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Mechanical Vibration Analysis Uncertainties and Control
Third Edition Benaroya Digital Instant Download
Author(s): Benaroya, Haym; Nagurka, Mark L
ISBN(s): 9781420080575, 1420080571
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File Details: PDF, 99.65 MB
Year: 2010
Language: english
Mechanical Vibration
Analysis, Uncertainties, and Control
THIRD EDITION
MECHANICAL ENGINEERING
A Series of Textbooks and Reference Books
Founding Editor
L. L. Faulkner
Columbus Division, Battelle Memorial Institute
and Department of Mechanical Engineering
The Ohio State University
Columbus, Ohio
1. Spring Designer’s Handbook, Harold Carlson
2. Computer-Aided Graphics and Design, Daniel L. Ryan
3. Lubrication Fundamentals, J. George Wills
4. Solar Engineering for Domestic Buildings, William A. Himmelman
5. Applied Engineering Mechanics: Statics and Dynamics, G. Boothroyd
and C. Poli
6. Centrifugal Pump Clinic, Igor J. Karassik
7. Computer-Aided Kinetics for Machine Design, Daniel L. Ryan
8. Plastics Products Design Handbook, Part A: Materials and Components;
Part B: Processes and Design for Processes, edited by Edward Miller
9. Turbomachinery: Basic Theory and Applications, Earl Logan, Jr.
10. Vibrations of Shells and Plates, Werner Soedel
11. Flat and Corrugated Diaphragm Design Handbook, Mario Di Giovanni
12. Practical Stress Analysis in Engineering Design, Alexander Blake
13. An Introduction to the Design and Behavior of Bolted Joints,
John H. Bickford
14. Optimal Engineering Design: Principles and Applications,
James N. Siddall
15. Spring Manufacturing Handbook, Harold Carlson
16. Industrial Noise Control: Fundamentals and Applications, edited by
Lewis H. Bell
17. Gears and Their Vibration: A Basic Approach to Understanding Gear
Noise, J. Derek Smith
18. Chains for Power Transmission and Material Handling: Design
and Applications Handbook, American Chain Association
19. Corrosion and Corrosion Protection Handbook, edited by
Philip A. Schweitzer
20. Gear Drive Systems: Design and Application, Peter Lynwander
21. Controlling In-Plant Airborne Contaminants: Systems Design
and Calculations, John D. Constance
22. CAD/CAM Systems Planning and Implementation, Charles S. Knox
23. Probabilistic Engineering Design: Principles and Applications,
James N. Siddall
24. Traction Drives: Selection and Application, Frederick W. Heilich III
and Eugene E. Shube
25. Finite Element Methods: An Introduction, Ronald L. Huston
and Chris E. Passerello
26. Mechanical Fastening of Plastics: An Engineering Handbook,
Brayton Lincoln, Kenneth J. Gomes, and James F. Braden
27. Lubrication in Practice: Second Edition, edited by W. S. Robertson
28. Principles of Automated Drafting, Daniel L. Ryan
29. Practical Seal Design, edited by Leonard J. Martini
30. Engineering Documentation for CAD/CAM Applications,
Charles S. Knox
31. Design Dimensioning with Computer Graphics Applications,
Jerome C. Lange
32. Mechanism Analysis: Simplified Graphical and Analytical Techniques,
Lyndon O. Barton
33. CAD/CAM Systems: Justification, Implementation, Productivity Measure-
ment, Edward J. Preston, George W. Crawford,
and Mark E. Coticchia
34. Steam Plant Calculations Manual, V. Ganapathy
35. Design Assurance for Engineers and Managers, John A. Burgess
36. Heat Transfer Fluids and Systems for Process and Energy Applications,
Jasbir Singh
37. Potential Flows: Computer Graphic Solutions, Robert H. Kirchhoff
38. Computer-Aided Graphics and Design: Second Edition, Daniel L. Ryan
39. Electronically Controlled Proportional Valves: Selection and Application,
Michael J. Tonyan, edited by Tobi Goldoftas
40. Pressure Gauge Handbook, AMETEK, U.S. Gauge Division, edited by
Philip W. Harland
41. Fabric Filtration for Combustion Sources: Fundamentals and Basic Tech-
nology, R. P. Donovan
42. Design of Mechanical Joints, Alexander Blake
43. CAD/CAM Dictionary, Edward J. Preston, George W. Crawford,
and Mark E. Coticchia
44. Machinery Adhesives for Locking, Retaining, and Sealing,
Girard S. Haviland
45. Couplings and Joints: Design, Selection, and Application,
Jon R. Mancuso
46. Shaft Alignment Handbook, John Piotrowski
47. BASIC Programs for Steam Plant Engineers: Boilers, Combustion,
Fluid Flow, and Heat Transfer, V. Ganapathy
48. Solving Mechanical Design Problems with Computer Graphics,
Jerome C. Lange
49. Plastics Gearing: Selection and Application, Clifford E. Adams
50. Clutches and Brakes: Design and Selection, William C. Orthwein
51. Transducers in Mechanical and Electronic Design, Harry L. Trietley
52. Metallurgical Applications of Shock-Wave and High-Strain-Rate
Phenomena, edited by Lawrence E. Murr, Karl P. Staudhammer,
and Marc A. Meyers
53. Magnesium Products Design, Robert S. Busk
54. How to Integrate CAD/CAM Systems: Management and Technology,
William D. Engelke
55. Cam Design and Manufacture: Second Edition; with cam design
software for the IBM PC and compatibles, disk included,
Preben W. Jensen
56. Solid-State AC Motor Controls: Selection and Application,
Sylvester Campbell
57. Fundamentals of Robotics, David D. Ardayfio
58. Belt Selection and Application for Engineers, edited by
Wallace D. Erickson
59. Developing Three-Dimensional CAD Software with the IBM PC,
C. Stan Wei
60. Organizing Data for CIM Applications, Charles S. Knox, with
contributions by Thomas C. Boos, Ross S. Culverhouse,
and Paul F. Muchnicki
61. Computer-Aided Simulation in Railway Dynamics, by Rao V. Dukkipati
and Joseph R. Amyot
62. Fiber-Reinforced Composites: Materials, Manufacturing, and Design,
P. K. Mallick
63. Photoelectric Sensors and Controls: Selection and Application,
