FREE VIBRATION OF A SINGLE-DEGREE-OF-FREEDOM SYSTEM Revision B

By Tom Irvine
Email: tomirvine@aol.com
February 12, 2005

Derivation of the Equation of Motion

Consider a single-degree-of-freedom system.

x
&&

k c

where

m is the mass
c is the viscous damping coefficient
k is the stiffness
x is the absolute displacement of the mass

Note that the double-dot denotes acceleration.

The free-body diagram is

x
&&
m

kx c x&

Summation of forces in the vertical direction

∑F = mx
&& (A-1)

1
 && = − cx& − kx
mx (A-2)

&& + cx& + kx = 0
mx (A-3)

Divide through by m,

 c  k
&&x +   x& +   x = 0 (A-4)
 m  m

By convention,

(c / m) = 2ξω n
(k / m) = ω n 2

where
ωn is the natural frequency in (radians/sec),
ξ is the damping ratio.

By substitution,

&x&+ 2ξω n x& + ω n2 x = 0 (A-5)

Now take the Laplace transform.

{&&x + 2 ξ ω n x& + ω n2 x} = { 0} (A-6)

s2 X(s) − s x(0) − x& (0)

+ 2 ξ ω n s X(s) − 2 ξ ω n x(0) (A-7)
+ ω n 2 X(s) =0

{s2 + 2 ξ ω n s + ω n 2 }X(s) + { − 1} x& (0) + {− s − 2 ξ ω n }x(0) = 0 (A-8)

{s2 + 2 ξ ω n s + ω n 2 }X(s) = x& (0) + {s + 2 ξ ω n }x(0) (A-9)

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  x& (0) + {s + 2 ξ ω n }x(0) 
X(s) =  2  (A-10)
 s + 2 ξ ω n s + ω n 2 

Consider the denominator of equation (A-10),

s2 + 2 ξ ω n s + ω n 2 = ( s + ξ ω n ) + ω n 2 − ( ξ ω n )
2 2
(A-11)

(
s2 + 2 ξ ω n s + ω n 2 = ( s + ξ ω n ) + ω n 2 1 − ξ 2
2
) (A-12)

Now define the damped natural frequency,

ω d = ω n 1− ξ2 (A-13)

Substitute equation (A-13) into (A-12),

s2 + 2 ξ ω n s + ω n 2 = (s + ξ ω n ) + ω d 2
2
(A-14)

 x& (0) + {s + 2 ξ ω }x(0) 

 n 
X(s) =   (A-15)
 (s + ξ ω n ) + ω d 2 
2

 (s + ξ ω )x(0)   x& (0) + (ξ ω )x(0) 

 n   n 
X(s) =  +  (A-16)
 (s + ξ ω n ) + ω d 2   (s + ξ ω n ) + ω d 2 
2 2

  x& (0) + (ξ ω )x(0)  

n
 ω d 
 (s + ξ ω )x(0)    ω  
 n    d
X(s) =   +   (A-17)
 (s + ξ ω n ) + ω d 2   (s + ξ ω n ) + ω d 2 
2 2
 
 

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Oscillatory Motion
Now take the inverse Laplace transform using standard tables. Assume that ξ < 1. This
case is referred to as oscillatory motion.

The resulting displacement is

  x& (0) + (ξω n )x (0)  

x (t ) = exp(− ξω n t )[x (0)]cos(ω d t ) +   sin (ω d t ) , ξ < 1
  ωd  

(B-1)

An alternate form is

 1 
x (t ) =   exp(− ξω n t ){ωd [x (0)]cos(ωd t ) + [x& (0) + (ξω n )x (0)]sin (ω d t )} , ξ <1
 ωd 

(B-2)

The velocity is

 − ξω n 
x& (t ) =   exp(− ξω n t ){ω d [x (0)]cos(ωd t ) + [x& (0) + (ξω n )x (0)]sin (ω d t )}
 ωd 
+ exp(− ξω n t ){− ωd [x (0)]sin (ωd t ) + [x& (0) + (ξω n )x (0)]cos(ωd t )}, ξ < 1

(B-3)

  − ξω n  
x& (t ) = exp(− ξω n t )− ξω n [x (0)]cos(ωd t ) +  [x& (0) + (ξω n )x (0)]sin (ωd t )
  ωd  
+ exp(− ξω n t ){− ωd [x (0)]sin (ωd t ) + [x& (0) + (ξω n )x (0)]cos(ωd t )}, ξ < 1

