Chapter 4

by
Mahmoud Ossaimee
Associate Professor
Eng. Physics Dept.
m_ossaimee@eng.asu.edu.eg
Room 119
 Course Contents
Chapter Course Content
1 Force, Work and Energy
2 Simple Harmonic Motion
3 Mass-Spring System
4 Damped Oscillation
5 Forced Vibration and Resonance
6 Superposition of Simple Harmonic Motions
7 Wave Motion
8 Mechanical and Sound Waves
9 Wave Reflection and Interference
10 Wave Diffraction
2
Chapter 4
Damped
Oscillation

3
Some Important Math

− t
y(t ) = Ae
y (t ) = 10e −0.3t
where A and  are constants

4
Some Important Math

y (t ) = Ae − t y (t ) = 10e −0.3t
where A and  are constants

y (t ) = 10e −0.6t

5
Some Important Math

y (t ) = A cos t
where A and  are constants

y (t ) = Ae− t cos t
where A,  and  are constants
y (t ) = 10cos 4t

6
Some Important Math

y (t ) = A cos t
where A and  are constants y (t ) = 10e −0.3t cos 4t

y (t ) = Ae − t cos t
where A,  and  are constants

y (t ) = 10cos 4t

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Some Important Math
y(t ) = Ae− t
where A and  are constants

y (t ) = A cos t
where A and  are constants

y (t ) = Ae− t cos t
where A,  and  are constants

8
Some Important Math

Second Order Differential Equations

d2y
The general solution of dt 2
= −  2
y ( y = −  2
y ), where  2 is constant, may be:

• If  2  0 ( positive) y (t ) = C cos(  t +  )
where C and φ SHM
are constants

• If  2 = 0 y (t ) = C1t + C2
where C1 and C2 y = 0 → y = C1 → y = C1 t + C2
are constants

• If  2  0 (negative) let  2 = −  2
y (t ) = C1e t + C2e − t
where C1 and C2
are constants

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cos ( a  b ) = cos a cos b sin a sin b

sin ( a  b ) = sin a cos b  cos a sin b

10
Damped Oscillation
In real systems, friction is a common non-conservative force in which case the mechanical
energy (total energy) of the system diminishes with time.
A simplifying assumption is that the frictional force is proportional to the velocity of motion:

f = −rx
where r is a coefficient known as the resistance constant or damping coefficient

➢ Its units N s /m or kg/s

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Equation of Motion in Damped Oscillation

Hence, Newton's second law can be written as: mx = − kx − rx Fs

k r
or x=− x− x (I) r
m m f

k r
Put = o2 (o  natural angular frequency ) , = 2
m m

Eq.(I) will be x = −02 x − 2 x

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 Let the solution of differential equation x = −02 x − 2 x (II)
be in theform x = ze − t (III)
so x = − e − t z + e − t z

and x = − e − t z +  2e − t z + e − t z −  e − t z =  2e− t z − 2 e − t z + e − t z
Substituting by these relations in Eq. (II), we get
 2e− t z − 2 e− t z + e − t z = −02 ze − t − 2 (− e − t z + e − t z )
and finally z = − (o2 −  2 ) z

Depending on the relation between 𝛼 2 and 𝜔𝑜 2 , the motion can take

one of three forms, depicted in the Fig.
Under damped oscillation (a) o2   2

Critical damped oscillation (b) 𝜔𝑜2 = 𝛼 2

Over damped oscillation (c) o2   2

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• Under damped oscillation o2   2
x = ze − t
z = − (o2 −  2 ) z = −d2 z
where d = o2 −  2  positive
The solution of the above differential equation is z = A cos(d t +  )
Substitute z by its value in Eq. (III) we get

x(t ) = Ae − t cos(d t +  )
The system oscillates with damped angular frequency d

The periodic time of damped vibration

Td
2 2
Td = =
d o2 −  2

note d < o Td > To

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• The dotted lines represent the Ae-t factor An
An+1
which forms an envelope for the oscillations. Ae-t

• The zeros in x occur when cos dt is zero and t t+Td

so are separated in time by  /d

• Successive maxima like An and An+1 are separated by Td

• If An occurs at time t then An = Ae − t cos(d t +  )

and An+1 occurs at time t + Td then An +1 = Ae − ( t +Td ) cos(d (t + Td ) +  )
𝐴𝑛 𝐴𝑒 −𝛼𝑡
note =
𝐴𝑛+1 𝐴𝑒 −𝛼(𝑡+𝑇𝑑 )
= eTd Any successive maxima decrease
by the same fractional amount

