Systems with Translational and Rotational Displacements

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
2 4
) (
2 1 G 2 1 2 1
l
kx
l
kx J x x k kx kx x m +


The geometric relationship between displacements is

2 4
2 1
l
x x
l
x x +
The final equations of motion become
0
16
5
4
4
2
12
0
0
2
2

'

1
1
1
]
1

'

1
1
]
1

x
kl kl
kl
k
x
ml
m


frequencies and modes ?
Vibration of an object off-centre mounted
1
G
kx
1
x
1
x x
2
kx
2

Free-body diagram
J
G
=ml
2
/12
L
L/4
G
O
e
g
c
k
K
m
Mass center
Center of flexure
e
GC
y (z)
d
The initial force on the infinitesimal element is
w y A w m F d ) d ( d
2
J
k
m
K
J
G
k
m
K
e x

w
Vertical displacement
e y x z x w +
Vertical acceleration
e y x z x w



+ dz (dy)
y
z
: density
A: area
Equations of motion
Matrix equation of motion
The system is mass-coupled.
Any obect attached at a point! which is not its center of mass! vibrates in both
translation and rotation. "ne motion can affect the other. This is the basic mechanism
for flutter type of dynamic instability to occur. "ne#degree#of#freedom systems will not
produce flutter.

kx
K
!otal "ertical inertia #orce
) ( d d d

e x m y w A z w A F F
y z
+

!otal moment o# inertia a$o%t C
x me me J y w e y A z w z A F z M
y z


+ +

) ( d ) ( d d
2
G G
0
0
0
C

'

1
]
1

'

1
]
1

x
K
k x
J me
me m


0 ) ( + + kx e x m


0 ) (
2
G
+ + + K x me me J

c
J
Force Vibration of Two-Degrees-of-Freedom Systems
m
1
f
1
sint
k
1
m
2
k
2

'

'

1
]
1

+
+

'

1
]
1

0
sin
0
0
1
2
1
2 2
2 2 1
2
1
2
1
t f
x
x
k k
k k k
x
x
m
m


"ne gets

'

'

1
]
1

+
0
1
2
1
2
2 2 2
2
2
1 2 1
f
X
X
m k k
k m k k

$t can be found that

) )( (
) )( (
) (
2 2
2
2 2
1 2 1
1 2
2
2 2
2
2 2
1 2 1
1
2
2 2
1

m m
f k
X
m m
f m k
X
where
1
and
2
are the two natural frequencies of the system.
4
!&e sol%tion o# t&is %ndamped system is
t
X
X
t x
t x
sin
) (
) (
2
1
2
1

'

'

$t can be seen from the above expression that when the excitation frequency equals
either of
1
and
2
! resonance takes place.
Eample%
&et k k k m m m
2 1 2 1
' . This gives
m
k
m
k
61( ) 1 ' 61( ) 0
2 1
.
The forced response for this system is shown below
-30
-20
-10
0
10
20
30
0 1 2 3 4
for X2
for X1
Vibration !bsorber
) )( (
) (
2 2
2
2 2
1 2 1
1
2
2 2
1

m m
f m k
X
$f
2
m and
2
k are chosen such that
2
2
m
k
! then 0
1
X ! that is! the first mass does
not vibrate at all.
'o if a primary system is a one#degree#of#freedom mass#spring (
1 1
k m ) system! which
is subected to an oscillatory force of excitation frequency ! then by attaching it with
another mass#spring (
2 2
k m ) system with
2
2
m
k
! the primary system will not
vibrate under this excitation. Therefore! the attached mass#spring system serves as a
vibration absorber.
5
kX/f
/
1
$ntroduce
2
2
22
1
1
11
and
m
k
m
k
. *e#draw the response curve in terms of a new
frequency ratio below.
$ndeed! a zero response is produced at 1 /
22
.
$f damping is present in the primary system or the attached system! a +ero response
cannot be achieved at 1 /
22
. ,owever! a low response is produced for a range of
frequencies around 1 /
22
.

