Spring Mass Couple PDF

Section 4.9; Section 5.
6
Free Mechanical Vibrations/Couple Mass-Spring
System
June 30, 2009
Free Mechanical Vibrations/Couple Mass-Spring System
Todays Session
Todays Session
A Summary of This Session:
Todays Session

(1) Free Mechanical Vibration (no forcing term).
Todays Session

(2) Coupled Mass-Spring systems
Todays Session

(3) Our first exposure to systems of differential equations
Todays Session

(4) Eigenvalues and Eigenvectors
Todays Session

(4) Eigenvalues and Eigenvectors
Free Mechanical Vibrations
Free mechanical vibration=no forcing function, so f (t) = 0. We

are dealing with
my + by + ky = 0
where m = mass attached to a spring of stiffness k, subject to
friction (or damping) proportional to speed with damping constant
b.

are dealing with
my + by + ky = 0
b.
Four cases: (1) undamped free case; (2) underdamped case; (3)
overdamped case; (4) critical damped case.

are dealing with
my + by + ky = 0
b.
Four cases: (1) undamped free case; (2) underdamped case; (3)
overdamped case; (4) critical damped case.
Case 1: Undamped mass-spring system: b = 0.

The equation is given by:
my + ky = 0

my + ky = 0
or
y +
k
y =0
m

my + ky = 0
or
k
y =0
m
q
k
k
2
Let = m . The quantity = m
is called the angular
frequency (measured in radians per second)
y +

my + ky = 0
or
k
y =0
m
q
k
k
2
y +
Period: T =
(measured in seconds)

my + ky = 0
or
k
y =0
m
q
k
k
2
y +
Period: T = 2
Frequency: f = T1 = 2
(measured in Hertz=1/seconds=# cycles
per second)

my + ky = 0
or
k
y =0
m
q
k
k
2
y +
Period: T = 2
Frequency: f = T1 = 2
(measured in Hertz=1/seconds=# cycles
per second)
The solution is given by: y = C1 cos t + C2 sin t = A sin(t + ).
Undamped case, contd

Here A is called the amplitude, and is called the phase. They are
given by
q
C1
A = C12 + C22
= arctan .
C2

given by
q
C1
A = C12 + C22
= arctan .
C2
Example A 1/8 kg manss is attached to a spring with stiffness
k = 16N/m. The mass is displaed 0.5 m to the right of the
equilibrium point and given an outward initial velocity of 2 m/s.

(a) Neglecting damping, find a formula of the displacement as a
function of time. Display the values of , T , f , A and .

given by
q
C1
A = C12 + C22
= arctan .
C2
Example A 1/8 kg manss is attached to a spring with stiffness
k = 16N/m. The mass is displaed 0.5 m to the right of the
equilibrium point and given an outward initial velocity of 2 m/s.

(a) Neglecting damping, find a formula of the displacement as a
function of time. Display the values of , T , f , A and .
(b) How long after release does the mass pass first through the
equilibrium position?

Answers:
(a) = 8 2 rad/sec; f = 1.8 cycles/sec (or Hz); T = 0.555 sec.

Answers:

y (t) =
1
1
cos 8 2t + sin 8 2t
2
8

Answers:

y (t) =
A=
1
1
cos 8 2t + sin 8 2t
2
8
1/2
and tan = 1/8
= 4 so = 1.326 rad.
17
sin(8 2t + 1.326)
y (t) =
8
( 12 )2 + ( 81 )2 =
17
8

Answers:

y (t) =
A=
1
1
cos 8 2t + sin 8 2t
2
8
1/2
and tan = 1/8
= 4 so = 1.326 rad.
17
sin(8 2t + 1.326)
y (t) =
8
( 12 )2 + ( 81 )2 =
17
8
(b) y (t) = 0 means sin(8 2t + ) = 0 so 8 2t + = k for k

= 0.16 sec. Every 1/2 period (or
integer. Solving gives: t = k
0.28 sec) the mass goes through the equilibrium point.
Overdamped case: b 2 4k m > 0

The equation is
my + by + ky = 0

The equation is
my + by + ky = 0
The characteristic equation is given by
mr 2 + br + k = 0

The equation is
my + by + ky = 0
mr 2 + br + k = 0
so
b
r =
2m
The solution is given by:
b 2 4k m
2m
y (t) = C1 e r1 t + C2 e r2 t

The equation is
my + by + ky = 0
mr 2 + br + k = 0
so
b
r =
2m
The solution is given by:
b 2 4k m
2m
y (t) = C1 e r1 t + C2 e r2 t
Note that both r1 and r2 are negative (why?), so as t ,
y (t) 0.
Underdamped case: b 2 4k m < 0

With =
4k mb2
,
2m
the roots of the characteristic equation are:

r =
b
i
2m
So the solution is given by:

b
y (t) = C1 e 2m t cos t + C2 e 2m t sin t.

