Unit – II (Part - One)

Single Degree of Freedom Systems (Free Vibration)

Lecture Notes and Examples
Examples: (Equation of Motion Using Newton’s Second Law of Motion)
Example – 1: Basic equation of motion elastic restoration systems:
 For linear mass – spring system:

𝑥, 𝑥 , 𝑥̈
k

Equilibrium
Position
x
kx

̈
̈

𝑥̈ 𝜔𝑛2 𝑥

√ ⁄

Where:
 For curvilinear mass – spring system:

kt

1
 ̈

𝜃̈ 𝜔𝑛2 𝜃

√ ⁄

Example – 2: Basic Equation of motion for gravity based system:

O
O

l
T

Equilibrium m
Position
cω
mg
2
Moment of Inertia about, O:
̈ [ ],
2 ̈

̈ , ,

𝜃̈ 𝜔𝑛2 𝜃

√ ⁄

Examples for Equation of Motion Using Other Methods

Example – 1: Determine

Equilibrium Position End Position

( ) ( )

2
 For small oscillation/vibration:
o Displacement,
o Velocity ,
 Energy is conserved:
( ) ( ) ( )
 i.e., at equilibrium position, and at end position,

( ) 2 2
2 2 2 2
} ⁄
2 2 2
( )
2 2

√ ⁄

Example – 2: Determine ?

A- cross –sectional area of the tube

l- length of the tube with fluid contain
 Mass of the liquid,

 Displacement of the fluid,

( )

3
 ,

( ) 2 ( )( )2

 ,

( ) ( ) 2
,

 Conservation of energy:
(( ) ( ) )

( )( )2 2

√ ⁄

Example – 3: In a cylindrical cavity of radius, R, a rod of radius, r, is rolling without slipping

(pure rolling – no- slip). Determine ?

R End
Position
r
P
c
c' 𝛟
α 𝛟- Q

Equilibrium Position

– ̆ ̆

( )
( ) }
 Assuming harmonic motion ( ) ,

( ) 2 ( )
, ,

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 2
2 2 2
[( ) ] ( )( ) ,
2
( )2 2 2 2
( ) 2 2

( )2 2 2[ ]

( ) ,
( ) ( )
( )( )
2
Using half angle formula, ⁄
2
2 2
2 ( )
( ) ( )
2
( ) ⁄

 Hence,

( ) 2[ ]
( )

( ) ( )

( )2 2 2
( ) 2

√
( )

Example – 4: A rod of mass, m, on the cylindrical body is distributed by small angle determine
?

5
 l
CG

Q
R

’’ l
h CG
CG
P
Q
’

2 2
,
2 2

2
, ,

 Angular displacement of the rod about “Q”,

 For small angle, ̆ ̆ ̆ ( ) 2

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 Velocity of the rod at the , ̆

 Hence,
2 2
[ ] ( )

,
( )
( )

 Hence,
,

̆ [ ( )] 2 ( ),

2 2
, ⁄ ( ⁄ )
2 2
, ( ⁄ ) ⁄

 Now,
2
2 2

2
,

2
[ ]2 2 2 ⁄

, ( ) ,

2 2 2 ̈ 2 ̈

 ,
2 2 2 ̈ ( )
2 ̈
2

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 𝑔𝑅⁄
𝜃̈ ( )𝜃
𝑙2

2 ̈

̈ ⁄2

Note: Equivalent System Approach

 If a certain force, or moment, M, is applied to the equivalent system, the acceleration
produced will be the same as that what would have happened if the same force , f, or moment
,M, is applied to the actual system, then the system is called a dynamic equivalent system.

Dynamically
Actual system Equivalent system
Equivalent
 Dynamically equivalent system are also kinematic ally equivalent ( , , ̈ ) are equal in
both system at all time)

meq

2
i.e., ( )
2

( )

( ) 2
( ) , ⁄

𝑎 𝐹⁄
𝑚𝑒𝑞

Example – 5: In the following system, the wheel connected to torsional spring at its base is
partially geared and connected to a gear rack which is also connected to a linear spring.
Determine , for the system?

