MEE411 – MECHANICAL VIBRATIONS

LECTURE NOTES
PART 3 – FREE DAMPED VIBRATIONS

DEPARTMENT OF MECHANICAL ENGINEERING

FACULTY OF ENGINEERING

UNIVERSITY OF BENIN

COURSE LECTURER – ENGR. DR. E. G. SADJERE

ASSISTANT LECTURER – ENGR. MRS A. G. OREAVBIERE

2020
MEE411 LECTURE NOTES 2020

Contents
Viscous Damping ............................................................................... 3
Case 1: Under-damping (𝜁 < 1) ........................................................ 5
Case 2 – Critical Damping (𝜁 = 1) ...................................................... 8
Case 3 – Over damping, (𝜁 > 1) ........................................................ 9
Logarithmic Decrement .................................................................. 11
Ratio of Successive Amplitudes ....................................................... 12
Coulomb Damping ........................................................................... 13

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VISCOUS DAMPING
In a Linear system, a damping force can be introduced resulting in the equation,

𝑚𝑥̈ + 𝐹𝑑 + 𝐾𝑥 = 0 … … … … … … … … . . 𝐸𝑞𝑛 1
where 𝐹𝑑 is the damping force

The model of damping most easily analysed is viscous damping which is usually
visualized as being introduced by a dashpot. Shock absorbers of cars are typical
examples of this.

Figure 1-1

In this system, the damping force is proportional to the velocity.

Hence
𝐹𝑑 = 𝑐𝑥̇ … … … … … … … … … . 𝐸𝑞𝑛 2
Where c is the damping coefficient

Equation of motion becomes

𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 0
𝑐 𝑘
𝑥̈ +
𝑥̇ + 𝑥 = 0 … … … … … … … … … . 𝐸𝑞𝑛 3
𝑚 𝑚
Equation 3 is a second order ordinary differential equation that can be solved by
assuming a solution of the form

𝑥 = 𝐴𝑒 𝑠𝑡
Which produces the quadratic equation
𝑚𝑠 2 + 𝑐𝑠 + 𝑘 = 0 … … … … … . . 𝐴𝑢𝑥𝑖𝑙𝑙𝑎𝑟𝑦 𝐸𝑞𝑛

The solution to this using the quadratic formula

𝑐 √𝑐 2 − 4𝑚𝑘
𝑠1,2 = − ± … … … … … … . . 𝐸𝑞𝑛 4
2𝑚 2𝑚

The Solution to the ODE will be

𝑥 = 𝐴𝑒 𝑠1 𝑡 + 𝐵𝑒 𝑠2 𝑡 … … … … … … … . . 𝐸𝑞𝑛 5

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The arbitrary conditions A and B depends on the initial conditions. The system
response will depend on the value of c which determines s1 and s2. c could be
negative or positive and c2 could be greater than, less than or equal to 4mk. If c2
equals 4mk, then the radicals equals to zero and the system is said to be
critically damped
That is, when
𝑐 = 𝑐𝑐
Then
𝑐𝑐 2 = 4𝑚𝑘
𝑐𝑐 = 2√𝑚𝑘
But
𝑘
√ = 𝜔𝑛 … … … … … … . . 𝑢𝑛𝑑𝑎𝑚𝑝𝑒𝑑 𝑛𝑎𝑡𝑢𝑟𝑎𝑙 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦
𝑚
Therefore
𝑐𝑐 2√𝑚𝑘
=
𝜔𝑛
√𝑘
𝑚
𝑐𝑐
= 2𝑚
𝜔𝑛
𝑐𝑐 = 2𝑚𝜔𝑛
We introduce the damping ratio
𝑐
=𝜁
𝑐𝑐
Hence,
𝑐 = 𝜁𝑐𝑐 = 𝜁2𝑚𝜔𝑛
Replacing c in equation 4 and k =m𝜔𝑛 2

−𝜁2𝑚𝜔𝑛 ± √(𝜁2𝑚𝜔𝑛 )2 − 4𝑚(𝑚𝜔𝑛 2 )

