THEORY OF MACHINE AND MECHANISM II

TUTORIAL NO: 1
ENGINE FORCE ANALYSIS
1. In a slider crank mechanism, the length of the crank and connecting rod are 100 mm and 400
mm respectively. The crank rotates uniformly at 600 r.p.m. clockwise. When the crank has
turned through 45° from the inner dead centre, determine
(a) Velocity and acceleration of the slider,
(b) Angular velocity and angular acceleration of the connecting rod.
2. A petrol engine has a stroke of 120 mm and connecting rod is 3 times the crank length. The
crank rotates at 1500 r.p.m. in clockwise direction. Determine:
(a) Velocity and acceleration of the piston, and
(b) Angular velocity and angular acceleration of the connecting rod, when the piston had
travelled one-fourth of its stroke from I.D.C.
3. If the crank and the connecting rod are 300 mm and 1 m long respectively and the crank rotates
at a constant speed of 200 r.p.m., determine:
(a) The crank angle at which the maximum velocity occurs, and
(b) Maximum velocity of the piston.
4. The following data refer to a steam engine: Diameter of piston = 240 mm; stroke = 600 mm;
length of connecting rod = 1.5 m; mass of reciprocating parts = 300 kg; speed = 125 r.p.m.
Determine the magnitude and direction of the inertia force on the crankshaft when the crank has
turned through 30° from inner dead centre.
5. A vertical petrol engine 150 mm diameter and 200 mm stroke has a connecting rod 350 mm
long. The mass of the piston is 1.6 kg and the engine speed is 1800 r.p.m. On the expansion
stroke with crank angle 30° from top dead centre, the gas pressure is 750 kN/m2. Determine the
net thrust on the piston.
6. A horizontal steam engine running at 120 r.p.m. has a bore of 250 mm and a stroke of 400 mm.
The connecting rod is 0.6 m and mass of the reciprocating parts is 60 kg. When the crank has
turned through an angle of 45° from the inner dead centre, the steam pressure on the cover end
side is 550 kN/m2 and that on the crank end side is 70 kN/m2. Considering the diameter of the
piston rod equal to 50 mm, determine:
(a) turning moment on the crank shaft, and
(b) thrust on the bearings.
7. A vertical single cylinder engine has a cylinder diameter of 250 mm and a stroke of 450 mm.
The reciprocating parts have a mass of 180 kg. The connecting rod is 4 times the crank radius
and the speed is 360 r.p.m. When the crank has turned through an angle of 45° from top dead
centre, the net pressure on the piston is 1.05 MN/m2. Calculate the effective turning moment on
the crankshaft for this position.
8. The connecting rod of a gasoline engine is 300 mm long between its centers. It has a mass of 15
kg and mass moment of inertia of 7000 kg-mm2. Its centre of gravity is at 200 mm from its

TMM II 2070 1 TUTORIAL NO. 1

 small end centre. Determine the dynamical equivalent two-mass system of the connecting rod if
one of the masses is located at the small end centre.
9. If the crank and the connecting rod are 300 mm and 1 m long respectively and the crank rotates
at a constant speed of 200 r.p.m. Plot the following graphs:
(c) Velocity and acceleration of the piston vs. crank position, and
(d) Angular velocity and acceleration of the connecting rod vs crank position.
10. Write a program to take all required input variables from the user and give output for the
turning moment of the crank shaft.

ANSWERS
1. 5.228 m/s, 279.155 m/s2; 11.285 rad/s, 686.181 rad/s2
2. 9.014 m/s, 764.913 m/s2; 32.885 rad/s, 6490.922 rad/s2
3. 75º, 6.54 m/s
4. 14.897 kN
5. 7518.205 N
6. 3.929 kN.m, 11.976 N
7. 2365.97 N.m
8. 0.173 kg, 14.827 kg

