Svetlitsky Eng Vib Analysis, Vol.1

Foundations of Engineering Mechanics
V. A. Svetlitsky
Springer-Verlag
Berlin Heidelberg
GmbH
Engineering
springeronline.com
ONLINE LIBRARY
v. A. Svetlitsky
Engineering
Vibration Analysis
Worked Problems 1
Translated by G.I. Merzon and V.A. Chechin
With 312 Figures
Springer
Series Editors:
V.1. Babitsky
Department ofMechanical Engineering
Loughborough University
Loughborough LEI13TU, Leicestershire
Great Britain
J. Wittenburg
Institut fUr Technische Mechanik
UniversitiU Karlsruhe (TH)
KaiserstraJ3e 12
76128 Karlsruhe / Germany
Author:
V. A. Svetlitsky
Bauman Moscow State
Technical University
Department of Applied Mechanics
2nd Baumanskaya st.5
105005 Moscow
Russian Federation
Translators:
0.1. Merzon
V. A. Chechin
Lebedev Physics Institute
Russian Academy of Sciences
Leninsky pro 53
119333 Moscow
Russian Federation
ISBN 978-3-642-05842-4
ISBN 978-3-540-40970-0 (eBook)
DOl 10.1007/978-3-540-40970-0
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Preface
Theory of vibrations belongs to principal subjects needed for training mechanical engineers in technological universities. Therefore, the basic goal of the monograph "Advanced Theory of Vibrations 1" is to help students studying vibration
theory for gaining experience in application of this theory for solving particular
problems. Thus, while choosing the problems and methods to solve them, the close
attention was paid to the applied content of vibration theory.
The monograph is devoted to systems with a single degree of freedom and systems with a finite number of degrees of freedom. In particular, problems are formulated associated with determination of frequencies and forms of vibrations,
study of forced vibrations, analysis of both stable and unstable vibrations (including those caused by periodic but anharmonic forces). The problems of nonlinear
vibrations and of vibration stability, and those related to seeking probabilistic
characteristics for solutions to these problems in the case of random forces are also
considered. Problems related to parametric vibrations and statistical dynamics of
mechanical systems, as well as to determination of critical parameters and of dynamic stability are also analyzed.
As a rule, problems presented in the monograph are associated with particular
mechanical systems and can be applied for current studies in vibration theory. Allowing for interests of students independently studying theory of vibrations, the
majority of problems are supplied with either detailed solutions or algorithms of
the solutions.
While preparing the manuscript of "Advanced Theory of Vibrations I", lectures
given by the author to students of the Applied Mechanics cathedra of Bauman
Moscow State Ter.;hnological University, Moscow, Russia were partly used. These
lectures were published in Russian as a textbook (V. Svetlitsky, 1994) and formed
a basis of the present monograph.
The monograph is intended to students, post-graduate students, and teaching
staff of technological universities. It can also be useful for mechanical engineers
who apply theory of vibrations in their everyday practical work.
Valery Svetlitsky
Moscow, September 2003
Table of Contents
Problems and Examples in Vibration Theory ........................................ 1

1 Vibrations of Systems with a Single Degree of Freedom ............................. 3
1.1 Free Vibrations ...................................................................... 3
1.2 Free Vibrations of Systems with Allowance for Resistance Forces ........ 14
1.3 Forced Vibrations............................................................... 19
1.4 Critical States and Vibration Stability............................................ 36
1.5 Parametric Vibrations ............................................................. 43
1.6 Nonlinear Vibrations .............................................................. 49
2 Vibrations of Systems with Several Degrees of Freedom .........................
2.1 Free Vibrations...............................................................
2.2 Forced Vibrations............................................................
2.3 Critical States and Vibration Stability .........................................
2.4 Approximate Methods of Determining the Lowest Frequency .............
2.5 Random Vibrations ...............................................................
57
57
72
81
88
91
Answers and Solutions .................................................................. 101

1 Vibrations of Systems with a Single Degree of Freedom ......................... 103
1.1 Free Vibrations ................................................................... 103
1.2 Free Vibrations of Systems with Allowance for Resistance Forces ...... 126
1.3 Forced Vibrations ................................................................ 136
1.4 Critical States and Vibration Stability ......................................... 162
1.5 Parametric Vibrations ............................................................ 177
1.6 Nonlinear Vibrations.......................................... ............ . ... 188
2 Vibrations of Systems with Several Degrees of Freedom ......................... 209
2.1 Free Vibrations ................................................................... .209
2.2 Forced Vibrations ................................................................. 248
2.3 Critical States and Vibration Stability ......................................... 267
2.4 Approximate Methods of Determining the Lowest Frequency ............ 287
2.5 Random Vibrations ............................................................... 291
References ................................................................................. 314
Appendices ................................................................................ 315
BASIC NOTATION
A
All
A22
c
c
c
D
d
E
F
Fo
F(t)
G
g
H
I, i
10
Yo
J
Jx, JY' Jp , Jk
K
k
L
I
M
Mj, M2, M3
m
P, P(t)
Pj, P2, P3
vibration amplitude;
bending stiffness of a rod;
bending stiffness of a rod with respect to the y axis (or
X2 axis);
bending stiffness of a rod with respect to the z axis (or
X3 axis);
capacitance; capacitor; capacity;
coefficients;
bending stiffness; torsional stiffness; spring rate:
variance; diameter of a disk, cylinder, wheel;
internal diameter; wire diameter;
Young modulus;
cross-sectional area;
amplitude of a perturbing force;
perturbing force;
shear modulus;
free fall acceleration;
Heaviside function
electric-current intensity;
zero-order Bessel function of the first kind;
zero-order Bessel function of the second kind;
moment of inertia;
geometric characteristics of the rod cross section;
correlation function; Krylov function;
rigidity of an elastic base;
inductance;
length;
moment of force;
torque and bending moments;
mass;
force;
components of a concentrated force in the related coordinate system;
components of a concentrated force in a Cartesian coordinate system;
eigenfrequency (natural frequency); free vibration frequency;
force; generalized force;
axial force and cutting forces, respectively;
Basic Notation
R
r
S
T
t
U
v
v.
x;r;Z
II
P
0"
't
<l>
<p
n, q)
co
generalized coordinate;
components of a distributed load in a related coordinate
system;
components of a distributed load in a Cartesian coordinate system;
dissipative Rayleigh function; electric resistance; radius
of curvature;
radius;
spectral density;
kinetic energy; vibration period; tension; tension force;
time;
voltage;
velocity;
ultimate velocity; critical velocity;
transfer function;
linear acceleration;
displacements in the directions of x, y, z coordinate
axes;
Lalplace transform of an original;
coefficient of viscous friction; angle of attack;
logarithmic decrement; Dirac delta-function;
displacement of a point in the direction i under the action of a unit force in the direction};
small parameter; coefficient of dynamic viscosity; coefficient of Coulomb friction;
potential energy;
density of a material;
normal stress; mean-square deviation;
time; tangential stress;
magnetic flux;
angular displacement;
angular velocity;
frequency offree vibrations; angular velocity;
critical angular velocity;
components of a concentrated moment in a related coordinate system;
components of a concentrated moment in a Cartesian
coordinate system;
Problems and Examples in Vibration Theory
1 Vibrations of Systems with a Single Degree of

Freedom
1.1 Free Vibrations

1 Determine frequencies of natural bending vibrations for systems, shown in
Fig. 1.
2 Using the force method for systems with constant rigidity EJ. (Fig. 2), set up the
differential equations for small free vibrations and determine their frequencies.
The masses of the rods are assumed to be small compared to the load mass, the
latter being considered as a point mass.
3 Using the force method for systems shown in Fig. 3, set up the differential equations of small free vibrations in the case of point masses m and determine the eigenfrequencies.
4 For systems shown in Fig. 4, set up the differential equations of small torsional
vibrations of the flywheel with the moment of inertia J and determine the eigenfrequencies. The bearing shown in Fig. 4d is assumed to be long (i.e., the axial line
of the bent rod its tangent to the bearing axis) and GJk =0.8EJ.
..
:4
' '~,
~.
c
Fig. I.
-b
E:J.
-~
11
Elx
Ie ..
1 Vibrations of Systems with a Single Degree of Freedom
11
Fig. 2.
5 A sensor (pressure transducer, Fig. 5) is intended for controlling pressure of liquid or vapor in a certain volume. The variation in pressure causes a piston of mass
m 1 to move and (via a rod) to power an actuator. The reduced mass of the rod with
other mobile pieces of the device is m2 Determine the eigenfrequency of the pressure transducer (piston) in the case of a very small friction of seal rings on the
cylinder.
a
Fig. 3.
1.1 Free Vibrations
-t-
1-
93
t
.~ ~
zs:T.t
~I:
"" .~
t
Fig. 4.
6 A load of mass m is fixed to an absolutely rigid weightless rod with length 31.
The rod is connected to two springs each with stiffness c (Fig. 6). Determine frequencies of small free vibrations of the pendulum.
Fig. 5.
Fig. 6.
Fig. 7.
Fig.S.
7 Solve Problem 6 for the case of the horizontal rod.

S A gear wheel] (Fig. 7) of mass m, with fixed carrier 2 of mass m2 lies on rack 3.
Springs 4 each of stiffness c are fixed without tension at the free end of the carrier.
Set up the differential equation describing small free vibrations of the system and
determine its eigenfrequency.
9 A heavy cylinder of mass m = Qlg and of radius r (Fig. 8) lies on a concave surface with radius of curvature R. Rigid tension springs each with stiffness c are
connected to the upper point of the cylinder. Set up the differential equation for
small free vibrations of the cylinder under the assumption that its slipping over the
surface is absent.
Fig. 9.
Fig. 10.
1.1 Free Vibrations
Fig.n.
Analyze the dependence of the cylinder eigenfrequency on the radius of curvature R, in particular, including the case of a plane surface (R =(0).
10 Determine the frequency of natural vibrations of a vertically installed pendulum

(Fig. 9) with mass m in the case of an absolutely rigid rod. The stiffness of each
spring equals c.
11 Determine the frequency of small free vibrations for a steel disk of an induction
galvanometer (Fig. 10). The disk has the thickness h 2 mm and diameter
d 50 mm. The torsional stiffness of each spring is c M/rp 0.488 N m.
=
= =
12 A rod AB with torsional stiffness c has a cylindrical hinge at one end and a disk
of radius R and of mass m at the other end (Fig. 11). The system is fixed to a plane
tilted at an angle a to the horizon. Set up the differential equation for small free
vibrations of the disk under the assumption that it can perform vibratory motion of
rolling without slipping. Analyze the eigenfrequency of the system as a function of
the tilt angle a and find the condition of stability.
Fig. 12.
I Vibrations of Systems with a Single Degree of Freedom
Fig.l3.
13 A level-sensitive element (level sensor, Fig. 12) is composed of a float with diameter d and of mass mi' The float is immersed in a liquid with density p.
The sensor is also equipped with a system of levers, a spring of stiffness c, and a
balance mass m2 With varying the level Ho of the liquid, the excess buoyancy
force displaces the float. The displacement is transferred via the lever system to a
recording or actuating mechanism. Set up the differential equation of small free
vibrations of the float and determine their frequency. The inertia of the liquid may
be ignored.
14 A disk of mass m and with moment of inertia 10 is set on a hub of radius r
(Fig. 13). The disk hub is supported by a curvilinear circular guide of radius R. Assuming the disk motion to occur without slipping between the hub and the guide,
set up the differential equation for small free vibrations of the disk. Derive the differential equation of motion by both the Lagrangian method and d' Alembert
method.
15 A truck of mass m is installed on an inclined rough surface (Fig. 14). The truck
is confined to a spring with stiffness c. Set up the differential equation for small
free vibrations of the truck. The moment of inertia of each wheel pair is 1, the radius of the wheels is R, and their motion occurs without slipping.
16 A beam of mass m = Q/g lies on a cylinder of radius R (Fig. 15), the slippingfriction coefficient being f.1. Set up the differential equation for small free vibrations of the beam with respect to its equilibrium position.
Fig. 14.
Fig. IS.
1.1 Free Vibrations
Fig. 16.
Fig. 17.
Determine the beam eigenfrequency and the maximum amplitude CPo

which the vibrations are possible.
max
for
17 A ring of mass m with radius R of the inner surface and of the moment of inertia J with respect to the system center of mass is put on a shaft of diameter 2r
(Fig. 16). Determine the frequency of ring natural vibrations.
18 In order to damp vibrations of a flywheel (Fig. 17) rotating at angular velocity
OJ, a pendulum damper is often applied. This damper represents a load of mass
m =QIg, has a special shape, and is placed into the internal cavity of the flywheel.
The flywheel surface and the load contact surface have radii of curvature R\ and
R2 , respectively (R\ < R).
Find the frequency of free vibrations of the load in the case of the stopped
(OJ =0) flywheel (the gravity force is directed along the yaxis) and in the case
OJ const (ignoring the gravity force). The difference R2 - R\
LJR can be considered as a small quantity, and the distance from the contact point to the center of
mass is a.
...
Fig. IS.
Fig. 19.
10
The moment of inertia of the load with respect to the axis passing through the
load center of mass is Je , and the distance between the flywheel rotation axis and
the center of mass is r.
19 A massive disk of radius R uniformly rotates at an angular velocity OJ. On the
disk rim, a rod of length I is hinged. The rod carries a load of mass m at its free
end (Fig. 18). Assuming the rod mass to be small compared to the mass m, determine the load eigenfrequency in the field of centrifugal forces.
20 A load of mass m is fixed to a flexible steel pillar of a rectangular cross section
and having bending rigidity c 1 = EJx ' The pillar is supported by two springs each of
stiffness c2 (Fig. 19). Determine the frequency of small natural vibrations of the
load in the case that the masses of both the pillar and the springs are much smaller
than the load mass. An effect of the load gravity force on bending the pillar may be
ignored.
21 For damping torsional vibrations, additional massive loads are, sometimes, installed on flywheels, which represent pendulums in the field of centrifugal forces.
Determine the eigenfrequency of a centrifugal pendulum (Fig. 20) at a given angular velocity OJ of the disk, for the distance r between its rotation axis and the
pendulum point of suspension, pendulum moment of inertia JB with respect to this
point, and pendulum mass m.
22 A flexible rod of length I, which carries a mass m at its free end, is rigidly fixed
to the rim of a massive disk with radius R. The disk uniformly rotates at an angular
velocity OJ (Fig. 21). Ignoring the rod mass, determine the eigenfrequency of the
load in the field of centrifugal forces. The rigidity of the rod is EJx '
23 Using the expression
Yo
=yl(1 + NIP)
for deflections caused by the transverse-longitudinal bending, derive an approximate formula for the vibration frequency of a load of mass m (see Problem 22).
Here, N is the axial tensile force, Pc = EJj4/2 is the critical force, and y is the deflection under the action of a transverse load.
Fig. 20.
Fig. 21.
1.1 Free Vibrations
1l
B.
Fig. 22.
Fig. 23.
Plot the dimensionless vibration frequency p/Po as a function of the parameter

at for the exact (see Problem 22) and approximate solutions in the case of R = I.
24 A rod AB (Fig. 22) having the bending rigidity EJx is fixed at the end of a rigid
lever BC uniformly rotating in the horizontal plane at an angular velocity OJ. Neglecting the rod mass, determine the eigenfrequency of a concentrated load of
mass m fixed at the point A of the rod. Consider the case that the vibration of the
load occurs in the rotation plane.
25 A rod of length 1 and of rigidity EJx ' which carries a load of mass m at its end, is
fixed to the rim of a heavy disk with radius R (Fig. 23). Find the eigenfrequency of
the load in the case of uniform disk rotation. Assuming R > 1 and ignoring the rod
mass, determine the critical value of the disk angular velocity OJ for which the load
eigenfrequency is zero.
26 A rod of length 1 and of rigidity EJx is fixed on a massive disk rotating at an
angular velocity OJ (Fig. 23). There is a load of mass m fixed at the rod free end.
The center of mass 0 of the load coincides with the disk rotation center. Ignoring
the rod mass, determine the disk eigenfrequency.
27 A load of mass m is fixed to a thin absolutely inextensible line of length 2/. A
tension To in the line is produced by means of a spring (Fig. 24). Determine the eigenfrequency of small vibrations of the load for the case that the tensions in the
both line segments are identical and constant.
28 A point load of mass m is fixed to a string of length I, which has an initial tension To (Fig. 25). Set up the differential equation for small free vibrations of the
point load. Plot its eigenfrequency as a function of the load position xo' The variation of the string tension in the vibration process and an effect of the gravity force
can be ignored.
12
...
x
Y
m
~~----~+4--------------~~I~
Fig. 24.
Fig. 25.
29 A load of mass m is fixed at the end of an elastic extensible weightless rope

wound on a drum (Fig. 26). Set up the differential equation for small free longitudinal vibrations of the load. The drum rotates uniformly at the angular velocity OJ.
The drum diameter is 2r, the cross-sectional area of the rope and the Young
modulus of its material are F and E, respectively. Assuming that initially (at the
moment of time to) the length of the unwound portion of the rope is 10 , determine
the moments of time when the load passes by the equilibrium position.
Fig. 27.
Fig. 26.
Fig. 28.
1.1 Free Vibrations
13
The total velocity of motion is v = OJR + L1 X and Llxo =0 (Llxo is the dynamic elongation of the rope). Solve the problem in the special case OJ =const for
m = 100 kg, E = 10 GPa, F = 10-5 m\ v = OJR = 1 mis, to = 1 s, and 10 = 1 m.
30 A load of mass m is mounted at the end of an absolutely flexible inextensible
weightless rope wound on a drum. Set up the differential equation for small free
transverse vibrations of the load in the case of a uniform rotation of the drum (see
Fig. 26). Find the amplitude of the free vibrations as a function of both the length 1
of the rope free segment and the drum angular velocity OJ. Analyze two cases: (a)
ascending the load with an initial rope length 10 and (b) descending the load. The
initial conditions (at t =to) are CPo =0 and
=0 (cp is the angle of rope deflection
from the vertical).
31 A steel weightles~ beam of length 1 = 2 m with rigidity EJx lies on a weightless
elastic base having rigidity k =4 kN/m2 (Fig. 27). A point load. of mass
m = 100 kg is fixed in the middle of the beam. Determine the eigenfrequencies of
the system provided that the beam cross section is a rectangle with the base of
6 cm and height of 1 cm.
rp
32 A point load of mass m =20 kg is fixed to a steel beam of length 1 and has the
cross-sectional area b x h = 6 x 1 cm2 (Fig. 28). The beam with the restrained end
lies on an elastic base having rigidity k =4 kN/m2 Ignoring the beam mass and inertia of the elastic base, determine the eigenfrequency of the entire system.
33 A steel beam of length 21 =200 cm has the cross section b x h =6 x 2 cm2 The
beam end sections are restrained (Fig. 29). The beam lies on an elastic base having
rigidity k =2.5 kN/m 2 and is loaded at the middle point by a mass m =50 kg. Determine the eigenfrequency of the load ignoring the beam mass and inertia of the
base.
34 Using the Rayleigh method, determine the eigenfrequency of a system shown in
Fig. 30 with allowance for the beam mass. The concentrated load may be considered as a point mass m, i.e., its moment of inertia can be neglected. The beam rigidity is EJx' and the beam mass per unit length is mo.
35 Using the Rayleigh method, determine the eigenfrequency for a load of mass m
fixed in the middle of a beam with rigidity EJx (Fig. 31). The beam mass per unit
length is mo.
Fig. 29.
Fig. 30.
14
'~'t
I.
$m,
~I
w.
Fig. 31.
''f
""
Eo\It
t , f "", t
Qx
mt
.t
:Ix
mf
Je
II.
6= 7t
Fig. 32.
36 Using the Rayleigh method determine the eigenfrequencies of systems containing a point mass m, which are shown in Fig. 32. The beam mass per unit length
is mo.
1.2 Free Vibrations of Systems with Allowance for

Resistance Forces
37 Determine the eigenfrequency for torsional vibrations of a mixer shaft as a
function of viscosity of a medium (Fig. 33). Find the decay time for which the vibration amplitude decreases by a factor of 10 after instantaneously stopping the
rotor whose rotation angular velocity before stopping was n. When solving the
problem, assume that the shaft mass is small compared to the mass of blades.
1.2 Free Vibrations of Systems with Allowance for Resistance Forces
15
~ ~'-'-,
d
~
-.l
t-
'-
t-
.-
ll,
~.::::
t-
-~-
:t:
~,.
'"
Fig. 33.
Fig. 34.
The moment of inertia of the blades is J =0.5 kg m2, and the shaft length is
I = 0.5 m. The coefficient of viscous resistance to the blade motion is a = 1.2
Nms.
38 A setup shown in Fig. 34 can be used for measuring oil viscosity. In this case, a
massive steel cylinder of height H and of diameter D, is suspended by a thin wire
of diameter d and of length I in a cup of diameter D 2 The oil is poured into the
cup, and the cylinder is set in the vibratory-rotational motion. Determine the kine9 kN/m3 The moment
matic viscosity of the straw oil with the specific weight
of forces resisting to the motion can be calculated by the formula
M = (l/4)rcHD,3 OJpv I(D2 - D), where OJ = ip is the angular velocity and p is the
r=
oil density. It should be taken into account the fact that, while performing tests in a
setup with D, = 0.1 m, D2 =0.12 m, H =0.2 m, d =0.001 m, and 1=0.5 m, the
period of free vibrations turned out equal to To =6.5 s. The liquid may be considered as inertialess.
39 For the system shown in Fig. 35, set up the differential equation for small free
vibrations of the mass m under the assumption that the damper resistance force F
is directly proportional to the velocity of motion (F = aY).
40 A shock-proof clutch (Fig. 36) serves for smoothing an effect of sharp variations in the driving-shaft velocity on an output shaft. The clutch represents steel
disk 1 freely fixed to shaft 3. A force is transferred from the shaft to the disk via
spring 2. Assuming the resistance between the shaft and the disk to be of viscous
nature, determine the coefficient a of the viscous resistance to the motion in the
disk-shaft pair. The numerical values of relevant parameters are the following: the
logarithmic decrement of disk free vibrations 8= 1.5; disk diameter D = 0.1 m;
disk thickness H =20 mm; spring diameter D, =30 mm; spring wire diameter
d, =3 mm; number of spring turns i =9; shear modulus of the spring material
G =80 GPa; and density of steel p =8 x 103 kglm3
16
Fig. 35.
41 A load of mass m is suspended on an absolutely rigid rod of length 21 (Fig. 37).

Two elastic springs each having stiffness c are fixed in the middle of the rod. The
load is immersed in a vessel filled with a viscous liquid. In the process of small
free vibrations of the load, the liquid produces the damping action on the system.
Determine the coefficient of viscous resistance to the motion of the system in
the case that the period of its damped vibrations is 1"0 = 1.0 s. Numerical values of
other parameters are the following: the load mass m = 1 kg; the rod length
1=0.3 m; the spring diameter D =0.2 m; the spring wire diameter d =2 X 10.3 m;
the shear modulus of the spring material G =80 GPa; and the number of turns in
each spring i =6.
42 A hydraulic damper (dash-pot, Fig. 38) represents a piston of mass m moving
in a liquid. Analyze the motion of the piston in the case that, at the initial moment
of time (t = 0), the deviation of the piston from its equilibrium position is
Yo=5 mm.
Fig. 36.
1.2 Free Vibrations of Systems with Allowance for Resistance Forces
Fig. 37.
17
Fig. 38.
Determine the time at which the deviation of the piston from the equilibrium
position reduces by half. The stiffness of the spring is c =3 kN/m; the diameter of
the cylinder is D 0.1 m; the diameter of holes in the piston is d 10 mm; the
number of the holes is z =25; the piston mass is m = 2.73 kg; the piston height is
H = 50 mm; and the coefficient of dynamic viscosity of the liquid is f.1 = 0.06 Pa s.
43 A device represents a load of mass m fixed by two springs each having stiffness
c. The load is placed into a tube filled with a liquid (Fig. 39). The resistance to the
motion of the load can vary depending on the viscosity of the liquid, as well as on
the size of the gap between the load and the tube wall. In the case that the resistance force F damping the motion of the load is directly proportional to its velocset up the differential equation for small free vibrations of the
ity, i.e., F = a
load. Determine the time for which the amplitude of free vibrations decreases by a
=O.
factor of 100 provided that at the initial moment of time (t =0), x =Xo and
The values of relevant parameters are m =50 kg, c = 1 kN/m, and
a =500 (N s)/m.
x,
44 A load of mass m is fixed by an absolutely rigid weightless rod of length I.

(Fig. 40), which is kept in equilibrium by both a spring and a damper. The latter
has a linear friction characteristics
Ff
= ax.
Determine the eigenfrequency of
the system and the logarithmic decrement in the case of m = 1 kg, 1 =0.5 m,
=0.2 m, spring diameter D =50 mm, diameter of the spring wire d =5 mm,
number of spring turns i =5, shear modulus G =80 GPa, and the coefficient of
viscous resistance to the damper motion a =300 (N s)/m.
18
....
Fig. 39.
Fig. 40.
45 For measuring low pressure differences in gases (or small pressure oscillations), U-shaped manometers supplied with an inclined tube are used (Fig. 41).
Determine the frequency of small natural vibrations of a liquid poured into the
tube. The density of liquid is p and the force of resistance to the motion of liquid
in the tube is F = at where x is the displacement of the level of liquid from the
equilibrium position.
46 At the initial moment of time, a load of mass m (Fig. 42a) is deflected from its
equilibrium position by the distance Xo and then is released at the zero initial velocity. When slipping over the surface, a friction force arises that may be considered as a Coulomb dry friction force. Determine the law of motion for the mass m
in the case of the dependence of the Coulomb friction force FI on the velocity of
motion X , which is shown in Fig. 42b.
47 Disk 1 is put on shaft 2 and is kept against revolving by spring 3 (Fig. 43). One
of the spring ends is attached to the disk, while the other end is fixed to a support.
For the case that the moment of inertia of the disk-shaft-spring system is J and the
spacing between the disk and the Coulomb friction surfaces A and B is rather
small, set up the differential equation for small free vibrations of the disk. Analyze
the character of motion under the initial condition rp = rpo and ip = 0 as t = 0
and find the vibration amplitude as a function of the number of vibration periods in
the case that the restoring elastic moment of the spring exceeds the moment of
friction force. Determine also the vibration period.
Ins t r u c t ion. Under rotation of the disk through an angle rp, the spring length
changes, and the disk is pressed to one of the friction surfaces (A or B). The Coulomb friction force is proportional to the pressing force.
1.3 Forced Vibrations
19
Ii
b
Fig. 41.
Fig. 42.
Fig. 43.
48 Using the phase-plane method, analyze free vibrations of the system shown in
Fig. 43 (see Problem 47).
49 Compose an analog electric circuit for a mechanical vibratory system consisting
of a load of mass m suspended by a spring of stiffness c.
50 A piston with mass m of an oil damper is suspended by a spring with stiffness c
(Fig. 38). Compose an analog electric circuit for small free vibrations of the system.

51 A vibrograph schematically shown in Fig. 44 represents a device that records
vibrations. On rigid frame 1 of the device, coil 2 is mounted whose core is magnet
3 suspended by spring 4.
20
Fig. 44.
Fig. 45.
When moving the magnet inside the coil, electric current appears and then is
transmitted to a recording device. Assuming the mass of magnet 3 and the stiffness
of spring 4 to be m and c, respectively, set up the differential equation of the magnet motion. Determine the condition corresponding to the minimal distortion of recorded vibrations. (The device registers vertical vibrations of the frame, which
proceed according to the harmonic law y =yosinOJt.)
52 A lever-free sensor intended for testing wobbles of a surface is supplied with

measuring rod 1 of mass m mounted on two plane springs 2 (Fig. 45). Helical cylindrical spring 3 serves for pressing the measuring rod to piece 4 being tested. If
this piece has wobbles of its surface with respect to the centerline (the wobble size
is determined by eccentricity e) then, while rotating the piece at the angular velocity OJ, the measuring rod is displaced in the vertical direction.
53 The end cross section A of a rod shown in Fig. 46 is forced to tum according to
the harmonic law O(t) = 00 cos OJt . This kind of exciting vibrations is called
kinematic. Assuming the vibration regime to be stable, determine the maximum
normal stress in the restraint. Assuming that in the absence of eccentricity (e = 0),
the force pressing the measuring rod to the piece is Ro, determine the ultimate angular velocity OJ,. In doing so, use the condition of providing the continuous contact in the process of testing a piece with eccentricity e. Masses of elastic elements
of the device may be neglected. What is the measuring force of the device (i.e., the
force of pressing the measuring rod to the piece) in the case of OJ = 0.1 OJ.?
h- $
Fig. 46.
V'tt)
t tVJt}
-
-~ ~
f;}JjJ.
21
Fig. 47.
When calculating, take m =0.05 kg, ro =5 N, d t =50 mm, and e =0.1 mm. The
length and the cross-sectional area of the springs are t =30 mm and
b x h =5 x 0.5 mm\ respectively. The diameter of the helical spring is D =5 mm,
the spring wire diameter is d = 1 mm, and the number of spring turns is i =20. The
spring is made of steel having E =200 GPa and G =80 GPa.
54 The cross section k of the rod (Fig. 47) experiences the vertical displacement
Yk (t) = Yo cos mt . Assuming rod vibrations to be stable, find the reaction in the
hinge.
55 A lever electrocontact sensor (roughness indicator, Fig. 48) is intended for
automatically testing the waviness of a surface. The indicator consists of measurement rod 1 contacting the surface to be measured and lever 3 enhancing the
displacement of the rod by a factor of lit. Measuring rod 6 is pressed to a surface
being tested by spring 2 having stiffness Ct. Lever 3 is mounted on spring hinge 5
possessing stiffness c2 If a piece to be tested does not adhere to assigned tolerances, one of contacts 4 is being closed, i.e., a rejection signal is generated. The efficiency of testing is proportional to the displacement velocity of the piece with respect to the sensor. However, the velocity cannot be arbitrarily high because
breaking the contact at the point Bt becomes possible at high velocities.
56 In the roughness indicator shown in Fig. 48, violation of the contact between
measuring rod 1 and lever 3 at the point B2 is possible at a sufficiently high velocity of motion of a surface being tested with respect to the device. Assuming the
surface profile to be a sinusoid x =aosin(2nz/A), determine the condition for the
breaking contact at the point Br The lever moment of inertia is J, and the stiffness
of the spring in hinge 5 is c2 The springs have the initial angular twist <Po = M,jc 2,
where Mo is the moment of elastic forces in spring 5 after the device has been installed.
57 A schematic diagram of aircraft elevator trimming tab t is presented in Fig. 49.
The moment of inertia J of the trimming tab with respect to the point of suspension
o is known. However, on the basis of only static considerations, it is virtually impossible to determine the stiffness of the system control links. Therefore, the
trimming-tab eigenfrequency is determined according to the resonance vibration
frequency of the system.
22

4
Fig. 49.
Fig. 48.
To do this, additional springs 2 and 3 are attached to the trimming tab in a special experimental setup.
Find the elevator trimming-tab eigenfrequency if the resonance frequency lV, of
the system is known. The mass of measuring rod 1 is m, and the moment of inertia
of lever 3 with respect to hinge 0 is J. Ignoring friction forces, determine the ultimate velocity v. for the motion of the piece in the case that the equation of its surface has the form x =aosin(21tz/A), where A is the irregularity wavelength. Allow
for the fact that when installing the measuring rod on the surface to be tested,
spring 2 and the springs of hinge 5 have the initial tension Xo and twist ll'o'
58 In order to reduce an effect of base vibrations on the operation of a device, a
passive vibration isolation is used, e.g., the suspension (installation) of the device
on soft compliant shock absorbers. For schematic diagrams shown in Fig. 50, determine the dynamic coefficient (ratio of the vibration amplitude of mass m to the
amplitude Xo of base vibrations) of the system.
f,
a
Fig. SO.
23
Fig. 51.
59 When operating a single-phase motor, an alternating torque M = Mo + MlsinllJt

arises. In this case, a special support is applied as a vibration isolation (Fig. 51).
The support is arranged in such a manner that inclined segments of steel strips are
intersected at the center of a bearing. This support turns out to be rather rigid in
both the vertical and horizontal directions, which is necessary for the normal operation of a gear wheel fixed to the motor shaft. At the same time, such a hinge is
sufficiently compliant in the case of turning the motor in the picture plane.
Determine necessary dimensions b x 2b of the supporting steel strips under the
condition that the dynamic coefficient of the torque transfer to the base must not
exceed 1115.
The dimensions of the system are 13 = 100 mm; 12 = 1600 mm; and II = 50 mm.
The moment of inertia of the motor is J = 20 kg m2 Determine also the safety factor for endurance if Mo = 50 N m; MI = 30 N m; the normal ultimate strength is
0;, = 1 GPa; OJ = 105 S-I; and the fatigue limit for the symmetric cycle is
q=O.4GPa.
60 To reduce the action of inertial forces arising in an engine (motor), which are
caused by unbalanced rotating masses, various systems of vibration isolation are
employed, for instance, elastic suspensions or supports. For systems whose schematic diagrams are shown in Fig. 52, determine the dynamic coefficient of the
force transfer to the base at the fixation points of elastic supports with stiffness c.
Assume the beams on which the motors are mounted to be absolutely rigid.
61 A load of mass m = 9.1 kg (Fig. 53) is suspended by a spring with stiffness

c = 7.2 kN/m. The upper end of the spring is connected to a slider-crank mechanism and executes reciprocate motion described by the equation x = xosinllJt with
= 15.5 mm.
Xo
24
Fig. 52.
Fig. 53.
Fig. 54.
Fig. 55.
The crank angular velocity OJ is equal to the frequency of free undamped vibrations of the load, the coefficient of the viscous resistance of the damper being
a= 27 (N s)/m. Determine the maximum force stretching the spring and the safety
factor for the spring fatigue strength. The diameters of the spring and of the spring
wire are D = 50 mm and d = 5 mm. The spring is made of steel with the following
mechanical characteristics for a torsional load: the ultimate strength, yield
strength, and fatigue limit for a symmetric cycle are '" = 850 MPa,
and 1f = 300 MPa, respectively.
't"y
25
= 600 MPa,
62 A load of mass m (Fig. 54) supported by two springs each of stiffness c is attached to a slider-crank mechanism via a damper whose coefficient of viscous resistance is a. Set up the differential equation of motion for the load. Determine
stresses arising in the springs in the case that the crank angular velocity OJ is equal
to the frequency of undamped vibrations of the load mounted on the springs. The
diameters of the springs and of the spring wire are D and d, respectively.
63 A periodic perturbing force F =Fosinwt acts on a load of mass m (Fig. 55)
linked to a rigid wall by both a spring with stiffness c and a damper whose coefficient of viscous friction is a. Determine the frequency of natural vibrations of the
load and the frequencies OJ of the perturbing force for which the maximum force
acting on the spring is equal to the perturbing-force amplitude.
64 A motor of mass ml' which has a rotor of mass mo' is rigidly fixed to a frame of
mass m 2 (Fig. 56). The frame is kept on a base by means of two springs with the
total stiffness c. There exists a lubrication layer between the frame and the base.
The center of mass mo is shifted by the distance e with respect to the rotation axis.
Determine the coefficient of viscous friction of the lubricant in the case that the
dissipated energy (i.e., the work of friction forces) attains the highest value, and
the rotor uniformly rotates at an angular velocity co.
65 For the system shown in Fig. 56, plot the amplitude of the perturbing force
acting on the springs as a function of its frequency in the case of steady-state vibrations.
66 A motor having an unbalanced mass is mounted on two steel beams (Fig. 57).
In order to reduce the amplitude of vibrations induced by the motor, a viscousfriction damper is introduced into the system. The motor mass is m =50 kg, the
angular velocity is OJ =63 s-', and the amplitude of the perturbing force is
Po = 2000 N.
p= p"Stll41t
Fig. 56.
Fig. 57.
26
Find the characteristic a of the damper such that the safety factor nu for the
beam fatigue strength would be equal to 2. The beam has a square cross section
b x h = 500 x 500 mm2 and is made of steel with the following mechanical parameters: 0;. = 220 MPa, OJ = 180 MPa, and cr. = 400 MPa. The beam length is
I m. Effects of both the absolute size of the beam and its strengthening treatment,
as well as of the stress concentration in the restraint cross section may be ignored.
67 In order to provide vibration isolation, dissipative elements, e.g., viscousfriction dampers are introduced into elastic suspensions of various engines and devices. Determine the dynamic coefficient for the system schematically shown in
Fig. 58 for the case of the following numerical parameters: m = 100 kg,
m = 100 s-', a = 6000 (N s)/m, I = I m, and EJx = 20 kN/m.
68 For registration of vibratory processes in the presence of various random perturbations (pushes, shocks), low-frequency vibrographs are employed. These vibrographs are supplied with viscous-friction dampers suppressing induced vibrations. A schematic diagram of such a device is shown in Fig. 59. The motion of a
load of mass m suspended on a spring with stiffness c is damped by the viscous
where y is the load displacement with respect to the base. Find the
force F = a
displacement recorded by the device as a function of time. Analyze the case that
the base motion is described by the periodic law y, =yO<sinwt + 2sinlOwt). The
relevant parameters are P02 = elm = 0.0 101 and n = al2m = 0.02w.
y,
69 When recording vibratory processes with various random perturbations

(shocks, impacts), magnetoelectric oscilloscopes with loop vibrators (folded dipoles) are used (Fig. 60). Such a loop vibrator represents a thin tape (loop) 1 made
of a nonmagnetic material (usually, of bronze), which is stretched between poles
of a permanent magnet. The loop is rested on two knife supports (prisms) 2, with
small mirror 3 being glued at its center. The tension of the loop tapes is realized by
spring 5 that stretches a tension roller. While appearing electric current in the loop,
its branches are displaced in opposite directions by electromagnetic forces. As a
result, the mirror rotates through an angle proportional to the electric-current intensity. Owing to requirements of improved measurement accuracy, it is necessary
to allow for the moment of the resistance forces (M = aip ).
Fig. 58.
8J
27
....
3
%
84
Fig. 59.
Fig. 60.
Assuming that the mirror is subjected to the force F =Bli, set up the differential equation of small free vibrations of the mirror. Here, i is the electric-current
intensity, B is the magnetic-field strength, and I is the tape length within the magnetic field. Determine the eigenfrequency of the system. The tension Q in the loop
branches is assumed to be constant, the mirror mass is m, and the distance between
the tape supports is II.
70 An oscilloscope coil vibrator (coil) is schematically shown in Fig. 61. In contrast to a loop vibrator, the coil has a sensitive element (sensor) that represents a
plane coil 1 with several wire turns, which is placed into the magnetic field of a
permanent magnet.
11
~N
Fig. 61.
IL,UJ
/1
!
d
,
1-'1
".,
01:::
$()
....
28
The sensitivity of such a device is higher than that of a loop vibrator because,
in this case, there exist a larger number of lines of flow in the magnetic field. Vibrations of the coil (which rotates through angle rp by electromagnetic forces) are
recorded with the help of a light beam being reflected from mirror 2 attached to the
coil. Tension members holding the coil and the mirror are made in the form of
solid tapes or rods of circular cross section.
For the case that the moment of inertia J of the mirror and coil with respect to
the vertical axis is J = 1.02 X 10-2 kg m 2, determine the eigenfrequency of the device. The coil is suspended by a bronze string with a diameter d = 0.2 mm, shear
modulus G = 40 GPa, and length I =30 mm. Analyze the mirror motion as a function of the coefficient a of viscous friction (i.e., taking the moment of resistance
forces as alp) after suddenly switching on the electric current in the case that the
torque moment M =Mo = yi is proportional to the current intensity i. Determine the
vibration frequencies of the coil for the cases of a =0 and a =0.6 (c/J)lf2, where c
is the torsional stiffness of the rod.
71 In order to study torsional vibrations of rotary shafts, special devices called torsiographs are used (Fig. 62). In a Geiger-type torsiograph, massive disk (flywheel
mass) 2 is mounted with the help of spiral spring 1 inside light pulley 3. The pulley
is rigidly attached to shaft 4 that rotates in bearing 5. The pulley 3 is connected to
the shaft whose motion is being studied. Thus, the rotation of the pulley 3 repeats
with a sufficient accuracy the rotation of the shaft under investigation. In the case
of a uniform rotation of the shaft, flywheel 2 also rotates uniformly. As the angular
velocity of the shaft varies, pulley 3 also changes its velocity, whereas flywheel 2
possessing a noticeable inertia continues its uniform rotation. The difference in the
motions of the flywheel and pulley is recorded by a special mechanical device (not
shown in the figure). The steel flywheel has the shape of a ring with the dimensions d =50 mm, D = 100 mm, and b =50 mm and is mounted on a spring with
stiffness c = 146 N m.
Fig. 62.
29
Set up the differential equation for relative vibrations of the flywheel in the
case of rotation of the pulley at the angular velocity OJ = OJo + OJ,coskt. Allow for
damping the system, with the damping moment being proportional to the relative
angular velocity of the flywheel and the disk. The coefficient of the viscous resistance is a =0.73 N m s. Determine the phase shift between vibrations of the flywheel and of the disk, as well as the logarithmic decrement for vibrations of the
entire device in the case of k = 50 s".
72 For compacting concrete poured into a base of structure foundations, special
devices called vibrators are applied. A vibrator shown in Fig. 63 consists of a
heavy frame of mass m with two disks each of mass mI. The disks rotate in a vertical plane in mutually opposite directions at an angular velocity OJ. Loads each of
mass mo are fixed to the disks with eccentricity e with respect to the rotation axis.
At the final stage of the compaction process, properties of the concrete base can be
approximately described by a rheological model presented in Fig. 63b.
Set up the differential equation for steady-state vibrations of the vibrator case.
Determine the amplitude of the vibrations under the assumption that the vibrator
case does not lose a contact with the mass being compressed.
73 A contactless pickup of the membrane type (Fig. 64) is employed for measuring
pressure variations in pipelines. The measurement results depend on the length of a
spacing between tip 2 and piece 1. The pressure is registered according to the flexure of membrane 3 by means of special indicator 4 supplied with mobile rod 5.
The pressure P on the membrane is assumed to vary proportionally to a change
in the spacing LI, i.e.,
LIp/Po = (e/LI)Asinmt.
(Here, Po is the nominal pressure in the chamber of the device; e is the amplitude
variation of the spacing LI in the process of testing the piece; OJ is the angular velocity of the piece, and A is a dimensionless coefficient.) Plot the dependence of
the angular velocity OJ of the piece on pickup readings, i.e., the amplitude-frequency characteristic of the device.
Fig. 63.
"
30
The mass of the rod 5 is m, the stiffness of the indicator spring attached to the
rod is c, and the coefficient of the viscous friction arising as a result of the rod
motion is a.
The numerical values of the parameters are the following: m = 0.05 kg,
c = 2 X 103 N/m, P = 2 X 105 Pa, L1 = 1 mm, and e = 0.1 mm. The membrane area is
F = 300 mm\ A = 0.5, and P= 1. The damping coefficient obtained as a result of
the analysis of device free vibrations is a = 10 (N s)/m. The membrane mass can
be ignored.
Ins t r u c t ion. As the pressure changes by LIp, the rod is subjected to the force
flFLIp from the membrane. Here, fl is the proportionality coefficient depending on
elastic properties of the membrane side and F is its area.
,1P =
74. Corrugated cylinders (bellows) are widely used in contactless measuring

devices as mechanical enlargers. A negligible variation of the internal pressure in
bellows causes relatively noticeable changes in their lengths. Figure 65 demonstrates a schematic diagram of a bellows-based sensor intended for automatically
controlling ovality of pieces. In case 1 of the device, cylinder 4 of mass m is suspended by plane springs 2 having total stiffness cJ" Cylinder 4 is rigidly connected
to bellows 5 having stiffness c2 The pressure in the bellows depends on pressure Po
in pipeline 6. The preliminary elongation t>o and tuning of the device are realized
by spring 7 having stiffness c3 When escaping the piece size beyond the tolerance
region, the closure of one of contacts 8 occurs, and a rejection signal is formed.
In order to reduce the damping time of device vibrations, when testing a piece,
viscous-friction damper 3 is introduced into the system. The damping force of the
damper is proportional to the displacement velocity
Fig. 64.
Ff = ax.
:J
4-
31
.t
Fig. 65.
Plot the amplitude--frequency characteristic of the device under the assumption

that the pressure vibration in the bellows is proportional to the variation of the
spacing ~ between the measuring tip and the piece, i.e., L1p/Po = (e/LI)Asinmt.
(Here, e is the amplitude deviation of the piece from the cylindrical shape, OJ is the
angular velocity of the piece, and A is a dimensionless coefficient.) Determine the
range of angular velocities OJ in which the dynamic measurement error does not
exceed 10% of the quantity being measured. (In other words, an interval of OJ in
which the vibration amplitude of mass 4 differs from the static deviation by no
more than 10%.)
Use the following numerical values: m = 0.1 kg; c J =20 N/cm; c 2 =5 N/cm;
c) = 10 N/cm; Po =3 X 105 Pa; LI = 1 mm; and A = 1.0. The effective area of the
bellows is F = 400 mm2 The coefficient of viscous resistance determined according to an oscillogram of free damped vibrations is a =75 (N s)/m.
75 A trailer of mass m moves at a constant velocity v along an irregular road
(Fig. 66a). Assuming that the point of fixation of the trailer to a car has no vertical
displacements, determine the velocity of steady-state motion of the system for
which the vibration amplitude becomes maximal. Admit that the stiffness of tires
is much larger than spring rate C of the leaf springs. The road irregularity profile
can be described by the equation h =ho[1 - cos(2JZX!l)]. The trailer moment of inertia with respect to the point 0 is lx' Assume also that the viscous friction (with
the coefficient a) arises in the leaf springs. The mass of the trailer wheels is considered to be small compared to the mass m.
32
,
V
.c:;
a
11'
Fig. 66.
Ins t r u c t ion. Solving the problem, see the trailer schematic diagram presented in
Fig. 66b and suppose that the irregularity height h is considerably smaller than I (i.e., the
rotation through angle qJ results in only vertical displacement of the point A).
76 An external perturbing torque that varies with time according to the periodic
law M = Mosinwt is applied to a mechanical system containing a disk (see Fig. 43).
Derive the set of differential equations determining the steady-state motion of the
disk.
Ins t r u c t ion. Consider a half-period T/2 = niL! of disk vibrations, which consists of
two segments of motion (see the solution to Problem 47). Matching these segments, derive
the equation for determination of parameters of stable vibrations.
77 Assuming that a periodically varying torque M =Mosinwt acts on the system
shown in Fig. 43, determine the amplitude of steady-state vibrations and of the
perturbing force.
Ins t r u c t ion. Change the Coulomb friction by viscous friction using the condition
of equality of the incoming and dissipated energy over a period of stable vibrations.
78. Solve Problem 47 in the case that the perturbing moment M =Mo + M1sinwt
acts on the system. Allow for the fact that, in addition to Coulomb friction with a
friction factor /1, a resistance-force moment acts on the disk. This moment is proportional to the angular velocity of the disk and is equal to a ip .
33
P(t.J
Fig. 67.
Fig. 68.
Using instruction to Problem 77, estimate the amplitude of stable vibrations of

the system and find the phase angle.
79 A perturbing force varying according to the periodic law P(t) =P)sinwtl acts on
a load of mass m (Fig. 67). Derive the equation describing stimulated vibrations of
the load and find the solution in the case of the stable vibration mode. Ignoring resistance forces, determine the frequency (() of a perturbing force at which a resonance of stable vibrations takes place. Find the solution to the problem by both the
Fourier method and Duffing method.
80 A load of mass m, which is suspended by a spring with stiffness c, is subjected
to the attraction force P(t) produced by an electromagnet (Fig. 68a). This force can
be approximately represented in the form (see Fig. 68b)
P(t)= {
Po sin wt
for 2Jl'n ~ wt ~ (2n + 1)Jl';

for (2n+ 1)Jl' ~ wt ~ 2(n+ 1)Jl'.
Find the solution to the problem by both the Fourier method and Duffing
method in the case of stable vibrations and ignoring of resistance forces.
81 Analyze motion of a load of mass m (i.e., determine the vertical coordinate y(t)
and vertical velocity
as a function of time t). The load is fixed at the end of a
cantilever beam of length I and is subjected to the action of a unit impulse of force
yet)
P(t)dt =lp (see Fig. 69). The beam mass and resistance force may be ig-
nored.
34
11,t)
y
t
a
pet)
!Ift}
t
b
Fig. 69.
Fig. 70.
82 Analyze motion of a load of mass m (see Fig. 69) in the case of a suddenly applied force P, i.e., taking P(t) =Po = const (Fig. 70).
83 Analyze motion of mass m fixed at the end of a cantilever rod (Fig. 69a) under
the action of a force P(t). The force varies according to the laws shown in
Figs. 7la and 71b.
84 Analyze motion of mass m (Fig. 69) under the action of a linearly increasing
force P(t) = at in the case y =
= 0 as t = O.
85 A load of mass m (Fig. 72a) is subjected to periodic unit pulses (of the equal
sign and with period n of the force pet) (Fig. 72b). Analyze stimulated stable vibrations of the load. Using the Duffing method, determine the coordinate x(t) and
the velocity x(t) as a function of time t within the interval 0 :s; t :s; T. The friction
between mass m and the guide can be ignored.
pet)
F(t)
a
Fig. 71.
1.4 Critical States and Vibration Stability
35
Fig. 72.
p(t)
Fig. 73.
8tr
n D.
t
Fig. 74.
86 Analyze stimulated stable vibrations of a load of mass m (see Problem 85) under the action of a periodic pulsed alternating-sign force (Fig. 73).
87 Analyze stimulated stable vibrations of a load of mass m (Fig. 72a) under the
action of a periodic force with period T (Fig. 74). Determine the coordinate x(t)
within the time range 0::;; t::;; T.
88 Solve Problem 85 with allowance for a viscous resistance force
Ff = ax.
Find the steady-state regime for the motion of a load having mass m (see Fig. 72a).

89 The velocity of motion of fluid in pipelines affects their eigenfrequency. The
transportation velocity for which the eigenfrequency equals zero is called critical.
For the tube shown in Fig. 75 set up the differential equation describing small free
36
vibrations in the case of the constant fluid flow velocity va' Determine the flow
velocity v. for which the motion of the tube becomes aperiodic. The tube mass and
length are m and I, respectively. The orifice cross-sectional area is Fa' and the density of the fluid is p. The tube can freely rotate with respect to the hinge A.
90 A piece of mass m is fixed to a thin-walled horizontal pivoted massless tube

(Fig. 76). A perfect incompressible fluid flows through the tube at a velocity v.
The average tube diameter, wall thickness, Young modulus of the tube material,
and moment of inertia of the tube cross section are, respectively, d, 0, E, and Jx
Determine the velocity v. of the fluid flow through the tube in the case of the
zero frequency of system free vibrations. When analyzing the tube vibrations, both
the initial flexure of the system, which is associated with the action of the gravity
force, and inertial forces of the translational motion of the fluid (including the
Coriolis force) may be ignored.
91 A sprayer disk having n radial holes (Fig. 77) is fixed to a hollow shaft having
torsional stiffness c. The velocity of the fluid efflux from the disk holes is va' and
the disk moment of inertia is J.
Set up the differential equation describing small free vibrations of the disk with
respect to steady-state uniform rotation proceeding at an angular velocity OJ (with
allowance for an effect of the fluid flow). The fluid is considered as perfect, i.e.,
incompressible.
Determine the eigenfrequency of the disk and the fluid flow velocity v. for
which the disk vibration frequency becomes zero.
Fig. 75.
Fig. 76.
Fig. 77.
37
Fig. 78.
92 Solve Problem 90 (see Fig. 76) in the case that the mass m is additionally supported by a spring having stiffness c.
93 A disk of diameter D = 100 mm and of thickness h = 10 mm is built up on a

flexible steel shaft (Fig. 78) with diameter d = 5 mm and length 21 = 0.5 m. The
center of gravity 0 1 of the disk is located at a distance e = 1 mm from the shaft
symmetry axis O.
Set up the differential equation (in the vector form) for small free vibrations of
the disk at a constant angular velocity aJ of the shaft and in the case of only translational disk motion. Assume the shaft mass to be small compared to the disk
mass. Determine the critical angular velocity aJ. of the shaft and its maximal stress
at aJ = 100 S-I.
Ins t r u c t ion. The critical angular velocity is implied as a velocity for which the vibration amplitude can be infinitely large.
Fig. 79.
Fig. 80.
38
~f=-4,;~-%if
\.
Fig. 81.
Fig. 82.
94 A rotating cantilever shaft (Fig. 79) of length 1 and having bending rigidity EJx
carries a point load of mass m at its free end. Ignoring resistance forces and the
shaft mass, determine the critical angular velocity of the shaft.
95 A flexible shaft of a constant cross section is fixed at its ends in short hinges
and can be considered as a pivoted beam of length 1 and of bending rigidity EJx
(Fig. 80). Determine the critical angular velocity of the shaft for which its rectilinear shape becomes unstable.
96 Determine the critical angular velocity of flexible shafts with a constant cross
section for which their rectilinear shape becomes unstable. Consider the cases of
fixed shaft ends, which are presented in Fig. 81.
97 Determine the critical angular velocity of a tubular hollow shaft with allowance
for an ideal incompressible fluid flowing inside it (Fig. 82). The mass of the fluid
per unit length of the tubular shaft is m J ; the mass of the tube unit length is mo; the
fluid flow velocity is v =const; and the bending rigidity of the shaft is EJx The
Coriolis inertial forces of the fluid may be ignored.
98 A sensitive component of the device shown in Fig. 83 consists of spring 1 having stiffness c, levers 2 each of mass m J, which are hinged at the points A, and
freely moving rod 3 of mass m2 In the steady-state operation mode (0) = const),
the moment of inertia of the levers is balanced by moments of both the rod gravity
force and spring compression force. Determine the eigenfrequency of the rod and
the critical angular velocity.
99 Determine the eigenfrequency of loads (each of mass m J) installed in a centrifugal regulator (Fig. 84) for the case of its rotation occurring at a constant angular velocity 0). Ignoring an effect of the vertical displacement of the loads on both
the potential and kinetic energies of the device, derive the differential equation for
Fig. 83.
39
Fig. 84.
small vibrations of the system and determine its eigenfrequency. The rod mass is
negligibly small compared to both mass m l and sleeve mass m2 The stiffness of the
compression springs is c. The sleeve transferring the rotation to the loads can shift
only in the vertical direction.
100 Solve Problem 8 under the assumption that in the equilibrium position, the
carrier is directed vertically upward, and the springs attached to the carrier have a
certain initial elongation 8 (see Fig. 7). Determine the critical length t. of the carrier, i.e., the length for which the natural frequency of small free vibrations is zero.
101 A homogeneous rod of mass m, length t, and with a constant cross section is
hinged to an axis rotating uniformly at an angular velocity (j) (Fig. 85). Analyze
small free vibrations of the rod with respect to the positions of static and dynamic
equilibria (in Fig. 85, the angle a characterizes the state of dynamic equilibrium).
Determine the angular velocity (j) at which the equilibrium state becomes unstable.
102 A load of mass m is fixed at the end of a weightless rigid rod of length I
(Fig. 86). The rod is hinged to a sleeve rotating at a constant angular velocity (j).
Determine the critical angular velocity (j). at which the vertical position of the
rod becomes unstable. Find the frequency of small free vibrations of the load with
respect to the vertical position of equilibrium. (at (j) < (j),) and the load vibration
frequency with respect to the position of the dynamic equilibrium (at (j) > (j).).
40
Fig. 85.
Fig. 86.
103 A massive disk uniformly rotates at an angular velocity OJ (Fig. 87). A load of
mass m connected to two identical springs is installed in a disk slot. Each spring is
characterized by stiffness c and has initial elongation bIT Set up the differential
equation for small free vibrations of the load. Determine the critical angular velocity OJ, of the disk for which the load position at the disk center becomes unstable.
104 A rigid frame rotates in the horizontal plane at a constant angular velocity OJ
(Fig. 88). A load of mass m, which is supported by a spring with stiffness c, can
slip along the radial slot made in the frame.
Fig. 87.
Fig. 88.
Fig. 89.
41
Fig. 90.
U sing the Lagrangian method, set up the differential equation describing small
free vibrations of the load with respect to its dynamic equilibrium position at a
distance Xo from the rotation axis. Determine the eigenfrequency of the load and
the critical angular velocity of the frame.
105 A thin absolutely rigid plate of thickness 0 is fixed to a rod of the circular
cross section having diameter d and angular stiffness c. The plate is placed into air
flow whose velocity is v (Fig. 89).
A lifting force arising as a result of deflection of the plate through a small angle a is considered to be applied at a distance hl4 from the plate free end and is
determined by the expression
Y =7rpv2Sa.
(Here, p is the air density, S is the area of the plate surface, and a is the angle of
attack.) Analyze the plate eigenfrequency as a function of the air flow velocity. Ignoring the drag force, determine also the critical velocity of plate divergence.
Ins t r u c t ion. The critical velocity of plate divergence is implied as a velocity at
which one more form of equilibrium appears with a. *- O.
106 A massive lever is fixed on an elastic roller of length I and having the torsional stiffness c (Fig. 90). The lever moment of inertia with respect to the roller
axis is 1. To the roller, a force Po is applied whose line of action passes through the
roller axis. Set up the differential equation describing small free vibrations of the
system in the case that under rotation of the lever, the line of force shifts in parallel
to its initial position. Determine the system eigenfrequency and the critical force
F" that corresponds to the zero vibration frequency.
42
Fig. 92.
Fig. 91.
107 A load of mass m is fixed with the help of elastic tension members each of
length l. The load is placed into a constant homogeneous magnetic field produced
by a magnet (Fig. 91).
Determine the eigenfrequency of the load for the case that the tension To in the
tension members does not vary in the course of the vibratory process. The magnetic attraction force F/. 2 k[ (/J02/(a/ + X)2] is inversely proportional to the distance
from the magnet. Find also the critical value of the magnetic flux (/Jo and the tension To' (The critical values correspond to the zero frequency of the load natural
vibrations).
108 A load of mass m (Fig. 92) fixed at the end of a long elastic rod is placed into
a constant homogeneous magnetic field having the magnetic flux (/JO" In the case of
small deviations of the load from its equilibrium position, the magnetic-field force
can be considered as being proportional to the displacement x (see Problem 107).
Determine the load eigenfrequency and the critical value of the magnetic-field intensity. An effect of the rod mass may be ignored.
Fig. 93.
1.5 Parametric Vibrations
43
109 A point load of mass m is fixed to a hinged weightless beam (Fig. 93). A concentrated force Ro moves along the beam at a constant velocity v. Find an approximate law for the vertical displacement of the load and determine whether
there is a critical value of the velocity v for the motion of the force Ro when the
amplitude of load vibrations unboundedly increases.

