SDOF Vibrations Explained

Chapter 2
Free Vibrations of Single Degree of

Freedom [SDOF]
Dr.-Ing. Azmi Mohamed Yusof
Faculty of Mechanical Engineering
MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 2

Content
Learning outcomes
REVIEW 1 : Classification of rigid body motions
REVIEW 2 : Instantaneous center of rotation
Free vibration of SDOF undamped system
REVIEW 3 : Moment of inertia
Deriving the equation of motion (FBD method)
Deriving the equation of motion (Energy method)
Free vibration of SDOF damped system
Logarithmic decay
Tutorial problems
1.0 Learning outcomes
At the end of this chapter students should be able to state, derive and
apply the fundamental principle of vibration involving:-
deriving the equation of motion using the free body diagram method
deriving the equation of motion using the energy method
the dynamic response of undamped free vibration of SDOF systems
the dynamic response of free vibration with viscous damping of SDOF
system

2.1 Classification of rigid body motion [Review]
Kinetics of rigid body
Study the relations existing between the force acting on a body, the mass
and the motion of the body.
Classification of rigid body motions:

Translation:
¾ Rectilinear
¾ Curvilinear
Rotation about a fixed axis

General plane motion

Example
Classify the type of motion for the system shown below
Arm AB =
Arm BC =
Piston head =

Translation
Consider rigid body in translation:
¾ direction of any straight line inside the body is
constant,
¾ all particles forming the body move in parallel lines.
All particles have the same velocity.

All particles have the same acceleration.
Examples in vibration system

Rotation about a fixed axis
Consider rotation of rigid body about a fixed axis AA’
Velocity of any point on rigid body
‫ݔ‬ሶ ൌ ߠሶ ൈ ‫ݎ‬റ ൌ ߠሶ݇ ൈ ‫ݎ‬റ
‫ݔ‬ሶ ൌ ‫ߠݎ‬ሶ (a)
Acceleration
2 1
‫ܮ‬ k ‫ܮ‬
‫ݔ‬ሷ ൌ ߠሷ ൈ ‫ݎ‬റ ൅ ߠሶ ൈ ߠሶ ൈ ‫ݎ‬റ

3 3
(b)
ߠሷ ൈ ‫ݎ‬റ Æ tangential acceleration
ߠሶ ൈ ߠሶ ൈ ‫ݎ‬റ Æ radial acceleration
Example in vibration system
¾ See figure (b) & (c)
¾ What is their generalized coordinate? (c)

General motion
General plane motion is neither a translation nor a rotation
Most general motion of a rigid body is equivalent to:
¾ a translation in which all particles have the same velocity and acceleration of a
reference particle A, and
¾ of a motion in which particle A is assumed fixed.
2.2 Instantaneous Centre of Rotation (IC) [Review]

What is IC?
a point in the plane of motion at which the velocity is instantaneously
zero
It may or may not lie on the body!

How to locate the IC?
Use the fact that the velocity of a point on a body is always perpendicular
to the relative position vector from the IC to the point.
There are several possibilities exist
First case
¾ Consider the case when velocity vA of a point A on
the body and the angular velocity Ȧ of the body are
known.
¾ In this case, the IC is located along the line drawn
perpendicular to vA at A, a distance rA /IC = vA / Ȧ
from A.
¾ Note that the IC lies up and to the right of A since vA
must cause a clockwise angular velocity Ȧ about
the IC.

How to locate the IC?
Second case
¾ Second case occurs when the lines of
action of two non-parallel velocities, vA
and vB, are known.
¾ First, construct line segments from A
and B perpendicular to vA and vB.
¾ The point of intersection of these two
line segments locates the IC of the
body

Example
Locate the IC

Answer
Note that the gear rolls without slipping. Thus, the IC is at the contact
point with the gear rack B.

Example
Locate the IC

Answer
The instantaneous center of rotation is at the intersection of the

perpendiculars to the velocities through B and D

Class Exercise
Locate the IC
3.0 Free vibration of SDOF undamped system

Free vibrations
Oscillates only under an initial disturbance with no ‫ݔ‬௦௧
external force acting. ݇‫ݔ‬௦௧
Sinusoidal and harmonic motion

No damping, no energy loss
(a)
A. Translation system (rectilinear)
Consider the spring-mass system shown in fig. (a)
The initial length of the spring is ݈௢
Attach the mass at the spring ends, the spring
deflected at ‫ݔ‬௦௧ and rest to equilibrium
(b)

The FBD for the mass in equilibrium is shown in Fig. (b), then
࢓ࢍ ൌ ࢑. ࢙࢚࢞ Æ ‫ݔ‬௦௧ = static deflection 1
Let the mass be deflected a distance +x (downward), using

Newton’s second law we have,
݉‫ݔ‬ሷ ൌ െ݇ ‫ ݔ‬൅ ‫ݔ‬௦௧ ൅ ݉݃
But ݉݃ ൌ ݇. ‫ݔ‬௦௧ , then finally we have
‫ݔ‬௦௧
࢓࢞ሷ ൅ ࢑࢞ ൌ ૙ 2
Eqn. (2) is a linear, second order ordinary differential

equation [ODE]
Dividing all terms with m, we obtain
‫ݔ‬ሷ ൅ ߱௡ଶ ‫ ݔ‬ൌ 0
߱௡ is called the natural frequency, or
3
࢑
࣓࢔ ൌ : measured in rad/s
࢓

Solving the equation of motion can be done using ODE procedure
‫ݔ‬ሷ ൅ ߱௡ଶ ‫ ݔ‬ൌ 0
Assume the solution is in the form of, ‫ ݐ ݔ‬ൌ ‫ ݁ܥ‬௦௧
‫ݔ‬ሶ ‫ ݐ‬ൌ ‫ ݁ݏܥ‬௦௧
‫ݔ‬ሷ ‫ ݐ‬ൌ ‫ ݏܥ‬ଶ ݁ ௦௧
Substitute into equation (2), we obtain
‫ ݏ‬ଶ ൅ ߱ଶ ൌ 0, ‫ ݏ‬ൌ േ݅߱௡
The general solution for x(t) is
‫ ݐ ݔ‬ൌ ‫ܣ‬ଵ ݁ ௜ఠ೙ ௧ ൅ ‫ܣ‬ଶ ݁ ି௜ఠ೙ ௧ or ‫ ݐ ݔ‬ൌ ‫ܣ‬ଵ ܿ‫߱ݏ݋‬௡ ‫ ݐ‬൅ ‫ܣ‬ଶ ‫߱݊݅ݏ‬௡ ‫ݐ‬
We can also write the equation into a trigonometric form
‫ ݐ ݔ‬ൌ ‫ܣ‬ଵ ܿ‫߱ݏ݋‬௡ ‫ ݐ‬൅ ‫ܣ‬ଶ ‫߱݊݅ݏ‬௡ ‫ݐ‬
Where A1 and A2 are constants

A1 and A2 can be determined by applying the initial conditions
Using initial conditions,
‫ ݐ ݔ‬ൌ 0 ൌ ‫ܣ‬ଵ ൌ ‫ݔ‬௢ ݅݊݅‫ݐ݈݊݁݉݁ܿܽ݌ݏ݈݅݀ܽ݅ݐ‬
‫ݔ‬ሶ ‫ ݐ‬ൌ 0 ൌ ߱௡ ‫ܣ‬ଶ ൌ ‫ݔ‬ሶ ௢ ሺ݅݊݅‫ݕݐ݅ܿ݋݈݁ݒ݈ܽ݅ݐ‬ሻ
Finally we obtain the time response of the displacement,
࢞ሶ ࢕
࢞ ࢚ ൌ ࢞࢕ ࢉ࢕࢙࣓࢔ ࢚ ൅ ࢙࢏࢔࣓࢔ ࢚ 4
࣓࢔
We can also express the above equation that represents simple

sinusoidal motion
From, ‫ ݐ ݔ‬ൌ ‫ܣ‬ଵ ܿ‫߱ݏ݋‬௡ ‫ ݐ‬൅ ‫ܣ‬ଶ ‫߱݊݅ݏ‬௡ ‫ݐ‬
Let, ‫ܣ‬ଵ ൌ ‫ ܣ‬sin ߮ , and ‫ܣ‬ଶ ൌ ‫ ܣ‬cos ߮
Then ‫ ݐ ݔ‬ൌ ‫߱ݏ݋ܿ · ߮݊݅ݏܣ‬௡ ‫ ݐ‬൅ ‫߱݊݅ݏ · ߮ݏ݋ܿܣ‬௡ ‫ݐ‬. From trigonometric
identity, we obtain
࢞ ࢚ ൌ ࢄ ‫ܖܑܛ‬ሺ࣓࢔ ࢚ ൅ ࣐ሻ 5

