Chapter 9

Vibratory Motions

9.1 Undamped, Free Response for Single Degree of Freedom Sys-

tems

73
9.1.1
GOAL: Find coefficients for complex exponential representation of a sinusoid.
GIVEN: Coefficients of the cosine and sine terms
FORMULATE EQUATIONS:
We’ll use the formulas
1
cos x = (eix + e−ix )
2
and
1
sin x = (eix − e−ix )
2i
SOLVE:

" # " #
eiωt + e−iωt eiωt − e−iωt
2 cos ωt − 3 sin ωt = 2 −3
2 2i
3i iωt 3i −iωt
   
= 1+ e + 1− e
2 2
   
3i 3i
b1 = 1 + 2 cm, b2 = 1 − 2 cm

74
9.1.2
GOAL: Find position, speed and acceleration at a particular time.
GIVEN: Position versus time.
FORMULATE EQUATIONS:
We simply need to differentiate x(t) with respect to time.

x(t) = 2 cos 3t − sin 3t (1)

v(t) = −6 sin 3t − 3 cos 3t (2)
a(t) = −18 cos 3t + 9 sin 3t (3)

SOLVE:
Evaluating (1), (2), and (3), at t = 1.5 s yields

x = 0.556 m, v = 6.50 m/s, a = −5.00 m/s2

75
9.1.3
GOAL: Find the maximum value of ẋ.
GIVEN: Position of x versus t.
FORMULATE EQUATIONS:
We need to differentiate x(t) with respect to time twice. The first gives us ẋ. In order to find the
maximum value of ẋ we will differentiate again and set the resulting ẍ equal to zero, which will
allow us to solve for both the minima and maxima.

x(t) = − cos 4t + 2 sin 4t (1)

ẋ(t) = 4 sin 4t + 8 cos 4t (2)
ẍ(t) = 16 cos 4t − 32 sin 4t (3)

SOLVE:
Set ẍ equal to zero:
16 cos 4t∗ − 32 sin 4t∗ = 0
32 sin 4t∗ = 16 cos 4t∗
tan 4t∗ = 0.5
t∗ = 0.116 s
CHECK: Evaluate ẋ(t∗ ):

x(0.116) = 4 sin(0.464) + 8 cos(0.464) = 8.94 m/s

The answer is positive and thus we’ve found the correct time for a maximum.

76
9.1.4
GOAL: Plot x, ẋ, and ẍ and comment on the effect of sensor noise.
GIVEN: Position of x versus t.
FORMULATE EQUATIONS:

x(t) = 2 cos t + 0.05 sin 10t (1)

ẋ(t) = −2 sin t + 0.5 cos 10t (2)
ẍ(t) = −2 cos t − 5.0 sin 10t (3)

SOLVE:
The plots of x, ẋ and ẍ are shown below. The first plot looks like a slightly distorted cosine wave.
The second plot (ẋ vs t) has a much larger “wiggle” superimposed on the sine wave. In the third
plot the “wiggle” distortion has grown so large that it dominates the response - being the most
immediately noticed aspect of the plot.
What this shows is the tendency of noise (an unavoidable consequence of imperfect sensors) to grow
larger as the signal is differentiated. Because of this, experimentalists try to avoid differentiating
experimentally obtained data.

77
9.1.5
GOAL: Determine if two spring arrangements affect the natural frequency of a spring-mass system.
GIVEN: The two different spring arrangements.
DRAW:

FORMULATE EQUATIONS:
For both cases, the FBD=IRD diagram yields

mẍ = −k1 x − k2 x
SOLVE:
The equation of motion for both cases is the same, namely

mẍ + (k1 + k2 )x = 0

Whether the spring acts on the mass from the left or from the right makes no difference in the
governing equation and therefore no difference in the system’s natural frequency as well.

78
9.1.6
GOAL: Deduce what the mass of block B is.
GIVEN: Change in natural frequency when a known mass is added to the system.
FORMULATE EQUATIONS:
We’ll use the general formula s
k
ωn =
m
SOLVE:
We’re given that the natural frequency for the combined mass system is 90 percent of that for the
system containing just block B. Thus we have
s s
k k
0.9 =
mB mA + mB
!
k k
0.81 =
mB mA + mB
0.81(mA + mB ) = mB
0.81mA = 0.19mB
0.81 0.81
mB = mA = (8 kg)
0.19 0.19

mB = 34.1 kg

79
9.1.7
GOAL: Determine the mass of block B.
GIVEN: Change in natural frequency when a known mass is added to the system.
FORMULATE EQUATIONS:
We’ll use the general formula s
k
ωn =
m
SOLVE:
We’re given that the natural frequency for the combined mass system is 90 percent of that for the
system containing just block B. Thus we have
s s
k k
0.7 =
mB mA + mB
!
k k
0.49 =
mB mA + mB
0.49(mA + mB ) = mB
0.49mA = 0.51mB
0.49 0.49
mB = mA = (5 kg)
0.51 0.51

mB = 4.80 kg

80
9.1.8
GOAL: Determine the effect of splitting a spring in two and reconnecting both pieces to the
original mass.
GIVEN: Configuration pre- and post-cut.
DRAW:

FORMULATE EQUATIONS:
We’ll use the expressions for the force across a spring (force is proportional to the spring constant
k times the spring’s deflection) and a force balance.
SOLVE:
The figure in the DRAW step shows two springs, each with spring constant k, fixed at one end and
acted on by a constant force F at the other. We’ll view each spring k as “half” of the overall spring
made up of the two springs connected in series. After determining the overall spring constant of
this series-pair, we can deduce how half a spring compares to an uncut one.
Two force balances are shown, one at point A and the other at B. There is no mass at either point
and thus we have a static force balance giving us the two equations
−ky + k(x − y) = 0
and
F − k(x − y) = 0
Solving both simultaneously gives us
k
F = x
2
Thus we see that the overall spring constant is k2 - the spring constant was halved by putting
two springs in series. The conclusion is therefore that by dividing a spring in two we’ll get two
springs, each with double the original spring stiffness. The following figure illustrates the cut and
rearrangement (k 0 indicating the “half” spring.

Our original equation of motion was

mẍ + kx = 0
q
k
with a natural frequency given by m .
Our new system has an equation of motion
mẍ + 2k 0 x = 0
mẍ + 2(2k)x = 0
mẍ + 4kx = 0

81
 q q
4k k
with a natural frequency of m =2 m

ωn0 = 2(10 rad/s) = 20 rad/s

82
9.1.9
GOAL: Determine how the natural frequency of a spring-mass system will alter when brought to
the moon.
GIVEN: System configuration.
SOLVE:
There is no need for any calculation. The system is linear and the only effect of gravity will be to
alter the position of the system’s static equilibrium. The natural frequency only depends on the
spring constant and the mass, neither of which will change due to their location. Hence there is
no difference between the natural frequency whether the system is situated on the earth or on the
moon.

83
9.1.10
GOAL: Find the natural frequency of the illustrated system.
GIVEN: System configuration.
DRAW:

FORMULATE EQUATIONS:
Because the system is bar is pinned at O we need only consider a moment balance about O.

IO θ̈ = −2kL2 θ

where the approximation sin θ ≈ θ was used to generate a linear equation.

SOLVE:
The mass moment of inertia is found from
m1 L2
IO = + m2 L2
3
Our equation of motion is !
m1 L2
+ m2 L2 θ̈ + 2kL2 θ = 0
3
v
u
ωn = u 2kL2
t
m1 L2 2
+m L
3 2

84
9.1.11
GOAL: Determine the natural frequency of a spring-mass system.
GIVEN: Deflection of spring is 0.1 m and mass is m = 10 kg.
DRAW:

FORMULATE EQUATIONS:
We’ll use a force balance between the weight of the mass and the spring force.
SOLVE:
mg (10 kg)(9.81 m/s2 )
kxeq = mg ⇒ k = = = 981 N/m
xeq 0.1 m
q
ωn = k
m = 9.90 rad/s

85
9.1.12
GOAL: Determine the mass moment of inertia of a bicycle crank.
GIVEN: Natural frequency of a combined crank-mass system.
DRAW:

FORMULATE EQUATIONS:
As the FBD=IRD diagram shows, we have an unbalanced moment due to the cylindrical mass that
induces a torque about the point of rotation O. We’ll use
1
IG = mcyl (rcyl )2 + mcyl (rcyl/O )2
cyl 2
to find the mass moment of inertia of the cylinder about O and add this to IG to determine IT ,
G
the total mass moment of inertia about O of the crank and cylinder.
SOLVE:
mcyl = 0.5 lb 2 = 1.55×10−2 slg, rcyl/O = 7 in = 0.583̄ ft, rcyl = 1.25 in = 0.104 ft.
32.2 ft/s 12 in/ft 12 in/ft
1
IG = (1.55×10−2 slg)(0.104 ft)2 + (1.55×10−2 slg)(0.583̄ ft)2 = 5.37×10−3 slg·ft2
cyl 2
A moment balance about O gives us

IT θ̈ = −mcyl grcyl/O sin θ

G

which, when written as an ordinary differential equation and using the small angle approximation
sin θ ≈ θ gives us
IT θ̈ + mcyl grcyl/O θ
G

mcyl grcyl/O mcyl grcyl/O

ωn2 = = (1)
IT IG + IG
G cyl

We know that the period of the oscillation was 1.5 s and so we have
2π
ωn = ⇒ ωn2 = 17.5 s−2 (2)
1.5 s
0.292 lb·ft
(1), (2) ⇒ 17.5 s−2 =
IG + 5.37×10−3 slg·ft2

IG = 1.13×10−2 slg·ft2

86
9.1.13
GOAL: Find the natural frequency of a system.
GIVEN: System configuration.
DRAW:

FORMULATE EQUATIONS:
As the FBD=IRD diagram shows, we have a force due to the spring that will produce a moment
about the contact point C. We’ll use the moment balance equation
X * *
MC = IC θ̈ k + m r*G/ × a*C
C

