CH 03

c
Solutions Manual
to accompany
Mechanical Vibration, First Edition
by
William J. Palm III
University of Rhode Island
Solutions to Problems in Chapter Three
c Solutions Manual Copyright 2006 by John Wiley & Sons, Inc. Permission required for
use, reproduction, or display.
Problem 3.1 a) τ = 8/7, v(t) = 6e−7t/8
b) τ = 12/5, v(t) = 3e−5t/12
c) τ = 13/6, v(t) = −2e−6t/13
d) No time constant is defined because the model is unstable. v(t) = 9e5t/7
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Problem 3.2 Let f = T − mg. Then mv̇ + cv = f . Let τ = m/c. The solution is
f
v(t) = 1 − e−t/τ
c
Because ḣ = v, Z t f f τ −t/τ
h(t) = v(t) dt = t+ e −1
0 c c
Problem 3.3 With v(0) = 0, the equation of motion has the solution
900
v(t) = 1 − e−4t
8
Because ẋ = v, Z t 900 900 −4t
x(t) = v(t) dt = t+ e −1
0 8 32
Set x(t) = 2500.
900 900 −4t
2500 =
t+ e −1
8 32
Combine terms and solve the following equation for t.

9 4t + e−4t − 1 − 800 = 0
This can be solved by plotting or by using a root-solving numerical method, such as that
implemented by the MATLAB fzero function. The answer is t = 22.5 sec.
Problem 3.4 a) Let IA be the sum of the inertias on the motor shaft and let IB be the sum
of the inertias on the load shaft. Then IA = I1 +I3 +I5 = 0.0136+0.00136+0.0272 = 0.0422
and IB = I2 + I4 + I6 = 0.68 + 0.0068 + 0.041 = 0.7278.
The equivalent inertia is Ie = IA +IB /(5)2 = 0.0713 and the equivalent damping constant
is ce = c/(5)2 = 1.6/25 = 0.064. The equation of motion is Ie ω̇1 = T1 − ce ω1 , which gives
0.0713ω̇1 + 0.064ω1 = T1.
b) From part (a), IA = 0.0422 and IB = 0.7278. The equivalent inertia is Ie = IB +

(5)2IA = 1.7828 and the equivalent damping constant is ce = c = 1.6. The equation of
motion is Ie ω̇2 = 5T1 − ce ω2 , which gives 1.7828ω̇2 + 1.6ω2 = 5T1.
Problem 3.5 The speed ratios are not specified in the problem, so we will use the following
values:
ω1 ω2
=2 =5
ω2 ω3
Let IA be the sum of the inertias on the motor shaft and let IB be the sum of the inertias on
the load shaft. Then IA = I1 +I4 = 0.136+0.408 = 0.544 and IB = I3 +I5 = 0.544+0.952 =
1.496. The inertia I2 reflected to the motor shaft is I2e = I2 /22 = 0.068.
The inertia IB reflected to the motor shaft is IBe = IB /[(2)5]2 = 0.01496. Thus the total
equivalent inertia on the motor shaft is Ie = IA +I2e +IBe = 0.544+0.068+0.01496 = 0.627
and the equivalent damping constant is ce = c/[2(5)]2 = 0.054. The equation of motion is
Ie ω̇1 = T1 − ce ω1
which gives
0.627ω̇1 + 0.054ω1 = T1
Problem 3.6 From Newton’s law: mv̇2 = c1(v1 − v2 ) − c2 v2.
Problem 3.7 From Newton’s law applied to a fictitious mass m at point 1: mẍ1 = c(v −
ẋ1 ) − kx1 . Set m = 0 to obtain the model: cẋ1 + kx1 = cv.
p
Problem 3.8 Note that ωn = 1800/2 = 30 and thus
ẋ = 30A cos(30t + φ)
Applying the initial conditions we obtain
x(0) = 0.05 = A sin φ > 0
ẋ(0) = 0.3 = 30A cos φ > 0

Thus φ is in the first quadrant and

−1 0.05
φ = tan = 1.3734
0.3
Also, 2
2 2 2 2 2 0.3
A sin φ + A cos φ = (0.05) + = 0.0026
30
Thus A = 0.05099. The solution is
x(t) = 0.05099 sin(30t + 1.3734)
Problem 3.9
π
x(0) = 10 sin = 7.07
4
π
ẋ(0) = 30 cos = 21.213
4
p
Problem 3.10 Note that ωn = 1280/20 = 8, and
x(0) = 0.05 = A sin φ
and
π
x = −0.06 = A sin(4π + φ) = A sin φ
2
These conditions give contradictory results; namely, that
A sin φ = 0.05 and A sin φ = −0.06
Therefore, there is no solution. To see why, note that the period is P = 2π/ωn = π/4, and
so the time t = π/2 is exactly two periods later than the time t = 0. However, because of
simple harmonic motion, x(t + 2P ) = x(t), and thus x(t + 2P ) cannot have a different value
than x(t).
Problem 3.11 Note that y = x/2. Assuming that x and y are measured from the equi-
librium positions, the static spring forces will cancel the gravity force mg. Let T be the
dynamic tension in the cable. Then
mẍ = −T
and 2T = ky = kx/2. Thus
k
mẍ = − x
4
p
and the natural frequency is ωn = k/4m.
Problem 3.12 Assume that x and y are measured from the equilibrium positions. Note
that the simultaneous translation and rotation of the pulley reduces the stretch in spring
k2 by 2y; that is, by the pulley translation distance y and the cable motion y due to the
rotation. Thus the dynamic stretch in spring k2 is x − 2y.
Let T be the tension force in the cable, which must equal the force in spring k2. Thus
T = k2 (x − 2y)
The dynamic force balance on the massless pulley gives
k1 y = k2 (x − 2y) + T = 2k2(x − 2y)
Thus
2k2
y= x
k1 + 4k2
Also
k 1 k2
mẍ = −T = −k2 (x − 2y) = − x
k1 + 4k2
The equation of motion is
k 1 k2
mẍ + x=0
k1 + 4k2
and the natural frequency is s
k1 k2
ωn =
m(k1 + 4k2)
Problem 3.13 Assuming that x is measured from the equilibrium position, the static spring
force will cancel the gravity force mg sin θ. Let T1 be the dynamic tension force in the lower
cable that is attached to the cart, and let T2 be the dynamic spring force.
From the massless-pulley relation, T1 = 2T2. From Newton’s law applied to the cart,
mẍ = −T1 − T2 = −3T2
Because only one of the pulleys translates, the dynamic spring stretch is x − x/2 = x/2 and
the dynamic spring force is T2 = kx/2. Thus
3
mẍ = − kx
2
p
and the natural frequency is ωn = 3k/2m.
Problem 3.14 The rod acts like a pendulum rotating about the pivot point O. Thus, for
small angles,
IO θ̈ + mgDθ = 0
where
IO = IG + mD2
The natural frequency is
s
mgD 40 4π
ωn = = 2π = rad/s
IO 60 3
Thus
mgD 3.6(9.81)(0.15)
IO = = = 0.3019
(4π/3)2 (4π/3)2
and
IG = IO − mD2 = 0.3019 − 3.6(0.15)2 = 0.2209 kg · m2
Problem 3.15
200(9.81)
k= = 2.453 × 105 N/m
0.008
Thus s
2.453 × 105
ωn = = 35.018 rad/s
200
Problem 3.16 Since the frequency in Hz is fn = ωn /(2π),
m(2πfn)2 (104/9.81)(2πfn)2
k= =
4 4
For fn = 1 Hz, k = 1601 N/m. For fn = 2 Hz, k = 3202 N/m. Thus the range for k is
1601 ≤ k ≤ 3202 N/m
Problem 3.17 Assuming that x is measured from the equilibrium position, the equation
of motion for mass m is
mẍ = k1(L1 θ − x) (1)
where θ is the angular displacement of the rod.
Since we are neglecting the mass (and thus the inertia IO ) of the rod, the net moment
about the pivot is
(k3L3θ)L3 + (k2L2θ)L2 + k1(L1 θ − x)L1 = IO θ̈ = 0
This gives
k 1 L1
θ= x
k1L21 + k2L22 + k3 L23
Substitute this into Equation (1) and collect terms to obtain
k1k2 L22 + k1k3L23

