Vibration: Free Vibration of Single Degree of Freedom Systems

VIBRATION
Free Vibration of Single Degree

of
Freedom Systems
Merera
S.
Page 1
COURSE OUTLINE
❑ Free Vibration with no Damping
❑ Free Vibration with Damping;

Viscous Damping
Coulomb Damping
Page 2
Free Vibration with Viscous
Damping
Page 3
Free Vibration with Viscous Damping
• Equation of Motion:
where c = damping constant

From the figure, Newton’s law yields the equation
of motion:
or
Page 4
Assume a solution in the form:
Hence, the characteristic equation is
the roots of which are
These roots give two solutions to Eq.(2.59)
Page 5
Thus the general solution is:
where C1 and C2 are arbitrary constants to be

determined from the initial conditions of the system.
Page 6
• Critical Damping Constant and Damping Ratio:

The critical damping cc is defined as the value of the
damping constant c for which the radical in Eq.(2.62)
becomes zero:
or
The damping ratio ζ is defined as:
Page 7
Thus the general solution for Eq.(2.64) is:
Assuming that ζ ≠ 0, consider the following 3 cases:
Case1. Underdamped system
For this condition, (ζ2-1) is negative and the roots are:
Page 8
and the solution can be written in different forms:
where (C’1,C’2), (X,Φ), and (X0, Φ0) are arbitrary

constants to be determined from initial conditions.
Page 9
For the initial conditions at t = 0,
and hence the solution becomes
Eq.(2.72) describes a damped harmonic motion.

Its amplitude decreases exponentially with time,
as shown in the figure below.
Page 10
The frequency of damped vibration is:
Underdamped Solution
Page 11
Case2. Critically damped system
In this case, the two roots are:
Due to repeated roots, the solution of Eq.(2.59) is given by
Application of initial conditions gives:
Thus the solution becomes:
Page 12
It can be seen that the motion represented by Eq.(2.80) is
aperiodic (i.e., nonperiodic). Since , the
motion will eventually diminish to zero, as indicated in the
figure below.
Comparison of motions with different types of damping

Page 13
Case3. Overdamped system
The roots are real and distinct and are given by:
In this case, the solution Eq.(2.69) is given by:
For the initial conditions at t = 0,
Page 14
• Logarithmic Decrement:
Using Eq.(2.70),
The logarithmic decrement can be obtained from Eq.(2.84):
Page 15
For small damping,
Hence,
or
Thus,
where m is an integer. Page 16

Example 2.11
Shock Absorber for a Motorcycle
An underdamped shock absorber is to be designed for a

motorcycle of mass 200kg (shown in Fig.(a)). When the
shock absorber is subjected to an initial vertical velocity
due to a road bump, the resulting displacement-time
curve is to be as indicated in Fig.(b).
Find the necessary stiffness and damping constants of
the shock absorber if the damped period of vibration is to
be 2 s and the amplitude x1 is to be reduced to one-fourth
in one half cycle (i.e., x1.5 = x1/4).
Page 17
Example 2.11
Solution
Approach: We use the equation for the logarithmic
decrement in terms of the damping ratio, equation for the
damped period of vibration, time corresponding to
maximum displacement for an underdamped system, and
envelope passing through the maximum points of an
underdamped system.
Page 18
Example 2.11
Solution
Since ,
Hence the logarithmic decrement becomes
From which ζ can be found as 0.4037. The damped period

of vibration given by 2 s. Hence,
Page 19
Example 2.11
Solution
The critical damping constant can be obtained:
Thus the damping constant is given by:
and the stiffness by:
Page 20
Free Vibration with Coulomb
Damping
Page 21
Free Vibration with Coulomb Damping
❑ Coulomb’s law of dry friction states that, when two bodies are
in contact, the force required to produce sliding is
proportional to the normal force acting in the plane of
contact. Thus, the friction force F is given by:
where N is normal force,

μ is the coefficient of sliding or kinetic friction
μ is usu 0.1 for lubricated metal, 0.3 for nonlubricated
metal on metal, 1.0 for rubber on metal
❑ Coulomb damping is sometimes called constant damping

Page 2222
• Equation of Motion:
Consider a single degree of freedom system with dry
friction as shown in Fig.(a) below.
Since friction force varies with the direction of velocity, we

need to consider two cases as indicated in Fig.(b) and (c).
Page 2323
Case 1. When x is positive and dx/dt is positive or when x is
negative and dx/dt is positive, the equation of motion can be
obtained using Newton’s second law (Fig.b):
Hence, the solution will be
where ωn = √k/m is the frequency of vibration

A1 & A2 are constants, and is a constant
representing the virtual displacement of the spring under
the force if it were applied as a static force
Page 2424
Case 2. When x is positive and dx/dt is negative or when x is
negative and dx/dt is negative, the equation of motion can be
derived from Fig. (c):
The solution of the equation is given by:
where A3 & A4 are constants
Page 2525
• Solution:
Eqs.(2.107) & (2.109) can be expressed as a single
equation using N = mg:
where sgn(y) is called the sigum function, whose value is

defined as 1 for y > 0, -1 for y< 0, and 0 for y = 0.
Assuming initial conditions as
26
Page 26
• Let x0, x1, x2…, is denote the amplitude of the motion at
successive half cycle
• Thus
• The solution is valid for the half cycle

only—that is when . At the mass
will be at its extremely left position and its
displacement from eqm position is
Page 27
Fig.2.34 Motion of the mass with Coulomb damping

