$ Mechanical$Vibrations$ Chapter$II$ Dr.

$Bassuny$El-Souhily
$

CHAPTER 3
Free Vibration of Single-Degree- of- Freedom Systems
Systems are said to undergo free vibration when they oscillate about their static
equilibrium position when displaced from those positions and then released. The
frequencies at which they vibrate, known as natural frequencies, depend primarily
upon the mass and elasticity (stiffness) of the systems.

Free vibration of an undamped system:

Equation of motion

a-! Using Newton’s second law of motion:

1-! Select a suitable coordinate to describe the position of the mass or the rigid
body in the system, (Linear coordinate for linear motion-Angular
coordinate for angular motion),
2-! Determine the static equilibrium configuration of the system and measure
the displacement from it,
3-! Draw the free-body diagram of the mass or rigid body, indicate all the
active and reactive forces acting on the system,
4-! Apply Newton’s second law of motion to the mass or rigid body shown
by the free-body Diagram. ”The rate of change of momentum of a mass is
equal to the forces acting on it”

Example 1: Mass-spring system

i-! .
m ≡ mass in Kg
k ≡ spring stiffness N/m
(weightless spring)

"# = % −'#
"# + %'# = 0

41$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

'
#+ # = 0%%
"
# + % *+ , %# = 0%%-. /. 0%%
' 123
*+ = % %% %%
" 4
*+ ≡ natural frequency (circular)

67
5 =% ( cps) Hz
,8
2? 1
9:1;<3%= = = %%%4:A.
*+ 5

ii-! B ≡ %4C2C;A%3:5D:AC;<E
From equilibrium position
'B = "F%%%
"# = −' # + B + %"F
%%%%%"# + %'# = 0
G
#+ # = 0%%
H
%# + % *+ , %# = 0%%-. /. 0%%
G IJK
*+ = % %% %%
H L

b-! Using Principle of Conservation of Energy:

T≡ the kinetic energy is stored in the mass by virtue of its velocity,

U≡ the potential energy is stored in the spring by virtue of its elastic
deformation.
Conservative system: at which no energy is lost due to friction or energy
dissipating non-elastic members.
The principle of conservation of energy can be expressed as:
T + U = constant
K
Or N+O =0
KM

42$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

In example 1-i
1
N = % %"# , %%
2
1
O = '# , %%
2
3 1 1
%"# , + '# , = 0
3C 2 2
%%%%%"# + %'# = 0

1-ii
1
N = % %"# , %%
2
1
O = '(# + B), − "F%#%
2
3 1 1
%"# , + ' # + B , − "F%# = 0%
3C 2 2
"## + ' # + B # − "F# = 0
'B = "F%%%
%%%%%"# + %'# = 0

Example 2: Torsional System

RST ?R3 U W. "

'M = = %%%% %%%%%%4C;55E:44%<5%Cℎ:%4ℎ25C%%
D 32%D 123

43$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

YT Z = −'M Z%
YT = "244%"<":EC%<5%;E:1C;2%[F. ",
G\ IJK
*+ = % %% %%
]^ L

Energy method

1
N = % %Y_ Z , %%
2
1
O = 'M Z , %%
2
3 1 1
% %Y_ Z , % + 'M Z , % = 0
3C 2 2
YT Z = −'M Z%

Example 3: Simple Pendulum

Moment about o

"DZ. D = −"F. D sin Z%%

DZ = −F sin Z

5<1%4"2DD%<4A;D2C;<E% sin Z ≅ tan Z ≅ Z%123.%%

cos Z ≅ 1
D
Z = − Z%%%%%%%%%%%-. /. 0
F
h IJK
*+ = % %%%%% %%
i L

Energy method
1 , ,
N= "D Z %%%%
2

44$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

O = "FD 1 − cos Z %%

3 1 , ,
"D Z % + "FD 1 − cos Z = 0%
3C 2

1 ,
"D 2ZZ + "FD sin Z Z = 0%%%
2
Z ≠ 0% sin Z ≈ Z%%%

DZ + FZ = 0%
F
%Z + Z = 0%%
D
F
*+ = %%%%
D
Solution of Equation of Motion:

The general solution of %# + % *+ , %# = 0%%%

Let # = : LM ,%%%%%%%%%%%%%# = 4 , : LM %%%
4 , : LM + *+ , : LM = 0%%%
4 , + *+ , : LM = 0%%%%: LM ≠ 0%%
4 = ±;*+ %%%
R:E:12D%4<DnC;<E:
# = 2p : q67 M + 2, : rq67 M %%%%
# = s cos *+ C + t sin *+ C
%%%%= u cos *+ C − v %%%
# = −s*+ sin *+ C + t*+ cos *+ C

