CHAPTER 2

Problem 2.1
Given:
m
Tn = 2 π = 0. 5 sec (a)
k
m + 50 g
Tn′ = 2 π = 0. 75 sec (b)
k
1. Determine the weight of the table.
Taking the ratio of Eq. (b) to Eq. (a) and squaring the
result gives
2 2
⎛ Tn′ ⎞ m + 50 g 50 ⎛ 0.75 ⎞
⎜⎜ ⎟⎟ = ⇒ 1+ =⎜ ⎟ = 2.25
⎝ Tn ⎠ m mg ⎝ 0.5 ⎠

or
50
mg = = 40 lbs
1. 25
2. Determine the lateral stiffness of the table.
Substitute for m in Eq. (a) and solve for k:
⎛ 40 ⎞
k =16π 2 m =16π 2 ⎜ ⎟ =16.4lbs in.
⎝ 386 ⎠

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 Problem 2.2
1. Determine the natural frequency.
400
k = 100 lb in. m = lb − sec2 in.
386
k 100
ωn = = = 9. 82 rads sec
m 400 386

2. Determine initial deflection.

Static deflection due to weight of the iron scrap
200
u( 0 ) = = 2 in.
100
3. Determine free vibration.
u ( t ) = u ( 0 ) cos ω nt = 2 cos ( 9. 82 t )

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 Problem 2.3
1. Set up equation of motion.

ku+mg/2

mü

u
mg

mg
mu&& + ku =
2
2. Solve equation of motion.
mg
u ( t ) = A cos ω nt + B sin ω nt +
2k

At t = 0 , u( 0 ) = 0 and u& ( 0 ) = 0
mg
∴ A = − , B = 0
2k
mg
u(t ) = (1 − cos ω nt )
2k

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 Problem 2.4

u
k v0
m
m0

10
m = = 0. 0259 lb − sec2 in.
386
0. 5
m0 = = 1. 3 × 10 −3 lb − sec2 in.
386
k = 100 lb in.
Conservation of momentum implies
m0 v0 = ( m + m0 ) u& ( 0 )
m0 v0
u& ( 0 ) = = 2. 857 ft sec = 34.29 in. sec
m + m0
After the impact the system properties and initial
conditions are
Mass = m + m0 = 0. 0272 lb − sec2 in.
Stiffness = k = 100 lb in.
Natural frequency:
k
ωn = = 60. 63 rads sec
m + m0

Initial conditions: u ( 0 ) = 0, u& ( 0 ) = 34. 29 in. sec

The resulting motion is
u& ( 0 )
u( t ) = sin ω nt = 0. 565 sin ( 60. 63t ) in.
ωn

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 Problem 2.5

k
m2 f S = ku
h
m2
m1 m1

u
m 2g

With u measured from the static equilibrium position

of m1 and k, the equation of motion after impact is
( m1 + m2 ) u&& + ku = m2g (a)
The general solution is
m2 g
u ( t ) = A cos ω nt + B sin ω nt + (b)
k
k
ωn = (c)
m1 + m2

The initial conditions are

m2
u( 0 ) = 0 u& (0) = 2gh (d)
m1 + m 2

The initial velocity in Eq. (d) was determined by

conservation of momentum during impact:
m2u&2 = ( m1 + m2 ) u& ( 0 )
where
u&2 = 2 gh

Impose initial conditions to determine A and B:

m2 g
u( 0 ) = 0 ⇒ A = − (e)
k
m2 2 gh
u& ( 0 ) = ω n B ⇒ B = (f)
m1 + m2 ωn
Substituting Eqs. (e) and (f) in Eq. (b) gives

m2 g 2 gh m2
u(t ) = (1 − cos ω nt ) + sin ω nt
k ωn m1 + m2

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 Problem 2.6
1. Determine deformation and velocity at impact.
mg 10
u( 0) = = = 0.2 in.
k 50
u& ( 0 ) = − 2 gh = − 2( 386 )( 36 ) = − 166.7 in./sec

2. Determine the natural frequency.

kg (50)(386)
ωn = = = 4393
. rad/sec
w 10

3. Compute the maximum deformation.

u& (0)
u(t ) = u(0) cos ω n t + sin ω n t
ωn

⎛ 166.7 ⎞
= ( 0.2) cos 316.8t − ⎜ ⎟ sin 316.8t
⎝ 4393
. ⎠

2
⎡ u&( 0) ⎤
uo = [u( 0)]2 + ⎢ ⎥
⎣ ωn ⎦

= 0.2 2 + ( −3.795) 2 = 38
. in.

