Department of civil Engineering, SMVEC

UNIT–I SINGLE DEGREE OF FREEDOM

Definition of degree of freedom – Degree of freedom – idealization of structure as single
degree of freedom system – Formulation of Equations of motion of SDOF system -
D’Alembert’s principles – effect of damping – free and forced vibration of damped and
undamped structures – Response to harmonic and periodic forces.

Two Marks Questions and Answers

1. What is mean by Frequency and frequency ratio? Nov/Dec 2013
Frequency is number of times the motion repeated in the same sense or
alternatively. It is the number of cycles made in one second (cps). It is also expressed
as Hertz (Hz) named after the inventor of the term. The circular frequency ω in units of
sec-1 is given by 2π f.

2. What is natural period?

It is defined as the time required to complete one cycle of free vibration. It is expressed in
seconds.
3. What is the formula for free vibration response?
The corresponding equation under free vibrations can be obtained by
substituting the right hand side of equation as zero. This gives

mu + Cu +Ku = 0

4. What are the effects of vibration?

i. Effect on Human Sensitivity.

ii. Effect on Structural Damage
5. What is mean by theory of vibration?

Vibration is the motion of a particle or a body or a system of concentrated bodies

having been displaced form a position of equilibrium, appearing as an oscillation.
It is the study of repetitive motion of objects relative to a stationary frame of
reference or equilibrium position.

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6. Define damping.
Damping is the resistance offered by a body to the motion of a vibratory system.
The dissipating mechanism may be of the frictional form or viscous form. It is the
phenomenon in which the vibrational energy of the system is gradually reduced or the
amplitude of vibration is slowly decreased. Unit of damping is N/m/s

7. What do you mean by Dynamic Response?

The Dynamic may be defined simply as time varying. Dynamic load is
therefore any load which varies in its magnitude, direction or both, with time.
The structural response (i.e., resulting displacements and stresses) to a dynamic
load is also time varying or dynamic in nature. Hence it is called dynamic response.

8. What is mean by free vibration?

A structure is said to be undergoing free vibrations if the exciting force
that caused the vibration is no longer present and the oscillating structure is purely
under influence of its own inertia or mass(m) and stiffness (k). Free vibration can be
set in by giving an initial displacement or by giving an initial velocity (by striking with
a hammer) to the structure at an appropriate location on it.

9. What is meant by Forced vibrations?

Forced vibrations are produced in a structure when it is acted upon by the continuous
presence of an external oscillating force acting on it. The forced vibration may be either
deterministic or random.

10. Write a short note on Amplitude.

It is the maximum response of the vibrating body from its mean position.
Amplitude is generally associated with direction – vertical, horizontal, etc. It can be
expressed in the form of displacement (u), velocity (𝑢̇ ) or acceleration (𝑢̈ ). In the case
of simple harmonic motion, these terms are related through the frequency of
oscillation (f).

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If ‘u’ is displacement amplitude, then

Velocity (𝑢̇ ) = 2π f .u
Acceleration (𝑢̇ ) = (2π f). (u) = 4𝜋 2 𝑓 2 u
When acceleration is used as a measure of vibration, it is measured in terms of
acceleration due to gravity, g (9.81 m/sec2).

11. Define Resonance.

When the frequency of external force is equal to or matches with one of the natural
frequencies of the vibrating system, the amplitude of vibration becomes excessively
large. This phenomenon is called resonance.

12. What is mean by Degrees of freedom? Nov/Dec 2013

The number of degrees of freedom of system equals the minimum number of
independent co-ordinates necessary to define the configuration of the system.

1. Single Degree of freedom system

2. Multiple degree of freedom system and
3. Continuous system

13. Define static force.

A push or pull or a load or many loads on any system creates static
displacement or deflection depending on whether it is a lumped system or a continues
system; there is no excitation and hence there is no vibration.

14. Write a short note on simple Harmonic motion.

Vibration is periodic motion; the simplest form of periodic motion is simple
harmonic. More complex forms of periodic motion may be considered to be composed of a
number of simple harmonics of various amplitudes and frequencies as specified in
Fourier series.

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15. What is the response for impulsive load or Shock loads?

Impulsive load is that which acts for a relatively short duration. Examples are
impact of a hammer on its foundation.

Damping is not important in computing response to impulsive loads since the

maximum response occurs in a very short time before damping forces can absorb
much energy from the structure. Therefore, only the undamped response to impulsive
loads will be considered.

16. Write a short note on single degree of freedom (SDOF) systems.

At any instant of time, the motion of this system can be denoted by single co-
ordinate (x in this case). It is represented by a rigid mass, resting on a spring of stiffness
‘k’ and coupled through a viscous dashpot (representing damping) having constant ‘C’.
Here, the mass ‘m’ represents the inertial effects of damping (or energy dissipation)
in the system. Using the dynamic equilibrium relation with the inertial force included,
according to D’Alembert’s principle, it can be written as
FI + FD + FS = p(t)
(Inertia (Damping (Elastic (Applied
force) force) force) force)

This gives
mx + Cx + Kx = P

x, x, x respectively denote the displacement, velocity and acceleration of the system.

