Damping: Single Degree of Freedom

Damping
Single Degree of Freedom

In many practical systems, the vibrational energy is gradually
converted to heat or sound. Due to the reduction in the energy,
the response, such as the displacement of the system gradually
decreased.
The mechanism by which the vibrational energy is gradually

converted into heat or sound is known as damping.
Although the amount of energy lost is relatively small, the

consideration of damping becomes important for an accurate
prediction of the vibrational response of a system.
A damper is assumed to have neither mass nor elasticity, and

damping force exists only if there is relative velocity between the
two ends of the damper.
It is difficult to determine the causes of damping in practical
systems. Hence damping is modeled as one or more of the
following types:
1- Viscous Damping
It is the most commonly used damping mechanism in vibration

analysis. When mechanical systems vibrate in a fluid medium such
as air, gas, water, and oil, the resistance offered by the fluid to the
moving body causes energy to be dissipated.
In viscous damping, the damping force is proportional to the

velocity of the vibrating body. Typical examples are:
a- Fluid film between sliding surfaces.
b- Fluid flow around a piston in a cylinder.
c- Fluid film around a journal in a bearing.

2- Coulomb or Dry Friction Damping
Here the damping force is constant in magnitude but opposite in

direction to that of the motion of the vibrating body. It is caused
due to friction between the rubbing surfaces that are either dry
or have insufficient lubrication.
3- Material or Solid or Hysteretic Damping
When materials are deformed, energy is absorbed and dissipated

by the material. The effect is due to friction between the internal
planes, which slip or slide as the deformations take place.
Viscous Damping
From fluid mechanics:
𝑑𝑣 𝜇𝐴𝑣
𝜏= 𝜇 and 𝐹 = 𝜏𝐴 𝐹=
𝑑𝑦 ℎ
𝐹 = 𝑐𝑣 𝐹 = 𝑐𝑥
c: is called the damping constant, N.s/m.

Free Vibration with Damping
The FBD will be:

ΣF = m𝑥
The equation of motion is:
m𝑥 + c𝑥 + kx = 0
Let x(t) = A𝑒 𝑟𝑡
𝑥(t) = Ar𝑒 𝑟𝑡
𝑥(t) = A𝑟 2 𝑒 𝑟𝑡
Substitute into the equation of motion, and after

simplification, we end up with:
2
𝑐 𝑘
𝑟 + 𝑟 + =0
𝑚 𝑚
𝑐 𝑐 2 𝑘
−𝑚 ± 𝑚 − 4𝑚
𝑟1,2 =
2
𝑐 𝑐 2 𝑘
𝑟1,2 =− ± −
2𝑚 2𝑚 𝑚
The following observations can be made from the

above equation.
𝑐 2 𝑘 𝑐
1- if = 𝑟1,2 =−
2𝑚 𝑚 2𝑚
This case the system is said to have Critical Damping

Let us define the following ratio:
𝑐
𝜁=
𝑐𝑐
Where, 𝜁 is the damping ratio.
𝑐 is the damping constant.
𝑐𝑐 is the critical damping constant.
In Critical Damping the damping ratio (𝜁) is equal (1) and 𝑐𝑐 is

equal to 𝑐, so by taking the square root:
𝑐𝑐 𝑘 𝑐 𝑐
= = 𝜔𝑛 = 𝜁𝜔𝑛
2𝑚 𝑚 2𝜁𝑚 2𝑚
𝑐
∴ 𝑟1,2 =− = 𝜁𝜔𝑛
2𝑚
∴ 𝑥 = (𝐴 + 𝐵𝑡)𝑒 −𝜔𝑛𝑡
𝑐 2 𝑘 𝑐 𝑐 2 𝑘
2- if 2𝑚
> 𝑚 𝑟1,2 = − ± −
2𝑚 2𝑚 𝑚
This case the system is said to be Over Damping,

and 𝜁 > 1, this yields:
𝑟1,2 = −𝜔𝑛 𝜁 ± 𝜔𝑛 𝜁 2 − 𝜔𝑛 2
𝑟1,2 = −𝜔𝑛 𝜁 ± 𝜔𝑛 𝜁 2 − 1
∴ 𝑥 = 𝐴𝑒 𝑟1 𝑡 + 𝐵𝑒 𝑟2 𝑡
𝑐 2 𝑘 𝑐 𝑐 2 𝑘
3- if 2𝑚
< 𝑚 𝑟1,2 = − ± −
2𝑚 2𝑚 𝑚
This case the system is said to be Under Damping, and

