Free Vibrations

Mechanical Vibrations
(ME 421)
Section 3
Single Degree of Freedom Systems: Free Vibrations
Book:
Mechanical Vibrations, by S.S. Rao, Fifth Edition,
Chapter 2
Instructor: Muhammad Haider

SDOF:Free Vibrations
Course Contents
S.No.
Description
1.
Basic Concepts
2.
Harmonic Motion, Complex Algebra and Fourier Series
3.
Single Degree of Freedom Systems: Free Vibrations
4.
5.
6.
Single Degree of Freedom Systems: Harmonically Excited

Vibrations
Two Degree of Freedom Systems: Natural Frequencies and Mode
Shapes
Two Degree of Freedom Systems: Coupling, Orthogonality and
Forced Response
7.
Multi Degree of Freedom Systems
8.
Lagrangian Method
Lecture Outline
Introduction
Free Vibration of an Undamped Translational System
Free Vibration of an Undamped Torsional System
First Order System Response
Rayleighs Energy Method
Free Vibrations with Viscous Damping
Graphical Representation of Characteristic Roots
Parameter Variations and Root Locus Representation
Stability of Systems
Free Vibrations of Undamped

Translational System
a) Equation of Motion Using Newtons Second Law of Motion
b) Equation of Motion Using Other Methods
i.
DAlemberts Principle
ii. Principle of Virtual Displacements

iii. Principle of Conservation of Energy
c) Equation of Motion of a Spring-Mass System in Vertical
Position
d) Solution
e) Harmonic Motion
Free Vibrations of Undamped Translational System

Example 2.1
The column of the water tank shown in Figure is 300 ft high and is made of
reinforced concrete with a tubular cross section of inner diameter 8 ft and outer
diameter 10 ft. The tank weighs 6x105 lb when filled with water. By neglecting the
mass of the column and assuming the Young s modulus of reinforced concrete as
4x106 psi, determine the following:
a) The natural frequency and the
natural time period of transverse
vibration of the water tank.
b) The vibration response of the water
tank due to an initial transverse
displacement of 10 in.
c) The maximum values of the velocity
and acceleration experienced by the
water tank.

Problem 2.7
Three springs and a mass are attached to a rigid, weightless bar PQ as shown in
Figure.
a) Find the natural frequency of vibration of the system.

Problem 2.13
Find the natural frequency of the pulley system shown in

Figure by neglecting the friction and the masses of the
pulleys.

Problem 2.17
Derive the expression for the natural frequency of the system shown in Figure.
Note that the load W is applied at the tip of beam 1 and midpoint of beam 2.
Review Examples: 2.2-2.5; Practice Problems: 2.2-2.6, 2.9,2.11, 2.12, 2.18, 2.22, 2.28,
2.33, 2.36, 2.38-2.40, 2.43, 2.44, 2.49-2.52, 2.54, 2.56, 2.58, 2.60
Free Vibrations of Undamped Torsional System

If a rigid body oscillates about a specific reference axis, the resulting motion
is called torsional vibration.
the displacement of the body is measured in terms of an angular
coordinate
Single DOF Torsional System
A disc mounted at one end of a solid circular
shaft, the other end of which is fixed
Disc has a polar mass moment of and its
angular displacement (shaft twist) is given by

Equation of Motion
Using Newtons second law, following equation can be
derived,
+ = 0
The equation is analogous to SDOF translational
system where , and corresponds to , and
respectively.
Natural frequency of the system is, =
Period of vibration, = 2
Frequency of vibration, = 2
) and for a
4
= = = 32
= (
circular shaft =
Also, for the disc is given by =
4
32
4
32
2
8

Solution
General solution can be obtained using
= 1 cos + 2 sin
is calculated using geometrical and material
properties
Constants 1 and 2 are calculated using initial
conditions
= 0 = and = 0 =
= 0 =
And constants 1 and 2 becomes

1 =
2 =
Practice Problems: 2.64, 2.65, 2.67, 2.68, 2.69, 2.72, 2.73, 2.74, 2.76, 2.79, 2.81

Compound Pendulum
Any rigid body pivoted at a point other than its center of mass will oscillate
about the pivot point under its own gravitational force. Such a system is known
as a compound pendulum
With center of oscillation O, center of mass G,

coordinate , d, , system equation is
+ sin = 0
The equation is nonlinear, it can be
approximated by using small angle
approximation i.e sin =
+ = 0
Natural frequency becomes
1
2
1
2
Comparing with the natural frequency of a

=
simple pendulum, =
1
2
, gives

Compound Pendulum
If is replaced by 2 , where is the radius

of gyration of the body about O, we get
1
2
=
2
1
2
2
=
If denotes the radius of gyration of the body

about G, then we have
2
2
2
2
= + =
+
If the line OG is extended to point A such that

2
=
= + =
Natural frequency then can be written as

1
2
2
2
= 2
=
=
/
No matter whether the body is pivoted from O or A, its natural frequency is the
same. The point is called center of percussion.