TMM II 2070 2 TUTORIAL NO. 1

 THEORY OF MACHINE AND MECHANISM II
TUTORIAL NO: 2
TURNING MOMENT DIAGRAM AND FLYWHEEL
1. An engine flywheel has a mass of 6.5 tonnes and the radius of gyration is 2 m. If the maximum and
minimum speeds are 120 r. p. m. and 118 r. p. m. respectively, find maximum fluctuation of energy.
2. A horizontal cross compound steam engine develops 80 kW at 240 r.p.m. The coefficient of
fluctuation of energy as found from the turning moment diagram is to be 0.25 and the fluctuation of
speed is to be kept within ± 1 % of the mean speed. Find the mass of the flywheel required, if the
radius of gyration is 0.65 metres.
3. An engine runs at 100 rpm and a curve of the turning moment plotted on a crank angle base showed
the following areas alternatively above and below the mean turning moment line: 780, 400, 520, 620,
260, 460, 340, 420 mm2. The scale used were 1 mm = 400 N.m for torques axis and 1 mm = 10 for
crank angle axis.
If the total fluctuation in speed is limited 2% of mean speed, determine the mass of flywheel necessary
if the radius of gyration is 1.05 m.
4. The turning moment diagram for a multicylinder engine has been drawn to a scale of 1 mm = 4500 N-
m vertically and 1 mm = 2.4° horizontally. The intercepted areas between output torque curve and
mean resistance line taken in order from one end are 342, 23, 245, 303, 115, 232, 227, 164 mm2, when
the engine is running at 150 r.p.m. If the mass of the flywheel is 1000 kg and the total fluctuation of
speed does not exceed 3% of the mean speed, find the minimum value of the radius of gyration.
5. A multi-cylinder engine is to run at a speed of 600 r.p.m. On drawing the turning moment diagram to
a scale of 1 mm = 250 N-m and 1 mm = 3°, the areas above and below the mean torque line in mm 2
are : + 160, – 172, + 168, – 191, + 197, – 162. If the moment of inertia of the flywheel is 32.7 kg m2,
determine the coefficient of fluctuation of speed.
6. The torque delivered by a two stroke engine is represented by 𝑇 = 20000 + 9500𝑠𝑖𝑛2𝜃 −
5700𝑐𝑜𝑠2𝜃 𝑁.𝑚, where 𝜃 is the angle turned by the crank from the inner dead center. If the resisting
torque is constant, determine:
(a) The power developed,
(b) Moment of inertia of flywheel in kg m2, if the total fluctuation of speed is not exceed 1% of mean
speed which is 180 rpm, and
(c) The angular acceleration of flywheel when the crank has rotated through an angle of 450 from the
inner dead center.
7. A certain machine requires a torque of (5000 + 500 sin θ ) N-m to drive it, where θ is the angle of
rotation of shaft measured from certain datum. The machine is directly coupled to an engine which
produces a torque of (5000 + 600 sin 2θ) N-m. The flywheel and the other rotating parts attached to
the engine has a mass of 500 kg at a radius of gyration of 0.4 m. If the mean speed is 150 r.p.m.,
determine :
(a) the fluctuation of energy,
(b) the total percentage fluctuation of speed, and
(c) the maximum and minimum angular acceleration of the flywheel and the corresponding shaft
position.

TMM II 2070 3 TUTORIAL NO. 2

8. A single cylinder double acting steam engine delivers 185 kW at 100 r.p.m. The maximum fluctuation
of energy per revolution is 15 per cent of the energy developed per revolution. The speed variation is
limited to 1 per cent either way from the mean. The mean diameter of the rim is 2.4 m. Find the mass
and cross-sectional dimensions of the flywheel rim when width of rim is twice the thickness. The
density of flywheel material is 7200 kg/m3.
9. A single cylinder internal combustion engine working on the four stroke cycle develops 75 kW at 360
r.p.m. The fluctuation of energy can be assumed to be 0.9 times the energy developed per cycle. If the
fluctuation of speed is not to exceed 1 per cent and the maximum centrifugal stress in the flywheel is
to be 5.5 MPa, estimate the mean diameter and the cross-sectional area of the rim. The material of the
rim has a density of 7200 kg/m3.
10. A steam engine runs at 150 r.p.m. Its turning moment diagram gave the following area measurements
in mm2 taken in order above and below the mean torque line:
500, – 250, 270, – 390, 190, – 340, 270, – 250
The scale for the turning moment is 1 mm = 500 N-m, and for crank angle is 1mm = 5°.
The fluctuation of speed is not to exceed ± 1.5% of the mean, determine the cross-section of the rim of
the flywheel assumed rectangular with axial dimension equal to 1.5 times the radial dimension. The
hoop stress is limited to 3 MPa and the density of the material of the flywheel is 7500 kg/m3.

ANSWERS
1. 67.859 kJ 2. 936.77 kg 3. 2598.45 kg
4. 3.7897 m 5. 1.998 %
6. 376.991 kW, 3118.106 kg m2, 3.0467 rad /s2
7. 1204.167 N-m, 6.1%, 35.025° or 127.631°, 3.463 rad /s2, 12.203 rad /s2 (retardation)
8. 5271.87 kg; 440.71 mm; 220.35 mm 9. 1.4663 m, 0.0444 m2
10. 221.56 mm; 147.7 mm