110 A pendulum (Fig. 94) represents a load of mass m fixed to a weightless rod of
length I. The upper point of the pendulum suspension executes vertical periodic
motion that obeys the harmonic law y =yosinax. Analyze stability of small vibrations of the pendulum in the case of OJ = 10 s-', 1=0.5 m, m = 1 kg, and
Yo= 10 mm.
111 In Fig. 95, the schematic diagram of an astatic pendulum is shown. As the
fixation point 0 of the pendulum vibrates at a certain frequency OJ exceeding the
minimal frequency OJrnin , the vertical position of the load remains stable. Determine
the value of OJrnin in the case that the motion of the point 0 is described by the periodic law y/ =yosinOJt with 1=0.2 m and Yo =5 mm.
112 A steel absolutely rigid rod of a constant cross section, which has the length
1= 0.12 m and mass m = 0.2 kg, is hinged at its lower end to a certain base. The
base vibrates with an amplitude Yo = 10 mm (Fig. 96). Assuming motion of the
base to be harmonic (Y1 = yosinOJt), determine the minimal frequency OJmin for
which the vertical position of the rod becomes stable.
Fig. 94.
Fig. 95.
44
Fig. 96.
Fig. 97.
113 A rectangular steel plate ofthe size b x 1 x Ii (Fig. 97) is placed into air flow.
One of the plate ends is pivoted, whereas the other end has an elastic fixation with
the total stiffness c = 2.5 kN/m. The air flow velocity varies according to the periv = Va + v Isinmt,
where
0) = 100
S-I,
Va = 30 mis,
and
odic
law
VI = 5;6;7;8;9;lO mls.
Set up the differential equation for small vibrations of the plate and analyze
their stability in the case ofva VI. The application point of the lifting force corresponds to the distance 1/4 from the leading edge of the plate. Numerical values of
the relevant parameters are the following: 1= b = 0.2 m and Ii = 5 mm. The air
density is p = 0.125 kg/m3
Ins t r u c t ion. When deriving the differential equation for small vibrations, the lifting force can be written out as
Y =0.5cyF pv\
where cy = 21(a is the lifting factor, F = hI is the plate area, and a is the angle of attack.
114 An elastic rod of length 21 with pivoted ends is subject to the axial periodic
force P(t) = Po + PlsinO)t (Fig. 98). Set up the differential equation for the motion
of a load of mass m fixed to the weightless rod undergoing small transverse vibrations. Analyze stability of small vibrations of the system in the case of the rod
length 21 = 2 m, the moment of inertia of the rod cross-sectional area Jx = lO-9 m4,
Young modulus E = 200 GPa, m = 5 kg, Po = 50 N, P I= 20 N, and (J) = lO S-I.
115 Set up the differential equation for small vibrations of a load of mass m fixed
at a pillar of length 21 (Fig. 99). The pillar is subjected to the axial periodic force
P(t) = Po + Plsinrot. Analyze stability of small vibrations of the load for the following values of parameters: 1 = 1 m, J = lO-9 m4, E = 200 GPa, m = 5.2 kg,
Po = 50 N, P I= 20 N, and ro = 30 S-I.
45
11
Fig. 98.
Fig. 99.
116 A load of mass m is suspended by two tension strings each of length 1

(Fig. 100). Ignoring masses of the strings and their tensility, analyze small vertical
vibrations of the load in the case of a tensile force varying according to the periodic law T(t) = To + TJsinmt. The values of relevant parameters are To =20 N,
TJ=10 N, OJ =25 s-\ m =0.25 kg, and 1=0.2 m.
117 A steel beam of length 1 carries a concentrated load of mass m at its free end
(Fig. 101). Analyze stability of small free vertical vibrations of the load in the case
of the beam length varying according to the periodic law I(t) = 10 + 11sinOJt. The
beam mass is negligibly small compared to the load mass. The values of related
quantities are 10 = 1 m, 11 = 0.2 m, m = 2 kg, OJ = 20 S-l, Jx = 8.3 x 10- 10 m4, and
E=200GPa.
Fig. 100.
Fig.lO!.
46
Fig. 102.
Fig. 103.
118 A load of mass m is suspended by an absolutely flexible inextensible line in

such a manner that the length of the free line segment is 10 (Fig. 102). Set up the
differential equation describing small vibrations of the load in the case that the
point (the position of the hole from which the line emerges) shifts with respect
to its mean position according to the harmonic law Yj = yosinmt. Derive the differential equation by two methods: (i) using the theorem for the variation of angular
momentum and (ii) using the d'Alembert method.
119 Set up the differential equation for small vibrations of a pendulum having the
line length that varies according to the periodic law 1(1) = 10 + IjsinOJl (Fig. 103).
120 In a heavy frame of mass mj, which has a pivoted suspension at the point 0, a
slider-crank mechanism driving a load of mass m is set up (Fig. 104). While operating the system, the position of the system center of mass is shifted because of a
variation in the load position
Derive the differential equation for small vibrations of the system in the case
that the distance from the point of suspension to the system center of mass equals
I j In the horizontal position of the crank, the distance between the point 0 1 and the
center of the load is 10 The moment of inertia of the frame with respect to the point
of suspension is J j ; the crank angular velocity is w; and the crank shoulder length
is Xo. The masses of both the crank and the crosshead are small compared to the
load mass.
121 A load of mass m attached to a pendulum is forced to shift along its axis according to a periodic law (Fig. 105). Set up the differential equation describing
small vibrations of the pendulum. The masses of both the rod and the frame are assumed to be small compared to the load mass.
Fig. 104.
47
Fig. lOS.
122 An extensible rope is fixed at a tub of mass m (Fig. 106). At the point A, a
rope is rigidly connected to a pulley of radius R. In the equilibrium state, (x = 0),
the length of the rope is 10, and its tension is To. The distance between the tub rails
and the pulley is 101 ~ 10. Set up the differential equation describing small horizontal vibrations of the tub in the case that the pulley performs a periodic motion according to the harmonic law cp = CPosinrot, the tub having the displacement Xo at the
initial moment of time. Analyze stability of small vibrations of the tub in the case
of To = 103 N; m = 500 kg; 10 = 1 m; CPo = 0.1 rad; and 101 = 0.7 m. The rope crosssectional area is F = 10-4 m2, R = 0.1 m; and (j) = 10 S-I. The Young modulus of the
rope material equals E = 200 GPa. The friction in the system may be ignored.
123 Set up the differential equation describing small free vibrations of a load of
mass m, which is fixed at the end of an elastic rod (see Fig. 92). The rod is placed
in the magnetic field with the alternating magnetic flux l/X...t) = (fJo + (fJlsinmt. The
magnitude (fJI of the magnetic flux is low, i.e., the term containing (fJI can be neglected. Analyze small vibrations of the load in the case of m = 500 kg and
1= 0.21 m. The bending rigidity of the rod is EJx = 2 x 103 N m2 ; (j) = 200 S-I;
al = 10 mm; (kia/)(fJo = 10 N; and (kia/)(fJI = 1 N.
124 In a magnetic field formed by a permanent electric current of intensity h
which flows in infinitely long rigid conductor 1, bus 2 of mass m is placed
(Fig. 107). In the bus, electric current of intensity 1] = ho + hlsinmt also flows. The
interaction of the two magnetic fields results in attraction with a force
F = 2pllhlal between conductor 1 and bus 2, where f.l is the magnetic permeability
and a 1 is the distance between the conductor and the bus at an arbitrary moment of
time.
Set up the differential equations for translational motion of bus 2 in the case
that the stiffness of each of the two springs supporting the bus equals c and the
distance between the conductor and the bus in their rest state (i.e., at h = ho) is ao.
48
II
..
Fig. 106.
Fig. 107.
125 Analyze stability of small vibrations of the system in the case that a periodic
force P applied to the lever varies according to the periodic law P = Po + PIsinOJl
(see Problem 106, Fig. 90). The numerical values of relevant variables are
c = 80 N m; Po = 100 N; PI = 40 N; R = 0.2 m; LI = 10 S-I; andJ= 0.4 kg m 2.
126 Derive the differential equation describing small vibrations of a load of mass
m (see Fig. 25), which moves at a constant velocity v along an absolutely flexible
string. The tension To ofthe string is assumed to be constant.
127 A pendulum is suspended by an absolutely flexible line of length I (Fig. 108).
Analyze stability of small vibrations of the pendulum in the case of constant line
tension T = To. The static flexure of the line at the point of suspension is Yst. The
pendulum length and mass are II and m. At the initial moment of time t = 0, when
the pendulum is deflected through an arbitrary angle rp, the pendulum point of
suspension has a vertical displacement Yoo and velocity Yoo
= o.
Two cases
should be considered:
(1) The coordinate of the point of suspension is SI = 0.3/; the initial tension is
To = 40 N, the pendulum length is II = 0.3/; the pendulum mass is m = 0.1 kg; and
Yoo = O.l/.
(2) To = 40 N; II = 0.31 [other parameters are the same as in variant (1)].
128 A load of mass m = 0.2 kg is fixed to a weightless rod of length 1= 80 mm
(Fig. 109). The upper end of the rod (the pendulum point of suspension 0) is connected to a spring having stiffness c = 1 kN/m.
1.6 Nonlinear Vibrations
Fig. lOS.
49
Fig. 109.
For the case that the point 0 can perform only vertical vibrations and assuming
the crosshead mass m' to be small compared to the load mass, analyze stability of
small vibrations of the pendulum for two variants of initial conditions:
(1) at the moment of time t = 0, the displacement of the pendulum point of suspension with respect to the equilibrium point is Yo = 40 mm and the velocity is
Yo=O;
(2) at the moment of time t = 0, the displacement of the pendulum point of suspension with respect to the equilibrium point is Yo = 0 and the velocity is Yo = 0.1
ms- I .

129 Set up the differential equation of free vibrations of a system consisting of
two disks of diameters Dl and D2 with masses m1 and m2, respectively (Fig. 110).
The disks are connected to each other by a massless rod. The upper disk can roll
on the plane without slipping.
130 A rigid rod of mass m and length 21 with a constant cross section is hinged at
its middle point A. Two springs each with stiffness c are attached to the rod ends
(Fig. 111). Set up the differential equation of free vibrations of the rod and determine its natural frequency. The elastic forces of the springs are assumed to be
proportional to variations in their lengths.
131 A rigid rod of mass m and length 21 with a constant cross section is hinged at
its upper end. Two springs each with stiffness c are attached to its middle point
50
Fig. 810.
Fig. 111.
(Fig. 112). Set up the differential equation of free vibrations of the rod and determine its natural frequency.
132 A load of mass m can freely move along a guide without friction (Fig. 113).
Two free springs each with stiffness c are fastened to the load sides. There are
clearances L1 between the walls and the spring ends. Find the dependence of the
vibration frequency on the vibration amplitude xO'
133 Solve Problem 132 in the case of different springs (c, *- c2 ).
134 A load of mass m can freely move on a plane without friction, compressing
two springs in tum (Fig. 114). The springs with stiffnesses c, and C2 are not fas
Fig. 112.
Fig. 113.
51
Fig. 114.
tened to the load and have no preloads. Determine the frequency of free vibrations
of the system.
135 In order to suppress the influence of vibrations on devices, they are usually
installed on a shock absorber whose eigenfrequency should be significantly lower
than the vibration frequency. It is desirable that the ratio of the vibration frequency
to eigenfrequencies of all the devices to be cushioned would be independent of
their masses. Determine the characteristic of such a shock absorber (i.e., the dependence of its contraction on the force applied to it) in the case when its contraction caused by a force Po is equal to xo'
136 The right end of the line considered in Problem 116 is fixed, and the preliminary tension To is given (Fig. 100). Derive the equation of vertical vibrations of the
mass m with allowance for tension variations due to displacements of the mass m.
Plot the solution on the phase plane under the initial conditions x(O) =Xo and
dx(O)/dt = O.
137 Two springs are attached (without preliminary tensions) to a body of mass m
(Fig. 115). Each of the springs has length 10 and stiffness c. The body can move on
a horizontal plane without friction. Determine the amplitude-frequency relation
for free vibrations of the body under the initial conditions x(O) = Xo and
dx(O)/dt
=O.
138 Determine the frequency of free vibrations of the body considered in Problem 137 as a function of the initial velocity Vo at t =0 when x(O) =O.
139 The springs shown in Fig. 115 have preliminary tensions To (at the equilibrium position). Determine the trajectory of the load on the phase plane. The friction force may be ignored. Use the following numerical values: x(O) = 10 mm,
dx(O)/dt =0,1 = 50 mm, c = 500 N/m, m = 0.1 kg, and To = 1 N.
140 The springs shown in Fig. 115 have preliminary tensions To (at the equilibrium position). The Coulomb friction force acting upon the load is F =2.5 10-2 N.
52
Fig. US.
Fig.U6.
Detenmne the trajectory of the load on the phase plane in the case of To = 1 N,
=0.1 kg, e =500 N/m, and 10 =50 mm. At t =0, x(O) =10 mm and dx(O)/dt =O.
141 A body of mass m is attached to a spring, with its nonlinear elasticity characteristic having the form F =ex + e/ (Fig. 116). Set up the differential equation of
free vibrations of the body and find the amplitude-frequency relation. The frictionforce may be ignored. The initial conditions are x(O) =A and dx(O)/dt =O.
Take that A = 1 cm, e = 100 N/m, e) =50 N/m, and m = 100 kg.
Instruction. The problem should be solved in the first approximation using the Lyapunov-Lindsteadt method.
142 Solve Problem 141 by the linearization method, i.e., by substituting the nonlinear elastic force by a linear one found by the method of least squares.
143 Using the Galerkin method, find the amplitude-frequency relation for the
system considered in Problem 141.
144 Using the linearization method (and the method of least squares), determine
the vibration frequency for the load of mass m considered in Problem 132. The vibration amplitude is equal to A.
145 A body of mass m is fastened to two springs having preliminary tensions To
(Fig. 115). Ignoring the friction force, find the initial displacement Xo such that the
vibration frequency be equal to 5 1/s. Use the method of small parameter (Lyapunov-Lindsteadt method) in the first approximation. Take that m = 10 kg,
10 =0.5 m, To =50 N, and e =2 kN/m.
146 Analyze the motion of the mass described in Problem 108 (Fig. 92). The initial displacement of the mass is x(O) = xo' Allowing for only the first nonlinear
term of the magnetic force, derive the differential equation of motion of the mass.
53
Determine the critical value Xo' of the initial displacement Xo and plot the dependence xo'( <Po)' Find the vibration stability region on the plane (xo' <Po)'
147 The conductor and bus described in Problem 124 draw direct currents II and
12 equally directed (Fig. 107). Determine the frequency of free vibrations of bus B
under the initial conditions x(O) = Xo and dx(O)/dt = O. The conductor-bus interaction force F = 2pJ/p(ao + x) (a o is the separation at the equilibrium position)
should be expand in powers of x up to the third order. Use the method of small parameter (Lyapunov-Lindsteadt method), taking PI =x/ao as a small parameter.
148 Solve Problem 146 in the case of the currents II and 12 oppositely directed.
149 Determine the frequency of free vibrations of bus B described in Problem 147
(Fig. 107) under the initial conditions x(O) =0 and dx(O)/dt =vo' The conductorbus interaction force F =2pJ/p(ao + x) (a o is the separation at the equilibrium
position) should be expand in powers of x up to the third order. Use the method of
small parameter.
150 The equation of free vibrations of a mathematical pendulum is known to have
the form
ijJ+(g /1)sinrp=O,
where I is the pendulum length. Expanding the equation in powers of IP up to the
third order, determine the frequency of free vibrations of the pendulum under the
initial condition rp(0) = IPo' Use both the method of small parameter and the linearization method and compare the results obtained.
151 A lever with moment of inertia J is fixed on a shaft with torsional stiffness c
(Fig. 90) and subjected to a constant force Po' Angular deflections of the lever are
assumed as fairly small so that sinlf' ~ IP - ql/6. Determine the frequency of angular vibrations of the lever under the initial conditions rp(0) =0 and drp(O)/dt = wo'
Fig. 117.
54
Use both the method of small parameter and the Galerkin method and compare the
results obtained.
152 A lever of mass m is fixed on a shaft of length I with torsional stiffness e
(Fig. 117). One end of the shaft is fixed. Another end is supported in a bearing,
with the modulus of the frictional torque Mr proportional to the angular velocity
squared: IMrl =k(dqtdt( The moment of inertia of the lever about the shaft axis is
J, and the distance from the center of gravity to the shaft axis is 10 , Determine the
dependence of the vibration frequency of the lever on its initial deflections in the
first and second half-periods and find the vibration amplitudes at the ends of the
half-periods. Use the method of small parameter with a =k/J I.
153 A load of mass m is held by a nonlinear spring, with its characteristics having
the form T = ex + e, x 3 (Fig. 118). Find the dependence of the forced-vibration
amplitude on the amplitude Po of a perturbing force P = Po sin(CtJI) acting on the
load. The friction force may be ignored. Evaluate the vibration amplitude in the
case of Po =20 N, W = 10 lis, m = 10 kg, e = 1.5 kN/m, and c, =2 MN/m 3
154 For the system shown in Fig. 118, find the frequency w. of the perturbing
force such that two regimes of steady-state vibrations be possible and evaluate the
corresponding amplitudes. The numerical values are the same as those taken in
Problem 153.
ISS Find the Duffing approximation of the solution to the equation of forced vibrations of the load considered in Problem 153. At the initial moment, the load has
the maximum displacement Xo from the equilibrium position. The numerical values
are the same as those taken in Problem 153.
IS6 Solve Problem 153 under the assumption that there is a resistance force proportional to the velocity of the load: Fr = adxldt, where a = 1000 N s/m.
157 Coulomb dry friction forces are usually considered as independent of the velocity. However, more accurate studies suggest that in some cases this assumption
is inadequate to the physics. Figure 119a shows a so-called Froude pendulum,
which consists of a load of mass m fixed at the end of a lever of length I. The pendulum is fastened to a sleeve, which is put on a shaft rotating at constant angular
velocity Q. Both viscous and dry friction forces act on the sleeve. The corresponding torques are M, = adqtdt and Md =M ([}- dqtdt), respectively (see
Fig. 119b), where dqtdt is the angular velocity of the pendulum. Expanding the
torque Md in powers of dqtdt up to the third order, derive the differential equation
,
Fig.llS
55
M(il)
Fig. 119.
of free vibrations of the pendulum. Allowing for only the linear expansion term,
analyze the stability of small-amplitude vibrations. The angular velocity Q is
taken as the inflection point on the plot M(il) (Fig. 119b).
158 A brake arrangement consists of a ring brake block 1 on shaft 2 rotating at angular velocity Q (Fig. 120a). A lever fixed on the block is held by two springs
with total stiffness c. The dry friction torque applied to the block depends on the
angular velocity of the shaft (Fig. 120b). Analyze the stability of small angular vibrations of the brake block with respect to its equilibrium position under steadystate conditions. When solving the problem, allow for only the linear expansion
term of the frictional torque.
159 Analyze the stability of small free vibrations of a Froude pendulum by the
Van der Pol method (see Problem 157). Use the following numerical values: moment of inertia J = 0.15 kg m2, pendulum mass m = 5 kg, pendulum length
1= 0.3 m, M'(il) =0.0375 N m s, M"(il) =0, M'''(il) = 0.045 N m S3, and coeffi
b
Fig. 120.
56
cient of viscous-friction torque a= 0.015 N m s.

160 Analyze the time dependence of the vibration amplitude for the Froude pen
dulum considered in Problem 159 (Fig. 119). At t 0, the angle between the pendulum and the equilibrium position (for Q::j::. 0) is !P(O) =0.1 rad. Use the numerical values given in Problem 159. Plot the amplitude on the phase plane.
161 Determine the Froude pendulum frequency corresponding to the stable limiting cycle (see Problem 157).
162 Determine the amplitude of the limiting cycle in the case of vibrations described by the equation
d2x / dt
+ Pox =,lLPo(l-x 2)( dx /dt)
and analyze its stability for f.l > O.

163 A glider of mass m is towed with a constant velocity Vo (Fig. 121). The stiffness of the towing rope is c. Analyze the stability of small longitudinal vibrations
of the glider. The drag force is F, =cxSPVo2/2, where Cx is the drag coefficient, Sis
the midsection area, and p is the density of air.
Fig. 121.
2 Vibrations of Systems with Several Degrees of

