Problems and Solutions Section 2.2 (2.16 through 2.

31)

2.16 Calculate the constants A and ! for arbitrary initial conditions, x 0 and v 0 , in the case
of the forced response given by Equation (2.37). Compare this solution to the transient
response obtained in the case of no forcing function (i.e. F 0 = 0).

Solution: From equation (2.37)

x(t) = Ae!"#n t sin(# d t + $ ) + X cos(#t ! %) &

x˙ (t) = ! "# n Ae !"# n t sin(# d t + $ ) + A# d e !"#n t cos(# d t + $ ) ! X # sin(#t ! % )
Next apply the initial conditions to these general expressions for position and
velocity to get:
x(0) = A sin ! + X cos "
x˙ (0) = #$%n Asin ! + A % d cos ! + X % sin "
Solving this system of two equations in two unknowns yields:
& (x0 " X cos# )$ d )
! = tan "1 ( +
' v0 + (x0 " X cos# )%$ n " X $ sin # *
x0 " X cos#
A=
sin !
Recall that X has the form

F0 / m % 2#! ! (
X= and $ = tan"1 ' 2 n 2 *
(! n2 " ! 2 )2 + (2#! n! )2 & !n " ! )
Now if F0 = 0, then X = 0 and A and φ from above reduce to:

% x0 # d (
! = tan "1 ' *
& v0 + x 0$# n )
x0 (v0 + $# n x0 )2 + (x 0# d )2
A= =
sin ! # d2
These are identical to the values given in equation (1.38).
2.17 Show that Equations (2.28) and (2.29) are equivalent by verifying Equations
(2.29) and (2.30).

Solution: From equation (2.28) and expanding the trig relation yields
x p = X cos(! t " # ) = X [ cos ! t cos# + sin ! t sin # ]
= (X
!#cos
"#$# ) cos ! t + (X
!" # ) sin ! t
#sin#
$
As Bs

Now with As and Bs defined as indicated, the magnitude is computed:

X = As2 + Bs2
and
Bs X sin ! $B '
= " ! = tan #1 & s )
As X cos! % As (
2.18 Plot the solution of Equation (2.27) for the case that m = 1 kg, ! = 0.01, ! n = 2
rad/s. F 0 = 3 N, and ! = 10 rad/s, with initial conditions x 0 = 1 m and v 0 = 1
m/s.

Solution: The particular solution is given in equations (2.36) and (2.37).

Substitution of the values given yields: x p = 0.03125 cos(10t + 8.333 ! 10 "3 ) .
Then the total solution has the form:
x(t) = Ae!0.02t sin(2t + " ) + 0.03125 cos(10t + 0.008333)
= e!0.02t ( Asin 2t + B cos 2t ) + 0.03125 cos(10t + 0.008333)
Differentiating then yields
! = !0.02e!0.02t ( Asin 2t + B cos 2t ) + sin(2t + " )
x(t)
+ 2e!0.02t ( A cos 2t ! Bsin 2t ) ! 0.3125 sin(10t + 0.008333)
Apply the initial conditions to get:
x(0) = 1 = B + 0.03125 cos(0.00833) ! B = 0.969
! = 1 = "0.02B + 2A " 0.3125 sin(0.00833) ! A = 0.489
x(0)
So the solution and plot become (using Mathcad):
2.19 A 100 kg mass is suspended by a spring of stiffness 30 × 10 3 N/m with a viscous
damping constant of 1000 Ns/m. The mass is initially at rest and in equilibrium.
Calculate the steady-state displacement amplitude and phase if the mass is excited
by a harmonic force of 80 N at 3 Hz.

Solution: Given m = 100kg, k =30,000 N/m, c = 1000 Ns/m, F0 = 80 N and ω =

6π rad/s:
F 80 k
f0 = 0 = = 0.8 m/s 2 , ! n = = 17.32 rad/s
m 100 m
c
"= = 0.289
2 km
0.8
X= = 0.0041 m
( )
17.32 2 + 36# 2 + ( 2(0.289)(17.32)(6# ))
2 2

Next compute the angle from

# 188.702 &
! = tan "1 %
$ "55.323 ('
Since the denominator is negative the angle must be found in the 4th quadrant. To
find this use Window 2.3 and then in Matlab type atan2(188.702,-55.323) or use
the principle value and add π to it. Either way the phase is θ =1.856 rad.

