Mechanical Vibration II

Mechanical Vibrations Chapter II Dr.
Bassuny El-Souhily
CHAPTER II
Free Vibration of Single-Degree- of- Freedom Systems
Systems are said to undergo free vibration when they oscillate about their static
equilibrium position when displaced from those positions and then released. The
frequencies at which they vibrate, known as natural frequencies, depend primarily
upon the mass and elasticity (stiffness) of the systems.
Free vibration of an undamped system:

Equation of motion
a- Using Newton’s second law of motion:

1- Select a suitable coordinate to describe the position of the mass or the
rigid body in the system, ( Linear coordinate for linear motion-Angular
coordinate for angular motin),
2- Determine the static equilibrium configuration of the system and measure
the displacement from it,
3- Draw the free-body diagram of the mass or rigid body, indicate all the
active and reactive forces acting on the system,
4- Apply Newton’s second law of motion to the mass or rigid body shown
by the free-body Diagram. ”The rate of change of momentum of a mass is
equal to the forces acting on it”
Example 1: Mass-spring system
i- .
m ≡ mass in Kg
k ≡ spring stiffness N/m
(weightless spring)
𝑚𝑥̈ = −𝑘𝑥
𝑚𝑥̈ + 𝑘𝑥 = 0
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Mechanical Vibrations Chapter II Dr. Bassuny El-Souhily
𝑘
𝑥̈ + 𝑥=0
𝑚
𝑥̈ + 𝜔𝑛 2 𝑥 = 0 𝑆. 𝐻. 𝑀
𝑘 𝑟𝑎𝑑
𝜔𝑛 = √
𝑚 𝑠
𝜔𝑛 ≡ natural frequency (circular)
𝜔𝑛
𝑓= ( cps) Hz
2𝜋
2𝜋 1
𝑝𝑒𝑟𝑖𝑜𝑑 𝜏 = = 𝑠𝑒𝑐.
𝜔𝑛 𝑓
ii- 𝛿 ≡ 𝑠𝑡𝑎𝑡𝑖𝑐 𝑑𝑒𝑓𝑙𝑒𝑐𝑡𝑖𝑜𝑛

From equilibrium position
𝑘𝛿 = 𝑚𝑔
𝑚𝑥̈ = −𝑘(𝑥 + 𝛿) + 𝑚𝑔
𝑚𝑥̈ + 𝑘𝑥 = 0
𝑘
𝑥̈ + 𝑥=0
𝑚
𝑥̈ + 𝜔𝑛 2 𝑥 = 0 𝑆. 𝐻. 𝑀
𝑘 𝑟𝑎𝑑
𝜔𝑛 = √
𝑚 𝑠
b- Using Principle of Conservation of Energy:
T≡ the kinetic energy is stored in the mass by virtue of its velocity,

U≡ the potential energy is stored in the spring by virtue of its elastic
deformation.
Conservative system: at which no energy is lost due to friction or energy
dissipating non-elastic members.
The principle of conservation of energy can be expressed as:
T + U = constant
𝑑
Or (𝑇 + 𝑈) = 0
𝑑𝑡
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In example 1-i
1
𝑇 = 𝑚𝑥̇ 2
2
1 2
𝑈 = 𝑘𝑥
2
𝑑 1 1
( 𝑚𝑥̇ 2 + 𝑘𝑥 2 ) = 0
𝑑𝑡 2 2
𝑚𝑥̈ + 𝑘𝑥 = 0
1-ii
1
𝑇= 𝑚𝑥̇ 2
2
1
𝑈 = 𝑘(𝑥 + 𝛿)2 − 𝑚𝑔 𝑥
2
𝑑 1 1
( 𝑚𝑥̇ 2 + 𝑘(𝑥 + 𝛿)2 − 𝑚𝑔 𝑥) = 0
𝑑𝑡 2 2
𝑚𝑥̇ 𝑥̈ + 𝑘(𝑥 + 𝛿)𝑥̇ − 𝑚𝑔𝑥̇ = 0
𝑘𝛿 = 𝑚𝑔
𝑚𝑥̈ + 𝑘𝑥 = 0
Example 2: Torsional System
𝐺𝐽𝑜 𝜋𝐺𝑑 4 𝑁. 𝑚
𝑘𝑡 = = 𝑠𝑡𝑖𝑓𝑓𝑛𝑒𝑠𝑠 𝑜𝑓 𝑡ℎ𝑒 𝑠ℎ𝑎𝑓𝑡
𝑙 32 𝑙 𝑟𝑎𝑑
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𝐼𝑜 𝜃̈ = −𝑘𝑡 𝜃
𝐼𝑜 = 𝑚𝑎𝑠𝑠 𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎 𝐾𝑔. 𝑚2
𝑘 𝑟𝑎𝑑
𝜔𝑛 = √ 𝑡
𝐼 𝑜 𝑠
Energy method
1
𝑇= 𝐼0 𝜃̇ 2
2
1
𝑈 = 𝑘𝑡 𝜃 2
2
𝑑 1 1
( 𝐼0 𝜃̇ 2 + 𝑘𝑡 𝜃 2 ) = 0
𝑑𝑡 2 2
𝐼𝑜 𝜃̈ = −𝑘𝑡 𝜃
Example 3: Simple Pendulum
Moment about o
𝑚𝑙𝜃̈. 𝑙 = −𝑚𝑔. 𝑙 sin 𝜃
𝑙𝜃̈ = −𝑔 sin 𝜃
𝑓𝑜𝑟 𝑠𝑚𝑎𝑙𝑙 𝑜𝑠𝑐𝑖𝑙𝑎𝑡𝑖𝑜𝑛 sin 𝜃 ≅ tan 𝜃 ≅ 𝜃 𝑟𝑎𝑑.
cos 𝜃 ≅ 1
𝑙
𝜃̈ = − 𝜃 𝑆. 𝐻. 𝑀
𝑔
𝑔 𝑟𝑎𝑑
𝜔𝑛 = √
𝑙 𝑠
Energy method
1
𝑇 = 𝑚𝑙 2 𝜃̇ 2
2
47
𝑈 = 𝑚𝑔𝑙(1 − cos 𝜃)
𝑑 1 2 2
( 𝑚𝑙 𝜃̇ + 𝑚𝑔𝑙(1 − cos 𝜃)) = 0
𝑑𝑡 2
1 2
𝑚𝑙 2𝜃̇𝜃̈ + 𝑚𝑔𝑙 sin 𝜃 𝜃̇ = 0
2
𝜃̇ ≠ 0 sin 𝜃 ≈ 𝜃
𝑙𝜃̈ + 𝑔𝜃 = 0
𝑔
𝜃̈ + 𝜃=0
𝑙
𝑔
𝜔𝑛 = √
𝑙
Solution of Equation of Motion:
The general solution of 𝑥̈ + 𝜔𝑛 2 𝑥 = 0

