A spring mass system and perform a

static experiment:
• From strength of
materials recall:
Introduction to Free Vibration FBD:

Chapter I nonlinear

Mechanical Vibrations
linear
A plot of force versus displacement:

experiment ⇒ fk = kx 2

Free-body diagram and equation of

motion Stiffness and Mass
Vibration is cause by the interaction of two different forces
one related to position (stiffness) and one related to
acceleration (mass).
Proportional to displacement
Stiffness (k)

Displacement
fk = −kx(t) x
•Newton’s Law: statics k
Mass (m) m
mxɺɺ(t ) = −kx (t ) ⇒ mxɺɺ(t ) + kx (t ) = 0
fm = ma(t ) = mxɺɺ(t ) Mass Spring
x (0) = x0 , xɺ(0) = v0 (1.2)
dynamics

Again a 2nd order ordinary differential equation Proportional to acceleration

3 4
Examples of Single-Degree-of- Solution to 2nd ODEs
Freedom Systems Lets assume a solution:
x(t)

Pendulum Shaft and Disk x(t) = Asin(ω nt + φ )

t
Differentiating twice gives:
Torsional xɺ( t ) = ωn A cos(ωn t + φ )
l =length Stiffness

ɺɺx ( t ) = −ωn A sin(ωn t + φ ) = -ωn x (t )

k 2 2
θ Moment
Gravity g of inertia
m J Substituting back into the equations of motion gives:
θ
−mω n2 Asin(ω nt + φ ) + kAsin(ω nt + φ ) = 0
g
θɺɺ(t) + θ (t) = 0 k
−mω n2 + k = 0 ωn =
Jθɺɺ(t ) + kθ (t ) = 0 or Natural
l m frequency
5 rad/s 6

Summary of simple harmonic motion Initial Conditions

x(t) If a system is vibrating then we must assume that something
Period
must have (in the past) transferred energy into to the system
Amplitude
2π and caused it to move. For example the mass could have
T= A
been:
ωn
•moved a distance x0 and then released at t = 0 (i.e. given
x0 Slope
Potential energy) or
here is v0
t •given an initial velocity v0 (i.e. given Kinetic energy) or

Maximum •Some combination of the two above cases

φ Velocity From our earlier solution we know that:
ωn ωn A
x0 = x (0) = A sin(ωn 0 + φ ) = A sin(φ )
ω n rad/s ω cycles ω n
fn = = n = Hz
2π rad/cycle 2π s 2π v0 = xɺ(0) = ωn A cos(ωn 0 + φ ) = ωn A cos(φ )
7 8
 Initial Conditions The total solution for the spring
Solving these equation gives:
mass system is
1 ω x 
A= ωn2 x02 + v02 , φ = tan −1  n 0 
ωn  v0  ω n2 x02 + v02  ω x 
    x(t) = sin  ω nt + tan −1 n 0  (1.10)
Amplitude Phase ωn  v0 
Slope Called the solution to a simple harmonic oscillator
x(t) here is v0 1 and describes oscillatory motion, or simple harmonic motion.
ω n2 x02 + v02
x0 ωn
x0 Note (Example 1.1.2)
t ω n2 x02 + v02 ω n x0
x(0) = = x0
φ ωn ω n2 x02 + v02
φ
ωn v0
ωn 9 as it should 10

Example 1.1.3 wheel, tire suspension Section 1.2 Harmonic Motion

m=30 kg, ωn= 10 hz, what is k? The period is the time elapsed to complete one complete cylce
2π rad 2π
T= = s (1.11)
 cylce 2π rad  ω n rad/s ω n
k = mω = ( 30 kg )  10
2
n i  = 1.184 ×10 5 N/m
 sec cylce  The natural frequency in the commonly used units of hertz:

ωn ω n rad/s ω cycles ω n
fn = = = n = Hz (1.12)
2π 2π rad/cycle 2π s 2π
There are of course more complex models of suspension systems
For the pendulum:
and these appear latter in the course as our tools develope g l
ωn = rad/s, T = 2π s
l g
For the disk and shaft:

k J
ωn = rad/s, T = 2π s
J k
11 12
 Example 1.2.1Hardware store spring, bolt: m= 49.2x10-3
Relationship between Displacement, kg, k=857.8 N/m and x0 =10 mm. Compute ωn and the
Velocity and Acceleration max amplitude of vibration.
A=1, ωn=12 k 857.8 N/m
Displacement
1
ωn = = =132 rad/s
Note: common
Units are Hertz

x(t) = Asin(ω nt + φ ) 0
m 49.2×10-3 kg

x
ωn
fn = = 21 Hz
-1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 To avoid Costly errors use fn
Velocity 20
2π when working in Hertz and ωn
when in rad/s
ɺ = ω n A cos(ω nt + φ )
x(t) 0
2π 1 1
v

T= = = 0.0476 s
-20
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 ωn fn 21cyles
Acceleration 200 sec
x(t) = −ω Asin(ω nt + φ )
ɺɺ 2
0 1 0
a

n
x(t)max = A = ωn2 x02 + v02 = x0 =10 mm
-200
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 ωn
Time (sec)
Note how the relative magnitude of each increases for ωn>1 13 Units depend on system 14

Compute the solution and max velocity and

acceleration Possibility 1. Critically damped motion

v(t ) max = ωn A = 1320 mm/s = 1.32 m/s 2.92 mph Critical damping occurs when ζ=1. The damping coefficient
c in this case is given by:
a(t ) max = ω n2 A = 174.24 ×103 mm/s 2 ζ =1 ⇒ c = ccr = 2 km = 2mωn

= 174.24 m/s ≈ 17.8 g2 definition of critical
Solving for λ then gives, damping coefficient

g = 9.8 m/s2
 ωn x0  π λ1,2 = −1ωn ± ωn 12 −1 = −ωn
φ = tan −1   = rad 90°
 0  2
The solution then takes the form
A repeated, real root

x(t ) = 10 sin(132t + π / 2) = 10 cos(132t ) mm x(t) = a1e−ω n t + a2te−ω n t

~0.4 in max
Needs two independent solutions, hence the t
15 in the second term 16
 Critically damped motion Possibility 2: Overdamped motion
a1 and a2 can be calculated from initial conditions (t=0),
An overdamped case occurs when ζ>1. Both of the roots of the
−ω n t
x = (a1 + a2t)e equation are again real.
k=225N/m m=100kg andz=2
ζ=1
k=225N/m m=100kg and 0.6
⇒ a1 = x0 0.6 λ1,2 = −ζωn ± ωn ζ 2 −1 x0=0.4mm v0=1mm/s
x0=0.4mm v0=1mm/s 0.5 x0=0.4mm v0=0mm/s
−ω n t
v = (−ω n a1 − ω n a2t + a2 )e x(t) = e−ζωn t (a1e−ωn t ζ −1
+ a2 eω n t ζ −1
2 2
0.5 x0=0.4mm v0=0mm/s ) x0=0.4mm v0=-1mm/s

Displacement (mm)
0.4
x0=0.4mm v0=-1mm/s

Displacement (mm)
0.4
v0 = −ω n a1 + a2 a1 and a2 can again be calculated 0.3
0.3
from initial conditions (t=0),
⇒ a2 = v0 + ω n x0 0.2
0.2

−v0 + ( − ζ + ζ 2 −1)ωn x0 0.1

• No oscillation occurs 0.1
a1 = 0
• Useful in door 0 2ωn ζ 2 −1
mechanisms, analog -0.1
0 1 2 3 4
v + (ζ + ζ −1)ωn x0
-0.1 2
gauges 0 1 2 3 4 Time (sec)
Time (sec) a2 = 0
2ωn ζ 2 −1 Slower to respond than
17 critically damped case 18

