Undamped Vibration of Single

Degree of Freedom System

MOHD SHAHRIR MOHD SANI

LECTURE 3
SINGLE DEGREE OF FREEDOM SYSTEM:
Free Vibration

k= stiffness coefficient (N/m)

F  0
d2x
kx  m 2  0 ( 1.1 )
dt
SINGLE DEGREE OF FREEDOM SYSTEM:
Free Vibration



x  A sin( t   ) ( 1. 2 )

where
A  amplitude
rad
  frequency ( )
sec
SINGLE DEGREE OF FREEDOM SYSTEM:
Free Vibration
dx
 A cos(t   ) (1.3)
dt
d 2x 2 2
2
  A sin( t   )   x (1.4)
dt
SINGLE DEGREE OF FREEDOM SYSTEM:
Free Vibration
SINGLE DEGREE OF FREEDOM SYSTEM:
Free Vibration with initial conditions
SINGLE DEGREE OF FREEDOM SYSTEM:
Forced Vibration
• If the system is acted upon by an excitation force F =
Psint, considering the steady state component only,

F  0
d 2x
kx  m 2  P sin t (1.6)
dt
x  A sin t
kA sin t  mA 2 sin t  P sin t
P
A (1.7)
k  m 2
SINGLE DEGREE OF FREEDOM SYSTEM:
Forced Vibration

• the frequency of
excitation is increase from
zero (=0) the following
would happen:
SINGLE DEGREE OF FREEDOM SYSTEM:
Forced Vibration
• Solution:
• The total solution for a one-degree of freedom
undamped system with harmonic excitation,
consists of the transient and steady state response,
can be written as:
P
x  A sin(nt   )  2
sin t (1.8)
(k  m )
• where,
▫ A and β are determined by the initial conditions.
▫ w0 is the natural frequency w is the excitation frequency.
P
x  A sin(nt   )  (1.9)
• For step excitation, k
Example 1

Single degree of freedom with harmonic excitation with parameter as

below:
m=100kg, k1=500 N/m, k2=750 N/m and f=10Hz
a) Natural frequency
b) Steady state to the excitation
c) Total solution if initial condition when t=0,
SINGLE DEGREE OF FREEDOM SYSTEM:
Undamped Torsional Vibration
 = mass density
= thickness of disc
= diameter of disc
W = weight of disc

can be determined:

where,

I = polar moment of inertia of the cross section of the shaft

G = shear modulus
l = length of shaft d=diameter od shaft
Stiffness for beam
𝟏𝟗𝟐 𝑬𝑰
𝒇𝒐𝒓 𝒇𝒊𝒙𝒆𝒅 − 𝒇𝒊𝒙𝒆𝒅 𝒃𝒆𝒂𝒎 𝒘𝒊𝒕𝒉 𝒍𝒐𝒂𝒅 𝒂𝒕 𝒕𝒉𝒆 𝒎𝒊𝒅𝒅𝒍𝒆 , 𝒌 𝒆𝒒= 𝟑
𝒍

𝟑 𝑬𝑰
𝒄𝒂𝒏𝒕𝒊𝒍𝒆𝒗𝒆𝒓 𝒃𝒆𝒂𝒎 𝒘𝒊𝒕𝒉 𝒆𝒏𝒅 𝒍𝒐𝒂𝒅 , 𝒌 𝒆𝒒= 𝟑
𝒍

𝟒𝟖 𝑬𝑰
𝒔𝒊𝒎𝒑𝒍𝒚 𝒔𝒖𝒑𝒑𝒐𝒓𝒕𝒆𝒅 𝒃𝒆𝒂𝒎 𝒘𝒊𝒕𝒉 𝒍𝒐𝒂𝒅 𝒂𝒕 𝒕𝒉𝒆 𝒎𝒊𝒅𝒅𝒍𝒆 , 𝒌𝒆𝒒 = 𝟑
𝒍

𝑨𝑬
𝑹𝒐𝒅 𝒖𝒏𝒅𝒆𝒓 𝒂𝒙𝒊𝒂𝒍 𝒍𝒐𝒂𝒅𝒊𝒏𝒈 , 𝒌 𝒆𝒒=
𝒍
EXAMPLE 2 [25 Marks]
A reciprocating pump with a mass (m) of 400 kg is mounted on fix supported steel beam of
length (l) 2 meter and rectangular cross section 5 cm x 80 cm (depth = 5 cm and width = 50 cm),
as shown in the Figure below. During the operation, the steel beam is subjected to a harmonic
force, F = (400 cos ωt) N from the pump. Please note that the maximum speed of the pump is
3000 RPM.
 
a) Develop the equation of motion for the system and determine its natural frequency.(5 Marks)
b) Find the vibration response of the system, in the function of excitation frequency, ω and time,
t, for the initial conditions; x0 = 0 and 0 = 0. (8 Marks)
c)Determine the static deflection of the beam, if the pump is at its maximum speed. Will
resonance occur before it reaches maximum speed? State your comments and recommendations
(if any).(12 Marks)
• Simple Pendulum
ml 2  mgl sin   0
g
For small angles,   02  0 where 0 
l