VIBRATION ENGINEERING (MECHANICAL VIBRATION)

Undamped Free Vibration (Simple Harmonic Motion) Damped Free Vibration

Free damped vibration refers to
the oscillatory motion of a system that is
subject to damping forces but not to
external forces.

General Equation of Motion: m x' ' + c x ' +kx=F ( t )

Where:

m=mass of the object ; x=displacement ;

c=friction ( damping ) constant ; '
x =velocity ;
k =spring constant ; ''
x =acceleration ;
F ( t )=external force ; t=time ;

I. Forced, if F ≠ 0 ( if F is not identically zero ) .

II. Unforced or free, if F=0 ( if F is identically zero ) .
III. Damped, if c > 0
IV. Undamped, if c = 0

Free Damped Equation of Motion: m x' ' + c x ' +kx=0

General Solution of Free Damped Vibration (displacement, x)

We have a 2nd Order Linear Homogenous ODE with Constants Coefficients

Characteristic Equation: m r 2+ cr +k =0

−b ± √ b2−4 ac −c ± √ c2 −4 mk
x= → r=
2a 2m
Where: b = c; a = m; c = k
VIBRATION ENGINEERING (MECHANICAL VIBRATION)

−c √ c 2−4 mk General Equation of Motion: m x' ' + c x ' +kx=F ( t )

r= ±
2m 2m
Where:

Three Possible Solutions/Cases: m=mass of the object ; x=displacement ;

1. OVERDAPMED: c 2−4 mk >0 c=friction ( damping ) constant ; '

x =velocity ;
∴ That is if r 1 and r 2 are two distinct real roots, then k =spring constant ; ''
x =acceleration ;
r x r x
y ( x )=C1 e +C 2 e
1 2

F ( t )=external force ; t=time ;

Also, damping ratio, ζ > 1 I. Forced, if F ≠ 0 ( if F is not identically zero ) .

2. CRITICALLY DAMPED: c 2−4 mk=0 II. Unforced or free, if F=0 ( if F is identically zero ) .
III. Damped, if c > 0
∴ That is if r 1 and r 2 are two distinct real roots, then IV. Undamped, if c = 0
r x r x
y ( x )=C1 e +C 2 e
1 2

Undamped Forced Vibration Equation of Motion:

Also, damping ratio, ζ =1 ''
m x + kx=F t
3. UNDERPDAMPED: c 2−4 mk < 0 ''
m x + kx=F 0 cos(ω1 t )
∴ That is if r 1 and r 2 are two distinct real roots, then
r x
y ( x )=C1 e +C 2 e
1 r x
2 Where:

Where:
Also, damping ratio, ζ > 1 ω 0=
√ k
m
Two Possible Solutions/Cases:
ζ =damping ratio
1. If ω 0 ≠ ω 1 , then
F0
x (t )=C 1 cos(ω0 t)+C 2 sin(ω0 t)+ cos (ω 1 t)
m ( ω0 −ω1 )
2 2

2. If ω 0=ω 1 , then we let ω 0=ω 1=ω ,

 Undamped Forced Vibration
VIBRATION ENGINEERING (MECHANICAL VIBRATION)

√ √
F0 k 4
x (t )=C 1 cos(ω t)+C2 sin( ω t)+ tsin(ω t ) ω 0= = =2
2m ω m 1
(1) Sample Problem:

A 10 kg mass is attached to a spring with a string constant of Since ω 0 ≠ ω 1, then the general solution would be
40 N /m. There is no damping and the forcing function is
F ( t )=8 cos ( 4 t). The object is initially at the equilibrium position F0
x (t )=C 1 cos(ω0 t)+C 2 sin(ω0 t)+ cos (ω 1 t)
and is given an initial downward velocity of 0.2 m/sec . m ( ω02−ω12 )
Given data: Substituting the given data,
N 0.8
m=10 kg k =40 F ( t )=8 cos ( 4 t) x (t )=C 1 cos(2 t)+C 2 sin (2 t)+ cos (4 t)
m
( 22−4 2 )
1
F 0=8 ω 1=4 x (t )=C 1 cos(2 t)+C 2 sin (2 t)− cos (4 t)
15
Initial Conditions (t=0 ): Finding the undetermined coefficients (C 1 and C 2) by using the
initial conditions:
' m
x ( 0 )=0 x ( 0 )=0.2 1) 1st Initial Condition, at x ( 0 )=0 :
sec
1
x ( 0 )=0=C 1 cos (0)+C2 sin(0)− cos ( 0 )
Undamped Forced Vibration Equation of Motion: 15
''
m x + kx=F 0 cos(ω1 t ) 1
C 1(1)+C 2 (0)− (1)=0
15
Substituting the given data:
1
''
10 x +40 x=8cos (4 t) C 1=
15
Simplify (divide 10 on both sides of equation):
Updating the General Solution:
''
x + 4 x=0.8 cos (4 t) 1 1
x (t )= cos(2 t)+C 2 sin (2 t)− cos (4 t)
15 15
Find ω 0:
VIBRATION ENGINEERING (MECHANICAL VIBRATION)

Deriving x (t ) :

' −2 4
x (t)= sin ( 2 t )+ 2C 2 cos ( 2t ) + sin(4 t)
15 15

m
2) 2nd Initial Condition, at x ' (0)=0.2 :
sec
−2 4
x ' (0)=0.2= sin ( 0 ) +2 C 2 cos ( 0 ) + sin(0)
15 15 (2) Sample Problem:

−2 4 A 3 kg mass is attached to a spring with a string constant of 75 N /m .

