Selected Topics of Dynamics: Dr.-Ing. Azmi Mohamed Yusof Faculty of Mechanical Engineering

Module 3
Selected Topics of Dynamics
Dr.-Ing. Azmi Mohamed Yusof

Faculty of Mechanical Engineering
Content
 Learning outcomes
 REVIEW 1 : Classification of rigid body motions
 REVIEW 2 : Moment of inertia
MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 2

1.0 Learning outcomes
At the end of this module students should recap prior knowledge of

dynamics specifically involving:-
 Types of motions of rigid body
 Obtain the moment of inertia of rigid body

REVIEW 1 : Classification of rigid body motions
Kinetics of rigid body
 Study the relations existing between the force acting on a body, the mass
and the motion of the body.
Classification of rigid body motions:

 Translation:
 Rectilinear
 Curvilinear
 Rotation about a fixed axis

 General plane motion

 Example
Classify the type of motion for the system shown below
Arm AB =
Arm BC =
Piston head =

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.

∑ 𝐹=𝑚𝑎
 Examples in vibration system

Rotation about a fixed axis
 Consider rotation of rigid body about a fixed axis AA’
 Velocity of any point on rigid body
 Acceleration
 tangential acceleration (at)

 radial acceleration (an)
 Example in vibration system
 See figure (b) & (c)
 What is their generalized coordinate?

∑ 𝐺
𝑀 =𝐼 ¨
𝜃
2 1
𝐿 k 𝐿
3 3

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.

∑ 𝐹=𝑚𝑎
∑ 𝐺
𝑀 =𝐼 ¨
𝜃
k = 2.5 kN/m
m = 20 kg
c = 325 Ns/m

REVIEW 3 : Moment of inertia
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
;
 The polar moment of inertia is an important parameter in problems
involving torsion of cylindrical shafts and rotations of slabs

 It is a measure of the 'efficiency' of a cross-
sectional shape to resist bending caused by
loading
 Refer to figure
 Both beams have the same area and even the
same shape.
 Beam 1 is stronger than Beam 2 because it
has a higher second moment of area (I).
 Orientation can change the second moment of
area (I).
 For a rectangle,
 Where b is breadth (horizontal) and h is height
(vertical) if the load is vertical - e.g. gravity
load.

Properties of plane figures

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.
13


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

 Example
For the system shown below, obtain the moment of inertia about point O.
Solution

Guided tutorial 3A
Obtain the mass moment of inertia :-
a) about O
b) about A

Module 4
Free vibration of SDOF undamped
system
Content
 Learning outcomes
 Free vibration of SDOF undamped system
 Deriving the equation of motion (FBD method)
 Deriving the equation of motion (Energy method)
 Free vibration of SDOF damped system
 Logarithmic decay
 Tutorial problems

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

3.0 Free vibration of SDOF undamped system

Free vibrations
 Oscillates only under an initial disturbance with no 𝑥 𝑠𝑡
external force acting. 𝑘𝑥 𝑠𝑡
 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
 Attach the mass at the spring ends, the spring
deflected at and rest to equilibrium
(b)
 The FBD for the mass in equilibrium is shown in Fig. (b), then
 = static deflection 1
 Let the mass be deflected a distance +x (downward), using
Newton’s second law we have,
 But , then finally we have

𝑥 𝑠𝑡
2
 Eqn. (2) is a linear, second order ordinary differential
equation [ODE]
 Dividing all terms with m, we obtain
 is called the natural frequency, or

: measured in rad/s 3

 Solving the equation of motion can be done using ODE procedure
 Assume the solution is in the form of,
 Substitute into equation (2), we obtain

,
 The general solution for x(t) is
or
 We can also write the equation into a trigonometric form
 Where A1 and A2 are constants

 A1 and A2 can be determined by applying the initial conditions
 Using initial conditions,
 Finally we obtain the time response of the displacement,

4
 We can also express the above equation that represents simple
sinusoidal motion
 From,
 Let, and
 Then . From trigonometric identity, we obtain

𝑥
𝜑 1 cycle
𝑋
𝐴𝑠𝑖𝑛𝜑
O
𝜔𝑛 𝑡
𝑋
 Where the amplitude ,

 Thus, the amplitude of oscillation
 While the phase angle can be obtained from , thus,

6

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

Solution

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

Solution
a) From
e)
f)

Guided Tutorial 3B
 A simple undamped spring mass system is set to motion from rest by
giving it an initial velocity of 0.1 m/s. It oscillates with a maximum
amplitude of 0,01 m. Calculate its natural frequency.
 A spring has a stiffness of 600 N/m. If a 4-kg block is attached to the
spring, pushed 50 mm above its equilibrium position, and released from
rest, determine the equation which describes the block’s motion. Assume
that positive displacement is measured downward.
 An 8-kg block is suspended from a spring having a stiffness 80 N/m. If
the block is given an upward velocity of 0.4 m/s when it is 90 mm above
its equilibrium position, determine the equation which describes the
motion and the maximum upward displacement of the block measured
from the equilibrium position. Assume that positive displacement is
measured downward.

