ADVANCED DYNAMICS OF

STRUCTURES
(INS6602)
- LESSON 3 -
Assist. Prof. Dr. Muzaffer BÖREKÇİ
Email: mborekciytu@gmail.com
DAMPED FREE VIBRATION
FREE VIBRATION with VISCOUS DAMPING
𝐦𝐦𝐮𝐮̈ + 𝐜𝐜𝐮𝐮̇ + 𝐤𝐤𝐤𝐤 = 𝟎𝟎 𝐜𝐜 𝐤𝐤
𝐮𝐮̈ + 𝐮𝐮̇ + = 𝟎𝟎
Viscous damping force 𝐦𝐦 𝐦𝐦

𝒖𝒖 𝒕𝒕 = 𝑪𝑪𝒆𝒆𝒔𝒔𝒔𝒔 𝒖𝒖̇ 𝒕𝒕 = 𝑪𝑪𝑪𝑪𝒆𝒆𝒔𝒔𝒔𝒔 𝒖𝒖̈ 𝒕𝒕 = 𝑪𝑪𝒔𝒔𝟐𝟐 𝒆𝒆𝒔𝒔𝒔𝒔

𝒄𝒄 𝟐𝟐 𝒌𝒌
𝒄𝒄 𝒌𝒌 ;
Auxiliary equation: 𝟐𝟐
𝒔𝒔 + 𝒔𝒔 + = 𝟎𝟎 ∆= − 𝟒𝟒
𝒎𝒎 𝒎𝒎 𝒎𝒎 𝒎𝒎

𝟏𝟏 𝒄𝒄 𝒄𝒄 𝟐𝟐 𝒌𝒌 𝒄𝒄 𝒄𝒄 𝟐𝟐 𝒌𝒌
𝒔𝒔𝟏𝟏,𝟐𝟐 = − ± − 𝟒𝟒 𝒔𝒔𝟏𝟏,𝟐𝟐 =− ± −
𝟐𝟐 𝒎𝒎 𝒎𝒎 𝒎𝒎 𝟐𝟐𝟐𝟐 𝟐𝟐𝟐𝟐 𝒎𝒎

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 𝒄𝒄 𝟐𝟐 𝒌𝒌
∆= − 𝟒𝟒 The form of vibration depends on the Δ
𝒎𝒎 𝒎𝒎

 Δ > 0 The roots of the auxiliary equation are

both real and different each other.
 Δ = 0 The roots of the auxiliary equation are
both real and repeated. Thus it can be said
that there is one root.
 Δ < 0 The roots of the auxiliary equation are
both imaginary and conjugate.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 𝒄𝒄 𝒄𝒄 𝟐𝟐 𝒌𝒌
𝒔𝒔𝟏𝟏,𝟐𝟐 =− ± −
𝟐𝟐𝟐𝟐 𝟐𝟐𝟐𝟐 𝒎𝒎

𝒄𝒄 𝒌𝒌
If Δ = 0: = = 𝝎𝝎 𝒄𝒄 = 𝟐𝟐𝟐𝟐𝟐𝟐
𝟐𝟐𝒎𝒎 𝒎𝒎

𝒄𝒄 𝒄𝒄
𝒔𝒔𝟏𝟏 = 𝒔𝒔𝟐𝟐 = − 𝒖𝒖 𝒕𝒕 = 𝑪𝑪𝒆𝒆𝒔𝒔𝒔𝒔 𝒖𝒖 𝒕𝒕 = (𝑨𝑨 + 𝑩𝑩𝑩𝑩)𝒆𝒆
−
𝟐𝟐𝟐𝟐
𝒕𝒕
𝟐𝟐𝟐𝟐

Since Δ = 0 is the limit of occurence of vibration in the

system, the corresponding value of damping coefficient
shall be referred to as the critical damping constant,
denoted by;
𝒄𝒄𝒄𝒄𝒄𝒄 = 𝟐𝟐𝟐𝟐𝟐𝟐

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

ccr (critical damping) is the smallest value of c
that inhibits oscillation completely. It presents
the dividing line between oscillatory and
nonoscillatory motion.
𝒄𝒄 𝒄𝒄 𝟐𝟐 𝒌𝒌
𝒔𝒔𝟏𝟏,𝟐𝟐 =− ± −
𝟐𝟐𝟐𝟐 𝟐𝟐𝟐𝟐 𝒎𝒎

