Tutorial Sheet 2 Solutions

Aerospace Structural Dynamics (AE31002)

Department of Aerospace Engineering, IIT Kharagpur

February 6, 2025

Contents
1 Problem 1: Oscillations of a Uniform Bar 2

2 Problem 2: Oscillation of a Suspended Uniform Bar 2

3 Problem 3: Torsional System with a Steel Shaft 3

4 Problem 4: Natural Period of a Single-Story Building 4

5 Problem 5: Effective Mass and Natural Frequency 5

6 Problem 6: Effective Mass of the Rocket Engine 5

7 Problem 7: Effective Mass of a Cantilever Beam with Concentrated

End Mass 5

8 Problem 8: Effective Rotational Stiffness of a Shaft 6

9 Problem 9: Critical Damping Coefficient 6

10 Problem 10: Damping Factor from Dashpot Calibration 7

11 Problem 11: Damped Vibrating System (Amplitude Ratio 1.00 and

0.98) 7

12 Problem 12: Damped System with Given Damping Coefficient 8

13 Problem 13: Damped System with Specified Parameters 9

14 Problem 14: Damping for 5% Amplitude Decay per Cycle 10

15 Problem 15: Piston Impact on a Spring-Damper System 10

16 Problem 16: Shock Absorber Overshoot 11

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1 Problem 1: Oscillations of a Uniform Bar
A uniform bar of length L is suspended in the horizontal position by two vertical strings
of equal length attached to the ends. The period of oscillation in the plane of the bar
and strings is t1 , and the period of oscillation about a vertical line through the center of
gravity is t2 . Show that the radius of gyration of the bar about the center of gravity is
given by the appropriate expression.

Solution
Step 1: Oscillation in the plane:
The bar rotates about an axis through one end. The period is given by
s
IA
t1 = 2π ,
(mg)(L/2)
where IA is the moment of inertia about the end. For a uniform bar,
 2
L L2
IA = IG + m = mk 2 + m .
2 4
Thus, s s
2 2
mk 2
+ m L4 k 2 + L4
t1 = 2π = 2π .
mgL/2 gL/2
Step 2: Oscillation about vertical axis:
In this case the bar undergoes torsional oscillation about its center. With
IG = mk 2 , the period is
s
IG
t2 = 2π .
(restoring torque per unit angle)
(The derivation involves equating the restoring moment from the strings to
the inertial moment; details depend on geometry.) One eventually finds a
relation of the form  2 2
t1 k 2 + L4
= ,
t2 4k 2
from which, by algebraic manipulation, one can solve for k in terms of L, t1 ,
and t2 .

Note: The complete algebraic manipulation yields the desired expression for k (radius
of gyration).

2 Problem 2: Oscillation of a Suspended Uniform

Bar
A uniform bar with radius of gyration k about its center of gravity is suspended hori-
zontally by two vertical strings of length h, attached at distances a and b from the mass
center. Prove that the bar will oscillate about the vertical line through the mass center,
and determine the frequency of oscillation.

2
Solution
Step 1: Restoring Torque:
A small angular displacement θ produces a restoring torque from the two
strings. The torque due to a force F at a distance r is F r. For the two
strings, the total restoring torque is

mg(a2 + b2 )
 
mg a mg b
τ =− + θ=− θ,
h h h

where the distances are squared if one considers the geometry; the precise
derivation depends on the pivot locations.

Step 2: Equation of Motion:

The equation for rotational oscillations is

mg(a2 + b2 )
IG θ̈ + θ = 0.
h
Since IG = mk 2 , this becomes

g(a2 + b2 )
θ̈ + θ = 0.
k2h

Step 3: Frequency:
Thus, the angular frequency is
r
g(a2 + b2 )
ω= ,
k2h
and the frequency (in Hz) is
r
ω 1 g(a2 + b2 )
f= = .
2π 2π k2h

3 Problem 3: Torsional System with a Steel Shaft

A steel shaft (50 in. long, 1.5 in. diameter) is used as a torsion spring for the wheels of a
light automobile. The wheel and tire assembly weighs 38 lb and has a radius of gyration
of 9.0 in. about its axle. Determine the natural frequency of the system and discuss the
difference with the wheel locked vs. unlocked.