Module 5
Free vibration of SDOF undamped
system (Equation of Motion)
B. Rotational system
 Apply external torque T on the disc, and
then release  torsional oscillation exists.
 The angle of twist is given by
8
 Torsional spring constant is given by
 If the disk is displaced by , the restoring

9
torque is (opposite direction to applied T) -- (1b) -- (2b)
 From Newton’s law of motion,  G = Modulus of rigidity

 J = Polar moment of inertia
or
 For solid shaft
 For hollow shaft
10  = Mass moment of inertia

 The natural frequency:
11
 The general solution for can be obtained by introducing the initial
conditions
 Let
 Finally the general solution is:
12

Translational & rotational systems – A comparison
Translational system Torsional system
Mass, (kg) Mass moment of inertia, (kg.m4)
Stiffness, (N/m) Torsional stiffness, (Nm/rad)
Displacement, (m) Angular displacement, (rad)
Velocity, (m/s) Angular velocity, (rad/s)
Acceleration, (m/s2) Angular acceleration, (rad/s2)
Natural frequency, (rad/s) Natural frequency, (rad/s)
Equation of motion, Equation of motion,
Amplitude of oscillation Amplitude of oscillation,
Phase angle, Phase angle,

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
x
Include your
positive z-axis
direction too
Mechanical System FBD KD

Translation system
 Apply Newton’s 2nd law of motion for the translation system:-
 The rate of change of momentum of an object is directly proportional to
the resultant force applied and is in the direction of the resultant force
 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
Solution
 Draw FBD & KD 𝑚 𝑥¨
3𝑘𝑥 20 kg
0 .67 𝑘𝑥 20 kg
2𝑘𝑥
FBD KD
 Apply Newton’s law
 Rearrange the equation,

Rotation system
 Apply Euler’s 2nd law of motion
 The sum of the moments of the external forces acting on the rigid body
must equal the change in the angular momentum of the rigid body.
 Note about the sign of moment direction : cw (-ve) ; ccw (+ve)
Fig. 2

Example
 Determine the natural frequency n for the compound pendulum shown
in fig. 1
Fig. 1

Solution
 Let consider static equilibrium condition
Fy
Fx
Where Fx and Fy are

reaction forces at pin
W = mg

Solution Fy
 Draw FBD and Kinetic diagram

 Apply Euler’s law Fx
Assume  is very small, thus sin  = 
 **Body weight still exist in the equation!!

 To obtain its natural frequency, rearrange the equation 𝐼 𝜃¨
Thus the natural frequency,

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
Assume  is very small, thus sin  = . And also:
Finally we obtain: 

General plane system
 Example
Obtain the equation of motion for the system shown in fig. 2
Fig. 2

Solution 𝑄
 Let consider static equilibrium condition
 Introducing the support forces, P & Q by springs
 to hold the system in static equilibrium M
 Take equilibrium of moment about point O

𝑃
𝑚𝑔
 thus  these are the spring forces to hold the system inFBD
equilibrium

 Then, draw FBD & KD
2 𝑘𝑥+𝑄
 Apply Euler’s law,
but
but M
Thus
𝑚𝑔 𝑃+𝑘𝑥
FBD
 Important finding
 The rigid body weight disappeared in the equation of
motion
𝐼 𝜃¨
 To make the solution step shorter, simply omit the step of
finding the support force (static equilibrium case)
 Discard body weight in the equation.
 The natural frequency, 𝑚 𝑥¨
KD

Apply
but
but
Thus
 Important finding
 The weight of rigid body disappeared in the equation of motion
 To make the solution step shorter, simply omit the step of finding the support
force (static equilibrium case)
 Discard body weight in the equation.
 The natural frequency,

Class exercise
 For the mechanical system shown below, determine :-
a) the equation of motion
b) the period of oscillation
I
k
2r
m x

