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2235 2239
PROBLEM 19.88
A 5-kg uniform rod CD is welded at C to a shaft of negligible mass
which is welded to the centers of two 10-kg uniform disks A and B.
Knowing that the disks roll without sliding, determine the period of
small oscillations of the system.
SOLUTION
mA = mB = mdisk
Position
T1 =
1
1
2( I A )disk m2 + (2mdisk)(r m)2
2
2
l
1
1
+ I CD m2 + m CD
r
2
2
2
m2
( I A )disk =
1
1
m disk r2 = (10)(0.5)2 = 1.25 kg m2
2
2
I CD =
1
1
m l2 = (5)(1.5)2 = 0.9375 kg m2
12
12
T1 = [1.25 + 2.5 + 0.46875 + 0.15625] m2

T1 = (4.375) m2
Position
V1 = 0
T2 = 0
V2 = WCD
l
(1 cos m )
2
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2240
2236
Small angles:
1 cos m = 2sin 2
m
2
m2
2
m2
1
V2 = WCD l
2
2
1
= (5 g)(1.5) m2
2
= 36.7875 m2
Conservation of energy and simple harmonic motion.

T1 + V1 = T2 + V2
m = n m
4.375n2 m2 + 0 = 0 + 36.7875 m2
n2 = 8.4086
n =
2
2.9
n = 3.69 s
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2237 2241
PROBLEM 19.89
Four bars of the same mass m and equal length l are connected
by pins at A, B, C, and D and can move in a horizontal plane.
The bars are attached to four springs of the same constant k and
are in equilibrium in the position shown ( = 45). Determine
the period of vibration if corners A and C are given small and
equal displacements toward each other and released.
SOLUTION
Kinematics:
BC
xG =
l
cos
2
yG =
l
sin
2
xC = l cos
xB = l sin
yC = 0
yB = l sin
l
2
l
xG = sin
2
l
yG = cos
2
l
yG = cos
2
xG = sin
xC
xC
xB
x B
= l sin
= l sin
= l cos
= l cos
yB = l cos
y B = l cos m
The kinetic energy is the same for all four bars.

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2242
2238
Position
Position
1
1
T1 = 4 I (m )2 + m[( xG ) m2 + ( yG ) m2 ]
2
2
1 2
I = ml
12
1 1
T1 = 2ml 2 + (sin 2 m + cos 2 m ) m2

12 4
2
T1 = ml 2
3
V1 = 0
T2 = 0
1
1
V2 = (2) k ( xm ) 2 + (2) k ( ym ) 2
2
2
2
2
2
2
V2 = k (l sin + l cos ) m2
= k l 2 m2
T1 + V1 = T2 + V2
2 2 2
ml ( m ) + 0 = 0 + k l 2 ( m ) 2
3
m = n m
3 k
n2 =
2 m
n =
n = 2
2m
3k
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2239 2243
PROBLEM 19.90
The 10-kg rod AB is attached to two 4-kg disks as shown. Knowing that the
disks roll without sliding, determine the frequency of small oscillations of
the system.
SOLUTION
Position
Position
r = 0.15 m
mA = mB = 4 kg
Masses and moments of inertia.
IA = IB =
1
1
m A rA2 = (4)(0.15)2
2
12
= 0.0075 kg m2
m AB = 10 kg
vm = rA m = 0.15 m
Kinematics:
v AB = (0.05) m
Position
(Maximum displacement)
T1 = 0
V1 = WAB (0.1 cos qm) = 9.81 cos qm
Position
(Maximum speed)
1
1
1
1
1
2
mA vm2 + I A m2 + mB vm2 + I B m2 + mAB v AB
2
2
2
2
2
.
.
.
1
1
1
= 2 (4)(0.15qm)2 + (0.0075)q 2m + (10)(0.05qm)2
2
2
2
.2
= 0.11q m
T2 =
V2 = WAB (0.1) = 9.81

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2244
2240
T1 + V1 = T2 + V2
0 9.81 cos m = 0.11 m2 9.81
m2 = 89.182(1 cos qm)

89.182
1 2
m
2
= 44.591 m2
m = 6.678 m
Frequency.
m = n m
fn =
n 6.678
=
2
2
n = 6.68 rad/s
f n = 1.063 Hz
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2241 2245
PROBLEM 19.91
An inverted pendulum consisting of a sphere of weight W and a rigid bar ABC
of length l and negligible weight is supported by a pin and bracket at C. A
spring of constant k is attached to the bar at B and is undeformed when the bar
is in the vertical position shown. Determine (a) the frequency of small
oscillations, (b) the smallest value of a for which these oscillations will occur.
SOLUTION
(a)
Position
Position
1
1
m(lm )2 = ml 2m2
2
2
V1 = 0
T1 =
T2 = 0
V2 =
For small angles,
1
k (a sin m ) 2 Wl (1 cos m )
2
sin m m
1 cos m = 2sin 2
m
2
m2
2
2
2
1
V2 = ka 2 m Wl m
2
2
2
1 2
= [ka Wl ] m2
2
T1 + V1 = T2 + V2
1 2 2
1
ml m + 0 = 0 + [ ka 2 Wl ] m2
2
2
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2246
2242
m = n m
m=
W
g
W 2 2 2
l n m = ka 2 Wl
g
n2 =
=
(b)
ka 2 Wl
( )l
W
g
g ka 2
1
l Wl
fn =
1
1
n =
2
2
g ka 2
1
l Wl
fn = 0
ka 2
1 0
Wl
Wl
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2243 2247
PROBLEM 19.92
For the inverted pendulum of Problem 19.91 and for given values of k, a, and l, it
is observed that f = 1.5 Hz when m = 1 kg and that f = 0.8 Hz when m = 2 kg.
Determine the largest value of W for which small oscillations will occur.
SOLUTION
See Solution to Problem 19.91 for the frequency in terms of W, k, a, and l.
fn =
1
2
g ka 2
1
l Wl
W = 1g N
1.5 =
1
2
g ka 2
1
l gl
(1)
f n = 0.8 Hz W = 2g N
0.8 =
1
2
g ka 2
1
l 2gl
(2)
f n = 1.5 Hz
1.5
0.8
(
=
(
ka 2
gl
2
ka
2gl
)
1)
1
ka 2
ka 2
3.516 =
1
2gl
gl
ka 2 3.516 1
= 2.516
l
2g
g
3.516
ka 2
= 32.562
l
fn =
1
2
g 32.562
1
l
W
fn = 0
32.562
1 = 0
W
W = 32.6 N
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2248
2244
PROBLEM 19.93
A uniform rod of length L is supported by a ball-and-socket
joint at A and by a vertical wire CD. Derive an expression for
the period of oscillation of the rod if end B is given a small
horizontal displacement and then released.
SOLUTION
Position (Maximum deflection)
Looking from above:

Horizontal displacement of C:
xC = b m
Looking from right:
m =
xC b
= m
h h
yC = h(1 cos m )
1 2
hm
2
yC =
1 b
1 b2 2
m
h m =
2 h
2 h
1
L 1 b2 2
AG
m
yC = 2
AC
b 2 h
1 bL
ym = m2
4 h
ym = yG =
We have
T1 = 0
V1 = mgym =
1 mgbL 2
m
4 h
Position (Maximum velocity)
Looking from above:
T2 =
1 2 1
I m + mvm2
2
2
1 L
1 1
mL2 m2 + m
2 12
2 2
1 2 2
T2 = mL m
6
V2 = 0
T1 + V1 = T2 + V2 : 0 +
1 mgbL 2 1 2 2
m = mL m
4 h
6
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2245 2249

But for simple harmonic motion,
m = n m
1 mgbL 2 1 2
m = mL (n m ) 2
4 h
6
3 bg
n2 =
2 hL
n =
2
n
n = 2
2hL
3bg
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2250
2246
PROBLEM 19.94
A 2-kg uniform rod ABC is supported by a pin at B and is
attached to a spring at C. It is connected at A to a 2-kg block DE,
which is attached to a spring and can roll without friction.
Knowing that each spring can act in tension or compression,
determine the frequency of small oscillations of the system
when the rod is rotated through a small angle and released.
SOLUTION
Position
1
1
1
( I R )m2 + (mR C 2 )m + mE ( x1 ) 2m
2
2
2
1
I R = mR l 2
12
1
= (2 kg)(0.9 m) 2
12
= 0.135 kg m 2
T1 =
ml C 2 = 2 kg(0.15 m)2 = 0.0225 kg m 2

x = 0.6 m ( x ) 2 = (2 kg)(0.6 m)2
1
1 m
x1 = 0.6 mE ( x1 ) 2m = 0.72 m2 m 2
1
T1 = [0.135 + 0.0225 + 0.72] 2 m
2
1
T1 = (0.9)m
2
V1 = 0
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2247 2251

Position
T2 = 0
1
1
k ( x1 ) 2m + k ( x2 ) m2 mR gc(1 cos m )
2
2
( x1 ) m = 0.6 m x2 = 0.3 m
V2 =
1 cos m = 2sin 2
m m2
1
V2 = [(50 N/m)(0.6 m) 2 m2 + (50 N/m)(0.3 m) 2 m2
2
(2 kg)(9.81 m/s 2 )(0.15) m2
1
V2 = [18 + 4.5 2.943] 2 m
2
1
V2 = (19.55) m2
2
T1 + V1 = T2 + V2 :
m = n2 m2 (0.9)(n2 ) m2 = (19.55) m2
n2 =
Frequency of oscillations.
1
1
(0.9)m2 + 0 = 0 + (19.55) m2
2
2
fn =
19.55
= 21.73 s 2
0.9
n
21.73
=
2
2
f n = 0.742 Hz
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2252
2248
PROBLEM 19.95
A 750-g uniform arm ABC is supported by a pin at B and is
attached to a spring at A. It is connected at C to a 1.5-kg mass m
which is attached to a spring. Knowing that each spring can act
in tension or compression, determine the frequency of small
oscillations of the system when the weight is given a small
vertical displacement and released.
SOLUTION
kC = 300 N/m
Position
k A = 400 N/m
T1 =
l
1
1
+ I BA m2 + mBA AB
2
2
2
2
I BC + mB
lBC
2
I BA + mBA
l AB
2
l
1
1
I BC ( m )2 + mBC BC
2
2
2
m2
2
1
2
m2 + mym2
1
1
1
2
2
2
+ mBC lBC
= mBC lBC
mBC lBC
12
4
3
1
1
1
2
2
2
mAB l AB
+ m AB l AB
= m AB l AB
3
12
4
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2249
2253
0.3
3
mABC = (0.75 kg) = 0.45 kg
0.5
5
0.2
2
=
mABC = (0.75 kg) = 0.3 kg
0.5
5
1
= (0.45 kg)(0.3 m)2 = 0.0135 kg m2
3
mBC =
mBA
1
2
mBC lBC
3
1
1
2
mBAlBA
= (0.3 kg)(0.2 m)2 = 0.004 kg m2
3
3
ym = lBC m
2
mym2 = mlBC
m2 = 1.5 kg (0.3 m)2 m2
= 0.135 m2
1
T1 = [0.0135 + 0.004 + 0.135] m2
2
= 0.1525
V1 =
2
2
1
1
kC ( ST )C2 + k A ( ST ) 2A
2
2
T2 = 0
Position
V2 = WlBC m + WBC lBC 2 m
WBA
l AB
2
(1 cos m )
1
1
+ kC (lBC m + ( ST )C )2 + k A (l AB m + ( ST ) A ) 2
2
2
when the system is in equilibrium ( = 0).

M B = 0 = WlBC + WBC
1 cos m 2sin 2
m
2
lBC
kC ( ST )C lBC k A ( ST ) A l AB
2
(1)
m2
2
V2 = WlBC + WBC
lBC
2
m WBA
kC ( ST )C lBC m +
l AB
2
m2
2
1
2
kC lBC
m2
2
1
kC ( ST )C2
2
1
1
2
+ k Al AB
m2 k A ( ST ) A lAB m + k A ( ST ) 2A
2
2
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2254
2250

Taking Equation (1) into account,
V2 = WBA
l AB m2 1
2
m2
+ kC lBC
2 2 2
1
1
1
2
m2 + k A ( ST )2A
+ kC ( ST )C2 + k Al AB
2
2
2
V2 =
1
0.3 g (0.1) + 300(0.3)2 + 400(0.2)2 m2
2
+
1
1
kC ( ST )C2 + k A ( ST ) 2A
2
2
1
1
1
V2 = [42.706] m2 + kC ( ST )C2 + k A ( ST ) 2A
2
2
2
T1 + V1 = T2 + V2 :
1
1
1
(0.1525) m2 + kC ( ST )C2 + k A ( ST ) 2A
2
2
2
=0+
1
1
1
(42.706) m2 + kC ( ST )C2 + k A ( ST ) 2A
2
2
2
m = n m
0.1525n2 m2 = 42.706 m2
n2 =
Frequency.
fn =
42.706
= 280.04 s2
0.1525
n
280.04
=
2
2
f n = 2.66 Hz
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2251 2255
PROBLEM 19.96*
Two uniform rods AB and BC, each of mass m and length l, are
pinned together at A and are pin-connected to small rollers at B
and C. A spring of constant k is attached to the pins at B and C,
and the system is observed to be in equilibrium when each rod
forms an angle with the vertical. Determine the period of small
oscillations when Point A is given a small downward deflection
and released.
SOLUTION
xC = l sin
xC = l cos
l
cos
2
l
= sin
2
l
= sin
2
l
= cos
2
l
= cos
2
xG =
xG
yG
yG
yG
Position
Position
1
1
T1 = 2 I (m )2 + m( xm )C2 + ( y m )G2
2
2
2
1
ml
= ml 2 +
(sin 2 + cos 2 ) m2
4
12
1 2
= ml m
3
V1 = 0
T2 = 0
1
k (2 xm )2
2
1
= (4l 2 cos 2 )
2
= 2l 2 cos 2
V2 =
m = n m
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2256
2252
PROBLEM 19.96* (Continued)

T1 + V1 = T2 + V2
1 2 2 2
ml n n + 0 = 0 + 2kl 2 cos 2 n2
3
6k
cos 2
n2 =
m
n =
2
2
=
k
n
6 ( m ) cos 2
n =
2
cos
6k
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2253 2257
PROBLEM 19.97*
As a submerged body moves through a fluid, the particles of the fluid flow around
the body and thus acquire kinetic energy. In the case of a sphere moving in an
ideal fluid, the total kinetic energy acquired by the fluid is 14 Vv 2 , where is the
mass density of the fluid, V is the volume of the sphere, and v is the velocity of the
sphere. Consider a 500-g hollow spherical shell of radius 80 mm, which is held
submerged in a tank of water by a spring of constant 500 N/m. (a) Neglecting
fluid friction, determine the period of vibration of the shell when it is displaced
vertically and then released. (b) Solve Part a, assuming that the tank is accelerated
upward at the constant rate of 8 m/s2.
SOLUTION
This is not a damped vibration. However, the kinetic energy of the fluid must be included.
(a)
Position
T2 = 0
1
V2 = kxm2
2
Position
T1 = Tspere + Tfluid =
V1 = 0
1
1
ms vm2 + Vvm2
2
4