TMM II 2070 4 TUTORIAL NO. 2

 THEORY OF MACHINE AND MECHANISM II
TUTORIAL NO: 3
GYROSCOPIC EFFECT
1. A flywheel of mass 10 kg and radius of gyration 200 mm is spinning about its axis, which is
horizontal and is suspended at a point distant 150 mm from the plane of rotation of the flywheel.
Determine the angular velocity of precession of the flywheel. The spin speed of flywheel is 900
r.p.m.
2. A horizontal axle AB, 1 m long, is pivoted at the midpoint C. It carries a weight of 20 N at A
and a wheel weighing 50 N at B. The wheel is made to spin at a speed of 600 r.p.m in a
clockwise direction looking from its front. Assuming that the weight of the flywheel is
uniformly distributed around the rim whose mean diameter is 0.6 m, calculate the angular
velocity of precession of the system around the vertical axis through C.
3. A flywheel is carried on a shaft mounted in two bearings A and B 900 mm apart. The flywheel
which has a mass of 5 kg and radius of gyration of 300 mm is fixed 300 mm from A and 600
mm from B. Viewed from bearing A the flywheel is revolving in a clockwise direction at 3000
rpm about its own axis. The two bearings are in the same horizontal plane and are supported by
thin flexible cords. If the cord supporting bearing A is cut. Describe the motion of the flywheel
and the shaft, in magnitude and direction that follows immediately after cutting the cord.
4. An aeroplane makes a complete half circle of 60 metres radius, towards left, when flying at 250
km per hr. The rotary engine and the propeller of the plane has a mass of 450 kg and a radius of
gyration of 0.3 m. The engine rotates at 2400 r.p.m. clockwise when viewed from the rear. Find
the gyroscopic couple on the aircraft.
5. A four-wheeled trolley car of mass 2500 kg runs on rails, which are 1.5 m apart and travels
around a curve of 30 m radius at 24 km / hr. The rails are at the same level. Each wheel of the
trolley is 0.75 m in diameter and each of the two axles is driven by a motor running in a
direction opposite to that of the wheels at a speed of five times the speed of rotation of the
wheels. The moment of inertia of each axle with gear and wheels is 18 kg-m2. Each motor with
shaft and gear pinion has a moment of inertia of 12 kg-m2. The centre of gravity of the car is 0.9
m above the rail level. Determine the vertical force exerted by each wheel on the rails taking
into consideration the centrifugal and gyroscopic effects. State the centrifugal and gyroscopic
effects on the trolley.
6. A rail car has a total mass of 4000 kg. The moment of inertia of each wheel together with
gearing is 20 kg m2. The center distance between two wheels on an axle is 1.5 m and each
wheel has 400 mm radius. Each axle is driven by a motor, the speed ratio between the two being
[Link] motor with its gear has a moment of inertia of 15 kg m2 and runs in a direction opposite
to that of the axle. The center of gravity of the car is 1 m above the rails. Determine the limiting
speed for the car when moving on a curve of 250 m radius such that no wheel leaves the rails.
7. The moment of inertia of each wheel of a motorcycle is 1.5 kg m2. The rotating parts of the
engine of the motor cycle have a moment of inertia of 0.28 kg m2. The speed of the engine is six
times the speed of the wheels and is in the same direction. The mass of the motor cycle is 250

TMM II 2070 5 TUTORIAL NO. 3

 kg and its center of gravity is 0.6 m above the ground level. Find the angle of heel if the motor
cycle is travelling at 45 km/h and is taking a turn of 30 m radius. The wheel diameter is 0.6 m.
8. A two wheeler motor vehicle and its rider weigh 225 kg and their combined center of gravity is
600 mm above the ground level, when the vehicle is upright. Each road wheel is of 600 mm
diameter and has a moment of inertia of 1 kg m2. The rotating parts of the engine have a
moment of inertia of 0.175 kg m2. The engine rotates at 5.5 times the speed of the road wheels
and in the same sense. Determine the angle of heel necessary, when the vehicle is rounding a
curve of 30 m radius at a speed of 55 km/h.
Programming Assignments
9. Develop the program to solve Problem No 5. Then Study the effect of velocity of the vehicle on
the reactions.
10. Develop the program to solve Problem No 6. Then Study the effect of radius on the limiting
velocity of the vehicle.

ANSWERS
1. 0.39033 rad/s 2. 0.5204 rad/s 3. 0.2082 rad/s
4. 11780.972 Nm 5. 7131.74 kN, 5130.76 kN 6. 113.3 km/h
7. 30.380 8. 40.4020

