PROBLEMS

T hose proble ms mar ked with a n asterisk are int e nde d to be solv ed using co mp utational software or the M ATLAB Too lbox .

Section 1.1
1.1. Th e spri ng of Figu re lZ is successively loaded with mass and the corresponding (static) displ acem ent is record ed as follows. Plot the dat a and calcu late the spri ng's stiffness. Note th at the da ta contai n some error s. Al so calculate the sta ndard deviati on . m(kg)
x( m)

10
1.14

11
1.25

12
1.37

13
1.48

14 1.59

15
1.71

16 1.82

1.2. De rive th e so luti on of mx case with W Il = 2 ra d/ s. X o 1.3. Solve lIl. t

kx

+ k x = 0 and plot the result for at least two per iod s for the = 1 mm , and va = V5 rnrn/ s. = 0 for k = 4 N/ m, m = 1 kg, X o = 1 mrn , and va = O. Plot the solution.

1.4. The amplit ude of vibra tion of an undamped system is measur ed to be 1 mm .T he phase shift fro m t = 0 is measur ed to be 2 rad and th e fre quency is found to be 5 rad/s. Cal culate the initia l condition s th at caus ed this vibration to occur. Ass ume the response is
of t heformx (t ) = Asin (w llt

<1.

86

Introduction to Vibration and the Free Response

Chap . 1

1.5. Find the equation of motio n for the hanging spring- mass system of Figure PI.5 and com-

pute the natu ral fre que ncy. In pa rt icular. using sta tic eq uilibrium along with New to n's law. det ermine wha t effect grav ity ha s on the equa tio n of mo tion and the syst em's natur al frequen cy.

L-_--'

T
x (t)

Figure P1.5

1.6. Find the equati on of motion for the system of Figure P1.6 and compute the formula for

th e natural frequ en cy. In part icular. using static equilibrium along with Newton 's law. determine what effect gravity has on the equation of motion and th e syste m's na tural fre quency. As sume the block slides witho ut friction.

~t)

Figure P1.6

1.7. An und amped system vibra tes with a frequency of 10 Hz and amp litud e 1 mm . Ca lcu-

late the maximum amplitude of the system's velocit y and accelerati on .

1.8. Show by calculation that A sin (w,/ + cj can be represented as B sin w"t and calcul ate C and B in term s of A and cj>. 1.9. Using the solution of equa tion (1.2) in the form

+ C cos W)

x (t ) = Bsin w"t + Ccosw,/

calculate the values of B and C in terms of the initial cond itions .\' 0 and va.
1.10. Using Figure 1.7, verify that equa tion (1.10) satisfies the initi al-velocit y condition. 1.11. (a) A 0.5-kg mass is attac he d to a line ar spring of stiffness 0.1 N1m.Det ermine the natural

frequency of the system in hertz. (b) Rep eat this calcula tion for a mass of 50 kg and a stiffness of 10 Nl m and compar e your result to that of pa rt (a) .
1.12. Derive the solution of the singl e-d egr ee -of-freed om syste m of Figur e 1.5 by writing Ne wton 's law, ma = - k x , in differential form usin g a dx = v ltv and int egrating twice.

:O J.

