Prince Mohammad bin Fahd University

College of Engineering - Department of Mechanical Engineering

Lecture notes

Course title: Mechanical Vibrations

Course code: MEEN 3395
Credit hours: 3
Semester: Spring 2022
Instructor name: Dr. Omar Dawood Mohammed Al-Sily

Lecture 4 – Damped vibrations (Viscous Damping)

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 1
Course Content
No List of Lecture Files
1 Introduction to mechanical vibrations
2 Single degree of freedom systems
3 Torsional vibration systems
4 Damped vibrations (Viscous damping)
5 Forced vibration (Transient and steady state vibration response)
6 Two degrees of freedom systems
7 Multi-degree of freedom systems and continuous system
8 Vibration isolation and absorption
9 An introduction to modal analysis
10 An introduction to vibration measurements
11 An introduction to Vibration-based condition monitoring

Course Textbooks
Mechanical Vibrations 6th Edition, by Singiresu Rao, ISBN-13: 978-0134361307

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 2
Damped Vibration
In many practical systems, the vibrational energy is gradually converted to heat or sound. Due to the
reduction in the energy, the response, such as the displacement of the system, gradually decreases and
eventually die out.
The mechanism by which the vibrational energy is
gradually converted into heat or sound is known as
damping.

Types of damping
1- Viscous damping: is the most commonly used damping
Mechanism in vibration analysis. When mechanical systems
vibrate in a fluid medium such as air, gas, water, or oil, the
resistance offered by the fluid to the moving body causes energy to be dissipated.
2- Coulomb or dry friction damping: Caused by friction between rubbing surfaces that either are dry or
have insufficient lubrication.
3- Material or Hysteretic damping: When a material is deformed, energy is absorbed and dissipated by
the material. The effect is due to friction between the internal planes, which slip or slide as the deformations
take place.
Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 3
1 DOF Damped Free Vibration (Viscous Damping)
Everyday observations indicate that the response of freely
oscillating systems will eventually die out and reduce to zero
motion.
𝑚 𝑥ሷ 𝑡 = −𝑘 𝑥 𝑡 − 𝑐 𝑥ሶ (t)
𝑚 𝑥ሷ 𝑡 + 𝑐 𝑥ሶ (t) + 𝑘 𝑥 𝑡 = 0 (the equation of motion)
𝑐 𝑘
𝑥ሷ 𝑡 + 𝑥(𝑡)
ሶ + 𝑥 𝑡 =0 J θሷ t + c θሶ (t) + k θ t = 0
𝑚 𝑚
𝑥ሷ 𝑡 + 𝜔𝑛 2 𝑥 𝑡 = 0
𝑘
= 𝜔𝑛 2
𝑚
𝑐 𝑐 𝑐
= 2𝜁 𝜔𝑛 => 𝜁 = =
𝑚 2 𝑚𝜔𝑛 𝑐𝑐

Where
c: damping coefficient 𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2
cc : critical damping coefficient 𝜔𝑑 :damped natural frequency
𝜁: damping factor or damping ratio 𝜔𝑑 = 2π 𝑓𝑑 = 2π/𝑇𝑑

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 4
𝑥ሷ 𝑡 + 2𝜁 𝜔𝑛 𝑥ሶ 𝑡 + 𝜔𝑛 2 𝑥 𝑡 = 0
To solve the equation of motion, we assume the solution in the form of the function 𝑥 𝑡 = = C 𝑒 𝑠𝑡 .
where C and s are undetermined constants. Inserting this function into the equation of motion
(𝑠 2 +2𝜁 𝜔𝑛 𝑠 + 𝜔𝑛 2 )C est = 0 → 𝑠 2 + 2𝜁 𝜔𝑛 𝑠 + 𝜔𝑛 2 = 0
𝑐 𝑐 2 𝑘
𝑠1,2 =− 𝜁 𝜔𝑛 ± 𝜔𝑛 𝜁 2 − 1 = − ± 𝜔𝑛 ( ) −
2𝑚 2𝑚 𝑚
In critical damping case where c=cc
𝑐𝑐 2 𝑘
( ) − =0
2𝑚 𝑚

