Advanced Theory of Vibrations (AE 721)

Assignment No. 2

Ali Asadullah Baig

September 29, 2020

1 Problem Statement
Find the equation of motion of the system given in Figure 1.

Figure 1: One degree-of-freedom system.

2 Introduction
Before solving this system, note that the rigid bars OA and OB are rotating about point
O, not their respective CGs. To account for this two methods are available.

1. Use the mass moments of inertia of the rigid bars OA and OB about hinge O, which
can be obtained using parallel axis theorem.

IO = ICG + M d2 (1)

1
 We will use this method when deriving equations of motion using Lagrange’s equa-
tion.
2. Use the mass moments of inertia of the rigid bars OA and OB about their respective
CGs and account for the moments of normal and tangential forces developed due
to rotation. Since the line of action of normal force (AKA centripetal force given
by mrθ̇2 ) passes through axis of rotation, its moment is zero by definition and only
the moment of the tangential force mrθ̈) needs to be determined. We will use this
approach when deriving equation of motion using Newton’s second law.

3 Equation of motion using Newton’s second law

To derive the equation of motion, we will only use moment balance about point O. Since
we have already seen that the moment due to normal forces is zero, and the moment of
hinge reaction is also zero, we will not show them on the free-body diagram.

3.1 Moments of tangential forces developed due to rotation about

hinge O

Figure 2: Free-body diagram with only those forces which contribute towards moment
about hinge O.

maθ̈ maθ̈ a ma2 θ̈

1. Moment due to acting on CG of OA: × =
2 2 2 4
maθ̈ maθ̈ a ma2 θ̈
2. Moment due to acting on CG of OB: × =
2 2 2 4
3. Moment due to maθ̈ acting on point mass M: Maθ̈ × a = Ma2 θ̈

2
3.2 Moments of external forces (gravitational and spring force)
about hinge O
a
1. Moment due to weight mg of OA: cos θ × mg
2
a
2. Moment due to weight mg of OB: sin θ × mg
2
3. Moment due to weight Mg of point mass M: a sin θ × Mg

4. Moment due to spring force Ka sin θ: −Ka sin θ × a cos θ. See Figure 3.

Figure 3: Deformation produced in the spring as a result of rotation and resulting spring
force.

Once the moment of all applied and inertial forces have been determined, the final
step is to apply Newton’s second law for rotation about hinge O.

ma2 θ̈ ma2 θ̈
(JCG )OA θ̈ + (JCG )OB θ̈ + (JCG )M θ̈ + + + M a2 θ̈ =
4 4 (2)
a a
cos θ × mg + sin θ × mg + a sin θ × M g − Ka sin θ × a cos θ
2 2
ma2
Substituting (JCG )OA = (JCG )OB = and (JCG )M = 0 and simplifying gives
12
 
2 2 mga
ma + M a θ̈ + Ka2 sin θ cos θ =
2
(sin θ + cos θ) + M ga sin θ (3)
3 2

4 Equation of motion using Lagrange’s equation

Lagrange’s equation is given by

3
  
d ∂T ∂T ∂U
− + =0 (4)
dt ∂ q̇i ∂qi ∂qi
where, T is the kinetic energy of the system and U is the potential energy of the
system.
As discussed earlier, in this section, we will use mass moments of inertia about hinge
O. Using parallel axis theorem, the mass moments of inertia of rigid bars OA and OB
ma2 ma2 ma2
about hinge O are equal and given by + = . The mass moment of inertia
12 4 3
of point mass M about hinge O is given by Ma2 .

4.1 Kinetic energy of the system

The total kinetic energy of the system is given by
1 1 1
T = (JO )OA θ̇2 + (JO )OB θ̇2 + (JO )M θ̇2
2 2 2
1 ma2 1 ma 2
1
T = × × θ̇2 + × × θ̇2 + × M a2 × θ̇2 (5)
2 3 2 3 2
1 2 2 1
T = ma θ̇ + M a2 θ̇2
3 2

4.2 Potential energy of the sytem

4.2.1 Gravitational potential energy
The centre line of bar OA marks the datum for zero potential energy. As a result of
positive rotation of the system, all three components fall down in gravity field. So, their
potential energy will be negative.

a sin θ a (1 − cos θ)
Ug = −mg − mg − M ga (1 − cos θ) (6)
2 2

4.2.2 Elastic potential energy

The elastic potential energy of the system is given by
1
Uelas = K (a sin θ)2 (7)
2
Using the above equations, the total potential energy of the system is given by

a sin θ a (1 − cos θ) 1
U = −mg − mg − M ga (1 − cos θ) + K (a sin θ)2 (8)
2 2 2
Evaluating the terms in Lagrange’s equation:
 
d ∂T 2
= ma2 θ̈ + M a2 θ̈
dt ∂ q̇1 3
∂T
=0 (9)
∂q1
∂U mga mga
=− cos θ − sin θ − M ga sin θ + Ka2 sin θ cos θ
∂q1 2 2
with q1 = θ. Substituting values in to the Lagrange’s equation gives

4
 2 2 mga mga
ma θ̈ + M a2 θ̈ − cos θ − sin θ − M ga sin θ + Ka2 sin θ cos θ = 0 (10)
3 2 2
Re-arranging the above equation gives the same equation of motion already derived
in Section 3.
 
2 2 mga
ma + M a θ̈ + Ka2 sin θ cos θ =
2
(cos θ + sin θ) + M ga sin θ (11)
3 2