Scott M. Juds
64. Finite Element Analysis with Personal Computers,
Edward R. Champion, Jr. and J. Michael Ensminger
65. Ultrasonics: Fundamentals, Technology, Applications: Second Edition,
Revised and Expanded, Dale Ensminger
66. Applied Finite Element Modeling: Practical Problem Solving for
Engineers, Jeffrey M. Steele
67. Measurement and Instrumentation in Engineering: Principles and Basic
Laboratory Experiments, Francis S. Tse and Ivan E. Morse
68. Centrifugal Pump Clinic: Second Edition, Revised and Expanded,
Igor J. Karassik
69. Practical Stress Analysis in Engineering Design: Second Edition, Revised
and Expanded, Alexander Blake
70. An Introduction to the Design and Behavior of Bolted Joints:
Second Edition, Revised and Expanded, John H. Bickford
71. High Vacuum Technology: A Practical Guide, Marsbed H. Hablanian
72. Pressure Sensors: Selection and Application, Duane Tandeske
73. Zinc Handbook: Properties, Processing, and Use in Design,
Frank Porter
74. Thermal Fatigue of Metals, Andrzej Weronski and Tadeusz Hejwowski
75. Classical and Modern Mechanisms for Engineers and Inventors,
Preben W. Jensen
76. Handbook of Electronic Package Design, edited by Michael Pecht
77. Shock-Wave and High-Strain-Rate Phenomena in Materials, edited by
Marc A. Meyers, Lawrence E. Murr, and Karl P. Staudhammer
78. Industrial Refrigeration: Principles, Design and Applications,
P. C. Koelet
79. Applied Combustion, Eugene L. Keating
80. Engine Oils and Automotive Lubrication, edited by Wilfried J. Bartz
81. Mechanism Analysis: Simplified and Graphical Techniques,
Second Edition, Revised and Expanded, Lyndon O. Barton
82. Fundamental Fluid Mechanics for the Practicing Engineer,
James W. Murdock
83. Fiber-Reinforced Composites: Materials, Manufacturing, and Design,
Second Edition, Revised and Expanded, P. K. Mallick
84. Numerical Methods for Engineering Applications,
Edward R. Champion, Jr.
85. Turbomachinery: Basic Theory and Applications, Second Edition,
Revised and Expanded, Earl Logan, Jr.
86. Vibrations of Shells and Plates: Second Edition, Revised and Expanded,
Werner Soedel
87. Steam Plant Calculations Manual: Second Edition,
Revised and Expanded, V. Ganapathy
88. Industrial Noise Control: Fundamentals and Applications,
Second Edition, Revised and Expanded, Lewis H. Bell
and Douglas H. Bell
89. Finite Elements: Their Design and Performance, Richard H. MacNeal
90. Mechanical Properties of Polymers and Composites: Second Edition,
Revised and Expanded, Lawrence E. Nielsen and Robert F. Landel
91. Mechanical Wear Prediction and Prevention, Raymond G. Bayer
92. Mechanical Power Transmission Components, edited by
David W. South and Jon R. Mancuso
93. Handbook of Turbomachinery, edited by Earl Logan, Jr.
94. Engineering Documentation Control Practices and Procedures,
Ray E. Monahan
95. Refractory Linings Thermomechanical Design and Applications,
Charles A. Schacht
96. Geometric Dimensioning and Tolerancing: Applications and Techniques
for Use in Design, Manufacturing, and Inspection, James D. Meadows
97. An Introduction to the Design and Behavior of Bolted Joints:
Third Edition, Revised and Expanded, John H. Bickford
98. Shaft Alignment Handbook: Second Edition, Revised and Expanded,
John Piotrowski
99. Computer-Aided Design of Polymer-Matrix Composite Structures, edited
by Suong Van Hoa
100. Friction Science and Technology, Peter J. Blau
101. Introduction to Plastics and Composites: Mechanical Properties
and Engineering Applications, Edward Miller
102. Practical Fracture Mechanics in Design, Alexander Blake
103. Pump Characteristics and Applications, Michael W. Volk
104. Optical Principles and Technology for Engineers, James E. Stewart
105. Optimizing the Shape of Mechanical Elements and Structures,
A. A. Seireg and Jorge Rodriguez
106. Kinematics and Dynamics of Machinery, Vladimír Stejskal
and Michael Valásek
107. Shaft Seals for Dynamic Applications, Les Horve
108. Reliability-Based Mechanical Design, edited by Thomas A. Cruse
109. Mechanical Fastening, Joining, and Assembly, James A. Speck
110. Turbomachinery Fluid Dynamics and Heat Transfer, edited by
Chunill Hah
111. High-Vacuum Technology: A Practical Guide, Second Edition,
Revised and Expanded, Marsbed H. Hablanian
112. Geometric Dimensioning and Tolerancing: Workbook and Answerbook,
James D. Meadows
113. Handbook of Materials Selection for Engineering Applications,
edited by G. T. Murray
114. Handbook of Thermoplastic Piping System Design, Thomas Sixsmith
and Reinhard Hanselka
115. Practical Guide to Finite Elements: A Solid Mechanics Approach, Steven
M. Lepi
116. Applied Computational Fluid Dynamics, edited by Vijay K. Garg
117. Fluid Sealing Technology, Heinz K. Muller and Bernard S. Nau
118. Friction and Lubrication in Mechanical Design, A. A. Seireg
119. Influence Functions and Matrices, Yuri A. Melnikov
120. Mechanical Analysis of Electronic Packaging Systems,
Stephen A. McKeown
121. Couplings and Joints: Design, Selection, and Application,
Second Edition, Revised and Expanded, Jon R. Mancuso
122. Thermodynamics: Processes and Applications, Earl Logan, Jr.
123. Gear Noise and Vibration, J. Derek Smith
124. Practical Fluid Mechanics for Engineering Applications,
John J. Bloomer
125. Handbook of Hydraulic Fluid Technology, edited by George E. Totten
126. Heat Exchanger Design Handbook, T. Kuppan
127. Designing for Product Sound Quality, Richard H. Lyon
128. Probability Applications in Mechanical Design, Franklin E. Fisher
and Joy R. Fisher
129. Nickel Alloys, edited by Ulrich Heubner
130. Rotating Machinery Vibration: Problem Analysis and Troubleshooting,
Maurice L. Adams, Jr.