Class exercise
 Consider static equilibrium condition
 Draw FBD & substitute the spring with a support force
 Apply equilibrium of moment, find the support force

Class exercise
 Draw FBD & KD
 Apply Euler’s law

Guided Tutorial 4A
Class Exercise
 Obtain the period of oscillations
2k
O
θ
2L/3 L/3
k

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
T + U = constant
T1 + U1 = T2 + U2
 When the mass passing the equilibrium condition, T = T1 and U = U1 = 0

 When the mass is at maximum displacement, T = T2 = 0, U = U2. Finally
we have
T1 + U 2 = 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,
 Apply partial derivative for the energy equation,
 Simplify the equation

Example
 Establish the equation of motion for the system shown using Rayleigh’s
energy method.

Solution
 Total energy at maximum position: , T = 0
 Total energy when return to equilibrium position: , U = 0.
 Satisfying the conservation of energy:
 Apply partial derivative: (+ 
,
 Rearrange the equation,  , where  Done!!

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

Solution
Consider two conditions:

1. When the mass reaching highest position
2. When the mass returning and passing the equilibrium position
First condition: ;
Second condition: 0;
But,  

Taking the energy is conserved
Simplifying we obtain
Applying partial derivative
The natural frequency can be obtained by rearranging the equation



Guided Tutorial 4B
 Draw FBD, derive the equation of motion and obtain the natural
frequency.
b)
a)
k = 2.5 kN/m
m = 20 kg
c = 325 Ns/m
c)

Module 6
Free vibration of SDOF – system with
viscous damper
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
16
 c is the damping constant/coefficient and is measured in N.s/m
 Work done by a damper :
 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:
17

 We solve this eqn. by assuming the general solution as
 Substitute into eqn. (17) yield,
or
 Assuming the radical
 Thus, there are three solutions depending on the radical a, i.e:
 a=0
 a<0
 a>0
 For, a = 0, we obtain
 and also
 Cc is called the critical damping constant
18

Damping ratio, 
 From , or
 Introducing the damping ratio,
 We can also rewrite the equation of motion as:
 Thus, we obtain the solution for the equation of motion as:

19
 The solution of equation (20) depends on the damping factor:-

 Case 1, when  < 1 20
 Case 2, when  = 1
 Case 3, when  > 1

Case 1,  < 1 (underdamped system)
 When  < 1, the roots of equation (20) become imaginary (complex
number)
, where
 The solution is :
 Or
 Apply the initial condition: , then
 Apply second initial condition: , ,
 Thus, the time response of the displacement,
21

 We can also write the solution in the form of simple sinusoidal equation
This is the amplitude of oscillation
 We introduce as damped circular frequency :

 Where the amplitude of oscillation, and the phase angle,

 The amplitude diminishes with each cycle of vibration

 The period of damped vibration is
 Since d < d , the period of damped vibration is greater than that of free
vibration ()

Case 2,  = 1 (critically damped system)
 If Cc = c, then the solution for equation 12 become ,
 This situation is known as critical damping (c has the smallest value)
 The solution is in the form of
Exponential decay
Linear function
 Apply the initial conditions

 and
 and
 Finally, the time response of the displacement,
22

Case 3,  > 1 (overdamped system)
 When c > Cc, both roots of equation 12 are real,
 The general equation for the displacement as a function of time,
where D & E are constant
 Since the effect of damping is so strong, this means that, the motion of
the system is nonvibrating

Example
 For the mechanical system shown determine:
a) the equation of motion
b) the natural frequency
c) the damping ratio

Solution
Draw the FBD and KD 𝐼 𝜃¨ 𝑘 𝑥1
𝑐 𝑥˙
Apply
But, ,
𝑚 𝑥¨
 mg
𝑘𝑥
Finding the natural frequency,
 FBD & KD
Finding the damping ratio

; 

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

Solution
Spring stiffness, , Damping constant,
Equation of motion, 
Natural frequency,  , ; 
This is an underdamped system (), thus,
But, ;
Thus,

The velocity,
Thus , 
At t = 1.0 s, m

Class exercise
 Consider a single degree of freedom system which is represented as m.
Under equilibrium condition the spring is compressed by 0.05 m. The
system is designed to operate at critically damped condition. Given that
the mass is 1200 kg,
a. Calculate the stiffness of the spring
b. Calculate the equivalent damping value
c. If a mass of 300 kg is added to the system, what is the new damping ratio?