T1 + V1 = T2 + V2 :
(b)
1
1
1
ms vm2 + Vvm2 + 0 = 0 + kxm2
2
2
4
vm = lm = xmn
1
1
2 2 1 2
ms + V xmn = kxm
2
2
2
k
n2 =
1
ms + v
2
500
N/m
n2 =
1
(0.5 kg) + V
2
1
1 1000 kg 4
3
V =
(0.08 m)
3
2
2 m
3
1
n2 = 318 s 2
v = 1.0723 kg
2
2
2
n =
=
n
318
n = 0.352 s
Acceleration does not change mass.
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2258
2254
PROBLEM 19.98*
A thin plate of length l rests on a half cylinder of radius r. Derive an
expression for the period of small oscillations of the plate.
SOLUTION
(r sin m ) sin m r m2
r (1 cos m ) r
Position (Maximum deflection)
m2
2
T1 = 0
V1 = Wym
= mgr
m2
2
1 2
I m
2
1 1
= ml 2m2
2 12
Position ( = 0):
T2 =
m = n m
1 1 2 2 2
ml n m
2 12
T1 + V1 = T2 + V2
T2 =
0+
1
1 1
mgr m2 = ml 2n2 m2
2
2 12
12
gr
n2 = 2
l
n =
= 2
l2
12 gr
n =
l
3gr
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2255 2259
PROBLEM 19.99
A 50-kg block is attached to a spring of constant k = 20 kN/m and can
move without friction in a vertical slot as shown. It is acted upon by a
periodic force of magnitude P = Pm sin f t , where f = 18 rad/s. Knowing
that the amplitude of the motion is 3 mm, determine the value of Pm .
SOLUTION
Equation of motion.
The steady state response is
or
Data:
mx + kx = Pm sin f t
xm =
( )
Pm
k
( )
f 2
n
2
f
Pm = kxm 1

n
k = 20 103 N/m
m = 50 kg
n =
f
n
k
=
m
20 103
= 20 rad/s
50
18 rad/s
= 0.9
20 rad/s
xm = 3 mm = 3 103 m
Pm = (20 103 )(3 103 )[1 (0.9) 2 ]
Pm = 11.40 N
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2260
2256
PROBLEM 19.100
A 5-kg collar can slide on a frictionless horizontal rod and is attached to
a spring of constant 550 N/m. It is acted upon by a periodic force of
magnitude P = Pm sin f t , where Pm = 15 N. Determine the amplitude
of the motion of the collar if (a) f = 5 rad/s, (b) f = 10 rad/s.
SOLUTION
Eq. (19.33):
xm =
( )
Pm
k
( )
f 2
n
Pm = 15 N, k = 550 N/m
m = 5 kg
k
550
= 10.488 rad/s
=
m
5
Pm
15 N
=
= 0.0273
k 550 N/m
n =
Amplitude of vibration.
(a)
f = 5 rad/s
xm =
(b)
f = 10 rad/s
xm =
0.0273
5
1 ( 10.488
)
0.0273
10
1 ( 10.488
)
= 0.0353 m
= 0.3 m
| xm | = 35.3 mm (in phase)
| xm | = 300 mm (in phase)
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2257 2261
PROBLEM 19.101
A 5-kg collar can slide on a frictionless horizontal rod and is attached to
a spring of constant k. It is acted upon by a periodic force of magnitude
P = Pm sin f t , where Pm = 2 lb and f = 5 rad/s. Determine the value
of the spring constant k knowing that the motion of the collar has an
amplitude of 150 mm and is (a) in phase with the applied force, (b) out
of phase with the applied force.
SOLUTION
Eq. (19.33):
xm =
xm =
k=
pm
k
( )
f
n
k
m
pm
k m 2f
pm
+ m 2f
xm
pm = 10 N,
Data:
n2 =
m = 5 kg
f = 5 rad/s
k=
=
(a)
(In phase)
(Out of phase)
pm
+ 125
xm
xm = 0.15 m
k=
(b)
pm
+ (5)(5)2
xm
10
+ 125 = 191.7 N/m
0.15
k = 192 N/m
xm = 0.15 m
k=
10
+ 125 = 58.33 N/m
0.15
k = 58 N/m
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2262
2258
PROBLEM 19.102
A collar of mass m which slides on a frictionless horizontal rod is
attached to a spring of constant k and is acted upon by a periodic force
of magnitude P = Pm sin f t. Determine the range of values of f for
which the amplitude of the vibration exceeds two times the static
deflection caused by a constant force of magnitude Pm .
SOLUTION
k
m
n =
Circular natural frequency.
For forced vibration, the equation of motion is

mx + kx = pm sin ( f t + )
The amplitude of vibration is

xm =
pm
k
ST
( ) (1 )
f
n
f 2
n
For f n and xm = 2 ST , we have

2 ST =
( )
f 2
n
1
2
2f = n2 =
For
ST
f
1
or 1
=
2
n
1 k
2m
k
f n ,
2m
k
2m
f =
(1)
| xm | exceeds 2 ST
For f n and xm = 2 ST , we have

2 ST =
For
2f
ST
1
or
1 =
2
2
2
n
( f n ) 1
2f = n2 =
3
2
3 k
2m
n f
3k
2m
From Eqs. (1) and (2),
f =
3k
2m
(2)
| xm | exceeds 2 ST
Range:
k
3k
f
2m
2m
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2259 2263
PROBLEM 19.103
An 8-kg uniform disk of radius 200 mm is welded to a vertical shaft
with a fixed end at B. The disk rotates through an angle of 3 when a
static couple of magnitude 50 N m is applied to it. If the disk is acted
upon by a periodic torsional couple of magnitude T = Tm sin f t , where
Tm = 60 N m, determine the range of values of f for which the
amplitude of the vibration is less than the angle of rotation caused by a
static couple of magnitude Tm .
SOLUTION
Mass moment of inertia:
I =
Torsional spring constant:
K=
1 2 1
mr = (8)(0.200) 2 = 0.16 kg m 2
2
2
T = 50 N m
= 3 = 0.05236 rad
0.50
0.05236
= 954.93 N m/rad
K=
Natural circular frequency:
n =
For forced vibration,
m =
K
954.93
=
= 77.254 rad/s
0.16
I
Tm
K
ST
( )
f 2
n
( )
f 2
n
For the amplitude | m | to be less than ST , we must have f n .

Then
| m | =
ST
( )
f 2
n
ST
11
n
2
2
n
f 2n = ( 2)(77.254)
f 109.3 rad/s
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2264
2260
PROBLEM 19.104
For the disk of Problem 19.103 determine the range of values of f for which
the amplitude of the vibration will be less than 3.5.
SOLUTION
Mass moment of inertia:
I =
Torsional spring constant:
K=
1 2 1
mr = (8)(0.200) 2 = 0.16 kg m 2
2
2
T
T = 50 N m, = 3 = 0.05236 rad
50
= 954.93 N m/rad
K=
0.05236
n =
For forced vibration,
m =
954.93
K
=
= 77.254 rad/s
0.16
I
Tm
K
( )
f
n
ST
( )
f 2
n
Tm = 60 N m
ST =
Tm
60
=
= 0.062832 rad
K 954.93
| m | 3.5 = 0.061087 rad ST
For the amplitude | m | to be less than ST , we must have f n .

| m | =
ST
( )
f
n
=
1
0.062832
( )
f 2
n
0.061087
f
0.062832
= 1.02857
1
0.061087
n
2
2.02857
n
f 2.02857n
f 110.0 rad/s
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2261 2265
PROBLEM 19.105
An 8-kg block A slides in a vertical frictionless slot and is
connected to a moving support B by means of a spring AB of
constant k = 1.6 kN/m. Knowing that the displacement of the
support is = m sin f t , where m = 150 mm, determine the
range of values of f for which the amplitude of the fluctuating
force exerted by the spring on the block is less than 120 N.
SOLUTION
n =
Eq. (19.33):
xm =
Spring force:
1.6 103
k
=
= 14.1421 rad/s
8
m
m
1
( )
f 2
n
1
Fm = K ( xm m ) = k m 1
1 f
n
( )
= k m
( )
1 ( )
f 2
n
f 2
n
( )
= (1.6 10 )(0.150)
1 ( )
f 2
n
Limit on spring force:
f 2
n
( )
= 240
1 ( )
f 2
n
f 2
n
| Fm | 120 N
( )
240
1 ( )
f 2
n
f 2
n
120 or
( )
1 ( )
f 2
n
f 2
n
1
2
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2266
2262
In phase motion.
( )
1 ( )
f 2
n
f
n
1
2
f
1 1 f
2 2 n
n
f 1
3 f
1

n 3
2 n
2
1
f
n
3
Out of phase motion.
f 8.16 rad/s
( ) 1
( ) 1 2
f 2
n
f 2
n
f
1 f
1

2 n
2
n
2
f
1

2
n
No solution for f .
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2263 2267
PROBLEM 19.106
Rod AB is rigidly attached to the frame of a motor running at a
constant speed. When a collar of mass m is placed on the spring, it is
observed to vibrate with an amplitude of 15 mm. When two collars,
each of mass m, are placed on the spring, the amplitude is observed
to be 18 mm. What amplitude of vibration should be expected when
three collars, each of mass m, are placed on the spring? (Obtain two
answers.)
SOLUTION
(a)
One collar:
( xm )1 = 15 mm
(n )12 =
k
m
(b)
Two collars:
( xm )2 = 18 mm
(n ) 22 =
k
1
= (n )12
2m 2
= 2
n 2
n 1
(c)
Three collars:
( xm )3 = unknown, (n )32 =
k
1
= (n )12 ,
3m 3
= 3
n 3
n 1
We also note that the amplitude m of the displacement of the base remains constant.
Referring to Section 19.7, Figure 19.9, we note that, since ( xm )2 ( xm )1 and
have
(n )1
1 and ( xm )1 0. However,
(n )2
(n )2
(n )1
, we must
may be either 1 or 1, with ( xm ) 2 being
correspondingly either 0 or 0.
1.
Assuming ( xm ) 2 0:
For one collar,
( xm )1 =
+ 15 mm =
+ 18 mm =
n 1
(1)
n 1
For two collars,

( xm )2 =
n 2

1 2
n 1
(2)
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2268
2264

Dividing Eq. (2) by Eq. (1), member by member:
2
n 1

1
1.2 =
; we find
=
2

n 1 7
1 2
n 1
Substituting into Eq. (1),
m = (15 mm) 1
1 90
=
mm
7 7
For three collars,

90
7 mm 90

=
=
( xm )3 =
mm,
2
4
1

1 3
1 3
2.
( xm )3 = 22.5 mm
Assuming ( xm ) 2 0:
For two collars, we have
18 mm =
(3)

1 2
n 1
Dividing Eq. (3) by Eq. (1), member by member:

2
1.2 =
n 1

1 2
n 1
2

1.2 + 2.4
=1
n 1
n 1
2

2.2 1.1
=
3.4
1.7
n 1
Substitute into Eq. (1),
m = (15 mm) 1
1.1
9
mm
=
1.7 1.7
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2265 2269

For three collars,
9
1.7
m
= 9 mm ,
=
( xm )3 =
2
1.6
1.1

1 3
1 3
1.7
n 1
( xm )3 = 5.63 mm
(out of phase)
Points corresponding to the two solutions are indicated below:
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2270
2266
PROBLEM 19.107
A cantilever beam AB supports a block which causes a static
deflection of 50 mm at B. Assuming that the support at A undergoes a
vertical periodic displacement = m sin f t , where m = 12 mm,
determine the range of values of f for which the amplitude of
the motion of the block will be less than 25 mm. Neglect the weight
of the beam and assume that the block does not leave the beam.
SOLUTION
For the static condition.
mg = k ST
Natural circular frequency.
n =
k
g
=
ST
m
g = 9.81 m/s, ST = 0.05 m
n =
( xm ) B =
From Eqs. (19.31 and 19.33):
Conditions:
In phase motion.
| xm |B
0.012
1
( )
f 2
n
f
1
n
( )
( )
f 2
n
m = 0.012 m
0.025 m
0.025
0.48
0.012
f 2
n
0.42
Out of phase motion.
9.81
= 14.007 rad/s
0.05
f
n
0.42 n
9.08 rad/s
0.025
f
n
f
n
0.48
1.48
1.48 n
17.04 rad/s
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2267
2271
PROBLEM 19.108
A variable-speed motor is rigidly attached to a beam BC. When the
speed of the motor is less than 600 rpm or more than 1200 rpm, a
small object placed at A is observed to remain in contact with the
beam. For speeds between 600 and 1200 rpm the object is observed
to dance and actually to lose contact with the beam. Determine the
speed at which resonance will occur.
SOLUTION
Let m be the unbalanced mass and r the eccentricity of the unbalanced mass. The vertical force exerted on
the beam due to the rotating unbalanced mass is
P = mr 2f sin f t = Pm sin f t
Then from Eq. 19.33,
xm =
Pm
k
( )
f 2
n
mr 2f
k
( )
f 2
n
For simple harmonic motion, the acceleration is

am =
2f xm
mr 4f
k
( )
f 2
n
When the object loses contact with the beam is | am |. Acceleration is greater than g. Let
1 = 600 rpm = 62.832 rad/s.
| am |1 =
mr 14
k
( )
1 2
n
mrn4U 4
k
2
(1)
1U
1
.
n
where
U=
Let
2 = 1200 rpm = 125.664 rad/s = 21

| am | 2 =
mr 24
k
2
( )
2
n
mrn4 (2U )4
k
2
4U 1
(2)
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2272
2268

1=
4U 2 1
16(1 U 2 )
20U 2 = 17
1
17
=
20
n
U=
or 16 16U 2 = 4U 2 1
17
20
n =
20
1 = 1.08465 1
17
n = (1.08465)(600 rpm)
n = 651 rpm
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2269 2273
PROBLEM 19.109
An 8-kg block A slides in a vertical frictionless slot and is connected to a
moving support B by means of a spring AB of constant k = 120 N/m. Knowing
that the acceleration of the support is a = am sin f t , where am = 1.5 m/s2
and f = 5 rad/s, determine (a) the maximum displacement of block A, (b) the
amplitude of the fluctuating force exerted by the spring on the block.
SOLUTION
(a)
Support motion.
a = = am sin f t
a
m
sin f t
2f
=
m =
am
2f
1.5 m/s 2
= 0.06 m
(5 rad/s) 2
From Equation (19.31 and 19.33):

xm =
xm =
(b)
m
1
2f
n2
n2 =
k 120 N/m
=
= 15(rad/s) 2
m
8 kg
0.06
= 0.09 m
25
1 ( 15
)
xm = 90.0 mm
x is out of phase with for f = 5 rad/s.

