Things to learn today
1. Use energy method to derive equation of motion
2. Damping elements
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Session 1.2 Vibration and Damping
5. Equation of motion: Energy Method
For a conservative system, the governing equation can also be
derived by using the energy method which states that at any
moment, the sum of the potential energy and the kinetic energy
of the system remains constant, i.e.
T + V = constant
T: kinetic energy of the system
V: potential energy of the system
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Session 1.2 Vibration and Damping
5.3 Solution procedures
find the kinetic energy & potential energy
energy conservation equation
differentiate the resulting equation
governing equation
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Session 1.2 Vibration and Damping
5.4 Examples
(1) Derive the governing equation for the mass-spring system
where the gravitational force is active by using energy method.
m
xs m
xd(t) m
xs: static displacement
xd: dynamic displacement
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Session 1.2 Vibration and Damping
Kinetic energy
1 2
T= mxd
2
Potential energy due to spring
1 2 1
Vk = kx = k ( xs + xd ) 2
2 2
Potential energy due to the gravitational force (taking equilibrium
position as the reference point with zero gravitational potential)
Vm = −mgx = −mg ( xs + xd )
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Session 1.2 Vibration and Damping
Substituting them into energy conservation equation, one has
1 2 1
T + V = mxd + k ( xs + xd ) 2 -mg ( xs + xd ) = constant
2 2
Differentiating the above equation gives
mxd xd +k ( xs + xd ) xd -mgxd = 0
with the static equilibrium relationship kxs =mg in mind, we get
the governing equation
mxd +kxd = 0
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Session 1.2 Vibration and Damping
(3) Use energy method to find the natural frequency of oscillation
of the homogeneous cylinder with radius r and connected with two
springs of stiffness k as shown below. It is assumed that the
cylinder is free to roll on the horizontal surface without slipping.
(Activity 1C, Q2 in Learning Package, Page 84)
a k
r m
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Session 1.2 Vibration and Damping
motion of the cylinder
x
Spring potential energy is
1
Vk = 2 k 2
2
where, for small oscillation,
= (r + a)sin (r + a)
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Session 1.2 Vibration and Damping
The kinetic energy consists of the rotational energy and translational
energy
1 2 1 2
T = mx + J
2 2
The condition that there is no slip between the surface and cylinder
indicates
x = r ; x = r ; x = r
then
3 2 2
T = mr
4
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Session 1.2 Vibration and Damping
The energy conservation equation requires
3 3
T + V = mr 2 2 +k 2 = mr 2 2 +k (r + a) 2 2 =constant
4 4
Differentiation of the above equation yields
3 2
mr +2k (r + a ) 2 = 0
2
4k ( r + a ) 2
+ 2
=0
3mr
Hence the natural frequency is
4k ( r + a ) 2
n =
3mr 2 11
Session 1.2 Vibration and Damping
(2) Determine the natural frequency of the weight-pulley system by
using energy method. (Example 3 in Learning Package, Page 78)
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Session 1.2 Vibration and Damping
The kinetic energy of the system
1 2
Tm = mx (kinetic energy of the weight)
2
1 2
Tp = J (kinetic energy of the pulley)
2
Potential energy due to gravitational force
Vm = −mgx
Potential energy due to spring
1 2
Vk = kxk
2
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Session 1.2 Vibration and Damping
Since x = r1 ; x = r1 ; xk = r2
The energy conservation equation can be written as
1 1 1
Tm + Tp + Vm + Vk = mx 2 + J 2 − mgx + kxk2 = constant
2 2 2
1 2 2 1 2 1
mr1 + J − mgr1 + kr22 2 = constant
2 2 2
The total rotation consists of the static and dynamic parts
= s + d (t )
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Session 1.2 Vibration and Damping
therefore
= d
Taking the first derivative with respect to time on both sides of the
energy conservation equation gives
mr12 d + J d − mgr1 + kr22 ( s + d ) = 0
Taking into consideration the torque equilibrium in static state
kxk r2 = mgr1 kr22 s = mgr1
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Session 1.2 Vibration and Damping
We obtain
mr12 d + J d + kr22 d = 0
which can be re-written as
kr22
d + 2 d = 0
mr1 + J
or
d + n2 d = 0
where the natural frequency
kr22
n =
mr12 + J
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