131. Formulas for Dynamic Analysis, Ronald L. Huston and C. Q. Liu
132. Handbook of Machinery Dynamics, Lynn L. Faulkner and Earl Logan, Jr.
133. Rapid Prototyping Technology: Selection and Application,
Kenneth G. Cooper
134. Reciprocating Machinery Dynamics: Design and Analysis,
Abdulla S. Rangwala
135. Maintenance Excellence: Optimizing Equipment Life-Cycle Decisions,
edited by John D. Campbell and Andrew K. S. Jardine
136. Practical Guide to Industrial Boiler Systems, Ralph L. Vandagriff
137. Lubrication Fundamentals: Second Edition, Revised and Expanded,
D. M. Pirro and A. A. Wessol
138. Mechanical Life Cycle Handbook: Good Environmental Design
and Manufacturing, edited by Mahendra S. Hundal
139. Micromachining of Engineering Materials, edited by Joseph McGeough
140. Control Strategies for Dynamic Systems: Design and Implementation,
John H. Lumkes, Jr.
141. Practical Guide to Pressure Vessel Manufacturing, Sunil Pullarcot
142. Nondestructive Evaluation: Theory, Techniques, and Applications, edited
by Peter J. Shull
143. Diesel Engine Engineering: Thermodynamics, Dynamics, Design,
and Control, Andrei Makartchouk
144. Handbook of Machine Tool Analysis, Ioan D. Marinescu,
Constantin Ispas, and Dan Boboc
145. Implementing Concurrent Engineering in Small Companies,
Susan Carlson Skalak
146. Practical Guide to the Packaging of Electronics: Thermal and Mechanical
Design and Analysis, Ali Jamnia
147. Bearing Design in Machinery: Engineering Tribology and Lubrication,
Avraham Harnoy
148. Mechanical Reliability Improvement: Probability and Statistics
for Experimental Testing, R. E. Little
149. Industrial Boilers and Heat Recovery Steam Generators: Design,
Applications, and Calculations, V. Ganapathy
150. The CAD Guidebook: A Basic Manual for Understanding and Improving
Computer-Aided Design, Stephen J. Schoonmaker
151. Industrial Noise Control and Acoustics, Randall F. Barron
152. Mechanical Properties of Engineered Materials, Wolé Soboyejo
153. Reliability Verification, Testing, and Analysis in Engineering Design,
Gary S. Wasserman
154. Fundamental Mechanics of Fluids: Third Edition, I. G. Currie
155. Intermediate Heat Transfer, Kau-Fui Vincent Wong
156. HVAC Water Chillers and Cooling Towers: Fundamentals, Application,
and Operation, Herbert W. Stanford III
157. Gear Noise and Vibration: Second Edition, Revised and Expanded,
J. Derek Smith
158. Handbook of Turbomachinery: Second Edition, Revised and Expanded,
edited by Earl Logan, Jr. and Ramendra Roy
159. Piping and Pipeline Engineering: Design, Construction, Maintenance,
Integrity, and Repair, George A. Antaki
160. Turbomachinery: Design and Theory, Rama S. R. Gorla
and Aijaz Ahmed Khan
161. Target Costing: Market-Driven Product Design, M. Bradford Clifton,
Henry M. B. Bird, Robert E. Albano, and Wesley P. Townsend
162. Fluidized Bed Combustion, Simeon N. Oka
163. Theory of Dimensioning: An Introduction to Parameterizing Geometric
Models, Vijay Srinivasan
164. Handbook of Mechanical Alloy Design, edited by George E. Totten,
Lin Xie, and Kiyoshi Funatani
165. Structural Analysis of Polymeric Composite Materials, Mark E. Tuttle
166. Modeling and Simulation for Material Selection and Mechanical Design,
edited by George E. Totten, Lin Xie, and Kiyoshi Funatani
167. Handbook of Pneumatic Conveying Engineering, David Mills,
Mark G. Jones, and Vijay K. Agarwal
168. Clutches and Brakes: Design and Selection, Second Edition,
William C. Orthwein
169. Fundamentals of Fluid Film Lubrication: Second Edition,
Bernard J. Hamrock, Steven R. Schmid, and Bo O. Jacobson
170. Handbook of Lead-Free Solder Technology for Microelectronic
Assemblies, edited by Karl J. Puttlitz and Kathleen A. Stalter
171. Vehicle Stability, Dean Karnopp
172. Mechanical Wear Fundamentals and Testing: Second Edition,
Revised and Expanded, Raymond G. Bayer
173. Liquid Pipeline Hydraulics, E. Shashi Menon
174. Solid Fuels Combustion and Gasification, Marcio L. de Souza-Santos
175. Mechanical Tolerance Stackup and Analysis, Bryan R. Fischer
176. Engineering Design for Wear, Raymond G. Bayer
177. Vibrations of Shells and Plates: Third Edition, Revised and Expanded,
Werner Soedel
178. Refractories Handbook, edited by Charles A. Schacht
179. Practical Engineering Failure Analysis, Hani M. Tawancy,
Anwar Ul-Hamid, and Nureddin M. Abbas
180. Mechanical Alloying and Milling, C. Suryanarayana
181. Mechanical Vibration: Analysis, Uncertainties, and Control,
Second Edition, Revised and Expanded, Haym Benaroya
182. Design of Automatic Machinery, Stephen J. Derby
183. Practical Fracture Mechanics in Design: Second Edition,
Revised and Expanded, Arun Shukla
184. Practical Guide to Designed Experiments, Paul D. Funkenbusch
185. Gigacycle Fatigue in Mechanical Practive, Claude Bathias
and Paul C. Paris
186. Selection of Engineering Materials and Adhesives, Lawrence W. Fisher
187. Boundary Methods: Elements, Contours, and Nodes, Subrata Mukherjee
and Yu Xie Mukherjee
188. Rotordynamics, Agnieszka (Agnes) Muszńyska
189. Pump Characteristics and Applications: Second Edition,
Michael W. Volk
190. Reliability Engineering: Probability Models and Maintenance Methods,
Joel A. Nachlas
191. Industrial Heating: Principles, Techniques, Materials, Applications,
and Design, Yeshvant V. Deshmukh
192. Micro Electro Mechanical System Design, James J. Allen
193. Probability Models in Engineering and Science, Haym Benaroya
and Seon Han
194. Damage Mechanics, George Z. Voyiadjis and Peter I. Kattan
195. Standard Handbook of Chains: Chains for Power Transmission
and Material Handling, Second Edition, American Chain Association and
John L. Wright, Technical Consultant
196. Standards for Engineering Design and Manufacturing,
Wasim Ahmed Khan and Abdul Raouf S.I.