Freedom
2.1 Free Vibrations

164 Two loads with masses mI and m2 are connected by a spring with stiffness c
(Fig. 122). Determine the frequencies of small natural vibrations of the system.
165 A steel cylinder of radius r and mass M can roll on a horizontal plane without
slipping (Fig. 123). A pendulum consisting of a massless rod of length l and a
point mass m at its end is suspended from the cylinder axis. Set up the differential
equations of free vibrations of the system. Evaluate the frequencies of small natural
~~~?i
Fig. 922.
Fig. 123.
Fig. 124.
58
2 Vibrations of Systems with Several Degrees of Freedom
Fig.12S.
vibrations of the system for the following numerical values: M

t =0.5 m, and m =0.2 kg.
=2 kg, r =0.1 m,
166 A disk with mass m and moment of inertia J =mD2/2 puts freely on a rigid
shaft (Fig. 124). The disk is held on the shaft by a spring with mean coil diameter
D, number of coils n, and helix angle a. Derive the differential equations of small
free vibrations of the disk. The bending and torsional rigidities of the spring wire
are EJ. and GJp" respectively. Determine the eigenfrequencies of the system and
analyze their dependences on the helix angle within the range 0 ~ a ~ Tt/8.
167 Two bodies with m l and m2 are fixed on a stretched line (Fig. 125). Under
small vibrations, the tension of the line remains essentially constant. The gravity
force may be ignored. Determine the eigenfrequencies of the system.
168 An electric motor with mass m is fixed at the end of a cantilever beam with
bending rigidity EJx (Fig. 126). The moment of inertia of the motor about the axis
perpendicular to the figure plane and passing through the point 0 1 (center of mass)
is JOI Considering the motor as a point mass, determine the eigenfrequency error
introduced by such an assumption.
I
Fig. 126
b
Fig. 127.
2.1 Free Vibrations
59
169 Two point masses m 1 =200 kg and m 2 =250 kg are fixed on a massless steel
shaft of diameter d = 0.1 m (Fig. 127). The shaft is supported at three points, the
distances from them to the masses are a = 1 m and b = 2 m. Determine the eigenfrequencies of the system.
170 Set up the differential equations of small free vibrations of the systems shown
in Fig. 128 and determine their eigenfrequencies.
171 Two loads of masses m 1 = m and m2 = 2m are fixed on a steel beam of a rectangular cross section (Fig. 129). Determine the eigenmodes and evaluate the eigenfrequencies of the system for m = 2 kg, 1= 0.5 m, b = 20 mm, and h = 40 mm.
172 Three identical point masses are fixed on a massless beam with bending stiffness Elx (Fig. 130). Determine the eigenfrequencies of the system.
m, J=ml'l2
EJx
EJx
I
21
!Jl,
b
Fig. 128.
Fig. 129.
mil
J=mf!4
60
E~
116 m
113
m 1/6
Fig.t30.
173 Determine the eigenfrequencies and eigenmodes of a plate with mass m fixed
on a pillar with bending rigidity EJx (Fig. 131). The moment of inertia of the plate
about the axis perpendicular to the figure plane and passing through the center of
gravity is J.
174 Determine the eigenfrequencies and eigenmodes of the system with point
masses shown in Fig. 132. The bending rigidity of each section of the frame is EJx '
175 Determine the eigenfrequencies and eigenmodes of the frame shown in
Fig. 133. The pillar masses may be ignored, the bending rigidity of the pillar is
EJ,. The plate may be treated as an perfectly rigid body.
176 A long steel shaft of a constant cross section is supported in short bearings
attached to cantilever channels (Fig. 134). A disk with mass m and moment of inertia J about its diameter is fixed on the shaft. Neglecting the masses of all the
elements except for the disk, evaluate the frequencies of vertical natural vibrations
of the disk for m =320 kg, J = 12.8 kg /cm2, a = 1 m, b = 2 m, 1= 0.6 m, and
d= 0.1 m.
Fig.13t.
Fig. 132.
2.1 Free Vibrations
61
0.11,
I
I
Fig. 133.
Fig. 134.
Instruction. The short bearings may be treated as hinges. When determining the stiffness
of the system, don't allow for the torsion of the channels.
177 Two loads with masses m l = 2m and m2 = m are fixed on a frame formed by
rods of a circular cross section (Fig. 135). Determine the frequencies and modes of
Fig. 135.
62
vertical natural vibrations of the system. The rigidities of the beams are interrelated by the equation GJk = 0.8EJx '
178 A load of mass m is fixed on a massless rod of length I (Fig. 136). The moment of inertia of the load about its central axis perpendicular to the figure plane is
J = mf/4. Determine the frequencies and modes of natural vibrations of the system
in the figure plane. The gravity force may be ignored.
179 Allowing for the gravity force, determine the eigenfrequencies of the system
considered in Problem 178.
180 Two point masses m 1 and m 2 are fixed on a flexible rod of length 21 with
bending rigidity EJAFig. 137). The rod mass and the gravity force may be ignored. Determine the frequencies and modes of natural vibrations of the rod in the
figure plane.
181 Three point masses are fixed on a massless flexible rod with rigidity EJx
(Fig. 138). Neglecting the gravity force, determine the frequencies and modes of
natural vibrations of the system in the figure plane.
182 A system consists of two bodies with masses m connected by a flexible massless rod with rigidity EJx (Fig. 139). Determine the frequencies and modes of
natural vibrations of the system in the figure plane. The moment of inertia of each
body with respect to its central axis perpendicular to the figure plane is J = mf/4.
The gravity force may be ignored.
183 A system consists of a beam with two bodies fixed at its ends (Fig. 140). Determine the frequencies and modes of natural vibrations of the system in the figure
plane. The moment of inertia of each body with respect to its central axis perpendicular to the figure plane is J = ml'/4. The gravity force may be ignored.
m1
I
I
I
m
Fig. 136.
Fig. 137.
Fig. 138.
2.1 Free Vibrations
r:
m,J
-I
....
63
m, J
EJx
J=:J
Fig. 139.
m,J
t~[
m,J
EJx
J.~j
Fig. 140.
184 Two bodies with masses m, and m2 and with moments of inertia J, and J2
about their central axes perpendicular to the figure plane are connected by a massless rod with bending rigidity EJx (Fig. 141). Ignoring the gravity force, derive
the differential equations of small free vibrations of the system in the figure plane.
185 Determine the eigenfrequencies of the system shown in Fig. 141 in the case of
m2 = 2m" J2 = 2J, = m/12, and I, = 12 = t.

186 A system consists of a point mass m and two bodies with masses m and with
moments of inertia J = mf/4 about their central axes perpendicular to the figure
plane (Fig. 142). The bodies are connected by two massless rods of length I with
bending rigidity EJx Determine the frequencies and modes of natural vibrations of
the system in the figure plane. The gravity force may be ignored.
187 Three flywheels with moments of inertia J" J2 , and J3 are fixed on a free shaft
with a constant cross section (Fig. 143). Derive the differential equations of free
mI J]
m, J}
-1-'.,9 I
I. .1.
I,
Fig. 141.
I ~-+3
.1.
I]
64
m,J
ItJ.,J
EJx
1
Fig. 142.
,,""::1'"
~
.-::-
q;,;t-
_~2
~
11
,;
-~
~
12
'"""""
Fig. 143.
torsional vibrations of the masses and determine the eigenfrequencies. The moments of inertia of the masses are equal to I, =203.9 kg m\ 12 =611.8 kg m2, and
13 = 305.9 kg m2, the shaft diameter is d = 50 mm, and the distances between the
masses are II =250 mm and 12 =400 mm.
188 Determine the eigenfrequencies of system 1 and 2 shown in Fig. 144. The
moments of inertia of the gears and shafts may be neglected with respect to those,
II and 12, of the disks. The torsional rigidities of the shafts are c i and c2' and the
gear ratio is u =zizl' where Z2 and ZI are the numbers of teeth of the gears.
189 Set up the differential equations of free torsional vibrations and determine the
eigenfrequencies of the systems shown in Fig. 145. The number of teeth is z, and
Fig. 144.
2.1 Free Vibrations
65
Fig. 145.
the torsional rigidity of the shaft is c. The masses of the shafts and gears may be
neglected.
190 A vibratory system consists of three flywheels with moments of inertia 11 =1,
12 =21, and 13 =31 (Fig. 143). The flywheels are connected by massless shafts
having torsional rigidity c. Determine the eigenfrequencies and eigenmodes of the
system. Verify the orthogonality condition for the eigenmodes found.
191 Set up the differential equations of small natural vibrations (M =0) of the
system shown in Fig. 146. The torsional rigidity of the shaft is G1p. Determine the
eigenfrequencies and eigenmodes of the system.
192 Determine the eigenfrequencies and eigenmodes (M = 0) of the system shown
in Fig. 147. The torsional rigidity of the shaft is G1p.
193 Derive the characteristic equation for the system considered in Problem 188.
The moments of inertia of the flywheels and gears are 11' 12, and 11', 12', respectively; and the torsional rigidities of the shafts are c I and cr
194 A marine power unit consists of two identical engines. The equivalent centroidal moments of inertia of their rotating sections are 11 and 12 (Fig. 148). The
engines have equal rotational speeds and drive a screw propeller with moment of
inertia 13, Set up the differential equation of small free vibrations of the system
and the characteristic equation. The reduction gear number is u =z/ZI' and the torsional rigidities of the shafts are c I and cr The vibration damping and the moments
of inertia of the gears may be ignored.
66
M Jroe
2J
..
~ 3J-
H
I
Fig. 146.
...
.u
21
hl
Fig. 147.
J1
J3
~
~
J2
Fig. 148.
'I '2
195 Two flywheels with moments of inertia and are put on a steel shaft with
torsional rigidity c l (Fig. 149). The flywheels are connected by an elastic conic
shell which is fastened to the right flywheel but can slip over the right one. The
torsional rigidity of the shell is c2' and the frictional torque is proportional to the
angular velocity of slipping. Set up the differential equations of free damped vibrations of the system and evaluate the roots of the characteristic equation. Use the
= 5 kg m\
= 2 kg m
c = 600 N m,
following numerical values:
c2 = 300 N m, and the coefficient of viscous friction a = 5 N m s.
'I
'2
2, l
196 A car case with mass m and moment of inertia' about the central transverse
axis is supported by springs with spring rates c l and c2 (Fig. 150). The distances
from the center of mass of the car to its wheel suspension points are II and 12 , Set
up the differential equations of small free vibrations of the car case in the figure
plane and evaluate the eigenfrequencies. Use the following numerical values:
c l = 200 kN/m, c2 = 250 kN/m, II = 1 m, 12 = 1.5 m, m = 1500 kg, and
300 kg m2 The elasticity of the tires may be ignored.
,=
2.1 Free Vibrations
67
Fig. ISO.
Fig. 149.
197 Find the parameters of the car considered in Problem 196, such that the eigenfrequencies be equal to each other.
198 Set up the differential equations of small free vibrations of a car whose case
has mass m and moment of inertia 10 about the central transverse axis (Fig. 15Ia).
The block diagram of the system is shown in Fig. 151b. The masses of the front
and back axles are m) and m2, the stiffnesses of the front and back springs are c)
and c2 , those of the front and back wheel tires are c and 2c, and the coefficient of
viscous friction in the springs is a.
199 Determine the eigenfrequencies of the car shown in Fig. 151 for the particular
case of 10 =mab. Use the following numerical values: a =2.3 m, b =0.94 m,
m =5 400 kg, m =m2 =650 kg, c) =c2 =35 kN/m, and a =O. The stiffness of each
tire is equal to c = 1200 kN/m.
b
Fig. lSI.
68
200 A belt transmission (drive of a lathe) is shown schematically in Fig. 152. Under steady-state conditions, the torque developed by the drive balances the moment of cutting forces (in the fIrst approximation, the moment of friction forces
may be neglected). The stresses in the transmission sides are 0;0 and 0'20' Set up the
differential equations of small angular vibrations of pulleys 1 and 2 and determine
the eigenfrequencies. Use the following numerical values: R, = 100 mm,
R2 =200 mm, total moment of inertia of driving pulley 1 and rotor', =0.08 kg m2,
total moment of inertia of driven pulley 2 and spindle =0.1 kg m\ 1= 0.6 m,
cross section area of the belt F =2 cmz, the Young modulus of the belt material
E = 100 MPa, angle of stick-slip sliding of the belt IPo = 150, and coefficient of
friction between the belt and the pulleys Po =0.3.
Instruction. The transmission side elongations, which are caused by additional stresses
due to pulley vibrations, are given by the equations
'2
~l =~(]' [~+.!!L(l-e
JlOf{JO)] =a~(]'
PoE
lIE
1,
~l =~(]' [~_~(l_eJlOf{Jo)]=a
~(]' .
E PoE
2
201 In order for the tension of a machine transmission to be constant, the weight
of the engine itself is often used. Such a vertical transmission is shown schematically in Fig. 153, where the transmission belt is substituted by two elastic elements
working in tension. Derive the differential equations of small free vibrations of the
pulleys and determine the eigenfrequencies. Use the following numerical values:
moment of inertia of the upper pulley' =0.1 kg m2, its radius R z = 200 mm; total
moment of inertia of the lower pulley and the engine about the point 0
J' = 0.125 kg mZ, their total mass m = 16 kg; radius of the lower pulley R, = 0.1 m;
Fig. 152.
2.1 Free Vibrations
69
Fig. 153.
~-.~
~
Fig. 154.
total moment of inertia of the lower pulley and the engine rotor J I =0.08 kg m2 ;
arm length hI =0.5 m; rigidity of the elastic elements EF =2 104 kN m2 , their
length 1= 0.6 m; and (jJ1O =940'.
202 Self-tensioned transmissions are commonly used in present-day machine
building. The diagram of such a transmission is shown in Fig. 154. In order to
simplify the problem, the closed belt is substituted by two elastic elements working in tension. A torque developed by motor 1 is transferred to driving pulley 4
70
by two gears 2, which are fixed on the motor and pulley shafts and connected by
link 3. At rest position (as under steady-state conditions), an external torque M
applied to flywheel 5 balances the torque developed by motor 1. The torque transferred from the motor increases with the external moment M. As a result, the gearing force P transfering the torque from the motor gear to driving pulley 4 also increases. In this case, the gearing force deflects link 3 and stretches the
transmission belt. Assuming that pulley 2 is not displaced, set up the differential
equations of small free vibrations of the transmission pulleys and determine the
eigenfrequencies. The equivalent moments of inertia of the moving masses about
the corresponding pulley axes are J, and J2 , the total mass of driving pulley and
gear is m" the Young modulus of the elastic elements is E, and their cross-section
area is F. The masses of the link and the elastic elements may be neglected. Use
the following numerical values: J, =0.08 kg m\ J2 =0.1 kg m2., m, =0.16 kg,
1= 600 mm, CP,o =940', F =2 cm2, E = 100 MPa, R, = 100 mm, R2 =200 mm,
r, =50 mm, and r2 =40 mm.
203 A body of mass m is suspended by two tensile lines having lengths I, and 12
(Fig. 155). Determine the eigenfrequencies of small vibrations of the body. The
line tension To is assumed to remain constant under small vibrations of the body in
vertical plane. The moment of inertia of the body about its axis perpendicular to
the figure plane and passing through its center of gravity is J, and the stiffness of
the line is EFo' The static displacement due to the body weight may be ignored.
Fig. ISS
y
Fig. 156.
2.1 Free Vibrations
71
204 Set up the differential equations of small free vibrations of a cable-reel car of
mass m, which moves at constant speed v along a cable with tension To (Fig. 156).
The moment of inertia of the car about its axis perpendicular to the figure plane
and passing through its center of gravity is 1. Changes in the tension To may be ignored.
205 A point body of mass m is suspended by a free weightless tensile line whose
ends are fixed at distance I, from each other at the same level. A rest position of
the system is shown in Fig. 157. All the quantities indicated in the figure are assumed to be given. The stiffness of the line is EF. Determine the eigenfrequencies
of natural vibrations of the body in the figure plane.
206 Derive the differential equations of motion of a body with mass m, which
moves along a line whose ends are fixed at distance I, from each other at the same
level (Fig. 157). The length of the line, 1= SIO + S20' is greater than I,. The body
speed v relative to the line is constant, and the stiffness of the line is EF. At t 0,
the coordinates of the body are Xo =0 and Yo =soo' Find the tensions TIO and T20'
207 An electromagnetic vibrator (for example, a shunt motor with separate powers
applied to its rotor and stator) can be used as an exciter of torsional vibrations
(Fig. 158). In this case, excitation winding 1 is connected to a constant-current
source, while an alternating voltage U =Uo sin( w t) with controllable frequency is
applied to armature winding 3. Vibrations of armature 2 with moment of inertia 1
cause a variation a, dtp'dt in the armature voltage, where a, is a coefficient depending on the magnetic flux and rp is the rotation angle of the armature. In tum,
the armature voltage variation induces an additional current and, therefore, a moment M =~ i of electromagnetic forces, where ~ is a coefficient depending on
the magnetic flux in the armature and i is the current intensity. The torsional rigidity of the shaft is c. The inductance and resistance of the armature winding are
L and R, respectively. Set up the differential equations of free vibrations of the
system. The friction forces may be ignored. Find the roots of the characteristic
poly-
Fig. 157.
72
3
Fig. 15S.
Fig. 159.
nomial in the case of R "" O.

208 An electromechanical device, referred to as a capacitor microphone, is shown
schematically in Fig. 159. The current circuit consists of a battery with constant
voltage U, a self-induction coil L, an ohmic resistance R, a variable capacitor C,
and flexible conductor 2. The capacitor has a fixed plate connected elastically to
movable plate 1 of mass m. The plate serves as a microphone diaphragm capable
to vibrate under the action of an alternating sound pressure p. The stiffness of each
springs is 0.5 c. The system has two degrees of freedom (two generalized coordinates), namely, the capacitor charge q and the diaphragm displacement x. Derive
the differential equations describing the time dependences of x and q.
209 A vibratory system consists of two disks with moments of inertia J, and J 2 ,
which are fixed on a shaft with torsional rigidity c (Fig. 160). Find the eigenfrequencies of the system and determine the motion of the disks. At t = 0,
IP,(O) = IP2(0) = 0 and the angular velocities dqtdt of the disks are equal in magnitude but oppositely directed (at t =0,).
Fig. 160.
73

210 Determine the maximum normal stresses arising in the beam shown in
Fig. 129 under the action of a periodic force P = Posin(wt) applied to the mass m"
with 01 = 11(mAJ
211 For the systems shown in Fig. 161, determine the dynamic coefficient defined
as a ratio of the amplitude Po of a disturbing force to the amplitude of a force acting on the mass m 2 Take c = tlElx' m, = 2 m2 , and ol =cim,.
212 A motor with mass m is fixed on a massless beam of length 31 (Fig. 162). The
rotation of the motor rotor causes the centrifugal force Fo = m, ole (m" e, andw are
the mass, eccentricity, and angular velocity of the rotor, respectively). Determine
the eigenfrequencies and forced-vibration amplitudes of the system. The distance
rv
P=Po sin t)
~'9=.........==t I
m~31
m
C
EJ
~_I
I
b
a
Fig. 1061
21
Fig. 162.
Fig. 163.
74
from the beam axis to the center of mass of the motor is R =112, its moment of inertia about the central axis is J = mtl4, and OJ = 2 [EJj(me)y2.
213 A body with mass m2 is subjected to a periodic disturbing force P = Po sin(OJt)
(Fig. 163). The cross section area of the rods is F, and their Young modulus is E.
Find the parameters of the system such the amplitude of vertical vibrations of the
mass m2 be zero.
214 Find the parameters of the system shown in Fig. 164, such that the vibration
amplitude of the mass m2 be zero, with the frequency OJ of the disturbing force P(t)
given.
215 Two point masses m, and m2 are fixed on a beam hinged to supports
(Fig. 165). A disturbing torque M =Mo sin(OJt) is applied to the system. Find the
parameters of the system such that the vibration amplitude of mass m, be zero.
216 For damping vibrations of a mass m2 fastened to a mast top, a pendulum
damper is used (Fig. 166). A periodic disturbing force P =Po sin(OJt) is applied to
the mass m2 The mean bending rigidity of the mask is EJx Find the parameters m,
and I, of the pendulum such that the vibration amplitude of the mass m2 be zero.
217 For damping torsional vibrations, the Pringle vibration damper is used, in
which masses m can slip in radial slots of a disk (Fig. 167). Find the damper parameters m and c, such that the amplitude of angular vibrations of the disk be zero,
with the frequencies OJ and .q fixed. The following quantities are given: the disturbing torque M =Mo sin( 0Jt) acting on the disk, the torsional rigidity c of the
shaft, the moment of inertia J of the disk, and its steady angular velocity .q.
Fig. 164.
Fig. 165.
--..
~ ~ .....
75
m2
'1
~ ~-
.--
m1
'f
Fig. 166.
"
Fig. 167.
218 The Pringle damper described in Problem 217 has a disadvantage. Namely, on
increasing the angular velocity ~, the masses m are displaced because of an extension of the springs. As a result, the total moment of inertia of the system also
changes. Explain how to modify the damper design in order for the masses to be
immobile relative to the disk within an operating range of ~ (0 ::; ~ ::; ~.).
219 Figure 168 shows a pendulum vibration damper on a disk rotating with angular velocity ~. Find the parameters m and I of the damper such that the vibration
amplitude of the disk be zero.
Fig. 168.
Fig. 169.
76
220 A vertical periodic force P =Po sin(mt) is applied to the point mass m2 of the
system shown in Fig. 135. The tensile and compression yield stresses, 0; and 0;" of
the rods are equal to 240 MPa. Determine allowed values of the amplitude Po. Use
the following numerical values: OJ =0.8 p) (where p) is the first eigenfrequency of
the system), d =40 mm, 1= 1 m, and safety factor ns = 3.
221 Determine the largest shear stresses arising in a steel shaft of a constant cross
section under the action of a periodic disturbing torque M =Mo sin(mt) (Fig. 169).
Use the following numerical values: J) =212, Mo =5 N m, d = 1 cm, OJ2 =2J(JA),
I =20 cm, G =80 GPa, and shear yield point of the shaft material z; =200 MPa.
Evaluate the safety factor ns of the shaft.
222 Four disks are fixed on a steel shaft of a circular cross section, which has torsional rigidity GJp (Fig. 146). The shaft is subjected to a periodic disturbing torque
M = Mo sine mt), with OJ = 0.8 P2' where P2 is the second eigenfrequency of the system. Determine the largest torque in the shaft under sustained forced vibrations.
223 Determine the largest stresses arising in a shaft of a constant cross section
(Fig. 147) under the action of a periodic torque M =Mo sin(mt), with d =40 mm,
Mo =300 N m, and OJ =0.7 P2' where P2 is the second eigenfrequency of the system.
224 Two perfectly rigid pulleys are connected by two elastic links working in ten-
sion with a preliminary tension No =F 0"0. (Fig. 170). Determine the eigenfrequencies of the pulleys and the largest disturbing torque Mo such that the stress in the
links be zero. Use the following numerical values: R) = 10 cm, R2 =20 cm, moments of inertia of the pulleys J) =0.08 kg m2 and J2 =0.1 kg m 2 , 1= 60 cm, cross
section area of each link F =2 cm" Young modulus E = 100 MPa, preliminary
stress 00 = 2 MPa, and frequency of the disturbing torque OJ = 0.8 P2' where P2 is
the second eigenfrequency of the system.
225 Consider the lathe transmission described in Problem 200 in the case when a
periodic disturbing torque LiM =Mo sine mt) of cutting forces is applied to the
driven shaft. Determine the time dependences of the stresses 0; and 0; under sus
Fig. 170.
77
tained forced vibrations.
226 Flywheel 2 with moment of inertia 11 is fastened to steel shaft 1 of diameter d l

(Fig. 171). The shaft is fixed at its lower end, while its upper end is supported in a
bearing. Flywheel 3 with moment of inertia 12 is put freely on the shaft and
pressed to flywheel 2 by spring 4. Flywheel 2 is subjected to a periodic torque
M =Mo sin( 0Jt). The Coulomb friction between the flywheels is characterized by
the friction factor p. Set up the differential equations of motion of the flywheels.
Spring 4 connecting flywheel 3 and the upper bearing has a preliminary contraction ~. The pressing force can vary in the course of vibrations.
227 Determine stresses arising in the system described in Problem 226 under sustained forced vibrations in the case when the viscous friction between flywheels 2
and 3 results in an extra frictional torque Mf = a l (dtp/dt - dtp/dt).
228 A disk with moment of inertia 11 is fixed at the free end of a cantilever shaft
with rigidity c (Fig. 172). A massive ring with moment of inertia 12 is put on the
disk and fixed with flanges. The moment of viscous forces between the disk and
ring is proportional to their relative angular velocity: M f = a l (dtp/dt - d<P/dt),
where tpl and tp2 are the rotation angles of the disk and ring, respectively. Set up
the differential equations of small vibrations of the disk and ring in the case when
a torque M =Mosin( 0Jt) is applied to the disk. Determine the amplitudes of stable
vibrations of the disk and ring.
229 Set up the differential equations of motion of a trailer on a rough road.
(Fig. 173). The following quantities are given: trailer mass m, wheel mass m l , mo
ment of inertia 10 of the trailer about the transverse axis passing through the point
;;;;;;;;:: r--J
1
(S)
bM
~
Fig. 171.
Fig. 172.
78
0, stiffnesses C and c i of the springs and wheel tires, and trailer speed v. It is assumed that vertical displacements of the point 0 are negligible and the road profile is given by h = ho[l - cos(27tX11 1)), where x = vt. Take into account that the
trailer vibration causes the friction force F f = a(dyldt - dy/dt) proportional to the
relative vertical velocity of the trailer and its wheel. Ignoring the friction in the
springs, determine the eigenfrequencies of the system and the critical velocities v.,
i.e., the velocities at which the amplitude of forced vibrations of the trailer attains
the maximum.
230 A car moves on a rough road whose profile is given by h =ho[ I - cos(2ruilo))'
where x = vt (Fig. 174). Determine the amplitudes of vertical and angular accelerations of the car under sustained forced vibrations. Use the following numerical
values: car mass m = 6000 m, moment of inertia of the car about its central transverse axis J = 1200 kg m2, spring rates c i =200 kN/m and c 2 =250 kN/m, distances of the springs from the car center of mass II = I m and 12 = 2 m, car velocity
v =25 kmlh, 10 =5 m, and ho =0.1 m.
Fig. 173
2ho
Fig. 174.
79
231 Determine the critical velocity of the car described in Problem 230.
232 Derive the differential equations of forced vibrations of the car described in
Problem 198 in the case when the car moves at speed v on a rough road whose
profile is given by the equation h = ho[1 - cos(2nx1lo)].
233 A centrifuge for separating liquids in a mixture is shown schematically in
Fig. 175. When the centrifuge vessel rotates at a constant angular velocity OJ,
heavier fractions of the mixture accumulate near the vessel walls, while lighter
fractions are displaced into a region around the axis of rotation. The lighter fractions flow out the vessel through the central massless pipe having bending stiffness c. The time dependence of the liquid mass in the vessel is given by the equation mHq =mJl - tlt1), where m 1 is the liquid mass at t =0 and t1 is the total time of
outflow. It is known that because of production errors, the center of mass of the
centrifuge vessel filled with liquid is at a distance e (eccentricity of mass) from the
axis of rotation. Set up the equations of small vibrations of the centrifuge, treating
its vessel filled with liquid as a point mass mo + mliq Changes in the vertical coordinate of the center of mass, vibrations of the liquid, the pipe mass, and effects dependent on the outflow rate may be ignored.
234 A unit impulse of force 1 = mdu(O)/dt acts on a body of mass m fixed at the
end of an elastic rod with bending rigidity Elx (Fig. 176). The moment of inertia of
the body about its central axis perpendicular to the figure plane is 1 = mI2/4. At
t =0, the horizontal displacement, the angle of rotation, and the angular velocity
of the body are equal to zero: u(O) = qJ(0) = dqJ(O)/dt = O. Determine the law of
mo
Fig. 175.
Fig. 176.
80
tion of the body and the maximum bending moment in the rod. The gravity force
may be ignored.
235 A torsional damper consists of elastic element 4 with torsional rigidity c I '
contact ring 1 at the free end of the element, and flywheel 2 pressed to the ring by
spring 3 with torsional rigidity c2 (Fig. 177). A periodic torque M =Mo sin(mt) is
applied to the flywheel. The moment of friction forces between the flywheel and
ring is proportional to their relative angular velocity, with the proportionality factor equal to a l The total moment of inertia of the flywheel and shaft is 1. Determine the amplitude of sustained forced vibrations of the ring. The masses of elastic element 4, ring 1, and spring 3 may be neglected.
236 A massive container 2 with mass m is suspended by spring 1 with stiffness C I
(Fig. 178). In order to limit lateral displacements of the container and to damp lateral shocks, the system is equipped with light vertical guides 3 pressed to the
container by springs 4 each with bending stiffness c2 The coefficient of viscous
friction between the container and guides is a. Set up the differential equation of
vertical vibrations of the container subjected to a periodic force F = Fo sin( mt).
Find the time dependence of the vertical displacement under sustained forced vibrations. The guide masses may be neglected.
237 When moving on a rough road, a car experiences vibrations. The vibration
isolation of the car seat is shown schematically in Fig. 179, where the point 0 corresponds to the car floor, c I and C are the seat spring rates, and a is the coefficient
of viscous friction. The springs and damper are assumed as massless. The influence of the total mass m of driver and seat on the car motion may be ignored because the mass m is much less than the car mass. The correlation function for vertical displacements of the point 0 is given by the formula Ky(') = Dy exp( - all ~),
where Dy is the variance and a l is the damping parameter. (Such a dependence
was found by processing the oscillogram of a stationary random process with zero
Fig. 177.
81
c1
F
Fig. 178.
Jbt
Fig. 179.
mathematical expectation, which describes the car motion at a constant speed v.)
Determine the variance of vertical acceleration of the seat.

238 A disk with mass m is fixed on a balanced elastic massless shaft of length 2/,
which rotates at a constant angular velocity w (Fig. 180). The eccentricity of the
disk mass is zero. Derive the differential equations of small vibrations of the disk
as seen from the coordinate system rotating at the angular velocity w about the zaxis. Determine the frequencies of natural vibrations of the disk in the rotating coordinate system. Because of the symmetry of the system, angular deflections of
the disk in the figure plane may be neglected, i.e., the disk is assumed to experience only vertical displacements. The gravity force may be ignored.
239 Consider the system shown in Fig. 78. Derive the equations of small vibrations of the disk with allowance for its eccentricity e. The equations should be
written out in the rotating coordinate system.
240 Set up the differential equations of small vibrations of the system describe din
Problem 238 (Fig. 180) in the case ofthe axial moments of the shaft cross section
being different, i.e., Jx *" J, (for example, in the case of the shaft of a rectangular
cross section). Determine the critical angular velocity w.
241 Set up the differential equations of small vibrations of the system described in
Problem 238 with allowance for the disk weight (Fig. 180). Determine the amplitudes of steady-state vibrations. The shaft mass may be neglected.
82
d .............-
m, J
Fig. ISO.
(J)
Fig. lSI.
242 Set up the differential equations of small free vibrations of the system considered in Problem 240 with allowance for the disk weight (Fig. 180). The shaft has a
rectangular cross section bxh, with b < h. Determine the amplitudes of steady-state
vibrations of the disk and the critical angular velocity OJ,.
243 A steel cantilever shaft of diameter d and length 1 rotates with a constant angular velocity OJ (Fig. 181). A disk with mass m and moment of inertia J about the
rotation axis is fixed at the shaft end. Assuming the system as precessing regularly, determine the critical angular velocities of the shaft with (J::f. 0) and without
(J = 0) allowance for the gyroscopic effect. Use the following numerical values:
1= 1 m, Jx =rtd"164 =490 cm', J =4.05 kg m2, E =200 GPa, and m = 175 kg.
244 A rotating steel shaft of diameter d is supported by a long bearing (Fig. 182).
A flywheel of radius R and thickness h is fixed at the shaft end. The shaft may be
treated as a rotating massless cantilever. Evaluate the critical angular velocities of
the shaft with and without allowance for the gyroscopic effect in the case of
R =0.3 m, h =80 mm, d =0.1 m, and 1= 1 m.
245 Evaluate the critical angular velocity of a steel shaft supported in two short
bearings, which may be treated as hinges (Fig. 183). Use the following numerical
values: D =0.6 m, h =80 mm, d =0.12 m, a = 1 m, 1=3 m, and E =200 GPa.
246 A disk with mass m is fixed on an elastic shaft of length 21 with bending rigidity EJx (Fig. 184). The system is in the field cPof a permanent magnet. The disk
mass eccentricity is e. Determine the critical angular velocity OJ, of the shaft.
83
Fig. 183.
Fig. 182.
Instruction. If a body is at the midpoint of an interpole gap, the attractive magnetic

forces acting on it are counterbalanced. As soon as the body is displaced from the midpoint,
these forces become different, F, =kf/Jo'/(a, - x)' and F, =kf/Jo'/(a, + x)', so that the net force
L1F = F, - F, is nonzero (see Problem 107).
247 A thin rectangular perfectly rigid steel plate with mass m is supported by four
springs (Fig. 185). The system is placed into an air flow. The lifting force F, is
related to the flow rate v and the rotation angle B by the equation
= dC z hlpv 2()
F
1
d()
Here, Cz is the lift coefficient, the derivative dC/dB is assumed as given, and p is
the density of air. The point 0 being at the distance 114 from the plate leading edge
Fig. 184.
84
is the center of the lift F,. Analyze the stability of small free vibrations of the
plate.
248 Evaluate the critical flow rate v. at which the vibrations of the plate considered in Problem 247 become unstable. Use the following numerical values:
dCjd() = 3, c, = 0.1 kNlm, c2 = 0.05 kNlcm, p= 1.25 kg/m\ h = 20 cm, and
ly =mt112.
249 The level flight of an aircraft is always accompanied with various perturbances (Fig. 186). Assume that all the perturbances are in the vertical plane, i.e.,
the aircraft can be considered as a system with two degrees of freedoms: the small
vertical displacement y and the rotation angle rp. Set up the differential equations
of perturbed motion of the aircraft and find the stability conditions of steady-state
level flight. It is assumed that the tail unit is subjected to only aerodynamic forces
F 20 and LJF2, the velocity vector v is essentially horizontal, and the thrust vector R
is constant in magnitude and directed along the aircraft axis 00,.
Instruction. When an aircraft is in steady-state level motion, the aerodynamic forces FlO
and F2o ' gravity force mg, thrust force R, and drag force Xo' as well as the corresponding
moments, are in balance. In the case of perturbed motion of the aircraft, there appear additional aerodynamic forces LiF, and LiF2 and moment LIM" which are linear in the increments
Lla, and Lla2 of the angles of attack, i.e., LiF, =C,Lla" LiF2 = C2L1a2, and LIM, =C,Lla"
where Cj are constants (j = l, 2, 3). To derive the equations of motion, it is necessary to express LI~ in terms of y and qJ.
250 Analyze the stability of small free vibrations of the transmission pulleys considered in Problem 200 (Fig. 152). Assume that vibrations of the system cause the
two perturbing torques LiM, = - p,drp/dt and LiM2 = - P2drp/dt. Here, drp/dt and
drp/dt are the angular velocities of the pulleys, and p, and P2 = 10 are constants.
Determine the values of p, such that the vibrations be stable.
251 A system consists of shaft 1 supported in bearings, flywheel 2 fixed on the
shaft, and elastic massless coupling 3 (Fig. 187). Flywheel 2 is subjected to an ex
Fig. ISS.
85
mg
Fig. 186.
temal torque M =adqJ/dt proportional to its angular velocity. The force of viscous
friction between the flywheel and coupling is proportional to their relative angular
velocity, with the proportionality coefficient a1 =0.005 N m s. The total moment
of inertia of the flywheel and shaft is J = 10-4 kg m\ and the torsional rigidity of
the coupling is c 1 = 1 N m. Find the values of a 1 such that the motion of the flywheel be stable.
A~~--""X,
Fig. 187.
Fig. 188.
86
Fig. 189.
Fig. 190.
252 A top rotates about its axis at an angular velocity q (Fig. 188). The top center
of gravity is at the distance I from the point 0, and the gravity force is mg. Determine the frequencies of vibrations of the top axis (z-axis) with respect to the vertical axis. Find the critical angular velocity Q o of the top.
253 The axis of a gyro can rotates freely about the point 0 (Fig. 189). The gyro
axis is held by four mutually orthogonal springs each with stiffness c, which are
fastened to the axis at the point 0,. Determine the angular moments of the gyro
such that its motion be stable.
254 Derive the equations of motion of the gyro considered in Problem 253 when
the stiffnesses of the springs are different and equal to c, and C2 (in the x and y directions, respectively). Find the condition of small periodic motion of the gyro
axis and determine the critical angular velocity q. of the gyro.
255 A gyro in gimbal mount serves as a pendulum mass (Fig. 190). Inner ring 1
with a balance of mass m) is supported in two bearings fixed on outer ring 2 which
is fastened to massless rod 3. The gyro rotor is in the inner ring. The weights of
the rotor and the inner ring are Q, and Q2' respectively; the moments of inertia of
the rotor are ix" iyl' and i,l' and those of the inner ring are i x2 ' 1", and i,,; and the
angular velocity of the rotor is Q o' Determine the frequencies of small vibrations
of the system.
87
Fig. 191.
256 A monorail car is stabilized by a vertical gyro (Fig. 191). The gyro axis is
hinged at the point 0 1 so that it can rotate only in the XPZI plane of the rectangular
coordinate system (XIYIZI) of the car. The z-axis of the rectangular coordinate system (xyz) is the symmetry axis of the gyro, with the y-axis coinciding with the YIaxis. The weights of the car and gyro are Qo and Q, the points CI and C2 are their
centers of mass. The moment of inertia of the car about the xI-axis is JxO The moments of inertia of the gyro are Jx ' Jy' and J" with Jy =J,. Assuming that the angles
B and rp are small, set up the differential equations of small free vibrations of the
gyro with respect to the vertical axis. Derive the characteristic equation and find
the critical angular velocity .q. of the gyro.
z
,
Fig. 192.
88
Fig. 193.
257 A gyro in gimbal mount (rate gyro) is used for measuring angular velocity
(Fig. 192). Outer ring 1 is fixed on a base rotating about the YI-axis at an angular
velocity Q to be measured. The angular velocity of gyro rotor 2 is q. While the
outer ring is rotating, the gyro axis turns by an angle 0 about the x-axis. Vibration
damper 4 having the coefficient of viscous friction a is fastened to inner ring 3.
The total moments of inertia of the rotor and inner ring about the x- and y-axes of
the inner ring are lx and l y The moment of inertia of the rotor about its symmetry
axis (z-axis) is 10 Set up the differential equations of motion in the angle 0. Find
the angular velocity Q assumed as essentially constant, i.e., dadt ~ o.
258 A disk of radius r with mass m rolls on a horizontal rough surface without
slipping (Fig. 193). The angular velocity of the disk is .Q. Set up differential equations of small free vibrations of the disk in the xOy plane and analyze the vibration
stability for various values of Q. The disk thickness is taken as zero.
2.4 Approximate Methods of Determining the Lowest

Frequency
259 Using the Rayleigh method, determine the lowest vibration frequency for the
system with point masses m l and m 2 = 2ml shown in Fig. 194. The beam mass may
be neglected.
260 Solve Problem 259 for the system shown in Fig. 195.
262 Solve Problem 259 for the system shown in Fig. 129 (see Problem 171).
2.4 Approximate Methods of Detennining the Lowest Frequency
-f
89
1? 12 ;:
EJ,
m2
m,
Fig. 194.
Fig. 195.
Fig. 196.
263 Detennine the lowest vibration frequency for the system shown in Fig. 196
with allowance for the beam mass m =2mi, where mo is the mass per unit length.
264 Determine the lowest vibration frequency for the system shown in Fig. 197.
The stiffness of each spring is c =EJj2t. The beam mass may be neglected.
265 Using the Rayleigh method, determine the lowest frequency of longitudinal
vibrations of three identical masses fixed on a massless rod (Fig. 198). The cross
section area of the rod is F, and the Young modulus is E.
90
Fig. 197.
268 Using the Rayleigh method, determine the lowest frequency of torsional vibrations of the system shown in Fig. 20 I
269 Solve Problem 268 for the system shown in Fig. 202. The moment of inertia
of each flywheel is J, and the torsional rigidity of the massless rod is c.
270 Using the Dunkerley method, determine the lowest vibration frequencies for
the systems considered in Problems 259 and 261.
271 Using the Dunkerley method, determine the lowest frequency of longitudinal
vibrations of the system considered in Problems 264.
272 Solve Problem 270 for the systems considered in Problems 266 and 267.
m
2
1m
1m
2EF
EF
Fig. 198.
Fig. 199.
Fig. 200.
2.5 Random Vibrations
---- - ---C2
C1
.....
J1
91
r~
J2
Fig. 202.
Fig. 201.

273 Solve Problem 75 in the case of the road roughness being random and its
spectral density given by Sh(OJ) =avl[21t(bv2+ OJ2)], where v is the trailer velocity.
The trailer vibration may be considered as a stationary random process. Determine
the standard deviation a,j.y) of angle rp as a function of v. Plot the dependence
a,j.,v) in the case of 10 =5000 kg m\ c =2 105 N/m, 1= 2.5 m, a = 105 N s/m,
a 1000 mm2/m, and b 2.5 105 m2 The corresponding integrals are presented in
Appendix 2.
274 Plot the standard deviation a,j.,c) of angle rp as a function of the spring rate c
of the trailer considered in Problem 273 for the same numerical values. The trailer
velocity is v = 10 mls.
275 Evaluate the standard deviation of angular velocity dqtdt of the trailer considered in Problem 273 for the same numerical values.
276 A point mass m fixed on a massless elastic beam of length 21 (Fig. 203) is
subjected to a random perturbing force f characterized by the spectral density
SjOJ) = P/[21t(J322+OJ2)]. The mass is connected to a vibration damper with the coefficient of viscous friction a. Evaluate the standard deviation of acceleration
Fig. 203.
92
d2yIM of the mass for the following values of the parameters: m = 10 kg,
1= 0.5 m, E = 200 GPa, a = 2000 N slm, p. = 105 N 2/s, fJ2 = 100 1/s, b = 20 mm,
andh =50 mm.
277 Evaluate the standard deviation of reaction force and the maximum normal
stress in the beam considered in Problem 276 for the same numerical values.
278 Under steady-state conditions, the torque Me developed by an engine is balanced by a moment of resistance M, depending on the angular velocity Q of the
engine shaft (Fig. 204). The shaft is subjected to a stationary random torque AM
characterized by the correlation function Kt.M( 1') =D exp(-a 11' I) and the mathematical expectation mt.M' The reduced moment of inertia of the system is J. Determine the variance of angular velocity Q. The changes of moment Me which are
caused by small variations in the angular velocity may be ignored.
279 A magnetoelectric oscilloscope with loop vibrators was considered in Problem 69 (see Fig. 60). In practice, there is a random current L1i in the oscilloscope
electric circuit, i.e., i =io + L1i, where io is a mean electric current. The current L1i
can be due to, for example, thermal motion of electrons in the electric circuit. After all transients (occurring upon switching on the current) have died out, the mirror vibration induced by the random current can be considered as a stationary random process. Supposing that the spectral density of L1i has the form St.;Cm) = N
("white noise"), determine the standard deviation 0'", of oscilloscope reading rp.
280 An electric motor with point mass m is fixed on a cantilever flange massless
beam (Fig. 205). The beam end is connected to a vibration damper having the coefficient of viscous friction a. Evaluate the maximum normal stresses arising in
the beam when its restraint point (i.e., point 0) undergoes random vertical displacements Yo' The displacements can be considered as a stationary random process with the spectral density SyO(m) =20/[21t(100 + ( 2 )]. Use the following numerical values: E = 200 GPa, m = 300 kg, a = 5 104 N slm, 1= 2 m, Jx = 1.98 106 m4, and Wx = 3.97 10-5 m3
281 The system shown in Fig. 206 is subjected to a stationary random perturbing
force pet) with the spectral density Sp(m) = al[21t(b2 + ( 2 )]. Determine the standard
1-~HJ
J
Engine
Fig. 204.
=0===:::;t:!:Jm
93
-I~
Fig. lOS.
deviation ~ of vertical coordinate of the point mass m and the variance DM of

bending moment M at the restraint point.
282 A motor with mass m is fixed on a cantilever beam having rigidity EJx
(Fig. 205). The mass m is connected to a vibration damper with the coefficient of
viscous friction a. The vertical motion of the restraint point is given by the equation Yo =YOlsin(mt)+LlYt(t), where YOt is the amplitude of regular displacements and
Lly/t) is random displacements with the spectral density St(m) = aI[2rc(P + ( 2 )].
determine the standard deviation of difference &= Lly - Llyt' where Lly are random
displacements of the mass.
283 The device shown schematically in Fig. 5 is used for measuring fluid or vapor
pressure. The pressure LIp applied to the piston with cross section area F has both
a regular component Llpo and a random component Llpt with the spectral density
St = aI[2rc(jJ + ( 2)]. The friction force acting on the piston is Ff = a dMdt.
Treating random displacements Llz t of the piston as a stationary random process,
determine the standard error of readings of the device.
284 In general, the piston considered in Problem 5 can be under the action of two
perturbations, namely, random pressure Llpt (see Problem 283) and random vertical displacement Llzo of the cylinder. The latter is equivalent to a kinematic pertur
P(t)
Fig. 206.
94
bation of the system. The corresponding spectral densities are given by the equations
The resistance force acting upon the piston is equal to adL1zldt. Assuming that the
mutual correlation of the perturbations is absent, determine the standard deviation
of random vertical displacement LIz\ of the piston.
285 The piston considered in Problem 5 is subjected to random pressure L1p\ characterized by the spectral density St,p =N ("white noise"). The cylinder is fixed on a
vibrating base, and the spectral density of random displacement Llzo of the base is
given by St" =txz/[21t(P22 + ol)]. Vertical displacements LIz\ of the rod which are
caused by the perturbations L1p\ and Llzo lead to an instrumental error. The mutual
correlation of the two perturbations is assumed to be absent. Determine the optimum value of spring stiffness c for which the standard error of readings of the device becomes smallest.
286 A body with mass m is suspended by a spring with stiffness c and connected
to a vibration damper with the coefficient of viscous friction a (Fig. 207). The
correlation function of random vertical displacements L1yo of the point 0 is given
by the equation Ky =Dyexp(-a!.!). Determine the standard deviation of acceleration of the body.
287 A random perturbing force P(t) is applied to a body with mass m = 100 kg
suspended by a spring with stiffness c 400 N/m (Fig. 208a). This force varies
with time arbitrarily within a tolerance range (Fig. 208b). Find the time dependence P(t) such that the displacement of the body at the moment of time t\ =2 s be
greatest. Compare the displacement found to that caused by a step force equal to
the greatest possible value of P(t). Suppose that at t = 0 both the displacement
with respect to the eqUilibrium position and the velocity of the mass are zero.
P(t)
+1
ami
1a
Fig.207.
0
-1
b
Fig. 208.
95
288 The body considered in Problem 287 is subjected to the force P(I) such that its
displacement at II = 2 s is equal to the greatest possible value. Determine the velocity at this moment of time.
289 A body with mass m = 100 kg is kept on a horizontal plane by a spring with
stiffness c = 400 N/m (Fig. 209a). The force of friction on the plane is Ff = adxldl,
with a = 400 N s/m. The tolerance range of a perturbing force acting on the body
is shown in Fig. 209b. Find the time dependence P(t) such that at II =2 s the displacement be greatest (under zero initial conditions x(O)=dx(O)/dt=O).
290 For determining the thrust of a jet engine, it is installed on a test bed consisting of a truck and a spring balance (Fig. 2IOa). Because of an irregularity of
charge combustion, the trust R varies arbitrarily within a range: R =Ro + L1R
(Fig. 2IOb). Determine the greatest standard deviation of R at II =0.5 s (under zero
initial conditions). Use the following numerical values: total mass of the systemm = 1000 kg, spring stiffness c =900 kN/m, coefficient of viscous friction
a =4 104 N s/m, nominal thrust Ro = 2 105 N, and thrust spread L1R = O.OS Ro. The
mass decrease due to the bum-out may be ignored.
291 A random perturbing force P(t) is applied to the mass considered in Problem 287. The force varies with time arbitrarily within a tolerance range (Fig. 208).
The instrumental error LI of a device measuring the x-coordinate of the mass depends linearly on both the displacement x and the speed dx/dl caused by the force:
LI =alx + a 2dx/dl, where a l and a 2 are constants and md 2xldl + ex =P(I). Determine the greatest possible error LIm" at II =0.5 s (under zero initial conditions) in
the case of m = I kg, c = 0.16 kN/m, a l =0.173, and a2 = 0.008 s.
P(t)
AR
R
b
Fig. 209.
Fig. 210.
292 A dynamically stable motion of a rocket can be accompanied with small vibrations induced, primarily, by thrust spread, both linear and angular eccentricities
96
of the thrust, etc. The differential equation of small variations in the angle of pitch
(Fig. 211a) has the form 10d2 rp1M + arp= M,. Here, 10 is the moment of inertia
with respect to the axis through the center of gravity 0, arp is the restoring moment, and values of the random perturbing torque M, are assumed to be within the
tolerance range b (Fig. 211b). Determine the range of variables rp and drpldt on
the phase plane at the moment of time t, =5 s (under zero initial conditions) in the
case of 10 = 104 kg m\ a =1.6 104 N m/rad, and b =2 MN/m.
293 The instrumental error of an oscilloscope (namely, the standard deviation of
deflection angle rp of its mirror) was found in Problem 270 under the assumption
that variations in the angle rp would be considered as a random process. This assumption is valid only if the transient period is far less than the observing time and
if the current Lii can be treated as a stationary random process. For low damping
(when nlpo 1), the transient period can be of the same order of magnitude as the
observing time. Moreover, in this case, the theory of stationary random processes
is inapplicable. In order to analyze small vibrations of the oscilloscope mirror by
means of the theory of nonstationary random processes, additional detailed data on
the current Lii are needed. Namely, it is necessary to determine both its autocorrelation function and its mathematical expectation as functions of time. Determine
the greatest possible instrumental error of the oscilloscope in the case of a nonstationary random current Lii being within a tolerance range a, where
a
a
+b
0
b
t1
+a
0
a
b
b
Fig. 211.
a
Fig. 212.
= ILii I =fJio(for example, ILii I =0.05 io).

max
P(t)
max
97
294 A body of mass m is fixed on a perfectly rigid beam having moment of inertia
10 with respect to the left hinged support (Fig. 2l2a). The right support is a spring
with stiffness c and a vibration damper with coefficient of viscous friction a. The
body is subjected to a random perturbing force P(t) whose values are within a tolerance range (Fig. 212b). Determine the greatest possible dynamic reaction force
N rm.x acting upon the body and find its dependence on the coefficient a for small
nlpo. The initial conditions are assumed to be zero.
295 Solve Problem 294 in the case of a simple resonance, i.e., when the perturbing
force acting upon the body is given by P(t) =a sin(wt) with r.o =Po.
296 Consider the system described in Problem 294. Find the time dependence P(t)
such that the angular velocity rAt) at the moment of time tl =31tlpo be largest possible (Po is the frequency of free vibrations). The initial conditions at to =0 are
rAO)
=0 and drAO)/dt =ip o. The damping is absent (a =0).
297 A point mass m is fixed on a massless elastic rod of length 21, which is subjected to a Gaussian random torque M (Fig. 213). Its mathematical expectation
mM=0 and correlation function KM =DM exp(-aJ~) are given. The mass is connected to a vibration damper with coefficient of viscous friction a o Determine (1)
the vertical displacement y of the mass m, (2) the maximum normal stress O"max and