TMM II 2070 6 TUTORIAL NO. 3

 THEORY OF MACHINE AND MECHANISM II
TUTORIAL NO: 4
GOVERNORS
1. The length of the upper arm of a Watt governor is 400 mm and its inclination to the vertical is
30°. Find the percentage increase in speed, if the balls rise by 20 mm.
2. A Porter governor has equal arms, each 250 mm long and pivoted on the axis of rotation. Each
ball has a mass of 5 kg and mass of the central load is 25 kg. The radius of rotation of the ball is
150 mm when the governor begins to lift and 200 mm when the governor is at maximum speed.
Determine the maximum speed and range of speed of the governor.
3. The lower arms are pivoted to the sleeve at a distance of 30 mm from the axis of rotation. The
length of the upper arms is 280 mm and that of the lower arms is 300 mm. The mass of each
ball is 6 kg. If the equilibrium speed is 200 rpm, when the radius of rotation is 200 mm,
determine the required mass of the sleeve.
4. A Porter governor has all four arms 250 mm long. The upper arms are attached on the axis of
rotation and the lower arms are attached to the sleeve at a distance of 30 mm from the axis. The
mass of each ball is 5 kg and the sleeve has a mass of 50 kg. The extreme radii of rotation are
150 mm and 200 mm. Determine the range of speed of the governor.
5. In a Porter governor the upper and lower arms are each 25 cm long and they are attached on
points on the governor spindle. On bottom position of the sleeve, the arms make an angle of 350
with the vertical spindle and in top position the angle is 450. If the weight of each rotating ball
is one-eighth of the central load, find the speed range of the governor.
6. A Proell governor has arms of 300 mm length. The upper arms are hinged on the axis of
rotation, whereas the lower arms are pivoted at a distance of 35 mm from the axis of rotation.
The extensions of lower arms to which the balls are attached are 100 mm long. The mass of
each ball is 8 kg and the mass on the sleeve is 60 kg. At the minimum radius of rotation of 200
mm, the extensions are parallel to the governor axis. Determine the equilibrium speed of the
governor for the given configuration. What will be the equilibrium speed for the maximum
radius of 250 mm?
7. In a Hartnell Governor, the mass of each rotating ball is 2kg. The bal arm is 125 mm long and
the sleeve arm is 75 mm. When the ball arm is vertical, the radius of rotation is 100 mm and the
equilibrium speed is 250 rpm. An increase of 8 % in speed results in sleeve movement of 12
mm. Determine the stiffness of the spring and the initial spring load.
8. In a Wilson-Hartnell type governor, the mass of each ball is 5 kg. The length of the ball arm
and sleeve arm of each bell crank lever are 100 mm and 80 mm respectively. The stiffness of
each of the two springs attached directly to the balls is 0.3 kN/m. The lever for the auxiliary
spring is pivoted at its mid point. When radius of rotation is 100 mm, the equilibrium speed is
200 rpm. If the sleeve is lifted by 8 mm for an increase of sped of 6 %. Determine the required
stiffness of the auxiliary spring.

TMM II 2070 7 TUTORIAL NO. 4

9. A hartung governor has a rotating mass of 4 kg and a spring of stifness 10 kN/m in
compression. In the mid position, the compression each spring is 60 mm and the radius of
rotation is 160 mm. The wieght of the sleeve and the load due to gear operated governor is 20
kg at the sleeve. If the vertical arm is 130 mm long and the horizontal arm is 150 mm long,
determine the equilibrium speed fro the given mid position.
10. A Pickering Governor is used in a gramophone has three leaf springs of cross section 2.5 mm ×
0.2 mm and length of 40 mm. On center of each leaf, a mass of 20 g is attached. The distance
between the spindle axis and the mass at rest is 11 mm. Determine the equilibrium speed of the
turntable. The turntable rotates at 1/8 th speed of the governor. The lift of the sleeve is 0.5 mm.
Assume E = 2 × 1011 N/m2.

ANSWERS
1. 2.7674 %
2. 189.163 rpm, 25.343 rpm
3. 46.373 kg
4. 30.015 rpm
5. 15.13 rpm
6. 144.095 rpm, 156.800 rpm
7. 15.217 kN/m, 456.93 N
8. 12.422 kN/m
9. 318.775 rpm
10. 121.69 rpm

TMM II 2070 8 TUTORIAL NO. 4

 THEORY OF MACHINE AND MECHANISM II
TUTORIAL NO: 6(A)
VIBRATION OF SINGLE DEGREE OF FREEDOM SYSTEMS
(Undamped Free Vibration)
1. A heavy table is supported by flat steel legs. Its natural period in horizontal motion is 0.4 s.
When a 30 kg plate is clamped to its surface, the natural period in horizontal motion is
increased to 0.5 s. Determine the effective spring constant and the mass of the table.
2. The period of vibration of the system shown in Figure P6(A).2 is observed to be 0.7 s. After
the spring of constant k2 = 1.2 kN/m is removed from the system, the period is observed to be
0.9 s. Determine
(a) the constant k1 of the remaining spring and
(b) the mass of block A.

k1
A

k2

Figure P6(A).2
3. A helical spring, when fixed at one end and loaded at the other, requires a force of 100 N to
produce an elongation of 10 mm. The ends of the spring are now rigidly fixed, one end
vertically above the other, and a mass of 10 kg is attached at the middle point of its length.
Determine the time taken to complete one vibration cycle when the mass is set vibrating in the
vertical direction.
4. A light cantilever of rectangular section (5 cm deep and 2.5 cm wide) has a mass fixed at its
free end. Find the ratio of the frequency of the lateral vibration in vertical plane to that in the
horizontal plane.
5. Determine the natural frequency of the system of Figure P6(A).5.
A=2X 10-5 m2
E = 100 GPa 3 MN/m 1 MN/m
100 kg
2m

Figure P6(A).5
6. Determine the natural frequency of the mass M for the system shown in Figure P6(A).6.
Neglect the mass of the cantilever beam.