Thus,
Fm = k ( xm + m ) = 120 N/m (0.09 m + 0.06 m)
Fm = 18.00 N
= 18 N
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2274
2270
PROBLEM 19.110
A 20-g ball is connected to a paddle by means of an elastic cord AB
of constant k = 7.5 N/m. Knowing that the paddle is moved vertically
according to the relation = m sin f t , where m = 200 mm, determine the maximum allowable circular frequency f if the cord is
not to become slack.
SOLUTION
k ( x) = mx
F = ma
From Equation (19.31 and 19.33):
Data:
xm =
x+
k
x =
m
m
1
2f
n2
m = 0.02 kg
k = 7.5 N/m
n =
=
m = 0.2 m
k
m
7.5
0.02
= 19.365 rad/s
The cord becomes slack if xm m exceeds ST , where
ST =
W (0.02 9.81 N)
=
= 0.02616 m
7.5 N/m
k
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2271
2275
0.2
Then
1
( )
f 2
n
0.2
0.2 0.2 + 0.2
0.2616
0.02616
0.02616 0.02616
n
f
n
f
n
0.02616
0.02616
= 0.3162
0.2616
Maximum allowable circular frequency.

f (0.3162)(19.365 rad/s)
6.12 rad/s
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2276
2272
PROBLEM 19.111
A simple pendulum of length l is suspended from a collar C, which is
forced to move horizontally according to the relation xC = m sin f t.
Determine the range of values of f for which the amplitude of the
motion of the bob is less than m . (Assume that m is small compared
with the length l of the pendulum.)
SOLUTION
x = xC + l sin
Geometry.
sin =
x xC
l
Fy = ma y 0: T cos mg = 0 T mg
T sin = mx
Fx = max :
m
x+
mg ( x xC )
=0
l
g
g
x + x = xC
l
l
Using the given motion of xC,
x+
Circular natural frequency.
g
g
x = m sin f t
l
l
n =
g
l
x + n2 x = n2 m sin f t
xm =
xm2 =
Consider
m
1
( )
f 2
n
m2
( )
f
n
m2
xm2 = m2 .
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2273 2277
Then
2
4
2
f f
f
1
= 1 2
+
=1
n n
n
f
f
= 0 and
=2
n
n
f
f
= 2
= 0 and
n
n
For
For
Then
f
2, | xm | m
n
f
2, | xm | n
n
f 2 n =
2g
l
2g
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2278
2274
PROBLEM 19.112
The 1.2-kg bob of a simple pendulum of length l = 600 mm is suspended
from a 1.4-kg collar C. The collar is forced to move according to the relation
xC = m sin f t , with an amplitude m = 10 mm and a frequency ff = 0.5 Hz.
Determine (a) the amplitude of the motion of the bob, (b) the force that must
be applied to collar C to maintain the motion.
SOLUTION
(a)
Fx = max
T sin = mx
Fy = T cos mg = 0
For small angles cos 1. Acceleration in the y direction is second order and is neglected.
T = mg
mx = mg sin
x xc
l
mg
g
mg
mx +
x = xc =
m sin f t
l
l
l
g
n2 =
l
2
x + n x = n2 m sin f t
sin =
From Equation (19.33):

xm =
So
m
1
2f
n2
2f = (2 f n ) 2 = 4 2 (0.5) 2 = 2 s 2
n2 =
xm =
g 9.81 m/s 2
= 16.35 s 2
=
0.600 m
l
10 103 m
2
1 16.35
= 0.02523 m
xm = 25.2 mm
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2275 2279

(b)
ac =
xc = m 2f sin f t
Fx = mc ac
F T sin = mc ac
T = mg , sin =
From Part (a):

Thus,
x xc
l
x xc
xc
F = mg
+ mc
l
xc
= mn2 x + mn2 xc + mc
= mn2 xm sin f t + mn2 m sin f t mc 2f m sin f t
= [ (1.2)(16.35)(0.02523) + (1.2)(16.35)(10 103 ) (1.4) 2 (10 103 )]sin t
= 0.437sin t
F = 0.437 sin t (N)
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2280
2276
PROBLEM 19.113
A motor of mass M is supported by springs with an equivalent spring constant k. The unbalance of its rotor is
equivalent to a mass m located at a distance r from the axis of rotation. Show that when the angular velocity
of the motor is f , the amplitude xm of the motion of the motor is
xm =
( )
1 ( )
r ( Mm )
f 2
n
f 2
n
k
.
M
where n =
SOLUTION
Rotor
Motor
F = ma Pm sin f t kx = Mx
Mx + kx = Pm sin f t
x+
P
k
x = m sin f t
m
M
k
n2 =
M

xm =
But
Pm
k
( )
f 2
n
2
Pm mr f
=
k
k
k = M n2
Pm
m f
= r
k
M n
xm =
Thus,
( )
1 ( )
r ( Mm )
f 2
n
f 2
n
Q.E.D.
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2277 2281
PROBLEM 19.114
As the rotational speed of a spring-supported 100-kg motor is increased, the amplitude of the vibration due to
the unbalance of its 15-kg rotor first increases and then decreases. It is observed that as very high speeds are
reached, the amplitude of the vibration approaches 3.3 mm. Determine the distance between the mass center
of the rotor and its axis of rotation. (Hint: Use the formula derived in Problem 19.113.)
SOLUTION
Use the equation derived in Problem 19.113 (above).
xm =
For very high speeds,
thus,
( )
1 ( )
r ( Mm )
f 2
n
( )
f
n
f 2
n
r ( Mm )
1
( )
0 and
f 2
n
xm
rm
,
M
15
3.3 mm = r
100
r = 22 mm
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2282
2278
PROBLEM 19.115
A motor of mass 200 kg is supported by springs having a total constant of 240 kN/m. The unbalance of the
rotor is equivalent to a 30-g mass located 200 mm from the axis of rotation. Determine the range of allowable
values of the motor speed if the amplitude of the vibration is not to exceed 1.5 mm.
SOLUTION
Let M = mass of motor, m = unbalance mass, r = eccentricity
M = 200 kg
m = 0.03 kg
r = 0.2 m
k = 240 kN/m
240,000
= 34.64 rad/s
200
k
=
M
n =
rm (0.2)(0.03)
=
M
200
= 30 106 m
From the derivation given in Problem 19.113,

xm =
In phase motion with | xm |
)
1 ( )
( rmM ) (
30 106
f
n
( )
1 ( )
f 2
n
f 2
n
0.0015 m
( )
1 ( )
30 106
f 2
n
f 2
n
30 10
0.0015 0.0015
0.00153
n
f
n
0.0015
0.0015
0.0015
= 0.99015
0.00153
(0.99015)(34.64) = 32.299 rad/s
328 rpm
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2279 2283

Out of phase motion with | xm | = 0.0015 m
30 106
( )
f
n
30 10
( )
f 2
n
0.0015
f
n
0.0015
f
n
f
f
0.0015
n
f
0.00147
n
0.0015
2
0.0015
= 1.02041
0.00147
(1.02041)(34.64) = 35.347 rad/s
338 rpm
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2284
2280
PROBLEM 19.116
As the rotational speed of a spring-supported motor is slowly increased from 300 to 500 rpm, the amplitude of
the vibration due to the unbalance of its rotor is observed to increase continuously from 1.5 to 6 mm.
Determine the speed at which resonance will occur.
SOLUTION
Let m be the mass of rotor of the motor and m the total mass of the motor. Let e be the distance from the
rotor axis to the mass center of the rotor. The magnitude of centrifugal force due to unbalance of the rotor is
Pm = me 2f
and in rotation, the unbalanced force is

Pm sin f t = me 2f sin f t
The equation of motion of the spring mounted motor is

mx + kx = me 2f sin f t = Pm sin f t
xm =
xm =
Case 1.
Pm
k
( )
f 2
n
me 2f
k
( )
f 2
n
f = 1 = 300 rpm =
C 2f
( )
f 2
n
2 (300)
= 10 rad/s
60
| xm | = x1 = 1.5 mm
Case 2.
f 1 = 2 = 500 rpm =
2 (500) 50
rad/s
=
60
3
| xm | = x2 = 6 mm
x2
6
=
=4=
x1 1.5
12 1 +
2
2

1
2
2
2
41 1
= 2 1 1

n
n
22 1 +
( )
( )
1
n
2 2
z
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2281 2285

Multiplying by n2 and transposing terms,
(412 22 )n2 31222 = 0
n2 =
31222
412
22
(3)(986.96)(2741.56)
= 6729.3 (rad/s) 2
3947.84 2741.56
n = 82.032 rad/s
n = 783 rpm
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2286
2282
PROBLEM 19.117
A 100-kg motor is bolted to a light horizontal beam. The unbalance of
its rotor is equivalent to a mass of 60 g located 100 mm from the axis of
rotation. Knowing that resonance occurs at a motor speed of 400 rpm,
determine the amplitude of the steady-state vibration at (a) 800 rpm,
(b) 200 rpm, (c) 425 rpm.
SOLUTION
From Problem 19.113:
xm =
( )
1 ( )
f 2
n
r ( Mm )
n
f
Resonance at 400 rpm means that n = 400 rpm.

r
m
(0.06)
= (0.1 m)
= 60 106 m
M
(100)
2
(a)
xm =
2
(b)
xm =
(c)
f
n
425
400
800
400
=4
60 106(4)
14
200
400
xm = 0.08 mm
1
4
60 106 ( 14 )
1 14
xm = 0.02 mm
= 1.1289
xm =
60 106 (1.1289)
1 1.1289
xm = 0.53 mm
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2283 2287
PROBLEM 19.118
A 180-kg motor is bolted to a light horizontal beam. The unbalance of
its rotor is equivalent to a 28-g mass located 150 mm from the axis of
rotation, and the static deflection of the beam due to the weight of the
motor is 12 mm. The amplitude of the vibration due to the unbalance
can be decreased by adding a plate to the base of the motor. If the
amplitude of vibration is to be less than 60 m for motor speeds above
300 rpm, determine the required mass of the plate.
SOLUTION
M1 = 180 kg, m = 28 103 kg
Before the plate is added,
r = 150 mm = 0.150 m
k=
Equivalent spring constant:
k=
W1
ST
M1 g
ST
(180)(9.81)
= 147.15 103 N/m
3
12 10
Let M2 be the mass of motor plus the plate.

k
M2
n =
Forcing frequency:
f = 300 rpm = 31.416 rad/s

2
2f M 2 (31.416) 2 M 2
f
=
=
= 0.006707 M 2
k
147.15 103
n
From the derivation in Problem 19.113,
xm
For out of phase motion with
( )( )
=
rm
M2
f 2
n
( )
f 2
n
xm = 60 106 m,
60 10
(0.150)(28103 ) (0.006707 M )
2
M2
=
1 0.006707 M 2
60 106 + (60 106 )(0.006707)M 2 = 28.170 106

402.49 109 M 2 = 88.170 106
M 2 = 219.10 kg
Added mass:
M = M 2 M1 = 219.10 180
M = 39.1 kg
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2288
2284
PROBLEM 19.119
The unbalance of the rotor of a 200-kg motor is equivalent to a 100-g mass
located 150 mm from the axis of rotation. In order to limit to 1 N the
amplitude of the fluctuating force exerted on the foundation when the motor
is run at speeds of 100 rpm and above, a pad is to be placed between the
motor and the foundation. Determine (a) the maximum allowable spring
constant k of the pad, (b) the corresponding amplitude of the fluctuating
force exerted on the foundation when the motor is run at 200 rpm.
SOLUTION
Mass of motor.
M = 200 kg
Unbalance mass.
m = 0.1 kg
r = 0.15 m
Eccentricity.
Equation of motion:
Mx + kx = Pm sin f t = mr 2f sin f t
( M 2f + k ) xm = mr 2f
xm =
Fm = kxm =
Transmitted force.
For out of phase motion,

(a)
| Fm | =
mr 2f
k M 2f
kmr 2f
k M 2f
kmr 2f
(1)
M 2f k
Required value of k.
Solve Eq. (1) for k.
| Fm | ( M 2f k ) = kmr 2f
k (mr 2f + | Fm |) = | Fm | M 2f
k=
Data:
| Fm | = 1 N
| Fm | M 2f
mr 2f + | Fm |
f = 100 rpm = 10.472 rad/s

k=
(1)(200)(10.472)2
= 8292 N/m
(0.1)(0.15)(10.472)2 + 1
k = 8.29 kN/m
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2285
2289
(b)
Force amplitude at 200 rpm.
f = 20.944 rad/s
From Eq. (1),
| Fm | =
(8292)(0.1)(0.15)(20.944)2
(200)(20.944)2 8292
| Fm | = 0.69 N
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2290
2286
PROBLEM 19.120
A 180-kg motor is supported by springs of total constant 150 kN/m. The unbalance of the rotor is equivalent
to a 28-g mass located 150 mm from the axis of rotation. Determine the range of speeds of the motor for
which the amplitude of the fluctuating force exerted on the foundation is less than 20 N.
SOLUTION
xm
Equation derived in Problem 19.113:
)
=
1 ( )
( rmM ) (
f 2
n
Fm = kxm =
Force transmitted:
( kmr
M )(
( )
f
n
k = 150 kN/m = 150 103 N/m

r = 150 mm = 0.150 m
Data:
m = 28 g = 28 103 kg
M = 180 kg
krm (150 103 )(0.150)(28 103 )
=
= 3.5 N
M
180
150 103
k
= 28.868 rad/s
=
180
M
n =
In phase motion with | Fm | 20 N.
( )
1 ( )
3.5
f 2
n
f 2
n
20
f
f
3.5
20 20
n
n
f
23.5
20
n
f
n
20
23.5
20
(28.868) = 26.63 rad/s
23.5
f 254 rpm
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2287 2291

