FREE VIBRATION OF SINGLE-

DEGREE-OF-FREEDOM
SYSTEMS
 FREE VIBRATION OF SINGLE-DEGREE-OF-FREEDOM SYSTEMS

A system is said to undergo free vibration when it

oscillates only under an initial disturbance with no
external forces acting afterward.

Some examples are the oscillations of the pendulum of a

grandfather clock, the vertical oscillatory motion felt by a
bicyclist after hitting a road bump, and the motion of a
child on a swing after an initial push.

INSTRUCTOR : ENGR. NICKIE D. CAABAY

 FREE VIBRATION OF SINGLE-DEGREE-OF-FREEDOM SYSTEMS

Figure shows a spring-mass system that

represents the simplest possible vibratory
system. It is called a single-degree-of-freedom
system, since one coordinate (x) is sufficient
to specify the position of the mass at any time.

There is no external force applied to

the mass; hence the motion resulting from an
initial disturbance will be free vibration.

INSTRUCTOR : ENGR. NICKIE D. CAABAY

 FREE VIBRATION OF SINGLE-DEGREE-OF-FREEDOM SYSTEMS

Since there is no element that causes dissipation of

energy during the motion of the mass,
the amplitude of motion remains constant with time;
it is an undamped system.

In actual practice, except in a vacuum, the

amplitude of free vibration diminishes gradually
over time, due to the resistance offered by the
surrounding medium (such as air). Such vibrations
are said to be damped.

INSTRUCTOR : ENGR. NICKIE D. CAABAY

 FREE VIBRATION OF SINGLE-DEGREE-OF-FREEDOM SYSTEMS

The elasticity of the system, which may

be distributed throughout the system, can
also be idealized by a single spring.

For the cam follower system shown in

figure for example, the various masses
were replaced by an equivalent mass

𝑙 𝐽 𝑙
𝑚 𝑚 𝑚 𝑚
𝑙 𝑙 𝑙
INSTRUCTOR : ENGR. NICKIE D. CAABAY
 FREE VIBRATION OF SINGLE-DEGREE-OF-FREEDOM SYSTEMS

The elements of the follower system

(pushrod,
rocker arm, valve, and valve spring)
are all elastic but can be reduced to a
single equivalent spring of stiffness
𝑘
For a simple analysis, the cam-
follower system can thus be
idealized as a single-degree-of-
freedom spring-mass system, as
shown in figure
INSTRUCTOR : ENGR. NICKIE D. CAABAY
 FREE VIBRATION OF SINGLE-DEGREE-OF-FREEDOM SYSTEMS

The structure shown in For the study of transverse

figure can be considered a vibration, the top mass can be
cantilever beam that is considered a point mass and the
fixed at the ground. supporting structure (beam) can
be approximated as a spring to
obtain the single-degree-of-
freedom model as shown

INSTRUCTOR : ENGR. NICKIE D. CAABAY

 FREE VIBRATION OF SINGLE-DEGREE-OF-FREEDOM SYSTEMS

The building frame shown in figure (a) can also be

idealized as a spring-mass system, as shown in
figure (b).
In this case, since the spring constant k is merely
the ratio of force to deflection, it can be determined
from the geometric and material properties of the
columns.
The mass of the idealized system is the same as
that of the floor if we assume the mass of the
columns to be
negligible
INSTRUCTOR : ENGR. NICKIE D. CAABAY
 FREE VIBRATION OF SINGLE-DEGREE-OF-FREEDOM SYSTEMS

Newton s second law of motion can be stated as follows:

The rate of change of momentum of a mass is equal to the force acting on it.

mass (m) is displaced a distance 𝑥⃗ 𝑡 function of time, when acted upon by a

resultant force 𝐹⃗ 𝑡 function of time in the same direction, Newton s second law of
motion gives
𝑑 𝑑𝑥⃗ 𝑡
𝐹⃗ 𝑡 𝑚
𝑑𝑡 𝑑𝑡

If mass m is constant, this equation reduces to.

