UNIT-1

SINGLE-DEGREE-OF-FREEDOM LINEAR SYSTEMS

PART - B (LONG ANSWER QUESTIONS)
1. Discuss the response of under damped, critically damped and over damped systems using
respective response equations and curves
ANS.
Underdamped
An underdamped response is one that oscillates within a decaying envelope. The more
underdamped the system, the more oscillations and longer it takes to reach steady-state.
Here damping ratio is always less than one.
Critically damped
A critically damped response is that response which reaches the steady-state value the
fastest without being underdamped. It is related to critical points in the sense that it
straddles the boundary of underdamped and overdamped responses. Here, damping ratio is
always equal to one. There should be no oscillation about the steady state value in the ideal
case.
Overdamped
An overdamped response is the response that does not oscillate about the steady-state
value but takes longer to reach steady-state than the critically damped case. Here damping
ratio is greater than one.

2. A machine part of mass 2.5Kg vibrates in a viscous medium. A harmonic exiting force of
30N acts on the part and causes resonant amplitude of 14mm with a period of 0.22 sec. Find
the damping coefficient if the frequency of the exciting force is changed to 4Hz. Determine
the increase in the amplitude of forced vibration upon removal of the damper.
ANS.
m = 2.5Kg, F0 = 30N, X = 14mm, τ = 0.225sec
Part 1: At Resonance
ωn = forcing frequency = 2/ τ = 28.56 rad/sec
At resonance: ω = ωn = 28.56 rad/sec
ωn = √(K/m) = 28.56 rad/sec
K = 2039 N/m
Amplitude at resonance
𝐹0 /𝐾
𝑋=
√[1 − 𝑟 2 ]2 + [2𝜁𝑟]2
As r= ω/ ωn = 1,
X = (F0/K)/2ζ = 0.014
ζ = 0.526
Damping coefficient = C = Cc ζ = 2m ωn ζ
= 2*2.5*28.56*0.526
= 75.04 N/m/s
C = 0.07504 Ns/m
Part (2): When f = 4 Hz
Forcing ω = 2*fn = 25.13 rad/sec
Frequency ωn = 28.56 rad/sec, unchanged
Amplitude of vibration with damper
 𝐹0 /𝐾
𝑋𝑎 =
√[1 − 𝑟 2 ]2 + [2𝜁𝑟]2
= 0.01544m
Amplitude of vibration without damper
Xb = (30/2039)/(0.2258) = 0.0652m
Increase in Amplitude = 0.0652 – 0.0155 = 0.0497m
Amplitude = 49.7mm

3. A damped system has following elements: Mass = 4 kg; k = 1 kN/m; C = 40 N sec/m.

Determine:
(a) Damping factor & natural frequency of damped oscillation.
(b) Logarithmic decrement and number of cycles after which the original amplitude is
reduced to 20
ANS.
Given
M=4kg, k = 1 KN/m, C=40 N sec/m
(a)
𝐶𝑐 = √2k𝑚 = √2 ∗ 1 ∗ 103 ∗ 4 = 89.44
C C 40 40
Damping factor ζ = = = = = 0.45
Cc √2km √2 ∗ 1 ∗ 103 ∗ 4 89.44
Natural frequency of damped oscillation (fd):
1
fd = [√ωn 2 − a2
2π
c 40
a= = =5
2m 2 ∗ 4
ωn = √k/m = √1000/4 = 15.81rad/sec
1
fd = [√15.812 − 52 = 2.38Hz
2π
(b) Logarithmic decrement
2π
δ=
2
√(Cc ) − 1
c
2π
δ=
2
√(89.44) − 1
40
δ = 3.14

4. In a particular case of a large canon, the gun barrel and recoil mechanism have a mass of
500kg with recoil spring stiffness 10,000N/m. The gun recoils 0.4m upon firing. Find
(i) Critical damping co efficient of the damper.
(ii) Initial recoil velocity of the gun
ANS.
1. The undamped natural frequency of the system is
k 10000
ωn = √ = √ = 4.4721rad/s
𝑚 500
And the critical damping coefficient of the damper is
𝐶𝑐 = 2𝑚ωn = 2 × 500 × 4.4721 = 4472.1𝑁 − 𝑠/𝑚
2. The response of a critically damped system is given by
x(t) = (C1 + C2 t) e−ωnt … … (1)
Where C1 = 𝑥0 and C2 = ẋ 0 + ωn 𝑥0 . The time t1 at which x(t) reaches a maximum value can
be obtained by setting ẋ (𝑡) = 0. The differentiation of Eq. (E.1) gives
Differentiating,
ẋ (t) = −(C1 + C2 t)ω𝐧 e−ωnt + C2 e−ωn t
Hence ẋ (𝑡) = 0 yields
1 C1
𝑡1 = ( − ) … … (2)
ωn C2
In this case, 𝑥0 = C1 = 0; hence Eq. (E.2) leads to 𝑡1 = 1/ωn . Since the maximum value of
x(t) or the recoil distance is given to be 𝑥𝑚𝑎𝑥 = 0.4 𝑚, we have
ẋ 0 −1 ẋ 0
𝑥𝑚𝑎𝑥 = 𝑥 (𝑡 = 𝑡1 ) = C2 𝑡1 e−ωn t1 = 𝑒 =
ωn 𝑒ωn
Or ẋ 0 = 𝑥𝑚𝑎𝑥 ωn 𝑒 = 0.04 × 4.4721 × 2.7183 = 4.8626 𝑚/𝑠