2.20 Plot the total solution of the system of Problem 2.19 including the transient.

Solution: The total response is given in the solution to Problem 2.16. For the
values given in the previous problem, and with zero initial conditions the response
is determined by the formulas:
 X = 0.0041, ! = 1.856

Plotting the result in Mathcad yields

2.21 Consider the pendulum mechanism of Figure P2.21 which is pivoted at point O.
Calculate both the damped and undamped natural frequency of the system for small
angles. Assume that the mass of the rod, spring, and damper are negligible. What
driving frequency will cause resonance?
Solution: Assume the driving frequency to be harmonic of the standard form. To get the
equation of motion take the moments about point O to get:
! M0 = J"˙˙(t) = m! 2"˙˙(t)
= #k!1 sin " (!1 cos" ) # c! 2"˙(!2 cos ")
# mg(!sin" ) + F0 cos $t(! cos" )
Rearranging and approximating sinθ ~ θ and cosθ ~1 yields:
m! 2!˙˙(t) + c!22 !˙ (t) + (k! 21 + mg!)! (t) = F0 !cos "t
Dividing through by the coefficient of the inertia term and using the standard definitions for ζ
and ω yields:
k! 1 + mg!
2
!n = which is the resnonant frequency
m! 2
c! 22
" =
2 (k!12 + mg!)mg!

k!1 + mg! $& ')

2 4
2
c !2
!d = !n 1 # " 2 = 1 #
m!
2
% 4(k!1 + mg!)mg! (
2
2.22 Consider the pivoted mechanism of Figure P2.21 with k = 4 x 103 N/m. l 1 = 0.05
m. l 2 = 0.07 m. and l = 0.10 m. and m = 40 kg. The mass of the beam is 40 kg; it is
pivoted at point 0 and assumed to be rigid. Design the dashpot (i.e. calculate c) so that
the damping ratio of the system is 0.2. Also determine the amplitude of vibration of the
steady-state response if a 10-N force is applied to the mass, as indicated in the figure, at a
frequency of 10 rad/s.

Solution: This is similar to the previous problem with the mass of the beam included this
time around. The equation of motion becomes:
meq!˙˙ + ceq!˙ + k eq! = F0 !cos "t
Here:
1 mb
meq = m! 2 + (!3 + !13 ) = 0.5 kg ! m 2
3 ! + !1
ceq = c! 2 = 0.25c
2

1
k eq = k!12 + mg! + (! " !1 )mb g = 4.326 # 103 Nm
2
Using the formula the damping ratio and these numbers:
! 22 c
! = = 0.2 " c = 3.797 #103 kg/s
2 meq keq
Next compute the amplitude:
10 / 0.5
X= = 2.336 $ 103 rad
(keq / meq ! 10 ) + (2 " 0.2"10 " # n )
2 2 2
 2.23 In the design of Problem 2.22, the damping ratio was chosen to be 0.2 because
it limits the amplitude of the forced response. If the driving frequency is shifted
to 11 rad/s, calculate the change in damping coefficient needed to keep the
amplitude less than calculated in Problem 2.22.

Solution: In this case the frequency is far away from resonance so the change in
driving frequency does not matter much. This can also be seen numerically by
the following Mathcad session.

The new amplitude is only slightly larger in this case. The problem would be more
meaningful if the driving frequency is near resonance. Then the shift in amplitude will be
more substantial and added damping may improve the response.

2.24 Compute the forced response of a spring-mass-damper system with the following
values: c = 200 kg/s, k = 2000 N/m, m = 100 kg, subject to a harmonic force of
magnitude F 0 = 15 N and frequency of 10 rad/s and initial conditions of x 0 =
0.01 m and v 0 = 0.1 m/s. Plot the response. How long does it take for the
transient part to die off?

Solution:
Calculate the parameters
 k 2000 F0 15
!n = = = 4.472 rad/s f0 = = = 0.15 N/kg
m 100 m 100
! d = ! n 1 " # 2 = 4.472 1 " 0.224 2 = 4.359 rad/s
c 200
! = = = 0.224
2m" n 2 #100 # 4.472
Initial conditions: x0 = 0.01 m, v0 = 0.1 m/s
Using equation (2.38) and working in Mathcad yields
x(t) = e!t (0.0104 cos 4.359t + 0.025 sin 4.359t) + 1.318 " 10 !6 (0.335 cos10t + 37.7 sin10t)

a plot of m vs seconds. The time for the amplitude of the transient response to be
reduced, for example, to 0.1 % of the initial (t = 0) amplitude can be determined by:
e!t = 0.001 , then t = ! ln 0.001 = 6.908 sec
2.25 Show that Equation (2.38) collapses to give Equation (2.11) in the case of zero damping.

