UNIVERSIDAD TECNOLÓGICA DE PANAMÁ

FACULTAD DE INGENIERÍA MECÁNICA

LICENCIATURA EN INGENIERÍA MECÁNICA
DINÁMICA APLICADA
PROFESORA DEYKA GARCÍA
TAREA N°2
BONILLA, OMAR 4 – 860 – 2260 Grupo:
CORTÉS, LUIS 4 – 788 – 1594 1AA – 131
PITA, ELIEZER 9 – 752 – 1433
TOVAR, PABLO 8 – 938 – 187 Fecha de entrega:
30 de septiembre 2019

1. The single degree-of-freedom harmonic oscillator shown below in figure 1 has

a logarithmic decrement and static deflection equal to 1.435 and 0.765 m
respectively. The spring stiffness is 𝑘 = 525 N⁄m.

a. Show the characteristic roots of the system in the complex plane.

g 9.81 m⁄s2
𝜔𝑛 = √ =√ = 3.581 rad⁄s
δstatic 0.765 m

δ 1.435 m
𝜁= = = 0.223
√(2𝜋)2 + δ2 √(2𝜋)2 + (1.435 m)2

s1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 √𝜁 2 − 1 = − 𝟎. 𝟕𝟗𝟗 ± 𝟑. 𝟒𝟗𝟏𝒊

b. Indicate the free response type (i.e., undamped, underdamped, critically damped, or
overdamped).

𝜁 < 1 and 𝜁 > 0 system Undamped

c. If the oscillator is subjected to a (vertical) harmonic force with magnitude 𝑓0 and frequency
0.477 H. determine the range of 𝑓0 such that the steady-state amplitude of vibration is less
than 0.798 cm.

𝑘 𝑘 525 N⁄m
𝜔𝑛 = √ →m= 2= 2 = 40.94 kg
m 𝜔𝑛
(3.581 rad⁄s)

𝑐 kg
= 2𝜁𝜔𝑛 → 𝑐 = 2𝜁𝜔𝑛 m = 2(0.223)(3.581 rad⁄s)(40.94 kg) = 65.386 ⁄s
m

ω = 2π𝑓 = 2𝜋(0.477 Hz) = 2.997 rad⁄s

 F0 1
X= 1 → F0 = X[(𝑘 − mω2 )2 + 𝑐 2 𝜔2 ]2
[(𝑘 − mω2 )2 + 𝑐 2 𝜔 2 ]2
2 2
F0 = (7.98 × 10−3 m) [(525 N⁄m − 40.94 kg × (2.997 rad⁄s) )
1
kg 2 2 2
+ (65.386 ⁄s) (2.997 rad⁄s) ]

F0 = 𝑓0 = 2 𝑁

the range of 𝑓0 is −𝟐 𝑵 < 𝒇𝟎 < 𝟐 𝑵

2. A homogeneous wheel having a radius of R and mass of M rolls without slipping on a horizontal
surface. A massless, inextensible cable is attached to the center of mass G of the wheel and to a
block B (having a mass of m). The cable is pulled over a massless pulley. A spring of stiffness k is
an attached between G and a fixed wall. The coordinate x describes the position of G, with x being
zero when the spring is unstretched.
a. Use Lagrange´s equations to develop the EOM for this single-DOF system using the
generalized coordinate of x. Assume that the cable remains tout for all motion.

Kinetic energy:

1 1
T= M𝑥 2 + I𝜃 2
2 2

For small angles:

𝑥
𝜃=
R

Moment of inertia:

I = IG + MR2

1
IG = MR2
2

1 3
I= MR2 + MR2 = MR2
2 2

Replacing in the first equation:

1 1 3 𝑥 2 5
T= M𝑥 2 + ( MR2 ) ( ) = M𝑥 2
2 2 2 R 4
 Potential energy

1
U = k𝑥 2 − Mg𝑥
2

Lagrange´s equations

𝑑 𝜕T 𝜕T 𝜕U
( )+ + =0
𝑑𝑡 𝜕𝑞𝑖 𝜕𝑞 𝜕𝑞𝑖

Replacing:

𝑑 𝜕 5 𝜕 5 𝜕 1 2
[ ( M𝑥 2 )] + ( M𝑥 2 ) + ( k𝑥 − MgI𝑥) = 0
𝑑𝑡 𝜕𝑞𝑖 4 𝜕𝑞 4 𝜕𝑞𝑖 2

𝑑 5
( M𝑥̇ ) + 0 + k𝑥 − Mg = 0
𝑑𝑡 2

5 2
[ M𝑥̈ + k𝑥 − Mg = 0] ( )
2 5

𝟐 𝟐
𝐌𝒙̈ + 𝐤𝒙 = 𝐌𝐠
𝟓 𝟓

b. Using this EOM, determine the value of x corresponding to the equilibrium position of the
system. (Note: The system is in equilibrium when 𝑥̇ = 𝑥̈ = 0.)

Replacing in the system equation

2 2
M(0) + k𝑥 = Mg
5 5

𝐌𝐠
𝒙=
𝐤
3. Consider the system shown below, which consists of a uniform rigid bar OA that is welded to a
uniform disk. The composite system is pinned to ground at point 0. Using the parameters indicated
in the figure 2, determine a) The equation of motion for the system in terms of the angular
coordinate 𝜃(𝑡) and b) The critical damping constant.

Solution:
Fc = 3rcθ̇

Fk = krθ

∑ M0 = −J0 θ̈

krθ + (3r)2 cθ̇ = −J0 θ̈

1
r(kθ + 9rcθ̇) = − ( m1 r 2 + 3m2 r 2 ) θ̈
2

1
( m1 + 3m2 ) r 2 θ̈ + r(kθ + 9rcθ̇) = 0
2

Damping constant

ccr = 2√meq k eq

Here
1
meq = m1 + 3m2
2

k eq = k

Then

1
ccr = 2√( m1 + 3m2 ) k
2