5. Derive an expression for the transmissibility and transmitted force for a spring - mass-
damper system subjected to external excitation. Draw the vector diagram for the forces.
ANS. When a machine is bolted directly to a rigid foundation or floor, the foundation will be subjected
to a harmonic load due to the unbalance in the machine in addition to the static load due to the weight
of the machine. Hence an elastic or resilient member is placed between the machine and the rigid
foundation to reduce the force transmitted to the foundation. The system can then be idealized as a
single-degree-of-freedom system, as shown in Fig. 9.20(a). The resilient member is assumed to have
both elasticity and damping and is modeled as a spring k and a dashpot c, as shown in Fig. 9.20(b). It
is assumed that the operation of the machine gives rise to a harmonically varying force 𝐹(𝑡) =
𝐹0 cos 𝜔𝑡. The equation of motion of the machine (of mass m) is given by

The force transmitted to the foundation through the spring and the dashpot, Fr(t) is given by
6. A metal block, placed on a rough surface, is attached to a spring and is given an initial
displacement of 10cm from its equilibrium position. After five cycles of oscillation in 2s, the
final position of the metal block found to be 1cm from its equilibrium positions. Find the
coefficient of friction between the surface and the metal block.
ANS. Since five cycles of oscillation were observed to take place in 2 s, the period (𝜏𝑛 ) is 2/5
k 2𝜋 2𝜋
= 0.4 s, and hence the frequency of oscillation is ωn = √𝑚 = = 0.4 = 15.708 rad/s. since
𝜏𝑛
the amplitude of oscillation reduces by
4𝜇𝑁 4𝜇𝑚𝑔
=
𝑘 𝑘
In each cycle, the reduction in amplitude in five cycles is
4𝜇𝑚𝑔
5( ) = 0.10 − 0.01 = 0.09 𝑚
𝑘
Or
0.09 𝑘 0.09 ωn 2 0.09 15.7082
𝜇= = = = 0.1132
20 𝑚𝑔 20 𝑔 20 (9.81)

7. Determine the frequency of oscillations for the system shown in fig. Also determine the
time period if m = 4 kg and r = 80 mm.

ANS.
8. Find the equivalent stiffness, frequency and time period for the system shown in figure
below. If K1=200 N/m, K2= 100N/m, m = 20Kg, L= 2000mm, A= 100m2, density is
7200kg/mm3.

ANS.

9. A circular cylinder of mass m and radius r is connected by a spring of stiffness k as shown

in fig. If it is free to roll on the rough surface which is horizontal without slipping, determine
the natural frequency.

ANS.

10. A wheel is mounted on a steel shaft (G = 83 * 109 N/m2) of length 1.5m and 0.80 cm. The
wheel is rotated 5o and released. The period of oscillation is observed as 2.3s. Determine
the mass moment of inertia of the wheel.

ANS.

11. Derive the convolution integral for a single degree of freedom subjected to an impulse.
ANS.

12. In the vibration testing of a structure, an impact hammer with a load cell to measure
the impact force is used to cause excitation. Assuming m=5kg, k=2000 N/m, c=10Ns/m and
F=20 N. Find the response of the system.
ANS. From the known data, we can compute
k 2000 C C 10
ωn = √ = √ = 20rad/s 𝜁= = = = 0.05
𝑚 5 𝐶𝑐 √2k𝑚 √2 × 2000 × 5
ωd = √1 − 𝜁 2 ωn = √1 − 0.052 × 20 = 19.975 rad/s
Assuming that the impact is given at we find the response of the system as
 e−ζωn t e−0.05×20×t
𝑋1 (𝑡) = 𝐹 sin ωd 𝑡 = 20 × sin 19.975𝑡 = 0.20025e−t sin 19.975𝑡 𝑚
𝑚ωd 5 × 19.975

13. Explain the terms generalized impedance and admittance of a system.

ANS.

14. Find the undamped response spectrum for the sinusoidal pulse force using initial
conditions x(0) = 0, dx/dt (0)=0.
ANS.

15. A compacting machine modelled as a single d.o.f system. The force on the mass m due
to a sudden application of pressure can be idealized as a step force. Determine the response
of the system.
ANS.

16. Use the convolution integral to determine the response of an undamped 1- degree-of
freedom system of natural frequency ωn and m when subject to a constant force of
magnitude F0. The system is at rest in equilibrium at t=0.
ANS.

17. Use the convolution integral to determine the response of an undamped 1- degree-of
freedom system of natural frequency ωn, damping ratio and mass m when subject to a
constant force of magnitude F0. The system is at rest in equilibrium at t=0.
ANS.

18. Use the convolution integral to determine the response of an undamped 1- degree-of
freedom system of natural frequency ωn and mass m when subject to a time dependent
excitation of the form F(t)=F0e-αt . The system is at rest in equilibrium at t=0.
ANS.

19. Use the convolution integral to determine the response of an undamped 1- degree-of
freedom system of natural frequency ωn and mass m when subject to a harmonic excitation
of the form F(t)=F0 sin ωt with.
ANS.

20. Use the Laplace transform method to determine the response of an under damped 1
DOF system of damping ratio , natural frequency ωn, mass m, initially at rest in equilibrium
and subject to a series of applied impulses each of magnitude I, beginning at t=0 and each
a time t0 apart.
ANS.