Module: 15

Lecture: 4
Ex:
G Centre of mass
Jc = rotational inertia about C

Fig. 1 Airfoil Model mounted in bending and torsional springs

Kinetic Energy, T

1
1
mG xG2 J C 2
2
2

From above diagram we can write

xG (t ) x(t ) e sin (t )
xG t x t e sin where t
x (t ) x (t ) e(t ) cos (t )
G

1
1
m ( x e cos ) 2 J C 2
2
2
1
1
U Kx 2 K t 2
2
2
1
1
1
1
L T U m ( x e cos ) 2 J C 2 Kx 2 K t 2
2
2
2
2
T

Now q1 x(t ) and q2 (t )

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we take for i=1 first

L L

m x e Cos
qi x
d L

2
mx me Cos me Sin
dt x
L L

Kx
d L L
0
q1 x

dt x x
mx me Cos me 2 Sin Kx 0
mx me Kx 0
For

i 2 q2 (t )

L L
m x e Cos e Cos J c

q2
me Cos x me2 Cos 2 J
c

L d L

t q2 dt
x me x me2 Cos 2 2 me 2 2 sin cos J c
me Cos
L L

m x e Cos e Sin K t
q2

So we have me x Sin me 2 2 Sin Cos K t 0

J c me Cos
x me 2 Cos 2 . me 2 2 Sin Cos K t 0

to be small ----> J c me 2 me x K t 0
We can write in matrix form
me
x(t ) K
m
me J me 2 (t ) 0

c

0
0
x(t ) (t )

Kt
0

Non-Conservative Systems
When the system is also subjected to given forces that do not have a potential. We have
instead of
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d (T U ) Wnp d (T U ) dWnp

Where dWnp istheworkofthenonpotentialforceswhenthesystemissubjectedtoanarbitrary

infinitesimaldisplacement.Expressing dWnp intermsofthegeneralizedcoordinates qi ,wehave
n

i 1

i 1

Wnp Qi qi d Wnp Qi qi

The quantity Qi isknownasthegeneralizedforcesassociatedwiththegeneralizedcoordinate qi ,

Lagrangesequationincludingnonconservativeforcesthenbecomes

d T T U

Qi

dt qi qi qi

i 1, 2,..........N

d (T U ) 0, T T (q1 , q2 .......qn , q1 , q 2 ,.........q N )

N

T
i 1

U U (q1 , q2 .......qn )

N
T
T
qi
qi
qi
i 1 qi

1 N

2 i 1

j 1

mij qi q j

N
N
T
T
mij q j qi 2T 2dT d
dq
qi
i i
i 1
i 1
j 1
i 1
i 1 q
i
qi
N
N
d T T
U
dT
dqi
dqi dU

i qi
i 1 dt q
i 1 qi
N

qi

N
d T T U
d (T U )

dq 0

i qi qi i
i 1 dt q
d T T U

0 L (T U ) L T U

dt qi qi qi

T L U

U
d L L U

qi
dt qi qi qi
d L L
0

dt qi qi

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1 2 1 2
1
1
mxG J c
U kx 2 kt 2
2
2
2
2
xG x(t ) e Sin x(t ) e (t )
xG (t ) x (t ) e(t )

1
1
m( x (t ) e(t )) 2 J c 2
2
2
1
1
1
1
L T U m( x e) J c 2 kx 2 kt 2
2
2
2
2
q1 x(t ) q2 (t )
T

L L

m( x e).1
qi x
d L

mx me
dt qi
L L

kx
q1 x
mx me kx 0..........(1)

i 2, q2 (t )

L L

m( x e)(e) J c

q2
d L
2

mex me J c
dt
L
kt

mex (me2 J c ) kt 0

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