4. Compute the maximum acceleration.

u&&o = ω n 2 uo = ( 4393
. )2 (38
. )
= 7334 in./sec2 = 18.98g

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 Problem 2.7
Given:
200
m = = 6. 211 lb − sec2 ft
32. 2
fn = 2 Hz
Determine EI:
3 EI 3 EI EI
k = 3 = 3 = lb ft
L 3 9
1 k 1 EI
fn = ⇒ 2 = ⇒
2π m 2π 55. 90
EI = ( 4 π )2 55. 90 = 8827 lb − ft 2

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 Problem 2.8
Equation of motion:
mu&& + cu& + ku = 0 (a)
Dividing Eq. (a) through by m gives
u&& + 2 ζω n u& + ω 2n u = 0 (b)
where ζ = 1.
Equation (b) thus reads
u&& + 2 ω n u& + ω 2n u = 0 (c)

Assume a solution of the form u ( t ) = e st . Substituting

this solution into Eq. (c) yields
( s 2 + 2 ω n s + ω 2n ) e st = 0

Because e st is never zero, the quantity within parentheses

must be zero:
s 2 + 2 ω n s + ω 2n = 0
or

− 2ω n ± ( 2 ω n ) 2 − 4 ω 2n
s = = − ωn
2
(double root)
The general solution has the following form:
u ( t ) = A1 e − ω n t + A2 t e − ω n t (d)
where the constants A1 and A2 are to be determined from
the initial conditions: u( 0 ) and u& ( 0 ) .
Evaluate Eq. (d) at t = 0 :
u (0) = A1 ⇒ A1 = u (0) (e)

Differentiating Eq. (d) with respect to t gives

u& ( t ) = − ω n A1 e − ω n t + A2 (1 − ω n t ) e − ω n t (f)
Evaluate Eq. (f) at t = 0 :
u& ( 0 ) = − ω n A1 + A2 (1 − 0 )
∴ A2 = u& ( 0 ) + ω n A1 = u& ( 0 ) + ω n u ( 0 ) (g)
Substituting Eqs. (e) and (g) for A1 and A2 in Eq. (d) gives

u (t ) = { u (0) + [u& (0) + ω n u (0) ] t} e −ω nt (h)

