Chapter 2 Free Vibration of Single Degree of Freedom

Free vibration of single degree
of freedom (SDOF)
Chapter 2
Introduction
A system is said to undergo free vibration when
it oscillates only under an initial disturbance
with no external forces acting after the initial
disturbance
Introduction - SDOF
One coordinate (x) is sufficient to specify the
position of the mass at any time
There is no external force applied to the mass
Since there is no element that causes
dissipation of energy during the motion of
the mass, the amplitude of motion remains
constant with time, undamped system
Introduction - SDOF
If the amplitude of the free vibration diminished
gradually over time due to the resistance the
resistance offered by the surrounding medium,
the system are said to be damped
Examples: oscillations of the pendulum of a
grandfather clock, the vertical oscillatory motion
felt by a bicyclist after hitting a road bump, and
the swing of a child on a swing under an initial
push
Free Vibration of an Undamped
Translation System
Equation of Motion using Newtons Second Law
Select a suitable coordinate to describe the
position of the mass or rigid body
Determine the static equilibrium configuration of
the system and measure the displacement of the
mass or rigid body
Draw the free body diagram of the mass or rigid
body when a positive displacement and velocity
are given
Apply Newtons second law of motion
FV of an undamped
Newtons second law
Applied to a undamped SDOF system
x m t F

= ) (
u

J t M = ) (
For rigid body
undergoing
rotational motion
FV of an undamped
x m kx t F

= = ) (
0 = +kx x m

FV of an undamped
Equation of Motion using other methods
DAlemberts Principle
Principle of Virtual Displacements
Principle of Conservation of Energy
0 = +kx x m

Spring-Mass
System in Vertical
Position
0 = +kx x m

st
k mg W o = =
( ) W x k x m
st
+ + = o

FV of an undamped Solution!
The solution can be found assuming,
substituting
st
Ce t x = ) (
0 ) ( ) (
2
2
= +
st st
Ce k Ce
dt
d
m
( ) 0
2
= +k ms C
n
i
m
k
s e =
|
.
|
\
|
=
2
1
2
1
|
.
|
\
|
=
m
k
n
e
characteristic equation eigenvalues
0
2
= +k ms
The general solution,
t i t i
n n
e C e C t x
e e
+ =
2 1
) (
t i t e
t i
o o
e
sin cos using, =
t A t A t x
n n
e e sin cos ) (
2 1
+ =
A and C can be determine from the initial conditions
The initial conditions at t =0,
The solution is
0 1
) ( x A t x = =
t
x
t x t x
n
n
n
e
e
e sin cos ) (
0
0

+ =
0 2
) ( x A t x
n

= =e
FV of an undamped Harmonic
Previous equations are harmonic function of
time
The motion is symmetric about the equilibrium
position of the mass
The velocity is maximum and the acceleration is
zero at the equilibrium position
At the extreme displacement the velocity is zero
and the acceleration is a maximum
The quantity is the natural frequency
n
e
| sin
2
A A =
| cos
1
A A =
( ) amplitude
x
x A A A
n
=
(
(
|
|
.
|
\
|
+ = + =
2 / 1
2
0
2
0
2
2
2
1
2
1
e
angle phase
x
x
A
A
n
=
|
|
.
|
\
|
=
|
|
.
|
\
|
=

e
|
0
0
1
1
2
1
tan tan

t A t A t x
n n
e e sin cos ) (
2 1
+ =
2 / 1
2
0
2
0 0
(
(
|
|
.
|
\
|
+ =
n
x
x A
e
|
|
.
|
\
|
=

