Lecture-2

Single degree of freedom:

Free Vibration of an Undamped Translational System:

If mass m is displaced a distance when acted upon by a resultant force in the same direction, Newton’s
second law of motion give:
 𝑑 𝑑𝑥⃗(𝑡)
𝐹⃗ (𝑡) = (𝑚 )
𝑑𝑡 𝑑𝑡

Where, mass m is constant, this equation reduces to

𝑑𝑥⃗(𝑡) 𝑑 𝑑𝑥⃗(𝑡)
𝐹⃗ (𝑡) = 𝑚 (𝑚 ) = 𝑚𝑥⃗̈
𝑑𝑡 𝑑𝑡 𝑑𝑡

Or moment

⃗⃗⃗ (𝑡) = 𝐽𝜃⃗̈

𝑀
For the figlures above,

𝐹(𝑡) = −𝑘𝑥 = 𝑚𝑥̈

𝑚𝑥̈ + 𝑘𝑥 = 0
Principal of Conservation of Energy:

Solution of the above Equation:

Assume 𝑥 = 𝐶𝑒 𝑠𝑡 , then

𝐶(𝑚𝑠 2 + 𝑘) = 0
𝑚𝑠 2 + 𝑘 = 0 (2.4)

and hence,
 1⁄
𝑘 2
𝑠 = ± (− ) = ±𝑖𝜔𝑛
𝑚
𝑘
Where, 𝜔𝑛 = √𝑚 (2.4a)

Equation (2.4) is called the auxiliary or the characteristic equation corresponding to the deferential Eq.
(2.3). The two values of s are the roots of the characteristic equation, also known as the eigenvalues or
the characteristic values of the problem. Since both values of s satisfy Eq. (2.4), the general solution of
Eq. (2.3) can be expressed as:

𝑥(𝑡) = 𝐶1 𝑒 𝑖𝜔𝑛 𝑡 + 𝐶2 𝑒 −𝑖𝜔𝑛 𝑡 (2.5)

= 𝐶1 (cos 𝜔𝑛 𝑡 + 𝑖 sin 𝜔𝑛 𝑡) + 𝐶2 (cos 𝜔𝑛 𝑡 − 𝑖 sin 𝜔𝑛 𝑡)

= (𝐶1 + 𝐶2 ) cos 𝜔𝑛 𝑡 + 𝑖(𝐶1 − 𝐶2 ) sin 𝜔𝑛 𝑡
𝑥(𝑡) = 𝐴1 cos 𝜔𝑛 𝑡 + 𝐴2 sin 𝜔𝑛 𝑡 (2.6)

If initial conditions are as:

(2.7)

Put the value into equation 2.6,

𝑥0 = 𝐴1 (2.8)
𝑑𝑥
𝑑𝑡
= −𝐴1 𝜔𝑛 sin 𝜔𝑛 𝑡 + 𝐴2 𝜔𝑛 cos 𝜔𝑛 𝑡

𝑥̇ 0 = 𝐴2 𝜔𝑛 (2.9)
𝑥̇
𝐴2 = 𝜔0 (2.10)
𝑛

Therefore, the solution of the equation is :

𝑥̇
𝑥(𝑡) = 𝑥0 cos 𝜔𝑛 𝑡 + 𝜔0 sin 𝜔𝑛 𝑡 (2.11)
𝑛

Harmonic motion:
Equations (2.5), (2.6), and (2.11) are harmonic functions of time. The motion is symmetric about the
equilibrium position of the mass m. The velocity is a maximum and the acceleration is zero each time
when the mass passes through this position. At the extreme displacements, the velocity is zero and the
acceleration is a maximum. Since this represents simple harmonic motion (see Section 1.10), the spring-
mass system itself is called a harmonic oscillator. The quantity given by Eq. (2.4a), represents the system’s
natural frequency of vibration.

Equation (2.14) can be expressed in a different form by introducing the notation:

𝐴1 = 𝐴 cos 𝜑 and 𝐴2 = 𝐴 sin 𝜑 where A and  are the new constants.