Solution
Step 1: Data Conversion and Properties:

• Length of shaft: L = 50 in.

• Diameter: d = 1.5 in.
• Weight of wheel: W = 38 lb ⇒ mass m = 38
32.2
≈ 1.18 slugs.
• Radius of gyration: k = 9.0 in.

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 • Shear modulus for steel: G ≈ 11.5 × 106 psi.
Step 2: Polar Moment of Inertia of the Shaft:
πd4 π(1.5)4
J= = ≈ 0.248 in4 .
32 32
Step 3: Torsional Stiffness:
GJ (11.5 × 106 )(0.248)
kt = ≈ ≈ 57000 lb-in/rad.
L 50
Step 4: Wheel Inertia:
IG = mk 2 ≈ 1.18 × (9)2 ≈ 95.6 slug-in2 .

Step 5: Natural Frequency:

For a torsional oscillator,
r r
kt 57000
ω= ≈ ≈ 24.4 rad/s.
IG 95.6
Converting to Hz,
ω 24.4
f= ≈ ≈ 3.88 Hz.
2π 6.28
Step 6: Locked vs. Unlocked:
With the wheel locked, additional rotational inertia is effectively added to the
system, thereby reducing the natural frequency compared to when it is free
(unlocked).

4 Problem 4: Natural Period of a Single-Story Build-

ing
A simplified model of a single-story building (columns rigidly embedded at the ends) is
given. Determine its natural period τ .

Solution
Step 1: Model as SDOF:
Represent the building as a mass m supported by a lateral stiffness keff .
Step 2: Stiffness of a Column:
For a cantilever column with rigid supports,
12EI
k= .
L3
For two columns,
12EI 24EI
keff = 2 × 3
= .
L L3
Step 3: Natural Period: r
r
m mL3
τ = 2π = 2π .
keff 24EI

4
5 Problem 5: Effective Mass and Natural Frequency
Determine the effective mass at point n and the natural frequency for the system shown
in Figure T2-02.

Solution
Step 1: Effective Mass:
For a distributed system vibrating in its fundamental mode, the effective mass
meff is computed as R
m(x)ϕ2 (x)dx
meff = ,
ϕ2 (n)
where ϕ(x) is the mode shape. In many cases, for a lumped approximation,
meff ≈ m, if the mass moves nearly in phase.

Step 2: Natural Frequency:

Once keff (from Problem 4) and meff are determined,
r
keff
ωn = .
meff

Remark: The precise numerical evaluation depends on the given distribution and
mode shape from Figure T2-02.

6 Problem 6: Effective Mass of the Rocket Engine

Determine the effective mass of the rocket engine shown in Figure T2-03 to be added to
the actuator mass m1 .

Solution
Step 1: Concept:
For a distributed mass attached to a vibrating structure, the effective mass is
given by Z
meff = m(x)ϕ2 (x)dx.

Step 2: Application:
Using the geometry and mode shape provided in the figure, perform the inte-
gration to find meff , and then add it to the actuator mass m1 .

7 Problem 7: Effective Mass of a Cantilever Beam

with Concentrated End Mass
A uniform cantilever beam of mass ml has a concentrated mass M at its free end. De-
termine the effective mass of the beam to be added to M , and write the equation for its
fundamental frequency.

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Solution
Step 1: Effective Mass of the Beam:
For a cantilever beam vibrating in its first mode, the effective mass is known
to be approximately
meff,beam ≈ 0.236 ml .

Step 2: Total Effective Mass:

mtotal = M + 0.236 ml .

Step 3: Fundamental Frequency:

For a beam with flexural rigidity EI and length L, with the load applied at
the tip, s
1 3EI
f1 = .
2π (M + 0.236 ml )L3

8 Problem 8: Effective Rotational Stiffness of a Shaft

Determine the effective rotational stiffness of the shaft in Figure T2-04 and calculate its
natural period.

Solution
Step 1: Torsional Stiffness:
For a circular shaft,
GJ
kθ = ,
L
πd4
where J = 32
.