0
0
1
0
tan
x
x
n
e
|
( ) | e = t A t x
n
cos ) (
Substituting, the solution can be written
using the relation,
0 0 1
cos| A A =
0 0 2
sin| A A =
( )
0 0
sin ) ( | e + = t A t x
n
Obtain the free response of
a) in the form
b) in the form
Initial condition are x(0) = 0.05 m and x(0) = -
0.3 m/s
Example - Harmonic
) ( 128 2 t f x x = +

t A t A x
n n
e e cos sin
2 1
+ =
| e + = t A x
n
sin
Example - solution
t t t t x a 8 cos 05 . 0 8 sin 0375 . 0 8 cos 05 . 0 8 sin
8
3 . 0
) + = +
=
( )
( )
062 . 0
8
3 . 0
05 . 0 )
2
2
2
=
+ + = A b
806 . 0
062 . 0
05 . 0
sin = = |
605 . 0
) 8 ( 062 . 0
3 . 0
cos =
= |
rad 214 . 2 0927 . 927 . ) 333 . 1 ( tan
605 . 0
806 . 0
tan
1 1
= + = =
=

t |
( ) m t x 214 . 2 8 sin 062 . 0 + =
2 / 1
|
.
|
\
|
=
m
k
n
e
1)Note the following aspect,
st st
mg W
k
o o
= =
2 / 1
|
|
.
|
\
|
=
st
n
g
o
e
2 / 1
2
1
|
|
.
|
\
|
=
st
n
g
f
o t
2 / 1
2
1
|
|
.
|
\
|
= =
g f
st
n
n
o
t t
( ) | e = t A t x
n
cos ) (
( )
|
.
|
\
|
+ = =
2
cos sin ) (
t
| e e | e e t A t A t x
n n n n
( ) ( ) t | e e | e e + = = t A t A t x
n n n n
cos cos ) (
2 2

2)
3) If the initial displacement is zero,
t
x
t A
x
t x
n
n
n
n
e
e
t
e
e
sin
2
cos ) (
0 0

=
|
.
|
\
|
=
If the initial velocity is zero,
t x t x
n
e cos ) (
0
=
4)The response of a SDOF system can be represent in the
displacement ( ) velocity ( ), known as the state space
or phase plane
x
x
( ) | e = t A t x
n
cos ) (
( ) | e e = t A t x
n n
sin ) (
A
x
A
y
1
2
2
2
2
= +
A
y
A
x
The column of the water tank shown is 300 ft.
high and is made of reinforced concrete with a
tubular cross section of inner diameter 8 ft. and
outer diameter 10 ft. The tank weighs 6 x 10
5
lb
with water. By neglecting the mass of the column
assuming the Youngs modulus of reinforce
concrete as 4 x 10
6
psi, determine the following:
Example - Harmonic
the natural frequency and the natural time
period of transverse vibration of the water tank
the vibration response of the water tank due to
an initial transverse displacement of 10 in.
the maximum values of the velocity and
acceleration experienced by the water tank
Example
Example solution
3
3
l
EI P
k = =
o
a) The stiffness of the beam,
l= 3600 in. , E = 4 x 10
6
psi,
( ) ( )
4 4 4 4 4 4
0
10 600 96 120
64 64
in d d I
i
= = =
t t
in lb
l
EI
k / 1545
3600
) 10 600 )( 10 4 ( 3 3
3
4 6
3
=

= =
sec / 9977 . 0
10 6
4 . 386 1545
5
rad
m
k
n
=
= = e
sec 2977 . 6
2
= =
n
n
e
t
t
Example solution
b) Using the initial displacement of x
0
=0 and the
initial velocity =0,
( )
0 0
sin ) ( | e + = t A t x
n
in x
x
x A
n
10
0
2 / 1
2
0
2
0 0
= =
(
(
|
|
.
|
\
|
+ =
e
2 0
tan
0
1
0
t e
| =
|
.
|
\
|
=

n
x
t t t x 9977 . 0 cos 10
2
9977 . 0 sin 10 ) ( =
|
.
|
\
|
+ =
t
Example solution
c) The velocity and acceleration can be determine by
differentiating,
( )
|
.
|
\
|
+ =
2
9977 . 0 cos 9977 . 0 10 ) (
t
t t x
( ) sec / 977 . 9 9977 . 0 10
0 max
in A x
n
= = = e
( )
|
.
|
\
|
+ =
2
9977 . 0 sin 9977 . 0 10 ) (
2
t
t t x
( ) ( )
2
2 2
0 max
sec / 9540 . 9 9977 . 0 10 in A x
n
= = = e
A simply supported beam of square cross section
5 mm x 5 mm and length 1 m, carrying a mass of
2.3 kg at the middle, is found have a natural
frequency of transverse vibration of 30 rad/s.
Determine the Youngs modulus of elasticity of
the beam.
Example - Harmonic
Example solution
3
192
l
EI
k =
( )( )
4 10 3 3
10 5208 . 0 10 5 10 5
12
1
m I

