Tutorial 6: ME 313: DYNAMICS OF MACHINERY

Tutorial Problems
1. A Porter governor has equal arms of 240 mm length each and pivoted on the axis of
rotation. Each ball is of 50 N weight and the sleeve weight 250 N. The radius of rotation
of the ball is 150 mm when the governor begins to rise and 200 mm when the governor is
at maximum speed. Find the range of speed, sleeve lift, governor effort and power of the
governor when the friction at the sleeve is neglected. If the friction at the sleeve is
equivalent to a force of 15 N, find the coefficient of insensitiveness.
2. Calculate the minimum speed of a Proell governor, which has equal arms each 200 mm
and pivoted on the axis of rotation. The mass of each ball is 4 kg and the central mass on
the sleeve is 20 kg. The extension arms of the lower links are each 60 mm and parallel to
the axis when the minimum radius of the ball is 100 mm.
3. In a spring controlled governor, the controlling force curve is a straight line. The balls are
400 mm apart when controlling force is 1500 N and 240 mm when it is 800 N. The mass
of each ball is 10 kg. Determine the speed at which the governor runs when the balls are
300 mm apart. By how much should the initial tension be increased to make the governor
isochronous?. Also find the isochronous speed.

Home Assignments The radius of rotation of the balls of a Hartnell governor is 100 mm at a
minimum speed of 300 rpm. Neglecting gravity effects, determine the speed after the sleeve
has lifted by 50 mm. Also determine the initial compression of the spring, governor effort, and
the power. Take length of ball arm of the lever equal to 150 mm, length of sleeve arm =100
mm, weight of each ball = 40 N and the stiffness of spring =25 N.
4. A Proell governor has equal arms of length 300 mm. The upper arms are pivoted on the
axis of rotation and lower arms attached to a sleeve at a distance of 40 mm from the axis
of rotation. The mass of each ball of the governor is 3.75 kg and the mass of the sleeve is
40 kg. The extension of the lower arms to which the balls are attached are 100 mm long
and are parallel to the governor axis at the minimum radius. The minimum and maximum
radii of the governor are 180 and 240 mm. Find the corresponding equilibrium speed.
5. Develop the control force diagram for (a) porter governor (b) Proell governor (c) Hartnell
governor and study the stability of these governors.
6. Develop a Matlab code for determining, the height of the governor, equilibrium speed,
effort, power, coefficient of insensitiveness for (a) porter governor (b) Proell governor (c)
Hartnell governor. Take link length, mass of the ball and sleeve, equivalent friction force
as the user defined input parameters.
Tutorial / Home Assignment 7: ME 313: DYNAMICS OF MACHINERY

1. Find the equivalent spring mass system for the crane system shown
in figure. Boom AB is 10 m long and makes 450 with the vertical at
the instant considered. Cable BC has cross sectional area of 100 mm2
and Young’s modulus 207 GPa. Also boom AB has area of cross-
section 2500 mm2 and Young’s modulus 207 GPa. Length CD
=AD=1.5 m. Neglect the extension of the vertical cable and assume
the cable and boom are fixed to a rigid foundation.

2. Derive the equation motion for a vehicle modeled as a single degree of freedom system moving over a
surface which can be modeled as a sinusoidal undulation.

3. The system shown in figure Q3 consists of two uniform rigid links of mass m and length L, a
massless roller free to move in horizontally and two linear springs of stiffness k1 and k2, damper
with damping coefficient c and a mass M. Derive the equation of motion either by using Extended
Hamilton’s principle or by Lagrange principle.. Take m = 1kg, L = 1m, k1=k2=750N/m, c = 300 N-
s/m, M = 2 kg.

c
k1
M
k2
m, L m, L
Fig. Q3
4. An automobile moving over a rough road (Figure Q4) can be modeled considering (a)
weight of the car body, passengers, seats, front wheels, and rear wheels; (b) elasticity of
the tires (suspension), main springs, and seats; and (c) damping of the seats, shock
absorbers, and tires. Develop three mathematical models of the system using a gradual
refinement in the modeling process.

Fig.Q5. Spring system

Fig Q4 An automobile moving on a rough road
 5. Find the equivalent spring constant of the system shown in Fig Q.5 in the direction of
load p.

6 A machine of mass 500 kg is mounted on a simply supported steel beam of length 2 m having a
rectangular crosssection of 0.1m depth and 1.2 m width and Young’s modulus 2.06 x 1011N/m2.
To reduce the vertical deflection of the beam, a spring of stiffness K is attached at the mid-span as
shown in the figure Q6. Determine the value of K needed to reduce the deflection of the beam by
(a) 25% of the original value, (b) 50 % of the original value.

FigQ6. Beam with spring at the middle

FigQ7. Rocker arm

7: Find the equivalent mass of rocker arm system shown in fig Q7.
 Tutorial / Home Assignment 8: ME 313: DYNAMICS OF MACHINERY

1. (a)A vibrating system consisting of a mass of 2.267 kg and spring stiffness 1750 N/m is
viscously damped such that the first and third cycle amplitudes are 1.0 cm and 0.95 cm.
Determine the natural frequency, damped natural frequency, damping ratio, damping
coefficient and critical damping coefficient.
(b) If the initial displacement and velocity of the system in Prob. 1(a) are 0.01 m and 0.2 m/s,
respectively, find the free vibration response of the system.
(c) If the above system is subjected to a harmonic force of 2sin(2t   / 3) , determine the steady
state response of the system.
2. A machine of 100 kg mass is supported on spring of total stiffness 700KN/m and has an
unbalanced rotating element which results in a disturbing force of 350 N at a speed of 3000
rev/min. Assume a damping factor of  = 0.01 and determine the force transmitted to the
ground.
3. Derive the equation of motion for the following system and use MATLAB to plot the required
responses (i) Spring-mass damper system subjected to harmonic force, (ii) system with rotating
unbalance (iii) system with support motion (model of SDOF Vehicle) (iv) transmissibility and
vibration isolation (v) sharpness of resonance (vi) energy dissipation due to viscous, Columb,
structural damping, (vii) vibration measuring instrument. (Home assignment)

4. Solve any 5 problems from the Book of W.T. Thomson (Home assignment)

Tutorial / Home Assignment 9: ME 313: DYNAMICS OF MACHINERY

Q1: Derive the equation of motion of a double pendulum with equal length and mass (i) in terms
of generalized coordinate 1 ,2 , (ii) in terms of horizontal displacement x1 , x2 . Find the modal
frequencies and mode shapes. Uncoupled the equation of motion using modal analysis method. If
the initial displacement of the system is given by 1 ,  2    0.01, 0 , determine the expression for

the resulting free vibration of the system.

Q2: Derive the expressions used in case of (i) tuned vibration absorber, (ii) pendulum vibration
absorber.
Q3: Solve any 5 numerical problems on 2 DOF system from the book W. T. Thomson