(B-4)

   − ξω n   
x& (t ) = exp(− ξω n t )x& (0) cos(ωd t ) + − ωd [x (0)] +  [x& (0) + (ξω n )x (0)] sin (ω d t ) ,
   ωd   

ξ <1

(B-5)

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   − ξ 2 ωn 2   − ξωn   
 
x& ( t ) = exp(− ξωn t ) x& (0) cos(ωd t ) +  − ωd +  x ( 0) +   x
& ( 0 )  sin (ω )
d ,
t
   ωd   ωd   

ξ <1
(B-6)

  1    − ξω n   
x& ( t ) = exp(− ξω n t ) x& (0) cos(ωd t ) +  2 2 2
   − ω d − ξ ω n  x (0) +   x& (0) sin (ωd t ) ,
  ωd      ωd   

ξ <1

(B-7)



 1 
x& ( t ) = exp(− ξω n t )x& (0) cos(ω d t ) +   [

 ω d  
− ω n ( ) n ]
2 1 − ξ 2 − ξ 2 ω 2 x (0) +  − ξω n  x& (0) sin (ω t )

 ωd 
  d ,




ξ <1

(B-8)

x& ( t ) =
  1 
[ ]  − ξ ωn 
exp(− ξ ωn t )x& (0) cos(ωd t ) +    − ωn 2 + ξ 2 ωn 2 − ξ 2 ωn 2 x (0) + 
  ωd    ωd 
 
 x& (0) sin (ωd t ) ,
 

ξ <1

(B-9)



 1 
x& ( t ) = exp(− ξω n t )x& (0) cos(ωd t ) +  [ ] 
 − ω n x (0) − ξω n x& (0) sin (ωd t ) ,
 ωd 
2

ξ <1

(B-10)

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Critically Damped Motion

Recall,
ωd = ω n 1 − ξ 2 (C-1)

Consider the special case where

ξ =1 (C-2)

The damped natural frequency changes to

ωd = 0 (C-3)

This case is referred to as critically damped motion. Substitute equations (C-2) and (C-3)
into equation (A-16),

 (s + ω )x (0)   x& (0) + ω x (0) 

X (s ) =  n + n (C-4)
 
 (s +ω n )2   (s + ω n )2 

 x (0)   x& (0) + ω n x (0) 

X(s ) =  +   (C-5)
 s +ω n   (s + ω n )2 

The resulting displacement is found via an inverse Laplace transformation.

x (t ) = exp(− ω n t ){ [ x (0)] + [ x& (0) + ω n x (0)] t }, ξ = 1 (C-6)

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Non-oscillatory Motion
Now consider the special case where

ξ >1 (D-1)

Recall equation (A-10), restated here as equation (D-2).

 x& (0) + {s + 2ξω }x (0) 

X(s ) =  n (D-2)
2 
 s + 2ξω n s + ω n 2 

Solve for the roots of the denominator.

− 2ξω n ± (2ξωn )2 − 4ωn 2

s 1, 2 = (D-3)
2

− 2ξω n ± 2ω n ξ 2 − 1
s 1, 2 = (D-4)
2

 
s 1, 2 = ω n  − ξ ± ξ 2− 1  (D-5)


Note that
   
s1 − s 2 = ω n − ξ + ξ 2 − 1  − ω n  − ξ − ξ 2− 1  (D-6)


   
s1 − s 2 = ω n − ξ + ξ 2 − 1  + ω n ξ + ξ 2− 1  (D-7)


s1 − s 2 = 2ω n ξ 2 − 1 (D-8)

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Equation (D-2) can be rewritten as

 x& (0) + {s + 2ξω n }x (0) 

X(s ) =   (D-9)
 [s − s1 ][s − s 2 ] 

 x (0)s + [x& (0) + 2ξω n x (0)]

X(s ) =   (D-10)
 [s − s1 ][s − s 2 ] 

Equation (D-10) can be expanded in terms of partial fractions using the following
equation from Reference 1.