𝟐𝟐
𝒄𝒄 𝒄𝒄
𝒔𝒔𝟏𝟏,𝟐𝟐 =− 𝝎𝝎 ± 𝝎𝝎 − 𝟏𝟏
𝒄𝒄𝒄𝒄𝒄𝒄 𝒄𝒄𝒄𝒄𝒄𝒄

𝒔𝒔𝟏𝟏,𝟐𝟐 = (−𝜻𝜻 ± 𝜻𝜻𝟐𝟐 − 𝟏𝟏)𝝎𝝎

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 𝒄𝒄 𝒄𝒄
𝜻𝜻 = = ζ: damping factor.
𝒄𝒄𝒄𝒄𝒄𝒄 𝟐𝟐𝟐𝟐𝟐𝟐

The nature of the roots of the auxiliary

equation depends on whether the value of the
damping factor is less than, equal or greater
than unity.
 ζ<1 is underdamped system

 ζ=1 is critically damped system

 ζ>1 is overdamped system

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

UNDERDAMPED SYSTEMS
(Less than Critical Damping)
If damping in the system is less than critical, ζ<1
(or c<2mω), then the roots of the auxiliary
equation are both imaginary:
𝒔𝒔𝟏𝟏,𝟐𝟐 = (−𝜻𝜻 ± 𝒊𝒊 𝜻𝜻𝟐𝟐 − 𝟏𝟏)𝝎𝝎

Displacement of the mass:

𝒖𝒖(𝒕𝒕) = 𝒆𝒆−𝜻𝜻𝜻𝜻𝜻𝜻 𝑨𝑨𝒔𝒔𝒔𝒔𝒔𝒔 𝟏𝟏 − 𝜻𝜻𝟐𝟐 𝝎𝝎𝝎𝝎 + 𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩 𝟏𝟏 − 𝜻𝜻𝟐𝟐 𝝎𝝎𝝎𝝎

𝒖𝒖 𝒕𝒕 = 𝑿𝑿𝒆𝒆−𝜻𝜻𝜻𝜻𝜻𝜻 𝒔𝒔𝒔𝒔𝒔𝒔 𝝎𝝎𝑫𝑫 𝒕𝒕 + 𝝓𝝓

𝝎𝝎𝑫𝑫 = 𝝎𝝎 𝟏𝟏 − 𝜻𝜻𝟐𝟐 Damped natural circular frequency

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 𝒖𝒖(𝒕𝒕) = 𝒆𝒆−𝜻𝜻𝜻𝜻𝜻𝜻 𝑨𝑨𝒔𝒔𝒔𝒔𝒔𝒔 𝟏𝟏 − 𝜻𝜻𝟐𝟐 𝝎𝝎𝝎𝝎 + 𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩 𝟏𝟏 − 𝜻𝜻𝟐𝟐 𝝎𝝎𝝎𝝎

With initial conditions of displacement u(0) = u0 and velocity 𝑢𝑢̇ 0 =

𝑢𝑢̇ 0 specified, the constants A and B can be evaluated and u(t)
becomes:
−𝜻𝜻𝜻𝜻𝜻𝜻
𝒖𝒖̇ 𝟎𝟎 + 𝜻𝜻𝜻𝜻𝒖𝒖𝟎𝟎
𝒖𝒖 𝒕𝒕 = 𝒆𝒆 𝒔𝒔𝒔𝒔𝒔𝒔𝝎𝝎𝑫𝑫 𝒕𝒕 + 𝒖𝒖𝟎𝟎 𝒄𝒄𝒄𝒄𝒄𝒄𝝎𝝎𝑫𝑫 𝒕𝒕
𝝎𝝎𝑫𝑫
𝒖𝒖 𝒕𝒕 = 𝑿𝑿𝒆𝒆−𝜻𝜻𝜻𝜻𝜻𝜻 𝒔𝒔𝒔𝒔𝒔𝒔 𝝎𝝎𝑫𝑫 𝒕𝒕 + 𝝓𝝓

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Damped Natural Circular Frequency:
Most structural and mechanical systems exhibit
damping factors ranging from approximately 0.01
to an extreme maximum of about 0.20. At these
levels, the difference between the undamped and
damped natural frequencies (or periods) is not
significant.

