c

Solutions Manual

to accompany

Mechanical Vibration, First Edition

by

William J. Palm III

University of Rhode Island

Solutions to Problems in Chapter Four

c Solutions Manual Copyright 2006 by John Wiley & Sons, Inc. Permission required for
use, reproduction, or display.
Problem 4.1 a)
5
T (iω) =
1 − 40ω 2 + 14ωi
5
|T (iω)| = p
(1 − 40ω 2)2 + (14ω)2
|T (0.01i)| = 4.971
14ω
φ(iω) = − tan−1
1 − 40ω 2
0.14
φ(0.01i) = − tan−1 = −0.1396 rad
0.996

xss (t) = 20|T (0.01i)| sin(0.01t + φ) = 99.42 sin(0.01t − 0.1396)

b)
4
T (iω) =
100 − ω 2 + 10ωi
4
|T (iω)| = p
(100 − ω )2 + (10ω)2
2

|T (5i)| = 0.0444
10ω
φ(iω) = − tan−1
100 − ω 2
50
φ(5i) = − tan−1 = −0.588 rad
75

xss (t) = 4|T (5i)| sin(5t + φ) = 0.1776 sin(5t − 0.588)

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Problem 4.2 The resonant frequency and peak magnitude are given by
q
1 1
ωp = ωn 1 − 2ζ 2 Mp = p
k 2ζ 1 − ζ 2
√
Note that ωn = 2 and k = 10. Thus
a) For ζ = 0.1, ωp = 1.4 and Mp = 0.5025.
b) For ζ = 0.3, ωp = 1.28 and Mp = 0.1747.

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Problem 4.3 The maximum amplitude occurs at ω = ωp and is 22Mp, where

1 1
Mp = p
k 2ζ 1 − ζ 2

The damping ratio is

c c
ζ= √ = √
2 50 10 2
Thus
1 22
22Mp = p =3
k 2ζ 1 − ζ 2
Using k = 10 and solving for ζ by squaring each side we obtain
121
ζ4 − ζ2 + =0
900
which has two positive roots: ζ = 0.9165 and ζ √
= 0.4. The first root is invalid because
the formula
√ for Mp is valid only if 0 ≤ ζ ≤ 1/ 2. So the solution is ζ = 0.4. Thus
c = 10 2(0.4) = 5.6569.

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Problem 4.4
2π 2π
Pbeat = = = 2.094 s
|ω − ωn | |503 − 500|
4π 4π
Pvibration = = = 0.0125 s
ω + ωn 503 + 500

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Problem 4.5 From Eq. (4.1-27) with ζ = 0,

Fo 1 Fo 1
X= p =
k (1 − r2 )2 k |1 − r2 |

At 20 Hz, r1 = 40π/ωn and

Fo 1
0.005 =
k |1 − r12|
At 40 Hz, r2 = 80π/ωn and
Fo 1
0.001 =
k |1 − r22|
Thus
0.005 |1 − r22 |
=5=
0.001 |1 − r12 |
Note that the smaller value of X occurs at the higher frequency, and Figure 4.1-3(a) shows
that X decreases with frequency if r > 1. Thus r > 1 here, so 1−r2 < 0 and |1−r2| = r2 −1.
So
r2 − 1
5 = 22
r1 − 1
and thus
5r12 − r22 − 4 = 0
This gives
 2  2
40π 80π
5 − −4 =0
ωn ωn
This gives
ωn = 20π rad/s

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Problem 4.6
ω1 = 1750 ω2 = 3500 = 2ω1
Thus r2 = 2r1. Also
X2 = 0.6X1
where
F0 1
X=
k |1 − r2|
Because r2 > r1 and X2 < X1, one possibility is that r1 > 1 and r2 > 1. See Figure
4.1-3(a). Another possibility is that r1 < 1 and r2 > 1.
Consider the first possibility, for which |1 − r12 | = r12 − 1 and |1 − r22 | = r22 − 1. Then

X2 r2 − 1 r2 − 1
= 0.6 = 12 = 12
X1 r2 − 1 4r1 − 1

This gives
4
r12 = − <0
14
and thus r1 is imaginary.
For the second possibility, |1 − r12 | = 1 − r12 and |1 − r22 | = r22 − 1. Then

X2 1 − r2
= 0.6 = 2 1
X1 r2 − 1

This gives r1 = ±0.686. Because r1 must be positive, the solution is r1 = 0.686 and

ω1 1750(2π/60)
ωn = = = 267 rad/s
r1 0.686

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Problem 4.7 First note that since the displacement is greater at the greater frequency,
then r must be less than 1. See Figure 4.1-3(a). Thus |1 − r2| = 1 − r2.
From Eq. (4.1-27) with ζ = 0,

