IOE THAPATHALI CAMPUS/THEORY OF VIBRATION/ASSIGNMENT I/2022

1. A construction worker is goofing around on site and is standing on a wood beam at

its center. The worker is shaking up and down as he does his job but eventually the
beam fails. The site engineer is called over to analyze the dynamic system to
determine why the wood beam has failed. As part of her analysis, she first decides to
determine the stiffness of the beam. Determine the equivalent stiffness, k, for the
massless beam system shown below (the beam is indeterminate so use compatibility
and linearity of the system to solve). Leave your answer in terms of E, I and L. Your
degree of freedom is the displacement of the beam in the down direction at the point
indicated:

SOLUTION:
Let us consider the fixed end of the propped cantilever beam shown above to be point A, the
middle of the beam where the load of the worker F is acting vertically downwards to be point B
and the end of the beam with the roller support to be point C.
Considering there is no roller support at point C, the value of downward deflection at point C of
3
5 FL
the cantilever beam due to the load F at point B (in the middle) is given as:
48 EI
Let us suppose the reaction at point C due to roller support is R vertically upwards. Hence, the
−R L3
deflection at point C due to reaction R in a cantilever beam is given as: (considering
3 EI
upward direction as -ve)
But, the deflection at point C is zero so that the sum of downward deflection at point C due to the
load F and upward deflection at point C due to reaction R should also be equal to zero.
(Compatibility of Displacements)
3 3
5F L R L
− =0
48 EI 3 EI
5F
Hence , R=
16
Also, let us suppose the upward reaction at fixed end A is R A. Considering the equilibrium of
forces in the vertical direction,
−R A + F−R=0
5F
¿ ,−R A + F− =0
16
11 F
Hence , R A =
16
Also, let us support the moment at fixed end A is M A (anticlockwise direction). Considering the
equilibrium of moments about point A,

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IOE THAPATHALI CAMPUS/THEORY OF VIBRATION/ASSIGNMENT I/2022

F∗L
M A− + R∗L=0
2
FL 5 FL
¿ , M A− + =0
2 16
3 FL
Hence , M A =
16
At a distance x from the fixed end A, which is to the left of the middle of the beam B, the value
of moment can be written as:
3 FL 11 Fx
M ( x )=M A −R A∗x= −
16 16

( )
2
d y 3 FL 11 Fx
¿ , EI 2
=M ( x )= − … … …(i)
dx 16 16
Integrating equation (i), we get,

( )
EI
dy 3 FLx 11 F x 2
dx
=
16
−
32
+c 1 … … … ( ii ) where ,c 1 is a constant
Integrating equation (ii), we get,
3 FL x 2 11 F x 3
EI ( y )= − +c 1 x+ c2 … … … ( iii ) where , c 2 is another constant
32 96
We have, the boundary conditions;
dy
At x=0 ( at point A ) , y =0 , =0
dx
Substituting these values in equations (ii) and (iii), we get,
c 1=0∧c 2=0
Hence, from equation (iii), we get,
2 3
3 FL x 11 F x
EI ( y )= −
32 96
At our point of interest i.e., at point B, x=L/2. Putting this value of x in above equation, we get,
3 FL3 11 F L3
EI ( y )= −
128 768
3 3
( ) 7 FL 7 FL
¿ , EI y = i . e . , y=
768 768 EI
Since, y in the above equation represents the vertical deflection of point B i.e., the middle of the
given beam, the stiffness for that degree of freedom can be represented as:
F
k = where , F is the force acting ∈the said degree of freedom
y
768 EI
Hence , k=
7 L3

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IOE THAPATHALI CAMPUS/THEORY OF VIBRATION/ASSIGNMENT I/2022

2. Consider a heavy mass of weight W on the following beam system:

Assume the damping ratio of the beam is ξ = 10%. If displacement, v(t) corresponds to the
displacement of beam at the location of the attached weight, and if the system is given an
initial displacement of 0.5 in and an initial velocity of 15 in/sec, determine the following:
a. Write the equation of motion of the system – what type of system is it (i.e.,
underdamped, critically damped, overdamped)?
b. The undamped natural frequency (ω) and period (T) of the system
c. The damped natural frequency (ωD) and period (TD) of the system
d. The critical damping coefficient, cc
e. Phase angle of the vibrating motion, θ
f. The peak displacement at time t=T D +θ /ω
g. The peak displacement at time t=2 T D +θ /ω
h. The logarithmic decrement, δ
SOLUTION:
Let us consider the left fixed end of the beam shown above to be point A, the middle of the beam
where the load W is placed to be point B and the right fixed end of the beam to be point C.
W
Vertical reaction at both left and right end = =2.5 kips
2
WL 5∗120
Fixed End Moment at both left and right end = = =75 kips−¿
8 8
At a distance x from the fixed end A, which is to the left of the middle of the beam B, the value
of moment can be written as:
WL Wx
M ( x )= −
8 2