‫ݔ‬
߮ 1 cycle 2Ɏ ൌ ߱௡ ‫ݐ‬
ܺ
‫߮݊݅ݏܣ‬
O
߱௡ ‫ݐ‬
ܺ
Where the amplitude X ൌ ‫ܣ‬ଵ ଶ ൅ ‫ܣ‬ଶ ଶ ,

Thus, the amplitude of oscillation
࢞ሶ ࢕ ૛
ࢄൌ ࢞࢕ ૛ ൅ 6
࣓࢔
While the phase angle can be obtained from ߮ ൌ tanିଵ ஺஺మ, thus,
భ
࢞࢕ ࣓࢔
࣐ ൌ ࢚ࢇ࢔ି૚ 7
࢞ሶ ࢕

Example
A block of mass 0.0647 kg is suspended from a spring having a stiffness
of 50 N/m. The block is displaced downwards from its equilibrium
position through a distance of 2 cm and released with an upward velocity
of 3 cm/s. Determine:-
a) the natural frequency
b) the period of oscillation
c) the maximum velocity
d) he maximum acceleration
e) the phase angle

Solution
௞ ହ଴
aሻ ߱ ൌ ൌ ൌ 27.80‫݀ܽݎ‬/‫ݏ‬
௠ ଴.଴଺ସ଻
ଶగ ሺଶሻሺଷ.ଵସଶሻ
bሻ ܶ ൌ ൌ ൌ 0.23‫ݏ‬
ఠ ሺଶ଻.଼଴ሻ
cሻ ‫ݔ‬ሶ ௠௔௫ ൌ ܺ߱ ൌ ሺെ2.0 ൈ 10ିଶ ሻ 27.80 ൌ 0.556݉/‫ݏ‬
dሻ ‫ݔ‬ሷ ௠௔௫ ൌ ܺ߱ଶ ൌ െ2.0 ൈ 10ିଶ 27.80 ଶ

ൌ െ15.46݉/‫ ݏ‬ଶ
௫೚ ఠ೙ ሺିଶ.଴ൈଵ଴షమ ሻሺଶ଻.଼଴ሻ
eሻ ߮ ൌ ‫ି݊ܽݐ‬ଵ ൌ ‫ି݊ܽݐ‬ଵ ൌ െ86.91௢
௫ሶ ೚ ଷ.଴ൈଵ଴షమ

Example
A 10 kg body is suspended from a spring of constant k = 2.5 kN/m. At
time t = 0, it has a downward velocity of 0.5 m/s as it passes through the
position of static equilibrium. Determine:
a) The static spring deflection
b) The natural frequency of the system
c) The system period
d) The displacement x as a function of time, where x is measured from the
position of static equilibrium
e) The maximum velocity attained by the mass
f) the maximum acceleration attained by the mass

Solution
௠௚ ሺଵ଴ሻሺଽ.଼ଵሻ
aሻ ߜ௦௧ ൌ ൌ ൌ 0.0392݉
௞ ଶହ଴଴
௞ ଶହ଴଴
bሻ ߱ ൌ ൌ ൌ 15.81‫݀ܽݎ‬/‫ݏ‬
௠ ଵ଴
ଶగ ሺଶሻሺଷ.ଵସଶሻ
cሻ ܶ ൌ ൌ ൌ 0.397‫ݏ‬
ఠ ሺଵହ.଼ଵሻ
௫ሶ
d) From ‫ ݐ ݔ‬ൌ ‫ݔ‬௢ ܿ‫߱ݏ݋‬௡ ‫ ݐ‬൅ ೚ ‫߱݊݅ݏ‬௡ ‫ݐ‬
ఠ೙
଴.ହ
‫ ݐ ݔ‬ൌ 0 cos 15.81 ‫ ݐ‬൅ sin 15.81 ‫ݐ‬
ଵହ.଼ଵ
‫ ݐ ݔ‬ൌ 0.0316 ‫ ݊݅ݏ‬15.81 ‫ ݐ‬m
e) ‫ݔ‬ሶ ௠௔௫ ൌ ܺ߱ ൌ ሺ0.0316ሻ 15.81 ൌ 0.5݉/‫ݏ‬
f) ‫ݔ‬ሷ ௠௔௫ ൌ ܺ߱ଶ ൌ ሺ0.5ሻ 15.81 ൌ 7.91݉/‫ ݏ‬ଶ

B. Rotational system
Apply external torque T on the disc, and
then release Æ torsional oscillation exists.
The angle of twist is given by
்௅
ߠൌ 8
௃ீ
Torsional spring constant is given by

் ீ௃
݇௧ ൌ ൌ 9
ఏ ௅
-- (1b) -- (2b)
If the disk is displaced by T, the restoring G = Modulus of rigidity
torque is ‫ܯ‬௧ ൌ ݇௧ ߠ (opposite direction to
J = Polar moment of inertia
applied T)
గ
‫ ܬ‬ൌ ܴସ For solid shaft
From Newton’s law of motion, ‫ܯ‬௧ ൌ ‫ܫ‬௢ ߙ ଶ
గ
‫ ܬ‬ൌ ሾܴ௢ ସ െܴ௜ ସ ሿ For hollow shaft
െ࢑࢚ ࣂ ൌ ࡵࡻ ࣂሷ or ࡵࡻ ࣂሷ ൅࢑࢚ ࣂ ൌ ૙ 10 ଶ
‫ܫ‬ை = Mass moment of inertia

The natural frequency:
݇௧
߱௡ ൌ 11
‫ܫ‬௢
The general solution for ߠሷ ൅߱௧ ߠ ൌ 0 can be obtained by introducing

the initial conditions
Let ߠ ‫ ݐ‬ൌ 0 ൌ ‫ܣ‬ଵ ൌ ߠ௢ ;ߠሶ ‫ ݐ‬ൌ 0 ൌ ߱௡ ‫ܣ‬ଶ ൌ ߠ௢ሶ
Finally the general solution is:
ࣂሶ࢕
ࣂ ࢚ ൌ ࣂ࢕ ‫ ࢚ ࢔࣓ ܛܗ܋‬൅ ‫࢚ ࢔࣓ ܖܑܛ‬ 12
࣓࢔

Translational & rotational systems – A comparison
Translational system Torsional system
Mass, ݉ (kg) Mass moment of inertia, ‫( ݋ܫ‬kg.m4)
ி ்
Stiffness, ݇ ൌ (N/m) Torsional stiffness, ݇௧ ൌ (Nm/rad)
ఋೞ೟ ఏ
Displacement, ‫( ݔ‬m) Angular displacement, ߠ (rad)

Velocity, ‫ݔݎ݋ݒ‬ሶ (m/s) Angular velocity, ߠሶ (rad/s)
Acceleration, ܽ‫ݔݎ݋‬ሷ (m/s2) Angular acceleration, ߠሷ (rad/s2)
௞ ௞೟
Natural frequency, ߱௡ ൌ (rad/s) Natural frequency, ߱௡ ൌ (rad/s)
௠ ூ೚
Equation of motion, ݉‫ݔ‬ሷ ൅ ݇‫ ݔ‬ൌ 0 Equation of motion, ‫ܫ‬௢ ߠሷ ൅݇௧ ߠ ൌ 0