X 1 1 1 1 1 1
= p = 2
=
Fo k (1 − r2 )2 k |1 − r | k 1 − r2

Thus
X2 14 1 − r12
= = (1)
X1 5 1 − r22
where
800 1000
r1 = r2 =
ωn ωn
where ωn is in rpm.
Thus, from Eq. (1),
14 1 − 6.4 × 105/ωn2
=
5 1 − 106/ωn2
This gives
1096(2π)
ωn = 1096 rpm = = 115 rad/s
60
and thus
k = mωn2 = 500(115)2 = 6.61 × 106 N/m

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Problem 4.8 Use Eq. (4.2-10).
a) r
1
ωn = = 0.158
40
14
ζ = √ = 1.1068
2 40
Since ζ > 1 there is no peak in the frequency response plot m versus ω, so the lower
bandwidth frequency is 0. From Eq.(4.2-10),
q √
r= −1.45 + 3.1025 = 0.558

So the upper bandwidth frequency is 0.558ωn = 0.088 rad/s.

b) r
100
ωn = = 10
1
10
ζ= √ = 0.5
2 100
From Eq.(4.2-10), √
r= 0.5 ± 0.866 = 1.169
So the lower bandwidth frequency is 0 and the upper bandwidth frequency is 1.169ωn =
11.69 rad/s.

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Problem 4.9 Because of the numerator dynamics, Eq.(4.2-10) does not apply. The mag-
nitude of the frequency transfer function is
ω
M (ω) = 10−6 p
(1 − 3 × 10 ω 2)2 + 10−4 ω 2
−6

By plotting this function, we −4

√ see that its peak value is M = 10 at ω = 574 rad/s. The
function has the value Mp/ 2 at ω = 95 rad/s and at ω = 3480 rad/s. So the bandwidth
is from 95 to 3480 rad/s.

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Problem 4.10 a) For a vibrometer, r ≥ 3, where
236
r=
ωn
Thus
236
ωn ≤ = 78.667
3
and
k ≤ m(78.667)2 = 6191 N/m
b) For an accelerometer, r ≤ 0.5, where
236
r=
ωn
Thus
236
ωn ≥ = 472
0.5
and
k ≥ m(472)2 = 2.2278 × 104 N/m

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Problem 4.11 Since ζ = 0,
s
1 4
X=4 2 2
=
(1 − r ) |1 − r2 |

where
6π
r= p = 0.596
500/0.5
Thus
4
X= = 6.2 mm
0.6447

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Problem 4.12 Since ζ = 0,
s
1 4
X=Y 2 2
=
(1 − r ) |1 − r2 |

Thus
X2 9 Y |1 − r12| 1 − 36π 2/ωn2
= = 2 =
X1 6 Y |1 − r2 | 1 − 144π 2/ωn2
This gives ! !
144π 2 36π 2
1.5 1 − = 1− 2
ωn2 ωn
or
1.5(ωn2 − 144π 2) = ωn2 − 36π 2
Solve for ωn to obtain ωn = 59.6 rad/s.

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Problem 4.13 The model is
mẍ = k(y − x) − cẋ
or
100ẍ + 400ẋ + 104x = 104y
The transfer function is
X(s) 1
T (s) = = 2
Y (s) 0.01s + 0.04s + 1
√
The natural frequency is ωn = 10, and the damping ratio is ζ = 400/(2 106 ) = 0.2. The
peak frequency is q
ω= ωn 1 − 2ζ 2 = 9.592 rad/s
The peak magnitude ratio is
1 1
Mp = p = 2.55 × 10−4
k 2ζ 1 − ζ 2

From Eq. (4.2-9), √

r= 0.92 ± 0.3919 = 0.727, 1.145
Thus the lower and upper bandwidth frequencies are

ω1 = 0.727ωn = 7.27 ω2 = 1.145ωn = 11.45 rad/s

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Problem 4.14 The model is
mẍ = k(y − x) − cẋ
or
100ẍ + 1000ẋ + 104x = 104 y
The transfer function is
X(s) 1
T (s) = = 2
Y (s) 0.01s + 0.1s + 1
√
The natural frequency is ωn = 10, and the damping ratio is ζ = 10/(2 100) = 0.5. The
peak frequency is q
ωp = ωn 1 − 2ζ 2 = 0.707 rad/s
The peak magnitude ratio is
1 1
Mp = p = 1.155 × 10−4
k 2ζ 1 − ζ 2

From Eq. (4.2-9), the only real root is

√
r = 0.5 + 0.866 = 1.688

Thus the lower bandwidth frequency is ω1 = 0 and the upper bandwidth frequency is

ω2 = 1.688ωn = 16.88 rad/s

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Problem 4.15 We are given m = 1500 kg. The input frequency is
2π
ω= v
10
If v = 13 m/s, ω = 8.17 rad/sec.
p If v = 26 m/s, ω = 16.34 rad/sec. The natural frequency
of the suspension is ωn = 4 × 104/1500 = 5.164 rad/sec. Thus
ω
r= = 1.582 for 13 m/s
ωn

r = 3.164 for 26 m/s

√
The damping ratio is ζ = c/2 mk = 0.0646.
The response amplitude is
s
1 + 4ζ 2 r2
X=Y
(1 − r2 )2 + 4ζ 2r2

where Y = 0.015 m. The transmitted force is

Ft = r2 kX

For 13 m/s, X = 0.0101 m and Ft = 1011 N. For 26 m/s, X = 0.0018 m and Ft = 719.4 N.