its variance in the cross section k, and (3) the system reliability, i.e., the probability of survival P[( 0;. - 0"....) > 0], where 0;. is the tensile yield stress. The quantities
0;.
and
O"max
are assumed as independent Gaussian random variables.
298 Solve Problem 297 in the case of the rod fixed at one end (Fig. 214).
299 A car moves uniformly on a rough road with Gaussian random irregularities.
If the car moves at the speed v, the spectral density of vertical displacement h of
the wheels is given by Sh = av/[21t(r.o2 + bv2)]. The car suspension is shown schematically in Fig. 215. The contraction LI of the suspension is a Gaussian random
variable, with its mathematical expectation mLl and variance O"Ll given. Determine
the probability of survival of the car, i.e., the probability P[(LI- y) > 0],
Fig.213.
98
~====::$-_Z
Fig. 213.
Fig. 214.
assuming that Li and y are independent random variables.

300 A system consists of a shaft and two disks with moments of inertia J 1 and J2
about the z-axis (Fig. 216). Disk 1 is subjected to a stationary Gaussian random
torque M. with its mathematical expectation (m M=0) and spectral density SM(m)
given. Determine the maximum torque at the restraint (at z =0) and the probability
P[( 1", - 'rna,} > 0]. Here, 1", is the shear yield stress assumed as a Gaussian variable
and 'max is the maximum tangential stress at the restraint point.
301 A top-loaded vertical antenna with a radio-transparent spherical enclosure is
shown in Fig. 217 a. The total mass of the antenna and enclosure is m. The total
moment of inertia with respect to the axis perpendicular to the figure plane and
passing through the center of mass 0 is J. At the initial moment of time t = 0, the
antenna is subjected to a short-time random aerodynamic force F due to a gust of
wind (Fig. 217b). Other aerodynamic forces acting upon the top may be ignored.
The duration Lit of the force F is given, being much less than the free vibration period corresponding to the first eigenfrequency of the system. The impulse of the
force Fis
Lit
JF
= fF (t )dt ~Fojjt ,
o
where Fo is a Gaussian random quantity, with its mathematical expectation mF and
99
Mo
I
J1
Fig. 216.
I
I
z
t---
At
J2
Fig. 217.
standard deviation (J'F given. Therefore, IF is also a Gaussian random variable, with
mJ = m~t and CJ'.J = (J'~t. The force F is directed along a line passing through the
center 0 1 of the enclosure; therefore, the antenna is subjected to the moment of
forces M =FlI and the angular momentum 1M =IFl I. The top can be considered as
a straight rod of a constant cross section. Determine the maximum deflection angle rp of the antenna beam.
Answers and Solutions
1 Vibrations of Systems with a Single Degree of

Freedom
1.1 Free Vibrations

1
= ~3EJx(a+b)1 ma 2b2;
(a)
(b)
=~/l2EJx Ima 2(4a+3b);

p = ~(cl +3EJx I mI 3 ).
(c)
Ins t r u c t ion. In accordance with the force method, the canonical form of the differential equation of motion for a system with the single degree of freedom is
y
Here,
811
= 811 (-my).
is the displacement of the load under the action of a unit force in the direction
coinciding with this displacement. Therefore, the frequency of free vibrations is
p =11 Jm811
2
(a)
(b)
(c)
(d)
=~EJx Im1 3 ;
=~48EJx I 7ml 3 ;
=~6EJx I mh2(h+b);
= ~12EJx Ima 2 (4a+3b).
As an example of the determination of the compliance (coefficients for statically indeterminate systems), we consider Problem 2d. Breaking the
constraint (under the assumption that the constraint between the load of mass m
and the base surface is bilateral), we apply the force N (the constraint reaction
104
,
tl
N
Fig. 218.
force) to the load. As a result, we arrive at the frame loaded by both the force N
and the inertial force J (Fig. 218). Using the force method, we obtain two equations in terms of the displacement of the load along the axes y and z:
= d}J + d22 N;
(1)
0= d 2 }J +d22 N;
(2)
-my.
where J =
Excluding the force N, we arrive at the expression
-o}\my,
y=
where
Thus, the vibration frequency is
5;\ = (5;}b;2 - 5;2b;\) / b;2
p = 1/ ~mo;l.
The approach used makes it possible the determination of the system compliance
01
11
for statically indeterminate problems. This approach does not require
traditional calculations (as a rule, rather cumbersome) and preliminarily uncovering the static indeterminacy with subsequently determining the displacement of
the unit force in the direction of the load shift under vibrations. If several constraints are imposed on the system, (e.g., the system is trice statically indeterminate), then the same number of algebraic equations can be obtained for finding
constraint reaction forces. Furthermore, these forces are excluded from the differential equation.
3
(a)
(b)
1.1 Free Vibrations
105
4 Similarly to the solution to Problem 2, the differential equation for small torsional vibrations in all the systems has the form
..
1
rp+-rp=O.
J81l
Therefore, the eigenfrequencies of the systems 4a-4d (see Fig. 4) are correspondingly equal to
(a)
(b)
(c)
(d)
Ins t r u c t ion: For variants (c) and (d), the systems are statically indeterminate.
Thus, in order to find q, it is necessary initially to exclude the static indeterminacy.
~ ml~"'2
6
P =~iC
9 m
8 The rotation of the gear wheel through a certain small angle rp causes a displacement of the gear-wheel center by the distance rpD / 2 . In this case, the point
A (the point of fixation of the springs to the carrier) shifts by the distance
8 = rpl - rpD / 2. With allowance for the moments of inertia of the gear wheel
J 1 = mlD 2 /8 and of the carrier J 2 = m2D 2 112, we can find the kinetic energy of the system
T _ (rfIJ+"'2)D2 + (rflJ D2
-
mlP) 2 _ miD2
8324
We express the variation of the system potential energy in terms of the spring
deformation and of the carrier helix angle:
II = 2
cf + m2g -t (1- cos rp) =[c (I - ~ ) + ~gl

2
rp2 .
Furthermore, using the Lagrange equation of the second kind, we arrive at the
expression
106
"'2g1+4c (l-DI2)2
=0
(9mJ+ 6"'2)d2+8m2z2-12"'2lD rp
.
.. + 12
rp
Hence, it follows that the eigenfrequency of the system is
p=
12m.gl-48c(l-DI2)2
..."
(9mJ+ 6"'2)D2+8m212-12"'2lD .
9 In the process of small free vibrations of the cylinder, its kinetic energy is the
sum of the kinetic energies of the rotational and translational motions
T = (1 12)J/ + (11 2)m(rrp)2.

With allowance for the moment of inertia J = Qr2 12g of the cylinder, the
equation for the total kinetic energy can be rewritten as
T=(3/4)(QI g)r2rp2.
The variation of the system potential energy is caused by stretching (compressing) the springs and lifting the cylinder when it moves over the concave surface. In the case of rotation of the cylinder through angle rp, its upper point A
shifts by the distance 8 = 2rrp . The potential energy of the deformed springs is
II J = 2c8 212 = 4cr2 rp2 .

While deviating the cylinder from its equilibrium position through angle rp, the
angular coordinate If/ of the cylinder center of mass is
Iff = rpr I(R - r).
In this case, the variation of the potential energy of the cylinder depends on its
position
II2
Q rrp2
(R-r) .
= Q(R - r)(1- cos '1') = 2
Substituting expression for kinetic and potential energies into the Lagrange
equation, we arrive at the equation for small free vibrations
rp+( t (R~r) + 136 d)rp = 0,
whence it follows that the system eigenfrequency is

_
2 q + 16 cq
P-
"3 (R-r)
3Q
As follows from the formula obtained, p ~ 00 as R ~ r , i.e., the eigenfrequency increases with a decrease in the radius of curvature of the concave surface.
10
p = ~c I (2m) - g I (2/).
11
= .Jc I Jm = 224 SI.
1.1 Free Vibrations
107
12 To solve the problem, it is convenient to employ the Lagrange equation of the

second kind.
In the case of deviation of rod AB in the course of the vibration process
through a certain angle rp from the equilibrium position, the kinetic energy of the
disk is
= mv 2 /2+ Jmqi;
(1)
where rp is the torsion angle of the rod.

The linear velocity v of the disk displacement and the angular velocity
related to the rod deviation velocity
v = lip;
ip
iff
are
by the dependences
iff = (l / R)ip.
(2)
The potential energy of the system is
II = cc/ / 2 + mgy,
where y is the variation of the vertical coordinate of the disk center of mass.
It is evident that
= 1(1- cos rp) sin a
~ (I rp2 sin a) / 2.
(3)
Substituting these relationships into the Lagrange equation of the second kind,
we arrive at the differential equation
.. + c(lIR)2+mglsina
rp
(3/2)mI2
rp - .
Hence, the system eigenfrequency is
r---=-----
p=
c(ll R)2+mglsina
(3/2)mI2
It follows from the latter relationship that the frequency p vanishes (i.e., the
system becomes unstable) when
sin a
= -cl(mgR2).
13 In the case of shifting the float by the distance L1x in the vertical direction, e.g.,
downwards, a complementary buoyancy force
(mJ2 / 4)rL\x arises.
Thus, the
differential equation of motion can be represented in the form
[~L\X+(mJ2 /4)rL\x]/1 +m2L\x(l; /11)+cL\x(l;/I)
= 0,
Therefore, the system eigenfrequency is
= ~r-(mJ-2-r-/-4-+-c-I;-:-/-/-:-12-)(-~-+-m-2-1;-I-/-/12-).
14 We set up the differential equation of motion using the Lagrange equation of

the second kind.
The kinetic energy of the disk is
= mv2/2 + J (P12 / 2,
where v is the velocity of the disk motion and (PI is its angular velocity.
108
The potential energy of the disk is
II = mg( R - r )(1- cos rp).
The angles rp and
rpl
(see Fig. 219a) and also the velocity v are related to
each other by the relationships
rpl
= R;:r rp;
V= (R - r)ifJ.
(1)
With allowance for the latter expression, the disk kinetic energy is
= [(R -
r) / r2](mr2 + J)(ifJ2 /2).
We substitute the expressions for the kinetic and potential energies into the
Lagrange equation
(mr2 + J)rp + mg[r2 / (R - r)]sin rp
= O.
(2)
In the case of small vibrations ( sin rp ~ rp), the vibration frequency is
= ~mgr2 / [(R -
r)(mr2 + J)].
We now derive the differential equation of motion using the d' Alembert
method. According to Fig. 219b, we may write out
mX
my
= - N cos rp + F cos rp;
= N cos rp + F sin rp -
(3)
mg;
JijJ = -Fr,
(4)
(5)
Here, N is the normal pressing force and F is the friction force between the hub
and the guide, which hampers slipping the disk.
r
a
Fig. 219.
Multiplying Eqs. (3) and (4) by costp and sintp, respectively, we obtain after
summation
1.1 Free Vibrations
m(x cos cP + ji sin cp) = F - mg sin cpo
109
(6)
Furthermore, using Eqs. (1) and (5), we write out the expression for the friction force
(7)
We now express the coordinates of the disk center of mass in terms of the angle rp:
= (R - r)sin cP;
= (R -
r)(1- cos cp).
(8)
Substituting relationships (7) and (8) into Eq. (6), we arrive at Eq. (2) derived
above by the Lagrange method.
15 The solution of this problem is similar to that of Problem 14. The differential
equation for small vibrations has the form
(mR2 + 2J)ijJ + CR2 cp = 0,
where
({J is
the wheel rotation angle.
16
..
cP +
p
= 31\:~~2g;
CPOmin
3(R-a)g
[2+4a2
0'
cP - ,
= f.l(l2 + 4a 2 ) / (12 + a 2 + 3Ra).
17
18 Analyzing motion of the load, we consider an arbitrary moment of time when

the contact point is shifted to the position B (Fig. 220a). We decompose the total
contact force into two components N x and Ny. Then, the differential equation
of motion can be represented in the form

(1)
where Ax and ~y are the displacements of the load center of mass in the course
of the vibration process.
Using the d' Alembert principle, we consider the sum of the moments of all
forces with respect to the center
Jc~
cP =
Ct
of gravity of the load:
Ny(ABcos(~ cP- ~ CPt)- ~x)cos~
Taking into account the fact that
AB = Rt ~ CPt
cP- Nx(a + ~y).
= R2 (~cpt -
(2)
~ cp), we find
110
a
Fig. 220.
Am -
U r1 -
The quantity
i1({J.
M'
~y = AB ~rp = R1R2
't:
~x
= a~rp.
is of a higher order of smallness.
Therefore, substituting Eq. (1) into Eq. (2), we obtain the differential equation of
motion
(J c + a 2m)11 rp + mg(R1R2 / I1R - a)11 rp = O.
(3)
Thus, we find the eigenfrequency
p = ~r-[m-g-/-(-J-c-+-a-2-m-)]-(R-1-R-2-/-11-R---a-).
In the case of rotation of the flywheel, we can neglect the free-fall acceleration
and represent the differential equation of free vibrations of the load in the form
(see Fig. 220b)
= -Nx + m{j}2r~ '1'; ~ 'I' = (a / r)~ rp;

Jc~ rp = Nxa - m{j}2r(R1~ rp1 - ~x),
m~x
where
11 rp1 = 11 rpR2 / ~R and I1x = a~ rp.

Excluding ~ '1'; 11 rp1; ~; and N from the equation, we arrive at
(J c + a2m)~ rp + m{j}2r[(R1R2 - a~R - a2~R / r)~R]~ rp = O.

Hence, the eigenfrequency of load vibrations is
p = ~[mo/r / (J c + a 2m)](R1R2 / ~R - a - a 2 / r).
1.1 Free Vibrations
111
19
P=OJ.fRiT.
20 The position of the pillar at an arbitrary moment of time is shown in Fig. 221a.
Taking the sum of the moments with respect to the hinge, we arrive
at the relationship
- PI - mgy + ~a
= o.
(1)
Since ~ = 2c 2 (Yl - ~y) and Yl = ya / I, we obtain after certain transformations the differential equation for small free vibrations of the pendulum
my I + 2c2 (ya / 1- ~y)a - ngy = O.
(2)
The flexure ~y (Fig. 221b) is
~y
= P(l-a)2 a / (3EJJ = [a(l-a)2 / (3EJ x )](my).
(When determining Lly, we ignore an effect of the gravity force, therefore,

~
= PI/ a.)
After the transformations have been performed, we obtain from Eq. (2)
.. =
2c2a 2 /l-mg
a2u-a)2] y
m 1+2c2 3EJ
[
=0
In the case of small vibrations, the eigenfrequency of the load is
a
Fig. 221.
112
2c2a2 !l-mg
2a23~:f]Y - .
m[I+2C
As
EJx
00
and
a = 1/2 , we arrive at
p=~c/(2m)-g/21.
21
= w~mrl / J B
22 In the case of small vibrations of point mass m, it is subjected to the forces

shown in Fig. 222a (in the rotating coordinate system). They are the inertial force
J = -myo' the centrifugal inertial force F = mw 2 (R + 1), the Coriolis iner-
tial force Fe = 2mwyo (owing to the relative character of the velocity of motion), as well as the forces Q and N acting from the side of the elastic rod. Projecting the force F onto the axes y and z and assuming both vibrations and the
angle pto be small, we may consider that the load is shifted only along the y axis.
Therefore, using the d' Alembert principle, we arrive at the two following
equations:
myo + Q- mw 2 yo = 0,
2mOJj;o + mw (R + 1) = N.
2
1r-c;:~-~
O~--~--~--~--~--~~~
Fig. 222.
(1)
1.1 Free Vibrations
113
In the case of small vibrations, an effect of the Coriolis force on the axial force
can be ignored, i.e., we may assume
= mal(R + 1).
(2)
Analyzing the flexure of the rod (see Fig. 222b), we arrive at the equation
EJxY"
= -(Yo -
y)N + Q(l- z),
or
(3)
The solution to Eq. (3) is of the form
= C1 coshaz+C2 sinhaz+ Yo -(QI N)(l-z).

From the boundary conditions z = 0, y = 0, y' = 0, we find
(4)
C1 and C2 :
(5)
Since y
= Yo
as z
= 1, from solution (4) with allowance for relationships (5),
we obtain
Q[(l I N)coshal-(l1 aN)sinhal]- Yo cosh a
= O.
(6)
Using Eq. (1), we exclude Q from Eq. (6). As a result, we arrive at the equation
. +[
Yo
cosha/a 3Jx
(alcoshal-sinhal)m
m =0
2J
m Yo = .
(7)
0), after the uncertainty has

been unraveled, the bracket in Eq. (7) is equal to 3EJx I ml 3 . This corresponds
We can show that in the case of
(as
to the eigenfrequency of the point mass. The vibration frequency of the rod is
P =
ity
(al)3 coshal
3(alcoshal-sinhal)
(al)2
(
=
3(l+R/l) ' Po
3EJ I ( /2))
x
(8)
The product al that enters into expression (8) is related to the angular velocand to the load vibration eigenfrequency Po by the relationship
OJ
at
= ~3(l + R I /)(m I Po)'
23 If a force directed along the y axis is (statically) applied to the load of mass m
(Fig. 223a) then the forces Q and N act on the rod. These forces can be expressed
as
Q = P+ mw 2 yo;
N
= Mm2(R + I).
(1)
(2)
114
Fig. 223.
We imply that the rod rigidity is described by the ratio
Yo
c = PI Yo and find
using the approximate formula for flexures in the case of the transverse-
longitudinal bending:
(3)
where
= Ql3 1(3EJJ.
Substituting relationships (1) and (2) into expression (3), we obtain after certain transformations
Yo
[1- 3EJx(~2~/ Pc) ] 3~!x (1 + N 1Pc) = P.
Hence, the system rigidity (with due regard to the centrifugal inertial forces) is
C
= Co [1 + (41 ;r2)(ali - moi,
where
Co
=3EJx /13; a 2 = N I(EJx) = moi(R+l)1 EJx'
Based on the known system rigidity, we find the approximate expression for the
eigenfrequency of load vibrations:
r-----------------~
PI=PO
1+(4/;r2)(al)2-3(\~~~l)"
The numerical values of the ratios
pi Po
and
PI 1Po
(4)
for
R =I
Table 1.1.
The curves for the ratios
pi Po
and
solution are presented in Fig. 223b.
PI 1Po
related to the exact
are given in
1.1 Free Vibrations
115
Table 1.1.
all
p/ Po
PI/ Po
0.5
0.701
1.111
1.382
1.732
2.108
1.443
1.091
1.031
1.112
1.391
1.761
2.176
2.614
3.066
3.527
[We imply formula (8) in the solution to Problem 22 and formula (4) in the
solution to Problem 23, respectively.] As follows from the curves, only within the
range
0 < al < 4, the quantities Po
and PI are little different from one another
(the difference is no more than 4%). In the case of

use formula (4) for determining the frequency.
al > 4,
it is not possible to
24 The position of the load of mass m in the equilibrium state and with allowance
for inertial forces (the load is shifted by the distance YIO) is shown in Fig. 224a.
In this figure, the position of the load is indicated for the case that there is an additional time-dependent shift Y2k. The forces acting on the load are shown in
Fig. 224b. Here,
F2y and F2x are the components of the force F2 (see
Fig. 224a); J is the inertial force, Q and N are the forces acting on the load from
the side of the elastic rod. Apart from these forces, the load is subject to the
Coriolis force (see the solution to Problem 22) that can be ignored in the case of
small vibrations.
The equation of motion for the load has the form
J +F2y -Q=O,
or
mY2k - moi(ll + YIO + Y2k) + Q = O.
(1)
The forces Q and N can be represented as
Q = Qo + ~Q; NF2z = moll,

where
Qo = mol (II +110)
(2)
is the force acting on the mass m in the deviated
equilibrium state; ~Q is an additional force caused by the vibrations.

In the case of small vibrations, the force N (without allowance for the Coriolis
force) is invariable in both static state and vibratory state.
Equation (1) with due regard to relationship (2) takes the form
mY2k - molY2k + ~Q = O.
(3)
The differential equation for the arched rod axis can be written out as
EJxY" = -N(ylO + Y2k - y) + (1- z).
(4)
116
a
:1
---
Fig. 224.
Since
Y = Yl + Y2
(see Fig. 224b), excluding from Eq. (4) tenns that characterize
the equilibrium condition, we arrive at the equation
Y2, -aY2
f1Q (/
)
= -a 2Y2k + EJ
-z.
x
(5)
The solution to Eq. (5) is of the fonn
Y2
As
C1 chaz + C2 shaz + Y2k -(I:1QI N)(l-z).
z = 0, the conditions Y2
=0
and
Y;
=0
(6)
must be valid, which is possi-
ble provided that

(7)
As z = / , taking into account expression (7), we obtain from relationship (6) the
dependence
1.1 Free Vibrations
~Q
11 7
RJxCal)3coshal
Y2k t3(alcoshal-sinhal) .
Finally, the equation describing small vibrations of the load of mass m can be
written out in the form
..
Y2k
EJx (al)3 coshal

mt3(alcoshal-sinhal)
0/ ]Y2k =0.
The vibration frequency of the load is

_
P - Po
(al)3coshal
( OJ
3(alcoshal-sinhal) Po
)2 ' (2
_ 3EJ
Po - ml3
x )
25 The equation describing small vibrations of the load of mass m (see Fig. 225) is
of the form
mj\ -mO/Yk +Q=O.
(1)
We now write out the equation for the arched rod axis:
EJxY" = N(Yk - y) + Q(l- z),

or
y"+a 2y=a 2Yk+(QIEJJ(l-z),
(a 2 = E~J
(2)
After Eq. (2) has been solved, we have

(3)
= C] cosaZ + C2 sinaZ + h + (Q I N)(l- z).
Y = Y' = 0 as z = 0, we obtain the following expressions for the con-
Y
Since
stants C] and C2 :
C]
= -(Yk + Ql IN);
C2
= Q l(aN).
11
,
R
Fig. 225.
As z
= I, we have Y = Yk
Thus, it follows from Eq. (3) the dependence
118
Q = [EJx a 2cosal I(sinal-al cosal)]Yk'

Excluding Q from expression (1), we arrive at the equation for small vibrations
of the load:
Yk + p~ {(al)3 cosal/[3(sinal-al cosal)] - (wi PO)2}Yk
= O.
Thus, the vibration frequency is
P = po~(al)3 cosal 1[3(sinal-al cosal)]-(w I PO)2.

26 In this case, the load deflected from the equilibrium position by the distance
Yo ' in addition to the inertial force my0

the centrifugal force
mw 2Yo'
and to the elastic force
cyo' is subject to
Therefore, the differential equation of motion has
the form
myo +(c-mw2)yo
= O.
Thus, the frequency of natural vibrations is
.J
P = elm - w2 ,
i.e., in the case that
elm - w2 P = 0 , the motion becomes unstable.
27
P = )21'0 I(ml).
28 We consider the state of mass m, which corresponds to a deviation from the
equilibrium state (Fig. 226a). In accordance with the d' Alembert principle, we can
write out
or
y+ 1'oyl I[mxo(l-xo)] = O.
Thus, the load eigenfrequency is
P = ~1'o1 I[mxo(l-xo)].
The plot for this dependence is presented in Fig. 226b.
29 In the process of vertical vibrations, the load is subject to the following forces:
the inertial force mv, the gravity force mg, and the restoring force N of .
The corresponding differential equation of motion has the form
mv+aF=mg,
where
(1)
1.1 Free Vibrations
119
..
-fI1!J
11
JJ
,x,
XI}
a
11
Fig. 226.
v=Rm+tu.
The total stress
(j
in the rope can be considered as a sum of the static stress
and the stress caused by elongation
8.x of the vibrating rope:
aF=mg+EFAx/x,
(2)
where
x= Rmt =vt.
With allowance for expression (2), we can rewrite Eq. (1) as
mD.i + 8.xEF /( vt) = O.
(3)
The differential equation (3) is the Bessel equation whose complete integral
can be represented in the general form as
(4)
where
CI and C2 are the integration constants, r = 2.JEFt / mv is the dimen-
sionless variable, and
II'
~ are the first-order Bessel functions of the first and
second kind, respectively.

We now calculate the velocity of motion for the mass m:
120
(5)
Using the well known relation between the Bessel functions of the zero and
first order, we arrive at
rloCr) =
iT [rIl(r)];
r1'o(r) =
iT [r~(r)].
We now represent Eq. (5) in the form
AX = [C/o(r)+ C2 1'o(r)][2EF /(mv)].

The integration constants are found from the boundary conditions
and
L1x = L1Xo as t = to):

CI =-A~(ro); C2
A=
(6)
(,ix = 0
= All (ro);
~04to1z-6
II(TO)YO(TO)-Io(z-o)l!(TO) .
We obtain the final solution to the problem in the form
,ix = Ar[II (ro)~ (r) -
~ (ro)II (r)].
(7)
We now find the sequential moments of time for which the moving mass
passes by the equilibrium position, i.e., the moments of time corresponding to
,ix = O. As follows from solution (7), these moments of time are determined by
the relationship
II (r)/ ~ (r) = II (ro)/ ~ (ro) = const.
(8)
In accordance with the setting of the problem,
ro
= 2~EFto / mv = 2~r--1O-1O-.-1O---5.-1-/(-10-0-.1-) = 63.2.
From the solution to Eq. (2), we obtain the moments of time Tn for which the
rope elongation is equal to the static elongation.
We now analyze a particular case of initial conditions. We assume that to = 0,
therefore,
10 (0) = 1 and 1'0 (0) = 00 . By virtue of the boundedness of the veloc-
ity, it follows from Eq. (6) that
C2
= 0, CI = ,ixmv /(2EF) , and the solution
acquires the form
,ix = rII(r)AXomv/(2EF).
Hence, it follows that
,ix =0 as II (rn) =O. For finding the roots rn, the
handbook (Janke E. et al., 1960) can be used. Thus, we determine r l
r 2 =7.01, r3
= 10.17, etc.
Moments of time
tn for which ,ix = 0 are

tn
= r~mv /( 4EF).
=3.83,
1.1 Free Vibrations
121
30 In order to derive the differential equation for the motion of the load, we employ the Lagrange equation of the second kind. At any arbitrary moment of time,
the position of the body is determined by two coordinates, namely, by the angle rp
of the deviation from the static position of the load and by the length I of the unwound portion of the rope. Since I = OJRt is the known function of time, we
choose the angle rp as the generalized coordinate.
In a Cartesian coordinate system, the kinetic energy of the moving load is expressed as
where
x = I sin qJ, y = I cos qJ.

Therefore, the kinetic energy of the load is
T = O.5m[(l sin rp + lq,cosrp)2 + (l cosrp -lq,sin rp)2 + 0.5m(12 + 12rp2)].
(1)
The potential energy corresponding to the deviated state of the load is
II = mgl(l- cos qJ).
(2)
Substituting Eqs. (1) and (2) into the Lagrange equation
d(oT)+m_O
t3ip
&p - ,
dt
we arrive at the differential equation of motion in the form
iP + (2i / l)riJ + (g / I) sin qJ = O.

Assuming the deviations to be small (sin qJ ~ qJ ), we obtain with allowance
for the time dependence of the unwound portion of the rope (I = OJRt) that in the
case of small free vibrations, the differential equation can be written out as
iP + 2ip / t + gqJ /(mRt) = O.
(3)
In the case of ascending the load, the free length of the rope at an arbitrary
moment of time (under the assumption that 10 = OJRto) is
1 = 10 - OJRt = OJR(to - t) = OJRt" (tl
= to - t),
so that the differential equation of motion takes the form
iPt1
2qJt1 / tl + gqJ / (OJRt l ) = o.
(4)
The solution to Eq. (3) can be represented as
qJ = (CI / 1')11(1') + (C2 / 1')1';(1'),

Here,
(5)
II ( 1'), 1'; ( 1') , are the first-order Bessel functions of the first and sec-
ond kind, respectively, and l'
= 2~ gtl / (OJR).
The integration constants are found from initial conditions of the problem
(qJ = qJo and riJ = 0 as t = to).
122
Differentiating Eq. (5) with respect to time with due regard to the well-known
relationships
1. [tII(T) ] = tI (T);
1. [t ~ (T) ] =- t 1'; (T),
2
(Janke E. et al., 1960), where 12 ( T) , 1'; ( T) are the second-order Bessel functions of the first and second kind, respectively, we arrive at
cP = -(Cl2 (T)/ T+ C2 1';(T)/ T).
From initial conditions, we have
CI = tpoTo1';(To) / [II ( To)1';( To) - I 2 ( To)~( To)];

C2 = -tpo TO 12 (To) / [II (To )1';( To) - I 2( To)~ (To)].
Substituting the expressions found for the integration constants
CI and C2
into equation of motion (5), we obtain

_
TO
II (')Y2('0)-l! (.)12('0)
tp - tpo -; II('0)Y2 ('0)-I2 ('o)l!('0)
We now represent the solution to Eq. (4) in terms of the Bessel functions:
where 13 ( T), 1; ( T), are the third-order Bessel functions of the first and second
kind, respectively.
The integration constant are determined from initial conditions of the problem
much as it was done in the case of solving Problem 29.
In the final form, we have
_
.3 13 (')Y2('O)-Y3(.)12 ('0)
tp - tpo
'5 13 ('0)Y2 ('0)-I2 ('O)}3 ('0) .
The case of descending the load should be analyzed independently.
31 The differential equation describing small free vibrations of a system with the
single degree of freedom has the form
my+cy = 0,
(1)
where y is the vertical displacement of the rope and c is the bending rigidity.
In order to determine the latter quantity, we apply the unit force P at the fixation point of the load. Then, we find that the bending rigidity is c = 1 / y I ' where
Y1 is the flexure caused by the unit force.
The differential equation for bending the beam lying on the elastic base is of
the form
or
(2)
where
1.1 Free Vibrations
123
We now represent the solution to Eq. (2) as
Y = y(O)VI + y'(0)V2 + y"(0)V3 + ym(0)V4
(3)
y(O), y'(O), ... are the values of the beam flexure and of its derivatives
at the origin (i.e., at X = 0) and V i(X) is the Krylov function:
Here,
VI
V3
=coshfJxcosfJx; v2
= 2~(coshfJxsinfJx+sinhfJxcosfJx);
= 2~2 sinh fJx sin fJx; v4 = 4~3 (cosh fJx sin fJx -
sinh fJx cos fJx).
Assuming that the origin is chosen in the middle of the beam (at the load fixation point), we can write out the boundary conditions that allow determining
y(O), y'(O), '" , etc.:
0, y'(O) = 0, y'''(O) = -1/ 2EJx'

for X = I / 2, yeO) = 0, y"(O) = o.
for
hVI' =
Tak
mgmto account t at
tain
(0) -
- YI -
-4fJ4,
v 4' v2
Vi'V3" = V2 , v4 = v 3" we 0 b-
2fJ4 V2 (fJlI2)v3(fJlI2)-vl (fJlI2)v4(fJlI2)

b
v[(fJlI2)+4fJ4 v'f(fJlI2)
We now calculate the system rigidity
c = 1/ YI . To this aim, we initially find
the quantity /3:
fJ=~k/(4EJJ; fJ=Iml.
In this case, fJI / 2 = 1 2 / 2 = 1, c = 1/ YI . After the value of Y has been
calculated, we find c = 1/ YI = 9.44 kN/m. Then, the frequency of natural vi1
brations is
= -Jc / m = -J9440 /100 == 9.7 c-
32 By analogy with the solution to Problem 31, the equation for bending the beam
has the form
= CIVI + C2 V2 + C3V3 + C4V4
Placing the origin at the left edge point of the beam, we find
CI = C2 = 0 .
For the cross section X = I, we have Y" = 0, EJxY'" = -1. Using these
boundary conditions, we can find the flexure caused by the unit force:
YI
(I) -
v2(fJI)v3 (fJI)-vl (fJI)v4 (fJI)
- EJx v[(fJI)+4fJ4v2(fJI)v4(fJI)
With allowance for fJ =
0.01 cm- 1 and fJI = 1, we find the rigidity of the
system
c = 1 / YI' or
and the natural frequency of vibrations
= 3.8kN/m,
124
p =,Jc / m = ,J3800 /20 = 13.8 c'.

33 The rigidity of the system is determined in the same manner as in Problem 31.
For the determination of initial parameters entering into Eq. (3) of the solution to
Problem 31, we deal with the following conditions: y = 0, y' = 0 as X = 0
= EJx y = -1 / 2 as X = I. In this case, the flexure of the beam at the

load fixation point (x = I) under the action of a unit force is
and Q
v'j (PI)-vz(PI)v4 (PI)
y\ (I) - 2EJx
v\ (Pl)vz (Pl)+4p4v3 (Pl)v4 (PI)
In the case under consideration
f31 = HJr--k -/E-'j-x'
or
f31 = 0.25,
and the load eigenfrequency is
p = ~ my~ (I)'
or
= 87 c'.
34 The Rayleigh method is based on the equality of the maximal values of the kinetic and potential energies in the case of vibratory conservative systems:
Tmax
= IImax .
The maximal kinetic energy of the system is
Tmax
= 0.5my; +0.5! mol dz.
Here, the second term represents the maximal value of the beam kinetic energy.
The maximal potential energy (beam bending energy) is
IImax
= 0.5ey; ,
where
c = 3EJx /13.
The beam flexure under vibration can be represented in the form
y(t, z) =y/z)sinpt.
The function y\ (z) must qualitatively correspond to the expected shape of
vibrations and satisfy the boundary conditions of the problem.
In the case being discussed, the equation for beam bending under the action of
a certain force Q applied to the mass m (see Fig. 227) can be taken as y\ (z). In
this case,
_
y\(z)-
Q[3
EJ
x
[327
( )2 -21(z)3]
7 .
Z
This function satisfies all boundary conditions of the problem (y\ = y{ =

as Z = 0 and y" = 0 as
system kinetic energy:
= I). We now calculate the maximum value of the
1.1 Free Vibrations
125
~------~----~~Q
11
Fig. 227.
or
Tmax
where
_ p2 ( QI3 )
3EJx (m+ f.lmol),
-2
P=}l[1(f)' _t(f)3]dZ
0.236
is the coefficient used in the
determination of the system reduced mass.

The maximal value of the potential energy is
TImax = (c / 2)[QI3 / (3EJJf

and TI max , we find the natural frequency
Equating Tmax
system according to the formula
for vibration of the
p = ~c / (m + JIfI'lol) = ~c / [m + (33 / 140)mol]'

35 The solution to the problem is similar to that presented above. We choose the
function of beam flexure in the form
Yt(z)
= Yo sin1lZ / 2/.
In this case, the coefficient of the mass-reduction is

r21
f.l = il.h sin 2 ~i dz,

and the vibration eigenfrequency is
p = ~,....~-/(-m-+-m-o/-),
where
= 6EJx
13
After the calculations have been performed, we arrive at f.l
=1 .
126
If we take as the flexure function the flexures caused by a certain concentrated

force applied to the mass m then the beam mass reduction coefficient becomes
equal to. J1 = 34/ 33 ~ 1.03.
36 The formula for calculating the eigenfrequency of the system has the form
= ~ c / (m + f11'YlJ),
where c is the system rigidity, /J is the mass reduction coefficient, and m, is the
distributed mass of the system.
The parameters c and /J, which correspond to the schematic diagrams presented in Figs. 32a-32f, are, respectively, equal to
c = Gd 4 / (8D;), J1 ~ 0.333;
c = EJ)/3,
J1 ~ 0.121;
c = 96EJx /7/3, J1 ~ 0.445;

c = 24EJ) 13 , J1 ~ 0.371;
c = 3EJ)3 / (a 3b 3), J1 ~ 0.522;
c = mJ 4G / (66a),
where i is the number of turns in the spring. The coefficient /J is determined with
allowance for particular boundary conditions for schematic diagrams shown in
Fig. 32 (see the solution to Problem 34).
In the case of the schematic diagram presented in Fig. 32e, it is necessary to replace the mass m by the moment of inertia J in the formula for the determination
of eigenfrequency.
1.2 Free Vibrations of a System with Allowance for

Resistance Forces
37 The differential equation for small free vibrations of the mixer shaft is of the
form
JijJ + alp + crp = 0,
or
(1)
where
2n = a / J,
p2
= c / J.
n = 1.2 /(2 . 0.5) = 1.2 s-\ and

p2 = GmJ4 / (32lJ) = 19.6 s-', or p = 4.43 s-'. Since p > n, the damping
According to the formulation of the problem,
periodic regime arises, and the solution to equation (1) describing free vibrations
takes the form
1.2 Free Vibrations of a System with Allowance for Resistance Forces
rp = e-l.2t (C1 cos4.25t + C2 sin 4.25/).
127
(2)
The integration constants C1 and Cz can be found from the initial conditions of
the problem: rp = rpo and cp = 0 as 1 = 0 (rp is the twist angle of the uniformly rotating shaft).
the shaft
In the case of the shaft uniformly rotating at an angular velocity
twist angle is
n,
rpo
= -aQl c.
Using the initial conditions, we find C1 = -aQ I c and C2 = O. With allowance for this fact, equation of motion (2) acquires the form
rp = _( d~ )e1.2t cos 4.25/.

The time 1* necessary for the vibration amplitude to decrease by a factor of 10
can be found from the condition e -1.2t. = 0.1. Hence, it follows that I. = 1.9 s.
38 The differential equation of motion has the form
iP + 2ncp + p~rp = 0,
where 2n =
"y 4(D;~) pv; and J is the moment of inertia of the cylinder.
We now calculate
Po2 =
GJp
Ll
= 8.10 "d532 ::::: 1 .02

5
L-32,,~4Hp
S-2
and 2n = 0 046v
..
Since
'0=
~=6.5s,
po-n
we finally arrive at
n = p~ - 4~2
(1.02)2
4'i!:~~2
= 0.295 s-' and
= 12.826 mls.
39 Based on the force method, we obtain the following differential equation for
small free vibrations of mass m:
(1)
Equation (1) contains yet another unknown quantity Yk because the resistance
force is applied to not the mass m but to the inertialess beam at the point K. Therefore, we should analyze a further equation relating the displacement of the point K
to the forces acting on the system.
In accordance with the force method, we have
(2)
Thus, the analysis of free vibrations of mass m is reduced to solving the set of
equations (1) and (2). We seek the solution in the form
128
= AeAt ;
Yk
= BeAt.
As a result, we arrive at the characteristic equation of the third degree in the

form
a(022 _ 012 )..1,3
021
all
+_1_..1,2 +
021
a022 ..1,+_1_= 0
011 021m
011021m
.
The problem being analyzed corresponds to problems with a fractional number

of degrees of freedom (in the case under consideration, we deal with one and a
half degrees of freedom).
40 We set up the differential equation of disk motion. The disk is subject to the inertial moment - J ijJ, to the moment - C rp of the spring resistance forces, and to
the moment - a> of the damper viscous resistance. Therefore, we can write out
JijJ + a> + crp = 0,

or
ijJ + 2n> + p2rp = 0,
where J
= Jl'D;~P = 1.57 10-3 kg.m\ 2n = a / J, and p2 = C /
J.
The spring stiffness is

C --
EJx -
Edt
Jl'~i - 67 ~i,
0938
C =.
m.
In the absence of damping, the system eigenfrequency is
p
The
To
logarithmic
= 27'( / ~ p2 - n 2.
= ~c / J,
decrement
is
= 24.3s-
determined
as
<5 = n To '
where
Hence, it follows that the reduced coefficient of the vis-
cous-resistance force is
n = <5p / ~02 + 47'(2;

and the coefficient of viscous resistance is
a
n = 5.64,
= 2n Ii = 25.64/ 1.57.10-3 = 7.18.10 3 N m s.
41. We write out the differential equation describing free vibrations of the system
in the form
..
a ' cl+mg
0
rp + 2ml rp + --zmrrp = ,
where a is the coefficient of viscous resistance to the motion.

The system eigenfrequency in the absence of damping is
= ~(cl + mg) / 2ml.

Using the formula c = Gd 4 / (80 3 i), we find c = 333 kN/m, which yields
p = 14.0 S-I. The damping period of vibrations is
p
whence it follows
n = ~ p2 - 41r2 /
129
,g .
Upon substituting values of the variables and calculating, we obtain n == 12.5 s!.
The coefficient of resistance to the motion, we find from the condition
2n = a / (2ml), i.e., a = 4nml = 4 12.5 100.15 = 75 N m s.
42 In the case of motion of the piston in liquid, it is subject to the inertial force
my , to the spring elastic force ey, and to the resistance force developed by the
damper. The resistance force is proportional to the velocity of the fluid flow
through the orifice in the piston, and, hence, to the velocity of piston motion
F=aj.
Using the d'Alembert principle, we arrive at the differential equation of piston
motion
Y+ 2ny + p2 Y = O.
(y
(1)
Taking into account initial conditions of the problem under consideration

= Yo and = 0 as t = 0 ), we represent the solution to Eq. (1) in the form
y = yoe-nt cos(~ p2 - n2 . t).
(2)
The reduced coefficient of viscous resistance can be calculated by the formula
= [41r.uH / (mz)](D / e)4.
After the calculations have been carried out, we arrive at
p2
The time
tl/2
= e / m = 3.10 2 /2.73 = 1098.9 S2.
5.42
SI
and
required to decrease the deviation of the piston from the equilib-
rium position by a factor of two, we find from the condition y = 0.5 Yo' Substituting the values obtained for nand pinto Eq. (2), we determine the desired time
using the relationship
-nt
05
. Yo =yoe ,
whence it follows
tl/2
= 0.14 s.
43 The moving load is subject to the inertial force
-mi, to the spring elastic re-
sistance force 2ex, and to the resistance force ax of liquid. With allowance for
these forces, the differential equation of load motion can be represented in the
form
where
X + 2m + p2 X = 0,
n = a / 2m = 500/ 250 = 5 SI and p2 = 2e / m = 2.~~OO = 40
S2.
130
Taking into account initial conditions, we obtain the solution to the equation of
-nt
motion of the load in the form
X = xoe
cos PIS, where
PI
= ~ p2 -
n 2 = 3.87
S-I.
The vibration damping time
t.
can be found from
the condition
whence it follows
44 In accordance with the d' Alembert principle, we set up the differential equation
of load motion in the form of the equilibrium equation under the deviation of the
rod through a certain small angle f{J'.
mglrp = ml2ip - ca 2ip - a 2aip = O.

Using the denotation 2n
(1)
= a 2a / (mI2), p2 = (ca 2 - mg/) / m1 3 ,
we
write out differential equation (1) as
ip + 2nip + p2rp = O.
For n
(2)
= 0, the system under consideration has the eigenfrequency

P = ~(ca2-mg/) / m1 3
In order to determine the logarithmic decrement of damped vibrations, we cal-
8D 3 i . Upon substituting numerical values,

we obtain c = 10 kN/m and p2 = 1600 S-2, or P = 40 S-I.
culate the spring stiffness

The
reduced
n = a 2a / (2mI2)
= Gd 4
coefficient
= (0.2
of
damper
resistance
is
= 24 S-I. The eigenfrequency

of damped vibrations is PI = ~ p2 - n 2 = .J1600 - 576 = 32 S-I. The period
of damped vibrations is To = 27r / P = 6.28 / 40 = 0.157 s. Thus, the logarithmic decrement is 8 = nTo = 240.157 = 3.768.
2
3 .10
2) /
2 1 0.5
45 In the case of deviation of the level of the liquid column from the equilibrium
position by the height x, the differential equation of vibrations, which is obtained
from the Lagrange equation of the second kind, acquires the form
.. 2 nx+px=
2
0,
x+
where
2n = a / m = 4a sin 13 / [mi 2 ps(1 + sin 13)] ;
p2
= (2g / s)sinfJ,
(since the gravity force of an unbalanced column of liquid is 2xgpm1 2
= ~ p2 -
Hence, it follows that the vibration frequency is PI

tion period is To
131
4 ),
n 2 and the vibra-
= 27r / PI.
46 While moving (from the right to the left) the load of mass m from the initial
position, we can write out the differential equation of motion as
mXI
Since x
= Xo
and X = 0 as t
XI -_( Xo
where
+cXI -F, =0.
(1)
= 0, the solution to Eq. (1) has the form
F, ) COSp t +-2'
F,
--2
mp
mp
(2)
P =.Jc / m.
We can find the time tl corresponding to the load motion from the right to the
left from the condition XI (tl)
= O. Therefore,
tl = 7r / p.
The maximal deviation of the load to the left from the neutral position is
xlmax = -xo + 2F, / mp2.

In the case of the load motion from the left to the right, the differential equation of motion (the Coulomb friction force changes its sign) is represented in the
form
(3)
For initial conditions

of the form
X2
x2 = XI max , X2 = 0
= (Xo -
as t
~~ )cos pt -
= tl , the solution to Eq. (3) is
(:;2)'.
After each half-period, the vibration amplitude decreases by
2F, /(mp2).
Therefore, we may write out for the nth half-period
xn
= [xo -(2n-l)F, /(mp2) cos pt+ (-ly-I F, /(mp2).
Vibrations of the load continue so long as
F, < C /
x(m-I)max
47 When twisting of a free spring through a certain angle rp, the spring length
changes by A. In the structure under consideration, the axial displacement of the
disk is absent, i.e., A. = O. Therefore, the reaction force N arises in the supports.
In order to determine the structure rigidity, we write out the following equations
for displacements:
132
(1)
811 , 812
Here,
8 21 , 822
are twist angles and
are axial elongations of the free
spring subject to a unit moment and a unit force, respectively.

We now calculate the coefficients 8ij. To do this, we apply to the spring an
external torque 8 = 1, which causes the internal torque
internal bending moment
Mlb
= 1 cos a
MIt
= 1 sin a and the
(a is the helix angle of spring turns).
The application of a unit axial force also causes the appearance of the internal
torque
M2t
=1 R cos a
and the internal bending moment
M 2b
=1 R sin a
(R is the radius of friction surfaces). Following the Mohr method, we have
II
r27rRi Mlb
GJp
.l:J
ds +
r27rRi
.l:J
MI~ d s = 27r Ri (sin2 + cos2
EJx
GJp
a).
EJx
'
(2)
(3)
(4)
where i is the number of turns in the spring.
The solution to the set of equations (1) with allowance for
possible to obtain the following relationship:
A =0
makes it
rp=c/ M,
where
and
CI
= 812 /(811 812 -81;).
In accordance with the solution obtained, the moment of the friction force is
Mf
= JlNR = JlclrpR = cOrp.
Here, C * = pRcl and J1. is the coefficient of the Coulomb friction, and R is the
radius if the friction surfaces.
In the last relationship, the minus sign is absent because ofthe existence of two
friction surfaces, and M f is independent of the fact what is the contact surface.
Thus, in the process of vibration, the following moments act on the disk: the
moment of inertial forces J rp, the moment of the spring resistance force crp,
and the moment of the friction force
the velocity
form
ip
c rp, which is always directed oppositely to
of motion. The differential equation of motion, we represent in the
J + cljJ + sign~ qJ = 0,
where the term
sign qJ
133
(5)
implies the sign ofthe velocity of motion.
According to the formulation of the problem, at I =

from the equilibrium position through angle qJo.
0, the disk is deviated
For the fIrst quarter of the vibration period (as qJo ~ qJ ~ qJOI ), the differential
equation of motion has the form
ip+(c/l +c / J)qJ =O.
The necessary condition for disk motion is the validity of the inequalities
cqJo > c qJo or M > M f as is indicated in the formulation of the problem.

The solution to the equation of motion for the fIrst quarter of the vibration period is of the form
where
kl
= ~(c-c)/ J o.
= 1l / 2kl .
In the case of passing by the equilibrium position ( qJ = 0), the signs of both
The time of motion in the fIrst quarter of the period is II
the resistance force moment and inertial moment change. At the same time, the
sign of the Coulomb friction force moment conserves because of the conservation
of the sign of the velocity ljJ. Therefore, we can describe motion in the second
quarter of the period by the differential equation
+ (c + c )qJ / J = O.
Taking into account initial conditions of motion (qJ =
I
= II)' the solution to Eq. (6) can be represented in the form
(6)
0, ljJ = -ljJokl as
k
qJ -- -qJo rkl sm
zI,
2
= ~(cI + c ) / J .Hence, it follows that at the end of a half-period, as

= 1l / 2k2 ,i.e., I = II + 12 = 0.51l(1 / kl + 1/ k 2), the deviation of the disk
where k2
12
from the equilibrium condition is

(7)
the velocity of motion being equal to qJ~1 = O.

In the third quarter of the period, the differential equation of motion has form
(1) but with the initial angle qJOI being determined by expression (7). In the fourth
quarter of the period, the motion is described by differential equation (6).
134
Solving the problem in a manner similar to that of preceding Problem 46, we

arrive at the conclusion that the amplitude of the disk rotation angle decreases at
the end of the first period down to
qJOI = qJo(kl / k2)2 = qJo(C - CO) / (c + c).

At the end of the nth period, the vibration amplitude is
qJOn = qJo (kl / k 2 ) 2n = qJo [( C - c" ) / (c + c" )

The vibration period is
T = 2(tl +t2 ) =
n-(11 +
r.
lJ+ l~. (~C7 +~C'/).
48 In the presence of Coulomb friction between the disk and the supports, the differential equation of free vibrations of the system (see Problem 47) can be written
out as
JijJ + c(p + sign tpe. qJ = O.
(1)
We consider that, at an initial moment of time (t = 0 ) the disk has a certain

deviation qJo being at the rest state (Po = 0). In this case, for the starting phase
of motion, as angle qJ varies within the limits
form
..
qJo
0 < qJ ::::; qJo' equation (1) has the
+ k I2 qJ = 0,
(2)
where
k~=(c-c")/ J.
When passing the disk by the equilibrium position, the sign of the inertial force
changes. and Eq. (1) acquires the following form:
.. + k 22 qJ2
qJ2
where
= 0,
k; = (c + c ) / J.
Thus, in the third and fourth quarters of the period, Eqs. (2) and (3) are valid,
respectively, etc.
The solution to Eq. (2), we represent in the form
qJI = CI cos kit + C2 sin kit.
With due regard to qJI
qJI
= qJo
and (PI
= qJo cos kit,
(PI
= 0 as t = 0, we arrive at
= -klqJo sin kit.
(4)
135
Fig. 228.
In the phase plane ( ffJ; rP), expressions (4) can be represented as ellipsis equations (Fig. 228):
ffJI2 / ffJ;
+ ffJI2 / (kl ffJo)2 = l.
The solution to Eq. (3), we obtain with allowance for the fact that
ffJ2
= ffJI = 0
and rP2
= rPl = -klffJo as I = II = 1r / 2kl . In this case,
ffJ2 =-(kl / k2)ffJosink21,
(P2 =-klffJocosk21.
(5)
Here, the time t in the second quarter of the motion varies from 0 to 12 , The
end of the second quarter of motion is determined from the condition that rP2
=0
as 1 = 12, Hence, it follows that 12 = 1r / 2k2 .

The set of equations (5) can also be represented in the phase plane as the ellipsis equation (see Fig. 228):
2
f/J2
(klf/Jo/ k2)
+~-1
2
(klf/Jo)
We find the solutions for other segments of motion in a similar manner. Since
kl < k2' we deal with the damped motion of the system.

49 The differential equation for free mechanical vibrations of the systems has the
form
m.x+cx = O.
(1)
The differential equations of electric-current oscillations and voltage oscillations in the circuit can be represented as
136
Li +.l/=O
c
'
(2)
cO +u / L =0.
(3)
In accordance with the structure of Eqs, (2) and (3), an analog electric circuit is
a circuit containing a capacitor of capacity C, inductance coil L, and a switch. If
we accumulate electric charge on the capacitor plates and close the circuit, then
oscillations of the electric current I and of the voltage U arise there at a frequency
=1/ .JLC.
50 The differential equation of free damped piston vibrations is written out as
m.x+ax+cx=O.
The differential equations for oscillations of the electric current and of the voltage, we represent in the form
Li + JU + / / C = 0,
cO +U / R+U / L =0.
(1)
(2)
Equation (1) describes oscillations of the electric current in a circuit that contains an inductance coil L, a resistor R, and a capacitor C connected in parallel.
Equation (2) describes voltage oscillations in a circuit consisting of the same components but connected in series.

51 When the vibrograph base moves according to the harmonic law
Y Yo sin mt , the magnet executes vibrations being described by the differential
equation
my = -C(YI - y).
(1)
Here, YI and Y are displacement of the lower and upper spring ends, respectively, and YI - Y is the spring stretching, or, which is the same, the displacement
of the magnet with respect to the coil.
We now make use of denotation
Z=
YI-Y.
(2)
Then,
Yo
=Z+ Y =z- Yom
slllmt.
(3)
Substituting the value of Y from Eq. (1) with allowance for Eq. (2) into Eq. (3),
we arrive at the differential equation of small forced vibrations
where p~
137
2
.
= Poz
= Yom 2 slnml,
= c 1m.
The solution to the last equation is of the form

_
Z -
Yo
2/ 2 1 slnml.
Po (j) It is evident that the least distortion of vibrations takes place in the case of
p~
m 2 . In this case,
~ yosinwt. The minus sign implies that the phase of
magnet vibrations is opposite to that of base vibrations, i.e., in this case, the magnet remains immobile in space.
52 While rotating the piece at an angular velocity
OJ, the law of motion for the
measuring rod is expressed by the equation
= I sin mI.
(1)
-mi, reaction force R,

of the spring. (Here, cl' c2 and 80 are,
In this case, the rod is subject to the inertial force

and the elastic force c)x + c2 (x + 80 )
respectively, the total stiffness of plane springs, the stiffness of the helical spring,
and the preliminary elongation of the helical spring.) Thus, the differential equation of motion takes the form
mi+c)x+c2 (x+80 ) = R,
or
(2)
where
c2 80
= Ro .
The condition of continuous contact implies that the reaction force R is always directed towards the same side (upward). Then, the ultimate angular velocity
m. can be found from the condition that the minimal value of R over a vibration
period if only once becomes equal to zero.
Substituting Eq. (1) into Eq. (2), we find
(p~ - (
where
Po
2)
= ~(c) + c2 ) I m
sin ml + Ro I( me) = R,
(3)
is the eigenfrequency of the measuring rod.
We now consider possible cases.
> ( 2 ), the minimal reaction

tained at the moments of time corresponding to sin m/) = -1 . In this case,
In the pre-resonance operating mode (P~
- p~ + m2 + Ro I(me) > 0,
or
is at-
(4)
138
Ro /(me) > m~ -ai.
(5)
In order to have the pennanent contact, it is necessary for condition (5) to be

valid within the entire range of possible values of OJ
dition is valid for OJ
(0 < OJ < Po ), If this con-
= 0 , then it will be valid for all OJ *- 0 .
As OJ = 0, Ro > (CI + c2 )e .
If condition (5) is invalid, then violation of the contact is possible, i.e., R = 0 .

From condition (4), we obtain the following expression for the ultimate angular
velocity OJ:
One more case of contact violation can occur as OJ

mode). In this case,
> Po2
(post-resonance
R = 0 , at the time moment corresponding to OJt2 = 1. Thus,
we determine another value of the ultimate velocity, using the fonnula
m;. = p~ + Ro /(me).
The dynamic reaction at OJ
= 0.lOJ2* can be found from Eq. (2):
R = Ro + [( cl + c2) - m( 0 .1OJ2.)2]e sin OJ;.tl .
(6)
Furthennore, we calculate the parameters entering into Eqs. (3) and (5). The
stiffness of the helical spring is
C
Gd4
10100.0014
8lYi
0.0053.20
The stiffness of two plane springs is
2
cl
=4
kN/m
x = 242101I 51O-2 U51O- 12 = 9 26

= 24EJ
t3
27.10-6 .12
.
kNl
m.
The ultimate angular velocity is
m2
cl+ c2
+ Ro
_
ml -
+ 0.05.10-3
5
= 6004
s-'
..
.-~----~-------
4.103+9.26.103
0.05
Finally, the measuring force of the device detennined according to fonnula (6)
is
R =51.3 N.
53 Eliminating the hinge (i.e., replacing it by the reaction force N) and applying
an unknown moment M to the end cross section (Fig. 229), we obtain, in accordance with the force method, three equations
= 811 (-my) + 812 M + 813 N;
(). =821 (-my) + 822 M + 823 N;

YI
= 813 (-my) + 832 M + 833 N.
139
Fig. 229.
Here,
6ij
are the compliance coefficients;
8 = 80 cos OJ!; Y\
is the vertical dis-
y\ = 0 .
U sing two last equations of the set obtained, we express M and N . After
certain transformations, we arrive at the following equation with respect to y :
y + ay = b80 cos OJ!,
placement of the cross section associated with the hinge, and
where
a and b are coefficients depending on 6ij'
For stable vibrations, we have

bf)o cos OJ!.
Y = a-OJ
2
After y has been determined, we find M and N. The bending moment in

the restraint is (see Fig. 229)
Mb = JI+2IN +M.
The maximal normal stress in the restraint is
O"max
where
= Mb /Wx '
w.. is the resistance moment in the cross section X .
54 The problem should be solved in a similar manner as Problem 53. In the cross
section whose displacement is given, we apply an unknown force P. Furthermore, introducing again the second unknown force N , we eliminate the support.
Then, using the force method, we arrive at the set of three equations:
= 6\\ (-my) + 612 N +613~'
(1)
0= 6 21 (-my) + 622 N + 623~'
(2)
= 631 (-my) + 632 N +633~'
(3)
YI
Here, ~ is an unknown force applied at the point k and
Yk
= Yo cos OJ! .
140

Based on Eqs. (2) and (3), we now find the forces ~ and
N. The latter is
determined from the expression

N (02\033-03\023)mji+023Yocoswt
022033 -023032
Excluding
termine
N and
(4)
~ from Eq. (1), we obtain the following expression to de-
y:
(5)
where
P and b are coefficients depending on 8ij.
Determining y from Eq. (5), we can find the force
N.
55 The displacement by a certain distance of rod 1 causes the rotation of the lever
through a certain angle ({J = x/I. In this case, when the motion occurs upward,
the force in spring 2 and spring 5, respectively, increases and decreases. Thus, the
inertial force - mX , the spring resistance force 2c\ (x + X 0 ), the support reaction
force
R , and the force caused by lever 3 and equal to
[J({J + C2({J - ({Jo)] /10
act on rod 1.
In this case, the differential equation of motion of rod 1 has the form:
(m+J / 12)x+(c\ -c2 / 12)x+(c\xO +c2({Jo /1)= Ro.

Using
denotations
m + J / 12 = M,
c\ = c 2 / f = C,
and
c\X O+ C2({Jo / 1 = Po, we can represent the differential equation of motion of the
measuring rod as
MX + CX + Po = R.
(1)
The condition of permanent contact consists in the fact that at the point B 1, the
reaction force does not change its sign, i.e., R ~ 0 .
Since the surface profile is described by the equation X = a sin 2Jrz/A , the
equation of motion of the measuring rod has the form
X
= a sin OJI,
(2)
where
mt = 2Jrz/A = (2Jr/A)vt.
Substituting Eq. (2) into Eq. (1) and taking into account the condition
we obtain
(p~ - m2)asin OJI + Po

where
Po
= .JC / M
/ M ~ 0,
is the eigenfrequency of the device lever.
(3)
0,
(4)
141
Two cases of violating the contact are possible (see the solution to Problem
52). For the pre-resonance regime (P~
the case of
> 0/), violating the contact is possible in
= P~ - Po / aM.
0)2
If the system parameters are chosen in such a way that the condition
c P+c
D
0
~f
l
2
> -Z2a - Po 1V1a is fulfilled, then violating the contact will not occur.
For operations in the post-resonance region (0/ > P~), we can find the value
of OJ for which violating contact is possible from the condition of vanishing relationship (4) (in the case of sin 0Jt1
= 1). Then,
= p~ + Fa / aM.
OJ2
With allowance for relationship (3), we find that the ultimate velocity
termined by the formula
v.
v.
is de-
= (A / 2Jr)~ p~ + Fa / (aM).
56
v.
Mol
= 27CA ~ Po2 +;;;-,
where
Po2 =c2 / J
