Lecture 2

Free Vibration of Single Degree

of Freedom System
 Undamped Translational System
The spring-mass system shown
represents the simplest vibratory
system.
• Single degree of freedom, one
x
coordinate (x) is sufficient to specify
the mass position at any time. k

• Free vibration, no external force m

applied to the mass (only an initial

disturbance)
• Undamped system, no element
that causes dissipation of energy
during the motion of the mass (the
amplitude of the motion remains
constant with time)
 Derivation of the equation of
motion
The equation of motion can be derived using
• Newton’s Second Law of Motion
• D’ Alembert’s Principles (Dynamic Equilibrium).
• Principle of Virtual Displacements
• Principle of Conservation of Energy
Equation of motion using Newton’s
second law
𝑑2 𝑥
•𝐹 𝑡 = 𝑚 2
𝑑𝑡
= 𝑚𝑥,ሷ where 𝑥ሷ is the
acceleration of the mass.
• When the mass is displaced by x, the force in
the spring is kx and the free body diagram of
the mass can be represented as shown.
x

• The application of the law will be as: kx

m
𝐹 𝑡 = −𝑘𝑥 = 𝑚𝑥ሷ
• 𝑚𝑥ሷ + 𝑘𝑥 = 0
 Solution of the Equation
𝑚𝑥ሷ + 𝑘𝑥 = 0

• 𝐴𝑠𝑠𝑢𝑚𝑒 𝑥 = 𝐶𝑒 𝑠𝑡 where C and s are constants (P.133)

• substituting in the main equation 𝐶 𝑚𝑠 2 + 𝑘 = 0
• Since C cannot be zero, then 𝑚𝑠 2 + 𝑘 = 0 hence
1Τ 1Τ −𝑏 ± 𝑏 2 − 4𝑎𝑐
𝑥=
• 𝑠=± −
𝑘
𝑚
2
= ± 𝑖𝜔𝑛 , where 𝜔𝑛 =
𝑘
𝑚
2
2𝑎

• Therefore, the general solution for the equation is

a=1, b= 0, c= k/m

• 𝑥 = 𝐶1 𝑒 𝑖𝜔𝑛 𝑡 + 𝐶2 𝑒 −𝑖𝜔𝑛 𝑡 , C1 and C2 are constants

• The above equation can be rewritten as
• 𝑥 = 𝐴 𝑐𝑜𝑠 𝜔𝑛 𝑡 ± 𝐵 𝑠𝑖𝑛 𝜔𝑛 𝑡 𝑒 ±𝑖𝛼𝑡 = 𝑐𝑜𝑠 𝛼𝑡 ± 𝑖 𝑠𝑖𝑛 𝛼𝑡
 Solution of the Equation

• The constants A, B, C1 and C2 can be determined from the

initial conditions.
• e.g. If the initial condition is when t=0, x=x0 and 𝑥ሶ = 𝑥ሶ 0 , then

• 𝐴 = 𝑥0 and 𝐵 =
𝑥ሶ 0
𝜔𝑛

• The solution subject to the initial condition is

• 𝑥 = 𝑥0 𝑐𝑜𝑠 𝜔𝑛 𝑡 ±
𝑥ሶ 0
𝜔𝑛
𝑠𝑖𝑛 𝜔𝑛 𝑡
Harmonic Motion
Harmonic Motion
 Harmonic Motion
Definitions and Terminology: P62

Derivative P:134

•𝑥 𝑡 = 𝐴 cos 𝜔𝑛 𝑡 − ∅
𝑥ሶ 0 2 1/2
• 𝐴= 𝑥 2
0 + ( )
𝜔𝑛

• ∅= tan −1 𝑥ሶ 0
𝑥0 𝜔𝑛
 Harmonic Motion

• 𝑥ሶ =
𝑑𝑥
𝑑𝑡
𝑡 = −𝜔𝑛 𝐴 sin 𝜔𝑛 𝑡 − ∅ = 𝜔𝑛 𝐴 cos 𝜔𝑛 𝑡 − ∅ +
𝜋
2

𝑑2𝑥
• 𝑥ሷ =
𝑑𝑡 2
𝑡 = − 𝜔𝑛 2 𝐴 cos 𝜔𝑛 𝑡 − ∅ = 𝜔𝑛 2 𝐴 cos 𝜔𝑛 𝑡 − ∅ + 𝜋
 Harmonic Response of a Water Tank
• The column of the water tank shown is 300
ft high and is made of reinforced concrete
with a tubular cross section of inner
diameter 8 ft and outer diameter 10 ft. The
tank weighs 6*105 lb.
when filled with water. By neglecting the
mass of the column and assuming the
Young’s modulus of
reinforced concrete as 4*106 psi,
determine the following:
• the natural frequency and the natural time
period of transverse vibration of the water
tank.
• the vibration response of the water tank
due to an initial transverse displacement
of 10 in.
• the maximum values of the velocity and
acceleration experienced by the water
tank
Undamped Torsional (Rotational)
System
• The figure shows a disc of
polar mass moment of
inertia J0, mounted at the
free end of a shaft.
• From the theory of torsion
of circular shafts, 𝑀𝑡
𝐺𝐼 ∗
= 0 𝜃
𝑙
𝜋𝑑 4
• 𝐼0 =
32
𝜋𝐺𝑑 4
• 𝑘𝑡 =
𝑀𝑡
𝜃
=
𝐺𝐼0
𝑙
=
32𝑙
 Derivation of the equation of motion
• The equation of the angular motion of the disc
about its axis can be derived using Newton’s law
(or others). By considering the free-body
diagram of the disc shown below, and applying
Newton’s second law of motion
• 𝐽0 𝜃ሷ + 𝑘𝑡 𝜃 = 0
• the natural circular frequency for the torsional
1Τ
𝑘𝑡 2
system is 𝜔𝑛 =
𝐽0

• the period and frequency of vibration in cycles

per second are
1Τ 1Τ
• 𝜏𝑛 = 2𝜋
𝐽0
𝑘𝑡
2
and 𝑓𝑛 =
1 𝑘𝑡
2𝜋 𝐽0
2

Ch 2.3 P: 146
• The general solution of the equation
• 𝜃 = 𝐴 cos 𝜔𝑛 𝑡 ± 𝐵 sin 𝜔𝑛 𝑡
 Quiz (15 min)
• A control pedal of an aircraft can
be modeled as the single-degree-
of-freedom system as shown in
the figure below. Consider the
lever as a massless shaft and the
pedal as a lumped mass at the
end of the shaft. Use the energy
method to determine the equation
of motion in 𝜃 and calculate the
natural frequency of the system.
Assume the spring to be
unstretched at 𝜃 = 0.