FREE UNDAMPED

VIBRATION
 CHAPTER 4

OBJECTIVES

■At the end of the chapter, the learner should be able to:
– discuss the free undamped vibration effect to the load and the displacement of the spring.
- solve the problems regarding free undamped vibration by using Hooke’s law with respect to time.
 Free undamped vibration
❖ For free vibration, the applied force
at any given time F(t) is equal to
zero
❖ For undamped vibration, the
damped restoring force Fd(t) = c
v(t) is equal to zero
❖ Harmonic Oscillator is a system with
free undamped vibration
FREE UNDAMPED VIBRATION
with single dof
FBD
Lf
Fs

W
෍ 𝐹𝑦 = 0
𝐹𝑠 − 𝑊 = 0
𝑘𝐿 − 𝑚𝑔 = 0 Eq 1
FREE UNDAMPED VIBRATION
with single dof, cont.

Lf
Lf + L
L

x(t)

F(t)
 FREE UNDAMPED VIBRATION
with single dof, cont.
Forces acting on the system Lf
Lf + L
1. Applied force F(t) L
2. Weight W = mg
x(t)
3. Spring Force Fs(t) = - k [ L + x(t) ]
F(t)
4. Damping Force Fd(t) = - c v(t)
Where:
m = mass c = coefficient of damping
k = spring stiffness g = gravity
Lf = free length of spring
L = displaced length after
the load m is applied
 FREE UNDAMPED VIBRATION
with single dof, cont.
The net force (Fnet) acting on the system

𝐹𝑛𝑒𝑡 = 𝐹 𝑡 + 𝑊 + 𝐹𝑠 𝑡 + 𝐹𝑑 𝑡
𝐹𝑛𝑒𝑡 = 𝐹 𝑡 + 𝑚𝑔 − 𝑘 𝐿 + 𝑥 𝑡 − 𝑐𝑣 𝑡
𝐹𝑛𝑒𝑡 = 𝐹 𝑡 + 𝑚𝑔 − 𝑘𝐿 − 𝑘𝑥 𝑡 − 𝑐𝑣 𝑡
𝑘𝐿 − 𝑚𝑔 = 0 From Eq 1
Lf
𝐹𝑛𝑒𝑡 = 𝐹 𝑡 − 𝑘𝑥 𝑡 − 𝑐𝑣 𝑡 Lf + L
L
𝐹𝑛𝑒𝑡 = 𝑚 𝑎 𝑡 Newton’s Second Law
x(t)
F(t)
 FREE UNDAMPED VIBRATION
with single dof, cont.
The net force (Fnet) acting on the system

𝑚 𝑎 𝑡 = 𝐹 𝑡 − 𝑘𝑥 𝑡 − 𝑐𝑥ሶ 𝑡
𝑎 𝑡 = 𝑥ሷ 𝑡 Acceleration at any given time

𝑣 𝑡 = 𝑥ሶ 𝑡 Velocity at any given time

𝑚𝑥ሷ 𝑡 = 𝐹 𝑡 − 𝑘𝑥 𝑡 − 𝑐 𝑥ሶ 𝑡 Lf
Lf + L
Spring Mass System Equation
L

𝑚𝑥ሷ 𝑡 + 𝑘𝑥 𝑡 + 𝑐 𝑥ሶ 𝑡 = 𝐹 𝑡 x(t)
F(t)
FREE UNDAMPED VIBRATION
with single dof, cont.
𝑚𝑥ሷ 𝑡 + 𝑘𝑥 𝑡 = 0
𝑘
𝑥ሷ 𝑡 + 𝑥 𝑡 = 0
𝑚
Particular Solution

𝑘
𝑥 𝑡 = cos 𝑡
𝑚

𝑘
𝑥 𝑡 = sin 𝑡
𝑚
 FREE UNDAMPED VIBRATION
with single dof, cont.
General Solution

𝑘 𝑘
𝑥 𝑡 = 𝐶1 cos 𝑡 + 𝐶2 sin 𝑡
𝑚 𝑚

𝑘 𝑘 𝑘 𝑘
𝑥ሶ 𝑡 = −𝐶1 sin 𝑡 + 𝐶2 cos 𝑡
𝑚 𝑚 𝑚 𝑚

Solving for Arbitrary Constants C1 and C2

𝑥 0 = 𝑥0 𝑥ሶ 0 = 𝑥ሶ 0
FREE UNDAMPED VIBRATION
with single dof, cont.