Let 𝑥 = 𝑒 𝑠𝑡 , 𝑥̈ = 𝑠 2 𝑒 𝑠𝑡
𝑠 2 𝑒 𝑠𝑡 + 𝜔𝑛 2 𝑒 𝑠𝑡 = 0
(𝑠 2 + 𝜔𝑛 2 )𝑒 𝑠𝑡 = 0 𝑒 𝑠𝑡 ≠ 0
𝑠 = ±𝑖𝜔𝑛
𝐺𝑒𝑛𝑒𝑟𝑎𝑙 𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛:
𝑥 = 𝑎1 𝑒 𝑖𝜔𝑛 𝑡 + 𝑎2 𝑒 −𝑖𝜔𝑛 𝑡
𝑥 = 𝐴 cos 𝜔𝑛 𝑡 + 𝐵 sin 𝜔𝑛 𝑡
= 𝐶 cos(𝜔𝑛 𝑡 − 𝜑)
𝑥̇ = −𝐴𝜔𝑛 sin 𝜔𝑛 𝑡 + 𝐵𝜔𝑛 cos 𝜔𝑛 𝑡
Initial condition:
1) 𝑡 = 0 𝑥 = 𝑥𝑜 𝑥̇ = 0
𝐴 = 𝑥𝑜 , 𝐵 = 0
𝑥 = 𝑥𝑜 cos 𝜔𝑛 𝑡
2) 𝑡 = 0 𝑥 = 0 𝑥̇ = 𝑣𝑜
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𝑣𝑜
𝐴 = 0, 𝐵 =
𝜔𝑛
𝑣𝑜
𝑥= sin 𝜔𝑛 𝑡
𝜔𝑛
3) 𝑡 = 0 𝑥 = 𝑥𝑜 𝑥̇ = 𝑣𝑜
𝑣𝑜
𝐴 = 𝑥𝑜 , 𝐵 =
𝜔𝑛
𝑣𝑜
𝑥 = 𝑥𝑜 cos 𝜔𝑛 𝑡 + sin 𝜔𝑛 𝑡
𝜔𝑛
Rayleigh’s Energy Method:
To find the natural frequencies of single degree of freedom systems
𝑇𝑚𝑎𝑥 = 𝑈𝑚𝑎𝑥
𝑥 = 𝐴 cos 𝜔𝑛 𝑡 𝑥𝑚𝑎𝑥 = 𝐴
𝑥̇ = −𝐴𝜔𝑛 sin 𝜔𝑛 𝑡 𝑥̇ 𝑚𝑎𝑥 = 𝐴𝜔𝑛
1
𝑇𝑚𝑎𝑥 = 𝑚(𝐴𝜔𝑛 )2
2
1
𝑈𝑚𝑎𝑥 = 𝑘𝐴2
2
1 1
𝑚(𝐴𝜔𝑛 )2 = 𝑘𝐴2
2 2
𝑘
𝜔𝑛 = √
𝑚
Heavy Springs:
𝑚𝑠 ≡ 𝑠𝑝𝑟𝑖𝑛𝑔 𝑚𝑎𝑠𝑠
𝑚𝑠
𝛾=
𝑙
1
𝑑𝑇𝑠 = 𝛾 𝑑𝑦 𝑦̇ 2
2
𝑥̇ 𝑙 𝑦
= 𝑦̇ = 𝑥̇
𝑦̇ 𝑦 𝑙
1 𝑦2 2
𝑑𝑇𝑠 = 𝛾 𝑑𝑦. 2 𝑥̇
2 𝑙
𝑙
𝑇𝑠 = ∫ 𝑑𝑇𝑠
0
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1𝛾 2 𝑙 2
= 2 𝑥̇ ∫ 𝑦 𝑑𝑦
2𝑙 0
1
= 𝛾𝑙𝑥̇ 2
6
1
= 𝑚𝑠 𝑥̇ 2
6
1 1
𝑇 = 𝑚𝑥̇ 2 + 𝑚𝑠 𝑥̇ 2
2 6
1
𝑈 = 𝑘𝑥 2
2
𝑑
(𝑇 + 𝑈) = 0
𝑑𝑡
𝑑 1 1 1
( 𝑚𝑥̇ 2 + 𝑚𝑠 𝑥̇ 2 + 𝑘𝑥 2 ) = 0
𝑑𝑡 2 6 2
𝑚𝑠
(𝑚 + ) 𝑥̇ 𝑥̈ + 𝑘𝑥𝑥̇ = 0
3
𝑚𝑠
(𝑚 + ) 𝑥̈ + 𝑘𝑥 = 0
3
𝑘
𝜔𝑛 = √ 𝑚
𝑚+ 𝑠
3
 The response of single degree can be represented in the displacement (x)-