It is clear that the damping ratio 𝜁 determines whether the roots are complex or real.
The roots 𝑠1 and s2 can then give two solutions
𝑥1 𝑡 = C1 𝑒 𝑠1 𝑡 and
𝑥2 𝑡 = C2 𝑒 𝑠2 𝑡 , and thus the general solution is the combination of 𝑥1 𝑡 & 𝑥2 𝑡
𝑥 𝑡 = C1 𝑒 𝑠1 𝑡 + C2 𝑒 𝑠2 𝑡
where C1and C2 are arbitrary constants to be determined from the initial conditions of the system.
Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 5
Damping Cases
1-Underdamped
2-Critically damped
3-Overdamped

4-Undamped (NO damping)

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Case 1- Underdamped system
Note: If 𝜁 = 0 the case is undamped
𝑐 𝑘 (NO damping)
When 0 < 𝜁 < 1 or c < 𝑐𝑐 or <
2𝑚 𝑚

s1 = (− 𝜁 + i 1 − 𝜁 2 ) 𝜔𝑛 , s2 = (− 𝜁 − i 1 − 𝜁 2 ) 𝜔𝑛

𝑥 𝑡 = C1 𝑒 (− ζ + i 1−ζ )ωn t + C2 𝑒 (− ζ−i 1−ζ )ωn t

2 2

𝑥 𝑡 = 𝑒 − ζ ωn t (𝐴1 sin ωd 𝑡 +𝐴2 cos ωd 𝑡)

x(t) = 𝐴 𝑒 − ζ ωn t sin (ω 𝑡 + ϕ) , where 𝐴 and ϕ are constants
d

Logarthmic decrement 𝛿

2𝜋𝜁
𝛿= 𝜁𝜔𝑛 𝑇𝑑 =
1−𝜁 2

where: 𝜔𝑑 = 𝜔𝑛 1 − 𝜁2
𝜔𝑑 = 2π 𝑓𝑑 = 2π/𝑇𝑑

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 7
Case 2- Critically damped system

𝑐 𝑘
When 𝜁 = 1 or c = 𝑐𝑐 or =
2𝑚 𝑚
𝑐𝑐
s1 = s2 = − = − 𝜔𝑛
2𝑚

𝑥 𝑡 = (C1 + C2 t)𝑒 −ωn t

Case 3- Overdamped system

𝑐 𝑘
When 𝜁 > 1 or c > 𝑐𝑐 or >
2𝑚 𝑚

s1 = (− 𝜁 + 𝜁 2 − 1) 𝜔𝑛 , s2 = (− 𝜁 − 𝜁 2 − 1) 𝜔𝑛
𝑥 𝑡 = C 𝑒 (− ζ + ζ −1)ωn t + C 𝑒 (− ζ− ζ −1)ωn t
2 2
1 2

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 8
Example
In the system model shown in the figure, the mass is 49.2 g and the spring
stiffness is 857.8 N/m. The damping rate is measured to be 0.11 kg/s.
1- Derive the equation of motion.
2- Find the natural frequency 𝜔𝑛 .
3- Find the time period of the response and damped response (𝑇𝑛 and 𝑇𝑑 ) .
4- Calculate the damping ratio, damped natural frequency and determine if
the free motion is overdamped, underdamped, or critically damped.
5- Find the response function, if 𝑥o=0.005 m, 𝑣𝑜 = 0.1 𝑚/𝑠
Solution 𝑚 𝑥ሷ 𝑡 = −𝑘 𝑥 𝑡 − 𝑐 𝑥ሶ (t)
𝑚 𝑥ሷ 𝑡 + 𝑐 𝑥ሶ (t) + 𝑘 𝑥 𝑡 = 0 (the equation of motion)
𝑐 𝑘
𝑥ሷ 𝑡 + 𝑥(𝑡)ሶ + 𝑥 𝑡 =0
𝑚 𝑚
𝑐
𝑥ሷ 𝑡 + 𝑥(𝑡) ሶ + 𝜔𝑛 2 𝑥 𝑡 = 0
𝑚
𝑘
= 𝜔𝑛 2 => 𝜔𝑛 = 857.8Τ 49.2 ∗ 10−3 = 131.6 rad/sec
𝑚
𝑇𝑛 = 2 𝜋 /𝜔𝑛 = 0.047 sec
Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 9
 𝑐 𝑐 0.11
𝜁= = = = 0.0085 Since 𝜁 is less than 1, the system is underdamped
2 𝑚𝜔𝑛 𝑐𝑐 2∗ 49.2 ∗ 10−3 ∗ 131.6

𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2 = 131.59 𝑟𝑎𝑑/𝑠𝑒𝑐 , then 𝑇𝑑 = 2 𝜋 /𝜔𝑑 = 0.0477 sec

The solution of the underdamped case has the form

x(t) = 𝐴 𝑒 − ζ ωn t sin (ωd 𝑡 + ϕ)

Calculate, A = 0.0056 , ϕ= 1.41

x(t) = 0.0056 𝑒 − 0.0085 (131.6) t sin (131.59 𝑡 + 1.41)

Now, using this response function you can plot the response graph (x-axis is time and y-axis is displacement or x(t))

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 10
Example
In the system model shown in the figure, the mass is 10 kg,
k= 1000 N/m, and c= 10 N s/𝑚. By ignoring the beam masss, determine 𝜔𝑛 and 𝜔𝑑
Take a= 0.4 m, and b=0.6 m.

Solution
σ 𝑀=𝐽 𝜃ሷ
(𝐽𝑏 +𝐽𝑚𝑎𝑠𝑠 )𝜃ሷ = − 𝑘. a. 𝜃 a − 𝑐. a. 𝜃ሶ a (𝐽𝑏 = 0, the beam mass is ignored)
ሷ − 𝑘. 𝑎2 𝜃 − 𝑐. 𝑎2 𝜃ሶ
𝑚 𝑙 2 𝜃= (𝐽𝑚𝑎𝑠𝑠 = 𝑚 𝑙 2 )
𝑐 𝑎2 𝑘 𝑎2
𝜃ሷ 𝑡 + 2
ሶ
𝜃(𝑡) + 𝜃 𝑡 = 0 (the equation of motion)
𝑚𝑙 𝑚 𝑙2
𝑘 𝑎2 1000∗ 0.42 𝑙 =𝑎+𝑏
𝜔𝑛 = = = 4 rad/sec
𝑚 𝑙2 10 (0.4+0.6)2
𝑐
𝜁= = c/ 2 m 𝜔𝑛 = 10/[(2) (10) (4)]= 0.125 underdamped
𝑐𝑐

𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2 = 3.96 rad/sec

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 11
Tutorial
In the system model shown in the figure, the mass is 10 kg,
k1= 1000 N/m, k2=500 N/m, and c= 100 N s/𝑚 (100 kg/s). By ignoring the beam masss, determine
𝜔𝑛 and 𝜔𝑑
Take a= 0.4 m, and b=0.6 m.
Solution
σ 𝑀=𝐽 𝜃ሷ
(𝐽𝑏 +𝐽𝑚𝑎𝑠𝑠 )𝜃ሷ = − 𝑘1. a. 𝜃 a − 𝑐. 𝑙. 𝜃ሶ 𝑙 − 𝑘2. 𝑙. 𝜃 𝑙
ሷ − 𝑘1. 𝑎2 𝜃 − 𝑐. 𝑙 2 𝜃ሶ − 𝑘2. 𝑙 2 𝜃
𝑚 𝑎2 𝜃= (𝐽𝑚𝑎𝑠𝑠 = 𝑚 𝑎2 , and 𝐽𝑏 = 0)
𝑐 𝑙2 𝑘1 𝑎2 𝑘2 𝑙 2
𝜃ሷ 𝑡 + 2
𝜃ሶ 𝑡 + 2
+ 2
𝜃 𝑡 = 0 (the equation of motion)
𝑚a 𝑚a 𝑚a
𝑘1 𝑘2 𝑙 2 1000 500∗(0.4+0.6)2
𝜔𝑛 = + = + = 20.31 rad/sec
𝑚 𝑚 a2 10 10∗ 0.4 2
𝑐
𝜁= = c/ 2 m 𝜔𝑛 = 100/[(2) (10) (20.31)]= 0.246 underdamped
𝑐𝑐

𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2 = 19.68 rad/sec

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 12
Tutorial
Determine the equation of motion and the natural frequency (𝜔𝑛 and 𝜔𝑑 ) of the system.
Take: m=10 kg, k=1000 N/m, c=100 N s/m, r1=0.2 m, r2=0.4 m, 𝐽𝑝𝑢𝑙𝑙𝑒𝑦 = 1.1 𝑘𝑔 𝑚2

Solution
σ M=J θሷ
( Jpulley +m r12 ) θሷ = −k (r2)2 θ −c (r1)2 θሶ

( Jpulley +m r12 ) θሷ +c (r1)2 θ+k

ሶ (r2)2 θ = 0

c (r1)2 k (r2)2
θሷ + θሶ + θ=0
( Jpulley +m r12 ) ( Jpulley +m r12 )

𝜃 𝑟1 = 𝑥
k (r2)2 1000 (0.4)2 rad 𝜃ሶ r1 = 𝑥ሶ
ωn = = = 10.32
( Jpulley +m r12 ) (1.1 + 10 ∗ 0.22 ) sec
𝜃 𝑟2 = 𝑥𝑘
𝑐 100
𝜁= = = 0.48 underdamped 𝜃ሶ r2 = 𝑥𝑘
ሶ
2 𝑚𝜔𝑛 2 ∗10 ∗10.32
Where
𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2 = 10.32 1 − 0.482 =9 rad/sec 𝑥𝑘 is the displacement of the spring k
Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 13
Tutorial
Find the 𝜔𝑛 and determine if the system underdamped, crutically damped or over damped.
r2
Take: Jm= m ,m
2
= 20 kg, r = 0.2 m, c = 20 kN. m. sec, 𝑘𝑡 1= 40 × 103 N.m/ rad
oil, c
Solution 𝑘𝑡 2= 20 × 103 N.m/ rad
1 1 1 1
= + +
𝑘𝑒𝑞1,2,3 𝑘1 𝑘2 𝑘3 𝑘𝑡 3= 30 × 103 N.m/ rad
𝑘1 𝑘2 𝑘3
𝑘𝑒𝑞1,2,3 = = 9.2 × 103 N.m/ rad 𝑘𝑡 4= 30 × 103 N.m/ rad
𝑘2 𝑘3+𝑘1 𝑘3+𝑘1 𝑘2

keq= keq1,2,3+ k4 =9.2+30=39.2 × 103 N.m/ rad

σ 𝑀=𝐽 𝜃ሷ 𝐽𝑚 𝜃ሷ = − 𝑘eq 𝜃 − 𝑐. 𝜃ሶ
𝑟2
𝑚 𝜃ሷ + 𝑐. 𝜃ሶ + 𝑘𝑒𝑞 𝜃 = 0
2

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 14
 0.22
20 𝜃ሷ + 20 ∗ 103 𝜃ሶ + 39.2 × 103 𝜃 = 0
2
39.2 × 103 𝑟𝑎𝑑 𝑘𝑡 1= 40 × 103 N.m/ rad
ωn = = 313
0.4 𝑠𝑒𝑐 oil, c
𝑐 𝑐 20∗103
𝑘𝑡 2= 20 × 103 N.m/ rad
𝜁= = =
𝑐𝑐 2 𝑚𝜔𝑛 2 ∗ 20∗ 313
= 1.59
𝑘𝑡 3= 30 × 103 N.m/ rad
since it is more than 1.0, the system is overdamped 𝑘𝑡 4= 30 × 103 N.m/ rad

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 15