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Problem 4.16 We are given m = 1500 kg, k = 20, 000 N/m, ζ = 0.04, and Y = 0.01 m.
At resonance, p
ωp ωn 1 − 2ζ 2
r= = = 0.998
ωn ωn
and s
4ζ 2r2 + 1
Ft = r2kY = 2500 N
(1 − r2 )2 + 4ζ 2 r2

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Problem 4.17 a) From Newton’s law,

mẍ = c(ẏ − ẋ) − kx

or
mẋ + cẋ + kx = cẏ
X(s) cs
T (s) = = 2
Y (s) ms + cs + k
Thus
cωi cωi/k
T (iω) = =
−mω 2 + cωi + k 1 − r2 + cωi/k
This gives
cωm
mk i 2ζωn ωi/ωn2 2ζri
T (iω) = = =
1 − r2 + cωmi/mk 1 − r2 + 2ζωn ωi/ωn2 1 − r2 + 2ζri
p
where we have used the fact that ωn = k/m, r = ω/ωn , and c/m = 2ζωn . The magnitude
is
2ζr
X=p Y
(1 − r )2 + (2ζr)2
2

b) Thus
2ζrk
Ft = kX = p Y
(1 − r2)2 + (2ζr)2

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Problem 4.18 The static deflection is δ = mg/k. Thus k = mg/δ = 200/0.003 = 66 667
N/m. Also,
s s
k 66 667
ω = 40 Hz = 215 rad/s ωn = = = 57.2 rad/s
m (200/9.81)
 2  2
ω 251
r2 = = = 19.26
ωn 57.2
There is no damping, so
X 1
= = 0.055
Y |1 − r2 |
Thus 5.5% of the airframe motion is transmitted to the module.

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Problem 4.19 a) Neglect damping in the isolator, and determine its required stiffness k.

X 1
= = 0.1
Y |1 − r2|

which gives r2 = 11. Thus

ω2 [3000(2π)/60]2 (314)2
ωn2 = = =
r2 11 11
and
(314)2
k = mωn2 = 1 = 8963 N/m
11
√
b) r = ω/ωn and ωn = 314/ 11. Thus

2500(2π)/60
r1 = √ = 2.77
314/ 11

3500(2π)/60
r2 = √ = 3.87
314/ 11
Then
X 1
=
Y |1 − r2 |
Thus the highest percentage of motion will be transmitted at the lowest r value, which
corresponds to 2500 rpm. For 2500 rpm,
X 1
= = 0.15
Y |1 − r12|

For 3500 rpm,

X 1
= = 0.07
Y |1 − r22|
Thus at most, 15% of the crane motion will be transmitted to the module.

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Problem 4.20 We are given m = 2 kg and
 2
2 ω (30(2π)/60)2 39.478
r = = =
ωn k/4 k

X 1
= = 0.1
Y |1 − r2|

which gives r2 = 11. Thus

(39.478
= 11
k
Solve for k to obtain k = 3.589 N/m. The transmitted force is
 
X
Ft = r 2 kY = 11(0.1)3.589(0.0009) = 3.55 × 10−3 N
Y

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Problem 4.21 The displacement transmissibility with r = 2 is
s s
X 4ζ 2r2 + 1 1 + 16ζ 2
= =
Y (1 − r2 )2 + 4ζ 2 r2 9 + 16ζ 2

This has a minimum of 1/3 when ζ = 0. This is the best choice for ζ if the velocity increases
(r > 2). However, if the velocity decreases (so that r → 1, and the system approaches
resonance), an non-zero value of ζ would be a better choice to limit the resonant response.
With ζ = 0 and a 20% increase in r (r = 2.4), we have X/Y = 0.21. With ζ = 0 and a
20% decrease in r (r = 1.6), we have X/Y = 0.64.