velocity(𝑥̇ ) plane known as the state space or phase plane.
𝑥 = 𝐴 cos(𝜔𝑛 𝑡 − 𝜑)
𝑥
cos(𝜔𝑛 𝑡 − 𝜑) =
𝐴
𝑥̇ 𝑦 𝑥̇
sin(𝜔𝑛 𝑡 − 𝜑) = − =− (𝑦 = )
𝐴𝜔𝑛 𝐴 𝜔𝑛
𝑥2 𝑦2
+ =1
𝐴2 𝐴2
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Stability Conditions
𝑙
𝐼𝑜 𝜃̈ = −2𝑘𝑙𝜃. 𝑙 + 𝑚𝑔 𝜃
2
𝑚𝑙 2
𝐼𝑜 =
3
12. 𝑘𝑙 2 − 3𝑚𝑔𝑙
̈𝜃 + ( )𝜃 = 0
2𝑚𝑙 2
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12.𝑘𝑙 2 −3𝑚𝑔𝑙
The solution of the last equation depends on the sign of (
2𝑚𝑙 2
) = 𝜔𝑛 2
Case 1:
12.𝑘𝑙 2 −3𝑚𝑔𝑙
When (
2𝑚𝑙 2
)>0 the solution represents stable oscillations and can be
expressed as:
θ = 𝐴 cos 𝜔𝑛 𝑡 + 𝐵 sin 𝜔𝑛 𝑡
Case 2:
12.𝑘𝑙 2 −3𝑚𝑔𝑙
When (
2𝑚𝑙 2
)=0
𝜃̈ = 0
𝜃 = 𝐶1 𝑡 + 𝐶2
For initial conditions 𝑡=0 𝜃 = 𝜃𝑜 𝜃̇ = 𝜃̇𝑜 ,
the angular displacement increases linearly at a constant velocity 𝜃̇𝑜 .
If 𝜃̇𝑜 = 0 ∴ 𝜃 ≡ denotes a static equilibrium position, the pendulum remains in

its original position defined by 𝜃 = 𝜃𝑜
Case 3:
12.𝑘𝑙 2 −3𝑚𝑔𝑙
When (
2𝑚𝑙 2
) < 0 = 𝛼2
𝜃 = 𝐵1 𝑒 𝛼𝑡 + 𝐵2 𝑒 −𝛼𝑡
For initial conditions 𝑡=0 𝜃 = 𝜃𝑜 𝜃̇ = 𝜃̇𝑜 ,

1
𝜃= [(𝛼𝜃𝑜 + 𝜃̇𝑜 )𝑒 𝛼𝑡 + (𝛼𝜃𝑜 − 𝜃̇𝑜 )𝑒 −𝛼𝑡 ]
2𝛼
i.e. 𝜃 increases exponentially with time, the motion is unstable. The physical
reason for this is that the restoring moment due to the spring (2𝑘𝑙 2 θ), which tries
to bring the system to equilibrium position, is less than the non-restoring moment
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𝑙
due to gravity (𝑚𝑔 𝜃), which tries to move the system away from equilibrium
2
position.
Free Vibration with Viscous Damping:
Equation of Motion:
The viscous damping force 𝐹𝑑 = −𝑐𝑥̇
𝑁. 𝑠
𝑐 ≡ 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡 𝑜𝑟 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 ( )
𝑚
-ve sign (the force is opposite to the direction of velocity)
𝑚𝑥̈ = −𝑐𝑥̇ − 𝑘𝑥
𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 0
Solution of Equation of Motion:
Let 𝑥 = 𝑒 𝑠𝑡 , 𝑥̇ = 𝑠. 𝑒 𝑠𝑡 𝑥̈ = 𝑠 2 . 𝑒 𝑠𝑡
𝑚𝑠 2 + 𝑐𝑠 + 𝑘 = 0
−𝑐 ± √𝑐 2 − 4𝑚𝑘 𝑐 𝑐 2 𝑘
𝑠1,2 = =− ± √( ) −
2𝑚 2𝑚 2𝑚 𝑚
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𝑥 = 𝐴1 𝑒 𝑠1𝑡 + 𝐴2 𝑒 𝑠2𝑡
A1 and A2 are arbitrary constants to be determined from the initial conditions of the
system.
 Critical damping coefficient cc is defined as the value of the damping

constant c for which the radical in equation s1,2 becomes zero,
𝑐𝑐 2 𝑘
( ) − =0
2𝑚 𝑚
𝑘
𝑜𝑟 𝑐𝑐 = 2𝑚√ = 2√𝑘𝑚 = 2𝑚𝜔𝑛
𝑚
 The damping factor or damping ratio 𝜁
𝑐
𝜁=
𝑐𝑐
𝑠1,2 = [−𝜁 ± √𝜁 2 − 1] 𝜔𝑛
[−𝜁−√𝜁 2 −1]𝜔𝑛 𝑡 [−𝜁+√𝜁 2 −1]𝜔𝑛 𝑡
𝑥 = 𝐴1 𝑒 + 𝐴2 𝑒
 Case 1. Over damped system: ( c ˃ cc or ζ ˃ 1)
In this case, both roots are real. The motion is described by

2 −1 .𝑡 2 −1 .𝑡
𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 [𝐴1 𝑒 (−𝜔𝑛 √𝜁 + 𝐴2 𝑒 (𝜔𝑛√𝜁 ]
The values of “A1” and “A2” are determined from the initial conditions which are
At t = 0, x = xo x = vo
−𝑥𝑜 [𝜁 − √𝜁 2 − 1]𝜔𝑛 − 𝑣𝑜 𝑥𝑜 [𝜁 + √𝜁 2 − 1]𝜔𝑛 + 𝑣𝑜