General Solution

𝑘 𝑘
𝑥 𝑡 = 𝐶1 cos 𝑡 + 𝐶2 sin 𝑡
𝑚 𝑚

𝑥 0 = 𝐶1 cos 0 + 𝐶2 sin 0

𝑥0 = 𝐶1
 FREE UNDAMPED VIBRATION
with single dof, cont.
While
𝑘 𝑘 𝑘 𝑘
𝑥ሶ 𝑡 = −𝐶1 sin 𝑡 + 𝐶2 cos 𝑡
𝑚 𝑚 𝑚 𝑚

𝑘 𝑘
𝑥ሶ 0 = −𝐶1 sin 0 + 𝐶2 cos 0
𝑚 𝑚
Let
𝑘 𝑘 𝑥ሶ 0
𝑥ሶ 0 = 𝐶2 𝜔𝑛 = 𝑥ሶ 0 = 𝐶2 𝜔𝑛 𝐶2 =
𝑚 𝑚 𝜔𝑛
Natural Frequency
FREE UNDAMPED VIBRATION
with single dof, cont.

General Solution

𝑘 𝑘
𝑥 𝑡 = 𝐶1 cos 𝑡 + 𝐶2 sin 𝑡
𝑚 𝑚

𝑘 𝑥ሶ 0
𝐶1 = 𝑥0 𝜔𝑛 = 𝐶2 =
𝑚 𝜔𝑛

𝑥ሶ 0
𝑥 𝑡 = 𝑥0 cos 𝜔𝑛 𝑡 + sin 𝜔𝑛 𝑡
𝜔𝑛
 FREE UNDAMPED VIBRATION
with single dof, cont.
General Solution

𝑥ሶ 0
𝑥 𝑡 = 𝑥0 cos 𝜔𝑛 𝑡 + sin 𝜔𝑛 𝑡
𝜔𝑛
Other Solution

𝑥 𝑡 = 𝐴 cos 𝜔𝑛 𝑡 − ∅

𝐴= 𝐶1 2 + 𝐶2 2 Amplitude

𝐶2
∅= tan−1 Phase Angle
𝐶1
FREE UNDAMPED VIBRATION
with single dof, cont.

2𝜋
𝑇= Period
𝜔𝑛
𝜔𝑛
𝑓= Frequency
2𝜋
 SIMPLE PENDULUM

෍ 𝐹𝑛 = 0
𝑇 − 𝑊𝑐𝑜𝑠𝜃 = 0
FBD 𝑇 − 𝑚𝑔𝑐𝑜𝑠𝜃 = 0 Eq 1
L
෍ 𝐹𝑡 = 𝑚𝑎𝑡
−𝑊𝑠𝑖𝑛𝜃 = 𝑚𝐿𝛼
−𝑚𝑔𝑠𝑖𝑛𝜃 = 𝑚𝐿𝜃ሷ
For small angle : sin  = 
−𝑔𝜃 = 𝐿𝜃ሷ
𝐿𝜃ሷ + 𝑔𝜃 = 0
 SIMPLE PENDULUM

𝑔
L
𝐿𝜃ሷ + 𝑔𝜃 = 0 𝜔𝑛 = Natural frequency
𝑙
𝜃ሶ0
𝐶1 = 𝜃0 𝐶2 =
𝜔𝑛
General Solution

𝜃ሶ 0
𝜃 𝑡 = 𝜃0 cos 𝜔𝑛 𝑡 + sin 𝜔𝑛 𝑡
𝜔𝑛
Other Solution

𝜃 𝑡 = 𝐴 cos 𝜔𝑛 𝑡 − ∅
 SIMPLE PENDULUM
General Solution

𝜃ሶ 0
𝜃 𝑡 = 𝜃0 cos 𝜔𝑛 𝑡 + sin 𝜔𝑛 𝑡
𝜔𝑛
L
𝐴= 𝐶1 2 + 𝐶2 2 Amplitude

𝐶2
∅= tan−1 Phase Angle
𝐶1
2𝜋 𝜔𝑛
𝑇= Period 𝑓= Frequency
𝜔𝑛 2𝜋
 SAMPLE PROBLEM

1. 𝑥ሷ + 𝑥 = 0 𝑤ℎ𝑒𝑟𝑒: 𝑥 0 = 5 𝑎𝑛𝑑 𝑥ሶ 0 = −5
Answers: x(t) = 5 cos t − 5 sin t, ωn = 1, A =52 ,  = − /4

2. 𝑥ሷ + 25𝑥 = 0 𝑤ℎ𝑒𝑟𝑒: 𝑥 0 = −2 𝑎𝑛𝑑 𝑥ሶ 0 = 10 3

Answers: x(t) = -2 cos 5t + 23 sin 5t, ωn = 5, A =4 ,  = 2/3
 SAMPLE PROBLEM

3. Find the period of a simple pendulum 1.50 m long.

Answer: T = 2.46 s

4. Find the length of a simple pendulum whose

period is 1.00 s.
Answer: L = 0.248 m

5. The pendulum swings with a frequency of 0.5 Hz

and an amplitude of 0.05 radians. Determine the
maximum speed of the swinging bob whose mass
is 57 lb. (assume phase angle = 0)
Answer: vmax = 0.512 ft/s