Vib 2

CH.2 Free Vibration of Single D.O.F.
System
Degree
of
2.1 Introduction Freedom
CH.2 Free Vibration of Single D.O.F. System
2.1 Introduction
2.2 Free Vibration of an Undamped Translational System
• Equation of Motion Using Newton’s Second Law of Motion
OM 운동방정식
method
eyton's
兪咨芝澁樂 1. Select a suitable coordinate to describe the position of
the mass or rigid body in the system.
2. Determine the static equilibrium configuration of the
system and measure the displacement of the mass or
rigid body from its static equilibrium position
3. Draw the free-body diagram of the mass or rigid body
when a positive displacement and velocity are given to
it. Indicate all the active and reactive forces acting on
the mass or rigid body.
4. Apply Newton’s second law of motion to the mass or
rigid body shown by the free-body diagram.
• Newton’s Second Law of Motion – The rate of change of
momentum of a mass is equal to the force acting on it
ur r
d ⎛ d x (t ) ⎞
F (t ) = ⎜ m ⎟
dt ⎝ dt ⎠
ur r
d 2 x (t ) &&r
For constant m F (t ) = m = mx (2.1)
dt 2
r
where r&& d 2 x (t )
x=
dt 2
For a rotational uur &&r
M (t ) = Jθ (2.2)
system
K가 mi
F (t ) = − kx = mx&&
or
mx&& + kx = 0 (2.3)
• Equation of Motion Using Other Methods – D’Alembert Principle
ur r
Inertia term is treated F (t ) − mx&& = 0 (2.4a)
uur &&r
as a force or moment M (t ) − Jθ = 0 (2.4b)
−kx − mx&& = 0 or mx&& + kx = 0 (2.3)

• Equation of Motion Using Other Methods – Principle of Virtual
Displacements; if a system that is in equilibrium under the action
of a set of forces is subjected to a virtual displacement, then
the total virtual work done by the forces will be zero.
가상변위방법
Virtual
displacement
Virtual work done by the spring force = δ Ws = −(kx)δ x is arbitrary
Virtual work done by the inertia force = δ Wi = −(mx&&)δ x
− mx&&δ x − kxδ x = 0 어떠한 S가에도(2.5)