𝐴1 = , 𝐴2 =
2𝜔𝑛 √𝜁 2 − 1 2𝜔𝑛 √𝜁 2 − 1
A plot of “x” with time is shown in Figure.
54
t
No vibration The mass moves slowly back to the equilibrium position rather than
vibrating about it.
 Case 2. Critically damped system: ( c = cc or ζ = 1)
Both roots are real and are equal to “- ω”.
The general solution is in the form
𝑥 = (𝐴1 + 𝐴2 𝑡)𝑒 −𝜔𝑛𝑡
Applying the initial conditions (at t=0 x=xo 𝑥̇ = 𝑣𝑜 ), then
A1 = xo
A2 = vo + ω xo
𝑥 = [𝑥𝑜 + (𝑣𝑜 + 𝜔𝑛 𝑥𝑜 )𝑡]𝑒 −𝜔𝑛 𝑡
A plot of “x” with time is shown in Figure.
t
There is no vibration in this case,
A critically damped system will have the smallest damping required for
aperiodic (non-periodic) motion, hence the mass returns to the position of rest in
the shortest possible time without overshooting.
For example: large guns have dashpots with critical damping value, so that they
return to their original position after recoil in the minimum time without
vibrating. If the damping provided were more than the critical value, some delay
would be caused before the next firing.
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 Case 3. Under damped system: ( c ˂ cc or ζ ˂ 1)
In this case, both roots are complex and are given by
𝑠1,2 = [−𝜁 ± 𝑖√1 − 𝜁 2 ]𝜔𝑛
2 2
𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 [𝐴1 𝑒 (−𝜔𝑛 𝑖√1−𝜁 .𝑡
+ 𝐴2 𝑒 (𝜔𝑛𝑖√1−𝜁 .𝑡
]
𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 [𝐴1 ′ cos √1 − 𝜁 2 𝜔𝑛 𝑡 + 𝐴2 ′ sin √1 − 𝜁 2 𝜔𝑛 𝑡]
Let √1 − 𝜁 2 𝜔𝑛 = 𝜔𝑑 (𝑡ℎ𝑒 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 𝑜𝑓 𝑡ℎ𝑒 𝑑𝑎𝑚𝑝𝑒𝑑 𝑣𝑖𝑏𝑟𝑎𝑡𝑖𝑜𝑛)
𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 [𝐴1 ′ cos 𝜔𝑑 𝑡 + 𝐴2 ′ sin 𝜔𝑑 𝑡]
The initial conditions which are at t = 0, x = xo x = vo
𝑣𝑜 +𝜁𝜔𝑛 𝑥𝑜
𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 [𝑥𝑜 cos 𝜔𝑑 𝑡 + sin 𝜔𝑑 𝑡]
𝜔𝑑
According to this equation, the motion is harmonic with frequency “ωd”. A plot for
“x” with time is shown in Figure.
The last equation can be written as
𝑥 = 𝐴𝑒 −𝜁𝜔𝑛 𝑡 sin(𝜔𝑑 𝑡 + 𝜑)
56
This equation is represented by a vector which rotates with an angular velocity

“ωd” and makes an angle “ωdt +φ” with the horizontal axis. The length of the vector
decreases with time. The tip of the vector traces a spiral as shown in Figure.
Imaginary axis
r
Real axis
The Logarithmic Decrement
To estimate the amount of damping of a system is to measure the displacement at

some time “t” (given by “x1”), then measure it again after one complete cycle
2
(given by x2), that is, after a period of “ 𝜏𝑑 = ”. “x1” and “x2”, are given by
d
𝑥1 = 𝐴𝑒 −𝜁𝜔𝑛 𝑡 sin(𝜔𝑑 𝑡 + 𝜑)
𝑥2 = 𝐴𝑒 −𝜁𝜔𝑛 (𝑡+𝜏𝑑) sin[𝜔𝑑 (𝑡 + 𝜏𝑑 ) + 𝜑]
It is clear that “sin (ωd t + 𝜑) = sin [ωd (t + 𝜏𝑑 ) + 𝜑]”. Dividing both equations,
then
𝑥1 𝑒 −𝜁𝜔𝑛 𝑡
= = 𝑒 𝜁𝜔𝑛 𝜏𝑑
𝑥2 𝑒 −𝜁𝜔𝑛 (𝑡+𝜏𝑑)
The rate at which the amplitude of a free damped vibration decreases ‘δ’ (the
logarithmic decrement) can be obtained from:
57
x1 2𝜋
δ = ln = 𝜁𝜔𝑛 𝜏𝑑 = 𝜁𝜔𝑛
x2 𝜔𝑑
2
=
1  2
1 𝑥1
δ= 𝑙𝑛
𝑛 𝑥𝑛+1
For small damping, δ ≈ 2πζ
Energy dissipated in viscous damping:
The rate of change of energy

𝑑𝑤 𝑑𝑥
= 𝑓𝑜𝑟𝑐𝑒 ∗ 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 = 𝐹𝑣 = −𝑐𝑣 2 = −𝑐( )2
𝑑𝑡 𝑑𝑡
The negative sign, the energy dissipates with time
Assume 𝑥 = 𝑋 sin 𝜔𝑑 𝑡 (steady-state response under forced vibration)