Step 2: Natural Period for Torsional Vibration:

If I is the moment of inertia of the rotating mass,
r
I
τ = 2π .
kθ

9 Problem 9: Critical Damping Coefficient

A mass of 0.907 kg is attached to the end of a spring with stiffness 7.0 N/cm. Determine
the critical damping coefficient.

Solution
Step 1: Convert Spring Stiffness:
7.0 N/cm = 700 N/m.

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 Step 2: Critical Damping Coefficient:
√ √
ccrit = 2 km = 2 700 × 0.907.

Calculate: √ √
700 × 0.907 ≈ 635 ≈ 25.2,
so
ccrit ≈ 2 × 25.2 ≈ 50.4 Ns/m.

10 Problem 10: Damping Factor from Dashpot Cal-

ibration
A dashpot experiment shows that a 1/2 lb weight produces a constant velocity of 1.20
in/s. Determine the damping factor ξ when used with the system of Problem 9.

Solution
Step 1: Determine Damping Coefficient:
The force from a 0.5 lb weight (in Newtons) is

F = 0.5 lb × 4.448 N/lb ≈ 2.224 N.

Convert velocity: 1.20 in/s = 0.03048 m/s. Then,

F 2.224
c= ≈ ≈ 73 Ns/m.
v 0.03048

Step 2: Damping Factor:

c 73
ξ= ≈ ≈ 1.45.
ccrit 50.4
(This indicates an overdamped system.)

11 Problem 11: Damped Vibrating System (Ampli-

tude Ratio 1.00 and 0.98)
A system with mass m = 2.267 kg and spring stiffness k = 17.5 N/cm (= 1750 N/m) is
viscously damped. The ratio of two consecutive amplitudes is 1.00 and 0.98. Determine:

(a) the natural frequency of the damped system,

(b) the logarithmic decrement,

(c) the damping factor ξ, and

(d) the damping coefficient c.

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Solution
Step 1: Logarithmic Decrement:
 
1.00
δ = ln ≈ ln(1.0204) ≈ 0.0202.
0.98

Step 2: Damping Factor:

For a lightly damped system,
2πξ
δ=p ≈ 2πξ (since ξ ≪ 1).
1 − ξ2

Thus,
δ 0.0202
ξ≈ ≈ ≈ 0.0032.
2π 6.283
Step 3: Undamped Natural Frequency:
r
√
r
k 1750
ωn = = ≈ 771.8 ≈ 27.8 rad/s.
m 2.267
The damped natural frequency is
p
ωd = ωn 1 − ξ 2 ≈ 27.8 rad/s.

Step 4: Critical Damping and Actual Damping Coefficient:

Critical damping coefficient is

ccrit = 2mωn = 2(2.267)(27.8) ≈ 126.1 Ns/m.

Therefore,
c = ξ ccrit ≈ 0.0032 × 126.1 ≈ 0.4 Ns/m.

12 Problem 12: Damped System with Given Damp-

ing Coefficient
A system has mass m = 4.534 kg, spring stiffness k = 35.0 N/cm (= 3500 N/m), and
damping coefficient c = 0.1243 N/cm (= 12.43 Ns/m). Find:

(a) the damping factor ξ,

(b) the logarithmic decrement δ, and

(c) the ratio of two consecutive amplitudes.

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Solution
Step 1: Natural Frequency:
r
√
r
k 3500
ωn = = ≈ 772.2 ≈ 27.8 rad/s.
m 4.534

Step 2: Critical Damping:

ccrit = 2mωn = 2(4.534)(27.8) ≈ 251.8 Ns/m.

Step 3: Damping Factor:

c 12.43
ξ= ≈ ≈ 0.0494.
ccrit 251.8
Step 4: Logarithmic Decrement:
2πξ
δ=p ≈ 2π(0.0494) ≈ 0.310.
1 − ξ2

Step 5: Amplitude Ratio:

The ratio of successive amplitudes is
x1
= eδ ≈ e0.310 ≈ 1.364.
x2

13 Problem 13: Damped System with Specified Pa-

rameters
A system has m = 17.5 kg, k = 70.0 N/cm (= 7000 N/m), and c = 0.70 N/cm (= 70.0
Ns/m). Determine:

(a) the damping factor ξ,

(b) the damped natural frequency,

(c) the logarithmic decrement δ, and

(d) the ratio of consecutive amplitudes.