It indicate that in each half cycle the motion is harmonic, with the equilibrium
position changing from to every half cycle.
Page 2828
Note the following characteristics of a system with
Coulomb damping:
1. The equation of motion is nonlinear with Coulomb damping,
while it is linear with viscous damping
2. The motion is periodic with Coulomb damping, while it can
be nonperiodic in a viscously damped (overdamped)
system.
3. The system comes to rest after some time with Coulomb
damping, whereas the motion theoretically continues
forever (perhaps with an infinitesimally small amplitude)
with viscous damping.
4. The amplitude reduces linearly with Coulomb damping,
whereas it reduces exponentially with viscous damping.
Page 2929
Note the following characteristics of a system with
Coulomb damping:
5. In each successive cycle, the amplitude of motion is
reduced by the amount 4μN/k, so the amplitudes at the end
of any two consecutive cycles are related:
As amplitude is reduced by an amount 4μN/k in one

cycle, the slope of the enveloping straight lines
(shown dotted) in Fig 2.34.
Page 3030
EX-1
A wheel is mounted on a steel shaft (G = 83 X109 N/m2) of length 1.5 m and

radius 0.80 cm. The wheel is rotated 5 and released. The period of oscillation is
observed as 2.3 s. Determine the mass moment of inertia of the wheel.
Page 31
EX-2
A mass of 5 kg is dropped onto the end of a cantilever beam with a velocity of

0.5 m/s, as shown in Figure .(a). The impact causes vibrations of the mass,
which sticks to the beam. The beam is made of steel (E = 210 X 109 N/m2), is
2.1 m long, and has a moment of inertia I 3 X10–6 m4. Neglect inertia of the
beam and determine the response of the mass.
Page 32
EX-3
An assembly plant uses a hoist to raise and maneuver large objects. The
hoist shown in Figure 3.5 is a winch attached to a beam that can move along
a track. Determine the natural frequency of the system when the hoist is used
to raise a 800-kg machine part at a cable length of 9 m.
Page 33
EX-4
Determine (a) the response of the accelerometer. if it has an initial velocity of

30 m/s and an initial displacement of 0 m. (b) What is the value of the
displacement at t 1 s?
Page 34
EX-5
The recoil mechanisms of large firearms are designed with critical damping to
take advantage of the quickest return to the firing position without oscillation.
A 52 kg cannon is to return to within 50 mm of its firing position 0.1 s after
maximum recoil. The initial recoil velocity of the cannon is 2.5 m/s. Determine
(a) the stiffness of the recoil mechanism, (b) the damping coefficient of the
recoil mechanism, and (c) the maximum recoil.
Page 35
Page 36

Vibration: Free Vibration of Single Degree of Freedom Systems

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VIBRATION

Free Vibration of Single Degree

❑ Free Vibration with Damping;

where c = damping constant

Assume a solution in the form:

Hence, the characteristic equation is

the roots of which are

These roots give two solutions to Eq.(2.59)

Thus the general solution is:

where C1 and C2 are arbitrary constants to be

• Critical Damping Constant and Damping Ratio:

The damping ratio ζ is defined as:

Assuming that ζ ≠ 0, consider the following 3 cases:

Case1. Underdamped system

For this condition, (ζ2-1) is negative and the roots are:

where (C’1,C’2), (X,Φ), and (X0, Φ0) are arbitrary

and hence the solution becomes

Eq.(2.72) describes a damped harmonic motion.

The frequency of damped vibration is:

Due to repeated roots, the solution of Eq.(2.59) is given by

Application of initial conditions gives:

Thus the solution becomes:

Comparison of motions with different types of damping

In this case, the solution Eq.(2.69) is given by:

For the initial conditions at t = 0,

The logarithmic decrement can be obtained from Eq.(2.84):

where m is an integer. Page 16

An underdamped shock absorber is to be designed for a

Hence the logarithmic decrement becomes

From which ζ can be found as 0.4037. The damped period

Thus the damping constant is given by:

and the stiffness by:

where N is normal force,

❑ Coulomb damping is sometimes called constant damping

Since friction force varies with the direction of velocity, we

Hence, the solution will be

where ωn = √k/m is the frequency of vibration

The solution of the equation is given by:

where A3 & A4 are constants

where sgn(y) is called the sigum function, whose value is

• The solution is valid for the half cycle

Fig.2.34 Motion of the mass with Coulomb damping

As amplitude is reduced by an amount 4μN/k in one

A wheel is mounted on a steel shaft (G = 83 X109 N/m2) of length 1.5 m and

A mass of 5 kg is dropped onto the end of a cantilever beam with a velocity of

Determine (a) the response of the accelerometer. if it has an initial velocity of

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