SOLVE:
We know from past work that the a*C is in-line with r*G/ and thus their cross product is zero,
C
leaving us with

IC θ̈ = −kr2 θ
3 2
mr θ̈ + kr2 θ = 0
2
2k
θ̈ + θ=0
3m
q
ωn = 2k
3m

87
9.1.14
GOAL: Find the natural frequency of a system.
GIVEN: System configuration.
DRAW:

FORMULATE EQUATIONS:
As the FBD=IRD diagram shows, gravity produces a moment about the hinge O. We’ll apply a
moment balance about O to obtain our equation of motion.
 2
L mL2 mL2 5mL2
IO = IG + m = + =
2 6 4 12
L
 
IO θ̈ = −mg sin θ
2
SOLVE: Using the small angle approximation sin θ ≈ θ and writing our moment balance out as
an ordinary differential equation gives us

5mL2 mgL
θ̈ + θ=0
12 2
r
ωn = 6g
5L

88
9.1.15
GOAL: Find the natural frequency of a system.
GIVEN: System configuration. Body weighs 25 lb and L = 1.4 ft.
DRAW:

FORMULATE EQUATIONS:
As the FBD=IRD diagram shows, gravity produces a moment about the hinge P . We’ll apply a
moment balance about P to obtain our equation of motion.
2
IP = IG + m 4R

L
3π + √
2

2 2
= ID − 4R m + m 4R
 
L
3π +
√
3π 2

4
 
= mL2 0.75 + 3π
SOLVE: Using the small angle approximation sin θ ≈ θ and writing our moment balance out as
an ordinary differential equation gives us 
1 4

IP θ̈ + mgL √ + √ θ=0
2 3 2π
4 1 4
   
2
mL 0.75 + θ̈ + mgL √ + √ θ=0
3π 2 3 2π
4 g 1 4
   
0.75 + θ̈ + √ + √ θ=0
3π L 2 3 2π

1.174θ̈ + (23.17 s−2 )θ = 0

s
23.17 s−2
ωn =
1.174

ωn = 4.44 rad/s

89
9.1.16
GOAL: Find the mass such that an equilibrium angle of 5◦ is supported by the balcony.
GIVEN: System configuration and parameter values.
FORMULATE EQUATIONS: We can find the equilibrium angle by forming the equation
mgL cos θ
f (θ) = −θ
2kθ

and solving for the value θ∗ that satisfies f (θ∗ ) = 0.

SOLVE:
We’re given the fact that θ∗ = 8.72×10−2 rad and so need to solve

2kθ θ 2(7×105 N·m/rad)(8.72×10−2 rad)

m= =
gL cos θ (9.81 m/s2 )(5 m) cos(8.72×10−2 rad)

m = 2500 kg
The linearized equation about this equilibrium is given by
mgL
 
IO β̈ + sin θeq + kθ β = 0
2

0.5mgL sin θeq + kθ 0.5(2500 kg)(9.81 m/s2 )(5 m) sin(8.72×10−2 rad) + 7×105 N·m/rad
ωn2 = =
IO [(2500 kg)(5 m)2 ] /3

ωn = 5.82 rad/s

90
9.1.17
GOAL: Find the balcony’s equilibrium with 4 people on the end of it.
GIVEN: System configuration and parameter values.
FORMULATE EQUATIONS: For this case we have a modified moment due to gravity:

mgL cos θ (m + 2mp )gL cos θ

+ mp gL cos θ =
2 2
where mp is the mass of the people at the far edge. The moments acting about O are therefore

X (m + 2mp )gL cos θ

MO = − kθ θ
2
We can find the equilibrium angle by forming the equation

(m + 2mp )gL cos θ

f (θ) = −θ
2kθ

and solving for the value θ∗ that satisfies f (θ∗ ) = 0.

SOLVE:
Solving for f (θ∗ ) = 0 gives a solution of

θ∗ = 4.55×10−2 rad

The linearized equation about this equilibrium is given by

!
(m + 2mp )gL sin θeq
IO β̈ + + kθ β=0
2

(m + 2mp )gL sin θeq + 2kθ

ωn2 =
2IO

ωn = 5.82 rad/s

91
9.1.18
GOAL: Find k such that the balcony has the original equilibrium angle when the mass is reduced
by 10 percent.
GIVEN: System configuration and parameter values.
FORMULATE EQUATIONS: We can find the equilibrium angle by forming the equation
mgL cos θ
f (θ) = −θ
2kθ

and solving for the value θ∗ that satisfies f (θ∗ ) = 0.

SOLVE:
We’re given the fact that θ∗ = 8.72×10−2 and that the mass has now been reduced by 10 percent:
m0 = 900 kg. Our equation f (θ) will remain the same if kθ is also reduced by 10 percent, hence we
have
k 0 = 6.3×105 N·m/rad
θ

The linearized equation about this equilibrium is given by

m0 gL
 
0
IO β̈ + sin θeq + k 0 β = 0
2 θ

Note that the new mass will affect IO .

0.5m0 gL sin θeq + k 0 0.5(900 kg)(9.81 m/s2 )(5 m) sin(8.72×10−2 rad) + 6.3×105 N·m/rad
ωn2 = 0
θ
=
IO [(900 kg)(5 m)2 ] /3

ωn = 9.18 rad/s
The new natural frequency is very close to, but not exactly the same as the original natural
frequency.

92
9.1.19
GOAL: Find the natural frequency of oscillations of a helicopter blade model.
GIVEN: Rotational speed of inner arm and lengths of the two arms.
DRAW:

* *
c1 c2
*
b1 cos β − sin β
*
b2 sin β cos β
FORMULATE EQUATIONS: We’ll use the formula for a moment balance about a rotating
point - in this case the point A. β is referenced with respect to the inner arm, which is rotating at
a constant rate ω. Therefore the angular acceleration of the outer arm is simply β̈.
X *
MA = IA β̈ *
c 3 + m r*G/ × a*A
A

SOLVE:
*
a*A = −L1 ω 2 b 1
Using this in our moment balance gives us
L2 * *
0 = IA β̈ *
c3 − m c 1 ×L1 ω 2 b 1
2
L
c3 − m 2 *
= IA β̈ * c ×L1 ω 2 [cos β *
c 1 − sin β *
c 2]
2 1
mL1 L2 ω 2
= IA β̈ + sin β
2
Restricting our attention to small angles β gives us

mL1 L2 ω 2
IA β̈ + β=0
2
mL2
Using IA = 2 gives us
3
r
3L
ωn = 1
2L ω rad/s
2

93
9.1.20
GOAL: Determine the given system’s natural frequency.
GIVEN: System configuration and parameter values.
DRAW: G1 and G2 show the individual mass centers of each bar segment while G represents the
overall mass center.

FORMULATE EQUATIONS:
Summing about the fixed point O will give us the single equation of motion that we need:
IO θ̈ = −mg|rG/ | sin θ
O

SOLVE:
Writing our moment sum as an ordinary differential equation and only considering small angles θ
gives us
IO θ̈ + mg|rG/ |θ = 0
O

The mass of bar 1 is (1.5 m)(10 kg/m) = 15 kg and the mass of bar 2 is (0.6 m)(10 kg/m) = 6 kg
The position of the mass center is given by
(21 kg) r*G/ = (−0.75 *
 m)(15 kg) + [(−1.5 *
 − 0.3 *
ı ) m](6 kg)
O

r*G/ = (−0.964 *
 − 0.086 *
ı ) m ⇒ |rG/ | = 0.968 m
O O

Now we need IO :
m1 L21 m2 L22 L22
!
IO = + + m2 L21 +
3 12 4
!
(15 kg)(1.5 m)2 (6 kg)(0.6 m)2 (0.6 m)2
= + + (6 kg) (1.5 m)2 +
3 12 4
= 25.5 kg·m2

94
Our natural frequency is given by

mg|rG/ |
ωn2 = O
IO
(21 kg)(9.81 m/s2 )(0.968 m)
=
25.5 kg·m2

ωn = 2.80 rad/s

95
9.1.21
GOAL: Determine the given system’s natural frequency.
GIVEN: System configuration and parameter values.
DRAW:

FORMULATE EQUATIONS:
The spring will stretch until the system is in equilibrium. For any motions around this equilibrium
both masses will move in unison. If we account for the equilibrium stretch xeq as well motion in
addition to this (x) then we have the three equations

mA ẍ = −k(xeq + x) + T1
mC r2
θ̈ = r(T2 − T1 )
2
mB ẍ = mB g − T2

SOLVE:
The pulley C is rotated by the rope such that θ̈ = ẍr . Using this relationship in the three governing
equations of motion leads to the static relationship xeq = mB g/k and the equation of motion
mC
(mA + mB + )ẍ + kx = 0
2
k 1000 N/m
ωn2 = m =
(mA + mB + 2C ) 15 kg

ωn = 8.16 rad/s

96
9.1.22 q
3g
GOAL: Show that ωn = 2L
GIVEN: System configuration and parameter values.
DRAW:

FORMULATE EQUATIONS:
Summing about the fixed point O will give us the single equation of motion that we need, where
the force of gravity acts through the bar’s mass center, located halfway along the bar.
L
IO θ̈ = −mg sin θ
2
SOLVE:
Writing our moment sum as an ordinary differential equation and only considering small angles θ
gives us
L
IO θ̈ + mg θ = 0
2
Now we need IO :
mL2
IO =
3
Our natural frequency is given by
mgL/2
ωn2 =
mL2 /3
q
3g
ωn = 2L

97
9.1.23
GOAL: Find ωn for the illustrated system.
GIVEN: System configuration and parameter values.
DRAW:

FORMULATE EQUATIONS:
Summing about the fixed point O will give us the single equation of motion that we need:
L
IO θ̈ = −g(m1 + m2 L) sin θ − kθ sin θ
2
SOLVE:
Putting our force balance equation into the form of an ordinary differential equation and assuming
only small angles gives us
L
 
