Mechanical Engineering Department

ME54 – Vibration Engineering

C- Free Vibration of
Single DOF Systems
ME54F – Vibration Engineering
2nd Semester SY: 2019-2020
Lecturer: Engr. Jameson R. Almedilla
Mechanical Engineering Department
Xavier University – Ateneo de Cagayan
 Topic Outline

• Undamped Free Vibration of Single DOF

• Governing Equations and D’ Alembert’s Principle
• Spring-Mass Illustration
• Torsional Illustration
• Damped Free Vibration of Single DOF
• Different Types of Damping
• Viscous, Dry Friction/Coulomb, Solid/Structural, Slip/Interfacial
• Free Vibration with Viscous Damping
• Over Damped, Critically Damped and Under Damped
 Objectives of the discussions
By the end of the discussions; students should be able to;

Understand the Free Vibration of Single DOF, its

governing equations on Undamped Vibrations.
Understand the Damped Free Vibrations of Single
DOF.
Familiarized the viscous damping.
Know the Over, Critical and Under Damped.
 Elementary Parts of Vibration Systems

Recall “Elementary Parts of Vibration System”

Spring
Mass
Damper
Excitation
 Elementary Parts of Vibration Systems

Spring – means for storing potential energy

F = kx
 Elementary Parts of Vibration Systems

Mass or Inertia – means for storing kinetic energy.

F = mx
 Elementary Parts of Vibration Systems

Damper – means by which energy is gradually lost.

F = mx
 Elementary Parts of Vibration Systems

Excitation – the initial or continuous force that

caused the vibration.
Undamped Free Vibration of
Single DOF System
 Undamped Free Vibrations

Proper design of machines or machine parts should

consider the estimation of their natural frequencies
to avoid resonance conditions since they are
subjected to vibratory forces.
 Undamped Free Vibrations

Damping is always certain present with the system in most

cases. But is some cases, these damping are small that it can
be considered neglected.
 Undamped Free Vibrations - Spring

Considering first the free vibration of the undamped system of Fig. 2.4,
Newton’s equation is written for the mass m. The force mx exerted by the
mass on the spring is equal and opposite to the force kx applied by the
spring on the mass:

where x=0 defines the equilibrium

position of the mass. The solution of
Eq. 2.4 is
 Undamped Free Vibrations - Spring
Where the term is the angular natural frequency defined by,

The sinusoidal oscillation of the mass repeats continuously, and the time
interval to complete one cycle is the period:

And the reciprocal of the period is the natural frequency:

where W = mg
Undamped Free Vibrations – Static Deflection
Static Deflection
 Torsional / Angular Coordinate

If the generalized coordinate is an angular coordinate then,

The angular natural frequency would be expressed as;

Moment of Inertia then would have (for a wheel);

where, J = Polar Moment of Inertia, L = length

G = Modulus of Rigidity / Shear Modulus
 Example-Spring-Mass System
Ex.1. An engine of mass 500 kg is mounted on an elastic
foundation of equivalent stiffness 7x10^5 N/m. Determine the
natural frequency of the system.
Given: m=500kg Req’d: natural frequency
k = 7x10^5 N/m
Sol’n: Angular Frequency then to Natural Frequency Formula

ωn=√(7x10^5) / (500) = 37.4 rad/sec

fn = (37.4rad/sec) / 2π rad/cycle = 5.96 Hz

 Example-Spring-Torsional System
Ex.2: A wheel is mounted on a steel shaft (G = 83x10^9 N/m2)
of length 1.5 m and radius 0.80 cm. The wheel is rotated and
released. The period of oscillation is observed as 2.3sec per
cycle. Determine the mass moment of inertia of the wheel.
Given: G=83x10^9 N/m2 Radius = 0.80cm
L = 1.5 m T = 2.3 sec/cycle
Req’d: I = Moment of Inertia
Sol’n: ωn = 2π/T = 2π/2.3sec/cycle = 2.73rad/sec.
𝑟4
I = JG/Lωn = (π )(G) / (L)(ωn)^2
2
(0.008𝑚)4
I = (π 2
)(83x109 N/𝑚2 ) / (1.5m)(2.73rad/sec)^2

