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The potential energy includes

Gravitational potential energy: Vg = mgh
1
1
Elastic potential energy: Ve " kx 2 or Ve = K 2
2
2
For an n-degree-of-freedom system, n independent equations of motion can be derived using
Lagranges formulation. One of the forms of Lagranges equations for a conservative system is
d T T V
+
= 0, i = 1, 2, , n,

dt q i qi qi
where qi is the ith generalized coordinate and n is the total number of independent generalized
coordinates. In contrast to the force/moment approach with Newtons second law and the moment
equation, Lagranges equations do not require a free-body diagram. However, velocity analysis is
essential to Lagranges equations.
REVIEW PROBLEMS
1. Determine the equivalent spring constant for the system shown in Figure 5.119.
2. Determine the equivalent spring constant for the system shown in Figure 5.120.
3. Consider the system shown in Figure 5.121, in which a massspring system is hung from
the middle of a massless beam. Assume that the beam can be modeled as a spring and the
equivalent stiffness at the midspan is 192 EIA /L3, where E is the modulus of elasticity of
beam material and IA is the area moment of inertia about the beams longitudinal axis.
a. Derive the differential equation of motion for the system.
b. Using the differential equation obtained in Part (a), determine the transfer function
0) " 0 .
X(s)/F(s). Assume that the initial conditions are x(0) = 0 and x(
c. Using the differential equation obtained in Part (a), determine the state-space representation. Assume that the output is the displacement x of the mass.
4. An accelerometer attached to an object can be modeled as a massdamperspring system,
as shown in Figure 5.122. Denote the displacement of the mass relative to the object, the
absolute displacement of the mass, and the absolute displacement of the object as x(t), y(t),
and z(t), respectively, where x(t) = y(t) z(t) and x(t) is measured electronically.
a. Draw the necessary free-body diagram and derive the differential equation in terms of x(t).
b. Using the differential equation obtained in Part (a), determine the transfer function
0) " 0 .
X(s)/Z(s). Assume that the initial conditions are x(0) = 0 and x(
c. Using the differential equation obtained in Part (a), determine the state-space representation. The input is the absolute displacement of the object z(t) and the output is the
displacement of the mass relative to the object x(t).

k1
k2
f
k3

FIGURE 5.119 Problem 1.

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234
k1
k3

k2
k4

FIGURE 5.120 Problem 2.

L/2

L/2

m
x
f

FIGURE 5.121 Problem 3.

x

b
z
Object

FIGURE 5.122 Problem 4.

5. For the system shown in Figure 5.123, the inputs are the forces f1 and f3, and the outputs are the
displacements x1, x2, and x3. Draw the necessary free-body diagrams and derive the differential
equations of motion. Write the differential equations of motion in the second-order matrix form.
6. Consider a quarter-car model shown in Figure 5.124, where m1 is the mass of the seats
including passengers, m2 is the mass of one-fourth of the car body, and m3 is the mass of
the wheeltireaxle assembly. The spring k1 represents the elasticity of the seat supports,
k2 represents the elasticity of the suspension, and k3 represents the elasticity of the tire.
z(t) is the displacement input due to the surface of the road. Draw the necessary free-body
diagrams and derive the differential equations of motion. Write the differential equations
of motion in the second-order matrix form.
k2
k1

b2

m1
k3
b1

f1
x1

FIGURE 5.123 Problem 5.

m2

m3

f3

k4
x2

x3

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235
x1

m1
k1

b1
x2

m2
k2

b2
x3

m3
k3

FIGURE 5.124 Problem 6.

7. The system shown in Figure 5.125 consists of a uniform rod of mass m and length L and a
translational spring of stiffness k at the rods tip. The friction at the joint O is modeled as
a damper with coefficient of torsional viscous damping B. The input is the force f and the
output is the angle . The position = 0 corresponds to the static equilibrium position when
f = 0.
a. Draw the necessary free-body diagram and derive the differential equation of motion
for small angles .
b. Using the linearized differential equation obtained in Part (b), determine the transfer
0 ) = 0.
function (s)/F(s). Assume that the initial conditions are (0) = 0 and (
c. Using the differential equation obtained in Part (b), determine the state-space
representation.
8. Consider the inverted-pendulum system shown in Figure 5.126. The system consists of a
bob of mass m and a massless rod of length L. Two springs of stiffness k are connected to
the middle of the rod. The position = 0 corresponds to the static equilibrium position.
a. Draw the necessary free-body diagram and derive the differential equation of motion
for small angles .
b. Using the differential equation obtained in Part (a), determine the state-space representa
tion. Assume that the outputs are the angular displacement and the angular velocity V.

O
B
L/2
f

C
m, L

FIGURE 5.125 Problem 7.

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236

L/2
O

FIGURE 5.126 Problem 8.

9. Consider the system shown in Figure 5.127. Assume that a cylinder of mass m rolls without
slipping. Draw the necessary free-body diagram and derive the differential equation of
motion for small angles .
10. The pulley of mass M shown in Figure 5.128 has a radius of r. The mass moment of inertia of
the pulley about the point O is IO. A translational spring of stiffness k and a block of mass m
are connected to the pulley as shown. Assume that the pulley rolls without slipping. Derive
the equation of motion using (a) the force/moment approach, and (b) the energy approach.
11. Consider the mechanical system shown in Figure 5.129, in which a uniform rod of mass m
and length L is attached to a massless rigid link of equal length. Assume that the system
is constrained to move in a vertical plane. Denote the angular displacement of the link as
1, and the angular displacement of the rod as 2. Derive the equations of motion for small
angles using (a) the force/moment approach, and (b) the energy approach.
k1

k2
a

r
C

FIGURE 5.127 Problem 9.

k

FIGURE 5.128 Problem 10.

O

m, L
2

FIGURE 5.129 Problem 11.

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12. Consider a half-car model shown in Figure 5.130, in which IC is the mass moment of inertia
of the car body about the pitch axis, mb is the mass of the car body, mf is the mass of the
front wheeltireaxle assembly, and mr is the mass of the rear wheeltireaxle assembly.
Each of the front and rear wheeltireaxle assemblies is represented by a massspring
damper system. The input is the force f, and the car undergoes vertical and pitch motion.
Derive the equations of motion using the force/moment approach.
13. A rack and pinion is a pair of gears that convert rotational motion into translation. As
shown in Figure 5.131, a torque is applied to the shaft. The pinion rotates and causes the
rack to translate. The mass moment of inertia of the pinion is I and the mass of the rack is
m. Draw the free-body diagram and derive the differential equation of motion.
Consider the massspringdamper system shown in Problem 9 of Problem Set 5.2, in
14.
which the cam and follower impart a displacement z(t) in the form of a periodic sawtooth
f
c

Ic,mb
ksf

xb

ksr

bsf

bsr

xf

xr
mr

mf
kr

kf
a

FIGURE 5.130 Problem 12.

FIGURE 5.131 Problem 13.

z (m)
0.03

FIGURE 5.132 Problem 14.

1.5

t (s)

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Modeling and Analysis of Dynamic Systems

function (Figure 5.132) to the lower end of the system. The values of the system parameters
are m = 12 kg, b = 200 Ns/m, k1 = 4000 N/m, and k2 = 2000 N/m.
a. Build a Simulink model based on the differential equation of motion of the system and
find the displacement output x(t).
b. Build a Simscape model of the physical system and find the displacement output x(t).