Chapter 4

by
Mahmoud Ossaimee
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

y(t) = Ae−t
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) = Acost
where A and are constants

y(t) = Ae−t cost

where A,  and  are constants
y(t) =10cos 4t

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Some Important Math

y(t) = Acost
where A and areconstants 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 areconstants

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

y(t) = Ae−t cost

where A,  and  are constants

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Some Important Math

Second Order Differential Equations

𝑑2 𝑦
The general solution 𝑑𝑡 2
= −𝛽 2 𝑦(𝑦ሷ = −𝛽 2 𝑦), where  2 is constant, may be:
of

• If 𝛽 2 > 0(𝑝𝑜𝑠𝑖𝑡𝑖𝑣𝑒) 𝑦(𝑡) = 𝐶 cos( 𝛽𝑡 + 𝜑)

where C and φ SHM

are constants

• If 𝛽 2 = 0 𝑦(𝑡) = 𝐶1 𝑡 + 𝐶2

where C1 and C2 𝑦ሷ = 0 → 𝑦ሶ = 𝐶1 → 𝑦 = 𝐶1 𝑡 + 𝐶2

are constants

• If 𝛽 2 < 0(𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒) 𝑙𝑒𝑡𝛾 2 = −𝛽 2

𝑦(𝑡) = 𝐶1 𝑒 𝛾𝑡 + 𝐶2 𝑒 −𝛾𝑡

where C1 and C2
are constants

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cos(a  b) = cos a cosb sin asin b

sin(a  b) = sin a cosb  cos asin 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 = −bx
where b 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: 𝑚𝑥ሷ = −𝑘𝑥 − 𝑏𝑥ሶ Fs

𝑘 𝑏 r
𝑜𝑟 𝑥ሷ = − 𝑥 − 𝑥(I)
ሶ f
𝑚 𝑚

𝑘 𝑏
Put = 𝜔𝑜2 (𝜔𝑜 ≡ 𝑛𝑎𝑡𝑢𝑟𝑎𝑙 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦) , = 2
𝑚 𝑚

Eq.(I) will be 𝑥ሷ = −𝜔02 𝑥 − 2 𝑥ሶ

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Let the solution of differential equation 𝑥ሷ = −𝜔02 𝑥 − 2 𝑥(II)
ሶ

be in the form 𝑥 = 𝑧𝑒 −𝑡 (III)

so 𝑥ሶ = −𝑒 −𝑡 𝑧 + 𝑒 −𝑡 𝑧ሶ
and 𝑥ሷ = −𝑒 −𝑡 𝑧ሶ + 2 𝑒 −𝑡 𝑧 + 𝑒 −𝑡 𝑧ሷ − 𝑒 −𝑡 𝑧ሶ = 2 𝑒 −𝑡 𝑧 − 2 𝑒 −𝑡 𝑧ሶ + 𝑒 −𝑡 𝑧ሷ
Substituting by these relations in Eq. (II), we get
2 𝑒 −𝑡 𝑧 − 2 𝑒 −𝑡 𝑧ሶ + 𝑒 −𝑡 𝑧ሷ = −𝜔2 𝑧𝑒 −𝑡 − 2(−𝑒 −𝑡 𝑧 + 𝑒 −𝑡 𝑧)ሶ
0
and finally 𝑧ሷ = − 𝜔𝑜2 − 2 𝑧

Depending on the relation between 2 and 𝜔𝑜 2 , the motion can

take one of three forms, depicted in the Fig.
Under damped oscillation (a)
2 2
𝜔𝑜 > 

Critical damped oscillation (b) 𝜔𝑜2 = 2

Over damped oscillation (c) 𝜔𝑜2 < 2

 𝑥 = 𝑧𝑒 −𝑡
• Under damped oscillation 𝜔𝑜2 > 2
𝑧ሷ = − 𝜔𝑜2 − 2 𝑧 = −𝜔𝑑2 𝑧 where 𝜔𝑑 = 𝜔𝑜2 − 2 ≡ positive