8
 k

kt

 Equivalent Systems: Case – 1,

x
keq
meq

 , ̈ , √

( ) 2 2 ⁄ ⁄
,

2
( ⁄ 2)
2 2 2
⁄ ( ) ⁄ ⁄ 2

2 2
⁄

( ) 2 2
⁄

2 ( ⁄ )2
⁄ ⁄

2
⁄ ( 2
)

2
2

( 2 ) 2

2 2
⁄

2
, √ √
2

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 Equivalent Systems: Case – 2,

kteq

Ieq

 , ̈ ,

2
√ √
2

Example – 6: (Inertia effect of spring) Drive for the mass-spring system, when the spring
mass, , is not negligible?

x l x
k
m ≅ meq

z
dz

,
 Displacement of a particle on the spring (lineal function),
( ) Where : ( ) () ( ) ⁄

 , ( ) ⁄ 2( )
2
 ∫ ∫ ⁄ ( )( )

2 2
( )

2
, ,

2 2
( )

2
( )

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 i.e., Inertia effects of a linear spring with one end fixed and the other end connected to a
moving body can be approximated by placing a particle whose mass is ⁄ of the mass of

the spring at the point where the spring is connected to the body.
 This is valid for :
o Helical coil spring
o Bars modeled as springs for longitudinal vibration
o Shafts acting as torsional springs.
Example for Spring-Mass System in Vertical Position
Example – 1: Spring – mass system is in vertical position (At static equilibrium position).
Determine the natural frequency of the system.

m keq

Flexural rigidity m
 Lumped parameter model
̈
2
̈

√ ⁄

 From standard table for the loading condition:

⁄
}
⁄

 √

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  √
2

 Observation:
- If the material is harder ( ),
- If the materials is thicker ( ),
- If the length is increase ( ),
Examples for Energy Dissipated by Viscous Damping
Example – 1: The system of Figure moves in a horizontal plane.
(a) Determine the equivalent viscous-damping coefficient for the system if x is the
displacement of the 2 kg block and is used as the generalized coordinate.
(b) Determine the equivalent, torsional viscous-damping coefficient if the clockwise angular
displacement of the disk is used as the generalized coordinate.

(a) Using kinematics, it is found that the relation between the downward displacement of the
2 kg block x and the upward displacement of the 1 kg block y is . Calculating the
2

work done by the viscous dampers as the system moves between the initial position and
an arbitrary position, we have

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 Thus, equivalent torsional damping coefficient,
(b) Kinematics is used to determine that and where . Calculating the work
done by the viscous dampers as the system moves from an initial position to an arbitrary
position, we have

 Thus, equivalent torsional damping coefficient,

Examples on Solution of the equation of motion for damped free SDF vibration system
Example – 1: For the following systems shown in figures (a) to (d), Determination of critical
damping coefficient.( ).
Figure (a):

x 𝑚𝑥̈
k
kx m +ve
m
𝑐𝑥
c
Free Body Diagram (FBD)
x
 Motion equation: (Newton’s 2nd low
̈ ,
̈ ,

2 2
̈
2

 Characteristic equation: 2

√
Roots: ,2 2

 For critical damping case: 2

√ √

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Figure (b):

FBD:
r
𝑐𝑟 2 𝜃
𝜃, 𝜃, 𝜃̈ c kt
kt

I I𝜃


,
,
2

 Motion equation: (Newton’s 2nd low) and :

̈ 2

̈ 2
,
for , and ̈ 2 2

2 2

 Characteristics equation: 2 2

√
Roots: ,2 2

2
 For critical damping case: 2 √ √

Figure (c):

O Io𝜃
O 𝜃, 𝜃, 𝜃̈
c 𝑐𝑏2 𝜃
b
l
l
m
l sin
mg

 Consider that the rod of the pendulum is mass less and mass, m, is attached at the end.
 i.e., Damping torque,

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 Damping force, 2

 For small angle,

 Equation of motion,(Newton’s 2nd low) and :
̈ 2

2
,
, 2
, , , ̈ 2

2 2 2

√
Roots: ,2 2

2
 For critical damping : 2 2 √ √

Figure (d): Assume the rod is mass less and hinged at one end & mass, m, is attached to another
end. The disturbance started from static equilibrium position. (Gravity is ignored, that means)

k c
O
m
a
b
l

FBD:
𝑘𝑎𝜃 𝑐𝑏𝜃 ccw +ve
c
O
m
a
b Io𝜃̈
l
Io 𝑚𝑙 2

 Equation of motion,(Newton’s 2nd low) and :

̈ 2 2

, 2
, , , ̈ 2

2 2 2 2

2 2 2 2

√
Roots: ,2 2

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 2
 For critical damping : 2 2 2 √ √

Examples – 2: Viscous Damped Free Vibration

An under damped shock absorber is to be designed for a motor cycle of mass 200kg when the
shock absorber is subjected to an initial vertical velocity due to a road bump, the resulting
displacement – time curve is to be as indicated in the figure (b). Find the necessary stiffness and
damping constants of the shock absorber if the damped period of vibration is to be 2 and
amplitude is to be reduced to one – fourth in one – half cycle (i.e ⁄ ).

