EM3511/EA3538 Tutorial 1 Solution

Question 1.

Model is θ Free body diagrams are

I
O r

k2 ( y − rθ )
k1 k2
k1rθ
m
m k2 ( y − rθ )
y
Our coordinates are angle of rotation θ and vertical displacement of the mass y .

Equations of motion are

my =∑ Fy = −k2 ( y − rθ ) - Sum of forces in “y” direction
my + k2 y − k2 rθ = 0
Iθ = ∑ Mθ = −k1r θ + k2 r ( y − rθ )
2
- Sum of moments around point O
Iθ − k ry + ( k + k ) r 2θ =
2 1 2 0
And in matrix form:
y   k2
 m 0    − k 2 r   y  0 
 0 I  θ +  −k r
 =
( k1 + k2 ) r 2  θ  0
    2
Question 2.

Model is Free body diagrams are (assuming

small angles sin θ ≈ θ , cos θ ≈ 1 )

a b
O Inertia I about O
θ
O Inertia I about O k2 ( ( a + b ) θ − y )
k1aθ
k1 k2
y k2 ( ( a + b ) θ − y )
m
m

Equations of motion:

Iθ = −k1a 2θ − k2 ( a + b ) ( ( a + b ) θ − y )
∑ Mθ = - Sum of moments around point O

( )
Iθ + k1a 2 + k2 ( a + b ) θ − k2 ( a + b ) y =
2
0
my= ∑F = y k2 ( ( a + b ) θ − y ) - Sum of forces in “y” direction
my − k2 ( a + b ) θ + k2 y =
0

And in matrix form:

 I 0  θ  k1a 2 + k2 ( a + b ) −k2 ( a + b )  θ  0 
2

0 m    +   =  
   y   −k2 ( a + b ) k2   y  0 
 Question 3.
In this case centre of mass does not coincide with the centre of rotation.

Model is Free body diagram is

y Ω
k
ε m kx + cx
x
c
ky + cy
k c

Kinematics: position of the mass can be calculated if the displacement of the centre and the
angle of rotation are known

m
ε sin (θ ) ε
θ (t )
y
x ε cos (θ )
xm= x + ε cos (θ )
ym= y + ε sin (θ )
Then velocities and accelerations of the mass could be calculated in both directions:
xm= x − εθ sin (θ )
y = y + εθ cos (θ )
m

And
xm =
 x − εθsin (θ ) − εθ 2 cos (θ )

y =
m y + εθ cos (θ ) − εθ 2 sin (θ )

Now we have to take into account constant angular velocity Ω :
θ (t ) =
Ωt , θ ( t ) =
Ω and θ( t ) =
0
Equations of motion are
mxm =∑ Fx =−kx − cx mym =∑ Fx =−ky − cy
(
m  )
x − εθsin (θ ) − εθ 2 cos (θ ) + cx + kx =
0 (
m  )
y + εθ cos (θ ) − εθ 2 sin (θ ) + cy + ky =
0
and
m ( 
x − εΩ 2 cos ( Ωt ) ) + cx + kx =0 m ( 
y − εΩ 2 sin ( Ωt ) ) + cy + ky =0
mx + cx + kx = ε mΩ 2 cos ( Ωt ) my + cy + ky = ε mΩ 2 sin ( Ωt )
Question 4.

Model is Free body diagram:

m r m
Ω
l kr
k

We will use polar coordinates, r , θ . Position of the mass in radial direction is (r + l ) and
deflection of the spring in radial direction is r . Gravitational force is not taken into account so
there are no forces in θ direction.

Equation of motion is
m ( 
r − ( r + l )θ 2 ) =∑ Fr =−kr
r − ( r + l ) θ 2 ) + kr =
m (  0
and
(
m ( r + l ) θ + 2rθ = ) ∑F =θ 0
m ( ( r + l ) θ + 2rθ ) =
0
But θ = Ω and θ = 0 so we have
2mrθ = 0
r = 0
And therefore
−m ( r + l ) Ω 2 + kr =0
Which means that the mass has fixed radius of rotations.
Question 5.
𝑥𝑥2
Model is
m2

k k 𝑥𝑥3
x1

m1 m3

k k k k

Free body diagrams are (assuming that x1 > x2 and x2 > x3 )

𝑥𝑥1

𝑘𝑘𝑥𝑥1 𝑘𝑘(𝑥𝑥1 − 𝑥𝑥2 ) + 𝑘𝑘𝑥𝑥1 𝑥𝑥2

𝑥𝑥3
𝑘𝑘(𝑥𝑥2 − 𝑥𝑥3 ) − 𝑘𝑘𝑥𝑥3

𝑘𝑘𝑥𝑥3

Equations of motion are

First mass:
m1 
x1 =∑ Fx1 =−kx1 − kx1 − k ( x1 − x2 )
x1 + 3kx1 − kx2 =
m1  0
Second mass:
x2 = ∑ Fx2 = k ( x1 − x2 ) − k ( x2 − x3 )
m2 
x2 − kx1 + 2kx2 − kx3 =
m2  0
Third mass:
m3 
x3 = ∑ Fx3 = −kx3 − kx3 + k ( x2 − x3 )
x3 − kx2 + 3kx3 =
m3  0
And in the matrix form
 m1 0 0   
x1   3k −k 0   x1  0 
0 m        
 2 0   
x2  +  −k 2k −k   x2  =0 
 0 0 m3     x3   0 −k 3k   x3  0 