Different ways to write the solution 𝑚𝑥ሷ + 𝑘𝑥 = 0

𝑥(𝑡)
Slope 𝑣𝑜 𝑣𝑜
2
𝒙(𝒕) = 𝑥𝑜 2 + 𝒄𝒐𝒔(𝝎𝒏 𝒕 − 𝝋)
𝜔𝑛
𝑣𝑜
1. 𝑥(𝑡) = 𝑥𝑜 𝑐𝑜𝑠𝜔𝑛 𝑡 + sin𝜔𝑛 𝑡
𝜔𝑛 𝑣𝑜
2
𝐴= 𝑥𝑜 2 + 𝜔𝑛

𝑥𝑜

1 t
2 2
𝑣𝑜
2. 𝑥(𝑡) = 𝑥𝑜 2 + 𝑐𝑜𝑠(𝜔𝑛 𝑡 − 𝜑)
𝜔𝑛
𝜑
𝑣𝑜
𝜑= 𝑡𝑎𝑛−1
𝑥𝑜 𝜔𝑛 Period
2𝜋
𝜏𝑛 =
1 𝜔𝑛
2 2
𝑣𝑜
3. 𝑥 𝑡 = 𝑥𝑜 2 + 𝑠𝑖𝑛(𝜔𝑛 𝑡 + 𝜑′)
𝜔𝑛
1 𝑘
𝑥𝑜 𝜔𝑛 𝑓𝑛 = 𝜔𝑛 = 2𝜋𝑓𝑛
𝜑′ = 𝑡𝑎𝑛−1 𝜏𝑛 𝜔𝑛 =
𝑣𝑜 Circular 𝑚
Frequency
Prof. Carmen Muller-Karger, PhD
 Important parameters
Formula Sheet for Natural Damped Damping
k c
Static deflection
Frequency Frequency ratio
Free vibration 𝑐𝑒 𝑐𝑒 𝛿𝑠𝑡 =
𝑚𝑔
𝑘𝑒 𝜁= = 𝑘
𝜔𝑛 = 𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2 2 𝑚𝑒 𝑘𝑒 2𝑚𝑒 𝜔𝑛 A(m)
𝑚𝑒
X …measured from EP
Governing 𝑚𝑒 𝑥ሷ + 𝑐𝑒 𝑥ሶ + 𝑘𝑒 𝑥 = 𝑓(𝑡) Response : 𝑥(𝑡) = 𝑥ℎ (𝑡) + 𝑥𝑝 (𝑡) 𝜔𝑛 = 2𝜋𝑓𝑛 2𝜋
equation 𝜔𝑛 =
𝑥ሷ + 2𝜁𝜔𝑛 𝑥ሶ + 𝜔𝑛2 𝑥 = 𝑓(𝑡)/𝑚 Free Vibration: 𝑥(𝑡) = 𝑥ℎ (𝑡) 𝑇𝑛
v0
𝑣0 X
Undamped 𝑥(𝑡) = 𝐴𝑐𝑜𝑠𝜔𝑛 𝑡 + 𝐵𝑠𝑖𝑛𝜔𝑛 t
𝐴 = 𝑥0 𝐵= X0
systems 𝜔𝑛
𝜁=0 𝑥(𝑡) = 𝑋0 cos 𝜔𝑛 𝑡 − 𝜙 𝑋0 = 𝐴2 + 𝐵 2 , 𝜙 = tan−1 𝐵 /𝐴
Tn
t

Underdamped (𝑣0 + 𝑥0 𝜁𝜔𝑛 ) 𝑥(𝑡1 ) 2𝜋𝜁 1 𝑥(𝑡1)

𝑥(𝑡) = 𝐴𝑒 −𝜁𝜔𝑛 𝑡 𝑐𝑜𝑠𝜔𝑑 𝑡 + 𝐵𝑒 −𝜁𝜔𝑛𝑡 𝑠𝑖𝑛𝜔𝑑 t 𝐴 = 𝑥0 𝐵=
𝛿 = ln
𝑥(𝑡2)
=
1− 𝜁2
𝛿= ln
𝑛 𝑥(𝑡𝑛+1)
systems 𝜔𝑑 X0 t
2
𝜁<1 𝑥(𝑡) = 𝑋0 𝑒 −𝜁𝜔𝑛𝑡 cos 𝜔𝑑 𝑡 − 𝜙 𝑋0 = 𝐴2 + 𝐵2 , 𝜙 = tan−1 𝐵 /𝐴 Td
d = 𝜁=
𝛿
Td 4𝜋 2 + 𝛿 2

Critically damped 𝐴 = 𝑥0
systems 𝑥(𝑡) = 𝐴𝑒 −𝜔𝑛𝑡
+ 𝐵𝑡𝑒 −𝜔𝑛𝑡
𝐵 = 𝑣0 + 𝑥0 𝜔𝑛 t
𝜁=1
0

