Things to learn today

1. Equivalent spring stiffness

2. A pendulum

3. Effect of gravitational force

4. General solution of a free vibration problem and result interpretation

5. Use Newton’s law to obtain equation of motion: more examples

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 Session 1.2 Undamped Free Vibration

Spring elements:

a. spring in parallel

k eq

equivalent spring constant: k eq = k1 + k 2

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 Session 1.2 Undamped Free Vibration

An example:

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 Session 1.2 Undamped Free Vibration

b. spring in series

equivalent spring constant: k eq = 1 /( k1−1 + k 2−1 )

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 Session 1.2 Undamped Free Vibration
4.3 A pendulum

mg

free body diagram

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 Session 1.2 Undamped Free Vibration

From Newton’s law, the forces in the

tangential direction should satisfy T

ma = −mg sin  (a = l )
which gives
mg
ml + mg sin  = 0

when  is very small, one has the governing equation

 +  n2 = 0

where n = g / l is the natural frequency of the pendulum.

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 Session 1.2 Undamped Free Vibration
4.4 Effect of gravitational force
Consider a mass-spring system where the gravitational force is
active

m
xs m
xd(t) m

xs: static displacement

xd: dynamic displacement
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 Session 1.2 Undamped Free Vibration
free body diagrams Fks Fkd

xs m xd(t) m

mg mg
x(t)

at static equilibrium during vibration

at static equilibrium: Fks = mg kxs = mg

during vibration: Fkd = k ( xs + xd );

Newton’s 2nd law: − Fkd + mg = ma

a = x = ( xs + xd ) = xd
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 Session 1.2 Undamped Free Vibration
− Fkd + mg = ma mxd (t ) + kxd (t ) = 0
The gravitational force does not come into the governing equation
because it has been compensated for by the static deformation.
5. Solution of governing equation of motion
The governing equation of motion for an undamped mass-spring system

mx(t ) + kx(t ) = 0
The solution can be assumed as

x(t ) = De st

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 Session 1.2 Undamped Free Vibration

substituting it into the governing equation gives a characteristic

equation
ms 2 + k = 0
Obviously, its roots are
s = − k / m =  i k / m =  i n

The general solution is then obtained as

x(t ) = D1eint + D2e −int

By using the identities

e  int = cos( n t )  i sin( n t )

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 Session 1.2 Undamped Free Vibration

The general solution can be re-written as

x(t ) = A cos( n t ) + B sin( n t )
where A and B are constants to be determined from initial conditions.
The velocity:
x (t ) =  n (− A sin  n t + B cos  n t )

The acceleration:
x(t ) = −n2 ( A cos n t + B sin nt ) = −n2 x(t )

x(t ) + n2 x(t ) = 0

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 Session 1.2 Undamped Free Vibration

Two initial conditions are to be specified as below to evaluate

constants A and B uniquely.

initial displacement (at t = 0): x0 = x (0)
initial conditions
initial velocity (at t = 0): x0 = x (0)

It is evident from these conditions

A = x0

n B = x0 B = x0 /  n

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 Session 1.2 Undamped Free Vibration

An alternative form of general solution is

x(t ) = C sin(nt + 0 )
or

x(t ) = C cos(nt −  )
where
2
 x 
amplitude: C= A 2 + B 2 = x02 +  0 
 n 
B x
phase angle:  = tan −1 = tan −1 0
A x 0 n
x
0 = tan −1 0 n
x0
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 Session 1.2 Undamped Free Vibration
n circular natural frequency, in rad/sec
frequency n
fn = natural frequency, in Hz
2
1
natural period:  n =
fn

natural period: the time needed to complete a circle of motion.