With =
4k mb2
,
2m

r =
b
i
2m

b

Over time y (t) dies in an oscillatory fashion. is a quasi-angular
frequency, T = 2/ is called the quasiperiod and f = 1/T is
called the quasi-frequency.

With =
4k mb2
,
2m

r =
b
i
2m

b

The solution can be put in the form
b
y (t) = A e 2m t sin(t + )
where (as before):
A=
C12 + C22
= arctan
C1
.
C2

With =
4k mb2
,
2m

r =
b
i
2m

b

The solution can be put in the form
b
y (t) = A e 2m t sin(t + )
where (as before):
A=
C12 + C22
= arctan
C1
.
C2
Critically damped case: b 2 4k m = 0

In this case, the characteristic equation has a double root
b
, So the solution is
r = 2m
b
y (t) = C1 e 2m t + C2 t e 2m t

b
r = 2m
b
y (t) = C1 e 2m t + C2 t e 2m t
Example: (related to webassign question and example p. 234)

b
r = 2m
b
y (t) = C1 e 2m t + C2 t e 2m t
Find the value of b for which
y + b y + 25y = 0 y (0) = 1,
y (0) = 0
is critically damped. Solve for y (t) in this case and sketch it.

b
r = 2m
b
y (t) = C1 e 2m t + C2 t e 2m t
Find the value of b for which
y + b y + 25y = 0 y (0) = 1,
y (0) = 0
is critically damped. Solve for y (t) in this case and sketch it.
Answer: b = 10; y (t) = (1 t)e 5t
5.6: Coupled Mass-Spring System: Example 1, p. 308

See the graph and description of the couple mass-spring system on
p. 308.

p. 308.
I will show the derivation of the following equations in class:

p. 308.
We wish to solve:
n m x = k x + k (y x)
1
1
2
m2 y =
k2 (y x)

p. 308.
We wish to solve:
n m x = k x + k (y x)
1
1
2
m2 y =
k2 (y x)
In our example: m1 = 2kg ; k1 = 4N/m; m2 = 1kg ; and
k2 = 2N/m. So:
n 2x = 6x + 2y
y = 2x 2y

p. 308.
We wish to solve:
n m x = k x + k (y x)
1
1
2
m2 y =
k2 (y x)
In our example: m1 = 2kg ; k1 = 4N/m; m2 = 1kg ; and
k2 = 2N/m. So:
n 2x = 6x + 2y
y = 2x 2y
Example 1, p. 308, contd

Lets clean this up a little bit:
n x = 3x + y
y = 2x 2y

n x = 3x + y
y = 2x 2y
This is a linear system of differential equations of second order
(which is homogeneous; why?) We can put it in the form:
n (D 2 + 3)x y
= 0
2x + (D 2 + 2)y
= 0

n x = 3x + y
y = 2x 2y
n (D 2 + 3)x y
= 0
Therefore
2x + (D 2 + 2)y
= 0
(D 2 + 2)(D 2 + 3)x (D 2 + 2)y = 0

n x = 3x + y
y = 2x 2y
n (D 2 + 3)x y
= 0
Therefore
2x + (D 2 + 2)y
= 0
(D 2 + 2)(D 2 + 3)x (D 2 + 2)y = 0
We note that: (D 2 + 2)y = 2x.

n x = 3x + y
y = 2x 2y
n (D 2 + 3)x y
= 0
Therefore
2x + (D 2 + 2)y
= 0
(D 2 + 2)(D 2 + 3)x (D 2 + 2)y = 0

So:
(D 2 + 2)(D 2 + 3)x 2x = 0.

n x = 3x + y
y = 2x 2y
n (D 2 + 3)x y
= 0
Therefore
2x + (D 2 + 2)y
= 0
(D 2 + 2)(D 2 + 3)x (D 2 + 2)y = 0

So:
(D 2 + 2)(D 2 + 3)x 2x = 0.
We clean this up a little bit:
(D 4 + 5D 2 + 4)x = 0.

