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    Engineering Mathematics (3) Lecture Notes 2.4

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    Engineering Mathematics(3) Lecture Notes 2.4

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    Engineering Mathematics (3) Lecture Notes 2.4

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    wawai
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    Engineering Mathematics(3) Lecture Notes 2.4

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    Engineering Mathematics(3) Lecture Notes 2.4

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    Engineering Mathematics(3) Lecture Notes 2.4

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    © All Rights Reserved
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    Download as pdf or txt
    1 views7 pages

    Engineering Mathematics (3) Lecture Notes 2.4

    Uploaded by

    wawai
    Engineering Mathematics(3) Lecture Notes 2.4

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 7

    Chapter 2.

    Second-Order Linear ODEs 9

    §2.4 Modeling of Free oscillations of a Mass-spring


    system
    [Setting up the model]

    • Newton’s second law : Force = Mass × Acceleration = my "".


    Hook’s law: F0 = −ks0 where k > 0 is the spring constant.
    • In static equilibrium, −ks0 + mg = 0.
    • From the position y = 0, we pull the body downward(displacement y).
    By Hooke’s law this causes an upward force F1 in the spring,
    F1 = −ky (restoring force).
    [Undamped System : my "" + ky = 0]
    The restoring force F1 = −ky is the only force causing the motion.
    my "" = −ky ⇒ my "" + ky = 0.
    characteristic equation : mλ2 + k = 0
    !
    k
    λ2 + ω02 = 0, ω0 = m , λ = ±iω0
    ∴ y(t) = A cos ω0t + B sin ω0t.
    The corresponding motion is called a harmonic oscillation.
    2π
    Since the trigonometric functions have the period , the frequency
    ω0
    ω0
    (or natural frequency) is . (cycles/sec = hertz(Hz))
    2π
    Computational Science & Engineering (CSE) T. Jeong
    Chapter 2. Second-Order Linear ODEs 10

    Note 1. Alternative representation of the solution is


    y(t) = A cos ω0t + B sin ω0t
    A B
    = C[cos ω0t + sin ω0t ]
    C C
    = C[cos ω0t cos δ + sin ω0t sin δ]
    = C cos(ω0t − δ)
    √
    where the amplitude C = A2 + B 2, phase angle δ = arctan B
    A
    .

    y " (0)
    2. From the initial conditions, A = y(0), B = ω0
    .

    When B = 0, δ = 0.

    3. Fig. 34 shows typical forms of the solution, according to the positive


    initial displacement y(0) and initial velocities y "(0).

    Fig. 34. Typical harmonic oscillations with the same y(0) = A


    and different initial velocity y ! (0) = ωB

    Computational Science & Engineering (CSE) T. Jeong


    Chapter 2. Second-Order Linear ODEs 11

    Example 1. Undamped Motion. Harmonic Oscillation


    • If an iron ball of weight W=98nt stretches a spring 1.09m, how many
    cycles per minute will this mass-spring system execute?
    • What will its motion be if we pull down the weight an additional 16cm
    and let it start with zero initial velocity?
    Sol. By Hooke’s law,
    98
    98 = 1.09k ⇒ k= = 90[kg/sec2] = 90[nt/meter].
    1.09
    The mass is m = W/g = 98/9.8 = 10 kg.
    "κ
    ω0 3
    ∴ frequency: = m = [Hz]
    2π 2π 2π

    harmonic oscillation
    y(t) = A cos ω0t + B sin ω0t
    = A cos 3t + B sin 3t
    y(0) = A = 0.16,
    y "(0) = 3B = 0 ⇒ B = 0
    ∴ y(t) = 0.16 cos 3t

    Computational Science & Engineering (CSE) T. Jeong


    Chapter 2. Second-Order Linear ODEs 12

    [Damped System]

    Fig. 36. Damped system

    A damping force is F2 = −cy ", c(> 0) = damping constant.


    my "" = −ky − cy " =⇒ my "" + cy " + ky = 0
    c k
    λ2 + λ + = 0, λ1 = −α + β, λ2 = −α − β,
    m m
    c 1
    √
    where α = 2m , β = 2m c2 − 4mk.

    Case I(Overdamping, c2 > 4mk): distinct real roots λ1, λ2


    y(t) = c1e−(α−β)t + c2e−(α+β)t

    Fig. 37. Typical motions in the overdamped case


    (a) Positive initial displacement (b) Negative initial displacement

    Computational Science & Engineering (CSE) T. Jeong


    Chapter 2. Second-Order Linear ODEs 13

    Case II(Critical damping, c2 = 4mk): real double root


    y(t) = (c1 + c2t)e−αt

    Fig. 38. Critical damping

    Case III(Underdamping, c2 < 4mk): complex conjugate roots


    ∗ ∗ 1 "
    β = iω , where ω = 4mκ − c2 (> 0)
    2m
    y(t) = e−αt (A cos ω ∗t + B sin ω ∗t) = Ce−αt cos(ω ∗t − δ),
    √
    where C = A2 + B 2, tan δ = B/A.
    ω∗
    Note that the frequency is and ω ∗ −→ ω0 as c −→ 0, and y(t)
    2π
    approaches zero as t → ∞.

    Fig. 39. Damped oscillation in the case of underdamping

    Computational Science & Engineering (CSE) T. Jeong

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