Equation of motion of mass: m&+e(¢—#) tk (ey) =0 (2) Since y(t) is composed of several terms, the solution of Eq. (2) can be found by superposingg the solutions corresponding to each of the terms appearing in Eq. (1). ‘When y(t) = ¥/2, constant, equation of motion becomes: kY mi +ek+kx=—~ = constant (3) The steady state solution of Eq. (3) is given by (see Example 4.6): wtf -yhy 540 cog tara] () where $= tan“? (ws (8) When y(t) = A sin 12, the steady state solution of Eq, (2) is given by Eq. (3.67): x(t) =Asin (Nt —¢) (6) 1+(2¢r? where A= [ GFF tern 1) oe aor 8) a ae . ea oe From solution of Problem 4.7, we can express the base motion as: 2 2 x(t) ~renuse [3] -<(5] cos2wtt oe: () Equation of motion: mi+k(x-y)tuN=0 or mit+kxtpN=ky = peek le J were HEE Bi cos Butt (2) For given numerical data, Eq. (2) becomes: 218¥ +100 x + 0.981 = 100 y 2 = ]100 (0.1) + joe 2 ~ 0) (03) 1095 = 80) (22) cos 200t— ++ 10.25 — 10 cos 100 t — 0.25 cos 200 t — --- (3) Using the definition of equivalent damping constant, cjg, the solution of Eq. (3) can be found by superposition. 4uN _4umg ax "9x “ where 1 is the frequency of the harmonic force and X is the amplitude of the mass. Steady state solution due to constant term, Fo, on the r. of Eq. (3) (from Example 4.6): . 2 e(s afer te [5] ~+ f(y] (5) Steady state solution due to harmonic term, Fo cos 2 t, on the rb. (from Eqs. (3.89), (3.93) and (3.96): . of Eq. (3) x(t) =X cos (Rt — ¢) (8) 2] 4un (any 21h here x= 2 r¥e dg ata Tt where X= AE a ani an anny lt LFF N= mg =1 (9.81) = 9.81 Newtons, w= Ea = 0 raajsee, and m + sign is to be used in Eq. (7) for 1 uy. Equations (5) and (6) can be superposed suitably to find the complete steady state solution of Eq. (3). Base motion can be represented by Fourier series as (see solution of Problem 4.8 or Example 1.12): ny=% (5 1. 1. : wt+ysin2ut+ > sindutt of a) Equation of motion of mass: m¥+k((x-y)t4N=0 219= 0-26657 sin (St -0-02666) . = 0:00 6665 cos (St — 9.02666) >) Using the initial conditions, we obtain x = x (t=0) el = X, cos p, + o-053314 cos (-02666) + 0-001333 sin (0-02 666) Ko CS Po = 0104666 947 (E-6) x (t=0)= 1-0 = — Xp cos A, + 19975 X, sin By + 0:26657 Sin (0.02666) - 0006665 cos (o-02666) or X, Sin fd, = 0-0523 7678 (7 Solution of Eys.(E-6) and (€-7) gives Xo= i Ke co 0) + (x, sin poy ¢ = 007015247 (E-8) $e fan" ssl ) = 084295916 rad (8) Ke 68 be Complete solution is given by Ep. (E-4): a(t) = 007015247 on cos (19-975 t -0- 84295916) 4 0-053314 cos (5¢-0-02666 ) = 0+001333 sin (St - 002666) (Eto) @ Frm solution of preblem 4.75, Ft) = 9.9584 — 20-1587 eos G72 + 23-5253 fim tore7et + 45097 cos ro.gHeat + 12-2646 Sin 20-t4e E + ORTTIN cos 341 t — ofoeg sin shale t — &) o,= {E's TOOT _ 122-474s radfec s F= orts r= 00855 the steady state solution is given by ey. (4-13): 222x(t) = 17584 _ 20-1597 4 b plates a art * Saas cos (10-472 #) 23.5253 1 " . - So SSS (eve A) 3.3097 bcos (20.144 - 9 TET [oa any Grete) 1242646 71 sin(z0.944t- 9. « ie ar*)*4 (arr) ( » + + ave —— cos (31. 416 t — 97) J -9r4)*+ (6 yr)? 