Vibration Ch02 BASHMAL Ver1.0 PDF

Chapter 2
Free Vibration of Single-Degree-of-Freedom Systems
2
1
Introduction
• Free Vibration occurs when a system oscillates only under an

initial disturbance with no external forces acting after the initial
disturbance
• Undamped vibrations result when amplitude of motion remains
constant with time (e.g. in a vacuum)
• Damped vibrations occur when the amplitude of free vibration
diminishes gradually overtime, due to resistance offered by the
surrounding medium (e.g. air)
1
Introduction
• Several mechanical and structural systems can be idealized as

single degree of freedom systems, for example, the mass and
stiffness of a system
Free Vibration of an Undamped Translational

System
• Equation of Motion Using Newton’s Second Law of Motion:

If mass m is displaced
 a distance x (t ) when acted upon by a
resultant force F (t ) in the same direction,
 
d  dx (t ) 
F (t )   m 
dt  dt 
If mass m is constant, this equation reduces to
 
d 2 x (t )  Translation
F (t )  m 2
 mx (2.1)
dt

 d 2 x (t )

where x  is the acceleration of the mass
dt 2
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2
System
For a rigid body undergoing rotational motion,

Newton’s Law gives
 
M (t )  J (2.2) Rotation
Important: Always take Moment of inertia around center of mass OR center of rotation.
Use Parallel axis theorem if necessary.
 
where
 M is the resultant moment acting on the body and and

  d  (t ) / dt are the resulting angular displacement and angular
2 2
acceleration, respectively.
For undamped single degree of freedom system, the application of Eq.

(2.1) to mass m yields the equation of motion:
F (t )  kx  mx or mx  kx  0 (2.3)
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System
Mass Moment of Inertia: Summary
I   r2dm
Parallel-Axis Theorem
I  I cm  md 2
Frequently tabulated data related to moments of inertia will be

presented in terms of radius of gyration.
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3
System
Procedure (Translational and Rotational Motion)
• Define coordinates at all spring (damper) ends. [except fixed end]
• Displace the system in the positive direction. [if there is more than one coordinate,
assume specific order of magnitude].
• Identify which spring is under tension or compression.
• Draw all elements separately. Start with the springs, then, draw dampers and masses.
• Draw the forces in each spring and write the expression. Then, draw the reaction
force on the mass.
• Do (ƩF) for all masses and connections between all springs and dampers.
16 © 2018 Mechanical Vibratins Sixth Edition in SI Units

System
Draw Free-
Body Diagram
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4
System
Mass-Spring-Damper System
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System
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5
System
20

System
Torsional System
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System
• Equation of Motion Using Other Methods:
3. 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.”
If no work is done on the conservative system by external forces,

the total energy of the system remains constant. Thus the principle
of conservation of energy can be expressed as:
d
T  U  constant or (T  U )  0 (2.6)
dt
22

System
• Equation of Motion Using Other Methods:
3. Principle of Conservation of Energy (Cont)

The kinetic and potential energies are given by:
1 2
T mx (2.7)
2
1
U  kx2 (2.8)
2
Substitution of Eqs. (2.7) & (2.8) into Eq. (2.6)
yields the desired equation
mx  kx  0 (2.3)
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7
System
• Equation of Motion of a Spring-Mass System in Vertical Position:
Consider the configuration of the spring-mass system shown in the

figure.
24

System
For static equilibrium,

where w = weight of mass m,
W  mg  k st (2.9)  st = static deflection
g = acceleration due to gravity
The application of Newton’s second law of motion to mass m gives
mx  k ( x   st )  W
and since k st  W , we obtain
mx  kx  0 (2.10)
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8
System
Notice that Eqs. (2.3) and (2.10) are identical. 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 (see next
slide).
26

System
equilibrium position
equilibrium position : due to weight only mg  k
If equilibrium position is used as the reference point for measuring the displacement of the mass, the gravity force mg
in EoM is canceled by the equilibrium spring force k.
This results in a simplified form of the EoM Eq. (2.10)
- The gravity force will not appear if we select the equilibrium position as reference.
- Gravity is used only to determine the equilibrium position from which we will have vibration.
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9
System
28

System
• Equation of Motion of a Pendulum (Newton's 2nd Law):
M (t )  J
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10
System
• Equation of Motion of a Pendulum (Energy method):
30

