Dynamics in Engineering Practice; Childs; Chapter 5 Problems DRAFT

Problem 5.4
The bar shown is pinned at O and released from rest at = 0. Derive the governing differential equation of motion applying Newtonian principles and work-energy
principles. Define the reaction components at O as a function of (only).
Kinematics:

2
2
2
2
is a constant
0
2 2
r OG OG OG OG
OG
OG OG
r
L
OG
a r r a r r
r
r r
L L
a a

=
= = +
= =
= =





Applying Newtonian principles:

( ) ( )
( ) ( )
( ) ( )
( ) ( )
2
2
2
: sin 1
2
: cos 2
2
: cos 3
2
1
3
3
From (3): cos cos
2 3 2
r r r
O O O
O
L
f ma W O m
L
f ma W O m
L
M I W I
I mL
L mL g
mg
L





= =
= =
= =
=
= =

Applying conservation of energy:

( )
( ) ( ) ( )
( )
1 1 0 0
2
1 0
1 0 0
2 2
0 0 0
1
and 0
2
sin and sin( )
2 2
1 2
sin sin cos
2 2 2 2
take derivitive w.r.t. and apply energy integral relationship:
cos 0
2
O
O
O
O
T V T V
T I T
L L
V mg V mg
L L L
I mg T V mg mg
I
L m
I mg

+ = +
= =
= =
| |
= + =
|
\ .
= =

( ) ( )
( )
2
3
cos cos
2 2
3
cos
2
O
g L mg L
I mL
g
L


=
=

Solving for support reactions:

( ) ( ) ( ) ( )
( )
( ) ( )
( )
( ) ( )
( )
2
0 0 2
2
0
0
0
2 6
sin sin sin sin
2 2 2 2
3
sin sin
3
from (1): sin sin sin
2
5 3
sin sin
2 2
3
from (2): cos cos
2 2
cos

4
O
r
r
L L L L
mg mg mg mg
I mL
g
L
L g
O W m
L
O W W
L g
O W m
L
W
O

| | | |
= =
| |
\ . \ .
=
= +
=
=
=

m, l
O
O

O
r
W


O
r



G

L/2
Free body diagram of bar
Datum Line
Dynamics in Engineering Practice; Childs; Chapter 5 Problems DRAFT
Problem 5.8
The plate shown was released from rest at = 0. Draw a free-body diagram and deriver the equation of motion using both Newtonian principles and work energy
principles. Determine the reaction components at O as a function of (0nly).
Kinematic relationships:

2
2
2
2
5
2 2
2
which is a constant
0
r
r
b b
OG d b
a r r a r r
r d
r r
a r a r

| |
= = + =
|
\ .
= = +
=
= =
= =





Kinetic relationships applying polar reference system at O:
( )
( )
( )
( ) ( )
2
2
2
2
2 2
2
5
: sin
2
5
: cos
2
: cos
1 5 5
2
12 2 3
5 5 3
cos cos
2 3 2 5
r r r
O O O
O G O
b
f ma O W m
b
f ma W O m
M I Wd I
b mb
I I md m b b m I
b mb g
mg
b





= =
= =
= =
| |
(
= + = + + =
|
|
\ .
= =

Applying work and energy relationships:

( ) ( ) ( )
( ) ( ) ( )
1 1 0 0
2
1 0
1 0 0
2 2
0 0
1
0
2
5
sin sin sin
3
1 5 2 5 5
sin sin sin sin
2 3 3 3
take derivitive w.r.t. and apply energy integral relationship:
O
O
O
O
T V T V
T I T
b
V mgd mg V mgd
b b b
I mg mgd mg mg
I
I

+ = +
= =
= = =
| |
= = +
|
|
\ .

