Mechanical Vibrations

Dr. CHANDRASHEKARA C V
Professor and Lead: Design Domain,
Department of Mechanical Engineering
Mechanical Vibrations Class No. 11
Chapter 2: Free Vibration of Single-dof Systems

Free vibration with Viscous Damping

Free vibration of
Undamped Torsional System

Numerical: Manual and MatLab

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Mechanical Vibrations Class No. 11
Free vibration with Viscous Damping
Equation of Motion:
where c is the damping constant or
coefficient of viscous damping and the
negative sign indicates that the damping force
is opposite to the direction of velocity
Unit : N-s/m

Viscous damping force F is proportional to the velocity ,

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Mechanical Vibrations Class No. 11
Free vibration with Viscous Damping
If x is measured from the equilibrium position of the mass m,
the application of Newton’s law yields the equation of motion:

General Solution:
To solve Eq. (2), let us assume a solution in the form,

Where, s is an undetermined constants.

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Mechanical Vibrations Class No. 11
Free vibration with Viscous Damping

Inserting these function into Eq. (2) leads to the

characteristic equation,

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Mechanical Vibrations Class No. 11
Free vibration with Viscous Damping

or
(5)

and

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Mechanical Vibrations Class No. 11
Free vibration with Viscous Damping
These roots give two solutions to Eq. (2) as,

The general solution of Eq. (2) is given by a combination

of these two solutions as,

A and B are arbitrary constants to be determined

from the ‘initial conditions’ of the system,

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Mechanical Vibrations Class No. 11
Free vibration with Viscous Damping
Definition:
Critical Damping Constant (cc ) :
The critical damping (cc ) is defined as the value of the
damping constant c for which the radical
in Eq. (5) becomes zero:

or

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Mechanical Vibrations Class No. 11
Free vibration with Viscous Damping
Definition:
Damping Ratio (ζ):

The damping ratio (ζ) is defined as, “Ratio of the damping

constant (c) to the critical damping constant (cc ) ”

Using Equations (8) and (9), we can write it as,

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Mechanical Vibrations Class No. 11
Free vibration with Viscous Damping
With this the roots of the equation (4) becomes,

The general solution for the Euation (7) becomes,

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Mechanical Vibrations Class No. 11
Free vibration with Viscous Damping

Case 1: Under-damped system

Case 2: Critically damped system

Case 3: Over-damped system

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Mechanical Vibrations Class No. 11
Free vibration with Viscous Damping

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Mechanical Vibrations Class No. 11
Free vibration with Viscous Damping
Case 1: Under-damped system or Oscillatory motion

In this case, is negative and the roots s1 and s2

can be expressed as,

The general solution for equation of motion

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Mechanical Vibrations Class No. 11
Free vibration with Viscous Damping
Let, ‘frequency of damped vibration’

and applying the initial conditions as,

Solution for the under-damped system leads to,

the amplitude decreases exponentially with time

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Mechanical Vibrations Class No. 11
Free vibration with Viscous Damping
Note:
1. The frequency of damped vibration is always less
than the undamped natural frequency

2. The under-damped case is very important in the study

of Mechanical Vibrations,
as it is the only case that leads to an oscillatory motion

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Mechanical Vibrations Class No. 11
Chapter 2: Free Vibration of Single-dof Systems
Free vibration of Undamped Torsional System

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Mechanical Vibrations Class No. 11
Chapter 2: Free Vibration of Single-dof Systems
Free vibration of Undamped Torsional System

Equation of Motion: Polar mass moment of inertia

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Mechanical Vibrations Class No. 11
Chapter 2: Free Vibration of Single-dof Systems
Free vibration of Undamped and Damped
Torsional System
An automobile wheel and tire are suspended by a steel rod 0.50 cm in
diameter and 2 m long, as shown in Figure. When the wheel is given
an angular displacement and released, it makes 10 oscillations in 30.2
sec. Determine the polar moment of inertia of the wheel and tire.
Assume the shear modulus of steel as G = 80 x 109 N/m2

Steel rod
Ip l

Wheel
Tire J

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Mechanical Vibrations Class No. 11

Assignment/Self Study
Practice Derivations for response of a
single degree-of-freedom spring-mass
system with viscous damper

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Mechanical Vibrations

Thank You

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Dr. CHANDRASHEKARA C V, PhD
Professor and Lead: Design Domain,
Department of Mechanical Engineering

drcvc@pes.edu
+91 80 6666 3333 Extn 367

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