57 The differential equation for stimulated vibrations of the trimmer has the form
J qJ + [c + (ci + C2 )/ 2 ]tp = c21xO sin 0Jt.

In the case of a resonance,
OJ;
= [c + (ci
+ c2 )/ 2 ]/ J
= p~ + (ci + c2 )f / J,
whence it follows
58 The dynamic coefficient is expressed by the formula
kdyn = a
/ Xo
= 1/ 11
0)2 /
p21.
For schematic diagrams shown in Fig. 50a and 50b, we have, respectively,
kdyn = 1 / 11-
m0)2 /
cJ,
and
59 The dynamic coefficient is given by the formula
k dyn
Since k dyn
= 1/15,
= 1/ 11- J0)2 /
cl.
and the motor operates in the post-resonance region
(p~ > 0)2), the stiffness of the system must be equal to
142
c = J oi
= 20 . 105 2 116 = 1.3 8 . 104
We assume the segment
1\ to be
N m.
absolutely rigid, and the fixation of supports
to the base to be a restraint. After uncovering the static uncertainty and calculating
the angular displacement of the motor support, we find that the stiffness of one
support is
(1)
Here,
the
of
moment
inertia
for
the
cross
sectional
area
is
= bh 3 112 = b4 I c, and the Young modulus for steel is E = 200 GPa.

Since C = 2c\, with allowance for 0), we find b = 0.654 cm. We take
b = 6.5 mm, hence h = 2b = 13 mm.
In this case, after certain calculations, we obtain C = 2c\ = 1.34 . 104 N m,
k dyn = 1115.1.
Jx
As the calculations show, the maximal bending moment in the pillar is

= O.3M. Therefore, the alternating moment
Mmax
Mmax
= O.3M = 0.3( Mo + kdyn M\ sin at).
acts in the dangerous cross section.

The average value of the maximal stress in the cross section is
am
The stress amplitude is
aa
=0.3Mo In: =275
MPa.
= kdyn O.3M\ In: = 110 MPa.
Thus, the coefficient of the reserve of endurance is
(j
= ualu\+umlu
1
= 1.8.
a
60 Since the perturbing force has a periodic character, the amplitude of stimulated
vibrations of the system is
a = a st 111- oi I p~l.
The amplitude of the support reaction force is proportional to the amplitude of
the elastic-coupling deformation
Rdyn = ca = RsJll-m2 I p~l.

Hence, it follows that the dynamic coefficient is
kdyn
= Rdyn I Rst = 1I1l-m2 I p~l.
Thus, for schematic diagrams presented in Figs. 52a--52c, we have, respectively,
1111- mm I cl;
kdyn = 1111- mm I cl;
kdyn
kdyn
143
= 1/11- 9mai /20cl
61 We denote the shifts of the upper spring end and of the load as XI and X 2 , respectively. Therefore, the force acting on the load in the case of motion of the upper end of the spring is F = C(XI - x 2 ).
The differential equation of motion of the load has the form
mX 2 + aX 2 or
C(XI -
x2 )
= 0,
x2 + 2nX2 + P~X2 = (CXO / m)sin ax.
The amplitude of the load vibration with respect to the equilibrium position
(assuming (j) = Po) is
x 20
= ~ -Jc / m = liV ~7J.~0 = 1.615
In the resonance regime, the phase shift equals

elongation of the spring is
1[ /
cm.
2, therefore, the entire
= x 20 + x st = x 20 + Q/ C = 1.615 + 1.26 = 2.875

x st is the spring elongation under the static force Q = mg .
xmax
cm,
where
The maximal force stretching the spring is
Pmax
= cXmax 7200.2.875.10-2 = 207
N.
We now find the mean and amplitude stress in the spring
8.91.5.10-2 = 92 74 MPa
'm =8QD = 3.14-(5.10-2)3
.
,
;rd3
.7200.5.10'a = 8x;rd3cD = 8.1.615.103.14.(5.10-2)3

2
20
= 1185
.
MP
a.
The safety factor with respect to the yield strength is
ny
= 'y / 'max = 'y / ('m + 'a) = 92.7~~~18.5 = 2.84.
Finally, the safety factor for the fatigue strength is
nf
= 1/ ('a
/ '_I + 'm / 'B)
= 1/ Cio14 + IJ~05) = 2.22.
62 We denote the vertical displacement of the rod and the load as XI and x 2 ' re-
F = a(xi - X 2 ) being
transferred through the damper, to the inertial force mx 2 ' and to the resistance
spectively. In this case, the load is subject to the force
force 2cx 2 of the springs.

In accordance with the d'Alembert principle, the differential equation of motion can be represented in the form
mX2 + cX2
= a(xi -
x2 )
Taking into account that the displacement of the rod depends on the angular
velocity (J) of the crank
144
XI
we obtain
= rsinat,
mX2 + 00 2 + 2ex2 = aor cos at,
or
where
2n = a / m , P~
= 2e / m.
The solution to this equation has the form
x 2 = 2nar sine m t+ ~) / ~r-(p-~-_-m-2)-+-4-n-2-m-2;

tg ~ = 2nm / (p~ - ( 2).
The maximal stress in the spring arises in the case of its maximal compression,
i.e., in the case of sine m t+ ~) = 1. We note that x 2mzx = r since by the condition, m = Po.
The force, corresponding to this compression is
~
=er.
The total force in the spring is
= ~ + mg / 2 = cr + mg / 2.
Thus, the maximal stress is

Tmax
= 8(er + mg / 2)D(Jld3).
63
P = ~ p~ - n2 (where p~
= e / n, n = a / 2m);
ml
=0;
m2 = ~2(p~ - 2n 2).
64 The differential equation of motion for the system being analyzed has the form
X + 2ni + p~x
= Fo sinxt,
(1)
where X is the horizontal displacement of the system center of mass. This displacement is counted off from the position of static equilibrium;
2n=a/(~ +m2); p~ =e/(ml +~); Fo =mom2e/(~ +m2)

We now write out the solution to Eq. (1) for the case of stable motion:
X
= Fo sin(wt- c)/ ~(p~ _( 2)2 + 4n 2ai ,
(2)
where C is the vibration phase.

Furthermore, we calculate the work of friction forces (i.e., the dissipated energy) over a vibration period T = 27r / m :
Af = t
':2.7r /OJ.
t':2.7r /OJ
axdx=
axdt=
(2
aFo7rOJ
Po-OJ
2)24 2 2.
+ n OJ
(3)
Using the condition
d Af
d a = 0, we now find the value
145
a. of the coeffi-
cient of viscous friction for which the dissipated energy becomes maximal. Differentiating Eq. (3) with respect to a and taking into account that
n = a I [2("", + m2 )] , we arrive at the expression

(p~ - 0/)2 -
a.o/ 1("", + m2)2 = 0,
whence it follows
(4)
Substituting relationship (4) into Eq. (3), we can calculate the maximum value of
the energy dissipated over a vibration period:
~ax = 1#02 ("", +~) I [2(p~ - 0/)]1.
(5)
As follows from Eq. (3), in the resonance regime (Po = OJ), the work of the
friction forces is inversely proportional to the coefficient a of viscous friction.
65 Using the solution to Problem 64, we find from Eq. (2) of this solution the amplitude of stable system vibrations:
Xo
= mo0J 2e / [("'" + ~)~(p~ -
In this case, the force acting on the springs is
OJ2)2
+ 4n 2OJ2].
F; = ex .
We now find the value of the angular velocity for which the amplitude of the
force acting on the springs equals the amplitude of the perturbing force: .
cmom 2e
2
F =ex =
10
With allowance for p~
(ml+"'z)~(p6-m2)2+4n2m2
=mOJe
0
= e I ("'" + ~) , we obtain
Po2
= VI( Po2 -
2)
+ n 2 WI2 ,
whence it follows
OJ1 =
~2p~ -4n 2 = ~2(p~ -2n 2 ).
In Fig. 230, the plot demonstrating the amplitude ofthe force

function of the perturbing-force frequency
from the plot,
F;o
< mo0J 2[ and
OJ
F;o = exo
as a
is presented. As immediately follows
F;o > lrloOJ2[
in the case of OJ ~ OJ1 and
OJ ~ OJ1 , respectively.
66 The differential equation of motion for mass m has the form
my + a.Y + ey = Po sin at,
or
y + 2ny + Poy = (Po / m)sinat,

where
(1)
146
Fig. 230.
2n = a / m ; p~
= c / m;
c = 3EJx / 12.
We now write out the solution to Eq. (1) in the case of the steady-state vibration regime
Y = Asin(ox + ffJ),
where
A = Yst / ~(1- ai / p~)2 + (2n(1) / p~)2 ; Yst
tan ffJ = 2n(1) /(p~ -
= Po / c;
(1)2) .
The total flexure of the beam is Y + Yo . Here, Yo is the flexure caused by the
gravity force mg of the motor.
Thus, the flexure of the beam and therefore its inner stresses vary according to
an asymmetric cycle.
We now calculate the stresses in the restraint:
O'm
= mgl/ u;: = 6mgl/ (bh 2 ) = (650 10 1) / (125 10--6) = 24 MPa.
The stresses are proportional to the flexures and thus can be calculated by the
formula
where
0'
st
3).
= P.1I
Wx = 125.10--6
2000-1-6 = 96 MPa'' p20 = C / m = 3EJ x
/ (mI '
0
p~ = 6250 S-2.
The safety factor of the fatigue strength, we determine by the formula
n=
1
aa/a_l+am /ab'
Here, the coefficient n is only unknown quantity.
Using formula (2), we obtain n 62.64
0"
= 2nm =
262.6450
(Ns)/m.
S-I,
whence
it follows
147
67 The dynamic coefficient is

k dyn = 11~r-(1-_-(1)-2-I-p-~-)2-+-(-2-n-(1)-I-p-~)-2 .
After numerical data have been substituted, we arrive at
kdyn
= 0.316 .
68 The differential equation of motion for the load of mass m with respect to the
base has the form
y + 2ny + p~y = Yo (1) 2(sin ax + 200 sin lOax),
y is the displacement of the load with respect to thew base, 2n = aim;

p~ = elm.
where
and
We now write out the solution to this equation for the steady-state motion:
_
yom 2
(
2 2 sm (1)1 v(Po -m ) +4n m
Y - I 2 22
200m Yo
. (10
)
a, ) + v(Po
I 2
22
2 2 sm (1)1 - a 2 ,
-100m) +400n m
2
=2n(1) 1(1)2 - p~); tan a 2 = 20n(1) 1(1 00(1)2 - p~) .

Taking into account that p~ = 0.01(1)2 and n = 0.02(1) , we finally obtain
where
tan a,
that the relative displacement of the load, which is recorded by the device, is determined according to the expression
= Yo sin(ax - a,) + 2Yo(lOax - a 2 )
69 The differential equation of small free vibrations of the mirror has the form
JijJ + alp + crp = M(i),
or
ip+ 2nip+ p~rp = M(i)1 J,

where M( i) = Fma is the perturbing moment.
We now calculate the rigidity of the system. To this aim, we apply to the mirror the unit moment M, = F;a = 1 (Fig.231a).
i
I
Fig. 231.
148
In this case, the mirror rotates through the angle

axis. Assuming
h << II
rpl
with respect to the vertical
(Fig.231 b), we find
F;
= 2QP= 2QfAa / II
Therefore,
MI
= F;a = 2Qrpl a 2 /
II
= Crpl
Hence, the rigidity of the system is
c = 2Qa 2 / II.
The moment of inertia of the mirror with respect to its rotation axis is
= ms b 2 /12
Thus, we find the frequency of free vibrations of the mirror:
P = ~24Qa2 / (m 3/ I b2) - (a / 2J)2.

70 The differential equation of motion for the vibrator frame is of the form
JiP + aip + crp = Mo.
(1)
We now represent Eq.(1) as
iP + 2nip + P~rp = M,
(2)
where M = Mo / J. Since the perturbing moment

i.e., satisfies the condition
Mo
Mo
is applied suddenly,
0 as t < 0,
={ Mo as t > 0,
the initial condition being of the form

out the solution to Eq. (2) as
rp = 0
and
ip = 0
as t
= 0 , we can write
rp = rpst [1- ~~ e -nt sin(pl t + P)]'
,"51
~------~------~~----~.~t
Fig. 232.
Here,
and
rpst
149
= Mo / c = yi / c; Po = Fcfj ; n = a / 2J ; PI = ~ P~ - n 2
tan fJ = PI / n = ~ (p~ - n2 ) / n .
After the calculations have been performed, we arrive at the relationships

C
= GJ /1= 40109 3.l41610- 12 = 21 N/m'

32-3.10-2
Po
'
=.Jc / J = ~2.1 / (1.02 10-6 10) .
In the absence of damping, we have
= Po = 1320 s-'; fJ = 1l /2.

In the presence of damping (n = OJ Po), we obtain
PI
PI
= 1259
s-'; tan fJ
= 3.17 ; fJ == 7230' .
Figure 232 shows the plots of the ratio rp /

different coefficients n.
rpst
as a function of PI t for two
71 We denote the absolute angular velocity of the flywheel as
rif
rif. Then, the iner-
tial torque acting on the flywheel is J

(J is the polar moment of inertia of the
flywheel).
The spring resistance force is determined by the difference between the rotation angles of the flywheel and of the pulley and is c( '1/ - rp), where rp is the
pulley rotation angle.
Thus, the differential equation of motion for the flywheel has the form
Ji;J+a(,p-ip) + ('I/-rp) = O.
'1/ - rp . Then, we have

Jii+av = cv = -Jep.
Taking into account that ip = W = Wo + WI cos kt , we arrive at
We now use the denotation V =
ii + 2nv + P~V = kWI sin kt,

where
2n = a / J
and p~
=C / J .
The solution to the last equation is of the form

V
where
= A sin(kt - fJ),
A = kWI / ~ (p~ - k 2 )2 + 4n 2k 2
The phase shift attains
fJ =arctg[2nk /(p~ -e)],
and the logarithmic decrement is
g = 21ln / ~ p~ - n2
150
We now calculate the flywheel moment of inertia
4 (1-~) by
= 1CD
32
D4 g'
Upon substituting numerical values, we obtain J = 3.68.10-2 kg m2

The frequency of natural vibrations (in the absence of damping) and the resistance coefficient are, respectively,
Po = ~r-14-6-/(-3.-68-.-1O--2-) = 62.92 s-',

n = a 12J = 0.73/(2.3.68.10-2) = 9.92
Thus, we find
8 =1 and the phase shift fJ
5330'.
72 The differential equation of motion of the vibrator case can be written out as
MX+ax+ex = pet),
where
M =m+2(mo +ml ).
P(t) , we find by the projecting onto the vertical axis the
The perturbing force

inertial forces for the unbalanced masses:
pet) = 2moaiesinlOt.
Thus, the amplitude of forced vibrations of the vibrator is
Xo
where
= xst 1~(1-lO2 1p;)2 + (2nlOl p;)2 ,
xst =2molO2ele, n=aI2M,and Po =.JeIM.
73 In the case of pressure variations, the differential equation of motion of the indicator measuring rod has the form
mX + ax + ex = pet) = IIp(t)F fJ,
or
x+ 2m + k; x = IlpF fJ 1m = B sin lOt,
(1)
where
2n = aim;
kg = elm;
B = ApoFefJ I(mll).
(2)
The solution to Eq. (1) is
x = Xo sine lOt - ffJ),

where
xO1sx t
(3)
= e01"I(e
- lO 2)2 + 4n 2lO 2
0
Substituting numerical data into relationships (2) and (4), we arrive at
2n=200, xst =1.5
mm.
(4)
151
-~~--~----~~~~~
p.
Fig. 233.
The plot of the ratio Xo 1xst as a function of
(1) 1ko (i.e., amplitude-fre-
quency characteristic of the device) is shown in Fig. 233 (curve 1).

74 The differential equation of motion for cylinder 4 (see Fig. 65) can be written
out as
or
x+ 2n.x+ P~X = B sin (1)t,

where
2n = aim = 0.75 .10-2 /0.1.10-2 = 75 S-I;

p~ = (c1 +c2 +c3 )1 m = (2000+50+ 1000)/0.1 = 3.5.104
S-2;
B = poeAF l(m!1) = (3.5 .104 10-4 1 4 .10-4)/(0.1.10-2 ) = 14 m1s2

The static deviation from the cylindrical shape is
xst =BI p~ = 14/(3.5.104 ) =410-4
=O.4mm.
The vibration frequency of the cylinder as a function of the vibration amplitude has the form
Xo 1xst = [(1- (1)2 1p~)2

In the case under consideration,
2n 1Po
+ (2n(1) 1p~ i r1l2.
= 75.J3.5 .104 = 0.4
Therefore,
Xo 1xst = [(1- (1)2 1p~)2 + (0.4(1) 1Po)2 l/2

This function is plotted in Fig. 233 (curve 2). In the same figure, the tolerance zo-
152
ne for the dynamic measurement error (shaded band) is shown. This zone can be
described by the equation
Xo
1X st
=1 0.1.
The intersection point of the boundary of the tolerance zone with the amplitude--frequency characteristic yields the maximum admissible value for the angular velocity of the piece being tested: lUmax
:-;
P~ 13 = 62.5
SI.
75 In order to solve the problem, we employ the Lagrange equation of the second
kind. The kinetic and potential energies of the system, as well as the Rayleigh dissipative function are, respectively,
T=mv 2 12+J/l 12,

TI = c(lcp - h)2 12,
R =a(lip-h)2 12.
We now introduce these expressions into the Lagrange equation
d (aT)
dt
aqJ -
aT -_ - an
aR .
aqJ
aqJ - arp
As a result, we have
Jip + al(lip - h) + cl(lcp - h) = 0,

or
(1)
where
27r1lboal )2 + Po4(Tho )2 tan

( ----g;-
b --
2n = al 2 1J o; p~
r -_ Po21) 1(4n7rV).,
= cl 2 1J o'
We can represent the solution to Eq. (1) in the form
cp = A sin(27rvt 1I) - r) + B cos(27rvt 1I) - r) + D.

It is evident that
D = ho 1I , so that we have the following set of equations
determining constants A and B:
[p~ - (27rv 11))2]A - 2n(27rv 1I))B
= b;
2n(27rv 1I))A + [p~ - (27rv 11))2]B = O.

Thus, we find
A_
b[p6-(27Z"vll))2]
- [p6-(27Z"vll))2f+4n2(27Z"VII))2 ,
B =_
2nb(27Z"VII))
[p6-(27Z"VI 1))2 ]2+4n2 (27Z"VII))2
The solution to equation of motion (1) can be represented as
153
ffJ = ffJo sin(21Z"Vt / 10 + fi) + ho / I,

where
=.JA 2+B2 =
ffJo
J[P5-(21lV/ll)2f+4n2(2trv/ll)2 .
The maximum value of the vibration amplitude as a function of the trailer velocity of motion, we find from the condition
dffJo /d V = 0,
or
2(2n/ 1)2 h;[p~ -2p~oi +W4 +4n 2w2]+

4[(2n/ 1)2 h;w 2+ p~(ho / 1)2](p~ _w 2+ 2n2) = 0,
(2)
where W = 21Z'v / II .
After certain transformations of expression (2), we arrive at the relationship
2 4
4 2
6
0
n w + PoW -Po = .
In the absence of damping (n = 0 ), we obtain from the last equation that the
maximum amplitude of forced vibrations is attained in the case of a resonance at

W =
Po or v. = poll /21Z'.
In the presence of damping in the system,
W = ~r_-'-p-~-/-2-n-2--~rp=~=/4=n=4=+=p=~=/=n=2.
Since only the real-valued root has the physical sense, we obtain as a final result
76 By analogy with Eq. (5) of the solution to Problem 47, we represent the differential equation of the disk motion in the form
lip + cip + signipc ffJ = Mo sin(wt + r),

where C=b22/(bl1b21-bl;),and c =jJRc\.
Assuming that at a certain moment of time t = 0 in the steady-state vibration
mode the deviation of the system from the eqUilibrium position becomes maximal,
we represent the differential equation in the first segment of motion in the form
fiJI + P;ffJI =jJsin(wt+r),
where
P; = (c-c*)/ J and jJ = Mo / J.
The solution to Eq. (1) can be written out as
ffJI
= CI cos Pit + C2 sin Pit +[jJ /(p: -(2)]sin(wt + r),
where ris the initial phase of the perturbing moment.
(1)
154
The equation of motion in the second segment of motion (see solution to

Problem 47) is the following:
= ,u sin(wI + r),
ip2 + P; flJ2
where
P; = (c + c.) / J .
(2)
We now write out the solution to Eq. (2):
flJ2
= C3cos pi + C4 sin pi + [,u /(p; -
( 2)] sin(wl + r),
(3)
In order to determine integration constants, we make use of the following conditions

(i) in the case of the system motion in the fIrst segment,
fIJI
=0
and fIJI
as 1= 0, and
=0
and
By the periodicity condition, we fInd at the end of the second segment flJ2
=0
(ii) in the case of the system motion in the second segment,
flJ2
= flJlmax
= flJlmax
as I
flJ2
= II .
= =
and flJ2 -flJlmax as I 12 ff / W .

Thus, when solving the problem, we deal with the following set of six equations with six unknown quantities
Cp C2 , C3 , C4 , II
and
r:
PIC2 + [,uw/(p; - ( 2)]cosr = 0;

flJlmax = CI cos Pili + C2 sin Pltl + [,u /(p; - ( 2)] sin(wtl + r);
-PICI sinp/I + PIC2 cos Pili + [,uw/(p; -(2)]COS(W/I + r) =
=-P2 C3sinp2/, + P2C4cos P2t, + [,uw/(p; _(2)]COS(wt, + r);

C3cos P2tl + C4 sin P2tl + [,uw /(p; - ( 2)] sin(W/l + r) = 0;
CI + [,u/(p; -(2)]sinr = -{C3cos P2ff / w + C4 sinp2ff / w+
+[,u/(p; -(2)]sin(ff+ r)};
- P2C3 sin(p2ff / w) + P2C4 COS(P2ff / w) +[,uw /(p; _(2)]COS(ff +
+r)=O.
77 The exact solution to the problem on steady-state vibrations in the presence of
Coulomb friction in the system turns out to be rather complicated (see Problem
76). The simplifIcation is attained under the assumption that even in the presence
of Coulomb friction, the motion corresponding to the harmonic law
fIJ
= flJo sin( OX + r)
does occur in the system.

In this case, the energy dissipated in one cycle can be determined by the formula
155
v =4pNRfIlo /2.
In this expression, we took into account that the friction force pN is directly
proportional to the deviation angle 9' of the system since N = c,fIl (see the solution to Problem 47).
In the presence of viscous friction in the system, the dissipated energy is
V,
= a1OXP~
(see the solution to Problem 64).

Equating the energies U and UJ ' we find the coefficient of equivalent viscous
friction:
= 2JlC, / (1lm).
The amplitude of stimulated vibrations of the system possessing viscous resistance equivalent to Coulomb friction is
fIlo=
fils! / ~r-(1-_-m-2-/-p-~-)2:-+-(-2-n-m-/-p--:-~--:-)2 ,
where fils! = Mo / c is the static deviation of the system under the moment Mo
and c is the angular rigidity of the system. Furthermore,
2n = a / J
= 2JlC, / (1lmJ);
p~
= c / J.
The phase shift angle yis determined from the relationship
tanr = 2nm/(p~ _m 2).

78 The differential equation of motion of the system can be written out as
JijJ + aifJ + cfIl + sign rixofll = Mo + ~ sin ai.
(1)
The equation of an equivalent linear system has the form
JijJ + aifJ + cfIl = Mo + M, sinai,
(2)
where a is the coefficient of equivalent viscous resistance. This coefficient can

be determined from the condition of the equality of the supplied and dissipated
energies in one cycle.
Assuming the steady-state motion to be harmonic, i.e.,
fIl = fIlo + tA sine ai + r),
where fIlo = Mo / C, and using Eq. (1), we can calculate the energy dissipated in
the system.
The energy dissipated over a period in the viscous-friction damper is 1afll,m,
whereas the energy dissipated in the Coulomb friction damper can be determined
from the dependence of the moment of the Coulomb friction force
M f = pNR = JlC,RfIl on the disk twist angle 9'. As can be seen from the expression for MJ' the dissipative work of the friction forces over a half-period in the
case of an asymmetric cycle of deviations is
[(Mfmax
M fmin )/ 2]2tA
= 2JlC,RfIlofll,.
156
Equating the energies dissipated over a period in the given and equivalent
systems, we arrive at
whence it follows
a*
= a + (4J1CJR / "OJ )ffJo / fA.
The amplitude of forced vibrations in the presence of viscous friction can be

calculated according to the formula
ffJJ
where
= M J / c~r-(1-_-OJ-2-/-P-;)-2-+-(-2-n-OJ-/-p-;-)2,
2n = a * / J ;
P; = c / J .
The phase shift angle y, we determine in the same manner as in the case of viscous friction:
tanr = 2nOJ/(p; _OJ2).

79 The differential equation of motion of mass m is written out as
X + p;x = P(t) / m.
(1)
The perturbing force P(t) can be expanded into the Fourier series
pet) = P"o [.2._(cos2wt

+ cos4wt
+ cos6wt
+ ...
1[
1[
13
35
57
)J.
(2)
The solution to Eq. (1) is a sum of the solutions for each of the terms in series
(2), i.e.,
_ 2Po 4Po
cos2nwt
(
X -1iC - 1[m LoIn=l (2n-l)(2n+l)(P5-4n2m2)"
3
,,00
Po = 2nOJ, i.e., at
OJ = Po /2; Po /4; Po /6;
The resonance takes place in the case of
The Fourier method is approximate since it fails to allow in the calculations for
an infinite number of terms of series (2). In addition, this series is rather cumbersome, which hampers summing a large number of terms in expression (3) for attaining a higher accuracy.
We now consider another (exact) method of solving Eq. (1) that describes
small vibrations under the action of an arbitrary periodic force P( t) .
In the case of steady-state vibrations, the periodicity condition must be fulfilled:
x(t) = x(t + T), x(t) = x(t + T).
(4)
The general solution to Eq. (1) at arbitrary initial conditions is of the form
x = xo cos pt+ ;~ sin Pot + m10 1P(T)sinpo(t-T)d T.
(5)
Conditions (4) must be valid at any arbitrary moment of time including the
moment t = 0 . Therefore, we obtain two equations
Xo
Xo
= Xo cos PoT + ;~ sin PoT + m10 , P(t)sinpo(T -
r)d r,
= -xoPo sin PoT +xo cos PoT + ~ , P(t) cos poeT -r)d r,
157
(6)
The set of equations (6) makes it possible to determine the unknown values of
Xo and xo:
q(I-cos PoT)+bz (sin PoT)/ Po
=
2(I-cospoT)
,
. _ bz(l-cosPoTHVosinpoT
Xo 2(I-cosPoT)
,
Xo
(7)
where
bl
= m10 'P(t)sinpo(T-r)dr,
b2 = ~, P(t)cosPo(T-r)dr,
(7)
Substituting the obtained values of Xo and Xo into general solution (5) makes
it possible to determine in a close form (i.e., without expanding the force p(t)
into the Fourier series) the law of motion for mass m within the interval
0:::;; t :::;; T, i.e., within the intervals
nT:::;; t :::;; (n + l)T.
This algorithm of solution was proposed by H. Duffing. As follows from expressions (7), they tend to infinity (resonance) as PoT = 2mr, or (because of
T = 7r /
OJ, see Fig. 67)
Po
= 2nOJ. In other words, we have obtained the same
resonance as in the case 0 the expansion of the force P( t) into the Fourier series.
The Duffing method can be used in solving equations describing small vibrations, which take into account viscous-resistance forces, and in the case of systems
with a finite number of degrees of freedom for which other methods (operational
calculus, expanding into the Fourier series) are of minor usefulness.
80 The solution to the problem is similar to that of Problem 79. In the case being
analyzed, the perturbing force can be represented in the form of the Fourier series
pet) = P.
[1. +.lsin
OJt _1.( cos2mt + cos4mt + cos6mt + ... )J.
2
13
35
57
7f
7f
(1)
We can write out the solution to the equation ofload vibrations with respect to
the equilibrium position in the form
_ Po
Posinmt
2Po oo
cos2nmt
(
x--+
-tfm
7fC
2m(p6-m2 )
n=1 (2n-l)(2n+l)(P5-4n2m2)"
The total displacement of the load is
Xo =x+mg/ c.
2
)
158
The algorithm of the solution, which is based on the Duffing method, completely coincides with that used in the solution to Problem 79. However, while
and b2 , it is necessary to take into account features of the periodic
determining
force P{t) (see Fig. 68b), which vanishes within the interval T /
Therefore (see the solution to Problem 79),
bl
2~t
1 rr
I rr
= mpo
.lJ P(t)smpo(T-r)dr= mpo.lJ
Posmpo(T-r)dr,
T.
/2
rr
rr
(3)
b2 = ~.lJ P(t)cosPo(T-r)dr=~.lJ 12 PocosPo(T-r)dr,
After Xo and Xo have been determined, the general solution to the equation
describing vibrations of mass m coincides with the solution to Problem 79 [see Eq.
(5)]: within the interval 0 ~ t ~ T /2,
! P(r)sinpo(t-r)d r,
x(t) = -xoPo sin Pot+xo cos Pot + ~ !P(r) cos po(t-r)d r;
x(t) = Xo cos Pot + ;~ sin Pot + m10
and within the interval T /
2~t~T ,
(4)
rr /2
x(t) = Xo cos Pot + ;~ sin Pot + m10.lJ P(r) sin Po(t - r)d r,
(5)
x(t) = -xoPo sin Pot + Xo cos Pot + ~.lJrr P(r) cos Po(t - r)d r;
/2
81 After the action of the impulse of force and in accordance with the theorem of
angular momentum, the velocity of mass m is varies (the displacement Yo of mass
m for the time 8t is zero):

. _ Jp
Yo- m
(1)
After the impulse of force has acted, free vibrations are described by the equation
ji + P~Y = 0 (p~
= c / m; c = 3EJx /
/3).
The solution to Eq. (2) with allowance for initial conditions
Yo = -',:;
as t
(2)
Yo
= 0,
= 0 is the following:
_ Jp
Y - mpo sm Pot,
(3)
. _ Jp
Y-mCosPot.
82 The answer to the problem is
Po
Po
Y = -mpo
2 (1- COS Pot),
Y = mno
sm Pot.
r'
159
As follows from the solution obtained, in the case of a sudden application of

the constant force P, the flexure y is twice as large as in the case of a static force.
As
tk
= :0 '
y(tk) = 2P / mp~
Here,
Yo
= 2yo.
is the static flexure.
83 The force p(t) can be represented in the form (see Fig. 71a)
p(t) = PoH(t) - PoH(t - tl ),
(1)
where H is the Heaviside function.

For zero initial conditions, the solution to the equation of stimulated vibrations
of mass m is of the form
= m10 P(t)sinpo(t-r)d r.
(2)
After integration, we arrive at
yet) = {
P02 (I-cos Pot)

mpo
for
0 ~ t ~ tl
(3)
p,
---\[cos Po(t -tl)] - cos Pot fort ~ t.

mpO
In the case that the force pet) varies with time as shown in Fig. 71b, p(t)
can be represented as a sum
P(t) = Po [H(t) - H(t - tl)] + 2Po[H(t - tl ) - H(t - t2)]
(4)
For the given case of loading, we find after necessary transformations the following solution:
y(t)=
0 ~ t ~ tl
P02 (1- cos Pot),

mpo
for
P0 [2-cosPot-cosPo(t-tl )],
mpo2
fortl~t~t2
P02 [2cosPo(t-t2)-cosPo(t-tl)-cosPot],
mpo
84 For initial conditions
Yo = Yo = 0
we obtain
y= m10
In the case under study with
= a(t -
for
(5)
t > t 2.
[see the solution to Problem 83, Eq. (2)],
l P(r)sinpo(t-r)dr.
pet) = at, we have
sin Pot / Po) / (mp~);
y = a(I- cos Pot) / (mp~).
(1)
(2)
160
85 We introduce the impulse of force J p into the equation describing vibrations

of mass m:
2 _ 1 J S:(t)
x+
Poxm pU ,
(1)
where 8(t) is the Dirac delta-function.

The general solution to Eq. (1) is
1
+~ 1
x(t) = Xo cos Pot + ;~ sin Pot + m10

x(t) = -XoPo sin Pot +xo cos Pot
J p8(T)sinpo(t- T)d T,
(2)
J p8(T) cos po(t-T)d T;
where Xo and Xo are values of x(t) and x(t) atthe moment of time t = O. By
virtue of properties of the delta-function, the integrals entering into solution (2)
are
b1(t) = ~;o
b2 (t) ="',:;
18 (T)sinpo(t-T)dT= ~;osinpoH(t),
8(T) cos po(t - T)d T ="',:; cos PotH(t),
(3)
where H is the Heaviside function.

In the case of steady-state vibrations, the conditions
x(t + T) = x(t), x(t + t) = x(t),
must be fulfilled, or
x(T) = x(O) = xo'

x(T) = x(O) = xo'
(4)
With allowance for expressions (3) and (4), we obtain from general solution
(2) the set of two equations with respect to Xo and xo:
bl (T)
b2 (T)
= (1- cos PoT)xo - ;~ sin poT,
= xoPo sin PoT + xo(1- cos poT).
(5)
Xo and xo:
X JpsinPoT . . __ Jp
o - 2mPo(1-cosPoT) , Xo - 2m'
(6)
As a result, we arrive at the functions x(t) and x(t) in the case of steady-state
vibrations (i.e., for PoT"* 2mr ) within the intervals nT::;; t ::;; (n + 1)T , where
n = 0,1, 2, ... :
From the set of equations (5), we find
(7)
161
86 We write out the equation for vibrations of mass m within the time interval [0,
(1)
In the given setting the problem, the expressions for
bl and b2 (see the solu-
tion to Problem 85) are
f )H2 (I - f),
b2(/) = ~ cos poIHI(/) - ~ cos Po(/-f)H2(1 -f)
bl (t) = ~;o sin PolHI(I) - ~;o sin Po (I -
Thus, we can find
(2)
bl (T) and b2 (T) :
bl(T) = ~;o (sinpoT-sinpof),

b2(T)
= ~ (cos PoT -cos Po f)

Xo
X(/):
Then, we can find

finally,
x(/) and
and
Xo
[see the solution to Problem 79, Eq. (7)], and,
Xo smpo/+
Jp [ .
elI
(
T)H2'
]
( ) --xoCOSPo/+ Po
xl
mpo
SmpoII11
-smpo
1-"2
X(/) = -xo sinpo/+Xo cos Pol + ~ [COSPoIHI -cosPo(t-f)H2].
(3)
87 The equation describing small vibrations of mass m can be written out as
P(t)
x+ PoX =1i/.
(1)
In order to determine the steady-state periodic motion of mass m, we employ

the Duffing method (see the solutions to Problems 79 and 80).
The general solution to Eq. (1) containing an arbitrary right-hand side has the
form
x=xoCOSPo/+ ;~ sin Pol + m10 !p(/)sinpo(/-r)dr,

where
Xo
and
Xo
are unknown quantities taken at the initial moment of time
1=0.
For the determination of
r
r
Xo
and
xo' we should find
periodicity conditions:
bl(T) = m10
b2(T) = ~
x(/):
bl (T) and b2(T) using
P(r)sinpo(T-r)dr=
':;0 !lsinpo(T-r)dr,
P(r)cosPo(T-r)dr=
After the quantities

tain
(2)
bl (I), b2(I), xo'
and
(3)
!lCOSPo(T-r)dr.
Xo
have been determined, we ob-
162
x(t) = Xo cos Pot + pXo sin Pot +

o
(1- cos Pot),
P02
mpo
(0 ~ t ~ t,)
x(t) = Xo cos Pot + pXo sin Pot +
o
P02
[cos Po (t - t,) - cos Pot].
(4)
mpo
(t, ~ t ~ T)
88 We write out the differential equation of motion of mass m as
X+ 2ny + p~x = (1/ m)P(t),

where
(1)
2n = a o / m .
The solution to Eq. (1) has the form
x(t) =e- nt [Yo cosmt+ nyo+yo

sinm0t+-l-sinm
tJ
Wo
mwo
0'
where
mo = ~ p~ - n2
(2)
In order to provide the periodic nature of the solution
with a period T, we need to choose initial values of
Yo and Yo using periodicity
conditions:
Yo = yeT);
Yo = yeT).
Furthermore, we differentiate expression (2) and find

(3), we determine the desired values of
_
Yo -
Yo and
yet) . From condition
yo:
e"T sinwoT
.
mwo(e 2nT -2enT coswoT+l) '
. _ e"T( coswoT -c%sinwoT )-1
Yo -
(3)
(4)
m(e2nT -2enT coswoT +1)
Substituting Eqs. (4) into formula (2), we arrive at the solution related to the
interval 0 ~ t ~ T , which is also valid for consequent intervals.

89 We consider an elementary volume of liquid bounded by the tube cross sections with the coordinates x and X + dx (Fig. 234). The mass of liquid inside this
volume is
liquid.)
dm, = pFodx . (Here, m, = pFo l
is the mass of the unit column of
163
dm,g,
to the
The volume under consideration is subject to the gravity force

tangential component of the inertial force
dm/px,
and to the Coriolis force
2dm, voifJ . The moment of the forces with respect to the point of suspension is
dM
or
= -(gcp + ipx + 2voifJ)x d m,
! dM = -(m/gcpI2+m,ipI3 13 +vom/ifJ).
We now write out the moments of inertial forces for the tube mass and of the
gravity force:
M,
= -(moip/2 13 + mogcpl 12).
In accordance with the d' Alembert principle,
M+M2 =0,
or
..
3m,vo 3 g - 0
cp+ "'o+rflJ.l Cp+'2ycp - .
Thus, we find that the eigenfrequency of the tube filled with moving liquid is
P = ~3g 1(2/) - {3m,vo 1[2(mo + m,/)]}2.

The motion is aperiodic if v>
v.
Fig. 234.
v., where
= [(mo + m,/) I m, ]~2g 1(3/).
164
90 The deformed state of the vibratory system is illustrated in Fig. 235. Bending
the tube is accompanied by the appearance in liquid of centrifugal inertial forces.
Their magnitude per unit tube length is
q=m,v2 / Pc'
The differential equation of the arched tube axis is of the form
dd:2
where
Jx
(EJxY") = q,
(1)
= Jrd 35 / 8 is the axial moment of inertia for the tube cross section.
Since in the chosen coordinate system zOy (see Fig. 235) the second derivative
of the flexure is negative, we have
q = m,v2 / Pc = -m,v 2 d2 y /d 2 z.
With allowance for this expression, Eq. (1) takes the form
EJxY" +m,viy" =0.

We represent the solution to Eq. (2) as
y = CFosk + C 2sink
where
It
= ~r-m..-V2-/-E-'J-x
(2)
+ C;z + C4 ,
We determine the integration constants from the boundary conditions:

(i) y =0 as z =0;
MB =EJxY" =0 asz=O;
(iii) y' = 0 as Z =I;
(iv) Q = -EJxy'" = -myo /2 as z =I;
(ii)
The last condition represents the expression for the cutting force Q acting in the
rod cross section in the case of z = l.
11
Fig. 235.
165
Based on these boundary conditions, we can write out the equation for the
arched tube axis as
y = [(myo)(2A?EJJ](sink / cosk -
k).
It follows from this expression that for z = I, the equation of motion of the load
has the form
Yo + 2EJxJ.} cosAl[m(sinAl + Al cosAl}] = o.
The vibration frequency of the load depends on the fluid flow velocity in the
tube:
P = ~2EJxJ.} cosAl / [m(sinAl + Al cosAl)] .

(3)
If the fluid flow velocity v =0, then expression (3) yields the well-known formula for the determination of the eigenfrequency
P = ~6EJx /(mI3).
The vibration frequency is zero for cosAl = 0, i.e., for Al = 7r / 2. Hence, the
critical fluid flow velocity is
v. = J,.,~rEJ-x-/-~-=-(-1C-/2-1)'~EJ=x=/~=.
91 We consider an elementary volume of fluid flowing in a radial orifice at a velocity Vo (Fig. 236). In the process of small vibrations, the volume is subject
to both the additional inertial force
Coriolis force
dmlrip
of the translational motion and the
2dmlvoip . The moment of these forces with respect to the rotation
axis is
dM = -dmlr 2rp - 2dmlVo ipr ,

where ~ is the fluid mass per unit length of the orifice channel,
tion of the disk angular velocity from the stationary value
The total moment of inertia of fluid is
M = -n
ip
is the devia-
OJ.
(r2+ 2voipr)ml dr = -nml[(r; -r)/3 +voip(r22 -'12)].
In addition, as the disk vibrates, it is subject to both the moment of inertial forces J ip and the moment of elastic forces crp from the shaft.
With allowance for all the forces acting on the disk, the differential equation
describing its small vibrations is written out as
.. + nvoml (ri- r?)/3 +

c
=0
rp J+nml(ri-r?)/3 rp J+nml(ri-r?)/3 rp .
This makes it possible to find the natural frequency of disk small vibrations
with due regard to the fluid flow, as well as the velocity
PI =0):
v.
(from the condition
166
Fig. 236.
v =
4c[J+nml(ri-r?)/3]
n"'I(ri-r?)
92 The solution to this problem differs from that to Problem 91 only by determination of the cutting force. In the presence of the spring, we may consider
Q = -EJxY'" = -(myo +cYo)/ 2,
Therefore, the expression for the critical velocity of the fluid flow has the form
tan vI = (vlc-2EJxv2)/ c.
93 We consider the deviated state of the disk (Fig. 237a). In this position, the disk
is subject to the elastic restoring force
F: = -c~,
where c is the bending rigidity of the shaft ( c
Since
= 6EJx / 13 ).
1; = r - e , the elastic restoring force is
F: = -c(r -
e).
In this case, the differential equation of motion can be written out in the vector
form as
167
a
Fig. 237.
mr + c(r - e) = o.
(1)
where m is the disk mass.

We now project Eq. (1) onto the immobile coordinate axes x and y. As a result,
we obtain
mX + cx = cecosax,}
(2)
my+cy = cesinax.
In the case of the steady-state motion, the solution to the set of equations (2) is
= [ep~ / (p~ - (i)2)]cosax;

y = [ep~ / (p~ - (i)2)]sinax,
(3)
.J m.
where Po = c /
It follows from Eqs. (3) that the vibration amplitude unboundedly increases as
(i).
-+ Po
=.Jc / m.
< (i). , the deviation of the disk center of mass from the rotation
1j + e. When (i) > (i). , the displacement of the disk center of mass occurs
In the case
(i)
axis is
towards the rotation center. In other words, the disk center of mass resides at the
distance 1j - e from the rotation axis (see Fig. 237b).
As follows from expressions (3), in the case of rather high rotation velocities
( (i) -+ 00), self-centering of the disk occurs. (i.e., the displacement r tends to
zero).
In the case under consideration, the disk mass is
m = trf)2 hp / 4 = 0.625 kg.

The shaft bending rigidity is
c = 6EJx / [3
The eigenfrequency is
Po
= 2.35
kN/m.
=.Jc / m= 61.4 s-'.
168
The deviation of the mass from the equilibrium position [see Eq. (3)] is
1) = r - e =
~X2 + l- e = eoi / (p~ -
oi),
or
1)
=1
-ll)
J1Po2
=1.6
rom.
We now determine the force that deflects the rod by 1.6 rom:
P=Co=c1) =3.77 N.
Using
the
formula
(j
= Ms / w"
w" = trd3 /32), we have as a final result,
(j
(where
Ms
= PI/ 2,
and
= 38.4 MPa.
94
95 In the deflected position (Fig. 238), the rotating shaft is subject to the inertial
distributed load with the intensity
q = fYlooiy,
where
fYlo is the mass of the shaft unit length,
OJ
is the shaft angular velocity, and
y is the shaft flexure.

We set up the differential equation of the arched shaft axis in the coordinate
system rotating with the shaft:
EJxY IV
= q = moOJ 2 y.
The corresponding characteristic equation is of the form
.t -e = (A? -e)(A? + e)= o.
where
k4
fYloOJ 2 / (EJx )'
t--.....,~..-
---.....
"-~J
Fig. 238.
We now write out the solution to Eq. (1) as
y = C1 sin kz + C2 cos kz + C3 sh kz + C4 ch kz,
(1)
169
In the case of the pivoted support of the shaft ends, the boundary conditions are
y = y" = 0 as z =0,
= y" = 0 as z =l.
In order to determine the integration constants, we make use of the set of four
uniform equations:
C; sinkl + C2 coskl + C3 shkl + C4 chkl = 0;
C2 +C4 =0;
- eC2 + k2 C4 = 0;
- C1k 2sinkl- C2 cosk! + C3k2 shkl + C4 k 2chkl = O.
Equating to zero the determinant of this set, we find

(sink!) x (sinhkl) = O.
The least nonzero root of this equation is kl = ;r, i.e., the critical angular velocity of the shaft rotation is
OJ.
= (;r2 / 12)~EJx /1rlo'
96 In the case of bending the shaft, the equation of the elastic line in the coordinate system rotating with the shaft has the form
y = C1 sinkz + C2 coskz + C3 shkz + C4 chkz,
where
k4
= mo0J 2 / EJx
For the cantilever restraint (see Fig. 8la), we deal with the following boundary
conditions
y = y' = 0 as z = 0,
y'" = y" = 0 as z =I.

This allows us to find the equation of the form
(coskl) x (coshkl) = --1.
(l )
which determines the critical angular velocity.
The solution to Eq. (1) can be simply obtained using the plot. To do this, it is
sufficient to find the coordinates (kl)i' (i = 1, 2, ... ) for the intersection of the
left-hand side of Eq. (1) with the straight line" = -1 (Fig. 239).
The least root of this equation is (kl)i ~
ity is
OJ.
1.875, and the critical angular veloc-
= (3.52/ 12 )~ EJx / 1rlo .
In the case that the shaft is fixed in a manner shown in Fig. 81b, we have, correspondingly,
170
1to-_... ..;-
-I
\
\
\
,'--"
Fig. 239.
y
y
= y' = 0 as z = 0,
= y' = 0 as z = t.
This allows us to obtain the following equation for the determination of the critical
angular velocity:
cos kl . sh kl = 1.
The least nonzero root of this equation is (kl)] = 4.9, and the critical value of the
angular velocity is
97 In the state of the tube, which is deviated from the straightforward equilibrium
position, each unit length of the tube is subject to two inertial forces. The first one
(mo + ~ )w 2Y is caused by the rotation of the tube containing liquid. The second force, ~ v2P = -~ v2 y" , is the centrifugal inertial force of moving liquid.
This force is associated with curving the shaft (see Fig. 240). (The sign minus is
determined by the sign of curvature.)
The differential equation of the arched shaft axis can be represented in the form
E'Jxy IV
= ( mo + ~ )OJ2 Y -
mo v 2y" ,
or
where
k]2
= ~ v2 /
(EJ x ), k;
= (mo + ~ )w 2 / (EJJ.
We can write out the characteristic equation corresponding to Eq. (1) as
(1)
171
11
Fig. 240.
whence it follows
~,2 = i~(kJ2 + ~ kJ4 + 4ki) / 2;

~,4 = ~(~k: +4ki -kJ2)/ 2.
The solution to Eq. (1), we obtain in the form
= CJ sin~z+C2 COS~Z+C3 Sh~Z+C4 ChA4Z.
The integration constants are determined according to the conditions

y = y" = 0 as z =0,
y = y" = 0 as Z =l.
The critical angular velocity can be found from the equation
(sinA) x (sinhA})
The left-hand side of Eq. (2) vanishes in the cases of ~
at OJ 0 . For
velocity
OJ*
k = 1, i.e.,
= ~ 1[4EJx /
~I
= be,
(2)
= 0, i.e.,
= 1[ , we obtain the value of the critical angular
[l4(mo + ~)]_1[2~ v2 / W(mo + ~)],
98 In accordance with the d' Alembert principle, the equation of motion of lever 2
can be obtained as a sum of the moments (with respect to the point A) of all forces
acting on the lever:
Jip+ miplJ2 /2 + clJ2rp/2 -mJoil~rp =O.
172
Here, J ift is the moment of the inertial force of the vibrating lever;
the moment of the rod inertial force;
m/#12
is
cll2CfJ2 is the moment of the spring compres-
sion force, ~oil;CfJ is the moment of an additional inertial centrifugal force

arising as a result of the deviation of the vibrating lever through the angle rp, and
OJ=~RI/ R.
Thus, the rod eigenfrequency is
,....----P = elll2-m1w2ti
J A +mzIll2 .
In the case of
oi OJ: = cll2 / (2~/;),
small vibrations of masses
ml
become unstable so that usual operations of the senSor of the velocity regulator are
violated. Thereby, the critical value of the angular velocity (i). is the upper limit for
current angular velocities of the regulator.
99 In the case of small vibrations of the loads
~,
their horizontal displacements
I!i. r are related to the vertical shift I!i. y of the sleeve of mass 111z by the expression
l!i.y = [/1/ (/1 + 12)](tga + tgfi)l!i.r = kl!i.r.
In order to derive the differential equation for the loads, we make use of
the Lagrange equation of the second kind:
-lLo~ =
dq oq
oT
+m
=0 .
oq
oq
(1)
The kinetic and potential energies of the loads can be written out as
T-
ml~2
2
2 ml~y2
2k2 +
2 ml(r+~ylk)2aw2 .
2
'
II = 111zg(yo + l!i.y) + c(Yo + l!i.y)2 /2.,

where Yo is the spring compression corresponding to the steady-state operation
mode of the regulator.
Taking in Eq. (1) the displacement l!i.y as the generalized coordinate q, we arrive at the equation
(m2 + 2k; )l!i.y+(c- 2i~2 )l!i.y + m2g + CYo - 2nyw2

steady-state regime,
= O.Since in the
I!i. y = I!i.Y= 0, we have
111zg + cYo - 2~roi / k = O.

Hence, we can reduce the differential equation for small vibrations of the regulator
to the form
I!i.Y + p 2l!i.y = 0,
where p is the system eigenfrequency,
p=~(ec-2m.ol)/(k2~ +2m.).
173
(2)
It follows from expression (2) that there exists a certain critical angular velocity
of the regulator,
OJ.
= ec /(2m.),
for which the eigenfrequency vanishes.
100
I _ ~g/4c-D
-
(m2g)2 _
8c
~gD
8c .
101 In the case of small vibrations of the rod with respect to the position of dynamic equilibrium, the rod is subject to the moment
the gravity force
Jip
of the inertial force, to
Q= mg , and to the centrifugal inertial force directed along the
perpendicular to the rotation axis and equal to O.5m1OJ 2 sin(a + tp). (Here, the
angle
determines the position of dynamic eqUilibrium, whereas tp is the small
angular deviation from this position.)

We derive the equation of small rod vibrations, in the coordinate system rotating at angular velocity OJ. The rod can rotate with respect to the axis passing
through the hinge. For the position of the rod, which is shown in Fig. 85, this axis
is normal to the picture plane and passes through the point O.
Equating to zero the sum of the moments of all the forces acting on the rod and
of the rod moment of inertia with respect to the axis, we arrive at the equation
-Jip+ ~l OJ2 sin(a+ tp)fl cos(a +tp)-Qtsin(a+tp) = O.

Taking into account that J o = ml 2 /3 and assuming the angle tp to be small,
we obtain
iP+<tfcosa _OJ 2 cos2a)tp+tfsina- ~2 sin2a = O.
(1)
Two last terms entering into this equation correspond to the position of dynamic equilibrium for which tp
0 , i.e., the sum of these terms is zero:
=iP =
1.5sina / I-O.5OJ 2 sin 2a = O.

Hence, the eqUilibrium position turns out to be possible for two values of the angle a:
(2)
As
a l = 0, it immediately follows from Eq. (1) that vibrations are stable if

OJ2
< 1.5g II.
The critical angular velocity for which the equilibrium state is unstable corresponds to OJ.
= ~1.5 g / I.
174
Substituting
a2
into Eq. (1), we obtain that in the case of
oi > 3g /(2/).
any arbitrary angle of deviation corresponds to the stable equilibrium state.
102
103 In the case of small vibrations, the kinetic energy of the load is
T = 0.5m.:e + 0.5ma/ x 2 ,
where x corresponds to the displacement of the load, which is measured from the
rotation axis.
The potential energy of the spring deformation is
II =O.5c[(Oo + X)2 + (00 - X)2] =c(O; + x 2).

write out the Lagrangian function L = T - II and substitute it into
We now
the Lagrange equation. Thus, we arrive at the differential equation
x+(2c-moi)x/ m =O.
Hence, the eigenfrequency and the critical angular velocity are, respectively,
=.J2c / m - oi
and
(j).
= .J2c / m.
104 The differential equation of relative motion of mass m has the form
x+(c-m{j)2)x/ m = 0,
where x is the deviation of the mass m from the position of dynamic equilibrium.
The vibration frequency and critical angular velocity are, respectively,
= .Jc / m _{j)2
and
(j).
=.Jc / m.
105 In the process of small vibrations, the plate is subject to the lifting force Y, to
the moment Me = ca produced by the elastic rod, and to the inertial force.
Since the plate surface area is s
y
where p is the air density and
[c =GJp /(2/) = ;rd4 G /(64/)].

The
= (bh
moment
2 PI
of
the
= b x h, we can write out the lifting force as

= ;rpv2bha,
C
plate
is the angular stiffness of the system

inertial
forces
is
J Ii ,
where
/ 3)(h + 3d / 2) is the moment of inertia of the plate with respect to
the rotation axis (PI is the density of the plate material).

Using the d' Alembert principle, we set up the differential equation of motion
as a sum of moments of all the forces with respect to the rotation axis:
175
Jii+ca-Y(3h/3+d 12) = 0,
or
ii+[cl l-trpv2bhh. 1(2J)]a = 0,

where
h. =3hI4+dI2.
Hence, the natural frequency of plate vibrations is
p = ~c I J -trpv2bhh. 1(2J).
It is easy to see that there exists a certain critical velocity
v. = ~2c I(trpbhh.),
for which the vibration frequency is zero. In this case, the system loses its stability
(divergence of the plate occurs).
106 The differential equation describing small free vibrations of the lever can be
written out as
J ip + crp = PaRrp,
or
ip+(c- PaR)rp = O.
The frequency of natural vibrations and the critical value of the force are, respectively,
= ~(c- PaR) I J.
and
P. =cl R.
107 The attraction force acting on mass m and developed by the magnet is
F =k<D~ I a~.
In the case that mass m is shifted in the horizontal direction by a small distance
x
(x al ) (see Fig. 241), a force arises equal to the difference between the at-
traction forces in each of the positions:
M' = F; - F;
= k<D~ I(al -
X)2 - k<D~ I(al + X)2 ~ 4k<D~x I a:,
where
F; =k<D~/(al-x)2; F; =k<D~/(al +X)2.

Using the d' Alembert principle, we find the differential equation of motion of
massm:
mX + 21'ox I 1 = 4k<D~x I a~ ,
or
x+[21'o I(ml) -4k<D~ I(ma:)]x = O.
176
Fig. 241.
In the case of small vibrations, the natural frequency of mass m in the magnetic
field is
= ~21'0 /(ml) -4k<l>~ /(mai).
A peculiar feature of the obtained expression for the natural frequency is its
dependence on the magnetic-flux intensity <1>0' This dependence is equivalent to
an effect of the so-called negative elasticity.
we can put in correspondence to the critical
Each value of the tension
1'0,
value of the magnetomotive force
<1>. = ~1'oai /(2kl),

for which the frequency p vanishes. In this case, the equilibrium state of mass m is
unstable, i.e., its vibrations are impossible.
108
p=~bh3E/(4/3m)-4k<l>~/(mai); <1>. =~bh3Eai /(16kI 3).

109 Based on the force method, we write out the differential equation of motion
for point mass m as
y
Here,
0"
=13 /48EJ
point of mass m;
0'2
= 0Il (-my) + 0'2Ro
is the beam flexure caused by a unit force at the fixation

is the beam flexure at the fixation point of mass m and
caused by a unit force applied to the beam at a distance
z from
the origin of the
177
coordinate system, or (which is the same in accordance with the reciprocity theorem for displacements) the beam flexure caused by a unit force applied at a distance z from the fixation point of mass m.
We take the following approximate expression for 012 :
012
=0ll sin ~z
Since z = vt , we finally obtain the following differential equation describing

vibrations of mass m:
(1)
y + p~y = (Ro / m)sin:rvt II.
For uniform initial conditions, yeO) = yeO) =0, the solution to Eq. (1) is of
the form
[ 110 '] ( sin ")" - f sin

P6-(~)
Po
Pot).
(2)
Analysis of the denominator in expression (2) shows that a certain critical vecan exist, which is found from the condition
locity of motion of the force
Ro
p~ - (:rv. /1)2 = 0,
whence it follows
v.
= Ipo /:r = (l / :r)~48EJ /(l3 m).
However, for this value of the velocity v, there is an uncertainty in Eq. (2).
After this uncertainty has been revealed (as :rv / 1 ~
pression
Po), we arrive at the ex-
= -[Ro /(2mpo) ](t cos Pot - sin Pot / Po)'
As far as the time of motion of the force Ro along the beam is finite, the displacement of mass m is also finite, i.e., there exists no critical velocity.

110 In order to derive the differential equation of motion, we make use of the
d' Alembert method. To do this, we project all the forces acting on the load onto
the immobile xqy axes (Fig. 242). Thus, we arrive at the equations
mX = -N sin cp,
(1)
178
Fig. 242.
my = N cos rp - mg.
(2)
Excluding from Eq. (1) tension force N, we obtain
m(x cosrp + ysin rp)
= -mgsin rp.
(3)
We now express the coordinates of the load position in terms of both the angle
Yl of the point of
suspension:
rp of the rod deflection from the vertical and the displacement
= I-I cos rp + yp
= I sin rp.
(4)
Thus, we have in this case,
= I(rpsinrp+i/ cosrp)- Y ow2 sin ax,
x = I(rpcosrp -
ip2 sin rp).
(5)
Substituting expressions (5) into Eq. (3) and assuming angle rp to be small, i.e.,
cos rp ~ 1 , sin rp ~ rp , and rp2 ~ 0, we obtain

rp + [g /1- (YoW2 / I)sin ax]rp = O.
(6)
Equation (6) is usually represented in the form of the Mathieu equation
d 2 rp /d r2 + (a + 2q cos 2r)rp = 0,
where a = 4 g / (0/ I); 2q = 4Yo / I ; and r = ax / 2 .
Depending on particular system parameters, small vibrations of the pendulum
can be either stable or unstable. Stable vibrations correspond to the position of the
179
representation point in the unshaded region of the Ince--Strutt diagram (see Appendix 1). If the parameters a and q are such that this point lies within the shaded
region, then the vibrations tum out to be unstable.
In the case under consideration, a = 0.784 and q = 0.04, which implies the position of the representation point in the stability region of the Ince--Strutt diagram
(see Appendix 1).
111 The solution to the problem is similar to the case of Problem 110. However,
in contrast to this case, the coefficient a in the Mathieu equation is negative. Thus,
the pendulum motion is stable for OJ ~ 396 S-I (provided that the condition
lal < q2 /2
is valid).
112
lUmin ~
125
S-I.
113 The differential equation describing small free vibrations of the plate is similar to that obtained while solving Problem 110.
We now ignore the drag resistance since it is rather weak in the case of small
deflections of the plate. We also consider the flow velocity in the above solution
to vary with time and neglect the terms containing v~. Thus, we arrive at the differential equation of motion in the form
d 2 cp /d r2 + (a + 2qcos2r)cp = 0,
where
_.-( cP _
a-
0)2
6) ,q
2 __ 4 3ll" bl 2pVov, J -1/3 bJ.
- 0)2 2
J
'
- 3
ijJ .
3ll" bl 2PV
4
J
For the parameters indicated while formulating the problem, and in the case of
a = 1.53, the coefficients of the Mathieu equation are
2q =--0.132; Iql =0.066 for VI =5 mls;

2q =--0.264; Iql =0.132 for VI = 10 mls.
It follows from the Ince-Strutt diagram (see Appendix 1) that in the case of
the flow velocity that varies within the indicated limits, the vibrations are stable.
114 In order to derive the differential equation of motion, we can employ the approximate formula for determining rod flexures in the case of transverselongitudinal bending:
y = Yo / (1- P /
Po),
where Yo = -my / c is the flexure of a rod under the action of an only transverse load. In the case under study, this is the inertial force of the load of mass m.
(Here, c is the bending stiffness of the rod and
0=
1[2 EJx /4/2 is the critical
value of the compressing force.)

Thus, the differential equation of motion can be represented in the form
y + (1- P / Po) ~ = 0,
or
180
y + (a + 2qcos2r)y = 0,
where
=....L( 6EJ
(j)2
mil
24Po ).
1[2Im'
=_....L 24P1o
(j)2 1[2 m '
On substituting numerical values, we find a = 6.63 and Iql = 0.195. In the

Ince-Strott diagram (see Appendix 1), the representation point having these coordinates corresponds to stable motion.
115 In the case under investigation, the beam stiffness corresponding to transversely bending is c = 24EJx / 13 , and the critical force is ~ = ;r2 EJx / 12.
The coefficients of the Mathieu equation are determined by the following expressions:
a=(I- Po)~.
P mOJ2'
e
2q=-~~
Pe m(j)2
On substituting numerical data, we find a =4.2 and Iql = 0.02. In the InceStrott diagram, the representation point having these coordinates lies in the
unstable region (see Appendix 1).
116 The differential equation of motion for mass m can be written out in the form
y + 2(To + 1; sin at)y / (ml) = 0,
or
d2 y/d 2 r+(a+2qcos2r)y=0,
where
a -
2q --
4 2To -
(j)2
rnr -
4
220 -512'
25 2 0.250.2 - . ,
210 mr - 2542 0.250.2

-
4 2TI -
(j)2
2 56'
.
r=at/2.
The motion of mass m is stable because the representation point with the coordinates a =5.12 and Iql = 1.28 lies within the unshaded region of the Ince-Strott
diagram (see Appendix 1).
117 The differential equation of motion for the load, we can write out as
= -t\Imy,
where t\I = 13 / (3EJx ) = (10 -II sin at)2 / (3EJ x )'
We restrict our analysis by only the linear part in the expansion of the function
1 / t\ I in series with respect to powers of II' Thus, we arrive at the differential
equation
Y.. + 3EJ
mlij
181
(1 + 3 10II'sm lOt ) Y = 0.
It can be represented in the form of the Mathieu equation
d 2 y/d 1"2 + (a+ 2q cos 21")y = 0,

where
a_......3EJx
- m2 mlij ,
2 _......9EJx i.
q- m2
mlij 10'
lOt =1'+21".
On substituting numerical values of system parameters into the expressions for
the coefficients a and 2q, we find a 2.5 and q 0.75.
The solution to the Mathieu equation can be either stable or unstable depending on the relation between the coefficients a and q. In the case under discussion,
the representation point lies within the unshaded region of the Ince-Strutt diagram (see Appendix 1). In other words, for the parameters chosen, the motion of
the load is stable.
118 At an arbitrary moment of time, the inflection point of the line shifts from the
middle point by the distance YI' and the line is deflected from the equilibrium position through the angle rp (Fig. 243).
Using the theorem for variation of the angular momentum, we can write out
the differential equation of motion in the form
Jt [m(lo + Yl)2 cp] = -mg(lo + Yl )rp,
(1)
whence it follows
(2)
