Vibrations

Formula Overview
Free Vibrations
Basics
k =
F

(1)

n
=
_
k
m
(2)
f =

n
2
(3)
T =
1
f
=
2

n
= 2
_
m
k
(4)
Equation of motion
m x +kx = 0 (5)
x(t) = Asin(
n
t +) (6)
A =

x
2
0
+
_
v
0

0
_
2
(7)
= tan
1
_

n
x
0
v
0
_
(8)
Damped Motions
Denitions
c
cr
= 2

km = 2m
n
(9)
=
c
c
cr
=
c
2

km
=
c
2m
n
(10)
Equation of motion
m x +c x +kx = 0 (11)
x + 2
n
x +
2
n
x = 0 (12)
Underdamped motion

d
=
n
_
1
2
(13)
x(t) = Ae

n
t
sin(
d
t +) (14)
A =

x
2
0
+
_
v
0
+
n
x
0

d
_
2
(15)
= tan
1
_
x
0

d
v
0
+
n
x
0
_
(16)
Overdamped motion

c
=
n
_

2
1 (17)
x(t) = e

n
t
_
a
1
e

c
t
+a
2
e

c
t
_
(18)
a
1
=
1
2
x
0
_
1

n

c
_

v
0
2
c
(19)
a
2
=
1
2
x
0
_
1 +

n

c
_
+
v
0
2
c
(20)
Critically damped motion
x(t) = (a
1
+a
2
t) e

n
t
(21)
a
1
= x
0
and a
2
= v
0
+
n
x
0
(22)
Harmonic Excitation
Free harmonic excitation
m x +kx = F
e
(t) (23)
r =

n
(24)
F
e
(t) =

F
e
cos t (25)
r = 1 x
p
(t) =

F
e
m
1
(
2
n

2
)
cos t (26)
r = 1 x
p
(t) =

F
e
2m
n
t sin
n
t (27)
Damped harmonic excitation
m x +c x +kx = F
e
(t) (28)
F
e
(x) =

F
e
cos t x
p
(t) = X cos (t ) (29)
F
e
(x) =

F
e
sint x
p
(t) = X sin(t ) (30)
X =

F
e
k
1
_
(1 r
2
)
2
+ (2r)
2
(31)
= arctan
_
2r
1 r
2
_
(32)
General Forced Vibration
The impulse function
m x +c x +kx = F
e
(t ) (33)
x(t) =

F
e
h(t ) (34)
1
h(t) =
1
m
d
e

n
t
sin
d
t (35)
The step function
m x +c x +kx =

F
e
u(t ) (36)
x(t) =

F
e
k
_
1
1
_
1
2
e

n
t
cos (
d
t )
_
(37)
= arctan
_

_
1
2
_
(38)
Fourier series forcing function
F
e
(t) =
a
0
2
+

n=1
_
a
n
cos
_
n
2
T
t
_
+b
n
sin
_
n
2
T
t
__
(39)
a
0
=
2
T
_
T
0
F
e
(t)dt (40)
a
n
=
2
T
_
T
0
F
e
(t) cos
_
n
2
T
t
_
dt (41)
b
n
=
2
T
_
T
0
F
e
(T) sin
_
n
2
T
t
_
dt (42)
Fourier series solution
x
p
(t) = x
a
0
(t) +

n=1
(x
a
n
(t) +x
b
n
(t)) (43)
x
a
0
=
a
0
2k
(44)
x
a
n
=
a
n
m
X cos (n
T
t
n
) (45)
x
b
n
=
b
n
m
X sin(n
T
t
n
) (46)
X =
1
_
_

2
n
(n
T
)
2
_
2
+ (2n
n

T
)
2
(47)

n
= arctan
_
2n
n

2
n
(n
T
)
2
_
(48)
Multiple-Degree-of-Freedom
Systems
Equation of motion
M x +Kx = 0 (49)
Solution method 1
x(t) = ue
it
(50)
_
K
2
M
_
ue
it
= 0 (51)
x(t) = A
1
sin(
1
t +
1
) u
1
+A
2
sin(
2
t +
2
) u
2
(52)
Solution method 2
x(t) = M
1/2
q(t) = M
1/2
ve
it
(53)
M
1/2
KM
1/2
v =

Kv =
2
v (54)
u
1
= M
1/2
v
1
and u
2
= M
1/2
v
2
(55)
x(t) = A
1
sin(
1
t +
1
) u
1
+A
2
sin(
2
t +
2
) u
2
(56)
Modal analysis denitions
P =
_
v
1
v
2

(57)
S = M
1/2
P S
1
= P
T
M
1/2
(58)
= P
T

KP =
_

2
1
0
0
2
2
_
(59)
Modal analysis solution
r(t) + r(t) = 0 (60)
r
0
= S
1
x
0
and r
0
= S
1
x
0
(61)
x(t) = Sr(t) (62)
2