5 5
cos 0
3 3
O
b b
mg mg
I
= =

Solving for the support reactions;

( )
( )
( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
( )
2
2
0 0
0 0
5
sin
2
5
cos
2
3 2 5 5 2
cos and sin sin sin sin
3 3 2 5 5
5 2
sin sin sin sin 2 sin sin
2 5
2 sin si
r
O
r
r
b
O W m
b
O W m
g b b g
mg mg
I b b
b g
O W m W W
b
O W W

=
=
| |
= = + =
|
|
\ .
| |
| |
= + =
|
|
|
\ .
\ .
=

( )
( ) ( ) ( ) ( )
( )
0
n
cos 5 3 3
cos cos cos cos
2 4 4 2 5
W b g
O W m W W O
b

= = =

b

O
2b
m

r


O

O

O
r
O
r
G
d
Datum Line
Free body diagram of plate
Dynamics in Engineering Practice; Childs; Chapter 5 Problems DRAFT
Problem 5.11
The plate shown was released from rest at = 0. Draw a free-body diagram and deriver the equation of motion using both Newtonian principles and work energy
principles. Determine the reaction components at O as a function of (0nly).
Kinematics:
2 2
2
2
2 2 2
2
which is a constant
0
2 2
r OG OG OG OG
OG
OG OG
r
b b b
OG d
a r r a r r
r d
r r
b b
a a

| | | |
= = + =
| |
\ . \ .
= = +
=
= =
= =






Applying Newtonian principles to free body diagram:
( ) ( )
( ) ( )
( ) ( )
( ) ( )
2
2
2
2 2 2
2
: cos 1
2
: sin 2
2
: sin 3
1 2
12 3 2
2 3
From (3): sin sin
3 2 2 2
r r r
O O O
O G O
b
f ma W O m
b
f ma W O m
M I Wd I
b mb
I I md m b b m I
b mb g
mg
b





= + + =
= + =
= + =
| |
( = + = + + =
|

\ .
+ = = +

Applying conservation of energy:
( ) ( ) ( )
( ) ( ) ( )
( )
1 1 0 0
2
1
1 0
2 2
0 0
1
2
cos cos and cos
2 2
1 2
cos cos cos
2 2 2 2
take derivitive w.r.t. and apply energy integral relationship:
sin 0
2
O
O
O
O
T V T V
T I
b b
V mgd mg V mg
b b b
I mg T V mg mg
I
b
I mg

+ = +
=
= + = + =
| |
+ + = + = + +
|
\ .
+ =

( ) ( )
( )
2
3
sin sin
2 2 2
3
sin
2 2
O
mg b mg b
I mb
g
b


= + = +
= +

Solving for the support reactions:
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
( ) ( )
( ) ( )
2
2
2
2 6
cos cos cos cos
2 2 2 2
6 6
From (1): cos = cos cos cos
2 2 2 2
2 cos 3 cos
3
From (2): sin sin
2 2
O
r
r
b b b b
mg mg mg mg
I mb
b b g g
O W m W m
b b
O mg mg
b b g
O W m W m
b

| | | |
= + + = + +
| |
\ . \ .
| |
= + + + +
|
\ .
= +
= + = +

( )
( )
sin
2 2
sin
4
mg
O

| |
+
|
\ .
= +




b
b

O
m
b
b

O
m
O
r

r
O

W


Free body diagram of plate
G
d
Datum Line
Dynamics in Engineering Practice; Childs; Chapter 5 Problems DRAFT
l, m

O

k

k

Problem 5.16
The slender bar pivots about the frictionless pivot O. For small , draw a free-body diagram and derive the equation of motion by
applying Newtonian and conservation of energy principles. Determine the natural frequency of the system. For what value of the
spring coefficient k will the bar become unstable?

Kinematic Constraints:




2
1 cos sin
cos
2
sin
2
sin
l
X l X
l
Y
l
X l X
G S
G G S
= =
= =
= = =
and
and s, deflection small for
Applying Newtonian principles:

( ) ( )
( )
( ) ( )
2
2
cos 2 sin
2
1
where:
3
sin
cos 2 sin sin
2
rearranging terms :
2 cos sin sin 0
2
Applying small angle identity and spring relations:
1
3
O O
O S O
O
S S
O
O
M I
l
M l F W I
I ml
F kX k l
l
l k l W I
Wl
I kl
ml

=
= + =
=
= =
+ = (

+ =

2 2
6 3
2 0 0
2 2
wl k g
kl
m l

| | | |
+ = + =
| |
\ . \ .