= =
m
k
n
= e
I
l m
E
n
192
3 2
e
=
2
3
192
n
m
l
EI
k e = =
( ) ( )
2 9
10
3 2
/ 10 0132 . 207
) 10 5208 . 0 ( 192
0 . 1 0 . 30 3 . 2
m N E =
=

An industrial press is mounted on a rubber pad
to isolated it from its foundation . If the rubber
pad is compressed 5 mm by the self-weight of
the press, find the natural frequency of the
system
Example - Harmonic
m
st
3
10 5

= o
Hz rad
m
g
st
n
0497 . 7 sec / 2945 . 44
10 5
81 . 9
2 / 1
3
2 / 1
= =
|
.
|
\
|
=
|
|
.
|
\
|
=

o
e
An air-conditioning chiller
unit weighing 2,000 lb is to
be supported by four air
springs. Design the air
springs such that the
natural frequency of
vibration of the unit lies
between 5 rad/s and 10
rad/s
Example - Harmonic
Example solution
s rad
n
/ 5 . 7 = e
4 . 386
2000
= m
m
k
eq
n
= e
( ) in lb m k
n eq
/ 1491 . 291 5 . 7
4 . 386
2000
2
2
=
|
.
|
\
|
= = e
in lb k in lb k / 78 . 72 / 1491 . 291 4 = =
Example
An electrical switch gear is
supported by a crane
through a steel cable of
length 4 m and diameter
0.01 m. If the natural time
period of the axial vibration
of the switch gear is found
to be 0.01 s, find the mass of
the switch gear
Example solution
( ) m N / ) 10 ( 064 . 4 ) 10 ( 07 . 2 01 . 0
4 4
1
6 11
2
=
|
.
|
\
|
=
t
l
AE
k = = stiffness cable
n n
n
f e
t
t
2 1
1 . 0 = = =
m
k
n
= = = t
t
e 20
1 . 0
2
kg
k
m
n
53 . 1029
) 20 (
) 10 ( 0644 . 4
2
6
2
= = =
t e
Example
A bungee jumper weighing
160 lb ties one end of a
elastic rope of length 200 ft
and stiffness 10 lb/in to
bridge and the other to
himself and jumps from the
bridge. Assuming the bridge
to be rigid, determine the
vibratory motion of the
jumper about his static
equilibrium position
Example solution
sec / 88 . 361 , 1
) 12 ( 200 ) 4 . 386 ( 2 2 mgh
jumper the of velocity
2
2
1
in
gh v or mv
=
= = =
in lb k
inch
lb
m / 10 ,
sec
4 . 386
160
2
=
=
88 . 362 , 1 ) 0 ( , 0 ) 0 (
: position m equilibriu about the
0 0
= = = = = = t x x t x x

) sin( ) ( : jumper the of response
0 0
| e + = t A t x
n
Example solution
in
k
m x x x
x
n n
12 . 277
4 . 386
160
10
1361
A
where,
0 0
2
2
0 0
2
1
=
|
.
|
\
|
= = =
|
|
.
|
\
|
+ =

e e
0 tan
where,
0
1
0
=
|
|
.
|
\
|
=

n
n
x
x
e
|
Free Vibration of an Undamped
Torsional System
If a rigid body oscillate about a specific reference
axis, the resulting motion is called torsional
vibration
The displacement of the body is measured in
terms of a angular coordinate
The restoring moment may be due to the torsion
of an elastic member or to the unbalanced
moment of a force or couple
l
GI
M
o
t
=
32
4
d
I
o
t
=
l
Gd
l
GI M
k
o t
t
32
4
t
u
= = =
Equation of Motion
The equation of the angular
motion of the disc about its axis
can be derived by using Newtons
second laws
0
0
= + u u
t
k J

