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pneu montado na roda, o sistema é suspenso sobre uma cunha conforme mostrado
na figura abaixo, e o seu periodo de oscilação natural T é medida. Derive a formula
para o Ic em termos da massa m, o periodo T do sistema, e o raio r a partir do
centro C na ponta da cunha.
2π
Oscilação T natural é medida: T =
ωn
ET = E C + E P ( gravitacional )
I C ⋅θ 2
ET = + mgr ⋅ (1 − cos θ ) = cste
2
b) A equação de compatibilidade não é necessária, pois o sistema está todo escrito
em função de
1
I CG = ⋅m⋅r2 Aplicando Steiner I C = I CG + ⋅m ⋅ r 2
2
3⋅ m ⋅ r2
I C = I CG + ⋅m ⋅ r 2 = , logo da diferenciação da equação da energia:
2
3
I C ⋅ θ + mgr (senθ ) = 0 , e, portanto ⋅ m ⋅ r 2θ + mgr (senθ ) = 0
2
Simplificando:
Como senθ ≅ θ
3
m ⋅ r 2 ⋅θ + k ⋅θ = 0
2
2 2
2π k 2π k π
ωn = = logo ωn = = assim k = 4m
T m T m T
2
3 ⋅ mr 2 π
⋅θ + 4 ⋅ m ⋅θ = 0
2 T
1 n
Molas em serie => keq = n
em paralelo => K eq = ki
1 i =1
i =1 k i
2k1 ⋅ k 2 ⋅ k 3
k eq1 = 2k1 k eq 2 = 2k 3 k eq 3 =
k 2.k 3 + 2k1.k 3 + k1.k 2
2k1 ⋅ k 2 ⋅ k 3 2k1 ⋅ k 2 ⋅ k 3 + k 4(k 2.k 3 + 2k1.k 3 + k1.k 2 )
k eq 4 = + k 4 → k eq 4 =
k 2.k 3 + 2k1.k 3 + k1.k 2 k 2.k 3 + 2k1.k 3 + k1.k 2
k eq 5 = k eq 4 + k 5
k eq =
[2k1 ⋅ k 2 ⋅ k 3 + k 4(k 2.k 3 + 2k1.k 3 + k1.k 2)] ⋅ k 5
k 5 ⋅ (k 2.k 3 + 2k1.k 3 + k1.k 2 ) + 2 ⋅ k1 ⋅ k 2 ⋅ k 3 + k 4(k 2 ⋅ k 3 + 2k1 ⋅ k 3 + k1 ⋅ k 2 )
k1.k 2 + k 3(k1 + k 2 )
k teq1 =
k1 ⋅ k 2 ⋅ k teqT = kteq1 + k 3 =
k1 + k 2 k1 + k 2
4ª Questão : Derive a equação dinâmica e encontre a solução de estado estacionário
em torno do ponto O, do sistema mostrado na figura abaixo. São dados: k1= 1000
N/m; k2 = 500 N/m; c=500Ns/m; m =10 kg; r = 5 cm; J0 = 1 kg.m2; Fo = 50 N; w =20
rad/s.
m ⋅ x12 J ⋅ θ 2 k1 ⋅ x12 k 2 ⋅ x 22
ET = E C ⋅(massa )+ EC ( polia ) + EP⋅(mola ) ET = + + + = cste
2 2 2 2
x2 = r ⋅ θ x2 = r ⋅ θ
m ⋅ 4r 2 ⋅θ 2 J 0 ⋅θ 2 k1 ⋅ 4r 2θ 2 k 2 ⋅ r 2 ⋅ θ 2
ET = + + + = cste
2 2 2 2
∂ ⋅ ET 4m ⋅ r 2θθ J 0 ⋅ θθ k1 ⋅ 4r 2θθ k 2 ⋅ r 2 ⋅ θθ
=0= + + +
∂t
[(4m ⋅ r θ + J ⋅θ ) + (k ⋅ 4r θ + k
2
0 1
2
2 )]
⋅ r 2 ⋅θ ⋅θ = 0
(4m ⋅ r 2
) ( )
+ J 0 ⋅ θ + k1 ⋅ 4r 2 + k 2 ⋅ r 2 ⋅ θ = 0
meq = 4m ⋅ r 2 + J 0 k eq = k1 ⋅ 4r 2 + k 2 ⋅ r 2
[P ]
dissip Total = ct⋅eqθ 2 = c ⋅ x1
2
=> ct⋅eqθ 2 = c ⋅ 4r 2 ⋅ θ 2
ct⋅eq = c ⋅ 4r 2
(4m ⋅ r 2
) ( ) ( )
+ J 0 ⋅ θ + c ⋅ 4r 2 θ + k1 ⋅ 4r 2 + k 2 ⋅ r 2 ⋅ θ = 2r ⋅ F0 ⋅ sen(ω ⋅ t )
k1= 1000 N/m; k2 = 500 N/m; c=500 Ns/m; m =10 kg; r = 5 cm; J0 = 1 kg.m2; Fo = 50 N;
w =20 rad/s.
θ (t ) = θ 0 ⋅ sen(ω ⋅ t − φ )
M (t ) = F0 ⋅ 2 ⋅ r ⋅ sen(ω ⋅ t − φ ) M (t ) = 5 ⋅ sen(ω ⋅ t − φ )
2 ⋅ζ ⋅ r
φ = arctg
1− r2
2 ⋅ 0,7 ⋅ 6,25 rad rad
φ = arctg = −0, 22 ⋅ ⋅ ou ⋅ −0, 22 + π = 2,91
1 − 6,252 seg seg
logo
M (t ) = 5 ⋅ sen(20 ⋅ t − 2,91)
x1 x
tan g (θ ) = = x = 2 x1
r 2r
x1 x
θ= =
r 2r
Energia potencial
2
x
J0 ⋅ 2
m⋅ x 2
2r k1 ⋅ x 2 k 2 ⋅ x1
ET = + + + = cste
2 2 2 2
2
x
k2 ⋅
k ⋅x 2
2 1 500
EP = 1 + EP = ⋅ 1000 + ⋅ x 2 => K eq = 1125 ⋅ N
2 2 2 4 m
Energia cinética
2
1 x 1 J
EC = m ⋅ x2 + J0 ⋅ EC = m + 02 ⋅ ⋅ x 2 =>
2 2r 2 4r
J0 1
meq = m + = 10 + = 110 ⋅ Kg
4 ⋅ (.05)
2 2
4r
[P ]
dissip Total = ct⋅eqθ 2 = c ⋅ x 2
ct⋅eq = 500 ⋅ Ns / m
Equação dinâmica
k eq 1125 rads
X (t ) = X 0 ⋅ sen(ω ⋅ t − φ ) ωn = = = 3,2 ⋅
meq 110 seg
ceq 500
cc = 2 ⋅ m ⋅ ω n ζ = =
cc 2 ⋅10 ⋅ 3,2
2 ⋅ζ ⋅ r
φ = arctg ζ = 0,7⋅ ≤ 1 Subamortecido
1− r 2
F0 50
k eq 1125
X 0= X 0= = 1,14 ⋅10 −3 m
(1 − r ) + (2ζ ⋅ r )
2 2 2
(1 − 6,25 ) + (2 ⋅ 0,7 ⋅ 6,25)
2 2 2
2 ⋅ 0,7 ⋅ 6,25
φ = arctg = −0,22 ⋅ rad
1 − (6,25)
2