Exercises of Machine Dynamics & System Dynamics

PROBLEM 15

Problem 15
A ring with medial radius r is rotating with constant angular speed about the x axis. The
ring consists of a free movable shpere. The acceeration due to gravity can be neglected.

Given:
r,
1. Determine the acceleration of the shpere K in the inertial system.
2. Determine the relative acceleration of the shpere K with respect tp the ring.
3. Determine the Coriolis acceleration of the shpere K in the inertial system.

SS2014 - 1.ed

15

Exercises of Machine Dynamics & System Dynamics

PROBLEM 16

Problem 16
A Homogeneous cylinder (mass m1 , radius r) is lying on a thin shelf (mass m2 ). A rope is
fixed to the thin shelf, rolling over two pulleys and fixed to an attachment point (see figure).
Mass m3 is fixed to the center of gravity of the second pulley. The initial velocity of mass m3 is
x 3 = 0. The figure shows this initial condition. If mass m3 is no longer fixed the system starts
to move. The cylinder is rolling on the thin shelf and after a certain time it is falling off.
Assume that there is no friction between the shelf and the underlay and no sliding between
the cylinder and the shelf, and neglect the mass of the rope and the pulleys.

Given:
m1 , m2 , m3 , r, a
1. Determine the acceleration of the shelf.
2. Determine the distance a when the cylinder is falling off the shelf.

SS2014 - 1.ed

16

Exercises of Machine Dynamics & System Dynamics

PROBLEM 17

Problem 17
A satellite consists of a rotationally symmetric satellite body (mass M , radius of gyration i)
and two identical solar panels (mass m, dimension b, h). The two solar panels may be accepted
as two thin rectangular plates with thickness d. The satellite is rotating about the zaxis with
angular speed if the solar panels are at the position = 0o . The solar panels can be twisted
about the y-axis using a mechanism.

Given:
M = 160kg, m = 8kg, i = 0.45m
a = 2.5m, b = 1.8m, h = 1.2m, d  b
= 5s1
1. Determine the angular speed 90o if the solar panels are at the position = 90o .

SS2014 - 1.ed

17

Exercises of Machine Dynamics & System Dynamics

PROBLEM 18

Problem 18
Determine the maximum produced force to the bearings of a power turbine due to the gyroscopic
forces. The ship is pitching with an amplitude of 9o and a time of circulation of 15sec about an
axis that is perpendicular to the rotor axis. The mass of the power turbine is m = 3500kg, the
radius of gyration is i = 0.6m and its rotational speed is n = 3000rpm. The bearing distance
is l = 2m.

Given:
m = 3600kg, i = 0.6m
l = 2m
n = 3000rpm, T = 15sec

SS2014 - 1.ed

18

Exercises of Machine Dynamics & System Dynamics

PROBLEM 19

Problem 19
Find the equivalent spring constant for the systems shown in the following figures, where the
systems are
1. figure (a) is a system consisting of two springs in parallel.
2. figure (b) is a system consisting of two springs in series.
3. figure (c) is a system consisting of three springs in parallel and in series.

Given:
k1 , k2 , k3 , F

SS2014 - 1.ed

19

Exercises of Machine Dynamics & System Dynamics

PROBLEM 20

Problem 20
Cylinder (length L, diameter d) is mounted on a rotating horizontal axis with angular velocity
(t) due to the torque M (t).

Given:
d, (t), L, a, b
1. Derive the differential equation governing the angle (t) between the cylinder and the
horizontal axis.
2. Derive an expression for M (t).

SS2014 - 1.ed

20

Exercises of Machine Dynamics & System Dynamics

PROBLEM 21

Problem 21
Determine the differential equation of motion of the gearbox shown in the figure using Lagranges equations.

Given:

J1 , J2 , J3 , J4
r2 , r3
c, k
Mdrive

SS2014 - 1.ed

21

Exercises of Machine Dynamics & System Dynamics

PROBLEM 22

Problem 22
If you slowly increase the rotation speed of the figured motor a vibration oscillation of the
whole motor occurs at a rotation speed of n = 360rpm about the O O axis. This shows that
this rotation speed is identical to the eigenfrequency of the motor. Determine the stiffness k of
each of the four identical springs, if the motor has a mass of m = 43kg and a radius of gyration
of i = 100mm about the O O axis.

Given:

m = 43kg
i = 100mm
a = 200mm
n = 360rpm

SS2014 - 1.ed

22

Exercises of Machine Dynamics & System Dynamics

PROBLEM 23

Problem 23
Consider the system shown, where the cylinder of radius R and mass m is pulled through a
massless spring with spring constant k. Assume that the cylinder rotates freely about its axis
and the input displacement x is known.

Given:
m, k, R
Assuming the system is moving without sliding, find is the natural frequency of the system?

SS2014 - 1.ed

23

Exercises of Machine Dynamics & System Dynamics

PROBLEM 24

Problem 24
We want to study the motion of the shown pendulum in the figure. Assuming that when the
pendulum is vertical there is no spring force; also, assume that is small.

Given:
m, k, L, a
1. Derive the equation of motion for the pendulum system.
2. Obtain the natural frequency.