0
J
k
t
n
= e
t
n
k
J
0
2t t =
0
2
1
J
k
f
t
n
t
=
Important aspects of this system
If the cross section of the shaft supporting the
disc is not circular, an appropriate torsional
spring constant is to be used
The polar mass moment of inertia of a disc is
given by
The general solution
g
WD D h
J
8 32
2 4
0
= =
t
t A t A t
n n
e e u sin cos ) (
2 1
+ =
0 1
u = A
n
A e u /
0 2

=
Example
The figure shows a spacecraft
with four solar panel. Each
panel has the dimension of 5
ft. x 3 ft. x 1 ft. with a density
of 0.1 lb/in
3
, and is connected
to the body by aluminum rods
of length 12 in. and diameter 1
in. Determine the natural
frequency of vibration each
panel about the axis of the
connecting rod
Example solution
5820 . 1
386.4
0.283
) 1 12)( 12)(3 (5 panel a of mass m =
|
.
|
\
|
= =
( )
( ) 98 . 170 36 1
12
5820 . 1
12
m
axis - x about the panel the of inertia momentof mass
2 2
2 2
0
= + =
+ = = b a J
( )
4
4
4
0
098175 . 0 1
32 32
rod of inertia momentof polar in d I = = = =
t t
( ) ( )( )
( ) rad in lb
l
GI
k
t
/ 10 1089 . 3
12
098175 . 0 10 8 . 3
4
8
0
= = =
sec / 4841 . 13
2
1
0
rad
J
k
t
n
=
)
`
= e
Example
Find the equation of motion
of the uniform rigid bar OA
of length l and mass m
shown in the figure. Also
find its natural frequency
Example solution
( ) ( )l l k a a k k J
t
u u u u
2 1 0
: motion of Equation
=

2
2
2
0
3
1
2 12
1
where ml
l
m ml J =
|
.
|
\
|
+ =
( ) 0
3
1
2
2
2
1
2
= + + + u u l k a k k ml
t

( )
2
1
2
2
2
2
1
3
)
`
+ +
=
ml
l k a k k
t
n
e
Rayleighs Energy Method
Uses the energy method to find the natural
frequencies of a single degree of freedom
systems
The principle of conservation of energy, in the
context of an undamped vibrating system, can be
restated as
Subscript 1 denote the time when the mass is
passing through its static equilibrium position
(U
1
=0)
2 2 1 1
U T U T + = +
Rayleighs Energy Method
Subscript 2 indicate the time corresponding to
the maximum displacement of the mass (T
2
=0)
If the system is undergoing harmonic motion,
then T
1
and U
2
denote the maximum values
2 1
0 0 U T + = +
max max
U T =
Example
Find the natural frequency of the transverse
vibration of the water tank considered in the
first example by including the mass of the
column
Example
( ) ( )
( )
3 2
3
max
2
3
2
3
6
x l x
l
y
x l
EI
Px
x y
=
=
The maximum kinetic energy of the beam,
( ) { } dx x y
l
m
T
l
2
0
max
2
1

}
=
Example
( ) ( )
3 2
3
max
3
2
x l x
l
y
x y =

( ) dx x l x
l
y
l
m
T
l
}

|
.
|
\
|
=
0
2
3 2
2
3
max
max
3
2 2

2
max
7
6
2
max
max
140
33
2
1
35
33
4 2
y m l
l
y
l
m
T

|
.
|
\
|
=
|
.
|
\
|
=
Example
2
max max
2
1
y m T
eq

=
m m
eq
140
33
=
eq eff
m M M + =
m
eq
denotes the equivalent mass of the
cantilever at the free end, its maximum
kinetic energy
The total effective mass acting at the
end, M is the mass of the water tank
m M
k
M
k
eff
n
140
33
+
= = e
Free Vibration with Viscous Damping
The viscous damping force F is proportional
to the velocity,
c is the damping constant or coefficient of
viscous damping
The negative sign indicates that the damping
force is opposite to the direction of velocity
x c F