In the case of application of the d' Alembert method, we analyze the balance of
forces acting on the load at an arbitrary moment of time. These forces are the line
tension force N, the gravity force mg, and the inertial forces mX and my .
Furthermore, we project the forces acting on the load onto the vertical and
horizontal axes. As a result, we have
my = N cos rp - mg,
(3)
mX = -N sin rp.
(4)
The coordinates x and y of the load can be expressed in terms of the angle rp
and the length 10:
X = (10 + YI) sin rp; Y = (10 + Yl )(1- cos rp).

On substituting these relationships into Eqs. (3) and (4) and excluding the tension force, we also arrive at Eq. (2).
182
Fig. 243.
119 The differential equation of motion of the pendulum has the form
where
= 10 + II sin oX .
rn + KI""m = 0,
ih + 1. dl
.." I dt""
120 The variation in the position of mass m causes a change in the moment of inertia of the system. In this case, for deriving the equation of motion, it is convenient to use the theorem for variation of angular momentum:
(1)
where J o is the total moment of inertia of the system with respect to the point of
suspension 0; rp is the angular deviation of the system from the eqUilibrium position;
MOi are the moments with respect to the point of suspension 0 for all exter-
nal forces acting on the system.

The equation of motion for mass m with respect to the frame has the form
x = Xo sin OJI.
The moment of inertia of the system is
J o = J I + m(lo + Xo sin OJI)2.
(2)
In the case of the deflection of the system through angle rp, the total moment of
gravity forces with respect to the point of suspension 0 is
,LMOi = -mlg/ICP-mg(lo +xo sinOJt)cp.
(3)
On substituting expressions (2) and (3) into Eq. (1), we arrive at the differential equation of motion of the system in the form
183
[J1 + m(lo +xo sin wt)2]qj + [2mxow(l0 +xo sinwt) cos wt]ifJ +
+g[ml/l + m(lo +xo sinwt)]qJ = O.

121 The solution is similar to that of Problem 120. The differential equation of the
pendulum motion can be written out as
..
2XO coswt.
g
0
qJ + lo+xosinwt WqJ + lo+xosinwt qJ =
where rp is the angle of deviation of the pendulum from the vertical.
122 In the case of deviation of the tub by the distance x from the equilibrium position and rotation of the pulley through angle rp, the variation in the rope length is
(Fig. 244)
M = RqJ + ~Ig1 + x 2 -/01'

or, in the case of small vibrations ( X
<< 10l ),
III = RqJ.
Hence, the change in the rope tension is
IlT = MEF 110
= REFqJI 10,
Then, the differential equation of motion for the tub can be rewritten as
mX = -(1'0 + IlT) sin a,
where a is the angle of deviation of the rope from the vertical in the course of tub
vibrations.
For small vibrations, we may write out
sin a
=a =xl 10l'
(1)
With allowance for expression (1), we can represent the differential equation
of motion in the form
x+(a+2qcos2r)x = o.
(2)
We now numerically calculate the parameters entering into expression (2):
a = 41'0 l(mw2/ol) = 4.10 2 /(500.10 2 0.7) = 0.114;

2q = 4REFqJo l(mw2Iolol) = 40.1 200.109 .10 4 0.1/(500x
X 102
10.7) = 2.28; q = 1.14.
As follows from the Ince-Strott diagram, (see Appendix 1), the small vibration of the tub are unstable.
184
Fig. 244.
123 The differential equation of motion of mass m in a magnetic field has the
same form as the equation in the solution to Problem 108:
m.X + (c - k<l>2 / a;)x = 0,

where
c = 3EJx I [3 and =
<1>0
(1)
+ <1 sin wI.
With due regard to small amplitude of the magnetomotive force <1, Eq. (1)
takes the following form:
.. (c
kij
x+ - - - - 2k02
a =4- ( .. _ _
_
0)
0)2
m mar
and
4 2k 0)

2q = __
0)
Plotting the point with the coordinates
mar
a =1.03,
Iql =0.02
in the Ince-
Strutt diagram, we find that this point lies in the unshaded region, and therefore,
the motion of mass m is stable.
124 In the course of motion of the bus, its distance a I from the conductor varies as
a) =ao +x.
The force acting on the bus in the process of vibration is
where
185
Po = 2pl/2ol / ao;
F2
= 2pIl(I20+I21
sinmt) ~ 2pIII (I
1 .
) (1- L)
l1o+x
a
20+ 21 smmt
a
o
In this case, the differential equation of motion is of the form
mi+2cx=M,
or
.. 2c
X+m
[1
pIli (1
cao
--2
1 smmt
.
)] X-_ 2pIII21/
.
am smmt.
20+ 21
125 The differential equation that describes vibrations of the lever (see Fig. 90)
has the form
.. ( c
RoR RIR.
)
0
rp+ J--:r-T smmt rp= .
Introducing the notation mt = 1r / 2 + 2, , we obtain after certain transformations the coefficients of the Mathieu equation
_ 4 c-PoR 2 _
4 llR
a- m2-J-' q-- m2 T .
On calculating numerical values of the coefficients a
conclude that the motion is stable.
=6.0 and q =0.4, we may
126 At an arbitrary moment of time, the position of the load is determined by the
coordinate
Xo = Xoo +vt.
In this case, the differential equation describing the vibrations is of the form (see
the solution to Problem 28)
.. +To
I
=0
m (l-xoo-vt)(Xoo+vt)
127 Let at an arbitrary moment of time, the point of the pendulum suspension be
shifted from the equilibrium position by a certain distance Yo, and the pendulum be
deflected through angle rp from the vertical (Fig. 245). Then, the differential equation of motion for mass m has the form
m
miI =-Nsin 'f"
(1)
myI =-Ncosrp+mg.
(2)
We now substitute into these equations the expressions for the coordinates
= SI + II sin rp;
YI = Yst + Yo +/1 cosrp,
XI
(3)
186
Fig. 245.
(l 1SIS2)To(yo + Yst) = mg - m[y -II (q;sintp+ qi costp)]'

and exclude the force N. As a result, we find
11q; -
Yo sin tp = -g sin tp,
Assuming also the angle rp to be small, we arrive at the equation
(4)
As follows from the equilibrium condition for the node of the pendulum point
of suspension,
N costp = T(yo + Yst ) 1SI + To (Yo + Yst)1 S2'
Expressing N in terms of
on the basis of relationship (2) with due regard to
formula (3), we arrive at the equation
Next, taking into account that
IToYst l(sls2) = mg , and ignoring the nonlin-
ear terms in the right-hand side of the equation (because of the smallness of angle
rp), we can rewrite the last expression in the form
Yo = -ToYoll(msls2),
or
(5)
where
p2
=Tol l(msls2 ).
Solving Eq. (5) with allowance for initial conditions

as
(Yo = Yoo
and
Yo = 0
t = 0), we obtain the equation of motion for the pendulum point of suspension:
Yo = Yoo cos pt.
187
We now substitute this expression into Eq. (4):
iP + I (g + Yop2 cos pt)rp = O.
Performing the replacement
pt = 2r, we arrive at the Mathieu equation
d 2 rp/d r2 + (a + 2q cos 2r)rp = 0,

where
a =4q /(p2/1) and 2q =4yoo / II'
Furthermore, we make use of numerical values of related parameters and find
a = 0.0687 and q = 0.665, which correspond to stable motion.
In the second case under consideration, unboundedly growing angular vibrations, of course, cannot exist because the system is conservative.
Here, we imply that the unstable motion corresponds to the instability of vertical vibrations (the tendency for vibrations to grow with angle rp). For the exact
determination of angle rp, the vibrations should be analyzed with nonlinear terms
taken into account.
where
p2
= 1'01/(ms l s2).
Solving Eq. (5) with allowance for initial conditions

as
(Yo = Yoo and Yo = 0
t = 0), we obtain the equation of motion for the pendulum point of suspension:
Yo = Yoo cos pt.
We now substitute this expression into Eq. (4):
iP+t(g+
yop2 cospt)rp = O.
I
pt = 2r, we arrive at the Mathieu equation

d 2 rp/d 1'2 + (a+ 2qcos21')rp = 0,
Performing the replacement
where
a = 4q /(p2/1) and 2q = 4yoo / II'
Furthermore, we make use of numerical values of related parameters and find
a = 0.0687 and q = 0.665, which correspond to stable motion.
In the second case under consideration, unboundedly growing angular vibrations, of course, cannot exist because the system is conservative. Here, we imply
that the unstable motion corresponds to the instability of vertical vibrations (the
tendency for vibrations to grow with angle rp). For the exact determination of angle rp, the vibrations should be analyzed with nonlinear terms taken into account.
128 The solution is analogous to that obtained for Problem 127. In the first case
( a = 0.0981, and q = 0.5), the pendulum motion is unstable, whereas in the
second case ( a = 0.0981 , and
q = 0.07 ), the motion is stable.
188

129 The kinetic energies of the upper and lower disks are given by the equations
T=2l[m 8D rp + m '2]
j
' 2
jX j
(1)
2 ( 2 . 2)] '
(2)
.
T 2-- 1 [m2D22
8 rp+m
2 x 2+Y2
where XI is the horizontal coordinate of the upper disk, x 2 and Y2 are the horizontal
and vertical coordinates of the lower disk, and ({J is the rotation angle of the system. The potential energy of the system is
II= m 2 gy 2
Taking the rotation angle
X
({J as
(3)
a generalized coordinate, we have
=O.5rpDj , X 2 = 1 sinrp-0.5rpDj , Y 2 = 1(I-cosrp)
hence,
(4)
Xj =0.5ipD j , 2=(1 cosrp-0.5Dj)ip, Y2 =1 sinrpip .
(5)
Substituting Eqs. (1)-(5) into the Lagrange equation of the second kind, we arrive at the equation of motion
m2 g1 sinrp
..
rp+ (3m jD j2/8)+m2[ (D22 /8)+(D j2/4)+/2 -lD jcosrp]
130
2 12"
cl 2cosrpcosa( --;:=======
1
-m
a+----''---1
=0 ,
3
sinrp
~1-sinasin2rp ~I +sinasin2rp
p
=~3c/m sinrp .
131
a+ 3g sin a + 3c (.J 1+ sin a - ,.h - sin a) =0 ,

41
4m
=~(3g /4)[c/(mg )+1/1].
132 There are four time intervals in a vibration period: two intervals in which one
of the springs contacts the wall and two intervals of free motion of the load.
When the load is being subjected to the elastic force of one spring, its motion is
described by the equation
x =(V 0/Po)sinPot,
189
(1)
where Po2 = elm and Vo is the impact velocity of the body (spring). Therefore, the
contact duration is t, = nlpo' the duration of free motion of the body is t2 = 2L11vo'
and the vibration period is
T =2(t\ +t2)=2(1Z'/Po +2L1/v 0) .
(2)
We now express the period in terms of the amplitude Xo of free vibrations. The
smallest length of the compressed spring is evidently equal to Xo - ,1. According to
Eq. (1), Xo -,1 = v/Po or
Vo=Po(Xo-L1) .
(3)
Substituting Eq. (3) into Eq. (2), we find
T =(2/Po)[1Z'+2L1/(xo-L1)] .
Finally, the frequency of free vibration is
P =21Z'/T=1Z'Po/[1Z'+2L1/(x o-L1)] .
133
134 When the load is being subjected to the elastic force of the left spring, its motion is described by the equation
..
2
0,
x\+p\x\=
(1)
where p,2 = elm. Under the initial condition X1 (0) = --V 10 at the equilibrium
point x,(O) =0, the solution to Eq. (1) has the form
X1=-(VIO/Pl)Sin(P1t) .
The contact duration t, is equal to the half-period: t, =nip,. Similarly, the duration
of contact with the right spring is t2 = nlp2' The period and frequency of steadystate vibrations are, respectively,
T =t\ +t2 = ~P\ + P2)/(P\P2) ,

P =21Z'/T =2~C\C2/ml(..fc: +.fc:).
135 The stiffness e of a system (spring) is defined as the ratio e =Pix, where P is a
force applied to the spring and x is the spring contraction due to the force. The
frequency of small free vibrations of a load with mass m is p =(elm)'l2. For the ratio elm to be constant, either the load P must be constant or the spring characteristic must be nonlinear. In the latter case, the spring stiffness is defined as e =dPldx.
It follows from the constant frequency condition that
190
P 2 =(g Ip)( dP Idx )=const

Therefore,
or
= exp[ (p 2/g )(X +C I)]

The constant C} is found from the condition P =Po at x =xo:
P
CI
=(g/p2)logPo -x o .
Finally, the contraction of the shock absorber as a function of the force applied to
it takes the form
136 The kinetic and potential energies of the system are
=mi 2/2, II=c(00+ot/2.
Here, c~ = To and c8 = T} are an initial tension and a tension caused by vibrations,

respectively. The line elongation 8 is related to the vertical displacement x by the
equation 8 =2/(1 - cosa) ~ ill, where a ~ xII. Therefore, the strain energy of the
system is
II=C(00+x 2/lf/2.
Substituting these expressions into the Lagrange equation, we arrive at the equatioll of motion
i' +(2cOo/m )[ xl / +x 3/(001 2)] = 0 .
In order to find the ftrst integral of this differential equation, we take into account that
Then,
i2=AI_}4cOox (l+~Jdx =
A
ml
0 01
o
AI -(2cOo/ml )[X 2 -Ag +(X 4 _A 04)/2001] .
The solution satisfying the initial conditions has the form
i = ~(2cOo/ml)[ Xg-x 2 +(x ~ -X 4)/2001] .

This expression can be presented as a curve on the phase plane.
137 The tension in the springs is (see Fig. 246)
191
Fig. 246.
(1)
where x is the horizontal displacement of the load, Finding the horizontal component of the force acting on the load, we arrive at the equation of motion:
mi" =-'lI'x /10 =-cX 3/1 02 , or X' +kx 3 =0 ,
(2)
where k =c/(m102), We introduce the notation dx/dt =y, then
.. dy dy dx
, dy
dy
x=--=----=x--=y-dt dxdt
dx
dx'
Substituting this expression into Eq, (2), we find
y dy =-kx 3dx ,
(3)
The integration of Eq, (3) under the initial conditions x(O) Xo and dx(O)/dt 0
yields l =k(X04 - X4)/2, Solving this equation with regard to the definition
y =dx/dt, we find
where & =xlxo is a dimensionless displacement. Because of the symmetry of the

problem, the vibration period is
192
=-- {2J
=-- {2K(vv'2)
de
xoV-ko~l-e4 xoVk ..fi
Here, K(k) is the complete elliptic integral of the first kind, which is a limiting
case of the elliptic integral of the first kind: K(k) = F(7d2,k), where
F(q.>,k)=
.
f ~(l-t2)( cosdta+sin at2) ,k =sma
.
cosql
In the case under consideration, rp =n/2 and a =n14. According to the tables of
the elliptic integrals, F(n12, 1I21n) = 1.8541 (Janke E.et al., 1960). Therefore, the
period and the vibration frequency are, respectively,
T =1.8541(4/0/xo)~m/c , p =O.85(xo/lo)~c/m .
138 According to the Rayleigh method, the maximum kinetic energy of a conservative system must be equal to its maximum potential energy: Tmax = il.n.., where
T max = mv ; /2, IImax =

Since T
Lll max
f2T d( ill) .
=cL11 (see Problem 137) and L11 ~ il(2Io)' then

IImax =cx;/(4I
Therefore,
mv;/2=cx;/(4I
n,
n.
xo=~V2m/c
Taking into account the relation between the frequency of free vibrations and the
initial displacement (see Problem 137), we find
=(0.85/lo)~V2c/m
139 The differential equation of motion is similar to that derived in Problem 137:
mi" +2Tox /10 +CX 3/1~ =0
Introducing the dimensionless variable

form
&
=xlxo'
we rewrite this equation in the

(1)
Substituting the relation "& = de / de into Eq. (1), we find the solution satisfying the initial conditions:
e2=[2cj{mlo)][{To/c)(I-e2)+(x;/4/0)(I-e4)].
Equation (2) describes the motion of the mass m on the phase plane (Fig. 247).
(2)
193
140 Consider the motion of the load with x > 0 and dx/dt < 0 (see Fig. 246). Since
the Coulomb friction force is always directed oppositely to the velocity of motion,
the differential equation of vibrations has the form (see Problem 139)
mi" +2Tox /lo+cX 3/{ml;)=F

or
(1)
where & x/xo is the dimensionless coordinate. With regard to the relation
'j; = &de / dE and the initial conditions &(0) = &0 and d&(O)/dt = 0, we find from
Eq. (1)
. _+ t,;
E-_",2
F(Eo-E) To{E~-E2) cxg{E~-E4)

+
+
2'
mxo
mlo
4mlo
Substituting the numerical values, we have
&=Ji~-100(Eo-E)+200{E~-E2)+50{E~-E4)
(2)
=1 and &< O. Ac& =- 17.3 lis at the point & =O. At the moment of time t =T/2
We now consider the motion in the first half-period when
&0
cording to Eq. (2),

when &=0, the displacement is &f':! - 0.63.
Equation (2) with &0 f':! - 0.63 can also be used to consider the motion in the
second half-period, but in this case &> 0 and the sign of the friction force should
be changed. As a result, we find that &f':! 6.8 lis at the point &= 0 and &f':! 0.18 at
t = T when
= 0 (Fig. 248). The subsequent trajectory on the phase plane can be
found in much the same way as described above. The body stops moving when the
elastic force F at an end position becomes less than (or equal to) the friction force.
=0).
As follows from Eq. (1), this takes place already at the point & f':! 0.18
(e
ii,1ls
i, 11s
22.3
-1
Fig. 247.
Fig. 248.
194
or
mx +CX ++C1X 3 = 0
(1)
2
3
0,
X+pX+f.lX=
(2)
where 11 is a small parameter. We seek for the solution to Eq. (2) in the form
2
X =XO+f.lXl+P x 2+... ,
(3)
with
(4)
where PI' a" and P2 are constants to be found. Substituting sums (3) and (4) into
Eq. (2) and neglecting terms above the fIrst power of 11 , we find
2 0 + P(X.. 1 + PIX
2 1 + a1x 0 + X03) =0
X..0 + PIX
(5)
Equation (5) must be valid for arbitrary 11, hence,
XO+PIXO=
(6)
X"1+PI2X 1=-(a1Xo+xg) .
(7)
Under the initial conditions xo(O) =A and dxo(O)/dt =0, the solution to Eq. (6) has
the form Xo =A cos(P,t). Substituting this solution into the right hand side of
Eq. (7), we arrive at the equation
X"I
+ PI2X 1 =-(aIA +3A 3 /4)cOS(Pl )-(A 3 /4)cos(3Pl) .
(8)
We seek for a bounded solution to Eq. (8), hence, a, =-3A2/4. Otherwise, the
perturbation frequency would be equal to the eigenfrequency of the system so that
x, ~ 00. Solution to Eq. (8) satisfying the initial conditions x,(O) =dx,(O)ldt = 0
has the form
(9)
Therefore, in the first approximation, the solution to Eq. (1) can be written out
as
X =A COSpl + P[A 3/(32pn](COS3P1t -cosp1t) .
=p2 + 3J.IA2/4 ~ 1.17 lis.

142 According to the method of least squares, the function F =cx + c/ can be
approximated by a linear function F =coX provided that the coeffIcient Co is found
The eigenfrequency is found from Eqs. (4) and (9): p,2
from the minimum condition for the integral

A
ncoX -(CX +C1X 3)] dx
195
considered as a function of co. Carrying out the integration and then differentiating
the result with respect to CO' we find
Co =c +3c I A
2/5 .
Therefore, the frequency of free vibrations of the load is
=~clm =~(5c +3c I A 2)/5m
143 Assuming the motion to be harmonic, we seek for the solution to the equation
X- + P 2X +,ur 3 =0
in the form (see Problem 141)
X0
=A COs(p1t +a)
(1)
(2)
According to the Galerkin method, the function xit) is an approximate solution

to Eq. (1) provided that
211:/p]
(3)
J(X- o+p2xo +,urg)x odt=0.
Substituting solution (2) into condition (3), we find p]2 = l + 0.75pA2. This result
coincides with that obtained by the Lyapunov-Poincare method in Problem 141.
144 In the case under consideration, the characteristic of the elastic elements can
be presented in the form
=c (x - .,1), for .,1:::; x : :; A .

To find a linear approximation F] =coX to this nonlinear dependence, we evaluF
= 0,
for 0:::; X
:::; .,1 ,
ate the root-mean-square deviation
LI
.,10
A-L1L1
=~ fcgx 2dx +-l-nc(x -L1)-c ox
dx .
Using the condition dJ/dco =0, we find
Co =c(2A 2 -2AL1-d)/(2A
+2AL1+5d) .
The vibration frequency is given by the expression
=~C(2A 2-2AL1-d)/m(2A 2+2AL1+5d)
Vibrations are possible if 2A 2 - 2AA- A2 = 0, i.e., A > 1.36 A.
145 The equation of free vibrations has the form (see Problem 137)
mi +2Tx II =0 ,
where T = cAl + To is the spring tension, with AI;::: x2/(2/o). Hence,
2
3
0
x+px+,ur
= ,
196
where l
find
=2T/(mlo) and J-l =c/(m102). Solving this equation (see Problem 141), we
For the numerical values given, Xo
91.2 mm.
146 The force acting upon the load is
=klP~/(al-x)2 -klP~/(al +X)2 ~4(klP~/an(x /al +2x 3/an.
The differential equation of motion has the form
mi"+cx =F, ori"+p2x +J.lX 3 =O,

where
(1)
The fundamental frequency of free vibrations is found by the method of small

parameter (see Problem 141):
/4 .
Pl2 = P 2 +3J.IX g
Substituting Eq. (l) into Eq. (2), we find the critical value xO' (PI
X g. =(c -4klP~/ an( 6klP~/ an

or
&2
=2(I-a)/(3a) ,
(2)
=0):
(3)
(4)
where a = 4kr/Jo2/(ca I 3 ) and Ii= xoJa l

Dependence l( a) is shown in Fig. 249. The shaded domain with Ii < 1 is the
stability region, with the curve corresponding to the critical values of Ii and a .
a
Fig. 249.
197
For a ~ 0.4, & = 1. In this case, the mass strikes against the magnet poles, and
the solution given above is inapplicable.
147 The differential equation of motion of bus B has the form (see Problem 124)
mi"+2cx -2pl/2[Z/aO-Z/(ao+x )]=0.
Expanding lI(ao + x) in powers of x and introducing the dimensionless variable

= x/xo' we arrive at the equation
XI
.1
+ P 2X I + pllx 12 - p;flx 13 =0 ,
(1)
where 111 =x/ao' P=2J1lJp(mao2) and l =2c/m - p.

We seek for the periodic solution xl(t) to Eq. (1) and the vibration frequency P
in the form
2
XI =X 10 + PIX II + PIX 12 ,
PI =P +
2
IPI
(2)
2
2PI'
where x lO' XII' X 12 and CI' C 2 are, respectively, functions and constants to be found.
Substituting sums (2) into Eq. (1) and neglecting terms above the second power of
111, we arrive at the system of equations
XIO +PI XIO= ,

X 11 + P I2 X11 =C IX 10 - flx210'
(3)
(4)
(5)
Under the initial conditions xlO(O) = 1 and dxlO(O)/dt =0, Eq. (3) has the solution
=COS(Plt) (if l > 0).
No secular terms can enter into the solution to Eq. (4); therefore, CI =O. Under
the initial conditions xlI(O) = dxll(O)ldt = 0, the solution to Eq. (4) is
XIO
X 11
P
PI
=- - 2 +
PCOspl pcos2pl psmplt

2
+
2
+
2'
3PI
6PI
3PI
Similarly, substituting xlO(t) and xlI(t) into the right hand side of Eq. (5), we
solve Eq. (5). The factor mUltiplying COS(PIt) in the solution xlit) must be zero;
hence,
C 2 =5p2/(4pn- 3P/4 .
The fundamental frequency of free vibrations is found from the second equation of
(2) with C l = 0:
PI2=P 2 +(X o/aot[5p2/(4pn- 3P/4] .

Equation (6) should be solved for P1 2 Taking into account that P1
we can take P1 2 =p2 in the right hand side of the equation. Then,
PI2= pg -P+(x o/aoY {5p2j[4(pg -P)]-3P/4} ,
(6)
2
=l
+ CzJ1\
198
where P02 =elm.
148 The solution to this problem differs in sign of

lem 147.
P from
that found in Prob-
149 The equation of motion coincides with Eq. (1) in Problem 147, with
p, =xrm./ao serving as a small parameter. The solution satisfying the initial conditions x(O) =0 and dx(O)/dt =Vo is given by Xo =(v,jp)sin(p,t). Therefore,
xOmax =v,jp" i.e., p, =v/arP,. The fundamental frequency of free vibrations of the
bus is found in much the same way as it is done in Problem 147:
Pl2
= p2 +(vo/aop )2[5P2/{5p2)_3P/4] ,
where
150 We use the following approximation to the equation of motion:
iP+grp/l-grp3/(61)=O.
(1)
Taking p =g/(6l) as a small parameter, we obtain the fundamental frequency accurate to the first order in p:
Pl2
=(g /1){1-rp~/8) .
(2)
Using the linearization method, we rewrite Eq. (1) in the form
iP+erp=O,
where the constant c is to be found from the minimum condition for the weighted
root-mean-square deviation of the nonlinear characteristics from a linear one, i.e.,
d
de
IDf(
grp grp3 J]2
ll-l -61- erp rp drp=O.
Performing the calculations, we find
= Pl2 = p;{1-5rp~/42) ,
(3)
where Po2=gll. The difference of expressions (2) and (3) is
L1 = p;{ 1-5rp~/42)- p;{1-rp~/8) = O.006p;rp~
151 The differential equation of motion of the lever has the form (see Problem 106)
iP+ P2rp+ f1rp3 =0 ,
where p2 =(c - FR)/J and p =FR/(6l). The fundamental frequency found by the
method of small parameter is given by the expression
Pl2
=P2 +(3/4){mo/Pl)2(FR/6J) .
(1)
199
According to the Galerkin method,

2tr/ p,
f( ijJl + P 2tpl + ,utpi)tpldt =0 ,
where f/J, = f/Josin(Pl + a) and f/Jo = (j)JPI" Performing the integration, we find
PI2 =P 2 +(3/4)(01 0 / Plt(FR/6J) .

Therefore, frequencies (1) and (2) found by the two methods are identical.
152 The differential equation of small free vibrations of the lever has the form
JijJ+(mglo+c )tp+sign(~)k~2 =0 .
Here, the function
sign( ~)
(1)
implies that the sign of the moment
Mf =k~2
coincides with that of the angular velocity ~. Equation (1) can be written out as
ijJ+p2tp+asign(~)~2 =0,
where l =(mglo + c)/J and a =kll.
In order to find the vibration frequency as a function of the initial deflection
rp(0), we solve this equation under the initial conditions rp(0) = a and dqidt = =0.
In the first half-period,
sign( ~) =- 1 and
the equation of motion takes the
form
ijJ+ P 2tp_a~2 = 0 .
(2)
We seek for the solution to Eq. (2) in the form
22
2
2C
tp=tpo+atpl+atpl+'p
=PI+
la+ C2a2 +....
(3)
Substituting (3) into Eq. (2) and neglecting the terms of higher powers of a than
the second one, we obtain
2
0
tpO+PltpO= ,
(4)
= tpl - ItpO'
ijJ2 + PI2tp2 = 2~1~0 -C Itpl -C 2tpO .
tpl + PI tpl
With regard to the initial conditions, we find from the first equation
tpo = a cos(Pl)
Substituting this solution into the second equation of (4) and setting C,
secular terms to be zero), we find
tpl
=a2/2-2a2cos(Plt)j3-a2cos2(Pl)j6 .
(5)
=0 (for the
(6)
In turn, the substitution of Eqs. (5) and (6) into the right hand side of the third
equation of (4) yields
200
(P2 + PI2rp2 =-c 2aCOsPIt -(2/3)a 3PI2(sinpl +sin2Pl t )
This equation can be written out in the form
9'1, +PI'("
=( p~a3 -C,a)cOSPl +p~a3 (2cos2Plt-cos 3Pl) .
For the secular term to be zero, the factor multiplying COS(Plt) must be zero,
i.e., C2 = p 12a2/3. The frequency offree vibrations is found from Eq. (3):
PI=p/~1+a2a2/3 .
Taking (jJ = (jJo + a(jJp we find the angular amplitude at t = nlpl:
rp(Il/PI)=al =-(a-4a 2a/3) .

Similarly, the equation of motion in the second half period has the form
(p+p 2rp+ai{i=0.
Solving this equation, we find the frequency of free vibrations and the angular
amplitude at the end of the second half-period:
p2=p/~1+a2a\2/3, a2=aJ-4a~/3.
The motion in the subsequent half-periods is found in much the same way.
153 The equation of motion of the mass m has the form
mi' +CX +CIX 3 =Posinmt .
(1)
In accordance with the Galerkin method, we substitute
X ~XI =xosinmt
into Eq. (1) and require that the integral
27rlm
I =
f( mi' l +CX I +C IX 13 -
Po sinmt ~ Jdt
be equal to zero. Carrying out the integration, we find
(3/4)c l x g+(c -m(2)x 0 -Po =0 .
(2)
It is convenient to solve Eq. (2) graphically. The point of intersection of the plots
171 =(3/4)C 1xo3 and 172 =Po - (c - moi)xo is Xo ~ 2.27 cm (Fig. 250).
154 The roots of the equation
(3/4)c\x g+(c -m(2)x 0 -Po =0
(1)
depend on the frequency of the perturbing force (see Eq. (2) in Problem 153).
Two real roots of this equation will be equal to each other if D =0, where
D = l + /, q = - 2Pr/3cp P = 4(c - mal)/(9c), Therefore,
t/
al. =c/m +{9cJ4m ){2Po/3c 1
201
For the numerical values given in Problem 153, we find m. = 16.6 1/s, with
q = - 13.33 and p = - 5.63.
In order to determine the amplitudes of the roots of Eq. (1), they should be
written out in trigonometric form:
(XO)1 =-2rcos(cp/3), (X O)2,3 =2rcos[(Jl'cp)/3] .

17, N
1
Fig. 250.
-2 ~
Fig. 251.
22.27 3
202
Since r =sign(q) IPltl2 =- 2.38 and cos(tp) =q/r3 = 1, then (xo)t =4.76 cm and
(XO)2.3 = - 2.38 cm.
The same result can be obtained graphically (see Fig. 251). As the frequency (j)
increases, the straight line 112 =Po - (c - m{j)2)xo rotates counterclockwise, with at
(j) = (j). it being tangent to the curve 11ixo)'
155 The differential equation of motion derived in Problem 153 can be rewritten
in the form
mX' +maix =(mm 2-c)x -clx 3 +Posinmt .
(1)
In accordance with the Duffing method, we take the function

XI
=xosinmt
(2)
as a fIrst approximation. Substituting xt(t) into the right hand side of Eq. (1), we
arrive at the equation in the second approximation:
mi' 2 +mm 2 x 2 =[( mm 2 -C )x 0 -(3/4)c lx g+Po]sinmt +
(1/4)c xgsin3mt .
l
For the secular term to be zero, it is necessary that
(mm2 -c )x 0 -(3/4)c lx g+ Po =0 .
This equation coincides with the expression determining the forced-vibration
amplitude found by the Galerkin method. If condition (2) is satisfIed, the second
approximation is found from the differential equation
mi' 2 +mm 2 x 2 = (I/4)c 1xgsinmt
hence,
X2
=A sinmt +B cosmt -[cx g/(32m 2m )]Sin3mt
The constants of integration, A and B, are determined from the initial conditions. If the friction is absent, the phase shift between the perturbing force and the
displacement should be equal to zero. In this case, the displacement of the mass
attains its maximum at the same time as the force does. Hence, the moment of
time t =T/4 can be taken as a zero time when x 2 =Xo and dx/dt =O. It follows from
these conditions, that A = Xo - Ctxo3/(32{j)2m) and B = O.
Therefore, the approximate solution to the equation of forced vibrations has the
form
X
=xosinmt-[c1xg/(32m 2m )](sinmt-Sin3mt)
According to Eq. (2), Xo
=2.27 cm;
hence, x
= 2.27 sin(10t) -
.
O.036[sin(10t)-
sin(30t)].
mi' +ai +cx +c1x 3 =Posin(mt+p) ,
(1)
203
17, N
4~-""'---o-
xocm
1.65 2
Fig. 252.
where f3 is the phase shift between the displacement x and the force F(t). Substituting the approximate solution
X
=X 0 sin( mt )
(2)
into Eq. (1) and neglecting the terms with sin(3wt), we obtain
(-mm 2x 0 +CX 0 +0.75c IX g- Po cosjJ)sinmt +
(3)
(amx 0 - Po sinjJ)cosmt = O.
Since the functions sine wt) and cos( wt) are linearly independent, the coefficients
ofEq. (3) must be equal to zero:
-mm 2x 0 +CX 0 +0.75c l x g-PocosjJ= 0,
(4)
amx 0 - Po sin/3= O.
The amplitude Xo and phase shift f3 are found from Eqs. (4). Eliminating fJ,
arrive at the equation
[(c -m(2)x 0 +O.75c l x
gf +(amx or =P0
we
(5)
Figure 252 illustrates the graphical method of solving Eq. (5), with
llJ =[(c-mm 2 )x o+0.75c l xgf +(amx o)2, 172 =P02.

The point of intersection is at Xo
1.65 cm, with f3 =arcsin( awxr!Po)
5440'.
157 If the pendulum experiences vibrations about the equilibrium position inclined
to the vertical, then the equation of its motion has the form
J(p+aip+mgl sin<p=M(.o-ip) .
Expanding the function M
fl,
(.0- ip)
in powers of
ip
in the vicinity of the point
204
and allowing for only the linear term, we arrive at the equation
JijJ+[a+M'(n)]J+mg1qJ=M(n) .
J = ijJ =0 , its deflection angle is
qJo=M(n)/(mgl) .
Hence, if the pendulum is at rest, i.e.,
The equation of motion in the variable If! = cP - CPo takes the form
JV/+[a+M'(n)]~+mgllfl=O .
For a + M'(il) > 0, the system is dissipative, i.e., its vibrations are damped.
For a + M'(il) < 0, the system is self-exciting; in this case, vibrations increasing with time are possible.
In order to analyze the actual behavior of the system, we should allow for nonlinear expansion terms in
M (n- J) . As a result,
JV/+[a+M'(n)]~+mgllfl=M"(n)~2 /2-M"'(n)~3
For M"(il)
/6.
=0, this equation can be written out in the form

JV/-bl~+b2~3 +mgllfl=O ,
where bl =- a - M'(il) and b2 =M' " (il)/6. Finally, introducing x = lfIPib/bYI2

and [) =Pl, with Po =(mgl/J)112 and J.i =b/(Jpo)' we arrive at the Rayleigh equation
+x
=,u(1-x2)x, where x =dx/d8.
(1)
158 The nonlinear equation of angular vibrations of the brake block has the form
JijJ+cqJ-M(n-J)=o,
where J is the moment of inertia of the brake block with respect to the shaft axis.
Allowing for only the linear term in the expansion of M
(n- J), we arrive at
the equation
JijJ+cqJ+aJ=M(n) ,
(1)
where a =dM/dQ.
Introducing CPI = cP - CPo' where CPo is the rotation angle in steady-state regime,
with cCPo =M(il), we have
JijJl +CqJI +aJI =0 .
(2)
As follows from Eq. (2), angular vibrations of the brake block are stable if
a> 0, i.e., if Inl ~ In.1 (Fig. 253).
205
MinI
n. n
n n.
'ig.253.
159 As is shown in Problem 157, in the case of friction forces depending nonlinearly on the velocity, the equation of motion of the pendulum is reduced to the
Rayleigh equation
2 = J.lXPo
. (I -X.2/Po2) '
X. + PoX
(1)
where p= - [a+ M'(il)]/(Jpo).

We seek for the solution in the form x =a cos(Pot +
where a and r are indefinite functions slowly varying with time, i.e., their derivatives with respect to
time is of the same order of magnitude as the small parameter p. The corresponding velocity dxldt is
n,
=acos(pot+r)-7o sin(pot+r)-aysin(pot+r) .
There are two indefinite functions, a and y, in the solution; hence, the condition
acos(pot +r )-aysin(pot +r) = 0
(2)
should be satisfied. In this case,
=-apo sin(Pof +r) ,
. = -cipo sin(Pot +r )-apg cos(Pof +r )-aWocos(pot +r)
(3)
(4)
The substitution of expressions (3) and (4) into Eq. (1) yields
-cipo sin(Pot +r )-aWocos(pot +r) =
(5)
=-,uapg[ l-a 2 sin 2 (P ot +r )]sin(pof +r).

The unknown functions daldt and d}1'dt are found from Eqs. (2) and (5):
y = ,LgJo[ l-a 2 sin 2 (Pot +r )]sin(Pof +r )cos(Pot +r),

a = a,LgJo[ l-a 2 sin 2 (Pot + r) ]sin 2 (P ot + r).
(6)
206
According to the Van der Pol method, functions (6) can be substituted by their
values averaged over a period, with y taken as a parameter rather than a function
of time:
21f/Po
21f/Po
r =J!JL Jr( T)dT, a= Po Ja( T)dT .

27r
27r
(7)
It is convenient to introduce the new independent variable B = Po r: + 1. then,

dB= Pod r: + (d}1dr:) dr:. Since, dtfdt is of the same order of magnitude as the parameter )1, we take dB:::: pod r: . In this case,
r= f.1Po
J(1-a sin B)sinBcosBdB.
27r
21f
Performing the integration, we obtain
a= (f.1Poa/2)( 1- 3a /4) = f.1PolP( a) /2,

2
r=f.1Polf/(a)/27r =O.
(8)
Equation (8) allows us to determine the time dependence of the amplitude a. As

is known from the general theory of nonlinear vibrations, the system has limiting
cycles provided that the right hand side of Eq. (8) is equal to zero. The roots of the
equation da/dt = 0 are a l = 0 and a 2 = 2/3 1(2. They correspond to the equilibrium
position and the periodic motion of the pendulum, respectively.
We now analyze the stability of these states of the pendulum. Let
a = a;
+ All ,
(9)
where a, are roots of the equation l1X..a) = 0 and L1a is a deflection of the pendulum
from its eqUilibrium position or from its periodic motion. The substitution of (9)
into Eq. (8) yields
We allow for only the linear expansion term in the right hand side of this equation:
dLla/dt =(f.1Po/ 2)(diP/da; )L1a

Solving the equation, we find
Aa =c
exp(f.1PO diP t)
2 dai
(10)
Therefore, for )1 > 0, the periodic motion (or the eqUilibrium position) of the
pendulum is stable if d<tt'da, < 0 and unstable if d<tt'da, > O. In the case under consideration, )1 = O.oI5 (see Problem 157) and
207
tP(a) =a(1-3a /4) , dl/JI da=(1-9a /4) .

2
For a =a, =0, dlUda, = 1 > 0, i.e., the equilibrium position is unstable. For
a =~ =2/3'12, dlUda 2 =-1 < O.
Therefore, the limiting cycle of vibrations is stable. In order words, after the
equilibrium of the pendulum has been disturbed, the amplitude of angular vibrations is slowly varying with time t and tends to the limiting value
'If =(az/PO)~bl/b2 :::::0.224 rad.

00
160 Since the initial deflection angle 1jI(0) =0.1 rad is less than the limiting value
'1/00 =0.224, the vibration amplitude tends to this limit, increasing monotonically.
Figure 254 shows the pendulum motion on the phase plane ('1/, drp/dt). The limiting cycle (the steady periodic motion) is shown by solid line. In the case of
1jI(0) > '1/00, the vibration amplitude decreases with increasing time (dashed line on
the outside of the limiting cycle).
161 The solution found in Problem 159 has the form x =a cos(Pot + y), where
drtdt =O. Therefore, the frequency of the stable limiting cycle is Po'
162 This problem is solved in much the same way as Problem 159. As a result,
tP(a)=(a/8)(4-a 2 ), 'If(a) =0 .
The first root a, =0 of the equation f/X...a) =0 corresponds to the unstable equilibrium of the pendulum, the second root a2 =2 is the limiting-cycle amplitude.
Differentiating the function f/X...a) with respect to a (see Problem 159), we find
" rad/s
Fig. 254.
208
(dlP/da)la=a2 =(4/S)-(3a;/S)=-1<0.
Therefore, the limiting cycle is stable.
163 In steady-state vibration regime, the drag force balances the rope tension:
cx o=c xSpvg/2,
(1)
where Xo is the rope elongation. The differential equation of small longitudinal vibrations of the glider has the form
mX"+c(xo+x)=cxS,o(vo-xt/2,
(2)
where x is the coordinate relative to the equilibrium position. There is the minus
sign in the right hand side of the equation since the glider speed decreases with increasing x. With regard to equality (1), Eq. (2) can be written out as
X" + pgx = -,u(2v oX
-x 2) =Fr
where P02 = elm and f.1 = cpS/(2m).

It is more accurate to write the force F, as
Fr
=- ,u(2v oX - X Ix I)
because the drag force must be an odd function of dx/dt.

We seek for the solution to Eq. (2) in the form x = a cos(Pot + rp) = a cos(B).
The Van der Pol method yields the following equation for a(t) (see Problem 159):
d; = - :n-
2Jr
f(2v oa-a 2Polsin~)sin2 mB ,
or daldt = rJX...a), where rJX...a) = - (aj.ilpo)[2v o'IT - (8/3)ap o]

The roots a = 0 and a2 = 3vo'IT/(4po) of the equation rJX...a) = 0 correspond to the
equilibrium state and the limiting cycle with amplitude a2 , respectively.
The derivatives of rJX...a) at the points a and a2 are
j
dlP(a )/da-2v on-IPo <0,

dlP(a2)/da=~ on-/(4po0.
l
Therefore, the equilibrium state of the glider, i.e., its steady flight, is stable.
2 Vibrations of Systems with Several Degrees of

Freedom
2.1 Free Vibrations

164. Using the d' Alembert principle, we arrive at the equations of motion
mli"1 +C(X I-x 2) = 0,

m 2i"2 +C(X 2 -X 1)=0.
We seek for the solution to these equations in the form
XI
=A sinpt, x 2=B sinpt ,
where the coefficients A and B are to be found from the system of equations
(c -mIP2)A -cB =0, -cA +(c -m2p2)B =0 .
As A and B are not zero, the determinant of this system must be equal to zero:
c-mlP
-c
Finally, we find
PI =0, P2
=~(ml +m 2)c /(m lm2) .
165 We take the rotation angle (jJ of the cylinder and the deflection angle .9 of the
pendulum as generalized coordinates. The kinetic energy of the cylinder is
TI =(Jqi+Mr2qi)/2,
where J =Mr212. The velocity of the mass m is the vector sum of the velocity
ld.9ldt perpendicular to the rod and the horizontal velocity rdqidt of the cylinder.
The kinetic energy of the mass m is
T2 = m(12a 2+r2qi +218r~cos8)1 2 .

The total potential energy depends only on the vertical displacement of the mass
m:
210
1I=mg/(1-cos8) .
Substituting the Lagrange function L
=T, + T2 -
d(bt/ aj;)/dt-bt/
l1into the Lagrange equation
dii
=0 ,
we obtain
(3Mr2/ 2+mr 2)ijJ+mlr"./)cos8-mlr9 2sin 8 =0,
(1)
mlrijJcos 8 + ml 2"./) + mgl sin 8 = O.

In the case of small vibrations, we can neglect the nonlinear terms in (1) and
take sin f) ~ f) and cos f) ~ 1. Then, Eqs. (1) take the form
(3M / 2+m )r2ijJ+mlr"./) =0,
(2)
mlrijJ+ m1 2"./) + mgl8 = O.
To determine the eigenfrequencies, we set ({J =A sin(pt) and f) = B sin(pt).

Substituting these expressions into Eqs. (2) and equating the determinant of the
homogeneous system of the equations to zero, we find
(I.5M +m)g
~ 3210
)
=
::::::4.6
105M +m I-ml
3.00.5
PI =0, P2 = (
1/s.
166. The differential equations of motion of the disk are derived by the force
method (Timoshenko S. and Young D.H, 1945):
X
= 0 11 (-mi)+012 (-JijJ) ,
qJ
= t512 ( -mi )+022(-JijJ).
(1)
Here, o,j are disk displacements caused by unit forces in the directions of virtual
displacements. The quantities 0.2 were found in Problem 47:
(Sin 2a + cos 2aJ 0 = 1CI1D (cos2a + sin 2aJ

4
EJx
GJ p '22
EJx
GJ P '
o = 1CI1D
11
(1 1J
1CI1D
12=021=--sm2a
--+-- .
4
EJ x GJ p
Substituting these expressions into Eqs. (1), we seek for the solution in the form
0. =Ai sin(pt). As a result, we find
PI2
8(EJx +GJp )
(_
1+
nnD3m(1+3cos22a)
2.1 Free Vibrations
211
10
8
6
4
L -____I~--~I----~I ~
15
30
45 2a
Fig. 255.
Fig. 256.
For Glp = 0.8Elx and P02 = El/(nrcD3m), the frequencies PI and P2 as functions of a
are shown in Fig. 255.
167 Let us consider the position of the bodies at an arbitrary moment of time
(Fig. 256a). The bodies are subjected to the forces shown in Fig. 256b. Using the
d' Alembert principle, we arrive at the differential equations
mlY'1 +Toa , +T Oa 2 =0,
m 2Y'2 +T Oa 2+T Oa 3 =0,
(1)
where a l =y/l, a2 = (Y2 - YI)1l and a3 =yfl. Therefore,
mlY'1 +[ToY ,-To(Y 2- Y 1)]/1 =0,

m2Y'2+[ToY2+TO(Y2-YI)]j1 =0.
The eigenfrequencies are found from this equation:
p 1,2
= ~T;( ~IT(m--+-mI
2 +-~--;m=12=+=m=2=2=-=m=l=m=2=\)}'(-m-Im2)
168. According to the force method, the differential equations of motion of the
mass m have the form
Y = b'll( -mY' )+b'12{ -J01ifJ) , tp= b'12{ -mY' )+b'22{ -J01ifJ)
We seek for the solution to these equation in the form
Y =A sinpt, tp=B sinpt .

Performing usual transformations, we arrive at the characteristic equation of the
system:
p4_[(b'2JOI+b'llm )p2+1]/(L1mJOl)=0,
where L1 = J, I~2 - J,AI' Therefore, the eigenfrequencies squared are
212
As 101 ~ 0, the first eigenfrequency PI tends to (~lmtl\ i.e., to the eigenfrequency

of a point mass. To find a correction to this quantity for small, but nonzero, values
of 101' we rewrite the above equation in the form
PI2 =(022J OI +Ol1 m )/(2L1mJo1 )
Expanding the root in powers of 101' we find
PI2 = 1/(011m )-(0;2J0\ ) / (4L1m 2011 ) .

The second term in this expression is the desired error associated with the assumption of point mass.
169 In order to determine eigenfrequencies for statically indeterminate many-body

systems, it is convenient to use the force method to formulate the equations of
motion. In this case, the static indefinability of the system remains unsolved, but
the superfluous constraints should be substituted by unknown forces Xi. We
choose the basic system as it is shown in Fig. 257. The beam is subjected to the
inertial forces -md2xldt2 and -md2y/dl and an unknown reaction X. The displacements of points of application of these forces obey the equations
Y 1 = -m l Y"1 0 11- m 2Y"2 0 12 +X 0\3'
Y 2=-m l Y"1 0 21- m 2Y"2 0 22 +X 0 23 ,

Y 3 =-m l Y"1 0 31- m 2Y"2 0 32 +X0 33 .
Assuming Yl =Cl sin(pt), Y2 =C2 sin(pt), and Xl =Xo sin(pt) and taking into account that Y3 =0, we obtain the system of three homogeneous equations in the unknowns Cl' C2, and Xo and the corresponding characteristic equation
(l-mIP2011)
-m 1P 2021
-miP 2031
-m 2p 2012
0\3
(l-m 2p 2022)
23 =0
-m 2P 2032
0 33
or
Oll
m 1m 2 0 21
0 31
012
0 22
0 32
013
0'23 P 4 -[ m 1(Oll033 -0;3 )+m2(0 22 0 33 -O~
0 33
)]p
+033 = o.
(1)
Using the Mohr method, we determine the coefficients o.} by mUltiplying bending
moment diagrams (1), (2), and (3) in accordance with the Vereshchagin's rule
(Fig. 257) (Timoshenko S. and Young D.H, 1945). As a result, we find
2.1 Free Vibrations
213
b
p.a..U-..........~&..,&..&.&..&,..I,;~
a(/1a)//
.. 2
....-=~~~~~~
l.:r..-h-rrrrTrr'l'"'i-rrr'l':P'l3
/
Fig. 258.
Fig. 257.
0 12 =021 = ab
- -(2
/ -a 2-b 2) ,
6lEJx
b (b3-4/2J '
0 23 =032 = 4EJx
where 1= 2(a + b). Substituting the numerical values and solving Eq. (1), we find
PI = 101 lis and P2 = 150 lis.
170 Differential equations of small free vibrations, which are found by the force
method, are similar to those obtained in Problem 169. In this case, the eigenfrequencies of the systems shown in Figs. 128a-d are, respectively,
(a) PI = 3.68 Po, P2 = 10.62 Po;
(b) PI = 2.34 Po, P2 = 3.05 Po;
(c) PI = 2.54 Po, P2 = 4.37 Po;
(d) PI = 1.05 Po, Pz = 6.06 Po
where P02 =EJj(ml\
171 Using the force method, we arrive at the differential equations of motion
214

(1)
Y I = 011 (-m lil)+OI2( -m 2i2)'

Y 2 = 021( -m lil)+022( -m 2i2).
To determine the coefficients ~i' we take unit forces to be applied to each load,
construct bending moment diagrams (1), (2), and (3) shown in Fig. 258, and em
ploy Vereshchagin's rule. As a result,
01l=022=41 3/(9EJ x )' 012=021=713/(18EJx).
(2)
(0I1mIP2-I)AI+0I2m2p2A2 =0,
(3)
Substituting the solutions YI =Al sin(pt) and Y2 =A2 sin(pt) into Eq. (1), we obtain
the system of algebraic equations
021mlP 2AI
+(022 m2P
-1)A2 = O.
Therefore, the characteristic equation is
P 4 -P 2
mloll +m 20 22
1
0
+----,-----~
m lm 2(01l022 -0;1) m lm 2(01l022 -0;1)
Substituting expressions (2) into Eqs. (4), we arrive at
P 4_P 272EJ x/ (5ml 3) +54/5(EJ x / ml 3

The roots of this equation are
3), P2
PI =0.89~'---EJ-'x
/(-:--ml---:-
(4)
=0 .
=3.7~EJx /( m1 3) .
To find the eigenmodes, we set All = 1 and P = PI in Eqs. (3). In this case,
A21 =(1-0I1mlpn/(0I2m2pn~1.052.
Similarly, setting AI2 = 1 and P =P2' we find A22 ~ - 0.475 (see curves (3) and (4)
in Fig. 258). The numerical values of the eigenfrequencies are PI = 336 1/s and
P 2 = 1400 1/s.
172 The equations of motion found by the force method have the form
yJm =-0I1il- 0 l2i2- 0 I3i3'

Y21m =-02Iil-022i2- 0 23i3'
Y 31m =-03Iil-032i2 -033i3'
where D:I =25A, D:2 =39A, D:3 = In, ~2 =8U, ~3 =39A, ~3 =25A,
andA =t/(3888EJJ We seek for the solution in the form Yi =Ai sin(pt). In much
the same way as in Problem 171, we obtain the characteristic equation
2880,tl-1344,tl + 131,u-1 = 0 ,
(1)
where 11 =mtl/(3888EJ). The left hand side of Eq. (1) as a function of 11 is

shown in Fig. 259. The roots found from this plot are III = 0.00825, J4 = 0.126,
and J.L; =0.334. Using these values, we find
2.1 Free Vibrations
215
173 The center of gravity of the vibrating plate is defined by its horizontal x and
vertical y displacements and the rotation angle cp. In this case, the differential
equations of small free vibrations have the form
= -ollmX" -012mji -013Jip,

Y = -02lmX" -022 mji -023J ip,
(jJ = -03l mX" -032 mji -033 J ip
X
(1)
The coefficients o,j are determined by multiplying, according to the Vereshchagin's rule, bending moment diagrams (1), (2), and (3), which correspond to unit
forces and unit torque applied to the plate center of gravity in x-, y-, and ~
directions, respectively (Fig. 260 a-c): \1 = (1/3)<\, \2 = b;1 = b;2 = (1/4) <\,
\3 = ~I = b;3 = ~2 = (1/2) o,jl, and ~3 = 0/12, where <\ = t/(El).
In the case of small vibrations, y = Z({Y2 and Eqs. (1) are reduced to
X
= -Ollmi -(mOI2 +2JOI3 /I)ji,
= -021 mi -( m022 +2J0 23 / I )ji .
(2)
Assuming x = AI sin(pt) and y = A2 sin(pt) and taking the equality 1= mZ2/12 into
account, we find the eigenfrequencies
Pl=1.185po' P2=4.75po'
Po=~EJx/(mI3).
(3)
To find the eigenmodes, we set x = All sin(Plt) and y = A21 sin(pJ) in Eqs. (2).
For P = PI and P = P2' respectively, we have
f(P)
Fig. 259.
216
d
Fig. 260.
A2l =A ll (1-mpI20ll)/[pNmOI2 +JOI3 /1)] =1.15A lP

An =A12 (l-mp;Oll)/[p;(mo I2 +Jo13 /1 )]=-0.87A I2 .
The orthogonality condition
mlA llA12 +m2A21A22 =0

for the eigenmodes can be used to verify the solutions obtained. In the case under
consideration, m, =mz =m, and this condition is evidently satisfied. The eigenmodes found are shown in Fig. 260d,e.
174 The eigenfrequencies are p, = 0.97 Po and Pz = 3.2 Po' with Po = [EJjCmt)]"2.
The eigenmodes and displacements are shown in Figs. 261a,b for the masses m,
and IDz, respectively.
.......-
11
a
Fig. 261.
,I
2.1 Free Vibrations
217
175 The frame has three degrees of freedom, namely, the horizontal, vertical, and
angular displacements of the plate. We choose a basic statically determinate system as it is shown in Fig. 262.
The differential equations of motion found by the force method have the form
X =-ollm:i" -o12mj" -o13J ip+R014 ,
(1)
y =-021mi' -o22m)/ -o23J ip+Ro24 ,

(jJ
=-031mi' -032 m)/ -033J ip+ R034 ,
where R is an unknown reaction force. System (1) should be completed by a

kinematic constraint, namely, the linear displacement in the direction of the unknown reaction R must be equal to zero:
mi'041 +m)/042 +Jip043 -Ro44 =0.
(2)
Here, x, y, and qJ are the horizontal, vertical, and angular displacements of the
plate, respectively.
To determine the coefficients of Eqs. (1) and (2), we take unit forces applied to
the basic system and construct the bending-moment curves just as in Problem 173.
To simplify Eqs. (1), we take into account that the vertical displacement of the left
end of the plate is zero, i.e., the vertical y and angular qJ displacements of the plate
center of gravity are related by the equality y = lrp/2. Taking the relation J = m12/12
into account, we arrive at the system of equations
Fig. 262.
218
x =-Ollmi -(m012 +mlo13/6)ji +Roi4'

y
(3)
=-021mi -( m022 + mlo23 /6)ji + R024 ,
O=-041mi -(m042 +mlo43 /6)ji +Ro44

We then find the coefficients b;j' using the bending moment diagrams shown in
~I = (1/3)~,
~2 = ~I = ~2 = 824 = ~2 = (1/4)8
0'
~3 = b;1
Fig. 262a-d:
= ~3 = b;2 =(112)8/1, b;3 = 8/1\ ~I = ~4 =(1/6)~, b;4 =~3 = 8/1, and
844 =(2/3)8/1, where ~ =t/(EJ).
Assuming x =Al sin(pt), y =A2 sin(pt), and R =Ro sin(pt), we determine the eigenfrequencies of the system: PI = 1.45 Po andp2 =5.83 Po, with Po =[EJ/(mt)tll
To find the eigenmodes, we set x = XI = All sin(PI t) and y = YI = A21 sin(Pl). As
follows from Eqs. (3), A21 = 1.05 All. Similarly, setting x =X 2 = AI2 sin(P2 t) and
Y = Y2 = A22 sin(Pl), we find A22 =-0.95 A 12 The eigenmodes found for All =AI2 =1
are shown in Fig. 262e,f by dashed lines.
=71.2 1/s and P =466 1/s.

177 PI =0.685 Po and P = 1.4 Po, with Po = [EJj(mt)]II2. The corresponding eigen176 PI
modes are shown in Fig. 263.
178 The bending-strain energy of the system is II =cll2, where c =3EJjt is the
bending rigidity of the cantilever rod (see Fig. 264a). The kinetic energy of the
load is
= mug /2+Jip~/2,
In the case of small vibrations, Y =

method, we arrive at the equations
where Uo =u +ipl /4 .
(qJ-
u) cosqJ""
qJ-
mit +mlip/4+c(u -qi)=O,

mit +5mlip/4-4c(u -qi)= O.
0.46
a
Fig. 263.
4.38
u. Using the Lagrangian
2.1 Free Vibrations
219
Fig. 264.
To derive the characteristic equation, we substitute u = AI cos(pt) and
ffJ
=A2 cos(pt) into these equations. As a result,
(c/m-p2)
-(lp2/4 +cl / m )_0
-(p 2+4c/m) (4cl/m-5lp2/4)or
Hence,
PI =0, P2
=~87EJ/(4mI 3 )
The eigenfrequencies PI and P2 correspond to the motion of the system as a rigid

body and to the flexural vibration, respectively (Fig. 264b,c). The orthogonality
condition muOl u02 + iffJllffJ22 =0 provides a relation between the mode amplitudes.
Setting UOI =u02 = 1, we have ffJlI =4/(5/) and ffJ I2 =- 511.
179 The total potential energy of the system with allowance for the gravity force is
cy 2 5
cy 2 5
2
II =---mgl (l-coscp) ~ -+-mglcp .
2 4
2 8
The kinetic energy is the same as found in Problem 178. The equations of motion are
mii+mlip/4+c(u -cpt)=O,
mit" +5mlip/4-4c(u -cpt )+5mgcp= O.
The corresponding characteristic equation
220
p4 -29cp2 j(4m )+5cg j(ml )=0

has the roots
P\,2
=~29c/(8m )~(29c/8m t -5cg j(ml)
where c = 3EJ/t
180 We consider the system at an arbitrary moment of time (Fig. 265a). The kinetic energy is given by the equation
T =m\u\2 /2+m 2u;
/2 .
When determining the bending-strain energy, we can consider the rod as a

beam supported at its ends (Fig. 265b). Since the bending moments at the end
points are zero, the strain energy is II= cu II 2/2, where C = 6EJjt In the case of
small vibrations when coso. Ri 1, u ll Ri al - u t and al Ri u/2, the equations of motion have the form
mil '\-cu\-cu 2/2=0,

mii2 +cu 2/4-cuJ2=0.
p2[m\m2p2 -(cmJ4+cm 2)]=0

has the roots
a
Fig. 265.
m112m 2
2.1 Free Vibrations
221
The eigenfrequencies PI and P2 correspond, respectively, to the rotation of the rod

as a rigid body and to the vibrational mode shown in Fig. 265c.
181 According to the d' Alembert principle, a system will be at rest if loaded by
inertial forces (Fig. 266a). Consequently, the supporting force is
R =-miit -2mu2-mii3 .
(1)
The moment of the inertial forces with respect to the hinge is zero, i.e.,
mait +4mhi2+ 3mhi3 = 0 .
(2)
There are four unknowns (R, up u2' and u3 ) in Eqs. (1) and (2). To set up additional equations, we consider the bending caused by the inertial forces:
EJxY "=-Rz -mut(z -/)-2mu2(z -2/) .

Integrating this equation two times and taking Eq. (1) into account, we arrive at
the equation
EJxY
=(u t +2u2+u3)mz 3/6_
(3)
mut(z _/)3 /6-2mu2(z - 2/ /6+Cz +D .

The constants of integration C and D are found from the boundary conditions:
y =0 for z =0 and z =31. It follows from these conditions that D =0 and
= -(19ut + 52u2+27u3)mI 2/18 .
Finally, we arrive at the equation for the curved rod axis:
EJ Y
x
. ((z _/)3
mU t
z= m (u..t + 2u 2 +u..3 )(z-63- 3/

-26
(4)
.. ((z _2/)3
4/ 2ZJ
- - -2mu
9
2
As is seen from Fig. 266a,
Yt =-Y (z =/)=u)3- u l ' Y2 =-Y (z =21)=2u 3/3-u 2
(5)
Using Eqs. (4) and (5), we obtain the two additional equations
8 .. 23 .. 4 .. 3EJx
EJ x
0
"3mut +3 mu2 + mU3+-1-3-Ut-~U3= ,
17
..
28
..
..
EJ x
2EJ x
18mut+9mu2+"3mu3+~ut-~u3=
(6)
Equations (2) and (6) are a complete system. The corresponding characteristic
equation
222
Fig. 266.
x 2+ 108 (EJ x )2]= 0

2[ 4_16EJ
rnl 3 P
5 rnl3
P P
has the roots
PI
=0, P2 =1.23~EJx f(rnl 3) , P3 =3.8~EJx f(rnl 3)
The zero frequency corresponds to the rotation of the rod as a perfectly rigid body
(Fig. 266b).
To find relations between the eigenmode amplitudes at p = P2' we substitute
ui = Ai2 sin(N) into Eqs. (2) and (6). As a result,
4A 22 +3A 32 =-A I2 , 11.5A 22 +7A32 =-A 12

For
A 23
AI2
= 1, we have
=- 0.485 and
Figs. 266c,d.
A33
A22
= 0.61 and
A32
= - 1.15. Similarly, for P = P3.' we have
=0.31. The second and third eigenmodes found are shown in
182 The eigenmodes can be found from the following considerations. The system
has two zero eigenfrequencies corresponding to the translatory and angular motions of it as a rigid body (Fig. 267a). These eigenmodes are shown in
Figs. 267b,c. Two bending eigenmodes, symmetric and antisymmetric, can be
found from the orthogonality condition.
We introduce the following notation: ulJ' U 12 ' U 13' U I4 and rtJlJ' rtJ12 , rtJ13 , rtJI4 (u 2J' U 22 '
U 23 ' U 24 and rtJ2J' rtJ22 , rtJ23 , rtJ24) are linear and angular displacements corresponding to
the four eigenmodes for the left (right) body, respectively. The third (symmetric
bending) mode must be orthogonal to the translatory mode, i.e.,
rnu IIU 13 + rnu 21u 23 +JCfJIICfJI3 +JCfJ2ICfJ23 = 0 .
2.1 Free Vibrations
223
Since flJlI = flJlZ = 0, we have u l ) = U ZJ = 0, assuming that U II = U ZI = 1 (for the first

mode, u lJ =u lJ 0). The third mode must be orthogonal to the second mode:
mu 12U 13 + mu 22 U23 +J'P12'PI3 +J'P22'P23 = 0 .
Setting U IZ = - 1 and uzz = 1 and taking into account that u l ) = un = 0 and

flJlZ = flJ2) = 3/(41), we find flJl3 = - flJ2)" Similarly, from the conditions that the fourth
mode must be orthogonal to the first, second, and third modes,
mU l4 +mu 24 +J'P14 0+J'P24 0=0,
m( -1)( -1)+m +J'P14-+J'P24-=0,

41
41
m .0+m(-I).0+J'PI3'P14 +J'P23'P24 =0,
we obtain U I4 = - U Z4 = - 1 and flJI4 = flJZ4 = - 16/(3/). The third and fourth modes are
shown in Figs. 267 d, e.
Using the eigenmodes found, we now determine their frequencies. Since the
third mode is symmetric, we consider only the right half of the system (Fig. 267f).
To determine the bending rigidity of the system, we find its angle of deflection
caused by the unit moment of forces applied to the body: f/J;) = 8,) =1/(21). Corresponding eigenfrequencies are
PI
=0,P3 =~"""""-;I/(-J8---'-11) =2.84~EJx j{mI3)
i1
3112
cil=J
_ _ _""U21=1
b ~=r-1
.......
_ _ _ _---A.
r_
u -1
Uet!.:81 fI1Jf=3I(41)
Fig. 267.
Similarly, the fourth, antisymmetric mode corresponds to Fig. 267g. In this

case, the kinetic and potential energies are
224
T =Ji/ /2+mu~ /2, Il=cy 2/2 ,

where Uo =U + lrpl2, c =24EJjl\ and y =lrpl2 - u. The equations of motion and
characteristic equation have the form
(J + mZ 2/16)ip+mlit'/4+cl 2 rp/4-clu /2 =0,

mlip/4+mu' -clrp/2+cu =0,
P 2 [Jmp 2 -9C(Z2m +J
)/16] =0.
The frequencies corresponding to the antisymmetric mode are
P2=0,
p4=8.2~EJx/(mI3)
183 The system has four degrees of freedom and, therefore, four eigenmodes: two
anti symmetric and two symmetric modes (Figs. 268a-d). The frequencies of the
anti symmetric modes can be found just as in Problem 182:
PI
=0, P3 =4.7~EJx /(mI 3)
5/14
Fig. 268.
To determine the frequencies of the symmetric modes, we consider the right

half of the system as a cantilever. The differential equations of motion found by
the force method have the form