24064 £ sin (41-46t- 99) (&,) 7 [(-srty (ese? 17226) = ooze rad — )) = tem"(oaseef) = 00352 rad (0:05 4913) = 00549 rad where Noting that 23 r= 2 (¢1)(o-0855) = 0-017! and (1-t*) = 0-9927, Ee. (Ee) can be rewritten at _ [o-e3es - 13-7921 ef (10.472 + -0-0172)) 4 IS-7965 sin (10-472 ~ 0+0172) + 212715 cos (20.944t- 070352) 252 4 266876 cos(21- 416 ¢ -0-0549) + 8 AIGE Sin (20-74q¢ - 896 sin (eget From problem 1.74, F(E)= W975 - 414.9436 cos 523-64 + (50-3139 Sin S23-6t + 29+ 6059 cos 104 7-2t ~ 146-1706 Sin (047-2 E 435-7278 cos ISTo.gt + 55-1546 sin Is 70-BE (9) JE = (BE = w2e.41u radfee ss = 006 @ , S256 @n~ i26.49 LTV = 2(0-06) (41394) = 0° 4967 171348 5 porte (6 .17HE = 1394 4 223x(t) = wa ~ Ht, Oy tye SF erent 2 (24 a Ot . fe 2 AE cor yt -(“E) 8 i (4) meee kx = F(t) where m(t)= M-m,t= (2000-10t) +9 end F(t) = mV = 10 (2000) = 20000 N (2) with m= M-5m,t, = 2000-4(i)(100) = (500 +g > eguation of motis becomes 1500 X + o-txw® % + 7-5 x10" x = 20000 = constant Maximum steady state displacement is a(t) = E = 20000. 9. g02667 m # ie 754 0F From Eg.(4.32), the response te unit step function can be obtained by setting F(T)= 1 os A(t) = fF 9(t-2) ae ---- (Es) By differentiating this eguation with respect to t, we obtain h(t) = g(t) Equation (4.32) gives x(t) = s F(z) -g(t-t) ae Buk 3 (t— te mo) from problem 4.305 x(t) = is rey th fh G- ede Tate gration by arts gives t x(t) = F(t). A(t-2) an +f ae K(t-z) ae = - FEE) ho) 4 Fle) KE) + gf dE get) ae But h(o)=0 from Ey. (Ex) of problem 4,30. x(t) = FO AU) + fF SE (ey R(t-e) dT Equation of motion for rotation about O: Jo B+ ME (0) +ky a? O+ky bP O=Fy Cent Q) where X= ¢ 6 and 1 é 1 =—me ifsome b= spm@tm(sy= 5m 237Eq, (1) can be rewritten as: imeeme + (ky a? + kz bY) O= Fy eet (2) For given data, Eq. (2) takes the form: 53,3333 6 + 1562.5 0 = 500e"' (3) 1562. Noting that the system is undamped with wi, rhe F(t)= ‘the forcing term as 500 e~ ', the convolution integral, Eq. (4.33), can be used to find the steady state response as: t 1 Ht) = wa Gam) 7 500 e~ sin 5.4127 (t — 7) dr t 5.4127 (t— 1) dr = 1.7320 f emt elt si ° =— 1.7320 et I elt- 9) sin 5.4127 (t — 7) (— dr) (4) ° Using the formula: fe*sinbx dx = et* [asin bx —b cos ba] (5) Eq. (4) can be expressed as to V+ 5.4127? = 0.3004 e~ * + 0.05717 sin 5.4127 t — 0.3094 cos 5.4127 t radian 3h @ a 6(t) = — 1.7320 e~* fis 5.4127 (t — 7) — 5.4127 cos 5.4127 (t — 4 2384583 kg—m? Equation of motion for rotation about O: 4.4 eee. Wbtk FO tk TC O=Mpe or Sb + 5 kA Omg ert or 1.4583 + 3125.0 @ = 100 e~?* (1) Noting that the system is undamped with w, = 46.2915 rad/sec, the convolution integral, Eq. (4.33), can be used to find the steady state response as: t Ot) = Tae ERT f (100 e~ ?*) sin 46.2915 (t — 7) dr =— 14813 e~?* I elt) sin 46.2915 (t — r) (— dr) (2) ° Using Eq, (5) in the solution of Problem 4.32, Eq, (2) can be expressed as: 2(t-) =- -r}_¢ ' At) 1.4813 aaa f sin 46.2915 (t — r) — 46.2015 cos 46.2915 (t — >} rao = 0.03194 e~ ?