𝝎𝝎𝑫𝑫 = 𝝎𝝎 𝟏𝟏 − 𝜻𝜻𝟐𝟐

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 𝝎𝝎𝑫𝑫 = 𝝎𝝎 𝟏𝟏 − 𝜻𝜻𝟐𝟐

𝟏𝟏 − 𝜻𝜻𝟐𝟐 = 𝟎𝟎. 𝟗𝟗𝟗𝟗 ≅ 𝟏𝟏

𝜻𝜻 = 𝟎𝟎. 𝟐𝟐

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

CRITICALLY DAMPED SYSTEMS
When the damping coefficient is equal to the
critical damping constant, ζ=1 (or c=2mω), the
system is said to be critically damped.
Displacement of the mass: 𝒖𝒖 𝒕𝒕 = (𝑨𝑨 + 𝑩𝑩𝑩𝑩)𝒆𝒆−𝝎𝝎𝝎𝝎

The solution of the equation is the product of a

linear function of time and a decaying exponential.
Depending on the values of A and B, many forms
of motion are possible.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

The general solution for nonzero initial conditions
of displacement u(0) and velocity u̇ 0 can be
established from displacement equation of
underdamped systems by letting ζ =1.
𝒖𝒖̇ 𝟎𝟎 + 𝜻𝜻𝜻𝜻𝒖𝒖𝟎𝟎 Displacement equation
𝒖𝒖 𝒕𝒕 = 𝒆𝒆−𝜻𝜻𝜻𝜻𝜻𝜻 𝒔𝒔𝒔𝒔𝒔𝒔𝝎𝝎𝑫𝑫 𝒕𝒕 + 𝒖𝒖𝟎𝟎 𝒄𝒄𝒄𝒄𝒄𝒄𝝎𝝎𝑫𝑫 𝒕𝒕 of underdamped
𝝎𝝎𝑫𝑫
systems:

𝒖𝒖 𝒕𝒕 = 𝒆𝒆−𝝎𝝎𝝎𝝎 𝒖𝒖̇ 𝟎𝟎 + 𝝎𝝎𝝎𝝎(𝟎𝟎) 𝒕𝒕 + 𝒖𝒖(𝟎𝟎)

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

OVERDAMPED SYSTEMS
For the case ζ>1 (or c>2mω), the system is said
to be overdamped.
−𝜻𝜻+ 𝜻𝜻𝟐𝟐 −𝟏𝟏 𝝎𝝎𝝎𝝎 −𝜻𝜻− 𝜻𝜻𝟐𝟐 −𝟏𝟏 𝝎𝝎𝝎𝝎
𝒖𝒖 𝒕𝒕 = 𝑨𝑨𝒆𝒆 + 𝑩𝑩𝒆𝒆

𝒖𝒖̇ 𝟎𝟎 + 𝜻𝜻 + 𝜻𝜻𝟐𝟐 − 𝟏𝟏 𝝎𝝎𝒖𝒖𝟎𝟎

𝑨𝑨 =
𝟐𝟐𝟐𝟐 𝜻𝜻𝟐𝟐 − 𝟏𝟏

−𝒖𝒖̇ 𝟎𝟎 − 𝜻𝜻 − 𝜻𝜻𝟐𝟐 − 𝟏𝟏 𝝎𝝎𝒖𝒖𝟎𝟎

𝑩𝑩 =
𝟐𝟐𝟐𝟐 𝜻𝜻𝟐𝟐 − 𝟏𝟏

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 Free vibration of underdamped, critacally damped, and overdamped systems

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

LOGARITHMIC DECREMENT
Because it is not possible to analytically ascertain
the amount of damping in most structural and
mechanical systems, it must be determined
experimentally.
The degree of damping in an underdamped
system (ζ<1) may be defined in terms of the rate
of decay of the free oscillations.

