Vibration of a spring

CALENG 3
Dr. Susan A. Roces

Department of Chemical Engineering

2T, AY 2022 - 2023

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 Vibration of a spring
Fixed Support

Free length
Unstretched
length Equilibrium
B •
(E)
x(0)
• B
Note:
1. Consider a spring attached to a fixed
support and hanging downward.
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2. Let a body B weighing w lbs. be
attached to the lower end of a spring
and brought to the point of
equilibrium where it can remain at
rest.
Once the weight B is moved from the
point of equilibrium (E), the motion of
B will be determined by a differential
equation and associated initial
conditions.
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3. Within certain elastic limits, the spring
will obey Hooke’s Law.
ØIf the spring is stretched or compressed,
its change in length will be proportional
to the force exerted upon the spring and,
when the force is removed, the spring will
return to its original position with its
length and other physical properties
unchanged.

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Hooke’s Law:
F =kx
where:
F = spring force, lbs.
k = spring constant, lbs/ft.
x = amount of deformation, ft.
Let:
t = time after some initial moment when
the motion begins
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x = distance measured positive downward
(or negative upward) from the point of
equilibrium.
dx
= velocity
dt
2
d x
2
= acceleration
dt
g = constant acceleration of gravity
w = weight of body B, lbs.

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 w
= mass of the system
g
dx r e t a r d i n g f o r c e ( c a u s e d b y
b = resistance of the medium in which
dt
the motion takes place or by friction
b = constant to be determined
experimentally for the medium in
which the motion takes place
w impressed force (external force
F (t ) = d e p e n d s u p o n t i m e a n d
g
acceleration)
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Different forces acting on the system:
1. Newton’s 2nd law of motion
Ø force due to the weight of the system
2
w d x⎞
⎛
F = ma = ⎜⎜ 2 ⎟⎟
g ⎝ dt ⎠
2. Hooke’s Law
Ø force proportional to the displacement
F =kx

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3. Retarding force
Ø caused by the resistance of the
medium, i. e. friction
Ø force proportional to the velocity
dx
F =b
dt
4. Impressed force
Ø additional force due to the motion of
the support or presence of magnetic
field, sorrounding, air, water
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System in equilibrium:

∑F = 0
F1 + F2 + F3 = F4
Case I: Undamped vibration (no friction)
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w d x
1. 2
+ k x = 0
g dt
2
w d x w
2. 2
+ k x = F (t )
g dt g
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Case II: Damped vibration (with friction)
2
w d x dx
1. 2
+ b + k x = 0
g dt dt
2
w d x dx w
2. 2
+ b + k x = F (t )
g dt dt g

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Examples:
1. A spring is such that a 5-lb weight
stretches it 6 inches. The 5-lb weight is
attached, the spring reaches equilibrium,
then the weight is pulled down 3 inches
below the equilibrium point and started
off with an upward velocity of 6 ft/sec.
Find an equation giving the position of
the weight at all subsequent times.

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 Given:
⎛ 1 ft ⎞
x(0) = 3 in⎜ ⎟
⎛ 1 ft ⎞ ⎝ 12in ⎠
x0 = 6 in⎜ ⎟ x0 = 6 in 1
⎝ 12in ⎠ = ft.
1 E 4
= ft. •
2
w = 5 lbs. x(0) = 3 in
•
x' (0) = −6 fps
F = 5 lbs.
Sol’n.:
Case I no. 1: Undamped vibration (no friction)

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 2
w d x Hooke’s law:
2
+ k x = 0 F1 = k x0
g dt
⎛1⎞
5
[32 ]
x' ' (t ) + 10 x(t ) = 0
32
5
5=k⎜ ⎟
k = 10
⎝2⎠

x' ' (t ) + 64 x(t ) = 0

L{x' ' (t )} + 64 L{x(t )} = 0
2
s x(s) − s x(0) − x' (0) + 64 x(s) = 0

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 2 ⎛1⎞
s x( s) − s ⎜ ⎟ − (−6) + 64 x( s ) = 0
⎝4⎠
2 s
( s + 64) x( s) = − 6
4
s 6
x( s ) = 2
− 2
4( s + 64) s + 64
−1
But: x(t ) = L {x(s)}

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 1 −1 ⎧ s ⎫ −1 ⎧ 1 ⎫
x(t ) = L ⎨ 2 ⎬ − 6L ⎨ 2 ⎬
4 ⎩ s + 64 ⎭ ⎩ s + 64 ⎭
1 −1 ⎧ s ⎫ 6 −1 ⎧ 1(8) ⎫
x(t ) = L ⎨ 2 ⎬ − L ⎨ 2 ⎬
2
4 ⎩ s + (8) ⎭ 8 ⎩ s + 64 ⎭
1 3
x(t ) = cos 8t − sin 8t
4 4

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2. A spring is such that a 4-lb weight
stretches it 6 inches. An impressed force
(½) cos 8t is acting on the spring. If the
4-lb weight is started from the
equilibrium point with an imparted
velocity of 4 fps, determine the position
of the weight as a function of time.