Problems

87

1.13. Det ermine the natural frequenc y of th e two syste ms illustrated in Figur e P1.13.

kj

k2
111

'r.J!'ii

~~~~J~l%

111

(a)

(b)

Figure Pl.13

*1.14. Plot the solution given by equa tion ( 1.10) for the case k = 1000 N/ m and 111 = 10 kg for two complete period s for ea ch of th e followi ng se ts of initial condition s: (a) -"0 = 0, Vo = 1 m/ s, (b) -"0 = 0.01 rn, V o = 0, and (c) -"0 = 0.01 m, Vo = 1 m/ s, *1.15. Make a three-dim ensio nal surface plot of the amplitude A of an und amped oscillator given by eq uation ( 1.9) versus -"0 and Vo for the range of initial conditions given by - 0 . 1 :S -"0 :S 0.1 m and -1 :S Vo :S 1 rn / s for a system with natural frequ en cy of 10 rad / s. 1.16. A machine part is modeled as a pendulum co nnected to a spring as illustra ted in Figur e P1.16 . Ignore the m ass of pendulum 's rod and deri ve the equa tio n of motion . Then, following th e pro ced ure used in Example 1.1.1, linea rize the equa tio n of mot ion, and compute the form ula for th e natural fre q ue ncy. A ssume that th e ro tation is sma ll eno ugh so that th e spring only deflect s horizontally.

o
~,

e \,

111

Figure Pl.16

1.17. A pen dulu m has length of 250 mm . What is the system's na tur al frequen cy in Hertz? 1.18. T he pend ulu m in Ex ampl e 1.1.1 is re q uire d to oscillate on ce every second. Wha t len gth should it be? 1.19. The approx ima tio n of sin 8 = 8 is reasona ble fo r 8 less than 100. If a pendulum of lengt h 0.5 m has an initial posit ion of 8(0) = 0, wha t is the maximum value of the initi al angular veloci ty tha t can be given to th e pe ndulum witho ut viola tin g th is small -angle approximat ion? (Be sure to wor k in radians.)

88

Introduction to Vibration and the Free Response

Chap . 1

Section 1.2
*1.20. Plot the solution of a line ar spring-mass system with frequ ency w" and va = 2.34 mrn/ s, for at leas t two pe riods.

= 2 rad /s , Xo = 1 mm ,

*1.21. Co mpu te the natural frequency and plo t th e so lution of a spri ng-mass system with mass of 1 kg and stiff ness of 4 N/m and init ial conditions of Xo = 1 mm and Vo = 0 mm /s. for at least two periods. 1.22. To design a linear spring- mass system it is ofte n a matter of choosing a spring constant such that the resulting natural freque ncy has a spe cified value. Suppose that th e mass of a syste m is 4 kg and th e stiffness is 100 N/m. How mu ch must th e spring stiffness be cha nge d in order to incr ease the natural frequenc y by 1O%? 1.23. R efer ring to Figure 1.8, if the maximum pe ak velocity of a vibra ting syste m is 200 mm /s at 4 Hz and th e maximum allowable peak acceleration is 5000 mrn/s '', wha t will th e peak displacement be ? 1.24. Show that lines of con stant displacement and acceleratio n in Figure 1.8 ha ve slopes of +1 and - I, respectively. If rms valu es instead of peak valu es are used , how do es this affect the slope? 1.25. A foo t pedal mechan ism for a machin e is cru dely modeled as a pe ndu lum connected to a spring as illustra ted in Figur e PI .25. T he purpose of th e sp ring is to keep the pedal roughly vertical. Com pute th e spring stiffness needed to kee p the pendulum at 10 from the horizontal and then compute the correspo nding natural fre q uency. Assume th at th e an gular defle ctions are sma ll, such th at the spr ing defle ction can be approx imat ed by th e ar c length, th at the ped al may be treated as a point mas s, and th at pendulum ro d ha s negligible mass. The va lues in th e figure are m = 0.5 kg, g = 9.8 rn/s", 11 = 0.2 m, and 12 = 0.3 m.

~I
o
k
111

Figure P1.25