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Problem 4.22 At 18 m/s, the forcing frequency is
 
3.281
ω= 2π(18) = 18.554 rad/sec
20
and the amplitude of the forcing function is Y = 0.016.
The pertinent equations are
Ft = r2 kX
where s
1 + 4ζ 2 r2
X=Y
(1 − r2 )2 + 4ζ 2r2
and
c ω
ζ= √ r=
2 mk ωn
from which we obtain
ω2 √ mω
k = mωn2 = m c = 2ζ mk = 2ζ
r2 r
For the lighter-weight car, m = 900 kg. If we plot X, Ft , k, and c versus r for different
values of ζ, we find that all four quantities decrease for large r. This suggests making the
stiffness and damping as small as possible. However, the required minimum static deflection
limits the stiffness. For example, if the static deflection must be no more than 0.1 m, then
the stiffness must be at least k = 900(9.81)/0.1 = 8.829 × 104 N/m. This corresponds to
r = 1.87. If we plot X and Ft versus ζ for this value of r, we find that both increase with
ζ. This would suggest choosing ζ to be small, but ζ probably would chosen such that ζ ≥ 1
to avoid oscillation of the chassis when encountering a nonperiodic road surface such as a
single bump. For example, if we choose ζ = 1, then

c = 1.7859 × 104 N · s/m

X = 0.0138 m Ft = 4.2675 × 103 N

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Problem 4.23
900(2π)
ωn = = 30π rad/s
60
Since ζ = 0,
mR r2
X=
M |1 − r2|
Thus
mR |1 − r2|
=X
M r2
At 1750 rpm,
1750 35
r= =
900 18
and
mR |1 − (35/18)2|
= 8 × 10−3 = 5.88 × 10−3
M (35/18)2
p √
Since ωn = k/m, √ if k is reduced by half, then ωn will be reduced by 2, and thus r
will be increased by 2. Thus the new value of r will be
√  35 
r= 2 = 2.75
18
and
mR r2 −3 (2.75)2
X= = 5.88 × 10 = 6.776 mm
M |1 − r2 | |1 − (2.75)2|

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Problem 4.24
225(9.81)
k= = 3.679 × 105 N/m
6 × 10−3
s
3.679 × 105
ωn = = 40.4365 rad/s
225
1750(2π)
ω= = 183.26 rad/s
60
ω
r= = 4.532
ωn
Since ζ = 0,
mR r2
X=
M |1 − r2|
Thus, with X = 2.5 × 10−3 m,

mR |1 − r2|
=X = 2.378 × 10−3
M r2
With the slab added, the mass becomes m = 225 + 680 = 905 kg, and the new natural
frequency is s
3.679 × 105
ωn = = 20.16
905
The new frequency ratio is
183.26
r= = 9.09
20.16
and thus
r2
X = 2.378 × 10−3 = 2.407 × 10−3 m
|1 − r2|

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Problem 4.25 Given mg = 0.2 N, M = 23 kg, R = 2.5 × 10−3 , and

1000(2π)
ωR = = 104.7 rad/s
60
Thus
104.7
r=p = 5.877
7300/23
  s s
0.2 1 + 138ζ 2 1 + 138ζ 2
Ft = (2.5 × 10−3)(104.7)2 = 0.5587
9.81 1125 + 138ζ 2 1125 + 138ζ 2
a) ζ = 0.05. Ft = 0.0193 N.
b) ζ = 0.7. Ft = 0.134 N.

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Problem 4.26 Because c = 0, we have

2 1
Ft = mRωR
r2 −1
where Ft = 15 and ωR = 200(2π)/60 = 20.9 rad/s, and
ωR 20.9 20.9
r= =p =p = 3.62
ωn k/M 2500/75

Thus
1
= 0.0826
r2 −1
and
Ft = mR(20.9)2(0.0826) = 15
Solve for mR to obtain mR = 0.416 kg·m.

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Problem 4.27 We want Tf = 0.1. Neglecting damping, we have

1 + Tf
r2 = = 11
Tf

But
3000(2π)/60 314 √
r= = = 11
ωn ωn
√
Thus ωn = 314/ 11 = 94.7. But
s s
k k
ωn = =
m 3

from which we obtain k = 3ωn2 = 3(94.7)2 = 26 904 N/m.

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Problem 4.28 Damping is assumed to be negligible. Thus for the vertical motion,
Ft 1
= Tf = 2
F r −1
where
ω ω 1750(2π)/60
r= =p = p = 10.24
ωn 4k/m 8000/25
Thus Tf = 0.0096.
The equation of motion for rotation is

I θ̈ = −(4kRθ)R
p p
Thus the natural frequency for rotation is ωn = 4kR2/I = 80/0.2 = 20. For the
rotational motion,
Tt 1
= Tf = 2
T r −1
where
ω 1750(2π)/60
r= = = 9.16
ωn 20
Thus Tf = 0.012.

