Chapter 2

Free Vibrations of Single Degree of

Freedom [SDOF]
Dr.-Ing. Azmi Mohamed Yusof
Faculty of Mechanical Engineering
Content

▪ Learning outcomes
▪ REVIEW 1 : Classification of rigid body motion
▪ REVIEW 2 : Instantaneous center of rotation
▪ Free vibration of SDOF undamped system
▪ REVIEW 3 : Moment of inertia
▪ Deriving the equation of motion (FBD method)
▪ Deriving the equation of motion (Energy method)
▪ Free vibration of SDOF damped system
▪ Logarithmic decay
▪ Tutorial problems

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1.0 Learning outcomes

At the end of this chapter students should be able to state, derive and
apply the fundamental principle of vibration involving:-
▪ deriving the equation of motion using the free body diagram method
▪ deriving the equation of motion using the energy method
▪ the dynamic response of undamped free vibration of SDOF systems
▪ The dynamic response of free vibration with viscous damping of
SDOF system

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2.1 Classification of rigid body motion [Review]
Kinematics of rigid body
▪ relations between time and the positions, velocities, and accelerations of
the particles forming a rigid body.

Classification of rigid body motions:

▪ Translation:
➢ Rectilinear
➢ Curvilinear

▪ Rotation about a fixed axis

▪ General plane motion

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2.1 Classification of rigid body motion [Review]
▪ Example
Classify the type of motion for the system shown below

Arm AB =
Arm BC =
Piston head =

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2.1 Classification of rigid body motion [Review]
Translation
▪ Consider rigid body in translation:
➢ direction of any straight line inside the body is
constant,
➢ all particles forming the body move in parallel lines.

▪ All particles have the same velocity.

▪ All particles have the same acceleration.
▪ Examples in vibration system

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2.1 Classification of rigid body motion [Review]
Rotation about a fixed axis
▪ Consider rotation of rigid body about a fixed axis AA’
▪ Velocity of any point on rigid body
𝑥ሶ = 𝜃ሶ × 𝑟റ = 𝜃𝑘
ሶ × 𝑟റ

𝑥ሶ = 𝑟𝜃ሶ (a)

▪ Acceleration
2 1
𝐿 𝐿
𝑥ሷ = 𝜃ሷ × 𝑟റ + 𝜃ሶ × 𝜃ሶ × 𝑟റ
3 k 3

(b)
𝜃ሷ × 𝑟റ  tangential acceleration
𝜃ሶ × 𝜃ሶ × 𝑟റ  radial acceleration
▪ Example in vibration system
➢ See figure (c) & (d)
➢ What is their generalized coordinate? (c)

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2.1 Classification of rigid body motion [Review]
General motion
▪ General plane motion is neither a translation nor a rotation
▪ Most general motion of a rigid body is equivalent to:
➢ a translation in which all particles have the same velocity and acceleration of a
reference particle A, and
➢ of a motion in which particle A is assumed fixed.

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2.2 Instantaneous Centre of Rotation (IC) [Review]
What is IC?
▪ a point in the plane of motion at which the velocity is instantaneously
zero
▪ It may or may not lie on the body!

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2.2 Instantaneous Centre of Rotation (IC) [Review]
How to locate the IC?
▪ Use the fact that the velocity of a point on a body is always perpendicular
to the relative position vector from the IC to the point.
▪ There are several possibilities exist
▪ First case
➢ Consider the case when velocity vA of a point A on
the body and the angular velocity ω of the body are
known.
➢ In this case, the IC is located along the line drawn
perpendicular to vA at A, a distance rA /IC = vA / ω
from A.
➢ Note that the IC lies up and to the right of A since vA
must cause a clockwise angular velocity ω about
the IC.

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2.2 Instantaneous Centre of Rotation (IC) [Review]
How to locate the IC?
▪ Second case
➢ Second case occurs when the lines of
action of two non-parallel velocities, vA
and vB, are known.
➢ First, construct line segments from A
and B perpendicular to vA and vB.
➢ The point of intersection of these two
line segments locates the IC of the
body

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2.2 Instantaneous Centre of Rotation (IC) [Review]
Example
▪ Locate the IC

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2.2 Instantaneous Centre of Rotation (IC) [Review]
▪ Answer

▪ Note that the gear rolls without slipping. Thus, the IC is at the contact
point with the gear rack B.

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2.2 Instantaneous Centre of Rotation (IC) [Review]
Example
▪ Locate the IC

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2.2 Instantaneous Centre of Rotation (IC) [Review]
▪ Answer

▪ The instantaneous center of rotation is at the intersection of the

perpendiculars to the velocities through B and D

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2.2 Instantaneous Centre of Rotation (IC) [Review]
Exercise
▪ Locate the IC

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3.0 Free vibration of SDOF undamped system
Free vibrations
▪ Oscillates only under an initial disturbance with no
external force acting.
▪ Sinusoidal and harmonic motion
▪ No damping, no energy loss
(a)
A. Translation system (rectilinear)
▪ Consider the spring-mass system shown in fig. (a)
▪ The initial length of the spring is 𝑙𝑜
▪ Attach the mass at the spring ends, the spring
deflected at 𝛿𝑠𝑡 and rest to equilibrium

(b)
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3.0 Free vibration of SDOF undamped system
▪ The FBD for the mass in equilibrium is shown in Fig. (b), then
𝒎𝒈 = 𝒌. 𝜹𝒔𝒕  𝛿𝑠𝑡 = static deflection 1

▪ Let the mass be deflected a distance +x (downward), using Newton’s

second law we have,
𝑚𝑥ሷ = −𝑘 𝑥 + 𝛿𝑠𝑡 + 𝑚𝑔
▪ But 𝑚𝑔 = 𝑘. 𝛿𝑠𝑡 , then finally we have
𝒎𝒙ሷ + 𝒌𝒙 = 𝟎 2

▪ Eqn. (2) is a linear, second order ordinary differential equation [ODE]

▪ Dividing all terms with m, we obtain
𝑥ሷ + 𝜔𝑛2 𝑥 = 0
▪ 𝜔𝑛 is called the natural frequency, or
𝒌
𝝎𝒏 = : measured in rad/s 3
𝒎