만나솀
− kx − mx&& = 0 or mx&& + kx = 0 (2.3)
• Equation of Motion Using Other Methods – Principle of
Conservation of Energy
EnergyMethod T + U = constant
or
d
(T + U ) = 0 (2.6)
dt
T = 12 mx& 2 (2.7)
where
U = 12 kx 2 (2.8)
i 이 0이면안됨
− kx − mx&& = 0 or mx&& + kx = 0 (2.3)
Lagrange Method
• Equation of Motion of a Spring-Mass System in Vertical Position
W = mg = kδ st (2.9)
mol없을때 중력방향진동은 mx&& = −k ( x + δ st ) + W
에서측정 IF
kδ st = W
mx&& + kx = 0 (2.10)
1
mgx + kx 2 Potential
2 Energy
Wing
sa
U = potential energy of the spring
+ change in potential energy due to change in elevation of the mass m
1 1
= mgx + kx 2 − mgx = kx 2
2 2
• Solution
Assuming the solution in the form
mx&& + kx = 0 x(t ) = Ce st (2.11)
2ndorderODE
C (ms 2 + k ) = 0 ms 2 + k = 0 (2.12)
-> Characteristic Equation
1/ 2
⎛ k⎞ ⎛k⎞
1/ 2
s = ±⎜− ⎟ = ±iωn where ωn = ⎜ ⎟ -> Eigenvalues (2.14)
⎝ m⎠
⎝m⎠
und
amped고유진동수
x(t ) = C1eiωnt + C2 e − iωnt (2.15)
Titial Condition2개필요
x(t ) = A cos ω t + A sin ω t
1 n 2 n (2.16) e ± iα t = cos α t ± i sin α t
x(t = 0) = A1 = x0
x& (t = 0) = ωn A2 = x&0 (2.17) Initial Conditions
x&0
x(t ) = x0 cos ωnt + sin ωnt (2.18) Complete Solution
ωn
• Harmonic Motion x(t ) = A1 cos ωn t + A2 sin ωnt (2.16)
A1 = A cos φ
A2 = A sin φ (2.19)
슜아 1/ 2
⎡ ⎛ x&0 ⎞ ⎤
2
A = ( A1 + A2 ) = ⎢ x0 + ⎜ ⎟ ⎥ = amplitude
2 2 1/ 2 2
O ⎢⎣ ⎝ ωn ⎠ ⎥⎦
訓紅로결정
야기속도와 ⎛ A ⎞ ⎛ x& ⎞
φ = tan −1 ⎜ 2 ⎟ = tan −1 ⎜ 0 ⎟ = phase angle (2.20)
⎝ A1 ⎠ ⎝ x0ωn ⎠
x(t ) = A cos(ωnt − φ )
AtosWalt E
(2.21)
x(t ) = A0 sin(ωnt + φ0 ) (2.23)
A1 = A0 sin φ0
where
A2 = A0 cos φ0 (2.22)
1/ 2
⎡ ⎛ x
& ⎞
2
⎤
A0 = A = ⎢ x0 + ⎜ ⎟ ⎥
2 0
(2.24)
⎢⎣ ⎝ ωn ⎠ ⎥⎦
⎛ x0ωn ⎞
φ0 = tan −1 ⎜ ⎟ (2.25)
x&
⎝ 0 ⎠
• Harmonic Motion – Some aspects of the spring-mass system:
For a vertical configuration
⎛k⎞
1/ 2
W mgtkSst Circular Natural Frequency
ωn = ⎜ ⎟ (2.26)
⎝m⎠ rt 옯
W mg
where k = = (2.27)
δ st δ st
1/ 2
⎛ g ⎞
ωn = ⎜ ⎟ (2.28)
⎝ δ st ⎠
1/ 2
1 ⎛ g ⎞
fn = ⎜ ⎟ (2.29)
2π ⎝ δ st ⎠
1/ 2
1 ⎛δ ⎞
τ n = = 2π ⎜ st ⎟ (2.30)
fn ⎝ g ⎠
Calculation of Velocity and Acceleration
x(t ) = A cos(ωn t − φ ) (2.21)
dx ⎛ π⎞
x& (t ) = (t ) = −ωn A sin(ωnt − φ ) = ωn A cos ⎜ ωnt − φ + ⎟
dt ⎝ 2⎠
d 2x
x(t ) = 2 (t ) = −ωn2 A cos(ωn t − φ ) = ωn2 A cos (ωn t − φ + π )
&& (2.31)
dt
2 1/ 2
⎡ ⎛ x&0 ⎞ ⎤
A = ( A1 + A2 ) = ⎢ x0 + ⎜ ⎟ ⎥ = amplitude
2 2 1/ 2 2
⎢⎣ ⎝ ωn ⎠ ⎥⎦
where
⎛A ⎞ ⎛ x& ⎞
φ = tan −1 ⎜ 2 ⎟ = tan −1 ⎜ 0 ⎟ = phase angle (2.20)
⎝ A1 ⎠ ⎝ x0ωn ⎠
x&0 ⎛ π ⎞ x&
For x0 = 0 x(t ) = cos ⎜ ωnt − ⎟ = 0 sinωnt (2.32)
ωn ⎝ 2 ⎠ ωn
For x& 0 = 0 x(t ) = x0 cos ωnt (2.33)