Possibility 3: Underdamped motion Underdamped motion

A and φ can be calculated from initial conditions (t=0),
An underdamped case occurs when ζ<1. The roots of the
equation are complex conjugate pairs. This is the most 1
A= (v0 + ζωn x0 )2 + (x0ω d ) 2
common case and the only one that yields oscillation. ωd
λ1,2 = −ζωn ± ωn j 1− ζ 2
 x0ω d 
φ = tan−1  
 v0 + ζωn x0 
2 2
x(t) = e−ζωn t (a1e jωn t 1−ζ
+ a2 e− jω n t 1−ζ
) 1
−ζω n t
= Ae sin(ω d t + φ) • Gives an oscillating
0.5
response with exponential

Displacement
decay
The frequency of oscillation ωd is called the damped natural 0
frequency is given by. • Most natural systems vibrate
with and underdamped
-0.5
response
ωd = ωn 1 − ζ 2
(1.37) • See Window 1.5 for details
-1
and other representations 0 1 2 3 4 5
19 Time (sec) 20
Example 1.3.1: consider the spring of 1.2.1, if c
= 0.11 kg/s, determine the damping ratio of the spring-bolt Example 1.3.2
The human leg has a measured natural frequency of
system. around 20 Hz when in its rigid (knee locked)
m = 49.2 × 10−3 kg, k = 857.8 N/m position, in the longitudinal direction (i.e., along the
length of the bone) with a damping ratio of ζ = 0.224.
ccr = 2 km = 2 49.2 × 10 −3 × 857.8 Calculate the response of the tip if the leg bone to
an initial velocity of v0 = 0.6 m/s and zero initial
= 12.993 kg/s displacement (this would correspond to the vibration
c 0.11 kg/s induced while landing on your feet, with your knees
ζ= = = 0.0085 ⇒ locked form a height of 18 mm) and plot the
ccr 12.993 kg/s response. What is the maximum acceleration
the motion is underdamped experienced by the leg assuming no damping?
and the bolt will oscillate
21 22

Solution: Use the undamped formula to get

maximum acceleration:
2
20 cycles 2π rad v 
ωn = = 125.66 rad/s A = x02 +  0  , ωn = 125.66, v0 = 0.6, x0 = 0
1 s cycles  ωn 
v 0.6
ω d = 125.66 1− (.224) = 122.467 rad/s
2
A= 0 m= m
ωn ωn
(0.6 + (0.224 )(125.66)(0)) + (0)(122.467)
2 2
  0.6 
A= = 0.005 m x ) = ( −ωn2 A( =  −ωn2 
max ( ɺɺ  = ( 0.6 ) (125.66 m/s ) = 75.396 m/s
2 2

122.467  ω
 n 

 (0)(ω d ) 
φ = tan-1   =0
 v0 + ζω n (0 ) 2

⇒ x(t ) = 0.005e −28.148t

sin(122.467t ) maximum acceleration = 75.396 m/s2 g = 7.68g' s
9.81 m/s

23 24
Here is a plot of the displacement
response versus time
25
Example 1.3.3 Compute the form of the response of
an underdamped system using the Cartesian form of the solution
given in Window 1.5.
sin( x + y ) = sin x sin y + cos x cos y ⇒
x ( t ) = Ae −ζωnt sin(ωd t + φ ) = e −ζωnt ( A1 sin ωd t + A2 cosωd t )
x (0) = x0 = e 0 ( A1 sin(0) + A2 cos(0)) ⇒ A2 = x0
xɺ = −ζωn e −ζωnt ( A1 sin ωd t + A2 cosωd t )
+ ωd e −ζωnt ( A1 cosωd t − A2 sin ωd t )
v0 = −ζωn ( A1 sin0 + x0 cos0) + ωd ( A1 cos0 − x0 sin0)
v0 + ζωn x0
⇒ A1 = ⇒
ωd
 v + ζωn x0 
x ( t ) = e −ζωnt  0 sin ωd t + x 0 cosωd t 
 ωd
26