mẍ = − x
k1 L21 + k2L22 + k3L23
The natural frequency is

s
k1k2 L22 + k1k3L23
ωn =
m k1L21 + k2L22 + k3 L23
For two other approaches to this problem, see Problems 3.32 and 3.35.
Figure : For Problem 3.17
Problem 3.18
1800(9.81)
k= = 3.5316 × 105 N/m
0.05
Thus s
k
ωn = = 4.429 rad/s
m
Problem 3.19 First determine the jumper’s speed v1 after falling the free length (70 m).
From conservation of mechanical energy,
T0 + V0 = T1 + V1
or
1
0 + mg(70) = mv 2
2 1
p
which gives v1 = 140(9.81) = 37.06 m/s.
Next find the maximum distance y dropped below the free length position:
T1 + V1 = T2 + V2
which gives
1 1
mv12 + mgy = 0 + ky 2
2 2
This gives y = 8.151 m.
The rest position is 70 + ∆ below the bridge, where the static deflection is
mg 65(9.81)
∆= = = 0.425 m
k 1500
Since oscillation will occur about the equilibrium position, the amplitude of oscillation is
tentatively seen to be y − ∆ = 8.151 − 0.425 = 7.726 m. On the upward swing, the jumper
will be carried to within 70 + 2∆ − y = 62.7 m of the bridge. However, since the bungee
cord ceases to act like a spring when the jumper is within 70 m of the bridge, the jumper
will not oscillate with simple harmonic motion.
Problem 3.20 Assume that x is measured from the equilibrium position, and let y be the
dynamic deflection in the spring. Note that if the cables do not slip, then y = (R2/R1)x.
Let T be the tension in the cable attached to m. Then
mẍ = −T
Summing moments about the pulley center gives
R1 T − kyR2 = 0
or 2
R2 R 2 R2 R2
T =k y=k x=k x
R1 R1 R1 R1
Thus 2
R2
mẍ = −k x
R1
and s
R2 k
ωn =
R1 m
Problem 3.21 Summing moments about the pivot gives
I θ̈ = −k1(L2 θ)L2 − k2 (L3θ)L3 + f L1
or
I θ̈ + (k1L22 + k2 L23)θ = f L1
Thus s
k1 L22 + k2L23
ωn =
I
Problem 3.22 Let T be the dynamic tension in the cable. Assume that the cable does
not slip on the pulley. Note that for the massless pulley 2, kx2 = 2T and x1 = 2x2. From
Newton’s law,
kx2
m1 ẍ1 = f − T = f −
2
Substituting for x2 , we obtain
k
m1 ẍ1 = f − x1
4
Thus s
k
ωn =
4m1
Problem 3.23 For rotation about a fixed point, MO = IO α, α = θ̈.
IO = IRG + mRL2 + mC L2C
MO = −mR gL sin θ − mC gLC sin θ

Thus
(IRG + mR L2 + mC L2C )θ̈ = −(mR L + mC LC )g sin θ
If mR ≈ 0 and if IRG ≈ 0, then
mC L2C θ̈ = −mC LC g sin θ
or
LC θ̈ = −g sin θ
Problem 3.24 In the transverse mode,
3π(2 × 1011) h 4 4
i
k= (0.025) − (0.016) = 52 536 N/m
2(1.8)3
The equivalent mass is the sign mass plus 23% of the pole mass. The mass of the sign is
msign = 0.3(0.6)(0.003)7800 = 3.74344 kg
Thus
n h i o
me = 3.74344 + 0.23 π (0.025)2 − (0.016)2 (1.8)(7800) = 7.95544 kg
The natural frequency is s

k
ωn = = 81.259 rad/s
me
or 12.9 Hz.
In the torsional mode,
π(8 × 1010) h i
k= 3
(0.025)4 − (0.016)4 = 22 696 N · m/rad
2(1.8)
The mass of the pole is

n h i o
mpole = π (0.025)2 − (0.016)2 (1.8)(7800) = 16.276 kg
The equivalent inertia is the sign inertia plus one-third of the pole inertia.
4.212 h i 1 16.276 h i
Ie = (0.003)2 + (0.6)2 + (0.025)2 + (0.016)2 = 0.12879 kg · m2
12 3 2
k
ωn = = 419.79 rad/s
Ie
or 66.8 Hz.
Problem 3.25 In the transverse mode,
3π(7.1 × 1010) h 4 4
i
k= (0.025) − (0.016) = 18 650 N/m
2(1.8)3
The equivalent mass is the sign mass plus 23% of the pole mass. The mass of the sign is
msign = 0.3(0.6)(0.003)2700 = 1.458 kg
Thus n h i o
me = 1.458 + 0.23 π (0.025)2 − (0.016)2 (1.8)(2700) = 2.7538 kg
k
ωn = = 82.3 rad/s
me
or 13.1 Hz.
In the torsional mode,
π(2.67 × 1010) h 4 4
i
k= (0.025) − (0.016) = 7575 N · m/rad
2(1.8)3
The mass of the pole is

n h i o
mpole = π (0.025)2 − (0.016)2 (1.8)(2700) = 5.634 kg
The equivalent inertia is the sign inertia plus one-third of the pole inertia.
1.458 h i 1 5.634 h i
Ie = (0.003)2 + (0.6)2 + (0.025)2 + (0.016)2 = 0.0445 kg · m2
12 3 2
k
ωn = = 412.6 rad/s
Ie
or 65.66 Hz.
Problem 3.26 Set the derivatives to zero to find the equilibrium solution ye .
1700y 3 + 900y − 5g = 0
which has the roots y = 0.0542 and s = −0.027 ± 0.729i. Discard the complex valued
solution. Near y = 0.0542,
y 3 ≈ (0.0542)3 + 3ye2 (y − ye ) = (0.0542)2 + 0.00881x
where x = y − 0.0542. The linearized model is 5ẍ = −900x − 1200(0.000881)x, or 5ẍ +

