ME 316 Homework 3

Spring Semester 2013
ME 316 Kinematics & Dynamics of Machines
Homework Assignment 3: Dynamics and Vibrations (Due date: May 3)
General instructions:
 Write clearly and legibly, showing clearly the important steps in the solution, including
any assumptions and approximations.
 Policy on copying/plagiarism: You are welcome (and, indeed, encouraged!) to discuss
the problems and their solution approaches among yourselves. However, each student
must submit a solution that has been independently worked-out. If (a) ‘N’ students are
found to have copied, and (b) each student would have received ‘P’ points on their
homework had (s)he not copied, then all of those students will receive P/N points each.
1. Derive the equations of motion for the following systems with the assumption of small
displacements (the acceleration due to gravity g acts vertically) using Lagrange’s
equations:
a. The system of Fig. 1(a) comprises a bar of mass m1 and length l1 that is pivoted
about a frictionless joint. A mass m2 is attached to the end of the bar by means of a
spring of stiffness k.
b. The compound pendulum of Fig. 1(b) comprises two rods (masses and lengths as
indicated) connected to each other by means of a frictionless joint. An additional
mass m3 is attached at the end as shown.
c. The system of Fig. 1(c) is obtained by replacing the first bar of Fig. 1(b) by the system
of Fig. 1(a), but with the mass of this bar being neglected.
Fig. 1
2. Consider a system comprising a horizontal slab of mass 2M and length 2L, that rests on
springs of stiffness k1 and k2. The centre of mass is located at a distance cL from the left
end of the slab, and distances aL and bL from the points of attachment of springs k1 and
k2 (a + b < 2; a, b, c < 1). Consider this to be the model for an automobile (such as a van
or a bus) mounted on its suspension, where one is interested in the vertical ‘bouncing’
and rotational ‘pitching’ motions. The engine of mass me is attached by means of springs
of total stiffness ke to the body, at a distance dL from the left end (d < 1). The engine has
an unbalance, whose effect can be approximated by a mass mu rotating at an angular
speed Ω at a distance e from the axis of rotation. The wheels/tires are excited by the
changing surface of the road, whose effect can be approximated by the displacements e1
and e2 acting at the respective springs.
a. Assuming small displacements, derive the equations of motion of the slab with the
following choice of coordinates:
i. the extensions of the springs x1 and x2;
ii. the vertical displacement xc (‘bounce’) and rotation θc (‘pitch’) of the centre of mass.
b. For each of the above choice of coordinates, solve the corresponding eigenvalue
problem to obtain the eigenvalues (natural frequencies) and eigenvectors (mode-
shapes).
c. Is there a difference between the eigen-solutions obtained in part (b) above for the
two sets of coordinates? If so, explain and interpret the difference.
d. Verify whether or not the mode-shapes (eigen-vectors) obtained for each set of
solutions are orthogonal with respect to their respective mass and stiffness matrices.
e. For the special case when a = b = 0.5, c = 1, d = 0, and k1 = k2, obtain the
eigenvalues and eigenvectors. Sketch the modeshapes and comment upon the
motion of the vehicle’s body.
f. For the case of part (e), neglect the effect of the engine unbalance, and consider only
an excitation e1 = A1sin(vt/λ) acting at the front wheels (spring k1). Here, λ is the
wavelength of the undulations of the road’s surface, and v is the speed of the vehicle.
Derive an expression for the acceleration felt by a passenger sitting in the vehicle, as
a function of the seating position. For this excitation, which is the most comfortable
seating position? [Consider comfort to be defined here by a low value of experienced
acceleration.] How does passenger comfort change with the speed of the vehicle?
g. Again, for the case of part (e), neglect the effect of road excitation, and consider only
the engine unbalance. Derive an expression for the vibration felt by a passenger
sitting in the vehicle, as a function of the seating position. Which is the most
comfortable seating position,from the standpoint of engine vibration?
[Note: The above is a common model for systems such as an automobile body mounted on
its suspension (where one is interested in the vertical ‘bouncing’ and rotational ‘pitching’
motions), or a machine tool, engine or turbine resting on vibration absorption mounts.]
3. Consider a point P on a spinning top that has a position vector r with respect to a fixed
coordinate system (‘basis’) whose origin is at the point of contact of the top with the
ground.
a. Derive the expression for the position vector r, assuming that the point of contact
does not move.
b. What are the magnitude and direction of the force acting on a segment of the top (of
mass ‘m’) located at the point P.
c. The segment (of part (b) above) detaches from the rest of the top at the time instant
‘t’=0. Determine the subsequent relative motion of the detached segment relative to
the point P on the top.
d. What is the motion of the top, if we relax the condition of part (a), and allow the point
of contact to move (as happens with a ‘real’ top)?

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Spring Semester 2013

ME 316 Kinematics & Dynamics of Machines

Homework Assignment 3: Dynamics and Vibrations (Due date: May 3)

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