0 < 𝜁 < 1, this yields:
𝑟1,2 = −𝜔𝑛 𝜁 ± 𝑖𝜔𝑛 1 − 𝜁 2
∴ 𝑥 = 𝑒 −𝜁𝜔𝑛𝑡 (𝐴 cos 𝜔𝑛 1 − 𝜁 2 𝑡 + 𝐵 sin 𝜔𝑛 1 − 𝜁 2 𝑡)
Let, 𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2 , where 𝜔𝑑 is the circular angular

damping frequency.
Now the solution can be reduced to:
∴ 𝑥 = 𝑒 −𝜁𝜔𝑛𝑡 𝐻 sin(𝜔𝑑 𝑡 + 𝛼)
∴ 𝑥 = 𝑒 −𝜁𝜔𝑛𝑡 (𝐴 cos 𝜔𝑑 𝑡 + 𝐵 sin 𝜔𝑑 𝑡)
sin(𝛼 + 𝛽) = sin 𝛼 cos 𝛽 + cos 𝛼 sin 𝛽

𝐴
sin 𝛼 =
𝐴2 + 𝐵 2
𝐴= 𝐴2 + 𝐵2 sin 𝛼 𝐴
𝐵
cos 𝛼 = 𝛼
𝐴2 + 𝐵 2
𝐵
𝐵= 𝐴2 + 𝐵2 cos 𝛼
∴ 𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 ( 𝐴2 + 𝐵2 sin 𝛼 cos 𝜔𝑑 𝑡 + 𝐴2 + 𝐵2 cos 𝛼 sin 𝜔𝑑 𝑡)
∴ 𝑥 = 𝑒 −𝜁𝜔𝑛𝑡 𝐻 sin(𝜔𝑑 𝑡 + 𝛼)
Where,
−1
𝐴
𝛼 = tan
𝐵
2𝜋
𝐻= 𝐴2 + 𝐵2 ,𝜏𝑑 =
𝜔𝑑
The equation of motion can be written as:
Without Damping With Damping
𝑘 𝑐 𝑘
𝑥+ 𝑥=0 𝑥+ 𝑥+ 𝑥=0
𝑚 𝑚 𝑚
𝑥 + 𝜔𝑛 2 𝑥 = 0 𝑥 + 2𝜁𝜔𝑛 𝑥 + 𝜔𝑛 2 𝑥 = 0
Lagrange Equation
In general for a vibration of a system including damping i.e.

non-conservative system, the Lagrange equation may be
written as follow:
𝑑 𝜕𝐾. 𝐸. 𝜕𝐾. 𝐸. 𝜕𝑃. 𝐸. 𝜕𝐷. 𝐸.

− + + =0
𝑑𝑡 𝜕𝑞𝑖 𝜕𝑞𝑖 𝜕𝑞𝑖 𝜕𝑞𝑖
Where, 𝑞𝑖 is the coordinate under consideration and D.E. is