( )
2
d y WL Wx
¿ , EI =M ( x )= − … … …(i)
dx 2
8 2
Integrating equation (i), we get,

( )
EI
dy WLx W x 2
dx
=
8
−
4
+ c1 … … … ( ii ) where ,c 1 is a constant
Integrating equation (ii), we get,

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IOE THAPATHALI CAMPUS/THEORY OF VIBRATION/ASSIGNMENT I/2022

2 3
WL x W x
EI ( y )= − +c 1 x+ c2 … … … ( iii ) where , c 2 is another constant
16 12
We have, the boundary conditions;
dy
At x=0 ( at point A ) , y =0 , =0
dx
Substituting these values in equations (ii) and (iii), we get,
c 1=0∧c 2=0
Hence, from equation (iii), we get,
2 3
WL x W x
EI ( y )= −
16 12
At our point of interest i.e., at point B, x=L/2 . Putting this value of x in above equation, we get,
3 3
WL WL
EI ( y )= −
64 96

W L3 W L3
¿ , EI ( y )= i. e . , y=
192 192 EI
Since, y in the above equation represents the vertical deflection of point B i.e., the middle of the
given beam, the stiffness for that degree of freedom can be represented as:
W
k = where , W isthe force acting∈the said degree of freedom
y
192 EI
Hence , k=
L3
6 2
Given , EI =10 k−i n , L=120∈¿
Substituting these values to determine k, we get, k =111.11 k / ¿

√ √( () )
k 111.11 rad
angular frequency , ω= = =92.61
m 5 s
386
5
damping coefficient , c=2 mωξ=2∗ ∗92.61∗10 %=0.24 kips−sec /¿
386
critical damping coefficient , c C =2 mω=2∗ ( ) 5
386
∗92.61=2.4 kips−sec/¿
a. The equation of motion can be represented as:
0.013 v̈ ( t )+ 0.24 v̇ ( t )+11.11 v ( t )=0
Since, the value of damping ratio is 10%, the given system is an underdamped one.
b. Undamped natural frequency of the system (ω) = 92.61 rad/s (as calculated above)
Undamped time period of the system (T) = 2π/ω = 0.0678 sec
c. Damped natural frequency of the system ( ω D )=ω √ 1−ξ =92.61 √ 1−0.1 =92.15 rad / s
2 2

Damped time period of the system (TD) = 2π/ωD = 0.0682 sec

d. Critical damping coefficient (cc) = 2.4 (as calculated above)
e. Given,
Initial Displacement=v ( 0 )=0.5 in
Initial Velocity=v̇ ( 0 )=15∈¿ se c

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IOE THAPATHALI CAMPUS/THEORY OF VIBRATION/ASSIGNMENT I/2022

Hence , Phase angle ( θ )=tan

−1
[ ]
v̇ ( 0 )+ ξωv ( 0 )
ωD v ( 0 ) [
=tan
92.15∗0.5 ]
−1 15+0.1∗92.61∗0.5
=0.403 radian

θ 0.403
f. t=T D + =0.0682+ =0.07255 sec
ω 92.61
For an underdamped system, the displacement at time ‘t’ is given by the equation:

v ( t )=e
[
−ξωt
v ( 0 ) cos ω D t+
v̇ ( 0 ) +ξωv ( 0 )
ωD
sin ω D t
]
v ( 0.07255 ) =e
−0.1∗92.61∗0.07255
[ 15+0.1∗92.61∗0.5
0.5∗cos ( 92.15∗0.07255 )+
92.15
∗sin ( 92.15∗0.07255 )
]
Hence, displacement at time t = 0.07255 sec is 0.266 in.
θ 0.403
g. t=2 T D + =2∗0.0682+ =0.1407 sec
ω 92.61
For an underdamped system, the displacement at time ‘t’ is given by the equation:

v ( t )=e
[
−ξωt
v ( 0 ) cos ω D t+
v̇ ( 0 ) +ξωv ( 0 )
ωD
sin ω D t
]
v ( 0.1407 )=e
−0.1∗92.61∗0. 1407
[ 15+ 0.1∗92.61∗0.5
0.5∗cos ( 92.15∗0.1407 )+
92.15
∗sin ( 92.15∗0.1407 )
]
Hence, displacement at time t = 0.1407 sec is 0.142 in.

