MECHANICAL VIBRATION

AND APPLICATION

IN CONSTRUCTION MACHINERY

Associate Prof. Dr. Nguyen Hong Ngan

Hochiminh City University of Technology

CHAPTER: 3

1. LEARNING OBJECTIVES
1. Understanding SDOF undamped systems.

2. Capable of obtaining analytical solution for free vibration.

3. Understand the response from translational and rotational

SDOF systems solved using Newtons Law of Motion.

4. Deriving EOM for damped free vibration.
5. Analyzing the characteristic roots.
6. Estimating damping from logarithmic decay.
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Chapter 2

3. SDOF DAMPED FREE VIBRATION

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Chapter 2

3. SDOF DAMPED FREE VIBRATION (CONT.)

Thus the FBD can be shown as in Figure 3.8;

We know from SDOF Undamped Free Vibration that at static

equilibrium, k = mg. Going through similar derivation,
simplifying and rearranging the variables such that the right hand
side of the equation equals to zero (no external excitation), then
the Differential EOM becomes;

m x c x k x 0
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Eq. 3.19
Chapter 2

3. SDOF DAMPED FREE VIBRATION (CONT.)

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Chapter 2

3. SDOF DAMPED FREE VIBRATION (CONT.)

Hochiminh City University of Technology

Chapter 2

3. SDOF DAMPED FREE VIBRATION (CONT.)

Hochiminh City University of Technology

Chapter 2

3. SDOF DAMPED FREE VIBRATION (CONT.)

Hochiminh City University of Technology

Chapter 2

3. SDOF DAMPED FREE VIBRATION (CONT.)

Hochiminh City University of Technology

Chapter 2

3. SDOF DAMPED FREE VIBRATION (CONT.)

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Chapter 2

3. SDOF DAMPED FREE VIBRATION (CONT.)

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Chapter 2

3. SDOF DAMPED FREE VIBRATION (CONT.)

Damped Natural Frequency, d
If there exist no damping, the characteristic roots becomes
imaginary in which the system would oscillate at;

k
m

Consider Eq. 3.23 again;

m s 2 cs k 0

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Chapter 2

3. SDOF DAMPED FREE VIBRATION (CONT.)

If we rewrite the above equation in terms of and n by
dividing it with m and substituting, 2 n = c/m, the Eq.
3.23 becomes;
s 2 2 n s n2

Eq.3.30

The characteristic roots will be;

s

n j n 1 2

The imaginary part is the damped natural frequency, d

Thus,

n 1 2

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Eq. 3.31
Chapter 2

13

3. SDOF DAMPED FREE VIBRATION (CONT.)

And the reciprocal of the real part is known as the time
constant, , where;
1

Eq. 3.32

Eq. 3.31 is only employed when dealing with system in

underdamped case.
Expressing the response for this underdamped SDOF free
vibration in terms of , n , and d is as follows;

x t

Ae n t sin d t

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14

Chapter 2

3. SDOF DAMPED FREE VIBRATION (CONT.)

Logarithmic Decrement,
In practice, damping coefficient is difficult to estimate. To
measure mass and stiffness only require static test s. However,
in estimating damping requires a dynamic test. Example:
Estimating damping of an aircraft wings.
By definition, logarithmic decrement can be calculated as the

natural log of the ratio of 2 successive amplitudes.

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Chapter 2

3. SDOF DAMPED FREE VIBRATION (CONT.)

e -nt

sin (d + )

Figure 3.11: Logarithmic Decrement

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Chapter 2

3. SDOF DAMPED FREE VIBRATION (CONT.)

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Chapter 2

3. SDOF DAMPED FREE VIBRATION (CONT.)

From definition, logarithmic decrement is;

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Chapter 2

3. SDOF DAMPED FREE VIBRATION (CONT.)

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Chapter 2

3. SDOF DAMPED FREE VIBRATION (CONT.)

Basic definition as in Eq. 3.35, i.e.;
x t
ln
x t T
A
A
ln 1 or ln 2 or
A2
A3

(Eq. 3.35b)

From Eq 3.35b, this produces error in estimating the log

decrement, hence affecting the damping estimates. This is

due to the fact that only 2 successive peaks/amplitudes are

used to calculate the ratio.