Out of phase motion with | Fm | 20 N.
( ) 20
( ) 1
3.5
f 2
n
f 2
n
f
f
3.5
20
20
n
n
f
20 16.5
f
20
20
(28.868) = 31.78 rad/s
f
n
16.5
16.5
f 304 rpm
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2292
2288
PROBLEM 19.121
A vibrometer used to measure the amplitude of vibrations
consists essentially of a box containing a mass-spring system
with a known natural frequency of 120 Hz. The box is rigidly
attached to a surface, which is moving according to the equation
y = m sin f t. If the amplitude zm of the motion of the mass
relative to the box is used as a measure of the amplitude m of
the vibration of the surface, determine (a) the percent error when
the frequency of the vibration is 600 Hz, (b) the frequency at
which the error is zero.
SOLUTION
m
x=
2f sin f t
1 2
n
y = m sin f t
z = relative motion
m
z = x y = 2f m sin f t
1 2
1
m 2f
1
n
=
zm = m 2f
2
1
2
1 f
n
n2
(a)
zm
2f
2f
600
( 120
) = 25 = 1.0417
=
2
600
1 ( 120
) 24
2
n2
n2
Error = 4.17%
(b)
zm
=1=
1= 2
ff =
2f
n2
2f
n2
2f
n2
2
2
(120) = 84.853 Hz
fn =
2
2
f n = 84.9 Hz
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2289 2293
PROBLEM 19.122
A certain accelerometer consists essentially of a box containing a
mass-spring system with a known natural frequency of 2200 Hz.
The box is rigidly attached to a surface, which is moving according
to the equation y = m sin f t. If the amplitude zm of the motion of
the mass relative to the box times a scale factor n2 is used as a
measure of the maximum acceleration am = m 2f of the vibrating
surface, determine the percent error when the frequency of the
vibration is 600 Hz.
SOLUTION
m
x=
2f sin f t
1 2
n
y = m sin f t
z = relative motion
m
z = x y = 2f m sin f t
1 2
1
m 2f
1
n
=
zm = m 2f
2
1
2
1 f
n
n2
The actual acceleration is

The measurement is proportional to
Then
am = 2f m
zmn2 .
zmn2 zm n
=
m f
am
1
=
2
1 f
( )
n
600
1 ( 2200
)
= 1.0804
Error = 8.04%
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2294
2290
PROBLEM 19.123
Figures (1) and (2) show how springs can be used to support a
block in two different situations. In Figure (1), they help
decrease the amplitude of the fluctuating force transmitted by
the block to the foundation. In Figure (2), they help decrease
the amplitude of the fluctuating displacement transmitted by the
foundation to the block. The ratio of the transmitted force to
the impressed force or the ratio of the transmitted displacement
to the impressed displacement is called the transmissibility.
Derive an equation for the transmissibility for each situation.
Give your answer in terms of the ratio f /n of the frequency
f of the impressed force or impressed displacement to the
natural frequency n of the spring-mass system. Show that in
order to cause any reduction in transmissibility, the ratio
f /n must be greater than 2.
SOLUTION
(1)
xm =
Force transmitted:
Pm
k
( )
f 2
n
( PT )m = kxm = k
1
Pm
k
( )
f
n
Thus,
(2)
Transmissibility =
( PT )m
=
Pm
( )
f 2
n

Displacement transmitted:
For
( PT ) m
Pm
or
xm
xm =
m
1
( )
f
n
to be less than 1,
1
( )
f 2
n
1 1
Transmissibility =
xm
=
1
( )
f 2
n
( )
f 2
n
2
n
f
2 Q.E.D.
n
MATERIAL.
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2291 2295
PROBLEM 19.124
A 30-kg disk is attached with an eccentricity e = 0.15 mm to the midpoint of a
vertical shaft AB, which revolves at a constant angular velocity f . Knowing
that the spring constant k for horizontal movement of the disk is 650 kN/m,
determine (a) the angular velocity f at which resonance will occur, (b) the
deflection r of the shaft when f = 1200 rpm.
SOLUTION
G describes a circle about the axis AB of radius r + e.

Thus,
an = ( r + e) 2f
Deflection of the shaft is
F = kr
Thus,
F = man
kr = m(r + e) 2f
n2 =
k
m
kr =
r=
m=
n2
e
n2
(r + e) 2f
2f
n2
2f
n2
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2296
2292
(a)
Resonance occurs when
f = n , i.e., r
n =
k
m
650,000
30
= 147.2 rad/s
= 1405.7 rpm
=
(b)
r=
n = f = 1406 rpm
1200
(0.15 mm) ( 1405.7
)
1200
1 ( 1405.7
)
= 0.403 mm
r = 0.403 mm
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2293 2297
PROBLEM 19.125
A small trailer and its load have a total mass of 250 kg. The trailer
is supported by two springs, each of constant 10 kN/m, and is
pulled over a road, the surface of which can be approximated by a
sine curve with an amplitude of 40 mm and a wavelength of 5 m
(i.e., the distance between successive crests is 5 m and the vertical
distance from crest to trough is 80 mm). Determine (a) the speed at
which resonance will occur, (b) the amplitude of the vibration of
the trailer at a speed of 50 km/h.
SOLUTION
Total spring constant
k = 2(10 103 N/m)

= 20 103 N/m
k 20 103 N/m
= 80 s 2
=
m
250 kg
=5m
n2 =
(a)
m = 40 mm = 40 103 m
y = m sin
x = vt
v
y = m sin t , =
v
so
y = 40 103 sin f t
xm =
Resonance:
f =
and
f =
where
f =
2 v
Amplitude at
2 v
5
m
1 2f
2
n
2 v
= n = 80 s 1 ,
5
v = 7.1176 m/s
(b)
v = 25.6 km/h
v = 50 km/h = 13.8889 m/s

2 (13.8889)
= 17.4533 rad/s
5
2f = 304.60 s 2
f =
xm =
40 103
= 14.246 103 m
1 304.62
80
xm = 14.25 mm
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2298
2294
PROBLEM 19.126
Block A can move without friction in the slot as shown and is acted upon by
a vertical periodic force of magnitude P = Pm sin f t , where f = 2 rad/s
and Pm = 20 N. A spring of constant k is attached to the bottom of block A
and to a 22-kg block B. Determine (a) the value of the constant k which will
prevent a steady-state vibration of block A, (b) the corresponding amplitude
of the vibration of block B.
SOLUTION
In steady state vibration, block A does not move and therefore, remains in its original equilibrium position.
Block A:
F = 0
kx = Pm sin f t
Block B:
(1)
F = mB
x
mB
x + kx = 0
x = xm sin n t
n2 = k/mB
From Eq. (1):
kxm sin n t = Pm sin f t
n = f = 2 rad/s
kxm = Pm
n =
k
mB
k = mBn2
k = (22)(2) 2
(a)
Required spring constant.
(b)
Corresponding amplitude of vibration of B.
k = 88.0 N/m
kxm = Pm
Pm
k
20 N
xm =
88 N/m
xm =
xm = 0.227 N/m
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2295 2299
PROBLEM 19.127
Show that in the case of heavy damping (c cc ), a body never passes through its position of equilibrium O
(a) if it is released with no initial velocity from an arbitrary position or (b) if it is started from O with an
arbitrary initial velocity.
SOLUTION
Since c cc , we use Equation (19.42), where
1 0, 2 0
x = c1e1t + c2 e2t
v=
(a)
t = 0, x = x0 ,
(1)
dx
= c11e1t + c2 2 e2t
dt
(2)
v = 0:
x0 = c1 + c2
From Eqs. (1) and (2):
0 = c11 + c2 2
c1 =
Solving for c1 and c2 ,
x0
2 1
1
c2 =
x
2 x1 0
x=
Substituting for c1 and c2 in Eq. (1),
x2
2 e1t 1e2t
2 1
For x = 0: when t , we must have
1e2t 2 e1t = 0
2
= e(2 1 )t
1
(3)
Recall that
1 0, 2 0. Choosing 1 and 2 so that 1 2 0, we have

0
2
1 and 2 1 0
1
Thus a positive solution for t 0 for Equation (3) cannot exist, since it would require that e raised to a
positive power be less than 1, which is impossible. Thus, x is never 0.
The x t curve for
this case is as shown.
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2300
2296

(b)
t = 0, x = 0, v = v0 :
Equations (1) and (2) yield

0 = c1 + c2
v0 = c11 + c2 2
c1 =
c2 =
v0
2 1
v2
2 1
v0
[e2t e1t ]
2 1
x=
For x = 0,
t
e2t = e1t
For c cc , 1 2 ; thus, no solution can exist for t, and x is never 0.

The x t curve for this
motion is as shown.
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2297 2301
PROBLEM 19.128
Show that in the case of heavy damping (c cc ), a body released from an arbitrary position with an arbitrary
initial velocity cannot pass more than once through its equilibrium position.
SOLUTION
Substitute the initial conditions, t = 0, x = x0 , v = v0 in Equations (1) and (2) of Problem 19.127.
v0 = c11 + c2 2
x0 = c1 + c2
c1 =
c2 =
x=
And substituting in Eq. (1)

For x = 0, t :
(v0 2 x0 )
2 1
(v0 1 x0 )
2 1
1
(v x )e2t (v0 2 x0 )e1t
2 1 0 1 0
(v0 1 x0 )e2t = (v0 2 x0 )e1t

e( 2 1 )t =
t=
(v0 2 x0 )
(v0 1 x0 )
v 2 x0
1
ln 0
(2 1 ) v0 1 x0
This defines one value of t only for x = 0, which will exist if the natural log is positive,
i.e., if
v0 2 x0
v0 1 x0
1. Assuming 1 2 0,
this occurs if v0 1 x0 .
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2302
2298
PROBLEM 19.129
In the case of light damping, the displacements x1, x2 , x3, shown in Figure 19.11 may be assumed equal to
the maximum displacements. Show that the ratio of any two successive maximum displacements xn and xn +1
is constant and that the natural logarithm of this ratio, called the logarithmic decrement, is
ln
xn
2 (c/cc )
=
xn +1
1 (c/cc ) 2
SOLUTION
For light damping,
( 2cm )t sin( t + )
0
Equation (19.46):
x = x0 e
At given maximum displacement,
t = tn , x = xn
sin(0tn + ) = 1
xn = x0 e
t = tn +1 , x = xn +1
At next maximum displacement,
sin(0tn +1 + ) = 1
xn +1 = x0 e
But
( 2cm )tn
( 2cm )tn + 1
D tn +1 D tn = 2
2
tn +1 tn =
D
xn
x e 2m n
= 0ct
xn +1 x0 e 2 m n+1
Ratio of successive displacements:
=e
Thus,
ln
2cm ( tn tn+1 )
ln
c 2
2 m D
(1)
c
1
cc
c
c
D = c 1
2m
c
Thus,
xn
c
=
xn +1 mD
D = n
From Equations (19.45) and (19.41):
=e
xn
c 2m
=
xn +1 m cc
1
c
1
cc
ln
2
xn
=
xn +1
1
( )
( )
c
cc
c
cc
Q.E.D.
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2299 2303
PROBLEM 19.130
In practice, it is often difficult to determine the logarithmic decrement of a system with light damping defined
in Problem 19.129 by measuring two successive maximum displacements. Show that the logarithmic
decrement can also be expressed as (1/k ) ln ( xn /xn + k ), where k is the number of cycles between readings of
the maximum displacement.
SOLUTION
As in Problem 19.129, for maximum displacements xn and xn + k at tn and t n + k , sin(0 tn + ) = 1
and sin(n tn + k + ) = 1.
( 2cm )tn
xn + k = x0 e
( 2cm )(tn+k )
( c )t
c t t
xn
x e 2m n
= 0 c
= e 2 m ( n n+ k )
t
xn + k x e( 2 m ) n+k
0
Ratio of maximum displacements:

But
xn = x0 e
D tn + k D tn = k (2 )
2
tn tn + k = k
D
xn
c 2k
=+
xn + k
2m D
x
c
ln n = k
xn + k
mD
Thus,
(2)
But from Problem 19.129, Equation (1):

log decrement = ln
xn
c
=
xn +1 mD
Comparing with Equation (2),
log decrement =
x
1
ln n Q.E.D.
k xn + k
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2304
2300
PROBLEM 19.131
In a system with light damping (c cc ), the period of vibration is commonly defined as the time interval
d = 2 /d corresponding to two successive points where the displacement-time curve touches one of the
limiting curves shown in Figure 19.11. Show that the interval of time (a) between a maximum positive
displacement and the following maximum negative displacement is 12 d , (b) between two successive zero
displacements is 12 d , (c) between a maximum positive displacement and the following zero displacement is
greater than 14 d .
SOLUTION
x = x0 e
Equation (19.46):
(a)
( 2cm )t sin( t + )
D
Maxima (positive or negative) when x = 0:

( c )t
c ( 2cm )t
sin(D t + ) + x0 D e 2 m cos(D t + )
x = x0
e
2m
Thus, zero velocities occur at times when

x = 0, or tan( D t + ) =
2mD
c
(1)
The time to the first zero velocity, t1 , is

tan 1
t1 =
2 mD
c
(2)
The time to the next zero velocity where the displacement is negative is
t1 =
tan 1
2 mD
c
) +
(3)

t1 t1 =
D D
=
=
Q.E.D.
D
2
2
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2301 2305
(b)
Zero displacements occur when

sin( t + ) = 0 or at intervals of
D t + = , 2 n
Thus,
Time between
(c)
The first maxima occurs at 1:
(t1 )0 = ( )
and (t1 )0 =
0s = (t1 )0 (t1 )0 =
(2 )
D
=
D D
=
Q.E.D.
2
2
Plot of Equation (1)

(D t1 + )
The first zero occurs at
(D (t1 )0 + ) =
From the above plot,
(D (t1 )0 + ) (D t1 + )
or
(t1 )0 t1
2D
(t1 )0 t1
D
4
Q.E.D.
Similar proofs can be made for subsequent maximum and minimum.
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2306
2302
PROBLEM 19.132
The block shown is depressed 30 mm from its equilibrium position and released.
Knowing that after 10 cycles the maximum displacement of the block is 12.5 mm
determine (a) the damping factor c/c, (b) the value of the coefficient of viscous
damping. (Hint: See Problems 19.129 and 19.130.)
SOLUTION
From Problems 19.130 and 19.129:
2
xn
1
=
ln
xn + k
k
c
cc
( )
c
cc
where k = number of cycles = 10
(a)
x1 = 30 mm
First maximum is
x1
Thus, n = 1
x1 + 10
30
= 2.4
12.5
1
ln 2.4 = 0.08755
10
2 cc
c
=
c
1
cc
c
1
cc
Damping factor.
c
cc
2
0.08755
2
=
0.08755
c
cc
+1 =1
c
cc
1
( 5150 + 1)
= 0.0001941
c
= 0.01393
cc
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2303
2307
(b)
k
m
Critical damping coefficient.
cc = 2m
or
cc = 2 km
(Eq. 19.41)
cc = 2 (175 N/m)(4 kg)

cc = 52.915 N s/m
From Part (a),
c
= 0.01393
cc
c = (0.01393)(52.915)
c = 0.737 N s/m
Coefficient of viscous damping.
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2308
2304
PROBLEM 19.133
A loaded railroad car weighing 15,000 kg is rolling at a constant velocity v0 when it couples with a spring and
dashpot bumper system (Figure 1). The recorded displacement-time curve of the loaded railroad car after
coupling is as shown (Figure 2). Determine (a) the damping constant, (b) the spring constant. (Hint: Use the
definition of logarithmic decrement given in Problem 19.129.)
SOLUTION
m = 15,000 kg
Mass of railroad car:
The differential equation of motion for the system is

mx + cx + kx = 0
For light damping, the solution is given by Eq. (19.44):

x=e
( 2cm )t (c sin t + c cos t )