IO θ̈ + g(m1 + m2 L) + kθ θ = 0
2
m1 L2
IO = + m2 L2
3

L
g(m1 + m2 L) + kθ
ωn2 = 2
m1 L2
+ m L2
3  2
2 5 kg

9.81 m/s + 2 kg (1.4 m) + 15 N·m/rad
2
=
5 kg
 
+ 2 kg (1.4 m)2
3

ωn = 3.27 rad/s

98
9.1.24
GOAL: Determine the natural frequency of oscillation of the system depicted and described.
GIVEN: Shape of the body.
DRAW:

* *
ı 
*
er sin θ − cos θ
e*θ cos θ sin θ

The figure doesn’t show the forces acting through the point O because these will have no effect on
the moment about O.
FORMULATE EQUATIONS:
2
We’ll use the formula for the mass moment of inertia of a circular disk (I = mr
2 ), the parallel axis
theorem (IA = I + md2 ), and the equation for a body’s center of mass (m r* = mi r*i ). This
P
will allow us to form the body’s equation of motion for small θ and we’ll then determine ωn by
inspection of the oscillator equation.
SOLVE: First we’ll determine the mass of a wooden disk without a hole.
mwh = ρπr2 (1)
Next we’ll determine the mass of a disk with negative density and radius r/3 (mh ). This is simply a
convenience because it will allow us to superimpose the two bodies and obtain what we’re actually
analyzing - a disk with a hole.
 2
r ρπr2
mh = −ρπ =− (2)
3 9
The actual mass of our disk is therefore
ρπr2 8ρπr2
md = ρπr2 − =
9 9
We’ll now look for h, the distance of the mass center from O, the center of the large disk.
r*G/ md = 0(mwh ) + r*A/ mh
O O
! !
8ρπr2 2r * ρπr2
 
*
r =0+ e −
G/
O 9 3 r 9
r * r
r*G/ = er ⇒ h =
O 12 12
The mass moment of inertia is equal to that of an entire disk about O plus the contribution of the
“negative mass” smaller disk.

99
  2
r
mwh r2 mh 3 2
− mh 2r

IO = 2 − 2 3
4
= ρπr − ρπr4 − 4ρπr4
2 162 81
4
= 4ρπr
9
The only moment is that due to gravity and so for small angles θ we have
IO θ̈ = −mghθ

4ρπr4 8ρπgr3
θ̈ = − θ
9 108
g
θ̈ + θ = 0
6r
g
q
ωn = 6r

100
9.1.25
GOAL: Determine the natural frequency of oscillation of the system depicted and described.
GIVEN: Shape of the body.
DRAW:

* *
ı 
*
er sin θ − cos θ
e*θ cos θ sin θ

The figure doesn’t show the forces acting through the point O because these will have no effect on
the moment about O.
FORMULATE EQUATIONS:
2
We’ll use the formula for the mass moment of inertia of a circular disk (I = mr 2 ), the parallel axis
2
theorem (IA = I + md ), and the equation for a body’s center of mass (m r = *
P
mi r*i ). This
will allow us to form the body’s equation of motion for small θ and we’ll then determine ωn by
inspection of the oscillator equation.
We’ll find the mass of the body and also the rotational inertia by considering there to be a solid disk
of radius 2r with mass mwh = 4ρπr2 and a smaller solid disk with “negative mass” mh = −ρπr2 .
SOLVE:
The actual mass of our body is given by
mb = mwh + mh = 3ρπr2
The mass moment of inertia about G is given by
m (2r)2 mh r2
IG = wh2 + 2

= 8ρπr4 − 21 ρπr4 = 15
2 ρπr
4

Using the parallel axis theorem we can find IO :

15 21
IO = IG + mb r2 = ρπr4 + (3ρπr2 )r2 = ρπr4
2 2
The only moment is that due to gravity and so for small angles θ we have
IO θ̈ = −mgrθ

21ρπr4
θ̈ = −3ρπgr3 θ
2

101
 2g
θ̈ + θ=0
7r
r
ωn = 2g
7r

102
9.1.26
GOAL: Determine the equation of motion, the natural frequency of oscillation of the system and
the complete solution for free vibrations of the illustrated system.
GIVEN: Configuration and parameters of the system. k = 3 lb/ft, r = 0.25 ft, radius of gyration
is √1 ft, the unstretched length of the spring is L = 0.5 ft.
4 2
DRAW:

FORMULATE EQUATIONS:
3 lb
m= = 9.32×10−2 slg
32.2 ft/s2
2
1

I = (9.32×10−2 slg) √ ft = 2.91×10−3 slg· ft2
4 2
The rope is inextensible and thus we have

ÿ = −rθ̈ (1)

A force balance in the *

 direction gives us

mÿ = mg − T − k(y − L) (2)

and a moment balance about the disk’s mass center gives us

I θ̈ = −T r (3)
!
k mg + kL
(1), (2), (3) ⇒ ÿ + y=
m + I/r2 m + I/r2

 
  −2 2
 3 lb/ft  y = (9.32×10 slg)(32.2 ft/s ) + (3 lb/ft)(0.5 ft)

ÿ+

2.91×10−3 slg· ft2  2.91×10−3 slg· ft2
9.32×10−2 slg + 9.32×10 −2
slg +
 
(0.25 ft)2 (0.25 ft)2

ÿ + (21.5 s−2 )y = 32.2 ft/s2 (4)

By inspection, the natural frequency of oscillation is given by
√
ωn = 21.5 s−2 = 4.63 rad/s

ωn = 4.63 rad/s
The free response will contain a constant (to account for gravity) and a sinusoidal component due
to the spring/mass oscillations:

103
 y = a1 cos((4.63 s−1 )t) + a2 sin((4.63 s−1 )t) + a3 (5)

(5) → (4) ⇒ a3 = 1.5 ft

Using a3 along with the initial conditions y(0) = 0.5 ft and ẏ(0) = 0 and (5) gives us
a1 = −1.0 ft, a2 = 0
Thus we have the full solution
y(t) = [1.5 − cos((4.63 s−1 )t)] ft

104
9.1.27
GOAL: Determine the natural frequency of oscillation of the illustrated system.
GIVEN: Mass of the body and spring constants.
DRAW:

(a)-(d) show the individual springs and the forces acting on them.
FORMULATE EQUATIONS:
The only equations we’ll need will be the force relationship for a spring (F = kx) and an application
of a force balance to the mass and across the springs.
SOLVE:
The main complication in this problem is in determining how the springs k1 and k2 act with respect
to the mass.
From (a) we have
k1 y = F1 (1)
Because the spring ktwo (Figure (b) is massless, the force across it must be the same at each end.
If this weren’t so then it would imply an infinite acceleration for k2 , which we reject from physical
considerations. The extension of the spring is equal to k2 (x − y) and thus we have
F1 = k2 (x − y) (2)
k2
(1), (2) ⇒ y= x (3)
k1 + k2
From (c) and (d) we have
F3 = k3 x, F4 = k3 x (4)

Force balance: mẍ = −F1 − F3 − F4 (5)

!
k1 k2
(1), (3), (4), (5) ⇒ mẍ + + 2k3 x = 0
k1 + k2
v
u k k
u 1 2
+ 2k3
k1 + k2
t
ωn = m

105
9.1.28
GOAL: Determine the free vibration of the system depicted.
GIVEN: The inner surface area, density of water, and length of filled section.
DRAW:

FORMULATE EQUATIONS:
The total force acting on the water (neglecting water/enclosure interactions) is found from
Z x
ρgsdx = 2sρgx
−x
SOLVE: Applying a force balance:
lsρẍ = −2sρgx
2g
ẍ + x=0
l
r
ωn = 2g
l

106
9.1.29
GOAL: Determine the free vibration of the system depicted.
GIVEN: ρ = 13, 570 kg/m3 , m = 22 g, A = 16 mm2 .
DRAW:

FORMULATE EQUATIONS:
The total force acting on the mercury column is equal to the displaced length x times the mercury’s
density times gravity times cos θ (to account for the fact that some of the weight is supported by
the slanted surface of the tube.
The restoring force is equal to
1
 
−x + 1 ρg cos θ
cos θ
1
 
Force balance: ρlẍ = −x + 1 ρg cos θ (1)
cos θ
SOLVE:
1
 
(1) ⇒ ρlẍ + + 1 ρg cos θx = 0
cos θ

lẍ + (1 + cos θ) gx = 0
By inspection we have
r
(1 + cos θ)g
ωn = l

107
9.1.30
GOAL: Find the natural frequency for the system depicted.
GIVEN: System configuration.
DRAW:

FORMULATE EQUATIONS: The springs are massless and therefore the forces at each end
must be equal and opposite.
(a)⇒ F = k1 y (1)

(b)⇒ F = k2 (z − y) (2)

(c)⇒ F = k3 (x − z) (3)
k1 + k2
(1), (2) ⇒ k1 y = k2 (z − y) ⇒ z = y (4)
k2

(2), (3) ⇒ k2 (z − y) = k3 (x − z) (5)

k2 k3
(4), (5) ⇒ y= x (6)
k1 k2 + k1 k3 + k2 k3

Force balance: mẍ = −F (7)

k2 k3
(1), (6), (7) ⇒ y= x
k1 k2 + k1 k3 + k2 k3
s
k1 k2 k3
ωn =
m(k1 k2 + k2 k3 + k3 k1 )

108
9.1.31
GOAL: Determine the natural frequency of the system depicted.
GIVEN: The mass, spring constant and radius of the pulley.
DRAW:

x indicates the motion of the mass and y shows the motion of the end of the spring connected to
the massless rope.
FORMULATE EQUATIONS:
Force balance: mẍ = −2T + mg (1)
Applying the force displacement relationship for a spring as well as using the kinematics of a simple
pulley gives us
T = ky = 2kx (2)
SOLVE:
(1), (2) ⇒ mẍ + 4kx = mg (3)
The equilibrium position can be found from solving (3) for the static case (ẋ = ẍ = 0):
mg
4kxeq = mg ⇒ xeq =
4k
mg
For free vibrations around this equilibrium we can re-express x as 4k + z and substitute this into
(3) to obtain
mz̈ + 4kz = 0
r
4(600 N/m)
q
ωn = 4k = = 10.95 rad/s
m 20 kg
Since the pulleys are massless, their radii are not relevant to the problem.