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3.0 Free vibration of SDOF undamped system
▪ Solving the equation of motion can be done using ODE procedure
𝑥ሷ + 𝜔𝑛2 𝑥 = 0
▪ Assume the solution is in the form of, 𝑥 𝑡 = 𝐶𝑒 𝑠𝑡
𝑥ሶ 𝑡 = 𝐶𝑠𝑒 𝑠𝑡
𝑥ሷ 𝑡 = 𝐶𝑠 2 𝑒 𝑠𝑡
▪ Substitute into equation (2), we obtain
𝑠 2 + 𝜔2 = 0, 𝑠 = ±𝑖𝜔𝑛
▪ The general solution for x(t) is
𝑥 𝑡 = 𝐴1 𝑒 𝑖𝜔𝑛 𝑡 + 𝐴2 𝑒 −𝑖𝜔𝑛 𝑡 or 𝑥 𝑡 = 𝐴1 𝑐𝑜𝑠𝜔𝑛 𝑡 + 𝐴2 𝑠𝑖𝑛𝜔𝑛 𝑡
▪ We can also write the equation into a trigonometric form
𝑥 𝑡 = 𝐴1 𝑐𝑜𝑠𝜔𝑛 𝑡 + 𝐴2 𝑠𝑖𝑛𝜔𝑛 𝑡
▪ Where A1 and A2 are constants

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3.0 Free vibration of SDOF undamped system
▪ A1 and A2 can be determined by applying the initial conditions
▪ Using initial conditions,
𝑥 𝑡 = 0 = 𝐴1 = 𝑥𝑜 𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡
𝑥ሶ 𝑡 = 0 = 𝜔𝑛 𝐴2 = 𝑥ሶ 𝑜 (𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦)
▪ Finally we obtain the time response of the displacement,
𝒙ሶ 𝒐
𝒙 𝒕 = 𝒙𝒐 𝒄𝒐𝒔𝝎𝒏 𝒕 + 𝒔𝒊𝒏𝝎𝒏 𝒕 4
𝝎𝒏

▪ We can also express the above equation that represents simple

sinusoidal motion
▪ From, 𝑥 𝑡 = 𝐴1 𝑐𝑜𝑠𝜔𝑛 𝑡 + 𝐴2 𝑠𝑖𝑛𝜔𝑛 𝑡
▪ Let, 𝐴1 = 𝐴 sin 𝜑 , and 𝐴2 = 𝐴 cos 𝜑
▪ Then 𝑥 𝑡 = 𝐴𝑠𝑖𝑛𝜑 ∙ 𝑐𝑜𝑠𝜔𝑛 𝑡 + 𝐴𝑐𝑜𝑠𝜑 ∙ 𝑠𝑖𝑛𝜔𝑛 𝑡. From trigonometric
identity, we obtain
𝒙 𝒕 = 𝑿 𝐬𝐢𝐧(𝝎𝒏 𝒕 + 𝝋) 5

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3.0 Free vibration of SDOF undamped system
𝑥

𝜑 1 cycle 2π = 𝜔𝑛 𝑡

𝑋
𝐴𝑠𝑖𝑛𝜑

O
𝜔𝑛 𝑡
𝑋

▪ Where the amplitude X = 𝐴1 2 + 𝐴2 2,

▪ Thus, the amplitude of oscillation
𝟐 𝒙ሶ 𝒐 𝟐
𝑿= 𝒙𝒐 + 6
𝝎𝒏

▪ While the phase angle can be obtained from 𝜑 = tan−1 𝐴𝐴2, thus,
1

−𝟏
𝒙𝒐 𝝎𝒏
𝝋 = 𝒕𝒂𝒏 7
𝒙ሶ 𝒐

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3.0 Free vibration of SDOF undamped system
Example
▪ A block of mass 0.0647 kg is suspended from a spring having a stiffness
of 50 N/m. The block is displaced downwards from its equilibrium
position through a distance of 2 cm and released with an upward velocity
of 3 cm/s. Determine:-
a) the natural frequency
b) the period of oscillation
c) the maximum velocity
d) he maximum acceleration
e) the phase angle

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3.0 Free vibration of SDOF undamped system
Solution
𝑘 50
a) 𝜔 = = = 27.80 𝑟𝑎𝑑/𝑠
𝑚 0.0647

2𝜋 (2)(3.142)
b) 𝑇 = = = 0.23𝑠
𝜔 (27.80)

c) 𝑥ሶ 𝑚𝑎𝑥 = 𝑋𝜔 = (−2.0 × 10−2 ) 27.80 = 0.556 𝑚/𝑠

d) 𝑥ሷ 𝑚𝑎𝑥 = 𝑋𝜔2 = −2.0 × 10−2 27.80 2 = −15.46 𝑚/𝑠 2

𝑥 𝜔 −2
−1 (−2.0×10 )(27.80)
e) 𝜑 = 𝑡𝑎𝑛−1 𝑜 ሶ 𝑛 = 𝑡𝑎𝑛 = −86.91𝑜
𝑥𝑜 3.0×10−2

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3.0 Free vibration of SDOF undamped system
Example
▪ A 10 kg body is suspended from a spring of constant k = 2.5 kN/m. At
time t = 0, it has a downward velocity of 0.5 m/s as it passes through the
position of static equilibrium. Determine:
a) The static spring deflection
b) The natural frequency of the system
c) The system period
d) The displacement x as a function of time, where x is measured from the
position of static equilibrium
e) The maximum velocity attained by the mass
f) the maximum acceleration attained by the mass

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3.0 Free vibration of SDOF undamped system
Solution
𝑚𝑔 (10)(9.81)
a) 𝛿𝑠𝑡 = = = 0.0392𝑚
𝑘 2500

𝑘 2500
b) 𝜔 = = = 15.81 𝑟𝑎𝑑/𝑠
𝑚 10
2𝜋 (2)(3.142)
c) 𝑇 = = = 0.397𝑠
𝜔 (15.81)
𝑥ሶ
d) From 𝑥 𝑡 = 𝑥𝑜 𝑐𝑜𝑠𝜔𝑛 𝑡 + 𝑜 𝑠𝑖𝑛𝜔𝑛 𝑡
𝜔𝑛
0.5
𝑥 𝑡 = 0 cos 18.81 𝑡 + 18.81 sin 18.81 𝑡
𝑥 𝑡 = 0.0316 𝑠𝑖𝑛 18.81 𝑡 m

e) 𝑥ሶ 𝑚𝑎𝑥 = 𝑋𝜔 = (0.0316) 15.81 = 0.5 𝑚/𝑠

f) 𝑥ሷ 𝑚𝑎𝑥 = 𝑋𝜔2 = (0.5) 15.81 = 7.91 𝑚/𝑠 2

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3.0 Free vibration of SDOF undamped system
B. Rotational system
▪ Apply external torque T on the disc, and
then release  torsional oscillation exists.
▪ The angle of twist is given by
𝑇𝐿
𝜃= 8
𝐽𝐺

