DJJ5113 MECHANICS OF MACHINES

CHAPTER
2
SIMPLE HARMONIC
MOTION
2.1 INTRODUCTION

We define Simple Harmonic Motion (SHM) as a periodic motion in which:

a) The acceleration is always directed towards a fixed point in its path.

b) The acceleration is proportional to its distance from the fixed point.

In addition to linear motion and rotational motion there is another kind of motion that is
common in physics. This is the to and fro motion of oscillations or vibrations.

When something oscillates, it moves back and forth with time. It is helpful to trace out
the position of an oscillating particle with time so we can define some terminology.

2.1.1 Simple Harmonic Motion (S.H.M)

• Position x vs. time t

• Definition of period T
• Definition of amplitude A

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Figure 2.1 : Time, Period and Amplitude

2.1.2 Simple Harmonic Motion System

Spring Pendulum

Figure 2.2 : Spring and Pendulum

2.2 SIMPLE HARMONIC MOTION DERIVED FROM A CIRCULAR

MOTION

A pin P in a circular disc rotates at a uniform angular velocity ω about a fixed

point O where OP = r.

The point P moves around the circumference of the circle from X to Y, N moves from X
to O, when P moves from Y to X’, N moves from O to X’.

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Similarly when P moves from X’ to Y’, N moves from X’ to O and finally when P moves
from Y’ to X, N moves from O to X.

Hence, as P completes one revolution, the point N completes one vibration about the
point O. This to and fro motion of N is known as Simple Harmonic Motion.

Figure 2.3 : Simple Harmonic Motion

The motion of N is identical with the horizontal component of the motion of P. Assuming
that time is measured from the position when OP lies along OX. Example t =0 when P is
at X, then the angle turned through by OP in time t is, θ=ωt .

Figure 2.4 : Velocity and Acceleration Of A Particle

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2.3 DISPLACEMENT , x

Displacement of x measured from the mid position at time t is OX given by

X
P Cos θ = , OP = r
OP

r X
=
a Sinθ r
x = r Cos θ
θ
O X
x Where, θ = ωt
Then,
x = r Cos ωt

2.4 VELOCITY, V

The velocity of P is tangential to the circle of rotation and its magnitude is ωr.
The velocity of x is the horizontal component of the velocity of P.

v
v Sin θ =
ωr
v = ωr Sinθ
θ = ωt

ωt v = ωr Sin(ωt)
θ
ω P
P
ωr
r
r r Sinθ
θ
A θ B
o X θ
x
O X
x

XP = √r 2 − x 2
XP
Sinθ =
r
XP = r Sinθ
When x = 0, maximum velocity is
√r 2 − x 2 = r Sinθ
Vmax = ωr
V = ω√𝐫 𝟐 − 𝐱 𝟐

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2.5 ACCELERATION , a

The centripetal acceleration of P is ω2r and is directed radially in wards from P to

O. The acceleration of x is the horizontal component of the acceleration of P.

fb Acceleration, a = ω²r

θ
Vector acceleration,
fb = ω²rCosθ
a

OX
ω Cosθ =
P r
r Cosθ = OX
r
=x
θ
A B a = ω²rCosθ
o X
x a = ω²x

when x = r, maximum acceleration is

amax = ω²r

The important facts are,

a) When the acceleration of x is zero, the velocity is maximum
b) When the velocity of x is zero, the acceleration is maximum

2.6 PERIODIC TIME, tP

The periodic time of S.H.M. is the time taken for point x to complete one to and
pro oscillation. This is also the time for the rotating arm OP to sweep out and angle 2π
rad at ω rad/s. B’

θ
A o B
t=π/ω t=π/2ω t=2π/ω t=0

A’
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The line OP is said to generate the S.H.M. and ω is circular frequency.

2π
Periodic time, tp =
ω
a = ω2x
a
ω= √x
hence,
2π
tp =
a
√x

x
tp = 2π√
a
𝐝𝐢𝐬𝐩𝐥𝐚𝐜𝐞𝐦𝐞𝐧𝐭
tp = 2π√ 𝐚𝐜𝐜𝐞𝐥𝐞𝐫𝐚𝐭𝐢𝐨𝐧

2.7 FREQUENCY, n

The frequency (n) of oscillation is the number of complete cycle, back and forth,
made in unit time. The frequency, n is therefore the reciprocal of the period, tp. The unit
of frequency is the hertz (Hz), which is one cycle per second. Thus,

1
n= ------------- cycle per second
tp

ω
n=
2π
therefore,
𝟏 𝐚𝐜𝐜𝐞𝐥𝐞𝐫𝐚𝐭𝐢𝐨𝐧
n= √𝐝𝐢𝐬𝐩𝐥𝐚𝐜𝐞𝐦𝐞𝐧𝐭
𝟐𝝅

2.8 AMPLITUDE, r

The distance r through which the point X moves on either side of the fixed point
O is called the amplitude of the motion.