197. Maintenance, Replacement, and Reliability: Theory and Applications,
Andrew K. S. Jardine and Albert H. C. Tsang
198. Finite Element Method: Applications in Solids, Structures, and Heat
Transfer, Michael R. Gosz
199. Microengineering, MEMS, and Interfacing: A Practical Guide,
Danny Banks
200. Fundamentals of Natural Gas Processing, Arthur J. Kidnay
and William Parrish
201. Optimal Control of Induction Heating Processes, Edgar Rapoport
and Yulia Pleshivtseva
202. Practical Plant Failure Analysis: A Guide to Understanding Machinery
Deterioration and Improving Equipment Reliability,
Neville W. Sachs, P.E.
203. Shaft Alignment Handbook, Third Edition, John Piotrowski
204. Advanced Vibration Analysis , S. Graham Kelly
205. Principles of Composite Materials Mechanics, Second Edition,
Ronald F. Gibson
206. Applied Combustion, Second Edition, Eugene L. Keating
207. Introduction to the Design and Behavior of Bolted Joints,
Fourth Edition: Non-Gasketed Joints, John H. Bickford
208. Analytical and Approximate Methods in Transport Phenomena,
Marcio L. de Souza-Santos
209. Design and Optimization of Thermal Systems, Second Edition,
Yogesh Jaluria
210. Friction Science and Technology: From Concepts to Applications,
Second Edition, Peter J. Blau
211. Practical Guide to the Packaging of Electronics, Second Edition: Thermal
and Mechanical Design and Analysis, Ali Jamnia
212. Practical Stress Analysis in Engineering Design, Third Edition,
Ronald L. Huston and Harold Josephs
213. Principles of Biomechanics, Ronald L. Huston
214. Mechanical Vibration Analysis, Uncertainties, and Control, Third Edition,
Haym Benaroya and Mark L. Nagurka
Mechanical Vibration
Analysis, Uncertainties, and Control
THIRD EDITION
Haym Benaroya
Rutgers University
Mark L. Nagurka
Marquette University
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PREFACE
Introductory Comments
From the natural world to the physical world, cycles are everywhere. We
live our lives according to cycles as the days turn into weeks, the weeks into
months, and the months into years. Cycles repeat at regular intervals and
it is this repetitiveness that underlies the concept of vibration.
Humans are drawn to vibration as a source of comfort –from our earliest
days being rocked to sleep to our later years rocking back and forth in a
rocking chair. But, vibration can also be a source of great discomfort1
with the negative e¤ects of numbness, motion sickness, injury, and even
death. Speaking subjectively, vibration can be good or bad depending on
the circumstance.
When we don’
t want a cell phone to ring – an example of acoustic
vibration –we put it in a mode called “vibrate.”We intentionally want it
to vibrate. Yet, when our car vibrates too much we know from the shaking
that something is wrong. It could be out of alignment; it could be the
shock absorbers are shot; it could be the engine mounts are bad; it could
be the engine is mis…ring. A trained mechanic will be able to diagnose the
problem based on the vibration signature. In this case, we intentionally
1 Vibration exposure is more than just a nuisance. It can be a serious health hazard.
Constant exposure to vibration has been known to cause a range of medical problems such
as back pain, carpal tunnel syndrome, and vascular disorders. Vibration related injury
is especially prevalent in occupations that require outdoor work, such as construction,
farming, transportation, shipping, and forestry.
There are two classi…cations for vibration exposure: whole-body vibration and hand
and arm vibration. Whole-body vibration is vibration transmitted to the entire body via
the seat or the feet, or both, often through driving or riding in vehicles (including trucks,
tractors, trains, and o¤-road vehicles) or through standing on vibrating ‡oors (near power
presses in a stamping plant or near vibrating heavy machinery, for example; pumps,
compressors, air handling units and other equipment all contribute to the excitation of
the ‡oors). Hand-and-arm vibration, on the other hand, is limited to the hands and arms
and usually results from the use of power hand tools (reciprocating and impact tools,
jackhammers, grinders, woodchippers, for example) and from vehicle controls.
iii
iv
want to eliminate the vibration, although we know the best we can do is
minimize it.
Vibration is pervasive. In fact, it is challenging to …nd examples that
are not related to vibration. Applications of vibration cross disparate dis-
ciplines, well beyond engineering. The following list is only a subset:
biology (pulse rate, breathing rate, biorhythms, balance, tremors,
just to name a few2
)
physics (waves, sound, quantum mechanics)
chemistry (atomic vibration,3
spectroscopy)
astronomy (planetary orbits,4
sunspot cycles)
geology (seismic tremors, earthquakes, volcanic eruptions)
oceanography (ocean waves, deep sea currents)
meteorology (climate and weather cycles)
zoology (predator-prey models of animal populations, host-
parasite cycles, ecosystem cycles, among many others5
)
psychology (seasonal cycles in behavior, sleep cycles, manic-
depressive cycles)
economics (…nancial cycles, business cycles)
agronomy (agricultural cycles)
history (war and peace cycles, governance style cycles)
religion (holidays, life-cycle events)
philosophy (cycles in Eastern philosophy)
parapsychology (astrological cycles)
The word vibration is a common English word that means motion in
oscillation. In a mechanical system, vibration can be viewed as a give-and-
take (tug-of-war) between forces tending toward a balance. The forces are
…ghting each other, causing motion that see-saws back and forth, all the
2 Almost everything in the body is rhythmic. ECG and EEG signals are rhythmic for
a healthy person. Nerve action-potentials are cyclic. Eye blinking is cyclic, although the
rate is not constant. Some rhythms in the body can be varied; many cannot.
