Professional Documents
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Sinusoidal functions: review of the trigonometric ratios; Cartesian and polar co-ordinate systems;
properties of the circle; radian measure; sinusoidal functions
Applications such as: angular velocity; angular acceleration; centripetal force; frequency;
amplitude; phase; the production of complex waveforms using sinusoidal graphical synthesis; AC
waveforms and phase shift
Trigonometric identities: relationship between trigonometric and hyperbolic identities; double angle
and compound angle formulae and the conversion of products to sums and differences; use of
trigonometric identities to solve trigonometric equations and simplify trigonometric expressions
You should judge your progress by completing the self assessment exercises.
Trigonometry has been covered in the NC Maths module and should have been studied prior to this
module. This tutorial provides further studies and applications of that work.
D.J.Dunn www.freestudy.co.uk
1.
RADIAN
In Engineering and Science, we use the radian to measure angle as well as degrees. This is defined
as the angle created by placing a line of length 1 radius around the
edge of the circle as shown. In mathematical words it is the angle
subtended by an arc of length one radius. This angle is called the
RADIAN.
The circumference of a circle is 2R. It follows that the number of
radians that make a complete circle is
2 R
or 2.
R
There are 2 radians in one revolution so 360o =2 radian
1 radian = 360/2 = 57.296o
2.
CARTESIAN
In a two dimensional system the vertical direction is usually y (positive
up) and the horizontal is direction is x (positive to the right). Other
letters may be used to designate an axis and they dont have to be
vertical and horizontal.
The origin o is where the axis cross at x = 0 and y = 0
A point p on this plane has coordinates x, y and this is usually written as p (x,y)
POLAR
If a line is drawn from the origin to point p it is a radius R and forms an
angle with the x axis. The angle is positive measured from the x axis in
a counter clockwise direction.
A vector with polar coordinates is denoted R
CONVERSION
The two systems are clearly linked as we can convert from one to the
other using trigonometry and Pythagoras theorem.
y = R sin
x = R cos
y/x = tan
R = (x2 + y2)
D.J.Dunn www.freestudy.co.uk 2
3.
The ratios of the lengths of the sides of a right angle triangle are always
the same for any given angle . These ratios are very important because
they allow us to calculate lots of things to do with triangles. In the
following the notation above is used with the corners denoted AB and C
SINE
The ratio
Opposite
CB
=
is called the sine of the angle A. (note we usually drop the e on sine)
Hypotenuse AB
Before the use of calculators, the values of the sine of angles were placed in tables but all you have
to do is enter the angle into your calculator and press the button shown as sin.
For example if you enter 60 into your calculator in degree mode and press sin you get 0.8660
If you enter 0.2 into your calculator in radian mode and press sin you get 0.1987
Note that sin() = -sin (-) and sin (180 ) = sin()
COSINE
The ratio
Adjacent
AC
=
is called the cosine of the angle A.
Hypotenuse AB
On your calculator the button is labelled cos. For example enter 60 into your calculator in degree
mode and press the cos button. You should obtain 0.5
If you enter 0.2 into your calculator in radian mode and press cos you get 0.9800
Note that cos() = cos (-) and cos(180 ) = -cos()
TANGENT
The ratio
Opposite BC
=
is called the tangent of the angle A.
Adjacent AC
On your calculator the button is labelled tan. For example enter 60 into your calculator in degree
mode and press the tan button and you should obtain 1.732.
If you enter 0.2 into your calculator in radian mode and press tan you get 0.2027
Note that sin()/cos() = tan() and tan(90 ) = 1/tan()
D.J.Dunn www.freestudy.co.uk 3
INVERSE FUNCTIONS
Some people find it useful to use the inverse functions which are as follows.
cosec () = sin-1()
4.
sec () = cos-1()
cot () = tan-1()
The following work enables us to solve triangles other than right angles triangles.