P (t) is the time dependent force acting on the mass. The above equation represents
the equation of motion of the single degree freedom system subjected to forced vibrations.

17. Define Cycle.

The movement of a particle or body from the mean to its extreme
position in the direction, then to the mean and then another extreme position and
back to the mean is called a Cycle of vibration. Cycles per second are the unit Hz.

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18. Define logarithmic decrement method.

Logarithmic decrement is defined as the natural logarithmic value of the ratio of
two adjacent peak values of displacement in free vibration. It is a dimensionless
parameter. It is denoted by a symbol 𝛿.
19. Write short notes on Half-power Bandwidth method.
Bandwidth is the difference between two frequencies corresponding to the same
amplitude. Frequency response curve is used to define the half-power bandwidth. In
which, the damping ratio is determined from the frequencies at which the response
amplitude is reduced 1/√2 times the maximum amplitude or resonant amplitude.

20. Write short notes on D’Alembert’s principle.

According to Newton’s law F = ma

The above equation is in the form of an equation of motion of force equilibrium in
which the sum of the number of force terms equal zero. Hence if an imaginary force
which is equal to ma were applied to system in the direction opposite to the acceleration,
the system could then be considered to be in equilibrium under the action of real force F
and the imaginary force ma. This imaginary force ma is known as inertia force and the
position of equilibrium is called dynamic equilibrium.

D’Alembert’s principle which state that a system may be in dynamic equilibrium

by adding to the external forces, an imaginary force, which is commonly known as the
inertia force.

21. Write the mathematical equation for springs in parallel and springs in series
Springs in parallel
k e = k1 k 2

k e is called equivalent stiffness of the system

Springs in series
1 1 1
= +
ke k1 k 2

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22. Define Magnification factor.

Magnification factor is defined as the ratio of dynamic displacement at any time
to the displacement produced by static application of load.

23. What is the difference between a static and dynamic force?

In a static problem, load is constant with respect to time and the dynamic problem
is the time varying in nature. Because both loading and its responses varies with respect
to time
Static problem has only one response that is displacement. But the dynamic
problem has mainly three responses such as displacement, velocity and acceleration.

24. Define critical damping.

Critical damping is defined as the minimum amount of damping for which the
system will not vibrate when disturbed initially, but it will return to the equilibrium
position. This will result in non-periodic motion that is simple decay. The displacement
decays to a negligible level after one nature period T.

25. List out the types of damping.

1) Viscous Damping,
2) Coulomb Damping,
3) Structural Damping,
4) Active Damping,
5) Passive Damping.

26. What is meant by damping ratio?

The ratio of the actual damping to the critical damping coefficient is called as
damping ratio. It is denoted by a symbol 𝜌 and it is dimensionless quantity. It ca be
written as
𝝆 = 𝒄/𝒄𝒄

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27. Define Degree of freedom

The minimum number of co-ordinate system required to indicate the position of
mass at any instant of time is referred as the degree of freedom. Depending on the
independent co-ordinates required to describe the motion, the vibrator system is divided
into the following categories.
1. Single degree of freedom system
2. Multiple degree of freedom system and
3. Continuous system

28. Define Magnification factor.

Magnification factor is defined as the ratio of dynamic displacement at any time to
the displacement produced by static application of load.

29. What are the main causes of vibration?

The main causes of vibration are:
1) Unbalanced centrifugal force in the system due to faulty design and poor
manufacturing.
2) Elastic nature of system.
3) External excitation applied on the system
4) Winds may cause vibration of certain system such as electricity lines,
telephone lines etc.

30. What are the disadvantages of effects of vibration?

 Vibration causes excessive and unpleasant stresses in the rotating system.
 Vibration causes rapid wear and tear of machine parts such as gears and bearings.
 Vibration causes loosening of parts from the machine.
 Due to vibrations locomotive can leave the track causing accident or heavy loss.
 Earthquakes are the cause of vibration because of which buildings and other
structures (like bridges) may collapse.
 Proper readings of instruments cannot be taken because of heavy vibrations.
 Resonance may take place if the frequency of excitation matches with the natural

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frequency of system causing large amplitudes of vibration thereby resulting in

failure of systems e.g. — Bridges

31. How can you eliminate/reduce unnecessary vibrations?

Unwanted vibrations can be reduced by:
1. Removing external excitation if possible.
2. Using shock absorbers. And Dynamic absorbers.
3. Proper balancing of rotating parts.
4. Removing manufacturing defects and material in homogeneities.
5. Resting the system on proper vibration isolators.

32. What are the advantages of vibration?

1. Musical Instruments like guitar.
2. In study of earthquake for geological reasons.
3. Vibration is useful for vibration testing equipment’s.
4. Propagation of sound is due to vibrations.
5. Vibratory conveyors are based on concept of vibration.
6. Pendulum clocks are based on the principle of vibration.

