MCE 328: Dynamic Systems

Mechanical Systems

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Elements of Mechanical Systems
 Inertia: Mass or mass moment of inertia

 Means to store system’s kinetic energy

 Spring: Explicit spring or elasticity

 Means to store system’s potential energy

 Damper: Viscus, hysteretic, friction, etc.

 Means to dissipate system’s energy

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 Equivalent springs: deform the same

𝑓 1= 𝑘1 𝑥 , 𝑓 2=𝑘 2 𝑥 , 𝑓 = 𝑓 1 +𝑓 2 = ( 𝑘 1 +𝑘 2 ) 𝑥 =𝑘 𝑒𝑞 𝑥

𝑘 𝑒𝑞 =𝑘 1 + 𝑘 2 𝑘 𝑒𝑞 =𝑘 1+ 𝑘 2+ 𝑘3 + …+𝑘 𝑛
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Equivalent springs: transmit the same force

1 1 1
= +
𝑘 𝑒𝑞 𝑘1 𝑘2

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Equivalent springs

𝑓 𝐿3 𝑓
𝑥= 𝑥=
3 𝐸𝐼 𝑘 𝑒𝑞

𝐸𝐼
𝑘 𝑒𝑞 =3 3
𝐿

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Equivalent springs

1 1 1
′
𝑘 𝑒𝑞 =𝑘3 +𝑘 4 + 𝑘 = +
𝑘
′
𝑘1 𝑘2

1 1 1 𝐸 𝐴1 𝐸 𝐴2
= + 𝑘 1= , 𝑘 2=
𝑘
′
𝑘1 𝑘2 𝐿1 𝐿2
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 Translational mechanical systems
• Degrees of Freedom DOF

• Coordinates and constraints

• Independence of generalized coordinates

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Developing the model

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Developing the model

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 Developing the model
Massless systems Equivalent system where masses can set equal to
zero in resulting equations

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 Developing the model

z is the input and x is the output

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Developing the model

𝑚 𝑥+𝑏
¨ 𝑥
˙ +𝑘 𝑥=− 𝑚 𝑧¨ 0

( 𝑘1 +𝑘2 ) 𝑥 2 −𝑘1 𝑥 1 +𝑏 ( 𝑥˙ 2 − 𝑥˙ 1 ) =𝑘2 𝑧

𝑚 𝑥¨ 1 + ( 𝑘1 +𝑘2 ) 𝑥 1 − 𝑘2 𝑥 2 + ( 𝑏1 +𝑏2 ) 𝑥
˙ 1 − 𝑏 2 𝑥˙ 2=0

𝑘 2 ( 𝑥 ¿ ¿ 2 − 𝑥1 )+𝑏2 ( 𝑥˙ 2 − 𝑥˙ 1 )= 𝑓 ¿ 12
Rotational systems

∑ 𝜏 = 𝐼 ¨
𝜃
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Rotational systems

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 Developing the model: double pendulum
𝑓 𝑘=𝑘 𝑥=𝑘 𝐿 ( sin 𝜃1 −sin 𝜃2 )

𝐼 1= 𝐼 2=𝑚 𝐿 2 ∑ 𝑀𝑂 =¿𝐼 1 𝜃¨1 ¿

1

−𝑘 𝐿 ( sin 𝜃1 −sin 𝜃2 ) 𝐿 cos 𝜃1 − 𝑚𝑔𝐿sin 𝜃1=¿ 𝐼 1 𝜃¨ 1 ¿

𝑘 𝐿 ( sin 𝜃1 −sin 𝜃2 ) 𝐿cos 𝜃 2 −𝑚𝑔𝐿 sin 𝜃2=¿ 𝐼 2 𝜃¨ 2 ¿

Nonlinear Equations of motion

𝐼 1 𝜃¨ 1 +𝑚𝑔 𝐿 𝜃1 +𝑘 𝐿 ( 𝜃1 − 𝜃2 ) =0
2
For small angles as per Taylor-series expansion
Linear Equations of motion
𝐼 2 𝜃¨ 2 +𝑚𝑔𝐿 𝜃 2 − 𝑘 𝐿 ( 𝜃 1 − 𝜃2 ) =0
2
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 Developing the model
¨
𝐼𝐶 𝜃
∑ ¨
¨
𝑀𝐶 = 𝐼𝐶 𝜃
= 𝜃¨
𝑚 𝑟− 𝑓 𝑟 =𝐼 𝐶 𝜃
r

IC ∑ 𝐹=𝑚𝑎𝐶
𝑓 − 𝑓 𝑘
¨
= 𝑚𝑟 𝜃

𝑓 𝑘 =𝑘𝑟 𝜃
is the static friction force that prevents sliding.
¨
𝑓 =𝑘 𝑟 𝜃 +𝑚 𝑟 𝜃
Alternatively:
¨ )𝑟 = 𝐼 𝐶 𝜃
− (𝑘 𝑟 𝜃 +𝑚 𝑟 𝜃 ¨

2 ¨ 2
(𝐼 ¿ ¿ 𝐶 +𝑚 𝑟 ) 𝜃+𝑘𝑟 𝜃=0 ¿
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Developing the model

𝐼 1 𝜃¨ 1 + 𝐵 𝜃˙ 1+ ( 𝐾 1+ 𝐾 3 ) 𝜃1 − 𝐾 3 𝜃˙ 2 =0

𝐼 2 𝜃¨ 2 + ( 𝐾 2 + 𝐾 3 ) 𝜃2 − 𝐾 2 𝜙 − 𝐾 3 𝜃˙ 1=0

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Developing the model

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Developing the model

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You may keep the masses assembled and apply the equilibrium equations on the whole system.