Center of Percussion
The center of percussion is the point on an object where a perpendicular impact
will produce translational and rotational forces which perfectly cancel each other
out at some given pivot point, so that the pivot will not be moving momentarily
after the impulse.

Center of Percussion
Compound pendulum and center of percussion find applications in many
real life scenarios
Hammer
Cricket/Baseball Bat
Izod (Impact) testing of materials
Automobile
Response of First-Order Systems

First Order System?
A system having only one
energy storage element
Consider a rotor shaft with bearings
+ = 0
where is the angular velocity of
the rotor and is the angular
acceleration
Assume that we give an initial
angular speed = 0 = to the
system and then see how it behaves.
Important to note here is that we are
interested in only angular velocity
The solution can be obtained by
assuming the following trial solution
=
where A and s are unknown
constants
Response of First-Order Systems

By using initial condition, = 0 =
the equation can be written as
=
By substituting trial solution into the
equation of motion, we get
( + ) = 0
Since = 0 means not motion so we
assume that the second factor will be zero
( + ) = 0
From here, =
Thus our solution becomes =

It is convenient to describe the term using
time constant , defined as the value of
time for which the exponent power
becomes -1, for =
=
= 1 = 0.368
Practice Problems: 2.83, 2.84


Energy method can be used to determine natural frequencies of single
degree of freedom system
Energy conservation for an undamped vibrating system can be written as
1 + 1 = 2 + 2 =
where subscripts 1 and 2 denote two different instants of time
Now assume that 1 represent time when the mass is passing through its
static equilibrium position, we will have
1 = 0 ; 1 =
Similarly, let 2 represents the time corresponding to the maximum
displacement of mass
2 = 0 ; 2 =
Putting values, we get
1 + 0 = 0 + 2 =
By using above relationship, we can directly calculate natural frequency
of the system
The method is also known as Rayleighs Energy Method

Example 2.9
Find the natural frequency of transverse vibration of the
water tank considered in Example 2.1 by including mass
of the column
Review Examples: 2.7, 2.8

Practice Problems: 2.86-2.89, 2.91
Free Vibration with Viscous Damping

A system with Viscous damping can be
represented as
Also known as Mass-spring-damper system
Force due to viscous damping can be estimated by
=
where is the damping constant
Equation of motion for the system using Newtons
Law yield
=
which can be rewritten as
+ + = 0
Solution
We assume a solution in the form
=
where C and s are undetermined constants
Inserting this function into the equation leads to
characteristic equation
2 + + = 0

The roots of which are
2 4
2
1,2 =
=
2
2
2
These roots give two solutions of the EoM

1 = 1 1 and 2 = 2 2
Thus the general solution of the equation is given
by a combination of two solutions
= 1 1 + 2 2
2+
2
2
2
2
= 1
+ 2
where 1 and 2 are arbitrary constants to be
determined from the initial conditions of the
system.

Important Terminologies
Critical Damping Constant
The critical damping is defined as the value of the damping constant for
which the radical in the solution becomes zero
= 0 = 2
= 2 = 2
Damping Ratio
The ratio between damping constant to the critical damping constant
Mathematically, =

.
2
1,2
We can simplify the roots as

1,2 = 2 1
The general solution can be written as

+ 2 1
2 1
= 1
+ 2
The nature and behavior of solution depends upon the magnitude of damping
Based on the value of damping ratio, we have three different system behaviors
Undamped( < 1), critically damped ( = 1) and overdamped ( > 1) systems

Case-I
Underdamped System
( < 1 or < or 2 <
For this condition, ( 2 1) is negative and roots 1 and 2 can be expressed as
1 = + 1 2 ; 2 = 1 2
Solution can be written as
= 1
+ 1 2
= 1
=
1 2
+ 2
1 2
+ 2
1 2
1 + 2 cos 1 2 + 1 2 sin 1 2
= 1 cos 1 2 + 2 sin 1 2
Let 1 = sin and 2 = cos , we get
= sin cos 1 2 + cos sin 1 2
= sin( 1 2 + ) = cos ( 1 2 )
Where 1 , 2 , (, ) and ( , ) are arbitrary constants to be determined from
initial conditions

Case-I
Underdamped System
For initial conditions = 0 = and = 0 = , 1 and 2 can be found:
1 = and
+
2 =
(1 2
and hence the solution becomes
+