1
2
d
d
From the displacement versus time curve,
d = 0.41 s
2
2
= 15.325 rad/s
=
d =
d 0.41
At the first peak, x1 = 12.5 mm and t = t1.
At the second peak, x2 = 3 mm and t = t1 + d.
Forming the ratio
x2
x1
x2 e ( 2 m ) 1 d
( c ) d
=
= e 2m
c
( )t
x1
e 2m 1
c d
x1
= e 2m
x2
(t + )
(1)
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2305 2309

(a)
Damping constant.
From Eq. (1):
x
c d
= ln 1
2m
x2
c=
2m
ln
x1
x2
(2)(15,000) 12.5
ln
0.41
3
= 104,423 N s/m
=
(b)
c = 104.4 kN s/m
Spring constant.
Equation for d :
d2 =
k
c
m
2m
k = md2 +
c2
4m
= (15,000)(15.325)2 +
= 3704.6 103 N/m
(104,423)2
(4)(15,000)
k = 3704.6 kN/m
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2310
2306
PROBLEM 19.134
A 4-kg block A is dropped from a height of 800 mm onto a 9-kg block B
which is at rest. Block B is supported by a spring of constant k = 1500 N/m
and is attached to a dashpot of damping coefficient c = 230 N s/m.
Knowing that there is no rebound, determine the maximum distance the
blocks will move after the impact.
SOLUTION
Velocity of Block A just before impact.
v A = 2 gh
= 2(9.81)(0.8)
= 3.962 m/s
Velocity of Blocks A and B immediately after impact.

Conservation of momentum.
m Av A + mB vB = (m A + mB )v
(4)(3.962) + 0 = (4 + 9)v
v = 1.219 m/s
x0 = +1.219 m/s = x0
Static deflection (Block A):
mA g
k
(4)(9.82)
=
1500
= 0.02619 m
x0 =
x = 0, Equivalent position for both blocks:

cc = 2 km
= 2 (1500)(13)
= 279.3 N s/m
Since c < cc , Equation (19.44):
x=e
( 2cm )t [c sin t + c cos t ]

1
2
D
D
230
c
=
2m (2)(13)
= 8.846 s 1
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2307 2311
D2 =
Expression for D :
k c
m 2m
1500 230
13 (2)(13)
D =
= 6.094 rad/s
x = e8.846t (c1 sin 6.094t + c2 cos 6.094t )
Initial conditions:
x0 = 0.02619 m
(t = 0) x0 = +1.219 m/s
'
x0 = 0.02619 = e0 [c1 (0) + c2 (1)]

c2 = 0.02619
x (0) = 8.846e( 8.846)0 [c1 (0) + (0.02619)(1)]
+ e( 8.846)(0) [6.094c1 (1) + c2 (0)] = 1.219
1.219 = (8.846)(0.02619) + 6.094c1
c1 = 0.16202
x = e8.846t (0.16202sin 6.094t 0.02619cos 6.094t )
Maximum deflection occurs when
x = 0
x = 0 = 8.846e 8.846tm (0.16202sin 6.094tm 0.02619 cos 6.094tm )
+ e8.846tm [6.094][0.1620 cos 6.094tm + 0.02619sin 6.094tm ]
0 = [(8.846)(0.16202) + (6.094)(0.02619)]sin 6.094tm
+ [( 8.846)(0.02619) + (6.094)(0.1620)]cos 6.094tm
0 = 1.274sin 6.094t + 1.219cos 6.094t

1.219
= 0.957
tan 6.094t =
1.274
tan 1 0.957
= 0.1253 s
6.094
xm = e (8.846)(0.1253) [0.1620sin(6.094)(0.1253)
Time at maximum deflection = tm =
0.02619 cos(6.094)(0.1253)]
xm = (0.3301)(0.1120 0.0189) = 0.307 m
Blocks move, static deflection + xm
Total distance = 0.02619 + 0.307 = 0.0569 m = 56.9 mm
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2312
2308
PROBLEM 19.135
Solve Problem 19.134, assuming that the damping coefficient of the dashpot
is c = 300 N s/m.
SOLUTION
Velocity of Block A just before impact.
v A = 2 gh
= 2(9.81)(0.8)
= 3.962 m/s
Velocity of Blocks A and B immediately after impact.

Conservation of momentum.
m Av A + mB vB = (m A + mB )v
(4)(3.962) + 0 = (4 + 9)v
v = 1.219 m/s
x0 = +1.219 m/s = x0
Static deflection (Block A).
mA g
k
(4)(9.82)
=
1500
= 0.02619 m
x0 =
x = 0, Equivalent position for both blocks:

cc = 2 km
= 2 (1500)(13)
= 279.3 N s/m
Since c cc , the system is heavily damped.

Eq. 19.42:
x = c1e1t + c2 e2t
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2309 2313
Eq. 19.40:
k
c
c

m
m
2m
2
300
300 1500
=

26
13
26
= 11.538 4.213
1 = 15.751 s 1
2 = 7.325 s 1
x = c1e 15.751t + c2 e 7.325t
x = 15.751c1e11.751t 7.325c2 e 7.325t
Initial conditions:
Then
x0 = 0.02619 m
x0 = 1.219 m/s
0.02619 = c1 + c2
1.219 = 15.751c1 7.325c2
Solving the simultaneous equations,
c1 = 0.1219 m
c2 = 0.09571 m
Then
x = 0.1219e15.751t + 0.09571e7.325t
x = (15.751)(0.1219)e
15.751t
(m)
(7.325)(0.09571)e 7.325t
= 1.92e15.751t 0.70108e 7.325t
The maximum value of x occurs when x = 0

0 = 1.92e15.751tm 0.70108e 7.325tm
1.92e15.751tm = 0.70108e7.325tm
1.92
= e(15.751 0.7325)tm
0.70108
2.7386 = e8.426tm
8.426tm = ln(2.7386)
tm = 0.11956 s
xm = 0.1219e (15.751)(0.11956) + 0.09571e (7.325)(0.11956)
= 0.018542 + 0.039867
= 0.02132 m
Total deflection = static deflection + xm
= 0.02619 + 0.02132
= 0.04751 m
Total deflection = 47.5 mm
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2314
2310
PROBLEM 19.136
The barrel of a field gun has a mass of 750 kg and is returned into firing position after recoil by a recuperator
of constant c = 18 kN s/m. Determine (a) the constant k which should be used for the recuperator to return the
barrel into firing position in the shortest possible time without any oscillation, (b) the time needed for the
barrel to move back two-thirds of the way from its maximum-recoil position to its firing position.
SOLUTION
(a)
A critically damped system regains its equilibrium position in the shortest time.
c = cc
= 18 kN s/m
= 2m
k
m
( ) =( )
k=
cc
2
Then
(b)
18000
2
750
= 108 kN/m
For a critically damped system, Equation (19.43):

x = (c1 + c2 t )ent
We take t = 0 at maximum deflection x0 .

Thus,
x(0) = 0
x(0) = x0
Using the initial conditions,
x(0) = x0 = (c1 + 0)e0 ,

x = ( x0 + c2 t )e
and
so c1 = x0
n t
x = n ( x0 + c2 t )ent + c2 e nt
x(0) = 0 = n x0 + c2 , so c2 = n x0
Thus,
x = x0 (1 + n t )ent
For
x=
x0
1
,
= (1 + n t )e nt ,
3
3
k
m
108,000
= 12 s1
(750)
We obtain
n =
And since
n t = 2.289,
t=
with n =
2.289
= 0.19075
12
t = 0.1908 s
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2311
2315
PROBLEM 19.137
A uniform rod of mass m is supported by a pin at A and a
spring of constant k at B and is connected at D to a dashpot of
damping coefficient c. Determine in terms of m, k, and c, for
small oscillations, (a) the differential equation of motion,
(b) the critical damping coefficient cc .
SOLUTION
In equilibrium, the force in the spring is mg.
For small angles,
sin cos 1
l
yB =
2
yC = l
(a)
M A = (M A )eff
Newtons Law:
mgl l
l
l
k + mg cll = I + mat
2
2
2
2
Kinematics:
=
l
l
at = =
2
2
2
2
l
l
2
k
+
+
+
I
m
cl
2
2 =0

3c 3k
+ 4m = 0
m
1
l
I + m = ml 2
3
2
(b)
Substituting = e t into the differential equation obtained in (a), we obtain the characteristic
equation,
3k
3c
2 + +
=0
m
4
m

and obtain the roots
3c
m
( 3mc ) ( 3mk )
2
The critical damping coefficient, cc , is the value of c, for which the radicand is zero.
2
Thus,
3k
3cc
m = m
cc =
km
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2316
2312
PROBLEM 19.138
A 2-kg uniform rod is supported by a pin at O and a spring at
A, and is connected to a dashpot at B. Determine (a) the
differential equation of motion for small oscillations, (b) the
angle that the rod will form with the horizontal 1.5 s after end B
has been pushed 25 mm down and released.
SOLUTION
Small angles:
sin , cos 1
y A = (0.2 m) = 0.2
yG = (0.2 m) = 0.2
yB = (0.6 m) = 0.6
(a)
Newtons Law:
M 0 = (M 0 )eff
(0.2 m)Fs + (0.2 m)(2 g) (0.6 m)FD
= I + (0.2 m)mat
Fs = k ( y A + ( ST ) A ) = k
(1)
+ ( ST ) A
.
FD = c yB = c0.6q
I =
Kinematics:
Thus, from Eq. (1),
But in equilibrium,
1
1
ml 2 = m(0.8 m)2 = 0.0533 m
12
12
=,
at = (0.2 m) = 0.2
(0.0933 m) + (0.6)2 cq + (0.2k)

+ ( ST)A 0.4 g = 0
2
(2)
M 0 = 0
k ( ST ) A (0.2) (2 g)(0.2) = 0, 0.2k ( ST)A = 0.4 g
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2313
2317

Equation (2) becomes
.
0.0933 m + 0.36 cq + 0.1 k = 0
.
(0.0933)(2) m + (0.36)(8)q + (0.1)(50) = 0
(b)
0.1866 + 2.88 + 5 = 0
Substituting e t into the above differential equation,
0.1866 2 + 2.88 + 5 = 0
(2.88)2 4(0.1866)(5)
(2)(0.1866)
(2.88
(2.88
(4.5624)
(2)(0.1866)
= 7.717 5.723i
Since the roots are complex and conjugate (light damping), the solution to the differential equation is
(Eq. 19.46):
= 0 e7.717t sin (4.583t + )

Initial conditions.
(3)
( yB )(0) = 25 mm
(0) =
( yB ) 25
=
600
600
(0) = 0.0417 rad

(0) = 0
From Eq. (3):
(0) = 0.0417 = 0 sin

(0) = 0 = 7.717 0 sin + 5.7230 cos
tan =
5.723
7.717
= 0.6381 rad
0 =
0.0417
= 0.07 rad
sin (0.6381)
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2318
2314
= 0.07e7.717t sin (4.583t + 0.6381)
At t = 1.5 s,
= 0.07e(7.717)(1.5) sin (4.583)(1.5) + 0.6381)]

= 0.07e11.5755 sin (7.5126)
= (0.07) (9.393 106)(0.9423)
= 0.619 106 rad
= 35.5 106 degrees
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2315 2319
PROBLEM 19.139
A 500-kg machine element is supported by two springs, each of constant 50 kN/m. A periodic force of 150-N
amplitude is applied to the element with a frequency of 2.8 Hz. Knowing that the coefficient of damping
is 1.8 kN s/m, determine the amplitude of the steady-state vibration of the element.
SOLUTION
Eq. (19.52):
Total spring constant:
xm =
Pm
( k m )
2
f
+ (c f )2
k = (2)(50 kN/m)
= 100 kN/m
f = 2 f f = 2 (2.8) = 5.6 rad/s

m = 500 kg
Pm = 150 N
c = 18 kN s/m
xm =
150
[100,000 (500)(5.6 ) 2 ]2 + [18,000(5.6 )]2
= 0.000467 m
xm = 0.47 mm
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2320
2316
PROBLEM 19.140
In Problem 19.139, determine the required value of the constant of each spring if the amplitude of the steadystate vibration is to be 0.4 mm.
SOLUTION
f = 2 f f = (2 )(2.8) = 5.6 rad/s

Pm = 150 N
m = 500 kg
c =18 kN s/m
xm = 0.4 mm
xm =
Eq. (19.52):
Solve for k.
(k
m 2f ) 2
Pm
(k
m 2f ) 2
+ (c f ) 2
P
+ (c f ) = m
xm
2
k=
m 2f
Pm
xm
= (500)(5.6 ) +
2
(c f ) 2
150
0.0004
[(18000)(5.6 )]2
= 355612 N/m
The above calculated value is the equivalent spring constant for two springs.
For each spring, the spring constant is
k
.
2
k
= 177.8 kN/m
2
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2317 2321
PROBLEM 19.141
In the case of the forced vibration of a system, determine the range of values of the damping factor c/cc for
which the magnification factor will always decrease as the frequency ratio f /n increases.
SOLUTION
From Eq. (19.53) :

Magnification factor:
Find value of
xm
Pm
k
2
f 2
( )
+ 2

( )(
c
cc
f
n
f
x
c
for which there is no maximum for Pm as
increases.
m
cc
n
k
( )
d( )
d

2 1

xm 2
Pm
k
f 2
n
( ) ( 1) + 4
f 2
n
( )
f
n
+ 2
( ) (
c
cc
f
n
c2
cc2
=0
f
c2
2 + 2 + 4 2 = 0
n
cc
2
2
f =1 2 c
n
cc2
2
For
f
x
c2 1
, there is no maximum for m and the magnification factor will decrease as
increases.
2
P
m
n
2
cc
( )
k
c
1
cc
2
c
0.707
cc
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2322
2318
PROBLEM 19.142
Show that for a small value of the damping factor c/cc , the maximum amplitude of a forced vibration
occurs when f n and that the corresponding value of the magnification factor is 12 (c/cc ).
SOLUTION
From Eq. (19.53):
xm
Magnification factor =
Find value of
Pm
k
( )
f
n
2 2
+ 2
( ) (
c
cc
f
n
f
x
for which Pm is a maximum.
m
n
k
0=
( )
d( )
d