Initial condition:

1)! C = 0%%%%%%%# = #T %%%%%%# = 0%%

s = #T ,%%%%t = 0%%%%
# = #T cos *+ C
2)! C = 0%%%%%%%# = 0%%%%%%# = wT

45$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$
wT
s = 0,%%%%t =
*+
wT
#= sin *+ C
*+
3)! C = 0%%%%%%%# = #T %%%%%%# = wT
wT
s = #T ,%%%%t =
*+
wT
# = #T cos *+ C + % sin *+ C
*+
Rayleigh’s Energy Method:
To find the natural frequencies of single degree of freedom systems
NHJx = OHJx %%%
# = s cos *+ C %%%%%#HJx = s%%%
%# = −s*+ sin *+ C %%%%%#HJx = s*+ %%%
1
NHJx = " s*+ , %%%%%
2
1
OHJx = 's, %%%
2
1 1
% " s*+ , % = 's, %%%%
2 2
'
%*+ = % %%%%
"
Heavy Springs:

"L ≡ 491;EF%"244%%%%
"L
y=
D
1
3NL = y%3z%z , %%%%%%%%%%
2
# D z
% = %%%%%%%%%%%%z = #%%%%%
z z D
,
1 z
%3NL = y%3z. , # , %%%%
2 D
i
NL = 3NL %%%%
_

46$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

1 y% , i ,
%%%%%= , %# % z 3z%%%%%%
2D _
1
%%%%%= yD# , %%%
6
1
%%%%%= % "L # , %%%
6
1 1
N = % %"# , + "L # , %%
2 6
1 ,
O = '# %%%%%%%%%
2
3
% N+O =0
3C
3 1 1 1
%"# , + "L # , + '# , = 0
3C 2 6 2
"L
% "+ ## + %'## = 0%%%%%%%%%%
3
"L
% "+ # + %'# = 0%%%
3
'
*+ = % "L %%%%
"+
3

•! The response of single degree can be represented in the displacement (x)-

velocity(#) plane known as the state space or phase plane.

# = s cos *+ C − v %%%%%%%
#
cos *+ C − v = %%%%%%%%%%
s
# z #
sin *+ C − v = − = − %%%%%% z = %%%%
s*+ s *+
#, z,
% ,+ ,=1
s s

47$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

Stability Conditions

D
YT Z = −2'DZ. D + "F Z%%%%%%%%%%%%%%%%%%
2
"D ,
YT = %%%
3
12. 'D , − 3"FD
Z+ Z=0
2"D ,

48$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

p,.Gi | r}Hhi
The solution of the last equation depends on the sign of = *+ ,
,Hi |

Case 1:
p,.Gi | r}Hhi
When > 0% the solution represents stable oscillations and can be
,Hi |
expressed as:

%θ%= s cos *+ C + t sin *+ C

Case 2:
p,.Gi | r}Hhi
When = 0%
,Hi |

Z = 0%%%%%

Z = up C + u,

For initial conditions C = 0%%%%%%%Z = ZT %%%%%%Z = ZT ,

the angular displacement increases linearly at a constant velocity ZT .

If ZT = 0%%% ∴ %%Z ≡ denotes a static equilibrium position, the pendulum remains in

its original position defined by Z = ZT %%

Case 3:
p,.Gi | r}Hhi
When < 0 = Ç,%
,Hi |

Z = tp : ÉM + t, : rÉM %%%%

For initial conditions C = 0%%%%%%%Z = ZT %%%%%%Z = ZT ,

1
Z= [(ÇZT + ZT ): ÉM + (ÇZT − ZT ): rÉM %]%%%
2Ç
i.e. Z increases exponentially with time, the motion is unstable. The physical reason
for this is that the restoring moment due to the spring (2'D , θ), which tries to bring
the system to equilibrium position, is less than the non-restoring moment due to
i
gravity ("F Z), which tries to move the system away from equilibrium position.
,

49$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

Free Vibration with Viscous Damping:

Equation of Motion:

The viscous damping force ÜK = % −A#%%%%%%

W. 4
A ≡ 32"9;EF%A<:55;A;:EC%%%<1%%32"9;EF%A<E4C2EC%( )
"
-ve sign (the force is opposite to the direction of velocity)

"# = % −A# % − '#

"# + A# % + %'# = 0

Solution of Equation of Motion:

Let # = : LM ,%%%%%# = 4. : LM %%%%%%%%# = 4 , . : LM %%%%%

%"4 , + A4 + ' = 0%%%%%%%
−A ± A , − 4"' A A , '
4p,, = =− ± − %%%%%%
2" 2" 2" "
# = sp : Là M + s, : L| M %%%

50$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

A1 and A2 are arbitrary constants to be determined from the initial conditions of the
system.

