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The Single Degree of Freedom System (SDOF ) is the fundamental system for
more advanced studies in vibrations.
I. Energy Method
II. Newton's Law of Motion
III. Frequency Response Method
IV. The Superposition Theorem
Only methods (i) and (ii) will be considered in detail in this course.
Energy Method
Based on the law of conservation of energy. It says that the total energy of the
system is constant (no energy lost).
Figure 2.1
x
x
For conservative system (as shown above) set into oscillatory motion, total
mechanical
Energy, which is sum of its K.E (T) and P.E (U), is constant
𝑇ℎ𝑢𝑠, 𝑇 + 𝑈 = 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑑
= 𝑇+𝑈 =0 (1)
𝑑𝑡
• Let the displacement x(t) of mass be +ve downward as shown.
• Assuming that the mass of the spring is negligible, then the K.E of the system is
1
𝑇 = 𝑚𝑥 2 (2)
2
• P. E of the system is
Do not share on the web 1
𝑈 = 𝑘𝑥 2
2
(3)
Single Degree of freedom system (undamped)
𝑑 1 1
𝑚𝑥 2 + 𝑘𝑥 2 = 0
𝑑𝑡 2 2
1 1
2m𝑥 𝑥 + 2𝑘𝑥𝑥 = 0
2 2
Finally we get
𝑚𝑥 + 𝑘𝑥 = 0 (4)
Which is equation of the motion of the system, alternatively
𝑘
𝑥+ 𝑥=0 (5)
𝑚
Can also be written in
𝑥 + 𝜔𝑛2 𝑥 = 0
𝑘
where 𝜔𝑛 = (natural angular freq. in rad/s)
𝑚
𝜔𝑛 1 𝑘
and 𝑓𝑛 = 2𝜋
= 2𝜋 𝑚 (natural freq. in Hz)
Do not
Equation (4) or share
(5) is equation on the
of motion of the web
system .
Single Degree of freedom system (undamped)
Newton’s Law
The rate of change of momentum of a mass is equal to the force acting on it.
−𝐾(𝛿𝑠𝑡 + 𝑥)
𝑑 2 𝑥 (𝑡) 𝑑 𝑑𝑥 (𝑡)
𝐹 𝑡 =𝑚 𝐹 (𝑡) = 𝑚
𝑑𝑡 2 𝑑𝑡 𝑑𝑡
𝐹 t = m𝑥
𝑥+
Consider Figures 2.1 and 2.2
𝐹 = 𝑚𝑥 mg
Figure 2.2 FBD
−𝐾(𝛿𝑠𝑡 + 𝑥) + 𝑚𝑔 = 𝑚𝑥
𝐴𝑡 𝑠𝑡𝑎𝑡𝑖𝑐 𝑒𝑞𝑢𝑖𝑙𝑖𝑏𝑟𝑖𝑢𝑚 𝐾𝛿𝑠𝑡 = 𝑚𝑔
−𝐾𝑥 = 𝑚𝑥
𝑚𝑥 + 𝐾𝑥 = 0 (6)
Equations (4) & (6) are identical, which are second order homogeneous
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ordinary differential equations
Single Degree of freedom system (undamped)
Equations (4) or (6) can be solved, which result in a general solution for the free
vibration of undamped system .
𝑀𝑡 𝐺𝐽𝑝 𝜋𝐺𝑑 4 𝜋𝑑 4
𝐾𝑡 = = = 𝐽𝑝 =
𝜃 𝑙 32𝑙 32
where
Mt is the torque that produces the twist Ө
G is the shear modulus,
l is the length of the shaft,
𝐽𝑜 polar mass moment of inertia of disk: Resistance to angular acceleration
𝐽𝑝 polar moment of inertia (cross section of shaft): Resistance to torsion
𝐹 = 𝑚𝑎
𝑀𝑡 = 𝐽𝑜 Θ
−𝐾𝑡 Θ = 𝐽0 Θ
Equation of motion
Angular frequency
LcosӨ
L
frequency of a simple pendulum if
h
(b) Mass of rod ‘M’ is not negligible h=L(1-cosӨ)
mg
Figure (a)
L/2
LcosӨ
θ
mgcosӨ
h
Do not share on the web Figure (b)
mg
(2) Determine the effect of Mass on ωn of a Spring
(4) A rigid body of mass 0.5kg extends a spring statically by 8mm when attached to it. Find
the frequency?
(5) For the following S D O F Systems use free-body diagram to drive the equation of
motion and natural angular frequency.
(b) (c)
(a)