Vibrations and Dynamics of Aerospace Systems

ARO4060 — Week 01

Burton Yale
2024-01-26
Cal Poly Pomona

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Class Information
Syllabus

Required Textbook
Mechanical Vibrations, by Singiresu Rao, 6th Edition∗

Optional Textbook
• Structural Dynamics and Vibration In Practice, by Douglas Thorby
• Theory of Vibration with Applications, by W. Thomson, M. Dahleh
• Schaum’s Outline of Mechanical Vibrations, by S. Graham Kelly

∗
4th Edition or higher is also fine
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Syllabus

Assignments
6-7 Homework assignments throughout the semester, roughtly every two weeks
It is highly encouraged to form study groups, anymore than 4-5 becomes inefficient in
my experience. However, do not copy one another’s homework, each submission must
be your own written work
It is your responsibility to ensure that the scan of your work is of sufficient quality for
me to read. If I cannot read it because its upside down, out of focus, cuts off the
solution, etc., you will recieve a zero on the assignment/problem.

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Syllabus

Exams
1 Midterm
1 Cumulative Final

Four options:
• Chosen Easier, in class, closed note, closed book with cheatsheet
• Harder, in class, open note, open book exam
• Even harder take-home, open note, open book exam
• Impossible group exam

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Syllabus

Grade Breakdown
• 30% Homework
• 30% Midterm
• 40% Cumulative Final

Email Policy
Use your @[Link] email, include ARO4060 in the subject line with a short and formal
email body. Be sure to also include your Bronco ID and name. Do not message me
with Canvas, I do not always get those notifications, email is the most reliable.

Office Hours
Before/after class or by appointment on Mondays 6p-8p

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Class Schedule and Organization

Date Topic
• Empty lecture slides will be on Canvas
01/26 Introduction & Notation
before class
02/02 Vector and Dynamics Review
02/09 Energy Methods
• Following lecture “filled-in” slides will
02/16 Free Vibration SDOF 1
also be uploaded 02/23 Free Vibration SDOF 2
• Do not count on these to have all 03/01 Harmonically Excited Vibration 1
the information I added in class 03/08 Harmonically Excited Vibration 2
03/15 Midterm
• Last lecture before review is TBD 03/22 2 DOF Systems 1
03/29 2 DOF Systems 2
depending on schedule shifts, feel free 04/05 Spring Break
to propose a relevant topic of interest 04/12 Vibration Under General Forcing Conditions
• Random vibrations 04/19 Multi-DOF Systems 1
04/26 Multi-DOF Systems 2
• Structural vibrations 05/03 TBD
• Controlled vibrations 05/10 Final Review
05/? Final
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About Me

Education
• B.S. Aerospace Engineering at Cal Poly Pomona (2015-2021)
• Took this class back in Spring 2019
• Was apart of an UMBRA rocket team during the same period
• M.S. Aerospace Engineering (Orbital Mechanics) at University of Texas at Austin

Industry
• Navigation Engineer at NASA Jet Propulsion Laboratory (2022-Present)
• Worked on:
• MRO
• Lunar Trailblazer
• SPHEREx
• NEAScout

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Advice from a Previous Student

• Use colored markers for different meanings. Just an example:

• 1 color for lecture content (ex black)
• 1 color for deadlines (ex red)
• 1 color for verbal clarifications I make (ex blue)
• 1 color for observations you make (ex orange)
• 1 color for things I repeat or emphasize (ex yellow)

• The internet is your friend, there is a lot of dynamics content (lectures, sample
problems, videos, etc.) out there

• Don’t hesitate to ask questions, dynamics couldn’t be more unintuitive, even by

design… At least until it is intuitive, only way to reach that point is by solving
problems
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Foundational Concepts
Dynamical Systems

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Vibration Types

Figure 1: Free Vibration Figure 2: Forced Vibration

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Linear Systems and Linearizations

Figure 3: Nonlinear Spring

𝐹 = 𝑎𝑥 + 𝑏𝑥3 Figure 4: Nonlinear Combination of Linear Springs

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Notation
Derivatives

Time Derivative Notation State Derivative Notation

𝑑𝑦 𝜕𝑦
= 𝑦̇ = 𝑦′
𝑑𝑡 𝜕𝑥

Ĺ Remember, total derivatives are as follows:

𝑓(𝑥, 𝑦) = 𝑓(𝑥(𝑟, 𝜃), 𝑦(𝑟, 𝜃))