Figure: Shock absorber of a motorcycle.

 Since, , , 2 ⁄ ⁄

 Logarithmic decrement, ( ⁄ 2) ( )
2
√

 Damped period , (given)

2 2
= ⁄ ⁄
√ √

 , ( )
⁄

 Damping constant, c= = (0,4037) (1373.54) = 554.4981 ⁄

 Stiffness , 2
( , )2
= 2358.2652 ⁄

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Example: Coulomb Damped Free Vibration
Example – 1: A metal block placed on a rough surface, is attached to a spring and is given an
initial displacement of 10 cm from its equilibrium position. After 5 cycles of oscillation in 2 sec.,
the final position of the metal block is found to be 1cm from its equilibrium position. Find the
coefficient of friction between the surface and the metal block.
Solution:
2
 5 cycles in 2 sec., hence, damped period: ⁄

⁄ ⁄ ⁄

 each cycle amplitude reduced by ⁄

 for 5 cycle, ( ( ))

( )

⁄ 2 ⁄ 2

Example – 2: A steel shaft of length 1m and diameter 50mm is fixed at one end carries a pulley
2
of mass moment of inertia at the other end. A band brake exerts a constant frictional
torque of 400Nm around the circumference of the pulley. If the pulley is displaced by and
2
released, (Take: ). Determine: (i) The number of cycles before pulley comes
to rest, and (ii) The final settling position of the pulley.
Solution:
⁄
{ 2 ⁄ } , ,

( )( ( ) )
⁄ ,

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 ( )
⁄

 ,

Example: Hysteretic Damped Free Vibration

The structure is modeled as a one – degree of freedom system with an equivalent mass 500kg.
770Nm energy has been dissipated over- one cycle of motion with amplitude of 20mm. The
equivalent stiffness is 5,000,000 ⁄ . Find,
(i) Hysteretic damping coefficient ( )
(ii) Logarithmic decrement ( )
(iii)Damping ratio (ζ)
(iv) Natural frequency (ωn)
Solution:

2 , , 2

√ ⁄ = √ ⁄

Example: Stability of a System

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, as shown in Figure below. Assuming that the
springs are unstretched when the bar is vertical, derive the equation of motion of the system for
small angular displacements (u) of the bar about the pivot point, and investigate the stability
behavior of the system.

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 Figure: Stability of a rigid bar.
Solution:
 When the bar is displaced by an angle , the spring force in each spring is kl sin the total
spring force is 2kl sin . The gravity force W = mg acts vertically downward through the
center of gravity, G. The moment about the point of rotation O due to the angular

acceleration ̈ is ̈ ( ) ̈.

 Thus the equation of motion of the bar, for rotation about the point O, can be written as:

 For small oscillations, this motion equation reduces to:

Or

Where:

 The characteristic equation is given by:

 Hence the solution of the motion equation depends on the sign of α2 as indicated below.

Case 1. When the solution of the motion equation represents a stable

system with stable oscillations and can be expressed as:

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 where A1 and A2 are constants and:

Case 2. When the motion equation reduces to ̈ and the solution

can be obtained directly by integrating twice as:

 For the initial conditions the solution becomes:

 This equation shows that the system is unstable with the angular displacement increasing
linearly at a constant velocity .
 However, if , this equation denotes a stable or static equilibrium position with ,
that is, the pendulum remains in its original position, defined by .

Case 3. When the solution of the motion equation can be expressed as:

where B1 and B2 are constants.

 For the initial conditions the above equation becomes:

 Above equation shows that (t) increases exponentially with time; hence the motion is
unstable. The physical reason for this is that the restoring moment due to the spring (2kl2 )
which tries to bring the system to the equilibrium position, is less than the nonrestoring
moment due to gravity [-W(l/2) , which tries to move the mass away from the equilibrium
position.

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