TMM II 2070 9 TUTORIAL NO. 6(A)

7. A machine of mass m = 500 kg is mounted on a simply supported steel beam of length l = 2 m
having a rectangular cross section (depth = 0.1 m, width = 1.2 m) and Young's modulus E =
2.06  1011 N/m2. To reduce the vertical deflection of the beam, a spring of stiffness k is
attached at the mid span as shown in Figure P6(A).7. Determine the value of k needed to
reduce the deflection of the beam by 25 percent of its original value.

l
m

k k
m
Figure P6(A).6 Figure P6(A).7
8. Determine the natural frequency of the system shown in Figure P6(A).8. The bar is assumed
mass less and the lower spring is attached to the bar midway between the points of attachment
of the upper springs. The spring constants are as shown.
9. A small mass m is fastened to a vertical wire which is under tension T as shown in Figure
P6(A).9. What will be the natural frequency of vibration of the mass if it is displaced laterally a
slight distance and then released?
10. A cantilever beam carries a mass M at the free end as shown in Figure P6(A).10. A mass m
falls from a height h on to the mass M to it without rebounding. Determine the resulting
transverse vibration of the beam.

m
k1 k2
b

h
k3 m M
c l

m
Figure P6(A).8 Figure P6(A).9 Figure P6(A).10
ANSWERS
1. 53.33 kg, 13159.5 N/m T b  c
9.  
2. 1.838 kN/m, 37.7 kg m  bc 
3. 0.0993 s
4. 2:1 10. x = x (0) sin nt + x(0) cos nt
n
5. 132.3 rad/s .
mgl 3
6. 3EIk where, x(0) =  , x (0) =
3EI
(3EI  kl 3 )m
 m  3EI
7. 41.2 MN/m   2 gh , n =
M  m l ( M  m)
3
4k1 k 2 k 3
8.
m(4k1 k 2  k1 k 3  k 2 k 3 )
TMM II 2070 10 TUTORIAL NO. 6(A)
 THEORY OF MACHINE AND MECHANISM II
TUTORIAL NO: 6(B)
VIBRATION OF SINGLE DEGREE OF FREEDOM SYSTEMS
(Damped Free Vibration)
1. Determine the free vibration response of the viscously damped with a mass of 10 kg and spring
of stiffness 1000 N/m when x0 = 0.1 m and x 0 = 10 m/s.
(a) c = 150 N.s/m
(b) c = 200 N.s/m
(c) c = 250 N.s/m
2. A piston of mass 4.53 kg travels a tube with a velocity of 15.24 m/s and engages a spring and
damper as shown in Figure P6(B).2 below. Determine the maximum displacement of the
piston after it engages the mass-damper assembly.

Figure P6(B).2
3. A 2 kg piston on a helical spring vibrates with a natural frequency of 125 cycles per minute.
When oscillating within an oil-filled cylinder, the frequency of free oscillation is reduced to
120 cycles per minute. Determine the damping constant c.
4. An automobile suspension system is to be modeled as a single degree of freedom system as
shown in Figure P6(B).4. The mass of the wheel and tire is lumped together, M = 20 kg. The
tire stiffness, Kt is 20 kN/m. The suspension spring stiffness Ks is 180 kN/m. The viscous
damping coefficient of the shock absorber is 200 N.s/m. Determine the following parameters:
(a) Natural frequency,
(b) The critical damping,
(c) Damping ratio,
(d) Damped natural frequency.

Figure P6(B).4
5. A mass of 10 kg is kept on two slabs of isolators placed one over the other. One of the isolators
is of rubber having stiffness of 3 kN/m and damping coefficient of 100 Ns/m while the other
isolator is of felt with stiffness of 12 kN/m and damping coefficient of 300 Ns/m. If the system

TMM II 2070 11 TUTORIAL NO. 6(B)

 is set in motion in vertical direction, determine the damped and undamped natural frequency of
the system.
6. A machine weighing 3600 kg is mounted on a supporting system consisting of four springs and
four dampers. The vertical deflection of the supporting system under the weight of the machine
is measured as 20 mm. The dampers are designed to reduce the amplitude of the vertical
vibration to 1/8 of the initial amplitude after two complete cycles of free vibration. Calculate
the undamped natural frequency, damping ratio and damped natural frequency of the system.
Comment on the effect of damping on the natural frequency.
7. A vibrating system is defined by the following parameters: m = 3 kg, k = 100 N/m, C = 3 Ns/m.
Determine:
(a) the damping ratio,
(b) the natural frequency of damped vibration fd,
(c) logarithmic decrement,
(d) the ratio of two consecutive amplitudes and
(e) the number of cycles after which the original amplitude is reduced to 20 %.
8. A machine has a mass of 200 kg. It is placed on an isolator and the corresponding free vibration
records as shown in Figure P6(B).8. Determine its spring constant and damping coefficient.
1.52

0.95
x(mm)

0.60

0.36 0.24
O t

0.38 s

Figure P6(B).8

9. Write a computer program to take inputs of mass, stiffness, damping, initial velocity and initial
displacement from the user and gives output for the natural frequency, damping type and
response plot.

