VISCOUS DAMPED VIBRATION

Presented by
Engr. Reyman Solas
VISCOUS DAMPED FREE VIBRATION

Viscous damping force-is force developed under the

condition of resistance created by a substance such
as water, oil or air.
𝐹 = 𝑐𝑥 (1)

Where the constant c is called the coefficient of viscous

damping and has units of N-s/m or lb-s/ft.
+→ Σ𝐹𝑥 = 𝑚𝑎𝑥 ; −𝑘𝑥 − 𝑐𝑥 = m𝑥

𝑚𝑥 + 𝑐𝑥 + 𝑘𝑥 = 0 (2)

This linear, second-order, homogeneous, differential

equation has a solution of the form

𝑥 = 𝑒 𝜆𝑡

Substitute this solution and time derivatives to

Eq, 2

𝑚𝜆2 𝑒 𝜆𝑡 + 𝑐𝜆𝑒 𝜆𝑡 + 𝑘𝑒 𝜆𝑡 = 0

𝑒 𝜆𝑡 𝑚𝜆2 + 𝑐𝜆 + 𝑘 = 0
Since 𝑒 𝜆𝑡 can never be zero, a solution is possible provided

𝑚𝜆2 + 𝑐𝜆 + 𝑘 = 0
Hence, by the quadratic formula, the two values of λ are

𝑐 𝑐 2 𝑘
𝜆1 = − + −
2𝑚 2𝑚 𝑚
(3)

𝑐 𝑐 2 𝑘
𝜆2 = − − −
2𝑚 2𝑚 𝑚
The general solution of Eq. 2 is therefore a combination of exponentials which involves both
of these roots.

There are three possible combinations of λ1 and λ2 which must be considered.

Before discussing these combinations, however, we will first define the critical damping
coefficient as the value of c which makes the radical in Eqs. 3 equal to zero; i.e.,

𝑐𝑐 2 𝑘
− =0
2𝑚 𝑚

𝑘
𝑐𝑐 = 2𝑚 = 2𝑚𝜔𝑛 (4)
𝑚
Overdamped System. When c >cc the roots and
are both real.The general solution of Eq. 2 can
then be written as

𝑥 = 𝐴𝑒 𝜆1 𝑡 + 𝐵𝑒 𝜆2 𝑡 (5)

Motion corresponding to this solution is

nonvibrating. The effect of damping is so strong
that when the block is displaced and released, it
simply creeps back to its original position without
oscillating.The system is said to be overdamped.
Critically Damped system. If c =cc, then λ1 = λ2 = -cc/2m=-ωn

This situation is known as critical damping, since it

represents a condition where c has the smallest value
necessary to cause the system to be nonvibrating.
Using the methods of differential equations, it can be
shown that the solution to Eq. 2 for critical damping is

𝑥 = 𝐴 + 𝐵𝑡 𝑒 −𝜔𝑛 𝑡 (6)
Underdamped System. Most often in which case the system is referred to
as underdamped. In this case the roots and are complex numbers, and it
can be shown that the general solution of Eq. 2 can be written as

− 𝑐 2𝑚 𝑡
𝑥=𝐷 𝑒 sin 𝜔𝑑 𝑡 + 𝜙 (7)
where D and φ are constants generally determined from the initial
conditions of the problem. The constant is called the damped natural
frequency of the system. It has a value of
𝑘 𝑐 2 𝑐 2
𝜔𝑑 = − = 𝜔𝑛 1 − (8)
𝑚 2𝑚 𝑐𝑐

where the ratio c/cc is called the damping factor.

The graph of Eq. 7 is shown in Figure below. The initial limit of motion, D,
diminishes with each cycle of vibration, since motion is confined within the bounds
of the exponential curve. Using the damped natural frequency ωd the period of
damped vibration can be written as
2𝜋
𝜏𝑑 = (9)
𝜔𝑑
VISCOUS DAMPED FORCED VIBRATION
The most general case of single-degree-of-freedom vibrating motion
occurs when the system includes the effects of forced motion and
induced damping.

𝑚𝑥 + 𝑐𝑥 + 𝑘𝑥 = 𝐹0 sin 𝜔0 𝑡 (10)

Since Eq. 10 is nonhomogeneous, the general solution is the sum of

a complementary solution, xc and a particular solution, xp.
The complementary solution is determined by setting the right side of
Eq. 10 equal to zero and solving the homogeneous equation, which
is equivalent to Eq.2. The solution is therefore given by Eq. 5, 6, or
7, depending on the values of λ1 and λ2.