3 At an atomic level vibration means there is temperature.
4 A year is the time for the Earth to rotate about the Sun once. A month is the time
for the Moon to rotate about the Earth once. A day is the time for the Earth to rotate
about its axis once.
5 There are many interesting examples: snakes move by and sense vibration, dogs
detect danger by vibration, hummingbird wings ‡ap at known frequencies.
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Table
Pages.
Chant premier. — Ithaque 1
— II. — Télémaque 17
— III. — Pylos 31
— IV. — Lacédémone 47
— V. — Calypso 77
— VI. — Nausicaa 95
— VII. — Alcinoüs 109
— VIII. — Jeux 123
— IX. — Le Cyclope 145
— X. — Circé 169
— XI. — Ulysse aux Enfers 193
— XII. — Charybde et Scylla 215
— XIII. — Retour à Ithaque 235
— XIV. — Eumée 253
— XV. — Retour de Télémaque 273
— XVI. — Ulysse et Télémaque 295
— XVII. — Les Prétendants 317
— XVIII. — Pénélope 343
— XIX. — Euryclée 365
— XX. — Funestes Présages 389
— XXI. — L'Arc d'Ulysse 407
— XXII. — Le Massacre 427
— XXIII. — Ulysse et Pénélope 449
— XXIV. — Laërte 465
Table 483
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    56. Solid-State ACMotor Controls: Selection and Application, Sylvester Campbell 57. Fundamentals of Robotics, David D. Ardayfio 58. Belt Selection and Application for Engineers, edited by Wallace D. Erickson 59. Developing Three-Dimensional CAD Software with the IBM PC, C. Stan Wei 60. Organizing Data for CIM Applications, Charles S. Knox, with contributions by Thomas C. Boos, Ross S. Culverhouse, and Paul F. Muchnicki 61. Computer-Aided Simulation in Railway Dynamics, by Rao V. Dukkipati and Joseph R. Amyot 62. Fiber-Reinforced Composites: Materials, Manufacturing, and Design, P. K. Mallick 63. Photoelectric Sensors and Controls: Selection and Application, Scott M. Juds 64. Finite Element Analysis with Personal Computers, Edward R. Champion, Jr. and J. Michael Ensminger 65. Ultrasonics: Fundamentals, Technology, Applications: Second Edition, Revised and Expanded, Dale Ensminger 66. Applied Finite Element Modeling: Practical Problem Solving for Engineers, Jeffrey M. Steele 67. Measurement and Instrumentation in Engineering: Principles and Basic Laboratory Experiments, Francis S. Tse and Ivan E. Morse 68. Centrifugal Pump Clinic: Second Edition, Revised and Expanded, Igor J. Karassik 69. Practical Stress Analysis in Engineering Design: Second Edition, Revised and Expanded, Alexander Blake 70. An Introduction to the Design and Behavior of Bolted Joints: Second Edition, Revised and Expanded, John H. Bickford 71. High Vacuum Technology: A Practical Guide, Marsbed H. Hablanian 72. Pressure Sensors: Selection and Application, Duane Tandeske 73. Zinc Handbook: Properties, Processing, and Use in Design, Frank Porter 74. Thermal Fatigue of Metals, Andrzej Weronski and Tadeusz Hejwowski 75. Classical and Modern Mechanisms for Engineers and Inventors, Preben W. Jensen 76. Handbook of Electronic Package Design, edited by Michael Pecht 77. Shock-Wave and High-Strain-Rate Phenomena in Materials, edited by Marc A. Meyers, Lawrence E. Murr, and Karl P. Staudhammer 78. Industrial Refrigeration: Principles, Design and Applications, P. C. Koelet 79. Applied Combustion, Eugene L. Keating 80. Engine Oils and Automotive Lubrication, edited by Wilfried J. Bartz 81. Mechanism Analysis: Simplified and Graphical Techniques, Second Edition, Revised and Expanded, Lyndon O. Barton 82. Fundamental Fluid Mechanics for the Practicing Engineer, James W. Murdock 83. Fiber-Reinforced Composites: Materials, Manufacturing, and Design, Second Edition, Revised and Expanded, P. K. Mallick 84. Numerical Methods for Engineering Applications, Edward R. Champion, Jr.
  • 11.
    85. Turbomachinery: BasicTheory and Applications, Second Edition, Revised and Expanded, Earl Logan, Jr. 86. Vibrations of Shells and Plates: Second Edition, Revised and Expanded, Werner Soedel 87. Steam Plant Calculations Manual: Second Edition, Revised and Expanded, V. Ganapathy 88. Industrial Noise Control: Fundamentals and Applications, Second Edition, Revised and Expanded, Lewis H. Bell and Douglas H. Bell 89. Finite Elements: Their Design and Performance, Richard H. MacNeal 90. Mechanical Properties of Polymers and Composites: Second Edition, Revised and Expanded, Lawrence E. Nielsen and Robert F. Landel 91. Mechanical Wear Prediction and Prevention, Raymond G. Bayer 92. Mechanical Power Transmission Components, edited by David W. South and Jon R. Mancuso 93. Handbook of Turbomachinery, edited by Earl Logan, Jr. 94. Engineering Documentation Control Practices and Procedures, Ray E. Monahan 95. Refractory Linings Thermomechanical Design and Applications, Charles A. Schacht 96. Geometric Dimensioning and Tolerancing: Applications and Techniques for Use in Design, Manufacturing, and Inspection, James D. Meadows 97. An Introduction to the Design and Behavior of Bolted Joints: Third Edition, Revised and Expanded, John H. Bickford 98. Shaft Alignment Handbook: Second Edition, Revised and Expanded, John Piotrowski 99. Computer-Aided Design of Polymer-Matrix Composite Structures, edited by Suong Van Hoa 100. Friction Science and Technology, Peter J. Blau 101. Introduction to Plastics and Composites: Mechanical Properties and Engineering Applications, Edward Miller 102. Practical Fracture Mechanics in Design, Alexander Blake 103. Pump Characteristics and Applications, Michael W. Volk 104. Optical Principles and Technology for Engineers, James E. Stewart 105. Optimizing the Shape of Mechanical Elements and Structures, A. A. Seireg and Jorge Rodriguez 106. Kinematics and Dynamics of Machinery, Vladimír Stejskal and Michael Valásek 107. Shaft Seals for Dynamic Applications, Les Horve 108. Reliability-Based Mechanical Design, edited by Thomas A. Cruse 109. Mechanical Fastening, Joining, and Assembly, James A. Speck 110. Turbomachinery Fluid Dynamics and Heat Transfer, edited by Chunill Hah 111. High-Vacuum Technology: A Practical Guide, Second Edition, Revised and Expanded, Marsbed H. Hablanian 112. Geometric Dimensioning and Tolerancing: Workbook and Answerbook, James D. Meadows 113. Handbook of Materials Selection for Engineering Applications, edited by G. T. Murray 114. Handbook of Thermoplastic Piping System Design, Thomas Sixsmith and Reinhard Hanselka