𝑠1,2 =
2𝑚

2
−2𝑚𝜔𝑛 𝜁 ± √4𝑚2 𝜔𝑛 2 𝜁 2 − 4𝑚2 𝜔𝑛
𝑠1,2 =
2𝑚

−2𝑚𝜔𝑛 𝜁 ± √4𝑚2 𝜔𝑛 2 (𝜁 2 − 1)
𝑠1,2 =
2𝑚

−2𝑚𝜔𝑛 𝜁 ± 2𝑚𝜔𝑛 √(𝜁 2 − 1)

𝑠1,2 =
2𝑚

𝑠1,2 = −𝜔𝑛 𝜁 ± 𝜔𝑛 √(𝜁 2 − 1)

𝑠1,2 = [−𝜁 ± √(𝜁 2 − 1)] 𝜔𝑛 … … … … … … … . . 𝐸𝑞𝑛 6

Since

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𝑥 = 𝐴𝑒 𝑠1 𝑡 + 𝐵𝑒 𝑠2 𝑡

𝑠1 = −𝜔𝑛 𝜁 + 𝜔𝑛 √(𝜁 2 − 1)
𝑠2 = −𝜔𝑛 𝜁 − 𝜔𝑛 √(𝜁 2 − 1)

[−𝜔𝑛 𝜁+ 𝜔𝑛 √(𝜁 2 −1)]𝑡 [−𝜔𝑛 𝜁+ 𝜔𝑛 √(𝜁 2 −1)]𝑡

𝑥 = 𝐴𝑒 + 𝐵𝑒

2 −1)𝑡 2 −1)𝑡
𝑥 = 𝐴𝑒 −𝜔𝑛 𝜁𝑡 . 𝑒 𝜔𝑛 √(𝜁 + 𝐵𝑒 −𝜔𝑛 𝜁𝑡 . 𝑒 −𝜔𝑛 √(𝜁

2 −1)𝜔 𝑡 2 −1)𝜔 𝑡
𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 [𝐴𝑒 √(𝜁 𝑛 + 𝐵𝑒 −√(𝜁 𝑛 ] … … … … … … . . 𝐸𝑞𝑛 7

The actual values of this equation depends on the values of 𝜁. Now let us look at
the three possible scenarios

CASE 1: UNDER-DAMPING (𝜁 < 1)

General Solution
2 −1)𝜔 𝑡 2 −1)𝜔 𝑡
𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 [𝐴𝑒 √(𝜁 𝑛 + 𝐵𝑒 −√(𝜁 𝑛 ]
If 𝜁 < 1, then radical is imaginary

𝑠1,2 = −𝜁𝜔𝑛 ± 𝑖√(1 − 𝜁 2 )𝜔𝑛

2 )𝜔 𝑡 2 )𝜔 𝑡
𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 [𝐴𝑒 𝑖√(1−𝜁 𝑛 + 𝐵𝑒 −𝑖√(1−𝜁 𝑛 ] … … … … … … 𝐸𝑞𝑛 8
Note that
𝑒 ±𝑖𝜔𝑛 𝑡 = cos 𝜔𝑛 𝑡 ± 𝑖 sin 𝜔𝑛 𝑡
therefore

𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 [𝐴 cos √(1 − 𝜁 2 )𝜔𝑛 𝑡 + 𝑖𝐴 sin √(1 − 𝜁 2 )𝜔𝑛 𝑡 + B cos √(1 − 𝜁 2 )𝜔𝑛 𝑡
− 𝑖𝐵 sin √(1 − 𝜁 2 )𝜔𝑛 𝑡]

𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 [(𝐴 + 𝐵) cos √(1 − 𝜁 2 )𝜔𝑛 𝑡 + 𝑖(𝐴 − 𝐵) sin √(1 − 𝜁 2 )𝜔𝑛 𝑡]

Let 𝐴 𝑎𝑛𝑑 𝐵 be complex conjugates so that

1
𝐴= (𝐶 − 𝑖𝐷)
2
1
𝐵 = (𝐶 + 𝑖𝐷)
2
Therefore
1 1
𝐴+𝐵 = (𝐶 − 𝑖𝐷) + (𝐶 + 𝑖𝐷) = 𝐶
2 2

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1 1
𝐴−𝐵 = (𝐶 − 𝑖𝐷) − (𝐶 + 𝑖𝐷) = −𝑖𝐷
2 2

𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 [C cos √(1 − 𝜁 2 )𝜔𝑛 𝑡 + 𝑖(−𝑖𝐷) sin √(1 − 𝜁 2 )𝜔𝑛 𝑡]

𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 [C cos √(1 − 𝜁 2 )𝜔𝑛 𝑡 + 𝐷 sin √(1 − 𝜁 2 )𝜔𝑛 𝑡]

With Boundary Conditions,

𝑥(0) = 𝑥𝑜
𝑥̇ (0) = 𝑥̇ 𝑜

𝑥𝑜 = 𝑒 0 [C cos 0 + 𝐷 sin 0]
𝑥𝑜 = C cos 0
𝐶 = 𝑥𝑜

𝑥̇ = 𝑒 −𝜁𝜔𝑛 𝑡 [− C √(1 − 𝜁 2 )𝜔𝑛 sin √(1 − 𝜁 2 )𝜔𝑛 𝑡 + 𝐷√(1 − 𝜁 2 )𝜔𝑛 cos √(1 − 𝜁 2 )𝜔𝑛 𝑡]
+ −𝜁𝜔𝑛 . 𝑒 −𝜁𝜔𝑛 𝑡 [C cos √(1 − 𝜁 2 )𝜔𝑛 𝑡 + 𝐷 sin √(1 − 𝜁 2 )𝜔𝑛 𝑡]

𝑥̇ 𝑜 = 𝑒 0 [− C √(1 − 𝜁 2 )𝜔𝑛 sin 0 + 𝐷√(1 − 𝜁 2 )𝜔𝑛 cos 0] + −𝜁𝜔𝑛 . 𝑒 0 [C cos 0 + 𝐷 sin 0]

𝑥̇ 𝑜 = 𝐷√(1 − 𝜁 2 )𝜔𝑛 − 𝜁𝜔𝑛 𝐶

𝑥̇ 𝑜 + 𝜁𝜔𝑛 𝐶 = 𝐷√(1 − 𝜁 2 )𝜔𝑛

𝑥̇ 𝑜 + 𝜁𝜔𝑛 𝐶
𝐷=
√(1 − 𝜁 2 )𝜔𝑛

𝑥̇ 𝑜 + 𝜁𝜔𝑛 𝑥𝑜
𝐷=
√(1 − 𝜁 2 )𝜔𝑛

𝑥̇ 𝑜 + 𝜁𝜔𝑛 𝑥𝑜
𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 [𝑥𝑜 cos √(1 − 𝜁 2 )𝜔𝑛 𝑡 + sin √(1 − 𝜁 2 )𝜔𝑛 𝑡]
√(1 − 𝜁 2 )𝜔𝑛

Therefore
𝑥 = R𝑒 −𝜁𝜔𝑛 𝑡 cos (√(1 − 𝜁 2 )𝜔𝑛 𝑡 − 𝜙) … … … … … … 𝐸𝑞𝑛 9
or
𝑥 = R𝑒 −𝜁𝜔𝑛 𝑡 sin (√(1 − 𝜁 2 )𝜔𝑛 𝑡 + 𝜙)

Where

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2
𝑥̇ 𝑜 + 𝜁𝜔𝑛 𝑥𝑜
𝑅= √𝐶 2 + 𝐷2 2
= √𝑥𝑜 + [ ]
√(1 − 𝜁 2 )𝜔𝑛
And
𝐷
𝜙 = tan−1 … … . . 𝑓𝑜𝑟 𝑒𝑞𝑛 9
𝐶

The motion of the body is an exponential decaying harmonic motion with circular
frequency
𝜔𝑟 = 𝜔𝑛 √(1 − 𝜁 2 )
And exponential decay
R𝑒 −𝜁𝜔𝑛 𝑡

Figure 1-2: Exponential decay of a system with viscous damping

Frequency
𝜔𝑟 𝜔𝑛
𝑓= = √1 − 𝜁 2
2𝜋 2𝜋

And Period
2𝜋 2𝜋
𝜏= =
𝜔𝑟 𝜔𝑛 √1 − 𝜁 2

Note that there are two frequencies

𝜔𝑛 – Free undamped natural frequency
𝜔𝑛 √(1 − 𝜁 2 ) – Free damped natural frequency.