Amplitude of oscillation ‫ ܣ‬ൌ Amplitude of oscillation, ‫ ܣ‬ൌ
௫ሶ ೚ ଶ
ଶ
‫ݔ‬௢ ଶ ൅ ఏሶ೚
ఠ೙ ߠ௢ ଶ ൅
ఠ೙
௫೚ ఠ೙ ఏ೚ ఠ೙
Phase angle, ߮ ൌ ‫ି݊ܽݐ‬ଵ Phase angle, ߮ ൌ ‫ି݊ܽݐ‬ଵ
௫ሶ ೚ ఏሶ೚

Tutorial 4
A simple undamped spring mass system is set to motion from rest by
giving it an initial velocity of 0.1 m/s. It oscillates with a maximum
amplitude of 0,01 m. Calculate its natural frequency. [Ans :
A spring has a stiffness of 600 N/m. If a 4-kg block is attached to the
spring, pushed 50 mm above its equilibrium position, and released from
rest, determine the equation which describes the block’s motion. Assume
that positive displacement is measured downward. [Ans: x = -0.05 cos
(12.2t) m].
An 8-kg block is suspended from a spring having a stiffness 80 N/m. If
the block is given an upward velocity of 0.4 m/s when it is 90 mm above
its equilibrium position, determine the equation which describes the
motion and the maximum upward displacement of the block measured
from the equilibrium position. Assume that positive displacement is
measured downward. [Ans : x = -0.126 sin (3.16t) - 0.09 cos (3.16t) m ;
0.155 m]
4.0 Moment of inertia [Review]

Types of moment of inertia
Area moment of inertia
Mass moment of inertia
Area moment of inertia

First moment of area = centroid
Second moment of area = moment of inertia (area moment of inertia)
The definition
‫ܫ‬௫ ൌ ‫׬‬஺ ‫ ݕ‬ଶ ݀‫ܫ ; ܣ‬௬ ൌ ‫׬‬஺ ‫ ݔ‬ଶ ݀‫ܣ‬

The polar moment of inertia is an important parameter in problems
involving torsion of cylindrical shafts and rotations of slabs
‫ܬ‬௢ ൌ න ‫ ݎ‬ଶ ݀‫ ܣ‬ൌ ‫ܫ‬௫ ൅ ‫ܫ‬௬

஺
It is a measure of the 'efficiency' of a cross-
sectional shape to resist bending caused by
loading
¾ Refer to figure
¾ Both beams have the same area and even the
same shape.
¾ Beam 1 is stronger than Beam 2 because it
has a higher second moment of area (I).
¾ Orientation can change the second moment of
area (I).
௕௛య
¾ For a rectangle, ‫ܫ‬௖ ൌ
ଵଶ
¾ Where b is breadth (horizontal) and h is height
(vertical) if the load is vertical - e.g. gravity
load.

Properties of plane figures

Mass moment of inertia (MMI)
The mass moment of inertia (MMI) of a body is a
property that measures the resistance of the body to
angular acceleration
Consider a rigid body and the arbitrary axis P shown
in the figure. The MMI about the P axis is defined as I
= ³m m r2 dm, where r, the “moment arm,” is the
perpendicular distance from the axis to the arbitrary
element dm.
The mass moment of inertia is always a positive
quantity and has a unit of kg · m2
The radius of gyration has units of length and is a
measure of the distribution of the body’s mass about
the axis at which the moment of inertia is defined.
ࡵ ൌ ࢓࢑૛ 13

Parallel axis theorem
If the mass moment of inertia of a body about an axis passing through
the body’s mass center is known, then the moment of inertia about any
other parallel axis may be determined by using the parallel axis theorem
14

Example
For the system shown below, obtain the moment of inertia about point O.
Solution

5.0 Equation of motion (FBD method)
Important steps in deriving the equation of motion using FBD
method
Draw Free body diagram (FBD) and kinetic diagram (KD)
Identify the generalized coordinate
FBD – show all forces acting on the rigid body
KD - show all inertial forces acting on the rigid body
Example
y
x
Include your
positive z-axis
direction too
Mechanical System FBD KD


Translation system
Apply Newton’s 2nd law of motion for the translation system:-
The rate of change of momentum of an object is directly proportional to
the resultant force applied and is in the direction of the resultant force
෍ ‫ܨ‬ሺ௙௥௢௠ி஻஽ሻ ൌ ෍ ‫ܨ‬ሺ௙௥௢௠௄஽ሻ
෍ ‫ ܨ‬ൌ ෍ ݉‫ݔ‬ሷ
Example:
x
For k = 500 N/m, obtain the equation of motion for the spring-mass system
shown in Fig. 1. Find the period of oscillation.
3k
2k k
20 kg
2k
Fig. 1
Solution
Draw FBD & KD
20 kg 3݇‫ݔ‬ 20 kg
0.67݇‫ݔ‬
2݇‫ݔ‬
FBD KD
Apply Newton’s law

෍ ‫ܨ‬ሺ௙௥௢௠ி஻஽ሻ ൌ ෍ ‫ܨ‬ሺ௙௥௢௠௄஽ሻ
െ0.67݇‫ ݔ‬െ 3݇‫ ݔ‬െ 2݇‫ ݔ‬ൌ ݉‫ݔ‬ሷ

20‫ݔ‬ሷ ൅ 2835‫ ݔ‬ൌ 0
Rearrange the equation, ‫ݔ‬ሷ ൅ 141.75‫ ݔ‬ൌ 0
߱௡ଶ ൌ 141.75, ߱௡ ൌ 11.9‫݀ܽݎ‬/‫ݏ‬
2ߨ
ܶൌ ൌ 0.53‫ݏ‬
߱௡

Rotation system
Apply Euler’s 2nd law of motion
¾ The sum of the moments of the external forces
acting on the rigid body must equal the change in the
angular momentum of the rigid body.
෍ ‫ܯ‬ሺ௙௥௢௠ி஻஽ሻ ൌ ෍ ‫ܯ‬ሺ௙௥௢௠௄஽ሻ
෍ ‫ ܯ‬ൌ ෍ ‫ߠܫ‬ሷ
Note about the sense of moment direction : cw (-

ve) ; ccw (+ve)
Example
Obtain the equation of motion for the system
shown in fig. 2
Fig. 2

Solution ܳ
Let consider static equilibrium condition

Introducing the support forces, P & Q by springs
M݃
¾ to hold the system in static equilibrium
Take equilibrium of moment about point O ܲ