Applying conservation of energy principles:

( )
( )
1 1 0 0
2 2
2 2 2
1 0
2
2
1
2
2
2
0 0
2
1 1
2 2 3 6
1
2 cos sin
2
cos sin
6 2
Taking the derivitive w.r.t. to and applying energy integral theorem:
sin
3 2
G S
T V T V
ml ml
T I
V mgy kx mgl k l
ml l
mg k l T V
ml l
mg

+ = +
| |
= = =
|
\ .
| |
= + = +
|
\ .
+ + = +
+

( )
2
2
2
2 sin cos 0
Applying small angle identities: sin and cos 1
2 0
3 2
k l
ml Wl
kl



=

| |
+ =
|
\ .

What stiffness is required to keep system stable:

l
W
k
Wl
kl
K
4
0
2
2
0
2

>
>

F
S
O

x
S
F
S
W

Y

X

x
G
A

G

Datum Line
Dynamics in Engineering Practice; Childs; Chapter 5 Problems DRAFT
l, m

O

c

k

k

l/2

c

Problem 5.17
A bar of mass m and length l is supported vertically at its top by two springs with spring constants k. Each spring has an initial
tension T
co
. Two linear dampers are attached at the middle of the bar with damping coefficients c. Perform the following engineering
tasks:
a) Draw a free-body diagrams and derive the equation of motion. What is the undamped natural frequency and
damping factor?
b) Drop the damping and use conservation of energy to derive the equation of motion.
c) For what value of the spring coefficient k will the bar become unstable?
Kinematic Constraints:

sin sin cos
2 2
cos
2
for small deflections, sin and cos 1
and and
2 2
S C G G
C
S G C
l l
X l X X Y
l
X
l l
X l X X




= = = =
=
= =
= = =



Applying Newtonian principles:

( ) ( ) ( )
( )
( ) ( )
2
2
2
cos 2 cos 2 sin
2 2
1
where: sin cos
3 2
cos 2 sin cos 2 sin sin
2 2 2
rearranging terms :
cos 2
2
O O
O C S O
O S S C C
O
O
M I
l l
M F l F W I
l
I ml F kX k l F cX c
l l l
c l k l W I
l
I c kl

=
= + =
| |
= = = = =
|
\ .
( | |
+ = (
| (
\ .
+ +

2
2
2 2
n
cos sin sin 0
2
Applying small angle identity and spring relations:
1 3 6 3
2 0 0
3 2 2 2 2
6 3
natural frequency:
2
6 3 3
damping factor: 2 2
2
n
E
E
Wl
cl wl c k g
ml kl
m m l
k g
m l
C k g c
I m l

=
| | | |
+ + = + + =
| |
\ . \ .
=
= =

3
2 6 3
4
2
c
m k g
m
m l
=

Problem 5.17 continued
Applying conservation of energy principles:

F
S
O

x
S
F
S
W

Y

X

x
G
A

G

Datum Line
F
C
F
C
Y
G
Dynamics in Engineering Practice; Childs; Chapter 5 Problems DRAFT

( )
( )
( )
1 1 0 0
2 2
2 2 2
1 0
2
2
1
2
2
2
0 0
2
2
1 1
2 2 3 6
1
2 cos sin
2
cos sin
6 2
Take derivitive w.r.t. and apply energy integral theorem:
sin 2 sin cos
3 2
G S
T V T V
ml ml
T I
V mgy kx mgl k l
ml l
mg k l T V
ml l
mg k l

+ = +
| |
= = =
|
\ .
| |
= + = +
|
\ .
+ + = +
+

2
2
0
Applying small angle identities: sin and cos 1
2 0
3 2
ml Wl
kl


=

| |
+ =
|
\ .

What stiffness is required to keep system stable:

l
W
k
Wl
kl
K
4
0
2
2
0
2

>
>
Dynamics in Engineering Practice; Childs; Chapter 5 Problems DRAFT
O

m

k

c

l/3

l/3

l/3

Problem 5.18
The bar illustrated has a mass m, length l and is supported by a frictionless pivot at O. A linear spring with spring coefficient k is
connected to the bar at a distance 2l/3 from the pivot point. A linear damper with damping coefficient c is connected to the bar at a
distance l/3 from the pivot. For small-rotation angle of the bar, perform the following engineering analysis tasks:
a) Draw a free-body diagram and derive the governing equation of motion. For k = 350 N/m, m = 20 kg,
and l = 1 m determine the undamped natural frequency. Select a damping value c such that the damping factor is
= 0.1.
b) Drop the damping and derive the equation of motion using conservation of energy.