1.26. An a uto mobile is model ed as a 1000-kg m ass supported by a spring of stiffness k = 400.000 N/ m. When it oscillates it do es so with a maximum deflection of 10 ern. Wh en loaded with passen gers, the mass increases to as much as 1300 kg. Ca lcula te th e chan ge in frequency, velocity amplitude, and acce leration am plitu de if the maximu m defl ection remains 10 em. 1.27. The front suspen sion of so me cars contains a torsion ro d as illust rat ed in Figur e P1.27 to improve th e ca r's handling. (a) Co mpute th e freq uency of vibr ati on of th e wheel

- 1

Problems

89

r.

Figure Pl.27

assembly given tha t the torsional stiffness is 2000 N m/rad and the wheel assembly has a mass of 38 kg. Take the dis ta nce x = 0.26 m. (b) Som etime s owne rs put differ ent wheels and tires on a car to enhance th e appearance or pe rfor ma nce. Sup pose a thinn er tire is put on with a larger whee l raising the mass to 45 kg. What effe ct do es this have on th e frequenc y?
1.28. A machine oscillates in simp le h armonic mo tion and appears to be well modeled by an undam pe d single-degree-of-freedom oscilla tio n. It s acceleration is measured to have an amplitude of 10.000 mm / s? at 8 H z. Wh at is th e machine 's ma ximum displacem en t? 1.29. A simpl e und amped spring- mass syste m is set into mot ion from rest by giving it an initial velocity of 100 mm /s, It oscillates with a ma ximum amplitude of 10 mm. What is its natur al freque ncy? 1.30. A n auto mobile exhib its a vertical oscillating displacemen t of maximum amplitude 5 cm and a meas ur ed maximum acce lerat ion of 2000 cm/ s2 As suming that the au to mobile can be mod eled as a single-deg ree-of-free dom syste m in the vertic al directi on , calculate the natural frequency of the au tomobile.

Section 1.3
1.31. Solver + 4.r + x = a for Xo = 1 mm . V = o which root dom inat es.

a mrn / s, Sketch your res ults and det erm ine

1.32. Solver + 2.r + 2x = a for Xo = 0 mrn. V = 1 mrri/ s and sketc h the response.You may o wish to sketch x (t ) = e- t and x (t ) = - e: first. 1.33. Der ive the form of AI and A2 given by equa tio n (1.31) fro m eq ua tio n (1.28) and th e defin ition of the damping ra tio. 1.34. Use the E uler formulas to derive equ ation (1.36) from eq uation (1.35) and to de termine the relationships listed in Wind ow 1.5. 1.35. Using equation (1.35) as the form of the solution of the und erdamp ed system, calculate the values of the constant s G j and G2 in terms of the initia l co nditions Xo and vo.

90

Introduct ion to Vibration and the Free Response

Chap. 1

1.36. Ca lculate the constants A and <P in terms of the initial condition s and thus verify equation (1.38) fo r th e underdamped case. 1.37. Ca lculate th e con stants (/1 and (/2 in terms of the initial co nditions and thus verify equa tion s (1.42) and ( 1.43) for the ove rda mpe d cas e.

1.38. Ca lculate the con stants (/1 and

(/ 2 in terms of the initial con ditions and thus verify equa tion (1.46) fo r the critically da mpe d case.

1.39. Us ing th e defini tion of the damping rati o and th e undamped natural frequency, derive equa tion (1.48) from (1.47). 1.40. For a damped system , 1Il. C, and k ar e kn own to be 1Il = 1 kg, C = 2 kg / s, k = 10 N/ m. Ca lculate th e values of ~ and W", Is the system overd amped , underdamped , or critically damped ? *1.41. Plot X(I) for a damped system of natural frequen cy W n = 2 rad/ s an d init ial condition s Xo = I mm , Vo = 0, for the fo llow ing valu es of the damping ratio: ~ = 0.01, ~ = 0.2 . ~ = 0.6, ~ = 0.1, ~ = 0.4. and ~ = 0.8. *1.42. Plot the resp ons e X(I) of an underdamped system with W Il = 2 rad /s, ~ = 0.1, and Vo = 0 fo r the fo llo wing ini tia l displ acem ents: Xo = 1 mm. Xo = 5 mrn , Xo = 10 mm . and Xo = 100 mm . 1.43. Solve

.r - .\" +

0 with Xo = 1 and va = 0 for x ( I) and sketch th e response.