I = 47.7kgm
Moment of Inertia Simple Shapes
 Stiffness Coefficient

Equivalent Stiffness
Damped Free Vibration of
Single DOF Systems
Free Vibration of SDOF with Damping
Free Vibration of SDOF with Damping
 Different Types of Damping
1. Viscous Damping
- the dissipation of energy that occurs when a
particle in a vibrating system is resisted by a force the
magnitude of which is a constant, independent of
displacement and velocity, and the direction of which is
opposite to the direction of the velocity of the particle.

Example: Pushing a wheeled box

 Different Types of Damping
2. Dry Friction or Coulomb Damping
- occurs when two machine parts rub against
each other, dry or unlubricated.

Example: Pushing a Container Van

 Different Types of Damping
3. Solid, Material, Hysteric or Structural Damping
- due to the internal friction of the molecules.
When a material is deformed, energy is absorbed
and dissipated by the material

Example: Bending or Deflecting of Beam

 Different Types of Damping
4. Slip or interfacial Damping
- Energy of vibration is dissipated by
microscopic slip on the interfaces of machine parts
in contact under fluctuating loads.
Example: Insulation material for electricity
 Over, Critically and Under Damped
1. Over-damped System
Damping is comparatively large.
(Fraction of Critical Damping > 1)
2. Critically Damped System
When damping ratio is equal to 1. There is no
oscillations.
3. Under-Damped System
By far the most usual case that exists in physical
systems and is therefore the most important.
(Fraction of Critical Damping < 1).
Over, Critically and Under Damped
Over, Critically and Under Damped
 Free Vibration of SDOF with Damping

A. Underdamped
The underdamped period is given by,
 Free Vibration of SDOF with Damping

B. Critically Damped
The underdamped period is given by,
 Free Vibration of SDOF with Damping

C. Overdamped
The underdamped period is given by,
 Example – Free Vibration with Damping

Ex.3. A machine with mass of 10kg were kept by two slabs of

isolators, natural rubber and felt, in series (see figure). The
natural rubber has stiffness of 3kg/cm and an equivalent
viscous damping coefficient of 0.1kg-sec/cm. The felt slab has
a stiffness of 12kg/cm and an equivalent damping coefficient
of 0.33kg-sec/cm. Determine the undamped and the damped
natural frequencies.
 Free Vibration of SDOF with Damping

The total equivalent stiffness can be solved by series method, as well as

the total equivalent damping;
 Free Vibration of SDOF with Damping

The angular frequency will be;

2.4𝑘𝑔 9.8𝑚 100𝑐𝑚

𝑐𝑚 𝑠2 𝑚
ωn = √ = 15.33 rad/sec
10𝑘𝑔

Therefore the natural frequency (undamped);

𝜔𝑛 15.33𝑟𝑎𝑑/𝑠𝑒𝑐
fn = = = 2.44 cycles/sec
2π 2π
 Free Vibration of SDOF with Damping

𝜔𝑑
Then the damped natural frequency will be; fd = 2π

ωd = ωn √(1-ş2 ), and ş = Ce / C c

0.077𝑘𝑔−𝑠𝑒𝑐/𝑐𝑚
Therefore, ş = C e / 2 √ ke m = 2.4𝑘𝑔 = 0.246
2√ ( )(10𝑘𝑔)
980𝑐𝑚/𝑠2 𝑐𝑚

ωd = 15.33rad/sec( √(1-0.2462 ) = 14.85rad/sec

fd = 14.85/2π = 2.36 cycles/sec

References
 References

1. Mechanical Vibrations (M.K.S. System), G.K.Grover

2. Mechanical Vibrations, 5th Ed., Singiresu S. Rao

3. MAK-4041-Mechanical Vibrations, Abdullah Secgin

Thank You!