This paper considers the behavior of a slewing beam driven by a DC motor. State equations are presented based on a finite element representation of the beam and a dynamic motor model. The equations are nondimensionalized to view the system parameters in dimensionless groups. Attention is particularly focused on a “damping group” which allows beam vibration to be damped by interaction with the motor. Results are presented in both the frequency domain and time domain which show the effects of motor-beam interaction. These include a change in the beam vibration modes from clamped-free to pinned-free and the development of significant first and second mode damping in a frictionless beam representation.

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