SINE RULE
Consider the diagram. h = b sin A = a sin B
a
b
It follows that
=
sinA sinB
If we did the same for another perpendicular to side b or a we could show that
a
b
c
=
=
sinA sinB sinC
Find the length of the two unknown side in the triangle shown.
SOLUTION
a = 50 mm
A = 30o
B = 45o
C = 180 o - 30o - 45o = 105o
a
b
c
50
b
c
=
=
=
=
sin(30) sin(45) sin(105)
sinA sinB sinC
50 sin(45)
50 sin(105)
b=
= 70.711 mm
c=
= 96.593 mm
sin (30)
sin (30)
WORKED EXAMPLE No. 3
D.J.Dunn www.freestudy.co.uk 4
COSINE RULE
cos(60o ) =
6 0 2 + 70 2 c 2
(2)(60(70)
cos(60 o )(2)(60)(7 0) = 60 2 + 70 2 c 2
4200 = 8500 c 2
c2 = 4300 c = 65.574 mm
D.J.Dunn www.freestudy.co.uk 5
2. Vector A has polar coordinates 12 60o and vector B has polar coordinates 5 20o
Find the resultant in polar form. (16.15 48.5o )
3. The diagram shows a weight suspended from two ropes. Calculate the angles of the ropes to the
horizontal support.
D.J.Dunn www.freestudy.co.uk 6
5.
SINUSOIDAL FUNCTIONS
In Nature and in Engineering there are many things that oscillate in some form or other and produce
a repetitive change of some quantity with respect to time. Examples are mechanical oscillations and
alternating electricity. In many cases a plot of the quantity against time produces a sinusoidal graph
and the change is said to be sinusoidal.
MECHANICAL EXAMPLES
SCOTCH YOKE and ECCENTRIC CAM
The Scotch Yoke is a device that produces up and down motion when the wheel is rotated. The
displacement of the yoke from the horizontal position is x = R sin = x R sin(t). Plotting x against
time or angle will produce a sinusoidal graph. The eccentric cam is really another version of this.
In all cases we should remember that velocity is the first derivative of displacement and
acceleration is the second derivative. It follows that:
Displacement
Velocity
Acceleration
x = R sin(t)
v = dx/dt = R cos(t)
a = dv/dt = -2R sin(t) = -2 x
Anything that obeys these equations is said to have SIMPLE HARMONIC MOTION
The starting point of the oscillation
could be at any angle so in that
case the equations become:
Displacement
x = R sin(t + )
Velocity
v = dx/dt = R cos(t + )
Acceleration
a = dv/dt = -2R sin(t + ) = -2 x
The plots show the displacement,
velocity and acceleration for = 0 on
the left and a negative on the right.
D.J.Dunn www.freestudy.co.uk 7
MASS ON A SPRING
D.J.Dunn www.freestudy.co.uk 8
The displacement of a body performing simple harmonic motion is described by the following
equation
x = A sin (t + ) where A is the amplitude, is the natural frequency and is the phase angle.
Given A = 20 mm, = 50 rad/s and = /8 radian, calculate the following.
i. The frequency.
ii. The periodic time.
iii. The displacement, velocity and acceleration when t = T/4.
Sketch the graphs of x, v and a and confirm your answers.
SOLUTION
x = 20sin(t + )
D.J.Dunn www.freestudy.co.uk 9
A spring of stiffness 20 kN/m supports a mass of 4 kg. The mass is pulled down 8 mm and
released to produce linear oscillations. Calculate the frequency and periodic time. Sketch the
graphs of displacement, velocity and acceleration. Calculate the displacement, velocity and
acceleration 0.05 s after being released.
SOLUTION
k
20000
=
=
= 70.71 rad/s
M
4
= 11.25 Hz
f=
2
1
T = = 0.0899 s
f
The oscillation starts at the bottom of the cycle so xo = -8 mm. The resulting graph of x against
time will be a negative cosine curve with an amplitude of 8 mm.