( 0 ) +2 C 2 ( 1 ) + ( 0 )=0.2
15 15 There is no damping and the forcing function is F ( t )=10 cos (5 t).
The object is initially displaced 0.2 m downward from its equilibrium
2 C2=0.2 position and is given an initial upward velocity of 0.1 m/sec .

Given data:
1
C 2=
10 N
m=3 kg k =75 F ( t )=10 cos (5 t)
m
Updating the General Solution:
1 1 1 F 0=10 ω 1=5
x (t )= cos(2 t)+ sin (2t )− cos (4 t)
15 10 15
Initial Conditions (t=0 ):
Thus, the Particular Solution, Displacement (x) at any time t:
' m
x ( 0 )=0.2 x ( 0 )=−0.1
1 1 1 sec
x (t )= cos(2 t)+ sin (2t )− cos (4 t)
15 10 15
Undamped Forced Vibration Equation of Motion:
Graphical Representation of the Solution:
''
m x + kx=F 0 cos(ω1 t )
Substituting the given data:
VIBRATION ENGINEERING (MECHANICAL VIBRATION)

''
3 x +75 x=10 cos(5t )
1
C 1=0.2∨
Simplify (divide 3 on both sides of equation): 5
'' 3 Updating the General Solution:
x +25 x= cos(5 t)
10
1 1
x (t )= cos(5 t)+C 2 sin (5 t)+ tsin(5 t)
5 3

Find ω 0:
Deriving x (t ) :
ω 0=
75
3 √
= √ 25=5 '
x ( t )=
−2
3
5
sin ( 5 t )+5 C 2 cos ( 5 t ) + tcos(5 t )
3
Since ω 0=ω 1, then the general solution would be

F0 ' m
2) 2nd Initial Condition, at x ( 0 )=−0.2 :
x (t )=C 1 cos(ω t)+C2 sin( ω t)+ tsin(ω t ) sec
2m ω
Substituting the given data, ' −2 5
x ( t )=−0.1= sin ( 0 ) +5 C2 cos ( 0 )+ (0) cos (0)
3 3
10
x (t )=C 1 cos(5 t)+C 2 sin(5 t)+ tsin(5 t) −2
2(3)(5) ( 0 ) +5 C 2 ( 1 )=−0.1
3
1
x (t )=C 1 cos(5 t)+C 2 sin(5 t)+ tsin(5 t ) −1
3 C 2=
50
Finding the undetermined coefficients (C 1 and C 2) by using the
Updating the General Solution:
initial conditions:
1 1 1
1) 1st Initial Condition, at x ( 0 )=0.2 : x (t )= cos(5 t)− sin(5 t)+ tsin (5 t)
5 50 3
1
x ( 0 )=0.2=C1 cos (0)+ C2 sin(0)+ (0)sin (0)
3
Thus, the Particular Solution, Displacement (x) at any time t:
C 1(1)+C 2 (0)=0.2
VIBRATION ENGINEERING (MECHANICAL VIBRATION)

1 1 1
x (t )= cos(5 t)− sin(5 t)+ tsin (5 t)
5 50 3
Graphical Representation of the Solution:

 Damped Forced Vibration

General Equation of Motion: m x' ' + c x ' +kx=F ( t )

Where:

m=mass of the object ; x=displacement ;

c=friction ( damping ) constant ; '
x =velocity ;
k =spring constant ; ''
x =acceleration ;
F ( t )=external force ; t=time ;

V. Forced, if F ≠ 0 ( if F is not identically zero ) .

VI. Unforced or free, if F=0 ( if F is identically zero ) .
VII. Damped, if c > 0
VIII. Undamped, if c = 0

Damped Forced Vibration Equation of Motion:

'' '
m x + c x +kx=F t
VIBRATION ENGINEERING (MECHANICAL VIBRATION)

'' '
m x + c x +kx=F 0 cos(ω1 t) +2 ω1 p F 0
2
sin ( ω1 t )
m ( 2 ω 1 p ) +m ( ω 02−ω 12 )
2
Dividing the equation by mass (m) and where:

p=
c
2m
ω 0=
√ k
m General Equation for Displacement:

'' ' 2 F0 x (t )=x c + x p

x + p x +ω 0 x= cos (ω1 t)
m
Using 2nd Order Differential Equation Solution with
Undetermined Coefficients, the roots:

r 1 , r 2=− p ± √ p2−ω02

Three Possible Solutions/Cases for the complementary

solution, defined as a piece-wise function:

Complementary Solution (transient solution), x c:

(1) Sample Problem:

{
C1 e r t +C 2 e r t
1 2
if c 2−4 km>0 A 10 kg mass is attached to a spring with a spring constant of
xc= C1e − pt
+C 2 t e − pt 2
if c −4 km=0 140 N /m. The mass is started in motion from the equilibrium
position with an initial velocity of 1 m/sec in the upward direction
e − pt
[ C1 cos ( ω 2 t ) +C 2 sin ( ω2 t ) ] if c 2−4 km<0
and with an applied force of F ( t )=5 cos (t). Find the subsequent
motion of the mass if the air resistance is 9 0 x ' N .
Periodic Solution (steady periodic solution), x p:
Given data:
N
(ω 02−ω 12 ) F 0 m=10 kg k =140
m
F ( t )=5 cos (5 t)
x p= 2
cos ( ω1 t )
m ( 2ω 1 p )2 +m ( ω 02−ω 12)
F 0=5 c=90
ω 1=1
VIBRATION ENGINEERING (MECHANICAL VIBRATION)

r 1=−2, r 2=−7
Initial Conditions (t=0 ):
Identifying the complementary solution by assessing the
' m discriminant: c 2−4 km
x ( 0 )=0 x ( 0 )=−1
sec 2 2
c −4 km=9 0 −4 ( 140 ) (10 )=2500> 0
Damped Forced Vibration Equation of Motion:
Since the discriminant > 0, for complementary solution,
'' '
m x + c x +kx=F 0 cos(ω1 t) r1 t r 2t
x c =C 1 e +C 2 e
Substituting the given data:
Substitution of r 1 and r 2 ,
'' '
10 x +90 x +140 x=5 cos (5 t ) −2 t −7 t
x c =C 1 e +C 2 e
Simplify (divide 10 on both sides of equation):
Steady periodic solution, substitute values of ω 0, ω 1, F 0 , m
'' '1
x +9 x + 14 x= cos (5 t) (14−1 )(5)
2 x p= cos ( t )
2
(10) [ 2 ( 1 ) ( 4.5 ) ] +(10) ( 14−1 )
2

+2(1)(4.5)(5)
2
sin ( t )
Solving for ω 0: (10) [ 2 ( 1 ) ( 4.5 ) ] +(10) ( 14−1 )
2

ω 0=
√ 140
10
=√ 14 x p=
65
2500
cos ( t ) +
45
2500
sin ( t )

Solving for p:
13 9
x p= cos ( t ) + sin ( t )
90 500 500
p= =4.5
2(10)
General Solution,
Solving for r 1∧r 2:
x (t)=x c + x p
√
r 1 , r 2=−4.5± 4.5 −( √ 14 )
2 2
VIBRATION ENGINEERING (MECHANICAL VIBRATION)

x (t)=C1 e
−2t
+C2 e
−7 t
+
13
500
cos ( t ) +
9
500
sin ( t ) 2 ( 500
13
+C )(1)−7 C (1)−
2 2
13
500
( 0)+
9
500
( 1 )=−1

Finding the undetermined coefficients (C 1 and C 2) by using the 26 9

+2 C 2−7 C 2+ =−1
initial conditions: 500 500

1) 1st Initial Condition, at x ( 0 )=0 :

107
−2(0) −7(0) 13 9 C 2=
x ( 0 )=0=C 1 e +C 2 e + cos ( 0 ) + sin ( 0 ) 500
500 500
Updating the General Solution:
13 9
C 1 ( 1 ) +C 2 ( 1 ) + (1)+ (0)=0
500 500 x (t)=− ( 500
13 107
+
500 ) e +(
−2t
500 )
107
e −7 t
+
13
500
cos ( t )+
9
500
sin (t )

C 1=− ( 500
13
+C ) 2 By simplifying, Particular Solution, Displacement (x) at any time t:

−6 −2 t 107 −7 t 13 9
Updating the General Solution: x (t)= e + e + cos ( t )+ sin ( t )
25 500 500 500

x (t)=− ( 500
13
+C )e 2
−2 t
+ C2 e−7 t +
13
500
cos (t ) +
9
500
sin ( t )
Graphical Representation of the Solution:

Deriving x (t ) :

x ' ( t )=−2 ( 500

13
+C ) e2
−2 t
−7 C2 e
−7 t
−
13
500
sin (t ) +
9
500
cos (t )

' m
2) 2nd Initial Condition, at x ( 0 )=−0.2 :
sec

x ' ( 0 )=−1=2 ( 500

13
+C ) e 2
−2(0)
−7 C 2 e−7(0)−
13
500
sin ( 0 ) +
9
500
cos ( 0 )