𝑑 𝑥⃗ 𝑡
𝐹⃗ 𝑡 𝑚 𝑚𝑥⃗
𝑑𝑡
Where acceleration 𝑑 𝑥⃗ 𝑡
𝑥⃗
𝑑𝑡
Resultant force on the mass = mass acceleration
INSTRUCTOR : ENGR. NICKIE D. CAABAY
 FREE VIBRATION OF SINGLE-DEGREE-OF-FREEDOM SYSTEMS

For a rigid body undergoing rotational motion, Newton s law gives

𝑀 𝑡 𝐽∅
Where
𝑀 is the resultant moment acting on the body
∅
∅ and ∅ are the resulting angular displacement
and angular acceleration, respectively

INSTRUCTOR : ENGR. NICKIE D. CAABAY

 FREE VIBRATION OF SINGLE-DEGREE-OF-FREEDOM SYSTEMS
The figure (a) shown that mass is supported on frictionless
rollers and can have translatory motion in the horizontal
direction

When the mass is displaced a distance 𝑥 from its static

equilibrium position, the force in the spring is 𝑘𝑥, and the
free-body diagram as shown in figure (c)
𝑑 𝑥⃗ 𝑡
𝐹⃗ 𝑡 𝑚 𝑚𝑥⃗
𝑑𝑡
𝐹⃗ 𝑡 𝑘𝑥
𝐹⃗ 𝑡 𝑚𝑥⃗
10 𝑘𝑥 𝑚𝑥⃗
𝑘𝑥 𝑚𝑥⃗ 0 Eq(1) is linear, ordinary homogeneous differential
INSTRUCTOR : ENGR. NICKIE D. CAABAY equation with constant coefficients.
 FREE VIBRATION OF SINGLE-DEGREE-OF-FREEDOM SYSTEMS

The solution of Eq. (1) 𝑘𝑥 𝑚𝑥⃗ 0 A solution of Equation

is assumed to be of the form of 𝑠 ∓𝑖𝜔
𝑚𝑠 𝑘 0 Eq. 4
𝑥 𝑡 𝐶𝑒 Eq.(2) 𝑚𝑠 𝑘 𝑤ℎ𝑒𝑟𝑒:
𝑥 𝑡 𝐶𝑠𝑒 𝑘 𝑘
𝑠 𝜔
𝑥 𝑡 𝐶𝑠 𝑒 Eq.(3) 𝑚 𝑚
where C and s are constants to be determined. Substitution 𝜔 natural
𝑘
of Eq. (2) & 3 into Eq. (1) gives 𝑠 ∓ frequency
𝑚
𝑚 𝐶𝑠 𝑒 𝑘 𝐶𝑒 0 Where:
1 𝑖 1
𝑚 𝐶𝑠 𝑒 𝑘 𝐶𝑒 0
𝑒
𝑚𝐶𝑠 𝑘𝐶 0 𝑘
𝑠 ∓ 1
𝐶 𝑚𝑠 𝑘 0 𝑚

Since C cannot be zero

1 𝑘
𝐶 𝑚𝑠 𝑘 0 𝑠 ∓𝑖 Eq. 5
𝐶 𝑚
INSTRUCTOR : ENGR. NICKIE D. CAABAY
 FREE VIBRATION OF SINGLE-DEGREE-OF-FREEDOM SYSTEMS

Eq.(4) 𝑚𝑠 𝑘 0 is called the auxiliary or Eq.(6) can be written as

the characteristic equation corresponding to 𝑥 𝑡 𝐶 cos 𝜔 𝑡 𝐶 𝑖sin 𝜔 𝑡 𝐶 cos 𝜔 𝑡 𝐶 𝑖sin 𝜔 𝑡
the differential Eq. (1)
𝐴 𝐶 𝐶 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑜𝑓 𝐼𝑛𝑡𝑒𝑔𝑟𝑎𝑡𝑖𝑜𝑛
The two values of s given by Eq. (5) are the roots of 𝐴 𝑖 𝐶 𝐶
the characteristic equation, also known as the
eigenvalues or the characteristic values of the 𝐴 &𝐴 𝑟𝑒𝑎𝑙 𝑛𝑢𝑚𝑏𝑒𝑟
problem. 𝐶 &𝐶 𝑐𝑜𝑚𝑝𝑙𝑒𝑥 𝑐𝑜𝑛𝑗𝑢𝑔𝑎𝑡𝑒
Since both values of s satisfy Eq. (4), the general solution Then equation becomes
of Eq. (1) can be expressed as
𝑥 𝑡 𝐴 cos 𝜔 𝑡 𝐴 sin 𝜔 𝑡 Eq. 6
𝑥 𝑡 𝐶𝑒 𝐶 𝑒 Eq. 6
Where 𝐴 and 𝐴 are new constants. The constants 𝐶
and 𝐶 or 𝐴 and 𝐴 can be determined from the
Where 𝐶 and 𝐶 are constants. Euler’s identity states initial conditions of the system.
𝑒 cos 𝛼𝑡 𝑖sin 𝛼𝑡
𝑒 cos 𝛼𝑡 𝑖sin 𝛼𝑡
INSTRUCTOR : ENGR. NICKIE D. CAABAY
 FREE VIBRATION OF SINGLE-DEGREE-OF-FREEDOM SYSTEMS

