DYNAMICS OF SECOND ORDER UNDER-DAMPED SYSTEM

[SIMPLE PENDULUM]

Aim: To find the effect of inertia and viscous drag on damping coefficient (ξ) of a second
order under damped system.

Apparatus:

1. A simple pendulum fabricated using ball bearing with rod at the centre to fix it and an
outer cover on it to attach rod of suitable length and bob of desired cross sectional area
and weight.

2. Digital stop watch to measure the period of oscillation.

3. Steel scale to measure the angle of the pendulum.

4. At least three plates of same area and different weight and at least three plate of same
weight and different cross sectional area.

Procedure:

1. Attach rod of given length to the outer ring on the ball bearing.

2. Attach a suitable plate to the other end of the rod. Keep the plate parallel to the
direction of the movement of pendulum.

3. Raise the pendulum to one side to its maximum possible height and release it.

4. Measure the number of oscillations till the amplitude decays to the desired level.

5. Repeat step number 3 and 4 for plate perpendicular to the direction of movement of
pendulum.

6. Repeat step number 2 to 5 for the remaining all plates.

7. Repeat the above procedure with rod of different length

Theory:

There are two types of second order systems. The first one is inherently second order
systems. These systems are formed by combination of inertia, viscous drag, restoring force.
The other one is made up by connecting two first order processes in series. If these two
processes are connected in interacting manner then the behaviour is either an over damped
(when time constant of both process are sufficiently near each other) or pseudo first order
when time constant of one of the processes is sufficiently small in comparison with that of
other. When these two processes are connected in non-interacting manner then only under a
special condition that time constant of both the processes are same it exhibit critically damped
behaviour otherwise it exhibits over damped behaviour. Thus when one is interested in
studying the behaviour of second order under damped system there is no other alternative but
to have an inherently second order system consisting of inertia, viscous drag and restoring
force.

In case of damped vibrator consider the block at some instant of time when it is to right
Y=0 and is moving towards right (positive direction). Under this condition, the position Y and
the velocity [dY/dT] both are positive. At this particular instant the following forces are acting
on the block

1. The force exerted by the spring (acting to the left) of magnitude KY where ‘K’ is a positive
constant called Hook’s constant of spring. The dimensions of ‘K’ will be [force/length].
2. The viscous force (acting to the left) is of the magnitude C (dY/dt), where ‘C’ is a positive
constant called the viscous drag coefficient. The dimensions of ‘C’ will be
[(force*time)/length].
3. The external force F(t) (acting to the right). Newton’s second law of motion, which states
that the net force acting on the mass is equal to the rate of change of momentum,
[mass*acceleration] will be applied to the above situation gives the force balance equation:

F(t) – KY – C(dY/dt) = (W/gc)d(dY/dt)/dt ..…….[1]

Where W = mass of block [Kgmass]

[Kgmass/Kgforce *
Gc = gravitational constant m/sec2]
C = viscous damping [Kgforce*sec/ m]
K = Hook’s law constant [Kgforce/m]
F(t) = driving force a function of time [Kgforce]

Notice that the above equation is already in the form of deviation variables in Y. Force balance
equation [1] may be rearranged to separate the input and output variables to give

W/gc [d2Y/dt2] + C dY/dt + KY = F(t) …….[2]

Dividing equation [2] by ‘K’ gives

W/gcK [d2Y/dt2] + C/K [dY/dt] + Y = F(t)/K = X(t) ………[3]

Taking Laplace transform and rearranging equation [3] gives

Y(s)/X(s) = 1/ { [W/gc*K]*S2 + [C/K]*S + 1 } ………[4]

If equation [4] is compared with standard second order transfer function we get

τ = [W/(gc*K) ]1/2 and 2ξτ = C/K giving us ξ = C/2 * [gc /(W*K)]1/2………[5]

It can be concluded from equation [5] that increasing viscous drag will increase
damping coefficient ξ while increasing weight [inertia] will decrease damping coefficient.
Thus if one is interested in studying the effect of inertia and viscous drag on damping
coefficient then damped vibrators with different weight and different viscous dampeners will
be required which is extremely difficult to achieve in practice.

