Undamped free harmonic motion:

Form 1: 𝑥(𝑡) = 𝑥 cos 𝜔 𝑡 + (𝑥̇ /𝜔 ) sin 𝜔 𝑡

Form 2: 𝑥(𝑡) = 𝐴 cos(𝜔 𝑡 − 𝜙) ; 𝐴 = (𝑥 ) + (𝑥̇ /𝜔 ) ; 𝜙 = tan (𝑥̇ /𝑥 𝜔 )
Form 3: 𝑥(𝑡) = 𝐴 sin(𝜔 𝑡 − 𝜙) ; 𝐴 = (𝑥 ) + (𝑥̇ /𝜔 ) ; 𝜙 = tan (−𝑥 𝜔 /𝑥̇ )

Underdamped free vibration:

x 0   n x0
Form 1: x(t )  e n t [ x 0 cos( d t )  sin( d t )]
d
Form 2: 𝑥(𝑡) = 𝐴𝑒 cos(𝜔 𝑡 − 𝜙) ; 𝐴 = (𝑥 ) + ((𝑥̇ + 𝜉𝑥 𝜔 )/𝜔 ) ;
𝜙 = tan ((𝑥̇ + 𝜉𝑥 𝜔 )/𝑥 𝜔 )

Form 3: 𝑥(𝑡) = 𝐴𝑒 sin(𝜔 𝑡 − 𝜙) ; 𝐴 = (𝑥 ) + ((𝑥̇ + 𝜉𝑥 𝜔 )/𝜔 ) ;

𝜙 = tan (−𝑥 𝜔 /(𝑥̇ + 𝜉𝑥 𝜔 ))

Critically damped free vibration: x(t )  [ x0  ( x 0   n x 0 )t ]e nt

Overdamped free vibration:

 2 1 ) n t  2 1 ) n t
x (t )  C1e (    C 2 e (   where:
x0  (   2  1)n x0  x 0  (   2  1) n x0
C1  ; C2 
2.n .  2  1 2. n .  2  1

Response under Coulomb damping:

𝜇 𝑁 𝜇 𝑁 𝜏
𝑥(𝑡) = 𝑥 − cos 𝜔 𝑡 + ; 0≤𝑡≤
𝑘 𝑘 2
𝜇 𝑁 𝜇 𝑁 𝜏
𝑥(𝑡) = 𝑥 − 3 cos 𝜔 𝑡 − ; ≤𝑡≤𝜏
𝑘 𝑘 2
All previous formulas are valid for rotation by replacing x by ; k by kt and m
by J
Analytical Fourier series:

 2
an  . F (t ). cos n..t.dt
a0  
  0
F (t )    an cos n..t   bn sin n..t where:  
2 n 1 n 1 b  2 . F (t ).sin n..t.dt
 n  
 0