109
9.1.32
GOAL: Determine the frequency of oscillation of the wood cube.
GIVEN:
Water’s density, wood’s density, g, and l.
DRAW:

FORMULATE EQUATIONS: There exist two opposed forces when the block is displaced a
distance x down into the water from its equilibrium position. The weight of the block pushes it
down and the buoyancy force force of the displaced water pushes up:
Force acting down: gl3 ρwood

Force acting up: gl2 aρwater

For equilibrium we have
al2 gρwater = gl3 ρwood
and hence
ρwood
a= l
ρwater
SOLVE: Displace block down by x :
Force balance: ρwood l3 ẍ = −(a + x)ρwater gl2 + ρwood gl3
!
g ρwater
ẍ + x=0
l ρwood

gρwater
r
ωn = lρwood

110
9.1.33
GOAL: Determine the depicted system’s natural frequency of oscillation about θ = 0
GIVEN: l = 1.5m, m = 2kg, and g.
DRAW:

FORMULATE EQUATIONS:
Moment balance about O: IO θ̈ = −mgl sin θ (1)
SOLVE:
IO = ml2 (2)

(1), (2) ⇒ ml2 θ̈ + mgl sin θ = 0

Looking at this for only small values of θ gives us
g
θ̈ + θ = 0
l
By observation we have
r
q
g = 9.81 m/s2
ωn = l 1.5 m = 2.56 rad/s

111
9.1.34
GOAL: Determine the depicted system’s natural frequency about θ = 0
GIVEN: l1 = 1 m, l2 = 1.1 m, m1 = m2 = 5 kg, and g.
DRAW:

FORMULATE EQUATIONS:
Moment balance about O: IO θ̈ = −m1 gl1 sin θ − m2 gl2 sin θ (1)
SOLVE:
IO = m1 l12 + m2 l22 (2)
   
(1), (2) ⇒ m1 l12 + m2 l22 θ̈ + g m1 l1 + m2 l2 sin θ = 0
Looking at this for only small values of θ gives us   
m1 l12 + m2 l22 θ̈ + g m1 l1 + m2 l2 θ = 0
By observation we have
s s
g(m1 l1 + m2 l2 ) 9.81 m/s2 [(5 kg)(1 m) + (5 kg)(1.1 m)]
ωn = = = 3.05 rad/s
m1 l12 + m2 l22 (5 kg)(1 m)2 + (5 kg)(1.1 m)2

112
9.1.35
GOAL:
Determine the depicted system’s natural frequency of oscillation.
GIVEN: r, m, g, and no slip conditions.
DRAW:

* *
ı 
*
b1 cos φ − sin φ
*
b2 sin φ cos φ
FORMULATE EQUATIONS:
To solve this problem we’ll sum moments around P , using the formula for a moment sum about an
accelerating point:
X * *
MP = IP θ̈ k + m r*G/ × a*P
P

and the formula relating the acceleration of two points on a rigid body:

a*B = a*A + α×
*
r*B/ + ω×
* *
ω× r*B/
A A

SOLVE:
Using Appendix B, we see that the moment of
 inertia about the center of mass G is given by
1 16

− mr2 (1)
2 9π 2
Using the parallel axis theorem gives us
IP = IG + mrG2 (2)
/P

From the figure we see that  

4r 4r 
 
sin θ = rG/ sin φ ⇒ sin φ =  sin θ (3)
3π P 3πrG/
P

To solve the problem we’ll need the value of rG/ . From the figure we see that
P

113
 2 2
4r sin θ 4r cos θ
 
2 2 2
rG =b +d = + r−
/P 3π 3π
8r2 cos θ 16r2
rG2 = r2 − + (4)
/P 3π 9π 2
Applying our moment balance about P gives us  
* * *
 ) = IP θ̈ k + rG/ b 2 ×m θ̇2 r *
rG/ b 2 ×(−mg * 
P P

−rG/ mg sin φ = IP θ̈ + rG/ mθ̇2 r sin φ

P P

Now we consider only small values of θ, φ, θ̇ and φ̇ and obtain the linearized equation
−rG/ mgφ = IP θ̈ (5)
P

1 16 8 16 4mgr
    
2 2
(1) − (5) ⇒ mr − 2 + mr 1− + 2 θ̈ + θ=0
2 9π 3π 9π 3π
9π − 16 4g
 
θ̈ + θ=0
6π 3πr
By inspection
r
ωn = 8g
(9π − 16)r

114
9.1.36
GOAL:
Determine the depicted system’s natural frequency of oscillation.
GIVEN: r, m, g, and no slip conditions.
DRAW:

* *
ı 
*
b1 cos φ − sin φ
*
b2 sin φ cos φ
FORMULATE EQUATIONS:
To solve this problem we’ll sum moments around P , using the formula for a moment sum about an
accelerating point:
X * *
MP = IP θ̈ k + m r*G/ × a*P
P

and the formula relating the acceleration of two points on a rigid body:

a*B = a*A + α×
*
r*B/ + ω×
* *
ω× r*B/
A A

SOLVE:
Using Appendix B, we see that the moment of inertia !about the center of mass G is given by
π2 − 4
mr2 (1)
π2
Using the parallel axis theorem gives us
IP = IG + mrG2 (2)
/P

From the figure we see that  

2r 2r 
 
sin θ = rG/ sin φ ⇒ sin φ =  sin θ (3)
π P πrG/
P

To solve the problem we’ll need the value of rG/ . From the figure we see that
P

115
 2 2
2r sin θ 2r cos θ
 
2 2 2
rG =b +d = + r−
/P π π
4r2 cos θ 4r2
rG2 = r2 − + 2 (4)
/P π π
Applying our moment balance about P gives us  
* * *
 ) = IP θ̈ k + rG/ b 2 ×m θ̇2 r *
rG/ b 2 ×(−mg * 
P P

−rG/ mg sin φ = IP θ̈ + rG/ mθ̇2 r sin φ

P P

Now we consider only small values of θ, φ, θ̇ and φ̇ and obtain the linearized equation
−rG/ mgφ = IP θ̈ (5)
P
" ! #
π2 − 4 4 4 2mgr

2 2
(1) − (5) ⇒ mr + mr 1− + 2 θ̈ + θ=0
π2 π π π
g
θ̈ + θ=0
r(π − 2)
By inspection
r
ωn = g
(r(π − 2)

116
9.1.37
GOAL: Determine the natural frequency of the string supported bar.
GIVEN: System configuration.
DRAW:

FORMULATE EQUATIONS:
Since both wires are of length h, the uniform bar experiences no rotation- just curvilinear transla-
tion. We’ll let β indicate rotation of the bar, θ indicate angular deflection of the wires, I¯ be the
mass moment of inertia of bar about its mass center and ā be the acceleration of bar’s mass center.
Moment balance: I¯β̈ = T2 l cos θ − T1 l cos θ (1)

Force balance *
ı: ¨ = −T sin θ − T sin θ
mx̄ (2)
2 1

Force balance *
: mȳ¨ = T2 cos θ + T1 cos θ − mg (3)
The x and y components of the mass center’s motion are given by

¨ = hθ̈ cos θ − hθ̇2 sin θ

x̄ (4)
ȳ¨ = hθ̈ sin θ + hθ̇2 cos θ (5)
 
mh θ̈ cos θ − θ̇2 sin θ = −T2 sin θ − T1 sin θ
(4), (5) → (2), (3) ⇒  
mh θ̈ sin θ + θ̇2 cos θ = T2 cos θ + T1 cos θ − mg
Linearizing:

mhθ̈ = (−T2 − T1 )θ (6)

0 = T2 + T1 − mg (7)

(7) ⇒ T2 = mg − T1 (8)
Using β̈ = 0 in (1) yields
T1 = T2 (9)
mg
(9) → (8) ⇒ T2 = T1 = (10)
2
g
(10) → (6) ⇒ mhθ̈ = −mgθ ⇒ θ̈ + θ = 0
h

r
g
ωn =
h

117
9.1.38
GOAL: Determine the natural frequency of oscillation for the system depicted.
GIVEN: System configuration.
DRAW:

FORMULATE EQUATIONS:
Moment balance about O: −mgr sin θ = mr2 θ̈ (1)
SOLVE:
(1) ⇒ rθ̈ + g sin θ = 0
Only considering small values of θ gives us
g
θ̈ + θ = 0
r
g
q
ωn = r

118
9.1.39
GOAL: Determine the natural frequency of the system depicted.
GIVEN: L1 = 2 m, L2 = 1 m, L3 = 1 m, k1 = 1000 N/m, k2 = 1500 N/m, ρ = 4 kg/m.
DRAW:

FORMULATE EQUATIONS: We’re only going to consider small angles of rotation and thus
cos θ ≈ 1.0 and sin θ ≈ θ.