Damping causes exponential decay and slower oscillations (lower frequencies)

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CASE 2 – CRITICAL DAMPING (𝜁 = 1)

At critical damping, 𝜁 = 1

That means that the radical in equation 6 becomes zero and

𝑠1,2 = −𝜁𝜔𝑛 = −𝜔𝑛

The auxiliary equation has equal roots

𝑠1,2 = −𝜔𝑛
Therefore
𝑥 = 𝐴𝑒 −𝜔𝑛 𝑡 + 𝐵𝑒 −𝜔𝑛 𝑡

Since both roots are equal, a valid solution is

𝑥 = (𝐴 + 𝐵𝑡)𝑒 −𝜔𝑛 𝑡

Let us consider the initial condition of our spring system

𝑥(0) = 𝑅
𝑥̇ (0) = 0

𝑅 = (𝐴 + 𝐵(0))𝑒 −0

𝐴=𝑅

𝑥̇ = (𝐴 + 𝐵𝑡)(−𝜔𝑛 )𝑒 −𝜔𝑛 𝑡 + 𝐵𝑒 −𝜔𝑛 𝑡

0 = (𝐴 + 𝐵(0))(−𝜔𝑛 )𝑒 −0 + 𝐵𝑒 −0

0 = −𝐴𝜔𝑛 + 𝐵

𝐵 = 𝐴𝜔𝑛

𝐵 = 𝑅𝜔𝑛
Therefore
𝑥 = (𝑅 + 𝑅𝜔𝑛 𝑡)𝑒 −𝜔𝑛 𝑡

𝑥 = (1 + 𝜔𝑛 𝑡)𝑅𝑒 −𝜔𝑛 𝑡

In the Mass Spring system

𝑘
𝜔= √
𝑚
In a time of one period, 𝜏

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2𝜋 𝑚
𝜏= = 2𝜋√
𝜔𝑛 𝑘

𝑥 at 𝜏 is
2𝜋 2𝜋
−𝜔𝑛 ( )
𝑥 = (1 + 𝜔𝑛 ( )) 𝑅𝑒 𝜔𝑛
𝜔𝑛

𝑥 = (1 + 2𝜋)𝑅𝑒 −2𝜋

(1 + 2𝜋)𝑅
𝑥=
𝑒 2𝜋

𝑥 = 0.0136𝑅
That is, the displacement is virtually reduced to zero within a period or basically
no vibration. The cases of xo > 0 and xo < 1 are not here treated

CASE 3 – OVER DAMPING, (𝜁 > 1)

We return to our governing equation

𝑥 = 𝐴𝑒 𝑠1 𝑡 + 𝐵𝑒 𝑠2 𝑡
𝑠1 = −𝜔𝑛 𝜁 + 𝜔𝑛 √(𝜁 2 − 1)
𝑠2 = −𝜔𝑛 𝜁 − 𝜔𝑛 √(𝜁 2 − 1)
2 −1)𝜔 𝑡 2 −1)𝜔 𝑡
𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 [𝐴𝑒 √(𝜁 𝑛 + 𝐵𝑒 −√(𝜁 𝑛 ]
In this case both roots are real, both negative and less than 1. Both terms are
therefore decaying

With Boundary Conditions,

𝑥(0) = 𝑥𝑜
𝑥̇ (0) = 𝑥̇ 𝑜

𝑥𝑜 = 𝑒 0 [𝐴𝑒 0 + 𝐵𝑒 0 ]
𝑥𝑜 = 𝐴 + 𝐵

2 −1)𝜔 𝑡 2 −1)𝜔 𝑡
𝑥̇ = ⌈𝑒 −𝜁𝜔𝑛 𝑡 [√(𝜁 2 − 1)𝜔𝑛 . 𝐴𝑒 √(𝜁 𝑛 + (−√(𝜁 2 − 1)𝜔𝑛 ) . 𝐵𝑒 −√(𝜁 𝑛 ]⌉
2 −1)𝜔 𝑡 2 −1)𝜔 𝑡
+ ⌈−𝜁𝜔𝑛 . 𝑒 −𝜁𝜔𝑛 𝑡 [𝐴𝑒 √(𝜁 𝑛 + 𝐵𝑒 −√(𝜁 𝑛 ]⌉