2.1 Free Vibrations
225
The coefficients b.j are determined by the Mohr method with the use of the
Vereshchagin's rule:
8 11 =31l 3/(48EJ x ) ,8'2 = 8 2, =3/ 2 /(4EJ x ) ,822 = 1/(EJx ) .

Finally, the frequencies of the symmetric modes are
P 2 = 1.1~EJ x/ (m1 3) , P 4 = 6.5~'--EJ----;x

/ (-=--ml--:-3) .
Assuming U22 = u24 = 1, we find the angles f/J22 = 0.93/1 and f/J24 = - 3.3/1.
184 A position of the system is defined by the four coordinates y" Y2'
(Fig. 269a). The kinetic energy is
f/J"
and f/J2
T = m,y ,2 /2+m 2 y; /2+J/p; /2+Jip;/2 .

It is convenient to express the strain energy in terms of the relative linear Yk and
angular f/Jk displacements of the bodies. Assuming the left body to be fixed, we
take a force Q and a moment M of forces as applied to the end of the elastic rod
(Fig. 269b). In this case, the deflection of the rod and its rotation angle are, respectively,
Y k =8 11Q +8'2 M , ffJk
=8 2,Q +822 M ,
where ~, = tl(3EJ), ~2 =~, = [2/(2EJ), and~, = l/(EJ). Therefore,
Q = Y k 8 22 / L1-ffJk 8 22 / L1, M
= -Y k 8 2,/ L1+ffJk 8 11 /
L1 = 8 11 8 22 -8;2 = (1/6)[/ 2/( EJ x
)f
The strain energy of the rod is
b
Fig. 269.
L1,
226
allfPk +a12 fPkY k +a22 y k .

Here,
(2
2)
I
12
EJ x
all = Lf
5'1l -/5'125'1l +-5'12 = - - ,
2 EJ x
3
21
[(
2 )
I2
]
3EJ x
a12 = LfI
I 5'1l5'22 +5'12
-25'125'1l--5'125'22
=--2-'
2 EJ x
3
21
a22 =
(2 /
I 2 2) 3EJ x
5'21- 5'125'22+-5'22 =--3-'
2 EJ x
3
21
LfI
Y k =Y 2 - Y I -/2fP2/2-/lfP2/2-/lfPI/2-lfPI
(2)
=Y2-YI-/ 2fP2/ 2 - / I'fPJ2, fPk =fP2-fPI'
where II'
=1+ 1/2. Substituting expressions (2) into Eq. (1), we have
11 =bllfP; +b 22 fP; +b 33 y 12 +b 44 y; +b 12 fPlfP2
+b 13 fPIY I +b 14 fPIY 2 +b 23 fP2Y I +b 24 fP2Y 2 +b 34 y IY I ,

where
bll =all +(/'IY Clz2/4 - I '1 a12 /2,

b22
= all +/ 22Clzz/4-/ 2a12 /2, b33 =b44 =Clz2'
bl2 =-2all + 1'1 a12 /2+/ 2a12 /2-1 'I 12a22 /2 ,
b13 = al2 -1'1 a22 , bl4 = -a12 + I' I Clz2 '

b23 = -a12 + 12Clz2 , b24 = a12 -/ 2Clz2' b34 = -2Clz2 .
Using the Lagrange equations, we arrive at the differential equations of motion:
J/PI + 2b ll fPI +b 12 fP2 +b 13y I +b l4 y
=0,
J iP2 + b12 fPI + 2b 22 fP2 + b23 y I + b24 y 2 = 0 ,
mJ; I +b 13 fPI +b23fP2 + 2b33 y I +b34 y 2 = 0,

m2Ji 2 +b l4 fPI +b24 fP2 +b34 y 1+ 2b44 y
=O.
185 Substituting Yi = Ai sin(pt) and rp, = Bi sin(pt) into the equations of motion considered in Problem 184, we arrive at the characteristic equation
2.1 Free Vibrations
2b ll
-JIP Z
b12
-JZp 2
b l3
b l4
b24
b34
2b44 -J4P Z
b l3
b Z3
b23
2b33 -J3P 2
b l4
b Z4
b34
biZ
2b zz
227
=0
or
JJ
8
6
4
Z
0 .
I Zm lm 2P +alP +a2P +a3P +a4 =
Since two degrees of freedom of the system correspond to its motion as a perfectly rigid body, four roots of the characteristic equation must be zero, i.e., the
coefficients a 3 and a4 must vanish. Substituting the expressions for bij into the reduced equation
we find
a l =-2[JI J Zm lb44 +JIJ2m2b33 +Jlmlmzb2Z +JZm lm 2bll ]
=-(13/16)m 3lEJx
'
a2=J/ ZB34 +J lm 2B 23 +Jlm lB z4 -J2m 1B 14 -J2m 2B\3 -m lm ZB 12

=(21/32)(mEJx /lt, whereBg =b gZ-4bii bjj
The corresponding eigenfrequencies are found from Eq. (1):

PI,2
= 0, P3 = 0.447 ~EJx /( mI 3), P 4 = 3.52~EJx /( m1 3)
186 The system has five degrees of freedom: the vertical displacements and the
rotation angles of the two loads and the vertical displacement of the central point
mass. The zero eigenfrequencies P, = P2 = 0 correspond to the motion of the system as a perfectly rigid body (Fig. 270a,b). The third mode must be orthogonal to
these zero modes:
mu lJu \3 + mu 2l U 23 + mu 31U33 +JCfJI\CfJ\3 +JCfJ31CfJ33 =0,
(1)
mu 12U 13 + mu Z2UZ3 + mu 32U33 +JCfJ12CfJ\3 +JCfJ32CfJ33 =O.

Since rpll = rp31 = 0 and u ll = U 21 = u31 = 1, Eqs. (1) give U 31 + U 23 + U 33 =0. Taking
u ,3 = U 33 = - 1, we find U 23 = 2.
Similarly, substituting U 32 = 1, U ,2 = U ,3 = U 33 = - 1, and rp12 = rp32 = lit into
Eq. (1), we find U 22 = O. Therefore, the third eigenmode is symmetric (Fig. 270c).
The orthogonality conditions for the fourth eigenmode have the form
Ul4 +U Z4 +U 34 =0 ,
(2)
228
-U 14 +U 34 +-(qJ14 +qJ34)=O ,
(3)
ml
-U 14 +2U 24 -U 34 -(qJ13qJ14 +qJ33qJ34)=O .
(4)
Since the fourth mode must be anti symmetric, i.e., U l4 = - u34 = - 1, Eq. (2)
gives U24 = O. In addition, ({J14 = ({J34' Setting U34 = 1, we find from Eq. (3)
({J14 = ({J34 = - mill = - 411 (Fig. 270d).
The fifth, symmetric mode must be orthogonal to the four modes considered
above. Similar consideration yields ({J15 = - ({J35 = 3mll(l({J13) = 121(l({J13) and U25 =-2
(with U I5 = U35 = 1). This eigenmode is shown in Fig. 270e.
The eigenfrequencies can be evaluated by using the modes found above. To
find the frequencies of symmetric modes, we treat the system as a hinged beam
loaded by the moments M = l / ({J at its ends and by the inertial forces PI' P2'
Fig. 270.
2.1 Free Vibrations
229
and P 3 (Fig. 270f). As is follows from the equilibrium condition, PI + P 3 =P 2, i.e.,

u2 =2u l The differential equation describing the beam profile has the form
EJxY "=M +mu,p2z - mu2p 2(Z -I) .

The solution to this equation has the form
Since dy(O)/dz =- ffJ, it follows from (5) that
EJxrp=MI +mu,/2p2
/2.
(7)
Taking the equality M =Jl ffJ into account, we reduced Eqs. (6) and (7) to the
form
(-mep 3 /3+3EJ x )u, -Jp 2/ 2rp/2=0,
(8)
mI2p 2uJ2+(Jlp2_EJx )rp=O.

The roots of the corresponding characteristic equation
p 4 -52EJxp 2/(mI 3)+ 144[EJx/(m/ 3 )f =0

are
To find the angles ffJl3 and ffJ15' we use one of equations (8) and the eigenfrequencies found: ffJl3 =- 5.5/1 for U l3 =- 1, and ffJI5 =- 2.211 for U l5 = 1.
The frequencies of antisymmetric modes are found in much the same way as in
Problem 182:
187 To set up the differential equations of motion, we use the d' Alembert principle. In the process of vibrations, the flywheels are SUbjected to the moments of inertial and elastic forces. Assuming that ffJI < ffJ2 < ffJ3 (ffJj are the rotation angles), we
have
-J/p,+M, =0, -J2ijJ2+(M2 -M,)=0, J3ijJ3-M3=0,

or
230
-JjiPj +C j(tp2 -tpj)=O,

-J2iP2 +C 2(tp3 -tp2)-C j(tp2 -tpl)=O,
-JjiPj -C 2( tp3 -tp2) = 0.
Assuming f/J; =Ai sin(pt), we arrive at the characteristic equation
j
Cj c2 +C jC2J 1+J2+J3P 2 =
P 6-p 4(C +C2 +-+J2
J j J3
J 1J 2J 3
With regard to c t = GJ/l t and c2 = GJ/Z2, we find the eigenfrequencies
p j = 0, P 2 = 92.411 S ,p 3 = 151.511 S
188 We denote by fPt' fP2' fPt', and fP/ the rotation angles of the left disk, right
disks, wheel (1), and wheel (2), respectively. The kinetic and potential energies
are
T =J1ipi /2+J 2ip;j2,
II=c1(tpj-tpj't /2+C 2(tp2 -tp2't
/2.
(1)
The rotation angles are interrelated by the equation fPt' =- fP2' u. Eliminating
from Eq. (1) the angle fPj and using the Lagrange equation, we obtain the equations of motion
JjiPj +Cj(tpj +Utp2')=0,
(2)
J 2iP2 -c 2(tp2 '-tp2) = 0,

uc j(tpj +Utp2 ,)+C 2(tp2 '-tp2) = 0.
The last equation implies that the moments of elastic forces acting on the gear
wheels are balanced at all moments of time. Eliminating the angle fP2" we arrive at
the equations
.. CjC2 (tpj +Utp2)

Jjtpj +
2
=0,
cju +c 2
.. c jc 2u (tpj +Utp2)
J 2tp2 +
2
=0.
cju +c 2
p 2 [J/ 2P 2 -(J1u 2 +J2)

has the roots
C~C2
]=
b1u +C 2
2.1 Free Vibrations
231
ClC2 (Jlu 2 +J2)

(C IU 2+C 2) Jl 2
Pl=0,P2=
189 The equations of angular vibrations of the disks are set up just as in Problems 187 and 188. The eigenfrequencies for systems shown in Figs. 145a-e are,
respectively,
(a)pl =0, P2 =~3c/(2J);
(b)Pl =~c/(2J), P2 =~2ii/J ;
(C)Pl =0.8~c/J ,P2 =1.97~c/J ;
(e)pl=0.651~c/J ,p2=1.256~c/J.
190 The equations of motion are derived by the Lagrangian method. The kinetic
and potential energies are
T =Jip;
/2 + 2Jip;/3+3Jip;/2 ,
Il=c(rpl-rp2t /2+C(rp3-rp2t /2.

The differential equations of motion have the form
J(P1 +C(rpl-rp2)=0,
(1)
2J(P2 -C(rpl-rp2)+C(rp2 -rp3)=0,

3J(P3 -C(rp2 -rp3)=0.
We seek for a solution to Eqs. (1) in the form
stants Ai are determined from the equations
(c -Jp 2)A
(fJi
=Ai sin(pt),
-cA 2 =0,
(2)
-CAl +(2c -2Jp 2)A2 -CA3 =0,

-cA 2+(c -3Jp2)A3 =0.
The characteristic equation
p2[p 4-7cp 2/(3J )+(c/J )2]=

has the roots
where the con-
232
1J'......
O.!],!
-~0.77
P3
Fig. 271.
We now find relationships between the amplitudes of these eigenmodes. For

zero frequency (first mode), we find from Eq. (2) A" =A 2, =A 3,. For the second
mode, A22 =(c - Jp2 2)AJc =0.435A'2 and A32 =cA 2i(c - 3Jp22) =- O.615A 22 . For
the third mode, A 23 = - O.77A'3 and A33 = O.I79A'3" The eigenmodes are shown in
Fig. 271 for A" =A'2 =A13 = 1.
To verify the eigenmodes found above, we use the orthogonality condition. For
the first and second modes, this condition has the form
JAJlA 12 +2JA z1 A zz +3JA 3IA 3Z =0
(3)
Substituting the amplitudes Aij found above, we have
(1.1-2.1.0.435-3.1.0.615)J =0.025J ~O .
Similarly, the orthogonality conditions for the first (or second) and third modes
yield, respectively,
(1.1-2.1.0.77+3.0.179)J =0.003J ~O,

(1.1-2.0.77 .0.435-3.0.615+0.179)J ~ O.
191 The differential equations of motion of the disks can be written out as
Jipl +C(<JJI-<JJZ)=O,
Jip2 -C(<JJI-<JJ2)+C(<JJZ -<JJ3)=0,
Jip3 -C(<JJ2 -<JJ3)+C(<JJ3 -<JJ4)=0,
2Jip4 +C(<JJ4 -<JJ3)=0,
2.1 Free Vibrations
233
Fig. 273.
Fig. 272.
where c =Gi/l. Taking
[P
(jJi
=Ai sin(pt), we arrive at the characteristic equation

c
( )2P -"25 ()3]
J =0 ,
lIe 4
c
- 2J P +8 J
which has the roots
PI=0,p2=0.656~c/J ,P3=1.335~c/J ,p4=1.82~c/J .

The eigenmodes found are shown in Fig. 272. It is easy the verify that the orthogonality conditions are satisfied.
192 The characteristic equation
p'[p'- ~~ p4+18(~)' p'-tr]=o
has the roots
PI =0, pi =0.613c/J ,p; =2.26c/J ,p; =5.8c/J

These eigenmodes are characterized by the vibration amplitudes, respectively,
234
tJJll = tJJZI = tJJ31 = tJJ41 = 1,

tJJ12 =1,tJJzz =0.387, tJJ3Z =-0.0375, tJJ4Z =-0.455,
tJJ13 = 1, tJJZ3 = -1.26, tJJ33 = -0.966, tJJ 43 = 0.412,
tJJI4 = 1, tJJZ4 = -4.8, tJJ34 = 6.22, tJJ 44 = -0.8.

193 The expression for the strain energy is the same as in Problem 188, while the
expression for the kinetic energy contains two additional terms:
T =J/pi /2+J zip;/2+J I'(ipl ,)Z /2+J z'(ipz')Z /2 .

Eliminating the angle fIJI' (see Problem 188) and using the Lagrange equations, we
obtain
J/PI +CltJJl +C IUtJJ2'=0,

(J z'+J I'u z)~z '+CIUtJJl +(c IU 2 +C 2)tJJ2 '-C 2tJJ2 =0,
J2~2 -C 2tJJ2 '+C 2tJJ2
Taking f/J;
=O.
=sin(pt), we arrive at the characteristic equation

P 2 {lIJ 2J 3P 4 -[J2(C IJ 3+C 3J I)+J/3C2]P 2
+(CP2 -C I2U2)J2+C lc 2J 3+(C 2C3-C;YI }=O,

where 13 = 11 'u 2 + 12 ' and c3= C I U 2 + c2
194 The kinetic and potential energies of the system are given by the equations
T =J1ip; /2+J 2ip;j2+J3ip;/2,

II =C1(tJJl _tJJI,)2 /2+C I(tJJ2 -tJJ2 ,)2 /2+C 2(tJJ3 -tJJ3,)2 /2.
Here, fIJI" fIJ/, and fIJ/ are the rotation angles for the gear wheels in the gear reduction (see Fig. 273), with
tJJl ,= -tJJ3 'Z /

2 Z I = -UtJJ3 ', "
tJJl = tJJ2 .
Eliminating the angles fIJI' and

the equations of motion
flJ2'
and using the Lagrange equations, we arrive at
JI~I +C1(tJJl +UtJJ3')=0,

J2~2 +C 1(tJJ2 +UtJJ3')=0,
J3~3 +C 2(tJJ3 -tJJ3')=0,

CIU (tJJl +UtJJ3 ,)+CIU (tJJ2 +UtJJ3 ')+C 2(tJJ3 '-tJJ3) = O.
The last equation gives
tJJ3'=[C 2tJJ3 -clu (tJJl +tJJ2)]/(2c 1u 2 +C 2) .
2.1 Free Vibrations
Eliminating
(jJ3"
235
we obtain the system of equations
J/p, +allqJ, -a'2qJ2 +a13 qJ3 =0,

JiP2 -a'2qJ, +all qJ2 +a13 qJ3 =0,
J 3(P3 + a13 qJ, + a13 qJ2 + 2ua13 qJ3 = 0 ,
where
2
c, U +c,c 2
c, U
c,c 2u
all =
2
,a'2 =
2
' a13 =
2
2c,u +c 2
2c U +c 2
2c,u +c 2
The characteristic equation is
J/ 2J 3P6 + [2ua13J,J 2-a,,(J,J3+J2J 3)]P 4
+[2ua13all (J, +J2)-a:3(J, +J2)-a,22J 3]P 2

-2a13 [U(a:, -a,22 )-a13 (a'2 +a,,)] = O.
It is easy to prove that the free term of this equation must vanish. Indeed, it is
evident that the uniform rotation of all the gear wheels is possible; therefore, the
characteristic equation must have zero roots.
195 Considering the dynamic equilibrium of each flywheel, we arrive at the equations
J,(p, +c,(qJ, -qJ2)+a(~'-~3)=O,
(1)
J 2(P2 -c,(qJ,-qJ2)-C 2(qJ3 -qJ2)=O,

where (jJI' (jJ2' and (jJ3 are the rotation angles for the left and right flywheels and for
the contact ring of the damper, respectively.
The third equation is found from the equilibrium condition for the elastic shell:
a(~, -~3)-C2(qJ3 -qJ2)=

Substituting the solutions
acteristic equation
(jJi
(/!?J, +2a+c,)
(2)
=Ai exp(AJ) into Eqs. (1) and (2), we obtain the char-pa
or
In this case, there is a system with a fractional number of degrees of freedom.

Equation (3) has two zero roots (11.12 ~ 0), which correspond to the rotation of the
system as a rigid body. The remaining three roots are found from the equation
236
13
/I,
C21 2+ J 1+J2 ( C +C ) /1,+

1
J 1+J2 C 1C 2 -- 0 .
+-/1,
1
2
J/ 2
J 1J 2
Substituting the numerical values, we have
1 3 +6012 +6301+12600=0 ;
therefore, A3 =- 53.1 and A4,5 =- 3.45 + i 16.5.
196 We choose the vertical displacement y of the center of gravity of the case and
its rotation angle rp as generalized coordinates (Fig. 274). The potential and kinetic
energies are given by the equations
II=cl(y +rp/lt /2+c 2(y -rp/2)2/2 ,

T =my 2 /2+Jil
/2.
Substituting these expressions into the Lagrange equations, we find
mji +C1(Y +rp/I)+C 2(Y -rp/2)=0,

JijJ+clll(y +rp/I)+c 212(y -rp/2)=0,
or
ji +ally +a12 CP=O,

ijJ+llzIY +a22 CP =0, '
where
all =(C I +c 2 )/m , al2 =(cil l -c 2 12 )/m
n/J .
a21 =(c 1l l -c 212)/J , llz2 =(c I I J2 +c 21
Fig.274.
We seek for the solution in the form y = A sin(pt) and rp = B sin(pt). The corresponding characteristic equation has the roots
2.1 Free Vibrations
P,,2 =
i.e., PI
{all +a22)/2+~{all -a22
= 16.5 1/s and P =50 1/s.
237
t /4 +a'2a2' '
197 For the eigenfrequencies to be equal to each other, the following conditions
must be satisfied:
c,l, =c 212, (c,I,2 +cin/J ={c, +c 2)/m .

These conditions are reduced to JIm = 11/z198 We take the vertical y and angular rp displacements of the case center of gravity and the vertical displacements YI and Y2 of the front and back axles as generalized coordinates (Fig. 151). The kinetic and potential energies and the Rayleigh
dissipative function are given by the equations
T =Jil/2+my 2 /2+m,y ,2 /2+m 2y /
a {.
R =2
Y
/2,
a {..
.)2
+ipb -y,.)2 +2
Y -rpa-Y2 .
Substituting T, II, and R into the Lagrange equations, we arrive at the equations of
motion
J oq,+a(a 2+b2)~+(c2a2 +c,b 2)tp+a{b -a)y +{c,b -c 2a)y

-abj, +~2-c,by, +c 2Y 2a =0,
mJi +2aj +(c 1 +c 2)Y +a{b -a)~+{clb -c 2a)tp-a{y, + y 2)

-c,Y I - C 2Y 2 =0,
m,Ji, +ay, +{c, +c 2)Y ,-ab~-c,btp-ay -cltp=O,
m2i2+ay2+{2c+c2)Y2+aa~+c2atp-aj -c 2y =0.
199 We take the displacements YI and Y2 of the front and back axles as generalized
coordinates. The viscous forces are ignored (a= 0). We introduce new unknowns
Z, =Y + rpa and Z2 =Y - rpb. Then,
Y =(z ,b +z 2a)/{a+b); tp={z, -z 2)/{a+b) .

Just as in Problem 198, we obtain the two independent systems of differential
equations
238
Fig. 275.
mbil +cl(a+b)z I-c(a+b)y 1=0,
(1)
mlil +(C +CI)Y I-CIZ 1=0;

mai2+cl(a+b )Z2 -c(a+b)Y 2 =0,
(2)
mli2 +(C +CI)Y 2 -CIZ 2 =0.
The special case Jo =mab is equivalent to the design diagram presented in

Fig. 275. Equations (1) [(2)] describe vibrations of the front (back) axle and a
mass m2 =mbl(a+b) [m 3 =mal(a+b)], with the mass m3 (m 2 ) fixed.
We find from Eqs. (1) and (2), respectively, PI =8.27 lis, P3 =48.5 lis and
P2 =9.9 lis, P4 =48.5 lis.
200 The elongations of the upper and lower transmission sides,
..111 =R I(jJI- R2(jJ2' ..112 =-RI(jJ1 +R 2(jJ2'
(1)
can be expressed in terms of the additional stresses defined in the formulation of

the problem:
(2)
When vibrating, each pulley is subjected to both the moment of inertial forces
and the moment of tensions. The differential equations of free vibrations of the
pulleys are
JliPl +RIF (..10"1-..10"2)=0,
(3)
J 2iP2 - R2F (..10"1 - ..10"2) = o.

With regard to Eqs. (1) and (2), Eqs. (3) can be written out as
=0,
J l iP2 - RIR2Fa3(jJ1 +R; Fa3(jJ2 = 0,
JliPl + RI2Fa3(jJ1 - RIR2Fa3(jJ2
(4)
2.1 Free Vibrations
Fig. 276.
239
Fig. 277.
where a3 =(a, + a2)la,a2 The eigenfrequencies are found from the characteristic
equation corresponding to Eq. (4):
PI =0, P 2 =~r-R-IF.-a---:3(-R-I/-JI+-R-2-/J-2-:-) ~ 146.3 1/ S
201 The kinetic and potential energies of the system shown in Fig. 276 are given
by the equations
T =J/p~ /2+J/p;/2+J I' fi/2
/2
(1)
n =c,,1/ 12/2 +c,,1/ 22/2+ mg [hi Sirlll' +h2(COSIj/-1)],
where c = EFIl. The elongations of the elastic elements are
or, with regard to x
,,1/ 1 =R l rpl-R 2rp2 -x
COSrplO'
Lll2 =R 2rp2 -Rlrpl-x
COSrplO'
(2)
h,ljI,
,,1/ 1 =Rlrpl - R 2rp2 - hi Ij/COSrplO ,

Ll/2 =R 2rp2 -Rlrpl-hllj/cosrplO'
Substituting Eqs. (1) and (2) into the Lagrange equations, we obtain
J/PI + 2cRI2rpi - 2cR IR 2rp2 = 0,

JiP2 +2cR IR 2rpl-2cR/rp2 =0,
J I' ifr +2chl2 II' cosrp 10 + mgh l = 0 .
(3)
240
Here, '1/= 'I/o + '1/" where the angle 'I/o is determined by the static load mg. If the
system is at rest, i.e., d2 1f11dt2 =0, then
2ch l21f/ 0 COSfPlO + mghl = 0 .

In this case, the third equation in system (3) takes the form
J I ' /ifl + 2chl21f/1 COSfPlO = 0 .

The eigenfrequencies are found just as in Problem 169:
PI =0, P2 =18711s, P3=2701ls .

202 The kinetic and potential energies are given by the equations (Fig. 277)
T =J/pU2+Jip;/2+m lx 2/2,
(1)
II =cL11 12/2+cL11; /2+m l g (rl +r2Xl-coSIf/).
Here, c =EFIl is the stiffness of the elastic rods, AI) and Al2 are their elongations,
with
L111 =R l fPl- R2fP2 -x
COSfPlO'
L112 =-RlfPl +R2fP2 -x

The rotation angles
equation
({JI
COSfPlO
(driving pulley 4)and '1/ (link 3) are interrelated by the

(2)
where If/= xI(r) + r 2). Hence, x = r) ({J" and Eqs. (1) take the form
T = Jip;!2+(J I +mlrn~; /2
II = ~ [(RI - r l COSfPlO )fPI - R2fP2 + ~ [-(RI + r l COSfPlO )fPI + R2fP2

+m l g (rl +r2)(I-COS
r.
f l fP l ) .
f l +r2
Using the Lagrange equations, we arrive at the equations of motion
.. [2EF(RI2+rI2COS2fPlO)
]
2EFRIR2
_
fPI+
(
+mlgrl fPI-(
fP2- 0 ,
J I +mlrl I
J I +mlrl I
2)
.. 2EF R R
2EF R 2
fP2 - - - I 2fPl +-- 2 fP2
J 21
J 21
2)
=0 .
The eigenfrequencies are found from the corresponding characteristic equation:

PI = 34.6 lis and P2 = 179 lis.
2.1 Free Vibrations
241
a..-_ I ,+b/2
Fig. 278.
203. The body at a moment of time is shown in Fig. 278. Since the tensions To are
assumed to be constant, horizontal displacements of the body may be neglected.
The equations of motion have the form
my" =-To(sina l +sinaz) ,

J;P=-To(h l +h2)
Taking into account that
sinal =(Y +brp/ 2)//1' sina 2 =(Y -brp/ 2)/11'
hI =(b /2 )sin( a l +a), h2 =(b /2 )sin(rp-a 2),
The corresponding characteristic equation has the form
2 ToUI +Iz)
-p +
mll/2
T obU2 -II)
or
T obU2 -II)
242
In the special case of II =12 =I, these equations of motion become independent
and the eigenfrequencies are
PI =~Zfo/(ml), P2 =~(2+b/I)(Tob /2J) .

204. A position of the cable car is specified by three coordinates, namely, x, y + h,
and qJ (Fig. 279). The horizontal coordinate is an independent function of the car
speed (x =Xo + vt), while the two other coordinates are related by the equations
mjl =To(sina l +sina 2)-mg ,

JiP = -T Oh2 +T ohl .
Taking into account that
sinal ~(Y +bcp/2)/sp sina 2 ~(Y -bcp/2)/S2'
hi ~ h + Y - x sin a I , h2 ~ h + Y - (I - x ) sin a 2,
we write out the equations in the form
jI +(Zfo/mb )AI(t)y +(To/m )A2(t )cp= -g ,
iP+(To/J )A2(t)y +(Tob /2J )AI(t )cp= 0,

where
AJ(t) =b(l -b )j[2(x 0 +vt -b /2)(1 -x 0 -vt -b /2)],

A2(t) =b[1 -2(x 0 +vt )]/[ 2(x 0 +vt -b /2)(1 -x 0 -vt -b/2)].
Fig. 279.
mg
2.1 Free Vibrations
243
b
Fig. 280.
205 We consider an arbitrary deflection from the equilibrium state (Fig. 280a).
According to the d' Alembert principle, the differential equations of motion can be
written out in the form
mi' =-T Icosa l +T2 cosa 2 ,my" =-(TI sinal +T2 sina 2)+mg.
(1)
cosa l = (x 0 +X )/(s 10 + Lis I)' cosa 2= [II -(x 0 +X )]/(s 20 + Lis Z),
sinal =(Yo+Y )/(SIO+LisI)' sina2=(yo+Y )/(S20+ Lis 2)'
TI =TIO
+ L1TI ,
T2 =T20
+ L1T2
Keeping only the terms linear in displacements, we write out the equations as
..
T lOX
T 20X
L1T IX 0
SIO
S20
SIO
mx = - - - - - - -
T 20 (zI-X 0)Lis 2
2
S20
L1T 2 (z I - X0) T lOX oLis I

+
2
S20
SIO
(2)
244
..
TlOy T 20 y LiTtY 0
my = - - - - - - SIO
S20
SIO
LiT2y 0 TIOYoAs t T 20 y oAs 2

+
2
+
2.
S20
SIO
S20
The elongations of the line branches are related to the tension increments by the
equations
As t = LiTtSIO/(EF)=LiTtSIO/(clt) , ,As 2= LiT 2s 20 /(cl t ) .
(3)
There are six unknowns in Eqs. (2) and (3), namely, x, y, ..::::IT" ..::::IT2 , ..::::Is" and ..1s2
The identities
2
. 2 a + cos 2 a =1
sm
at + cos2 at =1
,sm
2
2
can serve as additional geometric equations which allow us to obtain the following
two relations (with regard to the expressions written above):
As t =(YO/SIO)Y +(XO/SIO)X ,
(4)
As 2 =(/t -X o)X / S20 +(Y 0/ S20)Y

The static tensions entering into Eqs. (2) are interrelated by the equilibrium equations
which give
_
(It-xo)StO
_
XOS20
TIO-mg
,T20 -mg--.
ltY 0
ltY 0
(5)
Substituting Eqs. (3)-(5) into Eqs. (2), we have
i" +allx +at2 y =0, )i +a2l x +a22 y =0 ,
Setting x = A sin(pt) and y = B sin(pt), we arrive at the characteristic equation
all-p 2
(6)
2.1 Free Vibrations
245
Hence,
PI,2 = (all +a22)/2+~(aIl-~2t /4 + al22
If the body is at the middle point (i.e., Xo =1/2, SIO =S20 = so), the initial tensions
are TIO = T20 = To. In this case, system (6) is reduced to the two independent equations
mi+2[To{y;/sg)+EF{x;/sg)]x =0,
mji +2[To{x;/sg)+EF{y;/sg)]y =0.
(7)
The eigenfrequencies corresponding to vertical and horizontal vibrations are,

respectively,
PI =~2{ToY; +EFx;)/{msg) ,
(8)
P21 =~2{T oX; +EFy ;)/{msg).

For a series of special cases, the eigenfrequencies can be found from Eqs. (8).
In the case of Xo =0, So =Yo ' To = mg/2, and II =0, i.e., vertical vibrations of a body
suspended by a tensile line (see Fig. 280b),
PI =~g Iso, P2 =~r--2E-J/"""""(m-s-'-o) .

In the case of Yo =0, i.e., vibrations of a body at the middle point of a horizontal
elastic line (see Fig. 28c),
PI =~"---4E-F/"-:--(m---:-ll) ' P2 =~2To,/(mll) ,

where To' is the tension for which Yo l':::: O.
206 The differential equations of motion are similar to Eqs. (6) of Problem 205,
but the quantities x O' Yo' TlfV and T20 are now functions of velocity v and time t.
According to the initial conditions, the body moves along arc of an ellipse
(Fig. 281) given by the following equation in polar coordinates:
SIO =soo/(l-e cosal)=soo/(1-exO/s IO ) .
Taking into account that SIO =Soo + vt, we find Xo = vt/e, where e =1/1. The vertical
coordinate of the body is
YO=~SI20-X; .
(1)
Finding x- and y-components of the force applied to the body, we arrive at the
equations
246
mg
Fig.2SI.
mi' o=T 20(1, -X O)/S 20 -T,er 0/S10
(2)
mjio =TlOy O/S,O +T 20 y 0/S20 -mg.
Taking into account that d\/dt2 =0, we find from Eqs. (2)
_ m (Y" 0 + g )(1, - X o)s 10
T IO -
Y 0/ ,
,T20 -
m (ji 0 + g )x oS 20
yoi,
where d\/M are determined by differentiating Eq. (1).

207. The voltage drop in the armature winding is equal to the applied voltage:
U L +U R +U'P =U 0 sinmt .
(1)
Substituting UL =Ldi/dt, UR =Ri' and U'P = a)dq)"dt, we have
L di /dt + R; +a,dcp/dt =U 0 sinmt
(2)
The differential equation of the armature rotation is
Jd 2cp/dt 2+ccp=a 2i,
(3)
where f4i is the electromagnetic perturbing moment.

Substituting i=A)exp(at) and tp=A 2exp(at) into Eqs. (1) and (2), we arrive at
the characteristic equation
A? +(R/L )A2 +(a,a 2+cL )A/(JL ) + Rc/(JL )=0
In the special case of negligible ohmic resistance (R ~ 0),

1
/l"
C
a,a 2
= 0, /l,2
3 = l - + - .
J
JL
208 In the equilibrium state, the capacitor charge is qo and the springs are contracted by Xo (by the force between the capacitor plates). The charge and displace-
2.1 Free Vibrations
247.
ment are q = qo + L\q and x =Xo +LIx, respectively. The capacitance is C =a/(l- x),
where a is a constant and I is the electrode spacing in the case when no charge is
present.
To derive the equations of motion, we use the Lagrange equations. The total
potential energy (including both electric and elastic energies) of the system is
II = -UL1q +cx 2/2 .

Expanding this expression in powers of !J.q and !J.x up to the second order, we have
II=
]
(/-x o)L1q 2 qoL1qL1x cL1x 2 [qo(t-x o)
+--+
U L1q +
2a
a
2
a
+x o-;i}h 17
+
0.
As follows from the equilibrium condition, the bracketed expressions must be

equal to zero. The total kinetic and magnetic energy and the energy lost in the circuit are, respectively,
T = mLii 212 + LL14 2/2, D = RL14 2/2 .

Therefore, the differential equations of free vibrations of the system take the
form
=0,
mL1X +cL1x -!l.!LL1q

a
LL1I/ + RL14 +
(I -x )L1q
0
209. The kinetic and poteritial energies of the system are, respectively,
T =J/p~/2+J2ip;/2, II=c(rp] +rp2f
/2 ,
where (jJ1 and (jJ2 are the rotation angles of the disks. Using the Lagrange equations,
we arrive at the differential equations of motions
J/p] +C(rp]-rp2)=0,
(1)
J/P2 +C(rp2 -rp2)=0.

Substituting (jJ1 = A1 sin(pt) and
teristic equation
(jJ2
= A2 sin(pt) into Eqs. (1), we obtain the charac-
which has the roots
p] =0, P2
=~c(J] +J2)/(J\J2) .
With allowance for the multiple zero roots, the rotation of the disks is described
by the equations
248

210 The differential equations of motion derived by the force method have the
form
y 1 = 8 11 (-m lil +P )-812 m 2i2'Y 2 =821 ( -mlil +P )-822 m 2i2'

Substituting YI =AI sin( mt) and Y2 =A2 sin( mt) into these equations, we find the
amplitudes AI and A 2:
811(1-m2822w2)+8i2m2ul
A I - Po (1-8 m w 2 )( 1-8 m w 2) -82 m m W4

l
22 2
12 l 2
11
8 21
A 2 =Po (1-811 m w 2 )( 1-822 m w 2) -8212 m m w 4
1
1 2
2
'
'
Since 01 = 1I(m2 n ), we have
AI = -8Pol 3 /(9EJ x ), A21 = - 64Pol 3 / ( 63EJx ) ,

The loads m l and m 2 are subjected to the periodic forces FI =- P - m l d2y/dl
and F2 =- P - m2d2y/dt2with amplitudes FlO =0 and F 20 =2PA.!o..2' As is seen
from the bending moment diagram shown in Fig, 282, the cross section passing
through the load m2 is the most critical section where the bending moment is equal
to Mmax =46Po1l21. Therefore, the maximum stress in the beam is
CY max
=Mmax/Wx =4Pol822/(381}Vx) ,
211 The differential equations of motion of the system have the form
XI =(Posinwt-ml.i'I)811 +-m 2.i'2 8 12'

X2 =-mi'1 8 21- m2:i'2 8 22'
(1)
249
Fig. 282.
where XI and x2 are the displacements of the loads m l and m2, respectively. For the
case shown in Fig. 161a, the coefficients of Eqs. (1) are
8" = 1/(2c )+ / 3/(6EJ
x )
2/( 3c ) ,
8 12 =8 21 =8 22 = /3/( 6EJx ) =1/(6c ).
=
X =
Substituting XI
10
XIO
sin(wt) and x 2 =x20 sin(wt) into Eq. (1), we find the amplitudes
P0 8,,(1-m2822ai)
(1-8"m1ai)(1-822m2w2)-8~2mlm2w4'
POmlw2821811
(1-811m1w2)(1-822m2w2)-8~2m1m2w4'
=~------~~~~~~~---------
20
Hence,
The load m2 is subjected to the force P IO =2c(x lO - x20) =2.31 Po. The coefficient of
dynamic force transfer is kdyn =P/P2 =2.31. For the case shown in Fig. 161b,
kdyn = 4.5.
212 We resolve the inertial force Fo into the components Fy =Fo sin(wt) and
F, =Fo cos(wt), perpendicular and parallel to the beam axis, respectively. A posi-
250
tion of the motor center of gravity is determined by the vertical displacement y and
the rotation angle rp. The force method yields the equations
)8
cp=(Fy -my" )8
y =(Fy -my"
11
21
+(FzR -JijJ)812 ,
(1)
+(FzR -JijJ)822 ,
where J =Jo + mR2 is the moment of inertia of the motor with respect to its base.
The coefficients of Eqs. (1) are found by the Vereshchagin's rule:
8 11 = 4/ 3/(9EJ x )' 8 12 = 8 21 = 2/ 3/(9EJ x ) , 8 22 = 13/( 3EJx ) .

Setting Fy =F, =0 and substituting y =c I sin(pt) and rp =c2 sin(pt) into Eq. (1), we
find the frequencies of free vibrations:
PI =1.43~EJx/(mI3) ,P2 =3.96~EJx/(mI3) .

The solution to Eqs. (1) is sought in the form
y =AIsinwt+A 2coswt, cp=BIsinwt+B 2coswt .
(2)
Substituting expressions (2) into Eqs. (1) and taking the relation between the centrifugal force components into account, we arrive at the following equations in the
constants AI' A2, R I, and R2:
(l-mw2811)AI-Iw2812BI =F o8 1p
(l-mw 28 11 )A 2-Iw2812B2 =FoR 8 12 ,
(1-Iw2822)BI-mw2812AI = Fo8 12 ,
(1-Iw 28 22 )B 2-mw 28 12A2 =FoR822
Solving this system, we find
Al = (Fo/ A)[ (1-Jw 28 22 )811 +Jw 28;2 ] = -104A o/227 ,

A2 = (Fo/ A)[ (1-mw 2 8 11 )812 +mw2812822] = -72A o/227 ,
BI = (FoR / A)[ (1-Jw 28 22
)8
12
+Jw 28 12 8 22 ]= -18Bo/227,
B2 = (FoR / A)[ (1-mw 28 11 )822 +mw 28;2] =5B o/227 ,

where
A=(1-mw2811)(1-Jw2822)-mJw48i2 .
As follows from expressions (2), the amplitudes of forced linear and angular
vibrations are, respectively,
251
=~A,2 +A; =0.467Fo/ 3/(EJ x )'
f/Jo =~B,2 +B22
=0.319Fol2 /(EJ x ).
213 Using the force method, we arrive at the equations
x, = -tJl1 m,x', +tJ'2( -m 2i"2 + p),
(1)
X2' = -tJ2,m,i", +tJ22 (-m 2i"2 + p).
Substituting x,
=A sine 0Jt) and x =B sine 0Jt) into Eqs. (1), we have

2
(l-tJ l1 m,ai)A -tJ12 m 2oiB =POtJ'2'

-tJ2,mlo 2A +(1-tJ22 m2(02)B =POtJ22
Hence, the vibration amplitude for the mass m2 is
_
tJ22 ( I-tJ l1 m,(02)+m,tJi2(02
B - Po ( I-tJ l1 m,(O 2)( I-tJ 22 m2(O 2) -m,m 2tJ12 tJ2,(O4 '
where
The amplitude B is equal to zero if
tJ22(1-tJl1m,(02)+m,tJi2(02 =0.
Therefore,
(02=tJ22/[m,(tJl1tJ22-tJi2)] .
(2)
The left hand side of Eq. (2) is the partial frequency for the mass m" i.e., the vibration frequency for the mass m, provided that the mass m2 is fixed.
214 The vibration amplitude for the mass m2 vanishes if
(02 = tJ22 /[ m,( tJl1 tJ22 -tJi2)] '

where
215 The equations of motion derived by the force method have the form
y, =-tJl1 m,Y", -tJ12 m2i2 +tJ13 M ,
(1)
y 2 =-tJ2,m,i,-tJ22 m2i2 +tJ23 M .

Since y, must be equal to zero, Eqs. (1) are reduced to
tJ'2 m2Y"2 =tJ13 M , Y 2 =-tJ22 m 2i2 +tJ23 M

Substituting Y2
=A sine 0Jt) into Eqs. (2), we arrive at the equations
(2)
252
-alol2 m2A =013M , (1-022 m2m2 )A =023M ,

which give the condition of zero vibration amplitude for the mass m l :
m2=013/[m2(022013-023012)] .
216 A position of the system is shown in Fig. 283, with the mast substituted by a
rod. The coordinates of the mass m l can be expressed in terms of the angle rp and
the displacement of the mass m2 :
Xl =x 2 +1 I sincp, Yl =ll(l-coscp) .
To set up the equations of small vibrations of the masses m l and m2, we use the
Lagrangian method. Writing out the kinetic and potential energies of the system,
T=m~~~+m~~~+m~:~,
II =mlg (l-coscp)+cx:
/2,
where c =3EJjt is the bending stiffness of the rod, we arrive at the equations of
motion
(ml +m 2).i"2 +cx 2+mll/p=Fosinmt ,

m/ lx 2+mII121p+mlglICP=O.
(1)
Substituting x 2 =A sin( mt) and rp =B sin( mt) into Eqs. (1), we find the vibration
amplitude A for the mass m2 :
=(1/ L1)PO(gll-112m2)ml '
n-------+-~~X
X
Fig. 283.
253
where LI is the determinant of the algebraic system corresponding to Eqs. (1). The
amplitude A goes to zero as 0/ ~ gill' where (gll/12 is the vibration frequency of
the pendulum in the case of the mass m2 fixed.
217 To set up the differential equations of small vibrations of the system, we use
the Lagrangian method. The angular velocity of the disk is =q + LIn, where
q is the steady-state angular velocity and Lln= rp is an additional angular velocity due to vibrations.
Both the vibrating masses m are displaced by the interval x from their dynamic
equilibrium positions at the distances 1from the rotation axis. The kinetic and potential energies of the system are
=J(no+L1n)2 /2+2m [(no +L1nt(t +X)2 +X 2]/2,
TI=cqi /2+2c J(xo+x /2,

where 1=lo + Xo and Xo is the spring elongation under steady rotation. In this case,
the torque M serves as a generalized force. The differential equations of motion

are derived from the Lagrange equations of the second kind:
..
ap
4mnol M .
rp+ J +2m1 2 + J +2m1 2X =

:i" x
oSIDWf
2nolip+(c J /m -tio~ =0.
We seek for the solution to these equations in the form rp =A sin( liJt) and
=B sin(liJt). As a result, we arrive at a system of algebraic equations, which has
the solution
Fig. 284.
254
where L1 is the determinant of this system. The damper parameters for which the
vibration amplitude vanishes are determined by the relation 0/ =(c/m) - il,/ .
Therefore, the damping takes place if the frequency of the disturbing torque is
equal to the eigenfrequency of the mass m supported by a spring on the disk rotating at a constant angular velocity .q.
218 A modified design of the Pringle damper is shown in Fig. 284. In this case,
the springs have preloads (cIXo) so that the masses m will be motionless relative to
the disk until the centrifugal m1o.q.2 is less than the preload, i.e., m1o.q.2 < c l xo'
219 For forced vibrations with a frequency (j) to be damped, the eigenfrequency p
of the pendulum on the disk must be equal to (j). In the case under consideration,
p = .q(bll)ll2. Therefore, the pendulum parameters must satisfy the condition
(j)= .q(bll)ll2.
220 The differential equations of forced vibrations of the system have the form
YI=-81ImlY'I+812(-m2Y'2+P)'
(1)
Y 21 =-82I m l Y'1 +822 (-m 2i2 +p),

where ~I = ~2 = ~I = tl(3EJ), ~2 = 23t/(l2EJ), m l = 2m, m2 = m, and
P = Po sin(OJt). We assume that GJk = 0.8EJ,. Substituting YI = AI sin(OJt) and
Y2 =A2 sin(OJt) into Eqs. (1), we find the forced-vibration amplitudes
Al = l.085Po13 /(EJx
)'
A2 = l.085 Pol 3 /(EJ x )
The forces at the mass points are
FI =-mlY'1 =2mA l co 2 sinwt = O.8Posinwt ,

F2 =P -m 2Y'2 ={Po+A 2co 2m )sinwt =2.94Posinwt .
The cross section passing through the clamped end is the most critical section at
which the magnitudes of bending and torsional moments are, respectively,
Mb=(F\O+F2o)1
=3. 74Pol ,Mt =F2ol =2.94Pol .
According to the maximum shearing-stress theory, the equivalent stress in the

critical cross section is
O'eq
=(l/Wx )~M;+Mt2 =4.75Po/Wx '
where W, =m/132 is the modulus of bending resistance for a rod of a circular

cross section. As follows from the strength condition O'eq < O'/n" the allowed disturbing-force amplitude is equal to Po ~ 106 N.
221 This problem is solved in much the same way as Problem 210. Since
~I
=~2
and ~2 =2~1 =2l/(GJp ), the steady-state vibration amplitudes for the

disks are equal to AI =- ~IMo and A2 = ~#o' The maximum torques acting on the
shaft are
=l/(GJ
p)
255
Mo
4Mo
Mo
Fig. 285.
M\O=Mo+AlalJ l =-3M o' M20=A20iJ2=-Mo'

The corresponding torsional moment diagram is shown in Fig. 285. The maximum shearing stress and the safety factor are, respectively,
'max
=M /(O.2d 3) =4Mo/(0.U 3)= 100MPa,

max
222 The equations of forced vibrations are similar to the equations of free vibrations considered in Problem 215 except for the right hand side of the fourth equation which now contains the disturbing torque M. Substituting (fJi =Bi sin( wt) into
these equations, we obtain
(c -J( 2)B I -cB 2 =0, -CBl +(2c -J( 2)B2 -CB3 =0,
-cB 2+(2c -J( 2)B3 -CB4 =0, -CB 32 +(c -2J( 2)B4 =Mo'
Solving these equations, we find the following angles of torsion: B, = 0.373 Mrlc,
B2 =9.274 Mrlc, B3 =- 0.841 Mrlc, and B4 =- 0.352Mrlc. Hence, the amplitudes of
torsional moments are
Ml2 =c(B l -B 2 )=O.l02Mo , M 23 =c(B 2-B 3)= 1.112Mo '

M34 =C(B3 - B 4)=-1.193M o ,
with Mmax = IM341.
223 This problem is solved just as Problem 222. The amplitudes of forced vibrations and of torsional moments are, respectively, B, =3.08 Mrlc, B2 = 1.135 Mrlc,
B3=- 0.1 Mrlc,
B4 = - 0.02 Mrlc,
and
M'2 = 1.945 Mo'
M23 = 1.235 Mo'
256
M34 = - 0.19 Mo' The maximum shearing stress in the shaft is

=1.945 MJWp'
'max
= Mm.lWp
224 A deflection of the system from its equilibrium position is shown in Fig. 286a.
The elongations of the upper and lower links are, respectively,
,,1l] =R]rp]-R 2rp2' ,,1l2 =-R]rp]-R 2rp2 .

Additional stresses in the links can be found from the relations Litl =Liu/fE and
Lit2 =Lia;lIE (see Fig. 286b). As follows from the equilibrium condition for the
pulleys,
J/p] + R]F (,,10'] - ,,10'2) = 0, J 2q,2 + R2F (,,10'2 - ,,10']) = M ,

or
where
all =2R/EF 1(J]l) , a]2 =-2R]R2EF /(J]l) ,

a2]=-2R]R2EF /(J2 l ) , a22 =2R 22EF /(Ji).
Assuming
({Jl
=A exp(ipt) and ({J2 =B exp(ipt), we find the eigenfrequencies
2EF
R2
p] =0, P2 = -(R2
__
I + _ 2 ~187 11 s .
1
J] J 2
The zero root corresponds to small rotational displacements of the pulleys in the
same direction, with no additional stresses appearing in the links.
The amplitudes of small forced angular vibrations of the pulleys are given by
the equations
rp20 = - J 2 [( all -
OJ
2)(a22 - 2)
_
Mo(all
rplO- J 2[(all 2)(a22
-OJ
i.e.,
({JIO
= - 0.595 10-4 Mo and
({J2
OJ
a]2a2]
],
-OJ 2 )
-OJ
2) -a]2a2] ] ,
= 0.51 10-4 Mo' The stresses in the links are
0'] =0'0+,,10'] =0'0+E(R]rp]-R 2rp2)/l ,

0'2 =
0'0 +,,10'2 = 0'0 +E (R 2rp2
-R]rpl)/l ,
or 0; = 0'0 - 0.0269 Mo sin(mt) and u2 = 0'0 + 0.0269 Mo sin(mt). The stress in one of
the links is equal to zero if Mo =73.5 N m.
225 The differential equations of small forced vibrations have the form (see Problem 224)
257
a
Fig. 286.
iP1 + R12 Fa3(jJJJ 1-R 1R 2Fa3(jJ2 / J 1= 0,

iP2 -R1R2Fa/P1/J2+R/Fa3(jJ)J2 =Mosinwt.
Substituting CfJ1 = CfJiO sine rot) and CfJ2 = CfJ20 sine 0Jt) into these equations, we find
MoR1R2Fa3
(jJ1O = J 1J 2OJ 2[ OJ 2- (R12/J 1+ R22/)]

J 2 Fa3 ,
_
Mo(0J2-R12Fa)J1)
(jJ 20 - J 20J 2[OJ 2- (R12/ J 1+ R22/)]

J 2 Fa3
The stress variations are related to the link elongations by the equations
A
_ Lll1 _ R (jJ1O - R 2(jJ20
.
LJO"] ---- 1
smOJt,
a1
a1
A
_Ll/2 _R (jJ20- R 1(jJ1O .
LJ0"2 ---- 2
smOJt.
a2
~
Therefore, the stresses in the links depend on time as
0"1 = 0"10 + LlO"IO sinOJt , 0"2 = 0"20 + LlO"20 sinOJt

226 The differential equations of motion of flywheels 2 and 3 have the form
J 1iP1 +c 1(jJ1 - M f
=M 0 sinOJt ,
(1)
J 2iP2 +C 2(jJ2 +M f =0.

Here, CfJ1 and CfJ2 are the rotation angles; C1CfJI and C2 CfJ2 are the elastic forces; and Mf
is the moment of friction forces between the flywheels, which is related to the
pressure Pn by the equation
258
= J,UPnfXlF
Mf
Here, F is the contact surface area, Pn = N/F, P is the radial coordinate of a surface
element dF, N =No + &/ is the total pressing force, No = t5r1 ~ I is the preload of the
spring, and &/ is a dynamic contribution to the pressing force. The shaft rigidity is
c I = GJJII = mlI4G/(32IJ
The pressure P. varies periodically with f/Jr We now find a relation between f/J2
and &/. Since the spring length determined by the preliminary contraction Do is
independent of the angle f/J2' the displacement equations can be written out as
8 1P + LiN8" = 0, 8 2P + LiN 8 21 = ffJ2
(2)
Here, ~p and ~ I are the spring contractions due to the external torque M and the
unit axial force, respectively; and ~p and ~I are the corresponding angular twists
in the case of free spring. According to the Mohr method,
8. =
9
M.(I)M. (I)
GJ p
ds +
M.(b)M. (b)
EJ x
ds.
Taking into account that Mp(l) = M sin a, Mp(b) = M cos a, M 2(t) = sin a,
M 2(b) = cos a, MI(I) = (D/2) cosa, M2(b) = (D/2) sina and that the spring wire length
is s =TtDi/cos a, where i is the number of coils, we find
8=
IP
trD 2 Mi
(_1_+_1_) sin2a
GJ p
EJ x
cosa
8" = trD 3 i (cos 2 a + sin 2 a)_l_,

4
GJ p
EJ x cosa
s:
__n
U 2P -IUJ
8=
21
.(Sin
MI
trD 2i
a + cos 2 a)_I_ ,
GJ p
EJ x cosa
2
(_1_+_1_) sin2a
GJp
EJ x
cosa
Therefore,
8 1P
M(EJ x + GJ p )sin 2a
I1N = - 8 11 = - D(EJ x cos 2 a + GJ p sin 2 a )'
6 1P
611
s:
rp2 = U 2P
s:
- - U 21
259
JrDMi [
. 2
2
EJ sm a + GJ p cos aEJxGJ p
X
] 1
(EJ x + GJpy sin 2 a
4(EJx cos 2 a + GJ p sin 2 a) cos a'
In the case of small a(sina~ a, cosa~ 1, and sin2a~ 0),
&I _ M (EJx +GJ p)2a
DEJ
_ JrDMi
,rp2 - EJ
x
The frictional torque is

D)/2
Mf = LIPn,udF =PnJi f2Jrp2dP=JrJiPn(DI3 -dn/12 ,

d)/2
or
Mf
= Ji(N 0 +&1 )(D I3 -dn/[ 3(D12 -dn]
Taking into account that the torque Mj is always opposite in direction to the
relative angular velocity of the flywheels, we arrive at the equations of motion
i(
..
. ( . .) D 13 - d
J1rpl
+C1rpl-Slgn rpl-rp2
2
2 N O+n 1rp2 =Mosmmt,
DI -d 2
iz (N O+n 1rp2 )=0 ,

..
. (.
. )JiD/-d
J 2rpZ+C
z
2rp2- S1 gnrpl-rp2
3 DI -d 2
where
227 The differential equations of motion of the flywheels have the form
J1iPi +C Irpl + a 2 ( tPl - tP2) = M 0sinmt ,
(1)
J 2 iP2 +C zrpz - a 1(tPl -tPz) =0,

where c) = nd)4G/(321) and c2= d)4E/(64Di). From the second equation of system
(1), we find
(2)
Differentiating the first equation of system (1) with respect to time and substituting Eq. (2) into the result, we arrive at the equation
JIJ2~z/ a l +(J 1+JZ )iP2 +(J 1C2+JzC})iPz/a} +(c} +C 2)tP2 +

+C}C2rp2/a} =Momcosmt.
The solution to Eq. (3) is sought in the form
(3)
260
(4)
The substitution of solution (4) into Eq. (3) yields the system of equations in A2
andB2 :
[J/ 2m4 -VIC2 +J2c l )al +C IC2]A 2/a l -
-[VI +J2)m3 +(C I+c 2)W]B2 =0,

"[J/ 2W4 -(J IC2+J2c )m 2+C IC2]B 2/a
-[VI +J2)W 3-(C I+c 2)w]A2 =Mow.
l
l -
The maximum angular deflection of flywheel 3 from its equilibrium position is
lP20=~A22+B; .
Using the solution found in Problem 226, we determine the internal forces in
the spring:
M=
EJx N = 8 0 + M(EJ x +KJp )2a =

lP20 nDi '
8 11
DEJx
=8 4GJp + (EJ x +GJp )2a

o nD 3i lP20
nD 2i
Hence, the largest stresses in the spring are
O"max
=M jwx
=8ND=8~+
max
n:d 3
ElP20/(2;rr) ,
0
nD 2i
lP20
(E+2G)da
nDi
.
As follows from Eq. (2),
lPI =_1_ fV2~2 +a l <P2 +C 2lP2}it =AI sin lOt + BI coswl ,
al
where
C2)B2
A 1= (J 2W+-+ A 2' BI =B 2- (
J 2C
w+-2)A2
- .
W
al
W al
The amplitude of angular vibrations of flywheel 2 and the largest stress in the
shaft are, respectively,
lPlO = ~r-A-12-+-B-I-2 , Tmax = 32c I lPlO / ( n:d
n.
228 Using the d' Alembert principle, we arrive at the following differential equations of motion for the disk and ring, respectively:
We seek the solution to these equations in the form
rpl = A sin OJt + B cosOJ! , rp21 = C sin OJ! + D cosOJ! ,

where the constants A, B, C, and D are found from the system of equations
(c -J IOJ 2 )A -aOJ(B -D )=Mo' aOJ(A -C )+(c -J IOJ 2 )B =0,

aOJ(B +D )+J2OJ 2C =0, aOJ(A +C )+J2OJ 2D =0.
Hence,
A =Mo[ (c -J l ol)(J;0J 4+a2OJ2)-J2a2OJ4]/Lt,

B
=M oaf; OJ5 / Lt ,
C =MO[(C-JIOJ2)a2OJ2_J2a2OJ4]/Lt,
D =MOJ2aOJ3(c-JIOJ2)/Lt,
where
c -JI OJ2
Lt=
Fig. 287.
aOJ
0
aOJ
-aOJ
c -JI OJ2
aOJ
0
aOJ
-aOJ
0
J 2OJ2 aOJ
aOJ J 2OJ2
0
261
262
The amplitudes of stable vibrations of the disk and ring are determined by the
equations, respectively,
rplO
=~A 2 +B 2 ,rp20 =~C 2 +D 2
229 The system under consideration is shown schematically in Fig. 287. The kinetic and potential energies and the Rayleigh dissipative function are given by the
equations
2
J' 2
2
T =mv +~+ mlYI
2'
II= c(lrp-YIY + cI(YI-hY

2
2
R = a(lip- YIY
Substituting these expressions into the Lagrange equations, we have
Jolp+al (lip- YI)+cl (lrp- Y 1)= 0,
mlil-a(lip- YI)-c(lrp- Y I)+CI(Y I-h )=0,

or
.. 2'
2
2n. pg
0
rp+ nrp+ Porp--l-Y I--l-Y I = ,
il
+2n ly I +PI20Y I +P;oY 1- 2n l1ip- P1201rp= p;oh,
where 2n = atIJ2, 2n, = aim" P02 = ctIJo' pIQ2 = elm" and P202 = c/m,.In the case of
a= 0, the eigenfrequencies and the critical towing velocities are, respectively,
2
2
2
P 1,2 = PO+PIO+P20+
2
-
2
2 J2
PO+PIO+P20
_p2p2
(2
20
230 The strain energy of the car springs is
II=i(y +rp/I-hIY + C;(y -rp/2- h2)2

Here, h, and h2 are the vertical displacements of the front and back wheels, respectively:
hI = ho[1- cos( 2mt / I0)]' h2 = ho {1- cos[ 21Z"(vt +L)/1 0]} ,

where L = I, + 12, The kinetic energy of the system is
T =my 2 /2+Jip2 /2+mv
2/2 .
The differential equations of small vibrations follow from these expressions:
263
mji +(C I +C 2)Y +(CI/I-C2/2)lP=(clhl +c 2h2),

JiP+(cl/ l +c 2/ 2)y
+(c
2
I/ 1
+c 2/;)lP=(c l/ lhl +c 2/ 2h2).
It is convenient to rewrite these equations in the form
1" +ally +aI2 lP=b l -b2COS( mt )+b3 sin( cot),

iP+a2l y +a22 lP=b l'-b 2'COS( mt )+b 3 'sin( mt),
where
OJ
(1)
=21CVllo and
bl =(C I+c 2)h o/m, b2 =[C I+c 2cos(2ni.,jlo)]ho/m,
b3=sin(27rL/l o)hoc 2/m, bl '=(cl/ l +c 2/ 2)ho/J,

b2' =[c III +C 2/2 cos( 2JZ"L/ I 0) ]ho / J ,b3' =c 2/2 hO sin( 2JZ"L/ 10 ) /J.
We seek for the solution to Eq. (1) in the form
=Y 0 + A cos( mt ) + B sin( mt ) ,
lP = lPo + A I cos( cot) + B I sin( mt ) ,
Y
where
Yo = (b la22 -b l'a12
B
(2)
)j~pA =[aI2bl'-b2(~2 _(02)]/~,
=[b3(~2 -co2)-aI2b3']I~,
lPo =(allbl'-~Ibl)/~'
Al =[~lb2 -b2'(all -m 2)]1~,BI
=[b3'(all-co2)-~lb3]1~p
~I =all~2 -aI2~1'~ =(all-m2)(~2 -(2)-aI2~1.

Rewriting Eq. (2) in the form
= y 0 +~A 2 + B 2 sin( cot + 13), lP =lPo +~AI2 + B/ sin( cot + 13) ,
we find the amplitudes of vertical and angular accelerations:

..
tA2 + B 2 , lPmax
= co 2 "VtA2I + B2I
Y max = CO 'V
Substituting the numerical values, we find
1" max =7.5 mls
and
iP max
=0.2 rad/s 2
231 Since the vibration damping in the system under consideration is disregarded
(see Problem 230), the critical velocities of travel correspond to resonances, i.e.,
V*I = IrPl2n and V*2 = IrPf2n, where PI and P2are the eigenfrequencies.
232 If the car considered in Problem 198 moves on a rough road, its tires have additional contractions hI and hr Consequently, the expression for the potential energy of the car coincides with that found in Problem 198 except for the two last
terms which must be substituted by C(YI - h)2/2 + 2C(y2 - h2)2/2, where
264
hi
~ hO( I-cos 2~t). h, ~ hO(1- cos 2n(vt ~ a +h )J
The differential equations of motion coincide with those derived in Problem 198
except for the two last equations whose right hand sides should now take the form
ch1 and 2ch2 respectively.
233 The differential equations of motion for the total mass m =mo + mJl - tit) of
the vessel and liquid are
mi" +cx =ce coswt , mji +cy =ce sinwt .

where e is the deflection of the mass m from its equilibrium position. Denoting the
total mass at t =0 by min =mo + m1 and introducing the dimensionless time ,,= t/t1
we rewrite these equations in the form
d 2x + ct l2x _ ectI2coS(wtl ,)
d,2 min -ml'
min -ml'
234 The differential equations of motion were derived in Problem 178:
Fig. 288.
Fig. 289.
265
u + liP/4+c(u -lrp)/m =0, u +SliP/4-4c(u -lrp)/m =0.

Under the initial conditions given, the solution to this system has the form
U =20Jt/29m +9Jsin(P2t)/29mp2'
rp=20Jt/29m 1-20J Sin(P2t )/29m/P2'
where P2 = (29c/5myl2.
The motion of the center of gravity is described by the equation
Uo=U +rpl
/4 =2SJt/29m +4J Sin(P2t )/29mp2'
The inertial forces acting upon the load are
F =-mu'O=4JP2sin(P2t)/29,
M =-JiP=-SJ/P2 Sin(P2t )/29.
The bending moment is maximal in cross section A of the rod (Fig. 288):
M max =M +Fl /4=4J/P2/29=0.643J ~EJx /(ml).

235 The differential equations of motion of the flywheel and ring are
JiPl +a 1(tPl-tP2)+C 2rpl =Mosinmt,

a 1(tP2 -tPl)+C 1rp2 =0,
where qJl and qJ2 are the rotation angles. Solutions to these equations can be presented in the form
rpl =Aj sinmt + B j cosmt , rp2 =A2 sinmt + B2 cosmt

Substituting these expressions into the equations, we find
A2 =(C) +c 2-J(2)MojLI ,B 2=-M oJox l/(Lla)) ,

where L1 = (c l + c2 - lai)2 + (lax/af The amplitude of stable vibrations is found
from the equation qJ202 =(A 22 + B22)112.
236 The differential equations of small vertical vibrations of the container and
guide have the form
mX')+2a(x)-x 2)+C)X 1 = Fosinmt ,

-a(x j -x 2)+C 2X2 =0,
where XI and x 2 are the vertical displacements of the container and the guide.
These equations are solved in much the same way as those in Problem 235. Under
steady-state vibrations,
Xl(t) =A1sinlUt + B)cosmt , X2(t) =A 2 sinmt + B 2cosmt

Substituting these expressions into the equations, we find
266
237 The driver's seat position at a moment of time is shown in Fig. 289. The differential equation of motion of the mass m is
mY"2+ a (Y2-Yt)+(Y2-Yt)=0.
One more equation follows from the equilibrium condition for the wheel suspension:
These equations can be written out in the form
Y"2 +2nj 2 +P;Y 2 -2nj t - P;Y t =0,

2
22'
(1)
2
ny2+POY2- nyl-POYI-PIYt=-PtYo'
where 2n = alm, p02 =elm, andp,2 =elm.

In order to find the transfer functions, we take the Laplace transform of Eqs. (1)
under zero initial conditions. As a result,
(P2 +2np + P;'2(P )-(2np + p;)Y1(p )=0,

(2np +P;'2(P )-(2np +P;Pt2't(p )=-Pt2yo(p).
Consequently, the transfer function relating a perturbation (input) to the mass
displacement (output) is
W P _
( )-
PI2(2np+p;+pn
2np3+(p~+pnp2+2npI2p+p~+P~PI2
The spectral density of the acceleration is given by the equation
s Y2. =ois,
Y2
S Y2 (01) =
fv (i01t s Yo (01)
is the spectral density of the vertical displacement, which is related to the correlation function given:
00
Syo= JKYo(r)exp(-iwt)dr=
-00
=DyO
00
J{exp[-r(a t -i01)]+exp[-r(a 1 +i01)]}dr=
o
The expression for S,. can be written out in the form
2D a
2 Yo ;.
at +01
where
267
L1=12n(imf +(2na l + P; + pn(imr +[ al(p; + pn+ 2npn( im +

+[PI2(p; +2na l)+ p;]im+al(p; + p;pnr
The variance of vertical acceleration
1
D . =Y2
21r
JS . dm
00
Y2
-00
where
2 a4 =a I (4
2 I2) ,ao=2n,
al = 2 na I + P02+ PI'
Po + PoP
a2=al(p; + pn+ 2npl2 ,a3 = PI2(p; +2na l)+ P;

238 The center of gravity of the disk at an arbitrary instant t is specified by the
vector r (Fig. 290). To describe the disk motion, we use the Lagrange equations of
the second kind. The kinetic energy of the disk is
T =m(v;+v:)j2+Jooi/2,
(1)
where Vx and Vy are the x- and y-components of the velocity of the disk center and
10 is the moment of inertia with respect to the axis perpendicular to the disk plane
and passing through the center (point OJ
The velocity of the center of gravity is specified by the vector v:
v =i i
+j y +[ mx r ], [m x r ] =
Here, i, j, and k are the unit coordinate vectors. Hence, the velocity components
can be presented as the scalar products:
268
vx
=(v .j )=i -U?)!
,v y
=(v -j)= Y +M
The bending-strain energy of the shaft is
II =cr 2/2 =c (X 2+ Y
(2)
2)/2 ,
(3)
where c =6EJIt is the stiffness of the shaft. Substituting Eqs. (1)-(3) into the Lagrange equations
dOL OL
dOL OL
----=0 ----=0
dtOi at
'dtry iY
'
with L = T - 17, we arrive at the equations of small vibrations of the disk relative
to the rotating coordinate system:
i"+(p;-m2)x -2i1?Y =0,

,
()
Y + Po - ()) y + 2M = 0 ,
where P02 = elm. Taking x = A exp(ipt) and y = B exp(ipt), we obtain the characteristic equation
(Po2-m 2) -P 2
2mip
-2mip
(2 2 2)2 2 2
(Po2-m 2) -P 2= Po -()) -P -4(0 P =0.
Hence, the two eigenfrequencies are PI = Po -
OJ
and P2 = Po +
OJ.
239 In the rotating coordinate system yO 'x, the disk center of gravity (point 0) is
specified by the vector r (Fig. 291): r =r l + e, where r l is the displacement of the
shaft axis. The relative position of points 0' and 0 1 ' shown in Fig. 291 corresponds to the case of OJ < OJ, (see Problem 93), when the steady-state equilibrium
condition is satisfied:
(1)
Fig. 290.
269
Fig. 291.
In the case of m> m., Eq. (1) takes the form mm\ = c(xo+e).
If the motion of the disk is stationary, the vectors r and r I are collinear since the
points 0", 0, and 0 1 are on the straight line O"x. The angle rp determines small
deflections of the vector e from the 0" x axis, while the coordinates x and y of the
disk center of gravity determine its small displacements relative to the rotating coordinate system.
The kinetic energy of the system and the bending-strain energy of the shaft are
=m(v; +v n/2+Jo(m+ipt
II =cr 2/2=C[(X
where V x
/2 ,
-e COSqJ)2 +(Y -e SinqJt]/2
=i - C0l , v y = y + cux , (see Problem 238) and 10 is the moment of
inertia with respect to the point o.

In the moving coordinate system xO'y, the disk center of gravity (point 0) is
specified by the three independent variables x, y, and rp. Consequently, substituting these expressions into the Lagrange equations, we arrive at the three equations
m(X- -co/ )-mm(y +cux )+c(x -e COSqJ)=O,
(2)
m(Y- +aIi )+mm(i -C0l )+C(Y -e sinqJ) =0,

JofiJ+n(x -e cosqJ)e sinqJ-C(Y -e sinqJ)e cosqJ= O.
Since the vibrations under consideration are assumed as small, we can take
x =Xo + XI' y =Yl' cosrp ~ 1, sinrp ~ rp, and XI rp ~ YI rp ~ O. In this case, we suppose
that the X axis is in the direction of the straight line passing through the points 0",
0, and 0 1 Eliminating from Eqs. (2) the equations of equilibrium in the steadystate regime, we obtain
270
i"1
+(p; -al)x 1- 2mi 1 =0,
ji 1 +(p; -al)y 1 +2Cl?Y 1 - p;erp=O,
2
2
rp+PIXOrp-PIYI=
,
where P02 =elm and PI 2 =cello. It should be noted that these equations are valid
both for 0) < 0). and for 0) > 0),.
240 The bending stiffnesses of the shaft in the directions of the x- and y-axes
(principal axes of inertia) are denoted by Cx and cy" The kinetic energy of the system .has the same form as that in Problem 238, and the potential energy is
II=c xx 2/2+c y y 2/2.

In the rotating coordinate system, the differential equations of small vibrations
have the form
i" +(k} -ai)x -2Cl?Y =0,
ji +(k: _m2)y +2mi =0,

where kx2 =clm and ky2 =clm.
Taking x =A exp(ipt) and y =B exp(ipt), we obtain the equation
P 4 _ P 2 (kx2 +k: +2m2)+(kx2 -m2)(k: _m2)=
whence,
k 2+k2 +2m 2 (k2 _k2)2

+,1 x y +2m2(k2+k2)
P 1,2 =,1V x y2
V
4
x
y
The motion of the disk is stable provided that the frequencies PI and P2 are realvalued. If PI 2 are complex conjugate numbers, i.e., PI ,2 = iA, the solution is proportional to the function exp(A,t) which increases infinitely with time. In this case,
the vibration amplitude for a certain angular velocity v. should grows infinitely,
and, therefore, small vibrations become unstable. Such an angular velocity is referred to as a critical velocity.
Equation (2) have complex conjugate roots if
r--------------------
kx2+k2y +2m2 <

(k2x _k2)2
+8m2(k2x +ky2)
y
Whence, kx ~ 0). ~ kyo It follows from these inequalities that there is a range of
critical angular velocities.
241 As in the case of Problem 238, it is convenient to solve the problem in the rotating coordinate system. However, the extra term ~ = mgY I should be added to
the expression for the strain energy considered above, with YI being the coordinate
of the center of gravity in the fixed coordinate system XPIYI (Fig. 292). In the rotating coordinate system xOly,
271
Fig. 292.
III = mg (x sinwt + y coswt) .

The total potential energy is
Il=c(x2+y 2)/2+mg(x sinwt+y coswt) ,

where c = 2End'/4t The kinetic energy is given by the same expression as in
Problem 238. The differential equations of motion have the form
.i"+(k2-m2~ -2ll?Y +gsinwt=O,
(1)
ji +(k2 _m2)y +2mi + g coswt =0,

where k = elm.
The solution to Eqs. (1) is sought in the form x = A sine lOt) and y = B cos( lOt).
Substituting these expressions into Eqs. (1), we arrive at an inhomogeneous system of equations in A and B, which has the solution A =B =-glf.
The critical angular velocity is found from the solvability condition for the homogeneous system: m. = kIl.
2
242 The differential equations of motion relative to the rotating coordinate system
(see Problem 241) are
.i" +( kx 2 -al)x -20/ = -g sinwt ,
ji
+( ky
_m2)y +2mi = g coswt ,
where kx2 =4Ebh3/(mP) and k/ =4Ebh3/(mP). Substituting x =A sine lOt) and

y =B cos( lOt) into these equations, we find the amplitudes of steady-state vibrations:
The critical angular velocity of the roller is
272
01=
k}k:/[2(k +k:)].
2
In addition to this value, there is the range of critical angular velocities found in
Problem 240.
243 When the bent roller rotates about the AB axis, the inertial forces acting upon