914.977x = 0. The roots are s = ±13.5i, and the natural frequency is ωn = 13.5 rad/sec.
b) Because the roots are s = ±13.5i, the solution of 5ẍ + 914.977x = 0 has the form
x(t) = A sin 13.5t + B cos 13.5t. Note that x(0) = B = 0.002 and ẋ(0) = 13.5A = 0.005.
Thus A = 3.704 × 10−4 , and
x(t) = 3.704 × 10−4 sin 13.5t + 0.002 cos 13.5t
Problem 3.27 The equilibrium solution ye is the positive solution of k2y 3 + k1 y − M g = 0.
To linearize the model, note that when y is near ye ,
y 3 ≈ ye3 + 3ye2(y − ye ) = ye3 + 3ye2 x
where x = y − ye . Thus the linearized model is
M ẍ + k1 x + 3ye2 k2x = 0

k1 + 3ye2k2
ωn =
M
Given values for k1, k2, and g, the required procedure is:
1. Select a small trial value for M .
2. Compute ye and ωn .
3. Increase M until the limit on ωn is found.
Problem 3.28 For small angles,
IG θ̈ + mghθ = 0
The period is s s
IG IG 1
P = 2π = 2π √
mgh mg h
With h = 0.3 m and a period of P = 5 s, we obtain
s
IG
2π = 2.7386
mg
Thus
1
P = 2.7386 √
h
For a period of 10 s,
1
P = 10 = 2.7386 √
h
which gives h = 0.075 m.
Problem 3.29 Assuming that θ = A sin(ωn t + φ), Rayleigh’s principle states that
Tmax = Vmax − Vmin
where
1
Tmax = m (L2 ωn A)2
2
1
Vmax = mgL2(1 − cos A) + (2)k(L1A)2
2
Since 1 − cos A ≈ 1 − 1 + A2 /2 = A2 /2, we have

A2 1 mgL2
Vmax = mgL2 + (2)k(L1A)2 = + kL21 A2
2 2 2
Also, Vmin = 0, so
1 mgL2
m (L2ωn A)2 = + kL21 A2
2 2
which gives s
mgL2 + 2kL21
ωn =
mL22
Problem 3.30 Assuming that θ = A sin(ωn t + φ), Rayleigh’s principle states that
where
1
Tmax = m (L2 ωn A)2
2
1
Vmax = −mgL2 (1 − cos A) + (2)k(L1A)2
2
Since 1 − cos A ≈ 1 − 1 + A2 /2 = A2 /2, we have

A2 1 mgL2
Vmax = −mgL2 + (2)k(L1A)2 = − + kL21 A2
2 2 2
Also, Vmin = 0, so
1 mgL2
m (L2ωn A)2 = kL21 − A2
2 2
which gives s
2kL21 − mgL2
ωn =
mL22
Problem 3.31 Assuming that x = A sin(ωn t + φ), Rayleigh’s principle states that
where
1
m (ωn A)2
Tmax =
2
The dynamic deflection of the spring is D2x/D1 and thus
2
1 D2
Vmax = (2)k A
2 D1
Also, Vmin = 0, so
2
1 1 D2
m (ωn A)2 = k A2
2 2 D1
which gives s
D2 k
ωn =
D1 m
Problem 3.32 Problem 3.17 solves this problem by direct application of Newton’s laws.
Problem 3.35 solves the problem using Rayleigh’s method. So here we will use conservation
of energy to solve the problem. Combine springs k2 and k3 into a single equivalent spring
k4 located at the end of the rod (see the figure below). Using potential energy equivalence,
we obtain k4 (L1θ)2 = k2(L2θ)2 + k3(L3 θ)2 , which gives
k2L22 + k3 L23
k4 = (1)
L21
Let x and θ be measured from the equilibrium position. Since we are neglecting the rod mass
and inertia IO , the net moment about the pivot is (k4L1 θ)L1 + k1 (x − L1 θ)L1 = IO θ̈ = 0.
This gives
k1
θ= x (2)
(k1 + k4)L1
The potential energy of the system is
1 1
V = k4 (L1θ)2 + k1 (x − L1 θ)2
2 2
From Equation (2) we have V = [k1k4/(k1 + k4 )]x2/2. The kinetic energy is T = mẋ2 /2.
Thus
1 1 k 1 k4 2
T + V = mẋ2 + x = constant
2 2 k1 + k 4
Differentiating andpcanceling ẋ we obtain mẍ + [k1k4/(k1 + k4)]x = 0 and the natural
frequency is ωn = k1k4/[m(k1 + k4 )] where k4 is given by Equation (1).
Problem 3.33 Let As and Af be the amplitudes of the spring and frame. Then
0.6Af 2Af
As = =
0.9 3
and 2
1 1 2Af
Vmax − Vmin = kA2s = k
2 2 3
and
1
Tmax = (ωn Af )2
2
Since Tmax = Vmax − Vmin , we have
2
1 1 2Af
(ωn Af )2 = k
2 2 3
which gives s r
2 k 2 60 000
ωn = = = 8.607 rad/s
3 m 3 360
Problem 3.34 Assume that x is measured from the rest position, and let y be the dynamic
deflection in the spring. Note that y = (R2/R1)x.
1
T = mẋ2
2
Take the gravitational potential energy to be zero at x = 0. Then
2
1 1 R2
V = −mgx + k(∆ + y)2 = −mgx + k ∆ + x
2 2 R1
But at equilibrium, mgR1 = k∆R2, so
2 2
1 mgR1 1 R2
V = + k x2
2k R2 2 R1
For simple harmonic motion, x(t) = A sin(ωn t + φ) and ẋ(t) = ωn A sin(ωn t + φ), so
2
1 R2
Vmax − Vmin = k A2
2 R1
and thus
gives
2
1 1 R2
mωn2 A2 = k A2
2 2 R1
This gives s
R2 k
ωn =
R1 m
Problem 3.35 Problem 3.17 solves this problem by direct application of Newton’s laws.
Problem 3.32 solves the problem using conservation of energy. So here we will use Rayleigh’s
method to solve the problem. Combine springs k2 and k3 into a single equivalent spring k4
located at the end of the rod (see the figure below). Using potential energy equivalence, we
obtain k4 (L1θ)2 = k2(L2θ)2 + k3(L3 θ)2 , which gives
k2L22 + k3 L23
k4 = (1)
L21
Let x and θ be measured from the equilibrium position. Since we are neglecting the rod mass
and inertia IO , the net moment about the pivot is (k4L1 θ)L1 + k1 (x − L1 θ)L1 = IO θ̈ = 0.
This gives
k1
θ= x (2)
(k1 + k4)L1
The potential energy of the system is V = k4(L1 θ)2 /2 + k1(x − L1 θ)2 /2. (Since x is
measured from the equilibrium position, the weight is canceled by the static spring forces,
and the gravitational potential energy does not appear in V .) From Equation (2) we have
V = [k1k4 /(k1 + k4)]x2/2. The kinetic energy is T = mẋ2 /2. From Rayleigh’s principle,
Tmax = Vmax − Vmin . Assuming simple harmonic motion, we have x(t) = A sin(ωn t + φ).
Thus
1 1 k 1 k4 2
Tmax = mωn2 A2 = Vmax − Vmin = A −0
2 2 k1 + k 4
p
cancel A2 /2 to obtain the natural frequency ωn = k1 k4/[m(k1 + k4)] where k4 is given by
Equation (1).
Problem 3.36 Let D be the height of the columns when at rest, and take the gravitational
potential energy to be zero at the bottom of the tube. Let A be the surface area of each
liquid column. Then the gravitational potential energy of the entire liquid is the mass of
each column times g times the height of the mass center of each column. Assume the right-
hand column is displaced upward by a distance x (and of course the left-hand column will
be displaced downward by the same distance). Then the height of the mass center of the
right-hand colum is (D + x)/2, and the height of the mass center of the left-hand colum is
(D − x)/2. Thus