33. Define the following:

1) Periodic motion: A motion which repeats itself after certain interval of time is
called periodic motion.
2) Time Period: It is time taken to complete one cycle.
3) Frequency: No’s of cycles in one sec. Units = H
4) Amplitude: Maximum displacement of a vibrating body from mean position is
called Amplitude.
5) Natural frequency: When there is no external force applied on the system and it
is given a slight displacement the body vibrates. These vibrations are called free
vibrations and frequency of free vibration is called Natural frequency.
6) Fundamental mode of vibration: Fundamental mode of vibration is a mode

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34. What is meant by viscous damping?

When the system is allowed to vibrate in viscous medium the damping is called
viscous Viscosity is the property of the fluid by virtue of which it offers resistance to
moment of one over the other.

35. Define Coulomb damping

Coulomb damping results from the motion of a body sliding on a dry surface. The
resulting damping force is almost constant, depending on the normal pressure 'N' between
the moving body and the surface with a coefficient kinetic friction

36. What is the importance of critical damping?

Out of the three modes the vibrating body which has been displaced from its
mean position would come to state of rest in smallest possible time without overshooting
i.e. without executing oscillation about mean position in critical damping mode.

So critical damping is used for practical applications in large guns so that after
firing the returning to original position in minimum time without vibrating and ready for
next firing without delay. If damping provided is over damped or under damped, then
there will be delay. This property is also design of an instrument.

37. What is meant by negative damping?

Negative damping results when the nature of the damping contributes energy to
the vibration. This will occur in the aerodynamics of cables in a bridge.

38. Write a short note on earthquake excitation. May/June 2009

The elastic and damping terms are written using position relative to the ground,
while the inertial component is still written using position relative to a motionless
coordinate system.

39. How can we make a system vibrate in one of its natural mode?
When a system is displaced slightly from its equilibrium position and allowed to
vibrate then these are called free vibrations and the system is said to vibrate m its natural
mode without any external force impressed on it.
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40. What do you mean by undamped free vibrations?

If the body vibrates with internal forces and no external force is included, it is
further during vibrations if there is no loss of energy due to friction or resistance, it is
known as undamped free vibration.

41. What do you understand by deterministic analysis? (Nov/Sec 2015)

Structural response (i.e displacement, acceleration, velocity stress) are completely
known as a function of time complete control over all variables.

42. What does Duhamal's integral represent? (Nov/Sec 2015)

Total displacement by existing force F(t) on undamped oscillator particular of total
response of motion of system.

43. Define Duhamel Integral

Duhamel's integral is a way of calculating the response of linear systems and
structures to arbitrary time varying external excitations.

44. Distinguish between damped and undamped vibrations

If the vibrations are assumed to have no source of energy dissipation, they are
called undamped. If a dissipation source is present, the vibrations are called damped and
are further characterized by the form of damping. For example, if viscous damping is
present, they are called viscously damped.

45. List the types of vibrations

 Free and forced vibration
 Damped and undamped
 Linear and nonlinear vibration
 Determine and random vibration

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Part- B & C Question and Answer

1. A mass of one kg is suspended by a spring having a stiffness of 600N/m. The mass is

displaced down word from its equilibrium position by a distance of 0.01 m. Find
a. Equation of motion of the system
b. Natural frequency of the system
c. The response of the system as a function of time
d. Total energy of the system.

Solution: Given Details:

m = 1kg
k = 600 N/m
 st = 0.01 m

(a) The equation of motion is given by

..
m x kx  0
..
1 x 600 x  0

(b) The natural frequency is given by

k 600
n   = 24.49 rad/s
m 1
n
Or f   3.898 Hz
2

(c) Response of system is given by

x  A sin(nt   )
2
 . 
x
A  xo   o    0.01
2
2
 0.001m
 n 
 

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 
 x    0.001 24.49  
Phase angle   tan 1  o . n   tan 1    tan 1   
   0  2
x
 o 
Response x = 0.01 sin (24.49t + (𝜋/2))

(d) The total energy is equal to the maximum kinetic energy or maximum potential
energy.

1 1
We know that. PEmax = kx2 = 600(0.01)2 = 0.03 N/m
2 2
1 1 1
KEmax = mv2 = m (A n )2 = x1x 24.49 x 0.012 = 0.03 N/m
2 2 2

PEmax = KEmax = 0.03 N/m

Total energy = 0.03 N/m.

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2. A system vibrating with a natural frequency of 6Hz starts with initial amplitude (x0)

of 2cm and an initial velocity ( x o ) of 25 cm/s. determine the natural period,
amplitude, maximum velocity, maximum acceleration and phase angle. Also write
the equation of motion of a vibrating system.
Solution: Given details:
f  6 Hz
xo  2cm
.
x o  25cm / s

1 1
The natural period is given by, T = = = 0.167s
𝑓 6

2
 . 
x 
The amplitude of motion A  xo2   o 
 n 
 

Where, n =2𝜋𝑓 = 2𝜋(6) = 37.7 rad/s

2
 25 
A  2  2

 37.7 
A  2.11cm
The maximum velocity of a system is given by
.

x max
 An = 2.11 x 37.7 = 79.44 cm/s

The max acceleration of a system is

..

x max
 A(n )2 = 2.11 x 37.72 = 2994.76 cm/s2

 
 xon   2  37.7 
Phase angle   tan  .   tan 1 
1
  71039 '23"  1.25rad .
   25 
x
 o 

Equation of motion is x  A sin(nt   )  2.11sin(37.7t  1.25)

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3. A vertical cable 3m long has a cross-sectional area of 4 cm2 supports a weight of

50kN. What will be the natural period and natural frequency of the system?