𝑥̇ 𝑜 = ⌈𝑒 0 [√(𝜁 2 − 1)𝜔𝑛 . 𝐴𝑒 0 + (−√(𝜁 2 − 1)𝜔𝑛 ) . 𝐵𝑒 0 ]⌉ + ⌈−𝜁𝜔𝑛 . 𝑒 0 [𝐴𝑒 0 + 𝐵𝑒 0 ]⌉

𝑥̇ 𝑜 = ⌈[√(𝜁 2 − 1)𝜔𝑛 . 𝐴 + (−√(𝜁 2 − 1)𝜔𝑛 ) . 𝐵]⌉ + ⌈−𝜁𝜔𝑛 [𝐴 + 𝐵]⌉

𝑥̇ 𝑜 = √(𝜁 2 − 1)𝜔𝑛 . (𝐴 − 𝐵) − 𝜁𝜔𝑛 [𝐴 + 𝐵]

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𝑥𝑜 = 𝐴 + 𝐵

𝐵 = 𝑥𝑜 − 𝐴

𝑥̇ 𝑜 = √(𝜁 2 − 1)𝜔𝑛 . (𝐴 − 𝑥𝑜 + 𝐴) − 𝜁𝜔𝑛 𝑥𝑜

𝑥̇ 𝑜 = √(𝜁 2 − 1)𝜔𝑛 . (2𝐴 − 𝑥𝑜 ) − 𝜁𝜔𝑛 𝑥𝑜

𝑥̇ 𝑜 + 𝜁𝜔𝑛 𝑥𝑜 𝑥𝑜
+ =𝐴
2√(𝜁 2 − 1)𝜔𝑛 2

𝑥̇ 𝑜 + 𝜁𝜔𝑛 𝑥𝑜 + √(𝜁 2 − 1)𝜔𝑛 𝑥𝑜

𝐴=
2√(𝜁 2 − 1)𝜔𝑛

𝑥̇ 𝑜 + (𝜁 + √(𝜁 2 − 1))𝜔𝑛 𝑥𝑜
𝐴=
2√(𝜁 2 − 1)𝜔𝑛

𝐵 = 𝑥𝑜 − 𝐴

𝑥̇ 𝑜 + (𝜁 + √(𝜁 2 − 1))𝜔𝑛 𝑥𝑜
𝐵 = 𝑥𝑜 −
2√(𝜁 2 − 1)𝜔𝑛

2√(𝜁 2 − 1)𝜔𝑛 𝑥𝑜 − (𝑥̇ 𝑜 + (𝜁 + √(𝜁 2 − 1))𝜔𝑛 𝑥𝑜 )

𝐵=
2√(𝜁 2 − 1)𝜔𝑛

2√(𝜁 2 − 1)𝜔𝑛 𝑥𝑜 − 𝑥̇ 𝑜 − 𝜁𝜔𝑛 𝑥𝑜 − √(𝜁 2 − 1)𝜔𝑛 𝑥𝑜

𝐵=
2√(𝜁 2 − 1)𝜔𝑛

−𝑥̇ 𝑜 − 𝜁𝜔𝑛 𝑥𝑜 + √(𝜁 2 − 1)𝜔𝑛 𝑥𝑜

𝐵=
2√(𝜁 2 − 1)𝜔𝑛
−𝑥̇ 𝑜 − (𝜁 − √(𝜁 2 − 1)) 𝜔𝑛 𝑥𝑜
𝐵=
2√(𝜁 2 − 1)𝜔𝑛

𝑥̇ 𝑜 + (𝜁 + √(𝜁 2 − 1))𝜔𝑛 𝑥𝑜 2 −1)𝜔 𝑡

𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 [ 𝑒 √(𝜁 𝑛
2√(𝜁 2 − 1)𝜔𝑛
−𝑥̇ 𝑜 − (𝜁 − √(𝜁 2 − 1)) 𝜔𝑛 𝑥𝑜 2 −1)𝜔 𝑡
+ 𝑒 −√(𝜁 𝑛 ]
2√(𝜁 2 − 1)𝜔𝑛