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 Problem 2.9 A2 ω n ⎡−ζ + ζ 2 −1 + ζ + ζ 2 −1 ⎤ =
⎢⎣ ⎦⎥
Equation of motion:
mu&& + cu& + ku = 0 (a) u& (0) + ⎛⎜ ζ + ζ 2 −1 ⎞⎟ ω n u (0)
⎝ ⎠
Dividing Eq. (a) through by m gives or
u&& + 2 ζω n u& + ω n2 u = 0 (b)
u& (0) + ⎛⎜ ζ + ζ 2 −1 ⎞⎟ ω n u (0)
where ζ > 1. ⎝ ⎠
A2 = (f)
2
2 ζ −1 ω n
Assume a solution of the form u ( t ) = e st . Substituting
this solution into Eq. (b) yields Substituting Eq. (f) in Eq. (d) gives
( s 2 + 2ζω n s + ω n2 ) e st = 0 u& (0) + ⎛⎜ ζ + ζ 2 − 1 ⎞⎟ω nu (0)
A1 = u (0) − ⎝ ⎠
Because e st is never zero, the quantity within parentheses 2
2 ζ −1ω n
must be zero:
2 ζ 2 − 1 ω nu (0) − u& (0) − ⎛⎜ ζ + ζ 2 − 1 ⎞⎟ ω nu (0)
s 2
+ 2 ζω n s + ω 2n = 0 = ⎝ ⎠
2
2 ζ −1ω n
or
−u& (0) + ⎛⎜ −ζ + ζ 2 − 1 ⎞⎟ ω nu (0)
−2ζω n ± (2ζω n ) 2 − 4ω n2 = ⎝ ⎠
s = 2 ζ 2 − 1ω n
2
(g)
= ⎛⎜ − ζ ± ζ 2 −1 ⎞⎟ ω n
⎝ ⎠ The solution, Eq. (c), now reads:
The general solution has the following form:
u (t ) = e −ζω nt (A e
1
−ω ′D t ′
+ A2 e ω D t )
⎡ ⎤
u (t ) = A1 exp ⎢⎛⎜ −ζ − ζ 2 −1 ⎞⎟ω n t ⎥ where
⎣⎝ ⎠ ⎦
(c)
⎡ ⎤ ω ′D = ζ2 − 1 ω n
+ A2 exp ⎢⎛⎜ −ζ + ζ 2 −1 ⎞⎟ω n t ⎥
⎣⎝ ⎠ ⎦
−u& (0) + ⎛⎜ −ζ + ζ 2 − 1 ⎞⎟ω n u (0)
where the constants A1 and A2 are to be determined from ⎝ ⎠
A1 =
the initial conditions: u( 0 ) and u& ( 0 ) . 2ω ′D
Evaluate Eq. (c) at t = 0 :
u& (0) + ⎛⎜ ζ + ζ 2 −1 ⎞⎟ ω n u (0)
u (0) = A1 + A2 ⇒ A1 + A2 =u (0) (d) ⎝ ⎠
A2 =
2ω ′D
Differentiating Eq. (c) with respect to t gives
⎡ ⎤
u& (t ) = A1 ⎛⎜ −ζ − ζ 2 −1 ⎞⎟ ω n exp⎢⎛⎜ −ζ − ζ 2 −1 ⎞⎟ ω nt ⎥
⎝ ⎠ ⎣ ⎝ ⎠ ⎦ (e)
⎡ ⎤
+ A2 ⎛⎜ −ζ + ζ 2 −1 ⎞⎟ ω n exp⎢⎛⎜ −ζ + ζ 2 −1 ⎞⎟ ω nt ⎥
⎝ ⎠ ⎣⎝ ⎠ ⎦

Evaluate Eq. (e) at t = 0 :

u& (0) = A 1 ⎛⎜ −ζ − ζ 2 −1 ⎞⎟ ω n + A 2 ⎛⎜ −ζ + ζ 2 −1 ⎞⎟ ω n
⎝ ⎠ ⎝ ⎠
= [u (0) − A2 ] ⎛⎜ −ζ − ζ 2 −1 ⎞⎟ ω n + A2 ⎛⎜ −ζ + ζ 2 −1 ⎞⎟ ω n
⎝ ⎠ ⎝ ⎠

or

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 Problem 2.10 The general solution is
Equation of motion: u(t) = A1 e − ωn t + A2 t e −ω nt (i)

u&& + 2ζω n u& + ω n2 u = 0 (a) Determined from the initial conditions u(0) = 0 and u& (0) :

Assume a solution of the form A1 = 0 A2 = u& (0) (j)

st
u(t) = e
Substituting in Eq. (i) gives
Substituting this solution into Eq. (a) yields:
u(t ) = u& (0) t e −ω n t (k)
FH s2 + 2ζω n s + ω 2n IK e st = 0 (c) Overdamped Systems, ζ>1
st
Because e is never zero The roots of the characteristic equation [Eq. (b)] are:

s 2 + 2ζω n s + ω 2n = 0 (b)
FH
s1,2 = ω n −ζ ± ζ 2 − 1 IK (l)

The roots of this characteristic equation depend on ζ. The general solution is:
(a) Underdamped Systems, ζ<1 u(t ) = A1e s1t + A2 e s2 t (m)
The two roots of Eq. (b) are
which after substituting Eq. (l) becomes
s1,2 = ω n FH −ζ ± i 1−ζ 2 IK (c) F −ζ + IK F −ζ − IK
u(t ) = A1e H + A 2 eH
ζ 2 −1 ω n t ζ 2 −1 ω n t

Hence the general solution is (n)

st
u(t) = A1e 1 + A2e 2
s t Determined from the initial conditions u(0) = 0 and u& (0) :

which after substituting in Eq. (c) becomes u& (0)