݉݃
෍ ‫ܯ‬௢ ൌ 0
FBD
െܳ‫ ݎ‬െ ܲ‫ ݎ‬൅ ݉݃‫ ݎ‬ൌ 0

Thus ܲ ൅ ܳ ൌ ݉݃
Æ P & Q are the spring forces to hold the system in equilibrium

Then, draw FBD & KD
2݇‫ ݔ‬൅ ܳ
Apply Euler’s law, σ ‫ ܯ‬௙௥௢௠ி஻஽ ௢ ൌ σ ‫ ܯ‬௙௥௢௠௄஽ ௢
െ2݇‫ ݎݔ‬൅ ݉݃‫ ݎ‬െ ݇‫ ݎݔ‬െ ܲ‫ ݎ‬െ ܳ‫ ݎ‬ൌ ‫ߠܫ‬ሷ ൅ ݉‫ݔ‬ሷ ‫ ݎ‬but ‫ݔ‬ሷ ൌ ‫ߠݎ‬ሷ
M݃
െ3݇‫ ݎ‬ଶ ߠ‫ ݎ‬൅ ݉݃‫ ݎ‬െ ܲ‫ ݎ‬െ ܳ‫ ݎ‬ൌ ‫ߠܫ‬ሷ ൅ ݉ߠሷ‫ ݎ‬ଶ but െܲ‫ ݎ‬െ ܳ‫ ݎ‬ൌ
െ ݉݃‫ݎ‬
݉݃ ܲ ൅ ݇‫ݔ‬
Thus
FBD
ߠሷ ‫ ܫ‬൅ ݉‫ ݎ‬ଶ ൅ 3݇‫ ݎ‬ଶ ߠ ൌ 0
Important finding
¾ The rigid body weight disappeared in the equation of
motion
¾ To make the solution step shorter, simply omit the step of
finding the support force (static equilibrium case)
¾ Discard body weight in the equation.
ଷ௞௥ మ KD
The natural frequency, ߱௡ ൌ ூା௠௥ మ
Apply σ ‫ܯ‬ሺ௙௥௢௠ி஻஽ሻ ൌ σ ‫ܯ‬ሺ௙௥௢௠௄஽ሻ
െ2݇‫ ݎݔ‬൅ ݉݃‫ ݎ‬െ ݇‫ ݎݔ‬െ ܲ‫ ݎ‬െ ܳ‫ ݎ‬ൌ ‫ߠܫ‬ሷ ൅ ݉‫ݔ‬ሷ ‫ ݎ‬but ‫ݔ‬ሷ ൌ ‫ߠݎ‬ሷ
െ3݇‫ ݎ‬ଶ ߠ‫ ݎ‬൅ ݉݃‫ ݎ‬െ ܲ‫ ݎ‬െ ܳ‫ ݎ‬ൌ ‫ߠܫ‬ሷ ൅ ݉ߠሷ‫ ݎ‬ଶ but െܲ‫ ݎ‬െ ܳ‫ ݎ‬ൌ െ݉݃‫ݎ‬
Thus
ߠሷ ‫ ܫ‬൅ ݉‫ ݎ‬ଶ ൅ 3݇‫ ݎ‬ଶ ߠ ൌ 0
Important finding
¾ The weight of rigid body disappeared in the equation of motion
¾ To make the solution step shorter, simply omit the step of finding the support
force (static equilibrium case)
¾ Discard body weight in the equation.
ଷ௞௥ మ
The natural frequency, ߱௡ ൌ ூା௠௥ మ

Example
Determine the natural frequency Zn for the compound pendulum shown
in fig. 1
Fig. 1

Solution
Let consider static equilibrium condition
Fy
෍ ‫ܨ‬௢ ൌ 0
Fx
‫ܨ‬௬ ൌ ݉݃
Where Fx and Fy are
reaction forces at pin
W = mg

Solution Fy
Draw FBD and Kinetic diagram

Fx
Apply Euler’s law
෍‫ܯ‬ ௙௥௢௠ி஻஽ ௢ ൌ෍‫ܯ‬ ௙௥௢௠௄஽ ௢
െሺ݉݃ሻሺ݀ sin ߠሻ ൌ ‫ܫ‬௢ ߠሷ

ሷ ሺ݉݃ሻሺ݀ sin ߠሻ ൌ 0
‫ܫ‬௢ ߠ ൅
Assume T is very small, thus sin T = T

ሷ ݉݃݀ߠ ൌ 0
‫ܫ‬௢ ߠ ൅
**Body weight still exist in the equation!! ‫ߠܫ‬ሷ
To obtain its natural frequency, rearrange the equation
݉݃݀
ሷ
ߠ൅ ߠൌ0
‫ܫ‬௢
௠௚ௗ
Thus the natural frequency, ߱௡ ൌ
ூ೚

Example
A square mass m as shown in fig. 1 is hinged at O, determine
a) the equation of motion of the square mass.
b) the natural frequency of the square mass.
Solution
Draw the FBD and Kinetic diagram Fig. 1
Apply σ ࡹ࡭ ൌ σሺࡹ࡭ ሻࢋࢌࢌ
െ݉݃ ܾ sin ߠ ൌ ‫ܫ‬௢ ߠሷ
Assume T is very small, thus sin T = T. And also:
1 5
‫ܫ‬௢ ൌ ‫ ீܫ‬൅ ݉݀ ଶ ൌ ݉ 4ܾ ଶ ൅ 4ܾ ଶ ൅ ܾ݉ ଶ ൌ ܾ݉ ଶ
12 3
ହ ଷ௚
Finally we obtain: ܾ݉ ଶ ߠሷ ൅ ܾ݉݃ߠ ൌ 0 Æ ߠሷ ൅ ߠ ൌ 0
ଷ ହ௕
3݃
߱௡ ൌ
5ܾ
Class exercise
For the mechanical system shown below, determine :-
a) the equation of motion ሾ‫ݏ݊ܣ‬:ߠሷ ‫ ܫ‬൅ 4݉‫ ݎ‬ଶ ൅ ݇‫ ݎ‬ଶ ߠ ൌ 0ሿ
௞௥ మ
b) the period of oscillation ሾ‫ݏ݊ܣ‬:߱௡ ൌ ሿ
ூାସ௠௥ మ
I
k
2r
m x

Class exercise
Consider a static equilibrium condition
Draw FBD & substitute the spring with a support force
Apply equilibrium of moment, find the support force
Class exercise
Draw FBD & KD
Apply Euler’s law

6.0 Equation of motion (Energy method)
Energy method (Rayleigh’s Method)
Free vibration involves the cyclic interchange of kinetic (T) and potential
(U) energy.
No energy dissipated or lost in undamped free vibration system.
For a spring-mass system
¾ U is stored when stretching the spring
¾ T is stored by virtue of its velocity
Energy is conserved, thus

Energy in = Energy out Translation Rotation
1 1
T + U = constant ܶ ൌ ݉‫ݔ‬ሶ ଶ ܶ ൌ ‫ߠܫ‬ሶ ଶ
2 2
T1 + U1 = T2 + U2
When the mass passing the equilibrium condition, T = T1 and U = U1 = 0

When the mass is at maximum displacement, T = T2 = 0, U = U2. Finally
we have
T1 + U2 = 0 or Tmax + Umax = 0 15
Steps to establish the equation of motion using Rayleigh’s

methods:
Obtain total energy when the mass reaching at maximum displacement
Obtain total energy when the mass passing the starting point position
Establish the energy equation, σ ܶ ൅ ܷ ൌ 0
ௗ
Apply partial derivative for the energy equation, ௗ௧ ܶ൅ܷ ൌ0
Simplify the equation

Example
Establish the equation of motion for the system shown using Rayleigh’s
energy method.

Solution
Total energy at maximum position: ܷ ൌ ଵଶ ݇‫ ݔ‬ଶ , T = 0

Total energy when the mass returns to equilibrium position:
ଵ ଵ
ܶ ൌ ݉‫ ݒ‬ଶ ൌ ݉‫ݔ‬ሶ ଶ , U = 0.
ଶ ଶ
Satisfying the conservation of energy: ܶ ൅ ܷ ൌ ଵଶ ݉‫ݔ‬ሶ ଶ ൅ ଵଶ ݇‫ ݔ‬ଶ ൌ 0

ௗ
Apply partial derivative: ௗ௧
ܶ൅ܷ ൌ0
ௗ
Æ (݉‫ݔ‬ሶ ଶ +݇‫ ݔ‬ଶ ሻ ൌ 0 Æ ݉‫ݔ‬ሶ ‫ݔ‬ሷ ൅ ݇‫ݔݔ‬ሶ ൌ 0
ௗ௧
Æ ‫ݔ‬ሶ ሺ݉‫ݔ‬ሷ ൅ ݇‫ݔ‬ሻ ൌ 0,
௞
Æ Rearrange the equation, Æ ‫ݔ‬ሷ ൅ ߱௡ଶ ‫ ݔ‬ൌ 0, where ߱௡ ൌ Æ Done!!
௠