2𝜋
2𝜋
𝜔𝑑 𝑑𝑥 2
Δ𝑊 = ∫ 𝑐( ) 𝑑𝑡 = ∫ 𝑐𝑋 2 𝜔𝑑 cos 2 𝜔𝑑 𝑡 𝑑𝜔𝑑 𝑡 = 𝜋𝑐𝜔𝑑 𝑋 2
0 𝑑𝑡 0
The fraction of energy of the vibrating system that is dissipated in each cycle,
Δ𝑊 𝜋𝑐𝜔𝑑 𝑋 2
= = 2 𝛿 = 4𝜋𝜁 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑊 1 2 2
𝑚𝜔𝑑 𝑋
2
Δ𝑊⁄ Δ𝑊
2𝜋
𝑙𝑜𝑠𝑠 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡 = = ratio of energy dissipated per radian.
𝑊 2𝜋𝑊
Comparison between damping types
The following Figure shows plots of the three types of damping for the same initial
conditions.
58
x Dotted, over-damped
Dashed, critically-damped
Solid, under-damped t
We notice that, for the over-damped system, the motion decays rather slowly
without oscillations. The motion of critically damped systems is called “aperiodic”,
or non periodic. The mass returns back to the equilibrium position without
oscillation with the fastest rate. This type of damping is suitable for the recoil
mechanism of guns. The gun barrel is required to return back after firing as fast as
possible without oscillation. The case of under damping is used for applications
which need to reduce vibrations.
Torsional System with Viscous Damping:
The damping torque: 𝑇𝑑 = −𝑐𝑡 𝜃̇
𝐼𝑜 𝜃̈ + 𝑐𝑡 𝜃̇ + 𝑘𝑡 𝜃 = 0
𝜔𝑑 = 𝜔𝑛 √1 − 𝜁 2
𝑘𝑡
𝜔𝑛 = √
𝐼𝑜
𝑐𝑡 𝑐𝑡 𝑐𝑡
𝑎𝑛𝑑 𝜁 = = =
𝑐𝑡𝑐 2𝐼𝑜 𝜔𝑛 2√𝑘𝑡 𝐼0
Example: Analysis of Cannon
When the gun is fired, high-pressure gasses accelerate the projectile inside the
barrel to a very high velocity. The reaction force pushes the gun barrel in the
opposite direction of the projectile. Since it is desirable to bring the gun barrel to
rest in the shortest time without oscillation, it is made to translate backward against
a critically damped spring-damper system called the recoil mechanism.
59
In practical case, the gun barrel and the recoil mechanism have a mass of 500 Kg
with a recoil spring of stiffness 10,000 N/m. The gun recoil 0.4 m upon firing. Find
the critical damping coefficient, the initial velocity, and the time taken by the gun
to return to 0.1 m from its initial position.
𝑘 𝑟𝑎𝑑
𝜔𝑛 = √ = 4.4721
𝑚 𝑠
𝑐𝑐 = 2𝑚𝜔𝑛 = 4472.1 𝑁. 𝑠/𝑚
𝑥 = (𝐴1 + 𝐴2 𝑡)𝑒 −𝜔𝑛𝑡 for critical damping
A1 = xo
A2 = vo + ω xo
𝑥̇ = −𝜔𝑛 (𝐴1 + 𝐴2 𝑡)𝑒 −𝜔𝑛 𝑡 + 𝐴2 𝑒 −𝜔𝑛 𝑡
For maximum x(t), 𝑥̇ = 0

1 𝐴1
𝑡1 = ( − )
𝜔𝑛 𝐴2
1
𝑥𝑜 = 𝐴1 = 0 𝑡1 =
𝜔𝑛
𝑥𝑚𝑎𝑥 = 0.4 𝑚
60
𝑥̇ 𝑜
𝑥𝑚𝑎𝑥 = 𝑥(𝑡 = 𝑡1 ) = (𝐴2 𝑡1 )𝑒 −𝜔𝑛𝑡1 =
𝑒𝜔𝑛
𝑚
𝑜𝑟 𝑥̇ 𝑜 = 𝑥𝑚𝑎𝑥 𝜔𝑛 𝑒 = 4.8626
𝑠
0.1 = (𝐴2 𝑡2 )𝑒 −𝜔𝑛 𝑡2 𝑡2 = 0.8258 𝑠𝑒𝑐.
Free Vibration with Coulomb Damping “Dry Friction Damping”
Coulomb damping results from the sliding of two dry rough surfaces. The damping
force is equal to the product of the normal reaction “N” between the surfaces and
the coefficient of friction “μ”. Its magnitude “F d” is constant and is equal to “μN”.
Its direction is opposite to the direction of the velocity. This type of damping is
used for their mechanical simplicity. To obtain the equation of motion, cannot use
a single free body diagram,
𝑚𝑥̈ + 𝑘𝑥 = −𝐹𝑑 (𝑚𝑜𝑡𝑖𝑜𝑛 𝑡𝑜 𝑡ℎ𝑒 𝑟𝑖𝑔ℎ𝑡)

𝑚𝑥̈ + 𝑘𝑥 = 𝐹𝑑 (𝑚𝑜𝑡𝑖𝑜𝑛 𝑡𝑜 𝑡ℎ𝑒 𝑙𝑒𝑓𝑡)
Each equation is valid for only the half cycle of motion indicated.
The solution of the first equation
61
𝜇𝑁
𝑥 = 𝐴 cos 𝜔𝑛 𝑡 + 𝐵 sin 𝜔𝑛 𝑡 −
𝑘
The solution of the second equation
𝜇𝑁
𝑥 = 𝐶 cos 𝜔𝑛 𝑡 + 𝐷 sin 𝜔𝑛 𝑡 +
𝑘
𝑥̇ = −𝐴𝜔𝑛 sin 𝜔𝑛 𝑡 + 𝐵𝜔𝑛 cos 𝜔𝑛 𝑡
𝑥̇ = −𝐶𝜔𝑛 sin 𝜔𝑛 𝑡 + 𝐷𝜔𝑛 cos 𝜔𝑛 𝑡
This means that the system vibrates with a frequency which is equal to the natural
frequency. The constants “A” , “B” , “C” and “D” are determined from the initial
conditions.
Let at “t = 0”, x = xo and x = vo
Let xo, x1, x2,… denote the amplitudes of motion at successive half cycles.
The constants are given by