System
• Equation of Motion of a Horizontal bar (Newton's 2nd Law):
• θ(t) is the small angular displacement of the bar from the

static equilibrium position.
• The weight of the bar and spring forces due to static
deflections (in static equilibrium configuration) have not
been included as they cancel out.
• It should also be noted that the spring deflections with
respect to static equilibrium configurations are calculated
for a small angular displacement and are found to be bθ
and aθ for springs with stiffnesses k2 and k1, respectively.
M (t )  I A
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11
System
• Equation of Motion of a Horizontal bar (Energy method):
32

System
• Example(Newton's 2nd Law):
Derive the differential equation governing the motion of the
one-degree-of-freedom system by applying the appropriate
form(s) of Newton’s laws to the appropriate free-body
diagrams. Use the generalized coordinate shown in the
Figure. Linearize nonlinear differential equations by
assuming small displacements.
33
12
System
• Example:
Summing moments about the point of support of the bar
using the small angle assumption leads to
Summing moments about the point of contact between the

disk and the surface leads to
Kinematics is used to give
34

System
• Example:
Equating the two expressions for F and substituting for θ leads to
The differential equation is put into standard form by dividing by the

coefficient of 𝑥ሷ leading to
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13
System
• Example (Energy method):
Determine the differential equations governing the motion of the
system by using the energy systems method.
Solution:
The kinetic energy of the system is 𝑇 = 𝑇𝑏 + 𝑇𝑠 where 𝑇𝑏 is the
kinetic energy of the bar and 𝑇𝑠 is the kinetic energy of the sphere.
The kinetic energy of the sphere is assuming no slipping
Let 𝜃 (small) be the angular rotation of the bar. Both ends of the rigid
link have the same displacement, thus
The kinetic energy of the bar is
Hence the total kinetic energy of the system is

The equivalent mass of the
5𝑚
system is
2
36

System
• Example (Energy method):
The potential energy of the system is.
1
Using the small angle assumption and approximating 1-cos 𝜃 as 2 𝜃 2
leads to the potential energy of
The equivalent stiffness of
3𝑚𝑔
the system is 3k + 2𝐿
The work done by the viscous damping force is
The equivalent viscous damping coefficient is c. The differential

equation is
37
14
System
• General Solution for Free Response

• x  A cost and x  A sint are solutions for Eq. (2.3). Try x  A sint
2 2 2
Mass m oscillates at the angular

frequency 
Frequency  of the free
response is called natural
frequency or undamped natural
frequency n  k / m
Hence, General Solution of Eq. (2.3) can be expressed as

x(t )  C1eint  C2e int (2.15) where C1 and C2 are constants
By using the identities

x(t )  A1 cos nt  A2 sin nt (2.16 ) where A1 and A2 are new constants
39

System
Response to Initial Conditions m
If force f(t) is zero, then x(t), v(t) depend only on x(0), v(0) called initial condition
At time t = 0, if mass m positions at x0 : x(0)  x0
If mass releases from rest : ẋ(0)  0
If mass releases from some initial velocity v0 : ẋ (0)  v0
In most of applications, initial displacement x0 and velocity v0 are given from x  A1 sin nt  A2 cosnt
x(t  0)  A1  x0
From Eq (2.16), we have
x (t  0)  n A2  x0 (2.17 )
Hence, A1  x0 and A2  x0 / n
Solution of Eq. (2.3) is subjected to the initial conditions of Eq.

(2.17) which is given by
x0
x(t )  x0 cos nt  sin nt (2.18)
n
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15
System
• Harmonic Motion
Eqs.(2.15), (2.16) & (2.18) are harmonic functions of time. Eq.

(2.16) can also be expressed as:
x(t )  A0 sin( nt  0 ) (2.23)
where A0 and  0 are new constants, amplitude and phase angle

respectively:
2 1/ 2
  x0  
A0  A   x0    
2
(2.24 )
  n  
 x0n 
0  tan 1   (2.25)
 x0 
41

System
• Harmonic Motion: Type of motion where the acceleration is

proportional to the displacement but opposite in sign.
The nature of harmonic oscillation can be represented graphically as

shown in the figure.
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16
System
• Harmonic Motion
Note the following aspects of spring-mass systems:
1. When the spring-mass system is in a vertical position
Circular natural frequency: Natural frequency in cycles per second:
1/ 2
k  g 
1/ 2
n    (2.26) 1
m fn    (2.29 )
2   st 
Spring constant, k:
Natural period:
W mg
k  (2.27)
 st  st 1  
1/ 2
Hence,  n   2  st  (2.30 )
 g 
1/ 2
 g  fn
n    (2.28)
  st 
43

