MA3002 Solid Mechanics and Vibration

Tutorial 8 Undamped Free Vibration

1. Two uniform rigid rods, each of mass M and length A

L, are welded together to form a T-shaped assembly
as shown. Determine the natural frequency of the
assembly for small oscillations about point A. L

1 18 g
Ans: fn  B
2 17 L C D
L/2 L/2

Solution
Newton’s 2nd law for rotational motion about A: A

+ + 
FBD

J A   M A D
(1) B
Mass moment of inertia of Moments of all the
C 
the rods about  forces about A Mg 
Mg
ML2  ML2  17
JA    ML2   ML2
3  12  12
M.I of AB M.I of CD

+  M A   Mg. L sin   Mg.L sin    3 MgL sin    3 MgL sin   

2 2 2 Small angle
approximation
Weight of AB Weight of CD

Substituting in Eq. (1):

 17 2   3
 ML     MgL
Effective Inertia  12  2 Effective stiffness

 17 2    3 
 ML     MgL    0 (EOM)
 12  2 
Natural frequency:

1 Effective Stiffness 1 (3/ 2) MgL 1 18 g

fn   
2 Effective Inertia 2 (17 /12) ML2
2 17 L Hz
(Ans)

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 MA3002 Solid Mechanics and Vibration

2. A slender, uniform rigid rod of mass m is pivoted at k k

A
the bottom end and is held in equilibrium by two
springs of equal stiffness k. What is the natural
frequency of vibration for small amplitudes?
[Steidel, Problem 2.39, page 67 (adapted)]. L

1 6k 3 g
Ans: fn  
2 m 2L O

Solution

Newton’s 2nd law for rotational motion about O:

+ +
J O   M O
(1) FBD
Mass moment of inertia of of rod
Moments of all the
the rod about O
forces about O

mL2
JO 
3

L L  mgL 
+  M O  2k .L sin  .L cos   mg . 2 sin   2k .L .L  mg 2     2k .L  2  
2

 
sin    , cos   1 (Small angle approximation)

Substituting in Eq. (1):

 mL2    mgL 
     2 k .L  
2

 3   2 
Effective Inertia Effective stiffness
 mL2    mgL 
    2 k .L    0
2
 (EOM)
 3   2 

Natural frequency:

1 Effective Stiffness 1 2kL2  mgL / 2 1 6k 3 g

fn     Hz (Ans)
2 Effective Inertia 2 mL2 / 3 2 m 2L
Note the negative sign. This means gravity reduces the natural frequency (in this
example). If the given structure is turned upside down, then this sign will be positive,
2
in which case, the gravity increases the natural frequency.
MA3002 Solid Mechanics and Vibration

3. Determine the natural frequency of the

horizontal pendulum shown assuming
small vibration amplitudes. In the
position shown, the spring is in the
stretched condition and the weight of
the mass m is balanced by the spring
force. Neglect the mass of the lever.
Assume the pendulum mass is a point [Hint: In the configuration shown,
mass. [Steidel, Problem 2.31, page 65 the spring is already stretched by a
(adapted)] deflection .]

1 a k
Ans: f n 
2 b m
Solution
Static Analysis: b O
FBD m
Equilibrium of moments:
a
+  MO  0 mg
k
mg.b  k .a  0 (1)

Dynamic Analysis: O
FBD m
nd
Newton’s 2 law: 
b 
+ + a
J O   M O   k
k .a sin 
mg

mb 2 .  mg .b cos    k   k .a sin   a cos 

1  1 (Small angle approximation)

mb 2 .  mgb  k a  ka 2
= 0 by static analysis, see Eq. (1)

mb 2 .  ka 2  0 (EOM)

Natural frequency:

1 Effective Stiffness 1 ka 2 1 a k
fn    Hz (Ans)
2 Effective Inertia 2 mb 2 2 b m
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MA3002 Solid Mechanics and Vibration

4. A mass m is suspended from a spring of stiffness k,

which is in turn suspended at its upper end from a
thin steel cantilever beam of Young’s modulus E,
thickness t, width w, and length L. The cantilever
beam and spring have negligible masses. Determine
the natural frequency of vertical oscillatory motion
of the mass. [Steidel, Problem 2.6, page 49
(adapted)].
It is known that a cantilever beam of length L has a
vertical deflection  for a vertical load F applied at
the tip of the cantilever beam, given by
FL3
 3
where I  Wt /12
3EI
1 k kb 3Ewt 3
Ans: fn  where kb 
2 ( k  k b )m 12 L3
Solution
FL3
 Given:   I  Wt 3 /12
3EI
3EI 3EWt 3
F
The stiffness of the cantilever beam: kb   3 
 L 12 L3
(stiffness felt at the tip of the beam)

Key Idea: The beam can be replaced by a spring of equivalent stiffness kb.
For springs in series:

Natural frequency:
1 Effective Stiffness 1 keff 1 kkb
fn    Hz (Ans)
2 Effective Mass 2 m 2 m  k  kb 

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MA3002 Solid Mechanics and Vibration

5. A heavy table is supported by thin flat steel legs. Its

natural period in horizontal oscillation is 0.4s. When
a 30-kg plate is clamped on to its surface, the natural
period of the oscillation increases to 0.5s. What is the a) tn = 0.4 s
effective spring constant and the effective mass of the
30 kg
table? [Steidel, Problem 2.8, page 49 (adapted)].

Ans: k eff  13151.3 N/m , meff  53.3 kg

b) tn = 0.5 s

Solution
30 kg
Natural frequencies:

1 1
f na    2.5 Hz
t na 0.4
a) tn = 0.4 s b) tn = 0.5 s
1 1
f nb    2.0 Hz
t nb 0.5
 
30 kg

meff keff
meff keff

meff 
x  keff x  0  meff  30 x  keff x  0

1 keff 1 keff
f na  (1) f nb  (2)
2 meff 2 meff  30

Dividing Eq. (1) by Eq. (2):

2.5
f na meff  30
  meff =53.3 kg (Ans)
2.0 f nb meff

Substituting meff in Eq. (1) ,

2.5 1 keff
f na   keff =13151.25 N/m (Ans)
2 meff 5
53.3