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    115. Practical Guideto Finite Elements: A Solid Mechanics Approach, Steven M. Lepi 116. Applied Computational Fluid Dynamics, edited by Vijay K. Garg 117. Fluid Sealing Technology, Heinz K. Muller and Bernard S. Nau 118. Friction and Lubrication in Mechanical Design, A. A. Seireg 119. Influence Functions and Matrices, Yuri A. Melnikov 120. Mechanical Analysis of Electronic Packaging Systems, Stephen A. McKeown 121. Couplings and Joints: Design, Selection, and Application, Second Edition, Revised and Expanded, Jon R. Mancuso 122. Thermodynamics: Processes and Applications, Earl Logan, Jr. 123. Gear Noise and Vibration, J. Derek Smith 124. Practical Fluid Mechanics for Engineering Applications, John J. Bloomer 125. Handbook of Hydraulic Fluid Technology, edited by George E. Totten 126. Heat Exchanger Design Handbook, T. Kuppan 127. Designing for Product Sound Quality, Richard H. Lyon 128. Probability Applications in Mechanical Design, Franklin E. Fisher and Joy R. Fisher 129. Nickel Alloys, edited by Ulrich Heubner 130. Rotating Machinery Vibration: Problem Analysis and Troubleshooting, Maurice L. Adams, Jr. 131. Formulas for Dynamic Analysis, Ronald L. Huston and C. Q. Liu 132. Handbook of Machinery Dynamics, Lynn L. Faulkner and Earl Logan, Jr. 133. Rapid Prototyping Technology: Selection and Application, Kenneth G. Cooper 134. Reciprocating Machinery Dynamics: Design and Analysis, Abdulla S. Rangwala 135. Maintenance Excellence: Optimizing Equipment Life-Cycle Decisions, edited by John D. Campbell and Andrew K. S. Jardine 136. Practical Guide to Industrial Boiler Systems, Ralph L. Vandagriff 137. Lubrication Fundamentals: Second Edition, Revised and Expanded, D. M. Pirro and A. A. Wessol 138. Mechanical Life Cycle Handbook: Good Environmental Design and Manufacturing, edited by Mahendra S. Hundal 139. Micromachining of Engineering Materials, edited by Joseph McGeough 140. Control Strategies for Dynamic Systems: Design and Implementation, John H. Lumkes, Jr. 141. Practical Guide to Pressure Vessel Manufacturing, Sunil Pullarcot 142. Nondestructive Evaluation: Theory, Techniques, and Applications, edited by Peter J. Shull 143. Diesel Engine Engineering: Thermodynamics, Dynamics, Design, and Control, Andrei Makartchouk 144. Handbook of Machine Tool Analysis, Ioan D. Marinescu, Constantin Ispas, and Dan Boboc 145. Implementing Concurrent Engineering in Small Companies, Susan Carlson Skalak 146. Practical Guide to the Packaging of Electronics: Thermal and Mechanical Design and Analysis, Ali Jamnia 147. Bearing Design in Machinery: Engineering Tribology and Lubrication, Avraham Harnoy
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    148. Mechanical ReliabilityImprovement: Probability and Statistics for Experimental Testing, R. E. Little 149. Industrial Boilers and Heat Recovery Steam Generators: Design, Applications, and Calculations, V. Ganapathy 150. The CAD Guidebook: A Basic Manual for Understanding and Improving Computer-Aided Design, Stephen J. Schoonmaker 151. Industrial Noise Control and Acoustics, Randall F. Barron 152. Mechanical Properties of Engineered Materials, Wolé Soboyejo 153. Reliability Verification, Testing, and Analysis in Engineering Design, Gary S. Wasserman 154. Fundamental Mechanics of Fluids: Third Edition, I. G. Currie 155. Intermediate Heat Transfer, Kau-Fui Vincent Wong 156. HVAC Water Chillers and Cooling Towers: Fundamentals, Application, and Operation, Herbert W. Stanford III 157. Gear Noise and Vibration: Second Edition, Revised and Expanded, J. Derek Smith 158. Handbook of Turbomachinery: Second Edition, Revised and Expanded, edited by Earl Logan, Jr. and Ramendra Roy 159. Piping and Pipeline Engineering: Design, Construction, Maintenance, Integrity, and Repair, George A. Antaki 160. Turbomachinery: Design and Theory, Rama S. R. Gorla and Aijaz Ahmed Khan 161. Target Costing: Market-Driven Product Design, M. Bradford Clifton, Henry M. B. Bird, Robert E. Albano, and Wesley P. Townsend 162. Fluidized Bed Combustion, Simeon N. Oka 163. Theory of Dimensioning: An Introduction to Parameterizing Geometric Models, Vijay Srinivasan 164. Handbook of Mechanical Alloy Design, edited by George E. Totten, Lin Xie, and Kiyoshi Funatani 165. Structural Analysis of Polymeric Composite Materials, Mark E. Tuttle 166. Modeling and Simulation for Material Selection and Mechanical Design, edited by George E. Totten, Lin Xie, and Kiyoshi Funatani 167. Handbook of Pneumatic Conveying Engineering, David Mills, Mark G. Jones, and Vijay K. Agarwal 168. Clutches and Brakes: Design and Selection, Second Edition, William C. Orthwein 169. Fundamentals of Fluid Film Lubrication: Second Edition, Bernard J. Hamrock, Steven R. Schmid, and Bo O. Jacobson 170. Handbook of Lead-Free Solder Technology for Microelectronic Assemblies, edited by Karl J. Puttlitz and Kathleen A. Stalter 171. Vehicle Stability, Dean Karnopp 172. Mechanical Wear Fundamentals and Testing: Second Edition, Revised and Expanded, Raymond G. Bayer 173. Liquid Pipeline Hydraulics, E. Shashi Menon 174. Solid Fuels Combustion and Gasification, Marcio L. de Souza-Santos 175. Mechanical Tolerance Stackup and Analysis, Bryan R. Fischer 176. Engineering Design for Wear, Raymond G. Bayer 177. Vibrations of Shells and Plates: Third Edition, Revised and Expanded, Werner Soedel 178. Refractories Handbook, edited by Charles A. Schacht