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The total distance 2r is called the stroke. The amplitude is always equal to the radius of
the circle

r = amplitude
2r = stroke
X’ o X
r r

Example 1:

A body moving with S.H.M has a velocity of 3 m/s when 375 mm from the mid position
and an acceleration of 1 m/s2 when 250 mm from the mid position. Calculate the periodic
time and the amplitude.

Answer:
Given,
V = 3 m/s ------------------- x = 375 mm = 0.375 m
a = 1 m/s2 ------------------ x = 250 mm = 0.250 m

x
Periodic time, tp = 2π√
a
0.25
= 2π√
1
tp = 3.142 s

Amplitude, r

V = ω√r 2 − x2

a 1
From ω = √x = √ = 2 rad/s
0.25
v
= √r 2 − x 2
ω
3
( )2 = r2 − x2
2
3
𝑟 2 = ( )2 + x 2
2
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3
r = √( )2 + (0.375)2
2

r = 1.55 mm

2.9 THE MASS AND SPRING

2.9.1 Horizontal Motion

B A

O X
x

F=Sx ma

Consider a body A of mass and weight W=mg, attached to a light spring of

stiffness S, which is anchored at B.

The body is constrained to move in horizontal guides, assumed frictionless and in the rest
position it is at point O.

Imagine the body to be pulled to the right a distance r and then released. The pull F in
the spring will initially cause the body to move from rest towards the left. When it is a
distance X from O, the pull F of the spring is from right to left and since x is also the
extension of the spring at this instant,

F = Sx

This pull is ‘balanced’ by the inertial force, ma where a is the acceleration of the body.
Thus inertial force must be from left to right and therefore a is from right to left as
expected.

For equilibrium,

F = ma or Sx = ma
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S S
Thus, a = ( )(x) , when – constant
m m
= constant (x)

When the spring is compressed and the body is to the left of O, then both the spring
force and the inertia force are reversed in direction so that acceleration a is still directed
towards O.

a = ω2x
S
a = ( )(x)
m

S
ω2 =
m

S
ω= √
m

The frequency of oscillation is

𝛚 𝟏 𝐒
n= = √
𝟐𝛑 𝟐𝛑 𝐦

and periodic time is

𝟐𝛑 𝐦
tp = = 2π√
𝛚 𝐒

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2.9.2 Vertical Motion

Unstretched ma
d A At rest
O
mg
x
X

The body A be supported vertically by the spring. At rest, the force in the spring is W.
Hence the deflection at rest or static deflection, d is given by ;
W=Sxd
W mg
d= =
S S

The body be pulled a distance r below position O and then released. We should expect
the body to move upwards from this position with an acceleration towards O due to the
upward pull of the spring. At X, a distance x from O, the total extension of the spring is
d + x. Spring force is,
F = S(d+x)

This force is balanced by the weight, W together with the inertia force, ma, both acting
downward.
F = W + ma
S(d+x) = W + ma , W = Sd
Sd + Sx = Sd + ma
W + Sx = W + ma
Sx = ma
S
a = ( )x
m
a = constant (x)

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The acceleration, a is therefore proportional to the distance X from the position of

equilibrium O and always directed towards O. The motion of the body A is therefore
S.H.M.
m
Period time, tp = 2π√
S
mg
=d
S

where d is the static deflection, so that the period may be written:

tp = 2π√𝐝⁄𝐠

𝟏 𝐠
frequency, n = 𝟐𝝅
√ ⁄𝐝

Example 2:

A mass of 64 kg is suspended vertically from 2 parallel springs with the same coefficient.
Static deflection caused by the mass is 52 mm. The mass is pulled downward 65 mm and
then released. Calculate:

(a) The spring constant for each spring.

(b) The initial acceleration for the body.
(c) The periodic time of oscillation.
(d) The maximum force of the spring.
(e) The velocity where the body is at 25 mm from the stability.

Answer:

Given,

d = 52 mm = 0.052 m

x = 65 mm = 0.065 m

64 kg

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(a) S = spring constant

W = Sd W = Mg
Mg = Sd
Mg
S=
d

64(9.81)
S=
0.052
S = 12.07 KN/m
S 12.07
S’ = S1 + S2 = = = 6.04 KN/m
2 2

(b) a = ω²x

S 12.07 𝑥 102
ω= √ =√ = 13.73 rad/s
m 64
a = (13.73)2(0.065) = 12.25 m/s2

2𝜋 2𝜋
(c) tp = 𝜔 = = 0.46 s
13.73

(d) Fmax = S( d + x )