− A1 = A2 = (o)
ζ 2 −1
e
u(t ) = e −ζω n t A1e iω D t + A2 e −iω D t j (d) 2ω n

Substituting in Eq. (n) gives

where
u& (0) e −ζω n t FG e ω n t ζ 2 −1 − ω n t ζ 2 −1 IJ
−1 H K
ω D = ωn 1− ζ 2 (e) u( t ) = −e (p)
2
2ω n ζ
Rewrite Eq. (d) in terms of trigonometric functions:
(d) Response Plots
u(t) = e −ζω nt (A cos ω D t + Bsin ω D t) (f) Plot Eq. (g) with ζ = 0.1; Eq. (k), which is for ζ = 1;
Determine A and B from initial conditions u(0) = 0 and and Eq. (p) with ζ = 2.
u& (0) :
ζ = 0.1
u& (0)
A=0 B=
ωD 0.8
ζ = 1.0 ζ = 2.0
u(t) ÷ (u(0)) / ωn )

Substituting A and B into Eq. (f) gives 0.4

u( t ) =
u& (0) FH IK
e −ζω n t sin ω n 1 − ζ 2 t (g) 0 t/Tn
2
ω n 1−ζ
.

0.25 0.5 0.75 1 1.25 1.5

(b) Critically Damped Systems, ζ = 1 -0.4

The roots of the characteristic equation [Eq. (b)] are: -0.8

s1 = −ω n s2 = −ω n (h)

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 Problem 2.11
1 Fu1 I 1 FG IJ
1
j
ln GH
uj +1
JK ≈ 2πζ ⇒
j10%
ln
H K
.
01
≈ 2πζ

∴ j10% ≈ ln (10 ) 2 πζ ≈ 0. 366 ζ

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 Problem 2.12
⎛ ⎞
ui ⎜ 2πζ ⎟
= exp ⎜ ⎟⎟
u i +1 ⎜ 1− ζ 2
⎝ ⎠
ui
(a) ζ = 0. 01: = 1. 065
ui + 1
ui
(b) ζ = 0. 05 : = 1. 37
ui + 1
ui
(c) ζ = 0. 25 : = 5. 06
ui + 1

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 Problem 2.13
Given:
w = 20.03 kips (empty); m = 0.0519 kip-sec2/in.
k = 2 (8.2) = 16.4 kips/in.
c = 0.0359 kip-sec/in.
m 0. 0519
(a) Tn = 2 π = 2π = 0. 353 sec
k 16. 4
c 0. 0359
(b) ζ = = = 0. 0194
2 km 2 (16. 4 ) ( 0. 0519 )
= 1. 94%

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 Problem 2.14
(a) The stiffness coefficient is
3000
k= = 1500 lb/in.
2
The damping coefficient is

c = ccr = 2 km
3000
c = 2 1500 = 215.9 lb - sec / in.
386
(b) With passengers the weight is w = 3640 lb. The
damping ratio is
c 215.9
ζ= = = 0.908
2 km 3640
2 1500
386
(c) The natural vibration frequency for case (b) is

ω D = ω n 1− ζ 2
1500
= 1 − (0.908) 2
3640 / 386
= 12.61 × 0.419
= 5.28 rads / sec

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 Problem 2.15
1. Determine ζ and ω n .

1 ⎛ u ⎞ 1 ⎛ 1 ⎞
ζ ≈ ln⎜ 1 ⎟ = ln⎜ ⎟ = 0.0128 = 1.28%
⎜ ⎟
2π j ⎝ u j +1 ⎠ 2π (20) ⎝ 0.2 ⎠

Therefore the assumption of small damping implicit in the

above equation is valid.
3
TD = = 0.15 sec ; Tn ≈ TD = 0.15 sec ;
20
2π
ωn = = 41. 89 rads sec
0.15
2. Determine stiffness coefficient.
k = ω 2n m = ( 41. 89 )2 0.1 = 175. 5 lbs in.
3. Determine damping coefficient.
ccr = 2 mω n = 2 ( 0.1) ( 41. 89 ) = 8. 377 lb − sec in.
c = ζ ccr = 0. 0128 ( 8. 377 ) = 0.107 lb − sec in.

