Chapter 19 Mechanical Vibrations
Chapter 19 Mechanical Vibrations
Chapter 19 Mechanical Vibrations
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T 5 kdst, where dst denotes the elongation of the spring. We have, 19.2 Free Vibrations of Particles. Simple
Harmonic Motion
1215
therefore,
W 5 kdst
Suppose now that the particle is displaced through a distance xm from
its equilibrium position and released with no initial velocity. If xm has
been chosen smaller than dst, the particle will move back and forth
through its equilibrium position; a vibration of amplitude xm has been
generated. Note that the vibration can also be produced by imparting Unstretched T = kdst
a certain initial velocity to the particle when it is in its equilibrium dst
position x 5 0 or, more generally, by starting the particle from any
given position x 5 x0 with a given initial velocity v0.
To analyze the vibration, let us consider the particle in a position
P at some arbitrary time t (Fig. 19.1b). Denoting by x the displacement Equilibrium
OP measured from the equilibrium position O (positive downward), (a) W
we note that the forces acting on the particle are its weight W and the
force T exerted by the spring which, in this position, has a magnitude
T 5 k(dst 1 x). Recalling that W 5 kdst, we find that the magnitude of
the resultant F of the two forces (positive downward) is
− xm
F 5 W 2 k(dst 1 x) 5 2kx (19.1)
Thus the resultant of the forces exerted on the particle is proportional
to the displacement OP measured from the equilibrium position.
Recalling the sign convention, we note that F is always directed toward T = k(dst + x)
the equilibrium position O. Substituting for F into the fundamental
O
equation F 5 ma and recalling that a is the second derivative ẍ of x
with respect to t, we write x
Equilibrium
m ẍ 1 kx 5 0 (19.2) P =
Note that the same sign convention should be used for the accelera- + xm W
tion ẍ and for the displacement x, namely, positive downward. ..
ma = mx
The motion defined by Eq. (19.2) is called a simple harmonic +
motion. It is characterized by the fact that the acceleration is propor- (b)
tional to the displacement and of opposite direction. We can verify that Fig. 19.1
each of the functions x1 5 sin (1k/m t) and x2 5 cos (1k/m t) satis-
fies Eq. (19.2). These functions, therefore, constitute two particular solu-
tions of the differential equation (19.2). The general solution of Eq. (19.2)
is obtained by multiplying each of the particular solutions by an arbitrary
constant and adding. Thus, the general solution is expressed as
k k
x 5 C 1x1 1 C 2x2 5 C 1 sin a tb 1 C 2 cos a tb (19.3)
Am Am
We note that x is a periodic function of the time t and does, there-
fore, represent a vibration of the particle P. The coefficient of t in
the expression we have obtained is referred to as the natural circular
frequency of the vibration and is denoted by vn. We have
k
Natural circular frequency 5 v n 5 (19.4)
Am
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ẍ 1 v2n x 5 0 (19.6)
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O
wnt
C2 C1 x
xm
f
wnt
P
Q
+ xm
t
+
(a) (b)
Fig. 19.2
2p
period 5 tn 5 (19.13)
vn
1 vn
Natural frequency 5 fn 5 5 (19.14)
tn 2p
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1218 Mechanical Vibrations The results obtained are not limited to the solution of the prob-
lem of a mass attached to a spring. They can be used to analyze the
rectilinear motion of a particle whenever the resultant F of the forces
acting on the particle is proportional to the displacement x and directed
toward O. The fundamental equation of motion F 5 ma can then
be written in the form of Eq. (19.6), which is characteristic of a simple
harmonic motion. Observing that the coefficient of x must be equal
to v2n, we can easily determine the natural circular frequency vn of the
motion. Substituting the value obtained for vn into Eqs. (19.13) and
(19.14), we then obtain the period tn and the natural frequency fn
of the motion.
=
mat oFt 5 mat: 2W sin u 5 mlü
Noting that W 5 mg and dividing through by ml, we obtain
g
W ü 1 sin u 5 0 (19.16)
l
(b) For oscillations of small amplitude, we can replace sin u by u, expressed
Fig. 19.4 in radians, and write
g
ü 1 u50 (19.17)
l
Comparison with Eq. (19.6) shows that the differential equation
(19.17) is that of a simple harmonic motion with a natural circular
frequency vn equal to (g/l)1/2. The general solution of Eq. (19.17)
can, therefore, be expressed as
u 5 um sin (vnt 1 f)
where um is the amplitude of the oscillations and f is a phase angle.
Substituting into Eq. (19.13) the value obtained for vn, we get the
following expression for the period of the small oscillations of a pen-
dulum of length l:
2p l
tn 5 5 2p (19.18)
vn Ag
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