BMM3553 Mechanical Vibrations

Chapter 3: Damped Vibration of

Single Degree of Freedom System
(Part 1)
by
Che Ku Eddy Nizwan Bin Che Ku Husin
Faculty of Mechanical Engineering
email: eddy@ump.edu.my
 Chapter Description

• Expected Outcomes
Students will be able to:
– Determine the natural frequency for damped free
vibration
– Solve the problem related to damped free vibration

• References
– Singiresu S. Rao. Mechanical Vibrations. 5th Ed
– Abdul Ghaffar Abdul Rahman. BMM3553 Mechanical Vibration
Note. UMP.
– Md Mustafizur Rahman. BMM3553 Mechanical Vibration Lecture
Note. UMP
 SDOF Damped Free Vibration

 Given an initial condition, determine the

resulting motion.
 Initial condition:
 𝑥: 𝐼𝑛𝑖𝑡𝑖𝑎𝑙 𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛
 𝑥ሶ ∶ 𝐼𝑛𝑖𝑡𝑖𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦
 Viscous Damping Element
(Dashpot)
 Damping force is linear and proportional to velocity

Force, F F  cx
Δ𝑥ሶ
F F
ΔF

𝑥ሶ

Velocity, 𝑥ሶ

 c is the viscous damping coefficient

 Units: N-sec/m
 Maintain Dynamic Equivalent

Free Body Diagram

At rest, X = 0 (Static equivalent)

mg = kst
 Maintain Dynamic Equivalent

Apply Newton’s 2nd Law

 F  mx
 F  mx
X 

mg  kx  k   cx  mx

Equation of Motion: mx  cx  kx  0

 Equation of Motion:

mx  cx  kx  0
• 2nd order differential equation
• Homogeneous
• Linear
• Constant coefficients
• Form of solution:

xt   A sin t    or xt   Ae st

Equation of Motion: mx  cx  kx  0
Assume, xt   Ae st

then x t   Ase st

and xt   As e 2 st

mAs e  Asce  kAe  0

2 st st st

 ms 2

 cs  k Ae  0 st

for a non - trivial solution

ms  cs  k  0
2
Equation of Motion: mx  cx  kx  0
ms  cs  k  0
2

c c  4mk
2
s1, 2  
2m 2m
xt   A1e  A2 e
s1t s2t

if s1 and s2 are not equal

Thus the general solution is:

x(t )  A1e  A2e

s1t s 2t

 c 2   c 2 
  c  k    c  k 
     t      t
 2m  2m  m   2m  2m  m 
 A1e  
 A2e  

where A1 and A2 are arbitrary constants to be

determined from the initial conditions of the system.
 Damping Parameters

Critical Damping Constant and Damping Ratio:

2
 cc  k
   0
 2m  m
k
cc  2m  2 km  2mn
m
The damping ratio, ζ is defined as:

  c / cc
Damped Solution

Define:
k
n   Natural Frequency
m
c
   Damping Ratio
Cc
s1, 2  n   2

 1 n
 Thus the general solution is:

    2 1  t     2 1  t
x(t )  A1e   n
 A2e   n

Assuming that ζ ≠ 0, consider the following 3 cases:

Case1. Underdamped system

(  1 or c  cc or c/ 2m  k / m )
For this condition, (ζ2-1) is negative and the roots are:


s1     i 1   n  2

s2     i 1    2
n
and the solution can be written in different forms:
   i 1 2  t   i 1 2  t
x(t )  A1e   n
 A2 e   n

e  n t
Ae i 1 2  n t
 A2 e i 1 2  n t

 
1

 e nt C cos 1   2 nt  D sin 1   2 nt


 Ae nt sin 1   2 nt   
where (C,D) and (A,Φ) are arbitrary constants to be
determined from initial conditions.
Damped Frequency , d  n 1   2
x(t )  ent  C cosd t  D sin d t
For the initial conditions at t = 0
x0  n x0
C  x0 and D 
1   2 n
and hence the solution becomes

 n t

 x0  n x0 

x(t )  e  x0 cos 1   nt  sin 1   nt 
2 2


 1   2
n 


This equation describes a damped harmonic motion. Its

amplitude decreases exponentially with time.

Damped Frequency , d  n 1   2
 The frequency of damped vibration is:
2
d 
d

Ae  nt

 n t

 x0  n x0 

x(t )  e  x0 cos 1   nt  sin 1   nt 
2 2


 1   2
n 


Damped Frequency , d  n 1   2
Image source: https://commons.wikimedia.org/wiki/File:Underdamped_oscillation_xt.png
• Case 1: <1 Under damped
(plot of x(t) vs. time)

xt   e  0 t
C cosd t  D sin d t 
• Case 2: =1 Critically damped
(Real equal roots)

s1, 2  n
s1  n
s2  n
xt   A1e  A2te
s1t s2t
or
xt    A1  A2t e  n t

• A1 and A2 are constants to be found from initial

conditions
Case2. Critically damped system
(  1 or c  cc or c/ 2m  k / m )
the two roots are: cc
s1  s2    n
2m
Due to repeated roots,
 n t
x(t )  ( A1  A2t )e
Application of initial conditions gives:
A1  x0 and A2  x0  n x0