▪ Torsional spring constant is given by

𝑇 𝐺𝐽
𝑘𝑡 = = 9
𝜃 𝐿
-- (1b) -- (2b)
▪ If the disk is displaced by , the restoring ▪ G = Modulus of rigidity
torque is 𝑀𝑡 = 𝑘𝑡 𝜃 (opposite direction to
▪ J = Polar moment of inertia
applied T)
𝜋
▪ 𝐽 = 𝑅4 For solid shaft
▪ From Newton’s law of motion, 𝑀𝑡 = 𝐼𝑜 𝛼 2
𝜋
▪ 𝐽 = [𝑅𝑜 4 −𝑅𝑖 4 ] For hollow shaft
ሷ ሷ
−𝒌𝒕 𝜽 = 𝑰𝑶 𝜽 or 𝑰𝑶 𝜽 +𝒌𝒕 𝜽 = 𝟎 10 2

▪ 𝐼𝑂 = Mass moment of inertia

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3.0 Free vibration of SDOF undamped system
▪ The natural frequency:
𝑘𝑡
𝜔𝑛 = 11
𝐼𝑜

▪ The general solution for 𝜃ሷ +𝜔𝑡 𝜃 = 0 can be obtained by introducing

the initial conditions
▪ Let 𝜃 𝑡 = 0 = 𝐴1 = 𝜃𝑜 ; 𝜃ሶ 𝑡 = 0 = 𝜔𝑛 𝐴2 = 𝜃ሶ𝑜
▪ Finally the general solution is:
𝜽ሶ 𝒐
𝜽 𝒕 = 𝜽𝒐 𝐜𝐨𝐬 𝝎𝒏 𝒕 + 𝐬𝐢𝐧 𝝎𝒏 𝒕 12
𝝎𝒏

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3.0 Free vibration of SDOF undamped system
Example
▪ For the disk system shown in fig. 2 determine
a) the equation of angular motion of the disk
b) the period of vibration of the system

L2 d2

L1 d1

JG

Fig. 2

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3.0 Free vibration of SDOF undamped system
Solution
Obtain the equivalent stiffness for the shafts which are arranged in series
𝐺𝐽1 𝐺𝐽2 𝜋𝐺(𝑑1 𝑑2 )4
𝑘1 = ; 𝑘1 = ; thus the equivalent stiffness is, 𝑘 = 𝑘1 + 𝑘2 =
𝑙1 𝑙2 32(𝑙1 𝑑1 4 +𝑙2 𝑑2 4 )
The equation of motion is −𝑘𝜃 = 𝐼𝑜 𝜃ሷ
𝜋𝐺(𝑑1 𝑑2 )4
𝐼𝑜 𝜃ሷ + 4 4 𝜃 =0
32(𝑙1 𝑑1 + 𝑙2 𝑑2 )
𝑘 𝜋𝐺(𝑑1 𝑑2 )4
Thus the natural frequency, 𝜔𝑛 = =
𝐼𝑜 32𝐼𝑜 (𝑙1 𝑑1 4 +𝑙2 𝑑2 4 )

32𝐼𝑜 (𝑙1 𝑑1 4 +𝑙2 𝑑2 4 )

The period of vibration, 𝑇 = 2𝜋
𝜋𝐺(𝑑1 𝑑2 )4

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3.0 Free vibration of SDOF undamped system
Translational & rotational systems – A comparison
Translational system Torsional system
Mass, 𝑚 (kg) Mass moment of inertia, 𝐼𝑜 (kg.m4)
𝐹 𝑇
Stiffness, 𝑘 = 𝛿 (N/m) Torsional stiffness, 𝑘𝑡 = 𝜃 (Nm/rad)
𝑠𝑡

Displacement, 𝑥 (m) Angular displacement, 𝜃 (rad)

Velocity, 𝑣 𝑜𝑟 𝑥ሶ (m/s) Angular velocity, 𝜃ሶ (rad/s)
Acceleration, 𝑎 𝑜𝑟 𝑥ሷ (m/s2) Angular acceleration, 𝜃ሷ (rad/s2)
𝑘 𝑘𝑡
Natural frequency, 𝜔𝑛 = (rad/s) Natural frequency, 𝜔𝑛 = (rad/s)
𝑚 𝐼𝑜

Equation of motion, 𝑚𝑥ሷ + 𝑘𝑥 = 0 Equation of motion, 𝐼𝑜 𝜃ሷ +𝑘𝑡 𝜃 = 0

Amplitude of oscillation 𝐴 = Amplitude of oscillation, 𝐴 =
2 𝑥ሶ 𝑜 2 2
𝑥𝑜 + 2 𝜃ሶ 𝑜
𝜔𝑛 𝜃𝑜 + 𝜔𝑛

𝑥𝑜 𝜔𝑛 𝜃𝑜 𝜔𝑛
Phase angle, 𝜑 = 𝑡𝑎𝑛−1 Phase angle, 𝜑 = 𝑡𝑎𝑛−1
𝑥ሶ 𝑜 𝜃ሶ 𝑜

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4.0 Moment of inertia [Review]
Types of moment of inertia
▪ Area moment of inertia
▪ Mass moment of inertia

Area moment of inertia

▪ First moment of area = centroid
▪ Second moment of area = moment of inertia (area moment of inertia)
▪ The definition

𝐼𝑥 = ‫ 𝑦 𝐴׬‬2 𝑑𝐴 ; 𝐼𝑦 = ‫ 𝑥 𝐴׬‬2 𝑑𝐴
▪ The polar moment of inertia is an important parameter in problems
involving torsion of cylindrical shafts and rotations of slabs

𝐽𝑜 = න 𝑟 2 𝑑𝐴 = 𝐼𝑥 + 𝐼𝑦
𝐴
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4.0 Moment of inertia [Review]
Properties of plane figures

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4.0 Moment of inertia [Review]
Mass moment of inertia (MMI)
▪ The mass moment of inertia (MMI) of a body is a
property that measures the resistance of the body to
angular acceleration
▪ Consider a rigid body and the arbitrary axis P shown
in the figure. The MMI about the P axis is defined as I
= m m r2 dm, where r, the “moment arm,” is the
perpendicular distance from the axis to the arbitrary
element dm.
▪ The mass moment of inertia is always a positive
quantity and has a unit of kg · m2
▪ The radius of gyration has units of length and is a
measure of the distribution of the body’s mass about
the axis at which the moment of inertia is defined.
𝑰 = 𝒎𝒌𝟐 13

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4.0 Moment of inertia [Review]

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4.0 Moment of inertia [Review]
Parallel axis theorem
▪ If the mass moment of inertia of a body about an axis passing through
the body’s mass center is known, then the moment of inertia about any
other parallel axis may be determined by using the parallel axis theorem

14

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4.0 Moment of inertia [Review]
▪ Example
For the system shown below, obtain the moment of inertia about point O.

