1

Problem 2.1

A massless cantilever beam having flexural rigidity EI supports a weight having a mass
of 1.5m as shown in Figure P2.1. Determine the equation of motion by d’Alembert’s
principle, and calculate the natural frequency.

k kx
EI 1.5m x
1.5m
1.5m
1.3L 0.7 L x
x 1.5m&x&
Figure P2.1 Free-body diagram

Solution

The mechanical model representing this system and the free-body diagram are illustrated
in the above Figures. The expression for dynamic equilibrium, using d’Alembert’s
principle, is given by
∑ Fx − m&x& = 0 (1)
Applying Eq.(1) to the free-body diagram results in the equation of motion
− kx − 1.5m&x& = 0 (2)
That is
k
&x& + x=0 (3)
1.5m
3EI
where k = .
(1.3L )3
The natural frequency of the system is then calculated as
k 3EI EI
ω= = = 0.954 rad / sec
1.5m(1.3L )
3
1. 5 m mL3

Problem 2.2

A simply supported beam supports a mass m as shown in Figure P2.2. Determine the
equation of motion by d’Alembert’s principle, and calculate the natural frequency.
Assume the beam has flexural rigidity EI and neglect its mass.
 2

k kx
m
EI m x
m
0.33 L 0.67 L x
x m&x&
Figure P2.2 Free-body diagram

Solution

The mechanical model representing this system and the free-body diagram are illustrated
in the above Figures. The expression for dynamic equilibrium, using d’Alembert’s
principle, is given by
∑ Fx − m&x& = 0 (1)
Applying Eq.(1) to the free-body diagram results in the equation of motion
− kx − m&x& = 0 (2)
That is
k
&x& + x = 0 (3)
m
3EIL EI
where k = = 61.368 3 .
(0.33L ) × (0.67 L )
2 2
L
The natural frequency of the system is then calculated as
k 61.368 EI EI
ω= = 3
= 7.834 rad / sec
m mL mL3

Problem 2.4

Use d’Alembert’s principle to determine the equation of motion for the structural frame
shown in Figure P2.4, and calculate the natural frequency. Assume that the horizontal
member is rigid and supports a total mass m . The vertical members have flexural rigidity
EI . Rigid
m x
k=k1+k2 x
m
L EI EI x
kx m m&x&

Free-body diagram
Figure P2.4
 3

Solution

The mechanical model representing this system and the free-body diagram are illustrated
in the above Figures. The expression for dynamic equilibrium, using d’Alembert’s
principle, is given by
∑ Fx − m&x& = 0 (1)
Applying Eq.(1) to the free-body diagram results in the equation of motion
− (k1 + k2 )x − m&x& = 0 (2)
Now, we use beam theory to obtain the expressions for k1 and k 2 . For a beam element, the
relationship between the nodal forces and nodal displacements can be written as
⎧ Pi ⎫ ⎡ 12 L2 6 L − 12 L2 6 L ⎤ ⎧ vi ⎫
⎪m ⎪ ⎢ ⎥⎪ ⎪
⎪ i ⎪ EI ⎢ 6 L 4 −6 L 2 ⎥ ⎪θ i ⎪
⎨ ⎬= ⎢ ⎥ ⎨ ⎬ (3)
P L − 2
− 2
− v
⎪ ⎪ ⎥⎪ ⎪
j 12 L 6 L 12 L 6 L j
⎢
⎪⎩m j ⎪⎭ ⎢⎣ 6 L 2 −6 L 4 ⎥⎦ ⎪⎩θ j ⎪⎭
For k1 (as shown in the figure (a)),
j j
Pj Pj

L EI L EI

i i
(a) (b)
we have
vi = θi = θ j = 0 vj ≠ 0 (4)
Applying Eq.(4) to Eq.(3) results in
12 EI
Pj = 3 v j (5)
L
Then we get k1 as
12 EI
k1 = 3 (6)
L
For k 2 (as shown in the figure (b)), we have
θi = θ j = 0 vi ≠ 0 v j ≠ 0 (7)
Applying Eq.(7) to Eq.(3) results in
12 EI 12 EI
Pi = 3 vi − 3 v j (8)
L L
12 EI 12 EI
Pj = − 3 vi + 3 v j (9)
L L
 4

Noting that Pi = 0 , we can derive k 2 from Eqs.(8) and (9) as

k2 = 0 (10)
Therefore, the equation of motion is
12 EI
&x& + x=0 (11)
mL3
The natural frequency of the system is then calculated as
12 EI
ω= rad / sec
mL3

Problem 2.6

Use d’Alembert’s principle to determine the equation of motion for the system shown in
Figure P2.6, and calculate the natural frequency. The rod is rigid and has a total mass
1.5m . Assume small rotations.
F (t ) F (t ) I 0 Aθ&&
Rigid kR MR
1.5m θ
θ A
k c FD
FS
L L L L
2 2 2 2
Figure P2.6 Free-body diagram

Solution

The expression for dynamic equilibrium, using d’Alembert’s principle, is given by