The solution of the above differential equation is 𝑧 = 𝐴 cos( 𝜔𝑑 𝑡​+ 𝜑)

Substitute z by its value in Eq. (III) we get
𝑥(𝑡) = 𝐴𝑒 −𝑡 cos( 𝜔𝑑 𝑡​+ 𝜑)
The system oscillates with damped
angular frequency d

The periodic time of damped vibration

Td
2𝜋 2𝜋
𝑇𝑑 = =
𝜔𝑑 𝜔𝑜2 − 2

note d < o Td > To

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• The dotted lines represent An
the Ae-t factor which forms An+1
Ae-  t
an envelope for the
oscillations.
• The zeros in x occur when cos dt t t+Td
is zero and 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( 𝜔𝑑 𝑡​+ 𝜑)

and An+1 occurs at time t + Td then 𝐴𝑛+1 = 𝐴𝑒 −(𝑡+𝑇𝑑 ) cos( 𝜔𝑑 (𝑡 + 𝑇𝑑 ) + 𝜑)

𝐴𝑛 𝐴𝑒 −𝑡 cos( 𝜔𝑑 𝑡​+ 𝜑)

= = 𝑒 𝑇𝑑
note 𝐴𝑛+1 𝐴𝑒 −(𝑡+𝑇𝑑 ) cos( 𝜔𝑑 (𝑡 + 𝑇𝑑 ) + 𝜑) Any successive maxima decrease
by the same fractional amount

• The logarithmic decrement  is defined as the natural logarithm of any two

Successive maxima
𝛿 = ln
𝐴𝑛
= 𝑇𝑑 =
𝑏𝑇𝑑 A larger  means a quicker drop of the
𝐴𝑛+1 2𝑚 amplitude of the oscillatory motion.

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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 − 2 → 𝜔𝑜 = 𝜔𝑑2 + 2 = 4𝜋 2 + 0.6 2 = 12.57 𝑟𝑎𝑑ൗ𝑠

c) The logarithmic decrement of damping
2𝜋 2𝜋
𝛿 = 𝛾𝑇𝑑 = 𝛾 = 0.6 × = 0.3
𝜔𝑑 4𝜋
d) The time required to reduce the amplitude at time t from Ao to0.37Ao
1
𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒 = 𝐴𝑜 𝑒 −𝛾𝑡 → 0.37𝐴𝑜 = 𝐴𝑜 𝑒 −𝛾𝑡 → 𝑡 = − ln 0.37 = 1.66𝑠
𝛾
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 𝑥 = 𝑧𝑒 −𝑡
• Critical damped oscillation 𝜔𝑜2 = 2

𝑧ሷ = − 𝜔𝑜2 − 2 𝑧 = 0

The solution of the above differential equation is 𝑧 = 𝐶1 𝑡 + 𝐶2

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

)𝑒 −𝑡 𝑒 −𝑡 (1
the mass returns to its equilibrium
𝑥(𝑡) = (𝐶1 𝑡 + 𝐶2 = 𝐴𝑜 + 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.

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• Over damped oscillation 𝜔𝑜2 < 2 𝑥 = 𝑧𝑒 −𝑡

𝑧ሷ = − 𝜔𝑜2 − 2 𝑧 note 𝜔𝑜2 − 2 ≡ negative

The solution of the above differential equation is 𝑧 = 𝐶1 𝑒

2−𝜔𝑜2𝑡
+ 𝐶2 𝑒
− 2 −𝜔𝑜2𝑡

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

2 −𝜔𝑜2)𝑡 2 −𝜔𝑜2)𝑡
𝑥(𝑡) = 𝐶1 𝑒 (−𝛼+ + 𝐶2 𝑒 (−𝛼−

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

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Example 3 he equation of motion for a damped oscillator is given by
𝑑2𝑥 𝑑𝑥
4 2 +𝑏 + 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.

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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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