University of Nottingham
Department of Mechanical, Materials and Manufacturing Engineering
Advanced Dynamics of Machines (MM 3 ADM)
Some Preliminaries
Contents
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
Introduction
Aims and Learning Outcomes
Catalogue of modules
Frequency of lectures and contacting the module convenor
Lecture plan
Recommended texts
Assessment and exercise sheets
Some basic differentiation
1.1 Introduction
Mechanics can be divided broadly into two distinct areas: Statics and Dynamics.
Statics deals with geometry and force equilibrium under static conditions, while
dynamics deals with geometry (kinematics) and dynamic equilibrium (kinetics) under
time-varying conditions.
Mechanics
Statics
Geometry
Dynamics
Equilibrium
Kinematics
Kinetics
1.2 Aims and Learning Outcomes
The aims of the module are to:
To develop understanding, familiarity and knowledge of the analysis
techniques required to describe the dynamical and vibration behaviour of
mechanical systems moving in 2- and 3-dimensions.
On successful completion of the module, students will be able to:
Apply an understanding of vector mechanics to engineering problems (US1,
US1m, US2, M6)
Analyse the dynamic characteristics of mechanical systems moving in 2- and
3-dimensions (US1, US1m, US2, E1,E2, M6)
Solve a range of engineering applications, including gyroscopic sensors and
rotating machinery (E1, E2, M6)
This module contributes to UKSPEC programme learning outcomes and key
transferable skills for the Department.
Underpinning Science and Mathematics and associated engineering disciplines (US)
US1-Knowledge and understanding of scientific principles and methodology
necessary to underpin their education in mechanical and related engineering
disciplines, to enable appreciation of its scientific and engineering context and
to support their understanding of future developments and technologies
US1m-A comprehensive understanding of the scientific principles of
mechanical and related engineering disciplines
US2-Knowledge and understanding of mathematical principles necessary to
underpin their education in mechanical and related engineering disciplines
and to enable them to apply mathematical methods, tools and notations
proficiently in the analysis and solution of engineering problems
Engineering Analysis (E)
E1-Understanding of engineering principles and the ability to apply them to
analyse key engineering processes
E2-Ability to identify, classify and describe the performance of systems and
components through the use of analytical methods and modelling techniques
Transferable Skills
M6 - Develop a scientific approach to solving problems
1.3 Catalogue of modules
Some details relating to the module Advanced Dynamics of Machines (and all other
modules) can be found in the Universitys Catalogue of Modules available on the
WWW at the following address:
[Link]
1.4 Frequency of lectures and contacting the module convenor
For the academic session 2015/16, lectures are scheduled as follows:
Semester:
Venue:
Regular day and time:
Autumn
Physics B13
Friday 14:00-16:00
A detailed lecture plan is provided in Section 1.5 of this handout.
A Moodle site with lecture notes, exercise sheets, coursework questions, past
examinations and general information about the module is available. This can be
accessed at [Link]
If you have any problems relating to the module or wish to discuss opportunities for
further study in the area of dynamics, please contact Prof. Popov directly. If you
think the issue can be dealt with quickly, please ask immediately at the end of the
lecture. Alternatively, if you need to talk at length, it may be worthwhile making an
appointment at a mutually agreeable time. E-mail is the best way to arrange a
meeting. Although it is possible to answer simple technical problems using e-mail it
is not always the best means of communication for the purposes of detailed
explanation. In these circumstances it is better to arrange a meeting.
Email: [Link]@[Link]
1.5 Lecture Plan
The following provides an outline of the structure of the module.
Lecture
No.
1,2
Topic
Contents
Date
Introduction
Introduction to module
Lagranges
Equation
Generalised co-ordinates
Kinetic and potential energies
Rayleigh damping
Generalised forces
Friday
2 October
2015
Mass-spring-damper system
Simple pendulum
Lagrange Exercise Sheet: Attempt
Questions 1 & 2.