•! Critical damping coefficient cc is defined as the value of the damping

constant c for which the radical in equation s1,2 becomes zero,
Aâ , '
− = 0%%%
2" "
'
<1%Aâ = 2" = 2 '" = 2"*+
"
•! The damping factor or damping ratio ä%%
A
ä = %%
Aâ
4p,, = −ä ± ä , − 1 *+ %
rãr ã | rp 67 M rãå ã | rp 67 M
# = sp : + s, :

•! Case 1. Over damped system: ( c ˃ cc or ζ ˃ 1)

In this case, both roots are real. The motion is described by

ã | rp%.M ã | rp%.M
# = : rã67 M [sp : (r67 + s, : (67 ]

The values of “A1” and “A2” are determined from the initial conditions which are

At t = 0, x = xo x! = vo

−#T ä − ä , − 1 *+ − wT #T ä + ä , − 1 *+ + wT
sp = %,%%%%%%%%%%%%%%sp = %
2*+ ä , − 1 2*+ ä , − 1

A plot of “x” with time is shown in Figure.

x$

51$ t$
$$$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

No vibration The mass moves slowly back to the equilibrium position rather than
vibrating about it.

•! Case 2. Critically damped system: ( c = cc or ζ = 1)

Both roots are real and are equal to “- ω”.

The general solution is in the form

# = (sp + s, C): r67 M

Applying the initial conditions (at t=0 x=xo # = wT ), then

A 1 = xo

A 2 = vo + ω xo

# = [#T + wT + *+ #T C]: r67 M

A plot of “x” with time is shown in Figure.

x$

t$
$$$$ case,
There is no vibration in this

A critically damped system will have the smallest damping required for aperiodic
(non-periodic) motion, hence the mass returns to the position of rest in the shortest
possible time without overshooting.

For example: large guns have dashpots with critical damping value, so that they
return to their original position after recoil in the minimum time without vibrating.
If the damping provided were more than the critical value, some delay would be
caused before the next firing.

52$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

•! Case 3. Under damped system: ( c ˂ cc or ζ ˂ 1)

In this case, both roots are complex and are given by

4p,, = −ä ± ; 1 − ä , *+ %%%%

prã | %.M prã | %.M

# = : rã67 M [sp : (r67 q + s, : (67 q ]

# = : rã67 M [sp ç cos 1 − ä , *+ C + s, ç sin 1 − ä , *+ C]

Let 1 − ä , *+ = *K %%%%%%%% Cℎ:%51:én:EAz%<5%Cℎ:%32"9:3%w;è12C;<E

# = : rã67 M [sp ç cos *K C + s, ç sin *K C]

The initial conditions which are at t = 0, x = xo x! = vo

ê^ åã67 x^
# = : rã67 M [#T cos *K C + sin *K C]
6ë

According to this equation, the motion is harmonic with frequency “ωd”. A plot for
“x” with time is shown in Figure.

The last equation can be written as

# = s: rã67 M sin(*K C + v)

53$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

This equation is represented by a vector which rotates with an angular velocity “ωd”
and makes an angle “ωdt +φ” with the horizontal axis. The length of the vector
decreases with time. The tip of the vector traces a spiral as shown in Figure.

Imaginary$axis$

r$

Real$axis$

$
$
The Logarithmic Decrement

To estimate the amount of damping of a system is to measure the displacement at

some time “t” (given by “x1”), then measure it again after one complete cycle (given
2π
by x2), that is, after a period of “ =K = ”. “x1” and “x2”, are given by
ωd

#p = s: rã67 M sin(*K C + v)

%#, = s: rã67 (Måíë ) sin[*K (C + =K ) + v]

It is clear that “sin (ωd t + v) = sin [ωd (t + =K ) + v]”. Dividing both equations, then

#p : rã67 M
= rã6 (Måí ) = : ã67 íë
#, : 7 ë

The rate at which the amplitude of a free damped vibration decreases ‘δ’ (the
logarithmic decrement) can be obtained from:

54$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

x1 ,8
δ = ln = ä*+ =K = ä*+
x2 6ë

2πζ
=
1− ζ 2

p xà
δ= DE
+ x7ìà

For small damping, δ ≈ 2πζ

Energy dissipated in viscous damping:

The rate of change of energy

3î 3#
= 5<1A: ∗ w:D<A;Cz = Üw = −Aw , = −A( ),
3C 3C
The negative sign, the energy dissipates with time

Assume # = ñ sin *K C (steady-state response under forced vibration)

,8
,8
6ë 3#
Δò = A( ), 3C = Añ , *K %cos , *K C%3*K C = ?A*K ñ ,
_ 3C _

The fraction of energy of the vibrating system that is dissipated in each cycle,

Δò ?A*K ñ ,
= = 2%B = 4?ä = A<E4C2EC%%%
ò 1 , ,
"*K ñ
2
ôö ôö
,8
D<44%A<:55;A;:EC = = ratio of energy dissipated per radian.
ö ,8ö

Comparison between damping types

The following Figure shows plots of the three types of damping for the same initial
conditions.

55$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

x$$ Dotted,$over-damped$

Dashed,$critically-damped$

Solid,$under-damped$$ t$

We notice that, for the over-damped system, the motion decays rather slowly without
oscillations. The motion of critically damped systems is called “aperiodic”, or non
periodic. The mass returns back to the equilibrium position without oscillation with
the fastest rate. This type of damping is suitable for the recoil mechanism of guns.
The gun barrel is required to return back after firing as fast as possible without
oscillation. The case of under damping is used for applications which need to reduce
vibrations.

Torsional System with Viscous Damping:

The damping torque: NK = −AM Z%%%

YT Z + AM Z + 'M Z = 0%%%

*K = *+ 1 − ä , %%

'M
%*+ = %%%%
YT

AM AM AM
2E3%ä = = =
AMõ 2YT *+ 2 'M Y_

Example: Analysis of Cannon

When the gun is fired, high-pressure gasses accelerate the projectile inside the barrel
to a very high velocity. The reaction force pushes the gun barrel in the opposite
direction of the projectile. Since it is desirable to bring the gun barrel to rest in the
shortest time without oscillation, it is made to translate backward against a critically
damped spring-damper system called the recoil mechanism.

56$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

In practical case, the gun barrel and the recoil mechanism have a mass of 500 Kg
with a recoil spring of stiffness 10,000 N/m. The gun recoil 0.4 m upon firing. Find
the critical damping coefficient, the initial velocity, and the time taken by the gun to
return to 0.1 m from its initial position.

G IJK
*+ = % = 4.4721% %%
H L
%Aâ = 2"*+ = 4472.1%W. 4/"

# = (sp + s, C): r67 M for critical damping

A 1 = xo

A 2 = vo + ω xo

# = −*+ sp + s, C : r67 M + s, : r67 M

For maximum x(t), # = 0

1 sp
Cp = − %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
*+ s,
1
#T = sp = 0%%%%%%%Cp = %%%%
*+

#HJx = 0.4%"%%

57$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

#T
#HJx = # C = Cp = % s, Cp : r67 Mà = %
:*+
"
<1%#T = #HJx *+ : = 4.8626 %%%%
4
0.1 = %% s, C, : r67 M| %%%%C, = 0.8258%4:A.%%

Free Vibration with Coulomb Damping “Dry Friction Damping”

Coulomb damping results from the sliding of two dry rough surfaces. The damping
force is equal to the product of the normal reaction “N” between the surfaces and the
coefficient of friction “µ”. Its magnitude “Fd” is constant and is equal to “µN”. Its
direction is opposite to the direction of the velocity. This type of damping is used
for their mechanical simplicity. To obtain the equation of motion, cannot use a single
free body diagram,

%%%%%"# + %'# = −ÜK %%%%%%%%%%%%%%%%%%%%%%%%%("<C;<E%C<%Cℎ:%1;FℎC)

%%%%%"# + %'# = ÜK %%%%%%%%%%%%%%%%%%%%%%%%%("<C;<E%C<%Cℎ:%D:5C)

Each equation is valid for only the half cycle of motion indicated.

The solution of the first equation

58$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

†W
# = s cos *+ C + t sin *+ C −
'
The solution of the second equation
†W
# = u cos *+ C + ° sin *+ C +
'
# = −s*+ sin *+ C + t*+ cos *+ C
# = −u*+ sin *+ C + °*+ cos *+ C

This means that the system vibrates with a frequency which is equal to the natural
frequency. The constants “A” , “B” , “C” and “D” are determined from the initial
conditions.

Let at “t = 0”, x = xo and x! = vo

Let xo, x1, x2,… denote the amplitudes of motion at successive half cycles.