=
Free Vibration with Viscous Damping
kx x c x m =

0 = + + kx x c x m

FV with Viscous Damping - Solution
0 = + + kx x c x m

0
2
= + + k cs ms
( )
st
Ce t x =
m
k
m
c
m
c
m
mk c c
s
|
.
|
\
|
=

=
2
2
2 , 1
2 2 2
4
( )
t s t s
e C e C t x
2 1
2 1
+ =
The general solution
FV with Viscous Damping
Critical Damping Constant and Damping Ratio
The critical damping is defined as the damping
constant for which the radical becomes zero
The damping ratio is defined as the ratio of the
damping ratio to the critical damping constant
0
2
2
=
|
.
|
\
|
m
k
m
c
c
n c
m km
m
k
m c e 2 2 2 = = =
c
c c / = ,
Critical Damping Constant and Damping Ratio
the solution,
n
c
c
m
c
c
c
m
c
,e = =
2 2
( )
n
s e , , 1
2
2 , 1
=
( )
t t
n n
e C e C t x
e , , e , , |
.
|
\
|
|
.
|
\
|
+
+ =
1
2
1
1
2 2
The nature of the roots and hence the behavior of
the solution depends upon the magnitude of
damping;
Case 1: Underdamped
s vibration undamped to leads , 0 = ,
( )
n
i s e , ,
2
1
1 + =
overdamped critical, d, underdampe : cases three , 0 = ,
m k m c or c c or
c
/ 2 / 1 < < < ,
( )
n
i s e , ,
2
2
1 =
( ) expressed be can roots the and negative is 1 condition, for this
2
,
( )
t i t i
n n
e C e C t x
e , , e , , |
.
|
\
|
|
.
|
\
|
+
+ =
2 2
1
2
1
1
( ) { } t C t C e t x
n n
t
n
e , e ,
,e 2 '
2
2 '
1
1 sin 1 cos + =

Case 1: Underdamped
n
n
x x
C and x C
e ,
,e
2
0 0
'
2 0
'
1
1
+
= =

For the initial condition,
0 0
) 0 ( ) 0 ( x t x and x t x = = = =
( )
+
+ =

t
x x
t x e t x
n
n
n
n
t
n
e ,
e ,
,e
e ,
,e 2
2
0 0
2
0
1 sin
1
1 cos

the solution,
n d
e , e
2
1 =
The frequency of damped vibration is
( ) ( )
2
'
2
2
'
1 0
C C X X + = =
( )
'
2
'
1
1
/ tan C C
= |
The constants are,
( )
'
1
'
2
1
0
/ tan C C =

|
( ) ( ) | e ,
,e
+ =

t Xe t x
n
t
n
2
1 sin
( ) ( )
0
2
0
1 cos | e ,
,e
=

t e X t x
n
t
n
the solution can be expressed as ,
Case 2: Critical damped
n
c
m
c
s s e = = =
2
2 1
m k m c or c c or
c
/ 2 / 1 = = = ,
equal, are and roots two the case In this
2 1
s s
the solution,
( )
t
n
e t C C t x
e
+ =
2 1
) (
0 0
) 0 ( ) 0 ( x t x and x t x

= = = =
0 1
x C =
0 0 2
x x C
n
e + =

( ) | |
t
n
n
e t x x x t x
e
e

+ + =
0 0 0
) (

zero o diminish t eventually l motion wil the , 0 as 0
Since . is equation by the d represente motion the

t e
aperiodic
t
n
e
Case 3: Overdamped
m k m c or c c or
c
/ 2 / 1 > > > ,
distint, and real are and roots two the case In this
2 1
s s
the solution,
t t
n n
e C e C t x
e , , e , , |
.
|
\
|
|
.
|
\
|
+
+ =
1
2
1
1
2 2
) (
( ) 0 1
2
1
< + =
n
s e , , ( ) 0 1
2
2
< =
n
s e , ,
Case 3: Overdamped
0 0
) 0 ( ) 0 ( x t x and x t x

