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10.mechanical Vibrations 1frrsuf PDF
10.mechanical Vibrations 1frrsuf PDF
A mass m is suspended at the end of a spring, its weight stretches the spring
by a length L to reach a static state (the equilibrium position of the system).
Let u(t) denote the displacement, as a function of time, of the mass relative
to its equilibrium position. Recall that the textbook’s convention is that
downward is positive. Therefore, u > 0 means the spring is stretched beyond
its equilibrium length, while u < 0 means that the spring is compressed. The
mass is then assumed to be set in motion (by any one of several means).
mg = kL
While in motion:
m u″ + γ u′ + k u = F(t)
Summary of terms:
m u″ + k u = 0.
k
The characteristic equation is m r2 + k = 0. Its solutions are r = ± i.
m
The general solution is then
k
Where ω 0 = is called the natural frequency of the system. It is the
m
frequency at which the system tends to oscillate in the absence of any
damping. A motion of this type is called simple harmonic motion. It is a
perpetual, sinusoidal, motion.
2π
The (natural) period of the oscillation is given by T =
ω 0 (seconds).
C2
tan δ =
C1 .
C2
δ = tan −1 , if C1 > 0,
C1
C
δ = tan −1 2 + π , if C1 < 0,
C1
π
δ= , if C1 = 0 and C2 > 0,
2
π
δ =− , if C1 = 0 and C2 < 0,
2
When damping is present (as it realistically always is) the motion equation
of the unforced mass-spring system becomes
m u″ + γ u′ + k u = 0.
When γ2 > 4mk, there are two distinct real roots, both are negative. The
displacement is in the form
r t r t
u(t ) = C1e 1 + C2e 2 .
−t −2t
Graph of u(t) = e − e
−t −2t
Graph of u(t) = − e + 2e
−γ
When γ2 = 4mk, there is one (repeated) real root. It is negative: r = .
2m
The displacement is in the form
u(t) = C1 e rt + C2 t e rt.
A system exhibits this behavior is called critically damped. That is, the
damping coefficient γ is just large enough to prevent oscillation. As can be
seen, this system does not oscillate, either. Just like the overdamped case,
the mass could cross its equilibrium position at most one time.
−t / 2
Graph of u(t) = e + t e− t / 2
−t / 2
Graph of u(t) = e − t e− t / 2
When γ2 < 4mk, there are two complex conjugate roots, where their common
real part, λ, is always negative. The displacement is in the form
The formulas for R and δ are the same as in the previous (undamped free
vibration) section. The displacement function is oscillating, but the
amplitude of oscillation, R e λ t, is decaying exponentially. For all particular
solutions (except the zero solution that corresponds to the initial conditions
u(t0) = 0, u′( t0) = 0), the mass crosses its equilibrium position infinitely
often.
−t
Damped oscillation: u(t) = e cos(2t)
Note that in all 3 cases of damped free vibration, the displacement function
tends to zero as t → ∞. This behavior makes perfect sense from a
conservation of energy point-of-view: while the system is in motion, the
damping wastes away whatever energy the system has started out with, but
there is no forcing function to supply the system with additional energy.
Consequently, eventually the motion comes to a halt.
m = 1, γ = 14, L = 0.1;
mg = 9.8 = kL = 0.1 k → 98 = k.
m u″ + γ u′ + k u = 0, m > 0, k > 0.
k
Oscillation: Yes, periodic (at natural frequency ω 0 = )
m
Oscillation: No
r t r t
Displacement: u(t ) = C1e 1 + C2e 2
Oscillation: No
DAMPING INCREASES
γ2 = 4mk Critically Damped
No Oscillation
Displacement: u(t)= C1 ert + C2 tert
Mass crosses equilibrium at most once.
Underdamped
γ2 < 4mk System oscillates with amplitude decreasing
exponentially overtime,
λt λt
Displacement: u(t)= C1e cos µt + C2 e sin µt,
Oscillation quasi periodic: Tq = 2π/µ
Undamped
γ=0
© 2008 Zachary S Tseng
γ = 0, Displacement: u(t)= C1 cos ω0t + C2 sin ω0t
B-3 - 14
Now let us introduce a nonzero forcing function into the mass-spring system.
To keep things simple, let damping coefficient γ = 0. The motion equation is
m u″ + k u = F(t).
m u″ + k u = F0 cos ωt.
The form of the particular solution that the displacement function will have
depends on the value of the forcing function’s frequency, ω.
Case I. When ω ≠ ω0
Thus,
u (t ) =
F0
(cos ω t − cos ω t ) .
0
m(ω 0 − ω )
2 2
2F0 (ω 0 − ω ) t (ω 0 + ω ) t
u (t ) = sin sin .
m(ω 0 − ω )
2 2
2 2
If the periodic forcing function has the same frequency as the natural
frequency, that is ω = ω0, then the form of the particular solution becomes
Y = A t cos ω0 t + B t sin ω0 t.
F0
A = 0, and B= .
2mω 0
F0
u (t ) = C1 cos ω 0 t + C 2 sin ω 0 t + t sin ω 0 t
2 mω 0
.
The first two terms in the solution, as seen previously, could be combined to
become a cosine term u(t) = R cos (ω0 t − δ), of steady oscillation. The third
term, however, is a sinusoidal wave whose amplitude increases
proportionally with elapsed time. This phenomenon is called resonance.
1. There is no damping: γ = 0,
1 – 4 Solve the following initial value problems, and determine the natural
frequency, amplitude and phase angle of each solution.
1. u″ + u = 0, u(0) = 5, u′(0) = −5.
Answers B-3.1:
1. u = 5cos t − 5sin t, ω0 = 1, R = 5 2 , δ = −π / 4
2. u = −2cos 5t + 2 3 sin 5t, ω0 = 5, R = 4, δ = 2π / 3
3. u = 3cos 10t, ω0 = 10, R = 3, δ=0
4. u = −5cos t / 2 − 10sin t / 2, ω0 = 1 / 2, R = 5 5 , δ = π + tan−1 2
5. u = e −3t + 4t e −3t, critically damped
6. u = 2e −3t − 2e −t, overdamped
7. u = −2e −3 t cos t + 3e −3 t sin t, underdamped
8. u = 6e − t cos 4t + e − t sin 4t, underdamped
9. u = 4e −t / 4 − e −2t, overdamped
10. u = −5e −4t − 14t e −4t, critically damped
11. Overdamped if 0 < k < 9 / 8, critically damped if k = 9 / 8, underdamped
if k > 9 / 8.
12. Underdamped if 0 < γ < 24, critically damped if γ = 24, overdamped if
γ > 24. When γ = 0, the system is undamped (rather than underdamped).
7
13. (iii), u = C1 cos 2t + C 2 sin 2t + t sin 2 t
16
14. (a) k = 288 (b) k = 3