MECHANICAL

ENGINEERING

ME 370
Vibration of Mechanical
Systems
Instructor: Dr. A. Scott Lewis ARL Science Park Building 814-865-0962
(Science Park Road)
E-Mail: asl103@psu.edu

Equations of Motion
LECTURES 5 AND 6 2
 Lecture Content

• Equations of Motion
• Energy Methods
• Damping Measurement
• Examples
• Stability
• Comments on numerical simulation

3
 Try It On Your Own Problem
Determine the natural frequency of the system.

Note: PQ is considered to be weightless

1) Write equation of motion for the mass
2) Write equation of motion for bar.

Can Show
k3l3 x
θ=
k1l12 + k2l22 + k3l32
k3k1l12 + k3k2l22
k3k1l12 + k3k2l22 k1l12 + k2l22 + k3l32
mx + 2 x =0 ⇒ ωn =
2
k1l1 + k2l2 + k3l3 2
m 4
Lagrange’s Method for Deriving Equations of Motion

Again consider a conservative system and its energy.

It can be shown that if the Lagrangian L is defined as

Then the equations of motion can be calculated from

d  ∂L  ∂L
  − 0
=
dt  ∂q  ∂q
Which becomes

d  ∂T  ∂T ∂U
  − + 0
=
dt  ∂q  ∂q ∂q
5

Here q is a generalized coordinate

Derive the equation of motion of a spring mass system via the
Lagrangian

Here q = x, and and the Lagrangian becomes

Equation (1.64) becomes

Free Vibration 6
 Example
1 2 1 2
U= kx + kx + mg (1 − cos θ )
2 2
k k
k 2
= sin 2 θ + mg (1 − cos θ )
θ 4
m

1 2 1 2 2
is : T
The Kinetic energy term= =J 0θ m θ
2 2
Compute the terms in Lagrange’s equation :
d  ∂T  d ∂T
=   =
dt  ∂θ  dt
( )
m 2θ m 2θ and= 0
∂θ
∂U ∂  k 2  k 2
=  sin θ + mg (1 − cos
2
= θ) sin θ cos θ + mg  sin θ
∂θ ∂θ  4  2
Lagrange’syields :
d  ∂T  ∂T ∂U 2  k 2 7
 − + = m θ + sin θ cos θ + mg  sin θ = 0
dt  ∂q  ∂q ∂q 2
 Does It Make Sense?

Linearize to get small angle case:

8
What happens if you linearize first?
 More on Springs and Stiffness
Longitudinal motion
• A is the cross sectional area (m 2 )
• E is the elastic modulus ( Pa = N / m 2 )
• l is the length ( m )
•k is the stiffness ( N / m )

m
x(t)

Torsional Motion
Jp • J p is the polar moment of inertia of the rod
• J is the mass moment of inertia of the disk
• G is the shear modulus,
0 • l is the length 9

θ (t )
J
Example 1.5.1 compute the frequency of a shaft/mass
system {J = 0.5 kg m2}

Figure 1.22

GJ p
k=
l

10
Transverse beam stiffness

• Strength of
f materials and
experiments yield:
m

11
 Example for a Heavy Beam
Consider what happens if the mass of the beam is considered.

P = applied static load

Much like example 1.4.4 where the
M = mass of beam mass of a spring was considered, the
m procedure is to calculate the kinetic
energy of the beam itself, by looking
at a differential element of the beam
and integrating over the beam length
y x(t)
From strength of materials the static deflection of
a cantilever beam of length l is:

12
Which has maximum value of (at y =  ):
Next integrate along the beam to compute the beam’s kinetic
energy contribution

Thus the equivalent mass of the beam is:

And the equivalent mass of the beam- mass system is:

3EI
33 k 3 = 3EI
msystem
= M + m ⇒ ω= = rad/s
140
n
meq 33  33 
m+ M 3  m + M
140  140  13
Ex: Effect of fuel on frequency of an airplane wing
• Model wing as transverse beam
• Model fuel as tip mass
• Ignore the mass of the wing and see
how the frequency of the system
changes as the fuel is used up

E, I m
Mass of pod 10 kg empty 1000 kg full
 = 5.2x10-5 m4, E =6.9x109 N/m,  = 2 m
l
x(t)

• Hence the natural

frequency changes
by an order of
magnitude while it
empties out fuel.
14

This ignores the mass of the wing

 Damping Measurement (Dynamic only)
Define the Logarithmic Decrement:

x(t )
δ = ln
x(t + T )
Ae −ζωnt sin(ωd t + φ ) ζωnT 2π
=δ ln −ζωn (t +T ) = ln(e= ) ζω
= nT ζω n
Ae sin(ωd t + ωd T ) + φ ) ωn 1 − ζ 2
2πζ
δ=
1− ζ 2

15
Note : If the two displacements are separated by m cycles,
1  x1 
δ= ln  
m  xm +1 
 Stability
Stability is defined for the solution of free response case:

Stable:

Asymptotically Stable:
Unstable: if it is not stable or asymptotically stable

16
Examples of the Types of Stability

Stable Asymptotically Stable

t t

t
t

Divergent instability Flutter instability 17

For what values of the spring constant will the
response be stable?

18
 MATLAB Solutions ‘ode23’ and ‘ode45’

• Use Runge-Kutta. More sophisticated than the Euler method but

more accurate
• Often picks ∆t (i.e. if solution x(t) is rapidly changing Δt is chosen
to be small and visa-versa
• Works for nonlinear equations too

Create Matlab function In the command window

function xdot=sdof(t,x) » t0=0;tf=20;
k=2;c=1;m=3; » x0=[0 ; 0.25];
A=[0 1;-k/m -c/m]; » [t,x]=ode45('sdof',[t0 tf],x0);
xdot=A*x; » plot(t,x)
19
Saved as sdof.m
 Resulting solution

0.3
Displacement
0.2 Velocity
Amplitude

0.1

-0.1

-0.2
0 5 10 15 20
20
Time (sec)