Thus the solution becomes:

x(t )  x0  x0  n x0 t e nt
• Case 2: =1 Critically damped
(Real equal roots)

xt    A1  A2t e nt

Case3. Overdamped system
(  1 or c  cc or c/ 2m  k / m )
The roots are real

s1      2  1 n  0 
s2     2  1 n 0

    2 1  t     2 1  t
x(t )  A1e   n
 A2e   n

For the initial conditions at t = 0,

A1 

x0n    2  1  x0 
2n  2  1

A2 

 x0n    2  1  x0 
2n  2  1
 Damped Vibration Response

It can be seen that the motion is aperiodic (i.e.,

nonperiodic). Since, the motion will eventually diminish
to zero.  n t
e  0 as t  

Comparison of motions with different types of damping

 Free Vibration with Viscous Damping

• Logarithmic Decrement:
 n t1
x1 X 0e cos(d t1  0 )
  n t 2
x2 X 0 e cos(d t2  0 )
 n t1
e  n d
  n t1  d 
e
e
The logarithmic decrement can be obtained

x1 2 2 c
  ln  n d  n  
x2 1   2  d 2m
 Logarithmic Decrement

Logarithmic decrement : the rate of decrement for free

damped vibration amplitude. It is defined as the ratio of any
two successive amplitudes .
For small damping,

  2 if   1 (2.86)
Hence,

  (2.87 )
2 
2
 2

or

 (2.88)
2

Thus, 1  x1 
  ln   (2.92)
m  xm 1 

where m is an integer.
Logarithmic Decrement

1  x1  2
  ln   
n  xn1  1  2
Logarithmic Decrement
Logarithmic Decrement
 Exercise

Problem 2.98 (S.S. Rao 5th Ed)

• The ratio of successive amplitudes of a
viscously damped single-degree-of-freedom
system is found to be 18:1. Determine the
ratio of successive amplitude if the amount of
damping is
• (a) double
• (b) halve
solution
x1 18 2
ln  ln     0.4179
x2 1 1  2
(a) If damping is doubled
x1 2 new 2 0.8358  x1
ln     14265 .362
x2 1   new 1  0.8358 new x2
2 2

(a) If damping is halved

x1 2 new 2 0.2090  x1

ln     3.8296
x2 1   new 1  0.2090  x2
2 2
 Exercise

Problem 2.103 (S.S. Rao 5th Ed)

• For a spring-mass-damper system, m = 50 kg
and k=5000N/m. Find the following:
– Critical damping constant Cc
– Damped natural frequency when c = Cc/2
– Logarithmic decrement.
Solution
m  50 kg, k  5000 N/m
k
Cc  2mn  2m  2 km  2 5000  50  1000 N - s/m
m
c  Cc / 2  1000 / 2  500 N - s/m

k  
c 
2
 
5000   500  
2

d  n 1  
2
1     1     8.6603 rad/s
m   Cc   
50   1000  
 

2  c  2  500 
      3.6276
d  2m  8.6603  2  50 
 REVIEW
For Case  1
 n t

 x0  n x0 

x(t )  e  x0 cos 1   nt  sin 1   nt 
2 2


 1   n
2


For Case  1
x(t )  x0  x0  n x0 t e
 nt

For Case  1
x(t )   0 n
 
 x     2  1  x      2 1 nt
0  
e 
   2
1 
 2 n 

 0 n
 
  x     2  1  x      2 1 nt
0  
e 
   2
1 
 2 n 
 Exercise

Problem 2.104 (S.S. Rao 5th Ed.)

• A railroad car of mass 2000kg travelling at a velocity v=10m/s is
stopped at the end of the tracks by a spring damper system as
shown in the figure. If the stiffness of the spring is k=40N/mm and
the damping constant is c = 15 N-s/mm, determine (a) the maximum
displacement of the car after engaging the spring and damper and
(b) the time taken to reach the maximum displacement.
Solution
m  2000 kg, v  x0  10 m/s, k  40 N/mm  40000 N/m
c  15 N - s/mm  15000N - s/m
k 40000
n    4.4721 rad/s
m 2000

Cc  2mn  22000 4.4721  17884 N - s/m

c 15000
    0.8387 (Under damped)
Cc 17884
d  n 1   2  4.4721 1  0.8387 2  2.4346 rad/s
2 2
d    2.5807 sec
d 2.4346
 For x0  0, and x0  10 m/s


 n t x0  n x0 

x(t )  e  x0 cos 1   nt  sin 1   nt 
2 2


 1   2
n 


 n t  x0 

x(t )  e  sin 1   nt 
2


 1   2
n 


At xmax , n t  and sinn 1 -  2 t  1
2
 
0.8387   
xmax  e 2

10
1  1.1001 m
 1  0.8387  4.4721 
2

  
n t  t    0.3513 sec
2 2n 2  4.471
 Thank You
Che Ku Eddy Nizwan Bin Che Ku Husin
Faculty of Mechanical Engineering
Universiti Malaysia Pahang

E-mail: eddy@ump.edu.my
Tel: +09-424 6217
Focus Group Website: www.asivr.ump.edu.my