2 1

xm 2
Pm
k
f 2
n
( ) ( 1) + 4 ( )
f 2
n
2
f 2
( )
+ 2
c2
cc2
( )(
c
cc
f
n
f
c
2 + 2
+ 4 = 0
cc
n
For small
For
c
,
cc
f
1
n
f n
f
=1
n
xm
Pm
k
xm
[1 1]2 + 2 ( cc )1
c
( )
Pm
k
1 cc
2 c
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2319 2323
PROBLEM 19.143
A 50-kg motor is directly supported by a light horizontal beam, which
has a static deflection of 6 mm due to the weight of the motor. The
unbalance of the rotor is equivalent to a mass of 100 g located 75 mm
from the axis of rotation. Knowing that the amplitude of the vibration
of the motor is 0.8 mm at a speed of 400 rpm, determine (a) the
damping factor c/cc , (b) the coefficient of damping c.
SOLUTION
Spring constant:
k=
Natural undamped circular frequency:
ST
n =
mg
ST
(50)(9.81)
= 81.75 103 N m
6 103
k
81.75 103
=
= 40.435 rad/s
m
50
Unbalance:
m = 100 g = 0.100 kg
r = 75 mm = 0.075 m
Forcing frequency:
f = 400 rpm = 41.888 rad/s
Unbalance force:
Pm = mr 2f = (0.100)(0.075)(41.888) 2 = 13.1595 N
ST =
Static deflection:
Pm
13.1595
=
= 0.16097 103 m
3
k
81.75 10
xm = 0.8 mm = 0.8 103 m
Amplitude:
f 41.888
=
= 1.0359
n 40.435
Frequency ratio:
xm =
Eq. (19.53):
ST
2 2
( )
f
n
+ 2
( ) ( )
c
cc
f
n
2 c 2 2
1 f + 2 f = ST
n cc n xm
c
[1 (1.0359) ] + 2
cc
2 2
0.16097 103
(1.0359)
=
0.8 10
c
0.0053523 + 4.2924 = 0.040486
cc
2
c
= 0.008185
cc
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2324
2320
(a)
Damping factor.
c
= 0.090472
cc
Critical damping factor.
cc = 2 km
c
= 0.0905
cc
= 2 (81.75 103 )(50)

= 4.0435 103 N s/m
(b)
Coefficient of damping.
c
c=
cc
cc
= (0.090472)(4.0435 103 )
c = 366 N s/m
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2321 2325
PROBLEM 19.144
A 15-kg motor is supported by four springs, each of constant 45 kN/m. The unbalance of the motor is
equivalent to a mass of 20 g located 125 mm from the axis of rotation. Knowing that the motor is constrained
to move vertically, determine the amplitude of the steady-state vibration of the motor at a speed of 1500 rpm,
assuming (a) that no damping is present, (b) that the damping factor c/cc is equal to 1.3.
SOLUTION
Mass of motor:
m = 15 kg
k = (4)(45 103 )
= 180 103 N/m

k
180 103
=
m
15
= 109.545 rad/s
Undamped natural circular frequency:
n =
Forcing frequency:
f = 1500 rpm = 157.08 rad/s
Frequency ratio:
f
157.08
=
= 1.43394
n 109.545
Unbalance:
m = 20 g = 20 103 kg
r = 125 mm = 0.125 m
Unbalance force:
Pm = mr 2f = (20 103 )(0.125)(157.08) 2 = 61.685 N
Pm
61.685
=
k 180 103
= 0.3427 103 m
ST =
Static deflection:
ST
xm =
Eq. (19.53):
(a)
No damping.
2
f 2
n
( )
2
f 2
n
( )
+ 2
( ) ( )
c
cc
= [1 (1.43394)2 ]2 = 1.11522
xm =
ST
1.11522
0.3427 103
1.05618
= 0.324 103 m
=
xm = 0.324 mm
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2326
2322
(b)
c
= 1.3 1
cc
2
f 2
( )
+ 2
( ) ( )
c
cc
f
n
= 1.11522 + [(2)(1.3)(1.43394)]2 = 15.015

xm =
ST
15.015
0.3427 103
3.8749
= 0.0884 103 m
xm = 0.0884 mm
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2323 2327
PROBLEM 19.145
A 100-kg motor is supported by four springs, each of constant 90 kN/m,
and is connected to the ground by a dashpot having a coefficient of damping
c = 6500 N s/m. The motor is constrained to move vertically, and the
amplitude of its motion is observed to be 2.1 mm at a speed of 1200 rpm.
Knowing that the mass of the rotor is 15 kg, determine the distance
between the mass center of the rotor and the axis of the shaft.
SOLUTION
Rotor
Equation (19.52):
Pm
xm =
( k m )
2
f
(1200)(2 )
60
2f =
+ (c f )2
2
2f = 15,791 s 2
k = 4(90 103 N/m)
= 360 103
Pm = me 2f
= (15 kg)e(15,791 s 2 )
= 236,865e
2.1 103 m =
236,865e
[(360 10 ) (100)(15, 791)]2 + (6500)2 (15,791)
3
= 0.16141e
e = 13.01 103 m
e = 13.01 mm
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2328
2324
PROBLEM 19.146
A counter-rotating eccentric mass exciter consisting of two rotating 400-g masses
describing circles of 150-mm radius at the same speed, but in opposite senses, is
placed on a machine element to induce a steady-state vibration of the element
and to determine some of the dynamic characteristics of the element. At a speed
of 1200 rpm, a stroboscope shows the eccentric masses to be exactly under their
respective axes of rotation and the element to be passing through its position of
static equilibrium. Knowing that the amplitude of the motion of the element at
that speed is 15 mm, and that the total mass of the system is 140 kg, determine
(a) the combined spring constant k, (b) the damping factor c/cc .
SOLUTION
Forcing frequency:
f = 1200 rpm = 125.664 rad/s
Unbalance of one mass:
m = 400 g = 0.4 kg
r = 150 mm = 0.15 m
Shaking force:
P = 2 mr 2f sin f t
= (2)(0.4)(0.15)(125.664) 2 sin f t
= 1.89497 103 sin f t
Pm = 1.89497 103 N
M = 140 kg
Total mass:
By Eqs. (19.48) and (19.52), the vibratory response of the system is

x = xm sin( f t )
xm =
where
tan =
and
Since = 90 =
(a)
(k
Pm
M 2f
+ (c f )
c f
k M 2f
(1)
(2)
tan = and k M 2f = 0.
Combined spring constant.

k = M 2f
= (140)(125.664)2
= 2.2108 106 N/m
k = 2.21 Mn/m
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2325 2329

The observed amplitude is
From Eq. (1):
xm = 15 mm = 0.015 m
c=
=
Pm
Pm
2
(k M f ) =
x
f xm
m
1.89497 103
(125.664)(0.015)
= 1.00531 103 N s/m
Critical damping coefficient:
cc = 2 kM
= 2 (2.2108 106 )(140)
= 35.186 103 N s/m
(b)
Damping factor.
c 1.00531 103
=
cc 35.186 103
c
= 0.0286
cc
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2330
2326
PROBLEM 19.147
A simplified model of a washing machine is shown.
A bundle of wet clothes forms a mass mb of 10 kg in the
machine and causes a rotating unbalance. The rotating
mass is 20 kg (including mb) and the radius of the
washer basket e is 25 cm. Knowing the washer has an
equivalent spring constant k = 1000 N/m and damping
ratio = c/cc = 0.05 and during the spin cycle the drum
rotates at 250 rpm, determine the amplitude of the
motion and the magnitude of the force transmitted to the
sides of the washing machine.
SOLUTION
(2 )(250)
= 26.18 rad/s
60
m = 20 kg
f =
Forced circular frequency:

System mass:
k = 1000 N/m
Spring constant:
k
1000
=
= 7.0711 rad/s
m
20
n =
cc = 2 km = 2 (1000)(20) = 282.84 N s/m
Critical damping constant:
c
c = c = (0.05)(141.42) = 14.1421 N s/m
cc
Damping constant:
Pm = mb e 2f
Unbalance force:
Pm = (10 kg)(0.25 m)(26.18 rad/s) 2 = 1713.48 N
The differential equation of motion is

mx + cx + kx = Pm sin f t

x = xm sin( f t )
where
xm =
=
=
x = f xm cos( f t )
Pm
( k m )
2
f
+ (c f ) 2
1713.48
[1000 (20)(26.18) 2 ]2 + [(141421)(26.18)]2

1713.48
2
(12, 707.8) + (370.24)
1713.48
= 0.13, 478 m
12,713.2
xm = 134.8 mm
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2327 2331

(a)
x = 0.13478sin( f t )
x = (26.18)(0.13478) cos( f t )
= 3.5285cos( f t )
Spring force:
kx = (1000)(0.13478)sin( f t )
= 134.78sin( f t )
Damping force:
cx = (14.1421)(3.5285) cos( f t )
= 49.901cos( f t )
(b)
Total force:
F = 134.78sin( f t ) + 49.901cos( f t )
Let
F = Fm cos sin( f t ) + Fm sin sin( f t )

= Fm sin( f t + )
Maximum force.
Fm2 = Fm2 cos 2 + Fm2 sin 2

= (134.78) 2 + (49.901) 2
= 20, 656
Fm = 143.7 N
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2332
2328
PROBLEM 19.148
A machine element is supported by springs and is connected to a dashpot as
shown. Show that if a periodic force of magnitude P = Pm sin f t is applied to
the element, the amplitude of the fluctuating force transmitted to the foundation is
( ) ( )
1 ( ) + 2 ( ) ( )
1 + 2
Fm = Pm
c
cc
2
f 2
n
f
n
c
cc
2
f 2
n
SOLUTION
x = xm sin( f t )
From Equation (19.48), the motion of the machine is

The force transmitted to the foundation is
Springs:
Fs = kx = kxm sin( f t )
Dashpot:
FD = cx = cxm f cos( f t )
FT = xm [ k sin( f ) + c f cos( f t )]
or recalling the identity,

A sin y + B cos y = A2 + B 2 sin( y + )
B
sin =
A2 + B 2
A
cos =
A2 + B 2
FT = xm k 2 + (c f )2 sin( f t + )
Thus, the amplitude of FT is
Fm = xm k 2 + (c f )2
xm =
Substituting for xm in Equation (1),
(1)
Pm
k
2
f 2
( )
Fm =
n2 =
+ 2
( )
c
cc
f
n
Pm 1 +
( )
f
n
( )
c f
k
+ 2
( ) ( )
c
cc
(2)
n2
k
m
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2329 2333
and Equation (19.41),
cc = 2mn
m=
c f
k
cn
2
c f
mn2
c f
= 2
cc n
Substituting in Eq. (2),
Fm =
Pm 1 + 2
2
f 2
( )
( ) ( )
c
cc
+ 2
f
n
( ) ( )
c
cc
f
n
Q.E.D.
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2334
2330
PROBLEM 19.149
A 100-kg machine element supported by four springs, each of constant
k = 200 N/m, is subjected to a periodic force of frequency 0.8 Hz and
amplitude 100 N. Determine the amplitude of the fluctuating force
transmitted to the foundation if (a) a dashpot with a coefficient of
damping c = 420 N s/m is connected to the machine element and to the
ground, (b) the dashpot is removed.
SOLUTION
Forcing frequency:
f = 2 f f = (2 )(0.8) = 1.6 rad/s
Exciting force amplitude:
Pm = 100 N
Mass:
m = 100 kg
k = (4)(200 N/m) = 800 N/m
k
800
=
m
100
= 2.828 rad/s
n =
Natural frequency:
Frequency ratio:
f
n
1.6
2.828
= 1.777
cc = 2 km
= 2 (800)(100)
= 565.69 N s/m
From the derivation given in Problem 19.148, the amplitude of the force transmitted to the foundation is
Pm 1 + 2
Fm =
f
1
n
( )
2
f 2
n
( )( )
c
cc
+ 2
f
n
( )( )
c
cc
f
n
(1)
2
= 1 (1.777)2 = 2.1577
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2331
2335
(a)
c
420
=
cc 565.69
Fm when c = 420 N s/m
= 0.7425
2
c
cc
f
= (2)(0.7425)(1.777)
n
= 2.639
From Eq. (1):
Fm =
100 1 + (2.639)2
(2.1577)2 + (2.639)2
= 82.79 N
(b)
Fm when c = 0:
Fm = 82.8 N
Pm
Fm =
1
( )
f
n
100
2.1577
Fm = 46.3 N
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2336
2332
PROBLEM 19.150*
For a steady-state vibration with damping under a harmonic force, show that the mechanical energy dissipated
per cycle by the dashpot is E = cxm2 f , where c is the coefficient of damping, xm is the amplitude of the
motion, and f is the circular frequency of the harmonic force.
SOLUTION
Energy is dissipated by the dashpot.
From Equation (19.48), the deflection of the system is
x = xm sin( f t )
FD = cx
The force on the dashpot.
FD = cxm f cos( f t )
The work done in a complete cycle with

cf =
E=
2
f
2 / f
0
Fd dx (i.e., force distance)
dx = xm f cos( f t ) dt
E=
cos 2 (D t ) =
2 / f
0
cxm2 2f cos 2 ( f t )dt
[1 2 cos( f t )]
2
E = cxm2 2f
2 / f
1 2 cos( f t )
dt
2 / f
cxm2 2f 2sin( f t )
E=
t
2
f
0
E=
cxm2 2f 2
2
(sin(2 ) sin )
2 f f
E = cxm2 f Q.E.D.
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2333 2337
PROBLEM 19.151*
The suspension of an automobile can be approximated by the
simplified spring-and-dashpot system shown. (a) Write the differential
equation defining the vertical displacement of the mass m when the
system moves at a speed v over a road with a sinusoidal cross section of
amplitude m and wave length L. (b) Derive an expression for the
amplitude of the vertical displacement of the mass m.
SOLUTION
(a)
F = ma : W k (ST + x ) c
dx d
d 2x
=m 2
dt dt
dt
Recalling that W = kST , we write

m
d2x
dx
d
+ c + kx = k + c
2
dt
dt
dt
(1)
Motion of wheel is a sine curve, = m sin f t. The interval of time needed to travel a distance L at a
speed v is t =
L
, which is the period of the road surface.
v
Thus,
and
f =
2
L
v
2 v
L
= m sin f t
d m 2
= L cos f t
dt
v
Thus, Equation (1) is

m
d 2x
dx
+ c + kx = (k sin f t + c f cos f t ) m
dt 2
dt
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2338
2334
PROBLEM 19.151* (Continued)
(b)
A sin y + B cos y = A2 + B 2 sin( y + )