1
the damping energy (𝐷. 𝐸. = 𝑐𝑥 2 ).
2
Lagrange equation for non-conservative system with forced

damped vibration may be written as:
𝑑 𝜕𝐾. 𝐸. 𝜕𝐾. 𝐸. 𝜕𝑃. 𝐸. 𝜕𝐷. 𝐸.
− + + =𝑄
𝑑𝑡 𝜕𝑞𝑖 𝜕𝑞𝑖 𝜕𝑞𝑖 𝜕𝑞𝑖
Where Q is called the generalized force and it’s unit of force
when 𝑞𝑖 is a linear coordinate i.e. x and it’s unit becomes a
unit of torque when 𝑞𝑖 is a rotational coordinate θ.
Note:
Lagrange equation can be applied for any vibrational system

whether it is conservative or non, single degree of freedom
system, several degree of freedom system, with excitation
force or without force. i.e. it can be applied for any dynamical
system.
e.g.17 A 200 kg block is attached to a spring of stiffness
50000 N/m in parallel with a viscous damper. The period
of free vibration of this system is observed as 0.417 s.
What is the value of the damping coefficient?
e.g.18 For the system

shown on the figure
calculate the natural
frequency and specify
whether the system is over
or under damped.
Forced Vibration with Damping
Let F(t)= 𝐹0 𝑠𝑖𝑛𝜔𝑡

The FBD will be:
ΣF = m𝑥
The equation of motion is:
m𝑥 + c𝑥 + kx = F(t)
m𝑥 + c𝑥 + kx = F0 𝑠𝑖𝑛𝜔𝑡 …(1)
Assume:
𝑥 = 𝐴 𝑠𝑖𝑛𝜔𝑡 + 𝐵 𝑐𝑜𝑠𝜔𝑡
𝑥 = 𝐴𝜔 𝑐𝑜𝑠𝜔𝑡 − 𝐵𝜔 𝑠𝑖𝑛𝜔𝑡 Substitute into eq. (1)
𝑥 = −𝐴𝜔2 𝑠𝑖𝑛𝜔𝑡 − 𝐵𝜔2 𝑐𝑜𝑠𝜔𝑡
𝑥 𝑥
m(−𝐴𝜔2 𝑠𝑖𝑛𝜔𝑡 − 𝐵𝜔2 𝑐𝑜𝑠𝜔𝑡) + c(𝐴𝜔 𝑐𝑜𝑠𝜔𝑡 − 𝐵𝜔 𝑠𝑖𝑛𝜔𝑡)

+ k(𝐴 𝑠𝑖𝑛𝜔𝑡 + 𝐵 𝑐𝑜𝑠𝜔𝑡) = F0 𝑠𝑖𝑛𝜔𝑡
𝑥
Equating the coefficients of 𝑠𝑖𝑛𝜔𝑡 and 𝑐𝑜𝑠𝜔𝑡 on both sides
of the resulting equation, we obtain:
𝑘 − 𝑚𝜔2 𝐴 − 𝑐𝜔𝐵 = 𝐹0 …(2)
𝑐𝜔𝐴 + 𝑘 − 𝑚𝜔2 𝐵 = 0 …(3)
Solution of equations (2) and (3), gives:

𝐹0 𝑘 − 𝑚𝜔2 −𝐹0 𝑐𝜔
𝐴= 𝐵=
𝑘 − 𝑚𝜔 2 2 + (𝑐𝜔)2 𝑘 − 𝑚𝜔 2 2 + (𝑐𝜔)2
𝐹0 𝑘 − 𝑚𝜔2 𝐹0 𝑐𝜔
𝑥= 2 2 2
𝑠𝑖𝑛𝜔𝑡 − 2 2 2
𝑐𝑜𝑠𝜔𝑡
𝑘 − 𝑚𝜔 + (𝑐𝜔) 𝑘 − 𝑚𝜔 + (𝑐𝜔)
𝐹0
𝑥= 𝑘 − 𝑚𝜔2 𝑠𝑖𝑛𝜔𝑡 − 𝑐𝜔𝑐𝑜𝑠𝜔𝑡
𝑘 − 𝑚𝜔 2 2 + (𝑐𝜔)2 …(4)
Using the trigonometric relation:
sin 𝛼 − 𝛽 = 𝑠𝑖𝑛𝛼 𝑐𝑜𝑠𝛽 − 𝑐𝑜𝑠𝛼 𝑠𝑖𝑛𝛽