0
5
10
15
20
0 1 2 3
undamped absorber
original system
10% damped absorber
Sol"ing Equations of #otion $sing %aplace Transforms
&ne-Degree-of-Freedom Systems
1 ) 0 ( ' 2 ) 0 ( * sin ) ( 4 ) ( ) ( 2 + + x x t t x t x a t x
(where a is a constant)
&aplace transform
1
1
4 ) 2 ( ) 1 2 ( 2
2
2
+
+ +
s
X sX a s X s
-ork out the X(s) as
1
4
2
4
2
2
2 (
4
1 )
4
2 (
) 1 )( 4 2 (
1
4 2
2 2 4
) (
2
2 2
2
2
2
2
2 2 2
+
+
+
+

+
+ +
+

+ + +
+
+

+ + +
+
+ +
+ +

s
a
s
a
a
s
a
s
a
a
a s
a
a
s as s as s
a s
s X
&et us look at two cases where 2 a and 2 a .
6
1 1
/ f kX
22
/
&omogeneo%s part
#ree "i$ration
non&omogeneo%s part
#orced "i$ration
(.) 2 a %
1
25 ) 0
1
25 ) 0
) +5 ) 1 ( ) 5 ) 0 (
(+5 ) 1
) +5 ) 1 ( ) 5 ) 0 (
5 ) 0
25 ) 2
1
25 ) 0
1
25 ) 0
) +5 ) 1 ( ) 5 ) 0 (
5 ) 0 25 ) 2 ) 5 ) 0 ( 25 ) 2
1
25 ) 0 25 ) 0
2
25 ) 2
) (
2 2 2 2 2 2
2 2 2 2
2 2
+
+
+

+ +
+
+ +
+

+
+
+

+ +
+ +

+
+
+
+ +
+

s s
s
s s
s
s s
s
s
s
s
s
s s
s
s X
"bviously the system is stable.
$nverse &aplace transforms gives
) cos (sin 25 ) 0 2 ) 1 sin ) 5 ) 0 e,p( 41+ ) 1 2 ) 1 cos ) 5 ) 0 e,p( 25 ) 2 ) ( t t t t t t t x + +
"bviously the response is bounded! and the above solution satisfies both the original
ordinary differential equation and the initial conditions.
(/) 2 a %
1
25 ) 0
1
25 ) 0
) +5 ) 1 ( ) 5 ) 0 (
125 ) 0
) +5 ) 1 ( ) 5 ) 0 (
5 ) 0
+5 ) 1
1
25 ) 0
1
25 ) 0
) +5 ) 1 ( ) 5 ) 0 (
5 ) 0 +5 ) 1 1 ) 5 ) 0 ( +5 ) 1
1
25 ) 0 25 ) 0
2
1 +5 ) 1
) (
2 2 2 2 2 2
2 2 2 2
2 2
+
+
+
+
+

+
+
+
+
+
+

+
+
+
+

s s
s
s s
s
s s
s
s
s
s
s
s s
s
s X
"bviously the system is unstable.
$nverse &aplace transforms gives
) cos (sin 25 ) 0 2 ) 1 sin ) 5 ) 0 e,p( 0-45 ) 0 2 ) 1 cos ) 5 ) 0 e,p( +5 ) 1 ) ( t t t t t t t x + +
"bviously the response is unbounded! and the above solution satisfies both the original
ordinary differential equation and the initial conditions.
Two-Degrees-of-Freedom Systems
A mass#spring system%
The equations of motion are
+
&omogeneo%s part
#ree "i$ration
non&omogeneo%s part
#orced "i$ration
&omogeneo%s part
#ree "i$ration
non&omogeneo%s part
#orced "i$ration
m
1
m
2
k
1
k
2
k

f
1 f
2
2 2 2 1 2 2 2
1 2 2 1 2 1 1 1
) (
) (
f x k k x k x m
f x k x k k x m
+ +
+ +


The &aplace transforms are
2 2 2
2
2 1 2
1 2 2 1 2 1
2
1
) (
) (
F X k k s m X k
F X k X k k s m
+ + +
+ +
0etermine ) (
1
s X and ) (
2
s X first and then get ) (
1
t x and ) (
2
t x .
(