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 Problem 2.16
250
(a) k = = 312. 5 lbs in.
0. 8
w 250
m = = = 0. 647 lb − sec2 in.
g 386

k
ωn = = 21. 98 rads sec
m
(b) Assuming small damping,
F u I ≈ 2 jπζ ⇒
lnGH u JK
j +1
1

ln G
F u IJ = ln (8) ≈ 2 (2) π ζ
0
⇒ ζ = 0.165
H u 8K
0

This value of ζ may be too large for small damping

assumption; therefore we use the exact equation:
Fu I 2 jπ ζ
ln GH u JK
1

j +1
=
1 − ζ2

or,
2 (2) π ζ ζ
ln ( 8) = ⇒ = 0.165 ⇒
1 − ζ 2
1 − ζ2

ζ2 = 0. 027 (1 − ζ2 ) ⇒
ζ = 0. 0267 = 0.163

(c) ω D = ω n 1 − ζ2 = 21. 69 rads sec

Damping decreases the natural frequency.

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 Problem 2.17
Reading values directly from Fig. 1.1.4b:

Peak Time, Peak, u&&i (g)

t i (sec)
1 0.80 0.78
31 7.84 0.50

7.84 − 0.80
TD = = 0.235 sec
30
1 ⎛ 0.78g ⎞
ζ= ln⎜ ⎟ = 0.00236 = 0.236%
2π (30) ⎝ 0.50g ⎠

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 Problem 2.18
1. Determine buckling load.

wcr
L θ

wcr ( L θ ) = k θ
k
wcr =
L

2. Draw free-body diagram and set up equilibrium

equation.

fI

w
L θ

fS
O

∑ MO = 0 ⇒ fI L + fS = w Lθ (a)
where
w 2 &&
fI = L θ fS = k θ (b)
g
Substituting Eq. (b) in Eq. (a) gives
w 2 &&
L θ + (k − w L) θ = 0 (c)
g
3. Compute natural frequency.
k − wL k ⎛ wL ⎞
ω n′ = = ⎜1 − ⎟
( w g) L2 2
( w g) L ⎝ k ⎠
or
w
ω ′n = ω n 1 − (d)
wcr

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 Problem 2.19
For motion of the building from left to right, the
governing equation is
mu&& + ku = − F (a)
for which the solution is
u ( t ) = A2 cos ω nt + B2 sin ω nt − uF (b)
With initial velocity of u& ( 0 ) and initial displacement
u( 0 ) = 0 , the solution of Eq. (b) is
u& ( 0 )
u(t ) = sin ω nt + uF (cos ω nt − 1) (c)
ωn
u& ( t ) = u& ( 0 ) cos ω nt − uFω n sin ω nt (d)
At the extreme right, u& ( t ) = 0 ; hence from Eq. (d)
u& ( 0 ) 1
tan ω nt = (e)
ω n uF
Substituting ω n = 4 π , uF = 0.15 in. and u& ( 0 ) =
20 in. sec in Eq. (e) gives
20 1
tan ω nt = = 10. 61
4 π 0.15
or
sin ω nt = 0. 9956; cos ω nt = 0. 0938
Substituting in Eq. (c) gives the displacement to the right:
20
u = ( 0. 9956 ) + 0.15 ( 0. 0938 − 1) = 1. 449 in.
4π
After half a cycle of motion the amplitude decreases by
2 uF = 2 × 0.15 = 0. 3 in.
Maximum displacement on the return swing is
u = 1. 449 − 0. 3 = 1.149 in.

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 Problem 2.20
Given:
F = 0.1w , Tn = 0. 25 sec
F 0.1w 0.1mg 0.1g 0.1g
uF = = = = =
k k k ω 2n ( 2 π Tn )2
0.1g
= = 0. 061 in .
( 8 π )2
The reduction in displacement amplitude per cycle is
4uF = 0. 244 in.
The displacement amplitude after 6 cycles is
2.0 − 6 (0.244) = 2.0 − 1.464 = 0.536 in.

Motion stops at the end of the half cycle for which the
displacement amplitude is less than uF . Displacement
amplitude at the end of the 7th cycle is 0.536 – 0.244 =
0.292 in.; at the end of the 8th cycle it is 0.292 – 0.244 =
0.048 in.; which is less than uF . Therefore, the motion
stops after 8 cycles.

© 2012 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication
is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system,
or transmission in any form or by any means, electronic, mechanical, photocopying,
20 recording, or likewise. For information regarding permission(s), write to:
Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.