𝑐𝜔
∴ 𝑠𝑖𝑛𝛽 =
(𝑘 − 𝑚𝜔 2 )2 +(𝑐𝜔)2 𝑐𝜔
𝑐𝜔 = 𝑠𝑖𝑛𝛽 (𝑘 − 𝑚𝜔 2 )2 +(𝑐𝜔)2 …(5) 𝛽
𝑘 − 𝑚𝜔2 𝑘 − 𝑚𝜔2
∴ 𝑐𝑜𝑠𝛽 =
(𝑘 − 𝑚𝜔 2 )2 +(𝑐𝜔)2
𝑘 − 𝑚𝜔2 = 𝑐𝑜𝑠𝛽 (𝑘 − 𝑚𝜔 2 )2 +(𝑐𝜔)2 …(6)

Substitute equations (5) and (6), into (4) gives:
𝐹0
𝑥= 𝑐𝑜𝑠𝛽 𝑠𝑖𝑛𝜔𝑡 − 𝑠𝑖𝑛𝛽 𝑐𝑜𝑠𝜔𝑡
𝑘 − 𝑚𝜔 2 2 + (𝑐𝜔) 2
𝐹0
𝑥= sin(𝜔𝑡 − 𝛽)
𝑘 − 𝑚𝜔 2 2 + (𝑐𝜔)2
𝑐𝜔
Where, 𝛽 = tan −1
𝑘 − 𝑚𝜔 2
2
𝑘 𝑐
Since, 𝜔𝑛 = and = 2𝜁𝜔𝑛
𝑚 𝑚
𝐹0
∴𝑥= 𝑘 sin(𝜔𝑡 − 𝛽)
2
𝜔 𝜔
1 − (𝜔 )2 + (2𝜁 𝜔 )2
𝑛 𝑛
𝜔
Let = 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 𝑟𝑎𝑡𝑖𝑜 = 𝑟
𝜔𝑛
𝐹0
∴𝑥= 𝑘 sin(𝜔𝑡 − 𝛽)
1−𝑟 2 2 + (2𝜁𝑟) 2
For 𝑥𝑚𝑎𝑥 ⇒ sin 𝜔𝑡 − 𝛽 = 1
𝐹0
∴ 𝑥𝑚𝑎𝑥 = 𝑘
1 − 𝑟 2 2 + (2𝜁𝑟)2
𝑥𝑚𝑎𝑥 1
∴ = −1
2𝜁𝑟
𝐹0 1 − 𝑟2 2 + (2𝜁𝑟)2 𝛽 = tan
𝑘 1 − 𝑟2
Resonance Location
𝐹0
𝑥= 𝑘
1 − 𝑟 2 2 + (2𝜁𝑟)2
𝐹0 2 −1 2
𝑥= [ 1 − 𝑟2 2
+ 2𝜁𝑟 ]
𝑘
𝑑𝑥 𝐹0 −1 2 −3 2
= ∗ 1 − 𝑟2 2
+ 2𝜁𝑟 ∗ [2 1 − 𝑟 2 −2𝑟 + 8𝜁 2 𝑟]
𝑑𝑟 𝑘 2
𝑑𝑥 [2 1 − 𝑟 2 −2𝑟 + 8𝜁 2 𝑟]
=0= 3
𝑑𝑟 1 − 𝑟 2 2 + 2𝜁𝑟 2 2
4𝑟 𝑟 2 − 1 + 8𝜁 2 𝑟 = 0 } ÷ 4𝑟
𝑟 2 − 1 + 2𝜁 2 = 0
𝑟 2 = 1 − 2𝜁 2
𝑟= 1 − 2𝜁 2
𝜔
∴ = 1 − 2𝜁 2
𝜔𝑛
e.g.19 A carriage is moving on a sinusoidal road as shown in
the figure, the velocity of the carriage is found to be 0.3 m/s
when it is empty. When it is loaded by 100 kg the horizontal
elevation of the carriage decreases by 1 mm. Given that the
carriage mass when it is empty is 40 kg. What will be its
amplitude of vibration at the designated velocity when it is
empty and loaded. Also find its velocity at resonance when it
is loaded and 𝜁 = 0.5.
e.g.20 Use the free body diagram method to derive the
differential equation governing the motion of the system
show in the below figure, using 𝜃 as the generalized
coordinate.

