Mechanical Vibration: Analysis, Uncertainties, and Control
H. Benaroya & M. Nagurka, 2010
ERRATA
p.x
: Web site for Matlab primer is incorrect. It should be:
http://www.crcpress.com/product/isbn/9781420080568
p.15
: Figure 1.7c. The words “Suspension system” belong with the upper spring/damper. In
their place, they should be replaced with the words “Tire stiffness & damping”.
p.64
: In Figure 2.6,
l
should be replaced by
L.
p.99
: After “Therefore, the period of oscillation is” should be
T
= 2(
t
1
+
t
2
) = 2(0.175+0.0658) = 2(0.241) = 0.482 s
p.101
: In Equation 2.31 there is a missing subscript. It should be
x
p
(
t
) in the numerator on the
left.
p.134
: In Problem 8 the following could be added for clarification: “Assume the materials of
the two parts of the shaft are (
i
) not the same and (
ii
) the same. Express your answers in
terms of known quantities.”
p.147
: In the equation for natural frequency (the second equation), there should be a square
root on the righthand side and it should be
K
(not
k
)
.
p.149
: In Problem 35 each shaft is rigidly mounted to its support and to the disk. The second
sentence should start “From solid mechanics, for each shaft the relation between the moment
on the disk
M
and …”
p.153
: In Problem 44 the last sentence should be “Compare the results.”
p.155
: In Figure 2.65 the direction of the force should be reversed.
p.175
: In Figure 3.12 the units of
x
(
t
) are missing. It should be “
x
(
t
) (cm)”.
p.186
: Fig 3.16: The spiral continues to the origin for
ζ
= 0.1
p.186
: In the equation for the signum function it should be if
x
d
(xdot, not
x
) is <, =, and > 0.
p.187
: Right after Equation 3.15, it should be
F
μ
=
μ
k
g
(not
F
μ
=
k
g
sgn(
x
d
).)
p.188
: The sentence “The initial conditions can be found using” should be changed to “The
constants
A
and
B
can be found using”.
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for
Mechanical Vibration: Analysis, Uncertainties, and Control,
2010
2
p.201
: In Example 3.7, before the sentence “Derive the equation of motion,” the following
sentence should be added “When
y
= 0 the beam is horizontal and in static equilibrium.”
p.202
: In the equation above Section 3.5.2, the righthand side is missing the factor
ka
. (The
righthand side should be
sin
kaA
t
l
ω
.)
p.203
: The definition of the frequency response function in Equation 3.32 should be
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 Fall '11
 Benaroya
 Equations, Impulse response, Heaviside step function

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