1.44. A spring-mass-damper syste m has mas s of 100 kg, stiffnes s of 3000 N/ m. and damping coefficient of 300 kg/soCalcul ate the undamped natural frequency, the damping ratio, and the damped natural frequency. Doe s th e solution oscillate? 1.45. A sketch of a valve and ro cke r arm syste m for an intern al co mbustion engine is given in Figure P1.45 . Mod el the syste m as a pendulum att ach ed to a spring an d a mass and assume the o il provides visco us da mping in t he ra nge of ~ = 0.01. Determine th e eq ua tions of moti on and calculate an exp res sion for the natural frequency and th e damped na tural fre que ncy. H ere J is the momen t of inertia of the rocke r arm abo ut its pivot po int, k is th e stiffness of th e valve spring. and 111 is th e mass of th e va lve and ste m. Ignore th e mass of th e sprin g.
8

lr ~alve
Figure PI.45

~m

Problems

91

1.46. A spring- mass-da mpe r syste m has mass of 150 kg, stiffness of 1500 N/ m and damp ing coefficient of 200 kg/ so Calculate the undamped natural frequency, the damping ratio, and the damped natural frequ ency. Is the system overdamped, und erd arnped, or crit ically dam ped ? Does the solution oscillat e?
>

1.47. The syste m of Problem 1.44 is given a zero initial velo city and an init ial displ acem ent of

0.1 m. Ca lculate the form of the respo nse and plot it for as lon g as it tak es to die out. " 1.48. The syste m of Problem 1.46 is given an initial velocit y of 10 mm/ s and an initi al displacement of - 5 mm . Calculate the form of the response and plot it for as long as it tak es to die ou t. How long does it ta ke to die out?
"'1.49. Choo se the damping coefficient of a spring-mass-damper system with mass of 150 kg and stiffn ess of 2000 N/m such that its response will die out after ab out 2 s, given a zero initial position and an initia l velocity of 10 mrn/ s,
1.50. Derive the equation of motion of the system in Figure PI .50 and discuss the effect of grav-

ity on the natural frequency and the damping rati o.

Figure PI .50

1.51. Derive the equation of mot ion of the system in Figure Pl.51 and discuss the effect of grav-

ity on the na tural frequency and the dampin g ratio. You may have to mak e some approximations of th e cosine. Assum e the bearings provide a viscous damping force only in the vertical direct ion . (Fro m A. Diaz-Jimene z, So uth African Mechanical Engine er, Vol. 26, pp. 65- 69,1 976.)

a
A
k h

I
I ,

Figure PI.51

92
Section 1.4

Introduction to Vibration and the Free Re s ponse

Chap. 1

1.52. Calculate the fre quency of the comp ound pendulum of Figure 1.20(b) if a mass add ed to the tip, by using the energy method.

lil T

is

1.53. Calculate the total energy in a damped system with frequ ency 2 rad/s and damping ratio ~ = 0.01with mass 10 kg for the case X o = 0.1 and Vo = O Plot the total energy versus time. . 1.54. Use the en ergy method to calculate the equ ation of motio n and natural frequen cy of an airplane 's steering-gear mechanism for the nose wheel of its landing gear. Th e mechanism is mod eled as the single-degree-of-freedo m system illustrated in Figure P1.54.
(Stee ring wheel)

(Tire-whee l assembly)

x
Figure P1.54

Single-degre e-of -free dom mod el of a steeri ng mechanism.

T he steering-whee l and tire asse mb ly is mode led as being fixed at ground for this calculation. Th e steering-ro d gear system is modeled as a linea r spring-and-mass syste m (Ill, k z) oscillating in the x direction. T he shaft-gear mechanism is modeled as the disk of inertia J and torsion al stiffness k J. T he gea r J turns through the angle e such that the disk doe s not slip on th e mass. O btain an equati on in the line ar mot ion x .