Solution: Given details:

A = 4 cm2
W = 50kN

w 50  103
m   5096.8kg
g 9.81
E  2.1 106 kg / cm 2
AE 4  2.1 106
Stiffness k   7000 kg / cm
L 300
 7000  981  6.867  106 N / m
k 6.867  106
Natural frequency, n    36.7 rad / s
m 5096.8
2
Natural period , T   0.17 s
36.7
1
Frequency, f   5.84 Hz (or )cps
T

4. A one kg mass is suspended by a spring having a stiffness of 1 N/mm. Determine the

natural frequency and static deflection of the spring.

Solution: Given details:

k  1 N / mm  1000 N / m
m  1 kg
k 1000
Natural frequency, n    31.62 rad / s
m 1
n
f   5.03 Hz
2
Static deflection  st
g
We know that , n 
 st
g
 st   9.81 103 m  9.81mm.
n 2

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5. A cantilever beam 3 m long supports a mass of 500 kg at its upper end. Find the
natural period and natural frequency. E = 2.1 x 106 kg/cm2 and I = 1300 cm4.

Solution:
3EI
Flexural stiffness for a cantilever beam, k 
L3
3  2.1 106  1300

3003
 303 kg / cm,  303  981 N / cm
k  2.97 105 N / cm

k 2.97 105
Natural frequency, n  
m 500
n  24.37 rad / s
n
(or ) f   3.88 cps
2

1 2
Natural period , T   0.26 s
f n

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6. A cantilever beam AB of length L is attached to a spring k and a mass M as shown

in fig. (a) From equation of motion and (b) find an expression for the frequency of
motion.

Solution:

(a) Equation of motion

M 3EI
Stiffness due to the applied mass M is k1   3
 L
This stiffness k1 is acting parallel to k

 Equivalent sparing stiffness ke = k1 + k

3EI 3EI  kL3
  k 
L3 L3
The differential equation of motion is
..
m x   ke x
..
m x  ke x  0
..  3EI  kL3 
m x  x0
 L3 
..  3EI  kL 
3
x  3 x0
 Lm 
(b) The frequency of vibration is
1 ke
f 
2 m
1 3EI  kL3

2 mL3

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7. Find the natural frequency of the system as shown in fig. Take k1 = 2000 N/m, k2 =
2000 N/m, k3 = 3000 N/m and m = 10 kg.

Solution: The equivalent system is shown in Fig.

Two springs k1 and k2 are in parallel

Equivalent Stiffness, ke1 = k1 + k2 = 2000 + 2000
= 4000 N/m
Again this equivalent spring is parallal to k3
 Equivalent stiffness, ke = ke1 + k3 = 4000 + 3000
= 7000 N/m

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Natural frequency,

ke 7000
n    26.46 rad / s.
m 10
n
or f   4.21Hz
2

8. Consider the system as shown in fig. If K1 = 2000 N/m, k2 = 1500 N/m, k3 = 3000
N/m, and k4 = k5 = 500 N/m. find the mass is the system has a natural frequency of
10 Hz.

Solution: Given Details

k1 = 2000 N/m, k2 = 1500 N/m,
k3 = 3000 N/m, k4 = k5 = 500 N/m.
f = 10 Hz.
The springs k1, k2, k3 are in series. Their equivalent stiffness
1 1 1 1 1 1 1
     
ke1 k1 k2 k3 2000 1500 3000

ke1  666.67 N / m

The two lower springs k4 and k5 are connected in parallel, so their equivalent
stiffness.
ke 2  k4  k5  500  500  1000 N / m

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Again these equivalent springs are in parallel

ke  ke1  ke 2  666.67  1000
ke  1666.67 N / m

k
 But n 
f  n m
2 k
n  2 f  2 (10) n 2 
m
n  62.83 rad / s ke 1666.67
m   26.52 kg
n 2 62.832

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9. Determine the natural frequency of the system as shown in fig.

Solution:
3EI 3  200 109 1.6 105
For a cantilever beam, stiffness is kb  
L3 43

 1.5 105 N / m
Now the beam and the spring k1 are acting parallel. This combination is in series
with k2. This series combination is in parallel with k3 and k4.
Ke1 = k3 + k4 = 4 x 105 + 6 x 105
= 10 x 105 N/m

1 1
But ke   ke1   10 105
 1  1  1  1
   5 

 kb  k1  k2  1.5 10  8 10  3 10
5 5

ke  12.28 105 N / m

ke 12.28 105
Natural frequency n  
m 500
 49.56 rad / s

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10. A simply supported rectangular beam has a span of 1 m. it is 100 mm wide and 10
mm deep. It is connected at mid span of a beam by means of a linear spring having
a stiffness of 100 kg/cm and a mass of 300 kg is attached at the other end of spring.
Determine the natural frequency of the system. Take E = 2.1 x 106 kg/cm2.