Solution

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5.0 Equation of motion (FBD method)
Important steps in deriving the equation of motion using FBD
method
▪ Drawing Free body diagram (FBD) and kinetic diagram (KD) is a must
▪ Identify the generalized coordinate
▪ FBD – show all forces acting on the rigid body
▪ KD - show all inertial forces acting on the rigid body
Example
y

x
Include your
positive z-axis
direction too

Mechanical System FBD KD

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5.0 Equation of motion (FBD method)
Translation system
▪ Apply Newton’s 2nd law of motion for the translation system:-
෍ 𝐹(𝑓𝑟𝑜𝑚 𝐹𝐵𝐷) = ෍ 𝐹(𝑓𝑟𝑜𝑚 𝐾𝐷)

෍ 𝐹 = ෍ 𝑚𝑎

▪ Example:
For k = 500 N/m, obtain the equation of motion for the spring-mass system
shown in Fig. 1. Find the period of oscillation.
x
3k
2k k
20 kg

2k

Fig. 1

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5.0 Equation of motion (FBD method)
Solution
▪ Draw FBD & KD
3𝑘𝑥
0.67𝑘𝑥 20 kg 20 kg
2𝑘𝑥

FBD KD

෍ 𝐹(𝑓𝑟𝑜𝑚 𝐹𝐵𝐷) = ෍ 𝐹(𝑓𝑟𝑜𝑚 𝐾𝐷)

−0.67𝑘𝑥 − 3𝑘𝑥 − 2𝑘𝑥 = 𝑚𝑥ሷ

20𝑥ሷ + 2835𝑥 = 0
▪ Rearrange the equation, 𝑥ሷ + 141.75𝑥 = 0
𝜔𝑛2 = 141.75, 𝜔𝑛 = 11.9 𝑟𝑎𝑑/𝑠
2𝜋
𝑇= = 0.53𝑠
𝜔𝑛

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 39

5.0 Equation of motion (FBD method)
Rotation system
▪ Apply Euler 2nd law of motion
෍ 𝑀(𝑓𝑟𝑜𝑚 𝐹𝐵𝐷) = ෍ 𝑀(𝑓𝑟𝑜𝑚 𝐾𝐷)

෍ 𝑀 = ෍ 𝐼 𝜃ሷ

▪ Note about the sign of moment direction : cw (-ve)

; ccw (+ve)
▪ Example
Obtain the equation of motion for the system
shown in fig. 2
Fig. 2

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 40

5.0 Equation of motion (FBD method)
Solution 𝑄

▪ Draw FBD during static equilibrium condition

▪ Introducing the support forces, P & Q by springs
M𝑔
➢ to hold the system in static equilibrium

▪ Take equilibrium of moment about point O 𝑃

𝑚𝑔
෍ 𝑀𝑜 = 0
FBD

▪ −𝑄𝑟 − 𝑃𝑟 + 𝑚𝑔𝑟 = 0 thus 𝑃 + 𝑄 = 𝑚𝑔  these are the spring forces to

hold the system in equilibrium
2𝑘𝑥 + 𝑄
▪ Then, draw FBD & KD

M𝑔

𝑚𝑔 𝑃 + 𝑘𝑥 KD
FBD
MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 41
5.0 Equation of motion (FBD method)
Apply σ 𝑀(𝑓𝑟𝑜𝑚 𝐹𝐵𝐷) = σ 𝑀(𝑓𝑟𝑜𝑚 𝐾𝐷)

−2𝑘𝑥𝑟 + 𝑚𝑔𝑟 − 𝑘𝑥𝑟 − 𝑃𝑟 − 𝑄𝑟 = 𝐼𝜃ሷ + 𝑚𝑥𝑟

ሷ but 𝑥ሷ = 𝑟𝜃ሷ
−3𝑘𝑟 2 𝜃𝑟 + 𝑚𝑔𝑟 − 𝑃𝑟 − 𝑄𝑟 = 𝐼𝜃ሷ + 𝑚𝜃𝑟
ሷ 2 but −𝑃𝑟 − 𝑄𝑟 = −𝑚𝑔𝑟
Thus
𝜃ሷ 𝐼 + 𝑚𝑟 2 + 3𝑘𝑟 2 𝜃 = 0
▪ Important finding
➢ The mass of rigid body disappeared in the equation of motion
➢ To make the solution step shorter, omit the step of finding the support force
(static equilibrium case)
➢ Discard body weight in the equation.

3𝑘𝑟 2
▪ The natural frequency, 𝜔𝑛 = 𝐼+𝑚𝑟 2

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 42

5.0 Equation of motion (FBD method)
Example
▪ Determine the natural frequency n for the compound
pendulum shown in fig. 1

Solution
Draw FBD and Kinetic diagram
Apply σ 𝑴𝑨 = σ(𝑴𝑨 )𝒆𝒇𝒇
−(𝑚𝑔)(𝑑 sin 𝜃) = 𝐼𝑜 𝜃ሷ Fig. 1
ሷ (𝑚𝑔)(𝑑 sin 𝜃) = 0
𝐼𝑜 𝜃 +
Assume  is very small, thus sin  = 
𝐼𝑜 𝜃 +ሷ 𝑚𝑔𝑑𝜃 = 0
To obtain its natural frequency, rearrange the equation
𝑚𝑔𝑑
𝜃+ ሷ 𝜃=0
𝐼𝑜
𝑚𝑔𝑑
Thus the natural frequency, 𝜔𝑛 = 𝐼𝑜

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 43

5.0 Equation of motion (FBD method)
Example
▪ A square mass m as shown in fig. 1 is hinged at O, determine
a) the equation of motion of the square mass.
b) the natural frequency of the square mass.