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 p
Problem 4.29 The frequency ratio is r = ωR / k/M , where M is the total machine mass.
The transfer function is
F (s)
X(s) = 2
M s + cs + k
Thus
1 1/M
X(iωR) = 2 F (iωR ) = 2 F (iωn )
−M ωR + cωR i + k −ωR + 2ζωn ωR i + ωn2
where we have used thepfact that 2ζωn = c/M . Now divide top and bottom by ωn2 and use
the definition: r = ωR / k/M . Thus

1/M ωn2 1/k

X(iωR) = 2 F (iωn ) = F (iωn )
−
ωR
+ 2ζ ωωRn i + 1 1 − r2 + 2ζri
2
ωn

The magnitude is
2
1/k mRωR /k
X=p 2 2
F = p
(1 − r ) + (2ζr) (1 − r ) + (2ζr)2
2

or
MX r2
=p
mR (1 − r2 ) + (2ζr)2

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Problem 4.30 a) The equation of motion is
2
M ẍ + cẋ + kx = mRωR sin ωR t

The frequency transfer function for this system, with x normalized by M/mR is

MX r2
=p (1)
mR (1 − r2 )2 + (2ζr)2
p
where r = ωR /ωn and ωn = k/M . The raw data is plotted in Figure 4.30a, where the
frequency data has been converted to rad/sec and the displacement data has been converted
to meters. From this plot we estimate that the resonant frequency is 19 rad/sec. Assuming
that the damping is small enough so that the resonant frequency is close to ωn , we estimate
that ωn = 19, and thus k = M ωn2 = 100(192) = 36 100 N/m.

0.025

0.02

0.015
X (m)

0.01

0.005

0
0 10 20 30 40 50 60 70
ω (rad/s)

Figure : 4.30a

(Continued on the next page)

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 Problem 4.30 continued.
Next, normalize the frequency data to find r: r = ωR /19. To plot the normalized
displacement M X/mR vs. r, we need to estimate mR. To do this we need to plot the
theoretical curve from Eq. (1), and this requires an estimate of ζ. Figure 4.30b shows the
results of several attempts, using different values of mR and ζ. The estimate is mR = 0.5
and ζ = 0.1. These values give a good fit to the data.√ p
With ζ = 0.1 and k = 36 100, we obtain c = 2 M kζ = 2 100(36 100)(0.1) = 380
N·s/m.

4.5

3.5

3
MX/mR

2.5

1.5

0.5

0
0 0.5 1 1.5 2 2.5 3 3.5
r

Figure : 4.30b

b)Let s
Ft 1 + 4ζ 2 r2
Tf = = (2)
F (1 − r2)2 + 4ζ 2 r2
Using the values of ζ = 0.1 and ωn = 19 from part (a), we obtain r = 2π(6)/ωn =
2π(6)/19 = 1.9842. Substituting r = 1.9842 into Eq. (2) gives Ft /F = 0.363, or 36.3%.

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Problem 4.31 The critical speed is
s
2 × 107
ωn = = 447.2 rad/s = 4271 rpm
100

At 5000 rpm,
5000(2π)
ω= = 524 rad/s
60
and
ω
r= = 1.1708
ωn
and
Rr2
D= p = 3.525 × 10−3 m
(1 − r2)2 + (2ζr)2
At the critical speed, r = 1 and

10−3
D=√ = 0.01 m
0.01

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Problem 4.32 a) Eq. (4.5-13) with r = 2.5 gives

D 6.25
=p (1)
R (5.25)2 + 25ζ 2

The minimum value of D/R occurs at ζ = 1 and is 0.862. The maximum value of D/R
occurs at ζ = 0 and is 1.19. Thus the uncertainty in D/R varies from 86.2% to 119% of the
design value of D/R = 1.
b) With r = 2.5, we have
mω 2
k1 =
6.25
√
With D/R = 1.1 and ζ = 0 in Equation (1), we obtain r = 11. Thus

mω 2
k2 =
11
Thus the percent change in k is
 
1 1
k 1 − k2 mω 2 6.25 − 11
= = 0.432
k1 mω 2/6.25

or 43.2%.

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Problem 4.33 Use Equation (4.1-29). If ζ ≤ 0.707, the peak value of kX/F is

kX  1
= p =4
F peak 2ζ 1 − ζ 2

This gives
64ζ 4 − 64ζ 2 + 1 = 0
The only positive root no greater than 0.707 is ζ = 0.126.
Thus
kX 1 1
=p 2 2 2
=
F (1 − r ) + (2ζr) 3
which gives
(1 − r2 )2 + 0.0635r2 = 9
Thus
r4 − 1.9365r2 − 8 = 0
The only positive real root is r = 1.989.

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Problem 4.34
kX 1
=p
F (1 − r )2 + (h/k)2
2

From the discussion at the bottom of page 241, the peak of kX/F occurs at r = 1 and is
 
kX  kX  k
 =  = =4
F peak F r=1 h

With h/k = 1/4,

kX 1 1
= =p
F 3 (1 − r )2 + 1/16
2

This gives
16r4 − 32r2 − 144 = 0
The solution is r = 2.04.