Solution:
48EI
The stiffness of simply supported beam is kb 
L3

bd 3 10 1
3

I   0.833 cm4
12 12

48  2.1106  0.833
kb 
1003
 84kg / cm

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The two springs k1 and k2 are in series, the equivalent stiffness of the compound
spring is given by
1 1 1 1 1
   
ke kb k1 84 100
ke  45.65 kg / cm
 45.65  981  0.448 105 N / cm

ke 0.448 105
Natural frequency n    12.22 rad / s
m 300

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11. Derive the equation of motion of single degree of freedom system for free vibration
and hence find the solution for
a) Over damped system
b) Critically damped system
c) Under Damped System

Cycle:
The motion perform during a period is called a cycle.

Frequency: (F)
The number of full cycles performs in unit time is referred as frequency of vibrations

 1
f   cycles / sec (cps ) (or ) Hz
2 T
Types of Damping:

1. Over Damped System:

The resulting motion not oscillating that periodic damped and it decays
exponentially with time. The roots of characteristics equation are purely real and distinct.

  n  2  1

 
x(t )  A1et  Az e t e  nt
(or )
x(t )  e  nt c1 cos h t  c2 sin h  
 
if   1 is called "Over Damped System"

2. Critically Damped System.

The roots of characteristics equation are equal. Critical damping is a smallest amount
of damping that can bring initially exited system to its equilibrium position fastest.

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here,  1
S1  S 2  n
when,
 1
cc  2mn  2 km

Note :
c c Actual Damping coefficient
  
cc 2m.n Critical Damping coefficient
The Solution takes off from x(t )  A1  tA2  e nt

x(o)  xo  A1  xo and u (o)   o

 A2  A1n   o
A2   o  x(o)n
x(t )   xo (1  nt )   ot  e  nt

3. UNDER DAMPED SYSTEM

If   1 then it is called under damped system.

The roots of characteristics equation are complex conjugated exponential decays in

amplitude.

D   2  1  frequency of damped free vibration

s1   n  iD 
s2   n  iD 
Note :
c c Actual Damping coefficient
  
cc 2m n Critical Damping coefficient
Final Solution is
 x    
x(t )  e nt  xo cos Dt  o n o  sin Dt 
 D 

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12. A harmonic motion as a time period of 0.2 sec and an amplitude of 0.4 cm. Find the
max velocity and acceleration.

Solution:
Time period, T = 0.2 sec
Amplitude, A = 0.4 cm
To find: Max. Velocity and Acceleration
Max. Velocity = Amplitude x (Cycle frequency)
Max. Velocity = Amplitude x (Cycle frequency)2
2
T

2 2
   31.4
T 0.2
Max. velocity  0.4  31.4
 12.57 cm / sec
Max. Acceleration  0.4  31.42
 394.384 cm 2 / sec

13. A harmonic motion as a maximum velocity of 6m/sec and a frequency of 12 cps.

Determine its amplitude its periods and max acceleration.

Max velocity = 6 m/s

Frequency = 12 cps (cycles/sec)

f = 12 cps

1 1
T   0.083sec
F 12
Max.velocity
Amplitude 

2
T

2
0.083 

  75.7
6 m / sec
Amplitude   0.079 m.
75.7 sec
Max. Acceleration  0.079  75.7 2  452.71 m / sec

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14. Explain the phenomenon of vibration with neat sketch.

Vibration:

To and Fro (or) Back and forth motion of a body about an equilibrium, its initial
condition is called as Equilibrium.

Ex: Oscillating pendulum; Frame subjected base Excitation vibrating system stores.
P.E, K.E and dissipates through damping.

Two general cases of vibration

1. Free Vibration
2. Forced Vibration

1. Free Vibration
It takes place when a system oscillates under the action of forces inherent in
the system itself and when external impulsive forces are absent. Their response is
independent of forcing function, it depends on initial condition only. The system will
vibrate one and more natural frequency.

Frequency F (t )  0
.. .
(i.e) m u  c u  ku  0  Dynamic equation of equilibrium.
Where,
m  mass ..
.. m u  Inertial force
u  acceleration

c  Damping .
. c u  Damping force
u  Velocity

k  Stiffness
ku  Stiffness force
u  Displacement

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2. Forced Vibration
It takes place under the excitation of external forces called “Forced Vibration”. When
excitation of oscillates the system is forced to vibrate at excitation frequency. The
frequency of excitation coincides with one of natural frequency of system. The condition
of resonance enter and dangerously large oscillation in a result.
Frequency f (t )  0
 
mu  c u  ku  f (t )

LINEAR VIBRATION
If all the components of a vibrating system such as m, k and c behave linearly, the
resulting motion is a “Linear Vibration”.

NON - LINEAR VIBRATION

If all the components of a vibrating system such as (m, k and c) behave non-linearly,
the resulting motion is a “Non- Linear Vibration”.
All vibrating system behave linear at small amplitude of motion and with increasing
amplitude of oscillation. They behave non-linearly.