Moment sum about O : IO θ̈ = −k1 L21 θ−k2 (L1 +L2 )2 θ = −(1000 N/m)(2 m)2 θ−(1500 N/m)(3 m)2 θ

IO = −(17500 N· m)θ (1)

The mass moment of inertia about O is given by
mL2 [(4 kg/ m)(4 m)](4 m)2
IO = = = 85.3 kg· m2 (2)
3 3
SOLVE:
(1), (2) ⇒ (85.3 kg· m2 )θ̈ + (17500 N· m)θ = 0
r
ωn = 17500 N· m = 14.3 rad/s
85.3 kg· m2

119
9.1.40
GOAL: Determine the natural frequency of the system depicted.
GIVEN: l1 = 3 m, l2 = 5 m, k = 10, 000 N/m, m1 = 5 kg, m2 = 7 kg, ρ = 1 kg/m.
DRAW:

FORMULATE EQUATIONS: We’re only going to consider small angles of rotation and thus
cos θ ≈ 1.0 and sin θ ≈ θ.
1
IO = IO + IO = ρl23 + m1 l12 + m2 l22 (1)
bar mass 3

Moment balance at O: IO θ̈ = −l1 F = −l12 kθ (2)

SOLVE:
1
IO = (1 kg/m)(5 m)3 = 41.6 kg· m2
bar 3

IO = (5 kg)(3 m)2 + (7 kg)(5 m)2 = 220 kg· m2

mass

IO = IO + IO = 261.6̄ kg· m2 (3)

bar mass

(2), (3) ⇒ (261.6̄ kg· m2 )θ̈ = −(3 m)2 (10, 000 N/m)θ

(261.6̄ kg· m2 )θ̈ + (90, 000 N· m)θ = 0

s
90, 000 N· m
ωn =
261.6̄ kg· m2

ωn = 18.6 rad/s

120
9.1.41
GOAL: Determine the natural frequency of oscillation of the band/pulley system.
GIVEN: Mass moment of inertia of each pulley is 0.001 kg· m2 , r = 0.04 m and k = 10, 000 N/m.
DRAW:

FORMULATE EQUATIONS:
The problem is symmetric. The figure illustrates how the two pulleys will look when rotated by an
angle θ.
The tangential motion of the pulley at the point where the steel hoop joins it is equal to θr. Thus
the tension T is given by T = 2kθr (the factor of 2 being due to having two pulleys)
Summing moments about the center of the left pulley gives us
IO1 θ̈ = −T r − T r = −2T r (1)
SOLVE:
(1) ⇒ IO1 θ̈ + 2T r = 0

IO1 θ̈ + 4r2 kθ = 0

s s
4r2 k = 4(.04 m)2 (10, 000 N/m)
ωn = = 253 rad/s
IO 0.001 kg· m2

121
9.1.42
GOAL: Determine the natural frequency of oscillation of the system depicted and described.
GIVEN: System configuration.
DRAW:

FORMULATE EQUATIONS: We’ll only consider small angles of rotation and thus sin θ ≈ θ,
sin φ ≈ φ, cos θ ≈ 1.0 and cos φ ≈ 1.0.
We can see from the figure that the in-plane rotation of the disk is related to the angular motion
of the supporting wires by
r
θr = φl ⇒ φ = θ
l
Each wire has a tension T , which acts to support the weight of the disk and also induce an in-plane
rotational moment to the disk when it’s disturbed from equilibrium. Because the angles are small
the vertical force balance gives us
mg
T =
3
The in-plane force acting on the disk is equal to the projection
 of the tension force onto the disk:
mg mg rθ
F = sin φ =
3 3 l
There are three wires and so the total restoring torque is given by
mgr2 θ
M = 3rF =
l
mgr2
Moment balance about G: IG θ̈ = − θ (1)
l
SOLVE:
mr2 mgr2
(1) ⇒ θ̈ + θ=0
2 l
r
ωn = 2g
l

122
9.1.43
GOAL: Determine the natural frequency of oscillation of the system depicted and described.
GIVEN: System configuration.
DRAW:

* *
ı  *
ı *

* *
b1 sin φ cos φ c1 − sin θ cos θ
* *
b2 − cos φ sin φ c2 − cos θ − sin θ
FORMULATE EQUATIONS: We’ll use geometry to project the forces due to tension into the
tangential components that act to supply a restoring moment to the disk and then use
MO = IO θ̈
to find the disk’s equation of motion.
SOLVE: We’ll consider only a single supporting wire and then multiply the results by four. Each
wire has a tension T and the force a single wire exerts on the disk may be written as
*
T b 1 = T sin φ *
ı + T cos φ *


where the *ı -component has a moment arm r, while the *  -component has a moment arm r sin θ ≈
rθ.
The force is applied at the position r* = r *
c 1 = −r sin θ *
ı + r cos θ *
 , leading to a moment:
*
(−r sin θ *
ı + r cos θ *
 )×(T sin φ *
ı + T cos φ *
 ) = (−T r sin θ cos φ − T r cos θ sin φ) k
and thus with four wires the moment would become
* *
M = −4T r (sin θ cos φ + cos θ sin φ) k

By geometry,
r
r sin θ = l sin φ ⇒ sin φ =
sin θ
l
Using this relation along with the small angle approximations sin θ ≈ θ, cos θ ≈ 1, and cos φ ≈ 1,
the moment may be written
r *
 
*
M = −4T rθ 1 + k
l
r
 
Moment balance about G: IG θ̈ = −4T rθ 1 +
l

123
 r
 
IG θ̈ + 4T rθ 1 + =0
l
By inspection we have
s
4T r(l + r)
ωn =
IG l

124
9.1.44
GOAL: Determine the natural frequency of oscillation of the illustrated system.
GIVEN: Mass and spring constants.
DRAW:

FORMULATE EQUATIONS:
The only equations we’ll need will be the force relationship for a spring (F = kx) and an application
of a force balance to the mass and across the springs.
SOLVE:
Each spring supplies a force proportional to its deflection. Thus we have
F1 = k1 x (1)

F2 = k2 x (2)

Force balance: mẍ = −F1 − F2 (3)

 
(1) − (3) ⇒ mẍ + k1 + k2 x = 0
By inspection we have
r
k1 + k2
ωn = m

125
9.1.45
GOAL: Determine the natural frequency of oscillation of the illustrated system.
GIVEN: Mass and spring constants.
DRAW:

FORMULATE EQUATIONS:
The only equations we’ll need will be the force relationship for a spring (F = kx) and an application
of a force balance to the mass and across the springs.
SOLVE:
Each spring supplies a force proportional to its deflection. Thus we have
F1 = k1 x (1)

F2 = k2 x (2)

F3 = k3 x (3)

Force balance: mẍ = −F1 − F2 − F3 (4)

 
(1) − (4) ⇒ mẍ + k1 + k2 + k3 x = 0
By inspection we have
r
k1 + k2 + k3
ωn = m

126
9.1.46
GOAL: Determine the natural frequency of oscillation of a cylinder rolling within a circular basin.
GIVEN: Geometry of the given system.
DRAW:

* *
ı 
*
b1 cos θ sin θ
*
b2 − sin θ cos θ
FORMULATE EQUATIONS:
We’ll use the fact that the velocity of the contact point C is zero along with a mass balance about
C:
* *
MC k = IC θ̈ k + r*G/ × a*C (1)
C

SOLVE: Because we have roll without slip the velocity of the contact point C is zero. We can
therefore find the velocity of G in two ways: by using
* *
v*G = v*C + φ̇k ×r1 b 2
where φ represents the absolute rotation of the cylinder,

and 
also from
* * * *
v G = v O + θ̇ k × r2 − r1 (− b 1 )
Both expressions have to yield the same answer and thus we have
  r − r1
r2 − r1 θ̇ = −r1 φ̇ ⇒ −φ̈ = 2 θ̈ (2)
r1
* * * *
(1) ⇒  ) = IC φ̈k + r1 b 2 ×mφ̇2 r1 b 2
r1 b 2 ×(−mg *

mgr1 sin θ = IC φ̈ (3)

!
r2 − r1
(2), (3) ⇒ IC θ̈ + mgr1 sin θ = 0
r1

mr2
Taking small angles θ and realizing that IC = 2 1 gives us
3 
r2 − r1 θ̈ + gθ = 0
2

127
By inspection we have
s
ωn =  2g 
3 r2 − r 1

128
9.1.47
GOAL: Determine the natural frequency of the pivoted, spring-restrained system.
GIVEN: Dimensions, springs and masses.
DRAW:

FORMULATE EQUATIONS: We’re only going to consider small angles of rotation and thus
cos θ ≈ 1.0 and sin θ ≈ θ.
Because the system is pivoted about O we’ll simply consider a moment balance about O:
Moment balance at O: IO θ̈ = −l3 F2 − l2 F3 − l3 F1 (1)
SOLVE: The mass moment of inertia about O of the system is given by
IO = IO + ml32 (2)
bar

where IO is the mass moment of inertia of the bar-structure without the lumped mass included.
bar
The force exerted by the springs is equal to their spring constants times their deflection:
F1 = k1 l3 θ (3)

F2 = k2 l3 θ (4)

F3 = k3 l2 θ (5)
   
(1) − (5) ⇒ IO + ml32 θ̈ + (k1 + k2 )l3 + k3 l2 θ = 0
bar

By inspection we have
s
(k1 + k2 )l3 + k3 l2
ωn =
IO + ml32
bar

129
9.1.48
GOAL: Determine the natural frequency of the pivoted, spring-restrained system.
GIVEN: Dimensions, springs and masses.
DRAW:

FORMULATE EQUATIONS: We’re only going to consider small angles of rotation and thus
cos θ ≈ 1.0 and sin θ ≈ θ.
We’re given that the bars are massless and therefore the only rotational inertia will come from the
individual masses. Because the system is pivoted about O we’ll simply consider a moment balance
about O:
Moment balance at O: IO θ̈ = −l3 F (1)
SOLVE: The force exerted by the springs is equal to their spring constants times their deflection:
F = k1 l3 θ + k2 l3 θ = (k1 + k2 )l3 θ (2)

IO = m1 l12 + m2 l22 (3)

 
(1), (2), (3) ⇒ m1 l12 + m2 l22 θ̈ + (k1 + k2 )l32 θ = 0

By inspection we have
v
u (k + k )l2
u
ωn = t 12 2 32
m1 l1 + m2 l2

130
9.1.49
GOAL: Find the system’s natural frequency.
GIVEN: System configuration.
DRAW:

FORMULATE EQUATIONS: We have three equations of motion which we’ll ultimately com-
bine into a single equation.
Body A, moment balance: I¯θ̈ = −N3 r (1)

Body A, force balance: mA ẍ = N3 − kx (2)

Body B, force balance: mB ÿ = −N3 (3)

For simplicity we’ve chosen clockwise to be the positive direction of rotation for the cylinder.
SOLVE:
¯ ẍ − ÿ = −N r
 
(1) ⇒ I 3
(4)
r

(2) → (3) ⇒ −mB ÿ − kx = mA ẍ (5)

I¯
(3) → (4) ⇒ (ẍ − ÿ) = rmB ÿ (6)
r
I¯ẍ I¯ I¯
! ! !
−1  
= rmB + ÿ |{z}
= rmB + kx + mA ẍ
r r r mB
(5)

I¯ m I¯ I¯
! !

