Exercise 1

1.99 If the displacement of a machine is described as x(t) = 0.4 sin 4t + 5.0 cos 4t, wherex is in
centimeters and t is in seconds, find the expressions for the velocity and acceleration of the
machine. Also find the amplitudes of displacement, velocity, and acceleration of the machine.

1.122 A mass is subjected to two harmonic motions given by x 1(t) = 3 sin 30t and
x 2 (t) = 3 sin 29t. Plot the resultant motion of the mass using MATLAB and identify the
beat frequency and the beat period.

2.21 Four weightless rigid links and a spring are arranged to support a weight Win two different
ways, as shown in Fig. 2.62. Determine the natural frequencies of vibration of the two
arrangements.

(a)

(b)

FIGURE 2.62

2.129 Find the responses of systems governed by the following equations of motion for the initial
conditions x(O) = 1, x(O) = -1:
a. 2:X
b.
c. 2:X

+ 8x +

16x = 0

+ 8x +

8x = o

3x + 12x + 9x =

Exercise 2
3.36 The equation of motion of a spring-mass-damper system subjected to a harmonic force can
be expressed as
(E.l)
x + 2~wnx + w~ = fo cos wt

Fa, Wn =
where fo = m
I.

u.

~
-,and~=
m

c/(2mwn)

Find the steady-state response of the system in the form Xs(t) =

Find the total response of the system in the form

Assume the initial conditions of the system as x ( t = 0) = x 0 and

cl cos wt + c2 sin wt

x(t =

0) =

x0.

3.98 A spring and a viscous damper, connected to a massless rigid bar, are subjected to a harmonic force fit) as shown in Fig. 3.69. Find the steady-state response of the system using the
Laplace transform.

F == 200 N

x(t)

c:::==:::;:~==:J 1

FIGURE 3.69

Exercise 3
4.7

A slider-crank mechanism is used to impart motion to the base of a spring-mass-damper

system, as shown in Fig. 4.38. Approximating the base motion y(t) as a series of harmonic
functions, find the response of the mass for m = 1 kg, c = 10 N-s/m, k = 100 N/m,
r = 10 em, l = 1m, and w = 100 rad/s.

~I

(J

= wt

k/2

~ ~~l

FIGURE 4.38
The base of a spring-mass-damper system is subjected to the periodic displacement shown in
Fig. 4.39. Determine the response of the mass by using the method of Laplace-transformation.

4.8

x(t)

.----,_j
m

y(t)

1
FIGURE 4.39

4.27 An airplane, taxiing on a runway, encounters a bump. As a result, the root of the wing is subjected to a displacement that can be expressed as
y(t) =

{Y(P /tB),
0,

o :5 t
t

:5

to

> to

Find the response of the mass located at the tip of the wing if the stiffness of the wing is k
(see Fig. 4.51). using the Laplace transform.

FIGURE 4.51

Exercise 4
5.23 Find the normal modes of the two-story building shown in Fig. 5.32 when m1 = 3m,
m2 = m, k 1 = 3k, and k 2 = k , where k 1 and k 2 represent the total equivalent stiffnesses of
the lower and upper columns, respectively.

FIGURE 5.32

5.85 Find the free-vibration response of the system shown in Fig. 5.5(a) using the Laplace transfonn
approach for the following data: m 1 = 2, m 2 = 8, k 1 = 8, k 2 = 4, k 3 = 0, c1 = 0, c2 = 0,
c3 = 0. Assume the initial conditions as x 1 (0) = l , x2(0) - = 0, and .Xt(O) = .X2(0) =0.
Plot the responses x 1(t) and x 2 (t) .

FIGURE 5.5

A two-degree-of-freedom spring-mass-damper system.

Exercise 5
A double pendulum, which consists of two thin rigid rods,
is hinged at a fix point A. The mass of rod AB is m1 and
the length is L1, the corresponding values for rod BC are
m2 and L2, respectively. Assume small displacements and
determine:
a) the equations of motion written in matrix form by
using Lagrange's equations.
b) the frequencies ffi1 and ffi2, the modal matrix and plot
the modes.
c) derive the uncoupled equations in normal (principal)
coordinates.
Group

m1

A
B

2m
m
2m
m
m
m
2m
m
m

D
E
F
G
H
I

L1
L
L
2L
L
2L
L
L
2L
2L

Put L=l m and m=l kg.

B
I
_;r

I.

, eL
I
I

m2

L2

m
m
m
2m
m
2m
2m
2m
m

2L
L
L
2L
L
L
L
2L
2L

Exercise 6
7.13 Using Rayleigh's method, determine the fundamental natural frequency of the system sh0
in Fig. 5.33 when m1 = m, m2 = 5m, l1 = l2 = l3 = l.

++FIGURE 5.33

Exercise 7
8.5 A <;:able of length l and mass p per unit length is stretched under a tension P. One end of the
cable is connected to a mass m, which can move in a frictionless slot, and the other end is
fastened to a spring of stiffness k, as shown in Fig. 8.23. Derive the frequency equation for
the transverse vibration of the cable.

FIGURE 8.23

8.75 A stepped bar, fixed at x = 0 and free at x = l , has a cross-sectional area of 2A for
0 ~ x < l/3 and A for l/3 ~ x ~ l. Assuming the mode shape

estimate the first two natural frequencies of longitudinal vibration.

Exercise 8

The truss shown in the figure is pinned at all joints and has the following
parameters:

Derive and solve the eigenvalue problem modeling the truss by means of
one finite element per structural member and using linear interpolation
functions.Plot the three lowest modes.