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Figure 1-3

LOGARITHMIC DECREMENT

Let a damped oscillation be given by

𝑥1 = R𝑒 −𝜁𝜔𝑛 𝑡 cos (√(1 − 𝜁 2 )𝜔𝑛 𝑡 − 𝜙)

After a full period, 𝜏 later, x will be

𝑥2 = R𝑒 −𝜁𝜔𝑛 (𝑡+ 𝜏) cos (√(1 − 𝜁 2 )𝜔𝑛 (𝑡 + 𝜏) − 𝜙)

𝑥1 R𝑒 −𝜁𝜔𝑛 𝑡 cos(√(1 − 𝜁 2 )𝜔𝑛 𝑡 − 𝜙)

=
𝑥2 R𝑒 −𝜁𝜔𝑛 (𝑡+ 𝜏) cos(√(1 − 𝜁 2 )𝜔𝑛 (𝑡 + 𝜏) − 𝜙)

𝑥1 𝑒 −𝜁𝜔𝑛 𝑡
= −𝜁𝜔 (𝑡+ 𝜏)
𝑥2 𝑒 𝑛

𝑥1 𝑒 −𝜁𝜔𝑛 𝑡
= −𝜁𝜔 𝑡 −𝜁𝜔 𝜏
𝑥2 𝑒 𝑛 .𝑒 𝑛

𝑥1 1
= −𝜁𝜔 𝜏
𝑥2 𝑒 𝑛

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MEE411 LECTURE NOTES 2020

RATIO OF SUCCESSIVE AMPLITUDES

Take the natural log and call it Δ, then

𝑥1
Δ = ln
𝑥2

Δ = ln 𝑥1 − ln 𝑥2
1
Δ = ln 𝑥1 − ln 𝑥2 = ln
𝑒 −𝜁𝜔𝑛 𝜏
Δ = ln 𝑒 𝜁𝜔𝑛 𝜏
Δ = 𝜁𝜔𝑛 𝜏

But
2𝜋
𝜏 =
𝜔𝑛 √1 − 𝜁 2

Therefore,
2𝜋
Δ = 𝜁𝜔𝑛
𝜔𝑛 √1 − 𝜁 2

2𝜋𝜁
Δ=
√1 − 𝜁 2
If zeta is very small as is expected in most mechanical cases, then 𝜁 → 0 and
√1 − 𝜁 2 → 1
Δ = 2𝜋𝜁

Classwork 1

A vibrating system with viscous damping has m=5kg, k =53N/cm, damping

constant c = 0.2N-sec/cm. Find the logarithmic decrement and the ratio of
successive amplitudes

A flywheel of mass 10kg and radius of gyration 0.3m makes rotational oscillations
under the control of a torsion spring of stiffness 5Nm/rad. A viscous damper is
fitted and it is found experimentally that the amplitude is reduced by a factor of
100 over any 2 complete cycles.
Calculate the damping ratio and damping coefficient, and the periodic time of
damped oscillation.

MEE 411 – Mechanical Vibrations Page 12 of 17

MEE411 LECTURE NOTES 2020

COULOMB DAMPING
Vibration damping due to friction between faces. Coefficient of kinetic friction is
approximately independent of velocity for low velocities. Thus damping ratio is
constant. Let us consider the problem of a spring mass system shown.