= = = =
( )
1 2
1
2
0
2
0
1
+ +
=
, e
, , e
n
n
x x
C

( )
1 2
1
2
0
2
0
2

=
, e
, , e
n
n
x x
C

me ly with ti exponental diminishes motion the , negative are roots the
Since . is equation by the d represente motion the aperiodic
The nature of the roots
with varying values of
damping can be shown
in a complex plane. The
semicircle represent the
locus of the roots for
different values of
damping ratio in the
range of 0 to 1
A critically damped system
will have the smallest
damping required for
aperiodic motion: hence
the mass returns to the
position of rest in the
shortest possible time
without overshooting
The figure represent the
phase plane or state space
of a damped system
Logarithmic Decrement
Represent the rate at which the amplitude of a free
damped vibration decreases. It is defined as the natural
logarithm of the ratio of any successive amplitude
( )
( )
t ,e
,e
,e
| e
| e
n
n
n
e
t e X
t e X
x
x
n
t
n
t
=
0 2 0
0 1 0
2
1
cos
cos
2
1
m
c
x
x
d
n
n d n
2
2
1
2
1
2
ln
2 2
2
1
=
= = =
e
t
,
t,
e ,
t
,e t ,e o
( )
damping small for
2
2
2
2
t
o
o t
o
, ~
+
= or
Energy Dissipated in Viscous Damping
The rate of change of energy with time is given
The negative sign denotes that energy dissipate with
time. Assuming a simple harmonic motion
2
2
velocity force
|
.
|
\
|
= = = =
dt
dx
c cv Fv
dt
dW
( ) t d cX dt
dt
dx
c W
d d d
t
n
e e e
t e t
=
|
.
|
\
|
= A
} }
=
2
2
0
2
2
/ 2
0
cos
2
X c W
d
e t = A
Energy Dissipated in Viscous Damping
The fraction of the total energy of the vibrating system
that is dissipated in each cycle of motion is called the
specific damping capacity
Another quantity used to compare damping capacity of
engineering materials is called loss coefficient and is
define as the ratio of energy dissipated per radian and
the total energy
constant 4 2
2
2
2
2 2
2
1
2
= = =
|
.
|
\
|
|
|
.
|
\
|
= =
A
t, o
e
t
e
e t
m
c
X m
X c
W
W
d d
d
( )
W
W
W
W
t
t
2
2 /
t coefficien loss
A
=
A
=
Torsional Systems with Viscous Damping
u
t
c T =
d, underdampe for the case; linear in the as
0
0
= + + u u u
t t
k c J

is, motion of equation the
n d
e , e
2
1 =
0
J
k
t
n
= e
0
0
2
2
J k
c
J
c
c
c
t
t
n
t
tc
t
= = =
e
,
Example- FV viscous damping
The human leg has a measured natural
frequency of around 20 Hz when in its rigid
(knee-locked) position in the longitudinal
direction ( i.e., along the length of the bone) with
damping ratio of = 0.224. Calculate the
response of the tip of the leg bone to an initial
velocity of v
0
= 0.6m/s and zero initial
displacement ( this would correspond to the
vibration induced while landing on your feet,
with your knee locked from a height of 18 mm.
What is the maximum acceleration experience
by the leg assuming no damping?
Highway crash barrier are design to absorb a
vehicles kinetic energy without bringing the vehicle
to such an abrupt stop that the occupants are
injured. Knowledge of the barriers materials
provide the spring constant k and the damping
coefficient c; the mass m is the vehicle mass. For this
application , t=0 denotes the time at which the
moving vehicle contacts the barrier at x=0; thus v(0)
is the speed of the vehicle at the time of contact and
x(0) =0. The applied force is zero. Most of the
barriers resistance is due to the term cv, and it stops
resisting after the vehicle comes to rest; so the
barrier does reverse the vehicle motion. Cont
A particular barriers construction gives
k=18000 N/m and c = 20000 N s/m. A vehicle
1800 kg vehicle strikes the barrier at 22 m/s.
Determine how long it takes for the vehicle to
come to rest, how far the vehicle compress the
barrier, and the maximum deceleration of the
vehicle
An underdamped shock absorber is to be design
for a motorcycle of mass 200 kg. When the
shock absorber is subjected to an initial vertical
velocity due to a road bump, the resulting
displacement-time curve is to be as shown. Find
the necessary stiffness and damping constants
of the shock absorber if the damped period is to
be 2 s and the amplitude x
1
is to be reduced to
one-fourth in one half cycle (i.e., x
1.5
= x
1
/4 ).
Also find the minimum initial velocity that leads
to a maximum displacement of 250 mm
Example- Solution
Approach: We use the equation for the logarithm
decrement in term of the damping ratio,
equation for the damped period of vibration,
time corresponding to maximum displacement
for an underdamped system, and envelop
passing through the maximum points of an
underdamped system
2
2
1
1
2
7726 . 2 ) 16 ln( ln
,
t,
o
= = = =
x
x
16 / 4 / , 4 /
1 5 . 1 2 1 5 . 1
x x x x x = = =
4037 . 0 = ,
Example - Solution
2
1
2 2
2
, e
t
e
t
t
= = =
n
d
d
s rad
n
/ 4338 . 3
4037 . 0 1 2
2
2
=
=
t
e
( )( ) m s N m c
n c
/ 54 . 1373 4338 . 3 200 2 2 = = = e
( )( ) m s N c c
c
/ 4981 . 554 54 . 1373 4037 . 0 = = =,
( )( ) m N m k
n
/ 2652 . 2358 4338 . 3 200
2
2
= = = e
Example - Solution
2
1
1 sin , e = t
d
( )
sec 3678 . 0
9149 . 0 sin
1
1
= =