The larger the amount of

damping in the system, the
greater the rate of decay.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 𝒙𝒙 𝒕𝒕 = 𝑿𝑿𝒆𝒆−𝜻𝜻𝜻𝜻𝜻𝜻 𝒔𝒔𝒔𝒔𝒔𝒔 𝝎𝝎𝑫𝑫 𝒕𝒕 + 𝝓𝝓

The logarithmic decrement δ is the natural

logarithm of the ratio of any two succesive
displacement amplitudes in the same direction.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 𝒙𝒙 𝒕𝒕 = 𝑿𝑿𝒆𝒆−𝜻𝜻𝜻𝜻𝜻𝜻 𝒔𝒔𝒔𝒔𝒔𝒔 𝝎𝝎𝑫𝑫 𝒕𝒕 + 𝝓𝝓

The logarithmic decrement of two successive amplitudes

X1 and X2 is given as:
𝑿𝑿𝟏𝟏 𝒆𝒆−𝜻𝜻𝜻𝜻𝒕𝒕𝟏𝟏 𝐬𝐬𝐬𝐬𝐬𝐬(𝝎𝝎𝑫𝑫 𝒕𝒕𝟏𝟏 + 𝝓𝝓)
𝜹𝜹 = 𝒍𝒍𝒍𝒍 = 𝒍𝒍𝒍𝒍 −𝜻𝜻𝜻𝜻(𝒕𝒕 +𝑻𝑻 )
𝑿𝑿𝟐𝟐 𝒆𝒆 𝟏𝟏 𝒅𝒅 𝐬𝐬𝐬𝐬𝐬𝐬[𝝎𝝎
𝑫𝑫 𝒕𝒕𝟏𝟏 + 𝑻𝑻𝒅𝒅 + 𝝓𝝓]

t1 is the time corresponding to X1.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Since the values of the sine terms appearing in the right-
hand side of the equation are equal when the time is
increased by the damped period TD, equation of δ
reduces to
𝒆𝒆−𝜻𝜻𝜻𝜻𝒕𝒕𝟏𝟏
𝜹𝜹 = 𝒍𝒍𝒍𝒍 = 𝒍𝒍𝒍𝒍 𝒆𝒆ζ𝝎𝝎𝑻𝑻𝒅𝒅 = ζ𝝎𝝎𝑻𝑻𝑫𝑫
𝒆𝒆−𝜻𝜻𝜻𝜻(𝒕𝒕𝟏𝟏+𝑻𝑻𝒅𝒅 )

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Since the damped natural period may be expressed as:
𝟐𝟐𝟐𝟐 𝟐𝟐𝟐𝟐
𝑻𝑻𝑫𝑫 = =
𝝎𝝎𝑫𝑫 𝝎𝝎 𝟏𝟏 − ζ𝟐𝟐

Substitute TD into the equation of δ, then the expression

for logarithmic decrement becomes,
𝟐𝟐𝟐𝟐ζ
δ=
𝟏𝟏 − ζ𝟐𝟐

This equation is an exact equation.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 For small values of ζ, 1 − 𝜁𝜁 2 ≅ 1 (which would be true of
most physical systems having a ζ ≤ 0.20), an
approximation for the logarithmic decrement is given as:

𝟐𝟐𝟐𝟐ζ
δ= δ = 𝟐𝟐𝟐𝟐ζ
𝟏𝟏 − ζ𝟐𝟐

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 It is also possible to obtain the logarithmic decrement
from two nonsuccessive cycles of damped oscillations.
Consider the ratio of two nonconsecutive amplitudes Xi
and Xi+n, where n is any integer.

𝑿𝑿𝒊𝒊 𝒆𝒆−𝜻𝜻𝝎𝝎𝒕𝒕𝒊𝒊
𝒍𝒍𝒍𝒍 = 𝒍𝒍𝒍𝒍 −𝜻𝜻𝝎𝝎(𝒕𝒕 +𝒏𝒏𝑻𝑻 ) = 𝒏𝒏𝜻𝜻𝝎𝝎𝑻𝑻𝑫𝑫 = 𝒏𝒏𝒏𝒏
𝑿𝑿𝒊𝒊+𝒏𝒏 𝒆𝒆 𝒊𝒊 𝑫𝑫

This expression is particularly useful for lightly damped

systems where successive oscillation peaks would have
very similar ordinates.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 The useful purpose of the logarithmic decrement is to
estimate the amount of damping in the system in a
practical manner. ζ is estimated as