The body is taken to extreme right position and released. The initial displacement
from the un-stretched position is xo and the body is moving to the left

R is a constant friction force

𝑅 = 𝜇𝑚𝑔
Equation of motion is
𝑚𝑥̈ = −𝑘𝑥 + 𝑅
𝑚𝑥̈ + 𝑘𝑥 = 𝑅
This is valid for motion to the left
For the motion to the right with body to the right of equilibrium position, we will
have

𝑚𝑥̈ = −𝑘𝑥 − 𝑅
𝑚𝑥̈ + 𝑘𝑥 = −𝑅
This is valid for motion to the right at the same position as our first case

In this case, initial motion was to the left,

Hence,
𝑚𝑥̈ + 𝑘𝑥 = 𝑅
𝑘 𝑅
𝑥̈ + 𝑥 =
𝑚 𝑚
Note that,
𝑅 𝑘 𝑅 𝑅
= . = 𝜔2
𝑚 𝑚 𝑘 𝑘
Let
𝑅
𝑎=
𝑘
𝑅
𝑎 = 𝑘 = Static deflection under friction force R
Therefore

MEE 411 – Mechanical Vibrations Page 13 of 17

MEE411 LECTURE NOTES 2020

𝑥̈ + 𝜔2 𝑥 = 𝜔2 𝑎

𝑥̈ + 𝜔2 𝑥 − 𝜔2 𝑎 = 0
𝑥̈ + 𝜔2 (𝑥 − 𝑎) = 0
Let
𝑦 = 𝑥−𝑎
Then
𝑦̇ = 𝑥̇
And
𝑦̈ = 𝑥̈
We can substitute to give
𝑦̈ + 𝜔2 𝑦 = 0
This is the typical spring – mass case of free vibration with x replaced by y and
will have a general solution
𝑦 = 𝐴 cos 𝜔𝑛 𝑡 + 𝐵 sin 𝜔𝑛 𝑡
But if we apply initial conditions,
At t =0,
𝑦0 = 𝑥0 − 𝑎
And,
𝑦̇ 0 = 0
𝑦 = (𝑥0 − 𝑎) cos 𝜔𝑛 𝑡
But,
𝑦 = 𝑥−𝑎
𝑥 − 𝑎 = (𝑥0 − 𝑎) cos 𝜔𝑛 𝑡
Therefore,
𝑥 = 𝑎 + (𝑥0 − 𝑎) cos 𝜔𝑛 𝑡

𝑘
The circular frequency is 𝜔𝑛 = √𝑚
And amplitude is 𝑥0 − 𝑎
The motion is harmonic but centred at point x = a
This solution is only applicable as long as motion is to the left

The body is at extreme left position after one half cycle

Therefore
𝑥 − 𝑎 = −(𝑥0 − 𝑎)
As cos 180 = -1
That is
𝑥1 = 2𝑎 − 𝑥0
|𝑥1 | = 𝑥0 − 2𝑎
This is the distance of mass from un-stretched position
𝑥1 = (𝑥0 − 2𝑎)
Meaning that amplitude from un-stretched position has decreased by 2a
Now let’s look at motion to the right (body to the right)
𝑚𝑥̈ + 𝑘𝑥 = −𝑅

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MEE411 LECTURE NOTES 2020

𝑘 𝑅
𝑥̈ + 𝑥=−
𝑚 𝑚
𝑥̈ + 𝜔2 𝑥 = −𝜔2 𝑎
𝑥̈ + 𝜔2 𝑥 + 𝜔2 𝑎 = 0
𝑥̈ + 𝜔2 (𝑥 + 𝑎) = 0
Let
𝑦 = 𝑥+𝑎
Then
𝑦̇ = 𝑥̇
And
𝑦̈ = 𝑥̈
We can substitute to give
𝑦̈ + 𝜔2 𝑦 = 0
This is the typical spring – mass case of free vibration with x replaced by y and
will have a general solution
𝑦 = 𝐴 cos 𝜔𝑛 𝑡 + 𝐵 sin 𝜔𝑛 𝑡
But if we apply initial conditions,
At t =0,
𝑦1 = 𝑥1 + 𝑎
And,
𝑦̇1 = 0
𝑦 = (𝑥1 + 𝑎) cos 𝜔𝑛 𝑡
But,
𝑦 = 𝑥+𝑎
𝑥 + 𝑎 = (𝑥1 + 𝑎) cos 𝜔𝑛 𝑡

𝑥1 is initial position of motion to the right.