You will get the same equations of motion.

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Developing the model

Linear Problem

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You may keep the masses assembled and apply the equilibrium equations on the whole system.

You will get the same equations of motion.

What does this negative stiffness mean?

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Developing the model: Lagrange’s Equation
For conservative systems, the total energy is constant and it
is possible to use this form of Lagrange’s equation:
For particles:

𝑑
𝑑𝑡 ( 𝑑𝐿
𝑑𝑞
˙ ) −
𝑑𝐿
𝑑𝑞
=0 For rigid bodies in general motion with center
of mass C and angular velocity

Where is the Lagrangian defined as

The potential energy for a spring of stiffness K and
deformation

Kinetic energy The potential energy for a weight mg of height

from a datum
Potential energy

generalized coordinate (degree of freedom)

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Developing the model: Lagrange’s Equation
𝑑
𝑑𝑡 ( 𝑑𝐿
𝑑𝑞
˙)−
𝑑𝐿
𝑑𝑞
=0

For small angles

Apply Lagrange’s equation to get

What does this negative stiffness mean?

Developing the model

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 Geared systems

At the pitch circles: no slip condition

The tangential contact force F is common between the mating gears

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 Geared systems

𝑟 1 𝜃 𝑚=𝑟 2 𝜃❑
Equilibrium Equations
˙
𝑟 2 𝐹 − 𝐵 𝜃= ¨
𝐼𝜃 Kinematic Equation
Solve for F 𝑟1
1 𝑟1 𝜃 =𝜃
𝐹= ( 𝐵 𝜃 + 𝐼 𝜃 )= 2 ( 𝐵 𝜃˙𝑚 + 𝐼 𝜃¨𝑚 )
˙ ¨ 𝑟2 𝑚
𝑟2 𝑟2
Final Equation of motion Note how the gear ratio
Substitute F into the first equation affects the inertia and

( ) ( )
2 2 damping from one
𝑟
2
𝑟 𝑟
¨ + 𝐵 + 1 𝐵
𝜏 𝑚 = 𝐵𝑚 𝜃˙𝑚 + 𝐼 𝑚 𝜃¨𝑚 + 2 ( 𝐵 𝜃˙𝑚 + 𝐼𝐼𝜃𝑚
¨ +
𝑚) 𝜃˙𝑚= 𝜏shaft
1 1
𝑟2 2
𝐼 𝜃 𝑚 𝑚 𝑚 to the other
𝑟 2 𝑟2 2 27
 𝑟 1 𝜃 1=𝑟 2 𝜃 2
Geared systems: Flexible Shafts Kinematic Equation
𝑟1
𝜃 =𝜃2
Gears
𝑟2 1
Equilibrium Equations

𝜏 𝑎 − 𝐾 1 ( 𝜃 𝑎 − 𝜃 1 )= 𝐼 𝜃¨ 𝑎 (1 )

(2)
How many DOF the
system has?
(3)
2 DOF: and
Solve Eq. 3 for F and substitute into Eq. 2.

1 𝑟1
Final equations of motion 𝐹 = ( 𝐾 2 𝜃 2 + 𝐼 2 𝜃2 ) = 2 ( 𝐾 2 𝜃1 + 𝐼 2 𝜃¨ 1
¨ )
𝑟2 𝑟2
𝐼 𝜃¨ 𝑎 + 𝐾 1 𝜃 𝑎 − 𝐾 1 𝜃 1=𝜏 𝑎
2
𝑟1
𝐾 1 ( 𝜃 𝑎 − 𝜃1 ) − ( 𝐾 2 𝜃1 + 𝐼 2 𝜃¨ 1 ) = 𝐼 1 𝜃¨ 1
( ) ( )
2 2
𝑟 𝑟 𝑟
2
𝐼 1+ 𝐼 2 𝜃¨ 1+ 𝐾 1 +
1
2
1
2
𝐾 2 𝜃1 − 𝐾 1 𝜃𝑎=0 2
𝑟 2 2𝑟 28
Identifying degrees of freedom

DOF=2

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Identifying degrees of freedom

DOF=3

Three angles

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Identifying degrees of freedom

DOF=3

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Identifying degrees of freedom

DOF=2

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Identifying degrees of freedom

DOF=1
The angle of the rod

is the input
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Identifying degrees of freedom

Rigid shaft

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