MEEM 3700

Mechanical Vibrations
Mohan D. Rao
Chuck Van Karsen
Mechanical Engineering-Engineering Mechanics
Michigan Technological University
Copyright 2003

MEEM 3700

Lecture 6-SDOF Damped

Vibration

Single Degree of Freedom Damped Free Vibration

M
X

Given an initial condition, Determine the resulting motion

MEEM 3700

Lecture 6-SDOF Damped

Vibration

Viscous Damping Element (Dashpot)

Damping Force is Linear and Proportional to Velocity.

Linear
Non-linear
f

&
X

&
X

C is the viscous damping

coefficient
units: N-sec/m or lbf-sec/ft

&
F = CX
MEEM 3700

Lecture 6-SDOF Damped

Vibration

Maintain Dynamic Equilibrium

K

Free Body Diagram

kx + k

c&x
X
m

At rest, X= 0 (static equilibrium)

mg = k

mg

MEEM 3700

Lecture 6-SDOF Damped

Vibration

Free Body Diagram

Maintain Dynamic Equilibrium

kx + k

c&x
m

Apply Newtons 2nd Law

F = m&x&

Fx+ = m&x&

mg

mg ( kx + k) cx& = m&x&

Equation of motion

m&x& + cx& + kx = 0
MEEM 3700

Lecture 6-SDOF Damped

Vibration

Equation of motion

m&x& + cx& + kx = 0

2nd order Differential equation

homogeneous
linear
Constant coefficients
Form of solution:

x(t ) = X sin( t + ) or x(t ) = Ce st

MEEM 3700

Lecture 6-SDOF Damped

Vibration

Equation of motion

m &x& + c x& + kx = 0

Assume x(t) = Ce

x& ( t ) = sCe
&x&( t ) = s Ce

st

st

st

ms 2Ce st + scCe st + kCe st = 0

(ms 2 + cs + k )Cest = 0
for a non - trivial solution
ms 2 + cs + k = 0
MEEM 3700

Lecture 6-SDOF Damped

Vibration

Equation of motion

m &x& + c x& + kx = 0

ms 2 + cs + k = 0
s1, 2

c
c 2 4 mk
=

2m
2m

x ( t ) = C 1 e s1 t + C 2 e s 2 t
if s1 a n d s 2 a re n o t e q u a l
C1 and C2 are determined from initial conditions
MEEM 3700

Lecture 6-SDOF Damped

Vibration

c 2 4 mk
c
=

2m
2m

s1, 2

Consider a case when,

c 2 4 mk = 0

Solving for c :
c = 2 km = Cc

Cc = critical damping

MEEM 3700

Lecture 6-SDOF Damped

Vibration

Define :
n =

k
= natural frequency
m

c
= damping ratio
Cc

s1, 2 = n ( 2 1) n

MEEM 3700

10

Lecture 6-SDOF Damped

Vibration

Case 1: < 1 Under damped (Complex conjugate roots)

s1, 2 = n ( 2 1) n
s1, 2 = n j (1 2 ) n
Define :

d = (1 2 ) n = damped natural frequency

s1, 2 = n jd
MEEM 3700

11

Lecture 6-SDOF Damped

Vibration

Case 1: < 1 Under damped (Complex conjugate roots)

x ( t ) = C1es t + C 2es t
1

x(t) = C1e( + j )t + C2e( j )t

n

This simplifies to:

x(t ) = ent ( A cosd t + B sin d t )

where A & B are arbitrary constants to be found from initial conditions
MEEM 3700

12

Lecture 6-SDOF Damped

Vibration

Case 1: < 1 Under damped (Plot of x(t) vs. time)

1
0.8
0.6

x ( t ) = e n t ( A co s d t + B sin d t )

0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
0

0.5

1.5

2.5

3.5

MEEM 3700

13

Lecture 6-SDOF Damped

Vibration

Case 2: =1 Critically damped (Real equal roots)

s1,2 = n
s1 = n

s 2 = n

x(t ) = C1e s1t + C2te s2t or

x(t ) = (C1 + C2t )e nt
C1 and C2 are constants to be found from initial conditions
MEEM 3700

