ME 531: Mechanical Vibration

Assignment-3

1) Write very briefly

i. Natural frequency

Natural frequency is the rate at which a body vibrates when it is disturbed from its equilibrium
position. Number of vibrations per second.

ii. Logarithmic decrement

In case of underdamped free vibrations, the amplitude of vibrations decreases with time. The
logarithmic decrement represents the rate at which the amplitude of vibration decreases.

𝑥(𝑡)
ln = 𝑛ẟ
𝑥ₙ(𝑡)

𝑥ₙ(𝑡) = 𝑥(𝑡 + 𝑛τ)

τ = Time period

iii. Equivalent mass

For simple spring- mass system, equation of motion is

𝑚𝑥̈ + 𝑘𝑥 = 0

For complex systems of single dof, we can derive equation of motion as

𝑀𝑞̈ + 𝐶𝑞̇ + 𝐾𝑞 = 0

Here, M represents equivalent mass, we can write total kinetic energy of a single degree of freedom
system as
1
𝑇= 𝑀𝑞 ̇
2
iv. Difference between continuous and discrete system

The main difference between continuous and discrete systems is that in continuous systems, state
variables change continuously over time, while in discrete systems, state variables change abruptly at
specific points in time.

v. Show only the plot of free vibration response of an undamped system and underdamped system
2) An overhead crane (Figure Q 2) with a beam of length L is lifting a weight by using two cables of length l and
modulus of elasticity E. Determine the spring constant between the hook and ground in a vertical direction. Take
L = 20 m, 1 = 10 m, modulus of elasticity for both the beam and the cable E = 210 MPa, inner diameter of the
beam = 20 cm and outer diameter of the beam =30 cm and the diameter of the cable is 2 cm. Find the equation
of motion using Newton's 2nd law. Consider a mass of 100 kg hanging from the hook and it is subjected to force
of 100 kN.

I = moment of inertia of beam along neutral axial

𝜋
𝐼= (𝐷 − 𝐷 )
64
𝐷 = 0.30𝑚
𝐷 = 0.20𝑚
I =0.000319𝑚
Equivalent stiffness of beam (Simply supported beam)
𝐸𝐼
𝐾 = 48
𝐿
E= 210MPa
L= 20m
𝐾 = 401.94 N/m
Equivalent stiffness of cable
𝐸𝐴
𝐾 =
𝑙
𝐴 = 𝜋𝑟
r=1cm => 𝐴 = 0.000314𝑚
× × ×
𝐾 = = 6594 N/m
𝐾 (𝐾 + 𝐾 )
𝐾 = = 390.052N/m
(𝐾 + 𝐾 ) + 𝐾

Using Newton’s 2nd law.

𝐹 = 𝑀𝑎
𝐹 − 𝐾 𝑥 = 𝑀𝑥̈
Given
M =100Kg
F=100kN
Equation of motion
100𝑥̈ + 390.052𝑥 = 100 × 10

3) Derive the equation of motion of the micro-mechanical system in figure using the legrange ptinciple.
It is a single degree of freedom system.
Kinematics of system:
𝑥 =𝐿 ∅
𝑥 =𝐿 ∅
Kinetic Energy:
𝑇 = 𝐾. 𝐸 𝑜𝑓 𝑚 + 𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙 𝐾. 𝐸 𝑜𝑓 𝑚
1 1
𝑇= 𝑚 𝑥̇ + 𝐽 ∅̇
2 2
Potential Energy:
𝑈 = 𝑃. 𝐸 + 𝑃. 𝐸 + 𝑃. 𝐸
1
𝑃. 𝐸 = 𝑘 𝑥 − 𝑥 (𝑡)
2
1
𝑃. 𝐸 = 𝑘 ∅
2

𝑃. 𝐸 = 𝑐𝑒𝑛𝑡𝑟𝑒 𝑜𝑓 𝑚𝑎𝑠𝑠 𝑜𝑓 𝐿 𝑐𝑜𝑚𝑒𝑠 𝑑𝑜𝑤𝑛 + 𝐶𝑒𝑛𝑡𝑟𝑒𝑜𝑓 𝑚𝑎𝑠𝑠 𝑜𝑓 𝐿 𝑔𝑜𝑒𝑠 𝑢𝑝

𝑚 𝐿 𝐿 𝐿 𝑚 𝐿 𝐿 𝐿
𝑃. 𝐸 =− 𝑔 − cos ∅ + 𝑔 − cos ∅
𝐿 +𝐿 2 2 𝐿 +𝐿 2 2
Raleigh Dissipation Energy 𝐷 = 𝐶𝑥̇
Legrangian
𝐿 =𝑇−𝑈
𝑑 𝜕𝐿 𝜕𝐿 𝜕𝐷
− + =𝑄
𝑑𝑡 𝜕𝑞̇ 𝜕𝑞 𝜕𝑞̇
Here 𝑞 = ∅
𝑄 = 0 (𝑁𝑜 𝑒𝑥𝑡𝑒𝑟𝑛𝑎𝑙 𝑓𝑜𝑟𝑐𝑒 𝑖𝑠 𝑎𝑝𝑝𝑙𝑖𝑒𝑑)
𝜕𝐿 𝜕(𝑇 − 𝑈) 1 𝜕 ∅̇ 1 𝜕 ∅̇ 𝜕(𝑈)
= = 𝑚 𝐿 + 𝐽 −
𝜕𝑞̇ 𝜕∅̇ 2 𝜕∅̇ 2 𝜕∅̇ 𝜕∅̇
= 𝑚 𝐿 ∅̇ + 𝐽 ∅̇ − 0 = (𝑚 𝐿 + 𝐽 )∅̇
∅̇
𝑑 𝜕𝐿
= (𝑚 𝐿 + 𝐽 )∅̈
𝑑𝑡 𝜕∅̇

