Things to learn today

1. How to calculate kinetic energy

2. How to calculate potential energy

3. Use energy method to derive equation of motion

4. Damping elements

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 Session 1.2 Vibration and Damping

5. Equation of motion: Energy Method

For a conservative system, the governing equation can also be

derived by using the energy method which states that at any
moment, the sum of the potential energy and the kinetic energy
of the system remains constant, i.e.

T  V  constant
T: kinetic energy of the system

V: potential energy of the system

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 Session 1.2 Vibration and Damping
5.1 Kinetic energy

For a mass moving at a speed of x (t )

1 2
T  mx
2

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 Session 1.2 Vibration and Damping

For a rigid body undergoing rotational motion at angular speed of

 (t )
r
1 2 o  (t )
T  J
2 m

where the rotary inertia

1 2
J  mr
2

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 Session 1.2 Vibration and Damping

For a rigid body rolling on a surface without slipping

1 1 2
T  J o  mxo
2 x
2 2
r
xo 
o
1 2
J  mr ; xo  r m
2
1 1 2 3 2 2
 T  J o  mxo  mr 
2

2 2 4

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 Session 1.2 Vibration and Damping
5.2 Potential energy

Potential energy due to spring

1
Vk  kx 2
2
m

x m

Note: x should be the displacement off the equilibrium position.

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 Session 1.2 Vibration and Damping

Potential energy due to gravitational force

Vm  mgx
m

x m

Note: we take the equilibrium position as reference point where

the potential energy is zero.