Example (revisited)
A square mass m as shown in fig. 1 is hinged at O, determine
a) the equation of motion of the square mass using energy
methods
b) the natural frequency of the square mass.
Fig. 1

Solution
Consider two conditions:

1. When the mass reaching the highest position
2. When the mass returning and passing the equilibrium position
First condition: ܷ௠௔௫ ൌ ݉݃ሺܾ െ ܾ cos ߠሻ; ܶ௠௔௫ ൌ 0
ଵ ଵ
Second condition: ܷ௠௔௫ ൌ0; ܶ௠௔௫ ൌ ‫ܫ‬௢ ߠሶ ଶ ൌ ‫ܫ‬௢ ߠሶ ଶ
ଶ ଶ
ହ ହ
But, ‫ܫ‬௢ ൌ ܾ݉ ଶ Æ Æ ܶ௠௔௫ ൌ ܾ݉ ଶ ߠሶ ଶ
ଷ ଺

Taking the energy is conserved
ܶ௠௔௫ ൅ ܷ௠௔௫ ൌ 0
5
ܾ݉ ଶ ߠሶ ଶ ൅ ݉݃ ܾ െ ܾ cos ߠ ൌ 0
6
௕ఏమ
Simplifying ܾ െ ܾ cos ߠ ൌ ܾ 1 െ cos ߠ ൌ we obtain
ଶ
ଶ
5 ܾߠ
ܾ݉ ଶ ߠሶ ଶ ൅ ݉݃ ൌ0
6 2
Applying partial derivative
݀ 5 ܾߠ ଶ
ܾ݉ ଶ ߠሶ ଶ ൅ ݉݃ ൌ0
݀‫ ݐ‬6 2
5
ܾߠሷ ൅ ݃ߠ ൌ 0
3
The natural frequency can be obtained by rearranging the equation
ଷ௚ ଷ௚
ߠሷ െ ߠ ൌ 0 Æ Æ ߱௡ ൌ
ହ௕ ହ௕
Tutorial 2.1
Draw FBD, derive the equation of motion and obtain the natural
frequency.
b)
a)
k = 2.5 kN/m
m = 20 kg
c = 325 Ns/m
Answer
a) I ൅ 4m‫ ݎ‬ଶ ߠሷ ൅ 27݇‫ ݎ‬ଶ ߠ ൌ 0
ூ
൅ 4m‫ݔ ݎ‬ሷ ൅ 27݇‫ ݔݎ‬ൌ 0
c) ௥
߱௡ ൌ 5.33‫݀ܽݎ‬/‫ݏ‬
ଷ ଼௞
b) ݉‫ ݎ‬ଶ ߠሷ ൅ 4݇‫ ݎ‬ଶ ߠ ൌ 0; ߱௡ ൌ
ଶ ଷ௠
c) I ൅ 4m‫ ݎ‬ଶ ߠሷ ൅ ݇‫ ݎ‬ଶ ߠ ൌ 0
ூ ௞௥
൅ 2m‫ݔ ݎ‬ሷ ൅ ‫ ݔ‬ൌ 0;
ଶ௥ ଶ
௞௥ మ
߱௡ ൌ ൌ 10.49‫݀ܽݎ‬/‫ݏ‬
୍ାସ୫௥ మ
7.0 Free vibration of SDOF damped system
Damping Æ system / device that dissipates mechanical energy
Viscous damper or dashpot is the most common damping
element Æ retarding the vibration
Viscous damping force v velocity of mass
ࡲ ൌ ࢉ࢞ሶ 16
c is the damping constant and is measured in N.s/m

Work done by a damper : ܹ ௫భ՜௫మ ൌ െ ‫׬‬௫௫భమ ܿ‫ݔ‬ሶ ݀‫ݔ‬
Generally there are two types of damping
¾ Viscous damping (only this type will be covered)
¾ Coulomb damping – due to surface friction
From FBD in fig (b) & using Newton’s law, we obtain the
equation of motion as:
௖ ௞
‫ݔ‬ሷ ൅ ‫ݔ‬ሶ ൅ ‫ݔ‬ ൌ0 17
௠ ௠

We solve this eqn. by assuming the general solution as ‫ ݐ ݔ‬ൌ ‫ ݁ܥ‬௦௧
Substitute into eqn. (17) yield,
ଵ ௖ ௖ ଶ ௞ ௖ ௖ ଶ ௞
‫ݏ‬ൌ െ േ െ4 or ‫ ݏ‬ൌ െ േ െ
ଶ ௠ ௠ ௠ ଶ௠ ଶ௠ ௠
௖ ଶ ௞
Assuming the radical ܽ ൌ ଶ௠
െ
௠
Thus, there are three solutions depending on the radical a, i.e:

¾ a=0
¾ a<0
¾ a>0
For, a = 0, we obtain
௖ ଶ ௞ ௖ ௞
െ ൌ0Æ ൌ ൌ ߱௡ and also ܿ ൌ ࢉࢉ ൌ ૛࢓࣓࢔ 18
ଶ௠ ௠ ଶ௠ ௠
Cc is called the critical damping constant

Damping ratio, ]
௖ ௖ ଶ ௞ ௖ ௖ ଶ
From ‫ ݏ‬ൌ െ ଶ௠ േ
ଶ௠
െ , or ‫ ݏ‬ൌ െ
௠
߱
௖೎ ௡
േ ߱௡
ఠ೙
െ1
࡭ࢉ࢚࢛ࢇ࢒ࢊࢇ࢓࢖࢏࢔ࢍ ࢉ ࢉ
Introducing the damping ratio, ] ൌ ࡯࢘࢏࢚࢏ࢉࢇ࢒ࢊࢇ࢓࢖࢏࢔ࢍ ൌ ൌ
ࢉ ૛࢓࣓ ࢉ ࢔
We can also rewrite the equation of motion as:

‫ݔ‬ሷ ൅ ሺ2 · ] · ߱௡ ሻ‫ݔ‬ሶ ൅ ሺ߱௡ ଶ ሻ‫ ݔ‬ൌ 0 19
Thus, we obtain the solution for the equation of motion as:

‫ ݏ‬ൌ ሺെ] േ ]ଶ െ 1ሻ߱௡ 20
The solution of equation (20) depends on the damping factor:-
¾ Case 1, when ] < 1
¾ Case 2, when ] = 1
¾ Case 3, when ] > 1

Case 1, ] < 1 (underdamped system)
When ] < 1, the roots of equation (20) become imaginary (complex
number)
‫ ݏ‬ൌ ሺെ] േ ݅ ]ଶ െ 1ሻ߱௡ , where ݅ ൌ െ1
The solution is : ‫ ݐ ݔ‬ൌ ݁ ି]ఠ೙௧ ሺ‫ ݏ݋ܿܣ‬1 െ ]ଶ ߱௡ ‫ ݐ‬൅ ‫ ܤ‬sin 1 െ ]ଶ ߱௡ ‫ݐ‬ሻ

Or ‫ ݐ ݔ‬ൌ ݁ ି]ఠ೙௧ ሺ‫߱ݏ݋ܿܣ‬ௗ ‫ ݐ‬൅ ‫ ܤ‬sin ߱ௗ ‫ݐ‬ሻ
Apply the initial condition: ‫ ݐ ݔ‬ൌ 0 ൌ ‫ݔ‬௢ , then ‫ ܣ‬ൌ ‫ݔ‬௢
௫ሶ ೚ ା௫೚ ]Z೙
Apply second initial condition: ‫ݔ‬ሶ ‫ ݐ‬ൌ 0 ൌ ‫ݔ‬ሶ ௢ , ‫ ܤ‬ൌ Z೏
,
Thus, the time response of the displacement,
‫ݔ‬ሶ ௢ ൅ ‫ݔ‬௢ ]Z௡