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15. Explain the effect of damping in motion or oscillation?

Causes (or) effects of damping
1. Structural Damping
2. Viscous Damping
3. Columb Damping
4. Negative Damping
1. Structural Damping
It is due to the internal molecular friction of a material of the structure or due to
the connection inherent in the system. The resulting damping forces are a function of the
straight of deflection in the structure.
For a elastic system, the structural damping force for an elastic force (Fo) is
proportion in magnitude to the internal elastic force (Fs) and opposite in the direction in
the velocity.

Fo Fs
2. Viscous Damping
It is occurs in a system vibrating in a fluid shock absorber, hydraulic dash path,
sliding of a body and lubricating surface. The examples are viscous damping may be
encounted. The damping force is proportional to velocity.
.
FD  C U
du
FD  C
dt
cu  damping cons tan t

u  velocity
FD  damping force

The amplitude of free vibration with viscous damping behavior exponentially.

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3. Columb Damping
It is occurs when the motion of a body in a dry surface. The resulting force is
really constant. It depends upon the normal pressure end between a moving body and
surface on when it moves the co efficient of friction. The resulting in the amplitude of
free vibration with columb damping indicate linearly.
FD   N
 = kinematic friction
N = Pressure
4. Negative Damping:
It is occurs at a special case such that the damping energy to the system instead of it
being Precipitated has such amplitude increase progress.
Ex: The Negative damping occurs on transmission power line.

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16. Write down D’ALEMBERT’S Principle.

 A French mathematician, philosopher – jean Le Rond D’Alembert’s

 Alternative form of Newton’s IInd law of motion. Newton’s IInd law of motion
true for bodies that are free to move as well as for bodies rigidly fixed. In effect
the principles reduces a problem in dynamics to a problem in statics.
 The IInd law states that force ‘F’ acting on a body is equal product of mass ‘m’
and acceleration ‘a’ of the body.
F = ma
 In D’Alembert’s form the form ‘F’ of the negative of mass ‘m’ time’s
acceleration of a body ‘a’ is equal to zero.
F – ma = 0
 In other words the body is in equilibrium under the action of real force ‘F’ and
facetious force – ma (FI)
 The Facetious force is also called an inertial force and a revised effective force.
d  dx  ..
F (t )  m.  m u (t )  F1
dt  dt 
F  t  – F1  0
F  t   F1

 The simple oscillator under idealized condition of no damping. Once excite

oscillate indefinitely with a constant amplitude at its natural frequency.
FI + KU + FC = F(t) D’alemberts equation
.. .
mu (t )  k u(t )  ku(t )  F (t )

Where,
FI = Internal force
FC = Damping force
KU = Elastic force
F(t) = Applied force

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17. Determine the natural frequency of the given system as shown in figure.
a) By neglecting the stiffness of beam
b) By taking in to account stiffness of beam

So the beam has a thickness of 3 mm and width 15 mm. e = 200 GPa

Solution:

Data:
Length of beam = 300mm
Width of beam = 15 mm
Thickness of beam = 3 mm
Stiffness of spring = 2 kN/m

a) By Neglecting the stiffness of beam

k 2000
Natural frequency     8.94 rad / s
m 25

b) By taking in the account stiffness of beam

Consider a cantilever beam, replace has springs

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 Department of civil Engineering, SMVEC

k1 = Beam stiffness
k2 = spring stiffness

Springs are in series

1 1 1
 
k k1 k2

Note:
Stiffness of cantilever beam calculated as
  P  k
P = Stiffness force
K = Stiffness

= Deflection

Stiffness fir cantilever beam

EI = Flexural rigidity
3EI bd 3
k 3 , I
l 12
3
wl

3EI
3EI
k1  3
l
k2  2 kN / m  2000 /1000  2 N / mm

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1 1 1
 
k k1 k2
1 1
 
 3EI
 2
 3 
 l 
l3 1
 
3EI 2
bd 3 15  33
I   33.75 mm3
12 12
E  200 Gpa  200 103 Mpa (or ) N / mm 2
1 l3 1
 
k 3EI 2
3003 1
 
3  200 10  33.75 2
3

k  0.55 N / mm

Circular freqency :
k 0.55 1000
   4.69 rad / s
m 25
Naturel freqency :
 4.69
F   0.746 Hz (or ) 1/ sec
2 2

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18. Explain the Formulation of equation of motion

A mathematical; expression defining the dynamic displacement of a structural
system.
Solution of expression provides a complete description of system responses as a
function of time
Equation of motion can be derived by the following methods
1. Direct equilibrium approach
a) Using Newton II law
b) Using D’ Alembert’s principle

2. Virtual work method

3. Energy method
a) Using Hamilton’s principle (Lagrange equation)
b) Rayleigh’s Method

1. Direct equilibrium approach (Using D’Alembert’s principle)

FI +KU + FC = F (t)

FI  ku  FC  F (t )
.. .
mu (t )  c u (t )  ku (t )  F (t )

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2. Virtual work method

If a system is in equilibrium under the action of externally applied forces is subjected

to a virtual displacement. (i.e) (Displacement pattern compatible with system
constraints)
The total work done by the forces will be zero.