ANSWERS
1. [1.6252 sin 6.614t + 0.1 cos 6.614t] e-7.5t, [0.1 + 11t] e-10t, 0.0667 (12 e-5t – 10.5 e-20t)
2. 0.12476 m
3. 14.66 N.s/m
4. 100 rad/s, 4000 N s/m, 0.05, 99.875 rad/s
5. 15.49 rad/s, 15.03 rad/s
6. 22.147 rad/s, 0.165, 21.85 rad/s
7. 0.0866, 0.9154 Hz, 0.5462, 1.7266, 2.9467 cycles
8. k = 879.59 kN/m, c = 1942.97 Ns/m
TMM II 2070 12 TUTORIAL NO. 6(B)
 THEORY OF MACHINE AND MECHANISM II
TUTORIAL NO: 6(C)
VIBRATION OF SINGLE DEGREE OF FREEDOM SYSTEMS
(Forced Harmonic Vibration)
1. Consider a spring-mass-damper system with k = 4000 N/m, m = 10 kg, and C = 40 N.s/m. Find
the steady-state and total response of the system under the harmonic force F(t) = 200 cos 10t N
and the initial conditions x0 = 0.1 m, and x 0 = 0.
2. A vibrating system having a mass 1 kg is suspended by a spring of stiffness 1000 N/m and it is
put to harmonic excitation of 10 N. Assuming viscous damping, determine:
(a) damped frequency
(b) the resonant frequency,
(c) the phase angle at resonance,
(d) the amplitude at resonance,
(e) the frequency corresponding to the peak amplitude, and
(f) the peak amplitude. Take C = 40 Ns/m
3. When a 50 kg machine, placed on an undamped isolator, is subjected to a harmonic excitation
at 125 Hz, its steady state amplitude is observed as 1.8 mm. When the machine is attached to
two of these isolators in series and subjected to the same excitation, its steady state amplitude is
1.2 mm. What is the stiffness of one of these isolators?
4. A 45 kg machine is placed at the end of a 1.6 m cantilever beam of elastic modulus of 200 GPa
and cross sectional moment of inertia 1.6 × 10-5 m4. As it operates, the machine produces a
harmonic force of magnitude 125 N. At what operating speeds will the machine’s steady state
amplitude be less than 0.2 mm?
5. A 65 kg industrial sewing machine has a rotating unbalance of 0.15 kg m. The machine
operates at 125 Hz and is mounted on a foundation of equivalent stiffness 2 MN/m and
damping ratio 0.12. What is the machine’s steady state amplitude?
6. An electric motor, of mass 60 kg, rated speed 3000 rpm, and an unbalance 0.002 kgm, is to be
mounted on an isolator to achieve a force transmissibility of less than 0.25. Determine:
(a) the stiffness of the isolator,
(b) the dynamic amplitude of the motor, and
(c) the force transmitted to the foundation.
7. A machine having a mass of 100 kg and supported on springs of total stiffness 7.84  105 N/m
has an unbalanced rotating element which results in a disturbing force of 392 N at a speed of
3000 rpm. Assuming a damping factor of  = 0.20, determine
(a) the amplitude of motion due to unbalance,
(b) the transmissibility ratio, and
(c) the transmitted force.
8. A vibrometer having the amplitude of vibration of the machine part as 4 mm and  = 0.20,
performs harmonic motion. If the difference between the maximum and minimum recorded

TMM II 2070 13 TUTORIAL NO. 6(C)

 value is 10 mm, determine the natural frequency of vibrometer if the frequency of the vibration
part is 12 rad/s.
9. Determine the power required to vibrate a spring mass system with an amplitude of 15 cm and
at a frequency of 100 Hz. The system has a damping ratio 0.05 and a damped natural frequency
of 22 Hz as found out from the vibration record. The mass of the system is 0.5 kg.
10. A rotor of mass 12 kg is mounted in the middle of 25 mm diameter shaft supported between
two bearings placed at 900 mm from each other. The rotor is having 0.02 mm eccentricity. If
the system rotates at 3000 rpm, determine the amplitude of steady state vibrations and the
dynamic force on the bearings. Take E = 2  105 N/mm2.