System
• Harmonic Motion

2. Velocity x(t ) and the acceleration x(t ) of the mass m at time t
can be obtained as:
dx 
x (t )  (t )  n A sin( nt   )  n A cos(nt    )
dt 2
2
d x
x(t )  2 (t )  n2 A cos(nt   )   n2 A cos(nt     ) (2.31)
dt
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17
System
• Harmonic Motion

3. If initial displacement x0  is zero,
x0    x
x(t )  cos nt    0 sin nt (2.32 )
n  2  n
If initial velocity  x0  is zero,
x(t )  x0 cos nt (2.33)
45

System
• Harmonic Motion

4. The response of a single degree of freedom system can be
represented by:
𝑥 𝑡 = 𝐴 cos(𝜔𝑛 𝑡 − 𝜙) (2.34a)
x (t )   An sin( nt   ) (2.34 )
x y
sin( nt   )    (2.35)
An A where y  x / n
By squaring and adding Eqs. (2.34a) & (2.35)

cos 2 (nt   )  sin 2 (nt   )  1
x2 y2
 1 (2.36 )
A2 A2
46
18
System
• Harmonic Motion

4. Phase plane representation of an undamped system
47
Example 2.2a
continued on next slide

48
19
Example 2.2c

49
Example 2.2d

50
20
Example 2.2e
51

System
Example 2.6
Natural Frequency of Pulley System
Determine the natural frequency of the system.
Assume the pulleys to be frictionless and of negligible mass.
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21
System
Example 2.6
Solution
 2W 2W 
The total movement of the mass m (point O) is 2  
 k1 k2 
The equivalent spring constant of the system is
Weight of the mass

 Net displaceme nt of the mass
Equivalent spring constant
W  1 1  4W (k1  k 2 )
 4W    
keq  k1 k 2  k1k 2
k1k 2
keq  (E.1)
4(k1  k 2 )
56

System
Example 2.6
Solution
By displacing mass m from the static equilibrium position by x, the
equation of motion of the mass can be written as
mx  keq x  0 (E.2)
Natural frequency is given by

1/ 2 1/ 2
k   k1k 2 
n   eq    rad/sec (E.3)
 m  m(k1  k 2 ) 
1/ 2
n 1  k1k 2 
fn     cycles/sec (E.4)
2 4  m(k1  k 2 ) 
57
22
Response of First-Order Systems and Time Constant
• Consider a turbine rotor mounted in bearings as shown
66
• The application of Newton’s second law of motion yields the

equation of motion of the rotor as
Jw  ct w  0 2.47 
dw
where w 
dt
• Assuming the trial solution as
wt   Aest 2.48

where A and s are unknown constants
• Using the initial condition, wt  0  w0 , Eq. (2.48) can be written as
wt   w0 e st 2.49 
67
23
• By substituting Eq. (2.49) into Eq. (2.47), we obtain

w0 e st  Js  ct   0 2.50 
Since w0  0 leads to “no motion” of the rotor, we assume w0  0 and
Eq. (2.50) can be satisfied only if
Js  ct  0 2.51
Equation (2.51) is known as the characteristic equation which yields
ct
s wt   w0 e J
 tt
c
J . Thus the solution, Eq. (2.49), becomes

c
Because the exponent of Eq. (2.52) is known to be  t , the time
J
constant will be equal to   J 2.53
ct
68
• For t  
wt   w0 e 2.54 
 Jt 
c
 w0 e 1  0.368 w0
• Thus the response reduces to 0.368 times its initial value at a time
equal to the time constant of the system.
Time constant  : often

Divergent, unstable used to indicate the
τ<0 speed of the decay and
it has units of time (s)
τ=0
τ>0 Decay, stable
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24
Rayleigh’s Energy Method
70

Rayleigh’s method is based on the principle of conservation of energy (see Eq. (2.6)
above). It uses the energy method to find the natural frequencies of SDOF systems
• The principle of conservation of energy, in the context of an

undamped vibrating system, can be restated as
T1  U1  T2  U 2 (2.55)
where subscripts 1 and 2 denote two different instants of time
• If the system is undergoing harmonic motion, then
Tmax  U max (2.57 )