Kinematic constraints:
Applying small angle conditions:
2
X X
3 3 6
3
C S G
C
l l l
X
l
X

= = =
=



Applying Newtonian principles for rotation about fixed point O:
2
2 2 2
2
2
2
6 3 3
where: and,
Solving for :
12 6 12 36
or,
9
substituting, following E.O.M. is obtained:
2
3 3
O O
C S O
C C S S
O O G
O
O C S
M I
l l l
W F F I
F cX F kX
ml l ml l
I I I md m m
ml
I
l l l
I F F

=
=
= =
| |
= + = + = +
|
\ .
=
| |
+ + +
|
\ .

2
2 2 2
0
6
2 2
0
9 3 3 3 3 6
4 4 3
0 or, 0
9 9 9 6 2
W
ml l cl l lk l
W
ml cl l k Wl c k g
m m l

=
| | | || |
+ + + =
| | |
\ . \ .\ .
| |
| |
+ + + = + + + =
| |
\ .
\ .





( ) ( )
( )
( )( )
Substituting in the given values:
20 350 0.10 1
From E.O.M:
4 350 3 9.81 4 3
natural frequency : 9.20
2 20 2 1
2 350 0.1 2
damping coeffecient: 7.61
2 9.20
N
m
rad
n n s
n Ns
m
n
m kg k l m
k g
m l
C k
C
k

= = = =
= + = + =
= = = ==
( )
2
2 2
9 7.61 9
68.49
9 1
Ns
m
cl C
C c c
l
= = = =

F
C

x
C
Datum Line
l/6

y
G

x
S
F
S
W

l/3

2l/3
Kinematic Diagram
Free Body Diagram
x
g
O
x
O
y
Y
X
Dynamics in Engineering Practice; Childs; Chapter 5 Problems DRAFT
Problem 5.18 continued:
Dropping the damping and applying conservation of energy principles:

( )
( )
1 1 0 0
2
1
2
2
1
2
2
2
0 0
2
1
2
1 1 2
cos sin
2 6 2 3
1 4
cos sin
2 6 18
Take derivative w.r.t. and apply energy integral realtionships:
4
sin sin c
6 9
O
g s
O
O
T V T V
T I
l l
V mgy k X mg k
l l
I mg k T V
mgl l k
I

+ = +
=
| | | |
= + = +
| |
\ . \ .
| |
+ = +
|
\ .
+ +

2 2
os 0
Apply small angle relationships: sin and cos 1
4
0
9 6 9
ml mgl l k

=

| |
+ + =
|
\ .

Dynamics in Engineering Practice; Childs; Chapter 5 Problems DRAFT

O

k

c

a

b

Problem 5.19
The bar illustrated has a mass m and is supported by a frictionless pivot at O. A linear spring with a spring coefficient k is connected
to the bar at a distance a from the pivot point. A linear damper with damping coefficient c is connected to the bar at a distance b from
the pivot. For a small-rotation angle of the bar, perform the following engineering analysis tasks:
a) Draw a free-body diagram and derive the governing equation of motion. For k = 350 N/m, m = 20 kg, a = 0.5 m ,
and b = 1 m determine the undamped natural frequency. Select a damping value for c such that the damping
factor is = 0.1.
b) Drop the damping and derive the equation of motion using conservation of energy.
Kinematic constraints:
Applying small angle conditions:
X X
2 2
2
C S G
C
l l
X a l
l
X

= = = =
=


Applying Newtonian principles for rotation about fixed point O:
2
2
2
2 2
2 2
where: and,
Solving for :
3
substituting, following E.O.M. is obtained:
0
2 2
0
3 2 2 2
3 4
O O
C S O
C C S S
O O
O C S
M I
l l
W F lF I
F cX F kX
ml
I I
l l
I F lF W
ml l cl l
l k mg
ml cl
l