* + 13,7994 (10-4) sin 46.2915 t — 0.03194 cos 46.2915 t radian (4) a = x(t), Equation of motion for rotation about O: eae Net compression of spring PQ = or wba gee ene aa -* (1) Ee given aut bapmtsa(h {= io @= x09) (1°) = 1.4583 kg—m?, = Sk Gar = (5000) (1?) = 3125 nee and Eq. (1) 7 1.4583 8 + 3125.0 6 = 37.5 e~ @ 239Noting that the system is undamped with m= V/ 3125.0. _ 46.2915 rad/see the convolution integral, Eq. (4.33), can be used to find the steady state response as: ‘ : 5 | 078 6°") sin 48.2015 (t 7) dr (3) Q at) = (1.4583) (46.2015) Using Eq. (5) in the solution of Problem 4,32, Eq. (3) can be expressed as etna (t) = — 0.5555 e * | ~_____ a) 1? + 46.2915? fix 48.2015 (t — 7) — 48.2915 cos (t — >} ° .01199 e° + 2.591 (10°) sin 46.2015 t — 0.01199 cos 46.2015 t radian (4) ot e F,, Fy = reactions } ak O t jms Equation of motion for rotation of pulley about O: ke Jo G+ mix (22) + hy x (Zt) + ky (Or) r= 2r Fy ent (1) where 6 = Yr Eq, (1) can be rewritten in terms of x only as: mo comelee lene de 7 Fy tem + ky rt yD kyr] x— ar koe’ (2) For given data, Eq. (2) becomes M.0¥ + 112.5 x =5 e' (3) Noting that the system is undamped with uw, = 3.1980 rad/sec, the convolution integral, Eq. (4.33), can be used to find the steady state response as: t x(t) =— 0.1421 e-* felt") sin 3.1980 (t — 7) (- dz) (4) ° 2401 0. 1000E+08 = 0. 6774E-O1 0. 7322E+00 -0. 5124E-03 2 0. Z00GE+Ga =. 4849E-01 6. 37SEE+OO —-0. B204E-05 3 0.3000E+G8 = «6. 2979E-01 0. 2594E+00 -0. 3BS9E-04 4 0.A00GE+08 = © «0. 5450E-01 6.1914E400 -0. 4108E-03 8 0. S000E+08 «9. SO9ZE-01 0. 1SGEE*OO — -0. 4204E-09 These results indicate that the reguired stiffness is *= 8x10" N/m. Specific weight 30 kN/m* Permissible stress 180 MPa ‘Young's modulus 70 GPa Solution: Let d = thickness of bracket. Then, from Example 4.15, self weight of beam = w = 135 d (N) total weight at free end of beam = W = 135 d +2 (N) moment of inertia of beam cross section 0.00125 d® m+ static deflection of beam under w: 5 = WE = G85 A* 2) Gy 986 x 10-9) m 3EL a use trial and error procedure to find the correct value of d. Let d= 40 mm, =5.4N, W=7.4N, T= 80 x 10-9 (m4) We _ 74 “3EI o.04* (1.0286 x 10°1%) = 11.8932 x 10°* (m) [ou Ve = 2m 6.9218 x 10- (s) from Fig. 4.51, A, = 2. Dynamic load at end of cantilever = P, 0.04 180 x 0.3) (1480 x ( . } 2) (200 g) = 1480 (N) g Myc Imax = = 111 MPa 80 x 10°° Since this is smaller than the permissible value of 180 MPa, we choose a smaller value of d next. Let d= 30 mm, w= 4.05 N, W 05 N, I = 33.75 x 10° (m) 250(1.0286 x 10-19) = 23.0483 x 10-6 (m) an 8 = 9.6958 x 10° ) & 42 = 103 from Fig. 4.51, A, P,=A,Ma ® (2 05) (300 = 1210 N & ) 1210 x 0.3 x 298 61 MPa 33.75 x 10° ‘This stress is close to the permissible value, we take d= 30 mm. W = 135 d+ 2(N), moment of inertia = 0.00125 4? (m‘), Let d = thickness of bracket. From Example 4.15, self weight = w = 135 d (N), total weight static deflection of beam We _ (135d +2) = = (1.0286 x 10-™ SET # ¢ ) m Since shock amplification factor for large values of *® in Fig. 4.52 is similar to a Fig. 4.12, we start with d = 20 mm. w=2.7N,W=4.7N, I= 10 mé 135 x 0.02 +2 7 = (1.0286 x 107%) > ~ = ** = 6.0430 x 10-6 m 0.02 |6.0430 x 10% = 2m (80880 x 10" = 0.01560 (s) ao Tm 0.01560 From Fig. 4.52, Av=L1 — (2) (200 9) = 5.7 B 17 x03) (2) Mees 2) 255. Ma 1 10* This stress is quite close to the permissible value, we select d = 20 mm as the design. 251