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    179. Practical EngineeringFailure Analysis, Hani M. Tawancy, Anwar Ul-Hamid, and Nureddin M. Abbas 180. Mechanical Alloying and Milling, C. Suryanarayana 181. Mechanical Vibration: Analysis, Uncertainties, and Control, Second Edition, Revised and Expanded, Haym Benaroya 182. Design of Automatic Machinery, Stephen J. Derby 183. Practical Fracture Mechanics in Design: Second Edition, Revised and Expanded, Arun Shukla 184. Practical Guide to Designed Experiments, Paul D. Funkenbusch 185. Gigacycle Fatigue in Mechanical Practive, Claude Bathias and Paul C. Paris 186. Selection of Engineering Materials and Adhesives, Lawrence W. Fisher 187. Boundary Methods: Elements, Contours, and Nodes, Subrata Mukherjee and Yu Xie Mukherjee 188. Rotordynamics, Agnieszka (Agnes) Muszńyska 189. Pump Characteristics and Applications: Second Edition, Michael W. Volk 190. Reliability Engineering: Probability Models and Maintenance Methods, Joel A. Nachlas 191. Industrial Heating: Principles, Techniques, Materials, Applications, and Design, Yeshvant V. Deshmukh 192. Micro Electro Mechanical System Design, James J. Allen 193. Probability Models in Engineering and Science, Haym Benaroya and Seon Han 194. Damage Mechanics, George Z. Voyiadjis and Peter I. Kattan 195. Standard Handbook of Chains: Chains for Power Transmission and Material Handling, Second Edition, American Chain Association and John L. Wright, Technical Consultant 196. Standards for Engineering Design and Manufacturing, Wasim Ahmed Khan and Abdul Raouf S.I. 197. Maintenance, Replacement, and Reliability: Theory and Applications, Andrew K. S. Jardine and Albert H. C. Tsang 198. Finite Element Method: Applications in Solids, Structures, and Heat Transfer, Michael R. Gosz 199. Microengineering, MEMS, and Interfacing: A Practical Guide, Danny Banks 200. Fundamentals of Natural Gas Processing, Arthur J. Kidnay and William Parrish 201. Optimal Control of Induction Heating Processes, Edgar Rapoport and Yulia Pleshivtseva 202. Practical Plant Failure Analysis: A Guide to Understanding Machinery Deterioration and Improving Equipment Reliability, Neville W. Sachs, P.E. 203. Shaft Alignment Handbook, Third Edition, John Piotrowski 204. Advanced Vibration Analysis , S. Graham Kelly 205. Principles of Composite Materials Mechanics, Second Edition, Ronald F. Gibson 206. Applied Combustion, Second Edition, Eugene L. Keating 207. Introduction to the Design and Behavior of Bolted Joints, Fourth Edition: Non-Gasketed Joints, John H. Bickford
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    208. Analytical andApproximate Methods in Transport Phenomena, Marcio L. de Souza-Santos 209. Design and Optimization of Thermal Systems, Second Edition, Yogesh Jaluria 210. Friction Science and Technology: From Concepts to Applications, Second Edition, Peter J. Blau 211. Practical Guide to the Packaging of Electronics, Second Edition: Thermal and Mechanical Design and Analysis, Ali Jamnia 212. Practical Stress Analysis in Engineering Design, Third Edition, Ronald L. Huston and Harold Josephs 213. Principles of Biomechanics, Ronald L. Huston 214. Mechanical Vibration Analysis, Uncertainties, and Control, Third Edition, Haym Benaroya and Mark L. Nagurka
  • 17.
    Mechanical Vibration Analysis, Uncertainties,and Control THIRD EDITION Haym Benaroya Rutgers University Mark L. Nagurka Marquette University CRC Press is an imprint of the Taylor & Francis Group, an informa business Boca Raton London New York
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    CRC Press Taylor &Francis Group 6000 Broken Sound Parkway NW, Suite 300 Boca Raton, FL 33487-2742 © 2010 by Taylor and Francis Group, LLC CRC Press is an imprint of Taylor & Francis Group, an Informa business No claim to original U.S. Government works Printed in the United States of America on acid-free paper 10 9 8 7 6 5 4 3 2 1 International Standard Book Number-13: 978-1-4200-8057-5 (Ebook) This book contains information obtained from authentic and highly regarded sources. Reasonable efforts have been made to publish reliable data and information, but the author and publisher cannot assume responsibility for the validity of all materials or the consequences of their use. The authors and publishers have attempted to trace the copyright holders of all material reproduced in this publication and apologize to copyright holders if permission to publish in this form has not been obtained. If any copyright material has not been acknowledged please write and let us know so we may rectify in any future reprint. Except as permitted under U.S. Copyright Law, no part of this book may be reprinted, reproduced, transmit- ted, or utilized in any form by any electronic, mechanical, or other means, now known or hereafter invented, including photocopying, microfilming, and recording, or in any information storage or retrieval system, without written permission from the publishers. For permission to photocopy or use material electronically from this work, please access www.copyright. com (http://www.copyright.com/) or contact the Copyright Clearance Center, Inc. (CCC), 222 Rosewood Drive, Danvers, MA 01923, 978-750-8400. CCC is a not-for-profit organization that provides licenses and registration for a variety of users. For organizations that have been granted a photocopy license by the CCC, a separate system of payment has been arranged. Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation without intent to infringe. Visit the Taylor & Francis Web site at http://www.taylorandfrancis.com and the CRC Press Web site at http://www.crcpress.com
  • 19.