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 Session 1.2 Undamped Free Vibration

For a mass-spring system with initial displacement x0 and initial

velocity x 0 , the general solution is graphically interpreted as

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 Session 1.2 Undamped Free Vibration

Important facts:

(1) For a mass-spring system vibrating in vertical direction, the

following facts should be noted.

 n = k / m , kxs = mg
 n = k / m = g / xs
n 1 g 1 x
fn = = n = = 2 s
2 2 xs fn g

This indicates that both natural frequency and natural period can
be computed simply by the measured static deflection xs.
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 Session 1.2 Undamped Free Vibration

(2) phase angle between displacement, velocity and acceleration

x(t ) = C cos(nt −  )

x (t ) = −Cn sin(nt −  ) = Cn cos(nt −  + )
2
x(t ) = −Cn2 cos(n t −  ) = Cn2 cos(n t −  +  )

( − sin  = cos( + ); − cos  = cos( +  ).)
2
The velocity and the acceleration lead the displacement by  / 2
and  , respectively.

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 Session 1.2 Undamped Free Vibration

4.5 More Examples:

(1). Determine the natural
frequency of the weight-
pulley system.
(Page 57, Learning
Package)

Step 1. Plot the free body

diagrams for both the weight
and pulley.
A weight-pulley system

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 Session 1.2 Undamped Free Vibration

T2 k T1
0 
 m
x

mg

T1

free body diagram for pulley free body diagram for weight

 0 : static rotation of pulley

 : dynamic rotation of pulley

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 Session 1.2 Undamped Free Vibration

Step 2. use of Newton’s 2nd law

for the weight: mg − T1 = mx T1 = m( g − x)

for the pulley: T1r1 − T2 r2 = J

Since the tension due to total rotation is

T2 = k (r2 + r2 0 )
and the geometric relationship between the vertical displacement
and the rotation is
x = r1 ( +  0 ); x = r1

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 Session 1.2 Undamped Free Vibration

Substituting these into equation of the pulley yields an equation

in terms of rotation

r1m( g − r1) − r22 k ( +  0 ) = J

In static equilibrium state

T1s r1 − T2 s r2 = 0 (T1s = mg , T2 s = kr2 0 )

r1mg − r22 k 0 = 0

With this in mind, the resulting equation can be simplified as

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 Session 1.2 Undamped Free Vibration
− mr12 − r22 k = J

( J + mr12 ) + r22 k = 0

2
 r2k
+  =0
( J + mr1 )
2

Governing equation of motion

for the weight-pulley system  + n2 = 0
r22 k
where the natural frequency of the system is n =
( J + mr12 )

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 Session 1.2 Undamped Free Vibration

(2). A circular cylinder of mass m and radius r is connected by a

spring of stiffness k as shown below. If it is free to roll on the
rough horizontal surface without slipping, find its natural
frequency.
(Activity 1C, Q1 in Learning Package, Page 59)

k
r

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 Session 1.2 Undamped Free Vibration

Step 1. free body diagram of the cylinder

r
kx

mg
Ff 
N

The force equilibrium in the vertical do not need to be considered.

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 Session 1.2 Undamped Free Vibration

Step 2. use of Newton’s 2nd law

horizontal: F f − kx = mx (1)

rotation: − F f r = J (2)

Since there is no slip at the surface, one has

x = r ; x = r
From Eq. (2)
J 0 1 2 x 1
Ff = − = − mr 2 = − mx (3)
r 2 r 2

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 Session 1.2 Undamped Free Vibration

Putting Eq. (3) into Eq. (1) yields the equation of motion

3 (4)
mx + kx = 0
2
Hence the natural frequency is

n = 2k / 3m

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 Session 1.2 Undamped Free Vibration

Additional Examples:

1. Derive the equation of motion and determine the natural

frequency of the system below

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 Session 1.2 Undamped Free Vibration
2. Derive the equation of motion and determine the natural
frequency of the system below

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 Session 1.2 Undamped Free Vibration

3. Consider a uniform rigid bar of mass m

and length l, pivoted at one end and
connected symmetrically by two springs
at the other end. Assume the springs are
unstretched when the bar is vertical.
Derive the equation of motion of the
system for small rotation.

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