Damping: Single Degree of Freedom

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Damping

Single Degree of Freedom

The mechanism by which the vibrational energy is gradually

Although the amount of energy lost is relatively small, the

A damper is assumed to have neither mass nor elasticity, and

It is the most commonly used damping mechanism in vibration

In viscous damping, the damping force is proportional to the

a- Fluid film between sliding surfaces.

b- Fluid flow around a piston in a cylinder.

c- Fluid film around a journal in a bearing.

Here the damping force is constant in magnitude but opposite in

3- Material or Solid or Hysteretic Damping

When materials are deformed, energy is absorbed and dissipated

c: is called the damping constant, N.s/m.

The FBD will be:

The equation of motion is:

Substitute into the equation of motion, and after

The following observations can be made from the

This case the system is said to have Critical Damping

In Critical Damping the damping ratio (𝜁) is equal (1) and 𝑐𝑐 is

This case the system is said to be Over Damping,

This case the system is said to be Under Damping, and

𝑟1,2 = −𝜔𝑛 𝜁 ± 𝑖𝜔𝑛 1 − 𝜁 2

∴ 𝑥 = 𝑒 −𝜁𝜔𝑛𝑡 (𝐴 cos 𝜔𝑛 1 − 𝜁 2 𝑡 + 𝐵 sin 𝜔𝑛 1 − 𝜁 2 𝑡)

Let, 𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2 , where 𝜔𝑑 is the circular angular

sin(𝛼 + 𝛽) = sin 𝛼 cos 𝛽 + cos 𝛼 sin 𝛽

∴ 𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 ( 𝐴2 + 𝐵2 sin 𝛼 cos 𝜔𝑑 𝑡 + 𝐴2 + 𝐵2 cos 𝛼 sin 𝜔𝑑 𝑡)

Without Damping With Damping

In general for a vibration of a system including damping i.e.

𝑑 𝜕𝐾. 𝐸. 𝜕𝐾. 𝐸. 𝜕𝑃. 𝐸. 𝜕𝐷. 𝐸.

Where, 𝑞𝑖 is the coordinate under consideration and D.E. is

Lagrange equation for non-conservative system with forced

Lagrange equation can be applied for any vibrational system

e.g.18 For the system

Let F(t)= 𝐹0 𝑠𝑖𝑛𝜔𝑡

m(−𝐴𝜔2 𝑠𝑖𝑛𝜔𝑡 − 𝐵𝜔2 𝑐𝑜𝑠𝜔𝑡) + c(𝐴𝜔 𝑐𝑜𝑠𝜔𝑡 − 𝐵𝜔 𝑠𝑖𝑛𝜔𝑡)

𝑘 − 𝑚𝜔2 𝐴 − 𝑐𝜔𝐵 = 𝐹0 …(2)

𝑐𝜔𝐴 + 𝑘 − 𝑚𝜔2 𝐵 = 0 …(3)

Solution of equations (2) and (3), gives:

sin 𝛼 − 𝛽 = 𝑠𝑖𝑛𝛼 𝑐𝑜𝑠𝛽 − 𝑐𝑜𝑠𝛼 𝑠𝑖𝑛𝛽

𝑘 − 𝑚𝜔2 = 𝑐𝑜𝑠𝛽 (𝑘 − 𝑚𝜔 2 )2 +(𝑐𝜔)2 …(6)

For 𝑥𝑚𝑎𝑥 ⇒ sin 𝜔𝑡 − 𝛽 = 1

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