∑ M − I 0 Aθ&& = 0 (1)
where I 0 A is the mass moment of inertia of the bar about one of its ends.
Applying Eq.(1) to the free-body diagram results in the equation of motion
⎛L⎞ ⎛L⎞
− FS (L ) − FD ⎜ ⎟ + F (t )⎜ ⎟ − M R − I 0 A θ&& = 0 (2)
⎝2⎠ ⎝2⎠
2
1.5mL
where I 0 A = = 0.5mL2 .
3
Calculating the force components acting on the system yields
FS = k (L sin θ ) ≅ k (Lθ )

⎛L ⎞
FD = c⎜ θ& ⎟ (3)
⎝2 ⎠
M R = k Rθ
 5

Substituting these force components into the motion equation given by Eq.(2) yields
cL2 & F (t )L
− kL2θ − θ+ − k Rθ − 0.5mL2θ&& = 0 (4)
4 2
Rearranging the terms in Eq.(4) gives
c & 2(kL2 + k R ) F (t )
θ&& + θ+ 2
θ= (5)
2m mL mL
That is the differential equation of motion for the system.
The natural frequency of the system is then calculated as
2(kL2 + k R )
ω= rad / sec
mL2

Problem 2.7

A rigid, massless pendulum of length L has a mass m attached at its free end as shown in
Figure P2.7. It is partially restrained from rotation at its pivot point by a rotational spring
k R . Use d’Alembert’s principle to determine the equation of motion, and calculate the
natural frequency. Assume small oscillations.

kR k Rθ
θ
θ
L

m
Figure P2.7 mLθ&&
mg
Lsinθ

Free-body diagram

Solution

The free-body diagram for the system is shown in the above figure. The expression for
dynamic equilibrium, using d’Alembert’s principle, is given by
∑ M − mLθ&&(L ) = 0 (1)
Applying Eq.(1) to the free-body diagram results in the equation of motion
− mgL sin θ − k Rθ − mL2θ&& = 0 (2)
For small oscillations, sin θ ≅ θ , Eq.(2) can be changed into
⎛ mgL + k R ⎞
θ&& + ⎜ ⎟θ = 0 (3)
⎝ mL ⎠
2
 6

The natural frequency of the system is then calculated as

mgL + k R
ω= rad / sec
mL2

Problem 2.8

Use the energy method to determine the equation of motion for the system shown in
Figure P2.6, and calculate the natural frequency. The rod is rigid and has a total mass
1.5m . Assume small rotations.

Solution

The free-body diagram for the system is shown in the above figure. The kinetic energy is
expressed as
1.5mθ& 2 L 2 mL2θ& 2
T =∫
L1

0 2
( )
xθ& dm = ∫
2 L1

0 2
( )
xθ&
2 1.5m

L
dx =
2 L ∫0
x dx =
4
(1)
The potential energy is
⎛ k + kL2 ⎞ 2 t F (t )L &
V = k Rθ 2 + k (Lθ ) − ∫ F (t ) dθ = ⎜⎜ R
1 1 t L
2
⎟⎟θ − ∫ θdt (2)
2 2 0 2 ⎝ 2 ⎠ 0 2
With the energy method, we know that
d
(T + V ) = 0 (3)
dt
Substituting Eqs.(1) and (2) into Eq.(3) yields
mL2θ&θ&& F (t )L &
+ (k R + kL2 )θθ& − θ =0 (4)
2 2
Dividing Eq.(4) through by θ& gives
mL2θ&& F (t )L
2
(
+ k R + kL2 θ − ) 2
=0 (5)
Then, the equation of motion without damping can be written as
(
2 k + kL2
θ&& + R 2 θ =
) F (t )
(6)
mL mL
The natural frequency of the system is then calculated as
2(kL2 + k R )
ω= rad / sec
mL2
 7

Problem 2.10

A rigid, massless pendulum of length L has a mass m attached at its free end as shown in
Figure P2.7. It is partially restrained from rotation at its pivot point by a rotational spring
k R . Use the energy method to determine the equation of motion, and calculate the natural
frequency. Assume small oscillations.

kRθ

& Lθ&
x=
Δ=L(1− cos θ )

mg

Free-body diagram

Solution

The free-body diagram for the system is shown in the above figure. The kinetic energy is
expressed as
1
T = mx& 2 = m Lθ&
2
1
2
( ) 2
(1)
The potential energy is
V = mgΔ = mgL(1 − cosθ ) + k Rθ 2
1
(2)
2
With the energy method, we know that
d
(T + V ) = 0 (3)
dt
Substituting Eqs.(1) and (2) into Eq.(3) yields
mL2θ&θ&& + mgL sin θθ& + k Rθθ& = 0 (4)
Dividing Eq.(4) through by θ& gives
mL2θ&& + mgL sin θ + k Rθ = 0 (5)
For small oscillations, sin θ ≅ θ , then the equation of motion can be written as
⎛ mgL + k R ⎞
θ&& + ⎜ ⎟θ = 0 (6)
⎝ mL ⎠
2

