Single Degree of freedom system (damped)

In undamped free vibrations, two elements (spring and mass) were used but in damped
third element which is damper in addition to these are used. The three element model is
shown in Figure (a).

−𝑐 𝑥ሶ −𝐾(𝛿𝑠𝑡 + 𝑥)

mg
(a)
(b)
Figure: Damped Free Vibration

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 Single Degree of freedom system (damped)

Damping Elements
In a vibratory system the damper is an element which is responsible for loss of energy in
the system. It converts energy into heat due to friction which may be either sliding friction
or viscous friction. A vibratory system stops vibration because of energy conversion by
damper.

• A damper is assumed to have neither mass nor elasticity,

• damping force exists only if there is relative velocity between the two ends of the
damper.
Damping is modelled as one or more of the following types

Viscous damping
is the most commonly used damping mechanism in vibration analysis. In viscous damping,
the damping force is proportional to the velocity of the vibrating body. Typical examples of
viscous damping include (1) fluid film between sliding surfaces, (2) fluid flow around a
piston in a cylinder, (3) fluid flow through an orifice, and (4) fluid film around a journal in a
bearing.
Fd ∝ relative velocity (v)
𝐹𝑑 = 𝑐𝑣 = 𝑐 𝑥ሶ
where
c is constant of proportionality and it is called coefficient of damping. The coefficient
of viscous damping is defined as the force in ‘N’ when velocity is 1 m/s.
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 Single Degree of freedom system (damped)

Coulomb or Dry-Friction Damping

Here the damping force is constant in magnitude but opposite in direction to that of the
motion of the vibrating body. It is caused by friction between rubbing surfaces that
either are dry or have insufficient lubrication.

Consider damped free vibration figure again −𝑐 𝑥ሶ −𝐾(𝛿𝑠𝑡 + 𝑥)

−𝑘(𝛿𝑠𝑡 + 𝑥) − 𝑐 𝑥ሶ + 𝑚𝑔 = 𝑚𝑥ሷ

𝑚𝑥ሷ + 𝑐 𝑥ሶ + 𝑘𝑥 = 0 (1)
General solution is the form
𝑥 𝑡 = 𝐶𝑒 𝑠𝑡 (2)

Substituting 𝑥 𝑡 ሶ , 𝑥 𝑡 , 𝑎𝑛𝑑 𝑥(𝑡)

ሷ in Eq. (1):

(𝑚𝑠 2 + 𝑐𝑠 + 𝑘)𝐶𝑒 𝑠𝑡 = 0 (3)

Since 𝐶𝑒 𝑠𝑡 can’t be zero for all values of t

𝑚𝑠 2 + 𝑐𝑠 + 𝑘 = 0

−𝑏 ± 𝑏2 − 4𝑎𝑐
𝑠1,2 =
2𝑎
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 Single Degree of freedom system (damped)

−𝑐 ± 𝑐 2 − 4𝑚𝑘
𝑠1,2 =
2𝑚
𝑐 𝑐 2 𝑘
= − 2𝑚 ± −𝑚 (4)
2𝑚
Roots give two solutions

𝑥1 𝑡 = 𝐶1 𝑒 𝑠1𝑡 𝑥2 𝑡 = 𝐶2 𝑒 𝑠2 𝑡
General solution is given by combination of two solutions

Critical damping constant and damping ratio

The critical damping cc is defined as the value of the damping constant c for which the radical
in Eq. (4) becomes zero:

By rearranging

(5)
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 Single Degree of freedom system (damped)

(6)
By rearranging
𝑐 𝑐 𝑐 𝑐
𝑐𝑐 = 2𝑚𝜔𝑛 = 𝜁= 2𝜁𝜔𝑛 =
𝜁 𝜁 2𝑚𝜔𝑛 𝑚

𝑐 𝑐 2 𝑘
=− ± −
2𝑚 2𝑚 𝑚

= −𝜁𝜔𝑛 ± 𝜁𝜔𝑛 2 − 𝜔𝑛 2

(7)

(8)
Values of C1 and C2 can be found from initial conditions. In Eq. (8) the nature of roots and
hence behaviour of the solution depends upon the magnitude of damping.

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 Single Degree of freedom system (damped)

Considering four cases for different values of damping

Case 1: ζ = 0 undamped
X(t)
Roots are complex conjugates
𝑠1,2 = ±𝑖𝜔𝑛 t

General solution is
𝑥 𝑡 = 𝐶1 𝑒 𝑖𝜔𝑛 𝑡 + 𝐶2 𝑒 −𝑖𝜔𝑛 𝑡
Can also be expressed as
𝑥 𝑡 = 𝐴𝑐𝑜𝑠𝜔𝑛 𝑡 + 𝐵𝑠𝑖𝑛𝜔𝑛 𝑡