Phase (displacement-velocity) Plane Representation
x(t ) = A cos(ωn t − φ )
x
cos(ωnt − φ ) =
A
x& (t ) = − Aωn sin(ωnt − φ ) (2.34)
x& y
sin(ωnt − φ ) = − =− (2.35) y = x& ω n
Aωn A
Because cos 2 (ωnt − φ ) + sin 2 (ωnt − φ ) = 1
x2 y 2 Phase Plane
+ =1 (2.36)
A2 A2 Representation
• Example 2.2 Free Vibration Response Due to Impact
A cantilever beam carries a mass M at

the free end as shown in Fig. 2.11(a).
A mass m falls from a height h on to
the mass M and adheres to it without
rebounding. Determine the resulting mit K가
transverse vibration of the beam.
mvm = ( M + m) x&0 fie
Lo d 3EI
⎛ m ⎞
x&0 = ⎜ v =
⎟ m ⎜
⎝M +m⎠
⎛ m ⎞
⎟ 2 gh
⎝M +m⎠
(E.1) where k=
l3
1/ 2
닯ㅑAccount
⎡ ⎛ ⎞
2
⎤ tBsinW
T mgh Imi A = ⎢ x0 + ⎜
2 x& 0
⎟ ⎥
x0 = −
mg ⎛ m ⎞
, x&0 = ⎜
⎢⎣ ω
⎝ n ⎠ ⎥⎦ 艾品二A二一
⎟ 2 gh (E.2)
⎛ x& ⎞
k ⎝M +m⎠ φ = tan − 1 ⎜ 0 ⎟
⎝ x 0ω n ⎠
탃읎烱
一 Burn
x(t ) = A cos(ωnt − φ ) ωn =
k
=
3 EI
M +m l3 (M + m)
2.3 Free Vibration of an Undamped Torsional System
GI o Theory of torsion
Mt = of circular shaft (2.37)
f
l
πd4
Io = v2dA PolarMoment of (2.38)
32
Inertia
Polar moment of
inertia of the cross
section of the shaft
Translation micmoment
kx o
ofinertia
Torsion Ess t kto 0
Torsional Mt GI o π Gd 4
Spring Constant kt = = = (2.39)
θ l 32l
• Equation of Motion Translation M k K i i F
Torsion J Ct k 0 M
From Newton’s
J 0θ&& + ktθ = 0 (2.40)
2nd Law of Motion
1/ 2
⎛ kt ⎞
Natural Circular Freq. ωn = ⎜ ⎟ (2.41)
of Torsional System ⎝ J0 ⎠
1/ 2
⎛ J0 ⎞
Period τ n = 2π ⎜ ⎟ (2.42)
⎝ kt ⎠
1/ 2
1 ⎛ kt ⎞
Freq. in cycles/sec. fn = ⎜ ⎟ (2.43)
2π ⎝ J0 ⎠
ρ hπ D 4 WD 2
Polar Moment of Inertia of a Disk J0 = =
32 8g
• Solution
General Solution θ (t ) = A1 cos ωnt + A2 sin ωnt (2.44)
dθ
Initial Conditions θ (t = 0) = θ 0 and θ&(t = 0) = (t = 0) = θ&0 (2.45)
dt
A1 = θ 0
A2 = θ&0 / ωn (2.46)
2.4 Stability Conditions 가정
For small oscillation
병렬연결
ml 2 && Wl
θ + 2kl 2θ − θ = 0
3 2
or
&& ⎛ 12 kl 2
− 3Wl ⎞
θ +⎜ 2 ⎟θ = 0 (2.48)
⎝ 2ml ⎠
iii
jez
iiit
EM I WE
ml 2 && 咨
匯 finest 가 l작을때
θ + (2kl sin θ )l cos θ − W sin θ = 0
I
(2.47)
s S
3 2
i IkeaSei
Equation of Sef Sits
Motion 區
2.4 Stability Conditions
• Case 1: (12kl 2 − 3Wl ) / 2ml 2 > 0 t.ee E0
stable θ (t ) = A1 cos ωnt + A2 sin ωnt (2.49)
5t 1
1/ 2
⎛ 12kl 2 − 3Wl ⎞
where ωn = ⎜ (2.50)
⎝ 2 ml 2 ⎟
⎠ E
• Case 2: (12kl 2 − 3Wl ) / 2ml 2 = 0
θ (t ) = C1t + C2 (2.51)
θ&& = 0
W/ I.C.s
it
iii iii.ie(2.52)
θ (t ) = θ&0t + θ 0
• Case 3: (12kl 2 − 3Wl ) / 2ml 2 < 0