At the end of the second half cycle

cos 𝜔𝑛 𝑡 = cos 180 = − 1
Recognize that this equation has separate initial conditions and hence
𝜔𝑛 𝑡 = 𝜃 = 180𝑜
Therefore displacement
𝑥 + 𝑎 = −(𝑥1 + 𝑎)
𝑥 + 𝑎 = −𝑥1 − 𝑎
𝑥2 = −𝑥1 − 2𝑎
𝑥2 = −(2𝑎 − 𝑥0 ) − 2𝑎
𝑥2 = 𝑥0 − 4𝑎
Thus the amplitude decreases by 2a after each half cycle. i.e, by 4a after a full
cycle
The decay or decrement is linear as against viscous damping which is exponential

MEE 411 – Mechanical Vibrations Page 15 of 17

MEE411 LECTURE NOTES 2020

PHASE PLANE (PLANE OF POSITION AND VELOCITY)

The motion of a body in coulomb damping can be plotted in a phase plane with
position and velocity as abscissa and ordinate respectively.

Now consider the ordinary free harmonic motion

𝑥 = 𝐴 cos(𝜔𝑛 𝑡 − 𝜙)

𝑥̇ = −𝐴 𝜔𝑛 𝑠𝑖𝑛(𝜔𝑛 𝑡 − 𝜙)

𝑥̇
= −𝐴 𝑠𝑖𝑛(𝜔𝑛 𝑡 − 𝜙)
𝜔𝑛
Square and add
𝑥̇ 2
𝑥2 + = 𝐴2 (cos2(𝜔𝑛 𝑡 − 𝜙) + 𝑠𝑖𝑛2 (𝜔𝑛 𝑡 − 𝜙))
𝜔𝑛 2

𝑥̇ 2
𝑥2 + = 𝐴2
𝜔𝑛 2
This is the equation of a circle
Thus, free vibration is represented by a cycle in the phase plane.

For Coulomb damping,

We consider the solution for the first half cycle.

𝑥 − 𝑎 = (𝑥0 − 𝑎) cos 𝜔𝑛 𝑡

𝑥̇ = −𝜔𝑛 (𝑥0 − 𝑎) sin 𝜔𝑛 𝑡

𝑥̇
= −(𝑥0 − 𝑎) sin 𝜔𝑛 𝑡
𝜔𝑛

MEE 411 – Mechanical Vibrations Page 16 of 17

MEE411 LECTURE NOTES 2020

Square and add,

𝑥̇ 2
(𝑥 − 𝑎)2 + = (𝑥0 − 𝑎)2
𝜔𝑛 2
This is the equation of a circle with radius, 𝑥0 − 𝑎, centre (a, 0) in the phase plane

For the second half cycle,

𝑥 + 𝑎 = (𝑥1 + 𝑎) cos 𝜔𝑛 𝑡

𝑥̇ = −𝜔𝑛 (𝑥1 + 𝑎) sin 𝜔𝑛 𝑡

𝑥̇
= −(𝑥1 + 𝑎) sin 𝜔𝑛 𝑡
𝜔𝑛
𝑥̇ 2
(𝑥 + 𝑎)2 + 2 = (𝑥1 + 𝑎)2
𝜔𝑛
Recall,
𝑥1 = 2𝑎 − 𝑥0
𝑥̇ 2
(𝑥 + 𝑎)2 + 2 = (2𝑎 − 𝑥0 + 𝑎)2
𝜔𝑛

𝑥̇ 2
(𝑥 + 𝑎)2 + = (𝑥0 − 3𝑎)2
𝜔𝑛 2

This is a circle of radius(𝑥0 − 3𝑎), centre (-a, 0)

The motion will stop at the end of a half cycle that ends with an amplitude that is
less than a, i.e. between o1 and o2. Note that when the spring force is less than
the frictional force, there will be no motion anymore. Hence the motion stops
In the phase plane, we have a spiral motion which continues until the spiral
intersects the axis between o1 and o2. The motion stops.

Classwork 2

A metal block, placed on a rough surface, is attached to a spring and is given an

initial displacement of 10 cm from its equilibrium position. After five cycles of
oscillation in 2 s, the final position of the metal block is found to be 1 cm from its
equilibrium position. Find the coefficient of friction between the surface and the
metal block.

MEE 411 – Mechanical Vibrations Page 17 of 17