𝜹𝜹
ζ=
(𝟐𝟐𝝅𝝅)𝟐𝟐 +𝜹𝜹𝟐𝟐

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

COULOMB DAMPING
Although idealizing the damping in actual structures due
to several energy dissipation by viscous damping is
sufficiently accurate for practical analysis of most
structures, it may not be appropriate when special friction
devices have been introduced in a building to reduce its
vibrations during earthquake.
Coulomb damping results from friction against sliding of
two dry surfaces. Coulomb damping is also referred to as
«dry-friction damping».
During free vibration, friction forces develop that are
independent of vibration amplitude and frequency.
These forces always oppose the motion of the mass, and
their magnitude is essentially constant.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Coulomb damping in a SDOF system is given below.

F is the friction damping force and constant

𝑭𝑭 = 𝝁𝝁𝝁𝝁
 μ: the coefficient of friction

 N: the normal force on the contact surface

The friction force always acts in a direction opposite to

that of the velocity or motion of the body.
The friction force is assumed to be constant regardless of
the velocity.
Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures
The direction of the friction force opposes motion, and the
sign of the friction force will change when the direction of
motion changes.
For clarity of solution, two differential equations of motion
are required to describe the motion.

𝒎𝒎𝒖𝒖̈ + 𝒌𝒌𝒌𝒌 + 𝑭𝑭 = 𝟎𝟎 For motion from left to right (𝑢𝑢̇ > 0)

𝒎𝒎𝒖𝒖̈ + 𝒌𝒌𝒌𝒌 − 𝑭𝑭 = 𝟎𝟎 For motion from right to left (𝑢𝑢̇ < 0)

𝒌𝒌 𝑭𝑭
𝒖𝒖̈ + 𝒖𝒖 = ±
𝒎𝒎 𝒎𝒎
Solutions of these two equations consist of both a
complementary and a particular part.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 Complementary solution is very similar to that for an
undamped system undergoing free vibration. Particular
solution is a constant term.

𝑭𝑭
𝒖𝒖 𝒕𝒕 = 𝑨𝑨𝟏𝟏 𝒔𝒔𝒔𝒔𝒔𝒔𝝎𝝎𝝎𝝎 + 𝑩𝑩𝟏𝟏 𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄 − from left to right (𝑢𝑢̇ > 0)
𝒌𝒌

𝑭𝑭
𝒖𝒖 𝒕𝒕 = 𝑨𝑨𝟐𝟐 𝒔𝒔𝒔𝒔𝒔𝒔𝝎𝝎𝝎𝝎 + 𝑩𝑩𝟐𝟐 𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄 + from right to left (𝑢𝑢̇ < 0)
𝒌𝒌

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 𝑭𝑭
(1) 𝒖𝒖 𝒕𝒕 = 𝑨𝑨𝟏𝟏 𝒔𝒔𝒔𝒔𝒔𝒔𝝎𝝎𝝎𝝎 + 𝑩𝑩𝟏𝟏 𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄 − from left to right (𝑢𝑢̇ > 0)
𝒌𝒌

𝑭𝑭
(2) 𝒖𝒖 𝒕𝒕 = 𝑨𝑨𝟐𝟐 𝒔𝒔𝒔𝒔𝒔𝒔𝝎𝝎𝝎𝝎 + 𝑩𝑩𝟐𝟐 𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄 + from right to left (𝑢𝑢̇ < 0)
𝒌𝒌

Let’s consider an initial displacement (u0) to the right with

no initial velocity (u̇ 0 = 0).
The initial motion is therefore from right to left. Thus, after
the applying initial conditions to the 2nd equation;
𝑭𝑭
𝑨𝑨𝟐𝟐 = 𝟎𝟎 𝑩𝑩𝟐𝟐 = 𝒖𝒖𝟎𝟎 −
𝒌𝒌