𝑥 𝑡 𝐴 cos 𝜔 𝑡 𝐴 sin 𝜔 𝑡
𝑥 𝑡 𝐴 cos 𝜔 𝑡 𝐴 sin 𝜔 𝑡 Eq. 6 @ 𝑥 𝑡 𝑥 ,𝑡 0
Two conditions are to be specified to 𝑥 𝐴 cos 𝜔 0 𝐴 sin 𝜔 0
evaluate these constants uniquely 𝑥 𝐴 1 𝐴 0
Noting that the number of conditions to 𝑥 𝐴
be specified is the same as the order of 𝑥 𝑡 𝐴 cos 𝜔 𝑡 𝐴 sin 𝜔 𝑡
the governing differential equation. First derivative
Present case, if values of 𝑥 𝑡 𝐴 𝜔 sin 𝜔 𝑡 𝐴 𝜔 cos 𝜔 𝑡
@ 𝑥 𝑡 𝑥 ,𝑡 0
displacement 𝑥 𝑡 𝑥
First derivative
velocity 𝑥 𝑡 𝑡 𝑥 𝑥 𝑡 𝑥 ,𝑡 0
at time 𝑡 = 0 𝑥 𝐴 𝜔 sin 𝜔 0 𝐴 𝜔 cos 𝜔 0
𝑥 0 𝐴 𝜔 1
𝑥
𝑥 𝐴 𝜔 𝐴
INSTRUCTOR : ENGR. NICKIE D. CAABAY 𝜔
 FREE VIBRATION OF SINGLE-DEGREE-OF-FREEDOM SYSTEMS

The equation Eq. 6 becomes

substituting the value of 𝐴 & 𝐴
𝑥
𝑥 𝑡 𝑥 cos 𝜔 𝑡 sin 𝜔 𝑡
𝜔

INSTRUCTOR : ENGR. NICKIE D. CAABAY

Introducing Equation 𝐴 𝐴 cos ∅ and 𝐴 𝐴 sin ∅ into
𝑥 𝑡 𝐴 cos 𝜔 𝑡 𝐴 sin 𝜔 𝑡
Equation becomes
𝑥 𝑡 𝐴 cos 𝜔 𝑡 ∅
By using the relations

Can also be expressed as

𝑥 𝑡 𝐴 sin 𝜔 𝑡 ∅
Where:

INSTRUCTOR : ENGR. NICKIE D. CAABAY

1.) If the spring mass system is in vertical position, as shown in figure, the circular
natural frequency can be expressed as

INSTRUCTOR : ENGR. NICKIE D. CAABAY

The natural frequency in cycles per second and the natural period are given by

When the mass vibrates in vertical direction, we can compute the natural
frequency and the period of vibration by simply measuring the static deflection
𝛿 , We don’t need to know the spring stiffness k and the mass m.
INSTRUCTOR : ENGR. NICKIE D. CAABAY
2.) From Eqution below, the velocity 𝑥 𝑡 and the acceleration 𝑥 𝑡 of the
mass 𝑚 at time 𝑡 can be obtained as

INSTRUCTOR : ENGR. NICKIE D. CAABAY

3.) If the initial displacement 𝑥 is zero

If the initial velocity 𝑥 is zero

INSTRUCTOR : ENGR. NICKIE D. CAABAY

Harmonic Response of a Water Tank
The column of the water tank shown in figure is 300 ft high and is
made of reinforced concrete with a Tubular cross section of inner
diameter of 8ft and outer diameter 10ft. The tank weighs 6 10 𝑙𝑏
When filled with water. By neglecting the mass of the column
and assuming the Young’s
Modulus of reinforced concrete as 4 10 psi, determine the
following:

a. The natural frequency and the natural time period of

transverse vibration of the water tank.
b. The vibration response of water tank due to an initial
transverse displacement of 10 in.
c. The maximum values of the velocity and acceleration
INSTRUCTOR : ENGR. NICKIE D. CAABAY
experienced by the water tank.
 Assuming that the water tank is a
point mass, the column has a
uniform cross section, and the mass
of the column is negligible, the
system can be modeled as a
cantilever beam with a
concentrated load at the free end
as shown

INSTRUCTOR : ENGR. NICKIE D. CAABAY

 Given:
l = 300ft m=6 10 𝑙𝑏
Di = 8ft E =4 10 psi
Do = 10ft

INSTRUCTOR : ENGR. NICKIE D. CAABAY