In linear mass-spring system without damping undergoing simple harmonic motion, the
natural frequency can often be determined without obtaining the equation of motion
71
25
Example: Mass-spring:
72

DATUM
Example: Nat. Freq. Pendulum
73
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2.6
Free Vibration with Viscous Damping
2.6
78
• Equation of Motion:
F  cx (2.58)
where c = damping
• From the figure, Newton’s law yields

that the equation of motion is
mx  cx  kx
mx  cx  kx  0 (2.59)
79
27
• We assume a solution in the form

x(t )  Ce st (2.60 )
where C and s are undetermined constants
• The characteristic equation is

ms 2  cs  k  0 (2.61)
• The roots and solutions are
 c  c 2  4mk
2
c  c  k
s1, 2       (2.62 )
2m 2m  2m  m
x1 (t )  C1e s1t and x2 (t )  C2e s2t (2.63)
80
• Thus the general solution is
x(t )  C1e s1t  C2 e s2t

 c 2   c 2 
  c  k    c  k 
     t      t
 2 m  2 m  m   2 m  2 m  m 
 C1e  C2 e (2.64 )
where C1 and C2 are arbitrary constants to be determined from the initial conditions of the system
81
28
• 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:
2
 cc  k k
    0  cc  2m  2 km  2mn (2.65)
 2m  m m
The damping ratio ζ is defined as:
  c / cc (2.66 )
82
Thus the general solution for Eq.(2.64) is

    2 1  t     2 1  t
x(t )  C1e  n
 C2 e   n
(2.69 )
Assuming that ζ ≠ 0, consider the following 3 cases:
Case 1: If ζ  0, Two complex conjugate roots (r  iq) : Underdamped
Case2 : If ζ  0, Two equal (repeated) real roots (r , r ) : Critically damped
Case 3: If ζ  0, Two distinct, real roots (r , r ) : Overdamped

83
29
Case 1: Underdamped system (  1 or c  cc or c/ 2m  k / m )
For this condition, (ζ2-1) is negative and the roots are

s1     i 1   2 n 
s2     i 1  2  n
   i 1 2  t   i 1 2  t

x(t )  C1e  n
 C2 e   n

 e  nt C1ei 1 2  n t
 C2 e i 1 2 n t


 e  nt C1 cos 1   2 nt  C2 sin 1   2 nt 

 Xe nt sin 1   2 nt   
 
where (C’1,C’2), (X,Φ),
 n t
 X 0e cos 1   nt  02
(2.70) and (X0, Φ0) are arbitrary constants
84

For the initial conditions at t = 0,
x0  n x0
C1  x0 and C2  (2.71)
1   2 n
and hence the solution becomes

 x  n x0 

x(t )  e  nt  x0 cos 1   2 nt  0 sin 1   2 nt  (2.72)

 1   n
2


85
30

Eq.(2.72) describes a damped harmonic motion. Its amplitude
decreases exponentially with time, as shown in the figure below.
The frequency of damped vibration is: d  1   2 n (2.76 )
86
Case 2: Critically damped system

(  1 or c  ccor c/ 2m  k / m )
In this case, the two roots are:
cc
s1  s2    n (2.77 )
2m
Due to repeated roots, the solution of Eq.(2.59) is given by
x(t )  (C1  C2t )e nt (2.78)
87
31
Case 2: Critically damped system (  1 or c  cc or c/ 2m  k / m )

Application of initial conditions gives:
C1  x0 and C2  x0  n x0 (2.79 )
Thus the solution becomes:
x(t )  x0   x0  n x0 t e nt (2.80 )
88
Case 2: Critically damped system (  1 or c  cc or c/ 2m  k / m )

It can be seen that the motion represented by Eq.(2.80) is a
periodic (i.e., non-periodic).
nt
Since e  0 as t   , the motion will eventually diminish to zero,
as indicated in the figure below.
Comparison of motions with different types of damping
89
32
Case 3: Overdamped system (  1 or c  cc or c/ 2m  k / m )

The roots are real and distinct and are given by:

s1      2  1 n  0 
s2     2  1 n 0
In this case, the solution Eq.(2.69) is given by:
    2 1  t     2 1  t
x(t )  C1e  n
 C2 e   n
(2.81)
90
Case 3: Overdamped system (  1 or c  cc or c/ 2m  k / m )

