Coordinate Coupling and Principal Coordinates

Equations of motion Using x(t) and (t).

) 21 . 5 ( ) ( ) (
2 2 1 1
u u l x k l x k x m + =

) 22 . 5 ( ) ( ) (
2 2 2 1 1 1 0
l l x k l l x k J u u u + =

3
and the moment equation about C.G. can be
expressed as
From the free-body diagram shown in Fig.5.10a,
with the positive values of the motion variables as
indicated, the force equilibrium equation in the
vertical direction can be written as
Eqs.(5.21) and (5.22) can be rearranged and
written in matrix form as
) 23 . 5 (
0
0

) ( ) (
) ( ) (
0
0
2
2
2
1 2 2 1 1
2 2 1 1 2 1
0
2 1
)
`

=
)
`

(
(

+
+
+
)
`

u
u
x
l k l k l k l k
l k l k k k
x
J
m


u u u


me l y k l y k y m
'
+
'
= ) ( ) (
2 2 1 1
4
The lathe rotates in the vertical plane and has
vertical motion as well, unless k
1
l
1
= k
2
l
2
. This
is known as elastic or static coupling.
From Fig.5.10b, the equations of motion for
translation and rotation can be written as
Equations of motion Using y(t) and (t).
) 24 . 5 ( ) ( ) (
2 2 2 1 1 1
y me l l y k l l y k J
P



' '
+
' '
= u u u
) 25 . 5 (
0
0
) ( ) (
) ( ) (


2
2
2
1 1 2 2 1 1
1 1 2 2 2 1
2
)
`

=
)
`

(
(

'
+
' '
+
'

'

'
+
+
)
`

u
u
y
l k l k l k l k
l k l k k k
y
J me
me m
P


2 2 1 1
l k l k
'
=
'
5
These equations can be rearranged
and written in matrix form as
If , the system will have dynamic or
inertia coupling only.
1. In the most general case, a viscously damped
two degree of freedom system has the
equations of motions in the form:
) 26 . 5 (
0
0






2
1
22 21
12 11
2
1
22 21
12 11
2
1
22 21
12 11
)
`

=
)
`

+
)
`

+
)
`

x
x
k k
k k
x
x
c c
c c
x
x
m m
m m

2. The system vibrates in its own natural way
regardless of the coordinates used. The choice
of the coordinates is a mere convenience.
3. Principal or natural coordinates are defined as
system of coordinates which give equations of
motion that are uncoupled both statically and
dynamically.