Indian Institute of Technology, Kharagpur

Ocean Engineering and Naval Architecture

VIBRATION OF FLOATING STRUCTURES

by
Dr. N. Datta
Teaching Assistants
Mr. R.K. Praharaj, Mr. A. Pal

Lecture #2
Free undamped vibration of 1 DOF system
1 DOF spring-mass system model

Lumped mass has only one degree of freedom (shown by arrow).

Displacement 𝑥(𝑡)
Linear Spring : Spring force is linearly proportional to the displacement.
Spring Force 𝐹𝑠𝑝𝑟𝑖𝑛𝑔 = 𝑘𝑥
Spring force opposes the motion.
 Single DOF free vibration GDE
Newton’s 2nd law
Inertia force (mass × acceleration) = External force
𝑚𝑥ሷ 𝑡 = −𝑘𝑥 𝑡 … … … 𝑁
Governing Differential Equation (GDE)
𝑚𝑥ሷ 𝑡 + 𝑘𝑥 𝑡 = 0 … … … 𝑁
Second-order, linear, homogenous, constant coefficient, ordinary differential
equation (ODE).
Independent variable : time 𝑡 (𝑠)
Dependent variable / Unknown : Displacement 𝑥(𝑡)
Parameters : Mass 𝑚 , spring constant 𝑘
Solved by : Method of Characteristic Equation.
Solution : Complementary Function only.
Governing Differential Equation (GDE)
𝑚𝑥ሷ 𝑡 + 𝑘𝑥 𝑡 = 0 … … … 𝑁
Assume 𝑥 𝑡 = 𝑥0 𝑒 𝜆𝑡 . Substituting in GDE, 𝑥0 𝑒 𝜆𝑡 [𝑚𝜆2 + 𝑘] = 0
𝑘
For a non-trivial solution, 𝑚𝜆2 + 𝑘 = 0 ⇒ 𝜆 = ±𝑖 = ±𝑖𝜔
𝑚

𝑘
Natural frequency 𝜔𝑛 ≡ radians per second. It depends only on the internal
𝑚
2𝜋
properties of the system. Natural undamped time period 𝑇𝑛 =
𝜔𝑛

General Solution : 𝑥 𝑡 = 𝐴𝑒 𝑖𝜔𝑛𝑡 + 𝐵𝑒 −𝑖𝜔𝑛𝑡

= 𝐴 cos 𝜔𝑛 𝑡 + 𝑖𝑠𝑖𝑛 𝜔𝑛 𝑡 + 𝐵 cos 𝜔𝑛 𝑡 − 𝑖𝑠𝑖𝑛 𝜔𝑛 𝑡
= 𝐴 + 𝐵 cos 𝜔𝑛 𝑡 + 𝑖 𝐴 − 𝐵 sin(𝜔𝑛 𝑡) = 𝐶1 cos 𝜔𝑛 𝑡 + 𝐶2 sin(𝜔𝑛 𝑡)
A, B are arbitrary constant that depend on the initial conditions : initial displacement
𝑥(0) and initial velocity 𝑥ሶ 0 . It is an IVP (Initial Value Problem : the initial value of the
unknown is known).
Let 𝑥 0 = 𝑥0 and 𝑥ሶ 0 = 𝑣0 . Substituting in the general solution,
𝑣0
𝑥 𝑡 = 𝑥0 cos 𝜔𝑛 𝑡 + sin 𝜔𝑛 𝑡
𝜔𝑛
2 𝑣0
𝑣0 𝑥0 𝜔
= 𝑥02 + cos 𝜔𝑡 + sin 𝜔𝑡
𝜔𝑛
2 𝑣0 2 2 𝑣0 2
𝑥0 + 𝑥0 +
𝜔𝑛 𝜔𝑛
= 𝐶 {𝑐𝑜𝑠𝜙 cos(𝜔𝑛 𝑡) + 𝑠𝑖𝑛𝜙 sin(𝜔𝑛 𝑡)} = 𝐶𝑐𝑜𝑠 𝜔𝑛 𝑡 − 𝜙

𝑣0 2 𝑣0 Τ𝜔𝑛
where 𝐶 = 𝑥02 + and 𝜙 = tan−1
𝜔𝑛 𝑥0
Times Series
 Phase Plane
𝑥ሶ 𝑡
𝜔𝑛

𝑣0
2 𝑥0 ,
𝑣0 𝜔𝑛
Radius = 𝑥02 +
𝜔𝑛
𝑣0 Τ𝜔𝑛
𝜙 = tan−1
𝑥0
𝑥(𝑡)
End of Lecture #2
Thank you