Solution:
Eq. (2.38):
$ $& f0 (# n 2 ! # 2 ) 2
&% 0 (x ! )cos # t &
& &' (# n 2 ! # 2 )2 + (2"# n # )2 d
&
& &
!"# n t &
, "# n f0 (# n ! # )
2 2
/ &
x(t) = e % . # (x0 ! ) 1 3
& . d (# n ! # ) + (2"# n # )
2 2 2 2
1 &
& +. 1 sin # d t &
2"# n # f02
v0
& .! + 1 &
& .- # d ((# n 2 ! # 2 )2 + (2"# n # )2 * # d 10 &
' ) + 4
f0
+ ((# n 2 ! # 2 )cos # t + 2"# n # sin # t *
2 )
(# ! # ) + (2"# # )
2 2 2 +
n n

In case of ζ = 0, this equation becomes:

$ &$ f0 .
& %(x0 " )cos # d &
t
& &' (# n 2 " # 2 ) + 0 & f0
x(t) = 1! % /+ cos # t
& ( v + & (# n
2
" # 2
)
&+ *) 0 " 0 + # -, sin # d t
0
&
' d 0
v0 f f
= sin # nt + (x0 " 2 0 2 )cos # nt + 2 0 2 cos # t
#n #n " # #n " #
(Note: ωd = ωn for ζ = 0)

2.26 Derive Equation (2.38) for the forced response of an underdamped system.

Solution:
From Sec. 1.3, the homogeneous solution is:
xh (t) = e!"# n t (A1 sin # d t + A2 cos # d t)
From equations (2.29) and (2.35), the particular solution is:
(! n2 " ! 2 ) f 0 2#! n!f0
x p (t) = 2 cos ! t + sin !t
(! n " ! ) + (2#! n! ) (! n " ! 2 )2 + (2#! n! )2
2 2 2 2

Then the general solution is:

x(t) = xh (t) + x p (t) = e!"# n t (A1 sin # d t + A2 cos # d t)
(# n 2 ! # 2 ) f 0 2"# n #f0
+ cos # t + sin #t
(# n ! # ) + (2"# n # ) (# n ! # 2 )2 + (2"# n# )2
2 2 2 2 2

Using the initial conditions, x(0) = x0 and x˙ (0) = v0 , the constants, A1 and A2, are
determined:
 (" n 2 ! " 2 ) f 0
A2 = x 0 !
(" n 2 ! " 2 ) 2 + (2#" n ") 2
v0 " 2#" n "f0 "n (" n 2 ! " 2 ) f0
A1 = + $ +# (x ! )
" d " d (" n 2 ! " 2 )2 + (2#" n" )2 " d 0 (" n 2 ! " 2 )2 + (2#" n" )2
Then, Eq. (2.30) is obtained by substituting the expressions for A1 and A2 into the general
solution and simplifying the resulting equation.

2.27 Compute a value of the damping coefficient c such that the steady state response
amplitude of the system in Figure P2.27 is 0.01 m.

Figure P2.27
Solution:
From Eq. (2.39), the amplitude of the steady state response is given by
f0
X=
(! n " ! ) + (2#! n! )2
2 2 2

F0 2 2 (! n # ! )
2 2 2
Then substitute, 2ζωn = c/m, c = # m into this equation
!2 " X 2 !2
and solve for c:

Given:
X = 0.01m ! = 6.3 rad / s F0 = 20N m = 100kg

k 2000
! n2 = = = 20 (rad/s)2 " c = 55.7 kg/s
m 100

2.28 Compute the response of the system in Figure P2.28 if the system is initially at
rest for the values k 1 = 100 N/m, k 2 = 500 N/m, c = 20 kg/s and m = 89 kg.