D−x D+x
V = [ρA(D − x)] g g + [ρA(D + x)] g = ρAg(x2 + D2)
2 2
Note that Vmax occurs at x = xmax and that Vmin occurs at x = 0. The kinetic energy
is T = (ρAL)ẋ2/2. For simple harmonic motion, x(t) = xmax sin(ωn t + φ) and ẋ(t) =
ωn xmax sin(ωn t + φ). Thus Tmax = Vmax − Vmin gives
1
(ρAL)ωn2 x2max = ρAg(x2max + D2 ) − ρAgD2 = ρAgx2max
2
p
This gives ωn = 2g/L.
Problem 3.37 Use Table 3.4-1.
a) s = −2 ± 2i. x(t) = 0.5e−2t sin 2t.
b) s = −6,−2. x(t) = 0.25e−2t − 0.25e−6t.
c) s = −2, −2. x(t) = te−2t .
Problem 3.38 Use Table 3.4-1.
a) s = −2, −5.
4 1
x(t) = e−2t − e−5t
3 3
b) s = −2, −2.
x(t) = (1 + t)e−2t
c) s = −2 ± 5i.
x(t) = 1.02e−2t sin (5t + 1.373)
Problem 3.39
250 25π
ωn = 2π = rad/s
60 3
240
ωd = 2π = 8π rad/s
60
2
25π
k = mωn2 = 2.3 = 1576 N/m
3
p
Since ωd = ωn 1 − ζ 2 ,
2 2
2 ωd 8π
1−ζ = =
ωn 25π/3
or 2
2 24
ζ = 1−
25
ζ = 0.28
Thus √
c = 2ζ mk = 33.7 N · s/m
Problem 3.40 The model is mẍ + cẋ + kx = 0, where m = W/g. Assuming real, distinct
roots, the response is given by Table 3.4-1 with x(0) = 0:
ẋ(0) s1 t
x(t) = e − es2 t
s1 − s 2
To determine when the vehicle comes to rest, set ẋ = 0.
ẋ(0) s1 t
ẋ(t) = s1 e − s2 es2 t = 0
s1 − s 2
This is true if
s1 es1 t − s2 es2 t = 0
Solve this for t:
1 s2
tmax = ln
s1 − s 2 s1
and the maximum barrier displacement is x(tmax ):
ẋ(0) s1 tmax
x(tmax ) = e − es2 tmax
s1 − s 2
The acceleration is
ẋ(0) 2 s1 t
ẍ = s1 e − s22 es2 t
s1 − s 2
To find the maximum deceleration, set d3 x/dt3 = 0:
d3 x ẋ(0) 3 s1 t
3
= s1 e − s32 es2 t = 0
dt s1 − s 2
which can be rearranged as
s31 (s1 −s2 )t
e =1
s32
The solution is t = 0. Thus the maximum deceleration occurs at t = 0, and is
ẋ(0) 2 c
ẍmax = ẍ(0) = s1 − s22 = ˙ x(0)(s
1 + s2 ) = −ẋ(0)
s1 − s 2 m
Problem 3.41 The equation of motion is
200ẍ + 500ẋ + 2500x = 0
where x(0) = 0.1 and ẋ(0) = 1.2. The solution is found from Table 3.4-1 to be
x(t) = 0.4124e−1.25t sin(3.3072t + 0.2446)
The maximum value of x can be found from calculus, by plotting x(t), or by numerically
evaluating x(t). The answer is xmax = 0.268 m.
The maximum spring compression is y − xmin = 0.1 + 0.0818 = 0.1818 m, where xmin =
−0.0818. The maximum spring extension is xmax − y = 0.168 m.
√ p
Problem 3.42 The hammer velocity when it strikes the anvil is v0 = 2gh = 2(9.81)1 =
4.429 m/s.
a) If e = 0, momentum is conserved but not energy. Thus
m2 v0 + 0 = (m1 + m2 )v1
where v1 is the velocity of the combined masses after impact. Thus