n x = 3x + y
y = 2x 2y
n (D 2 + 3)x y
= 0
Therefore
2x + (D 2 + 2)y
= 0
(D 2 + 2)(D 2 + 3)x (D 2 + 2)y = 0

So:
(D 2 + 2)(D 2 + 3)x 2x = 0.
We clean this up a little bit:
(D 4 + 5D 2 + 4)x = 0.
Then factor:
(D 2 + 1)(D 2 + 4)x = 0
Then factor:
(D 2 + 1)(D 2 + 4)x = 0
Therefore:
x(t) = C1 cos t + C2 sin t + C3 cos 2t + C4 sin 2t
and
y = (D 2 + 3)x = 2C1 cos t + 2C2 sin t C3 cos 2t C4 sin 2t
Example 2
Use the method of the previous example (the annihilator method)

to solve the first order (homogeneous) linear system:
n x = 3x + 4y
y = 4x + 3y
Example 2
Use the method of the previous example (the annihilator method)

to solve the first order (homogeneous) linear system:
n x = 3x + 4y
y = 4x + 3y
Answer:
x(t) = C1 e 7t + C2 e t
and
y (t) = C1 e t C2 e t

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Section 4.9; Section 5.

June 30, 2009

Free Mechanical Vibrations/Couple Mass-Spring System

Free Mechanical Vibrations/Couple Mass-Spring System

A Summary of This Session:

Free Mechanical Vibrations/Couple Mass-Spring System

A Summary of This Session:

Free Mechanical Vibrations/Couple Mass-Spring System

A Summary of This Session:

Free Mechanical Vibrations/Couple Mass-Spring System

A Summary of This Session:

Free Mechanical Vibrations/Couple Mass-Spring System

A Summary of This Session:

Free Mechanical Vibrations/Couple Mass-Spring System

A Summary of This Session:

Free Mechanical Vibrations/Couple Mass-Spring System

Free Mechanical Vibrations

Free mechanical vibration=no forcing function, so f (t) = 0. We

Free Mechanical Vibrations/Couple Mass-Spring System

Free Mechanical Vibrations

Free mechanical vibration=no forcing function, so f (t) = 0. We

Free Mechanical Vibrations/Couple Mass-Spring System

Free Mechanical Vibrations

Free mechanical vibration=no forcing function, so f (t) = 0. We

Free Mechanical Vibrations/Couple Mass-Spring System

Case 1: Undamped mass-spring system: b = 0.

Free Mechanical Vibrations/Couple Mass-Spring System

Case 1: Undamped mass-spring system: b = 0.

Free Mechanical Vibrations/Couple Mass-Spring System

Case 1: Undamped mass-spring system: b = 0.

Free Mechanical Vibrations/Couple Mass-Spring System

Case 1: Undamped mass-spring system: b = 0.

Free Mechanical Vibrations/Couple Mass-Spring System

Case 1: Undamped mass-spring system: b = 0.

Free Mechanical Vibrations/Couple Mass-Spring System

Case 1: Undamped mass-spring system: b = 0.

Free Mechanical Vibrations/Couple Mass-Spring System

Undamped case, contd

Free Mechanical Vibrations/Couple Mass-Spring System

Undamped case, contd

equilibrium point and given an outward initial velocity of 2 m/s.

Free Mechanical Vibrations/Couple Mass-Spring System

Undamped case, contd

equilibrium point and given an outward initial velocity of 2 m/s.

Free Mechanical Vibrations/Couple Mass-Spring System

Undamped case, contd

(a) = 8 2 rad/sec; f = 1.8 cycles/sec (or Hz); T = 0.555 sec.

Free Mechanical Vibrations/Couple Mass-Spring System

Undamped case, contd

(a) = 8 2 rad/sec; f = 1.8 cycles/sec (or Hz); T = 0.555 sec.

Free Mechanical Vibrations/Couple Mass-Spring System

Undamped case, contd

(a) = 8 2 rad/sec; f = 1.8 cycles/sec (or Hz); T = 0.555 sec.

Free Mechanical Vibrations/Couple Mass-Spring System

Undamped case, contd

(a) = 8 2 rad/sec; f = 1.8 cycles/sec (or Hz); T = 0.555 sec.

(b) y (t) = 0 means sin(8 2t + ) = 0 so 8 2t + = k for k

0.28 sec) the mass goes through the equilibrium point.

Free Mechanical Vibrations/Couple Mass-Spring System

Overdamped case: b 2 4k m > 0

Free Mechanical Vibrations/Couple Mass-Spring System

Overdamped case: b 2 4k m > 0