• The logarithmic decrement  is defined as the natural logarithm of any two Successive maxima
An rT
 = ln =  Td = d A larger  means a quicker drop of the
amplitude of the oscillatory motion.
An +1 2m
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Example 1 A mass undergoes damped oscillation at the x-direction so that:
𝑥 = 9𝑒 −0.6𝑡 𝑐𝑜𝑠4𝜋𝑡 𝑐𝑚
a) The amplitude of vibration at t = 2s
Amplitude = 9 e-0.6t at t =2 s amplitude = 9 e-0.6(2) = 2.71 cm
b) The natural angular frequency
𝜔𝑑 = 𝜔𝑜2 − 𝛼 2  𝜔𝑜 = 𝜔𝑑2 + 𝛼 2 = 4 2 + 0.6 2 = 12.57 𝑟𝑎𝑑/𝑠

c) The logarithmic decrement of damping

2𝜋 2𝜋
𝛿 = 𝛼𝑇𝑑 = 𝛼 = 0.6 = 0.3
𝜔𝑑 4𝜋

d) The time required to reduce the amplitude at time t from Ao to 0.37Ao

1
Amplitude = Ao e- t  0.37 Ao = Ao e - t  𝑡 = − ln 0.37 = 1.66 𝑠
𝛼

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• Critical damped oscillation o2 =  2 x = ze − t
z = − ( −  ) z = 0
2
o
2

The solution of the above differential equation is z = C1t + C2

Substitute z by its value in eq. (III) we get
the mass returns to its equilibrium
𝑥(𝑡) = (𝐶1 𝑡 + 𝐶2 )𝑒 −𝛼𝑡 = 𝐴𝑜 𝑒 −𝛼𝑡 (1 + 𝐶𝑡) position in the shortest possible
time without oscillating (curve b)

Critical damping has many important practical applications.

❑ Door closer mechanism so that the door returns quickly to its closed position without oscillating.

❑ Shock absorbers are used in motor cars to provide a smooth ride. Without
these, the car would continue to bounce up and down long after it went over
a bump in the road

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Example 2 A 1 kg weight attached to a vertical spring stretches it 0.2 m. The weight is then
pulled down 1.5m and released. (a) Is the motion underdamped, overdamped or critically
damped? (b) Find the position of the weight at any time if a damping force numerically equal to
14 times the instantaneous speed is acting.
𝑚𝑔 (1.0)(9.8)
𝑚𝑔 = 𝑘𝑦 → 𝑘 = = = 49 𝑁/𝑚
𝑦 0.2
𝑘 49
𝜔𝑜 = = = 7 𝑟𝑎𝑑/𝑠
𝑚 1
𝑟 14
𝛼= = = 7 𝑠 −1
2𝑚 2 × 1
∵ 𝛼 = 𝜔𝑜 → 𝑡ℎ𝑒 𝑚𝑜𝑡𝑖𝑜𝑛 𝑖𝑠 𝑐𝑟𝑖𝑡𝑖𝑐𝑎𝑙 𝑑𝑎𝑚𝑝𝑒𝑑

𝑦 𝑡 = 𝐴𝑜 𝑒 −𝛼𝑡 (1 + 𝑐𝑡)

With  = 7 s-1 and Ao = 1.5 m y(t) becomes: 𝑦 𝑡 = 1.5𝑒 −7𝑡 1 + 𝑐𝑡 𝑚

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• Over damped oscillation o2   2 x = ze − t
z = − (o2 −  2 ) z note  2 −  2  negative
o
 2 −o2 t −  2 −o2 t
The solution of the above differential equation is z = C1e + C2 e

Substitute z by its value in eq. (III) we get

( − +  −o ) t ( − −  −o ) t
2 2 2 2
x(t ) = C1e + C2 e

❑ The system will be exponentially decaying terms but with

different amplitudes and rate.

❑ The system is very slowly approaching its equilibrium position,

curve (c)

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 Solved
Examples

20
Example 3 The equation of motion for a damped oscillator is given by
𝒅2 𝒙 𝒅𝒙
4 2 +𝒓 + 32𝒙 = 0
𝒅𝒕 𝒅𝒕

For what range of values for the damping constant will the motion be (a) underdamped;
(b) overdamped; (c) critically damped?

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Example 4 A mass of 4 kg attached to the lower end of a vertical spring of constant 20 N/m
oscillates with a period of 10 s. Find (a) the natural period; (b) the damping constant;
(c) the logarithmic decrement.

2𝜋 2𝜋
𝑏 𝜔𝑑 = = = 0.628 𝑟𝑎𝑑/𝑠
𝑇𝑑 10

𝛼= 𝜔𝑜2 − 𝜔𝑑2 = 2.2362 − 0.6282 = 2.146 𝑠 −1

𝑟 = 2𝑚𝛼 = 2 × 4 × 2.146 = 14.14 kg/s

𝛿 = 𝛼𝑇𝑑 = 2.146 × 10 = 21.16

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 Assignment (1)

A particle of mass 0.1kg moves along the x-axis under the influence of two forces:
(i) a force of attraction toward origin which is numerically equal to 85x (N), and
(ii) a damping force in Newton whose magnitude is numerically equal to 0.7 dx/dt
Assuming that the particle starts from rest at a distance 10 cm from the origin,
(a) set up the differential equation of motion of the particle, (b) find the equation of
the position of the particle at any time, (c) determine the frequency of the damped
oscillation, (d) find the logarithmic decrement of the system, and (e) How long does
it take for the amplitude of the damped oscillations at drop to half its Initial value?

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