Mechanical Vibration

Week #2 -3

Free Vibration of Single-Degree-of-Freedom

Systems
 Harmonic Motion
 If the motion is repeated after equal
intervals of time, it is called periodic
motion

 The simplest type of periodic motion is

harmonic motion

 The motion imparted to the mass m due

to the Scotch yoke mechanism shown in
the Figure is an example of simple
harmonic motion

Figure 1
The mass m of the spring-mass system are
displaced from their middle positions by
an amount x (in time t) given by

This motion is shown by the sinusoidal

curve in the next figure. The velocity of
the mass m at time t is given by

and the acceleration by

 It can be seen that the acceleration is directly proportional to the displacement.

 Such a vibration, with the acceleration proportional to the displacement and directed
toward the mean position, is known as simple harmonic motion
 The motion given by x = A cos wt is another example of a simple harmonic motion.
Vectorial Representation of Harmonic
Motion

The projection of the tip of the vector X = OP on the

vertical axis is given by

and its projection on the horizontal axis by

 As seen above, the vectorial method of

representing harmonic motion requires the
description of both the horizontal and vertical
components.
 It is more convenient to represent harmonic
motion using a complex-number representation

Figure 2
Complex- Number Representation of
Harmonic Motion
If A denotes the modulus or absolute value of the
vector X and theta represents the argument
or the angle between the vector and the x-axis,
then X can also be expressed as

with
Any vector X in the xy plane can be
represented as a complex number:
and

Components a and b are also called

the real and imaginary parts of the
vector X
 Complex- Number Representation of
Harmonic Motion
Recall Euler formula, vector X can be
written as

Using complex-number representation, the

rotating vector X can be written as
Thus the displacement, velocity, and
acceleration can be expressed as

The differentiation of the harmonic motion

given above with respect to time gives
Displacement, velocity, and accelerations as rotating vectors
Definitions and Terminology
Cycle. The movement of a vibrating body from its undisturbed or equilibrium position to
its extreme position in one direction, then to the equilibrium position, then to its extreme
position in the other direction, and back to equilibrium position is called a cycle of vibration.

Amplitude. The maximum displacement of a vibrating body from its equilibrium position is
called the amplitude of vibration. In Figs. 1 and 2 the amplitude of vibration is
equal to A.

Period of oscillation. The time taken to complete one cycle of motion is known
as the period of oscillation or time period and is denoted by Tau .It is equal to the
time required for the vector OP in Fig. 2 to rotate through an angle of 2pi and
hence
where omega (rad/sec) is called
circular frequency
Definitions and Terminology
Frequency of oscillation. The number of cycles per unit time is called the frequency of
oscillation or simply the frequency and is denoted by f. Thus

Here omega is called the circular frequency to distinguish it from the linear frequency
f. The variable omega denotes the angular velocity of the cyclic motion; f is measured
in cycles per second (hertz) while omega is measured in radians per second
(rad/sec)
Definitions and Terminology
Phase angle. Consider two vibratory motions denoted by
 They need not have the
same amplitude, and they
need not attain their
maximum values at the
same time

 The second vector OP2

leads the first one OP1 by
an angle pi, known as the
phase angle

 They are called synchronous because they have the same

frequency or angular velocity
Definitions and Terminology
Natural frequency. If a system, after an initial disturbance, is left to vibrate on its own, the
frequency with which it oscillates without external forces is known as its natural frequency. As will
be seen later, a vibratory system having n degrees of freedom will have, in general, n distinct
natural frequencies of vibration.

Octave. When the maximum value of a range of frequency is twice its minimum value, it is
known as an octave band. For example, each of the ranges 75 150 Hz, 150 300 Hz, and 300 600
Hz can be called an octave band. In each case, the maximum and minimum values of frequency,
which have a ratio of 2:1, are said to differ by an octave.

Decibel. The various quantities encountered in the field of vibration and sound (such
as displacement, velocity, acceleration, pressure, and power) are often represented using the
notation of decibel.
Definitions and Terminology
A decibel (dB) is originally defined as a ratio of electric powers . Since electric power is
proportional to the square of the voltage (X), the decibel can be expressed as

where Xo is a specified reference voltage. In practice, the equationis also used for
expressing the ratios of other quantities such as displacements, velocities,
accelerations, and pressures. The reference values of Xo are usually taken as 2x10-5
N/m2 for pressure and 1 mikrog = 9.81x10-6 m/s2 for acceleration.
Free Vibration of an Undamped
Translational System
A system is said to undergo free vibration when it oscillates only under an initial disturbance
with no external forces acting afterward.

Figure 3 shows a spring-mass system that represents the simplest possible vibratory
system.
 It is an undamped system; there
is no element that causes
dissipation of energy during the
motion of the mass, the
amplitude of motion remains
constant with time.

Figure 3. Spring-mass system in horizontal

position
Several mechanical and structural systems can be idealized as single-degree-of-
freedom systems.

Modeling of tall structure as spring-mass system

Several mechanical and structural systems can be idealized as single-degree-of-
freedom systems.

Idealization of a building frame

Equation of Motion Using Newton’s Second Law of
Motion

The rate of change of momentum of a mass is equal to the force acting on it.

If mass m is constant, this equation reduces to

where

For a rigid body undergoing rotational motion, the equation becomes

Applying to the undamped single-degree-of-freedom system shown in Fig. 3(a). gives

Principle of Conservation of Energy

 A system is said to be conservative if no energy is lost due to friction or energy-

dissipating nonelastic members.