=
=
= =
=
+ + + =
| |
+ + + =
|
\ .
+ +

2
3 3 3
0 or, 0
2 4 2
mgl c k g
k
m m l

| | | |
+ = + + + =
| |
\ . \ .







y
G
G

X
C
A

X
S
Datum Line

O

Y

X

O

Y

X

G

A
F
S
F
C
W

O
X
O
Y
Kinematic Diagram: Free Body Diagram:
Dynamics in Engineering Practice; Childs; Chapter 5 Problems DRAFT
Problem 5.19 continued:

( ) ( )
( )
( )( )
( )
m
Ns
m
Ns
n
n
s
rad
n n
m
N
c
l
C
c
cl
C
C
k
C
k
C
l
g
m
k
m l k kg m
16 . 34
1
54 . 8 4 4
4
54 . 8
20 . 9
1 . 0 350 2 2
2
20 . 8
1 2
81 . 9 3
20
350 3
2
3 3
1 10 . 0 350 20
2 2
2
= = = =
= = = = =
= + = + =
= = = =

: t coeffecien damping
: frequency natural
: E.O.M From

: es given valu in the ng Substituti


Dropping the damping and applying conservation of energy principles:


( ) ( )
( )
1 1 0 0
2
1
2 2
1
2
2 2
0 0
2
1
2
1 1
cos sin
2 2 2
1
cos sin
2 2
Take derivative w.r.t. and apply energy integral realtionships:
sin sin cos 0
Apply sma
O
g s
O
O
T V T V
T I
l
V mgY k X mg k l
l
I mg kl T V
I mgl l k

+ = +
=
| |
= + = +
|
\ .
| |
+ = +
|
\ .
+ + =

( )
2
2
ll angle relationships: sin and cos 1
0
3
ml
mgl l k



+ + =

Dynamics in Engineering Practice; Childs; Chapter 5 Problems DRAFT

Problem 5.20
The mechanism shown is pivoted about point O, has mass m with a mass center G, and a radius of gyration about O of k
O
. The
springs ( spring constant k) attached to the cross-member ends are in compression at = 0, and are not unloaded by the rotations.
The linear dampers attached to the ends of the cross member have linear damping coefficients c. Perform the following engineering
analysis tasks:
a) Draw a free-body diagram and derive the equation of motion. For small motion, what is the natural frequency?
What is the damping factor?
b) Drop the damping and derive the equation of motion from conservation of energy.

Kinematic relations:
1 2
1 2

X b X b
X b X b


= =
= =




( ) ( ) ( )
1 2 1 2
1 01 2 02
01 02
1 2
01 02
2
where and are the preload of the two springs respectively.
2
2 2
O O
S S C C O
S S S S
S S
C C
S S O
O
M I
bF bF bF bF r W I
F F kb F F kb
F F
F cb F cb
b F kb b F kb b cb rW I
I b c

=
=
= = +
= =
+ =
+ +

( )
2
01 02 S S
kb rW bF bF + =


The natural frequency of the system is :

2
2
2
n
O
kb rW
mk

+
=

The damping factor for the system is:

( )( ) ( )( ) ( )( )
2 2 2
2 2 2 2 2 2
2
2
2 2 2 2
E E
C E E
O O O
C C
C K M
cb cb cb
mk kb rW mk kb rW mk kb rW

= =
= = =
+ + +


By dropping damping, no non-conservative force are present, can apply
conservation of energy:

( )
1 1 0 0
2
1
2
1
2 2
0 0
1
2
1
2 cos
2
1
cos
2
o
o
T V T V
T I
V k b rW
I kb rW T V

2
+ = +
=
| |
=
|
\ .
+ = +

Take derivative w.r.t. , and apply energy integral substitution:

( )
2
2
2 sin 0
2
and applying small angle identity sin
2 0
O
O
I d kb rW
I kb rW

2
| |
+ + =
|
\ .
=
+ + =

w
O
y
O
x
F
2
F
1
F
C1
F
C2

X
Y
Free body diagram for assembly: positive
direction of motion is counter-clockwise rotation

