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1. Draw the Free Body Diagram (FBD) of the system. 2. Derive a mathematical model (differential equation) for the system. 3. Write the transfer function (tf) of the system. 4. Represent the above tf in a block diagram and show the input and the output.
5. For m = 1.0 kg I b = 2.0 N-s/m I and k = 5.0 N/m I write the explicit expression of
the response x(t) as a function of time for each of the following cases:
Uo(t)
Uo
(t)
t
2 2
(a)
6.
(b)
Use the Final Value Theorem (FVT) to find the steady state value Xss = lim x (t) . 1 >00
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Consider the following mechanical system consisting of a rigid bar with mass M, a damper with a damper coefficient of b, and two springs with spring coefficients k] and k2. We assume that the bar rotates around point P due to the applied force F. We also assume small angle of rotation. That is, () is small, as shown in the figure. 1. Obtain the equation of motion of the system.
2. Find the transfer function of the system where the input is F(t) and the output is B(t) . 3. For M = .1 kg, I] =0.2 m, 12=0.4 m, k] = 10 N/m, k2 = 40 N/m, b = 5 N s/m.
Compute the natural frequency of the system. 4. If we assume that the bar is massless (M = 0), write the equation of motion for this case.
k,
/2
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t==t=
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that is rigidly attached to the pulley. Assuming that link L has negligible mass and () is small, determine; 1. Equation of motion of Newton's second law. the system using
2. Equation of motion using the Energy method. 3. Compare the results and comment on them. 4. Find the natural frequency of the system OJn as a function of the system parameters.
~
mb
2+ ullppl.yNt.IN
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or
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10/13
~ and
kz
/(a)
~+kz
(b)
1
-+-
(c)
1 1 -+-
kz
kz
2. The natural frequencyof a system with mass m and stiffness k is given by: -k
4
(b)
(c)
H
f=bx
f=bx
f =bv
/e
(a)
Kinetic energy
~.
potential energy
(c)
dissipative energy
to the frequency
of oscillations
(1) by the
./.
T=277:/0)
(c)
T = 0)/277:
.,
6. A second order system is: a) a system that has two degrees-of-freedom. b) a system represented by two algebraic equations.
c~
equation.
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First
-'.
(a)
(c)
a differential equation in s-domain. an algebraic equation in s-domain. a partial differential equation in t-domain.
8. Find the Laplace transform of 2-31+2 sin(7t). a) 2-6/ $3+14/(.1+49). 2/ s-6/ $3+14/(.1+49). 2/ s-6/ $3+14s/(.I+49). 2/ s-3/ .1+14/(.1+49).
;18
c) d)
9. Find the Laplace transform of 8 e-4t+7 t.(t-3), where t.(t) denotes the unit step function. a)
8/(s-4)+7 e3s/s.
V.
d) 10.
b)
The transfer
"'.
(b)
the ratio of the Laplace Transform of the output to the Laplace transform of the input under the assumption that all initial conditions are zero. the ratio of the Laplace Transform of the input to the Laplace transform of the output under the assumption that all initial conditions are zero. the product of the Laplace Transform of the input to the Laplace transform of the output under the assumption that all initial conditions are zero.
(c)
12/13