= (12.07 x 103 )(0.052 + 0.065) = 1412.19 N

(e) V = 𝜔√𝑟 + 𝑥 2 = (13.73)√(0.065)2 + (0.025)2 = 0.8238 m/s

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2.10 SIMPLE PENDULUM

Q
θ
F
θ
l

W c
b ma
F
O ma
s
A

O
x

A simple pendulum is formed by a concentrated body of mass, m and weight, W

at the end of a light cord of length, l suspended at Q. When displaced with the cord taut
from the rest position O, the mass moves in an arc about Q. When released from a
displaced position A it tends to return to the rest position, the mass always accelerates
towards O from any displaced position along the arc AO. The force acting on the mass
at A are ;

a) The weight, W vertically downwards

b) The tension, F in the cord at A, acting from A to O
c) The inertia force, ma required for balance

From the triangle of force, abc ;

bc
Sin θ =
ab

ma
= , W = mg
W

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a
=
g

From the diagram,

S
Sin θ = where S = arc OA
l

a
thus, θ= ,
g

a = gθ

S
= g( )
l

g
=( )S
l

= Constant (s)

Thus the acceleration, a is directed along the tangent to the arc at A, towards O and is
proportional to the distance s from O, measured along the arc. The motion of the
pendulum is therefore approximately Simple Harmonic.

g
a=( )S , a = ω²x
l

g
ω² =
l

Period time, tp

2π
tp =
ω

l
= 2π√
g

Frequency,n

1 g
n=
2π
√l

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Example 3:

A simple pendulum has a period of 4 s. Find its length.

If the amplitude is 300mm, find the velocity and acceleration at 100 mm displacement
from the position of equilibrium. What is the maximum velocity and acceleration.

Answer:

Given,

tp = 4 s,

r = 300 mm = 0.3 m

x = 100 mm = 0.1 m

l
tp = 2π√
g

tp l
( )2 =
2π g
tp 2 4
l=g( ) = 9.81( )2 = 3.98 m
2π 2𝜋

V= ω√r 2 − x 2
2π
tp =
ω
2π 2π
ω = = = 1.571 rad/s
tp 4

V = (1.571)√(0.3)2 − (0.1)2 = 0.44 m/s

a = 𝜔²𝑥 = (1.571)2(0.1) = 0.247 m/s2

Vmax = 𝜔𝑟 = (1.571)(0.3) = 0.471 m/s

amax = 𝜔²𝑟 = (1.571)2(0.3) = 0.74 m/s2

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TUTORIAL

Question 1
A body performs S.H.M. in a straight line. Its velocity is 4 m/s when the displacement is
50 mm and 3 m/s when the displacement is 100 mm, the displacement being measured
from the mid position. Calculate the frequency and amplitude of the motion. What is the
acceleration when the displacement is 75 mm.

Ans : [ 4.87 Hz , 0.140 m , 70.2 m/s2 ]

Question 2
A piston is driven by a crank and connecting road as shown in figure. The crank is 75 mm
long and the rod 450 mm. Assuming the acceleration of the piston to be simple harmonic,
find its velocity and acceleration in the position shown when the crank speed is 360
rev/min clockwise. What is the maximum acceleration of the piston and where does it
occur?

600 o
A B

Ans : [ 2.45 m/s , 53.3 m/s2 , 106.6 m/s2 ]

Question 3
A particle, moving with S.H.M. performs 10 complete oscillation per minute and its speed,
when at a distance of 80 mm from the centre of oscillation is 3/5 of the maximum speed.
Find the amplitude, the maximum acceleration and the speed of the particle, when it is
60 mm from the centre of the oscillation.

Ans : [ 0.1 m , 0.1096 m/s2 , 0.08376 m/s ]

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Question 4
A piston, moving with a S.H.M, has a velocity of 8 m/s, when it is 1 meter from the centre
position and a velocity of 4 m/s. when it is 2 meters from the centre. Find:

(a) Amplitude
(b) Periodic Time
(c) Maximum velocity
(d) Maximum acceleration
Ans : [ (a) 2.236 m , (b) 1.57 s , (c) 8.944 m/s , (d) 35.78 m/s2 ]

Question 5
A 2.25 kg mass hangs from a string of length 900 mm. Calculate the stiffness of spring
required to give the same period as the pendulum when carrying the same mass. What
is the frequency of oscillation?

The simple pendulum is hung inside a vehicle accelerating smoothly at 2.4 m/s2. Calculate
the horizontal displacement if is not set swinging.

Ans : [ 24.5 N/m , 0.525 Hz , 0.220 m ]

Question 6
A part of a machine of mass 4.54 kg has a reciprocating motion which is S.H.M. in
character. It makes 200 complete oscillations in 1 minute. Find:

(a) The accelerating force upon it and its velocity when it is 75 mm, from mistaken
(b) The maximum accelerating force, and
(c) The maximum velocity if its total stroke is 225 mm
If the amplitude of vibration is 112.5 mm.

Ans : [ (a) 149.3 N , 1.76 m/s, (b) 224 N , (c) 2.36 m/s ]

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