F (t )   x   FI  ku  FC  x  0

Provide a virtual displacement ( x) to this system in dynamic equilibrium and

equating the total work done to zero, the desired equation of motion can be obtain.
F (t )   x   FI  ku  FC  x  0

If ( x) is not equal to zero ( x)  0

.. .
mu (t )  c u (t )  ku (t )  F (t )

Note: A major advantage of this approach is that the virtual work contribution or
scalar quantities and can be added algebraically. This approach is best suited for
complex structural system involved in a number of inter connected mass point.

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3. Energy method

Law of conservation of mechanical energy.

dv
WD  F  d r  m   vdt
dt
1 
 m  d v  v  d  mv 2   dt
Work done, 2 
1
 kinetic energy ( KT )  T  mv 2
2
W  T
Law of kinetic energy
If the system is conservative, (i.e) work done by the forces is dependent only on the
initial and final configuration, and not on the path taken. Then this work is equal to the loss
in the potential energy of the system.
DW  V ..............................(1)
V  V  x final   V .( x final )

Note:
If non- conservative forces are involved
W  T  nc
T  V  0 for conservative system
T  V  Cons tan t
d (T  V )
0
dt
The total mechanical system of a conservative system remains constant for all the
time
i. Using Hamilton’s principle ( Lagrange equation) for a conservative system
t2

  Ldt  0
t1

The function ‘L’is equal T-V, is called as the lag ranges function for a
conservative system.
L = The function of t, u, u
T = Kinetic energy function
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v = Potential energy function

t2

  L(t , xi , x j )dt  0
t1

T and V are the point function that is their magnitude depend on the location of
the co – ordinates u, u applying the principle of vibrational calculus corresponding
Euler’s equation.
d  L  L
  0
dt  xi  xi

Lagrange’s equation of motion for a conservative system

19. Define the following:

(i) Periodic Motion (ii) Time period (iii) Frequency (iv) Amplitude (v) Natural
frequency
(vi) Fundamental mode of vibration (vii) Degree of freedom (viii) Simple Harmonic
Motion (S.H.M.) (ix) Resonance (x) Damping (xi) spring stiffness
Answers

(i) Periodic motion: A motion which repeats itself after certain interval of time is
called periodic motion.
(ii) Time Period: It is time taken to complete one cycle.
(iii) Frequency: No’s of cycles in one sec. Units = H
(iv) Amplitude: Maximum displacement of a vibrating body from mean position is
called Amplitude.
(v) Natural frequency: When there is no external force applied on the system and it is
given a slight displacement the body vibrates. These vibrations are called free
vibrations and frequency of free vibration is called Natural frequency.
(vi) Fundamental mode of vibration: Fundamental mode of vibration is a mode
(vii)Degree of freedom:

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The minimum no’s of co-ordinates required to specify motion of a system at any

instant is called degree of freedom.

(viii) Simple Harmonic Motion (S.H.M.): The motion of a body “to” and “fro” about a
fixed point is called S.H.M. S.FLM. is a periodic motion and it is function of “Sine” or
“Cosine”. Acceleration of S.H.M. is proportional to displacement from the mean position
and is directed towards the centre.

x  A sin  t
Differentiate w.r.t. ' t '

x  A cos  t  
 Acc.  x 
Differentiate w.r.t. ' t '  
Vel.  x 
x   A 2sin  t

x  2x

In S.H.M. acceleration is directly proportional to the displacement from the mean

position and is directed towards the centre.

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(ix) Resonance: When the frequency of external force is equal to the natural
frequency of a vibrating body, the amplitude of vibration becomes excessively large.
This is known as “Resonance”. At resonance there are chances of machine part or
structure to fail due to excessively large amplitude. It is thus important to find natural
frequencies of the system in order to avoid resonance.

(x) Damping: It is resistance provided to the vibrating body and vibrations related to it
are called damped vibration.

(xi) Spring stiffness: It is defined as unit deflection. Units: N/m.

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20. The natural frequency of a. spring-mass system is 20 Hz and when extra 3 kg mass is
attached to its mass the natural frequency reduces by 4 Hz. Determine the mass and
stiffness of the system.

21. A spring-mass system has a time period of 0.25 sec. What will be the new time period
if the spring constant is increased by 30%?

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 22. A horizontal spring mass system with coloumb damping has mass of 5 kg attached to
spring of stiffness 980 N/m. If coefficient of friction is 0.025, calculate,
a. Frequency of free oscillations
b. The number of cycles corresponding to 50% reduction in amplitude if the initial
amplitude is 5 cm.
c. The time taken to achieve this 50 % reduction.

23. A vibrating system is defined by following parameters:

m = 3 kg, K = 100 N/m, c = 3 N-sec/m. Determine (a) Damping factor (b) Natural frequency
of damped vibration (c) Logarithmic decrement (d) The ratio of two consecutive
amplitudes (e) The number of cycles after which the original amplitude is reduced to 20
percent.