𝜇𝑁
𝐶 = 𝑥𝑜 − 𝑑 , 𝐷=0 𝑤ℎ𝑒𝑟𝑒 𝑑 =
𝑘
𝑥 = (𝑥𝑜 − 𝑑) cos 𝜔𝑛 𝑡 + 𝑑
The solution is valid for half the cycle only, i.e. for 0 ≤ t ≤ π/ω, when t=π/ω,
the mass will be at its extreme left position and its displacement from
equilibrium position can be found
𝜋
−𝑥1 = 𝑥 (𝑡 = ) = (𝑥𝑜 − 𝑑) cos 𝜋 + 𝑑
𝜔𝑛
= −(𝑥𝑜 − 2𝑑)
The reduction in magnitude of x in time π/ω (half cycle) is 2d.
In the second half cycle, the mass moves from left to right,
π
𝑥(𝑡 = 0) = 𝑣𝑎𝑙𝑢𝑒 𝑜𝑓 𝑥 𝑎𝑡 𝑡 = in the 1st equation
ω
= −(𝑥𝑜 − 2𝑑)
𝑎𝑛𝑑 𝑥̇ = 0
𝑇ℎ𝑢𝑠 − 𝐴 = −𝑥𝑜 + 3𝑑, 𝐵=0
𝑥 = (𝑥𝑜 − 3𝑑) cos 𝜔𝑛 𝑡 − 𝑑
𝑎𝑡 𝑡ℎ𝑒 𝑒𝑛𝑑 𝑜𝑓 𝑡ℎ𝑖𝑠 ℎ𝑎𝑙𝑓 𝑐𝑦𝑐𝑙𝑒 ,
62
𝜋
𝑥2 = (𝑥 𝑎𝑡 (𝑡 = ) = (𝑥𝑜 − 4𝑑)
𝜔𝑛
𝑎𝑛𝑑 𝑥̇ = 0
These become the initial condition of the third half cycle.
 The motion stops when xn ≤ d, since the restoring force exerted by the
spring force (kx) will then be less than the friction force (μN).
 The number of half cycles (r) that elapse before the motion ceases is
given by,
𝑥𝑜 − 𝑑
𝑥𝑜 − 𝑟. 𝑑 ≤ 𝑑 𝑡ℎ𝑎𝑡 𝑖𝑠 𝑟≥{ }
2𝑑
The total motion is described by the Figure shown,
ωnt
It is clear that the amplitude decreases with a constant rate.
Imaginary axis
d
Real axis
-d
63
The vector plot is a half a circle with radius “x max – d” and center at “0, d” located
at the left side of the imaginary axis. Similarly, the vector plot located at the right
side of the imaginary axis is a half a circle with radius “xmin + d” and center at “0, -
d”.
Notes
1- The equation of motion is nonlinear,

2- The natural frequency is not changed with Coulomb damping,
3- The motion is periodic,
4- The system comes to rest after some time, theoretically continuous forever
with viscous damping,
5- The amplitude reduces linearly (exponentially in viscous damping),
6- In each successive cycle, the amplitude is reduced by 4d
4𝜇𝑁
𝑥𝑚 = 𝑥𝑚−1 −
𝑘
The slope of the enveloping straight lines shown
4𝜇𝑁
2𝜇𝑁𝜔𝑛
− 𝑘 = −( )
2𝜋 𝜋𝑘
𝜔𝑛
7- Potential energy,
1 1
𝑈𝑛 − 𝑈𝑛+1 = 𝑘𝑥𝑛 2 − 𝑘𝑥𝑛+1 2 = 𝐹𝑑 (𝑥𝑛 + 𝑥𝑛+1 )
2 2
1
𝑘(𝑥𝑛 2 − 𝑥𝑛+1 2 ) = 𝐹𝑑 (𝑥𝑛 + 𝑥𝑛+1 )
2
1
𝑘(𝑥𝑛 − 𝑥𝑛+1 ) = 𝐹𝑑
2
2𝐹𝑑
(𝑥𝑛 − 𝑥𝑛+1 ) = = 2𝑑 𝑎𝑓𝑡𝑒𝑟 ℎ𝑎𝑙𝑓 𝑐𝑦𝑐𝑙𝑒
𝑘
𝑓𝑜𝑟 𝑒𝑎𝑐ℎ 𝑐𝑦𝑐𝑙𝑒 = 4𝑑
Example: “Pulley subjected to Coulomb damping”
A steel shaft of length 1 m and diameter 50 mm is fixed at one end and carries a
pulley of mass moment of inertia 25 Kg.m2 at the other end. A band brake exerts
a constant frictional torque of 400 N.m around the circumference of the pulley.
64
If the pulley is displaced by 6o and released, determine: i- the number of cycles

before the pulley comes to rest and ii- the final setting position of the pulley.
Solution:
The number of half cycles that elapse before the angular motion of the pulley
ceases is:
𝜃𝑜 − 𝑑 𝑇𝑑
𝑟≥{ } 𝑑=
2𝑑 𝑘𝑡
𝜃𝑜 = 6𝑜 = 0.10472 𝑟𝑎𝑑.
𝐺𝐽 𝑁. 𝑚
𝑘𝑡 = = 49,087.5
𝑙 𝑟𝑎𝑑
𝑇𝑑 = 400 𝑁. 𝑚
∴ 𝑟 = 5.926
𝑡ℎ𝑢𝑠 𝑡ℎ𝑒 𝑚𝑜𝑡𝑖𝑜𝑛 𝑐𝑒𝑎𝑠𝑒𝑠 𝑎𝑓𝑡𝑒𝑟 6 ℎ𝑎𝑙𝑓 𝑐𝑦𝑐𝑙𝑒𝑠.
The angular displacement after 6 half cycles

