128 3.

Free Vibration of Single Degree of Freedom Systems

3.22. A damped single degree of freedom mass-spring system has m = 4 kg, k =

3000 N/m, and c = 300 N· s/m. Determine the equation of motion of the system.
3.23. A damped single degree of freedom mass-spring system has m = 0.5 kg, k =
1000 N/m, and c = 10 N· s/m. The mass is set in motion with initial conditions
Xo = 0.05 m and Xo = 0.5 m/s. Determine the displacement, velocity, and accel-
eration of the mass after 0.3 s.
3.24. A viscously damped single degree of freedom mass-spring system has a mass m
of 2 kg, a spring coefficient k of 2000 N/m, and a damping constant c of 5 N . s/m.
e,
Determine (a) the damping factor (b) the natural frequency ro, (c) the damped
natural frequency rod, and (d) the spring coefficient needed to obtain critically
damped system.
3.25. An overdamped single degree of freedom mass-spring system has a damping
e
factor = 1.5 and a natural frequency ro = 20 rad/s. Determine the equation of
motion of the displacement and plot the displacement and velocity versus time
for the following initial conditions: (a) Xo = 0, Xo = 1 m/s; (b) Xo = 0.05 m, Xo =
0; and (c) Xo = 0.05 m, Xo = 1 m/s.
3.26. Repeat Problem 25 if the system is critically damped.
3.27. A O.5-kg mass attached to a linear spring elongates it 0.008 m. Determine the
system natural frequency.
3.28. An unknown mass m is attached to the end of a linear spring with unknown
stiffness coefficient k. The system has natural frequency of 30 rad/s. When a
0.5-kg mass is added to the unknown mass m, the natural frequency is lowered
to 20 rad/s. Determine the mass m and the stiffness coefficient k.
3.29. Derive the differential equation of motion of the system shown in Fig. P13.
Determine the natural frquency of the system.

FIG. P3.13
 Problems 129

3.30. In Problem 29, let m = 0.5 kg, kl = k2 = k3 = 1000 N/m, and c = 10 N· s/m.
Determine the displacement and velocity of the mass after 0.2 s if the initial
conditions are Xo = 0.05 m and Xo = 2 m/s.
3.31. Derive the system differential equation of motion of the pendulum shown in Fig.
PI4 for small oscillations. Assume that the rod is massless.
3.32. For the system shown in Fig. P14, let m = 0.5 kg, 1 = 0.5 m, a = 0.2 m, k =
1000 N/m, and c = 10 N· s/m. If the system is given an initial angular displace-
ment 80 = 4° in the clockwise direction, determine the angular displacement and
angular velocity after 0.5 s.
3.33. For the system shown in Fig. P14, let m = 0.5 kg, 1 = 0.5 m, a = 0.2 m, k =
1000 N/m. Determine the damping coefficient c if the system is to be critically
damped. If the system has an initial angular velocity of 5 radls countclockwise,
determine the angular displacement and angular velocity after 0.3 s. Assume
small oscillations.

FIG. P3.I4

3.34. Derive the differential equation of motion of the inverted pendulum shown in
Fig. PIS.
3.35. For the system shown in Fig. PIS, let m = 0.5 kg, 1 = 0.5 m, a = 0.2 m, and
k = 3000 N/m. Determine the damping coefficient c if: (a) the system is under-
damped with ~ = 0.09, (b) the system is critically damped; and (c) the system is
overdamped with ~ = 1.2.
3.36. In Problem 35, determine the angular displacement and velocity after 0.4 s if the
system has zero initial velocity and initial displacement of 4° counterclockwise.
3.37. The system shown in Fig. PI6 consists of a uniform bar of length 1, mass m, and
mass moment of inertia I. The bar is supported by a spring and damper which
have stiffness and damping coefficients k and c, respectively. Derive the differ-
ential equation of motion and determine the system natural frequency and the
critical damping coefficient.
130 3. Free Vibration of Single Degree of Freedom Systems

FIG. P3.l5

FIG. P3.i6

3.3S. Let the beam in Problem 37 be a slender beam with mass 1 kg and length 0.5 m.
Let a = 0.25 m, k = 3000 N/m, and c = 20 N· s/m. Determine the angular dis-
placement and the angular velocity of the beam after 2 s if the initial angular
displacement is zero and the initial angular velocity is 3 rad/s.
3.39. Derive the differential equation of motion of the system shown in Fig. P17.
Determine the natural frequency and the critical damping coefficient.
3.40. A uniform slender rod of mass m and length I is hinged at point O. The rod is
attached to two springs at the top end and to a viscous damper at the other end,
as shown in Fig. PiS. If kl = 1000 N/m, k2 = 3000 N/m, m = 10 kg, I = 5 m,
and c = SO N· slm, find the complete solution provided that (Jo = 0 and 90 =
3 rad/s.
 Problems 131

m,I, I

FIG. P3.17

1/3

m, I, I 21/3

FIG. P3.1S

3.41. A uniform slender rod of mass m and length I is hinged at point 0, as shown in
Fig. P19. The rod is attached to a spring and damper which have, respectively,
a stiffness coefficient k and a damping coefficient c. If m = 3 kg, I = 2 m, k =
4000 N/m, and c = 40 N . s/m, determine the angular displacement and the veloc-
ity of the rod after 0.5 s, provided that the initial angular displacement is SO and
the initial angular velocity is zero.
3.42. A uniform slender rod of mass m and length I is hinged at point 0, as shown in
Fig. P20. The rod is attached to a spring and a damper at one end and to a
damper at the other end, as shown in the figure. IH = 4000 N/m, m = 10 kg,
C 1 = C z = 20 N· s/m and I = 5 m, find the complete solution provided that the
rod has zero initial anglar displacement and an initial angular velocity of 5 rad/s.
132 3. Free Vibration of Single Degree of Freedom Systems

FIG. P3.19

21/3

FIG. P3.20

3.43. For the system shown in Fig. P21, derive the differential equation of motion for
small oscillation. If m1 = m2 = 1 kg, kl = k2 = 1000 N/m, C 1 = C 2 = 10 N . s/m,
a = b = 0.5 m, and I = 1 m, find the solution after 1 s provided that the initial
angular displacement is zero and the initial angular velocity is 5 rad/s. Assume
that the rod is massless.
3.44. In Problem 43, determine the relationship between the damping coefficients C1
and C 2 such that the system is critically damped.
3.45. Determine the equivalent viscous damping coefficient for two viscous dampers
which have damping coefficients C 1 and C2 in the following two cases: (a) parallel
connection; (b) series connection.
3.46. A damped single degree of freedom mass-spring system has a spring constant
k = 2000 N/m. It was observed that the periodic time offree oscillations is 1.95 s
and the ratio between successive amplitudes is 5.1 to 1.5. Determine the mass
and the damping coefficient of the system.