the disk are perpendicular to its axis (Fig. 293). In this case, the total force of inertia acting upon an element dm is dF dmolr,. Because r, r + y, the force dF
can be presented as a sum: dF =dF, + dF2, where dF, =dmo/y and dF2 = dmolr.
The force dF, is directed along the y axis. The moment Mx of the force dF2 with
respect to the x axis impedes the disk's rotation. Since the rotation angle about the
x axis is small,
where J is the moment of inertia about the rotation axis.

Therefore, the roller is subjected to the force F, and moment Mx'
The displacement equations for the attachment point of the disk are found by
the force method:
(I-Ollm01 2)y +012 012Jrp=O,

021m012y -(I+02201 2J)rp=O,
Fig. 293.
(1)
273
where ~! = tl(3EJ), ~2 = ~! = - tl(2EJ), ~2 = l/(EJ), and Jx = ntfl64 is the moment of inertia of the roller cross section. The equation for the critical angular velocity follows from the solvability condition for system (1):
co4+ 12EJx (m12

Jml 3 3
_JJC02_~(EJx)2 =0.
Jm
(2)
12
Whence,
+~(EJx )2
2
co 2 = 6EJ x (J _ m1 3J+ [ 6EJ x (J _ m1 J]2
Jm13
3
Jm
Jm13
3
(3)
12
The second root of Eq. (2) corresponds to imaginary values of the angular velocity.
If the moment of inertia of the disk can be disregarded, i.e., the disk is treated
as a point mass, the critical angular velocity is given by Eq. (2) with J ~ 0:
co 2=~1/(m811) =~3EJx /(mI 3) .
(4)
The numerical values of lO. evaluated by formulas (3) and (4) are equal to 165
and 130 lis, respectively. Thus, the gyroscopic effect results in increasing the
critical angular velocity.
244 The critical angular velocity lO. evaluated with and without allowance for the
gyroscopic effect is approximately equal to 138 and 127.8 lis, respectively.
245 The critical angular velocity lO. evaluated with allowance for the gyroscopic
effect is approximately equal to 173 lis. If this effect is disregarded, lO.
~ 158.6 1/s.
246 The forces acting on the disk are shown in Fig. 294, where r! is the roller deflection, e is the eccentricity of the disk center of mass, Fe! =-crt is the elastic
force acting on the disk, and M m is the total attractive force due to the magnets.
According to the d' Alembert principle, the differential equations of motion in
the case of constant angular velocity of the disk have the form
:i" + p 2X =ep 2 cosOJ{ + L1Fm

m
Y" + P 2Y =ep 2 sin OJ{ ,
(1)
where l = elm = 6EJ/mt The total attractive force is
L1Fm =k(/J~/(a-x
t -k(/J~/(a+x t
Allowing for only the linear term in the expansion of this expression in powers of
x,
274
Fig. 294.
we write out the fIrst equation of system (1) in the form
X'+[p2-4ktPV(ma 3)]x =p 2eCOSOJI
(2)
It follows from Eqs. (1) and (2) that in the magnetic fIeld, the system has the
two critical angular velocities
lU. l
=~r-p-2-_-4-k-tP-~-/-'(-m-a-3-), lU. 2 =P .
247 The plate has three degrees of freedom: the vertical displacement z and the
two angular displacements ({J and (). If the angle () of attack is nonzero, an aerodynamic lifting force appears. In this case, vertical displacements of the plate cause
elastic forces of the springs, with the net force
=-Cl(Z -(1 /2 +rph /2)-c l(z -(1 /2-rph /2)
-c 2(z +(1 /2 + rph /2 )-c 2(z +(1 /2-rph /2).

The moments of the elastic forces with respect to the x and y axes are
Mx
=-(C l+C 2)rph2 ,
My =2c l(z -(1 /2)/-2c 2(z +(1/2)1 .

The differential equations of motion of the plate have the form
mi" +2(c l +c 2)Z +(C I -C 2 )(1- dc z pv 2 hIO=O,

dO 2
2
J y B+.!.(c l +C 2)/ 20+(C 2-c/z _ dc z hl pv 20 = 0,
2
dO 8
)
(1)
(2)
.. h 2 ( c +c ) (jJ= 0.
Jx(jJ+1
2
275
(3)
Equation (3) is independent of Eqs. (1) and (2) and allows us to find the frequency of angular vibrations about the x axis:
=h~(Cl +c 2 )/(4Jx )
In order to find the remaining two frequencies, we substitute z =A exp(ipt) and

B exp(ipt) into Eqs. (1) and (2). As a result, we arrive at a homogeneous system of algebraic equations with the determinant
()=
2(c 1 +C 2 ) +P 2
(C 1 -c 2
1--'--'-----'-'-
D-
)l - 2FIO
- -(Cm1-c )l
2
where FlO =(dc/d9)hlplI4. The characteristic equation follows from the condition
D=O:
P 4 +~p 2 +a4 =0
where
(4)
_ 2(c 1 +C 2) + 2(c 1 +CJl2 -FlOl
~-
_[2(c
a4 -
'
4J y
+c 2)l-FIO ](C 1 +c 2)l

2mJ y
[(CI-C2)l-2FIO](CI-C2)l
+~----~----~~--~-
mJ y
For the roots of characteristic equation (4) to have negative real parts, its coefficients must be positive (for a biquadratic equation, this condition is necessary
and sufficient):
-FIO --+
4J y
2(c +c 2) (C
1
+c 2)l2
2J y
>0,
Under these conditions, vibrations of the plate are stable.
248 Vibrations of the plate are stable provided that the real parts of the roots of
characteristic equation (4) derived in Problem 246 are negative. For this condition
to be met, the coefficients a, and a2 must be negative.
The values of the aerodynamic force F for which the coefficients a, and a2 are
equal to zero are critical; whence, the critical velocities v are determined by the
276
conditions a, = 0 and a2 = O. Substituting the numerical values into these conditions, we find v., =32.6 mls and v'2 =73 mls.
249 If the level flight of the aircraft is perturbed weakly, the equations of motion
derived by the d' Alembert method take the following form (Fig. 295):
F j +L1FI +L1F2 +Rrp=O,
(1)
M j +AM I -L1F21 =0,
(2)
where Fj and Mj are, respectively, the inertial force and the moment of inertia with
respect to the axis perpendicular to the plane of the figure and passing through the
point 0'.
We now find the increment of the angles of attack, Lla, and LI~: Lla, = rpdylvdt, where dylvdt is the angle of downwash. For small rp and y, the vertical displacement of the tail unit is y, =y - rpl. Therefore, the increment Lla2 can be assumed as dependent on only the angle of downwash:
Lia 2=C 2(ipl- Y)jv
Thus, the increments LIF" LlF2' and LIM, are
1=.,0
x
v
mg
Fig. 295.
L1FI =CI(rp- y
Iv ), L1F2 =C 2(ipl- y )/v ,
AMI =C 3 (rp-y
Iv).
The substitution of expressions (3) into Eqs. (1)-(2) yields
(3)
~v + C 1 +C2 ~V
Y
mv
_
Y
277
C21 J_(CI+R)qJ=O
mv
m
'
.. (C 3 -C 2/) A
C 2/2. C 3
0
qJ+
LlV +--qJ--qJ= ,
Jv
Y
Jv
J
where LtVy = dy/dt. Taking LtVy = A exp(AJ) and rp = B exp(At), we arrive at the
characteristic equation
A? + alA? +a21+a3 =0,

al =[C 21 2m +(C I +C 2)J ]/(Jmv ),
=[
a2 -C 3mv 2+C 2/2(C I+C 2)]/(Jmv
2),
a3=[(C I +R )(C 3-C 2/)-C 3(C I+C 2)]/(Jmv).

The necessary condition of stability of the unperturbed motion is aj > 0, while
the necessary and sufficient condition (Hurwitz criterion) is a l a2 - a3 > O.
250 The differential equations of motion of the flywheels have the form
(PI +allqJI -a12 qJ2 = PIJI ,

(P2 -a2l qJI +~2qJ2 =-P2J2
The characteristic equation for this system is
13+(P2 - PI)12+( all +a22 - PIP2)1+( all P2 -~2Pl) =0 ,

or
13 +(10- PI)12+(21420-lOPI)1+(51000-16320PI)= 0 .
For the motion to be stable, the coefficients of the characteristic equation must
be positive, i.e., A < 10, PI < 2142, and PI < 3.1. Therefore, PI < 3.l.
The Hurwitz criterion is the sufficient condition of the stability of a motion. For
the cubic equation, Lt2 > 0, i.e., (10 - A)(21420 - lOPI) - (51000 - 16320Lt) > 0;
therefore, - 00 < PI < 34 and 480 < PI < 00. Comparing these inequalities to the
necessary condition, we find the interval of allowed values of PI: - 00 < PI < 3.1.
251 When the flywheel rotates, it slips relative to the slip-ring of the coupling.
Denoting the rotation angles of the flywheel and slip-ring by rpl nd rp2' respectively, we write out the differential equation of motion of the flywheel:
J(PI +a l(JI-J2)=aJI '

where
a I ( J I - J2 ) is the frictional torque.
The differential equation of motion of the slip-ring is
a l(J2 -JI)+C lqJ2 = 0 .
278
Taking 'PI
=A exp(AJ) and 'P2 =B exp(AJ), we arrive at the equation
A+A2(Jcl-aal)/(Jal)+ACI(al-a)/(Jal)=O ,
3
(1)
which have the three roots
The motion of the flywheel is stable if

(a) A,2 and ~ are negative real numbers, or
(b) ~ and A,3 are complex conjugate numbers with negative real parts.
In these cases, the perturbed motion ('PI and 'Pz) is either aperiodic or damped vi-
bration, respectively.
z'; z
mg
/,
x'
Fig. 296.
The positiveness condition for the coefficients of Eq. (1) is the necessary and
sufficient condition for the roots to be negative: Je l - aal > 0 and a l - a > O. Substituting the second condition into the first one, we obtain Je l > aal > a2, i.e.,
a < (C/)Ifl = 10-2 N m s. Because the condition a < a =0.005 N m s should also be
met, the motion is stable if a < 0.005 N m s.
279
252 The differential equation of rotation about a fixed point has the form
dKldt =M, where K is the principal angular momentum of the top about the point
(Fig. 296). In general, K 1m, where 1 is the matrix of the moments of inertia
with respect to the body coordinate axes and m is the angular velocity of the top.
The matrix J is of the form
Jx
J= -Jyx
-Jzx
-Jxy
-Jxz
Jy
-Jzy
-JyZ
Jz
It is known that the total derivative of a vector K is related to the local derivative taken in a moving coordinate system by the equation
dK/dt=dK'/dt+[{l}'xK] ,
(1)
where the angular velocity m' of the coordinate system differs, in general, from
m* m'.
OJ:
If the local derivative is taken in the body coordinate system, then m =m', and
we arrive at the Euler equation d'K/dt+ [()}Xl(] =M. The components of this
equation relative to the moving coordinate system (x', y', z'), which differs from
the body coordinate system, are (the prime in the local derivative is omitted, see
Fig. 296)
dKx,jdt +Kz,{l}y' -K y ,{l}z' = M x"
(2)
dK y' jdt +Kx,{l}z' -K z ,{l}x' =M y"
dKz.fdt +K y ,{l}x' -Kx,{l}y' =Mz"

The coordinate system (x', y', z') moves in conjunction with small vibrations of
the top but does not rotate with it. The Oz' axis always coincides with the Oz axis
of symmetry. Because of this, the angular velocities OJx " OJy " and OJ,. can be assumed as small.
If the angular displacements of the symmetry axis of the gyroscope are small,
the total angular velocity of the top takes the form m = ~ + m', with (in the smalldeviation approximation)
,,,' - r' ,LU

,,,' X''-- f)' ,LUY'-""
,,,'
- in
LU Z' -
The angular-moment components are
K x' =Jx{l}x' K y' =Jy{l}y, K z =Jz{l}z,

where
{l}x :::!O, {l}y :::!ip, {l}z :::!.Qo+y,
principal axes of inertia.

For small angles, when x'
components
R:
x and y'
M z' :::! 0, My'
:::!
R:
and the Ox', Oy', and Oz' axes are

y, the moment of gravity force has the
mgx , , M x'
:::!
mgy , ,
280
where x' =lrp and y' =lB. Because of the axial symmetry, Jx =Jy , and Eqs. (2) are
reduced to the linear differential equations
J x B+Jziloip- mglB= 0,
(3)
J x ip-Jz iliJ- mglrp = 0,
mz =0.
As follows from the third equation,
two equations yields
OJ,
=const =,q. The superposition of the first
y-i rJzilo/Jx -ymgl /J x =0 ,
where
tion
r= ()+ irp. Substituting y = C exp(At), we arrive at the characteristic equa-
which has the roots

A12
=+,.ao/(2JJ~[J,.ao/(2J,)]' -mgl /J, ] .
A perturbed motion of the top is stable if (J,Qj2J/ > mgl/Jx ' Therefore, the
Fig. 297.
critical angular velocity is ,q. = (2/J,)(mgUyn.

253 In the case of small deflections of the gyroscope axis from its vertical position, the differential equations of motion have the form (see Problem 252)
281
B+Jzilip/Jx =Mx/Jx ,
iP-Jzil/}/Jx =My/Jx .
In the case under consideration, there are elastic forces acting on the gyroscope
together with the gravity force. A position of a point 0 1 of the gyroscope axis is
shown in Fig. 297. Substituting the expressions for the moment components
Mx' ={mg /2-2cl)IB,

My. ={mg /2-2cl)lrp,
into these equations, we obtain
B+ Jzilip (mg -4cl)IB 0

2Jx
'
Jx
.. Jzil/J (mg - 4cl )lrp
rpO.
2Jx
Jx
The roots of the corresponding characteristic equation (see Problem 252) are
-<1,2
=i
[J,ilo/(2J, )~[JA/(2J,)]' -I (mg -4cI)/(2J,)] ,
Therefore, the motion of the gyroscope is stable if
Jzilo>~2J){mg -4cl) .
254 The equations of motion of the gyroscope have the form (see Problem 253)
.. J ilo;/) (mg -4c 2 1)W

B+ z 'f'
=0,
Jx
2Jx
(mg -4c 2 1)lrp =0.
2Jx
Taking B= Al exp(At) and tp = A2 exp(At), we arrive at the characteristic equation
+~( mg -4c l)( mg -4c 1) =..1,4 +a

4Jx
2 ..1,2
+a4 = O.
The roots of this equation are
..1,1,2 = ~'-Clz-/2--~-;:~=i=:=/4=-=a=4
If a2 > 0, a4 > 0, and a/ - a4 > 0, these roots can be written as
282
..1. 1,2 = i
~a2/2+~a; /4-a
'
i,e., in this case, the motion of the gyroscope axis is periodic.

The critical velocity is found from the condition a22 - a4 > 0:
da.= J x ; [~(mg -4cJ)(mg -4c 1)+(mg -2c l- 2c i)] .

2
Jz
255 To derive the differential equations of small vibrations we use the Langrange
equations of the second kind.
The position of the system at an instant is shown in Fig. 298. The Ox, Oy, and
Oz axes are the body axes for internal ring 1. The straight line 00' is always in
the yz-plane.
The kinetic and potential energies of the rotor, internal ring, and countertweight
are given by the expressions, respectively,
m I (.]:2 + /2
.) +-2Loi
J
J
T =_
+---.l::.L{02
I
2 <;'1 <;, I
2 Xl
2 Yl
III =mlgl(l-cosr).
z
Fig. 298.
J
2
+~(O2
Zl'
m (.;:2 +/,2
.) +~W2
J
J W2
T =_2
+-21....
2 2 '='2 '='2
2 X2
2 Y2
283
+~W2
Z2 '
ll2 = m2gi (I-cosr) ,

T3 = ~3 (~;
+17; +?;),
ll3=m3g[(i +a)-(i +acosB)cosr].
Assuming the angles () and as small, we find the angular velocity components
of the rotor and the internal ring:
wx1=B, wy1=y, WZl=Qo+yB,

WX2 =B, wY2 =y, WZ2 =YBr::!O.
The corresponding coordinates of the centers of mass are
;1 =ir , ;2 =ir, ;3 =(i +a)r,
SI=i, s2=i, s3=i+a, rh=aB.

Substituting these expressions into the Lagrange equations
d or
dt IJB -
ff..r -ll)
IJB
~ or _~T -ll)
, or
dt
Or
0,
we arrive at the equations of motion
J/}-JZ1QoY + m3gaB= 0,
(1)
J/j+Jz1QoB+Ar=0,
where
JJ =JX1 +JX2 +m3a2 ,

J 2=JY1 +JY2 +(mJ +m 2)i 2+m 3(i +ay ,
A =[(mJ +m 2)1 +(1 +a)m3]g .
Taking ()= C1 cos(pt) and
r= C
sin(pt), we obtain the characteristic equation
p4 _ p2(J2m3ga+J 1A +Jz2/io)/(J/2)+A m3ga/(JJJ2) =

The eigenfrequencies PI and P2 are easily found from this equation.
256 The kinetic and potential energies of the gyro rotor and the monorail car are
given by the expressions, respectively,
T = Q (j;2 +;2 + i 2)+ J x W2 + J y W2 + Jz W2

2g \'='
'='
J
2 x
2 Y
2 Z,
284
n = Qat(l-cosB)-Q(at +a2Xl-coscp1
J
T.=~
o
2'
n = - Ql(l
0
0 0
cos cp )
Here, the coordinates of the rotor center of gravity are
~=(~ +a2)coscp+at cosB, t; =(a\ +a2)sincp,x t =at sinB .

The rotor acquires additional angular velocities
and
ip
related to angular
ip is directed along the XI

OJ z =no+ipsinB.
displacements of both the rotor and the car. The vector

axis. The components of mare OJ x
=ipcosB
and
The angular displacements () result in the angular velocity OJ y
directed
along the y axis.

The differential equations of motion follow from the Lagrange equations of the
second kind:
(Jy +manB-Jznoip-Q~B=O,
[J x
+m(~ +~t]tP+Jznoe-[Q(at +~)+Qolo]cp=O.
Taking the solution to these equation as () =Alcos(pt) and IP =A 2sin(pt), we arrive

at the characteristic equation
4
p -
Jzn~-(mat2+Jy )[Q(a\+a2)+Qolo]- m(at +a2)2 +Jx

{Jy +man[Jx +m(a\ +~Y]
Qat[Q(at +a2)+Qolo]
_ 4
2
_
[
]-P -a 2 P +a 4 -O.
(J y + man J x +m(a\ +~)2
The motion of the gyroscope rotor is stable if the roots of this equation are realvalued, i.e., the necessary condition of stability is CXz2 - 4a4 > O. Therefore, the
critical angular velocity of the rotor is determined by the condition CXz2 =4a4
257 To derive the differential equations of motion, we use the Lagrange equation
of the second kind.
The kinetic energy of the system is
T =Jx OJ~ /2+J y OJ~ j2+JoOJ; /2.

The position of the gyroscope at a moment of time is shown in Fig. 298. The
quantities {i}x' my, and {i}, are the angular-velocity components. The axes Ox, Oy,
and Oz move in conjunction with the ring but do not rotate with the rotor. Therefore,
285
Fig. 299.
OJ=Qo+Q+8,
OJ x
=8,
OJ y
=Qcos8,
OJ z
=Qo -Qsin8.
For small 0, the kinetic and potential energies and the Rayleigh function of the
system are given by the equations
T =J>S2 /2+J y d /2+J o(Q o_Q8)2

II =cl 282
/2,
R = a5 2
/2 .
/2,
Substituting these expressions into the Lagrange equation
d or
dt 05 -
o(T -II) OR
08
+ 05=0,
we arrive at the differential equation of motion of the gyroscope:
J+2n8+ p~5=-JoQQo/Jx '

where 2n = allx and Po' =cl'/lx
If the eigenfrequency Po is large, the vibrations under nonzero initial conditions
are overdamped. In this case, the angle J is determined only by the right hand side
of this equation, i.e.,
Hence, the angular velocity is
Q=-&:12/(JoQo) .
258 We consider the fixed coordinate system Oxyz with its origin at the point of
contact of the disk to the plane (Fig. 299).
286
At a moment of time, the disk's plane makes a small angle B with the vertical,
while the tangent to the disk at the point of contact makes an angle f/J with the OIY
axis, i.e., the angles Band f/J between the disk axes and the Ox, Oy, and Oz axes
are small. The angular velocity of the disk is
Q=Qlel +Q2e2+Q3e3'
where e p e2 , and e3 are the unit vectors and
Q I = -(/JcosO, Q 2 = 0, Q 3 ;::::
l.oj
are the angular-velocity components.

The angular moment about the point 0 is
K =Kle l +K 2e 2+K3e3 =-A (/Jcos(:kl +Afk2 +C.!3 '

where A = mi/4 and C = mr212 are the equatorial and axial moments of inertia of
the disk, respectively.
Using the equation for angular moment, we arrive at the differential equations
(-cPcosO)+A OcPsinO+CQO=O,
AB+CQcPcosO+A cP2cosOsinO=N zr,

CQ=-Nyr,
where Ny and N, are the reaction force components. In the case of small vibrations,
with .Q = const, we have
...
...
A O+CQ(/J=N zr, A (/J-CQO=O .
(1)
We now consider the motion of the disk center of mass. The velocity of the
point 0 is
The components of the angular acceleration can be expressed in terms of the

linear and angular velocities:
2Q3+v 3Q 2'
W 3 =V 3-v IQ 2+V 2Q 2.
WI =v I -v
W 2 =V 2-v
3Q I +V IQ 3'
Finally, the differential equation of motion of the center of mass takes the form
mw I =m(v I -v 2Q3+V 3Q 2)=N x -mg cosO,

mw 2 =m(v 2-V 3Q I +V IQ 3)=N y ,
mw 3 = m(v 3-V IQ2+V 2Q I)=N z -mg sinO.
Omitting the terms nonlinear in B, we rewrite the third equation in the form
-mr(B+QcP)=N z -mgO .
After the elimination of N, and d(['dt from Eqs. (1) and (2), we have
(2)
2.4 Approximate Methods of Evaluating the Lowest Eigenfrequency
. (C +mr 2)Cd/A -mgr
0+
A +mr
287
O-C 1
'
where C1 is an arbitrary constant detennined from the initial conditions.

The eigenfrequency of small vibrations of the disk is
P=
(e + mr led /A - mgr =
2
A +mr2
(3d _
g) .
r
The small vibrations are stable if Q> (g/3r)ll2.
2.4 Approximate Methods of Evaluating the Lowest

Eigenfrequency
259 Let a static load be applied to the beam. We take the corresponding deflection
curve as its normal mode (Fig. 3(0). In this case, the maximal strain energy is
equal to the work of the applied forces, i.e.,
llmax
=(1/2)I p iY i
'
where Yi are the deflections. The maximal kinetic energy is
Tmax=(1/2)Ip2Yi2mi.
Equating II,.ax to Tmax' we obtain the formula for the lowest frequency:
p2=I PiYi/Im i Yi2 .

It is convenient to take the weights as static loads, i.e., Pi =mig. In this case,
p2=g'L m iYi/'L m iYi2 .
(1)
To find the vertical deflections, we plot the bending moment diagrams corresponding to the applied loads and to unit forces (curves 1 and 2 in Fig. 300). Multiplying these diagrams according to the Vereshchagin's rule, we obtain
Y I = llP/ 3/(9EJ x), Y 2 = 23P1l 3/( 18EJx)
Substituting these expressions into Eq. (2), we find p
=0.891(EJjmtyl2.
260 p = 0.71 (EJjmt) 112.
261 In the case under consideration, the deflection profile can be taken approximately as Y =Yosin(nz/3l). The maximal strain energy of the beam and the maximal kinetic energy of the point masses are, respectively,
288
2P'
1
Fig. 300.
Tmax
In the case of m, = m2 = m, the lowest eigenfrequency is p = 1.1(EJjmp)'I2.
262 The displacements of the masses are equal to y, =Y3 =81mgtl(3888EJ) and
Y2 = 159mgtl(3888EJ), The lowest eigenfrequency is = 5.71(EJjmn'l2.
263 The maximal kinetic energy of the system with allowance for the distributed
mass and the maximal strain energy are, respectively (see Problem 261),
T_
~ p2my;[(3/4) + (l/2}')Sin
TImax
(1IZ/3/}1z ],
= (31EJx Y; /4 X,,/31t,
2.4 Approximate Methods of Evaluating the Lowest Eigenfrequency
289
The lowest eigenfrequency is
=~7rEJx j[324(m +mol)13] =O.91~EJx j(me)
264 The maximal strain and kinetic energies and the lowest eigenfrequency are,
respectively,
II
max
3t
. 2 -21C)
. 2 11Z dz cy ; ( . 2 1C
= EJx Y ; ( -1C) 4 sm
+-- sm -+sm
31
31
3'
T max =3p 2my ;/4, p = 1.35~EJx j{mI3) .

265 To find the lowest eigenfrequency by the Rayleigh method, we use the formula written out in the solution to Problem 259:
3
p2=gt;miYi
t;m i y i2
(1)
The profiles of axial loads 1,2, and 3 are shown in Fig. 301. Calculating the deflections Yi,
Y 1 =3lmg / (EF ), Y 2 =5lmg / (EF ), Y 3 =6lmg / (EF) ,
and substituting these expressions into Eq. (1), we find p
266 p =0.775(EFlml)ll2.
267 p = 0.65(EFlml)ll2.
N
Fig. 301.
=0.45(EFlml)ll2.
290
I I I I I I I I I I I I I I I r1
Fig. 302.
268 The lowest eigenfrequency of torsional vibrations can be presented in the

form
(1)
where Mi are static torques applied to the system and rpi are the angles of torsion of
the flywheels. The torques Mi can be taken as proportional to the moments of inertia: Mi = ali'
The moment diagrams corresponding to M, and M2 and to the unit moments are
shown in Fig. 302. The angular twists are
rpl =(MI + Mz)/c)
Taking into account that M,

eigenfrequency squared
2 _
P -
rpz = Mz/c z+(MI + Mz)/c)
=all and M2 =al2, we find from Eq. (1) the lowest
J1(J, +J )jc, +J [J /C +(J, +Jz)/C,]

J1(JI +Jzt jc z+Jz[Jz/c z+(JI +J )/C 1
2
269 P =0.35(c/J)'n..
270 According to the Dunkerley method, the lowest eigenfrequency is determined
by the formula lIp2 = IIp/ + lIP22... + lIPn2, where Pi is the partial eigenfrequency
of the mass mi' For the system considered in Problem 259, p,2 = lI(m,~) and
P22= 1I(mA2)' where ~, =~2 = 12tl(27EJJ Hence, in the case of m, =m 2=m,
P =0.865(EJjmt)'n.. If m 2 =2m, =m (see Problem 261), P = 1.06(EJjmt)'n..
291
271 The lowest eigenfrequency is found from 1// = 1/P 12+ 1/P22+ 1/P32, where
p/ = 1/(m~I)' P22= 1/(m~2)' and P32= 1/(m~3)' with Oil = 3l/(EF), 022 =211(EF),
and ~3 = l/(EF). Hence, P = 0.41(EFlml)ll2.
272 For the systems considered in Problems 266 and 267, P = 0.7(EFlml)112 and
P =0.58(EFlml)ll2, respectively.

273 The differential equation of small angular vibrations of the trailer was obtained in Problem 75:
lp+a/ 2 ipjJ o+pgrp=(c+a)lhjJo '
(1)
where Po2=d/Jo. As is known, the spectral density Shew) of an input quantity h

is related to the spectral density Slw) of the corresponding output quantity rp by
the equation
S rp ( OJ ) =
fv (iOJt S
h(
OJ) ,
where I W(iw) I is the modulus of the frequency response Wr(w), which is related
to the transfer function W(P): Wr(w) = W(P = iw) (Svetlitsky V., 2002). The transfer function is the ratio of the Laplace transform of the output quantity to that of
the corresponding input quantity: W(P) =Xou,(P)/Xin(P).
The transfer function for Eq. (1) has the form
4
3
2
1
O'---......- .......- .......---L~
5
10 15
V, mls
Fig. 303.
292
Fig. 304.
W{p)=
{c+ap)1
J o(po2+p2)+aI 2p
Hence, the frequency response is
W (im)(c + iam) I
- J o(pg-m 2)+iam/ 2
In the case under consideration, the spectral density Sh( liJ) can be written out as
Sh( liJ) = lOvl[21t(25v 2+ liJ2)]. Then, the variance ofthe angle IP is given by the integral
or
D =
rp
(101 ~ /21Z-)(C 2 +a 2 m2
)dm
vP;(
-"'IJo{im +(im )2 (5J o +aI 2)+ im(Jop; +j,aI 2)+5Jo
This expression coincides with the integral 13 given in Appendix 2. Hence,
D =10; -azbo+aob]-aoa]b2/a3
rp
2aO{aOa3-a]az)
,
293
bo= 0, bl = _a 2[2 , b2= C 2[2 , ao= J 0 ,

a l =5;Jo+at 2 , llz. = p;Jo+ 5; at 2 , a3=5p;Jo .
Finally,
D _
'I' -
The variance
5vJ oP; a 2 + (at 2 + 5vJ 0 ~ 2

arp - ap;Jo(p;Jo+5vat2 +25v 2J o)
2 _
urp is shown in Fig. 303 as a function of the velocity v.
274 The standard deviation of the angle rp is determined by the expression (see
Problem 273)
a 'I' =
5vJop;a 2+( at 2+5vJo~2

ap;Jo(p;Jo+5vat 2+25v 2JO)
The deviation urp is shown in Fig. 304 as a function of the spring rate c. The limiting value of urp as c ~ 00 is
2 0)/( at 4) .
arp. = ~(a[ + 5vJ
275 The spectral density of a function is related to that of its time derivative by the
equation
Hence, the variance of the angular velocity dqtdt is given by the integral
00
Dip = fal S '1'( m)dm .

Since
S 'I' ( m)=~ (im )1 2 S h ( m)
the variance of the angular velocity is
Dip=
00
(1/2Jl)101~ (c 2 +a 2oi)oidm
-00~o(im)3 +(imnSJ<P +al2)+im(Jop~ +5;aI 2)+5J<pp~1
Carrying out the integration (see Appendix 2), we find
a! =5;
[c
+a 2(5;a[2jJ o+ p;)]/ {a[ 5;a[2 +Jo(p; + 25;
2 )]}
The standard deviation of the angular velocity is shown in Fig. 305 as a function
of the velocity v.
276 The differential equation of motion of the mass m has the form
294
4
2
Fig. 305.
ji +aj 1m +pgy
=/Im ,
where P02 =elm, c =6EJjt =Ebh3/12( The spectral density of the acceleration is
Sy-{m)=m 4Sy(m) ,
where the spectral density Sy( OJ) of the displacement y can be presented in the form
Sy
fv (im )1 Sf =
2
PI
2mn 21p; _m 2+ iam/ mIIp2 + iml2

2
Hence, the variance of the acceleration is given by the integral

_
Dy -
{pJ2mn )m dm
00
-oo1-im 3 -(pz +a / m)m2+{p; +apz/m )im+ P2P;1
This integral is calculated in Appendix 2:
=(T~ =PI (aP2 1m +pg)/{2ma(aP2Im +pg+p;)}

For the numerical values given, D y =29 m 2 / c 4
Dy
277 The force acting on the mass m is
=-mji-aj +/ =cy
Because of the symmetry of the problem, the reaction force is R =0.5 F. The
spectral density of the reaction R is related to that of the displacement y by the
equation SiOJ) =0.25 c2 S/OJ). Taking into account the relation (see Problem 276)
Sy(w)=
Sf(W)
2
2m21(iW)2 +p;+iawlml
295
'
where Sjm) is the spectral density of a perturbing forcef, we obtain
_
SR -
(0.25c 2pj4mn 2)
l-iw -(aim +P2)W2+(aP21m + p;)iW+ p;P21
Therefore (see Appendix 2),
a; =P c2(alm +P2)/{Sma(aP2/ m+p;+pn}

1
u/
For the numerical values given,

=3 N2 The maximum stress and its standard
2
deviation are U ma =RlIWx =6RlI(bh ) and Uu = uihl(2J)=1O.2 MPa, respectively.
278 The angular velocity of perturbed rotation is ,Q = .q + Lin. For small perturbations Li,Q, the moment of resistance can be written out as
Mr(n)=Mr(no)+(OMr/ on)oL1n.
The perturbed rotation caused by a random moment of resistance LiM is described by the equation
J dL1n/dt =Me -M r(no)-(OMr/on)oL1n+L1M
Since Me
=Mr(.q), then
J dL1njdt+(OMr/on)oL1n=L1M
As is known the spectral density is related to the correlation function by the

equation
00
S,w(w)=- JKLlM(T)exp{iwT)dT.
27r
-00
SLlM(w)=Da/[;r(a 2+w 2)] .
The spectral density and the variance of random angular velocity L1.Q are given
by the equations
SL1f}=fv(iwtSLIM =SLIM/[J 2w2+{OM r/on)o2] ,
D -~
Dadw
LlQ- 7r-oo[J2w2+(OMr/on)o2](m2+a2) .
Hence,
296
279 The differential equation of forced vibrations of the mirror considered in

Problem 69 has the form
(p+2nip+p;rp=iA ,
where n =aii and A = lOaBl/gJ. The rotation angle of the mirror can be presented
in the form cP = CPo + Acp, where CPo and Acp are the angles corresponding to the
mean io and random Ai currents, respectively. The random angle Acp obeys the
equation
The spectral density and the variance of Acp are given by equations
S LlQJ =A 2 S
NA 2dm
JrNA 2
=f _m 2+2inw+ p;1'=2npo
00
LI/I-ai +2inw+ p;12 ,
-00
The standard deviation of Acp is
(jLlQJ=(A/2Po)~2JrN In
280 The differential equation of motion of the mass subjected to the kinematic
perturbation has the form
ji +2nY + p;y
= p;y 0
'
where 2n = aim and P02 =6EJj(ml\ The maximal bending moment, arising at the
restraint, and its spectral density are given by the equations
M=(-rnY--aJi)l,
SM =12Irnm2-iwaI 2S y (m) ,
where S/ OJ) is the spectral density of random vertical displacement y:
)/I-m +2i nw+ p;12
S y(m) = p;S yJ m
Hence,
_
SM -
20p~12(rnw4+a2m2)
2
2JrI-im3 -(2n + 1O)w +(20n + pniW+ lOp; I

2
The standard deviation of bending moment M is found from the expression
297
5p:12[a 2+m2(2n+1O)]
a M = f8 M (m)dm=
(
)
n 20n+pg+l00
2
00
-00
For the numerical values given, CTM = 2.32 kN m. The normal stress at the restraint
is CT =MIWx; hence, its standard deviation is equal to 0"0-= CTjWx =29.3 MPa.
IDaX
281 The motion of the mass m is described by the following equation derived by
the force method:
(1)
The spectral density and the variance of random displacement y, are given by
the equations
8 y, (m)=5~28 p(m)/I-m511 m2+ima511 +112
=}
D
y,
-00
a5~2dm
21l"I-im 3m5" _m 2(a+bm )5" + im(l+ba5,,)+bI 2
This integration is performed in Appendix 2:
D y , =~, =a5~2(a+bm )/[2ab(l+ba5,,+b 2m5,,)] .

The bending moment at the restraint is
M =PI +2/(-mY"l-aYI).
(2)
Eliminating the force P from Eqs. (1) and (2), we find
=(5,,/512 -2)(mWI +abi I)+~ 1/512
The spectral density of bending moment M is
8M
(m) =~I(im)12 8 y, (m) ,
where
W1(im) =(5,,/512 -2)( -mlm 2+alim )+1/512 '

is the frequency response. Finally,
8M
a5~2 (b om4 -b1m2+b2)

21l"I-m5"im 3 -(a+bm )5"m2 +(1+ 5"ba)im+b 21
2 '
where
b =m2/2;: b =2m12q a 2b 2;:2 b =(_1J2
'I
5u
'2
The variance of moment M is (see Appendix 2)
5u
;:=(~-2J.
5
,~
298
282 The differential equation of random vibrations of the mass m was considered
in Problem 280:
(I)
In order to evaluate the standard deviation of the difference Ay - Ay, = Ii, it is

necessary to determine its spectral density. To do this, we first find the transfer
function for Eq. (I) under zero initial conditions:
W (p )=L1Y (p)/ L1Y I(p)= p;/(p2 +2np + pn
'
where AY(p) and AY,(P) are the Laplace transforms of Ay and Ay" respectively. In
the case under consideration, the difference Ii serves as an output quantity; therefore, the corresponding transfer function and the spectral density are
(p)=[L1y(p)-L1YI(p)]= -p(p+2n)
c
L1Y I(p)
(p2+2np+pn
S c(W)=fvc(iw)12 S I(W)=
=(a/21Z")( w4 +4n 2W 2)/I-IW 3 - ( 2n + p)w 2+(p; + 2np)iw + pp;r

The variance of Ii is (see Appendix 2)
_
2 _
Dt,-CF c -
<>OJ
St'
()
-0:;
a(p(; +2np+4n 2)
dw- (
2n pJ+2np+p2 )
_
283 The differential equation of motion of the piston under the random pressure
has the form
&'1
+2nL1z' + p;L1 = FL1PI/(m l+mJ '

1
where m,and m2 are masses of the piston and the rod, respectively.
The spectral density and variance of displacement LIz I are, respectively,
S ,1z
aF
I (
W) =fv (iw )1 2 S I ( W)=
2/[21Z"(ml +m 2r!-iw -(2n + p)w2+(2np+ pniW+pp(;j2],

3
284 The differential equation of motion of the piston has the form
LiZ, +2nL1i, + p;Liz, = LIp,F j(m, +m 2)+ p;Liz 0
The variance of the output quantity LIz, can be presented in the form:
DAz , =DAz,(LIp,)+DAz,(LizO) '
00
DAz,(Lizo)=p~ ffv(im)12SAzodm,
-00
285 The differential equation of motion of the piston has the form
LiZ, +2nL1i, + p;Liz, = LIp,F j(m, +m 2)+ p;Liz 0
'
where P02 = c/(m, + m2 ). The variance of displacement LIz, is
DAz , =DAz,(LIp,)+DAz,(LizO) '
where
NF 2
00
DAz,(LIp,)= f~(im)1 S,1pdm=

-00
2'
(m, +m 2) 4npo
p;a2(2n + P2)
DAz ,(Liz 0 )=4nP2 (2nP2 + p; +P; ).
The optimum value of the spring stiffness is found from the condition
dDAzjdp;.=O,
which is reduced to the equation
299
300
4 2AKp~.
PO- BK -A
AK2
BK-A
0,
where
A=
B=a2(2n+ P2)
2
NF2
2
'
, K =2nP2+P2 .
(m, +m 2) 4n
4nP2
An optimum value c. of the spring stiffness exists if BK - A > O. In this case,

2
c.= ( m,+m2) PO =
(m, +m2)AK ( f?jK

(BK-A ) 1+ -A- .
286 The differential equation of small vertical vibrations of the mass m has the
form
j/ +2roi + p~y
=p~y 0
In order to find the variance of acceleration d2y/dt\ we first determine the spectral density of displacement Yo, which is related to the correlation function:
1 <XlI
()
(.)
S Y 0 (OJ) = 1r K y T exp -IOJT d T =

-00
a
n{2D
a2 + OJ2)
y
The spectral densities of y and d2y/dl are, respectively,
S y (OJ) =
fv (iOJt S
4
()
Sy- (OJ) =OJS y OJ
Yo
(OJ),
fv (iOJ)1 = p~ II-OJ 2+2niOJ+ p~l

2DyaOJ4p~
21rI-OJ 2 +2niOJ+ p~lla+iOJI
The variance of d2y/dl is given by the integral
D.
=_1_}
2D y aOJ4p~dOJ
21r -<XlI- iOJ3 -(2n +a)OJ 2+(2na+ pniOJ+cp~12
Carrying out the integration (see Appendix 2), we find

(Yy-
= ~D y cp~(2na+ pn/[2n(2na+ p~ +a2)]
287 The differential equation of motion of the mass m subjected to an arbitrary

force P(t) has the form
mi' +cx =P(t) .

The solution to this equation under zero initial conditions is given by the integral
1
X
=-
mpo
301
11
fSin[po(/1-r)r( r)dr ,
(1)
where P02 = elm. The function sinfpitl -1')] is shown in Fig. 306a for Po = 2 1/s and
tl =2 s.
For the displacement to be as great as possible at tl =2 s, the integrand should
be of fixed sign, i.e., the function P(t) should be negative for 0::; 1'::; 0.43 and
positive for 0.43 ::; 1'::; 2. Therefore, the largest xmax corresponds to the following
dependence: P( 1') =- 1 for 0::; 1'::; 0.43 and P( 1') = 1 for 0.43::; 1'::; 2 (see
Fig. 306b). In this case, the evaluation of integral (1) yields xmax =58.6 mm. In the
case of the unit step force F ( l' ~ 0) = 1, the displacement at tl =2 s is equal to
37mm.
288 The velocity can be found by differentiating Eq. (1) of Problem 287 with respect to the time tl' In general, the derivative of an integral with respect to a parameter can be presented as
d b(a)
b(a) of
db()
d ( )
- ff(x ,a)dx = f -dx + a f[b(a),a]-~f[a(a),a].
da ala)
a(a)oa
da
da
1 II
i = - fCOS[po(/l-r)r( r)dr
m 0
With regard to the dependence P( 1') found in Problem 282,
i (11) =
_OJ COs[2(2- r) ]d r+ Jcos[2(2- r)]d r= 38 mm/ s .

m
0.43
289 The equation of motion
mi" +ai +CX =p(t)
has the solution
II
X=-fexp[-n(t1-r)]sin[p(t1-r)]P( r)dr ,
mp
(1)
where n =a/(2m), l =Po2 - n\ and P02 =elm. Since the viscous friction influences
the vibration frequency very weakly, we can take that P ~Po ~ 2 1/s. The integrand
in (1) changes its sign at 1'1 =0.43 s (see Problem 287). Therefore, the dependence
P( 1') desired is the same as that found in Problem 287.
290 The differential equation of small vibrations of the system with respect to its
equilibrium position corresponding to the nominal thrust Ro has the form
302
sin2(2-'lj
o.
T
T
o.
LJR
LJR
0
Fig. 306.
Fig. 307.
mi" +ai +cx = L1R .

Hence,
11
X=-f{exp[-n(t -T)][sinp(t
mp
-r)]}L1R(r)dr,
(1)
where n = aJ(2m), l = P02 - nZ, and P02 = elm.

The expression in curly brackets in integral (1) (shown in Fig.307a for
P ~ 30 lis and n = 2 lis) passes through zero at T= 0.08,0.185,0.29, and 0.395 s.
Therefore, the time dependence R(T) desired has the form (see Fig.307b):
LlR(T) = 0.05 Ro for 0 ~ T~ 0.08, 0.185 ~ T~ 0.29, and 0.395 ~ T~ 0.5, and
LlR( T) = - 0.05 Ro for 0.08 ~ T~ 0.185 and 0.29 ~ T~ 0.395.
Integrating (1), we find Xm.. =7.5 10-3 Rr/(mp) ~ 5 cm. The corresponding force
is P =cxm.. =45 kN. Therefore, a trust spread of 5% can introduce the measurement error L1 =(PIRo)100 =22.5 %.
291 The forced vibrations of the system under zero initial conditions are described
by the following equations (see Problem 287):
303
1 II
X =-fsin[po(t\-r)]p(r)dr,
mpo 0
i
Denoting a l
form
(1)
1 II
=-
fcos[po(t\-r)]p( r)dr.
=A cosa and a z =(A/po) cos a, we present the instrumental error in the

,1 =X
A cosa+(i / Po)A
sina
(2)
and substitute integrals (1) into Eq. (2). As a result,

A II
,1=- J{sin[Po(t\ -r)]cosa+cos[po(t\ -r)]sina}P( r)dr

mpo 0
(3)
or
II
(3)
,1=-fsin[po(t\-r)+a)p( r)dr.
mpo 0
Since A ~ 0.2, Po ~41t, and a ~ 1t/6, the integrand in (3) passes through zero
when 41t(0.5 - .) + 1t/6 ~ n1t (n = 1,2, ... ); hence, 'lj ~ 1124 and ~ 7/24. Therefore, the time dependence P(.) desired has the form: P(.) =0.1 for 0 ~ ~ 1124
and 7/24 ~ .~ 112 and P(.) =- 0.1 for 1124 ~ .~ 7/24. Evaluating integral (3)
with this function P( .), we find Amax ~ 5 mm.
.1
292 An arbitrary solution to the differential equation of small angular vibrations at

t = tl can be presented as a vector 'PIon the phase plane (rpI' drp/dt). In the case
under consideration, the vector 'PI corresponds to a certain realization of the random perturbing torque M, (Fig. 308a). For every angle e between 'PI and the rpaxis, there exists a realization M,(t) such that the vector 'PI(e) be as large in magnitude as possible. The resultant closed curve 'Pm..(e) on the phase plane determines the greatest possible values of rpl and drp/dt (Fig. 308a).
To find this curve, we evaluate the maximum value of the scalar product
qJe
=(qJ\.e ) = qJ\ cosa+(J\/ po)sina ,
i.e., the projection of 'PIon the unit vector e. On finding the time dependence M,(t)
corresponding to 'Pmax ' we evaluate the vector components rpmax and drpm./dt. Using
the solution of Problem 291, we have
1 II
1 poll
qJe = -
JoPo
fSin[po(t\-r)+a]M r dr=-2
JoPo
fSin(;+a)Mrd;,
where ~ =PoCtl - .). This integral takes the greatest possible value if the integrand
is positive in the integration domain 0 ~~ ~ Pot, ~ 21t.
304
-0.05
Fig. 308.
For 0 < a < 1t, this condition is met if M, = -b in the interval 1t ~ .; + a ~ 21t
(where the sine function is negative) and M, = b in the intervals'; + a < 1t and
21t < .; + a ~ Potl + a. Similarly, for 1t < a < 21t, M, = -b in the intervals
o ~ .; < 21t - a and 31t - a ~ .; ~ Potl "'" 21t. In this case, the maximum value of rpl is
f/Jmax ~j2
oPo
b
f -2271:-aJ
f sinqdq=j24cosa.
oPo
(271:
0
71:-a
Similarly,
f/Jmax ~--2
Po JoPo
b
f -2271:-aJ
f cosqdq=--2
4sina.
JoPo
(271:
0
71:-a
Therefore, since Potl "'" 21t, the range of rpk and drp.j(dtpo) is close to a circle (see
Fig.308b).
293 The differential equation of perturbed motion of the mirror, (see Problem 279)
L1t/J+2nL1<iJ+p;L1f/J=AL1i(t) ,
(1)
has the solution
L1f/J=~ Jexp[-n(t -r)]sin[pI(t - r)]L1i dr ,

PIO
which satisfies zero initial conditions. Here,p/ = Po2 - n2

To find the maximal value of this integral, we take the upper limit of integration at infinity and substitute Ai(r) =a sign{sinfpl(t- r)]}, where sign(x)= 1 for
x > 0 and sign(x) = - 1 for x < O. In this case,
aA
OO
PI
305
Llrpmax =- Jexp( -n&)lsin(p 1&)ld&=
aA ["
JlAl~- 2"JlAl~+ 3"JlAl~- ...] ,
-2
PI
where
"
2"
q= Pl:and ~q) =exp(-n$PI)sin(q). The evaluation of the integrals yields

A(D= =aA(l+q
)~qj /(Pl' +n') ,
where q =exp(-mtlp) < 1. The sum of this infinite geometric sequence is equal to
1/(1 - q). Finally,
Llrpmax =aA [1 +exp(-mr/ PI)]/{P;[ l-exp( -mr/ PI)]} .

For nlPI 1, PI ~ Po and Litpmax ~ 2aAl(rtnpo)
294 The body and the beam at an arbitrary moment is shown in Fig. 309. Using
the d' Alembert principle, we arrive at the differential equations of motion
mjl +N -P =0,
(1)
where y =Ill'. Eliminating the reaction N from Eqs. (1) and (2), we obtain
rp+2nip+ p;rp=PI /J ,
(3)
where J =10 + ml\ 2n = aI}/J, and P02 =cL2/J. Under zero initial conditions, this
equation has the solution
t
rp = (// PIJ) Jexp[ -n(t - Z-)]Sin[PI(t - r)]P

o
(4)
dr ,
where p/ = P02 - n2. Substituting this solution into Eq. (1), we have
N =P(t)-ml d2 rp/dt 2 =P(t)-P(t)mI 2 /J +

t
(m/2 B / PIJ )Jexp[ -n(t - r)]sin[PI(t - r)+ fJ]p( r)dr
o
where B2 =P02 + 4n 2p/ and p= arctan(2np/p02).
(5)
Expression (5) takes the largest value when P( T) =a sign {sin[PI(t - T) + PJ}
(see Problem 290). The discontinuity points of P( T) are lik =t - Tk =(lat -/l)/PI'
Therefore, the greatest value of the dynamic reaction is given by the equation (the
upper limit of the integration is taken at infinity)
306
F(t)
m
y
Fig. 309.
N max =Joa/J -B{exp(-nc)Sin(p,c+p+p,)I:Iexp( -nc)sin(p,C+ P+

where BI
have
=BmtaJ(prP/)
and PI
p,)I:: +...] ,
=arctan(p/n).
After some transformations, we
N _ = (Jo"fJ )+B{Sin(P+Pl)+2Sin(Pl)exp(np/
where q =exp(-mc/PI). Therefore,
Pl)~qJ,
J-q_],
N max = Joa 2 +B,[Sin(P+P,)+2Sin(p,)exp(n p

Jo+ml
p, l-q
sinP=2npJ~p:+4n2p,2, sinP, =P,/Po.

For n Po' when sinpr:::. 2n/po' cospr:::. 1, sinPI r:: . 1, COSPI r:: . n/po' and
q r:: . 1 + mc/po' this expression is reduced to
N max = 2aml 2Po /[ mr(J 0+ ml 2)] .
307
295 Under steady-state vibrations, the solution to Eq. 3 of Problem 294 takes the
form
rp=(al /J)Sin(mt+f3)/ ~({(i-pgr +4n 2{(}2
Sin(; +Pol) fi 21qJ".J) .
where 1 = 10 + mt and p= arctan[2nai(p02 - al)]. For
q> = al
(1)
OJ
= Po,
The dynamic reaction is
=_mlrp+p(t)=am/2pOSin(J( +pot)+a sin(Pot).

2nJ
For nlpo 1, the amplitude of the dynamic reaction is equal to
N max = POaml
2/[ 2n (J0+ml 2)] .
The value of Nmax found in Problem 294 is 1.3 times greater than this value.
296 The differential equation of small forced vibrations of the system has the form
rp+ pgrp= PI/J ,

(1)
=cL /J. Under the initial conditions imposed, the solu-
2
where 1 =10 + mt and P02
tion to Eq. (1) can be written out as
II
qy(tl)= qyocos(Potl)+(I/J) fcos[Po(t l- T)]P( T)dT =

o
II
-qyo +(I/J) fcos(3J(- PoT)P( T)dT

o
qyo > 0, the quantity qyl (t l ) is greatest if P( T) = -a sign[cos(3n - T)], i.e.,

P( T) =- a for 0 5, Po T 5, n/2 and 3nl2 5, Po T 5, 5n12, P( T) =a for nl2 5, Po T 5, 3n/2
and 5n12 5, Po T 5, 3n =POt Evaluating this integral, we find
qymax(tl) = qyo + 6la/(Jp 0) .
For
297 Using the force method we arrive at the following equation of small vibrations of the mass m (see Problem 39):
ji +2n;i + pgy =bM,
2n =ao/m ,pg =1/m811 ,b = 812 /m8 11

The spectral density of the torque M is given by the Viener-Khintchin formula:
S M ( {(})
=_1 oofK AT)exp( itoT)d T= (aD M 2 ) .

2J(
J( {(}2 +a
-00
(1)
308
The Fourier transformation of Eq. (1) yields
.r(im)=W (im)M(im), W(im)=b/(-m 2 +2nim+ pg).
(2)
Since the spectral densities Sy and SM are interrelated by the equation
S y(im) =
fv (im )1 S M(im) ,
2
the variance of vertical displacement of the mass m is given by
Dy = }S y(im)dm= }G (im)dm/IA (im)12

-00
---00
where
G(im)=b 2DMa/tr,
IA (imt =1-im -(2n +a)m +(pg +2na)im+apgI2

3
This integral is given in Appendix 2 (Dy =JJ

Under steady-state vibrations, the displacement y is a Gaussian random variable
with zero mathematical expectation. According to the "three-sigma" rule,
Ymax =3 Dyll2.
The maximum normal stress in the cross section K is
O"max
=R/ /WX '
(3)
where Wx is the section modulus and RI is the reaction force at the left support,
which is given by the equation
RJ=[(M /1 )+mji +a oY]/2

or, with regard to Eq. (1),
RJ=[(8 +18J2 )M -ly ]/218

11
(4)
11
The Fourier transform of this expression is
~(im) =[( 8 11 + 1812 )M( im) - br( im) ]/21811
Therefore, the spectral density and variance of am,x are
Sa(m)=fv(imtSM(im), Da= }Su(m)dm,

-00
~ ()I
im =
281('w
8 11 +1812 x
lh
-m +2nim+p 0
2
According to the "three-sigma" rule, max(amax ) = 3 Dul12
309
In order to evaluate the probability of survival pro;, - lTmax > 0], we should find
the probability density j(z) for the random variable z = lTy - lTmax' where 0;, and lTmax
are independent Gaussian random variables. In this case,
I (z )= exp[-(z -m z )2 /2CY;
1/(fi;cy
z ) ,
where
Therefore,
p[z >0]= Jr(z)dz =0.5+P]exP(-p2/2)dP/& ,

o
where flo = m/o; > O. This is the tabulated error integral. The greater the probability P the more reliable the system.
298 In contrast to Problem 297, this is a statically indeterminate problem: the reactions cannot be determined from the equilibrium equations because the number
of the reactions to be found is greater than the number of the equations. We now
consider one of possible methods of solving such problems.
We substitute a constraint (for example, the right hinge) by an explicit reaction
force R (see Fig. 310). Using the force method, we arrive at the equation of small
vibrations of the mass,
Y = 0 11 (-mi
-aoy )+012R +013 M
(1)
One more equation follows from the condition that vertical displacements of the
point k should be equal to zero:
Yk
=0 21 (-mi -aoy )+022 R +013 M =0.
(2)
Eliminating the reaction R from Eqs. (1) and (2), we arrive at the equation
+2nj + p~y =bM ,
where
2n =ao/m, p~ = 022/ m.t1 , b =.t1j.t1 ,
.t1 = 0 11 0 22 -012 0 21 , .t11 = 0 130 22 -012 0 23 .

This equation is similar to Eq. (1) of Problem 297 so that the subsequent calculations coincide with those made above.
299 The differential equation of small vertical vibrations of the mass m has the
form
310
M
I
Y
Fig. 310.
Fig. 311.
where 2n = ajm and

yields
Po2
=elm.
The Fourier transformation of these equations
Y(im) = (p; +2nim)n(im) .

_m 2 +2nim+ pg
The spectral densities Sy and Sh are interrelated by the equation
S y (im ) =
fv (im )1 S
2
(im) ,
where
~;r/(')I
r'
p;+2nim
1m = _m 2 +2nim+ p;
The variance of vertical displacement y
coincides with the integral 13 given in Appendix 2. The mathematical expectation

my is equal to zero since mh = O.
The probability density of the Gaussian random variable z =..1- y is
f(z) = expl- (z - mzY/2(7; V(.J27r(7z)
311
/& ,
Therefore,
p[z >0]= }r(z)dz =0.5 + P1exp(-p2 /2)dP

where Po =mia,.
300 Using the force method, we arrive at the differential equations for torsional
vibrations of the disks (see Problems 168 and 169)
= -811 J/PI -812 J/P2 +812 M ,

flJ2 = -82I J/PI- 8 22 J /P2 +822 M .
fIJI
The Fourier transform of these equations is
'PI = m2 ( 8 11J I'P1 +812 'P2)+812 M" ,
'P2 =m2(82IJ I'P1 + 8 22 'P2) + 8 22 M" .

Therefore,
(1)
where
WI = 8 12 /.t1, W 2 = [822 +J l m2(8 12 8 21 -811 8 22
)]I.t1,
.t1 = (1-J I8 11 m2)( I-J 28 22 m2)-J/2812821m4 .

The torque Mo at the restraint is
M o=J/PI+ J /P2+ M .
Substituting expressions (1) into the Fourier transform
Mo=-m2JI'PI-m2J2'P2+M,
we find
M"o{im)=W 3(im)M(im), W3 = I-m 2{JWI +J JV2) .

The spectral density and variance of the torque Mo are given by the equations
00
SMo{m)=r3/ 2S M(m), DMo = frvlSM(m)dm.

-00
The greatest possible value of Mo is MOmax =3 DMO I12

The tangential stress in the shaft is independent of the coordinate z within the
range from the restraint to the first disk, with its greatest value at fixed z given by
Tmax =MrlWpo where Wp =1tcf/16. The spectral density and variance of Tmax are
Srm..{m)=fv3/ 2S M(m)jwp2, Drmax =DMjWp2

The normal distribution of z = T, -
Tmax
has the form
312
where
mz =mrs , O'z
=~O'; +0';
s
mu
Therefore, the probability of survival is
p[z >0]= Jr(z)dz =0.5+PJexP(-p2/2)dP/& ,

where Po =mj 0;.
301 The differential equations of small vibrations of the antenna, derived by the
force method, have the form (see Fig. 311)
Y =-Oll(mj" +a.Y )-OI2J ijJ+OllF ,
(1)
tp=-021(mj" +a.Y )-022JijJ+022 Fl I.

At the moment of time !J.t, the velocities dy(!J.t)/dt and dtp(!J.t)/dt are finite,
while y(!J.t):::: 0 and tp(!J.t):::: O. To find dy(!J.t)/dt and dtp(!J.t)/dt, we integrate
Eqs. (1) between 0 and !J.t:
LIt
Jy dt =( -ollmy -Ollay -J012~)I: +OllJF ,
o
LIt
ftpdt = (-02I my -021ay -J022~)I:t +022 J Fi l
o
Taking into account that yeO) = tp(0) = dy(O)/dt = dtp(O)/dt = 0 and omitting the
small terms y(!J.t) and tp(!J.t), we arrive at the system of algebraic equations
0llmy (Lit )+OIJ~( Lit) = OllJF ,

02l my (Llt)+022J~(Llt)=022JFII.
Therefore, dy(!J.t)/dt =a/F and dtp(!J.t)/dt =air
For t ~!J.t, the differential equations of free random vibrations of the antenna
have the form
y =-Oll(mj" +a.Y )-OI2J ijJ,
(2)
tp=-021(mj" +a.Y )-022J ijJ.

If the time is measured relative to !J.t, the initial conditions are yeO)
dy(O)/dt =a/F , and dtp(!J.t)/dt =air
System (2) can be written out as
At +BY +EY
where
=0,
= tp(0) =0,
(3)
313
On introducing new variables z, =dYldt, Z2 =Y, and the four-column Z =(z,; Z2)'
we reduce Eqs. (3) to a system of first-order differential equations
i+DZ=O,D=~-IB
I-E
A-IE
0
Therefore, Z(t) =K(t)Zo' where K(t) =exp(-Dt) and Zo = {dy(O)/dt,dtp(O)/dt,O,Q}.

Then, tp(t) =Zit) =K4,dy(O)/dt + K42dtp(O)/dt =b(t)Jp with b(t) =K4, a, + K42 ar
The mathematical expectation and standard deviation of the deflection angle rp are,
respectively, mf{J = b(t)mJ and af{J = b(t)a,. Therefore, according to the "tbreesigma" rule, rpmn =mf{J + 3af{J =b(t)(mJ + 3a,). The moment of time t' at which the
angle rpmax attains its maximum is found from this equation:
max[ qJmax] =b (t *)( mJ + 30-J )
314
References
Janke E., Emde F., Losch F (1960), Taffeln hoherer funktionen, B.G. Teubner Verlagsgesellshaft, Stutgart.
Svetlitsky V.A. (1994), Problems and Examples in Vibration Theory. Bauman

Moscow State Technological Institute, Moscow.
Svetlitsky V.A. (2002), Statistical Dynamics and Reliability Theory for Mechanical Structures. Springer Verlag, Heidelberg.
Timoshenko S. and Young D.H. (1945), Theory of Structures. McGrow-Hill, New
York, London.
Appendices
Appendix 1. Ince-Strutt Diagram

Vibrations described by the Mathieu's equation d2y/M + (a + 2qcos2T)Y =0 are
stable if the point (a, q) is inside the shaded region of the Ince-Strutt diagram;
otherwise, the vibrations are unstable (Fig. 312).
-2
a~q~a=1+q
__ I
8 9 10 a
JJ
i!=4-q>12
4
Fig. 312
Appendix 2. Some Integrals Determining the Variance

In general, the integrals expressing the variance of a random function in terms of
its spectral density can be presented in the form
I n = JG (im)dm/~ (imt '
316
where
A (iw) =ao(iWr +aj{iWr- +...+an ,

For n = 1,
B{iW)=bo{iW)2n-2 +b j{iW)2n-4+ ...+bn _j .

00
J j = Jbdw/laoiw+al = JdJ/{aOa j) .
Forn
_
=3,
00
[bo{iWr +bj{iwf +b2]dw
J3-1~(ia.>)'
+0,
7r(-a2bo+aObj -a ajb2/ a3)
(i"')' +o,i",+o,l
ao{aOa3-aja2)
Forn =4,
00
bo{iwr +bj{iwr +b2{iwf +b3 dw
J4 ~ l~(i"')' +o,(i",)' +o,(i"')' +o,ia.>+a4
_ bo{-aja4+a2a3)-aOa3bj +aOajb2+aOb3{aOa3-ajaz)/a4
-J[
ao(aoa;-aj2a4-ajaZa3)
.

Series Editors:
Vladimir 1. Babitsky, Loughborough University

Jens Wittenburg, Karlsruhe University
Palmov
Vibrations of Elasto-Plastic Bodies

(1998, ISBN 3-540-63724-9)
Babitsky
Theory ofVibro-Impact Systems and Applications

(1998, ISBN 3-540-63723-0)
Skrzypek!
Ganczarski
Modeling of Material Damage and Failure

of Structures Theory and Applications
(1999, ISBN 3-540-63725-7)
Kovaleva
Optimal Control of Mechanical Oscillations

(1999, ISBN 3-540-65442-9)
Kolovsky
Nonlinear Dynamics of Active and Passive

Systems of Vibration Protection
(1999, ISBN 3-540-65661-8)
Guz
Fundamentals of the Three-Dimensional Theory

of Stability of Deformable Bodies
(1999, ISBN 3-540-63721-4)
AJfutov
Stability of Elastic Structures

(2000, ISBN 3-540-65700-2)
Morozovl
Dynamics of Fracture
(2000, ISBN 3-540-64274-9)
Petrov
Astashevl
Babitskyl
Kolovsky
Dynamics and Control of Machines

(2000, ISBN 3-540-63722-2)
Svetlitsky
Statics of Rods
(2000, ISBN 3-540-67452-7)
Kolovskyl
Advanced Theory of Mechanisms

and Machines
(2000, ISBN 3-540-67168-4)
Evgrafovl
Slouschl
Semenov
Landa
Regular and Chaotic Oscillations

(2001, ISBN 3-540-41001-5)

Series Editors:
Vladimir I. Babitsky, Loughborough University

Muravskii
Mechanics of Non-Homogeneous and

Anisotropic Foundations
(2001, ISBN 3-540-41631-5)
Gorshkovl
Tarlakovsky
Transient Aerohydroelasticity
of Spherical Bodies
(2001, ISBN 3-540-42151-3)
Babitskyl
Krupenin
Vibration of Strongly Nonlinear

Discontinuous Systems
(2001, ISBN 3-540-41447-9
Manevitchl
Andrianovl
Oshmyan
Mechanics of Periodically
Heterogeneous Structures
(2002, ISBN 3-540-41630-7)
Lurie
Analytical Mechanics
(2002, ISBN 3-540-42982-4)
Slepyan
Models and Phenomena in Fracture Mechanics

(2002, ISBN 3-540-43767-3)
Nagaev
Dynamics of Synchronising Systems

(2003, ISBN 3-540-44195-6)
Svetlitsky
Statistical Dynamics and Reliability Theory for

Mechanical Structures
(2003, ISBN 3-540-44297-9)
Neimark
Mathematical Models in Natural Science

and Engineering
(2003, ISBN 3-540-43680-4)
Babitskyl
Shipilov
Resonant Robotic Systems

(2003, ISBN 3-540-00334-7)
LexuanAnh
Dynamics of Mechanical Systems with Coulomb Friction

(2003, ISBN 3-540-00654-0)
Perelmuterl
Slivker
Numerical Structural Analysis

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Series Editors:
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Asymptotical Mechanics of Thin-Walled

Structures
(2004, ISBN 3-540-40876-2)
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Manevitch
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The Wave Finite Element Method

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Acoustic Control of Turbulent Jets
Vlasov I Karavosov (2004, ISBN 3-540-20143-2)
Svetlitsky
Advanced Theory of Vibrations 1

(2004, ISBN 3-540-20658-2)

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Foundations of Engineering Mechanics

With 312 Figures

Springer-Verlag Berlin Heidelberg 2004

Originally published by Springer-Verlag Berlin Heidelberg in 2004

Problems and Examples in Vibration Theory ........................................ 1

Answers and Solutions .................................................................. 101

Problems and Examples in Vibration Theory

1 Vibrations of Systems with a Single Degree of

1.1 Free Vibrations

1 Vibrations of Systems with a Single Degree of Freedom

1.1 Free Vibrations

1 Vibrations of Systems with a Single Degree of Freedom

7 Solve Problem 6 for the case of the horizontal rod.

1.1 Free Vibrations

10 Determine the frequency of natural vibrations of a vertically installed pendulum

I Vibrations of Systems with a Single Degree of Freedom

1.1 Free Vibrations

Determine the beam eigenfrequency and the maximum amplitude CPo

1 Vibrations of Systems with a Single Degree of Freedom

1.1 Free Vibrations

Plot the dimensionless vibration frequency p/Po as a function of the parameter

1 Vibrations of Systems with a Single Degree of Freedom

29 A load of mass m is fixed at the end of an elastic extensible weightless rope

1.1 Free Vibrations

1 Vibrations of Systems with a Single Degree of Freedom

1.2 Free Vibrations of Systems with Allowance for

1.2 Free Vibrations of Systems with Allowance for Resistance Forces

1 Vibrations of Systems with a Single Degree of Freedom

41 A load of mass m is suspended on an absolutely rigid rod of length 21 (Fig. 37).

1.2 Free Vibrations of Systems with Allowance for Resistance Forces

44 A load of mass m is fixed by an absolutely rigid weightless rod of length I.

Determine the eigenfrequency of

1 Vibrations of Systems with a Single Degree of Freedom

1.3 Forced Vibrations

1.3 Forced Vibrations

1 Vibrations of Systems with a Single Degree of Freedom

52 A lever-free sensor intended for testing wobbles of a surface is supplied with

1.3 Forced Vibrations

1 Vibrations of Systems with a Single Degree of Freedom

1.3 Forced Vibrations

59 When operating a single-phase motor, an alternating torque M = Mo + MlsinllJt

61 A load of mass m = 9.1 kg (Fig. 53) is suspended by a spring with stiffness

1 Vibrations of Systems with a Single Degree of Freedom

1.3 Forced Vibrations

1 Vibrations of Systems with a Single Degree of Freedom

69 When recording vibratory processes with various random perturbations

1.3 Forced Vibrations

1 Vibrations of Systems with a Single Degree of Freedom

1.3 Forced Vibrations

1 Vibrations of Systems with a Single Degree of Freedom

74. Corrugated cylinders (bellows) are widely used in contactless measuring

1.3 Forced Vibrations

Plot the amplitude--frequency characteristic of the device under the assumption

1 Vibrations of Systems with a Single Degree of Freedom

1.3 Forced Vibrations

Using instruction to Problem 77, estimate the amplitude of stable vibrations of

for 2Jl'n ~ wt ~ (2n + 1)Jl';

1 Vibrations of Systems with a Single Degree of Freedom

1.4 Critical States and Vibration Stability

1.4 Critical States and Vibration Stability

1 Vibrations of Systems with a Single Degree of Freedom

90 A piece of mass m is fixed to a thin-walled horizontal pivoted massless tube

1.4 Critical States and Vibration Stability