400
𝜃 = 0.10472 − 6 ∗ 2 ( )
49,087.5
= 0.006935 𝑟𝑎𝑑. = 0.39734𝑜
Thus the pulley stops at 0.39734o from the equilibrium position on the same side of
the initial displacement.
65
SHEET 2
I. UNDAMPED SYSTEMS
1. Three springs and a mass are attached to a rigid, weightless bar PQ as shown in
Figure 1. Find the natural frequency of vibration of the system.
Figure 1
2. The natural frequency of a spring-mass system is found to be 2 Hz. When an

additional mass of 1 kg is added to the original mass m, the natural frequency is
reduced to 1 Hz. Find the spring constant k and the mass m.
3. A flywheel is mounted on a vertical shaft, as shown in Figure 2. The shaft has a

diameter d and length l and is fixed at both ends. The flywheel has a weight of
W and a radius of gyration of r. Find the natural frequency of the longitudinal,
the transverse, and the torsional vibration of the system.
Figure 2
66
4. Draw the free-body diagram and derive the equation of motion using Newton's
second law of motion for the system shown in Figure 3. Derive the equation of
motion using the principle of conservation of energy.
Figure 3
5. A mass m is attached at the end of a bar of negligible mass and is made to

vibrate in three different configurations, as indicated in Figure 4. Find the
configuration corresponding to the highest natural frequency.
Figure 4
67
6. A heavy ring of mass moment of inertia 1.0 kg.m2 is attached at the end of a
two-layered hollow shaft of length 2 m (Figure 5). If the two layers of the shaft
are made of steel and brass, determine the natural time period of torsional
vibration of the heavy ring.
Figure 5
7. Find the natural frequency of the pendulum shown in Figure 6., when the mass
of the connecting bar is not negligible compared to the mass of the pendulum
bob.
Figure 6
68
8. A steel shaft of 0.05 m diameter and 2 m length is fixed at one end and carries
at the other end a steel disc of 1 m diameter and 0.1 m thickness, as shown in
Figure 7. Find the system natural frequency of torsional vibration.
Figure 7
9. A uniform slender rod of mass m and length l is hinged at point A and is attached
to four linear springs and one torsional spring, as shown in Figure 8. Find the
natural frequency of the system if k = 2000 N/m, kt = 1000 N-m/rad, m = 10 kg,
and l = 5 m.
Figure 8
69
10. A cylinder of mass m and mass moment of inertia J0 is free to roll without
slipping but is restrained by two springs of stiffness k1 and k2, as shown in
Figure 9. Find its natural frequency of vibration. Also find the value of a that
maximizes the natural frequency of vibration.
Figure 9
11. Find the equations of motion of the systems shown in Figure 10. Also find the
natural frequency of each system.
(a) (b) (c)

Figure 10
II. DAMPED SYSTEMS
12. Determine the values of ζ and ωd for the following viscously damped systems:
a- m = 10 kg, c = 150 N-s/m, k = 1000 N/m
b- m = 10 kg, c = 200 N-s/m, k = 1000 N/m
c- m = 10 kg, c = 250 N-s/m, k = 1000 N/m
13. A viscous damper, with damping constant c, and a spring, with spring stiffness
k, are connected to a massless bar AB as shown in Figure 11. The bar AB is
displaced by a distance of x= 0.1 m when a constant force F = 500 N is applied.
The applied force F is then abruptly released from its displaced position. If the
displacement of the bar AB is reduced from its initial value of 0.1 m at t = 0 to
0.01 m at t = 10 sec, find the values of c and k.
70
Figure 11
14. A wooden rectangular prism of density ρw, height h, and cross section a x b is
initially depressed in an oil tub and made to vibrate freely in the vertical
direction (Figure 12). Find the natural frequency of vibration of the prism.
Assume the density of oil is ρo, If the rectangular prism is replaced by a uniform
circular cylinder of radius r, height h, and density ρw, will there be any change in
the natural frequency?
Figure 12
15. A wooden rectangular prism of cross section 40 cm x 60 cm, height 120 cm, and
mass 40 kg floats in a fluid as shown in Figure 12. When disturbed, it is
observed to vibrate freely with a natural period of 0.5 s. Determine the density
of the fluid.
16. A simple pendulum is found to vibrate at a frequency of 0.5 Hz in a vacuum and

0.45 Hz in a viscous fluid medium. Find the damping constant, assuming the
mass of the bob of the pendulum is 1 kg.
17. The ratio of successive amplitudes of a viscously damped single-degree-of-

freedom system is found to be 18:1. Determine the ratio of successive
amplitudes if the amount of damping is (a) doubled, and (b) halved.
71
18. A shock absorber is to be designed to limit its overshoot to 15 percent of its

initial displacement when released. Find the damping ratio ζo required. What
will be the overshoot if ζ is made equal to (a)3/4 ζo and (b)5/4 ζo
19. The free-vibration responses of an electric motor of weight 500 N mounted on

different types of foundations are shown in Figure 13. (a) and (b). Identify the
following in each case: (i) the nature of damping provided by the foundation, (ii)
the spring constant and damping coefficient of the foundation, and (iii) the
undamped and damped natural frequencies of the electric motor.
Figure 13
20. A railroad car of mass 2,000 kg traveling at a velocity v = 10 m/s is stopped at

the end of the tracks by a spring-damper system, as shown in Figure 14. If the
stiffness of the spring is k = 80 N/mm and the damping constant is c = 20 N-
s/mm, determine (a) the maximum displacement of the car after engaging the
springs and damper and (b) the time taken to reach the maximum displacement.
72
Figure 14
21. A torsional pendulum has a natural frequency of 200 cycles/min when vibrating
in a vacuum. The mass moment of inertia of the disc is 0.2 kg-m2. It is then
immersed in oil and its natural frequency is found to be 180 cycles/min.
Determine the damping constant. If the disc, when placed in oil, is given an
initial displacement of 2o, find its displacement at the end of the first cycle.
22. A body vibrating with viscous damping makes five complete oscillations per
second, and in 50 cycles its amplitude diminishes to 10 percent. Determine the
logarithmic decrement and the damping ratio. In what proportion will the period
of vibration be decreased if damping is removed?
23. A viscously damped system has a stiffness of 5,000 N/m, critical damping
constant of 0.2 Ns/mm, and a logarithmic decrement of 2.0. If the system is
given an initial velocity of 1 m/s, determine the maximum displacement of the
system.
24. Derive the equation of motion and find the natural frequency of vibration of
each of the systems shown in Figures 15.
(a) (b) (c)

Figure 15
73
25. The system shown in Figure 16, has a natural frequency of 5 Hz for the
following data: m = 10 kg, Jo = 5 kg-m2, r1 = 10 cm, r2 = 25 cm. When the
system is disturbed by giving it an initial displacement, the amplitude of free
vibration is reduced by 80 percent in 10 cycles. Determine the values of k and c.
Figure 16
74

Mechanical Vibration II

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Mechanical Vibrations Chapter II Dr.