Solution
Draw the FBD and Kinetic diagram Fig. 1
Apply σ 𝑴𝑨 = σ(𝑴𝑨 )𝒆𝒇𝒇
−𝑚𝑔 𝑏 sin 𝜃 = 𝐼𝑜 𝜃ሷ
Assume  is very small, thus sin  = . And also:
1 5
𝐼𝑜 = 𝐼𝐺 + 𝑚𝑑 2 = 𝑚 4𝑏2 + 4𝑏2 + 𝑚𝑏2 = 𝑚𝑏2
12 3
5 3𝑔
Finally we obtain: 𝑚𝑏2 𝜃ሷ + 𝑚𝑔𝑏𝜃 = 0  𝜃ሷ + 𝜃 = 0
3 5𝑏

3𝑔
𝜔𝑛 =
5𝑏
MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 44
Exercise
▪ For the mechanical system shown below, determine :-
a) the equation of motion [𝐴𝑛𝑠: 𝜃ሷ 𝐼 + 4𝑚𝑟 2 + 𝑘𝑟 2 𝜃 = 0]

𝑘𝑟 2
b) the period of oscillation [𝐴𝑛𝑠: 𝜔𝑛 = ]
𝐼+4𝑚𝑟 2

I
k

2r

m x

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 45

6.0 Equation of motion (Energy method)
Energy method (Rayleigh’s Method)
▪ Free vibration involves the cyclic interchange of kinetic (T) and potential
(U) energy.
▪ No energy dissipated or lost in undamped free vibration system.
▪ For a spring-mass system
➢ U is stored when stretching the spring
➢ T is stored by virtue of its velocity

▪ Energy is conserved, thus

Energy in = Energy out Translation Rotation
1 1 2
T + U = constant 𝑇 = 𝑚𝑥ሶ 2 𝑇 = 𝐼 𝜃ሶ
2 2
T1 + U1 = T2 + U2
▪ When the mass passing the equilibrium condition, T = T1 and U = U1 = 0

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 46

6.0 Equation of motion (Energy method)
▪ When the mass is at maximum displacement, T = T2 = 0, U = U2. Finally
we have
T1 + U2 = 0 or Tmax + Umax = 0 15

Steps to establish the equation of motion using Rayleigh’s

methods:
▪ Obtain total energy when the mass reaching at maximum displacement
▪ Obtain total energy when the mass passing the starting point position
▪ Establish the energy equation, σ 𝑇 + 𝑈 = 0
𝑑
▪ Apply partial derivative for the energy equation, 𝑑𝑡 𝑇+𝑈 =0

▪ Simplify the equation

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 47

6.0 Equation of motion (Energy method)
Example
▪ Establish the equation of motion for the system shown using Rayleigh’s
energy method.

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 48

6.0 Equation of motion (Energy method)
Solution
1
Total energy at maximum position: 𝑈 = 2 𝑘𝑥 2 , T = 0
1 1
Total energy when return to equilibrium position: 𝑇 = 2 𝑚𝑣 2 = 2 𝑚𝑥ሶ 2 , U = 0.
1 1
Satisfying the conservation of energy: 𝑇 + 𝑈 = 2 𝑚𝑥ሶ 2 + 2 𝑘𝑥 2 = 0
𝑑 𝑑
Apply partial derivative: 𝑑𝑡 𝑇 + 𝑈 = 0 𝑑𝑡(𝑚𝑥ሶ 2 +𝑘𝑥 2 ) = 0  𝑚𝑥ሶ 𝑥ሷ + 𝑘𝑥𝑥ሶ = 0
 𝑥(𝑚
ሶ 𝑥ሷ + 𝑘𝑥) = 0, finally we have:
𝑘
 Rearrange the equation,  𝑥ሷ + 𝜔𝑛2 𝑥 = 0, where 𝜔𝑛 =  Done!!
𝑚

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 49

6.0 Equation of motion (Energy method)
Example (revisited)
▪ A square mass m as shown in fig. 1 is hinged at O, determine
a) the equation of motion of the square mass using energy
methods
b) the natural frequency of the square mass.

Fig. 1

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 50

6.0 Equation of motion (Energy method)
Solution

Consider two conditions:

1. When the mass reaching highest position
2. When the mass returning and passing the equilibrium position
First condition: 𝑈𝑚𝑎𝑥 = 𝑚𝑔(𝑏 − 𝑏 cos 𝜃); 𝑇𝑚𝑎𝑥 = 0
1 1
Second condition: 𝑈𝑚𝑎𝑥 =0; 𝑇𝑚𝑎𝑥 = 2 𝐼𝑜 𝜃ሶ 2 = 2 𝐼𝑜 𝜃ሶ 2
5 5
But, 𝐼𝑜 = 3 𝑚𝑏2   𝑇𝑚𝑎𝑥 = 6 𝑚𝑏2 𝜃ሶ 2

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 51

6.0 Equation of motion (Energy method)
Taking the energy is conserved
𝑇𝑚𝑎𝑥 + 𝑈𝑚𝑎𝑥 = 0
5
𝑚𝑏2 𝜃ሶ 2 + 𝑚𝑔 𝑏 − 𝑏 cos 𝜃 = 0
6
𝑏𝜃 2
Simplifying 𝑏 − 𝑏 cos 𝜃 = 𝑏 1 − cos 𝜃 = we obtain
2
5
𝑚𝑏2 𝜃ሶ 2 + 𝑚𝑔𝑏𝜃 2 = 0
6
Applying partial derivative
𝑑 5
𝑚𝑏2 𝜃ሶ 2 + 𝑚𝑔𝑏𝜃 2 = 0
𝑑𝑡 6
5
𝑏𝜃ሷ + 𝑔𝜃 = 0
3
The natural frequency can be obtained by rearranging the equation
3𝑔 3𝑔
𝜃ሷ − 5𝑏 𝜃 = 0   𝜔𝑛 = 5𝑏

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 52

7.0 Free vibration of SDOF damped system
▪ Damping  system / device that dissipates mechanical energy
▪ Viscous damper or dashpot is the most common damping
element  retarding the vibration
▪ Viscous damping force  velocity of mass
𝑭 = 𝒄𝒙ሶ 16

▪ c is the damping constant and is measured in N.s/m

▪ Work done by a damper : 𝑊 𝑥1→𝑥2 = − ‫𝑥𝑥׬‬12 𝑐 𝑥ሶ 𝑑𝑥
▪ Generally there are two types of damping
➢ Viscous damping (only this type will be covered)
➢ Coulomb damping – due to surface friction

▪ From FBD in fig (b) & using Newton’s law, we obtain the
equation of motion as:
𝑐 𝑘
𝑥ሷ + 𝑥ሶ + 𝑥 =0 17
𝑚 𝑚

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 53

7.0 Free vibration of SDOF damped system
▪ We solve this eqn. by assuming the general solution as 𝑥 𝑡 = 𝐶𝑒 𝑠𝑡
▪ Substitute into eqn. (17) yield,
1 𝑐 𝑐 2 𝑘 𝑐 𝑐 2 𝑘
𝑠= − ± − 4 or 𝑠 = − ± −
2 𝑚 𝑚 𝑚 2𝑚 2𝑚 𝑚

𝑐 2 𝑘
▪ Assuming the radical 𝑎 = 2𝑚
−
𝑚

▪ Thus, there are three solutions depending on the radical a, i.e:

➢a=0
➢a<0
➢a>0

▪ For, a = 0, we obtain
𝑐 2 𝑘 𝑐 𝑘
− =0 = = 𝜔𝑛 and also 𝑐 = 𝒄𝒄 = 𝟐𝒎𝝎𝒏 18
2𝑚 𝑚 2𝑚 𝑚

▪ Cc is called the critical damping constant

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 54

7.0 Free vibration of SDOF damped system
Damping ratio, 
𝑐 𝑐 2 𝑘 𝑐 𝑐 2
▪ From 𝑠 = −
2𝑚
±
2𝑚
−
𝑚
, or 𝑠 = − 𝜔𝑛
𝑐𝑐
± 𝜔𝑛
𝜔𝑛
−1

𝑨𝒄𝒕𝒖𝒂𝒍 𝒅𝒂𝒎𝒑𝒊𝒏𝒈 𝒄 𝒄
▪ Introducing the damping ratio,  = 𝑪𝒓𝒊𝒕𝒊𝒄𝒂𝒍 𝒅𝒂𝒎𝒑𝒊𝒏𝒈
= =
𝒄 𝟐𝒎𝝎 𝒄 𝒏

▪ We can also rewrite the equation of motion as:

𝑥ሷ + (2 ∙  ∙ 𝜔𝑛 )𝑥ሶ + (𝜔𝑛 2 )𝑥 = 0 19

▪ Thus, we obtain the solution for the equation of motion as:

𝑠 = (− ± 2 − 1)𝜔𝑛 20
▪ The solution of equation (20) depends on the damping factor:-
➢ Case 1, when  < 1
➢ Case 2, when  = 1
➢ Case 3, when  > 1

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 55

7.0 Free vibration of SDOF damped system
Case 1,  < 1 (underdamped system)
▪ When  < 1, the roots of equation (20) become imaginary (complex
number)
𝑠 = (− ± 𝑖 2 − 1)𝜔𝑛 , where 𝑖 = −1

▪ The solution is : 𝑥 𝑡 = 𝑒 −𝜔𝑛𝑡 (𝐴 𝑐𝑜𝑠 1 − 2 𝜔𝑛 𝑡 + 𝐵 sin 1 − 2 𝜔𝑛 𝑡)

▪ Or 𝑥 𝑡 = 𝑒 −𝜔𝑛𝑡 (𝐴 𝑐𝑜𝑠 𝜔𝑑 𝑡 + 𝐵 sin 𝜔𝑑 𝑡)
▪ Apply the initial condition: 𝑥 𝑡 = 0 = 𝑥𝑜 , then 𝐴 = 𝑥𝑜
𝑥ሶ 𝑜 +𝑥𝑜 𝑛
▪ Apply second initial condition: 𝑥ሶ 𝑡 = 0 = 𝑥ሶ 𝑜 , 𝐵 = 𝑑
,

▪ Thus, the time response of the displacement,

−𝜔𝑛 𝑡
𝑥ሶ 𝑜 + 𝑥𝑜 𝑛
𝑥 𝑡 =𝑒 (𝑥𝑜 𝑐𝑜𝑠 𝜔𝑑 𝑡 + sin 𝜔𝑑 𝑡) 21
𝑑

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 56

7.0 Free vibration of SDOF damped system
▪ We can also write the solution in the form of simple sinusoidal equation

𝒙 𝒕 = 𝑿 𝐬𝐢𝐧(𝝎𝒅 𝒕 + 𝝋)

This is the amplitude of oscillation

▪ We introduce 𝝎𝒅 as damped circular frequency : 𝝎𝒅 = 𝝎𝒏 𝟏 − 𝟐

2
𝑥ሶ 𝑜 +𝑥𝑜 ∙∙𝜔𝑛
▪ Where the amplitude of oscillation, 𝑋 = 𝒆−𝝎𝒏𝒕 𝑥𝑜 2 + 𝜔𝑑
and

𝑥𝑜 ∙𝜔𝑑
the phase angle, 𝜑 = 𝑡𝑎𝑛−1
𝑥ሶ 𝑜 +𝑥𝑜 ∙∙𝜔𝑛

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 57

7.0 Free vibration of SDOF damped system

▪ The amplitude diminishes with each cycle of vibration

▪ The period of damped vibration is 𝜏𝑑 = 𝜔2𝜋
𝑑

▪ Since d < d , the period of damped vibration is greater than that of free
2𝜋
vibration (τ = )
𝜔𝑛

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 58

7.0 Free vibration of SDOF damped system
Case 2,  = 1 (critically damped system)
▪ If Cc = c, then the solution for equation 12 become , 𝑠 = −𝜔𝑛
▪ This situation is known as critical damping (c has the smallest value)
▪ The solution is in the form of
Exponential decay

𝑥 𝑡 = (𝐴 + 𝐵𝑡)𝑒 −𝜔𝑛 𝑡

Linear function
▪ Apply the initial conditions
➢ 𝑥 𝑡 = 0 = 𝑥𝑜 and 𝑥ሶ 𝑡 = 0 = 𝑥ሶ 0
➢ 𝐴 = 𝑥𝑜 and 𝐵 = 𝑥ሶ 𝑜 + 𝜔𝑛 𝑥𝑜

▪ Finally, the time response of the displacement,

𝑥 𝑡 = [𝑥𝑜 + 𝑥ሶ 𝑜 + 𝜔𝑛 𝑥𝑜 𝑡]𝑒 −𝜔𝑛 𝑡 22

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 59

7.0 Free vibration of SDOF damped system
Case 3,  > 1 (overdamped system)

▪ When c > Cc, both roots of equation 12 are real, 𝑠 = (− ± 2 − 1)𝜔𝑛

▪ The general equation for the displacement as a function of time,
(−+ 2−1)𝜔𝑛 𝑡 (−− 2−1)𝜔𝑛𝑡
𝑥 𝑡 = 𝐷𝑒 + 𝐸𝑒 where D & E are constant
▪ Since the effect of damping is so strong, this means that, the motion of
the system is nonvibrating

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 60

7.0 Free vibration of SDOF damped system
Example
▪ For the mechanical system shown determine:
a) the equation of motion
b) the natural frequency
c) the damping ratio

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 61

7.0 Free vibration of SDOF damped system
Solution
Draw the FBD and KD 𝐼 𝜃ሷ 𝑘𝑥1
𝑐 𝑥ሶ
Apply σ 𝑀(𝑓𝑟𝑜𝑚 𝐹𝐵𝐷) = σ 𝑀(𝑓𝑟𝑜𝑚 𝐾𝐷)

−𝑘𝑥(𝑟) − 𝑘𝑥1 (2𝑟) − 𝑐𝑥(𝑟)