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20

Chapter 2

3. SDOF DAMPED FREE VIBRATION (CONT.)

Better estimation can be achieved if more ratio of peaks
are used. Modified logarithmic decrement considers
ln

A
A
A1
A
ln 2 ln n ln n
A2
A3
An 1
An 1

n ln

Thus,

A1
An 1

1
x t
ln
n x t nT
1
A1
ln
n An 1

Eq. 3.40

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Chapter 2

DETERMINATION OF STIFFNESS AND VISCOUS DAMPING

COEFFICIENT ACCORDING TO EXPERIMENTAL RESULTS

The solution in form of the

system
Damping constants
Frequency of damped vabration

x(t ) e nt (C1 sin( 2 1 2 )t C2 cos( 2 1 2 )t

d n 1 2

c
c
c
n
c; n
n ;

2m
cc 2mn n
2n
xk
e ntk
nT
n ( t k T ) e e d e
xk 2 e

ln
2
c
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xk
nT
xk 2

1 2

2 4 2

2m
m
; k 2 (2 4 )
T
T
Chapter 2

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PROBLEM 1

Chapter
I
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of Technology

Chapter232

PROBLEM 1-SOLUTION

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Chapter242

PROBLEM 1

Chapter
I
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of Technology

Chapter252

RESPONSE OF A DAMPED SYSTEM UNDER THE

HARMONIC MOTION OF THE BASE

mx c( x y ) k ( x y ) 0
y (t ) Y sin t
mx cx kx A sin t B cos t
A kY

B cY

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Chapter 2

RESPONSE OF A DAMPED SYSTEM UNDER THE

HARMONIC MOTION OF THE BASE
mx c( x y ) k ( x y ) 0
y (t ) Y sin t
mx cx kx A sin t B cos t

x p (t )

A kY

B cY

kY sin(t 1 )

(k m 2 ) 2 (c ) 2

cY cos(t 2 )
(k m ) 2 (c ) 2

x p (t ) cos(t 1 2 )
1

k (c )
Y
cos(t 1 2 )
2 2
2
(k m ) (c )
2

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Chapter 2

RESPONSE OF A DAMPED SYSTEM UNDER THE

HARMONIC MOTION OF THE BASE

X
k 2 (c ) 2

2
2
Y (k m ) (c )

1 2r
2

2
2 2
1 r 2r
c
1
1 2r
1 tan (
) tan
2
k m
1 r 2
k
1
2 tan 1 ( ) tan 1
c
2r
2

Chapter
I
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of Technology

Chapter282

PROBLEM 2

Chapter
I
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of Technology

Chapter292

PROBLEM 2- SOLUTION

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Chapter 2

PROBLEM 2- SOLUTION

Chapter
I
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of Technology

Chapter312

PROBLEM 3

Chapter
I
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of Technology

Chapter322

PROBLEM 3- SOLUTION

Chapter
I
Hochiminh City University
of Technology

Chapter332

PROBLEM 4

Chapter
I
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of Technology

Chapter342

PROBLEM 4- SOLUTION

Chapter
I
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of Technology

Chapter352

PROBLEM 5

Chapter
I
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of Technology

Chapter362

PROBLEM 5- SOLUTION

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Chapter 2

PROBLEM 6

Chapter
I
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of Technology

Chapter382

PROBLEM 6- SOLUTION

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Chapter 2

PROBLEM 7

Chapter
I
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of Technology

Chapter402

PROBLEM 7- SOLUTION

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Chapter 2

PROBLEM 8

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Chapter 2

PROBLEM 8- SOLUTION

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Chapter 2

PROBLEM 9

Chapter
I
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of Technology

Chapter442

PROBLEM 9-SOLUTION

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Chapter 2

PROBLEM 10

Chapter
I
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of Technology

Chapter462

PROBLEM 10- SOLUTION

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Chapter 2

PROBLEM 11

Chapter
I
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of Technology

Chapter482

PROBLEM 11- SOLUTION

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Chapter 2

PROBLEM 12

Chapter
I
Hochiminh City University
of Technology

Chapter502

PROBLEM 12- SOLUTION

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Chapter 2

PROBLEM 12- SOLUTION (CONT.)

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Chapter 2

PROBLEM 13

Chapter
I
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of Technology

Chapter532

PROBLEM 13- SOLUTION

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Chapter 2

PROBLEM 14

Chapter
I
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of Technology

Chapter552

PROBLEM 14- SOLUTION

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Chapter 2

4. INTRODUCTION TO MATLAB / SIMULINK

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Chapter 2