2
+ mA + A 2 ẍ + k 1 + x=0
r mB r mB r2
v  
k I¯ + mB r2
u
u
ωn = t 
u 
I¯ mA + mB + mA mB r2

131
9.1.50
GOAL: Find the natural frequency of a coupled cylinder-pendulum.
GIVEN: Sizes and masses of the connected bodies. mA = 10 kg, r = 0.25 m, 2h = 0.22 m,
mB = 5 kg
DRAW:

* *
ı 
*
b1 cos θ sin θ
*
b2 − sin θ cos θ
FORMULATE EQUATIONS:
We’ll apply force and moment balances to both the cylinder and the pendulum.
SOLVE:
Cylinder:
Force balance, *
ı : F3 − F1 = mA ẍ (1)

Force balance, *
 : N = F 2 + mA g (2)

3mA r2
Moment balance about C: rF1 = β̈ (3)
2
Pendulum:
A full force balance gives us    
* *
F1 *
ı + F2 − mB g * ı + hθ̈ b 1 + hθ̇2 b 2
 = mB ẍ *

Force balance, *
ı : F1 = mB (ẍ + hθ̈ cos θ − hθ̇2 sin θ) (4)

Force balance, *
 : F2 = mB g + mB hθ̈ sin θ + mB hθ̇2 cos θ (5)
* *
Moment balance about O: MO = IO θ̈ k + r*G/ ×mB a*O
O

* * *
−mB gh sin θ k = IO θ̈ k + (−h b 2 )×mB (ẍ *
ı)

−mB gh sin θ = IO θ̈ + hmB ẍ cos θ (6)

Roll w/o slip: ẍ = −rβ̈ (7)

3mA
(3), (4), (7) ⇒ mB (ẍ + hθ̈ cos θ − hθ̇2 sin θ) = − ẍ
2

132
 hmB
ẍ = (−θ̈ cos θ + θ̇2 sin θ) (8)
mB + 1.5mA

h2 m2B cos θ
(6), (8) ⇒ −mB gh sin θ = IO θ̈ + (−θ̈ cos θ + θ̇2 sin θ)
mB + 1.5mA

h2 m2B cos θ
IO θ̈ + mB gh sin θ + (−θ̈ cos θ + θ̇2 sin θ) = 0
mB + 1.5mA
Considering only small values of θ gives us
h2 m2B
IO θ̈ + mB ghθ + (−θ̈) = 0
mB + 1.5mA

h2 m2B
!
IO − θ̈ + mB ghθ = 0
mB + 1.5mA
The length of the pendulum is 2h and its mass moment of inertia is given by
m (2h)2 4h2 mB
IO = B =
3 3
Our equation of motion thus becomes
4h2 mB h2 m2B
!
− θ̈ + mB ghθ = 0
3 mB + 1.5mA
!
hmB + 6hmA
θ̈ + gθ = 0
3mB + 4.5mA
By observation,
s
(9mA + 6mB )g
ωn =
2h(6mA + mB )

133
9.2 Undamped, Sinusoidally Forced Response for Single Degree
of Freedom Systems

134
9.2.1
GOAL:
Find the equations of motion for a forced, vibratory system.
GIVEN: Excitation and system structure.
DRAW:

FORMULATE EQUATIONS:
Because the mass m1 ’s motion is completely prescribed, the two-mass system only has a single
governing equation – that governing m2 ’s motion. From the illustrated FBD we have, from applying
a force balance
m2 ẍ = −k1 x − k2 x + k3 (z − x)
SOLVE:
Putting the preceding equation into the form of an ordinary differential equation and expressing z
in terms of its given form yields

m2 ẍ + (k1 + k2 x + k3 ) = k3 z cos(ωt)

135
9.2.2
GOAL: Find h so that at maximum excursion the mass just reaches the bottom of the enclosure.
GIVEN: Configuration of the system. Acceleration of the enclosure is at 1.5 g upward, k =
4.6 N/m, m = 28 g and the spring has an unstretched length of L = 2 cm.
DRAW:

FORMULATE EQUATIONS: We’ll perform a force balance on the system and put it into the
form of an oscillator equation.
SOLVE:
First we’ll find the equilibrium position of the mass:
mb
mg = kxeq ⇒ xeq = (1)
k
The initial position of the mass is therefore at xeq + L = mg k + L.
mg
Force balance: m(ÿ − ẍ) = k(x − − L)
k
mẍ + kx = mg + kL + mÿ (2)
We’ll assume a solution for (2) of
x(t) = b1 cos(ωn t) + b2 sin(ωn t) + b3 (3)
mg mÿ
(2), (3) ⇒ b3 = +L+ (4)
k k
We can now apply the initial conditions ẋ(0) = 0 and x(0) = L + mg mÿ
k to find b1 = − k and b2 = 0.
Using these solutions for b1 , b2 and b3 gives us a final solution of
mg mÿ
x(t) = +L+ [1 − cos(ωn t)]
k k
The maximum excursion will occur at t = ωπ :
 n
π mg 2mÿ
x = +L+
ωn k k
Thus we’ll have
(0.028 kg)(9.81 m/s2 ) 2(0.028 kg)(1.5)(9.81 m/s2 )
h= + 0.02 m + 0.01 m +
4.6 N/m 4.6 N/m

h = 0.269 m

136
9.2.3
GOAL: Find the ratio of mass response to base input.
GIVEN: System configuration.
DRAW:

FORMULATE EQUATIONS:
Our equation of motion for this system is

mẍ + kx = ky

or, assuming a sinusoidal input and dividing by the mass m:

ẍ + ωn2 x = ωn2 ȳ cos ωt

SOLVE:
We’re given that the mass deflects 0.6 cm and thus can determine the system’s natural frequency
from a static force balance:
k g
k∆x = mg ⇒ ωn2 = = = 1635 s−2
m ∆x
If we assume an output of x(t) = x̄ cos ωt we can solve our equation of motion and obtain

ωn2
x̄ = ȳ
ωn2 − ω 2

Using the calculated value for ωn2 gives us

x̄
ȳ = 1635
1635−(80π)2
= −2.66×10−2

137
9.2.4
GOAL: Find the steady-state response of a mass subject to a seismic excitation.
GIVEN: System configuration, system parameter values and ground excitation.
DRAW:

FORMULATE EQUATIONS:
Our equation of motion for this system is

mẍ + (k1 + k2 )x = k1 y

Note that the k2 spring doesn’t act to transmit any force due to y but simply provides additional
stiffening to the system. Assuming a sinusoidal input gives us

mẍ + (k1 + k2 )x = k1 y0 sin 3t

SOLVE:
If we assume an output of x(t) = x0 sin 3t we can solve our equation of motion and obtain

k1
x0 = y0
k1 + k2 − m(3 rad/s)2

50 N/m
x0 = (0.02 m) = −6.6̄×10−2 m
75 N/m − (10 kg)(3 rad/s)2

138
9.2.5
GOAL: Find the steady-state response of a mass subject to a seismic excitation.
GIVEN: System configuration, system parameter values and ground excitation.
DRAW:

FORMULATE EQUATIONS:
Our equation of motion for this system is

mẍ + (k1 + k2 + k3 )x = k3 y

Note that the k1 and k2 springs doesn’t act to transmit any force due to y but simply provides
additional stiffening to the system. Assuming a sinusoidal input gives us

mẍ + (k1 + k2 + k3 )x = k3 y0 sin 12t

SOLVE:
If we assume an output of x(t) = x0 sin 12t we can solve our equation of motion and obtain

k3
x0 = y0
k1 + k2 + k3 − m(12 rad/s)2

10 N/m
x0 = (0.02 m) = 5.38×10−3 m
210 N/m − (1.2 kg)(12 rad/s)2

139
9.2.6
GOAL: Find the static deflection of a spring-mass system.
GIVEN: System configuration, system parameter values, ground excitation and associated steady-
state response.
DRAW:

FORMULATE EQUATIONS:
Our equation of motion for this system is

mẍ + kx = ky

Assuming a sinusoidal input gives us

mẍ + kx = kȳ sin ωt

SOLVE:
If we assume an output of x(t) = x̄ sin ωt we can solve our equation of motion and obtain

ωn2
x̄ = ȳ
ωn2 − ω 2

Using the given data gives us

!
ωn2
0.002 = 0.0011
ωn2 − (300 rad/s)2

ωn2 = 2.0×105 s−2

A static force balance gives us
mg g
k∆x = mg ⇒ ∆x = = 2
k ωn

9.81 m/s2
∆x = = 4.91×10−2 mm
2.0×105 s−2

140
9.2.7
GOAL: Determine a spring-mass system’s natural frequency.
GIVEN: System configuration, system parameter values, ground excitation and associated steady-
state response.
DRAW:

FORMULATE EQUATIONS:
Our equation of motion for this system is

mẍ + kx = ky

Assuming a sinusoidal input gives us

mẍ + kx = kȳ sin ωt

SOLVE:
If we assume an output of x(t) = x̄ sin ωt we can solve our equation of motion and obtain

x̄ ω2
= 2 n 2
ȳ ωn − ω

Using the given data gives us

!
−0.004 m ωn2
=
0.001 m ωn2 − (50 rad/s)2

Note that we used −0.004 m instead of 0.004 m because we were told that the response was out-of-
phase with the input.
1.25ωn2 = 2500 s−2

ωn = 44.7 rad/s

141
9.2.8
GOAL: Determine a spring-mass system’s natural frequency.
GIVEN: System configuration, system parameter values, ground excitation and associated steady-
state response.
DRAW:

FORMULATE EQUATIONS:
Our equation of motion for this system is

mẍ + kx = ky

Assuming a sinusoidal input gives us

mẍ + kx = kȳ sin ωt

SOLVE:
m = 50 lb 2 = 1.55 slg, k = 700 lb/in. = 8400 lb/ft.
32.2 ft/s
If we assume an output of x(t) = x̄ sin ωt we can solve our equation of motion and obtain

k
x̄ = ȳ
k − mω 2
Using the given data gives us

0.25 in. 8400 lb/ft

 
x̄ =
12 in./ft 8400 lb/ft − (1.55 slg)(60 rad/s)2

x̄ = 6.23×10−2 ft

142
9.2.9
GOAL: Find the natural frequency and response of a wheel balancer.
GIVEN: System configuration, parameter values and rotation speed.
DRAW:

FORMULATE EQUATIONS:
Our equation of motion for this system is

mẍ + 2kx = f (t) = mω 2 e sin ωt

SOLVE:
38 lb
m= = 1.18 slg
32.2 ft/s2
2k 2(444 lb/ft)
ωn2 = =
m 1.18 slg

ωn = 27.4 rad/s
Solving our equation of motion using x(t) = x̄ sin ωt gives us

mω 2 e
x̄ =
2k − mω 2
(1.18 slg)(40π rad/s)2 ( 0.08
12 ft)
=
888 lb/ft − (1.18 slg)(40π rad/s)2

0.007 ft

143
9.2.10
GOAL: Find the speed at which a vehicle’s wheel will lose contact with the road.
GIVEN: System configuration, parameter values and rotation speed.
DRAW:

* *
ı 
*
er cos θ sin θ
e*θ − sin θ cos θ
FORMULATE EQUATIONS: Let the spring compression be denoted by xc . Our equations of
motion for this system are
Force balance: −meω 2 e*r = (N − mg − xc k) *
 −F*
ı
Moment balance about 0 = M + xc ke cos ωt − F (r + e sin ωt) − N e cos ωt
mass center:
where θ̈ is zero due to the constant speed of rotation, M is an applied moment and θ = ωt.
SOLVE:
Taking our force balance in the * direction yields

N = mg + xc k − meω 2 sin θ = 0

N = 0 gives us

mg + xc k = meω 2 sin θ
The lowest ω to satisfy this corresponds to the largest value of sin θ, namely 1.0. Thus we have

mg + xc k = meω 2

50 lb 2
50 lb + 0.05 ft(12(43.5) lb/ft) = 2 (0.01 ft)ω
32.2 ft/s
ω = 70.0 rad/s

v = ωr = (70.0 rad/s)(1 ft) = 70 ft/s = 48 mph

144
9.2.11
GOAL: Find the response amplitude and the force transmitted to the floor for a motor on an
isolation block.
GIVEN: System configuration, parameter values and rotation speed.
DRAW:

* *
ı 
e*r cos θ sin θ
e*θ − sin θ cos θ
FORMULATE EQUATIONS:
Our equation of motion is
mtotal ẍ + kx = mrot eω 2 sin ωt
and the force transmitted to the floor is equal to kx(t).
SOLVE: Assuming a solution x(t) = x̄ sin ωt gives us

mrot eω 2
x̄ =
k − mtotal ω 2
60 kg(0.003 m)(15.2 rad/s)2
=
243, 000 N/m − (1080 kg)(15.2 rad/s)2

|x̄| = 6.38×10−3 m

ftrans = kx = (243, 000 N/m)(−6.38×10−3 m) sin ωt = −(1550 N) sin ωt

145
9.2.12
GOAL: Find the mass needed to balance an imbalanced rotor.
GIVEN: System configuration, parameter values and rotation speed.
DRAW:

FORMULATE EQUATIONS:
Each sensor detects a force of 1.5 N, giving us a total of 3 N. These forces are caused by the
imbalance, which has a magnitude equal to meω 2 .
SOLVE:
All we need to do to solve the problem is to determine the effect of an additional mass imbalance
and ensure that it’s sufficient to exactly counter the original problem. The magnitude of the force
generated by a mass on the outer rim will be rm0 ω 2

rm0 ω 2 = (0.15 m)m0 (50 rad/s)2 = 3 N

m0 = 8 g

146
9.2.13
GOAL: Determine the range of frequencies for which the illustrated mass’s response amplitude is
less than or equal to 0.001m.
GIVEN: System configuration and parameter values.
DRAW:

FORMULATE EQUATIONS:
The equation of motion is
mẍ + kx = F cos ωt
SOLVE:
The solution to this forced, undamped problem, with x(t) = x̄ cos ωt is
F 1.1 N
x̄ = 2
=
k − mω 1.00×10 N/m − (10 kg)ω 2
4

We’ve seen that the response grows to a peak amplitude and then drops to zero as the frequency
goes from zero to infinity. Thus we can expect two solutions - one that’s in-phase with the input
and one that’s out-of-phase.
For in-phase motion we have
1.1 N
0.001 m =
1.00×104 N/m − (10 kg)ω 2
which has the solution ω1 = 29.8 rad/s.
The out-of-phase solution satisfies
1.1 N
−0.001 m =
1.00×104 N/m − (10 kg)ω 2
which has the solution ω2 = 33.3 rad/s.
Between these values the response exceeds 0.001 m and so we have

ω < 29.8 rad/s and ω > 33.3 rad/s

147
9.2.14
GOAL: Determine the static deflection of a spring.
GIVEN: The system oscillates with a 4 mm out-of-phase motion when the base oscillates at 200
rad/s with an amplitude of 1 13 mm. m = 5 kg.
DRAW:

FORMULATE EQUATIONS: We’ll perform a force balance on the system and put it into the
form of an oscillator equation.
SOLVE:
Starting from an uncompressed state we have
Force balance: mẍ = −k(x − y) − mg = −kx − mg + ky sin (ωt)

mẍ + kx = −mg + ky sin (ωt) (1)

The weight of the block causes it to compress the spring by an equilibrium amount (xeq = mg k )
and we can assume this as part of the forced solution, along with a sinusoidally varying component.
Letting x = − mg
k + x sin(ωt) and substituting into (1) gets us
k
 
x= y
k − ω2m
!
k
−0.004 m = (0.0013 m)
k − (200 rad/s)2 m
k k
 
−3 − (200 rad/s)2 =
m m
k
= 30, 000 s−2
m
k we can now go to our expression for the static deflection due to gravity:
Knowing m
mg g 9.81 m/s2
xeq = = = = 3.27×10−4 m
k k/m 30, 000 s−2

xeq = 0.327 mm

148
9.2.15
GOAL: Determine the illustrated system’s natural frequency.
GIVEN: y(t) = (0.001 m) sin[(50 s−1 )t]. The response is out-of-phase and has a magnitude of 4
mm.
DRAW:

FORMULATE EQUATIONS: We’ll perform a force balance on the system and put it into the
form of an oscillator equation.
SOLVE:
Starting from an uncompressed state we have
Force balance: mẍ = −k(x − y) − mg = −kx − mg + ky sin (ωt)

mẍ + kx = −mg + ky sin (ωt) (1)

The weight of the block causes it to compress the spring by an equilibrium amount (xeq = mg k )
and we can assume this as part of the forced solution, along with a sinusoidally varying component.
Letting x = − mg
k + x sin(ωt) and substituting into (1) gets us
k
 
x= y
k − ω2m
!
k
−0.004 m = (0.001 m)
k − (50 rad/s)2 m
k k
 
−4 − (50 rad/s)2 =
m m
k
= 2, 000 s−2
m
q
ωn = k
m = 44.7 rad/s

149
9.2.16
GOAL: Determine the force transmitted to a wall through a spring.
GIVEN: x(t) = (0.003 m) sin(ωt), k = 5000 N/m, m = 10 kg.
DRAW:

FORMULATE EQUATIONS:
The force across a linear spring is given by
Fsp = kx
where k is the spring constant and x is the spring’s deflection.
SOLVE:
We’re already given the response amplitude and hence can be constructed from the given informa-
tion.
Fsp = kx = (5000 N/m)(0.003 m) sin(ωt)

Fsp = (15 N) sin(ωt)

150
9.2.17
GOAL: Determine the response amplitude of the illustrated system.
GIVEN: k = 1600 N/m, m = 2 kg, y = (0.06 m) sin(ωt) with ω = 10 rad/s.
DRAW:

FORMULATE EQUATIONS: We’ll perform a force balance on the system and put it into the
form of an oscillator equation.
SOLVE:
Force balance: mẍ = −k(x − y) = −kx + k(0.06 m) sin (ωt)

mẍ + kx = k(0.06 m) sin (ωt) (1)

Assume x = x sin(ωt) and substitute into (1)to get
k

x= (0.06 m)
k − ω2m
!
1600 N/m
x= (0.06 m) = 0.0686 m
1600 N/m − (10 rad/s)2 (2 kg)

x = 68.6 mm

151
9.2.18
GOAL: Determine the static deflection of a spring.
GIVEN: The system oscillates with a 2 mm in-phase motion when the base oscillates at 300 rad/s
with an amplitude of 1.1 mm.
DRAW:

FORMULATE EQUATIONS: We’ll perform a force balance on the system and put it into the
form of an oscillator equation.
SOLVE:
Starting from an uncompressed state we have
Force balance: mẍ = −k(x − y) − mg = −kx − mg + ky sin (ωt)

mẍ + kx = −mg + ky sin (ωt) (1)

The weight of the block causes it to compress the spring by an equilibrium amount (xeq = mg k )
and we can assume this as part of the forced solution, along with a sinusoidally varying component.
Letting x = − mg
k + x sin(ωt) and substituting into (1) gets us
k
 
x= y
k − ω2m
!
k
0.002 m = (0.0011 m)
k − (300 rad/s)2 m
k k
 
1.81 − (300 rad/s)2 =
m m
k
= 200, 000 s−2
m
k we can now go to our expression for the static deflection due to gravity:
Knowing m
mg g 9.81 m/s2
xeq = = = = 4.9×10−5 m
k k/m 200, 000 s−2

xeq = 0.049 mm

152
9.2.19
GOAL: Determine the normal force between a mass and the road.
2πx , m = 1300 kg.
 
