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# MECE 3338: Funwork 10 – Due Date Monday 11/13/2023 11:59 PM ## Problem 1: Consider the following system that consists of an inverted pendulum OB with mass **m = 6 kg** and length **2α** where **α = 0.5 m**. The pendulum rotates about its bottom end point O with rotational viscous friction coefficient **b_r = 8 N m s/rad** and is supported by two horizontal springs of equal stiffness **k = 100 N/m** attached at its middle point C, as shown. A horizontal spring of same stiffness **k = 100 N/m** is attached at the pendulum's top point **D**. A **displacement input z(t)** at the free end point A of the spring sets the system to motion. Small angular displacements from the vertical equilibrium position of the pendulum are considered. a) Derive the transfer function **G(s)** of the system from the **displacement input z(t)** to the **angular displacement output θ(t)** of the pendulum. Use the values of the system parameters **α, m, k** and **b_r** as stated above in the calculation of **G(s)**. b) Considering a **sinusoid displacement input z(t) = A sin(αt)** find the **worst-case excitation frequency α'** that results in the **maximum steady-state angular displacement amplitude |θ|_max** of the pendulum from its vertical equilibrium position. c) Find this **maximum angular displacement amplitude |θ|_max** if the amplitude of the sinusoid displacement input excitation is **A = 0.1 m**. d) Sketch the **magnitude Body diagram** of the transfer function **G(s)** from the displacement input **z(t)** to the angular displacement output **θ(t)** of the pendulum. e) We want to reduce the steady-state angular displacement amplitude **|θ|_max** to half of the value calculated in c), that is, **|θ'| = |θ|_max / 2**, by changing the rotational viscous friction coefficient to a new value **b_r**. What should be this **new value of the rotational viscous friction coefficient b_r'** such that at the excitation frequency **α'** calculated in b) **the steady-state angular displacement amplitude is reduced by half?** Fig (1): Vertical pendulum with pulling spring on top

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