‫ ݐ ݔ‬ൌ ݁ ି]ఠ೙ ௧ ሺ‫ݔ‬௢ ܿ‫߱ݏ݋‬ௗ ‫ ݐ‬൅ sin ߱ௗ ‫ݐ‬ሻ 21
Zௗ

We can also write the solution in the form of simple sinusoidal equation
࢞ ࢚ ൌ ࢄ ‫ܖܑܛ‬ሺ࣓ࢊ ࢚ ൅ ࣐ሻ
This is the amplitude of oscillation
We introduce ࣓ࢊ as damped circular frequency : ࣓ࢊ ൌ ࣓࢔ ૚ െ ]૛
ଶ
ି]࣓࢔ ࢚ ௫ሶ ೚ ା௫೚ ·]·ఠ೙
Where the amplitude of oscillation, ܺ ൌ ࢋ ଶ
‫ݔ‬௢ ൅
ఠ೏
and
௫೚ ·ఠ೏
the phase angle, ߮ ൌ ‫ି݊ܽݐ‬ଵ
௫ሶ ೚ ା௫೚ ·]·ఠ೙
The amplitude diminishes with each cycle of vibration

The period of damped vibration is ߬ௗ ൌ ఠଶగ
೏
Since Zd < Zd , the period of damped vibration is greater than that of free
ଶగ
vibration (ɒ ൌ )
ఠ೙

Case 2, ] = 1 (critically damped system)
If Cc = c, then the solution for equation 12 become , ‫ ݏ‬ൌ െ߱௡
This situation is known as critical damping (c has the smallest value)
The solution is in the form of
Exponential decay
‫ ݐ ݔ‬ൌ ሺ‫ ܣ‬൅ ‫ݐܤ‬ሻ݁ ିఠ೙ ௧
Linear function
Apply the initial conditions
¾ ‫ ݐ ݔ‬ൌ 0 ൌ ‫ݔ‬௢ and ‫ݔ‬ሶ ‫ ݐ‬ൌ 0 ൌ ‫ݔ‬ሶ ଴
¾ ‫ ܣ‬ൌ ‫ݔ‬௢ and ‫ ܤ‬ൌ ‫ݔ‬ሶ ௢ ൅ ߱௡ ‫ݔ‬௢
Finally, the time response of the displacement,
‫ ݐ ݔ‬ൌ ሾ‫ݔ‬௢ ൅ ‫ݔ‬ሶ ௢ ൅ ߱௡ ‫ݔ‬௢ ‫ݐ‬ሿ݁ ିఠ೙ ௧ 22

Case 3, ] > 1 (overdamped system)
When c > Cc, both roots of equation 12 are real, ‫ ݏ‬ൌ ሺെ േ ]ଶ െ 1ሻ߱௡
The general equation for the displacement as a function of time,
ሺି]ା ]మ ିଵሻఠ೙௧ ሺି]ି ]మ ିଵሻఠ೙ ௧
‫ ݐ ݔ‬ൌ ‫݁ܦ‬ ൅ ‫݁ܧ‬ where D & E are constant
Since the effect of damping is so strong, this means that, the motion of
the system is nonvibrating

Example
For the mechanical system shown determine:
a) the equation of motion
b) the natural frequency
c) the damping ratio

Solution
Draw the FBD and KD ‫ߠܫ‬ሷ ݇‫ݔ‬ଵ
ܿ‫ݔ‬ሶ
Apply σ ‫ܯ‬ሺ௙௥௢௠ி஻஽ሻ ൌ σ ‫ܯ‬ሺ௙௥௢௠௄஽ሻ
െ݇‫ݔ‬ሺ‫ݎ‬ሻ െ ݇‫ݔ‬ଵ ሺ2‫ݎ‬ሻ െ ܿ‫ݔ‬ሶ ሺ‫ݎ‬ሻ ൌ ‫ߠܫ‬ሷ ൅ ݉‫ݔ‬ሷ ሺ‫ݎ‬ሻ ,
But, ‫ݔ‬ଵ ൌ 2‫ߠݎ‬, ‫ ݔ‬ൌ ‫ߠݎ‬

ߠሷ ‫ ܫ‬൅ ݉‫ ݎ‬ଶ ൅ ܿ‫ ݎ‬ଶ ߠሶ ൅ 5݇‫ ݎ‬ଶ ߠ ൌ 0 ݉‫ݔ‬ሷ
Æ 0.2ߠሷ ൅ 6.4ߠሶ ൅ 8000ߠ ൌ 0

mg
݇‫ݔ‬
Finding the natural frequency,

FBD & KD
଼଴଴଴
Æ ߱௡ ൌ ൌ 200‫݀ܽݎ‬/‫ݏ‬
଴.ଶ
Finding the damping ratio

଺.ସ
2 · ] · ߱௡ ൌ ; Æ ] ൌ 0.08
଴.ଶ

Example
A machine of mass m is mounted on springs and dampers as shown in
Fig. 1. The system is initially at rest and a velocity of 0.1 m/s is imparted
to the mass in the direction shown. Given that m = 20 kg, k1 = 3 kN/m, k2
= 5 kN/m, c1 = 60 Ns/m and c2 = 70 Ns/m, determine:-
a) the equation of motion, the natural frequency, the damping ratio and
damped oscillation frequency.
b) The time responses of the displacement and velocity
c) The displacement at t = 1.0 s
k1
c1
x
m = 20kg
k2 c2

Solution
Spring stiffness, σ ݇ ൌ 8000ܰ/݉, Damping constant, σ ܿ ൌ 130ܰ‫ݏ‬/݉
Equation of motion, Æ 20‫ ݔ‬൅ 130‫ݔ‬ሶ ൅ 8000‫ ݔ‬ൌ 0
଼଴଴଴ ଵଷ଴
Natural frequency, Æ ߱௡ ൌ ൌ 20‫݀ܽݎ‬/‫ݏ‬, 2 · ] · ߱௡ ൌ ; Æ ] ൌ 0.162
ଶ଴ ଶ଴
Æ ߱ௗ ൌ ߱௡ 1 െ ]ଶ ൌ 19.7‫݀ܽݎ‬/‫ݏ‬
This is an underdamped system (] ൏ 1), thus,
‫ ݐ ݔ‬ൌ ݁ ି]ఠ೙௧ ሺ‫߱ݏ݋ܿܣ‬ௗ ‫ ݐ‬൅ ‫ ܤ‬sin ߱ௗ ‫ݐ‬ሻ
௫ሶ ೚ ା௫೚ ]Z೙
But, ‫ ܣ‬ൌ ‫ݔ‬௢ ൌ 0; ‫ ܤ‬ൌ ൌ 5.07 ൈ 10ିଷ
Z೏
Thus, ‫ ݐ ݔ‬ൌ 0.00507݁ ିଷ.ଶ଻௧ ሺsin 19.7‫ݐ‬ሻ

The velocity, ‫ݔ‬ሶ ‫ ݐ‬ൌ ‫]ି ݁ܤ‬ఠ೙௧ ሺ߱ௗ ܿ‫߱ݏ݋‬ௗ ‫ ݐ‬െ ]߱௡ sin ߱ௗ ‫ݐ‬ሻ ; ‫ ܣ݁ܿ݊݅ݏ‬ൌ 0
Thus , Æ ‫ݔ‬ሶ ‫ ݐ‬ൌ ݁ ିଷ.ଶ଻௧ ሺ0.1ܿ‫ݏ݋‬19.7‫ ݐ‬െ 0.0166 sin 19.7‫ݐ‬ሻ
At t = 1.0 s, ‫ ݐ ݔ‬ൌ 0.00507݁ ିଷ.ଶ଻௧ ሾsin 19.7ሺ1ሻሿ ൌ 1.45 ൈ 10ିସ m
Class exercise
Consider a single degree of freedom system which is represented as a
spring-mass system. Under equilibrium condition the spring is
compressed by 0.05 m. The system is designed to operate at critically
damped condition. Given that the mass is 1200 kg,
a. Calculate the stiffness of the spring
b. Calculate the equivalent damping value
c. If a mass of 300 kg is added to the system, what is the new damping ratio?

