Free Vibration Response of SDOF

Systems
Response: Free or forced
In this chapter: Free response, i.e. no
external forces are applied.
ratio damping
2
frequency natural
0 2
0
2
km
c
m
k
x x x
kx x c x m
n
n n
=
=
= + +
= + +

We kno from theory of !" that
st
Ce t x = # $
%haracteristic equation:
0 2
2 2
= + +
n n
s s
&
m
k
c
' cases:
&. (& $o)erdamped# to real solutions
2. *& $critically damped# dou+le real
solution
'. ,& $underdamped# to complex
solutions $most practical systems#
2
Case 1: Overdamped (1)
t t
n n
e c e c t x
# & $
2
# & $
&
2 2
# $
+
+ =
& 2
# 0 $ # & $ # 0 $
& 2
# 0 $ # & $ # 0 $
2
2
2
2
2
&

+ +
=

+ +
=




n
n
n
n
x x
c
x x
c

-+ser)ations: Free )i+ration response is an

exponentially decaying function. .he
higher the damping factor the sloer the
decay is.
Case 2: Critically damped (=1)
t t
n n
te c e c t x

+ =
2 &
# $
'
t
x$t#
/ =
& . & =
x(0)
0lope *
# 0 $ x
here
# 0 $ # 0 $ #, 0 $
2 &
x x c x c
n
+ = =
-+ser)ations: Free )i+ration response is an
exponentially decaying function, like the
response of o)erdamped systems. .he
decay is the smaller than that of o)erdamped
systems.
1
t
x(t)
x(0)
0lope *
# 0 $ x
here

Case : !nderdamped systems ("1)
%onsider special case here there is no
damping $i.e. system is undamped# first $i.e.
*0#:
0
0
2
= +
= +
x x
kx x m
n


# cos$ # sin$
# 0 $
# cos$ # 0 $ # $

= + = t A t
x
t x t x
n n
n
n

here:
#
# 0 $
# 0 $
$ tan , 2 3
# 0 $
4 # 0 $ 5 ,
& 6 2 7 & 2 2
x
x x
x A
m
k
n n
n

= + = =
"xample of response of undamped system
/
m
k
.
0 '.&1 8.29 :.12 &2./8
&
0.;/
0./
0.2/
0
0.2/
0./
0.;/
&
x t $ #
t
!isplacement, )elocity and acceleration
8
n
T

2
=
.
0 '.&1 8.29 :.12 &2./8
1
'
2
&
0
&
2
'
1
x t $ #
xd t $ #
xdd t $ #
t
-+ser)ations:
Response is a harmonic a)e.
.he angular frequency is
m
k
n
=
rad7sec.
.his frequency depends only on the
system6 not on the initial conditions.
.he higher the spring rate, the higher
the frequency of oscillation is. .he
loer the mass, the higher the frequency
of oscillation is.
<um+er of cycles per second:

2
n
f =

$=>#.
;
A
n

A
n
2

)elocity
acceleration
displacement
A
?elocity is also a harmonic a)e.
@eads the displacement +y a quarter
period or :0 degrees.
Acceleration is also a harmonic a)e.
@eads the displacement +y a half period
or &90 degrees.
=armonic motion: three representations
&.
t j t j
n n
e c e c t x

+ =
2 &
# $
9
2.
# sin$ # cos$ # $
2 &
t A t A t x
n n
+ =
'.
# $ tan and
# $ here
# cos$ # $
&
2 & 6
2
&
2
2
2
&
A
A
A A A
t A t x
n
=
+ =
=

Bnderdamped system $ ,&#:
[ ]

=
=
+ =

d
d d
t
x x
A
x A
t A t A e t x
n

# 0 $
&
# 0 $
# 0 $
here
# sin$ # cos$ # $
2
2
&
2 &

:
.herefore:
# cos$ # $

=

t A e t x
d
t
n
2
&
2
2
2
&
# $ A A A + =

# $ tan
&
2 &
A
A

=

d n
damped natural frequency = = 1
2
"xample of underdamped system response
0 & 2 '
&
0
&
&
0.;'&
x t $ #
' 0 t
-+ser)ations:
&0

d
* 8.2/
* 0.&

n
* 8.29
t
n
Ae

d
d
T

2
=
Bnderdamped system:
Free )i+ration response is an oscillating
function. .he amplitude decays ith
time.
.he higher the damping ratio, the faster
the decay is.
.he frequency of oscillation is
2
& =
n d
rad7sec, hich is smaller than the
undamped natural frequency
n

. Cut for
small )alues of the damping ratio $say
# & . 0
the to frequencies are practically
equal.
"stimating damping from records of free
)i+ration response
2 2
1

+
=
here
&&
* logarithmic decrement*
2
# $
# $
ln5
d
T t x
t x
+
If measurements are separated +y n periods:
*
2
# $
# $
ln5
&
d
nT t x
t x
n +
&2