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 Given:
IF = (1 / 2) cos 8t
⎛ 1 ft ⎞
x0 = 6 in⎜ ⎟ x0 = 6 in
⎝ 12in ⎠ x' (0) = −4 fps
1 E
= ft. • •
2
w = 4 lbs. F = 4 lbs. x(0) = 0
Sol’n.:
Case I no. 2: Undamped vibration (no friction)
Hooke’s law: ⎛1⎞
F1 = k x0 4 = k ⎜ ⎟ k =8
⎝2⎠
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 2
w d x w
2
+ k x = F (t )
g dt g
4 1
[ 32 ]
x' ' (t ) + 8 x(t ) = cos 8t 8
2
x' ' (t ) + 64 x(t ) = 4 cos 8t
2 ⎛ s ⎞
s x(s) − s x(0) − x' (0) + 64 x(s) = 4⎜ 2 ⎟
⎝ s + 64 ⎠
2 4s
s x( s) − 0 + 4 + 64 x( s) = 2
s + 64
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 2 4s
( s + 64) x( s) = 2 −4
s + 64
4s 4
x( s ) = 2 2
− 2
( s + 64) s + 64
4 −1 ⎧ (2)(8) s ⎫ 4 −1 ⎧ (8)1 ⎫
x(t ) = L ⎨ 2 2⎬
− L ⎨ 2 ⎬
(2)(8) ⎩ ( s + 64) ⎭ 8 ⎩ s + 64 ⎭
Note: 2ks
L{t sin kt} = 2 2 2
(s + k )
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 1 1
x(t ) = t sin 8t − sin 8t
4 2
3. A spring is stretched 6 inches by a 2-lb
weight. The 2-lb weight is attached to
the spring and pulled down to a point 3
inches below the equilibrium position.
The weight is then released gently. Air
furnishes a retarding force equal in
magnitude to that of the velocity of the
body. Find the equation of motion.
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 Given:
⎛ 1 ft ⎞
x(0) = 3 in⎜ ⎟
⎛ 1 ft ⎞ ⎝ 12in ⎠
x0 = 6 in⎜ ⎟ x0 = 6 in 1
⎝ 12in ⎠ = ft.
1 E 4
= ft. •
2
w = 2 lbs. x(0) = 3 in
•
x' (0) = 0
F = 2 lbs. RF = (1)x' (t )
Sol’n.:
Case II no. 1: Damped vibration (with friction)

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 2
w d x dx Hooke’s law:
2
+ b + k x = 0 F = k x
g dt dt 1 0

⎛1⎞
[ 2
32
]
x' ' (t ) + x' (t ) + 4 x(t ) = 0
32 2 = k ⎜ ⎟
2
k =4
⎝ 2⎠

x' ' (t ) + 16 x' (t ) + 64 x(t ) = 0

L{x' ' (t )} + 16 L{x' (t )} + 64 L{x(t )} = 0
2
s x( s) − s x(0) − x' (0) + 16 [ s x( s) − x(0) ]
+ 64 x( s ) = 0
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 2 1 ⎛1⎞
s x( s) − s − 0 + 16 s x( s ) −16⎜ ⎟
4 ⎝4⎠
+ 64 x( s) = 0
2 s
( s + 16 s + 64) x( s) = + 4
4
s 4
x( s ) = 2
+ 2
4 ( s + 8) ( s + 8)

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 1 −1 ⎧ s + 8− 8⎫ −1 ⎧ 1 ⎫
x(t ) = L ⎨ 2 ⎬ + 4 L ⎨ 2⎬
4 ⎩ ( s + 8) ⎭ ⎩ ( s + 8) ⎭
1 −1 ⎧ s + 8 ⎫ 8 −1 ⎧ 1 ⎫
x(t ) = L ⎨ 2 ⎬ − L ⎨ 2⎬
4 ⎩ ( s + 8) ⎭ 4 ⎩ ( s + 8) ⎭
⎧ 1 ⎫
−1
+ 4L ⎨ 2⎬
⎩ ( s + 8) ⎭

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 1 −1 ⎧ 1 ⎫ −1 ⎧ 1 ⎫
x(t ) = L ⎨ ⎬ + 2L ⎨ 2⎬
4 ⎩ s + 8⎭ ⎩ ( s + 8) ⎭
1 −8t −1 ⎧ 1 ⎫ −8t −1 ⎧ 1 ⎫
x(t ) = e L ⎨ ⎬ + 2e L ⎨ 2 ⎬
4 ⎩ s⎭ ⎩s ⎭
1 −8t −8t
x(t ) = e + 2 t e
4

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Assignment:
1. A spring is such that a 4-lb weight
stretches it 0.32 ft.. The 4-lb weight is
attached, the spring reaches equilibrium,
then the weight is pulled down 6 inches
below the equilibrium point and given an
initial upward velocity of 48 inches per
second. Find an equation describing the
motion of the weight at time t. Also find
the position and velocities of the weight
when t = 0 and t = 0.01 min.
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2. A 64-lb weight is suspended vertically
from a spring having a spring constant
of 8 lb/ft. An impressed force of 16 cos 4t
is applied. Initially the weight at
equilibrium position is given an upward
velocity of 10 fps. Neglecting air
resistance, what is the position and
velocity of the weight at any time t.
3. pp. 205-208, nos. 1-41
4. P. 300, nos. 71- 72
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