1.55. A cont rol pedal of an aircraft can be modeled as the single-deg ree-o f-free do m system a t Figure Pl .55. Conside r the lever as a massless shaft and the pedal as a lumped mass at the end of the shaft. U se the energy method to dete rmine the equatio n of moti on in e and calculat e the natural frequ ency of the system.Assume the spring to be unstretched at e = 0

~
I I

o
I

:I
I

- t--

il l

~
I I

'

: lIiz I e: I
I

Figure P1.55

Model of a foot ped al us., to operate an aircraft contro l surface.

1.56. To save space, two large pipes are shipped one stacked inside the other as indicated Figure Pl .56. Ca lculate the natu ral frequ ency of vibration of the smaller pipe (of radiL

Problems

93

R t ) ro lling ba ck and forth insid e th e larg er pipe (o f radius R ). Use the energy method and assume that th e insid e pip e roll s with out slipping and has a ma ss of m .
Larg e pipe

/
Iruck bed

mg

(a)
Figure Pl.56

(b)

(a) Pipes stacked in a truck bed. (b) Vibrat ion mod el of the inside pipe.

1.57. Consider th e example of a simp le pendulum give n in Example 1.4.2.The pendulum motion is ob ser ved to dec ay with a damping ra tio of ~ = 0.001. D etermine a damping co efficie nt an d add a viscou s damping term to th e pendulum equation. 1.58. Det ermine a dam ping coefficient for th e disk- ro d syste m of Example 1.4.3. A ssuming that the dam pin g is du e to th e mat er ial pro perties of the ro d, de termine c fo r the rod if it is observed to have a d amping ratio of ~ = 0.01. 1.59. The r od an d di sk of Window 1.1 are in to rsio nal vibration . Calcula te th e damped natural frequ ency if J = 1000 m 2 kg. c = 20 N . m s/ rad , and k = 400 N . m /rad. 1.60. Co nsi de r th e system of Figure P1.60, whic h rep res e nts a simple mo del of an aircraft Wh landing syste m. A ssum e. .r = reo at is the damped natural fre quency ?

Figure Pl.60

94

Introduction to Vibration and the Free Respons e

Chap. 1

1.61. Consider Pro blem 1.60 with k = 400.000 N m, m = 1500 kg, J = 100 m 2 kg, r = 25 em, and c = 8000 N' m ' s. Calculate th e da m ping rati o and th e damped natural freque ncy. How mu ch effe ct do es the ro tationa l inert ia have on the undamped natural frequenc y? 1.62. Use Lag ra nge's formulation to calculate th e equation of moti on and the na tural fre qu ency of th e syste m of Figur e P1.62. Model ea ch of th e br ack et s as a spring of stiffne ss k, an d assum e the inerti al of the pull eys is negligible .

111

Figure Pl.62

1.63. Use Lagrange 's fo rmulation to calculate the equa tio n of motion and the natural frequ en cy of the syste m of Figure P1.63. Th is figure re pres ents a simplified model of a je t engine mounted to a wing th rou gh a me chan ism which acts as a spring of stiffne ss k an d mass 111, . A ssume the engine has moment of inertia J and ma ss m and th at the rot ati on of the engi ne is re lated to the vert ical displa ceme nt of th e engi ne, x(t), by th e " radius" ro (i.e ., x = r0 8).

Mo unt.x.v,
\ I /
1 :

-- -

'.0 \o '.,:
I

- --- - --

Engine, .I.m
Figure P1.63

1.64. Lagrange 's formulatio n can also be used for non co nservative systems by adding the applied nonconser vat ive term to the right side of equatio n (1.64) to ge t

~( aT ) _ aT + au + aR;
dt

aq;

aq;

aq;

aq;

Here R; is th e Rayleigh dissipation function defined in the case of a viscous damper with o ne end fixed to gro und by
_ I .2 R- - - ce II 2 l

Problems

95

Use this extended Lagrange formulation to derive the equation of mo tion of the damp ed auto mo bile suspension of Figure P1.64 (here the bod y is treated as gro und and assume x = re) .

Figure Pl.64

1.65. Conside r the disk of Figur e P1.90 conn ected to two sp rings. (a) Use the ene rgy method

to calculate the syste m's natural freque ncy of oscillatio n for small angles e(t ). (b) Use Lagr ange's method to deri ve the equation of moti on .