For the initial conditions at t = 0,
C1 

x0n    2  1  x0 
2n   1 2
C2 

 x0n    2  1  x0  (2.82 )
2n   1 2
91
33
• Response comparison: underdamped response
critically damped response
undamped motion
overdamped response
92
• Logarithmic Decrement:
Using Eq.(2.70),
x1 X 0 e  nt1 cos(d t1  0 )
 (2.83)
x2 X 0 e  nt2 cos(d t 2  0 )
e  nt1
  n t1  d 
 e n d (2.84 )
e
The logarithmic decrement can be obtained from Eq.(2.84):
x1 2 2 c
  ln  n d  n   (2.85)
x2 1   2 d 2m
93
34
• Logarithmic Decrement:
For small damping,
  2 if   1 (2.86)
Hence,

  (2.87 )
2 2   2
or

  (2.88)
2
Thus 1  x1 
 ln   (2.92 )
m  xm1 
where m is an integer
94
• Torsional systems with Viscous Damping:
Consider a single degree of freedom torsional system with a viscous

damper as shown in figure.
99
35
The viscous damping torque is given by
T  ct (2.101)
The equation of motion can be derived as:
J 0  ct  kt  0 (2.102 )
where J0 = mass moment of inertia of disc

kt = spring constant of system
θ = angular displacement of disc
100
In the underdamped case, the frequency of damped vibration is

given by
d  1   2 n (2.103 )
where
kt
n  (2.104 )
J0
and
ct ct ct
    (2.105 )
ctc 2 J 0n 2 kt J 0
ctc = critical torsional damping constant
101
36
Example 2.14
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). Also find
the minimum initial velocity that leads to a maximum displacement of
250 mm.
102
Example 2.14
103
37
Example 2.14
Solution
Since x1.5  x1 / 4, x2  x1.5 / 4  x1 / 16 , the logarithmic decrement

becomes
x  2
  ln  1   ln 16   2.7726  (E.1)
 x2  1  2
104
Example 2.14
Solution
From which ζ can be found as 0.4037 and the damped period of

vibration is given by 2 s. Hence,
2 2
2 d  
d n 1   2
2
n   3.4338 rad/s
2 1  (0.4037 ) 2
105
38
Example 2.14
Solution
The critical damping constant can be obtained as

cc  2mn  2(200 )(3.4338 )  1.373 .54 N - s/m
Thus the damping constant is
c  cc  (0.4037 )(1373 .54 )  554 .4981 N - s/m
The stiffness is
k  mn2  (200 )(3.4338 ) 2  2358 .2652 N/m
106
Example 2.14
Solution
The displacement of the mass will attain its max value at time t1 is
sin d t1  1   2
sin d t1  sin t1  1  (0.4037 ) 2  0.9149
sin 1 (0.9149 )
t1   0.3678 sec

107
39
Example 2.14
Solution
 t
The envelope passing through the max points is x  1   Xe n
2
(E.2)
Since x = 250mm, 0.25  1  (0.4037 ) 2 Xe  ( 0.4037)(3.4338)(0.3678)  X  0.4550 m
The velocity of mass can be obtained by

x(t )  Xe  nt sin d t
x (t )  Xe  nt ( n sin d t  d cos d t ) (E.3)
108
Example 2.14
Solution
When t = 0,
x (t  0)  x0  Xd  Xn 1   2

 (0.4550 )(3.4338 ) 1  (0.4037 ) 2
 1.4294 m/s
109
40
Graphical Representation of Characteristic Roots and
Corresponding Solutions
110
Graphical Representation of Characteristic Roots

and Corresponding Solutions
• Roots of the Characteristic Equation
The free vibration of a single-degree-of-freedom spring-mass-

viscous-damper system is governed by Eq. (2.59):
mx  cx  kx  0 2.106

whose characteristic equation can be expressed as (Eq. (2.61)):
ms 2  cs  k  0
s 2  2wn s  wn2  0 2.108 
111
41
• Roots of the Characteristic Equation
The roots of Eq. (2.107) or (2.108) are given by (see Eqs. (2.62)
and (2.68)):
 c  c 2  4mk
s1 , s2 
2m
s1 , s2  wn  iwn 1   2 2.110
s  r  iq
r  real part = −𝜁𝜔𝑛
q  imaginary part = 𝜔𝑛 1 − 𝜁 2
112

