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Free Vibrations
=
where is the viscous damping coefficient (N.sec/m or lbf.sec/ft)
At rest, = 0
(static equilibrium)
=
+ =
( + ) =
= ( = ) (static equilibrium)
Equation of motion: + + = 0
Form of Solution:
() = ( + ) () =
+ + = 0
Assume () =
() =
() = 2
2 + + = 0
(2 + + ) = 0
2 + + = 0 = 0
But 0
2 + + = 0
2 4
Roots of the equation: 1,2 = 2
2 4 > 0 1 , 2 ( )
2 4 = 0 = /2
2 4 < 0 1 , 2 ( )
() = 1 1 + 2 2
1 , 2
1 2
, 2 4 = 0
Solving for c:
= 2 =
=
= 2
= 2
=
:
= . =
= 2 = 2. = 2 . .
= 2 .
2 =
= = =
2 2
2 4
1,2 =
2 4
1,2 =
2 4
1,2 = 2 2 ( = 2)
2
1,2 = 2 1 ( =
)
1,2 = 2 1
<1 =1 >1
= 2 1 :
+ + = 0 + 2 + 2 = 0
2 1 < 0 0<<1
2 1 > 0 >1
2 1 = 0 = 1
1,2 = 2 1
1,2 = 1 1 2 ( = 1 )
1,2 = 1 2
= 2 1 :
1,2 =
() = 1 1 + 2 2
() = 1 ( + ) + 2 ( )
This simplifies to :
() = ( cos + sin )
= , =
() = ( cos
+ sin )
() = (( + ))
() = ( + )
2 1 = 0 =1
1,2 = 2 1
1,2 =
1 =
2 =
() = 1 1 + 2 2
() = (1 + 2 )
1 2
2 1 > 0 >1
1,2 = ( 2 1)
1 = + ( 2 1)
2 = ( 2 1)
() = 1 1 + 2 2
[ + (2 1) ] [ (2 1) ]
() = 1 + 2
() = 1 ( 1) + 2 ( 1)
2 2
() = (1 ( 1) + 2 ( 1) )
2 2
1,2 = 1 2
1,2
= 1 2 0<<1
() = ( cos + sin )
or
() = ( + )
+1 = 1 +
2 2
= =
1 2
1 1 ( 1 + )
=
+1 +1 ( +1 + )
1 1
=
+1 +1
1 1
=
+1 (1 + )
1 1
=
+1 1 . )
1 1
=
+1
1
=
+1
2
1 (
12
)
=
+1
2
1 (
2
)
ln ( ) = ln [ 1 ]
+1
1 2
ln ( )= =
+1 1 2
1 1 2
ln ( )=
+1 1 2
1 2
= ln ( )=
+1 1 2
1
2ln ( )
+1
is obtained. Figure below shows a plot of the exact and approximate
values of as a function of .
1 = 0.68
6 = 0.12
=?
SOLUTION:
+1=6
=5
1 2
= ln ( )=
+1 1 2
0.68 5 2
ln ( )= 5 2
0.12 1 2
= 0.055 5.5%
SOLUTION:
386/ 2
=
= 20 / = 27.78 /
10
1 1
= ln ( ) = ln = 0.163
2 0.85
0.163
= = = 0.026
2 2
2
= 1
2
= 27.781 (0.026) = 27.77 /
SOLUTION:
The undamped natural frequency of the system in radians per second is
30 386
= = = 34.0 /
10
10
= 2 34 = 1.76 /./
386
0.12
= = = 0.0681
1.76
The logarithmic decrement,
2 2(0.0681)
= = = 0.429
1 2
1 (0.0681)2
1
= = 0.429 = 1.54
2
SOLUTION:
The amplitude ratio for any two consecutive amplitudes is
0 1 2 1
= = == =
1 2 3
0
The ratio can be written as
0 0 1 2 1
= ( )( )( ) = = ( ) = ( ) =
1 2 3
1 0
= ln ( )
1 0.693
2 = ln(2) =
SOLUTION:
1. The stiffness coefficient (force per unit displacement) is computed as
1000
= = 10000 /
0.1
. 10000 386
= = = = 31.06 /
4000
0
= ln ( ) = 2 = 2(0.05) = 0.314
1
Lecture notes on Mechanical Vibrations 3-24
website : www.abdulrahmanbahaddin.epu.edu.krd
and the ratio of two consecutive amplitudes
0
= 1.37
1
4. The ratio between the first amplitude 0 and the amplitude after
cycles may be expressed as
0 0 1 1
= ( ).( )
1 2
0
ln = + + + =
0.1
ln = 0.314
0.01
ln 10
= = 7.73 8
0.314
2 2
= = = 0.2025
31.02
(8 ) =8 = 1.62