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Displacements
Free-body diagram
kx2
kx1
L/4
L
x1
x
x2
Assume the center of mass G moves upwards by x and the rod
rotates counter clockwise around it by .
The equations of motion for x and are
mx kx1 kx2 k ( x1 x2 )
J G kx1
l
l
kx2
4
2
l
x2 x
2
0
ml 2
0 12
kl
2k
x
4
kl 5kl 2
4 16
x
0
JG=ml2/12
GO
eg
K
m J
K
m
Mass center
Center of flexure
JG
y (z)
GC
Vertical displacement
w x z x y e
y
z
Vertical acceleration
dz (dy)
x z x y e
w
dF (dm) w
dF A w dz A w dy m( x e)
z
Equations of motion
: density
A: area
m( x e) kx 0
( J G me 2 ) mex K 0
kx
Jc
K
Matrix equation of motion
m
me
me x
k
JC
0
0 x
0
K
k1
f1 sint
m1
sin t
x2 (t ) X 2
m1 0
0 m
x1 k1 k 2
x2 k 2
k 2 x1 f1 sin t
k 2 x2
0
One gets
k1 k 2 m1 2
k2
k2
k 2 m2 2
X 1 f1
X2 0
where
X1
( k 2 m 2 2 ) f 1
m1m2 (12 2 )( 22 2 )
X2
k 2 f1
m1 m2 ( 2 )( 22 2 )
and
2
1
It can be seen from the above expression that when the excitation
frequency equals either of and , resonance takes place.
Example:
1
Let
m1 m2 m, k1 k 2 k
. This gives
1 0.618
k
k
, 2 1.618
m
m
30
20
10
0
0
for X2
for X1
/1
-10
-20
-30
Vibration Absorber
X1
If
m2
(k 2 m2 2 ) f1
m1m2 (12 2 )(22 2 )
and
k2
k2
,
m2
then
X1 0 ,
spring ( m
k2 )
system with
k2
,
m2
11
k1
and 22
m1
k2
m2
/ 22 1 .
22
kX 1 / f 1
20
15
undamped absorber
original system
10
/ 22
0
0
Laplace transform
2( s 2 X 2s 1) a( sX 2) 4 X
1
s 1
2
(where a is a constant)
X ( s)
(2
a
a2 4
a
2
)
s
s
2
2
2
4a
8 2a 4 a
4 a2
2
a
s 1
s2 s 2
2
nonhomogeneous part
forced vibration
homogeneous part
free vibration
a2
and
a 2 .
s2 s 2
s2 1
2.25( s 0.5) 3 2.25 0.5 0.25s 0.25
s 1 s2 1
( s 0.5) 2 ( 1.75 ) 2
s 0.5
1.875
0.25s 0.25
2.25
2
2
2
2
s 1 s2 1
( s 0.5) ( 1.75 )
( s 0.5) ( 1.75 )
X ( s)
homogeneous part
free vibration
nonhomogeneous part
forced vibration
Obviously the response is bounded, and the above solution satisfies both
the original ordinary differential equation and the initial conditions.
(2)
a 2 :
1.75s 1 0.25s 0.25
s2 s 2
s2 1
1.75( s 0.5) 1 1.75 0.5 0.25s 0.25
s 1 s2 1
( s 0.5) 2 ( 1.75 ) 2
s 0.5
0.125
0.25s 0.25
1.75
2
2
2
2
s 1 s2 1
( s 0.5) ( 1.75 )
( s 0.5) ( 1.75 )
X ( s)
homogeneous part
free vibration
nonhomogeneous part
forced vibration
Obviously the response is unbounded, and the above solution satisfies both
the original ordinary differential equation and the initial conditions.
Two-Degrees-of-Freedom Systems
k1
A mass-spring system:
f1
k2
m1
f2
m2
Determine
X 1 ( s)
and
X 2 (s)
x1 (t )
and
x2 (t ) .
k3