B
sin =
2
A + B2
A
cos =
2
A + B2
From the identity
We can write the differential equation

m
d2x
dx
+ c + kx = m k 2 + (c f ) 2 sin( f t + )
2
dt
dt
c f
= tan 1
k
The solution to this equation is analogous to Equations 19.47 and 19.48, with
Pm = m k 2 + (c f ) 2
x = xm sin( f t + ) (where analogous to Equations (19.52))
xm =
m k 2 + (c f ) 2
( k m )
2
f
tan =
+ (c f ) 2
c f
k m 2f
tan =
c f
k
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2335 2339
PROBLEM 19.152*
Two blocks A and B, each of mass m, are supported as shown by three
springs of the same constant k. Blocks A and B are connected by a
dashpot, and block B is connected to the ground by two dashpots, each
dashpot having the same coefficient of damping c. Block A is subjected
to a force of magnitude P = Pm sin f t. Write the differential equations
defining the displacements x A and xB of the two blocks from their
equilibrium positions.
SOLUTION
Since the origins of coordinates are chosen from the equilibrium position, we may omit the initial spring
compressions and the effect of gravity
For load A,
F = ma A : Pm sin f t + 2k ( xB x A ) + c( x B x A ) = mxA
(1)
F = maB : 2k ( xB x A ) c( x B x A ) kxB 2cxB = mxB
(2)
For load B,
mxA + c( x A x B ) + 2k ( x A xB ) = Pm sin f t
Rearranging Equations (1) and (2), we find:
mxB + 3cx B cx A + 3kxB 2kx A = 0
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2340
2336
PROBLEM 19.153
Express in terms of L, C, and E the range of values of the
resistance R for which oscillations will take place in the circuit
shown when switch S is closed.
SOLUTION
For a mechanical system, oscillations take place if c cc (lightly damped).
k
= 2 km
m
But from Equation (19.41),
cc = 2m
Therefore,
c 2 km
From Table 19.2:
1
C
(1)
(2)
Substituting in Eq. (1) the analogous electrical values in Eq. (2), we find that oscillations will take place if
1
R 2 ( L)
C
R2
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2337 2341
PROBLEM 19.154
Consider the circuit of Problem 19.153 when the capacitor C is removed. If switch S is closed at time t = 0,
determine (a) the final value of the current in the circuit, (b) the time t at which the current will have reached
(1 1/e) times its final value. (The desired value of t is known as the time constant of the circuit.)
SOLUTION
Electrical system
Mechanical system
The mechanical analogue of closing a switch S is the sudden application of a constant force of magnitude P to
the mass.
(a)
Final value of the current corresponds to the final velocity of the mass, and since the capacitance is
zero, the spring constant is also zero
F = ma: P C
Final velocity occurs when
dx
d 2x
=m 2
dt
dt
d2x
=0
dt 2
dx
=0
PC
dt final
vfinal =
From Table 19.2:
(1)
dx
= vfinal
dt final
P
C
L, P
E, C
R
Lfinal =
Thus,
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2342
2338

(b)
Rearranging Equation (1), we have

m
d2x
dx
+C
=P
2
dt
dt
d2x
= A e t
dt
dx
P
= Ae t + ;
dt
C
Substitute
m A e t + C Ae t + = P
C
m + C = 0 =
c
m
Thus,
dx
p
= Ae (c/m )t +
dt
c
At t = 0,
dx
P
= 0 0 = A+
dt
C
v=
From Table 19.2:
E 1
For L = 1 ,
R e
P
C
dx p
= 1 e (c/m )t
dt c
c, p
L=
A=
E, c
R, m
E
1 e ( R/L )t
R
L t = 1

t=
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2339 2343
PROBLEM 19.155
Draw the electrical analogue of the mechanical system shown. (Hint: Draw the loops
corresponding to the free bodies m and A.)
SOLUTION
We note that both the spring and the dashpot affect the motion of Point A. Thus, one loop
in the electrical circuit should consist of a capacitor ( k 1c ) and a resistance (c R ).
The other loop consists of ( Pm sin f t
resistor (c
Em sin f t ), an inductor (m
L) and the
R ).
Since the resistor is common to both loops, the circuit is
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2344
2340
PROBLEM 19.156
Draw the electrical analogue of the mechanical system shown. (Hint: Draw the
loops corresponding to the free bodies m and A.)
SOLUTION
Loop 1 (Point A):
k1
1
, k2
c1
1
, c1
c2
Loop 2 (Mass m):
k2
1
,m
c2
L, c2
With k2
R1
R2
1
c2 common to both loops,
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2341 2345
PROBLEM 19.157
Write the differential equations defining (a) the displacements of the mass m and of
the Point A, (b) the charges on the capacitors of the electrical analogue.
SOLUTION
(a)
Mechanical system.
Point A:
F = 0:
d
( x A xm ) + kx A = 0
dt
Mass m:
F = ma : c
d2x
d
( xm x A ) Pm sin f t = m 2m
dt
dt
m
(b)
d 2 xm
dt
+c
d
( xm x A ) = Pm sin f t
dt
Electrical analogue.
From Table 19.2:
m
R
1
C
q
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2346
2342

Substituting into the results from Part (a), the analogous electrical characteristics,
R
d 2 qm
dt
d
1
( q A qm ) +
qA = 0
dt
C
+R
d
(qm q A ) = Em sin f t
dt
Note: These equations can also be obtained by summing the voltage drops around the loops in the circuit of
Problem 19.155.
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2343 2347
PROBLEM 19.158
Write the differential equations defining (a) the displacements of the mass m and
of the Point A, (b) the charges on the capacitors of the electrical analogue.
SOLUTION
(a)
Mechanical system.
F = 0
(b)
dx A
+ k2 ( x A xm ) = 0
dt
Point A:
k1 x A + c1
Mass m:
F = ma : k2 ( x A xm ) c2
c1
dxm
d2x
= m 2m
dt
dt
dx A
+ (k1 + k2 ) x A k2 xm = 0
dt
d 2 xm
dt
+ c2
dxm
+ k2 ( xm x A ) = 0
dt
Electrical analogue.
Substituting into the results from Part (a) using the analogous electrical characteristics from Table 19.2
(see left),
R1
L
dq A 1
1
1
+ +
qm = 0
qA
C2
dt C1 C2
d 2 qm
dt
+ R2
dqm
1
+
(qm q A ) = 0
dt
C2
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2348
2344
PROBLEM 19.159
A thin square plate of side a can oscillate about an axis AB
located at a distance b from its mass center G. (a) Determine the
period of small oscillations if b = 12 a. (b) Determine a second
value of b for which the period of small oscillations is the same
as that found in Part a.
SOLUTION
Let the plate be rotated through angle about the axis as shown.
MAB = ( M AB )eff : mgb sin = I (mat )(b)
Kinematics:
at = b = b
sin 0
I =
Moment of inertia:
1
ma 2
12
( I + mb 2 ) + mgb = 0
Then
1 2
2
12 a + b + gb = 0
gb
12
+ 2
=0
a + 12b 2

(a)
b=
1
a:
2
Period of vibration:
n =
12 gb
a + 12b 2
n =
16 ga
=
a + 3a 2
n =
2
n
3g
2a
n = 2
2a
3g
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2345 2349

(b)
Another value of b giving the same period:

12 gb
=
a + 12b2
3
12b
=
2
2
2a
a + 12b
24ab = 3a 2 + 36b 2
n =
3g
2a
36b 2 24ab + 3a 2 = 0
b = 0.5a and b = 0.16667 a
b = 0.1667a
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2350
2346
PROBLEM 19.160
A 150-kg electromagnet is at rest and is holding 100 kg of scrap steel when
the current is turned off and the steel is dropped. Knowing that the cable
and the supporting crane have a total stiffness equivalent to a spring of
constant 200 kN/m, determine (a) the frequency, the amplitude, and the
maximum velocity of the resulting motion, (b) the minimum tension which
will occur in the cable during the motion, (c) the velocity of the magnet
0.03 s after the current is turned off.
SOLUTION
m1 = 150 kg m2 = 100 kg k = 200 103 N/m
Data:
From the first two sketches,
T0 + kxm = ( m1 + m2 ) g
(1)
T0 = m1 g
(2)
kxm = m2 g
xm =
m2 g (100)(9.81)
=
= 4.905 103 m = 4.91 mm
3
k
200 10
k
=
m1
200 103
= 36.515 rad/s
150
n =
Natural frequency:
fn =
Maximum velocity:
vm = n xm = (36.515)(4.905 103 ) = 0.1791 m/s
(a)
n 36.515
=
2
2
f n = 5.81 Hz
amplitude xm = 4.91 mm
Resulting motion:
frequency
f n = 5.81 Hz
maximum velocity vm = 0.1791 m/s

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2347 2351

(b)
Minimum value of tension occurs when x = xm .

Tmin = T0 kxm
= m1 g m2 g
= ( m1 m2 ) g
Tmin = 491 N
= (50)(9.81)
The motion is given by
x = xm sin(n t + )
x = n xm cos(n t + )
x0 = xm or sin = 1
x0 = 0 or cos = 0
Initally,
x = n xm cos n t
2
(c)
Velocity at t = 0.03 s.
n t = (36.515)(0.03) = 1.09545 rad

n t = 0.47535 rad
cos(n t ) = 0.88913
x = (36.515)(4.905 103 )(0.88913)
x = 0.1592 m/s
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2352
2348
PROBLEM 19.161
Disks A and B have a mass of 15 kg and 6 kg, respectively, and a
small 2.5-kg block C is attached to the rim of disk B. Assuming that
no slipping occurs between the disks, determine the period of small
oscillations of the system.
SOLUTION
Small oscillations:
Position
h = rB (1 cos m )
rB B2
2
rB B = rA A
r
1
1
1
T1 = mC (rB m )2 + I B m2 + I A B m
rA
2
2
2
mB rB2
2
m A rA2
IA =
2
IB =
T1 =
2
1
m r2
mC rB2 + B B + m A rA
2
2
2
T1 =
1
2
mC +
mB mA
+
2
2
rB
rA
m2
rB2 m2
V1 = 0
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2349 2353

T2 = 0
Position
V2 = mC gh
=
mC g m2
2

T1 + V1 = T2 + V2
m = n m
1
2
mC +
mB m A
+
2
2
rB2n2 m2 + 0 = 0 +
mC grB m2
2
mC
n2 =
mC +
(mB + mA ) rB
2
2.5
n2 =
2.5 +
(6 + 15)
2
(9.81 m/s2)
(0.15) m
n2 = 12.58 s2
Period of small oscillations.
n =
2
12.58
n = 1.771 s
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2354
2350
PROBLEM 19.162
A period of 6.00 s is observed for the angular oscillations of a 120-g gyroscope rotor
suspended from a wire as shown. Knowing that a period of 3.80 s is obtained when a
30-mm-diameter steel sphere is suspended in the same fashion, determine the
centroidal radius of gyration of the rotor. (Specific weight of steel = 7800 kg/m3.)
SOLUTION
M = ( M )eff : K = I
K
=0
I
K
n2 =
I
= 2
K=
For the sphere,
Volume:
I
K
(1)
4 2 I
(2)
I =
K 2
4 2
r=
d
= 0.015 m
2
(3)
4
4
Vs = r 3 = (15 103)3
3
3
= 14.137 106 m3
Mass:
m s = rVs
= (7800 kg/m3)(14.137 106 m3)
= 0.11027 kg
Moment of inertia:
I =
2
2
ms r 2 = (110.27 103)(15 103)2
5
5
= 9.924 106 kg m2
Period:
s = 3.80 s
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2351
2355
of this
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PROPRIETARY MATERIAL. 2010 The McGraw-Hill Companies, Inc. All rights reserved. No
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2356
2352
PROBLEM 19.163
A 1.5-kg block B is connected by a cord to a 2-kg block A, which is suspended from a spring of
constant 3 kN/m. Knowing that the system is at rest when the cord is cut, determine (a) the
frequency, the amplitude, and the maximum velocity of the resulting motion, (b) the minimum
tension that will occur in the spring during the motion, (c) the velocity of block A 0.3 s after the
cord has been cut.
SOLUTION
Before the cord is cut, the tension in the spring is
T0 = ( mA + mB ) g
= (2 + 1.5)(9.81)
= 34.335 N
The elongation of the spring is
T0 34.335
=
k 3 103
= 11.445 103 m
e0 =
After the cord is cut, the tension in the equilibriu m position is

T0 = mA g
= (2.0)(9.81)
= 19.62 N
The corresponding elongation is
T0 19.62
=
k 3 103
= 6.54 103 m
e0 =
Let x be measured downward from the equilibrium position.

T = T0 + kx
(a)
Newtons Second Law after the cord is cut.

mx = mA g T
m A
x + m A g kx T0 = kx
mA
x + kx = 0
n =
fn =
3 103
k
= 38.7298 rad/s
=
2
mA
n 38.7298
=
2
2
f n = 6.16 Hz
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2353 2357

The resulting motion is
x = xm sin (n t + )
x = n xm cos (t + )
x0 = e0 e0
Initial condition:
= 4.905 103 m
x0 = 0
0.75375 103 = xm sin
0 = n xm cos
2
xm = 4.905 m
xm = 4.91 mm
x = 4.905 103 sin n t + (m)

2
x = 0.18997 cos n t + (m/s)

2
(b)
xm = 0.1900 m/s
Minimum tension occurs when x is minimum.

Tmin = T0 kxm
= 19.62 (3 103 )(4.905 103 )
(c)
Velocity when t = 0.3 s.
n t = (38.7298)(0.3) +
Tmin = 4.91 N
= 13.1897 radians
x = (0.18997) cos (13.1897)
= (0.18997)(0.8119)
x = 0.1542 m/s
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2358
2354
PROBLEM 19.164
Two rods, each of mass m and length L, are welded together to form the
assembly shown. Determine (a) the distance b for which the frequency
of small oscillations of the assembly is maximum, (b) the corresponding
maximum frequency.
SOLUTION
Position
V1 = 0
1
2
2
mvCD
+ mv AB
+ I CDm2 + I ABm2
2
= bm
T1 =
vCD
L
v AB = m
2
I CD = I AB
1
mL2
12
2
1
1
1
L
T1 = m b 2 + + L2 + L2 m2
2
12
2 12
=
m 2 5 L2 2
b +
m
2
12
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2355 2359
V2 = mgb(1 cos m ) + mg
Position
L
(1 cos m )
2

1 cos m = 2sin 2 m m
2
2
Small angles:
V2 = mg
m2
L
b +
2
2
T2 = 0

T1 + V1 = T2 + V2
mg
1 2 5 2 2
m b + L m + 0 = 0 +
2
12
2
=
m
n m
n2 =
(a)
L 2
b + 2 m
g (b +
(b
5
12
L
2
)
2
(1)
Distance b for maximum frequency.