h. Logarithmic Decrement ( δ )=ln

vn
=
2 πξ
=
( )
2 π∗0.1
v n +1 √ 1−ξ √ 1−0.12
2
=0.6317

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IOE THAPATHALI CAMPUS/THEORY OF VIBRATION/ASSIGNMENT I/2022

3. With a purpose to determine the dynamic properties of a frame system for which it
has lost the original blueprints, it is decided to do a free vibration test of the frame
system. With the help of a hydraulic jack, a jacking force is applied to displace the
frame. With a jacking force of 20 kips, it is noted that the frame has displaced 0.2 in.
After jacking the frame, the frame is released from the jack and its motion is
recorded. On the first return swing after release, the frame does not come back to
the release point but rather only 0.16 in towards it. The recorded time between the
time of release and the first return of 0.16 in is 1.4 seconds.

Determine the following:

a. Natural frequency (ω)
b. Mass of the girder (m)
c. Logarithmic decrement (δ)
d. Damping ratio (ξ)
e. Damping coefficient (c)
f. Damping frequency (ωD)
g. Amplitude of the frame after 6 cycles (v6)
h. Plot the time history response of the system, v(t)
SOLUTION:
Given, jacking force initially applied to the frame = 20 kips
Displacement of the frame due to the application of jacking force = 0.2 in
Hence, stiffness of the frame (k) = Force/Displacement = 20/0.2 = 100 kips/in
Time Period (T) = 1.4 s
Since the frame does not come back to the release point on the first return swing after release, it
indicates the presence of damping force in the frame.
2π 2π
a. Natural frequency ( ω )= = =4.49rad /s
T 1.4
k 100
b. Mass of the girder ( m )= 2 = 2
=4.96 kips−s2 /¿
ω 4.49

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IOE THAPATHALI CAMPUS/THEORY OF VIBRATION/ASSIGNMENT I/2022

c. Logarithmic decrement ( δ )=ln ( ) ( )

vn
v n+1
=ln
0.2
0.16
=0.223 (Since, on the first return swing

after release, the frame comes 0.16 in towards the release point.)
2 πξ
d. We have, Logarithmic decrement ( δ )=
√1−ξ 2
2 πξ
¿ , 0.223=
√ 1−ξ 2
Considering a small value of the damping ratio, the above equation can be written as,
0.223=2 πξ
0.223
Hence , Damping Ratio ( ξ ) = =0.0354=3.54 %
2π
c
e. We know, Damping Ratio ( ξ )=
2mω
Hence , c=2 ξmω=2∗0.0354∗4.96∗4.49=1.57 kips−sec/ i n
f. Damped frequency ( ω D ) =ω √ 1−ξ2=4.49∗√ 1−0.03542=4.487 rad / s
g. To calculate the amplitude of the frame after six cycles, let us say that the amplitude of
the first cycle is v0 and the amplitude after 6 cycles is v6. Then, the number of cycles
required to reach to v6 from v0 is given by:

number of cycles= ln
1
δ
vn
v n+m ( )
1
¿ , 6=
0.223
ln
0.20
( )
v6
Hence , v 6=0.0525∈¿
h. To plot the time history response of the system, we have, for an underdamped system, the
displacement at time ‘t’ is given by the equation:

v ( t )=e
−ξωt
[
v ( 0 ) cos ω D t+
v̇ ( 0 ) +ξωv ( 0 )
ωD ]
sin ω D t

−0. 0354∗4.49t
v ( t )=e
[ 0.20 cos( 4.487 t )+
0+0 .0354∗4.49∗0.20
4.487
sin (4.487 t )
]
v ( t )=e−0.1589 t [ 0.20 cos(4.487 t)+0.0071 sin(4.487 t ) ]
Plotting the corresponding values of v(t) for various values of t to get the response
history,
Time (t)-s v(t) - m/s Time (t)-s v(t) - m/s Time (t)-s v(t) - m/s
0 0.2000 1.2 0.0983 2.4 -0.0354
0.2 0.1262 1.4 0.1601 2.6 0.0786
0.4 -0.0352 1.6 0.1012 2.8 0.1282
0.6 -0.1610 1.8 -0.0280 3 0.0811
0.8 -0.1615 2 -0.1288 3.2 -0.0222
1 -0.0440 2.2 -0.1293 3.4 -0.1030