 The kinetic energy T is stored in the mass by virtue of its velocity, and the potential
energy U is stored in the spring by virtue of its elastic deformation
Thus the principle of conservation of energy can be expressed as:

which yields the desired equation

…………….….2.1
Equation of Motion of a Spring-Mass System in
Vertical Position

for static equilibrium,

Let the mass be deflected a distance +x

from its static equilibrium position, applying
second Newton Law gives,

Notice that Eqs. 2.1and 2.2 are identical. …………….….2.2

This indicates that when a mass moves
in a vertical direction, we can ignore its
weight, provided we measure x from its
static equilibrium position.
Solution of Free-Vibration-Undamped-Single-Degree-of-
Freedom System
…………….….2.3

The solution can be found

Eigenvalues or
by assuming
characteristic
values

General solution then can be

C and s are constants to be expressed as
determined. Substitute to 2.3

recall
C can not be zero, hence
The solution can be rewritten as
Auxiliary or
characteristic ……….2.3
equation
where A1 and A2 are new constants. The constants C1 and C2 or A1 and A2 can be
determined from the initial conditions of the system.

 The number of conditions to be specified is the same as the order of the governing
differential equation.

if the values of displacement x(t) = x0 and velocity xdot(t)=xdot0 at t=0 , then we

have:

The solution, subject to initial condition is then given by,

The quantity omegan, represents the system’s natural frequency of vibration.

The equation can be expressed in a different form by introducing the notation,

…………….….2.4

A and pi are the new constants, which can be expressed in terms of A1 and A2 as

Substitute equation 2.4 to 2.3 the solution can be written as

…………….….2.5
Graphical representation of the motion of
a harmonic oscillator
Note the following aspects of the spring-mass system:

If the spring-mass system which yields,

is in a vertical position the
circular natural frequency
can be expressed as

Hence the natural frequency in cycles per

second and the natural period are given by

The spring constant k

can be expressed in
terms of the mass m

Thus, when the mass vibrates in a vertical

direction, we can compute the natural frequency
and the period of vibration by simply measuring
the static deflection.
Note the following aspects of the spring-mass system:

From equation 2.5, the velocity and the acceleration of the mass m at time t can be obtained
as

If the initial displacement, x0 is zero, equation 2.5 becomes

If the initial velocity, xdot0 is zero, however, the solution becomes

 Free Vibration of an Undamped Torsional System
If a rigid body oscillates about a specific reference axis,
the resulting motion is called torsional vibration

From the theory of torsion of circular shafts

Mt is the torque that produces the twist theta,
G is the shear modulus, l is length of the
shaft, I0 is polar moment of inertia of the
shaft’s cross section

Thus the shaft acts as a torsional spring with a

torsional spring constant
 Equation of Motion
By considering the freebody diagram of the The general solution then,
disc and applying second law of Newton:

Thus the natural circular frequency from the initial conditions

of the torsional system is

the constants A1 and A2 can be found

and the period and frequency of vibration
in cycles per second are
Free Vibration with Viscous Damping
Equation of Motion

The viscous damping force F is

proportional to the velocity and can be
expressed as

If x is measured from the equilibrium

position of the mass m, the application of
Newton s law yields the equation of
motion:

Single-degree-of-freedom system
…………….….2.6 with viscous damper.
Solution
These roots give two solutions

To solve, we assume a solution in the

form

Thus the general solution is given by a

combination of the two solutions
where C and s are undetermined
constants. Insert to equation 2.6
gives characteristic equation

where C1 and C2 are arbitrary

the roots of which are constants to be determined from the
initial conditions of the system.

…………….….2.7
Critical Damping Constant and the Damping Ratio

The critical damping is defined as the value

of the damping constant c for which the Using Eq 2.9 and 2.8, we can
radical in Eq. 2.7 becomes zero: write

therefore
…………….….2.8

The damping ratio zeta is defined as

the ratio of the damping constant to the Thus the solution can be
critical damping constant: written as

…………….….2.9

…………….….2.10
Case 1. Underdamped system

is negative, therefore

and the solution, Eq. 2.10, can be written in

different forms:
The motion is a damped harmonic motion of angular frequency
but the amplitude decreases exponentially with time, as shown below
 Underdamped solution

The quantity is called the frequency of damped vibration.

 the frequency of damped vibration omegad is always less than the undamped natural
frequency omegan.

 The underdamped case is very important in the study of mechanical vibrations, as it is the
only case that leads to an oscillatory motion
Case 2. Critically damped system

In this case the two roots s1 and s2 are equal

Because of the repeated roots, the solution of is

given by

The application of the initial conditions gives

and the solution becomes

It can be seen that the motion is

…………….….2.11
aperiodic (i.e., nonperiodic).
Comparison of motions with different types of damping
Case 3. Overdamped system

the roots s1 and s2 are real and distinct and are given by

the solution, can be expressed as

 The motion is aperiodic

regardless of the initial
conditions imposed on the
system
Logarithmic Decrement
which can be rewritten as
The logarithmic decrement represents the
rate at which the amplitude of a free-damped
vibration decreases

The logarithmic decrement can be

obtained by

For small damping, can be approximated

The logarithmic decrement is dimensionless and is actually another form of the
dimensionless damping ratio 𝜁. Once 𝛿 is known, 𝜁 can be found by

For small damping ratio, we can use

If the damping in the given system is not known, we can determine it experimentally by
measuring any two consecutive displacements x1 and x2. By taking the natural logarithm
of the ratio of x1 and x2 we obtain 𝛿
Torsional Systems with Viscous Damping

The viscous damping torque is given by

ct is the torsional viscous damping constant

The equation of motion can be derived as
J0 is mass moment inertia of
the disc kt is spring constant
of the system

The solution can be found exactly as in the case of

linear vibrations.
For example, in the underdamped case, the frequency of damped vibration
is given by

where

and

where ctc is the critical torsional damping constant