1.

65

CalculatethefrequencyofthecompoundpendulumofFigureP1.65ifamassmTisadded
tothetip,byusingtheenergymethod.Assumethemassofthependulumisevenly
distributedsothatitscenterofgravityisinthemiddleofthependulumoflengthl.

FigureP1.65Acompoundpendulumwithatipmass.
SolutionAddingatipmassaddsbothkineticandpotentialenergytothesystem.
Ifthemassofthependulumbarism,anditislumpedatthecenterofmasstheenergies
become:

PotentialEnergy:

1
U ( cos )mg ( cos )mtg
2

(1 cos )(mg 2mtg)

2

KineticEnergy:

1 2 1 2 1 m2 2 1
J J t
mt2 2
2
2
2 3
2
1
1
( m mt )2 2
6
2

Conservationofenergy(Equation1.51)requiresT+U=constant:

1
1
2 2
(1 cos )(mg 2mtg) ( m mt )
C
2
6
2
Differentiatingwithrespecttotimeyields:

1
2

(sin )(mg 2mt g) ( m mt )

0
2
3
1
1

( m mt )

(mg 2mt g)sin 0

3
2
Rearrangingandapproximatingusingthesmallangleformulasin~,yields:

 m
mt

(t) 2
1
m mt
3

g
(t) 0 n

3m 6mt g
rad/s
2m 6mt

Notethatthissolutionmakessensebecauseifmt=0itreducestothefrequencyofthe
pendulumequationforabar,andifm=0itreducestothefrequencyofamassless
pendulumwithonlyatipmass.

1.68 ConsiderthependulumandspringsystemofFigureP1.68.Herethemassofthependulum
rodisnegligible.Derivetheequationofmotionusingtheenergymethod.Thenlinearize
thesystemforsmallanglesanddeterminethenaturalfrequency.Thelengthofthe
pendulumisl,thetipmassism,andthespringstiffnessisk.

FigureP1.68Asimplependulumconnectedtoaspring
Solution:Writingdownthekineticandpotentialenergyyields:

1
1
T ml 2 2 , U kx2 mgh
2
2
1
U kl 2 sin 2 mgl(1 cos )
2
Herethesoringdeflectsadistancelsin,andthemassdropsadistancel(1cos).
Addingupthetotalenergyandtakingitstimederivativeyields:

d 1 2 2 1 2 2
ml kl sin mgl cos

dt 2
2
(ml 2 ) (kl 2 sin cos ) mgl sin 0
ml 2 kl 2 sin cos mgl sin 0
Forsmall,thisbecomes

ml 2 kl 2 mgl 0
kl mg

0
ml
n

kl mg
rad/s
ml

1.69 Acontrolpedalofanaircraftcanbemodeledasthesingledegreeoffreedomsystemof
FigureP1.69.Considertheleverasamasslessshaftandthepedalasalumpedmassatthe
endoftheshaft.Usetheenergymethodtodeterminetheequationofmotioninand
calculatethenaturalfrequencyofthesystem.Assumethespringtobeunstretchedat=
0.
k
l1

l2
m

FigureP1.69
Solution:Inthefigureletthemassat=0bethelowestpointforpotentialenergy.Then,the
heightofthemassmis(1cos)2.
Kinematicrelation:x=1

T
KineticEnergy:

1 2 1 2 2
mx m2
2
2

U
PotentialEnergy:

1
2
k(
1 ) mg
2 (1 cos )
2

Takingthederivativeofthetotalenergyyields:

d
2
2

(T U ) m
2 k(
1 ) mg
2 (sin ) 0
dt
Rearranging,dividingbyd/dtandapproximatingsinwithyields:
2
(k
m22
1 mg
2 ) 0

2
k
1 mg
2
2
m
2

1.80

ConsiderthediskofFigureP1.80connectedtotwosprings.Usetheenergymethodto
calculatethesystem'snaturalfrequencyofoscillationforsmallangles(t).
(t)
k

s
a
x(t)

m mass

FigureP1.80
Solution:

Jo

x r , x r

Known:
Kineticenergy:

and

Trot

1 2
mr
2

1 2 1 mr 2 2 1 2 2
J o
mr

2
2 2
4

1
1
Ttrans mx2 mr 2 2
2
2
1
1
3
T Trot Ttrans mr 2 2 mr 2 2 mr 2 2
4
2
4

1
2
k a r k a r 2 2
2

U 2

Potentialenergy:
Conservationofenergy:
T U Constant
d
T U 0
dt
d 3 2 2
mr k a r 2 2 0

dt 4
3 2
2
0
mr 2 k a r 2
4
3 2
2
mr 2k a r 0
2

Naturalfrequency:

n 2

2
keff
2k a r

3 2
meff
mr
2

a r k
rad/s
r
3m

1.111 ConsiderthesystemofFigureP1.111.(a)Writetheequationsofmotionintermsofthe
angle,,thebarmakeswiththevertical.Assumelineardeflectionsofthespringsand
linearizetheequationsofmotion.(b)Discussthestabilityofthelinearsystems

solutionsintermsofthephysicalconstants,m,k,and .Assumethemassoftherodacts
atthecenterasindicatedinthefigure.

FigureP1.111
Solution:Notethatfromthegeometry,thespringsdeflectadistance

kx k(sin )

cos

and

thecgisadistance
upfromthehorizontallinethroughpoint0takenaszero
gravitationalpotential.Thusthetotalpotentialenergyis
1
mg
U 2 k(sin )2
cos
2
2

Usingtheinertiaforathinrodoflengthlrotatingaboutitsend,thetotalkineticenergyis
1
1 m2 2
T J O 2

2
2 3
TheLagrangeequation(1.64)becomes
d T
U d m2
1

2ksin cos mgsin 0

dt
dt 3
2
Usingthelinear,smallangleapproximations

sin and cos 1

yields

a)

m2
mg
2k2
0
3
2

Sincetheleadingcoefficientispositivethesignofthecoefficientof determinesthe
stability.
if 4k mg 0 4k mg the system is stable

if 4k mg (t) at b the system is unstable

b)

if 4k mg 0 4k mg the system is unstable

Notethatphysicallytheseresultsstatethatthesystemsresponseisstableaslongasthe
springstiffnessislargeenoughtoovercometheforceofgravity.