𝑥̇ 0 2
𝐴 = √𝐴12 + 𝐴22 = √𝑥02 + ( ) = Amplitude
𝜔𝑛

𝐴 𝑥̇ 0
𝜙 = tan−1 (𝐴2 ) = tan−1 (𝑥 )=Phase angle
1 0 𝜔𝑛

We know,

𝑥(𝑡) = 𝐴1 cos 𝜔𝑛 𝑡 + 𝐴2 sin 𝜔𝑛 𝑡

𝑥(𝑡) = 𝐴 cos 𝜙 cos 𝜔𝑛 𝑡 + 𝐴 sin 𝜙 sin 𝜔𝑛 𝑡
𝑥(𝑡) = 𝐴 cos(𝜔𝑛 𝑡 − 𝜙)
Or other relation can be written:

𝐴1 = 𝐴0 sin 𝜙0 and 𝐴2 = 𝐴0 cos 𝜙0

𝑥(𝑡) = 𝐴0 sin 𝜙0 cos 𝜔𝑛 𝑡 + 𝐴0 cos 𝜙0 sin 𝜔𝑛 𝑡

𝑥(𝑡) = 𝐴0 sin(𝜔𝑛 𝑡 + 𝜙0 )
Where,

and
Solution:
Solution:
Free Vibration with Viscoua Damping:

𝐹𝑑 = −𝑐𝑥̇

The equation of motion with viscous damping:

𝑚𝑥̈ = −𝑐𝑥̇ − 𝑘𝑥
Or
𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 0
Let, 𝑥(𝑡) = 𝐶𝑒 𝑠𝑡 , so putting the value on the above equation, 𝑚𝑠 2 + 𝑐𝑠 + 𝑘 = 0.

Crictical Damping Constant and Damping Ratio:

𝑐𝑐 2 𝑘
( ) − =0
2𝑚 𝑚
𝑘 𝑐 𝑐 𝑐
𝑐 𝑐
So, 𝑐𝑐 = 2𝑚√𝑚 = 2𝑚𝜔𝑛 and 𝜉 = 𝑐 , so, 2𝑚 = 𝑐 . 2𝑚 = 𝜉𝜔𝑛
𝑐 𝑐
Energly Dissipated in Viscous Damping:

Work done = Energy=Force  distance,

And damping force=−𝑐𝑥̇

In a viscously damped system, the rate of change of energy with time (𝑑𝑊 ⁄𝑑𝑡) is given by,
𝑑𝑊 𝑑𝑥 𝑑𝑥 2
= 𝑓𝑜𝑟𝑐𝑒 × 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 = 𝐹 × = 𝐹 × 𝑣 = −𝑐𝑣 2 = −𝑐 ( ) ,
𝑑𝑡 𝑑𝑡 𝑑𝑡

The negative sign in above equation denotes that energy dissipates with time. Assume a simple
harmonic motion as 𝑥(𝑡) = 𝑋 sin 𝜔𝑑 𝑡, where X is the amplitude of motion and the energy dissipated in
a complete cycle is given by,

𝑑𝑥 𝑑𝑥 2
= 𝑋𝜔𝑑 cos 𝜔𝑑 𝑡, ( ) = 𝑋 2 𝜔𝑑 cos2 𝜔𝑑 𝑡. 𝜔𝑑
𝑑𝑡 𝑑𝑡
 (2𝜋⁄𝜔𝑑 )
𝑑𝑥 2 (2𝜋⁄𝜔𝑑 )
∆𝑊 = ∫ 𝑐( ) 𝑑𝑡 = ∫ 𝑐𝑋 2 𝜔𝑑 cos 2 𝜔𝑑 𝑡. 𝑑(𝜔𝑑 𝑡)
𝑡=0 𝑑𝑡 𝑡=0
2𝜋 2𝜋
1 1
= 𝑐𝑋 2 𝜔𝑑 ∫ 2cos 2 𝜔𝑑 𝑡. 𝑑(𝜔𝑑 𝑡) = 𝑐𝑋 2 𝜔𝑑 ∫ (1 + cos 2𝜔𝑑 𝑡). 𝑑(𝜔𝑑 𝑡)
2 𝑡=0 2 𝑡=0
1 2 1
= ( 𝑐𝑋 𝜔𝑑 ) . (𝜔𝑑 𝑡)|2𝜋 2 2𝜋
0 + ( 𝑐𝑋 𝜔𝑑 sin 2𝜔𝑑 𝑡. 2𝜔𝑑 ) |0 = 𝜋𝑐𝜔𝑑 𝑋
2
2 2

The energy loss is equal even the spring element is parallel to the damper. The total force resisting
motion can be expressed as:

𝐹 = −𝑘𝑥 − 𝑐𝑣 = −𝑘𝑥 − 𝑐𝑥̇

Let, 𝑥(𝑡) = 𝑋 sin 𝜔𝑑 𝑡 steady state response,

So, 𝐹 = −𝑘𝑋 sin 𝜔𝑑 𝑡 − 𝑐𝜔𝑑 X cos 𝜔𝑑 𝑡

The energy dissipitated in a complete cycle,

2𝜋/𝜔𝑑 2𝜋/𝜔𝑑
∆𝑊 = ∫ 𝐹𝑣𝑑𝑡 = ∫ (−𝑘𝑋 sin 𝜔𝑑 𝑡 − 𝑐𝜔𝑑 X cos 𝜔𝑑 𝑡)(𝑋𝜔𝑑 cos 𝜔𝑑 𝑡)𝑑𝑡
𝑡=0 0
2𝜋/𝜔𝑑 2𝜋/𝜔𝑑
=∫ −𝑘𝑋 2 𝜔𝑑 sin 𝜔𝑑𝑡 cos 𝜔𝑑 𝑡 𝑑𝑡 − ∫ 𝑐𝑋 2 𝜔𝑑2 cos 2 𝜔𝑑 𝑡 𝑑𝑡
0 0
1 2𝜋 2
1 2𝜋 2
= ∫ −𝑘𝑋 . sin 2𝜔𝑑 𝑡. 𝑑(𝜔𝑑 𝑡) − ∫ 𝑐𝑋 𝜔𝑑 (1 + cos 2𝜔𝑑 𝑡). 𝑑(𝜔𝑑 𝑡)
2 0 2 0
1 1 1
= (𝑘𝑋 2 . 2𝜔𝑑 cos 2𝜔𝑑 𝑡)|2𝜋 2 2𝜋 2 2𝜋
0 − (𝑐𝑋 𝜔𝑑 ). (𝜔𝑑 𝑡)|0 − (𝑐𝑋 𝜔𝑑 . 2 𝜔𝑑 sin 2𝜔𝑑 𝑡)|0
2 2 2
= 0 − 𝜋𝑐𝜔𝑑 𝑋 2 − 0 = −𝜋𝑐𝜔𝑑 𝑋 2
Free Vibration with Columb Damping:

The dry friction force is given by:

𝐹 = 𝜇𝑁 = 𝜇𝑚𝑔

Consider a single-degree-of-freedom system with dry friction as shown in Fig. 2.42(a).

Case 1: When x is positive and dx/dt is positive or when x is negative and dx/dt is positive (i.e., for the half
cycle during which the mass moves from left to right), the equation of motion can be obtained using
Newton s second law (see Fig. 2.42(b)): (2.101) This is a second-order nonhomogeneous differential
equation. The solution can be verified by substituting Eq. (2.102) into Eq. (2.101):

𝑚𝑥̈ = −𝑘𝑥 − 𝜇𝑁 or 𝑚𝑥̈ + 𝑘𝑥 = −𝜇𝑁 …………… (2.101)

Let, for complementary solution, 𝑥(𝑡) = 𝐶𝑒 𝑠𝑡 , 𝑥̈ (𝑡) = 𝐶𝑠 2 𝑒 𝑠𝑡 , putting the values into equation (2.101),

𝑘
𝑚𝑠 2 + 𝑘 = 0, 𝑠 = ±√− 𝑚 , 𝑠 = ±𝑖𝜔𝑛 . Therefore, 𝑥(𝑡) = 𝐶1 𝑒 𝑖𝜔𝑛 𝑡 + 𝐶2 𝑒 −𝑖𝜔𝑛 𝑡 , so,

𝑥(𝑡) = (𝐶1 + 𝐶2 ) cos 𝜔𝑛 𝑡 + (𝐶1 − 𝐶2 ) sin 𝜔𝑛 𝑡 = 𝐴1 cos 𝜔𝑛 𝑡 + 𝐴2 sin 𝜔𝑛 𝑡 …………… (2.102)

For particular solution, 𝑥(𝑡) = 𝐹, putting the values in equation (2.101), 𝑘𝐹 = −𝜇𝑁, therefore,
𝜇𝑁
𝐹=− 𝑘
. So, the general equation of motion is:
𝜇𝑁
𝑥(𝑡) = 𝐴1 cos 𝜔𝑛 𝑡 + 𝐴2 sin 𝜔𝑛 𝑡 − 𝑘
……………………….. (2.102)

Case 2: When x is positive and dx/dt is negative or when x is negative and dx/dt is negative (i.e., for the half
cycle during which the mass moves from right to left), the equation of motion can be derived from Fig.
2.42(c) as

𝑚𝑥̈ = −𝑘𝑥 + 𝜇𝑁 or 𝑚𝑥̈ + 𝑘𝑥 = 𝜇𝑁

Therefore, the general solution is:

𝜇𝑁
𝑥(𝑡) = 𝐴3 cos 𝜔𝑛 𝑡 + 𝐴4 sin 𝜔𝑛 𝑡 + 𝑘
…………………………. (2.103)