m2 200
v1 = v0 = 4.429 = 0.738 m/s
m1 + m 2 1000 + 200
Let x be the displacement of the combined masses, measured from the rest position of the
anvil. The equation of motion of the combined masses after impact is
1200ẍ + 20 000ẋ + 107x = 0
and the initial conditions are x(0) = 0 and ẋ(0) = 0.738. The solution is found from Table
3.4-1 to be
x(t) = 0.0081e−8.3333t sin(90.9059t)
b) If e = 1 both energy and momentum are conserved. From conservation of momentum,
m 2 v0 + 0 = m 1 v1 + m 2 v2
where v1 and v2 are the velocities of the masses m1 and m2 after impact. From conservation
of energy,
1 1 1
m2 v02 + 0 = m1v12 + m2v22
2 2 2
These two equations can be solved for v1 as follows:
2m2 2(200)
v1 = v0 = 0.738 = 0.246 m/s
m1 + m 2 1200
Let x be the displacement of the anvil, measured from its rest position. The equation
of motion of the anvil after impact is 1000ẍ + 20 000ẋ + 107x = 0 and the initial conditions
are x(0) = 0 and ẋ(0) = 0.246. The solution is found from Table 3.4-1 to be
x(t) = 0.0025e−10t sin(99.4987t)
Problem 3.43 Let x be the displacement of the boxcar after it contacts the shock absorber
(positive to the right). Note that x = 0 corresponds to the spring being at its free length.
The equation of motion is
18 000ẍ + 88 000ẋ + 73 000x = 0
or
18ẍ + 88ẋ + 73x = 0
where the initial conditions are x(0) = 0 and ẋ(0) = 1.3. The solution is found from Table
3.4-1 to be
x(t) = 0.469 e−1.0589t − e−3.83t
The maximum value of x can be found from calculus, by plotting x(t), or by numerically
evaluating x(t). The answer is xmax = 0.2077 m. This is the maximum spring compression.
Since ẋ(t) decays exponentially, it will reach zero only when t = ∞. This is the mathe-
matical answer, but the practical answer is given by four times the dominant time constant,
which is τ = 1/1.0589. Thus the velocity is essentially zero after t = 4/1.0589 = 3.78 s.
Problem 3.44 a) s = −2, −5. τdominant = 1/2. 4τdominant = 2. No oscillations.
b) s = −2, −2. τdominant = 1/2. 4τdominant = 2. No oscillations.
c) s = −2 ± 5. τdominant = 1/2. 4τdominant = 2. Oscillation frequency is 5 rad/sec.
Problem 3.45 s = −3, −10. τ1 = 1/3, τ2 = 1/10. τdominant = 1/3. 4τdominant = 4/3.
√ √
Problem 3.46 a) ζ = cos(tan−1 (6/2)) = 0.316. τ = 1/2. √ ωd = 6. ωn √
= 4 + 36 = 40.
b) Unstable so ζ and τ are not defined. ωd = 5. ωn = 1 + 25 = 26.
c) ζ = 1 because the roots are real and equal. τ = 1/10. ωd and ωn are not defined
because the free response is not oscillatory.
d) ζ is not defined because the system is first order. τ = 1/10. ωd and ωn are not
defined because the free response is not oscillatory.
Problem 3.47 a) τ = 0.5, ζ, ωn ,√and ωd do not apply.
b) τ = 0.5, ζ = 0.707, ωn = 2 2, ωd = 2.
Problem 3.48 The dominant root pair is s = −2±4i. For this root, ζ = cos(tan−1 (4/2)) =
0.447, τ = 1/2, and ωd = 4.
Problem 3.49 Note that
1 B1 δ
δ= ln ζ=√
n Bn+1 4π 2 + δ2
Thus
1
δ= ln 5 = 0.0536 ζ = 0.0085
30
Also,
c c c
ζ= √ = √ = √ = 0.0085
2 mk 2 100k 20 k
√
Thus c = 0.17 k. From the time T to complete the 30 cycles, then we can compute the
period P for one cycle from P = T /30. Then,
mωd2 m(2π/P )2
k = mωn2 = =
1 − ζ2 1 − ζ2
Because T = 60 s, then P = 2 s, and
100(2π/2)2
k= = 987 N/m
1 − (0.0085)2
√
and c = 0.17 k = 5.34 N·s/m.
Problem 3.50
2πζ
δ=p
1 − ζ2
x(t)
= eδ
x(t + P )
a) ζ = 0.5 gives δ = 3.6276 and
x(t)
= e3.6276 = 37.6
x(t + P )
Thus each successive amplitude is 1/37.6 = 0.0266 times the previous amplitude.
b) ζ = 0.707 gives δ = 6.2822 and
x(t)
= e6.2811 = 535
x(t + P )
Thus each successive amplitude is 1/535 = 0.00187 times the previous amplitude.
Problem 3.51
x(t) 3
δ = ln = ln = 0.4055
x(t + P ) 2
δ
ζ=√ = 0.064
4π 2 + δ2
Problem 3.52
1 B1
δ= ln
n Bn+1
where n = 3 and
B1 0.098
= = 2.3902
B4 0.041
Thus
1
δ= ln 2.3902 = 0.2905
3
and
δ
ζ=√ = 0.046
4π 2 + δ2
and √ q
c = 2ζ mk = 2(0.046) 11(15000) = 37.52 N · s/m
√
Problem 3.53 a) cc = 2 mk = 1788.9 N·s/m.
b) ζ = 1/3 and s r
k 8000 √
ωn = = = 80
m 100
Thus q √ q
ω d = ωn 1 − ζ 2 = 80 1 − 1/9 = 8.43 rad/s
2πζ
δ=p = 2.22
1 − ζ2
Problem 3.54 From the quadratic formula,
√ q
−12 ± 144 − 12k
s= = −2 ± 4 − k/3
6
For k ≤ 12 the roots are real, the dominant root lies between 0 and −2, and the dominant
time constant lies between 1/2 and ∞. For k > 12 the roots are complex, and the real part
is −2. Thus the dominant time constant is 1/2. The root locus plot is identical to Figure
3.5-6. The smallest possible dominant time constant is 1/2 and is obtained for any k ≥ 12.
Problem 3.55 From the quadratic formula,
√
−c ± c2 − 144
s=
6
For c ≥ 12 the roots are real, the dominant root lies between 0 and −2, and the dominant
time constant lies betweenp1/2 and ∞. For c < 12 the roots are complex, and the undamped
natural frequency is ωn = 12/3 = 2. This means that the complex roots lie on a semicircle
of radius 2 centered at the origin. The root locus plot is identical to Figure 3.5-7. The
smallest possible dominant time constant is 1/2 and is obtained for c = 12.
Problem 3.56 Let µ = (m − 2)/2. Thus m = 2µ + 2 and the characteristic equation
becomes
(2µ + 2)s2 + 12s + 10 = 0
Divide by 2:
(µ + 1)s2 + 6s + 5 = 0
From the quadratic formula, √
−3 ± 4 − 5µ
s=
µ+1
For 0 ≤ µ ≤ 4/5, the roots are real. For µ = 0, the roots are s = −1 and s = −5. For
µ = 4/5, the roots are equal at s = −1.67. For µ > 4/5 the roots are complex and approach
s = 0 as µ → ∞. The plot is similar to that in Figure 3.5-8 with the ×’s located at s = −1
and s = −5, and with the circle intersecting the real axis at s = −1.67.
Problem 3.57 a) The roots are s = −0.333 ± 3.14i. Because the real part is negative, the
model is stable.
b) The roots are s = ±2i. Because the real part is zero, the model is neutrally stable.
c) The roots are s = 2 ± 5i. Because the real part is positive, the model is unstable.
d) The roots are s = −2.44 and s = 1.64. Because one root is positive, the model is
unstable.
e) The roots are s = 5.385 and s = −5.385. Because one root is positive, the model is
unstable.
Problem 3.58 a) It can be shown that the characteristic equation ms2 + cs + k = 0
represents a stable system if and only if all three coefficients have the same sign. This is
a subcase of the more general Routh-Hurwitz criterion. Here it implies that the system is
stable if and only if −(r + 2) > 0 and 2r + 5 > 0, which gives −2.5 < r < −2 for stability.
Neutral stability occurs if either the s term or the constant term is missing in the
characteristic equation. This occurs if r + 2 = 0 (the roots are s = ±i) or if 2r + 5 = 0 (the
roots are s = 0, -0.5.).
b) The roots are p
r + 2 ± (r + 2)2 − 8r − 20
s=
2
The system will be underdamped if the term under the square root is negative; that is, if
(r + 2)2 − 8r − 20 < 0
or
r2 − 4r − 16 < 0
This will occur is √ √
2−2 5< r <2+2 5
or
−2.472 < r < 6.472
However, the system is unstable if r < −2, so the underdamped case occurs when
−2.472 < r < −2
The overdamped case occurs if −2.5 < r < −2.472.
√
Problem 3.59 a) 0 = 9 − yss . Thus yss = 81. Near y = 81,
√ 1 1
y ≈ 9 + √ (y − 81) = 9 + x
2 yss 18
where x = y − 81. Thus 18ẋ + x = 0 and the time constant is 18.

b) 3 sin yss = 0. Thus yss = 0, π, and 2π. Near y = yss ,
sin y ≈ sin yss + cos yss (y − yss ) = sin yss + (cos yss )x
where x = y − yss . The linearized equation is
ẋ = (cos yss )x
For yss = 0, ẋ = x (unstable). For yss = π, ˙ =

x −x (stable, with a time constant of 1). For
yss = 2π, ẋ = x (unstable).
c) 3 sin yss = 2. Thus yss = 0.73. Near y = 0.73,
sin y ≈ sin 0.73 + cos 0.73 (y − 0.73) = sin 0.73 + (cos 0.73)x
where x = y − 0.73. The linearized equation is
6ẍ + 5ẋ + 3(cos 0.73)x = 6ẍ + 5ẋ + 2.24x = 0
The roots are s = −0.41 ± 0.45i. The equilibrium is stable and the time constant is 1/0.41
= 2.4.
Problem 3.60 The linearized model becomes
I ẍ + cẋ + (mgL cos θe )x = u
Because cos θe = cos 135◦ < 0, the equilibrium at θ = 135◦ is unstable. Because the torque
required to hold the arm at 135◦ is the same as the torque required to hold the arm at 45◦,
if disturbed slightly from 135◦, the arm will come to rest at 45◦.
Problem 3.61 If θ = 0 when the rod is vertical, then summing moments about the pivot
gives
mL2 θ̈ = mgL2 sin θ − 2kL21 sin θ
For small angles, sin θ ≈ θ, and the equation of motion becomes
mL2 θ̈ + (2kL21 − mgL2)θ = 0
The roots are s

