AERO 4630: Structural Dynamics Homework 5

Anthony M. Comer*
August 26, 2020

1 Problem 1: Viscously Damped Pendulum

Figure 1: Problem Statement #1

Before any analysis of the system can begin, a coordinate axis must be estab-
lished. A coordinate axis is established with the origin at the DATUM defined
by x(t). The underlying assumption is made that the pendulum’s connection
device of length L is a rigid connection with no sag. Summing the forces on the
mass in the tangential direction of oscillation yields the following
X
Ft = −cLθ̇ − cẋ cos θ − mg sin θ (1)
For this problem, the equation of motion for the system is coupled with the
addition of the induced oscillatory motion at the source. This yields the equation
of motion to be
 
c g −1 c
θ̈ + θ̇ + sin θ = ẍ + ẍ (2)
m L L m
 
c g −1 c
θ̈ + θ̇ + θ = ẍ + ẋ cos θ (3)
m L L m
Equation 3 makes the assumption of small angles, becoming the final equation
of motion for small displacements. Next, the equation is solved for θ(t). The
following substitutions are made for solving the particular response:
x(t) = Xeiω t (4)
ẋ(t) = (iω)Xeiω t
(5)
ẍ(t) = −ω 2 Xeiω t
(6)
iω t−φ
θ(t) = Xe (7)
θ̇(t) = (iω)Xeiω t−φ
(8)
2 iω t−φ
θ̈(t) = −ω Xe (9)
* Undergraduate Senior, VSDDL, Department of Aerospace Engineering, Auburn Univer-
sity, AIAA Student Member

1
Substituting these values into Equation 3 allows for θ(ω) and φ(ω) to be found.
Solving them yields the following results
v
u    2
ω ω
+ 2ζ
u
Xuu ωn ωn
θ(w) =  2 2  2 (10)
Lt

ω
1 − ωn + 2ζ ωωn
!
2ζ ωωn
φ(ω) = arctan  2 (11)
1 − ωωn

2 Problem 2: Fourier Series

Figure 2: Problem Statement #2

Since the equations for the coefficients were given in the problem statements,
they will not be defined as proper equations. For the worked out process,
please refer to Appendix A.

2.1
The integrals taken to solve the general form of the functions are seen below for
part 2a.
Z T /2 Z 0 
2
a0 = 1dt + −1dt (12)
T 0 T /2
Z T /2 Z T 
2 2nπ
an = 1 cos(ω t)dt + −1 cos(ω t)dt , ω= (13)
T 0 T /2 T
Z T /2 Z T 
2 2nπ
bn = 1 sin(ω t)dt + −1 sin(ω t)dt , ω= (14)
T 0 T /2 T

Solving these yielded the following results for the coefficients

a0 = 0 (15)
an = 0 (16)
 
2
bn = 1 − cos(nπ) (17)
nπ

Finally, the expression for the forcing function can be written as

∞  
X 2 2nπ
f (t) = 1 − cos(nπ) sin(ω t) , ω= (18)
n=0
nπ T

2
2.2
The integrals taken to solve the general form of the functions are seen below for
part 2b.
 Z T /2 Z 0 
2
a0 = t dt + (T − t) dt (19)
T 0 T /2
 Z T /2 Z T 
2 2nπ
an = t cos(ω t) dt + (T − t) cos(ω t) dt , ω= (20)
T 0 T /2 T
 Z T /2 Z T 
2 2nπ
bn = t sin(ω t) dt + (T − t) sin(ω t) dt , ω= (21)
T 0 T /2 T
Solving these yielded the following results for the coefficients
a0 = T /2 (22)
T  
an = cos nπ − 1 (23)
n2 π 2
bn = 0 (24)
Finally, the expression for the forcing function can be written as
∞
T X T   2nπ
f (t) = + cos nπ − 1 cos(ω t) , ω= (25)
4 n=0 n2 π 2 T

2.3
The integrals taken to solve the general form of the functions are seen below for
part 2b.
Z T 
2
a0 = (a + bt) dt (26)
T 0
Z T 
2 2nπ
an = (a + bt) cos(ω t) dt , ω= (27)
T 0 T
Z T 
2 2nπ
bn = (a + bt) sin(ω t) dt , ω= (28)
T 0 T
Solving these yielded the following results for the coefficients
a0 = 2a + bT (29)
an =
0 (30)
−bT
bn = (31)
nπ
Finally, the expression for the forcing function can be written as
∞
X −bT
2a + bT 2nπ
f (t) = + cos(ω t) , ω= (32)
2 n=0
nπ T

3
3 Problem 3: Periodic Excitation

Figure 3: Problem Statement #3

With the axes predefined by the problem statement, a free-body diagram can
be drawn of the mass and forces summed. The resulting summation becomes
X
Fy = Fs2 − Fs1 − Fd − mg (33)

Where the spring numbers and spring/damper forces are defined in Appendix A.
Defining these forces, the respective spring and damper forces can be substituted
into th equation and rearranged to solve the equation of motion as

mẍ(t) + cẋ(t) + (k1 + k2 )xrel (t) = k2 y(t) (34)

Per usual, the displacement is taken about a relative location independent of the
gravitational force or natural resting position of the system. Due to the sawtooth
nature of the forcing displacement, a periodic function can be generated such
that the force is defined over a time period T . This periodic function is defined
as
A
f (t) = t + B , 0≤ t≤ T (35)
T
This period function can then be resolved using a Fourier transform (as seen in
Problem 2) using the same method as described above. This function can then
be found to be
∞
A + 2B AX1 2nπ
f (t) = − sin(ω t) , ω= (36)
2 π n=1 n T

With the forcing function defined, evaluating the transform at a predetermined

4 Problem 4: Engine Block Shock Mounts

Figure 4: Problem Statement #3

Before any analysis can begin, some assumptions must be made regarding the
nature of this problem. The assumptions are as follows, (i) this is a design
study, (ii) all three of the shock mounts witness the same displacement for any
time t, and (iii) gravity has been accounted for in the displacement, meaning

4
the limitation of 2 millimeters is from the relative location of the system when
gravity is at play. With these assumptions in mind, the equation of motion can
be found from a free body diagram of the engine block itself (see Appendix A).
The resulting equation of motion for the engine block becomes

mẍ(t) + 3cẋ(t) + 3kx(t) = 100 sin(60π t) (37)

From this point forward, MATLAB is used to provide quick results through the
use of the script attached in the submission. By varying the values of k and c
and observing the oscillations, a set of values which limit displacement to 2mm
can be found. While many answers could potentially exist, the following values
were decided with the attached response plot shown in Figure 5. The code ran
in MATLAB followed the general form of a sinusoidal forcing function to an
underdamped system, resulting in the particular solution to be
 
Fo −1 2ζωn ω
xp (t) = p cos(ω t − φ) , φ = tan
(ωn2 − ω 2 )2 + (2ζωn ω)2 ωn2 − ω 2
(38)
With the steady oscillations plotted, the values for spring constant and damping
ratio were found to be k = 500/3 and c = 200/3 .

Figure 5: Oscillatory response of Equation 38 with given k and c values