14

Lecture 6-SDOF Damped

Vibration

Case 2: =1 Critically damped (Real equal roots)

x(t ) = (C1 + C2t )e nt

1
0.8

=1

0.6
0.4

<1

0.2
0
-0.2
-0.4
-0.6
-0.8
-1

0.5

1.5

2.5

3.5

MEEM 3700

15

Lecture 6-SDOF Damped

Vibration

Case 3: > 1 Over-damped (Real unequal roots)

s1, 2 = n ( 2 1) n
s1 = n +

s 2 = n

1) n
1) n

x(t ) = C1e s1t + C2 e s2t

MEEM 3700

16

Lecture 6-SDOF Damped

Vibration

Case 3: > 1 Over-damped (Real unequal roots)

x(t ) = C1e s1t + C2 e s2t

1
0.8

>1

0.6
0.4

=1

<1

0.2
0
-0.2
-0.4
-0.6
-0.8
-1

0.5

1.5

2.5

MEEM 3700

3.5

17

Lecture 6-SDOF Damped

Vibration

Review

MEEM 3700

18

Lecture 6-SDOF Damped

Vibration

Maintain Dynamic Equilibrium

Free Body Diagram

kx + k

c&x
X
m

At rest, X= 0 (static equilibrium)

mg

m&x& + cx& + kx = 0
MEEM 3700

19

Lecture 6-SDOF Damped

Vibration

Case 1: < 1 Under-damped (Complex conjugate roots)

x(t ) = ent ( A cosd t + B sin d t )

Or alternatively, we can also write
n t

x(t ) = e

( X sin ( t + ) )
d

where X = A2 + B 2 and = tan 1 A / B

Case 2: =1 Critically damped (Real equal roots)

x(t ) = (C1 + C2t )e nt

Case 3: > 1 Over-damped (Real unequal roots)

x(t ) = C1e s1t + C2 e s2t

MEEM 3700

s1, 2 = n ( 2 1) n
20

Lecture 6-SDOF Damped

Vibration

10

Free Vibration Response: SDOF with Damping

1

>1

0.8
0.6

=1

0.4
0.2
0
-0.2
-0.4

<1

-0.6
-0.8
-1
0

0.5

1.5

2.5

MEEM 3700

3.5

21

Lecture 6-SDOF Damped

Vibration

Damping ratio (for many structural

materials)

% critical damping

0.001 0.05

*100%

0.1% 5%

MEEM 3700

22

Lecture 6-SDOF Damped

Vibration

11

Case 1: < 1 Under damped (Complex conjugate roots)

1
0.8
0.6
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
0

x(t) = ent (A cosd t + Bsin d t)

0.5

1.5

2.5

3.5

MEEM 3700

23

Lecture 6-SDOF Damped

Vibration

x(t) = ent (A cosd t + Bsin d t)

Determine A, and B from the given initial Conditions, x(0) and

x&(0)

x(0) = en 0 ( A cos (d 0) + B sin (d 0))

x(0) = A
MEEM 3700

24

Lecture 6-SDOF Damped

Vibration

12

x& (t) = nent (x(0) cosd t + Bsin d t)

+ ent (d x(0) sin d t + dBcosd t)
x&(0) = nen 0 ( x(0)cos (d 0) + B sin (d 0))
+ ent (d x(0)sin (d 0) + d B cos (d 0))

x& (0) = n x(0) + dB

x& (0) + n x(0)

B=
d
MEEM 3700

25

Lecture 6-SDOF Damped

Vibration

displacement

x(t) = ent (x(0) cosd t +

x& (0) + n x(0)

sin d t)
d

time

MEEM 3700

26

Lecture 6-SDOF Damped

Vibration

13

x(t) = ent (x(0) cosd t +

x& (0) + n x(0)
sind t)

1
0.8

d = 2/d

0.6
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
0

0.5

1.5

2.5

3.5

MEEM 3700

27

Lecture 6-SDOF Damped

Vibration

Alternate form of Equation of motion

m&x& + cx& + kx = 0
n =

k
= natural frequency
m

c
= damping ratio
Cc

mx&& + cx& + kx = 0
&&
x+

c
k
x& + x = 0
m
m

&&
x + 2 n x& + n2 x = 0
MEEM 3700

28

Lecture 6-SDOF Damped

Vibration

14