28 SINGLE DEGREE-OF-FREEDOM SYSTEMS. Example 2.6 Use the principle of virtual displacements to derive the equation of motion of the idealized system shown below. Neglect gravity and assume small rotation of the beam. . << = Rigid, uniform Frictionless Ze beam of mass m i z. € pin aN Massless spring 2 Solution a. Sketch the body in an arbitrary displaced configuration and also with an additional virtual displacement. Write the necessary kinematical equations: Wx, #) = xsin 2) 7) For small 6, Ux, 1) = x01) (2a) bx, ) = x50 (2b) b. On a sketch of the displaced body show all the forces that can do work, including inertia forces.MATHEMATICAL MODELS OF SDOF SYSTEMS 29 c. Write the virtual work equation: ow =0 @) From Eq. 2b and the above figures, Loe 8W! = —f,a 50) — i() — M58) + fp ‘ce — Sol L 58) = 0 d. Relate forces to motion variables. fs = kad i M,= (eye fo (2) Ro fo = eld (4) (5) e. Combine Eqs. 4 and 5 and simplify: : , (=) B+ (cL0 + (kata — et) = 0 Since 66 # 0, the equation of motion is (6)© 30 SINGLE DEGREE-OF-FREEDOM SYSTEMS Example 2.7 ‘An instrument package of mass M is attached to the wall of a moving vehicle by two identical thin rigid beams of mass m as shown. Use the principle of virtual displacements to derive the equation of motion of the instrument package. Neglect gravity and damping forces and assume small angular motions of the support beams. Vehicle wall Instrument package Solution a. Sketch the system in an arbitrary displaced configuration and also with an additional virtual displacement. Write the necessary kinematical equations:MATHEMATICAL MODELS OF SDOF SYSTEMS 31 For small 6 and small 58, w=2+(4) a 2 6, w= z+ Li, buy = LO uy L ~ (Notic® that since z is a specified function of time, z(1), no virtual displacement 5z appears above. Also notice that the motion of G,, G, and G, can all be expressed in terms of the known displacement z and the single unknown displacement 6. : Therefore, this is a SDOF system even though it involves motion of several rigid bodies.) b. Ona sketch of the displaced body show all of the forces that do work, including all inertia‘forces: kyo mits |\ ny 0 $4166 ¥% morn kgf H, ° 44 c,8 %32 SINGLE DEGREE-OF-FREEDOM SYSTEMS. c. Use the virtual work equation, Eq. 2.15: éw =0 . —(2k,8) 60 — mii, bu, — 14,8 80 — mii, bu, — 1,88 — Mii, bu, = 0 d. Combine Eqs. 1 and 3 and simplify: ; L\, L saan m[e+(£)a] [(E)s +2 (4) mt 650+ M(z + LBL 56) =0 or [ (422) e+ 260 + m+ ane e| w= 0 Finally, since 60 % 0, Eq. 5 requires that Q) @) (4) (5) This is the equation of motion of the system.