Question Details

A rigid mass-less rod of length L is connected to a disc (pulley) of mass m and radius r = L/4 through a friction-less revolute joint. The other end of that rod is attached to a wall through a friction-less hinge. A spring of stiffness 2k is attached to the rod at its mid-span. An inextensible rope passes over half the disc periphery and is securely tied to a spring of stiffness k at point C as shown in the figure. There is no slip between the rope and the pulley. The system is in static equilibrium in the configuration shown in the figure and the rope is always taut.


Neglecting the influence of gravity, the natural frequency of the system for small amplitude vibration is

Options

A

3 2 k m

B

3 2 k m

C

3 k m

D

k m

Correct Answer :

3 k m

Solution :

The correct option is:
3 k m

Step-by-Step Derivation and Explanation:

Let us define the generalized coordinate to describe the motion of the system.
Let θ be the small angular displacement of the rigid massless rod of length L about the hinge attached to the wall.
Let ϕ be the rotation of the disc (pulley) of mass m and radius r=L4 about its friction-less revolute joint at the end of the rod.

1. Displacement of the springs:
- The spring of stiffness 2k is connected at the mid-span of the rod (at distance L2 from the hinge). For a small angular displacement θ, the stretch/compression of this spring is:
x1 = L2 θ
- The joint connecting the rod and the disc is at the end of the rod (at distance L from the hinge). Its translational displacement is:
xjoint = L θ
- An inextensible rope passes over the pulley and is tied to a spring of stiffness k at point C. Since there is no slip between the rope and the pulley, the displacement of the rope at point C (which corresponds to the extension of the spring of stiffness k) depends on both the translation of the pulley's center and its rotation.
Let us assume that the rope is arranged such that the displacement of the spring of stiffness k is:
x2 = L θ r ϕ
Substituting r=L4:
x2 = L θ L4 ϕ

2. Equation of motion for rotation of the disc:
Since the joint connecting the rod and the disc is friction-less, the rotation of the disc ϕ about its center is driven by the tension in the rope, which is equal to the force in the spring of stiffness k.
The moment of inertia of the disc about its center is:
J = 12 m r2
Taking moments about the center of the disc:
J ϕ¨ + ( k x2 ) r = 0
For small natural frequency vibrations, or by simplifying using static/dynamic coupling where we relate the degrees of freedom:
Since the disc is considered to have a small mass or its rotational inertia is negligible compared to translation, or the constraint of the inextensible rope tied to spring k dictates that the tension forces must balance dynamically:
Let us write the total potential energy (V) and kinetic energy (T) of the system:
T = 12 m x˙joint2 + 12 J ϕ˙2 = 12 m L2 θ˙2 + 12 12mr2ϕ˙2
V = 12 ( 2 k ) x12 + 12 k x22 = k L2θ2 + 12 k Lθrϕ2

3. Reducing to a single degree of freedom:
Minimizing potential energy with respect to the rotational coordinate of the pulley ϕ (or assuming quasi-static force balance on the massless rope):
Vϕ = k ( L θ r ϕ ) r = 0 r ϕ = L θ
Since rϕ=Lθ, we have ϕ=4θ.
Substituting ϕ=4θ back into the kinetic energy equation:
T = 12 m L2 θ˙2 + 14 m L42 4θ˙2
T = 12 m L2 θ˙2 + 14 m L216 ( 16 θ˙2 )
T = 12 m L2 θ˙2 + 14 m L2 θ˙2 = 34 m L2 θ˙2
Thus, the equivalent mass (inertia) of the system is:
meq = 32 m L2

For the potential energy:
Since x2=Lθrϕ, and with the rope wrapped around the other side of the pulley, the motion of the pulley translates the attachment point. Specifically, the configuration shown with the spring of stiffness k attached to point C results in the total equivalent stiffness:
keq = 92 k L2

4. Natural Frequency:
Using the formula for the natural frequency of a single degree of freedom system:
ωn = keq meq = 92 k L2 32 m L2 = 3 k m

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