Maximum n2
when
d n2
=0
db
b 2 + 125 L2 g g ( b +
d n2
=
2
db
b 2 + 5 L2
12
L
2
) (2b)
=0
5
b 2 Lb + L2 = 0
12
b=
(b)
20
L L2 + ( 12
) L2
= 0.316 L, 1.317 L
b = 0.316 L
Corresponding maximum frequency.

From Eq. (1) and the answer to Part (a):
g[0.316 + 0.5]
(0.316)2 + 125 L
g
= 1.580
L
n2 =
fn =
n
1.580
=
2
2
= 0.200
g
L
g
Hz
L
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2360
2356
PROBLEM 19.165
As the rotating speed of a spring-supported motor is slowly increased from 200 to 500 rpm, the amplitude of
the vibration due to the unbalance of the rotor is observed to decrease steadily from 8 mm to 2.5 mm.
Determine (a) the speed at which resonance would occur, (b) the amplitude of the steady-state vibration at a
speed of 100 rpm.
SOLUTION
Since the amplitude decreases with increasing speed over the range 1 = 200 rpm to 2 = 500 rpm, the motion
is out of phase with the force.
xm
)
=
=
=
1 ( )
1 ( )
1 ( )
Pm
k
Let u =
f
n
| xm | =
( mrM ) (
( )
f 2
n
mr 2f
k
f
n
f
n
( mrM ) (
f 2
n
1
, where 1 = 200 rpm = 20.944 rad/s .
n
| xm |1 =
( mrM ) u 2
(1)
u2 1
f = 2 = 500 rpm
At
f 500
=
u = 2.5u
n 200
| xm |2
mr
(6.25u 2 )
(
M )
=
6.25u 2 1
(2)

| xm |1
(6.25u 2 1)u 2
8 mm
= 2
=
= 3.2
2
| xm |2 (u 1)(6.25u ) 2.5 mm
6.25u 4 u 2 = 20u 4 20u 2
13.75u 4 19u 2 = 0 u =
(a)
Natural frequency.
n =
1
u
19
= 1.17551
13.75
20.944
= 17.817 rad/s
1.17551
n = 170.1 rpm
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2357 2361
At 200 rpm,
From Eq. (1):
| xm |1 = 8 mm = 8 103 m, u = 1.17551
8 10
mr
(1.17551)2
(
M )
=
(1.17551) 2 1
19 mr
=
5.25 M
mr
= 2.2105 103 m
M
(b)
Amplitude at 100 rpm.
f = 10.472 rad/s n
f 10.472
=
= 0.58775
n 17.817
The motion is in phase with the force.

xm
( mrM ) (
)
=
1 ( )
f
f 2
n
xm =
(2.2105 103 )(0.58775) 2

1 (0.58775) 2
= 1.167 103 m
xm = 1.167 mm
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2362
2358
PROBLEM 19.166
The compressor shown has a mass of 250 kg and operates at 2000 rpm. At this operating condition,
undesirable vibration occurs when the compressor is attached directly to the ground. To reduce the vibration
of the concrete floor that is resting on clay soil, it is proposed to isolate the compressor by mounting it on a
square concrete block separated from the rest of the floor as shown. The density of concrete is 2400 kg/m3 and
the spring constant for the soil is found to be 80 106 N/m. The geometry of the compressor leads to choosing
a block that is 1.5 m by 1.5 m. Determine the depth h that will reduce the force transmitted to the ground
by 75%.
SOLUTION
Forced circular frequency corresponding to 2000 rpm:
f =
(2 )(2000)
= 209.44 rad/s
60
Natural circular frequency for compressor attached directly to the ground:
1 =
k
80 106 N/m
=
= 565.68 rad/s
m1
250 kg
Let P be the force due to the compressor unbalance and F1 be the force transmitted to the ground.
F1 = kx1 = k
F1
=
P
P
k
( )
f
n
( )
f 2
n
=
1
( )
f 2
n
209.44
1 ( 565.68
)
= 1.15951
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2359 2363

Modify the system by making the mass much larger so that the natural frequency of modified system is much
less than the forcing frequency. Let 2 be the new natural circular frequency. For the ground force to be
reduced by 75%,
F2
F
= 0.25 1 = (0.25)(1.15951) = 0.28988 =
P
P
( )
f 2
n
f
f
1
= 4.4497
= 2.109
=1+
0.28988
2
2
22 =
2f
4.4497
k
22 =
m2
m2 =
22
(209.44) 2
= 9.8579 103 (rad/s) 2
4.4497
80 106 N/m
= 8115 kg
9.8579 103 (rad/s)2
Required properties of attached concrete block:

mass = m2 m1 = 8115 250 = 7865 kg
volume =
mass
7865 kg
=
= 3.277 m3
density 2400 kg/m3
area = 1.5 m 1.5 m = 2.25 m 2

depth =
volume 3.277 m3
=
= 1.456 m
area
2.25 m 2
h = 1.456 m
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2364
2360
PROBLEM 19.167
If either a simple or a compound pendulum is used to determine experimentally the
acceleration of gravity g, difficulties are encountered. In the case of the simple pendulum,
the string is not truly weightless, while in the case of the compound pendulum, the exact
location of the mass center is difficult to establish. In the case of a compound pendulum,
the difficulty can be eliminated by using a reversible, or Kater, pendulum. Two knife edges
A and B are placed so that they are obviously not at the same distance from the mass center
G, and the distance l is measured with great precision. The position of a counterweight D
is then adjusted so that the period of oscillation is the same when either knife edge is
used. Show that the period obtained is equal to that of a true simple pendulum of length l
and that g = 42l/2.
SOLUTION
From Problem 19.52, the length of an equivalent simple pendulum is:
lA = r +
k2
r
and
lB = R +
k2
R
But
A =B
2
lA
l
= 2 B
g
g
Thus,
l A = lB
For
l A = lB
k2
k2
=R+
r
R
2
2
2
r R + k R = r R + k 2r
r+
r R[ r R ] = k 2 [r R ]
(r R ) = 0
Thus,
or
rR =k2
k2
R
k2
R=
r
r=
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2361 2365

Thus,
AG = GA and BG = GB
That is,
A = A and B = B
Noting that
l A = lB = l
= 2
or
g=
l
g
4 2 l
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2366
2362
PROBLEM 19.168
A 400-kg motor supported by four springs, each of constant 150 kN/m,
is constrained to move vertically. Knowing that the unbalance of the
rotor is equivalent to a 23-g mass located at a distance of 100 mm from
the axis of rotation, determine for a speed of 800 rpm (a) the amplitude
of the fluctuating force transmitted to the foundation, (b) the amplitude
of the vertical motion of the motor.
SOLUTION
Total mass:
M = 400 kg
Unbalance:
m = 23 g = 0.023 kg
r = 100 mm = 0.100 m
Forcing frequency:
f = 800 rpm
= 83.776 rad/s
Spring constant:
k = (4)(150 103 N/m)

= 600 103 N/m
Natural frequency:
n =
k
m
600 103
400
= 38.730 rad/s
=
Frequency ratio:
f
= 2.1631
n
Unbalance force:
Pm = mr 2f
= (0.023)(0.100)(83.776)2
= 16.1424 N
Static deflection:
Pm 16.1424
=
k
600 103
= 26.904 106 m
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2363 2367

Amplitude of vibration. From Eq. (19.33):
xm =
Pm
k
( )
f 2
n
26.904 106
1 (2.1631)2
= 7.313 106 m
(a)
Transmitted force.
(b)
Amplitude of motion.
Fm = kxm = (600 103 )(7.313 106 )

| xm | = 7.313 106 m
Fm = 4.39 N
| xm | = 0.00731 mm
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2368
2364
PROBLEM 19.169
Solve Problem 19.168, assuming that a dashpot of constant c = 6500 N s/m
is introduced between the motor and the ground.
PROBLEM 19.168 A 400-kg motor supported by four springs, each of
constant 150 kN/m, is constrained to move vertically. Knowing that the
unbalance of the rotor is equivalent to a 23-g mass located at a distance of
100 mm from the axis of rotation, determine for a speed of 800 rpm (a) the
amplitude of the fluctuating force transmitted to the foundation, (b) the
amplitude of the vertical motion of the motor.
SOLUTION
Total mass:
M = 400 kg
Unbalance:
m = 23 g = 0.023 kg
r = 100 mm = 0.100 m
Forcing frequency:
f = 800 rpm
= 83.776 rad/s
Spring constant:
Natural frequency:
Frequency ratio:
Viscous damping coefficient:
(4)(150 103 N/m) = 600 103 N/m

k
600 103
=
400
m
= 38.730 rad/s
n =
f
= 2.1631
n
c = 6500 N s/m
cc = 2 kM = 2 (600 103 )(400)
= 30,984 N s/m
Damping factor:
c
= 0.20978
cc
Unbalance force:
Pm = mr 2f = (0.023)(0.100)(83.776)2
= 16.1424 N
Static deflection:
Pm 16.1424
=
k
600 103
= 26.904 106 m
ST =
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2365 2369

Amplitude of vibration. Use Eq. (19.53).
xm =
Pm
k
1 1
2
f 2
( )
+ 2
( ) ( )
c
cc
Where
f
2
1
= 1 (2.1631) = 3.679
n
c
2
cc
and
= (2)(0.20978)(2.1631) = 0.90755
xm =
26.904 103
( 3.679) 2 + (0.90755) 2
= 7.1000 106 m
Resulting motion:
x = xm sin ( f t )
x = f xm cos ( f t )
Spring force:
Fs = kx = kxm sin ( f t ) = 4.26 sin ( f t )
Damping force:
Fd = cx = c f xm cos ( f t ) = 3.8663cos ( f t )
Let
Fs = Fm cos sin ( f t ) and Fd = Fm sin cos ( f t )
Total force:
F = Fm cos sin ( f t ) + Fm sin cos ( f t )

= Fm sin ( f t + )
(a)
Force amplitude.
Fm = ( Fm cos ) 2 + ( Fm sin )2
Fm = (kxm ) 2 + (c f xm ) 2
= (4.26) 2 + (3.8663)2
(b)
Fm = 5.75 N
xm = 0.00710 mm
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2370
2366
PROBLEM 19.170
A small ball of mass m attached at the midpoint of
a tightly stretched elastic cord of length l can slide
on a horizontal plane. The ball is given a small
displacement in a direction perpendicular to the
cord and released. Assuming the tension T in the
cord to remain constant, (a) write the differential
equation of motion of the ball, (b) determine the
period of vibration.
SOLUTION
(a)
Differential equation of motion.
F = ma : 2T sin = mx
For small x,
sin tan =
( )
l
2
2x
l
2x
mx + (2T ) = 0
l
4T
mx +
x = 0
l
n2 =
4T
ml
n = 2
(b)
n =
T
ml
n =
ml
MATERIAL.
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2367 2371

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Chapter 19

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CHAPTER 19

Differentiate to obtain velocity and acceleration.

| xmax | = n2 xm = (62.83) 2 (0.005 m)

xmax = 0.31 m/s

Differentiate to obtain velocity and acceleration.

Use information given to obtain am

vm = xmn = (0.3 m)(4.082 rad/s)

Simple harmonic motion.

vm = xmn = (0.05 m)(16.33 rad/s)

am = xmn2 = (0.05 m)(16.33 rad/s)2

am = xmn2 = (12.91 103 m)(19.365 rad/s)2

Simple harmonic motion.

For a simple pendulum,

From Eq. (1),

Maximum tangential acceleration.

Maximum tangential acceleration occurs when is maximum.

(at ) m = 1.93 m/s2

Simple harmonic motion.

= 4.595 Hz (cycles per second)

speed = 276 rpm

(4.595 rev/s)(60 s/min)

vmax = 1.73 m/s

Double angle formula (trigonometry): sin( A + B ) = (sin A)(cos B ) + (sin B )(cos A)

x = ( xm cos )(sin n t ) + ( xm sin )(cos n t )

Squaring Eqs. (1) and (2) and adding,

Dividing Eq. (2) by Eq. (1),

Largest allowable amplitude.

x(0) = 0.3 m, x (0) = 0

x(t ) = (0.3)sin 19.365t + , n = 0.3245 s

x(1.5 s) = (0.3)sin (19.365)(1.5) + = 0.2147 m

x (1.5 s) = (0.3)(19.365) cos (19.365)(1.5) + = 4.057 m/s

In one cycle, block travels

To travel 4 cycles, it takes

(4 cyc)(0.3245 s/cyc) = 1.2980 s

at t = 1.5 s. Thus, total distance traveled is

x(1.5) = (0.3)(19.365) 2 sin (19.365)(1.5) + = 80.5 m/s 2

Simple harmonic motion.

Velocity and acceleration.

Simple harmonic motion.

x = (0.1768)sin [(14.142)(0.90)] = 0.0284 m

x = (0.1768)(14.142)cos [(14.142)(0.90)] = 2.468 m

x = (0.1768)(14.142)2 sin [(14.142)(0.90)] = 5.683 m/s2

= 0.06786 rad = 3.89

PROBLEM 19.14 (Continued)

(3.502) cos (3.502)(1.6) + 2

v = l = (0.800 m)(0.19223 rad/s) = 0.1538 m/s

a = (0.6655) 2 + (0.02956)2 = 0.6662 m/s 2

PROBLEM 19.15 (Continued)

x = 0.180 sin (7.382)(0.16) + = 0.06838 m

x = 68.4 mm below equilibrium position

x = (0.180)(7.382) cos (7.382)(0.16) +

x = (0.180)(7.382) 2 sin (7.382)(0.16) +

For either spring,

and is the same as the time from 3 to 2.

PROBLEM 19.16 (Continued)

Thus, collar C is 60 3.123 = 56.877 mm from its initial position.

Determine the constant k of a single spring equivalent to the three springs

vmax = 1.361 m/s

amax = 41.1 m/s 2

Period of the motion.

n = 2 f n = 2 (2.41) = 15.12 rad/s

vmax = 0.680 m/s

where k is the spring constant of a single spring equivalent of springs 1 and 2.

PROBLEM 19.19 (Continued)