Case 2: ζ < 1 underdamped

Roots are complex conjugates
𝑆1,2 = −𝜁𝜔𝑛 ± 𝑖𝜔𝑛 1 − 𝜁 2
𝑆1,2 = −𝜁𝜔𝑛 ± 𝑖𝜔𝑑
Reminder: Consider Eq. 7
𝑆1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁 2 − 1
𝑖 = −1

Where 𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2 damped natural angular frequency. The frequency

of damped vibration 𝜔𝑑 is always less than the undamped natural frequency
𝜔n.
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 Single Degree of freedom system (damped)

Eq.8 can be written in different form

1−𝜁 2 ) 𝜔𝑛 𝑡 1−𝜁 2 ) 𝜔𝑛 𝑡
𝑥 𝑡 = 𝐶1 𝑒 (−𝜁+𝑖 + 𝐶2 𝑒 −𝜁−𝑖
1−𝜁 2 𝜔𝑛 𝑡 1−𝜁 2 𝜔𝑛 𝑡
= 𝑒 −𝜁𝜔𝑛𝑡 𝐶1 𝑒 𝑖 + 𝐶2 𝑒 −𝑖
Using Euler’s relation 𝑒 ±𝑖𝜃 = 𝑐𝑜𝑠𝜃 ± 𝑠𝑖𝑛𝜃
= 𝑒 −𝜁𝜔𝑛𝑡 ቄ𝐶1 cos 1 −𝜁 2 𝜔𝑛 𝑡 + 𝐶1 isin 1 −𝜁 2 𝜔𝑛 𝑡 + 𝐶2 𝑐𝑜𝑠 1 −𝜁 2 𝜔𝑛
− 𝐶2 𝑖𝑠𝑖𝑛 1 −𝜁 2 𝜔𝑛 𝑡 ቅ

𝐶1′ = 𝑋0 𝑠𝑖𝑛∅0
𝐶2′ = 𝑋0 𝑐𝑜𝑠∅0

OR Eq.8A

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 Single Degree of freedom system (damped)

Eq.9

The motion describe by Eq.9 is damped harmonic motion of angular frequency 𝜔𝑛 1 − 𝜁 2

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 Single Degree of freedom system (damped)
Amplitude is decreasing exponentially with time due to envelope function.
Underdamped is the only case in vibrations that leads to an oscillatory motion.

𝑒 −𝜁𝜔𝑛 𝑡 , envelope function

Case 3: ζ = 1 critically damped

Two equal roots
𝑆1,2 = −𝜔𝑛
Eq. 8 becomes and Solution of Eq.1 is

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 Single Degree of freedom system (damped)
Solution becomes

In this case oscillations are not possible, above equation represents non-periodic motion
Since
𝑒 −𝜔𝑛𝑡 𝑔𝑜𝑒𝑠 𝑡𝑜 0 𝑎𝑠 𝑡 𝑔𝑜𝑒𝑠 𝑡𝑜 𝑖𝑛𝑓𝑖𝑛𝑖𝑡𝑦
𝑎𝑠 𝑟𝑒𝑠𝑢𝑙𝑡 𝑚𝑜𝑡𝑖𝑜𝑛 𝑤𝑖𝑙𝑙 𝑔𝑜 𝑡𝑜 𝑧𝑒𝑟𝑜
In other words, Critically-damped systems
will allow the fastest return to equilibrium
without oscillation.

Case 4: ζ > 1 overdamped

Overdamped systems move slowly
Roots are real and distinct and negative as 𝜁2 −1<𝜁 toward equilibrium without oscillating.
Motion heavily damped
non-periodic motion
No oscillations

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 Single Degree of freedom system (damped)

Summary and applications of damping cases

• Oscillation are not possible in over damping and critical damping systems.
• Only under damping system can exhibit oscillations.
• The frequency of oscillations of an underdamped system in 𝜔𝑑 , which is less than 𝜔𝑛
• The under damping has an application in automobile suspension systems, passenger
seats. The mass is made to oscillate and slowly comes to rest.
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 Single Degree of freedom system (damped)

• Door shutter is an example of over damping system. One may use any amount of
force and push the door to close, but will not hit the frame of the wall. The door
shutter sees that the door gets closed gently.

• Large guns have dashpots with critical damping value, so that they return to their
original position after recoil in the minimum time without vibrating. If the damping
provided were more than the critical value, some delay would be caused before the
next firing

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 Single Degree of freedom system (damped)

Examples: Damped single degree of freedom

(1) Use FBD to drive equations of motion for the following systems

(a) (b)

(c) (d)

(2) Drive the equation of motion for the under-damped

system and determine the damped natural frequency
and damping ratio.

(3) Rewrite 𝑚𝑥ሷ + 𝑐𝑥ሶ + 𝑘𝑥 = 0 𝑖𝑛 𝑡𝑒𝑟𝑚𝑠 𝑜𝑓 𝜁 𝑎𝑛𝑑 𝜔𝑛 𝑓𝑜𝑟 𝑎𝑛 𝑑𝑎𝑚𝑝𝑒𝑑 𝑠𝑦𝑠𝑡𝑒𝑚

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