x(t)
Figure P1.65 Vibra tion model of a ro lling disk mounted against two springs. att ached at po int s.

111 =

mass

Section 1.5
1.66. A helicopter landing gea r co nsists of a me tal frame work rath er th an the coil spring-

based suspension system used in a fixed-wing aircraft. Th e vibration of th e frame in the vert ical dire ction can be mod eled by a spring mad e of a slender bar as illustr at ed in Figure 1.21. wh er e th e hel icoptor is modeled as gro und. Here I = 0.4 m, E = 20 X 1010 N/ m2 and m = 100 kg. Calculate the cross -sectio nal area that sho uld be used if the natural frequency is to be In = 500 Hz .
1.67. T he fre quency of oscillation of a pers on on a diving board can be modeled as the trans-

verse vibratio n of a beam as indicated in Figure 1.24. Let m be the mass of the diver (m = 100 kg) and I = 1 m. If the diver wishes to oscillate at 3 Hz. wha t value of E I sho uld the diving -board mat erial have?
1.68. Consider the spring syste m of Figure 1.29. Let k j

= k s = k 2 = 100 N/ m. k -; = 50 N/ m.

and kJ, = 1 N/ m. What is the equivalent stiffn ess?

1.69. Springs are ava ilable in stiffness valu es of 10.100. and 1000 N/ m. D esign a spr ing sys-

tem using these values on ly. so that a 100-kg mass is connect ed to gro und with frequency of about 1.5 rad/s ,

96

Introduction to Vibration and the Free Response

Chap. 1

1.70. Calculate the natural frequency of the system in Figure 1.29(a) if k , = k 2 = O. Choose m and nonzero values of k 1 , k 4 , and k.; so that the natural frequency is in = 100 Hz. *1.71. Example 1.4.4 examines the effect of the mass of a spring on the natural frequency of a

simple spring-mass system . Use the relationship derived there and plot the natural frequency versus the percent that the spring mass is of the oscillating mass. Use your plot to comment on circumstances when it is no longer reasonable to neglect the mass of the spr ing.
1.72. Calc ulate the natural frequency and da mping ratio for the system in Figure P1.72 given the values m = 10 kg, c = 100 kg/s , k ] = 4000 N/m, k 2 = 200 N/m, and k 3 = 1000 N/ m.

Assume that no friction acts on the rollers. Is the system ove rdamped, crit ically damped, or underdamped?
c

Figure PI .72

1.73. Repeat Problem 1.72 for the system of Figure P1.73.

Figure Pl.73

1.74. A manufacturer makes a cantilevered leaf spring from a ste el

and sizes the spri ng so that the device has a specific frequency. Later, to save weight. the spr ing is made of aluminum (E = 7.1 x 1010 N /m 2 ) . Assuming that the mas s of the spring is much smaller than that of the device the spring is attached to, determine if the freq uency increases or decre ases and by how much.
X

(E = 2

2 1011 N/m )

Section 1.6
1.75. Show that the loga rithmic decrement is equal to
0= - In XII

1 n

Xo

where

Xn

is the ampli tude of vibration after n cycles have elaps ed.

1.76. De rive equation (1.70) for the trifilar suspension system. 1.77. A prototype composite material is formed and hence has unknown modulus. An ex-

periment is performed consis ting of forming it into a cantilevered beam of leng th 1 m and moment 1 = 10- 9 m" with a 6-kg ma ss attached at its end. The system i '

=- ap. 1

Problems

97

give n an initi al displacement and fo und to oscillate with a peri od of 0.5 s. Calculate the modulus E .
1.78. T he free respon se of a 1000-kg a uto mobile with stiffness of k = 400,000 N/m is observed to be of the form given in Figure 1.32. Mod eling the automobile as a single-degreeof-free dom oscillation in the ver tical directi on , det ermine the da mping coeffic ient if th e displacem e nt at is measured to be 2 em and 0.22 em at 1.79. A pendulum decays from 10 em to 1 em over on e pe riod . Det ermine its damping ratio.