Class exercise
Solution
Calculate the stiffness of the spring [Ans : 235440 N/m]
Calculate the equivalent damping value [Ans : 33617 Ns/m]
Class exercise
If a mass of 300 kg is added to the system, what is the new damping
ratio? [Ans : 0.84]

8.0 Logarithmic decrement
Logarithmic decrement, G
Logarithmic decrement = rate at which the amplitude of free-damped
vibration decreases
Suppose ‫ݔ‬௜ is the amplitude of oscillation of ith cycle which occurs at ‫ݐ‬௜
‫ݔ‬௜ ൌ ܺ݁ ି]ఠ೙ ௧೔
The amplitude of the next cycle occurs one period later, i.e at ‫ݐ‬௜ ൅ ߬ௗ
‫ݔ‬௜ାଵ ൌ ܺ݁ ି]ఠ೙ ሺ௧೔ ାఛ೏ሻ
The ratio between these two amplitudes,
‫ݔ‬௜ ܺ݁ ି]ఠ೙௧೔
ൌ ൌ ݁ ]ఠ೙௧೏
‫ݔ‬௜ାଵ ܺ݁ ି]ఠ ሺ௧
೙ ೔ ାఛ೏ ሻ

Thus, the ratio of the amplitudes is constant
The logarithmic decrement, G is given by
ߜ ൌ ln ௫௫೔ Æ this is the definition of logarithmic decrement
೔శభ
ߜ ൌ ln ݁ ]ఠ೙௧೏ ൌ ]߱௡ ‫ݐ‬ௗ 24
Substituting the damped circular period, ߬ௗ ൌ ଶగΤఠ೙ 1 െ ]ଶ

૛࣊]
ࢾൌ 25
૚ െ ]૛
Logarithmic decrement for any two points ݊ cycles apart:
૚ ࢞૚
ࢾൌ ࢒࢔ 26
࢔ ࢞࢔ା૚
If the damping ratio, ] is small and ߜ ൌ 2ߨ] , then eqn. (24) become
ࢾ
]ൌ 27
ሺ૛࣊ሻ૛ ൅ࢾ૛

Example
Measurement of the free response of a certain system of mass 450 kg
shows that after 5 cycles, the amplitude of the displacement is 10% of
the first amplitude. Also, the time for these 5 cycles to occurred was
measures to be 20 s. Determine:
a) the logarithmic decrement
b) the damping ratio
c) the natural frequency of oscillation
d) the damping constant
e) the stiffness.

Solution
Initial amplitude: ܺ௢ , after 5 cycles the amplitude become 0.1ܺ௢
ଵ ௫೔ ଵ ௑೚
ߜ ൌ ln ൌ ln ൌ 0.460
௡ ௫೔శభ ହ ଴.ଵ௑೚
ࢾ ૙. ૝૟૙
]ൌ ൌൌ ൌ ૙. ૙ૠ૜
ሺ૛࣊ሻ૛ ൅ࢾ૛ ሺ૛࣊ሻ૛ ൅ሺ૙. ૝૟૙ሻ૛
ଶ଴
The period of oscillation, ܶ ൌ ൌ 4.0‫ݏ‬.
ହ
ଶగ
The frequency of oscillation, ߱ௗ ൌ ൌ 1.57‫݀ܽݎ‬/‫ݏ‬
ସ
From ߱ௗ ൌ ߱௡ 1 െ ]ଶ , thus the natural frequency is,
ଵ.ହ଻
߱௡ ൌ ൌ 1.576‫݀ܽݎ‬/‫ݏ‬
ଵିሺ଴.଴଻ଷሻమ
ࢉ
From ]ൌ , thus the damping factor is:
૛࢓࣓࢔
c ൌ 2݉߱௡ ] ൌ 2 450 1.576 0.073 ൌ 103.54N. s/m
௞
From ߱௡ ൌ . Thus the stiffness is: ݇ ൌ ݉ · ߱௡ ଶ ൌ 450 1.576 ଶ
ൌ 1117.7ܰ/݉
௠

Example
The free response of SDOF system shown in fig.(a) with mass of 2 kg
and the spring stiffness of 1.5 x 103 N/m is recorded to be of the form
given in Fig. (b). The displacement at t1 and t2 are measured to be 9 and
1 mm, respectively. Calculate the damping coefficient.

Solution
ଵ ௫భ ଽ
ߜ ൌ ݈݊ ൌ ݈݊ ൌ 2.2
௡ ௫೙శభ ଵ
ఋ ଶ.ଶ
]ൌ ൌ ൌ 0.33
ሺଶగሻమ ାఋ మ ሺଶగሻమ ାሺଶ.ଶሻమ
௖ ௖
]ൌ ൌ
ଶ௠ఠ೙ ଶ ௞௠
ܿ ൌ 2 · ] · ݇݉ ൌ 2 0.33 1.5 ൈ 10ଷ 2 ൌ ૜૟. ૚૞ࡺ࢙/࢓

Tutorial 2.2
A machine of mass m is mounted on springs and dampers as shown in
Fig. 1. The system is initially at rest and a velocity of 0.1 m/s is imparted
to the mass in the direction shown. Determine :-
a. The total spring stiffness and the damping values
b. The equation of motion, the natural frequency, the damping ratio and the
damped oscillation frequency of the system
c. The displacement and velocity of the mass as a time function
d. The displacement at t = 0 s.
Answer
a) k = 8 kN/m; c = 130 Ns/m
b) 20‫ݔ‬ሷ ൅ 130‫ݔ‬ሶ ൅ 8000‫ ݔ‬ൌ 0
߱௡ ൌ 20‫݀ܽݎ‬/‫ ; ݏ‬Ƀ ൌ 0.165 ; ߱ௗ ൌ 19.7‫݀ܽݎ‬/‫ݏ‬
c) ‫ ݐ ݔ‬ൌ 0.005݁ ିଷ.ଶ଻௧ sin 19.7‫ݐ‬
‫ݔ‬ሶ ‫ ݐ‬ൌ ݁ ିଷ.ଶ଻௧ ሺെ16.47sin 19.7‫ ݐ‬൅ 100 cos 19.7‫ݐ‬ሻ
d) x(t=1) = 0.162 mm.
Tutorial 2.2
The response to an initial excitation of a system is as shown in the graph.
Estimate:-
a. The damping ratio
b. The damped oscillation frequency
Answer
a)

9.0 End chapter exercise
1. Obtain the equation of motion for the mechanical
system shown in the figure,
(d)
(a)
(b)
(f)
(c)
27.03.2012 Azmi M.Yusof 85
9.0 Tutorial problems