2
=
cos 1 +
sin 1 2
(1 2
The constants (, ) and ( , ) can be expressed as
2 2
+ + 2
2
2
= = 1 + 2 =
(1 2
(1
1
= tan1 ( ) = tan1 (
)
2
+
2
+
1
1
= tan ( ) = tan (
)
2
1
(1

Case-I
Underdamped System
The motion described by the equation
= cos 1 2 +
sin 1 2
(1 2
is a damped harmonic motion of angular frequency , the frequency of
damped vibration. Mathematically, its given by
= (1 2
Factor exponentially decays the amplitude with time
,

Case-II
Critically damped System
( = 1 or = or 2 =
In this case the two roots are equal
=
2
Because of repeated roots, the solution of the EOM is given by
= 1 + 2
Application of initial conditions = 0 = and = 0 = , gives
C1 = and 2 = +
and the solution becomes
= + +
1 = 2 =

Case-II
Overdamped System
( > 1 or > or 2 >
In this case the roots are real and distinct and are given by
1 = + 2 1 < 0
2 = 2 1 < 0
the solution of the EOM is given by
+ 2 1
2 1
= 1
+ 2
For the initial conditions = 0 = and = 0 = , the constants can be
obtained as
( + 2 1 +
C1 =
2 2 1
( 2 1
C2 =
2 2 1

Graphical representation

Logarithmic Decrement
It represents the rate at which the amplitude of free-damped vibration decreases
It is given by the natural logarithm of the ratio of any two successive amplitudes
Let 1 and 2 denote the times corresponding to two consecutive amplitudes,
measured one cycle apart for an underdamped system
we can form the ratio
1 1 cos( 1 )
=
2 2 cos( 2 )
But 2 = 1 + , where = 2/ is the period of damped vibration.
Hence cos 2 = cos(2 + 1 ) = cos( 1 )

The ratio
1 1 cos( 1 )
=
2 2 cos( 2 )
can be written as
1
1
= ( + ) =
1
2
The logarithmic decrement can be
obtained as
1
2
= ln = =
2
1 2
2
2
=
=
.
2
2
1
For small damping, can be
approximated as
2

The logarithmic decrement is
dimensionless and is actually another form
of dimensionless damping ratio
Once is known, can be found by
=
2 2 + 2
When using linear approximation
=
2
If damping in the system is unknown, we
can determine it experimentally by
measuring any two consecutive
displacement 1 and 2

Torsional System with Viscous Damping
Viscous damping torque is given by
Equation of motion for the given single DOF

system can be derived as
+ + = 0
Solution of the above equation can be

determined exactly in the same way as was
done in translational vibrations.
For an undamped case, the frequency of the
damped vibrations is given by
= 1 2
where,
and

Example 2.11
An underdamped shock absorber is to be designed for a
motorcycle of mass 200 kg as shown in Fig. (a). When the shock
absorber is subjected to an initial vertical velocity due to a road
bump, the resulting displacement-time curve is to be as
indicated in Fig. (b). Find
a) the necessary stiffness and damping constants of
the shock absorber if the damped period of
vibration is to be 2s and the amplitude is to be
reduced to one-fourth in one half cycle (i.e.,
. = /)
b) the minimum initial velocity that leads to a

maximum displacement of 250 mm. (Assume that
the max displacement envelop is given by =
and = ) at
Review Examples: 2.10, 2.12; Practice Problems: 2.97, 2.98, 2.101-2.106, 2.109, 2.110,
2.119, 2.121, 2.122, 2.124, 2.127-2.130

Roots of Characteristic Equation
The free vibration of a SDOF spring-mass-damper system is given by
+ + = 0
whose characteristic equation can be written as
2 + + = 0
or
2 + 2 + 2 = 0
The roots of the characteristic equation, called the characteristic roots, help us
in understanding the behavior of the system
The roots are given by
2 4
1 = 2 =
2
or,
1 = 2 = 1 2
The roots given by above equations can be plotted in a complex plane, also
known as the s-plane, by denoting the real part along the horizontal axis and
the imaginary part along the vertical axis.

The following observations can be made by examining characteristic equations
The exponent of a larger real negative number (such as 2 ) decays faster than
the exponent of a smaller real negative number (such as ), the roots lying
farther to the left in the s-plane indicate that the corresponding responses decay
faster than those associated with roots closer to the imaginary axis.

If the roots have positive real values of s that is, the roots lie in the right half of
the s-plane the corresponding response grows exponentially and hence will be
unstable.

If the roots lie on the imaginary axis (with zero real value), the corresponding
response will be naturally stable.
If the roots have a zero imaginary part, the corresponding response will not
oscillate.

The response of the system will exhibit an oscillatory behavior only when the
roots have nonzero imaginary parts.
The larger the imaginary part of the roots, the higher the frequency of
oscillation of the corresponding response of the system.

