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Vibrations
Part I.
A. Basic Terminologies B. Undamped Free Vibrations of a Particle: Simple Harmonic Motion C. Undamped Free Vibrations of Rigid Bodies
A. Basic Terminologies
Vibration: motion of a body which oscillates about a position of equilibrium. Period: time to complete a cycle of the motion. Frequency: number of cycles per unit time. Amplitude: maximum displacement of the system from the equilibrium position. Free vibration: vibration without external force. Undamped vibration: vibration without energy dissipation. Degree of freedom.
Chapter 9, Page 1
mg k( st + x) = m x m + kx = 0 x
General Solution: x = C1 sin nt + C2 cos nt
W T = 0 W st = k W T = ma
n =
k m
Chapter 9, Page 2
Proof:
2 2 x = C1 n sin nt C2 n cos nt 2 2 m = C1m n sin nt C2 m n cos nt x
C1 and C2 are usually determined by initial conditions. Example: Knowing x = x0 and x = 0 , when t = 0 , x0 = C1 sin(0) + C2 cos(0) , C2 = x0 x = C1 n cos nt x0 n sin nt , 0 = C1 n cos(0) x0 n sin(0) , C1 = 0
For this particular case,
x = x0 cos nt
Chapter 9, Page 3
x = xm sin( nt + )
Proof: x = C1 sin nt + C2 cos nt
C1 C2 2 = C12 + C2 sin nt + cos nt 2 C2 + C2 C12 + C2 1 2 = xm sin( nt + )
n =
2 : Natural period n
x = xm sin( nt + ) v = xm n cos( nt + )
2 a = xm n sin( nt + )
2 a = n x
vm = xm n
2 am = xm n
Chapter 9, Page 5
n =
n = 2
g l l g
Chapter 9, Page 6
Problem 9.1
A 50-kg block moves between vertical guides as shown. The block is pulled 40mm down from its equilibrium position and released. For each spring arrangement, determine (a) the period of the vibration, (b) the maximum velocity of the block, and (c) the maximum acceleration of the block.
n =
n =
Spring in series:
k= 1 1 1 + k1 k2 = 1 1 1 + 4 6 = 2.4 kN/m
Problem 9.2
2 am = xm n 2 50 m/s 2 = (0.06) n
Chapter 9, Page 8
Problem 9.3
(a)
B =
ke =
(b)
n =
fn =
n = 3.6 Hz 2
Chapter 9, Page 9
Problem 9.4
n =
Moment about A: 2Fd mgx = m xh
2kd 2 g mh2 h
n = 2 n
(a) (b)
n = 0.5 s ,
m = 3.56 kg
2(k
d x)d mgx = m xh h
n = infinity ,
m = 43.7 kg
Chapter 9, Page 10
n =
3g 5b
Chapter 9, Page 11
Problem 9.5
A cylinder of weight W is suspended as shown. Determine the period and natural frequency of vibrations of the cylinder.
x = r a = r = 2x = 2r
1 T2 = W + k 2
Problem 9.6
The disk and gear undergo torsional vibration with the periods shown. Assume that the moment exerted by the wire is proportional to the twist angle. Determine (a) the wire torsional spring constant, (b) the centroidal moment of inertia of the gear, and (c) the maximum angular velocity of the gear if rotated through 90o and released.
Moment about O:
K = I , or +
K =0 I
n =
(a) 1.13 = 2
2 I = 2 n K
m = 10 kg n = 1.13 s
n = 1.93 s
(b) 1.93 = 2
Problem 9.7
Moment about B:
mL I AB + + I Disk + kr 2 = 0 4
2
Chapter 9, Page 14
Problem 9.8
Moment about O:
gr sin = 0 + 2 r +k2
n = 2
r2 +k2 gr
Chapter 9, Page 15
Problem 9.8
(Continued)
ra2 + k 2 A = 2 gra
For rod suspended at B,
rb2 + k 2 B = 2 grb
Also, ra + rb = 0.25 m Solution: ra = 154 mm , rb = 96 mm , k = 73 mm
Chapter 9, Page 16