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Vibrations Index Page
Free Vibrations (Single Degree of Freedom )
Symbols..... Simple Harmonic Motion..... Free Natural Vibrations..... Damped Vibrations..... Critical Damping.....
Underdamped oscillations..... Overdamped oscillations..... Logarithmic Decrement..... Angular Vibrations.....
Sym bols
x = distance in x direction (m)
dx/dt = velocity in x direction (m/s)
d 2x/dt2 = acceleration in x direction (m/s 2)
v = dx/dt = velocity (m/s)
f = d 2x/dt2 = acceleration (m/s 2)
= angular rotation (radians)
d /dt = angular velocity (radians /s)
d 2 /dt2 = angular acceleration (radians /s 2)
m = mass ( kg)
Sim ple Harm onic Motion
Generally free natural vibrations occur in elastic system when a body moves away from its rest position. The internal forces tend
to move the body back to its rest position. The restoring forces are in proportion to the displacement. The acceleration of the
body which is directly related to the force on the body is therefore always towards the rest position and is proportional to the
displacement of the body from its rest position. The body moves with simple harmonic motion...
Simple harmonic motion is most conveniently shown as the projection on the vertical (x) axis of a point rotating in a circular motion
(radius a) at a constant angular velocity .
The tangential velocity of the point = a.
The acceleration of the rotating point toward the centre of the circle..= 2. a
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The resisting force of the damper is directly proportional to the velocity of the mass
The equation of motion of the above damper/ spring/ mass system is therefore
(s = constant)
s 2 + s (c/m) + k/m = 0 = s 2 + 2 n s + n2
This equation has two roots
A and B are constants which can be evaluated from initial values of x and dx/ dt..
The substitution of the roots into the general form results in the formula .
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The term e - ( c / 2 m) t represents an exponentially decaying factor...The expression inside the brackets can have three general
results which significantly affect the solution.
1).. if (c /2 m) 2 = (k / m) .. ( 2 = 1 ) the factor inside the bracket is 0 and the solution is critically damped
2).. if (c /2 m) 2 < (k / m).. ( 2 < 1 ) the factor inside the bracket is negative : the solution is underdamped
3).. if (c /2 m) 2 > (k / m).. ( 2 > 1 ) the factor inside the bracket is positive and the solution is overdamped
4)..if (c /2 m) 2 = 0 ..( 2 = 0 )The system is undamped
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This equation can be further transform into an equation with one trigonometric term as follows
The equation of motion for the critally damped case ( = 1 )is written as
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The equation for of motion for underdamped oscillations arrived at above can be used to establish the amplitude of any of the
cycles. i.e.
The logarithmic decrement is ln( xn / xn+1 ).. Normally n = 1 and n+1 is therefore 2.
The damping ratio can be expressed in terms of the logarithmic decrement as follows
It is clearly possible to determine the damping ratio experimentally for a mechanical system be initiating vibrations and measuring
the amplitude of the vibrations.
Angular Vibrations
Consider a disc with a moment of Inertia I suspended on a vertical bar with a torsional stiffness q with a viscous damper attached
with a viscous damping coefficient c
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This equation can be expressed using the natural circular frequencey n and the damping ratio ..
It is clear that this equation is the same as the equation of motion for linear motion as reviewed above and can be analysed using
the same principles
Vibrations
Damping
Formula E
T his P a g e is b e ing d e v e lo p e d
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Last Updated 17/ 01/ 2013
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