Mechanical systems

Overall objective of analysis of a dynamic

system: Given a system and the applied
loads, determine the system behavior.
Solution of mathematical model

Assumptions

[ M ] x [ K ] x f

Behavior
Actual Analytical Mathematical of building
structure (conceptual) model model (stresses,
displacements)

Objective of this chapter: Analytical

(conceptual) model Mathematical model
(i.e. equations of motion)

Types of elements
1. Inertia (mass, rotational inertia)
2. Springs
3. Dampers
1. Inertia elements:
F x(t)
(t) m

F (t ) mx(t )

Springs: k
F(t) F(t)

x1(t) x2(t)

compressive force = spring constantdeformation

F (t ) k ( x1 x 2 )

Torsional spring
T,
 k

T=k

Springs store strain energy

2. Dampers
Translational
F F

x 1 x 2

F b( x 1 x 2 )

units of b: N sec/m

Rotational damper

2
T
 1

T b( 1 2 )

b: torsional viscous damping coefficient

units of b: N m sec

Modeling mechanical systems

1) Perform kinematics analysis, 2) draw free

body diagrams, 3) apply Newtons law, 4)
manipulate equations to derive equation of
motion

Newtons laws
1. Conservation of momentum
2.
Translation: force=masstranslational
acceleration
Rotation: moment (torque)=moment of
inertiarotational acceleration
3. Action - reaction
Definition: Number of degrees of freedom:
Number of independent coordinates needed
to completely determine the position of a
system.

m moves vertically
only: one d.o.f.

x(t)
Assume car body is rigid, have applied
brakes (no horizontal motion):
d.o.f.?

Answer: two
x(t)

(t)

Most real life systems have infinite d.o.f.

because we need to define the positions of
an infinite number of points to completely
define the system position (examples:
building, airplane, boat). Single d.o.f.
systems are idealizations.
Examples involving single degree of
freedom systems (translation).
Review

Newtons law for rotation

T J

T: sum of moments about reference axis

J: mass moment of inertia about reference
axis (Kgm2)

=angular acceleration (rad/sec2)

Reference axis: axis passing through

a) center of mass or
b) fixed center of rotation (if there is one)

fixed center
of rotation
fixed center of
rotation
Radius of gyration, parallel axis theorem
Review: Examples on deriving equations
of motion of a system

m
g
Nonlinear
sin 0
l
g
0
l Linearized

Note: In some problems write both

Newtons laws for rotation and translation to
derive equation of motion.