O

G

c

c

k

k

b

b


vertical

_
r

Datum
Dynamics in Engineering Practice; Childs; Chapter 5 Problems DRAFT

O
x
Problem 5.23
The truck shown is accelerating to the right with an acceleration a ( x a = ). The plate of length L and mass is pivoted at O and released from rest at = 0. Derive
the governing equation of motion defining

.
Defining kinematics:
2 2
: sin : cos
2 2
cos sin
2 2
cos sin sin cos
2 2 2 2
G O G
G O G
G O G
L L
X X X Y Y
L L
X X Y
L L L L
X X Y



= =
= =
= + =




Applying kinetic relationship:
( )
( )
2
2
;
;
1
sin sin cos
2 3 2 2
3
sin sin
3 2 2 2
X G X G
Y G Y G
O O OG O
O
O
O
F mX O mX
F mY O W mY
M I
L L L
mg mL m a
La L mgL
m a g
L

= =
= =
= +
| |
= + +
|
\ .
| |
= = +
|
\ .

b a
I J I

Solving for support reactions:
( )
2 2
2
2
cos sin sin cos
2 2 2 2
3
sin
2
cos sin
2 2
sin cos
2 2
G O G
O
X O
Y
L L L L
X X Y
a g
L
L L
O m a
L L
O W m




= + =
= +
| |
= +
|
\ .
| |
=
|
\ .

X
Y

O
X
O
X
O

G
O
Y
W

r
Free Body Diagram of plate
Dynamics in Engineering Practice; Childs; Chapter 5 Problems DRAFT
m
r


c

k

x

Problem 5.33
The cylinder below, mass m and radius r, rolls without slipping on the inclined surface. It is restrained by a linear spring of stiffness k
and a linear damper with damping coefficient c. The spring is initially compressed and remains compressed during the motion of the
cylinder. Perform the following engineering tasks:
a) Draw a free-body diagram for the cylinder and derive a single governing equation of motion. For k = 10 lb/in,
w = 50 lb, and r = 18 in. Determine the undamped natural frequency. Select a damping value for c such that the
damping factor is = 0.1.
b) Drop the damping and derive the equation of motion using conservation of energy.
Kinematic relations:

and, X
O
S C O
C
X r
X X X
r

=
= =
=


Applying Newtonian principles to free body diagram.

2
; sin
where:

sin (1)
;
2 2
substituting into (1):
sin
2
3
X S C
S S
C C
O O O
F mX f F F w mX
F kX kr
F cX cr
mr cr kr f w
M I rf I
mr mr
rf f
f
mr
mr cr kr f w

= =
= =
= =
+ + =
= =

= =
| |
+ + + =
|
\ .

sin
2
m
r cr kr w + + =










F
C
Y
x

N

w

F
S
X

Free Body Diagram of disk:
Taking motion of center of disk, O, up incline
as positive.
O
f
Dynamics in Engineering Practice; Childs; Chapter 5 Problems DRAFT
Problem 5.33 continued:
Applying given information:
( )
( )
Given: w 50 lb r 18 in
k 10 lb/in 0.1
natural frequency of system:
2 10 386.4
2 2
7.18
3
3 3 3 50
2
required damping for desired damping factor:
2
E
rad
s n n
E
E n
E
K kr k kg
mr
M m w
C
K

= =
= =
= = = = = =
= =
( ) 2 10 0.1 2
0.279
2 7.18
n lb s
in
n
cr k
c c
kr

= = =

Applying principles of conservation of energy:

( )
( ) ( ) ( )
( )
1 1 0 0
2 2
2
2 2 2 2
1
2
2 2 2
1
2
2 2 2
0 0
1 1 1 1 3
2 2 2 2 2 4
1 1 1
sin sin sin
2 2 2
3 1
sin
4 2
Take derivative w.r.t. , and apply energy integral relat
O
O S
T V T V
mr mr
T mX I m r
V mgX kX mg r k r mgr kr
mr
mgr kr T V

+ = +
| |
= + = + =
|
\ .
= + = + = +
+ + = +

( )
( )
2
2
2
2
2
ionship:
2
3 2
sin 0
4
3 3
sin sin
4 4
d
mr
mgr kr
d
mr mr
kr mgr kr w

(
(
+ + =
(
(

+ = + =

m
r


c

k

x

Datum line
X
0