The constants are given by

†W
u = #T − 3%%,%%%%%° = 0%%%%%%%%%%%%îℎ:1:%3 = %%%%%%%%%%
'
# = (#T − 3) cos *+ C + 3
The solution is valid for half the cycle only, i.e. for 0 ≤ t ≤ π/ω, when t=π/ω,
the mass will be at its extreme left position and its displacement from
equilibrium position can be found
?
−#p = # C = = #T − 3 cos ? + 3
*+
%%%%%%%%%= −(#T − 23)
The reduction in magnitude of x in time π/ω (half cycle) is 2d.
In the second half cycle, the mass moves from left to right,
π
# C = 0 = w2Dn:%<5%#%2C%C = %%in%the%1¶ß %equation
ω
%%%%%%%%%%%%%%%%%%= − #T − 23 %%
2E3%# = 0%%
Nℎn4%% − s = −#T + 33,%%%%%%%t = 0%%%%%
# = #T − 33 cos *+ C − 3%%%%
2C%Cℎ:%:E3%<5%Cℎ;4%ℎ2D5%AzAD:%,%

59$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$
?
#, = (#%2C C = = #T − 43 %
*+
2E3%# = 0%%%
These become the initial condition of the third half cycle.

•! The motion stops when xn ≤ d, since the restoring force exerted by the
spring force (kx) will then be less than the friction force (µN).
•! The number of half cycles (r) that elapse before the motion ceases is given
by,
#T − 3
#T − 1. 3 ≤ 3%%%%%%%%%%%Cℎ2C%;4%%%%%%%1 ≥ { }
23
The total motion is described by the Figure shown,

x$

ωnt$

$
It is clear that the amplitude decreases with a constant rate.

Imaginary$axis$

d$
Real$axis$
$
-d$
$
$
$
$
$
$ 60$
$
$ $
$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

The vector plot is a half a circle with radius “xmax – d” and center at “0, d” located at
the left side of the imaginary axis. Similarly, the vector plot located at the right side
of the imaginary axis is a half a circle with radius “xmin + d” and center at “0, -d”.

Notes

1-! The equation of motion is nonlinear,

2-! The natural frequency is not changed with Coulomb damping,
3-! The motion is periodic,
4-! The system comes to rest after some time, theoretically continuous forever
with viscous damping,
5-! The amplitude reduces linearly (exponentially in viscous damping),
6-! In each successive cycle, the amplitude is reduced by 4d
4†W
#H = #Hrp −
'
The slope of the enveloping straight lines shown
4†W
2†W*+
− ' =%−
2? ?'
*+
7-! Potential energy,
1 1
O+ − O+åp = '#+ , − '#+åp , %%% = % ÜK #+ + #+åp %
2 2
1
%%%%%%%%%%%%%%%%%%%%%%%%% ' #+ , − #+åp , % % = % ÜK #+ + #+åp %%%
2
p
' #+ − #+åp % % = % ÜK %%%%
,
2ÜK %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% #+ − #+åp % % = = 23%%%%%%%25C:1%ℎ2D5%AzAD:%%%%%
'
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%5<1%:2Aℎ%AzAD: = 43

Example: “Pulley subjected to Coulomb damping”

A steel shaft of length 1 m and diameter 50 mm is fixed at one end and carries a
pulley of mass moment of inertia 25 Kg.m2 at the other end. A band brake exerts
a constant frictional torque of 400 N.m around the circumference of the pulley. If
the pulley is displaced by 6o and released, determine: i- the number of cycles
before the pulley comes to rest and ii- the final setting position of the pulley.

61$
$
$ Mechanical$Vibrations$ Chapter$II$ Dr.$Bassuny$El-Souhily
$

Solution:

The number of half cycles that elapse before the angular motion of the pulley
ceases is:
ZT − 3 NK
%%%%1 ≥ %%%%%%%%%%%3 = %%%
23 'M

%%%ZT = 6T = 0.10472%123.%%%%%%%%%
RS W. "
%%%'M = = 49,087.5%% %%%%%
D 123
%%NK = 400%W. "%%%%%%%%

%%∴ 1 = 5.926%%%

Cℎn4%Cℎ:%"<C;<E%A:24:4%25C:1%6%ℎ2D5%AzAD:4.

The angular displacement after 6 half cycles

400
Z = 0.10472 − 6 ∗ 2
49,087.5
%%%%= 0.006935%%123. = 0.39734T

Thus the pulley stops at 0.39734o from the equilibrium position on the same side of
the initial displacement.

62$
$