• Graphical Representation of Roots and Corresponding

Solutions
The response of the system is given by xt   C1e s1t  C2e s2t 2.111 
Following observations can be made by examining Eqs. (2.110) and
(2.111):
1. The roots lying farther to the left in the s-plane indicate that the
corresponding responses decay faster than those associated
with roots closer to the imaginary axis.
2. If the roots have positive real values of s—that is, the roots lie
in the right half of the s-plane—the corresponding response
grows exponentially and hence will be unstable.
113
42

Solutions
3. If the roots lie on the imaginary axis (with zero real value), the
corresponding response will be naturally stable.
4. If the roots have a zero imaginary part, the corresponding response
will not oscillate.
5. The response of the system will exhibit an oscillatory behavior only
when the roots have nonzero imaginary parts.
6. The farther the roots lie to the left of the s-plane, the faster the
corresponding response decreases.
7. The larger the imaginary part of the roots, the higher the frequency of
oscillation of the corresponding response of the system.
114

Solutions r = 0 (neutral stable) r > 0, q ≠ 0
r < 0, q ≠ 0 (unstable)
(stable)
q=0 (No vibration)

overdamping or
critical damping
115
43
Parameter Variations and Root Locus Representations
116
Parameter Variations and Root Locus

Representations
• Interpretations of wn , wd ,  and  in the s-plane
The angle made by the line OA with the imaginary axis is given by
wn
sin   
wn
  sin 1  2.113
The radial lines pass through the origin correspond to different
damping ratios
1
The time constant of the system is defined as  
wn
117
44
Graphical Representation
Roots with the same natural frequency n lie on the same circle (Fig. a)
Roots with the same damping ratio  lie on same line through the origin (Fig. b)
Roots with the same damped frequency d lie on same line parallel to the real axis (Fig. c)
Roots with the same time constant  lie on same line parallel to the imaginary axis (Fig. d)
Root lying the farthest to the right is the dominant root (Fig. d)
Same natural frequency Same damping ratio Same damped frequency Same time constant
121
Free Vibration with Coulomb Damping
134
45
• 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:
F  N  W  mg (2.125)
where N is normal force,

μ is the coefficient of sliding or kinetic friction
μ is 0.1 for lubricated metal, 0.3 for non-lubricated metal on metal, 1.0 for rubber on metal
• Coulomb damping is sometimes called constant damping
135
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).
136
46
Case 1.
When x is positive and dx/dt is positive or when x is negative and
dx/dt is positive (i.e., for the half cycle during which the mass
moves from left to right) the equation of motion can be obtained
using Newton’s second law (Fig.b):
mx  kx  N or mx  kx  N (2.126)

Hence
N
x(t )  A1 cos nt  A2 sin nt  (2.127 )
k
where ωn = √k/m is the frequency of vibration
A1 & A2 are constants
137
Case 2.
When x is positive and dx/dt is negative or when x is negative and
dx/dt is negative (i.e., for the half cycle during which the mass
moves from right to left) the equation of motion can be derived
from Fig. (c):
 kx  N  mx or mx  kx  N (2.128)
The solution of the equation is given by:

N
x(t )  A3 cos nt  A4 sin nt  (2.129 )
k
where A3 & A4 are constants
138
47
Motion of the mass with Coulomb damping
139
• Solution:
Eqs.(2.107) & (2.109) can be expressed as a single equation using

N = mg:
mx  mg sgn( x)  kx  0 (2.130)
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
x(t  0)  x0
x (t  0)  0 (2.131)
140
48
Stability of Systems
163
• Stability is one of the most important characteristics for any

vibrating system
• A asymptotically stable (called stable in controls literature) is when
its free-vibration response approaches zero as time approaches
infinity.
• A system is considered to be unstable if its free-vibration response
grows without bound (approaches infinity) as time approaches
infinity.
• A system is stable (called marginally stable in controls literature) if
its free-vibration response neither decays nor grows, but remains
constant or oscillates as time approaches infinity.
164
49
165
Example 2.21
Stability of a System
Consider a uniform rigid bar, of mass m and length l, pivoted at one

