ME525L –Vibrations of Discrete Systems
Homework - 3 Date: 22/10/2024 Due: 29/10/2024
1) Double pendulum: Consider a 2DoF system as
shown in the figure with masses m1 and m2.
A) Derive the non-linear equations of motion.
B) Linearize the system by assuming small angle
approximation.
C) Estimate the natural frequencies and mode
shapes of the system for the following cases.
Case 1: m1 = m2 = 2 kg, l1 = l2 = 1m
Case 2: m1 = 20 kg, m2 = 1 kg, l1 = l2 = 1m
Case 3: m1 = 1 kg, m2 = 20 kg, l1 = l2 = 1m
Case 4: m1 = m2 = 2 kg, l1 = 20 m, l2 = 1m
D) What do you infer from the four cases? Can
you give some physical insights to the system
based on the calculated natural frequencies and mode shapes?
2) A trailer of mass M is connected to a wall
through a spring of stiffness k1 and can move
on a frictionless horizontal surface, as shown
in the figure. A uniform cylinder of mass m,
connected to the wall of the trailer by a spring
of stiffness k2, can roll on the floor of the
trailer without slipping.
A) Derive the equation of motion in terms of x
and . Here x is the displacement of the trailer
and is the angular displacement of the
cylinder.
B) For M= 300kg, m= 10kg, k1 = 1kN/m, k2 = 100 N/m, r = 0.5m, find the natural frequency and
mode shapes (also plot them).
C) Find the response of initial conditions x(0) = 0.1m, (0)=0.01 rad, 𝑥̇ (0) = 10 𝑚/𝑠 and
̇ (0) = 1 𝑟𝑎𝑑/𝑠.
3) Rigid base of an electric motor – pump unit (Figure (a)) is modelled as a 2DoF system as
shown in figure (b).
A) Derive the EoMs of the system with x1(t) and x2(t) as DoFs.
B) With m=250 kg, J0=500 kg-m2, k1 = 500 kN/m and k2 = 200 kN/m, determine the natural
frequencies and mode shapes of the system.
C) Determine the response of the system to F1(t) = 100 cos (t) and F2(t) = 200 cos (t-/2).
Here F1(t) and F2(t) are the excitation forces at the left and right end of the bar respectively
(along the direction of x1(t) and x2(t)).
4) Figure shows a system of gears mounted on shafts.
The radii of gears A and B are related by RA/RB = 2.
A) Derive the equation of motion for the torsional
motion of the system.
B) For L1 = 1m, L2 = 0.5m, IA = IC = 2 kg.m2, IB = 0.5
kg.m2, G = 80 GPa, diameter of shaft 1 & 2
respectively, d1 = 10mm, d2 = 7mm, find the response
of the system for the given torque of M(t) = 100sin(ωt)
Nm using the transfer function method.
