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 vibrations (Transient and steady state vibration response)
6 Two degree of freedom systems
7 Multi-degree of freedom systems and continuous system
8 Vibration isolation and absorption
9 An introduction to vibration measurements
10 An introduction to modal analysis
11 An introduction to Vibration-based condition monitoring

Course Textbook
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
𝑚 𝑚
𝑐
𝑥ሷ 𝑡 + 𝑥(𝑡) ሶ + 𝜔𝑛 2 𝑥 𝑡 = 0
𝑚
𝑘
= 𝜔𝑛 2
𝑚
𝑐 𝑐 𝑐
= 2𝜁 𝜔𝑛 => 𝜁 = =
𝑚 2 𝑚𝜔𝑛 𝑐𝑐

Where
k: stiffness coefficient (N/m)
c: damping coefficient (N s/m or kg/s ) 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
Torsional (rotational) 1 DOF Damped Free Vibration (Viscous Damping)
We repeat the same procedure for a rotational system
𝐽 θሷ t = −𝑘𝑡 θ t − 𝑐𝑡 θሶ (t)
𝐽 θሷ t + 𝑐𝑡 θሶ (t) + 𝑘𝑡 θ t = 0 (the equation of motion)
𝑐𝑡 𝑘𝑡
θሷ t + ሶθ (t) + θ 𝑡 = 0
𝐽 𝐽
𝑐𝑡
ሷθ 𝑡 + θ(t)ሶ + 𝜔𝑛 2 θ 𝑡 = 0
𝐽
𝑘𝑡
= 𝜔𝑛 2
𝐽
𝑐𝑡 𝑐𝑡 𝑐𝑡
= 2𝜁 𝜔𝑛 => 𝜁 = =
𝐽 2 𝐽 𝜔𝑛 𝑐𝑐

Where
𝑘𝑡: rotational stiffness coefficient (N.m/rad)
ct: rotational damping coefficient (N.m.s/rad) 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 6
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 8
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 9
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 10
 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 11
Conversion between linear and rotational systems

Linear to rotational: m → J c → ct k → kt
J = m 𝑙2 ct = c 𝑙 2 kt = k 𝑙 2

Torsional to linear: J → m ct → c k → kt
m = J/ 𝑙 2 c = ct/ 𝑙 2 k = kt/ 𝑙 2

Where 𝑙 is the distance from the element location to the centre of rotation, as seen in the figures

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 12
Example
In the system model shown in the figure, the mass is 10 kg,
k= 1000 N/m, and c= 62.5 N s/𝑚. By ignoring the beam masss, determine 𝜔𝑛 and 𝜔𝑑
Take a= 0.4 m, and b=0.6 m.

Solution
𝑚𝑒𝑞
σ 𝑀=𝐽 𝜃ሷ
(𝐽𝑏 +𝐽𝑚 )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= (𝐽𝑚 = 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∗ 0.4 2
𝜔𝑛 = = = 4 rad/sec
𝑚 𝑙2 10 (0.4+0.6)2
𝑐 𝑙 =𝑎+𝑏
𝜁= = c/ 2 𝑚𝑒𝑞 𝜔𝑛 = 62.5/[(2) (62.5) (4)]= 0.125 "underdamped"
𝑐𝑐
𝑚 𝑙2 1 2
𝜔𝑑 = 𝜔𝑛 1− 𝜁2 = 3.96 rad/sec Where, 𝑚𝑒𝑞 = = 10 ( ) =62.5 kg
𝑎2 0.4