Solution
Step 1: Natural Frequency:
r
7000 √
r
k
ωn = = = 400 = 20 rad/s.
m 17.5

Step 2: Critical Damping:

ccrit = 2mωn = 2(17.5)(20) = 700 Ns/m.

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 Step 3: Damping Factor:
c 70
ξ= = = 0.1.
ccrit 700
Step 4: Logarithmic Decrement:

2πξ 2π(0.1)
δ=p ≈√ ≈ 0.628.
1 − ξ2 1 − 0.01

Step 5: Amplitude Ratio:

x1
= eδ ≈ e0.628 ≈ 1.87.
x2

14 Problem 14: Damping for 5% Amplitude Decay

per Cycle
A spring-mass system is displaced and released. If the amplitude diminishes by 5% each
cycle, determine the fraction of critical damping ξ.

Solution
Step 1: Logarithmic Decrement:
A 5% decay means
 
xn+1 1
= 0.95 ⇒ δ = ln ≈ ln(1.0526) ≈ 0.0513.
xn 0.95

Step 2: Solve for ξ:

2πξ
δ=p .
1 − ξ2
p
For small ξ, 1 − ξ 2 ≈ 1, hence

δ 0.0513
ξ≈ ≈ ≈ 0.0082.
2π 6.283
Thus, the system has about 0.82% of critical damping.

15 Problem 15: Piston Impact on a Spring-Damper

System
A piston of mass 4.53 kg traveling at 15.24 m/s engages a spring and damper. Determine:

(a) the maximum displacement of the piston after engaging the spring-damper, and

(b) the time taken to reach that displacement.

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Solution Outline
Step 1: Energy Balance:
For an impact without significant damping energy loss (or with damping taken
into account separately), equate the initial kinetic energy to the stored spring
energy:
1 2 1 2
mv = kx .
2 0 2 max
Thus, r
m
xmax = v0 .
k
(Note: If damping is significant, additional work is done by the damper; then
a transient analysis is required.)
Step 2: Time to Maximum Displacement:
For a (lightly damped) oscillator, the time to reach maximum displacement
from equilibrium is approximately one-quarter of the period:
π
t≈ ,
2ωd
where r
p k
ωd = ωn2 − ξ 2 ωn2 and ωn = .
m

Note: In an actual design, the damping work should be integrated. Here, we assume
a simplified energy balance if damping is small or if only the spring energy is of interest.

16 Problem 16: Shock Absorber Overshoot

A shock absorber is to be designed such that its overshoot is 10% of the initial displace-
ment when released.
(a) Determine the required damping factor ξ1 .
(b) If ξ is reduced to half of ξ1 , what is the new overshoot?

Solution
Step 1: Overshoot Formula:
For a step response of a second-order underdamped system, the percent over-
shoot (in decimal form) is given by
− √ πξ
Overshoot = e 1−ξ2 .

Setting overshoot to 0.10:

−√
πξ1
2
1−ξ1
0.10 = e .
Taking logarithms,
πξ1
ln(0.10) = − p ,
1 − ξ12

11
 πξ1
−2.302 = − p .
1 − ξ12
Solving numerically yields
ξ1 ≈ 0.591.

Step 2: Half of ξ1 :
If ξ = 21 ξ1 ≈ 0.296, then the new overshoot is
π(0.296)
−√
Overshoot = e 1−0.2962 .

Compute the denominator:

√ √
1 − 0.0876 ≈ 0.9124 ≈ 0.955.

Thus,
0.929
Overshoot ≈ e− 0.955 ≈ e−0.972 ≈ 0.378,
which corresponds to about 37.8% overshoot.

Final Remarks
The above solutions provide a step-by-step derivation for each problem. Some numerical
approximations have been made; please verify units and conversion factors when applying
to specific cases. For diagrams and additional details, refer to the original figures (T2-01,
T2-02, T2-03, T2-04, T2-05) provided in the tutorial sheet.

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