The natural frequency of the system is then calculated as

mgL + k R
ω = rad / sec
mL 2
 8

Problem 2.11

The rigid pendulum shown in Figure P2.9 has a mass m2 and supports a mass m1 at its end.
It is partially restrained at its pivot point by a rotational spring k R and has a translational
spring attached to the mass m1 . Use the energy method to determine the equation of
motion, and calculate its natural frequency.

kR x k Rθ
θ dx
θ
Δ 2=
L
(1− cosθ )
m2 L 2
Lθ& m2 g

k kLθ Δ1=L(1− cos θ )

m1 g
m1
Figure P2.9 L sin θ ≅Lθ

Free-body diagram
Solution

The free-body diagram for the system is shown in the above figure. The kinetic energy is
expressed as
m L2θ& 2
1
( )
T = m1 Lθ& + ∫
2 L1
( )
xθ& dm = 1
2
+∫ ( )
L1
xθ&
2 m2 ⎛m m ⎞
dx = ⎜ 1 + 2 ⎟ L2θ& 2 (1)
2 0 2 2 0 2 L ⎝ 2 6 ⎠
The potential energy is
V = m1 gΔ1 + m2 gΔ 2 + k Rθ 2 + k (Lθ )
1 1 2

2 2 (2)
= m1 gL(1 − cosθ ) + m2 g (1 − cosθ ) + k Rθ + kL θ
L 1 2 1 2 2
2 2 2
With the energy method, we know that
d
(T + V ) = 0 (3)
dt
Substituting Eqs.(1) and (2) into Eq.(3) yields
⎛ m ⎞ 2 m gL
⎜ m1 + 2 ⎟ L θ&θ&& + m1 gL sin θθ& + 2 sin θθ& + k Rθθ& + kL θθ& = 0
2
(4)
⎝ 3 ⎠ 2
Dividing Eq.(4) through by θ& gives
⎛ m ⎞ 2 m gL
⎜ m1 + 2 ⎟ L θ&& + m1 gL sin θ + 2 sin θ + k Rθ + kL θ = 0
2
(5)
⎝ 3 ⎠ 2
For small oscillations, sin θ ≅ θ , then the equation of motion can be written as
 9

3(m1 gL + m2 gL 2 + k R + kL2 )
θ&& + θ =0 (6)
(3m1 + m2 )L2
The natural frequency of the system is then calculated as

3(m1 gL + m2 gL 2 + k R + kL2 )
ω= rad / sec
(3m1 + m2 )L2

Problem 2.12

Use the PVD to derive the equation of motion for the rigid beam shown in Figure 2.10.
The beam has a mass per unit length m and is subject to a time-varying uniformly
distributed force of maximum amplitude F0 (t ) , but the end force N remains constant and
horizontal. Assume small angles of rotation. Also calculate the natural frequency.

F0(t ) mass FE
m=
length MR
I 0 Aθ&&
kR
N A θ
θ δe
c k Rigid δθ N
L 3L 3L FD
4 8 8 FS
L 3L 3L
Figure P2.10 4 8 8
Free-body diagram

Solution

The free-body diagram for the system is shown in the above figure. Applying the virtual
work equation given by
δW = 0 (1)
to the system, results in
⎛ 5L ⎞ ⎛L ⎞ ⎛L ⎞
− M Rδθ − FS ⎜ δθ ⎟ − FD ⎜ δθ ⎟ − I 0 Aθ&&δθ + FE ⎜ δθ ⎟ + Nδe = 0 (2)
⎝ 8 ⎠ ⎝4 ⎠ ⎝3 ⎠
Calculating the force components acting on the system yields
M R = k Rθ
⎛ 5L ⎞
FS = k ⎜ θ ⎟
⎝ 8 ⎠
 10

⎛L ⎞
FD = c⎜ θ& ⎟
⎝4 ⎠
L2
I 0 A = (m L ) (3)
3
F (t )L
FE = 0
2
δe = Lδθ sin θ ≅ Lδθ ⋅ θ
Substituting these force components into the virtual work equation given by Eq.(2) yields
25kL2 cL2 & m L3 && F (t )L2
− k Rθδθ − θδθ − θδθ − θδθ + 0 δθ + NLθδθ = 0 (4)
64 16 3 6
Rearranging the terms in Eq.(4) gives
⎡ m L3 && cL2 & ⎛ 25kL2 ⎞ ⎤ F0 (t )L2
⎢ θ+ θ + ⎜⎜ k R + − NL ⎟⎟θ ⎥δθ = δθ (5)
⎣ 3 16 ⎝ 64 ⎠ ⎦ 6
Since δθ ≠ 0 in Eq.(5) and dividing through by L , the equation of motion is
m L2 && cL & ⎛ k R 25kL ⎞ F (t )L
θ + θ +⎜ + − N ⎟θ = 0 (6)
3 16 ⎝ L 64 ⎠ 6
The natural frequency of the system is then calculated as

ω=
(k R L ) + (25kL 64) − N rad / sec
(m L2 3)