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IOE THAPATHALI CAMPUS/THEORY OF VIBRATION/ASSIGNMENT I/2022

Response Time History of Given System

0.2500
0.2000
0.1500
Displacement (m/s)

0.1000
0.0500
0.0000
0 2 4 6 8 1 2 4 6 8 2 2 4 6 8 3 2 4
-0.0500 0. 0. 0. 0. 1. 1. 1. 1. 2. 2. 2. 2. 3. 3.
-0.1000
-0.1500
-0.2000

Time Period (S)

4. Estimate the natural frequency, undamped natural period, and fraction of critical
damping of the following time series:

SOLUTION:
From the graph given above, we can see that
Time taken for the oscillator to complete first 5 cycles = 10 sec
Time taken for the oscillator to complete first 10 cycles = 20 sec
Hence, Damped Time Period of the oscillator (T D ) = 10/5 or, 20/10 = 2 sec
1 1
Damped Natural Frequency of the oscillator ( ω D )= = =0 .5 rad /s
TD 2
Also, from the graph, amplitude of oscillation at time t=0 is about 1.
Amplitude of oscillation at time t=10 s (after 5 cycles) is about 0.5.
We have the relation,

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IOE THAPATHALI CAMPUS/THEORY OF VIBRATION/ASSIGNMENT I/2022

1
number of cycles= ln
δ
vn
( )
v n+m

1
( )
¿ , 5= ln
δ
1
0.5
Hence , Logarithmic Decrement ( δ )=0.1386
Also, δ ≡ 2 πξ ( for small value of damping ratio )
δ 0.1386
Hence , Fraction of Critical Damping (ξ)= = =0.022∨2.2 %
2π 2π
Now, to determine the undamped natural frequency and natural period, we have the relation,
ω D =ω √ 1−ξ
2

¿ , 0.5=ω √ 1−0.022
2

Hence , ω=0.5001rad / s
2π 2π
Undamped Natural Time Period ( T )= = =12.57 s
ω 0.5001

5. For a system with a damping ratio ξ, determine the number of the free vibration
cycles required to reduce the displacement amplitude to 10% of the initial
amplitude; the initial velocity is zero.
SOLUTION:
To relate the ratio of two amplitudes several cycles apart to the damping ratio, we have the
relation as,

() ( )
1 u 2 πξ
δ= ln 1 =
j u j +1 √ 1−ξ 2
,
where j cycles, the motion decreases from u1 ¿ u j +1 .
¿
Now, to reduce the displacement amplitude to 10% of the initial amplitude,
u j+1=10 % of u 1=0.1 u1
From the relation above, we see that, for different values of ξ, there will be different values of δ
and hence, different number of cycles required for the required reduction in displacement
amplitude.
Some values of ξ are considered and the corresponding δ and number of cycles required are
calculated and tabulated as follows:
Damping Logarithmic Number of Damping Logarithmic Number of
Ratio (ξ) Decrement (δ) Cycles (j) Ratio (ξ) Decrement (δ) Cycles (j)
0.01 0.0628 36.645 0.11 0.6912 3.332
0.02 0.1257 18.323 0.12 0.7540 3.054
0.03 0.1885 12.216 0.13 0.8168 2.819
0.04 0.2513 9.162 0.14 0.8796 2.618
0.05 0.3142 7.329 0.15 0.9425 2.443
0.06 0.3770 6.108 0.16 1.0053 2.290
0.07 0.4398 5.235 0.17 1.0681 2.156
0.08 0.5027 4.581 0.18 1.1310 2.036
0.09 0.5655 4.072 0.19 1.1938 1.929

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IOE THAPATHALI CAMPUS/THEORY OF VIBRATION/ASSIGNMENT I/2022

0.1 0.6283 3.665 0.2 1.2566 1.832

Number of Cycles Vs Damping Ratio for 10%

Reduction in Displacement Amplitude
40.000
35.000
30.000
NUmber of Cycles

25.000
20.000
15.000
10.000
5.000
0.000
0 0.05 0.1 0.15 0.2 0.25

Damping Ratio

6. What is the ratio of successive amplitudes of vibration if the viscous damping ratio
is known to be (a) ξ = 0.01, (b) ξ = 0.05 or, (c) ξ = 0.25?
SOLUTION:
We have the relation,
δ =ln ( )
vn
=
v n+1 √1−ξ2
2 πξ