2. Solve problem 1a – 1f using the energy method. c) Determine the displacement of the block with
3. Given a sinusoidal signal with frequency 1.0 rad/s respect to time.
and initial condition ‫ݔ‬଴ ൌ ‫ ݔ‬0 ൌ 2ܽ݊݀‫ݔ‬ሶ ଴ ൌ
x
‫ݔ‬ሶ 0 ൌ 0. Obtain the expression for the response 2k N/m 3k N/m 10k N/m
of the system.
4. A 10 kg body is suspended from vertical spring 10 kg
4k N/m
with k = 2.5 kN/m. At time t = 0, it has a
1 Ns/m 1k N/m
downward velocity of 0.5 m/s as it passes
through the position of static equilibrium. Fig. 9.1
Determine:- 6. A 200kg motorcycle is designed to have an
a) the static spring deflection underdamped shock absorber . When the shock
absorber is subjected to an initial velocity due to
b) the natural frequency of the system
a road bump, the resulting damped period is 2s
c) the system period and the initial amplitude is reduced to one-fifth in
d) the displacement x, as a function of time two cycles. Determine:-
e) the maximum velocity and maximum a) The logarithmic decrement, the natural
acceleration attained by the mass frequency and the damping ratio.
5. Consider the mechanical system consisting the b) The spring stiffness and the damping
mass-spring-damper as shown in fig. 9.1. The constant of the shock absorber.
10kg block is moved 0.16 m to the right of the
equilibrium position and released from rest at t = c) The vibration frequency in Hertz and the
0s. critical damping constant.
a) obtain the equation of motion for the system

b)determine the frequency of the resulting motion
27.03.2012 Azmi M.Yusof

9.0 Tutorial problems
7. A free vibration test is run to determine Answer
the stiffness and damping properties of ଻ ଵଵ
an elastic element. A 20kg block is 1a) ݉‫ܮ‬ଶ ߠሷ ൅ ݇‫ܮ‬ଶ ߠ ൌ0
ସ଼ ଵ଺
attached to the element. The block is 1b) ‫ ܫ‬൅ ݉‫ ݎ‬ଶ ߠሷ ൅ 16݇‫ ݎ‬ଶ ߠ ൌ 0
displaced 1 cm and released. The
resulting oscillations are monitored with 1c) ሺI ൅ ݉‫ ݎ‬ଶ ሻߠሷ ൅ 4݇‫ ݎ‬ଶ ߠ ൌ 0
the results shown in Fig. 9.2. Determine 1d) ‫ ܫ‬൅ ݉‫ ݎ‬ଶ ߠሷ ൅ 4‫ ݎ‬ଶ ܿߠሶ ൅ ݇‫ ݎ‬ଶ ߠ ൌ 0
k and c for this element. ூು ூವ
1e) 9݉ ൅ ൅ ‫ݔ‬ሷ ൅ 5ܿ‫ݔ‬ሶ ൅ 5݇‫ ݔ‬ൌ 0
௥ ௥ವ
3. x(t) = 2 cos t
4. a) 39.2 mm; b) 15.81 rad/s; c) 0.397 s; d) x=0.03
sin15.81t; e) 0.5m/s & 7.91 m/s2
5. a)10‫ݔ‬ሷ ൅ ‫ݔ‬ሶ ൅ 16.2݇‫ ݔ‬ൌ 0, b) ߱௡ ൌ 40.25‫݀ܽݎ‬/‫ݏ‬
߱ௗ ൌ 40.25‫݀ܽݎ‬/‫ݏ‬, c) ‫ ݐ ݔ‬ൌ
݁ ି଴.଴ହ௧ ሺ0.16ܿ‫ݏ݋‬40.25‫ ݐ‬൅ 1.98 ൈ 10ିସ sin 40.25‫ݐ‬ሻ
6. a) 0.8, 3.17rad/s, 0.127; b) 2 kN/m, 165Ns/m
c) 0.5 Hz, 1268 Ns/m
7. k = 2.22 x 105 N/m, c = 4.20 x 102 Ns/m
t (s)
Fig. 9.2
27.03.2012 Azmi M.Yusof 87

SDOF Vibrations Explained

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Chapter 2

Free Vibrations of Single Degree of

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 2

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1.0 Learning outcomes

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 4

Classification of rigid body motions:

 Rotation about a fixed axis

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 5

2.1 Classification of rigid body motion [Review]

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 All particles have the same velocity.

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 7

2.1 Classification of rigid body motion [Review]

‫ݔ‬ሷ ൌ ߠሷ ൈ ‫ݎ‬റ ൅ ߠሶ ൈ ߠሶ ൈ ‫ݎ‬റ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 8

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 9

2.2 Instantaneous Centre of Rotation (IC) [Review]

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 10

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 11

2.2 Instantaneous Centre of Rotation (IC) [Review]

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 12

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 13

2.2 Instantaneous Centre of Rotation (IC) [Review]

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 14

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 15

2.2 Instantaneous Centre of Rotation (IC) [Review]

 The instantaneous center of rotation is at the intersection of the

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 16

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 17

3.0 Free vibration of SDOF undamped system

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 18

 Sinusoidal and harmonic motion

3.0 Free vibration of SDOF undamped system

 Let the mass be deflected a distance +x (downward), using

 Eqn. (2) is a linear, second order ordinary differential

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 20

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3.0 Free vibration of SDOF undamped system

 We can also express the above equation that represents simple

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 22

 Where the amplitude X ൌ ‫ܣ‬ଵ ଶ ൅ ‫ܣ‬ଶ ଶ ,

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 23

3.0 Free vibration of SDOF undamped system

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 24

cሻ ‫ݔ‬ሶ ௠௔௫ ൌ ܺ߱ ൌ ሺെ2.0 ൈ 10ିଶ ሻ 27.80 ൌ 0.556݉/‫ݏ‬

dሻ ‫ݔ‬ሷ ௠௔௫ ൌ ܺ߱ଶ ൌ െ2.0 ൈ 10ିଶ 27.80 ଶ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 25

3.0 Free vibration of SDOF undamped system

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 26

e) ‫ݔ‬ሶ ௠௔௫ ൌ ܺ߱ ൌ ሺ0.0316ሻ 15.81 ൌ 0.5݉/‫ݏ‬

f) ‫ݔ‬ሷ ௠௔௫ ൌ ܺ߱ଶ ൌ ሺ0.5ሻ 15.81 ൌ 7.91݉/‫ ݏ‬ଶ

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 27

3.0 Free vibration of SDOF undamped system

 Torsional spring constant is given by

 ‫ܫ‬ை = Mass moment of inertia

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 28

 The general solution for ߠሷ ൅߱௧ ߠ ൌ 0 can be obtained by introducing

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 29

3.0 Free vibration of SDOF undamped system

Displacement, ‫( ݔ‬m) Angular displacement, ߠ (rad)

Equation of motion, ݉‫ݔ‬ሷ ൅ ݇‫ ݔ‬ൌ 0 Equation of motion, ‫ܫ‬௢ ߠሷ ൅݇௧ ߠ ൌ 0

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 30

Rotation about a fixed axis

All particles have the same velocity.

The instantaneous center of rotation is at the intersection of the

Sinusoidal and harmonic motion

Let the mass be deflected a distance +x (downward), using

Eqn. (2) is a linear, second order ordinary differential

We can also express the above equation that represents simple

Where the amplitude X ൌ ‫ܣ‬ଵ ଶ ൅ ‫ܣ‬ଶ ଶ ,

Torsional spring constant is given by

‫ܫ‬ை = Mass moment of inertia

The general solution for ߠሷ ൅߱௧ ߠ ൌ 0 can be obtained by introducing

Apply Newton’s law

Note about the sense of moment direction : cw (-

Let consider static equilibrium condition

Take equilibrium of moment about point O ܲ

െܳ‫ ݎ‬െ ܲ‫ ݎ‬൅ ݉݃‫ ݎ‬ൌ 0

Draw FBD and Kinetic diagram

Apply equilibrium of moment, find the support force

Apply Euler’s law

Energy is conserved, thus

Simplify the equation

Total energy at maximum position: ܷ ൌ ଵଶ ݇‫ ݔ‬ଶ , T = 0

Satisfying the conservation of energy: ܶ ൅ ܷ ൌ ଵଶ ݉‫ݔ‬ሶ ଶ ൅ ଵଶ ݇‫ ݔ‬ଶ ൌ 0

c is the damping constant and is measured in N.s/m

Thus, there are three solutions depending on the radical a, i.e:

Cc is called the critical damping constant

We can also rewrite the equation of motion as:

Thus, we obtain the solution for the equation of motion as:

The solution is : ‫ ݐ ݔ‬ൌ ݁ ି]ఠ೙௧ ሺ‫ ݏ݋ܿܣ‬1 െ ]ଶ ߱௡ ‫ ݐ‬൅ ‫ ܤ‬sin 1 െ ]ଶ ߱௡ ‫ݐ‬ሻ

Thus, the time response of the displacement,