𝑚𝑥 + 𝑐𝑥 + 𝑘𝑥 = 0 (2)
𝑥 = 𝐴𝑒 𝜆1 𝑡 + 𝐵𝑒 𝜆2 𝑡 (5)
𝑥 = 𝐴 + 𝐵𝑡 𝑒 −𝜔𝑛𝑡 (6)
− 𝑐 2𝑚 𝑡
𝑥=𝐷 𝑒 sin 𝜔𝑑 𝑡 + 𝜙 (7)

Because all systems are subjected to friction, then this solution will
dampen out with time. Only the particular solution, which describes
the steady-state vibration of the system, will remain.
Since the applied forcing function is harmonic, the steady-state
motion will also be harmonic. Consequently, the particular solution
will be of the form

𝑋𝑃 = 𝑋′ sin 𝜔0 𝑡 − 𝜙 (11)
The constants and are determined by taking the first and second
time derivatives and substituting them into Eq. 10, which after
simplification yields

−𝑚𝜔0 2 𝑋′ sin 𝜔0 𝑡 − 𝜙 + 𝑐𝜔0 𝑋′ cos 𝜔0 𝑡 − 𝜙

+ 𝑘𝑋′ sin 𝜔0 𝑡 − 𝜙 = 𝐹0 sin 𝜔0 𝑡
 −𝑚𝜔0 2 𝑋′ sin 𝜔0 𝑡 − 𝜙 + 𝑐𝜔0 𝑋′ cos 𝜔0 𝑡 − 𝜙
+ 𝑘𝑋′ sin 𝜔0 𝑡 − 𝜙 = 𝐹0 sin 𝜔0 𝑡

Since this equation holds for all time, the constant coefficients can
be obtained by setting 𝜔0 𝑡 − 𝜙 = 0 and 𝜔0 𝑡 − 𝜙 = π/2 which
causes the above equation to become

𝑋 ′ 𝑐𝜔0 = 𝐹0 sin 𝜙

−𝑋 ′ 𝑚𝜔0 2 + 𝑋 ′ 𝑘 = 𝐹0 cos 𝜙′

The amplitude is obtained by squaring these equations, adding

the resuts, and
using the identity 𝑠𝑖𝑛2 𝜃 + 𝑐𝑜𝑠 2 𝜃 = 1 which gives
𝐹0
𝑋′ = (12)
2
𝑘−𝑚𝜔02 +𝑐 2 𝜔02

Phase difference between the applied force and the resulting

steady-state vibration of the damped system.

𝑐𝜔0
𝜙′ = tan−1 𝑘−𝑚𝜔02
(13)
Since 𝜔𝑛 = 𝑘 𝑚 𝑎𝑛𝑑 𝑐𝑐 = 2𝑚𝜔𝑛 , then the above equations
can also be written as:
𝐹0 /𝑘
𝑋′ = (14)
𝜔0 2 2 𝜔0 2
1− 𝜔𝑛 + 2 𝑐 𝑐𝑐 𝜔𝑛

𝑐 𝜔0
2 𝑐 𝜔𝑛
𝜙′ = tan−1 𝑐
𝜔 2 (15)
1− 0 𝜔𝑛
Magnification Factor, MF
𝑋′ 1
𝑀𝐹 = 𝐹0 = (16)
𝑘 𝜔0 2 2 𝜔0 2
1− 𝜔𝑛 + 2 𝑐 𝑐𝑐 𝜔𝑛
 EXAMPLE
A 30-kg electric motor is supported by four springs, each spring having a stiffness of
200 N/m. if the rotor is unbalanced such that its effect is equivalent to a 4-kg mass
located 60 mm from the axis of rotation, determine the amplitude of vibration when
the rotor is turning at ω0 =10 rad/s. The damping factor is c/cc =0.15.
SOLUTION
The periodic force which causes the motor to vibrate is the centrifugal force due
to the unbalanced rotor. This force has a constant magnitude of
𝐹0 = 𝑚𝑎𝑛 = 𝑚𝑟𝜔0 2 = 4 0.06 10 = 24 N

Since 𝐹 = 𝐹0 sin 𝜔0 𝑡 where 𝜔0 = 10𝑟𝑎𝑑/𝑠 then

F =24 sin 10t

The stiffness of the entire system of four springs is k =4(200) =800 N/m.Therefore, the
natural frequency of vibration is

𝑘 800
𝜔𝑛 = = = 5.164 𝑟𝑎𝑑/𝑠
𝑚 30
Since the damping factor is known, the steady-state amplitude can be determined from
Eq. 14

𝐹0 /𝑘
𝑋′ =
𝜔0 2 2 𝜔0 2
1− 𝜔𝑛 + 2 𝑐 𝑐𝑐 𝜔𝑛

24/800
=
2 2 2
1 − 10 5.164 + 2 0.15 10 5.164

= 0.0107 m =10.7 mm