Eng6933 - Final Exam Formula Sheet 1

1 Parameters:
p
Natural Frequency: ! n = k=m p
2
Frequency of damped oscillation: !d = 1 !n
Damping Ratio: = c=cc
Critical Damping: cc = 2m! n
Frequency Ratio: r = !=! n q
p
1 1 2 2
Log Decrement: = m ln (x1 =xm+1 ) = m !n d =2 =m 1 = = (2 )2 +
Static de‡ection: st = Fo =k

2 Free Vibration:
Undamped motion:

x(t) = A cos(! n t )
!1=2
2
x_ o
A = x2o +
!n
1 x_ o
= tan
xo ! n

Damped Motion:

– Underdampled ( < 1):

x(t) = Xe !n t cos (! d t )
q
X = (C10 )2 + (C20 )2
1
= tan (C20 =C10 )
C10 = xo
x_ o + ! n xo
C20 =
!d

– Critically Damped ( = 1):

!n t
x(t) = (xo + (x_ o + ! n xo ) t) e

– Overdamped ( > 1):

p 2
p 2
x(t) = C1 e( + 1)! n t
+ C2 e( 1)! n t
p
2
xo ! n ( + 1) + x_ o
C1 = p
2
2! n 1
p
2
xo ! n ( 1) x_ o
C2 = p
2
2! n 1
Eng6933 - Final Exam Formula Sheet 2

3 Forced Vibration - Harmonic Excitation:

Undamped:

Fo x_ o Fo
x(t) = xo cos ! n t + sin ! n t + cos !t
k m! 2 !n k m! 2

– Resonance
x_ o st ! n t
x(t) = xo cos ! n t + sin ! n t + sin ! n t
!n 2

Damped (steady state solution):

xp (t) = X cos(!t )

Fo
X =
[(k m! 2 )2 + (c!)2 ]1=2
X 1
M = =p
st (1 r2 )2 + (2 r)2
1 c! 1 2 r
= tan = tan
k m! 2 1 r2

h p i 1 p
2 2
– Maximum: Mmax = 2 1 at r = 1 2
– Rotating Unbalance: Fo = mu e! 2
Eng6933 - Final Exam Formula Sheet 3

4 Harmonic Motion of the Base

Base motion: y(t) = Y sin !t
Steady-state motion:
xp (t) = X sin(!t )
1=2 1=2
X k 2 + (c!)2 1 + (2 r)2
= =
Y (k m! 2 )2 + (c!)2 (1 r2 )2 + (2 r)2
1 mc! 3 1 2 r3
= tan = tan
k(k m! 2 ) + (c!)2 1 + (4 2 1)r2

hp i1=2
1 2
Td has a maximum value at: rm = 2 1+8 1

Transmitted force: F = m! 2 X sin(!t ) = FT sin(!t )

FT X
= r2
kY Y
Eng6933 - Final Exam Formula Sheet 4

Relative Motion: z(t) = x y = Z sin(!t 1)

m! 2 Y r2
Z=p =Yp
(k m! 2 )2 + (c!)2 (1 r2 )2 + (2 r)2

1 c! 1 2 r
1 = tan = tan
k m! 2 1 r2

5 System Modelling
Springs in Parallel
n
X
keq = ki
i=1

Springs in Series
n
X 1
1
=
keq ki
i=1

Viscous Dampers in Parallel

n
X
ceq = ci
i=1

Viscous Dampers in Series

X1n
1
=
ceq ci
i=1
Eng6933 - Final Exam Formula Sheet 5

6 Two Degree of Freedom Systems

General form of the Governing Equations

m11 m12 x
•1 c11 c12 x_ 1 k11 k12 x1 F1 (t)
+ + =
m21 m22 x
•2 c21 c22 x_ 2 k21 k22 x2 F2 (t)

Natural Frequencies:
p !1=2
b b2 4ad
!1 =
2a
p !1=2
b + b2 4ad
!2 =
2a

where:

a = m11 m22
b = (m11 k22 + m22 k11 )
d = k11 k22 k12 k21

Amplitude ratios:
(1)
X2 ( m11 ! 21 + k11 ) k21
r1 = = =
X1 k12 m22 ! 21 + k22
(2)
X2 ( m11 ! 22 + k11 ) k21
r2 = = =
X1 k12 m22 ! 22 + k22

Motion of each mass:

(1) (2)
x1 (t) = X1 cos(! 1 t + 1) + X1 cos(! 2 t + 2)
(1) (2)
x2 (t) = r1 X1 cos(! 1 t + 1) + r2 X1 cos(! 2 t + 2)

where:
" #1=2
(1) 1 f r2 x_ 1 (0) + x_ 2 (0)g2
2
X1 = fr2 x1 (0) x2 (0)g +
r2 r1 ! 21
" #1=2
(2) 1 fr1 x_ 1 (0) + x_ 2 (0)g2
2
X1 = f r1 x1 (0) x2 (0)g +
r2 r1 ! 22
1 r2 x_ 1 (0) + x_ 2 (0)
1 = tan
! 1 [r2 x1 (0) x2 (0)]
1 r1 x_ 1 (0) + x_ 2 (0)
2 = tan
! 2 [ r1 x1 (0) x2 (0)]
Eng6933 - Final Exam Formula Sheet 6

7
Eng6933 - Final Exam Formula Sheet 7

Parallel axis theorem:

IO = IG + md2

Radius of gyration (k): p

k= I=m
Eng6933 - Final Exam Formula Sheet 8
Eng6933 - Final Exam Formula Sheet 9