    PREFACE Introductory Comments From thenatural world to the physical world, cycles are everywhere. We live our lives according to cycles as the days turn into weeks, the weeks into months, and the months into years. Cycles repeat at regular intervals and it is this repetitiveness that underlies the concept of vibration. Humans are drawn to vibration as a source of comfort –from our earliest days being rocked to sleep to our later years rocking back and forth in a rocking chair. But, vibration can also be a source of great discomfort1 with the negative e¤ects of numbness, motion sickness, injury, and even death. Speaking subjectively, vibration can be good or bad depending on the circumstance. When we don’ t want a cell phone to ring – an example of acoustic vibration –we put it in a mode called “vibrate.”We intentionally want it to vibrate. Yet, when our car vibrates too much we know from the shaking that something is wrong. It could be out of alignment; it could be the shock absorbers are shot; it could be the engine mounts are bad; it could be the engine is mis…ring. A trained mechanic will be able to diagnose the problem based on the vibration signature. In this case, we intentionally 1 Vibration exposure is more than just a nuisance. It can be a serious health hazard. Constant exposure to vibration has been known to cause a range of medical problems such as back pain, carpal tunnel syndrome, and vascular disorders. Vibration related injury is especially prevalent in occupations that require outdoor work, such as construction, farming, transportation, shipping, and forestry. There are two classi…cations for vibration exposure: whole-body vibration and hand and arm vibration. Whole-body vibration is vibration transmitted to the entire body via the seat or the feet, or both, often through driving or riding in vehicles (including trucks, tractors, trains, and o¤-road vehicles) or through standing on vibrating ‡oors (near power presses in a stamping plant or near vibrating heavy machinery, for example; pumps, compressors, air handling units and other equipment all contribute to the excitation of the ‡oors). Hand-and-arm vibration, on the other hand, is limited to the hands and arms and usually results from the use of power hand tools (reciprocating and impact tools, jackhammers, grinders, woodchippers, for example) and from vehicle controls. iii
  • 20.
    iv want to eliminatethe vibration, although we know the best we can do is minimize it. Vibration is pervasive. In fact, it is challenging to …nd examples that are not related to vibration. Applications of vibration cross disparate dis- ciplines, well beyond engineering. The following list is only a subset: biology (pulse rate, breathing rate, biorhythms, balance, tremors, just to name a few2 ) physics (waves, sound, quantum mechanics) chemistry (atomic vibration,3 spectroscopy) astronomy (planetary orbits,4 sunspot cycles) geology (seismic tremors, earthquakes, volcanic eruptions) oceanography (ocean waves, deep sea currents) meteorology (climate and weather cycles) zoology (predator-prey models of animal populations, host- parasite cycles, ecosystem cycles, among many others5 ) psychology (seasonal cycles in behavior, sleep cycles, manic- depressive cycles) economics (…nancial cycles, business cycles) agronomy (agricultural cycles) history (war and peace cycles, governance style cycles) religion (holidays, life-cycle events) philosophy (cycles in Eastern philosophy) parapsychology (astrological cycles) The word vibration is a common English word that means motion in oscillation. In a mechanical system, vibration can be viewed as a give-and- take (tug-of-war) between forces tending toward a balance. The forces are …ghting each other, causing motion that see-saws back and forth, all the 2 Almost everything in the body is rhythmic. ECG and EEG signals are rhythmic for a healthy person. Nerve action-potentials are cyclic. Eye blinking is cyclic, although the rate is not constant. Some rhythms in the body can be varied; many cannot. 3 At an atomic level vibration means there is temperature. 4 A year is the time for the Earth to rotate about the Sun once. A month is the time for the Moon to rotate about the Earth once. A day is the time for the Earth to rotate about its axis once. 5 There are many interesting examples: snakes move by and sense vibration, dogs detect danger by vibration, hummingbird wings ‡ap at known frequencies.
  • 21.
    Exploring the Varietyof Random Documents with Different Content
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    En parlant ainsi,elle lui inspira une grande énergie et Laërte lança son javelot qui atteignit Eupithès. L'airain le traversa d'outre en outre; il tomba avec bruit et ses armes retentirent sur lui. Ulysse et les siens fondirent avec impétuosité sur les premiers combattants. Ils allaient les immoler tous, quand Minerve fit entendre sa puissante voix: —Habitants d'Ithaque, cessez ce funeste combat et ne versez plus de sang. La pâle crainte s'empara aussitôt de tous les cœurs; ils laissèrent tomber à terre leurs armes et s'enfuirent vers la ville. Minerve alors adressa ces paroles à Ulysse: —Noble fils de Laërte, industrieux Ulysse, cesse de combattre, de peur que Zeus à la voix terrible ne s'irrite contre toi. Elle dit et le héros se réjouissant en son cœur, lui obéit. Alors Pallas Athéné, semblable à Mentor dont elle avait pris les traits et la voix, immola les victimes, gages sacrés du serment de paix, entre les deux partis.
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    Pages. Chant premier. —Ithaque 1 — II. — Télémaque 17 — III. — Pylos 31 — IV. — Lacédémone 47 — V. — Calypso 77 — VI. — Nausicaa 95 — VII. — Alcinoüs 109 — VIII. — Jeux 123 — IX. — Le Cyclope 145 — X. — Circé 169 — XI. — Ulysse aux Enfers 193 — XII. — Charybde et Scylla 215 — XIII. — Retour à Ithaque 235 — XIV. — Eumée 253 — XV. — Retour de Télémaque 273 — XVI. — Ulysse et Télémaque 295 — XVII. — Les Prétendants 317 — XVIII. — Pénélope 343 — XIX. — Euryclée 365 — XX. — Funestes Présages 389 — XXI. — L'Arc d'Ulysse 407 — XXII. — Le Massacre 427 — XXIII. — Ulysse et Pénélope 449 — XXIV. — Laërte 465 Table 483
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    Imprimerie des NouvellesCollections Guillaume E. GUILLAUME, DIRECTEUR Borel.—110, avenue d'Orléans, Paris.
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    Au lecteur La ponctuationd'origine et l'orthographe ont été conservées et n'ont pas été harmonisées. Quelques erreurs évidentes de typographie ou d'impression ont été corrigées. Elles sont soulignées par des pointillés. Positionner la souris sur le mot souligné en pointillés pour visualiser l'orthographe initiale.
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