The second example of under damped system is manometer. In case of manometer

mass of the manometric fluid is the inertia, head loss due to friction is the viscous drag and the
height of the manometric fluid is the restoring force. If we analyze the transfer function of
manometer its time constant is given by:

τ = [ L/2*g]1/2

And damping coefficient is given by

ξ = [g*μ*(2*g)1/2 ] / ρ*D2*(g)1/2

Thus for studying the effect of inertia and viscous drag on damping coefficient we need
number of manometers with different diameter, fluids of different densities and viscosities,
which is difficult. Additional disadvantage of manometer is its time constant. Time constant of
manometer is given by (L/2*g]1/2. Even if the total length of manometric fluid is 100
centimetres the time constant will be 0.225 seconds and measuring the height of manometric
fluid as function of time is very difficult job. This difficulty can be overcome by making use of
resistance wire in mercury (manometric fluid) and attaching dividing resistance and measuring
voltage drop across dividing resistance on oscilloscope.
The other factor is the value of damping coefficient ξ which is given by

{[g*(2)1/2]* μ*L1/2]}/[ρ*d2*g].

Thus to have sufficiently low value of ξ the fluid should have very low value of viscosity
coupled with very high density. Additionally the manometer tube diameter should be
sufficiently large. To achieve all these mercury [density 13.6 gm/cc and viscosity 1.6 c.p.] in
association with manometer of about 8 to 10 mm I.D. can be used.

However, for the demonstration the effect of inertia and viscous drag on the damping
coefficient a third system of simple pendulum can be utilized. In case of pendulum the
weight of bob is inertia, the cross-sectional area of bob, perpendicular to the direction of
movement of bob, will govern the viscous drag and the gravitational force is the restoring
force. This experiment has an additional advantage that period of oscillation is in the range
of 1 to 2 seconds which can be measured very easily. Thus keeping in mind these factors
simple pendulum was fabricated making use of a ball bearing. The plates of bob were
fabricated using different weights (52, 83 and 122 grams) and same cross sectional area (50
square centimeters) to study the effect of inertia. To study effect of viscous drag plates of
same weight (about 83 grams) with different cross sectional area (50, 96.6 and 126 square
centimeters) were also fabricated. Experiments were carried out on this pendulum for
different decay ratios. Results are as given below.

Observation Table: To study the effect of inertia

Length of Rod = 50 cm

Plate Amplitude Ratio Parallel cross

no. of no. of
Weight*Size peaks ξ peaks ξ
123*50
123*50
84*50
84*50
52*50
52*50
For length 80cm:

Plate Amplitude Ratio Parallel cross

no. of no. of
Weight*Size peaks ξ peaks ξ
123*50
123*50
 84*50
84*50
52*50
52*50

To study the effect of viscous drag on damping coefficient:

For length 50cm:

Plate Amplitude Ratio Parallel cross

no. of no. of
Weight*Size peaks ξ peaks ξ
83.91*96.6

83.91*96.6

85.3*126

85.3*126

For length 80cm:

Plate Amplitude Ratio Parallel cross

no. of no. of
Weight*Size peaks ξ peaks ξ
83.91*96.6

83.91*96.6

85.3*126

85.3*126

Calculation:

After the completion of 1st oscillation

Peak angel achieved after 1st oscillation / angle on the starting =

Overshoot
After the completion of n th oscillation

Peak angle achieved after n th oscillation / angle on the starting = (Overshoot)n

So O.S. can be found out from this, as we know the amplitude ratio at our desired number of
oscillation.
Then, ln ( O.S.) = - πξ / (1 – ξ2)1/2
Value of ξ can be calculated from the above equation (ξ value is very less so 1- ξ2 can be
neglected.)

Expectations:

1. Need to observe the value of damping coefficient and it should be less than 1 as it is an
under damped system
2. Draw your conclusions how the inertia and viscous drag force effect the value of
damping coefficient both in the case of parallel and perpendicular direction.
3. And also observe how the amplitude ratio effect the no of oscillations

Questions to ponder about:

1. On what basis a system is characterized as particular order system?
2. What is damping? And what is a Damping Ratio or Damping Factor?
3. Why simple pendulum is a second order under damped system?
4. Significance of damping factor?
5. What is amplitude ratio?
6. How the Length of the rod effects the Time period of pendulum?
7. For a simple pendulum, length of rod (L), mass of plate (m), Time period is (T), what
happens to T if the mass of plate is 2m?
8. What is Overshoot and Decay ratio?
9. How viscous drag and inertia affects the damping factor in case of both parallel and
perpendicular direction of plates? In which case damping factor is affected more?
10. What is the effect of Amplitude Ratio on damping factor?
11. How the length of the rod affects the damping factor for a plate of mass (m)?
12. For a length of rod (L), how the number of oscillations and damping factor are related
both in the case of parallel and perpendicular directions of the plate?
13. Why the damping factor is more in the case of perpendicular direction of the plate?
14. If a plate of mass (m) is suspended to a rod, does the length of the rod have any effect
on the Amplitude ratio? And why?