Free vibration of an undamped system:

a- Using Newton’s second law of motion:

Example 1: Mass-spring system

ii- 𝛿 ≡ 𝑠𝑡𝑎𝑡𝑖𝑐 𝑑𝑒𝑓𝑙𝑒𝑐𝑡𝑖𝑜𝑛

b- Using Principle of Conservation of Energy:

T≡ the kinetic energy is stored in the mass by virtue of its velocity,

Example 2: Torsional System

Example 3: Simple Pendulum

𝑚𝑙𝜃̈. 𝑙 = −𝑚𝑔. 𝑙 sin 𝜃

𝑓𝑜𝑟 𝑠𝑚𝑎𝑙𝑙 𝑜𝑠𝑐𝑖𝑙𝑎𝑡𝑖𝑜𝑛 sin 𝜃 ≅ tan 𝜃 ≅ 𝜃 𝑟𝑎𝑑.

The general solution of 𝑥̈ + 𝜔𝑛 2 𝑥 = 0

 The response of single degree can be represented in the displacement (x)-

For initial conditions 𝑡=0 𝜃 = 𝜃𝑜 𝜃̇ = 𝜃̇𝑜 ,

the angular displacement increases linearly at a constant velocity 𝜃̇𝑜 .

If 𝜃̇𝑜 = 0 ∴ 𝜃 ≡ denotes a static equilibrium position, the pendulum remains in

For initial conditions 𝑡=0 𝜃 = 𝜃𝑜 𝜃̇ = 𝜃̇𝑜 ,

Free Vibration with Viscous Damping:

The viscous damping force 𝐹𝑑 = −𝑐𝑥̇

Solution of Equation of Motion:

 Critical damping coefficient cc is defined as the value of the damping

 Case 1. Over damped system: ( c ˃ cc or ζ ˃ 1)

In this case, both roots are real. The motion is described by

−𝑥𝑜 [𝜁 − √𝜁 2 − 1]𝜔𝑛 − 𝑣𝑜 𝑥𝑜 [𝜁 + √𝜁 2 − 1]𝜔𝑛 + 𝑣𝑜

A plot of “x” with time is shown in Figure.

 Case 2. Critically damped system: ( c = cc or ζ = 1)

Both roots are real and are equal to “- ω”.

The general solution is in the form

𝑥 = (𝐴1 + 𝐴2 𝑡)𝑒 −𝜔𝑛𝑡

Applying the initial conditions (at t=0 x=xo 𝑥̇ = 𝑣𝑜 ), then

𝑥 = [𝑥𝑜 + (𝑣𝑜 + 𝜔𝑛 𝑥𝑜 )𝑡]𝑒 −𝜔𝑛 𝑡

A plot of “x” with time is shown in Figure.

 Case 3. Under damped system: ( c ˂ cc or ζ ˂ 1)

In this case, both roots are complex and are given by

𝑠1,2 = [−𝜁 ± 𝑖√1 − 𝜁 2 ]𝜔𝑛

𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 [𝐴1 ′ cos √1 − 𝜁 2 𝜔𝑛 𝑡 + 𝐴2 ′ sin √1 − 𝜁 2 𝜔𝑛 𝑡]

Let √1 − 𝜁 2 𝜔𝑛 = 𝜔𝑑 (𝑡ℎ𝑒 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 𝑜𝑓 𝑡ℎ𝑒 𝑑𝑎𝑚𝑝𝑒𝑑 𝑣𝑖𝑏𝑟𝑎𝑡𝑖𝑜𝑛)

𝑥 = 𝑒 −𝜁𝜔𝑛 𝑡 [𝐴1 ′ cos 𝜔𝑑 𝑡 + 𝐴2 ′ sin 𝜔𝑑 𝑡]

The initial conditions which are at t = 0, x = xo x = vo

The last equation can be written as

This equation is represented by a vector which rotates with an angular velocity

The Logarithmic Decrement

To estimate the amount of damping of a system is to measure the displacement at

𝑥2 = 𝐴𝑒 −𝜁𝜔𝑛 (𝑡+𝜏𝑑) sin[𝜔𝑑 (𝑡 + 𝜏𝑑 ) + 𝜑]

For small damping, δ ≈ 2πζ

Energy dissipated in viscous damping:

The rate of change of energy

Assume 𝑥 = 𝑋 sin 𝜔𝑑 𝑡 (steady-state response under forced vibration)

Comparison between damping types

Torsional System with Viscous Damping:

The damping torque: 𝑇𝑑 = −𝑐𝑡 𝜃̇

Example: Analysis of Cannon

𝑥 = (𝐴1 + 𝐴2 𝑡)𝑒 −𝜔𝑛𝑡 for critical damping

𝑥̇ = −𝜔𝑛 (𝐴1 + 𝐴2 𝑡)𝑒 −𝜔𝑛 𝑡 + 𝐴2 𝑒 −𝜔𝑛 𝑡

For maximum x(t), 𝑥̇ = 0

Free Vibration with Coulomb Damping “Dry Friction Damping”

𝑚𝑥̈ + 𝑘𝑥 = −𝐹𝑑 (𝑚𝑜𝑡𝑖𝑜𝑛 𝑡𝑜 𝑡ℎ𝑒 𝑟𝑖𝑔ℎ𝑡)

The solution of the first equation

Let at “t = 0”, x = xo and x = vo

The constants are given by

It is clear that the amplitude decreases with a constant rate.

1- The equation of motion is nonlinear,

Example: “Pulley subjected to Coulomb damping”

If the pulley is displaced by 6o and released, determine: i- the number of cycles