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TUTORIAL 2.

PRACTICE PROBLEMS ON 2 DOF SYSTEMS


1. Figure 1 shows a two-storey building schematically. Determine the natural frequencies and the mode
shapes. The mass of the floors and the stiffness of the supporting column are as follows:
m1=20 Tonne
m2=15 Tonne
K1= K2=6.5 MN/m.

Figure 1: Schematic diagram of two-storey building

Sketch the natural modes.


2. Consider a reciprocating engine coupled to a flywheel (Figure 2). The mass moments of inertia of the
engine and the flywheel are 1.5 kgm2 and 15 kgm2 respectively. The shaft stiffness is 0.25 MNm/rad.
(a) Determine the nonzero natural frequency of the system.
(b) A belt driven pulley of mass moment of inertia 0.8 kgm2 is now mounted at the engine and
through a shaft of stiffness 0.6 MNm/rad. Since the belt stiffness is extremely low, the effect of
other auxiliary driven masses can be neglected. Determine the two nonzero natural frequencies
of the system. Compare this with the frequency determined in (a).

Figure 2: Schematic diagram of a reciprocating engine


3. Consider the two degree of freedom model of an automobile (Figure 3) for coupled translator and
rotator motion in vertical plane. Determine the natural frequencies and the mode shapes. Assume
following data for the automobile.
m=1200 kg, K1=55kN/m, l1=1.35m, I=1500 kgm2, K2=60kN/m, l2=1.15m

Figure 3: Two degree of freedom model of an automobile

4. Plot the vertical translatory motion and the rotatory motion of the vehicle described in problem 3
with respect to time as it encounters a 10cm high step, shown in Figure 4. Assume the vehicle speed
to be sufficiently high so that the wheels can be assumed to climb the step instantaneously.

Figure 4: A step on the road.

5. An aerofoil wing in the first bending and torsional modes can be represented schematically, shown in
Figure 5, connected through a translational spring of stiffness K and a torsional spring of Kt. Write
the equations of motion for the system, and obtain the two natural frequencies and the corresponding
mode shapes. Assume following data:
m=5 kg, K=5kN/m, a=0.1m, I=0.12 kgm2, Kt=0.4kNm/rad

Figure 5: Aerofoil wing


6. Figure 6 shows a turbo generator set schematically. Determine the two critical speeds. The turbine
and the generator are assumed to be mounted on a single solid steel shaft of diameter 6 cm. The
masses of the turbine and the generator rotors are 500 kg and 1000 kg respectively. Defining turbine
as station 1 and generator as station 2, the influence coefficients are
b12
11 = 2
12la1 EI
{4a12 (l - b1 )2 - (l 2 - a22 - b12 )2 }

b1b2
12 =
12la1a2 EI
{2a1a2 (l 2 - b12 - b22 ) - (l 2 - a22 - b12 )(l 2 - a12 - b22 )}

Note that 12 = 21 and 22 can be obtained by interchanging a1 with a2 and b1 with b2 in expression
for 11 .

Figure 6: Schematic of turbo generator

7. Consider a mass coupled system supported on spring and damper system shown in Figure 7. If a
harmonic force of amplitude F and frequency acts on the mass, show that the equations of the
system are
! m 0 $)' !!x )+ ! c1 + c2 c2l2 c1l1 $' + ! K + K K 2l2 K1l1 $' + ' +
# &( , + # &)( x! ), + # 1 2 &)( x ), = )( f (t) ),
%)* !! )- #" c2l2 c1l1 c2l2 + c1l1 &)* ! )- # K l K l K l 2 + K l 2
2 2 &)* )- ) ef (t) )
" 0 I % " 2 2 11 2 2 11 % * -

Let f(t) be a harmonic function given by Feit . Write solution for the above equations as x = Xei (t 1 )
and = ei (t ) . Obtain expressions for steady state amplitude X and and the phase angles 1 and 2.
2

Figure 7: A mass coupled system


8. Refer to turbo generator in Figure 6. The operating speed is 1000 rpm. Assume negligible damping
in the system. The estimated unbalance in the turbine and the generator rotors is 0.05 kgm and 0.07
kgm respectively. Assume same angular position of unbalance on the two rotors. The excitation
forces on each rotor will therefore be in phase.
(a) Determine the steady state vibration amplitudes of the turbine and generator rotors.
(b) What would be the diameter of steel shaft so that the steady state vibration amplitude of either
rotor does not exceed 500 micron.
Take Youngs modulus for steel as 210 GPa.

9. A structure supporting rotating machinery vibrates excessively at an excitation frequency of 18 Hz. It


is proposed to attach a vibration absorber tuned to this frequency. What should be the absorber mass
and stiffness so that the resulting two natural frequencies are at least 20% away from the excitation
frequency? The effective mass of the structure is 1 tonne and its natural frequency is 16 Hz.

10. An I.C. engine operating at 1500 rpm is in resonance with the 3.5 engine order excitation torque of
200 Nm. The mass moment of inertia of the engine is 0.8 kgm2. The inertia of the flywheel is
relatively large. Design a torsional dynamic vibration absorber tuned to the natural frequency of the
engine. The resulting two natural frequencies of the system are to be at least 20% away from the 3.5
engine order excitation frequency. Design absorber spring of solid steel shaft so that maximum shear
stress is limited to 15 MPa. Also, determine the damper mass amplitude.

11. For the system of problem 10, it is proposed to use a dynamic vibration absorber of the type shown
in Figure 8. The absorber mass is coupled to the engine inertia IE through four springs of stiffness K.
If the maximum dynamic magnification of the absorber mass is not to exceed 7, determine the inertia
of absorber mass and the stiffness K of each spring.

Figure 8. Dynamic Vibration absorber


A 2 Tonne forging machine is mounted on a 10 tonne concrete block, which is supported on four springs.
The springs have a static deflection of 2.5 cm. The stiffness of the springs in lateral direction is 1.3 times
the stiffness in vertical direction. The mass moment of inertia of the machine and the concrete block about
their respective centers of gravity are 1500 kgm2 and 5500 kgm2. Determine the natural frequencies for
the mounting arrangement shown in Figures 9a and 9b.

Figure 9: Forging machine

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