∅
= ∅
− ∅
𝜕𝐿 𝑚 𝐿 𝐿 𝑚 𝐿 𝐿
= 0 − 𝑘 𝐿 ∅ − 𝑥 (𝑡) 𝐿 + 𝑘 ∅ + 𝑔 sin ∅ − 𝑔 sin ∅
𝜕∅ 𝐿 +𝐿 2 𝐿 +𝐿 2
𝜕𝐿 𝑚 𝑔 𝐿 −𝐿
= − 𝑘 𝐿 ∅ − 𝑥 (𝑡) 𝐿 + 𝑘 ∅ + sin ∅
𝜕∅ 𝐿 +𝐿 2
sin ∅ ≈ ∅ (𝑓𝑜𝑟 𝑠𝑚𝑎𝑙𝑙 𝑣𝑎𝑙𝑢𝑒𝑠 𝑜𝑓 ∅)
𝜕𝐿 𝑚 𝑔 𝐿 −𝐿
=− 𝑘𝐿 + 𝑘 + ∅ − 𝑘𝐿 𝑥 (𝑡)
𝜕∅ 𝐿 +𝐿 2
𝜕𝐷
= 𝐶𝐿 ∅̇
𝜕∅̇
Substitute in legrangian equation
 𝑚 𝑔 𝐿 −𝐿
(𝑚 𝐿 + 𝐽 )∅̈ − − 𝑘𝐿 + 𝑘 + ∅ − 𝑘𝐿 𝑥 (𝑡) + 𝐶𝐿 ∅̇ = 0
𝐿 +𝐿 2

𝑚 𝑔 𝐿 −𝐿
(𝑚 𝐿 + 𝐽 )∅̈ + 𝐶𝐿 ∅̇ + 𝑘𝐿 + 𝑘 + ∅ − 𝑘𝐿 𝑥 (𝑡) = 0
𝐿 +𝐿 2

4) Derive the equation of motion of a spring-mass-damper system using Extended Hamilton principle. The mass is
subjected to a force of 2 sin 3t + 4 sin 4t. Take mass of the system 2 kg, stiffness 200 N/m and Damping
coefficient 15 Ns/m.

𝐿 =𝑇−𝑈
1 Non conservative forces are due to damper and
𝑇= 𝑚𝑥̇
2 external forces
1 𝑊 = 𝑤𝑜𝑟𝑘 𝑑𝑜𝑛𝑒 𝑏𝑦 𝑓𝑜𝑟𝑐𝑒
𝑈 = 𝑘𝑥
2 + 𝑤𝑜𝑟𝑘 𝑑𝑜𝑛𝑒 𝑏𝑦 𝑑𝑎𝑚𝑝𝑒𝑟
1 1 𝑊 = 𝐹. 𝑥 + (−𝐶𝑥̇ )𝑥
𝐿 = 𝑚𝑥̇ − 𝑘𝑥
2 2 𝑊 = 𝐹. 𝑥 − 𝐶𝑥̇ 𝑥
𝜕𝐿 𝜕𝐿
𝛿𝐿 = 𝛿𝑥 + 𝛿𝑥̇ 𝛿𝑊 = 𝐹𝛿𝑥 − 𝐶𝑥̇ 𝛿𝑥
𝜕𝑥 𝜕𝑥̇
𝛿𝐿 = 𝑚𝑥̇ 𝛿 𝑥̇ − 𝑘𝑥𝛿𝑥

Extended Hamilton Principle

(𝛿𝐿 + 𝛿𝑊 )𝑑𝑡 = 0

(𝑚𝑥̇ 𝛿𝑥̇ − 𝑘𝑥𝛿𝑥 + 𝐹𝛿𝑥 − 𝐶𝑥̇ 𝛿𝑥)𝑑𝑡 = 0

𝜕𝑥̇
𝑚𝑥̇ 𝛿 𝑥̇ 𝑑𝑡 − 𝑚 𝛿 𝑥̇ 𝑑𝑡 𝑑𝑡 − 𝑘𝑥𝛿𝑥 𝑑𝑡 + 𝐹𝛿𝑥 𝑑𝑡 − 𝐶𝑥̇ 𝛿𝑥 𝑑𝑡 = 0
𝜕𝑡

𝜕𝑥̇
𝑚𝑥̇ 𝛿𝑥 − 𝑚 𝛿𝑥𝑑𝑡 − 𝑘𝑥𝛿𝑥 𝑑𝑡 + 𝐹𝛿𝑥 𝑑𝑡 − 𝐶𝑥̇ 𝛿𝑥 𝑑𝑡 = 0
𝜕𝑡

(−𝑚𝑥̈ − 𝑘𝑥 − 𝐶𝑥̇ + 𝐹)𝛿𝑥𝑑𝑡 = 0

⟹ 𝑚𝑥̈ + 𝑘𝑥 + 𝐶𝑥̇ = 𝐹