mgL2 − 2kL21
s=
mL22
If mgL2 − 2kL21 ≥ 0, both roots will be real and one will be positive. Thus the system will
be unstable.
If mgL2 − 2kL21 < 0, the roots will be purely imaginary. Thus the system will be
neutrally stable.
Problem 3.62 If θ = 0 when the rod is vertical, then summing moments about the pivot
gives
mL22 θ̈ = mgL2 sin θ − 2kL21 sin θ
For small angles, sin θ ≈ θ, and the equation of motion becomes
mL22 θ̈ + (2kL21 − mgL2)θ = 0
The roots are s

mgL2 − 2kL21
s=
mL22
If mgL2 − 2kL21 ≥ 0, both roots will be real and one will be positive. Thus the system will
be unstable.
If mgL2 − 2kL21 < 0, the roots will be purely imaginary. Thus the system will be
neutrally stable.
Problem 3.63 The rest position is at x = y = 0. The free body diagram shown is for the
case where x > y and ẏ > 0. From Newton’s law: mÿ = k(x − y) − cẏ. Rearrange into
standard form to obtain: mÿ + cẏ + ky = kx
Problem 3.64 The rest position is at x = y = 0. The free body diagram shown is for the
case where x > y and ẋ > ẏ. From Newton’s law: mÿ = k(x − y) + c(ẋ − ẏ). Rearrange
into standard form to obtain: mÿ + cẏ + ky = cẋ + kx
Problem 3.65 The rest position is at θi = θ = 0. The free body diagram shown is for the
case where θi > θ and θ̇ > 0. From Newton’s law: I θ̈ = k(θi − θ) − cθ̇. Rearrange into
standard form to obtain: I θ̈ + cθ̇ + kθ = kθi
Problem 3.66 Let N = n2 /n1 . The free body diagram shown is for the case where θ̇i > N θ̇.
From Newton’s law !
θ̇i
I θ̈ = c − θ̇ − kθ
N
Rearrange this as
N I θ̈ + cN θ̇ + kN θ = cθ̇i
Problem 3.67 The equation of motion is
IO θ̈ = −kθ − cθ̇
where the moment of inertia about the pivot is given by the parallel axis theorem:
IO = IG + md2
where
1 h i 40
IG = m (0.05)2 + (1.2)2 = (1.4425) = 4.808
12 12
and md2 = 40(0.6)2 = 14.4. Thus IO = 4.808 +√14.4 = 19.208 p kg·m .
2
The damping coefficient is given by c = 2ζ mk = 2(1) 40(13.6) = 32.325.

The problem did not ask for the time for the door to close, but this can be estimated as
four time constants. Here the characteristic equation is 19.208s2 + 32.325s + 13.6 = 0 and
the roots are s = −0.841 ± 0.0025i. The time constant is 1/0.841 = 1.19 s, and thus it will
take approximately 4(1.119) = 4.76 s for the door to close.
Problem 3.68 From Newton’s law for rotation:
X
I θ̈ = moments about the pivot = f L1 − k(L2 θ)L2 − c(L2θ̇)L2
or
I θ̈ + cL22 θ̇ + kL22θ = f L1
where ω = θ̇. Note that the L22 terms are due to the fact that the translational displacement
of the spring is L2θ and the translational velocity of the damper is L2θ̇. Thus the spring
force is k(L2θ) and the damper force is c(L2θ̇). The moments due to these forces are
obtained by multiplying by the moment arm L2 .
Problem 3.69 Taking moments about the pivot, we have
X
I θ̈ = moments about the pivot
or
mL23 θ̈ = −mgL3θ + kL1 (x − L1 θ) − cL22θ̇
Collect terms to obtain
mL23θ̈ + cL22 θ̇ + (mgL3 + kL21 )θ = kL1x
Problem 3.70 The normal force is N = mg, and from Equation (3.8-5),
kx0 1 800(0.1) 1
n≥ − = −
2µN 2 2(0.2)(9.81m) 2
or
20.39 1
n≥ −
m 2
At rest,
µN
x=
= 0.0025m
k
We were not given a value for the mass m. Suppose m = 10 kg. Then
n ≥ 2.039 − 0.5 = 1.54
which gives n = 2 and x = 0.025 m.

If m = 1 kg, then n = 20 and x = 0.0025 m.
Problem 3.71 The normal force is N = mg, and from Equation (3.8-5),
kx0 1 x0 ωn2 1
n≥ − = −
2µN 2 2µg 2
or
0.03(40π)2 1
n≥ −
2µ(9.81) 2
This can be rearranged as
2µ(9.81)(n + 0.5) ≥ 0.03(40π)2
or
0.03(40π)2
µ≥ = 0.68
2(9.81)(35 + 0.5)
Thus we estimate µ to be 0.68.
Problem 3.72 The natural frequency is ωn = 2π(1/10) = π/5. The amplitude reduction
per cycle is
4µmg 4µg 4µ(9.81)
= 2 = = 0.005
k ωn (π/5)2
Thus
0.005(π/5)2
µ= = 5 × 10−5
4(9.81)
From Equation (3.8-5),
kx0 1 ω 2 x0 1 (π/5)2(0.076) 1
n≥ − = n − = −
2µmg 2 2µg 2 2µ(9.81) 2
or
n ≥ 30.58 − 0.5 = 30.08
Thus n = 31 half-cycles.
Problem 3.73 The exact solution is
5
y(t) = [cos(2) − cos(3t + 2)] + 4
3
The function file is
function ydot = Prob3p73(t,y)

ydot = 5*sin(3*t+2);
The program that calls this file and plots the two solutions is
[t, y] = ode23(0Prob3p730, [0, 8], 4);

% exact solution:
te = [0:0.001:8];
ye = (5/3)*(cos(2)-cos(3*te+2)) + 4;
plot(t,y,te,ye)
The two plots are almost identical.
Problem 3.74 The exact solution is found from Table 3.4-1 to be
x(t) = 9.2234e−1.3333t sin(1.2472t + 0.5729)
function xdot = Prob3p74(t,x)

xdot = [x(2);-(10/3)*x(1)-(8/3)*x(2)];
[t, x] = ode23(0Prob3p740, [0, 3], [5, 3]);

% exact solution:
te = [0:0.001:3];
xe = 9.2234*exp(-1.3333*te).*sin(1.2472*te+0.5729);
plot(t,x(:,1),te,xe)
The two plots are nearly identical.
Problem 3.75 The exact solution for the small-angle case is
θ(t) = 1.7693e−0.75t sin(1.199t + 1.0118)
function thdot = Prob3p75(t,th)

thdot = [th(2);-(20/10)*sin(th(1))-(15/10)*th(2)];
[t, th] = ode45(0Prob3p750, [0, 5], [1.5, 0]);