 αs + β   1   β − αλ   ασ − β   (D-11)
  = +
 (s + λ )(s + σ)  σ − λ   s + λ   s + σ  
The expansion is performed in equation (D-12).

 x (0)s + [x& (0) + 2ξω n x (0)]

 
 [s − s1 ][s − s 2 ] 

 1   [x& (0) + 2ξω n x (0)] + x (0)s1   − x (0)s 2 − [x& (0) + 2ξω n x (0)]  
=   + 
 − s 2 + s1   s − s1   s − s2 

(D-12)

 1   [x& (0) + 2ξω n x (0)] + x (0)s1   − x (0)s 2 − [x& (0) + 2ξω n x (0)]  
X( s ) =    + 
 − s 2 + s1   s − s1   s − s2 

(D-13)

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Take the inverse Laplace transform.

 1 
x(t) =  {A exp(s1t ) + B exp(s 2 t )}
 − s 2 + s1 

where
A = [x& (0) + 2ξωn x (0)] + x (0)s1
B = − x (0)s 2 − [x& (0) + 2ξωn x (0)]
(D-14)

Apply the appropriate terms to equation (D-14).

 
 1         
x(t) =  A exp ω n − ξ + ξ 2−1  t  + B expω n − ξ − ξ 2− 1  t  
 2ω n ξ 2 − 1     

where
 
A = [x& (0) + 2ξω n x (0) ] + x (0)ω n − ξ + ξ 2 − 1 
 
 
B = − x (0)ω n − ξ− ξ 2 − 1  − [x& (0) + 2ξω n x (0)]
 

(D-15)

Simplify

 
 1         
x(t) =  A exp  − ξ + ξ 2− 1  ω n t  + B exp  − ξ − ξ 2− 1  ω n t  
 2ω n ξ 2 − 1     

where

A = x& (0) + 2ξω n x (0) − ξ x (0) ωn + x (0)ω n ξ 2− 1

B = ξx (0)ω n + x (0)ω n ξ 2 − 1 − x& (0) − 2ξω n x (0)

(D-16)

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Simplify again,

 
 1         
x(t) =  A exp  − ξ + ξ 2− 1  ω n t  + B exp  − ξ − ξ 2− 1  ω n t 
 2ω n ξ 2 − 1     

where
 
A = x& (0) + ω n x (0) ξ + ξ 2 − 1
 
 
B = − x& (0) + ω n x (0) −ξ + ξ 2 − 1
 

(D-17)

Control Theory

The transfer function denominator forms the characteristic equation, when it is set to
zero.

The roots of the characteristic equation are called poles and have a crucial importance.
The system is stable if the real part of each root is negative.

The roots of the transfer function numerator are called the zeros.

Again, the transfer function for the single-degree-of-freedom subjected to free vibration
is

 x& ( 0) + {s + 2 ξ ω n }x( 0) 
X( s) =  2  (E-1)
 s + 2 ξ ω n s + ω n 2 

An alternative form is

 x& ( 0) + {s + 2 ξ ω }x( 0) 
 n 
X( s) =   (E-2)
 (s + ξ ω n ) + ω d 2 
2

10
The characteristic equation is thus

(s + ξωn )2 + ωd 2 = 0 (E-3)

The poles are thus

s = − ξ ωn ± j ωd (E-4)

Or
s = − ξ ωn ± j ωn 1 − ξ 2 (E-5)

The system is stable as long as ξ ωn > 0.

State Space Model

The governing second-order ODE can be reduced to a pair of first-order ODEs.

&x&+ 2ξω n x& + ω n2 x = 0 (F-1)

Let
x1 = x (F-2)

x 2 = x& 1 (F-3)

2
x& 2 + 2ξω n x 2 + ω n x1 = 0 (F-4)

The resulting pairs are

x& 1 = x2 (F-5)

2
x& 2 = −2ξω n x 2 − ω n x1 (F-6)

11
The pair of equations can be expressed in matrix form as

 x& 1   0 1   x1 
 x&  =  − ω 2 − 2ξω n   x 2 
(F-7)
 2  n

Solve for the eigenvalues of he coefficient matrix.

0 − λ 1 
det  =0 (F-8)
− 2ξω n − λ 
2
− ω n

 −λ 1 
det  =0 (F-9)
− 2ξω n − λ 
2
− ω n

λ2 + 2ξω n λ + ω n 2 = 0 (F-10)

The eigenvalues are

λ = − ξ ω n ± j ωd (F-11)

The eigenvalues are the same as the poles.

The complete solution for equation (F-7) is given in Reference 2.

References

1. T. Irvine, Partial Fractions in Shock and Vibration Analysis, Vibrationdata

Publications, 1999.

2. T. Irvine, The State Space Method for Solving Shock and Vibration Problems,
Vibrationdata Publications, 2005.

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