end and connected symmetrically by two springs at the other end, as
shown in the figure. Assuming that the springs are unstretched
when the bar is vertical, derive the equation of motion of the system
for small angular displacements of the bar about the pivot point, and
investigate the stability behavior of the system.
166
50
Example 2.21
167
Example 2.21
The equation of motion of the bar, for rotation about the point O, is
ml 2 
  2kl sin  l cos   W sin   0 E.1
l
3 2
For small oscillations, Eq. (E.1) reduces to
ml 2  Wl
  2kl2    0 E.2 
3 2
     0 E.3
 2
168
51
Example 2.21
 12 kl2  3Wl 
Where   
2
2
 E.4
 2ml 
The characteristic equation is given by s 2   2  0 E.5

The solution of Eq. (E.2) depends on the sign of  2 as indicated below.

Case 1. When 12 kl  3Wl / 2ml  0
2
 2
 t   A1 cos wnt  A2 sin wnt E.6

1/ 2
 12kl2  3Wl 
where wn    E.7 
 2ml 
169
Example 2.21

Case 2. When 12 kl  3Wl / 2ml  0
2
 2
 t   C1t  C2 E.8
For the initial conditions  t  0    0 and t  0   0
 t   t    0 E.9 
Equation (E.9) shows that the system is unstable with the angular
displacement increasing linearly at a constant velocity
170
52
Example 2.21

Case 3. When 12 kl  3Wl / 2ml  0
2
 2
 t   B1et  B2e t E.10 

For the initial conditions  t  0   0 and t  0   0
 t  
1
2
     E.11
0  0 et  0  0 e t
Equation (E.11) shows that increases exponentially with time; hence
the motion is unstable.
171
53

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Chapter 2

Free Vibration of Single-Degree-of-Freedom Systems

• Free Vibration occurs when a system oscillates only under an

• Several mechanical and structural systems can be idealized as

Free Vibration of an Undamped Translational

• Equation of Motion Using Newton’s Second Law of Motion:

For a rigid body undergoing rotational motion,

For undamped single degree of freedom system, the application of Eq.

Free Vibration of an Undamped Translational

Frequently tabulated data related to moments of inertia will be

16 © 2018 Mechanical Vibratins Sixth Edition in SI Units

Free Vibration of an Undamped Translational

Free Vibration of an Undamped Translational

Free Vibration of an Undamped Translational

• Equation of Motion Using Other Methods:

3. Principle of Conservation of Energy

If no work is done on the conservative system by external forces,

Free Vibration of an Undamped Translational

• Equation of Motion Using Other Methods:

3. Principle of Conservation of Energy (Cont)

• Equation of Motion of a Spring-Mass System in Vertical Position:

Consider the configuration of the spring-mass system shown in the

Free Vibration of an Undamped Translational

• Equation of Motion of a Spring-Mass System in Vertical Position:

For static equilibrium,

The application of Newton’s second law of motion to mass m gives

and since k st  W , we obtain

• Equation of Motion of a Spring-Mass System in Vertical Position:

Free Vibration of an Undamped Translational

equilibrium position : due to weight only mg  k

Free Vibration of an Undamped Translational

Free Vibration of an Undamped Translational

• θ(t) is the small angular displacement of the bar from the

Free Vibration of an Undamped Translational

Summing moments about the point of contact between the

Kinematics is used to give

Free Vibration of an Undamped Translational

The differential equation is put into standard form by dividing by the

Hence the total kinetic energy of the system is

Free Vibration of an Undamped Translational

The work done by the viscous damping force is

The equivalent viscous damping coefficient is c. The differential

• General Solution for Free Response

Mass m oscillates at the angular

Hence, General Solution of Eq. (2.3) can be expressed as

By using the identities

Free Vibration of an Undamped Translational

Hence, A1  x0 and A2  x0 / n

Solution of Eq. (2.3) is subjected to the initial conditions of Eq.

Eqs.(2.15), (2.16) & (2.18) are harmonic functions of time. Eq.

x(t )  A0 sin( nt  0 ) (2.23)

where A0 and  0 are new constants, amplitude and phase angle

Free Vibration of an Undamped Translational

• Harmonic Motion: Type of motion where the acceleration is

The nature of harmonic oscillation can be represented graphically as

Free Vibration of an Undamped Translational

Note the following aspects of spring-mass systems:

Note the following aspects of spring-mass systems:

If initial velocity  x0  is zero,