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 13
Example
In the system model shown in the figure, the mass is 10 kg,
k1= 1000 N/m, k2=500 N/m, and c= 16 N s/𝑚 (kg/s). By ignoring the beam masss, determine
𝜔𝑛 and 𝜔𝑑
Take a= 0.4 m, and b=0.6 m. 𝑚 𝑒𝑞
Solution
σ 𝑀=𝐽 𝜃ሷ
(𝐽𝑏 +𝐽𝑚 )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= (𝐽𝑚 = 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 𝑚𝑒𝑞 𝜔𝑛 = 16/[(2) (1.6) (20.31)]= 0.246 "underdamped"
𝑐𝑐
𝑚𝑎2 0.4 2
𝜔𝑑 = 𝜔𝑛 1− 𝜁2 = 19.68 rad/sec Where, 𝑚𝑒𝑞 = = 10 ( ) =1.6 kg
𝑙2 1
Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 14
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=371.5 N s/m, r1=0.2 m, r2=0.4 m, 𝐽𝑝𝑢𝑙𝑙𝑒𝑦 = 1.1 𝑘𝑔 𝑚2
Solution
σ M=J θሷ
𝜃 𝑟1 = 𝑥
( Jpulley +m r12 ) θሷ = −k (r2)2 θ −c (r1)2 θሶ 𝜃ሶ r1 = 𝑥ሶ
𝑚𝑒𝑞
( Jpulley +m r12 ) θሷ +c (r1)2 θ+k
ሶ (r2)2 θ = 0 𝜃 𝑟2 = 𝑥𝑘
𝜃ሶ r2 = 𝑥𝑘
ሶ
c (r1)2 k (r2)2 Where
θሷ + θሶ + θ=0 𝑥𝑘 is the displacement of the spring k
( Jpulley +m r12 ) ( Jpulley +m r12 )

k (r2)2 1000 (0.4)2 rad

ωn = = = 10.32
( Jpulley +m r12 ) (1.1 + 10 ∗ 0.22 ) sec
𝑐 371.5
𝜁= = = 0.48 "underdamped" where,
2 𝑚𝑒𝑞 𝜔𝑛 2 ∗37.5 ∗10.32
𝑚𝑒𝑞 = 𝑚 + (𝐽𝑝𝑢𝑙𝑙𝑒𝑦 / r12 ) = 10 + 1.1/ 0.22 =37.5 kg
𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2 = 10.32 1 − 0.482 =9 rad/sec
Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 15
Example
For the system described by the following equations, determine 𝜔𝑛 and 𝜔𝑑 and plot the response.
Take:
m=100 kg,
k= 910 N/m
c= 100 N s/𝑚 (100 kg/s).

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 16
Solution
After that find A and ∅

Then use the solution equation to plot

the response.

Hint: use a time range until you have “at

least” one complete cycle. Use the time
period T to estimate the time range.

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 17
Tutorial
Find the 𝜔𝑛 and determine if the system is underdamped, critically damped or overdamped.
r2
Take: 𝐽𝑚 = m ,m
2
= 20 kg, r = 0.2 m, 𝑐𝑡 = 0.3 𝑘N. m. sec/rad, 𝑘𝑡 1= 40 × 103 N.m/ rad
oil, ct
𝑘𝑡 2= 20 × 103 N.m/ rad

𝑘𝑡 3= 30 × 103 N.m/ rad

𝑘𝑡 4= 30 × 103 N.m/ rad

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 18
 Solution
1 1 1 1
= + +
𝑘𝑒𝑞1,2,3 𝑘1 𝑘2 𝑘3
𝑘𝑡 1= 40 × 103 N.m/ rad
𝑘1 𝑘2 𝑘3
𝑘𝑒𝑞1,2,3 = = 9.2 × 103 N.m/ rad oil, ct
𝑘2 𝑘3+𝑘1 𝑘3+𝑘1 𝑘2
𝑘𝑡 2= 20 × 103 N.m/ rad
keq= keq1,2,3+ k4 =9.2+30=39.2 × 103 N.m/ rad
𝑘𝑡 3= 30 × 103 N.m/ rad
σ 𝑀=𝐽 𝜃ሷ 𝐽𝑚 𝜃ሷ = − 𝑘eq 𝜃 − 𝑐𝑡 𝜃ሶ
𝐽𝑚 𝜃ሷ + 𝑐𝑡𝜃ሶ + 𝑘𝑒𝑞 𝜃 = 0 𝑘𝑡 4= 30 × 103 N.m/ rad
0.22
𝐽𝑚 = 20 =0.4 kg .m2
2

0.4 𝜃ሷ + 300 𝜃ሶ + 39.2 × 103 𝜃 = 0

39.2 × 103 𝑟𝑎𝑑

ωn = = 313
0.4 𝑠𝑒𝑐
𝑐𝑡 𝑐𝑡 300
𝜁= = = = 1.19 , since it is more than 1.0, the system is overdamped
𝑐𝑐 2 𝐽𝑚 𝜔𝑛 2 ∗ 0.4 ∗ 313

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 19