Interpretation of , , and in the s-plane
Although the roots 1 and 2 appear as complex conjugates, we consider only
the roots in the upper half of the s-plane
Root 1 is plotted as point A with the real value as and the complex value
as 1 2 , so that the length of OA is
Thus the roots lying on the circle of
radius correspond to the same
natural frequency of the system
Different concentric circles represent
systems
with
different
natural
frequencies

Horizontal line passing through A corresponds to damped natural frequency
Lines parallel to real axis denote systems having different
The angle made by the line OA with the imaginary axis is given by
sin =
= = sin1
Radial lines passing through the origin

correspond to different damping ratios

Therefore, when = 0, we have no damping ( = 0), and the damped natural
frequency will reduce to the undamped natural frequency
Similarly, when = 1, we have critical damping and the radical line lies along
the negative real axis.

The time constant of the system, is defined as, =
The distance DO or AB represents the reciprocal of the time constant, =

Different lines parallel to the imaginary axis denote reciprocals of different
time constants
Reading Assignment:
Section 2.8.2: Root Locus and Parameter
Variations
Example: 2.13
Stability is one of the most important characteristics for
any vibrating system
Definition of stability depends on the kind of system or
the point of view
Following are the terms related to stability for linear timeinvariant systems (the parameters m, c, and k do not
change with time)
A system is stable (marginally stable in controls literature)
if its free-vibration response neither decays nor grows, but
remains constant or oscillates as time approaches infinity.
A system is asymptotically stable if its free-vibration
response approaches zero as time approaches infinity
A system is unstable if its free-vibration response grows
without bound as time approaches infinity
It is evident that an unstable system whose free-vibration
response grows without bounds can cause damage to the
system, adjacent property, or human life.
Usually, dynamic systems are designed with limit stops to
prevent their responses from growing with no limit.
Example 2.18
Consider a uniform rigid bar, of mass m and length l, pivoted at one end and
connected symmetrically by two springs at the other end. Assuming that the
springs are unstretched when the bar is vertical
a) derive the equation of
motion of the system
for small angular
displacements (u) of
the bar about the pivot
point
b) investigate the stability
behavior of the system.
Practice Problem: 2.115

Free Vibrations

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Mechanical Vibrations

Instructor: Muhammad Haider

Harmonic Motion, Complex Algebra and Fourier Series

Single Degree of Freedom Systems: Free Vibrations

Single Degree of Freedom Systems: Harmonically Excited

Multi Degree of Freedom Systems

Free Vibration of an Undamped Translational System

Free Vibration of an Undamped Torsional System

First Order System Response

Rayleighs Energy Method

Free Vibrations with Viscous Damping

Graphical Representation of Characteristic Roots

Parameter Variations and Root Locus Representation

Free Vibrations of Undamped

ii. Principle of Virtual Displacements

Free Vibrations of Undamped Translational System

Free Vibrations of Undamped Translational System

Free Vibrations of Undamped Translational System

Find the natural frequency of the pulley system shown in

Free Vibrations of Undamped Translational System

Free Vibrations of Undamped Torsional System

Free Vibrations of Undamped Torsional System

Also, for the disc is given by =

Free Vibrations of Undamped Torsional System

And constants 1 and 2 becomes

Free Vibrations of Undamped Torsional System

With center of oscillation O, center of mass G,

Comparing with the natural frequency of a

Free Vibrations of Undamped Torsional System

If is replaced by 2 , where is the radius

If denotes the radius of gyration of the body

If the line OG is extended to point A such that

Natural frequency then can be written as

Free Vibrations of Undamped Torsional System

Free Vibrations of Undamped Torsional System

Response of First-Order Systems

Response of First-Order Systems

Thus our solution becomes =

Practice Problems: 2.83, 2.84

Rayleighs Energy Method

Rayleighs Energy Method

Review Examples: 2.7, 2.8

Free Vibration with Viscous Damping

Free Vibration with Viscous Damping

These roots give two solutions of the EoM

Free Vibration with Viscous Damping

We can simplify the roots as

The general solution can be written as

Free Vibration with Viscous Damping

( < 1 or < or 2 <

For this condition, ( 2 1) is negative and roots 1 and 2 can be expressed as

= sin cos 1 2 + cos sin 1 2

Free Vibration with Viscous Damping

Free Vibration with Viscous Damping

Free Vibration with Viscous Damping

In this case the two roots are equal

Free Vibration with Viscous Damping

( > 1 or > or 2 >

Free Vibration with Viscous Damping

Free Vibration with Viscous Damping

we can form the ratio

Free Vibration with Viscous Damping

Free Vibration with Viscous Damping