Professional Documents
Culture Documents
STUDENT NUMBER
MODULE CODE
ASSIGNMENT NUMBER
: MABENGO N.D.
: 48591238
: MOM3602
: 01
QUESTION 1
1.1 Newtons second law gives:
d 2x
Fresultant m 2
dt
F spring kx
F damper
dx
c
dt
d 2x
dx
m 2 kx c
dt
dt
mx kx cx
Rearranging the above equation by diving both sides by m, we will have:
d 2 x c dx k
x 0 (Which is the equation for free vibration with viscous damping).
dt 2 m dt m
Let us now recall that there are two types of frequencies in vibration problems: n (natural
angular frequency) and d (the frequency of damped vibration). The relation between
angular frequency rad / s and vHz is given by:
2v
v
1
T
Page | 1
: MABENGO N.D.
: 48591238
: MOM3602
: 01
Therefore,
c c 2m
k
2 km 2m n
m
c
cc
c
c c
c n
2m c c 2m
So that:
2043
16.309rad / s
7.68
c
67
0.267
cc 250.521
Hence:
d 15.71692669
2.501426573Hz
2
2
We can conclude that the frequency of vibration when the mass is released is v 2.501Hz
1.2 The nature of damping is dependent on the magnitude of the damping factor .
If
From the evidence above, we can unassumingly conclude that the nature of the
damping for the system is UNDER DAMPED
Page | 2
: MABENGO N.D.
: 48591238
: MOM3602
: 01
s1, 2
c c 2 4mk c
k
c
2m
2m
m
2m
2 1 n
We will now substitute the known information into the above that will allow us to solve for the
roots s1,2 as follows:
s1, 2 2 1 n
0.267
0.2672 1 16.309
s1 4.354 15.716i
s 2 4.354 15.716i
To develop the expression, we must solve for the unknown constants C1 and C2 by replacing
the known initial conditions of x0 0.048 and x 0m / s . To do so we will use the expression
for the displacement that we can differentiate and obtain another expression for the velocity
x :
Page | 3
: MABENGO N.D.
: 48591238
: MOM3602
: 01
xt
x t
d
C1e s1t C 2 e s2t
dt
C1 s1e s1t C 2 s 2 e s2t
x0
0.048m
0.048
C1e s10 C 2 e s2 0
0.048
C1 C 2
x 0
C1 s1e s10 C 2 s 2 e s2 0
C1 s1 C 2 s 2
C1 C 2 0.048
C1
0.208992 0.7543i
31.432i
0.024 0.0066i
C2
Page | 4
: MABENGO N.D.
: 48591238
: MOM3602
: 01
Going back to the expression, let us substitute the values of C1 and C2 thereto:
Page | 5
: MABENGO N.D.
: 48591238
: MOM3602
: 01
QUESTION 2
2.1 The displacement at any time x (t ) will be given by the expression:
2 1 t
n
xt C1e
2 1 t
n
C2e
But with a different value of damping constant c 318Ns / m and the same initial conditions,
that is, n
2043
16.309rad / s and cc 2 km 2 2043 7.68 250.521Ns / m ,
7.68
318
1.269
250.521
The corollary is that the new system is over-damped and will have a different vibration
reaction.
d
C1e
dt
2 1 n t
2 1 t
n
C2 e
2 1 t
n
2 1 n C1e
2 1 t
n
2 1 nC2 e
C1 C 2 x0
2 1 n C1 2 1 n C 2 x 0
C1 C 2 0.048 C 2 0.048 C1
1.269
7.954C1 33.437C 2 0
C1 0.0629
C 2 0.0149
Page | 6
: MABENGO N.D.
: 48591238
: MOM3602
: 01
x t
d
0.0629e 7.954t 0.0149e 33.437t
dt
Page | 7
: MABENGO N.D.
: 48591238
: MOM3602
: 01
QUESTION 3
Let us first calculate the damping ratio:
c
258
1.029 1
c c 250.521
Here the system is critically damped which means that that it is defined by the equation
mx cx kx 0 and s1 s2 . We know that:
x n x0
xt e nt x0 cos 1 2 n t 0
sin 1 2 n t
1 2 n
The above cannot be directly applied in its current form since there is an indeterminate form
of
0
present in the analytical solution because:
0
lim 1 2 0
1
lim 1 2 n t 0
1
To solve this issue we will apply LHpital rule which will then give:
1
2
cos
1
1 2
n
n
sin 1 n t
2
lim
lim
1
2
1
1
1
1
1 2 2 2
2
lim n t cos 1 2 n t
1
1
2
nt
Page | 8
: MABENGO N.D.
: 48591238
: MOM3602
: 01
x n x0
xt lime nt x0 cos 1 2 n t 0
sin 1 2 n t
1
1 2 n
x n x0
e nt x0 0
n
sin 1 2 n t
lim
1
1 2
e nt x0 x 0 n x0 t
With the known initial conditions, that is, x0 0.048m and x 0 0m / s the above expression
will become:
x t
d 16.309t
0.048 0.782832t
e
dt
Page | 9
: MABENGO N.D.
: 48591238
: MOM3602
: 01
Page | 10
: MABENGO N.D.
: 48591238
: MOM3602
: 01
QUESTION 4
4.1 The length of the bar is , its mass is m , and the perpendicular distance between the axis
passing through the bars centre of mass at point P and the axis about which the bar is
rotating passing through the point O is 1 so that:
4
I cm
d
1
m 2
12
4
2
1
7
I m 2 m
m 2
12
4
48
7
IO
m 2
48
From the free-body diagram, the angular acceleration will be expressed as:
d 2
2
dt
s
where is the angle, s is the the arc length subtended
R
and R is the radius. Rearranging, we have s R . In vibration problems, we only consider
But we should recall that
s1 R1 1
s 2 R2 2
The deflection of the spring is then s1 and the velocity of the damper is then s2 where:
s2 R22
Since there is only one bar which is rigid, it follows that the bar will rotate in equal angles,
thus 1 2 and we only need one variable to describe the motion of the bar.
Consequently, we observe that:
2
3
R2
4
R1
Page | 11
: MABENGO N.D.
: 48591238
: MOM3602
: 01
Knowing that the springs force is a retarding force opposite to the direction of displacement
and the damping force being the retarding force opposite to the direction of velocity, we
will have:
3
3
Fsprings k1 k 2 s 2 k1 k 2 k1 k 2
4
4
1
1
Fdamping cs1 c c
2
2
Having the forces we can now calculate the corresponding torques taking into the account
the corresponding distances between the application of the respective forces and the pivot
are:
4
1
2
D spring
Ddamper
So that:
1
2
1
4
9
k1 k 2 2 1 c 2
16
4
resultant I
9
k1 k 2 2 1 c 2 7 m 2
16
4
48
Page | 12
: MABENGO N.D.
: 48591238
: MOM3602
: 01
k1 k 2 2 c 2 0
The equation of the motion will be: m 2
4
48
16
9
9
1 2
7
2
2
48 m 16 2k 4 c 0
Page | 13