3,4
Lagranges
Equation
Heavy pendulum
Two degree of freedom system
Friday
9 October
2015
Lagrange Exercise Sheet: Attempt
Questions 3-7.
5,6
Lagranges
Equation
Continuous systems
Lagrange Exercise Sheet: Attempt Question
8.
7,8
Rigid Body
Dynamics
Introduction
Revision of vectors
Absolute velocities and accelerations of a
particle
9,10
Rigid Body
Dynamics
Simple rotor system
Simple vibrating gyroscope
Articulated robotic arm
Another gyroscopic system
Friday
16 October
2015
Friday
23 October
2015
Friday
30 October
2015
RBD1 Exercise Sheet: Attempt Questions 1
&2
11,12
Rigid Body
Dynamics
Linear and angular momentum
Principal axes of inertia
Momentum equations
Euler equations
Friday
6 November
2015
Wind turbine
13,14
Rigid Body
Dynamics
Rate Gyroscope
Ball motion in a trust bearing
Friday
13 November
2015
15,16
Rotating
Machinery
Introduction
Rotor system with symmetric shaft and
asymmetric bearings
Friday
20 November
2015
17,18
Rotating
Machinery
Forward and reverse whirl
Rotor system with asymmetric shaft and
symmetric bearings
Stability analysis
Friday
27 November
2015
19,20
Rotating
Machinery
Influence of different types of damping
External and internal damping
Friday
4 December
2015
Lectures etc are subject to change.
1.6 Recommended texts
The lecture notes should provide all the information necessary to successfully
complete the module. However, titles of recommended texts are given so that
alternative explanations can be sought. The following are good standard texts on
dynamics and can be found in the George Green Library:
S.S. Rao, Mechanical vibrations, Addison-Wesley Publishing Company.
W.T. Thomson, Theory of vibration with applications, Chapman-Hall.
F.P. Beer and E.R. Johnston Jr., Vector Mechanics for Engineers, McGraw-Hill.
1.7 Assessment and exercise sheets
The module is assessed through one piece of coursework (15%) set during the
semester and examination (85%) at the end of the semester.
1.7.1 Coursework
The coursework will cover different topics and is to be submitted to the Student
Office by the deadline set and is typically three weeks after it was first set. If you
have problems completing the coursework, please contact Prof. Popov so that he can
help you.
1.7.2 Examination
The examination will take place during the usual examination period at the end of
the semester. The exam will consist of 5 questions, from which you will be expected
to attempt 3 questions. The exam will be a closed book examination of duration 2
hours. A formula sheet will be provided, a copy of which will be made available
before the end of the module.
1.7.3 Exercise sheets
In addition to the above, exercise sheet questions will be set. These form an integral
part of the module and should be attempted alongside the relevant lecture material.
Students who do not make any attempt at the exercise sheet questions will find the
examination extremely difficult! Solutions to the exercise sheets will be made
available to students via Moodle. The questions are graded throughout so you can
judge the level of your understanding compared to what would be expected in the
examination.
1.8 Some basic differentiation
Throughout the module it will be necessary to (partially) differentiate mathematical
expressions with respect to time or some other variable. With this in mind, students
are reminded to revise the concept of differentiating a function of a function, such
that:
f ( g (t )) f g
=
t
g t
where f is a function of g, and g is a function of t.
Useful examples of this include:
( x(t ) 2 ) = 2 x(t ) x(t ) = 2 x(t ) x! (t ) = 2 xx!
i.e. f ( x) x 2 , g (t ) x(t )
t
t
cos( (t )) = sin( (t ))!(t ) = ! sin
i.e. f ( ) cos , g (t ) (t )
t
!
( sin ) = !! sin + ! 2 cos
i.e. f ( g ) = g! sin g , g (t ) = (t )
t
where a dot over a symbol represents differentiation with respect to time.
Prof. A.A. Popov: 19 September 2015