ANSWERS
1. [0.01 sin 19.8997 t + 0.1 cos 19.8997 t] e-2t + 0.0667 sin (10t – 0.1326)
2. 24.495 rad/s, 31.623 rad/s, 900, 7.906 mm, 14.142 rad/s, 10.206 mm
3. 15.42 kN/m
4. 195.434rad/s <  < 256.851 rad/s
5. 2.425 mm
6. 1.1844 MN/m, 0.04167 mm, 49.348 N
7. 0.04283 mm, 0.1487, 58.291 N
8. 5.6614 rad/s
9. 307.35 W
10. 0.02542 mm, 3.209 N

TMM II 2070 14 TUTORIAL NO. 6(C)

 THEORY OF MACHINE AND MECHANISM II
TUTORIAL NO: 7
VIBRATION OF TWO DEGREE OF FREEDOM SYSTEMS
1. Write the equations of motion for the system shown in Figure P7.1 and determine its natural
frequencies and mode shapes.
2. Determine the natural frequencies for the two mass system shown in Figure P7.2. Both masses
move only vertically.
3. Determine the free vibration of the system shown in Figure P7.3 when the initial conditions are
x1(0) = 5, x1 (0) = 0; x2 (0) = 0, x 2 (0) = 0. Take k1 = k3 = k; k2 = 2k and m1 = m2 = m.

4. Determine the natural frequencies for the system shown in Figure P7.4, m1 = 1 kg, m2 = 2 kg,
k1 = 2000 N/m, k2 = 1000 N/m, k3 = 3000 N/m.
1 2

k k 3k
3m m k

2k m
Figure P7.1 x1
1 2 k
k1 k2 k3 2m
m1 m2 x2

Figure P7.3/P7.4 Figure P7.2

5. Determine the natural frequencies of vibrations and the ratio of amplitudes of motion for the
system shown in Figure P7.5. Given m1 = 10 kg, m2 = 15 kg, and k = 320 N/m.
6. Derive the equation of motion of the vibratory system shown in Figure P7.6. Determine the
natural frequencies for given data k1 = 98000 N/m, k2 = 19600 N/m; m1 = 196 kg, m2 = 49 kg.
7. Figure P7.7 shows an overhead crane schematically. The cabin is at the center of the beam of
length l1. Reduce the system to an equivalent two degrees of freedom system and determine the
natural frequencies. Assume EI = 21 × 106 Nm2, m1 = 3000 kg, l1 = 5 m, EA = 82.47 × 106 N,
m2 = 700 kg, l2 = 6 m.
8. Determine the two natural frequencies and mode shapes for the system shown in Figure P7.8.
The string is stretched with a large tension T.
9. In the system shown in Figure P7.9, the mass m1 is excited by a harmonic force having a
maximum value of 50 N and a frequency of 2 Hz. Find the forced amplitude of each mass for
m1 = 10 kg, m2 = 5 kg, k1 = 8000 N/m, and k2 = 2000 N/m.

TMM II 2070 15 TUTORIAL NO. 7

 1
1 2
x2
k1 k2
k m2
m1 m2 m1

Figure P7.5 Figure P7.6

1
m1

EI
l2

EA
k1

m2 F1 m1
x1
Figure P7.7
k2
m 2m
m2
l l l x2

Figure P7.8 Figure 7.9

10. A reciprocating engine has a mass of 40 kg and runs at a constant speed of 3000 rpm. After it
was installed it vibrated with a large amplitude at operating speed. What dynamic vibration
absorber should be coupled to the system if the nearest resonant frequency of the combined
system has to be at least 25 % away from the operating speed?
11. Write a computer program to take inputs of mass, stiffness, initial velocity and initial
displacement for a two degree of freedom system from the user and gives output for the natural
frequency and response plot.

ANSWERS
k k 4. 40.42 rad/s, 58.01 rad/s
1. 0.5695 , 4.0972 ; 3.43, – 0.0972
m m 5. 1  0 ,  2  7.30rad / s ; 1, – 1.5
k k 6. 16.6 rad/s, 26.9 rad/s
2. , 2.5 7. 46.42 rad/s, 221.28 rad/s
m m
T 3 3 
k 3k 8.   ;  1 3
ml  2 
3. 2.5 cos t + 2.5 cos t,
m m
k 3k 9. 9.77 mm, 16.15 mm
2.5 cos t – 2.5 cos t 10. 13.67 kg, 1340 kN/m
m m
TMM II 2070 16 TUTORIAL NO. 7
 THEORY OF MACHINE AND MECHANISM II
TUTORIAL NO: 8
VIBRATION OF MULTI DEGREE OF FREEDOM SYSTEMS
1. Figure P8.1 shows a three degrees of freedom system. Determine the stiffness matrix.
1 3
5k
k k
m1 m2 m3
k k
x2
Figure P8.1
2. Determine the influence coefficients and flexibility matrix of the spring-mass system shown in
Figure P8.2.
1 2 3

k 2k k
m 2m m

Figure P8.2
3. Determine the natural frequencies and the corresponding mode shapes of the system shown in
Figure P8.3.
4. Determine the natural frequencies and the corresponding mode shapes of multi degree of
freedom spring mass system shown in Figure P8.4.