% exact solution:
te = [0:0.001:5];
the = 1.7693*exp(-0.75*te).*sin(1.199*te+1.0118);
plot(t,th(:,1),te,the)
The two plots are close. The maximum difference occurs near t = 1.5 and is 0.23 rad.
Problem 3.76 Put the model into the form of two first-order equations. Let x1 = y and
x2 = ˙ . yThen
ẋ1 = x2
and
ẋ2 = 9.81 − 180x1 − 340x31
A MATLAB solution is as follows. First create the following function file.
function xdot = eqn(t,x)

global W
xdot = [x(2);W-120*x(1)-360*x(1).^3];
Then create and run the following program.
% File eqnplot.m
global W
W = 10;
[ta,xa] = ode45(0eqn0,[0, 1], [0.132, 0];)
W = 35;
[tb,xb] = ode45(0eqn0,[0, 1], [0.297, 0];
plot(ta,xa(:,1),tb,xb(:,1)),xlabel(0t (s)0 ),ylabel(0y (ft)0)
The resulting plot shows that for part (a) the period is 0.46 sec. In part (b) the period
is 0.55 sec. The linearized analysis in Example 3.2-5 predicted a period of 2π/20.25 = 0.31
sec for part (a) and 2π/13.08 = 0.48 sec for part (b). Thus the periods predicted by the
linearized analysis are close to but somewhat shorter than those predicted by the nonlinear
response.
Problem 3.77 Put the model into the form of two first-order equations. Let x1 = y and
x2 = ˙ . yThen
ẋ1 = x2
and
ẋ2 = 9.81 − 900x1 − 1700x31
A MATLAB solution is as follows. First create the following function file.
function xdot = eqn(t,x)

xdot = [x(2);9.81-900*x(1)-1700*x(1).^3];
Then create and run the following program.
% File eqnplot.m
[ta,xa] = ode45(0eqn0,[0, 2], [0.06, 0];)
[tb,xb] = ode45(0eqn0,[0, 2], [0.1, 0];
plot(ta,xa(:,1),tb,xb(:,1)),xlabel(0t (s)0 ),ylabel(0y(m)0)
The plot shows a period close to that predicted by the linearized analysis, 2π/13.5 = 0.47
s.
Problem 3.78 a) The equilibrium is y = 0. Near this equilibrium the linearized model is
only if b < 0. If b2 < 4, the response of the linearized model
ÿ − bẏ + y = 0, which is stable √
oscillates with a period of 4π/ 4 − b2. If −2 ≤ b < 0, the time constant is τ = −2/b. If
b < −2, no formula exists for the time constant; it must be found from the dominant root,
after obtaining numerical values for the roots.
b) Put the model into the form of two first-order equations. Let x1 = y and x2 = ẏ.
Then ẋ1 = x2 and ẋ2 = −x1 + b(1 − x21 )x2 . Create the following function file, which
corresponds to Case (1):
global b
b = 0.1;
[t, x] = ode45(0vanderp0, [0, 25], [1, 1]);
plot(t,x(:,1)),xlabel(0t0 ),ylabel(0y(t)0)
For case (2), change the third line to [t, x] = ode45(0vanderp0, [0, 25], [3, 3]);.
For case (3), change the second line to b = 3;. Use the following script file to solve the
equation. Then plot x1 , which is y.
function xdot = vanderp(t,x)

global b
xdot = [x(2); b*(1-x(1)^2)*x(2) -x(1)];
The three response plots show that the response reaches a constant-amplitude oscillation
of amplitude 2 and period 7 approximately, which is close to the period 6.3 predicted by
the linearized model. In Case (3), the linearized model predicts unstable behavior without
oscillations (because both roots are positive), but the plot for case (3) shows that the
response of the nonlinear model oscillates and the oscillations grow until they reach an
amplitude of 2. So all three cases are globally stable, Cases (1) and (2) are locally stable,
and Case (3) is locally unstable.
Problem 3.79 Put the model into the form of two first-order equations. Let x1 = θ and
x2 = θ̇. Then
ẋ1 = x2
a(t) cos θ − g sin θ
ẋ2 =
L
Create the following function file:
function xdot = accbase(t,x)

global m b
L = 1; g = 9.81;
xdot = [x(2);((m*t + b)*cos(x(1)) -g*sin(x(1)))/L];
To solve the equation and plot the solution, create the following script file. The accel-
eration a(t) has been expressed as the linear function a(t) = mt + b. Thus for cases (a) and
(b), m = 0 and b = 5. For case (c), m = 0.5 and b = 0. The file for case (a) is the following.
global m b
m = 0; b = 5;
[t, x] = ode45(0accbase0, [0, 10], [0.5, 0]);
plot(t,x(:,1)),xlabel(0t (seconds)0),ylabel(0theta(t) (radians)0)
For case (b), change the third line to
[t, x] = ode45(0accbase0, [0, 10], [3, 0]);
For case (c), change the second line to
m = 0.5; b = 0;
Problem 3.80 Put the model in the form of two first-order equations as follows. Let x1 = y
and x2 = ˙ . yThen
ẋ1 = x2
ẋ2 = −x1 + b(1 − x21)x2
Create the following function file.
function xdot = vand1(t,x);

b = 1000;
xdot = [x(2); -x(1) + b*(1-x(1)^2)*x(2)];
The following script file uses the ode23s function.
t, x] = ode23s(0vand10, [0, 3000], [2, 0]);

plot(t,x(:,1)),xlabel(0t0 ),ylabel(0y0 )
The functions ode45 and ode23 fail to converge to a solution for this problem, but they can
obtain a solution for “nonstiff” values of b, such as b = 1.
Problem 3.81 With the given values, the model is
9θ̈ + 9.81 sin θ = a cos θ
Solve this equation numerically with θ(0) = θ̇(0) = 0, starting with a small value of a.
Increase a until the amplitude of θ equals 20◦ (20π/180 in radians). The MATLAB files to
do this are shown below. The answer is a = 1.71 m/s2 .
function xdot = crane(t,x)