t
t
t
n
Xe x
,e
,

+ =
2
1
The displacement of the mass attain its maximum
value at time t,
( ) 9149 . 0 4037 . 0 1 sin sin
2
1 1
= = = t t
d
t e
The envelop passing through the maximum points,
Example - Solution
t
n
Xe x
,e
,

+ =
2
1
The envelop passing through the maximum points,
( )
( )( )( ) 3678 . 0 433 . 4 4037 . 0
2
4037 . 0 1 25 . 0

= Xe
m X 4550 . 0 =
The velocity of the mass can be obtained by differentiating,
( ) t Xe t x
d
t
n
e
,e
sin
=
Example - Solution
The velocity of the mass,
( ) ( ) t t Xe t x
n d d n
t
n
e e e ,e
,e
cos sin + =

( )
2
0
1 0 , e e = = = =
n d
X X x t x

( )
s m/ 4294 . 1
4037 . 0 1 ) 4338 . 3 )( 4550 . 0 (
2
=
=
Example
The maximum permissible recoil distance of a
gun is specified as 0.5 m. If the initial recoil
velocity is to be 8 m/s and 10 m/s, find the mass
of the gun and the spring stiffness of the recoil
mechanism. Assume that a critically damped
dashpot is used in the recoil mechanism and the
mass of the gun has to be at least 500 kg
Example - Solution
( ) ( ) { } ( ) 1
0 0 0
E e t x x x t x
t
n
n
e
e

+ + =

( ) { } ( ) 2
0
2
0 0
E t x t x x e t x
n n
t
n
e e
e
=

Let t
m
= time at which x=x
max
and v=0 occur. Here x
0
= 0 and
v
0
=0 initial recoil velocity. By setting v(t)=0,
( )
( ) 3
1
0
0
0 0
0
E
x
x
x x
x
t
n n n n
m
e e e e
= =
+
=
Example - Solution
n
t
m
e x
e t x x
m n
e
e
1
0
0 max

= =

( )( ) 7178 . 2 5 . 0
max 0 n n
e x x e e = =
s m x / 10 when,
0
=
( ) sec / 3575 . 7 7178 . 2 * 5 . 0 / 10 rad
n
= = e
kg, 500 is gun of mass when
( ) ( ) m N m k
n
/ 403 . 066 , 27 500 3575 . 7
2
2
= = =e
FV with Coulomb Damping
In vibrating structure, whenever the components
slide relative to each other, dry friction damping
appears internally
Coulombs law of dry friction states that, when
two bodies are in contact, the force required to
produce sliding is proportional to the normal
force acting in the plane of contact
mg W N F = = =
Equation of Motion
Case 1
When x is positive and dx/dt is positive or when x is
negative and dx/dt is positive (half cycle)
N kx x m = +