Ans. Critical damping is determined as

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24. A block of weight 500N is supported by a spring of stiffness 100 KN/m which is
hung at the mid span of a simply supported beam of span 2.5m. The cross section of
the beam is of rectangle of breadth 50mm and depth 10mm. The elastic modulus of
the beam is 200 GPa.
(a) If the initial displacement is 10mm determine the period of vibration, natural
frequency, maximum velocity and maximum acceleration.
(b) Assuming a damping of 10%, determine the logarithmic decrement, the
damping coefficient of the system and the displacement of the return swing.

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25. Vibrating system consisting of a weight of w = 4.536kg and a spring with: stiffness of k =
2.2596 N/m is viscously damped so that the ratio of two consecutive amplitudes is 1.00 to
0.85. Determine
a) The natural frequency of the undamped system
b) Logarithmic decrement
c) Damping ratio and
d) Natural frequency of damped system.

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26. A block of weight 900 N (moving between vertical guides) is supported by a spring of
stiffness 106 N/m. The block is given an initial displacement of 50 mm with a velocity of 300
mm/sec, determine the period of vibration, natural frequency, amplitude of motion,
maximum velocity and maximum acceleration of the block. Assuming a. damping of 20%
determine the logarithmic decrement and the damping coefficient of the system. (Nov/Dec
2015)

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27. A machine of 200 kg mass is supported on four parallel springs of total stiffness 750 N/m
has a unbalanced rotating component which result in a disturbing force of 350 N at a
frequency of 2121 rpm. If damping ratio is 0.2, determine:
1. Amplitude of motion due to the unbalance,
2. Transmissibility,
3. Transmitted force.

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 DEPARTMENT OF CIVIL ENGINEERING

Unit - 1 Important Two Mark Questions

1. Distinguish between free and forced vibration? (Nov/Dec 2013)

2. What are the various types of dynamic loads? (Nov/Dec 2013)
3. What do you mean by frequency response curve for damped system? (May/June
2014)
4. State D’Alembert’s principle? (or) State D’Alembert’s principle of dynamic
equilibrium?
5. Explain Critical Damping?
6. What are the various types of dynamic loads?
7. Distinguish between static and dynamic loading? (or) static and dynamic force?
8. What is logarithmic decrement?
9. Define equivalent viscous damping. (or) What is meant by viscous damping?
10. Write a short note on earthquake excitation.
11. Define magnification factor.
12. What is mean by Frequency and frequency ratio? Nov/Dec 2013
13. Define damping and List out the types of damping.
14. What do you mean by Dynamic Response?
15. What is mean by Degrees of freedom? Nov/Dec 2013
16. Write a short note on simple Harmonic motion.
17. What is the response for impulsive load or Shock loads?
18. Write a short note on single degree of freedom (SDOF) systems.
19. What is meant by damping ratio?
20. What is logarithmic decrement method? Nov/Dec 2007
21. Write a short note on Amplitude and Resonance
22. What is mean by theory of vibration and Classify different types of vibrations?

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 Important Part-B & C question

1. Derive the equation of motion of single degree of freedom for free vibration to find
out the natural frequency and angular frequency? (Nov/Dec 2013)
2. Explain the types of damping in motion or oscillation?
3. (a) Explain the Formulation of equation of motion?
(b) Explain the D’Alemberts principle?
4. Explain the phenomenon of vibration and it types with neat sketch?
5. Derive the equation of motion of a single degree of freedom system for free vibration
and find the solution for. (May/June 2014)
1) Under damped system
2) Critically damped system
3) Overdamped system.
6. A simple supported rectangular beam has a span of 1 m. It is 100 mm wide and 10
mm deep. It is connected at mid-span of a beam by means of a linear spring having a
stiffness of 100 kg/cm and a mass of 300 kg is attached at the other end of spring.
Determine the natural frequency of the system. Take E = 2.1 x 106 kg/cm2. (May/June
2014)
7. A mass of one kg is suspended by a spring having a stiffness of 600 N/m. The mass is
displaced downward from its equilibrium position by a distance of 0.01 m. Find
a) Equation of motion 'of the system
b) Natural frequency of the system
c) The response of the system as a function of time
d) Total energy of the system. (May/June 2013)
8. An SDOF system consists .of a mass of 20 kg, a spring stiffness 2200 N/m and a
dashpot with a damping coefficient of 60 N-s/m is subjected to a harmonic excitation
of F = 200 Sin5t N, Write the complete solution of the equation of motion.
(May/June 2013)
9. (a) Show that the log-decrement is also given by the equation, δ=1/n log (Uo/Un)
where Un” represents the amplitude after n” cycles have elapsed. (Nov/Dec 2012)

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 (b) Define and discuss the following (Nov/Dec 2013)
a. Critical damping
b. Damped circular frequency
10. A machine foundation weighs 60 KN. The spring constant is 11000KN/M and dash
pot (damper) constant C = 200 KN S/M. Determine, (Nov/Dec 2012)
a) whether the system is over damped, undamped or critically damped
b) logarithmic decrement
c) ratio of two successive amplitudes
d) damped natural frequency
e) if the initial displacement is 10 mm and initial velocity is zero displacement at t
= 0.1 S.

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