The equations describing the motion are as follows.
x = xocost
When t = 0.05 seconds x = -8 cos(70.71 x 0.05)
x = 7.387 mm. (Note angles are in radian)
This is confirmed by the graph.
If we differentiate once we get the equation for velocity.
v = -xosin t
v = -xosin t = -70.71 (-8)sin(70.71 x 0.05)
v = -217 mm/s
This is confirmed by the graph.
Differentiate again to get the acceleration.
a = -2xocost and since x = xocost a = -2x
a = -70.712 x 7.387 = -36 934 mm/s2
This is confirmed by the graph.
D.J.Dunn www.freestudy.co.uk 10
1.
Calculate the frequency and periodic time for the oscillation produced by a mass spring
system given that the mass is 0.5 kg and the spring stiffness is 3 N/mm. (12.3 Hz, 0.081 s).
2.
A mass of 4 kg is suspended from a spring and oscillates up and down at 2 Hz. Determine the
stiffness of the spring. (631.6 N/m).
The amplitude of the oscillation is 5 mm. Determine the displacement, velocity and
acceleration 0.02 s after the mass passes through the mean or rest position in an upwards
direction. (1.243 mm, 60.86 mm/s and -196.4 mm/s2)
3.
From recordings made of a simple harmonic motion, it is found that at a certain point in the
motion the velocity is 0.3 m/s and the displacement is 20 mm, both being positive downwards
in direction. Determine the amplitude of the motion and the maximum velocity and
acceleration. Write down the equations of motion.
Note that the data given is at time t = 0. You will have to assume that
x = xocos(t + ) at time t=0
Ans.
D.J.Dunn www.freestudy.co.uk 11
ELECTRICAL EXAMPLES
ALTERNATING ELECTRICITY
This explains why the voltage in our mains electrical system is sinusoidal. The voltage at any
moment in time is given by the equation v = V sin(t) where V is the maximum voltage
(amplitude) in the cycle and the angular velocity or frequency.
If we choose to measure the angle from a different starting point then v = V sin(t + ) where is
the starting angle.
RESISTANCE
i = V
cos (t + )
L
D.J.Dunn www.freestudy.co.uk 12
1. Mains electricity has a frequency of 50 Hz. What is the periodic time and angular frequency?
(0.02 s and 314 rad/s)
2. An alternating current has a periodic time of 0.0025 s. What is the frequency? (400 Hz)
3. A alternating voltage has a peak to peak amplitude of 300 V and frequency of 50 Hz. What is
the amplitude?
(150 V)
What is the voltage at t = 0.02 s? (16.4 V)
4. Determine the following from the graph shown.
The amplitude.
The offset displacement.
The periodic time.
The frequency.
The angular frequency.
The phase angle.
D.J.Dunn www.freestudy.co.uk 13
6. COMPLEX WAVEFORMS
FUNDAMENTAL FREQUENCY
HARMONICS
A harmonic is a multiple of the fundamental frequency.
2f is the second harmonic.
3f is the third harmonic
nf is the nth harmonic.
SYNTHESISING COMPLEX WAVES
Harmonics are generated when a sinusoidal signal passes through a non-linear amplifier. An ideal
amplifier increases a sinusoidal signal perfectly.
D.J.Dunn www.freestudy.co.uk 14
SQUARE WAVES
Square waveforms are really d.c. levels that suddenly
change from plus to minus. It can be shown that the
following formula relates voltage and time. The formula is
an infinite series.
v = Vsin( t) +
V
V
V
sin3( t) + sin5( t) + sin7( t) + ........
3
5
7
TRIANGULAR WAVES
It can be shown that the following formula
relates voltage and time. The formula is an
infinite series.
V
V
V
sin(3 t ) + sin(5 t) + sin(7 t ) + ........
9
25
49
Note that in this series, a phase shift of radians is added to each
v = Vsin( t) +
D.J.Dunn www.freestudy.co.uk 15