Solution:
The equation of motion is:
1
m˙x˙ + c x˙ + kx = 25cos3t where k =
1/ k1 + 1/ k2
Using Eq. (2.37) in an alternative form, the general solution is:
 !"# n t
x(t) = e ( A1 sin # d t + A2 cos # d t) + X cos(# t ! $ )
where
f0 25 / 89
X= = = 0.0347 m
(! n " ! ) + (2#! n! )
2 2 2 2
(0.966 " 3 ) + (2 $ 0.116 $ 0.966 $ 3)2
2 2 2

2$% n% "1 2 # 0.116 # 0.966# 3

! = tan "1 # 2 = tan # = 3.058rad (see Window 2.3)
%n " %
2
0.9662 " 32
Using the initial conditions, x(0) = 0 and x˙ (0) = 0 , the constants, A1 and A2, are
determined:
A2 = 0.0345 A1 = −0.005
Given: c = 20 kg/sec, m = 89 kg
1 1
k= = = 83N/m
1/ k1 + 1/ k2 1/100 + 1/ 500
k 83 c 20
!n = = = 0.966 rad/s ! = = = 0.116
m 89 2m" n 2 #89 #0.966
! d = ! n 1 " # 2 = 0.966 1 " 0.1162 = 0.9595rad/s
Substituting the values into the general solution:
x(t) = e!0.112t (!0.005 sin 0.9595t + 0.0345 cos 0.9595t) + 0.0347 cos(3t ! 3.058)

2.29 Write the equation of motion for the system given in Figure P2.29 for the case
that F(t) = F cos ! t and the surface is friction free. Does the angle ! effect the
magnitude of oscillation?

Solution:
Free body diagram:

!
x
Fs
m

mg sin!
(Forces that are normal
to the x direction are F(t)=F cos "t
neglected)

Assuming x = 0 to be at the equilibrium:

# Fx = F + mg sin! " Fs = mx˙˙
 mg sin !
where Fs = k ( x + ) and F(t ) = F cos ! t
k
Then the equation of motion is:
m x˙˙ + k x = F cos ! t
Note that the equation of motion does not contain θ which means that the
magnitude of the response is not affected by the angle of the incline.

2.30 A foot pedal for a musical instrument is modeled by the sketch in Figure P2.30.
With k = 2000 N/m, c = 25 kg/s, m = 25 kg and F(t) = 50 cos 2 ! tN, compute the
steady state response assuming the system starts from rest. Also use the small
angle approximation.

Solution: Free body diagram of pedal follows:

Summing the moments with respect to the point, O:

$ M 0 = F(3! a) " Fc (2 ! a) " Fs (a) = I o#!!
where I o = m(3a)2 = 9a 2 m , Fs = ka sin !
F = c(2 ! a ! sin " )# = 2ca cos""!
c

Substituting these equations and simplifying ( sin ! " ! , cosθ =1,for small θ):
9 a 2 m!!! + 4 a 2 c !! + a 2 k ! = 3a F(t)
Given: k = 2000 N/m, c = 25kg/s , m = 25 kg , F(t ) = 50cos2!t , a = 0.05 m
The equation of motion becomes: 0.5625!!! + 0.25!! + 5! = 7.5cos 2" t
Observing the equation of motion, equivalent mass, damping and stiffness
coefficients are:
F0 7.5
ceq = 0.25, meq = 0.5625, keq = 5 , f0 = = = 13.33 , " = 2!
meq 0.5625
k eq 5 ceq
!n = = = 2.981 ! = = 0.0745
meq 0.5625 2meq " n
 From Eq. (2.36), the steady-state response is:
f0eq 2$ eq" n"
! (t) = cos(" t # tan #1 2 )
(" n 2 # " 2 )2 + (2$" n" )2 "n # " 2
% ! (t) = 0.434cos(2& t # 3.051) rad

2.31 Consider the system of Problem 2.15, repeated here as Figure P2.31 with the
effects of damping indicated. The physical constants are J =25 kg m2, k = 2000
N/m, and the applied moment is 5 Nm at 1.432 Hz acting through the distance r =
0.5 m. Compute the magnitude of the steady state response if the measured
damping ratio of the spring system is ζ = 0.01. Compare this to the response for
the case where the damping is not modeled (ζ = 0).

Figure P2.31 Model of an airfoil in at wind tunnel including the effects of damping.

Solution From equation (2.39) the magnitude of the steady state response for an
underdamped system is
M0 / J
! =
2
$k 2'
( )
2
&% J " # )( + 2*# n#

Substitution of the given values yields (here X = rθ)

! = 0.2 rad and X = 0.1 m for " = 0
! = 0.106 rad and X = 0.053 m for " = 0.01
where X is the vertical displacement of the wing tip. Thus a small amount of
damping can greatly reduce the amplitude of vibration.