'I

'2 '

1.80. The relation ship be tween th e log decrem ent 0 and th e damping rati o ~ is ofte n approximated as 0 = 21T ~ . For what value s of ~ would you conside r th is a good app roximation to eq uat ion (1.74)? 1.81. A damped system is mod eled as illustrated in Figur e 1.10. T he mass of the system is measured to be 5 kg and its sp ring constant is measured to be 5000 N/ m. It is ob served that during free vibratio n the amplitude deca ys to 0.25 of its initial value afte r five cycles. Ca lculate th e viscous damping coe fficient, c.

Section 1. 7 (see also Problems 1.69 and 1.95 through 1.101)

1.82. Choose a dashpot 's viscous dampin g val ue such th at when pla ced in parall el with th e spring of Ex amp le 1.7.2 it reduces th e fre que ncy of oscillatio n to 9 rad /s. 1.83. For an underdamped system.x., = the amplitude is less than 1 mm.

a and V o = 10 mrn/s, Deter mine 11l, c, and k such that

I1l

1.84. Rep eat Pro blem 1.83 if the ma ss is res tr icted to lie bet ween 10 kg <

< 15 kg.

1.85. Use the formula for th e tor sional stiffness of a shaft from equation (1.66) to design a 1-m shaft with tor sio nal stiffne ss of 105 N . m/ rad . 1.86. Repeat E xample 1.7.2 using alu minum. Wh at difference do you no te? 1.87. Try to design a bar (see Figure 1.21) that has th e same stiffness as the spring of E xample 1.7.2. Note th at the bar must remain at least 10 time s as lon g as it is wide in or de r to be mod eled by the formu la of Figure 1.21. 1.88. Re pe at Pr oblem 1.87 using plastic (E = 1.40 X 109 N/ m2 ) and rubber (E = 7 X 106 N/m2 ) . A re any of these feasible? 1.89. Conside r th e diving board of Figure P1.89. For divers, a cert ain level of sta tic deflect ion is desirable, de no ted by ~ . Compute a design formula for the dimensions of the board (b. h. and I) in terms of th e static de flection , th e aver age diver 's mass, Ill , and the modulus of the board .
IIlg

------------------- ------~ - r I U

~ _1
b

-I
'-Figure Pl.89

/ =!!.!!.12
-.J h I

en d view

98

Introduction to Vibration and the Free Response

Chap . 1

Sectio n 1.8 (see also Problem 1.43)

1.90. Co nsider the syste m of Figur e P1.90. (a) Wri te the equations of mot ion in term s of the angle, e, the bar makes with the vert ical. Ass ume line ar deflect ions of the springs and linear ize the equa tions of mo tion. (b) Discuss the stability of the linear system's solutions in terms of the physical constants, 111 , k, and I. Assum e the mass of the rod acts at the center as indicated in the figure .
k
k

e.g.
mg

Figure Pl.90

1.91. Cons ider the inverted pe nd ulum of Figure 1.37 as disc ussed in E xample 1.8.1. As sum e that a dash po t (of dampin g rate c) also acts on the pendulum paralle l to th e two sprin g' H ow does th is affect th e st abili ty properti es of th e pendulum? 1.92. Replace the massles s ro d of th e inverted pen dulun of Figure 1.37 with a solid-obj ec: com po und pe nd ulum of Figure 1.20(b) . Calculate the equatio ns of vibration and discu svalues of th e parameter for which the syste m is stable. 1.93. A simple model of a control tab fo r an airplane is sketc he d in Figur e P1. 93. The eq u,j' tio n of mot ion for th e ta b about the hinge po in t is written in terms of th e angle 0 fr o rr the centerli ne to be 18 + (c - I d)6 + kO = 0 H ere 1 is the moment of inertia of the tab, k is the rot ational stiffness of the hinge, c :' the ro tational da mping in the hinge, and I de is the negati ve da mping provided by th, ae ro dyna mic for ces (indicated by arrows in th e figure ). Discuss th e sta bility of the soli. tion in terms of the param et er s c and .f/.

Figure Pl.93

A simple mode l of an air plane con tro l tab.