GIVEN: y = (0.02 m) sin 15 m
DRAW:

FORMULATE EQUATIONS: We’ll perform a force balance on the system.

SOLVE: The amplitude of the road’s profile is so small with respect to the wavelength that the
normal force can be reasonably viewed as acting purely in the vertical direction.
Force balance: mÿ = N − mg

N = mg + mÿ
The car travels at a speed ẋ and thus x = ẋt, giving us
d2 2π ẋ 2 2π ẋ
   
N = mg + m 2 (y) = mg − m (0.02 m) sin t
dt 15 m 15 m
2π ẋ
 
2 2
N = (1300 kg)(9.81 m/s ) − 4.56ẋ sin t
15 m

N = 12, 753 N − (4.56 N· s2 / m2 ) sin[(0.419 m−1 )ẋt]

153
9.2.20
GOAL: Determine the effect of having a suspension on a car by examining a simplified model of
a car going over a road with a sinusoidally varying profile.
GIVEN: Configuration of the system.
DRAW:

FORMULATE EQUATIONS: We’ll perform a force balance on the system and put it into the
form of an oscillator equation.
SOLVE:
2πx
 
Force balance: mz̈ = −k(z − y) = −kz + ky sin
λ
The car travels at a speed v and thus x = vt, giving us
2πv
 
mz̈ + kz = ky sin t (1)
λ
Let ω = 2πv
λ . Assume an output z = z sin (ωt),  substitute into (1) to get
k

z= y
k − mω 2
and thus
k
 
z(t) = y sin(ωt)
k − mω 2
The acceleration of the car with a suspension is found by differentiating
! twice with respect to time:
2
ω k
z̈(t) = − y sin(ωt) (2)
k − mω 2
We can let k go to infinity to obtain the acceleration felt without a suspension, which is the same
as the acceleration felt by a particle moving along the road’s surface y:
ÿ(t) = −ω 2 y sin(ωt) (3)
 z̈  k
 =
 
(2), (3) ⇒ ÿ k − ω2m

As the plot shows, the effect of the suspension varies with frequency. For frequencies near zero
there’s little difference in the acceleration levels due to the suspension. As the forcing frequency

154
increases, the response gets worse due to the suspension. But, for ω > ωcr , the response is better
with a suspension and, as ω → ∞, the car’s acceleration level drops to zero. Because ω = 2πv λ we
see that increasing ω implies going faster (bigger v) or closer spaced humps in the road (smaller λ).

155
9.2.21
GOAL: Determine the critical speed at which a mass (part of a simplified tire/suspension model)
will lose contact with the ground.
GIVEN: Ground profile and simplified tire/suspension parameters.
DRAW:

ASSUME: The key to this problem is realizing that at slow speeds the mass is always in contact
with the ground and therefore a non-zero normal force exists. Only when this force goes to zero
will the mass be able to lose contact. Thus we’re going to ask at what speed v the normal force
goes to zero.
FORMULATE EQUATIONS:
One full cycle of motion occurs when the mass traverses a complete wavelength of the road’s profile:
λ
vT = λ ⇒ T = (1)
v
A force balance on the mass gives us

mÿ = N − ky − k∆ − mg (2)

where ∆ is the initial spring compression.

SOLVE: The frequency of the input is given by
2π
ω=
T
which, when (1) is applied gives us
2πv
ω=
λ
(2) can be solved for the normal force N :

N = mÿ + ky + k∆ + mg = (k − mω 2 )ȳsin(ωt) + k∆ − mg

For ω = 0, kȳ < k∆ + mg and so liftoff can’t occur until ω > ωn . For ω > ωn we have N = 0 if

ȳ(mω 2 − k) = k∆ + mg

(0.03 m)((15 kg)ω 2 − 4800 N/m) = (4800 N/m)(0.08 m) + (15 kg)(9.81 m/s2 )
ω = 38.7 rad/s
(38.7 rad/s)(10 m)
v= 2π = 61.6 m/s

156
9.3 Damped, Free Response for Single Degree of Freedom Systems

157
9.3.1
GOAL: Find the percentage that the settling time changes when the mass of a spring-mass system
is doubled.
GIVEN: System configuration.
FORMULATE EQUATIONS: Our equation of motion for this system is

mẍ + cẋ + kx = 0

SOLVE: Our values for damping and stiffness are the same as in the example, c = 0.45 N·s/m and
k = 400 N/m. The mass will go from 0.2 kg to 0.4 kg.
With m = 0.2 kg we have ωn = 44.7 rad/s and ζ = 0.025, as in the example, with an associated
settling time of 2.05 s. Increasing the mass to 0.4 kg changes the natural frequency and damping
factor: s
400 N/m 0.45 N·s/m
ωn = = 31.6 rad/s, ζ = = 0.0178
0.4 kg 2(31.6 s−1 )(0.4 kg)

e−(0.0178)(31.6 s
−1 )t∗
= 0.1 ⇒ t∗ = 4.09 s
Thus doubling the mass has doubled the settling time.

158
9.3.2
GOAL: Find the percentage that the settling time changes when the stiffness of a spring-mass
system is doubled.
GIVEN: System configuration.
FORMULATE EQUATIONS: Our equation of motion for this system is

mẍ + cẋ + kx = 0

SOLVE: Our values for mass and stiffness are the same as in the example, m = 0.2 kg and
k = 400 N/m. The damping coefficient will go from 0.45 N·s/m to 0.9 N·s/m
With c = 0.45 N·s/m we have ωn = 44.7 rad/s and ζ = 0.025, as in the example, with an associated
settling time of 2.05 s. Increasing the damping coefficient changes the damping factor:
s
400 N/m 0.9 N·s/m
ωn = = 44.7 rad/s, ζ= = 0.0503
0.2 kg 2(44.7 s−1 )(0.4 kg)

e−(0.0503)(44.7 s
−1 )t∗
= 0.1 ⇒ t∗ = 1.02 s
Thus doubling the damping coefficient has halved the settling time.

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9.3.3
GOAL: Find the necessary damping that allows the mass of a spring-mass-damper to increase by
20 percent and yield the original settling time.
GIVEN: System configuration.
FORMULATE EQUATIONS: Our equation of motion for this system is

mẍ + cẋ + kx = 0

and we’ll use the exponential decay formula

e−ζωn t = 0.1

SOLVE: Our value for the stiffness is the same as in the example, k = 400 N/m. The mass increases
by 20 percent. Recall that we originally found the damping factor ζ from the formula
c
= 2ζωn
m
The governing parameters in our exponential decay, ζωn can therefore be expressed as
c
ζωn =
2m
If we’re to have the same settling time then it is clear that ζωn must remain constant. Using a
prime to denote the new parameter values we therefore have

c c0 c0
= =
2m 2m0 2m(1.2)
0
c = 1.2c = 1.2(0.45 N·s/m)

c0 = 0.54 N·s/m

160
9.3.4
GOAL: Find the necessary damping that allows an overshoot of 0.25 m.
GIVEN: System configuration, parameter values (besides c) and initial conditions.
FORMULATE EQUATIONS: Our equation of motion for this system is

mẍ + cẋ + kx = 0

SOLVE:
Integrating with MATLAB, using the given values of m, k, x(0), and ẋ(0) and varying c yield a
final solution of

c = 25.5 N·s/m
The response plot is shown below.

161
9.3.5
GOAL: Find the necessary damping that allows an overshoot of 0.6 m.
GIVEN: System configuration, parameter values (besides c) and initial conditions.
FORMULATE EQUATIONS: Our equation of motion for this system is

mẍ + cẋ + kx = 0

SOLVE:
Integrating with MATLAB, using the given values of m, k, x(0), and ẋ(0) and varying c yield a
final solution of

c = 100 N·s/m
The response plot is shown below.

162
9.3.6
GOAL: Find the time needed for a response to the given initial conditions to reach a maximum
and determine how increasing c by 20 percent affects this time.
GIVEN: System configuration, parameter values and initial conditions.
FORMULATE EQUATIONS: Our equation of motion for this system is

mẍ + cẋ + kx = 0

SOLVE:
Integrating with MATLAB, using the given values of m, k, x(0), and ẋ(0) and varying c yield a
final solution of

t1 = 0.140 s

Increasing c by 20 percent, to 48 N·s/m decreases the time-to-maximum to

t2 = 0.137 s

The response plots for both cases are shown below.

Increasing the damping c by 20 percent only reduced the time-to-maximum by 2 percent.

163
9.3.7
GOAL: Determine how much and initial value of c must be changed for a spring-mass-system it
is associated with to display critical damping.
GIVEN: System configuration and parameter values.
FORMULATE EQUATIONS: Our equation of motion for this system is

mẍ + cẋ + kx = 0

Critical damping occurs when ζ = 1 where

c
= 2ζωn
m
SOLVE:
Rearranging and reexpressing the previous equation gives us
c
ζ= √
2 km
c0
1= p
2 (6000 N/m)(1.4 kg)
c0 = 183 N·s/m

c needs to increase by 143 N·s/m

164
9.3.8
GOAL: Determine a general expression for the response of a spring-mass system.
GIVEN: System configuration and parameter values.
FORMULATE EQUATIONS: Our equation of motion for this system is

mẍ + cẋ + kx = 0

which has the general solution

 
x(t) = a1 cos ωd t + a2 sin ωd t e−ζωn t
   
ẋ(t) = −ζωn a1 cos ωd t + a2 sin ωd t e−ζωn t + ωd −a1 sin ωd t + a2 cos ωd t e−ζωn t
p
where ωd = ωn 1 − ζ 2 .
SOLVE:
Evaluating our two expressions at t = 0 gives us

x(0) = x0 = a1

ẋ(0) = v0 = −ζωn a1 + ωd a2
v0 + ζωn x0
Solving these simultaneously gives us a1 = x0 and a2 = ωd .

v + ζω x
 
x(t) = x0 cos ωd t + 0 ω n 0 sin ωd t e−ζωn t
d

165
9.4 Damped, Sinusoidally Forced Response for Single Degree of
Freedom Systems

166