ሶ = 𝐼 𝜃ሷ + 𝑚𝑥(𝑟)
ሷ ,

But, 𝑥1 = 2𝑟𝜃, 𝑥 = 𝑟𝜃
𝜃ሷ 𝐼 + 𝑚𝑟 2 + 𝑐𝑟 2 𝜃ሶ + 5𝑘𝑟 2 𝜃 = 0 𝑚𝑥ሷ

 0.2𝜃ሷ + 6.4𝜃ሶ + 8000𝜃 = 0

mg

𝑘𝑥

Finding the natural frequency,

FBD & KD
8000
 𝜔𝑛 = = 200 𝑟𝑎𝑑/𝑠
0.2

Finding the damping ratio

6.4
2 ∙  ∙ 𝜔𝑛 = 0.2 ;   = 0.08

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 62

7.0 Free vibration of SDOF damped system
Example
▪ A machine of mass m is mounted on springs and dampers as shown in
Fig. 1. The system is initially at rest and a velocity of 0.1 m/s is imparted
to the mass in the direction shown. Given that m = 20 kg, k1 = 3 kN/m, k2
= 5 kN/m, c1 = 60 Ns/m and c2 = 70 Ns/m, determine:-
a) the equation of motion, the natural frequency, the damping ratio and
damped oscillation frequency.
b) The time responses of the displacement and velocity
c) The displacement at t = 1.0 s
k1
c1
x
m = 20kg

k2 c2

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 63

7.0 Free vibration of SDOF damped system
Solution
Spring stiffness, σ 𝑘 = 8000 𝑁/𝑚, Damping constant, σ 𝑐 = 130 𝑁𝑠/𝑚

Equation of motion,  20𝑥 + 130𝑥ሶ + 8000𝑥 = 0

8000 130
Natural frequency,  𝜔𝑛 = = 20 𝑟𝑎𝑑/𝑠, 2 ∙  ∙ 𝜔𝑛 = ;   = 0.162
20 20

 𝜔𝑑 = 𝜔𝑛 1 − 2 = 19.7 𝑟𝑎𝑑/𝑠

This is an underdamped system ( < 1), thus,

𝑥 𝑡 = 𝑒 −𝜔𝑛𝑡 (𝐴 𝑐𝑜𝑠𝜔𝑑 𝑡 + 𝐵 sin 𝜔𝑑 𝑡)

𝑥ሶ 𝑜 +𝑥𝑜 𝑛
But, 𝐴 = 𝑥𝑜 = 0; 𝐵 = = 5.07 × 10−3
𝑑

Thus, 𝑥 𝑡 = 0.00507𝑒 −3.27𝑡 (sin 19.7𝑡)

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 64

7.0 Free vibration of SDOF damped system
The velocity, 𝑥ሶ 𝑡 = 𝐵𝑒 −𝜔𝑛𝑡 (𝜔𝑑 𝑐𝑜𝑠𝜔𝑑 𝑡 − 𝜔𝑛 sin 𝜔𝑑 𝑡) ; 𝑠𝑖𝑛𝑐𝑒 𝐴 = 0

Thus ,  𝑥ሶ 𝑡 = 𝑒 −3.27𝑡 (0.1𝑐𝑜𝑠19.7𝑡 − 0.0166 sin 19.7𝑡)

At t = 1.0 s, 𝑥 𝑡 = 0.00507𝑒 −3.27𝑡 [sin 19.7(1)] = 1.45 × 10−4 m

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 65

8.0 Logarithmic decrement
Logarithmic decrement
▪ Logarithmic decrement = rate at which the amplitude of free-damped
vibration decreases

▪ Suppose 𝑥𝑖 is the amplitude of oscillation of ith cycle which occurs at 𝑡𝑖

𝑥𝑖 = 𝑋𝑒 −𝜔𝑛𝑡𝑖
▪ The amplitude of the next cycle occurs one period later, i.e at 𝑡𝑖 + 𝜏𝑑
𝑥𝑖+1 = 𝑋𝑒 −𝜔𝑛 (𝑡𝑖+𝜏𝑑)
▪ The ratio between these two amplitudes,
𝑥𝑖 𝑋𝑒 −𝜔𝑛𝑡𝑖
= = 𝑒 𝜔𝑛𝑡𝑑
𝑥𝑖+1 𝑋𝑒 −𝜔𝑛(𝑡𝑖+𝜏𝑑 )
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8.0 Logarithmic decrement
▪ Thus, the ratio of the amplitudes is constant
▪ The logarithmic decrement,  is given by
▪ 𝛿 = ln 𝑥𝑥𝑖  this is the definition of logarithmic decrement
𝑖+1

𝛿 = ln 𝑒 𝜔𝑛𝑡𝑑 = 𝜔𝑛 𝑡𝑑 24

▪ Substituting the damped circular period, 𝜏𝑑 = 2𝜋Τ𝜔𝑛 1 − 2

𝟐𝝅
𝜹= 25
𝟏 − 𝟐
▪ Logarithmic decrement for any two points 𝑛 cycles apart:
𝟏 𝒙𝟏
𝜹 = 𝒍𝒏 26
𝒏 𝒙𝒏+𝟏
▪ If the damping ratio,  is small and 𝛿 = 2𝜋 , then eqn. (24) become
𝜹
= 27
(𝟐𝝅)𝟐 +𝜹𝟐

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8.0 Logarithmic decrement
Example
▪ Measurement of the free response of a certain system of mass 450 kg
shows that after 5 cycles, the amplitude of the displacement is 10% of
the first amplitude. Also, the time for these 5 cycles to occurred was
measures to be 20 s. Determine:
a) the logarithmic decrement
b) the damping ratio
c) the natural frequency of oscillation
d) the damping constant
e) the stiffness.