vn δ
¿, =e
v n+1
a. ξ = 0.01
2 πξ 2 π∗0.01
δ= = =0.0629
√ 1−ξ √ 1−0.012
2

Hence , ratio of successive amplitudes ,

( )
vn
v n+1
=e0.0629 =1.065

b. ξ = 0.05
2 πξ 2 π∗0.0 5
δ= = =0. 3147
√ 1−ξ √ 1−0.05 2
2

Hence , ratio of successive amplitudes ,

( )
vn
v n+1
=e
0. 3147
=1.37

c. ξ = 0.25
2 πξ 2 π∗0. 25
δ= = =1.623
√ 1−ξ √ 1−0.252
2

Hence , ratio of successive amplitudes ,

( )
vn
v n+1
=e1.623=5.068

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IOE THAPATHALI CAMPUS/THEORY OF VIBRATION/ASSIGNMENT I/2022

7. The stiffness and damping properties of a mass-spring-damper system are to be

determined by a free vibration test; the mass is given as m = 0.1 lb-sec 2/in. In this
test the mass is displaced 1 in. by a hydraulic jack and then suddenly released. At
the end of 20 complete cycles, the time is 3 sec. and the amplitude is 0.2 in.
Determine the stiffness and damping coefficients.
SOLUTION:

Given, mass of the system (m) = 0.1 lb-sec2/in. = 10-4 kips-sec2/in

Initial Displacement of the mass = 1 in
Displacement at the end of 20 complete cycles = 0.2 in
Time taken to complete 20 complete cycles = 3 sec

To relate the ratio of two amplitudes several cycles apart to the damping ratio, we have the
relation as,

() ( )
1 u 2 πξ
δ= ln 1 = ≈ 2 πξ (for small damping ratios)
j u j +1 √1−ξ 2
,
where j cycles, the motion decreases from u1 ¿ u j +1 .
¿
Hence , δ= ( ) ( )
1
20
ln
1
0.2
=0.0805
¿ , 0.0805=2 πξ
∴ ξ=0.0128=1.28 %
Now, Damped Time Period of the system (TD) = 3/20 = 0.15 sec
T =T D √ 1−ξ 2
T =0.15 √ 1−0.0128 =0.149 sec
2

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2π 2π
Natural frequency of the system ( ω )= = =42.186 rad /s
T 0.149
2 2 −4 kips lbs
Stiffness of the system ( k )=ω m=42.186 ∗10 =0.178 =178
¿ ¿
−4 −4
Damping Coefficient of the system ( c )=2 mωξ=2∗10 ∗42.186∗0.0128=1.08∗10 kips−sec/¿

8. A machine weighing 250 lb is mounted on a supporting system consisting of four

springs and four dampers. The vertical deflection of the supporting system under
the weight of the machine is measured as 0.8 in. The dampers are designed to reduce
the amplitude of vertical vibration to one-tenth of the initial amplitude after two
complete cycles of free vibration. Find the following properties of the system: (a)
undamped natural frequency, (b) damping ratio, and (c) damped natural frequency.
Comment on the effect of damping on the natural frequency.
SOLUTION:
250 −4
Given, mass of the machine (m) = 250 lb = 3
=6.48∗10 kips-sec2/in
386∗10
Initial Displacement of the machine = 0.8 in
250
Stiffness of the system (k) = 3
=0.3125 kips/¿
0.8∗10
Displacement at the end of 2 complete cycles = One-tenth of the initial amplitude = 0.08 in

To relate the ratio of two amplitudes several cycles apart to the damping ratio, we have the
relation as,

() ( )
1 u1 2 πξ
δ= ln = ≈ 2 πξ (for small damping ratios)
j u j +1 √1−ξ 2
,
where j cycles, the motion decreases from u1 ¿ u j +1 .
¿
Hence , δ = () ( )
1
2
ln
0.8
0. 08
=1.1513
¿ , 1.1513=2 πξ
∴ ξ=0. 1832=1 8 .32 %

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k
a. Natural frequency of the system ( ω )=
m
=
√ √
0.3125
6.48∗10−4
=21.96 rad /s

b. Damped natural frequency ( ωD )=ω √1−ξ =21.96 √1−0.1832 =21.588 rad / s

2 2

c. Damping ratio ( ξ ) =0.1832

The vibrating frequency of the system is reduced as a result of the damping.

13