Equation of Motion
Case 1
This is a second-order nonhomogeneous DFQ. The
solution is
( )
k
N
t A t A t x
n n

e e + = sin cos
2 1
k
N
x A
3
0 1
+ =
0
2
= A
k
N
x x t

e t e t
4
/ 2 / position, extreme At the
0 2 n n
= s s
( ) 0 ) 0 ( / 2 ) 0 (
0
= = = = t x and k N x t x
Equation of Motion
Case 2
When x is positive and dx/dt is negative or when x is
negative and dx/dt is negative (half cycle)
N kx x m = +

Case 2
The solution is
( )
k
N
t A t A t x
n n

e e + + = sin cos
4 3
k
N
x A

=
0 3
0
4
= A
|
.
|
\
|
= =
k
N
x x

e t
2
/ t position, extreme At the
0 1 n
0 ) 0 ( ) 0 (
0
= = = = t x and x t x

>
k
N
k
N
x
r
2
cycles of number
0
k N x
n
/ at stops motion s
The previous solutions can be expressed as a
single equation
Where sgn(y) is called the signumfunction and it
is define as
0 ) sgn( = + + kx x mg x m

1 0
1 1
1 1
=
<
>
y for
y for
y for
The equation of motion is nonlinear with
Coulomb damping, while it is linear with viscous
damping
The natural frequency of the system is unaltered
with the addition of Coulomb damping, while it
is reduced with addition of viscous damping
The motion is periodic with Coulomb damping,
while it can be nonperiodic in a viscouly damped
(overdamped) system
The system comes to rest some time with
Coulomb damping, whereas the motion
theoretically continues forever with viscous and
hysteresis damping
The amplitude reduces linearly with Coulomb
damping, whereas it reduces exponentially with
viscous damping
In each successive cycle, the amplitude of
motion is reduced by the amount 4N/k, so the
amplitude at the end of any two consecutive
cycles are related:
The slope of the enveloping straight lines is
k N X X
m m
/ 4
1
=

|
.
|
\
|
=
|
|
.
|
\
|
|
.
|
\
|
k
N
k
N
n
n
t
e
e
t 2 2 4
Example
A metal block, placed on a rough surface, is
attached to a spring and is given an initial
displacement of 10 cm from its equilibrium
position. It is found that the natural time period
of motion is 1 s and the amplitude reduces by 5
cm in each cycle. Find (a) the kinetic coefficient
between the metal block and the surface and (b)
the number of cycles of motion executed by the
block before it stops.
Torsional Systems with Coulomb Damping
If a constant frictional torque acts on a torsional
system, the equation governing the angular
oscillations can be derived similar to that of the linear,
torque damping constant the denoted T
T k J
t
= + u u

0
0
J
k
t
n
= e
t
r
k
T
r
2
amplitude, the
0
=u u
T k J
t
= + u u

0

>
k
T
k
T
r
2
ceased, motion
0
u
FV with Hysteretic Damping
The damping caused by the friction between the
internal planes that slip or slide as the material
deforms is called hysteretic damping
This causes a loop to be formed in the stress-
strain of force-displacement curve
The energy loss in one loading and unloading
cycle is equal to the area enclosed by the loop
The energy loss per cycle is independent of the
frequency but proportional to the square of the
amplitude
constant damping hysteretic the is h and c t coefficien Damping
e
h
c =
, dissipated energy The
2
hX W t = A
relation, nt displaceme - force The
( )x ih k F + =
stiffness, complex
( ) | i k ih k + = + 1
decrement, logarithm hysteresis The
( ) t| t| o ~ + ~
|
|
.
|
\
|
=
+
1 ln ln
1 j
j
X
X
t|
t|
t|
+ ~
+
=
+
1
2
2
1 j
j
X
X
ratio damping viscous equivalent The
= ~ =
k
h
eq
t
t| t, o 2
is, constant damping equivalent The
e e
|
|
|
,
h k
mk mk c c
eq c eq
= = = = =
2
2
is frequency The
m
k
= e
k
h
eq
2 2
= =
|
,

Chapter 2 Free Vibration of Single Degree of Freedom

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Chapter 2 Free Vibration of Single Degree of Freedom

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Free vibration of single degree

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