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    2.003SC Engineering Dynamics Quiz 3 Solutions Problem 1 Solution

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    Janatan Choi
    This document contains solutions to 4 problems in engineering dynamics: 1) Modal analysis of a 2 degree-of-freedom system to find natural frequencies and mode shapes. 2) Vibration isolation problem analyzing spring-mass system frequency response. 3) Forced vibration of a rotating shaft subjected to periodic torque. 4) Lagrangian analysis of the dynamics of two rigid disks connected by a spring with both translational and rotational degrees of freedom.

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    2.003SC Engineering Dynamics Quiz 3 Solutions Problem 1 Solution

    Uploaded by

    Janatan Choi
    82 views5 pages
    This document contains solutions to 4 problems in engineering dynamics: 1) Modal analysis of a 2 degree-of-freedom system to find natural frequencies and mode shapes. 2) Vibration isolation problem analyzing spring-mass system frequency response. 3) Forced vibration of a rotating shaft subjected to periodic torque. 4) Lagrangian analysis of the dynamics of two rigid disks connected by a spring with both translational and rotational degrees of freedom.

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    This document contains solutions to 4 problems in engineering dynamics: 1) Modal analysis of a 2 degree-of-freedom system to find natural frequencies and mode shapes. 2) Vibration isolation problem analyzing spring-mass system frequency response. 3) Forced vibration of a rotating shaft subjected to periodic torque. 4) Lagrangian analysis of the dynamics of two rigid disks connected by a spring with both translational and rotational degrees of freedom.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    82 views5 pages

    2.003SC Engineering Dynamics Quiz 3 Solutions Problem 1 Solution

    Uploaded by

    Janatan Choi
    This document contains solutions to 4 problems in engineering dynamics: 1) Modal analysis of a 2 degree-of-freedom system to find natural frequencies and mode shapes. 2) Vibration isolation problem analyzing spring-mass system frequency response. 3) Forced vibration of a rotating shaft subjected to periodic torque. 4) Lagrangian analysis of the dynamics of two rigid disks connected by a spring with both translational and rotational degrees of freedom.

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    2.

    003SC Engineering Dynamics


    Quiz 3 Solutions

    Problem 1 Solution:

    Modal Analysis Solution:


    a) The natural frequencies of the system may be computed directly from the elements of the modal mass
    and stifness matrices.
    K1 190.4875
    ω12 = ⇒ω1 = = 1.972 r/s
    M1 48.981
    210.5125
    ω2 = = 4.269 r/s
    11.5579

    b) Again, directly from modal values:


    C1 9.5244
    ζ1 = = = 0.0493
    2ω1 M1 2(1.972)(48.981)

    q10 q̇10 0.525 −0.0499 1 0.525


    c) = 0, = u−1 x
    ˙ (0) =
    �
    =
    q20 q̇20 0.475 0.0499 0 0.475

    d)
    (1)
    1.0 q̇10 −ζ1 ω1d t
    x
    �
    = uq = e sin(ω1d t)
    −9.5125 ω1d
    where q̇10 = 0.525, ω1 = 1.972 r/s ≈ ω1d
    q̇10
    = 0.266

    ω1d

    1
    Problem 2 Solution:

    Vibration isolation:

    fM = 3 Hz
    ζ = 0.13

    a) The total equivalent spring constant for springs in parallel is the sum of the individual ks:
    Keq = 4k

    b) For a linear system, steady state response:


    frequency in=frequency out
    fin = fout = 10Hz
    c)

    x (1 + (2ζ ωωn )2 )1/2


    = 1/2
    y ω2 2
    (1 − 2 )
    ωn + (2ζ ωωn )2
    (1 + .8672 )1/2 f ω 10
    = = =
    [(1 − ( 10 2 2 2 1/2
    3 ) ) + (0.867) ]
    fn ωn 3
    1.32
    = = 0.130
    10.148

    x
    = 0.130
    y

    2
    Problem 3 Solution:

    r = 45 RPM
    Izz,G = 100kg-m2

    τ (t) = τ0 cos ωt, ω = 6π r/s

    kt = 1600π 2 N-m/r

    ct = 8π (N-m-s)/r

    a).

    τ/o = τo cos ωtk̂ − cT θ̇k̂ − kt θk̂ = Izz,G θ̈k̂


    ⇒ Izz,G θ¨ + cT θ̇ + kt θ = τo cos(ωt)

    b).

    kt 1600π 2 N-m
    ωn = = = 4π r/s
    Izz,G 100 kg-m2
    ωd = ωn 1 − ζ 2

    = .99995ωn

    � ωn

    ct 8π
    ζ= = = 0.01
    2Izz ωn 2 × 4π × 100

    c). ωosc = ω = 6π r/s


    d). τ0
    kT = 0.2 radians

    1/KT
    |θ| = |τ0 | · |Hθ/τ | = τ0 1/2
    ω2 2
    (1 − 2 )
    ωn + (2ζ ωωn )2
    −1/2
    τ0 ω2 ω 6π
    θ= (1 − 2 )2 + (2ζ )2 , which when evaluated at ω/ωn = = 1.5 yields:
    KT ωn ωn 4π
    0.2 rad
    = 1/2
    [(1 − 1.52 )2 + (2(.01)(1.5))2 ]
    .2
    =
    [1.56 + 0.0009]1/2
    = 0.16 = θ

    3
    Problem 4 Solution:

    a) The system has two degrees of freedom for the no-slip condition.
    If has four degrees of freedom if slip is allowed.
    b) Two generalized conditions are required.
    I choose coordinates x1 and x2 , where
    x1 = rθ1 , x2 = rθ2 .

    c)
    1 1 1 1
    T = mẋ12 + mẋ22 + Ic1 θ̇12 + Ic2 θ̇22
    2 2 2 2

    for uniform disk, Ic = mr2 /2.

    1 1 1 m r2 ẋ21 1 m r2 ẋ22
    T = mẋ21 + mẋ22 + +
    2 2 2 2 r2 2 2 r2

    3 3

    = mẋ21 + mẋ22
    4 4

    1 2 1 2 1

    V = kx1 + kx2 + km (x2 − x1 )2


    2 2 2

    d) Find EOMs:
    From Lagrange d
    dt
    ∂T
    ∂q̇i − ∂T
    ∂qi + ∂V
    ∂qi = Qi
    � �
    d ∂T 3 ∂T
    = mẍ1 , =0
    dt ∂ẋ1 2 ∂x1

    ∂V

    = kx1 − km (x2 − x1 )
    ∂x1
    3
    ⇒ mẍ1 + (k + km )x1 − km x2 = 0
    2
    � �
    d ∂T 3 ∂T
    = mẍ2 , =0
    dt ∂ẋ2 2 ∂x2

    ∂V

    = kx2 + km (x2 − x1 )
    ∂x2
    3
    ⇒ mẍ2 − km x1 + (k + km )x2 = 0
    2

    4
    MIT OpenCourseWare
    http://ocw.mit.edu

    2.003SC / 1.053J Engineering Dynamics


    Fall 2011

    For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.

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