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Problem 4.35
kX 1
=p
F (1 − r )2 + (h/k)2
2

k 2.2 × 105
= = 8.4615
h 2.6 × 104
From the discussion at the bottom of page 241, the peak of kX/F occurs at r = 1 and is
 
kX  kX  k
 =  = = 8.4615
F peak F r=1 h

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Problem 4.36
kX 5 × 104(50 × 10−3)
= = 1.25
F 2000
From the discussion at the bottom of page 241, the peak of kX/F occurs at r = 1 and is
 
kX  kX  k
 =  = = 1.25
F peak F r=1 h

Thus
k 5 × 104
h= = = 4 × 104 N/m
1.25 1.25

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Problem 4.37 Sum moments about the pivot:

mL2 θ̈ = −(mg sin θ)L − cv 2 sign(v)L

Thus
mL2 θ̈ + mgL sin θ − cLv 2 sign(v) = 0

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Problem 4.38 Use Equation (4.7-3) with F = 150 and
ω 20
r= =p = 0.447
ωn 2 × 104/10

Thus
4µN 4(0.4)10(9.81)
= = 0.333
πF 150π
√
150 1 − 0.1109
X = sign(1 − 0.1998) 4
= 0.0088 m
2 × 10 1 − 0.1998
 
−1 4(0.4)10(9.81)
φ = − tan √ = −0.339 rad
150π 1 − 0.1109

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Problem 4.39 Use Equation (4.7-3) with
16
r= p 4 = 0.5059
10 /10
 2  2
4µN 4µ(98.1)
= = (0.6245µ)2 = 0.39µ2
πF 200π
q
200
X = 25 × 10−3 = sign(1 − r2) 1 − 0.39µ2
104(1 − r2)
Solve for µ to obtain µ = 0.588.

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Problem 4.40
dv c
= − v3
dt m
Z v(t) Z t
dv c c
3
=− dt = − t
v(0) v m 0 m
v(t)
v −2  c
−  =− t
2  m
v(0)
c
v −2(t) − v −2 (0) = 2 t
m
Thus s
1
v(t) = v(0)
1 + 2cv 2(0)t/m

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Problem 4.41 The equilibria are the roots of

16ye − 4ye3 = 0

and are ye = 0 and ye = ±2.

The linearized model is

ẍ + 12ẋ + 16x − 12(ye )2 x = 0

For ye = 0,
ẍ + 12ẋ + 16x = 0
which is locally stable.
For ye = ±2,
ẍ + 12ẋ − 32x = 0
which is locally unstable.
The state variable form of the model is

ẏ1 = y2

ẏ2 = −16y1 + 4y13 − 12y2

where y1 = y and y2 = ˙ . y
Create the following function file.

function ydot = prob4p41(t,y)

ydot = [y(2); -16*y(1)+4*y(1)^3-12*y(2)];

For y(0) = 1, type the following in MATLAB.

y0 = 1;
[t, y] = ode45(0prob4p410, [0, 1], [y0, 0]);
plot(t, y(:,1))

Do the same for the other initial conditions. The simulations show that for y(0) = ±2.1,
the model is unstable (|y(t)| → ∞). For y(0) = ±1 and y(0) = ±1.9, y(t) → 0. Thus the
equilibria at ye = ±2 are globally unstable, and the equilibrium at ye = ±0 is locally stable.

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Problem 4.42 The state variable form of the model is

ẏ1 = y2

ẏ2 = −2y1 − 0.1y13

where y1 = y and y2 = ˙ . y
Create the following function file.

function ydot = prob4p42(t,y)

ydot = [y(2); -2*y(1)-0.1*y(1)^3];

For y(0) = 10, type the following in MATLAB.

y0 = 10;
[t, y] = ode45(0prob4p410, [0, 10], [y0, 0]);
plot(t, y(:,1))

Do the same for the other initial condition. The simulations show that for y(0) = 10, the
response oscillates with a frequency of about 3 rad/s. For y(0) = 40, the response oscillates
with a frequency of about 11 rad/s. So the oscillation frequency depends greatly on the
initial condition.

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Problem 4.43 The three cases are of the form

ẍ + cẋ + 2x = 0

The state variable form is

ẋ1 = x2
ẋ2 = −2x1 − cx2
In MATLAB create the following file.

function xdot = prob4p43(t,y)

global c
xdot = [x(2); -2*x(1)-c*x(2)];

For part (a), where c = 0.1, type the following in MATLAB.

global c
c = 0.1;
[t, x] = ode45(0prob4p430, [0, 50], [1, 0]);
plot(x(:,1), x(:,2))

The phase plane plot is a tight spiral ending at (0, 0).