𝑭𝑭 𝑭𝑭
𝒖𝒖 𝒕𝒕 = 𝒖𝒖𝟎𝟎 − 𝒄𝒄𝒄𝒄𝒄𝒄𝝎𝝎𝝎𝝎 +
𝒌𝒌 𝒌𝒌

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 𝑭𝑭 𝑭𝑭
𝒖𝒖 𝒕𝒕 = 𝒖𝒖𝟎𝟎 − 𝒄𝒄𝒄𝒄𝒄𝒄𝝎𝝎𝝎𝝎 +
𝒌𝒌 𝒌𝒌
This solution is valid only until motion to the left ceases, or
when the velocity is equal to zero.
This «time» is established by setting the first time derivative
of the given equation equal to zero and solving for time «t»
as follows:
𝑭𝑭 𝝅𝝅 𝑻𝑻
𝒖𝒖̇ 𝒕𝒕 = −𝝎𝝎 𝒖𝒖𝟎𝟎 − 𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔 = 𝟎𝟎 𝒕𝒕 = =
𝒌𝒌 𝝎𝝎 𝟐𝟐

𝝅𝝅 𝟐𝟐𝟐𝟐
𝒖𝒖 = − 𝒖𝒖𝟎𝟎 −
𝝎𝝎 𝒌𝒌

This equation indicates that the maximum displacement

amplitude for motion to the left is an amount «2F/k» less
than the initial displacement amplitude to the right u0.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

The next half cycle of motion to the right is decribed by the
following equation:
𝑭𝑭
𝒖𝒖 𝒕𝒕 = 𝑨𝑨𝟏𝟏 𝒔𝒔𝒔𝒔𝒔𝒔𝝎𝝎𝝎𝝎 + 𝑩𝑩𝟏𝟏 𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄 − from left to right (𝑢𝑢̇ > 0)
𝒌𝒌

A1 and B1 are derived from the conditions of displacement

and velocity at time t = π/ω.
𝝅𝝅 𝟐𝟐𝟐𝟐 𝑭𝑭 𝟑𝟑𝟑𝟑
𝒖𝒖 = − 𝒖𝒖𝟎𝟎 − = 𝑩𝑩𝟏𝟏 − 𝑩𝑩𝟏𝟏 = 𝒖𝒖𝟎𝟎 −
𝝎𝝎 𝒌𝒌 𝒌𝒌 𝒌𝒌

𝝅𝝅
𝒖𝒖̇ = 𝟎𝟎 = −𝝎𝝎𝑨𝑨𝟏𝟏 𝑨𝑨𝟏𝟏 = 𝟎𝟎
𝝎𝝎
𝟑𝟑𝟑𝟑 𝑭𝑭
𝒖𝒖 𝒕𝒕 = 𝒖𝒖𝟎𝟎 − 𝒄𝒄𝒄𝒄𝒄𝒄𝝎𝝎𝝎𝝎 −
𝒌𝒌 𝒌𝒌

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 𝟑𝟑𝟑𝟑 𝑭𝑭
𝒖𝒖 𝒕𝒕 = 𝒖𝒖𝟎𝟎 − 𝒄𝒄𝒄𝒄𝒄𝒄𝝎𝝎𝝎𝝎 −
𝒌𝒌 𝒌𝒌

This equation is valid until the velocity once again equals

zero. To find the time at which velocity is zero, first time
derivative of the given equation is set equal to zero:
𝟑𝟑𝟑𝟑 𝟐𝟐𝝅𝝅
𝒖𝒖̇ 𝒕𝒕 = −𝝎𝝎 𝒖𝒖𝟎𝟎 − 𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔 = 𝟎𝟎 𝒕𝒕 = = 𝑻𝑻
𝒌𝒌 𝝎𝝎

𝟐𝟐𝝅𝝅 𝟒𝟒𝟒𝟒
𝒖𝒖 = 𝒖𝒖𝟎𝟎 −
𝝎𝝎 𝒌𝒌

Therefore,
the amplitude loss is 2F/k in each half cycle of motion
the amplitude loss is 4F/k in each full cycle of motion

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Therefore,
the amplitude loss is 2F/k in each half cycle of motion
the amplitude loss is 4F/k in each full cycle of motion

Note: F/k = uF.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

  Decay of the oscillations is linear.
 Magnitude of the natural period (frequency) is
unaffected by Coulumb damping.
 The mass need not to return to its original rest
equilibrium position once the vibration ceased. Motion
will end at some amplitude Xs when the restoring force
in the spring kXs cannot overcome the frictional damping
force F. That means motion stops at the end of the half-
cycle for which the amplitude is less than uF.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures