22 SINGLE DEGREE-OF-FREEDOM SYSTEMS Example 2.3 An airplane engine and the pylon that attaches it to the wing are modeled, for a particular study of lateral motion, as a rigid body attached to a rigid, weightless beam, which is elastically restrained as shown below. Derive the equation of motion for small displacements. Neglect damping. The rotational spring shown cxcrts a restoring moment on the beam which is proportional to the angle the beam makes with the vertical. The engine has a mass moment of inertia 7, about an axis through its mass center, which is located as shown. Solution a. Draw a freebody diagram of the body in an arbitrary displaced position and identify the displacement coordinate: f \, 7% wsMATHEMATICAL MODELS OF SDOF SYSTEMS 23 b. Write the equation of motion: The force equation, Eq. 2.8, will not be needed for this problem unless the pin forces f, and f, are desired. Since this is a fixed-axis rotation problem, Eq. 2.9b will be used for the required moment equation. GX Mo = lod (+ sense in direction of +0.) From the freebody diagram —Mo~— WLsin 0 = Io6 a) ¢. Write the force-displacement equation: Mo = kid Qy d: Combine and simplify the equations: From the parallel-axis theorem, To = [gt mL? QB) From Eqs. 1, 2, and 3 the final equation of motion is obtained. Ug + mL? + (4) Example 2.4 A heavy uniform disk is mounted at the end of a shaft. Neglecting the weight of the shaft and neglecting damping, derive the equation of motion for torsional oscillation of the disk. The shaft is made of material with a shear modulus of elasticity G.24 ~~ SINGLE DEGREE-OF-FREEDOM SYSTEMS Solution a, Draw a freebody diagram of the disk in an arbitrary displaced position and identify the displacement coordinate: b. Write the equation of motion: From Eq. 2.9b, & Y Mo = loa From the freebody diagram =M = Ioa c. Write the “force-displacement” equation: From strength of materials, the relationship between the twisting torque, M, and the angle of rotation, @, at, the end of a shaft is u-(2) where d. Combine and simplify: Tob + (%) =0 or Notice that this has the form mb + ko =0 which is similar to that obtained in previous examples. (6)