For parts (b) and (c) change the second line to c = 2 and c = 4, respectively. The
phase plane plots head almost directly toward the point (0, 0) without much of a spiral.

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Problem 4.44 The state variable form of the model is

ẏ1 = y2

ẏ2 = −2y1 − 3y13 − 2y2

where y1 = y and y2 = ˙ . y
Create the following function file.

function ydot = prob4p44(t,y)

ydot = [y(2); -2*y(1)-3*y(1)^3-2*y(2)];

Then type the following in MATLAB.

[t, y] = ode45(0prob4p440, [0, 10], [1, 0]);

plot(y(:,1), y(:,2))

The phase plane plot heads almost directly toward the point (0, 0) without much of a
spiral.

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Problem 4.45 The state variable form of the model is

ẏ1 = y2

ẏ2 = −y1 + 5(1 − y12 )y2

where y1 = y and y2 = ˙ . y
Create the following function file.

function ydot = prob4p45(t,y)

ydot = [y(2); -y(1)+5*(1-y(1)^2)*y(2)];

Then type the following in MATLAB.

[t, y] = ode45(0prob4p450, [0, 50], [1, 0]);

plot(y(:,1), y(:,2))

The phase plane plot is a limit cycle.

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Problem 4.46 Type the following in MATLAB.
a)

sys = tf(5,conv([10,1],[4,1]));
bode(sys)

b)

sys = tf(4,[1,10,100]);
bode(sys)

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Problem 4.47 Type the following in MATLAB.
a)

sys = tf([1,0],conv([2,1],[5,1]));
bode(sys)

b)

sys = tf([1,0,0],conv([2,1],[5,1]));
bode(sys)

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Problem 4.48 Type the following in MATLAB.

sys = tf(1,[10,100,2500]);
t = [0:0.01:1.5];
f = 100*sin(13*t);
x = lsim(sys,f,t);
plot(t,x)

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Problem 4.49 The transfer function is
X(s) 1.75 × 105
=
Y (s) 14s2 + 5250s + 1.75 × 105 + k

With k = 3.5 × 104, in MATLAB type

k = 3.5e+4;
sys = tf(1.75e+5,[14, 5250, k + 1.75e+5]);
bode(sys)

The frequency response plot thus obtained has its peak at ω = 0, and thus we can use the
MATLAB bandwidth function to obtain the bandwidth by typing bandwidth(sys). The
bandwidth is between the frequencies ω = 0 to ω = 6.88 rad/s.
Repeating this process for k values equal to 1.75×104 and 5.25×104 (which are 50% and
150% of the nominal value), we find that the upper bandwidth frequency varies from 8.49
rad/s for the smaller k value to 4.56 rad/s for the larger k value. So increasing k decreases
the bandwidth.
The force transmitted to the chassis is ft = kx + cẋ. Its transfer function is

Ft (s) X(s) k1 (cs + k)

= (cs + k) =
Y (s) Y (s) ms2 + cs + k + k1

With k = 3.5 × 104, in MATLAB type

k = 3.5e+4;
sysft = tf(1.75e+5*[5250, k],[14, 5250, k + 1.75e+5]);
bode(sysft)

We find that the peak value of this transfer function is 105 dB at ω = 113 rad/s. This
corresponds to the ratio ft /y = 1.778 × 105 . This means that a 0.1 meter sinusoidal road
displacement at this frequency will generate a force of 1.778 × 104 N on the chassis.
(Continued on the next page)

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 Problem 4.49 continued.
The corresponding chassis displacement at this frequency is found as follows:

x = 0.1*abs(evalfr(sys,113i))

The result is x = 2.54 × 10−4 m. Thus this suspension design will generate a very large
force against the chassis but will give a very small chassis displacement. This apparent
contradiction can be explained by looking at the phase angles by typing

phix = angle(evalfr(sys,113i))
phift = angle(evalfr(sysft,113i))

For the transfer function X(s)/Y (s), the phase angle is 2.903 rad, or 166◦ at ω = 113 rad/s.
For the transfer function Ft (s)/Y (s), the phase angle is −0.0063 rad, or approximately 0◦
at ω = 113 rad/s. Thus the transmitted force is approximately in phase with the road
displacement y but the chassis displacement is almost 166◦ out of phase with the transmitted
force. Thus when the transmitted force reaches its maximum positive value, the chassis is
almost at its lowest height.
Using the three k values, we find that the peak value of th transfer function Ft (s)/Y (s)
is always near 105 dB but the peak frequency shifts slightly between 113 and 123 rad/s.

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Problem 4.50 First create the following function file.

function ydot = prob4p50(t,y)

g = 9.8;
f = 100*sin(9*t);
ydot = [y(2);(5*g+f-900*y(1)-1700*y(1)^3-100*y(2))/5];

Then type the following in MATLAB.