% Crane with an accelerating base.
global a
xdot = [x(2);(a*cos(x(1))-9.81*sin(x(1)))/9];
% Program P3p81.m
% Main program for Problem 3.81
global a
a = 1.71;
[t,x]=ode45(0crane0,[0,10],[0, 0]);
plot(t,(180/pi)*x(:,1)),grid,xlabel(0t0 ),ylabel(0theta0)
Problem 3.82 The exact solution is
Z t 5
y(t) = 5 sin(3t + 2) dt + 4 = [cos(2) − cos(3t + 2)] + 4
0 3
The Simulink diagram is shown below. In the Sine Wave block set the Amplitude to 5, the
Frequency to 3, and the Phase to 2. In the Integrator block set the Initial condition to 4.
In the To Workspace block, set the Save format to Array. Set the Stop time to 8. The t
and y values from the Simulink output will be in the MATLAB variables tout and simout.
The MATLAB code to plot both solutions is shown below. The two are almost identical.
t=[0:0.001:8];
y=(5/3)*(cos(2)-cos(3*t+2)) + 4;
plot(tout,simout,t,y)
Problem 3.83 The exact solution is found from Table 3.4-1.
x(t) = 9.2234e−1.3333t sin(1.2472t + 0.5729)
The Simulink diagram is shown below. In the Integrator block set the Initial condition to
5. In the Integrator1 block set the Initial condition to 3. In the To Workspace block, set
the Save format to Array. Set the Stop time to 3. The t and x values from the Simulink
output will be in the MATLAB variables tout and simout. The MATLAB code to plot
both solutions is shown below. The two are almost identical.
t = [0:0.001:3];
x = 9.2234*exp(-1.3333*t).*sin(1.2472*t+0.5729);
plot(tout,simout,t,x)
Problem 3.84 The linearized equation is 10θ̈ + 15θ̇ + 20θ = 0. The exact solution is found
from Table 3.4-1.
θ(t) = 1.7693e−0.75t sin(1.199t + 1.0118)
The Simulink diagram is shown below. In the Integrator block set the Initial condition to
1.5. In the Integrator1 block set the Initial condition to 0. In the To Workspace block, set
the Save format to Array. Set the Stop time to 5. The t and θ values from the Simulink
output will be in the MATLAB variables tout and simout. The MATLAB code to plot
both solutions is shown below. The two are close but not identical. The maximum difference
between the two occurs at about t = 1.5 and is 0.25 rad.
t = [0:0.001:5];
theta = 1.7693*exp(-0.75*t).*sin(1.199*t+1.0118);
plot(tout,simout,t,theta)
Problem 3.85 The Simulink diagram is shown below. In both integrator blocks set the
Initial condition to 0. In the To Workspace block, set the Save format to Array. Set the
Stop time to 5. In the Signal Generator block, select Square for the Wave Form, set the
Amplitude to 2, the Frequency to 1, and the Units to Hertz. The t and θ values from the
Simulink output will be in the MATLAB variables tout and simout. In MATLAB type
plot(tout,simout) to plot the solution.
Problem 3.86 The Simulink model is shown in the following figure. Set the Initial condition
of the Integrator to 0.15. The gain blocks should have the values shown; namely k = 1500,
1/m = 9.81/100, and µmg = 0.2(100). You can plot the results by typing
plot(tout,simout),xlabel(0t0 ),ylabel(0x0 )
The plot shows that the simulation results are the same as those predicted by Equation
(3.8-5):
kx0 1 1500(0.15) 1
n≥ − = − = 5.125
2µN 2 2(0.2)100 2
which predicts that the mass will come to rest after five half-cycles.
The predicted amplitude decay per cycle is
4µN 4(0.2)100
= = 0.053
k 1500
which agrees with the simulation results.
Figure : For Problem 3.86.
Problem 3.87 The Simulink model is shown in the following figure. Set the Initial condition
of the Integrator to 0.15 and that of Integrator1 to 1.5. The gain blocks should have the
values shown; namely k = 1500, 1/m = 9.81/100, and µmg = 0.2(100). You can plot the
results by typing
The plot shows that mass comes to rest after six half-cycles. This should be greater
than the prediction made from Equation (3.8-5), which assumes that the initial velocity is
zero:
kx0 1 1500(0.15) 1
n≥ − = − = 5.125
2µN 2 2(0.2)100 2
This predicts that the mass will come to rest after five half-cycles.
The predicted amplitude decay per cycle is
4µN 4(0.2)100
= = 0.053
k 1500
which agrees with the simulation results.
Problem 3.88 The value of c should be c = 20 N·s/m, not c = 120 as stated in the first
printing of the text.
The Simulink model is shown in the following figure. Set the Initial condition of the
Integrator to 0.15 and that of Integrator1 to 0. The gain blocks should have the values
k = 1500, c = 20, 1/m = 9.81/100, and µN = 0.2(100). You can plot the results by typing
The plot shows that mass comes to rest after three half-cycles. This should be less
than the prediction made from Equation (3.8-5), which assumes that there is no viscous
damping:
kx0 1 1500(0.15) 1
n≥ − = − = 5.125
2µN 2 2(0.2)100 2
This predicts that the mass will come to rest after five half-cycles.
Problem 3.89 Incorrect values were given in the first printing of the text. The correct
values are Tf = 1 N·m, θ(0) = 0.5 rad, c1 = 20 N·s/m, and k2 = 1000 N/m (there is no k1 ).
The form of the equation is
mθ̈ + cθ̇ + kθ = −Tf sign(ẋ)
where m = ma a2 + mb b2 = 6.2, c = c1a2 = 20, and k = k2 b2 = 640. The model is shown

in the following figure. Set the Initial condition of the Integrator to 0.5. You can plot the
results by typing
The plot shows that mass comes to rest after six half-cycles. This should be less than the
prediction made from Equation (3.8-5), which assumes that there is no viscous damping in
the system:
kθ(0) 1 640(0.5) 1
n≥ − = − = 159.5
2Tf 2 2(1) 2
This predicts that the mass will come to rest after 160 half-cycles.

CH 03

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c

Mechanical Vibration, First Edition

William J. Palm III

University of Rhode Island

Solutions to Problems in Chapter Three

b) From part (a), IA = 0.0422 and IB = 0.7278. The equivalent inertia is Ie = IB +

Applying the initial conditions we obtain

x(0) = 0.05 = A sin φ > 0

ẋ(0) = 0.3 = 30A cos φ > 0

x(t) = 0.05099 sin(30t + 1.3734)

x(0) = 0.05 = A sin φ

A sin φ = 0.05 and A sin φ = −0.06

The dynamic force balance on the massless pulley gives

k1 y = k2 (x − 2y) + T = 2k2(x − 2y)

mẍ = −T1 − T2 = −3T2

1601 ≤ k ≤ 3202 N/m

(k3L3θ)L3 + (k2L2θ)L2 + k1(L1 θ − x)L1 = IO θ̈ = 0

k1k2 L22 + k1k3L23

The natural frequency is

Figure : For Problem 3.17

Summing moments about the pulley center gives

I θ̈ = −k1(L2 θ)L2 − k2 (L3θ)L3 + f L1

IO = IRG + mRL2 + mC L2C

MO = −mR gL sin θ − mC gLC sin θ

mC L2C θ̈ = −mC LC g sin θ

msign = 0.3(0.6)(0.003)7800 = 3.74344 kg

The natural frequency is s

The mass of the pole is

msign = 0.3(0.6)(0.003)2700 = 1.458 kg

The mass of the pole is

y 3 ≈ (0.0542)3 + 3ye2 (y − ye ) = (0.0542)2 + 0.00881x

where x = y − 0.0542. The linearized model is 5ẍ = −900x − 1200(0.000881)x, or 5ẍ +

x(t) = 3.704 × 10−4 sin 13.5t + 0.002 cos 13.5t

y 3 ≈ ye3 + 3ye2(y − ye ) = ye3 + 3ye2 x

where x = y − ye . Thus the linearized model is

The natural frequency is s

1. Select a small trial value for M .

3. Increase M until the limit on ωn is found.

Tmax = Vmax − Vmin

Tmax = Vmax − Vmin

Tmax = Vmax − Vmin

Figure : For Problem 3.32

Figure : For Problem 3.35

Figure : For Problem 3.36

200ẍ + 500ẋ + 2500x = 0

x(t) = 0.4124e−1.25t sin(3.3072t + 0.2446)

where v1 is the velocity of the combined masses after impact. Thus

1200ẍ + 20 000ẋ + 107x = 0

x(t) = 0.0025e−10t sin(99.4987t)

18 000ẍ + 88 000ẋ + 73 000x = 0

−2.472 < r < −2

The overdamped case occurs if −2.5 < r < −2.472.

where x = y − 81. Thus 18ẋ + x = 0 and the time constant is 18.

where x = y − yss . The linearized equation is

For yss = 0, ẋ = x (unstable). For yss = π, ˙ =

where x = y − 0.73. The linearized equation is

6ẍ + 5ẋ + 3(cos 0.73)x = 6ẍ + 5ẋ + 2.24x = 0

I ẍ + cẋ + (mgL cos θe )x = u

mL2 θ̈ + (2kL21 − mgL2)θ = 0

The roots are s

mL22 θ̈ + (2kL21 − mgL2)θ = 0

The roots are s

Figure : For Problem 3.63