Overdamped −𝜁𝜔𝑛 +𝜔𝑛 𝜁 2 −1 𝑡 −𝜁𝜔𝑛 −𝜔𝑛 𝜁 2 −1 𝑡

𝑥(𝑡) = 𝐴𝑒 + 𝐵𝑒
systems
𝑣0 + 𝜁 + 𝜁 2 − 1 𝜔𝑛 𝑥0 −𝑣0 − 𝜁 − 𝜁 2 − 1 𝜔𝑛 𝑥0
𝐴= 𝐵=
𝜁>1 2𝜔𝑛 𝜁 2 − 1 2𝜔𝑛 𝜁 2 − 1
Dissipated ∆𝑊 = 𝜋𝑐 𝜔𝑑 𝑋 2 Specific ∆𝑊
energy, viscous damping = 4𝜋𝜁 ≈ 2𝛿
specific damping capacity 𝑊 Prof. Carmen Muller-Karger, PhD
damping system capacity
Free Vibration with Coulomb Damping important
equations: The motion stops when 𝑥 < , since the
𝜇𝑁
n 𝑘
restoring force exerted by the spring (𝑘x) will
then be less than the friction force μN. Thus
the number of cycles (n) that elapse before the
motion ceases is given by

4𝜇𝑁 𝜇𝑁
𝑥n = 𝑥0 − 𝑛 ≤
𝑘 𝑘

𝜇𝑁
4𝜇𝑁 Number of 𝑥0 −
Slope of the n≥ 𝑘
enveloping 𝑘 2𝜇𝑁𝜔𝑛 cycles to stop 4𝜇𝑁
− = 𝑘
straight lines 2𝜋 𝜋𝑘
Frequency is 𝜔𝑛 𝜔𝑛
This number does not have to be an integer
The amplitude reduces linearly with Coulomb 4𝜇𝑁
damping and amount of: 𝑘

Therefore: 4𝜇𝑁 2𝜋
𝑥𝑚 = 𝑥m−1 − Time to stop ∆𝑡𝑠𝑡𝑜𝑝 = 𝑛𝜏𝑛 = 𝑛
𝜔𝑛
𝑘

Prof. Carmen Muller-Karger, PhD

Free Vibration with Hysteretic Damping, important
equations:
ℎ
Damping coefficient: 𝑐=
𝜔
ℎ
Dimensionless damping constant: 𝛽=
𝑘

Energy loss : ∆𝑊 = 𝜋ℎ 𝑋 2 = 𝜋𝑘𝛽 𝑋 2 ∆𝑊 = Area in hysteretic loop

Equivalent spring constant: 𝑘= Slope of hysteretic loop

When the system is underdamped the answer 𝑣0 + 𝑥0 𝜁𝜔𝑛 −𝜁𝜔 𝑡

would same as a viscous damping system: 𝑥 = 𝑥0 𝑒 −𝜁𝜔𝑛 𝑡 cos 𝜔 𝑑𝑡 + 𝑒 𝑛 sin 𝜔 𝑡
𝑑
𝜔𝑑

Logarithmic decrement: 𝑋𝑗 2 + 𝜋𝛽 𝑋𝑗 πℎ 1 𝑋𝑜
= ≅ 1 + π𝛽 𝛿 = 𝑙𝑛 ≅ 𝑙𝑛 1 + π𝛽 ≅ π𝛽 = 𝛿 = 𝑙𝑛
𝑋𝑗+1 2 − 𝜋𝛽 𝑋𝑗+1 𝑘 𝑛 𝑋𝑛

𝛽 ℎ 𝛽 ℎ ℎ
Damping ratio: 𝛿 ≅ 2𝜋𝜁𝑒𝑞 ≅ π𝛽 𝜁𝑒𝑞 = = 𝑐𝑒𝑞 = 𝑐𝑐 𝜁𝑒𝑞 = 2 𝑚𝑘 = 𝛽 𝑚𝑘 = 𝑚𝑘 =
2 2𝑘 2 𝑘 𝜔

Prof. Carmen Muller-Karger, PhD

Stability of vibrating systems
• We can also describe the stability of the system according to the signs
of the coefficients of the characteristic equation
Governing Equation Solution is of the form:

𝑚𝑥ሷ + 𝑐𝑥ሶ + 𝑘𝑥 = 0 𝑥(𝑡) = 𝐶𝑒 𝑠𝑡

Characteristic equation :
−𝑐 𝑐 2 𝑘
𝑚𝑠 2 + 𝑐𝑠 + 𝑘 =0 𝑠1,2 = ± − 𝑥(𝑡) = 𝐶1 𝑒 𝑠1𝑡 + 𝐶2 𝑒 𝑠2 𝑡
2𝑚 2𝑚 𝑚

• If the exponential is positive the response

may grow without bounds.

Prof. Carmen Muller-Karger, PhD