𝑑𝑓 𝜕𝑓 𝜕𝑓 𝜕𝑥 𝜕𝑓 𝜕𝑦
= + +
𝑑𝜃 𝜕𝜃 𝜕𝑥 𝜕𝜃 𝜕𝑦 𝜕𝜃

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Vector Notation

Variable Notation Vector Notation

Scalar: 𝑥 ∈ ℝ For vector 𝑟̲ the:

̲̲̲̲ ∈ ℝ𝑛 OR x
Vector: 𝑥 • Magnitude: |𝑟̲| = 𝑟
̲̲̲̲̲ ∈ ℝ𝑛×𝑚 or A
𝐴
Matrix: ̲̲̲̲̲ • Direction: 𝑟̲/𝑟 = 𝑟 ̂ |𝑟|̂ = 1
̲̲̲̲𝑇 ∈ ℝ 1×𝑛
̲̲̲̲ ∈ ℝ𝑛×1 → 𝑥
• Transpose: 𝑥

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Vector & Matrix Operations

Name Vector Form General Form Use Case

Addition 𝑎̲ + 𝑏̲ - 2𝑟̲ = 𝑟̲ + 𝑟̲
𝑇
Inner Prod 𝑎̲ ⋅ 𝑏̲ 𝑎̲ 𝑏̲ 𝑤=𝐹 ̲̲̲̲̲ ⋅ 𝑟̲
Cross Prod† 𝑎̲ × 𝑏̲ [𝑎̲]𝑥 𝑏̲‡ ̲̲̲̲̲̲̲ = 𝐹
𝑀 ̲̲̲̲̲ × 𝑟̲
Outer Prod 𝑎̲ ⊗ 𝑏̲ 𝑎̲𝑏𝑇̲ 𝐼̲̲ ≈ 𝑥̲̲̲̲ ⊗ 𝑥 ̲̲̲̲

†
Only exists for 3D vectors
‡
[𝑎
̲̲̲̲]𝑥 is the skew-symmetric matrix of 𝑎
̲̲̲̲
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Linear/Vector Independence

For any vectors {𝑣1̲ , 𝑣2̲ , … , 𝑣𝑛̲ }, for them to be linearly independent from one
another, they must satisfy the following condition

𝛼1 𝑣1̲ + 𝛼2 𝑣2̲ + … + 𝛼𝑛 𝑣𝑛̲ ≠ 𝟘 ∀ 𝛼𝑖 ≠ 0, 𝑣𝑖̲ ≠ 𝟘, 𝛼𝑖 ∈ ℝ, 𝑣𝑖̲ ∈ ℝ𝑚

In simpler terms, the dot/inner product between any two vectors must not be -1 or 1,
meaning the vectors not in line with one another.

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Linear/Vector Independence

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Reference Frames & Frame Transformations

Reference Frame Definition

ℱ𝑎 is the frame “a”, ℱ𝑖 will be commonly used for inertial reference frames. Similarly
when a vector is defined in ℱ𝑎 or ℱ𝑖 it will have a superscript ̲̲̲̲
𝑥𝑎 or ̲̲̲̲
𝑥𝑖 respectively
Reference frames are defined by a set of basis vectors that are all linearly independent
and of unit length
Transforming Between Frames
𝑏
̲̲̲̲̲𝑎 is the rotation matrix transforming some vector 𝑣̲ from ℱ𝑎 to ℱ𝑏
𝑅
̲̲̲̲̲
𝑏 𝑏
̲̲̲̲𝑏 = 𝑅
𝑥 ̲̲̲̲𝑎
̲̲̲̲𝑎 𝑥
̲̲̲̲̲̲ ̲̲̲̲̲𝑎 ∈ ℝ𝑚×𝑛 , 𝑥
where 𝑅
̲̲̲̲̲ ̲̲̲̲𝑎 ∈ ℝ𝑛 , 𝑥
̲̲̲̲𝑏 ∈ ℝ𝑚

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Common Greek Symbols

∈ : “in” or “element of” ℝ𝑛×𝑚 : Dimension of variable is 𝑛 rows by

∀ : “for all” 𝑚 columns and can be any real number
𝑛
∃ : “there exists” ∑𝑖=1 𝑥𝑖 : Sum over each element of 𝑥 from
≡ : “equivalent to” the first index to the 𝑛th
∴ : “therefore”
∵ : “because”

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