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8.0 Logarithmic decrement
Solution
Initial amplitude: 𝑋𝑜 , after 5 cycles the amplitude become 0.1𝑋𝑜
1 𝑥𝑖 1 𝑜 𝑋
𝛿 = 𝑛 ln 𝑥 = 5 ln 0.1𝑋 = 0.460
𝑖+1 𝑜
𝜹 𝟎. 𝟒𝟔𝟎
= == = 𝟎. 𝟎𝟕𝟑
(𝟐𝝅)𝟐 +𝜹𝟐 (𝟐𝝅)𝟐 +(𝟎. 𝟒𝟔𝟎)𝟐
20
The period of oscillation, 𝑇 = = 4.0 𝑠.
5
2𝜋
The frequency of oscillation, 𝜔𝑑 = = 1.57 𝑟𝑎𝑑/𝑠
4

From 𝜔𝑑 = 𝜔𝑛 1 − 2 , thus the natural frequency is,

1.57
𝜔𝑛 = = 1.576 𝑟𝑎𝑑/𝑠
1−(0.073)2
𝒄
From  = 𝟐𝒎𝝎 , thus the damping factor is:
𝒏

c = 2𝑚𝜔𝑛  = 2 450 1.576 0.073 = 103.54 N. s/m

𝑘
From 𝜔𝑛 = . Thus the stiffness is: 𝑘 = 𝑚 ∙ 𝜔𝑛 2 = 450 1.576 2
= 1117.7 𝑁/𝑚
𝑚

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8.0 Logarithmic decrement
Example
▪ A SDOF spring-mass-damper system has a mass of 60 kg and a spring
stiffness of 6000 N/m. Determine
a) the critical damping coefficient
2𝐶𝑐
b) the damped natural frequency when c =
3

c) the logarithmic decrement

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8.0 Logarithmic decrement
Solution
𝑘 6000
The natural frequency, 𝜔𝑛 = = = 10 𝑟𝑎𝑑/𝑠
𝑚 60

𝐶𝑐 = 2𝑚𝜔𝑛 = 2 60 10 = 1200 N. s/m

2𝐶𝑐 (2)(1200) 𝒄 𝟖𝟎𝟎
From c = = = 800 𝑁. 𝑠/𝑚;  = = = 𝟎. 𝟔𝟔𝟕
3 3 𝐶𝑐 𝟏𝟐𝟎𝟎

2𝜋 𝟐 𝟑.𝟏𝟒𝟐 𝟎.𝟔𝟔𝟕

𝜔𝑑 = 𝜔𝑛 1 − 2 = 10 1 − 0.667 2 = 7.45 𝑟𝑎𝑑/𝑠 ; 𝛿 = = = 𝟓. 𝟔𝟐
1−(0.667)2
1− 2

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8.0 Logarithmic decrement
Example
▪ The free response of SDOF system shown in fig.(a) with mass of 2 kg
and the spring stiffness of 1.5 x 103 N/m is recorded to be of the form
given in Fig. (b). The displacement at t1 and t2 are measured to be 9 and
1 mm, respectively. Calculate the damping coefficient.

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8.0 Logarithmic decrement
▪ Solution
1 𝑥1 9
𝛿 = 𝑙𝑛 = 𝑙𝑛 = 2.2
𝑛 𝑥𝑛+1 1

𝛿 2.2
= = = 0.33
(2𝜋)2 +𝛿 2 (2𝜋)2 +(2.2)2

𝑐 𝑐
= =
2𝑚𝜔𝑛 2 𝑘𝑚

𝑐 = 2 ∙  ∙ 𝑘𝑚 = 2 0.33 1.5 × 103 2 = 𝟑𝟔. 𝟏𝟓𝑵𝒔/𝒎

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9.0 Tutorial problems
1. Obtain the equation of motion for the mechanical
system shown in the figure,
(d)
(a)

(e)

(b)

(f)

(c)

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9.0 Tutorial problems
2. Solve problem 1a – 1f using the energy method. c) Determine the displacement of the block with
3. Given a sinusoidal signal with frequency 1.0 rad/s respect to time.
and initial condition 𝑥0 = 𝑥 0 = 2 𝑎𝑛𝑑 𝑥ሶ 0 =
x
𝑥ሶ 0 = 0. Obtain the expression for the response 2k N/m 3k N/m 10k N/m
of the system.
4. A 10 kg body is suspended from vertical spring 10 kg
4k N/m
with k = 2.5 kN/m. At time t = 0, it has a
1 Ns/m 1k N/m
downward velocity of 0.5 m/s as it passes
through the position of static equilibrium. Fig. 9.1
Determine:- 6. A 200kg motorcycle is designed to have an
a) the static spring deflection underdamped shock absorber . When the shock
absorber is subjected to an initial velocity due to
b) the natural frequency of the system
a road bump, the resulting damped period is 2s
c) the system period and the initial amplitude is reduced to one-fifth in
d) the displacement x, as a function of time two cycles. Determine:-
e) the maximum velocity and maximum a) The logarithmic decrement, the natural
acceleration attained by the mass frequency and the damping ratio.
5. Consider the mechanical system consisting the b) The spring stiffness and the damping
mass-spring-damper as shown in fig. 9.1. The constant of the shock absorber.
10kg block is moved 0.16 m to the right of the
equilibrium position and released from rest at t = c) The vibration frequency in Hertz and the
0s. critical damping constant.

a) obtain the equation of motion for the system

b)determine the frequency of the resulting motion

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9.0 Tutorial problems
7. A free vibration test is run to determine Answer
the stiffness and damping properties of 7 11
an elastic element. A 20kg block is 1a) 𝑚𝐿2 𝜃ሷ + 𝑘𝐿2 𝜃 = 0
48 16
attached to the element. The block is 7 43
1b) 𝑚𝐿2 𝜃ሷ + 𝑘𝐿2 𝜃 = 0
displaced 1 cm and released. The 27 81
resulting oscillations are monitored with 1c) (I + 𝑚𝑟 2 )𝜃ሷ + 4𝑘𝑟 2 𝜃 = 0
the results shown in Fig. 9.2. Determine
1d) 𝐼 + 𝑚𝑟 2 𝜃ሷ + 4𝑟 2 𝑐𝜃ሶ + 𝑘𝑟 2 𝜃 = 0
k and c for this element.
1e) 𝐼 + 𝑚𝑟 2 𝜃ሷ + 16𝑘𝑟 2 𝜃 = 0
𝐼𝑃 𝐼𝐷
1f) 9𝑚 + + 𝑥ሷ + 5𝑐𝑥ሶ + 5𝑘𝑥 = 0
𝑟 𝑟𝐷

3. x(t) = 2 cos t
4. a) 39.2 mm; b) 15.81 rad/s; c) 0.397 s; d) x=0.03
sin15.81t; e) 0.5m/s & 7.91 m/s2
5. a)10𝑥ሷ + 𝑥ሶ + 16.2𝑘𝑥 = 0, b) 𝜔𝑛 = 40.25 𝑟𝑎𝑑/𝑠
𝜔𝑑 = 40.25 𝑟𝑎𝑑/𝑠, c) 𝑥 𝑡 =
𝑒 −0.05𝑡 (0.16 𝑐𝑜𝑠40.25𝑡 + 1.98 × 10−4 sin 40.25𝑡)
6. a) 0.8, 3.17rad/s, 0.127; b) 2 kN/m, 165Ns/m
c) 0.5 Hz, 1268 Ns/m
7. k = 2.22 x 105 N/m, c = 4.20 x 102 Ns/m
t (s)
Fig. 9.2
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