3. Determine (t) when the pendulum is given initial conditions (0) = 0 and (0)
= 0.

SS2014 - 1.ed

24

Exercises of Machine Dynamics & System Dynamics

PROBLEM 25

Problem 25
the damping coefficient c and the mass moment of inertia J of a one
Determine the stiffness k,
degree of freedom torsion oscillator using the following decaying oscillation curves with and
without additional mass madd .

Given:
R = 54mm
madd = 2kg
1. Determine the mean value of the damping ratio D.
2. Determine the time of a cycle T and Tadd with and without additional mass, respectively.
the damping coefficient c and the mass moment of inertia J.
3. Determine the stiffness k,

SS2014 - 1.ed

25

Exercises of Machine Dynamics & System Dynamics

PROBLEM 25

Decaying ocillations curve without additional mass m add

(0.8s,1)

(3.9s, 0.88)

(7s, 0.77)

(10s, 0.68)

(13s, 0.60)

(16.5s, 0.53) (19.6s, 0.47)

(22s, 0.41) (29s, 0.32)

0.8
(25.9s, 0.37)
0.6

Magnitude [-]

0.4
0.2
0
0.2
0.4
0.6
0.8
1

10

12

14

16

18

20

22

24

26

28

30

Time [s]
Decaying ocillations curve with additional mass m add
(0.8s,1)

(4.1s, 0.88)

(7.5s, 0.78)

(10.8s, 0.68)

(14s, 0.60)

(17.4s, 0.53)

(20.7s, 0.47)

(27.3s, 0.37)

0.8
(24s, 0.41)
0.6

Magnitude [-]

0.4
0.2
0
0.2
0.4
0.6
0.8
1

10

12

14

16

18

20

22

24

26

28

30

Time [s]

SS2014 - 1.ed

26

Exercises of Machine Dynamics & System Dynamics

PROBLEM 26

Problem 26
A simple frame structure consists of a rigid plate with mass m = 13.8tons which is supported
by four vertical rods. Two wire ropes are stretched between two vertical rods that fix the
system
in its equilibrium position. The two steel wire ropes have a cross-sectional area of
A = 22 mm2 and are powerful pre-stretched. Neglect all masses apart from the mass of the
plate to determine the time of a period T of a horizontal oscillation.

Given:

m = 13.8tones, A = 22 mm2
kN
h = 10m, E = 210 mm
2

SS2014 - 1.ed

27

Exercises of Machine Dynamics & System Dynamics

PROBLEM 27

Problem 27
A guided mass on a rotating disk is fit to a spring with stiffness k. The distance between the
mass and the center of the disk is l0 if the disk stops. The spring is uncompressed in this case.

Given:

(t), (t)
l0 , k, m
1. Determine the eigenfrequency 0 of the spring-mass-system if the disk stops.
2. Determine the static equilibrium position r0 () of the mass m, if the disk rotates with
constant angular speed .
3. Assume now small oscillations about the already determined static equilibrium position.
Determine the equation of motion of the system and find the eigenfrequency of the rotating
system.
4. What happens if the angular speed of the disk is greater than the eigenfrequency 0 of
the system?

SS2014 - 1.ed

28

Exercises of Machine Dynamics & System Dynamics

PROBLEM 28

Problem 28
The small cylindrical mass m is confined to slide on the slender rod of length l and mass m0
which is free to rotate in the vertical plane about O. The spring which supports the mass m
has a stiffness k, and r = r0 when it is uncompressed.

Given:
k, m, m0 , r0 , l0 , g
1. Write the differential equations of motion corresponding to the two degrees of freedom of
the system. Neglect friction and the mass of the spring. Use Lagranges Equation.

SS2014 - 1.ed

29

Exercises of Machine Dynamics & System Dynamics

PROBLEM 29

Problem 29
Given the system shown in the figure. It consists of a plat of mass 9m supported by two legs
each of length l. Over the table stands another mass m on a third leg of length l. All legs are
similar with density , cross section A, youngs modulus E and area moment of inertia I.

Given:
m, l, E, I, A, = 0
K = EI
l3
0 =

K
m

1. Determine the Equation of Motion of the system with coordinates q1 and q2 .

2. Determine the eigenfrequencies and eigen vectors.
3. Figure the mode shapes.

SS2014 - 1.ed

30

Exercises of Machine Dynamics & System Dynamics

PROBLEM 30

Problem 30
The frame structure consists of two parallel and massless beam elements with stiffness kbeam
and two rigid bodies with mass moment of inertia J about the qaxis. The frame structure is
simply supported by four symmetric spring elements with stiffness kspring each.

Given:
J, l, Kbeam , kspring
K = EI
l3
0 =
1.
2.
3.
4.

K
m

Determine the stiffness matrix K and the mass matrix M .

Determine the eigenfrequencies and eigenvectors.
Draw the mode shapes.
Is it possible to manipulate the first eigenfrequency by changing the stiffness of the beam
elements.

SS2014 - 1.ed

31

Exercises of Machine Dynamics & System Dynamics

PROBLEM 31

Problem 31
Determine the equations of motion of the point mass m inside the rotating ring. Use Lagranges
Equations of Motion.

Given:

xI , yI intertial coordinate system

x, y rotating coordinate system (fixed to the ring)
= = const.
Assume small deflections.
k1 , k2 , m, J, c1 are known.

SS2014 - 1.ed

32