Class exercise
Solution
 Calculate the stiffness of the spring [Ans : 235440 N/m]
 Calculate the equivalent damping value [Ans : 33617 Ns/m]

Class exercise
 If a mass of 300 kg is added to the system, what is the new damping
ratio? [Ans : 0.84]

8.0 Logarithmic decrement
Logarithmic decrement
 Logarithmic decrement = rate at which the amplitude of free-damped
vibration decreases
 Suppose is the amplitude of oscillation of ith cycle which occurs at
 The amplitude of the next cycle occurs one period later, i.e at
 The ratio between these two amplitudes,

 Thus, the ratio of the amplitudes is constant
 The logarithmic decrement,  is given by
  this is the definition of logarithmic decrement
 Substituting the damped circular period, 24
 Logarithmic decrement for any two points cycles

25
apart:
 If the damping ratio,  is small and , then eqn. (24) become

26
27

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.

Solution
Initial amplitude: , after 5 cycles the amplitude become
The period of oscillation, .

The frequency of oscillation,
From , thus the natural frequency is,
From , thus the damping factor is:
From . Thus the stiffness is:

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.

 Solution

Guided Tutorial 5
 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. Determine :-
a. The total spring stiffness and the damping values
b. The equation of motion, the natural frequency, the damping ratio and the
damped oscillation frequency of the system
c. The displacement and velocity of the mass as a time function
d. The displacement at t = 0 s.

Guided Tutorial 5
 The response to an initial excitation of a system is as shown in the
graph. Estimate:-
a. The damping ratio
b. The damped oscillation frequency
Answer
a)

9.0 End chapter exercise
1. Obtain the equation of motion for the mechanical
system shown in the figure,
(d)
(a)
(e)
(b)
(f)
(c)
27.03.2012 Azmi M.Yusof 92

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 respect to time.
rad/s and initial condition Obtain the expression
x
for the response of the system. 2k N/m 3k N/m 10k N/m
4. A 10 kg body is suspended from vertical spring
with k = 2.5 kN/m. At time t = 0, it has a 10 kg
4k N/m
downward velocity of 0.5 m/s as it passes
1 Ns/m 1k N/m
through the position of static equilibrium.
Determine:- Fig. 9.1
6. A 200kg motorcycle is designed to have an
a) the static spring deflection
underdamped shock absorber . When the shock
b) the natural frequency of the system absorber is subjected to an initial velocity due to
c) the system period a road bump, the resulting damped period is 2s
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
27.03.2012 Azmi M.Yusof
9.0 Tutorial problems
7. A free vibration test is run to determine Answer
the stiffness and damping properties of 1a)
an elastic element. A 20kg block is
1b)
attached to the element. The block is
displaced 1 cm and released. The 1c)
resulting oscillations are monitored with 1d)
the results shown in Fig. 9.2. Determine 1e)
k and c for this element.
1f)
3. x(t) = 2 cos t
4. a) 39.2 mm; b) 15.81 rad/s; c) 0.397 s; d) x=0.03
sin⁡15.81t; e) 0.5m/s & 7.91 m/s2
5. a), b)
, c)
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
27.03.2012 Azmi M.Yusof 94

Selected Topics of Dynamics: Dr.-Ing. Azmi Mohamed Yusof Faculty of Mechanical Engineering

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Module 3

Selected Topics of Dynamics

Dr.-Ing. Azmi Mohamed Yusof

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 2

At the end of this module students should recap prior knowledge of

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 3

Classification of rigid body motions:

 Rotation about a fixed axis

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 4

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 5

 All particles have the same velocity.

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 6

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 7

 tangential acceleration (at)

MEC 521 – VIBRATIONS : Dr. Azmi M.Yusof 8

 Example in vibration system

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Area moment of inertia

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 But , then finally we have

 is called the natural frequency, or

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 Assume the solution is in the form of,

 Substitute into equation (2), we obtain

 Where A1 and A2 are constants

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 Finally we obtain the time response of the displacement,

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 Where the amplitude ,

 While the phase angle can be obtained from , thus,

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 If the disk is displaced by , the restoring

 From Newton’s law of motion,  G = Modulus of rigidity

10  = Mass moment of inertia

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Mechanical System FBD KD

 Apply Newton’s law

 Rearrange the equation,

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 Note about the sign of moment direction : cw (-ve) ; ccw (+ve)

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Where Fx and Fy are

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