k
2k
m
2m x1
k
k k
2m 3k
m m
x2 x3 k
k k 2k m

Figure P8.3 Figure P8.4

TMM II 2070 17 TUTORIAL NO. 8

5. A string is stretched with a large tension T between two points and has three point masses fixed
along its length as shown in Figure P8.5. The masses can vibrate freely in the lateral direction.
Determine the three natural frequencies and the corresponding mode shapes.

m 2m m
l l l l
Figure P8.5
ANSWERS
 6k k 0
1.  k 2k  k 
 0 k 6k 

 1/ k 1/ k 1/ k 
2.  1 / k 2 / 3k 2 / 3k 
1 / 3k 2 / 3k 5 / 3k 

1 1  1
    
3. 1 = 0.4369 k / m , 2 = 1.1441 k / m , 3 = 1.732 k / m ; 1 , 0  ,  1
1 0   1
    

4. 1 = 1.1206 k / m , 2 = 1.6311 k / m , 3 = 2.8432 k / m

 1  1  1 
     
5. 1 = 0.766 T / ml , 2 = 1.414 T / ml , 3 = 1.847 T / ml ; 1.414 ,  0 ,  1.414
 1  1  1 
     

TMM II 2070 18 TUTORIAL NO. 8

 THEORY OF MACHINE AND MECHANISM II
TUTORIAL NO: 9
APPROXIMATE NUMERICAL METHODS
1. Determine the natural frequency of vibration for the system shown in Figure P9.1.
2. Write kinetic and potential energy expressions for the system shown in Figure P9.2, when k1 =
k, k2 = 3k, k3 = 2k; m1 = m, m2 = 2m and determine the equation for 2 by equating the two
energies. Letting x2/x1 = n, plot 2 versus n. Pick off the maximum and minimum values of 2
and the corresponding values of n, and show that they represent the two natural modes of the
system.
M2 = 30 kg 1 2
M 1 = 25 kg
k1 k2 k3
m1 m2

0.10 m 0.10 m 0.10 m

Figure P9.1 Figure P9.2

3. Using Dunkerley's equation, determine the fundamental frequency of the beam shown in
Figure P9.3.
4. Using Dunkerley's equation, determine the fundamental frequency of the three mass cantilever
beam shown in Figure P9.4.

m m
m m m
l l l

l/4 l/4 l/4 l/4

Figure P9.3 Figure P9.4

5. For the system shown in Figure P9.5, k1 = 3k, k2 = 2k, k3 = k and m1 = 4m, m2 = 2m and m3 =
m. Set up the matrix equation and determine the three principal modes by iteration.
1 2 3

k1 k2 k3
m1 m2 m3

Figure P9.5

TMM II 2070 19 TUTORIAL NO. 9

ANSWERS
1. 5850.27 rad/s

k  4  6n  5n 2 
2.  2   
m  1  2n 2 

EI
3.  2  15.36
ml 3
3 EI
4.  2 
19 ml 3
 1   1   1 
5. 1 = 0.533 k / m , 2 = 1.063 k / m , 3 = 1.528 k / m ;   ,

 ,

 
1  1.93  2  0.02  3  2.17

2.69  1.82  1.63 
     

TMM II 2070 20 TUTORIAL NO. 9

 THEORY OF MACHINE AND MECHANISM II
TUTORIAL NO: 10
CONTINUOUS SYSTEM
1. A uniform string of length l and a large initial tension T, stretched between two supports, is
displaced laterally through a distance a0 at the center, and is released at t = 0. Find the equation
of motion for the string.
2. Determine the normal functions for free longitudinal vibration of a bar of length l and uniform
cross section. One end of the bar is fixed and the other free.
3. A bar is fixed at one end and is pulled at the other end with a force P. The force is suddenly
released. Investigate the vibration of the bar.
4. Find the frequency equation of a uniform beam fixed at one end and free at the other for
transverse vibrations.
5. A uniform beam fixed at one end and simply supported at the other is having transverse
vibrations. Derive suitable expression for equation.

ANSWERS
 8a0 n 1 nx nc
1. y( x, t ) =   1 2 sin cos t
n 1,3,5,... n
2
 2
l l
 nx
2. u ( x, t ) =  sin C sin t  D cos t 
n 1,3,5,.... 2l
n 1
8l  nx nc
3. u ( x, t ) =  (1) 2 sin cos t
 2
n 1,3,5,.. 2l 2l
4. cosh  l cos  l  1  0
5. tan  l = tanh  l

TMM II 2070 21 TUTORIAL NO. 10