Ch.

2-Free vibration of SDOF

 System: is an assemblage of parts or components acting together as a whole, when acted upon by
a given excitation (INPUT), exhibits a certain response (OUTPUT).
 Free Vibration: 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, and the motion of a child on a swing after an initial push.
 Mathematical Modeling: The purpose of mathematical modeling is to represent all the important
features of the system for the purpose of deriving the mathematical (or analytical) equations
governing the system s behavior.

Fig.(1): Motorcycle with a rider a physical system and mathematical model.

 Free Vibration Analysis of Un damped Single Degree of Freedom

Consider the configuration of the spring-mass system shown in Fig. 2. The mass hangs at the
lower end of a spring, which in turn is attached to a rigid support at its upper end. At rest, the mass
will hang in a position called the static equilibrium position, in which the upward spring force
exactly balances the downward gravitational force on the mass.

where g is the acceleration due to gravity. Let the mass be deflected a distance from its static
equilibrium position; then the spring force is as shown in Fig. 2, for 𝛿 ∆.
’
The application of Newton s second law of motion to mass m gives:

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 Fig.2: Free body diagram for Spring-mass system

Divide above equation by (m) to get:

𝑥 𝑥 0 OR 𝑥 𝜔 𝑥 0 which is equation of motion of SDOF system.
 Where 𝝎𝟐𝒏 𝒌/𝒎 =natural frequency of the system.
 Equation of motion is a homogeneous second-order linear differential equation, has a general
solution as below:

Where A and B are constants can be obtained from initial conditions, x(0) and 𝑥 0 , so displacement
(mode shape) as function of time is obtained as:
𝑥 𝑡 𝑠𝑖𝑛𝜔 𝑡 𝑥 0 𝑐𝑜𝑠𝜔 𝑡

 Frequency as function of static deflection of spring is: 𝑓

Example 1(Prob.2-2)

0.5 0.98mm

.
Using 𝑓 = =15.923Hz
. /

Also k=.5*9.81/.00098(N/m)= stiffness of spring

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Example 2(Prob.2-3)

100cpm 0.5
75cpm

k/m=(2πf)2 =(2π 100/60)2 k/(m+0.5)= =(2π 75/60)2

m+0.5/m==(100/75)2 we get m=0.642kg
2
and k= =(2π 100/60) *0.642=70.4N/m

Example 3(Prob.2-11)

In Fig. below. Determine the subsequent motion.

Equation of motion is: 𝑥 𝑡 𝑠𝑖𝑛𝜔 𝑡 𝑥 0 𝑐𝑜𝑠𝜔 𝑡

At t=0 time of impact x(0)= m2g/k (at impact)
Velocity of m2 can be obtained from energy conservation: ∆𝑉 ∆𝑇 ∴ 𝑚 𝑔ℎ 𝑚 𝑣
∴𝑣 2𝑔ℎ while at impact ∆𝐺 0 m1v1+m2v2=(m1+m2)v3 in which v1=0 and 𝑣 2𝑔ℎ
∴𝑚 2𝑔ℎ 𝑚 𝑚 𝑣 ∴𝑣 𝑥 0 =initial velocity

From equation of motion: ∑ 𝐹 𝑚𝑎 ∴ 𝑚 𝑚 𝑥 𝑘𝑥 0 𝑜𝑟 𝑥 𝑥 0

𝑘
∴𝜔
𝑚 𝑚

Free Vibration of an Undamped Torsional System

If a rigid body oscillates about a specific reference axis, the resulting motion is called
torsional vibration. In this case, the displacement of the body is measured in terms of an angular
coordinate.
 Newton’ s law is replaced by its rotational form:
𝑀 𝐽𝜃
Where: M= tortional moment about a longitudinal axis
J= moment of inertia about a longitudinal axis
𝜃 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛

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Example 4(Prob.2-5)
A flywheel weighing (35kg) was allowed to swing as a pendulum about a knife-edge at the inner side of
rim as shown in Fig. below, if the measured period of oscillation was (1.225s) , determine the moment of
inertia of the wheel about its geometric axis.

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 Example 5

Energy Method

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Example6

Below

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Example7

Determine the natural frequency of system in Fig. below.

θ
kx

T
T Free body diagram of beam

Free body diagram of mass

M

y
Where x=(L/3) *θ and y =(2L/3) *θ

The potential energy of system is: