Universiti Teknologi MARA

Faculty of Mechanical Engineering

Shah Alam

VIBRATIONS – MEC521
for
Bachelor of Eng. (Hons.) in Mechanical Engineering

LECTURE NOTES
CHAPTER 2
SINGLE DEGREE OF FREEDOM:
FREE VIBRATION

THIS SET OF LECTURE NOTES COMPRISES TOPICS ON:

Ü Equations of Linear System

Ü Free-Body Diagram Method (Newton’s Law of Motion)
Ü Energy Method
Ü Rayleigh’s Method
Ü Undamped Response
Ü Damped Response

Kindly note that some of the words, phrases, texts or explanations found in this set of Lecture Notes (Chapter 2) are
extracted from the references mentioned in the MEC521 Course Outline Booklet with due honor.
 VIBRATIONS MEC521 – CHAPTER 2

2.1.1 Definitions

(a) Single Degree-of-Freedom

If a system is constrained in order that it can vibrate in only one mode or manner, or if only
one independent coordinate is required to specify completely the geometric location of the
masses of the system in space, it is a single DOF system.

(b) Free Vibration

Free vibration is the periodic motion observed as the system is displaced from its static
equilibrium position. No external force is acting towards the system during the motion. The
forces acting are the spring force, the friction force and the weight of the mass, which are all
intrinsic in nature relative to the system of concern. Due to the presence of friction, the vibration
will diminish with time. The vital aspect of analysis in this sub-section is the determination of
the natural frequency of the system, in two distinct environment i.e. undamped and damped
vibration.

The following three types of free vibrations are important from the subject point of view:

(i) Longitudinal Vibrations

- Particles of the shaft or disc move parallel
to the axis of the shaft as shown in Figure
2.1(a). In this case, the shaft is elongated
and compressed alternately. (What are the
stresses induced in this case?)
Examples:

Figure 2.1(a)

(ii) Transverse Vibrations

- Particles of the shaft or disc move
approximately perpendicular to the axis of
the shaft as shown in Figure 2.1(b). In this
case, the shaft is straight and bent
alternately. (What kind of stress is induced
in this case?)
Examples:

Figure 2.1(b)

(iii) Torsional Vibrations

- Particles of the shaft or disc move in a
circle about the axis of the shaft as shown
in Figure 2.1(c). In this case, the shaft is
twisted and untwisted alternately. (What
kind of stress is induced in this case?)
Examples:

Figure 2.1(c)

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 VIBRATIONS MEC521 – CHAPTER 2

2.1.2 Equation of Motion (Newton’s Second Law of Motion)

The mass-spring system is the most convenient vibrating system to be modeled as shown in
Figure 2.2 below.

Figure 2.2. A Simple Mass-Spring System: Deriving the Equation of Motion using the Free-
Body-Diagram Method / Newton’s Law of Motion.

Newton’s Second Law of Motion can be used to obtain the equation of motion of the mass as
follows:

SF = ma
..
Þ ma = SF = w - k(D + x) : a = x

..
Since kD = w = mg, therefore, m x = - kx
..
Þ m x+ kx = 0 ………(2.1)

The choice of the static equilibrium position as reference (datum) for x has eliminated w, the
force due to gravity, and the static spring force kD from the equation of motion. The definition
of natural angular frequency, wn , is:

k
w = ………(2.2)
n m

Þ f =
n

[Go to Exercise 2.1 below before proceeding further].

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 VIBRATIONS MEC521 – CHAPTER 2

Exercise 2.1

15.76
Show that f n = , if the static deflection, D, is measured in mm.
D mm

Using this definition, equation (2.1) can be written as,

..
x+ w n x = 0
2
………(2.3)

..
Þ x =

Equation (2.3) is a second order differential equation that is linear and homogen. The
generalized solution for this equation is:

x(t ) = A sin w n t + B cosw n t ………(2.4)

where the integral constants A and B can be determined from the boundary conditions, x(0)
.
and x(0) . Substitution of A and B into equation (2.4) to yields:

.
x(0)
x(t ) = sin w n t + x(0) cos w n t
wn

Note:
The value of static deflection, D (or sometimes d), may be found out from the given condition
of the problem. For longitudinal vibrations, the following relation can be used to obtain D,

Stress
= Elasticity Modulus, E
Strain

W l
Þ ´ =E
A D

W .l
Þ D=
E. A
where W = load attached to the free end of constraint,
l = length of the constraint,
E = Young’s Modulus for the constraint, and
A = cross-sectional area of the constraint.

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 VIBRATIONS MEC521 – CHAPTER 2

2.1.3 Energy Method

For a conservative system, the total energy of the system is constant at all time and the equation
of motion can be derived using the principles of Conservation of Energy (Basic Law of Nature).
For a system that vibrates freely without damping, the energies involved are the potential
energy and kinetic energy. Recall that the kinetic energy, K.E. or T is possessed by a mass that
is moving (with a velocity) while the potential energy, P.E. or U, which is stored in the form
of strain energy, is obtained via either elastic deformation or work done on a gravitational field.

If the total energy of the system is expressed as potential and kinetic energy, the following is
true:

T + U = constant ………(2.5)

d
Þ (T + U ) = 0
dt
Based on equation (2.5) or its time rate of change, the equation of motion and natural frequency
of the system under consideration can be determined.

2.1.4 Rayleigh’s Method

Also, based on the energy conservation principles, the following equation is written to obtain
the natural frequency of the system in a straightforward manner.

Þ T1 + U1 = T2 + U2 ………(2.6)

If the sub-script 1 refers to the static equilibrium position of the mass (please refer Figure 2.1
above), then U1 = 0, and if the sub-script 2 refers to the position of maximum displacement
(upward), then T2 = 0.

Position K.E. (T) P.E. (U)

Static Equilibrium Maximum level
Maximum Displacement
Minimum level (= 0)
(upward)

If the system undergoes harmonic motion, then T1 and U2 are the maximum values for kinetic
energy and potential energy, respectively. Hence,

(K.E.)max = (P.E.)max = Total Energy of the System

This is known as the Rayleigh’s Method. The resulting equation will readily yield the natural
frequency of the system.

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 VIBRATIONS MEC521 – CHAPTER 2

EXAMPLE 2.1

In the mass-spring system shown in Figure 2.3, prove that the reduction in potential energy of
the mass as it is displaced from the static equilibrium is constantly replaced by the equivalent
work of spring.

mg = kD
x
x

Figure 2.3. Mass-Spring System and the Spring Force-Extension Plot

Solution

ENERGY METHOD (to determine the equation of motion)

By selecting the static equilibrium position as the reference, the potential energy of the mass at
this point is zero. By a displacement of x from this position, the increase of the spring’s strain
energy is determined from the area below the line of the Force-Extension Plot in Figure 2.3.

1 2
Þ mgx + kx
2
The loss of potential energy of the mass caused by the displacement x (downwards) is –mgx.
1 2
Therefore, the net change in the potential energy of the system is kx . If this amount of
2
energy is added to the kinetic energy of the mass, the resultant energy is a constant as follows:

1 .2 1
Þ m x + kx 2 = constant.
2 2
Differentiating this equation yields,

.. .
Þ (m x + kx ) x = 0

..
\ m x+ kx = 0

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 VIBRATIONS MEC521 – CHAPTER 2

EXAMPLE 2.2

In the mass-spring system shown in Figure 2.4, determine the natural frequency of the system.

k r2

r1

m
m

Figure 2.4. Mass-Spring System and a Rotating Disc

Solution

Assume that the system shown in Figure 2.4 is moving harmonically with amplitude q from
the position of static equilibrium.

The maximum kinetic energy possess by the system is:

.
1 . 2 1
Þ Tmaks = J (q ) + m(r1 q ) 2
2 2
where J is the mass moment of inertia of the rotating disc.

[ Take note that xk = r2q and xm = r1q ]

The potential energy that is stored in the spring is:

1
Þ U maks = k (r2 q ) 2
2

(continued on the following page)

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 VIBRATIONS MEC521 – CHAPTER 2

1st Method: ENERGY METHOD

Þ T + U = constant ……………………. The Energy Method Formula

.
1 . 2 1 1
Þ J (q ) + m(r1 q ) 2 + k (r2 q ) 2 = constant
2 2 2

.
1 1
( J + mr1 )(q ) 2 + k (r2 q ) 2 = constant
2
Þ
2 2

Differentiating the above equation yields,

.. . .
( J + mr1 )(q )(q ) + k (r2 ) 2 (q )(q ) = 0
2
Þ

2
.. kr2
Þ q+ 2
q = 0
( J + mr1 )

..
º q + w n 2q = 0

2
kr2
\ wn = 2
( J + mr1 )

2nd Method: RAYLEIGH’S METHOD

. .
Þ J (q ) 2 + m(r1 q ) 2 = k (r2 q ) 2

.
Þ ( J + m(r1 ) 2 )(q ) 2 = k (r2 ) 2 (q ) 2

. 2 2
kr2 .
Þ q = q2 : compare to this generic form, Q max = w n Q max
2
( J + mr1 )

2
kr2
\ wn = 2
( J + mr1 )

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 VIBRATIONS MEC521 – CHAPTER 2

WORKSHEET (2.1)

Determine the natural frequency of the mass-spring-pulley system shown in Figure 2.5 using
the Free-Body-Diagram Method (Newton’s Second Law of Motion).

Figure 2.5. Mass-Spring-Pulley System

Do you remember what is

Part Solution
the first line of EOM?

You are required to

construct a FBD in
order to obtain the
EOM. The following
needs to be observed in
your FBD:

A label “FBD”
x-y coordinate system
Assumed direction of
motion (at the time of
analysis)
All the forces acting on
the body of interest

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 VIBRATIONS MEC521 – CHAPTER 2

WORKSHEET (2.2)

Determine the natural frequency of the simple pendulum shown in Figure 2.6 using the Energy
Method.

Figure 2.6. A Simple Pendulum System

Part Solution

Alternative solution using FBD method:

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 VIBRATIONS MEC521 – CHAPTER 2

2.1.5 Damped Response

So far, we have been discussing about the free vibration of undamped systems and their
characteristics. Based on ideal conditions, the vibrating motion of a system repeats itself
infinitely with time (no change in characteristics!). However, under realistic conditions, for
instance, the vibration of a simple pendulum system shown Figure 2.6 above will diminish in
amplitude (comes to rest) after several full oscillations. This occurs as a result of natural
resistances (such as?), which the system has to overcome, whereby the internal energy of the
vibratory system is utilized.

When there is reduction in amplitude over every cycle of vibration, the motion is said to be
damped vibration. Thus, in damped vibrations, the amplitude of the resulting vibration
gradually diminishes. This is due to the fact that a certain amount of energy possessed by the
vibrating system is always dissipated in overcoming frictional resistance to the motion. The
frictional resistance posed to the motion of the body can be caused by various factors:

(i) The medium in which the vibration takes place (air, fluid etc.).
(ii) Internal friction.
(iii) The (external) dampening element(s) that is attached to the system.

In vibrating systems, the effect of friction is referred to as damping. The damping provided by
fluid resistance is known as viscous damping. A dashpot is a mechanical device that adds
viscous damping to a mechanical system. A linear viscous damping component has a force-
velocity relation of the form,

Þ F = c.v ………(2.7)

where c is the damping coefficient of dimensions mass per time (force per unit velocity).

Consider a vibrating system, as shown in Figure 2.7, in which a mass is suspended from one
end of the spiral spring and the other end of which is fixed. A damper is provided between the
mass and the rigid support.

Figure 2.7. Free Damped Vibrations of a Mass-Spring-Damper System.

Let m = Mass suspended from the spring.

k = Spring stiffness.
x = Displacement of the mass from the mean position at time t.
mg
D = Static deflection ( = ).
k
c = Damping coefficient (damping force per unit velocity).

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 VIBRATIONS MEC521 – CHAPTER 2

Step Π: Developing the Equation Of Motion

The forces involved in the motion of a mechanical system as shown in Figure 2.7 can be
individually expressed on the elemental basis. There are three elements in the system shown
i.e. spring, damper and mass.

Spring force on the mass acting in opposite direction to the motion of the mass,

Þ Fs = k.x ………(2.8)

Based on Equation (2.7) above, the damping force (frictional force) on the mass acting in
opposite direction to the motion of the mass is given by,

dx
Þ Fc = c´ ………(2.9)
dt

which shows that the frictional motion of the body is directly proportional to the speed of the
movement.

Accelerating motion on the mass acting parallel to the motion of the mass,

d 2x
Þ Fm = m´ ………(2.10)
dt 2

Hence, the equation of motion is,

d 2x æ dx ö
Þ m´ = – çc ´ + k .x ÷
dt 2 è dt ø ….Why negative sign?

d 2x dx
Þ m´ + c´ + k.x = 0
dt 2 dt

.. c . k
Þ x+ x+ x = 0 ………(2.11)
m m

This is a second-order differential equation. A system described by this equation is said to be

a single DOF harmonic oscillator with viscous damping.

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 VIBRATIONS MEC521 – CHAPTER 2

Step  : Solving the Equation

The usual form of solution for Equation (2.11) can be written as:

Þ x = est

= cos s + j sin s

By differentiation and substitution, Equation (2.11) becomes,

Þ (ms2 + cs + k). est = 0

The equation above is termed characteristic equation that has two roots:

2
c æ c ö k
Þ s1, 2 = - ± ç ÷ - ………(2.12)
2m è 2m ø m

Therefore, the general solution for Equation (2.11) is,

Þ x = Ae s1t + Be s2t ………(2.13)

where the coefficients A and B can be determined from the boundary (or initial) conditions
.
x(0) and x(0) .

Substituting the values of s1 and s2 into Equation (2.13) yields,

( c / 2 m) 2 -( k / m) ].t ( c / 2 m) 2 -( k / m) ].t
Þ x(t) = e -(c / 2m)t ( Ae[ + Be[ - ) ………(2.14)

Three significant consequences in aspects of motion may arise from Equation (2.14) due to the
relative values of the damping term, (c/2m)2, and the elasticity term, k/m. They are:

(i) critical damping,

(ii) under-damping and,
(iii) over-damping.

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 VIBRATIONS MEC521 – CHAPTER 2

2.1.5.1 Critical Damping

2
æ c ö k
If the damping term, (c/2m)2, is equal to the elasticity term, k/m, i.e., ç ÷ = , according
è 2m ø m
to Equation (2.12), the radical (i.e. the term under the square root) becomes zero and the roots,
s1 and s2, are identical. This is a case of critical damping.§

From this condition, the natural angular frequency could be determined as follows:

2
æ c ö k k
÷ = = wn = wn )
2 2
Þ ç ………………..(we have shown earlier that
è 2m ø m m

Therefore, critical damping coefficient (variable) is written as,

Þ ccr = 2 km = 2mw n ………(2.15)

The critical damping coefficient, ccr, is the amount of damping required for a system to be
critically damped. It is more convenient and relevant to state the damping coefficient in
Equation (2.15) in a dimensionless form called the damping ratio (also, damping factor):

c
Þ z =
ccr (kindly take note of this new term!)

In general, the damping ratio is the measure of the relative amount of damping in the existing
system with that necessary for the critical damped system. Therefore,

c z .ccr
Þ = = zw n
2m 2m

Subsequently, the roots given by Equation (2.12) is summarized as:

Þ s1, 2 = (-z ± z 2 - 1).w n ………(2.16)

§
The critical damping is said to occur when the frequency of damped vibration (fd) is zero (aperiodic
motion). This type of damping causes the mass to retreat (move back) rapidly to its equilibrium
position in the shortest possible time. (Refer Sub-section 2.1.5.1 below for theoretical details).

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 VIBRATIONS MEC521 – CHAPTER 2

It has to be noted that all of the three specific damping cases aforementioned depends on the
damping ratio. Critically damped type of vibrations occurs when z = 1 , which yields the root

values, s1 = s2 = -wn. This is consistent with the earlier statement based on Equation (2.12).

For this case, the equation of motion is,

Þ x (t ) = ( A + B)e -w nt = Ce -w nt

where the values of A and B (or its combination, C) are obtained from the initial conditions.

Finally,

.
Þ x (t ) = e -wnt {[ x(0) + w n x(0)]t + x(0)} ………(2.17)

The response curve, x(t) for critically damped vibrations with different boundary conditions is
given in Figure 2.8. Note that the curves indicate the aperiodic motion of the system.

x(t)

x(0)

Figure 2.8. The Response of x(t) for Various Initial Conditions: Critical Damping.

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 VIBRATIONS MEC521 – CHAPTER 2

2.1.5.2 Under-Damping

2
æ c ö k
If the damping term, (c/2m)2, is lesser than the elasticity term, k/m, i.e. ç ÷ < , according
è 2m ø m
to Equation (2.12), the radical becomes negative, producing complex conjugate roots. This
scenario is known as under-damping (also, small damping). The resulting form of the radical
is,

2
k æ c ö
Þ ±i -ç ÷ .t
m è 2m ø

For this case, the damping ratio, z < 1.0, therefore,

s1, 2
Þ = - V ± i 1- V 2 ………(2.18)
wn

The response of the system is given by:

1-V 2w nt ) 1-V 2wnt )

Þ x(t) = e -Vw nt ( Ae (i + Be ( -i ) ………(2.19)

which can be expanded based on the Euler’s theorem;

2
æ c ö k
±j ç ÷ - .t
Þ x(t) = e è 2m ø m

æ æ c ö2 k ö æ æ c ö2 k ö
cosç ç - ÷ ± ç ç ÷ - ÷÷.t
ª
ç è 2m ÷ø
= .t j. sin
m ÷ ç 2m ø m
è ø è è ø

as follows:

ª
Note that the cosine and sin terms represent the oscillating motion with a specific frequency…

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 VIBRATIONS MEC521 – CHAPTER 2

Þ x(t) = e -(Vwn )t (C1 sin( 1 - V 2 w n t + C2 cos( 1 - V 2 w n t )

= Xe -(Vwn )t sin( 1 - V 2 w n t + f ) ………(2. 20)

It is proved below that the term 1- V 2 w n in Equation (2.20) is equivalent to the circular
(angular) damped frequency of the system, w d , (which is physically different compared to the
natural frequency, w n , of the same system under undamped condition). Therefore, one can see

from Equation (2.20) that the motion of the mass in under-damping condition is Simple
Harmonic with damped angular frequency, w d , and amplitude, Xe - (Vw n )t , which diminishes
exponentially with time. The typical response of under-damping case is illustrated in Figure
2.9.

Figure 2.9. The Response of x(t) for Under-Damping.

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 VIBRATIONS MEC521 – CHAPTER 2

Determining the Angular Damped Frequency

For the sake of mathematical calculations, assume the following:

c k
= zw n = a , = wn
2

2m m

2
k æ c ö
Þ wd = -ç ÷
m è 2m ø

= (w n )2 - a 2 ………(2. 21a)

= wn 1 - V 2 ………(2. 21b)

The damped vibration period, td, is related to the angular frequency of the damped vibration,
wd by the following equation:

2p
Þ td =
wd

2p
=
(w n )2 - a 2

2p
= ………(2. 22)
wn 1- V 2

and the frequency of damped vibration,

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 VIBRATIONS MEC521 – CHAPTER 2

1
Þ fd =
td

wd
=
2p

1
= (w n )2 - a 2
2p

2
1 æsö æ c ö
= ç ÷-ç ÷ ………(2. 23)
2p è m ø è 2m ø

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 VIBRATIONS MEC521 – CHAPTER 2

2.1.5.3 Over-Damping

2
æ c ö k
If the damping term, (c/2m)2, is greater than the elasticity term, k/m, i.e. ç ÷ > , the
è 2m ø m
values of the exponent in Equation (2.14) i.e. the roots, s1 and s2, are real but negative. For this
case, the damping ratio, z, > 1.0.

Þ s1, 2 = -z ± ( z 2 - 1).w n .t

Thus, one of the roots will increase while the other will decrease with time depicted in Figure
2.10. This scenario is called over-damping and consequently, vibratory oscillations do not
occur. The mass moves slowly to the equilibrium position. This motion is known as aperiodic
(no frequency). When the roots are real, the most general solution of the differential equation
is,

1-V 2w nt ) 1-V 2w nt )
Þ x(t) = Ae ( -V +i + Be ( -V -i

The constants A and B is given by the initial conditions as follows:

.
x(0) + (V + V 2 - 1)w n x(0)
Þ A =
2w V 2 - 1 n

.
- x(0) - (V - V 2 - 1)w n x(0)
Þ B =
2w V 2 - 1 n

Figure 2.10. The Response of x(t) for Aperiodic Motion: Over-Damping (in comparison to
the other two types of damping).

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2.1.6 Logarithmic Decrement

Logarithmic decrement is defined as the natural logarithm of the amplitude reduction factor.
The amplitude reduction factor is the ratio of any two successive amplitudes on the same side
of the mean position, as illustrated in Figure 2.11 for which the response is given by Equation
(2.20) above.

Figure 2.11. The response curve, x(t) of a under-damped mechanical system: Logarithmic
decrement of successive amplitudes.

If x1 and x2 are successive values of the amplitude on the same side of the mean position, then
the Amplitude Reduction Factor is,

æ c ö
-ç ÷t
è 2m ø
x1 Ae
Þ =
æ c ö
x2 -ç ÷ ( t +t d )
è 2m ø
Ae

æ c ö
ç ÷t d c
= e è 2m ø [ = e Vw nt d , since = Vw n ]
2m

= constant

where t is the time difference between two consecutive amplitudes.

In general, amplitude reduction factor,

æ c ö
x1 x x3 xn ç ÷t d
= 2 = = ………… = = e è 2m ø = constant
x2 x3 x4 xn+1

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 VIBRATIONS MEC521 – CHAPTER 2

The Logarithmic Decrement of the amplitudes of x(t) is given by:

x1
Þ d = ln
x2

ìï e -Vw nt1 sin( 1 - V 2 w n t1 + f ) üï

= lní ý ………(2. 24)
ïî e -Vw n (t1 +t d ) sin( 1 - V 2 w n (t1 + t d ) + f ) ïþ

Since the amplitude value of the sin wave is equal (repeats itself) for each time difference of
one complete oscillation, Equation (2.24) can be simplified as:

ì e -Vw nt1 ü
Þ d = lní -Vw n (t1 +t d ) ý
îe þ

= ln e Vw nt d

= Vw nt d ………(2. 25)

Substituting the value of the damped vibration period, td, given by Equation (2.22), into
Equation (2.25) yields,

2pV
Þ d = ………(2. 26)
1-V 2

If the magnitude of V is extremely small that 1 - V 2 @ 1, the equation above becomes

Þ d » 2pV

The general equation for logarithmic decrement is usually written as follows:

æ x ö
Þ d = lnçç n ÷÷ ………(2. 27)
è xn+1 ø

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 VIBRATIONS MEC521 – CHAPTER 2

EXAMPLE 2.3

A vibrating system consists of a mass of 200 kg, a spring stiffness 80 N/mm and a damper with
damping coefficient of 800 N/m/s. Determine the frequency of vibration of the system.

Solution

Given:

m = 200 kg
k = 80 N/mm
c = 800 N/m/s

The angular frequency of undamped vibrations (refer Equation (2.2)),

k
Þ w =
n m

80 ´ 10 3
Þ =
200

Þ = 20.0 rad/s

The angular frequency of damped vibrations (refer Equation (2.21a)),

Þ wd = (w n )2 - a 2
2
æ c ö
= (w n ) 2
-ç ÷
è 2m ø

2
æ 800 ö
= (20) - ç
2
÷
è 2 ´ 200 ø

= 19.9 rad/s

Frequency of vibration of the system,

wd
Þ fd =
2p

19 .9
=
2p
= 3.17 Hz.

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 VIBRATIONS MEC521 – CHAPTER 2

EXAMPLE 2.4

The following data is given for a vibrating system:

m = 4.54 kg
k = 5256 N/m
c = 21 N.s/m

Determine (i) the logarithmic decrement, and (ii) the ratio of two consecutive amplitudes.

Solution

The natural undamped angular frequency is first determined,

k
Þ w =
n m

5256
=
4.54

= 34.0 rad/s

The critical damping coefficient, from Equation (2.15) is:

Þ ccr = 2mw n

= 2 ´ 4.54 ´ 34.0

= 308.7 N.s/m

Therefore, the damping ratio is calculated as,

c
Þ z =
ccr

21
=
308.7

= 0.068

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 VIBRATIONS MEC521 – CHAPTER 2

(i) Logarithmic decrement,

2pV
d = Eqn. (2.26)
1-V 2

2p (0.068)
=
1 - (0.068) 2

= 0.428

(ii) Ratio of two successive amplitudes

x1
= ed delta = ln (x1/x2)
x2

= e0.428

= 1.53

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 VIBRATIONS MEC521 – CHAPTER 2

WORKSHEET (2.3)

An instrument vibrates with a frequency of 1 Hz when there is no damping. When the damping
is provided, the frequency of damped vibrations was observed to the 0.9 Hz. Find the,

(i) damping factor, and

(ii) logarithmic decrement.

David, N.V. © 2014 - 2020 26

 VIBRATIONS MEC521 – CHAPTER 2

WORKSHEET (2.4)

A mass suspended from a helical spring vibrates in a viscous fluid medium whose resistance
varies directly with the speed. It is observed that the frequency of damped vibration is 90 per
minute and that the amplitude decreases to 20 % of its initial value in one complete vibration.
Determine the frequency of the free undamped vibration of the system.

– END –

David, N.V. © 2014 - 2020 27