[t,y]=ode45(0prob4p500,[0 3],[0 0]);

plot(t,y(:,1));

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Problem 4.51 a) The model is shown in the following figure. In the Sine Wave block set the
Amplitude to 20 and the Frequency to 0.01. Set the Stop Time to 1000. In the To Workspace
block specify the output to be Array. Plot the output by typing plot(tout,simout(:,1))
in MATLAB. The model’s output agrees with the results of Problem 4.1a.

Figure : For Problem 4.51a

b) The model is shown in the following figure. In the Sine Wave block set the Amplitude
to 4 and the Frequency to 5. Set the Stop Time to 5. In the To Workspace block specify
the output to be Array. Plot the output by typing plot(tout,simout(:,1)) in MATLAB.
The model’s output agrees with the results of Problem 4.1b.

Figure : For Problem 4.51b

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Problem 4.52 The model is shown in the following figure. In the Sine Wave block set the
Amplitude to 4 and the Frequency to 4.5. Set the Stop Time to 10. In the Saturation block
set the Upper limit to 3 and the Lower limit to −3. In the To Workspace block specify the
output to be Array. Plot the output by typing plot(tout,simout(:,1)) in MATLAB.

Figure : For Problem 4.52

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Problem 4.53 The model is shown in the following figure. In the Sine Wave block set the
Amplitude to 0.05 and the Frequency to 13. Set the Stop Time to 2. In the To Workspace
block specify the output to be Array. Plot the output by typing

subplot(2,1,1),plot(tout,simout(:,1)),subplot(2,1,2),plot(tout,simout(:,2))

in MATLAB. The results show that the maximum displacement magnitude is 0.0919 m and
the maximum magnitude of the transmitted force is 159.9 N. These results can be obtained
by typing max(simout) in MATLAB.

Figure : For Problem 4.53

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Problem 4.54 The model is shown in the following figure. In the Sine Wave block set
the Amplitude to 50 and the Frequency to 14. Set the Stop Time to 5. Specify the Initial
condition of Integrator1 to be 2. In the To Workspace block specify the output to be Array.
Plot the output by typing plot(tout,simout(:,1)) in MATLAB.

Figure : For Problem 4.54

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Problem 4.55 Put the equation into state variable form by letting θ1 = θ and θ2 = θ̇.
Then
θ̇1 = θ2
1
θ̇2 = (a cos θ1 − g sin θ1 )
L
The model is shown in the following figure. In the To Workspace block specify the
output to be Array. Before running the model set the gain a to some value in MATLAB.
Plot the output by typing plot(tout,simout(:,1)) and max(simout) in MATLAB. The
maximum value of a that meets the requirement is a = 1.73 m/s2 .

Figure : For Problem 4.55

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Problem 4.56 Put the equation into state variable form by letting x1 = y and x2 = ẏ.
Then
ẋ1 = x2
1  
ẋ2 = 100 sin 9t − 900x1 − 1700x31 − 100x2
5
The model is shown in the following figure. In the Sine Wave block set the Amplitude to
100 and the Frequency to 9. In the To Workspace block specify the output to be Array. Set
the Stop Time to 5. Plot the output by typing plot(tout,simout(:,1)) in MATLAB.

Figure : For Problem 4.56

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Problem 4.57 Put the equation into state variable form by letting x1 = x and x2 = ẋ.
Then
ẋ1 = x2
1  
ẋ2 = 140 sin 9t − 3000x1 − 200 sign(ẋ1)ẋ21
15
The model is shown in the following figure. In the Sine Wave block set the Amplitude to
140 and the Frequency to 9. In the To Workspace block specify the output to be Array. Set
the Stop Time to 5. Plot the output by typing plot(tout,simout(:,1)) in MATLAB.

Figure : For Problem 4.57

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Problem 4.58 The model is shown in Figure 4.10-14. In the Sine Wave block set the
Amplitude to 5 and the Frequency to 0.5. Set the Stop time to 30. Before running the
model, in MATLAB type

m = 2; K = 4; D = 2; W = 2;

The results show that the maximum displacement is xmax = 4 versus xmax = 8.4 for D = 4.
These results can be obtained by typing max(simout) in MATLAB.

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Problem 4.59 The model is a modification of the model shown in Figure 4.10-14 and is
shown in the following figure. In the Sine Wave block set the Amplitude to 5 and the Fre-
quency to 0.5. Set the Stop time to 30. Plot the output by typing plot(tout,simout(:,1))
in MATLAB. The results show that the displacement looks more harmonic than the response
of Example 4.10-4, and that the maximum displacement is xmax = 4.29 versus xmax = 8.29
for c = 0. These results can be obtained by typing max(simout) in MATLAB.

Figure : For Problem 4.59

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