1/ 2
unstable ⎛ 3Wl − 12kl 2 ⎞
θ (t ) = B1eα t + B2 e−α t (2.53) where α = ⎜ 2ml 2 ⎟
⎝ ⎠
1
W/ I.C.s θ (t ) = ⎡⎣(αθ 0 + θ&0 )eα t + (αθ 0 − θ&0 )e −α t ⎤⎦ (2.54)
2α
2.5 Rayleigh’s Energy Method 斑許
T1 + U1 = T2 + U 2 (2.55)
When the mass reaches its

maximum distance, then T2=0.
T1 + 0 = 0 + U 2 (2.56)
kineticE
we When the mass is passing
tjrough its static equilibrium
position, let U1=0.
If the system is undergoing harmonic motion, then T1, U2

denote the maximum values of T and U, respectively and
Tmax = U max (2.57)
DEA cos wt 0
Emv2 Iki Em Iki 永二一 Aw sina.to Wifi
2.6 Free Vibration with Viscous Damping
• Equation of Motion
F = −cx& (2.58)
mx&& = −cx& − kx mx&& + cx& + kx = 0 (2.59)
• Solution
Let x(t ) = Ce st then ms 2 + cs + k = 0 (2.61)
IF ma
K가 i ma
2
−c ± c 2 − 4mk c ⎛ c ⎞ k
s1,2 = =− ± ⎜ ⎟ − (2.62)
2m 2m ⎝ 2 m ⎠ m
x1 (t ) = C1e s1t
and
喆 산 C값
x (t ) = C e s2 t
Critical Dampin
(2.63)
2 2
x(t ) = C1e s1t + C2 e s2t

⎧ c 2 ⎫ ⎧ c 2 ⎫
⎪ ⎛ c ⎞ k⎪ ⎪ ⎛ c ⎞ k⎪
⎨− + ⎜ ⎟ − ⎬t ⎨− − ⎜ ⎟ − ⎬t
⎪⎩ 2 m ⎝ 2 m ⎠ m ⎪⎭ ⎪⎩ 2 m ⎝ 2 m ⎠ m ⎪⎭
= C1e + C2 e (2.64)
I 으로결정
• Critical Damping Constant and the Damping Ratio
2
⎛ cc ⎞ k
⎜ ⎟ − =0 cc: Critical Damping
⎝ 2m ⎠ m
k
cc = 2m = 2 km = 2mωn (2.65)
i m
Damping Ratio ζ = c / cc (2.66)

mictcictk.si to
c c cc it 듰 it 븠가 0
= = ζωn (2.67)
2m cc 2m
it isWnturn2 0
2
−c ± c 2 − 4mk c ⎛ c ⎞ k
s1,2 = =− ± ⎜ ⎟ − s1,2 = (−ζ ± ζ 2 − 1)ωn (2.68)
2m 2m ⎝ 2m ⎠ m
ζ 2 −1)ωn t ζ 2 −1)ωn t
x(t ) = C1e( −ζ + + C2 e ( − ζ − (2.69)
• Case 1: Underdamped Case (ζ<1) C
허수
Two roots of s1 = (−ζ + i 1 − ζ 2 )ωn
Characteristic Eqn. s2 = (−ζ − i 1 − ζ 2 )ωn
1−ζ 2 )ωn t 1−ζ 2 )ωn t

x(t ) = C1e( −ζ +i + C2 e ( − ζ − i
= e −ζωnt C1ei{ 1−ζ 2 ωn t

+ C2 e − i 1−ζ 2 ωn t
}
{
= e −ζωnt (C1 + C2 ) cos 1 − ζ 2 ωnt + i (C1 − C2 ) sin 1 − ζ 2 ωn t }
=e {C′ cos 1 − ζ ω t + C′ sin
−ζωn t
1
2
n 2 1 − ζ 2 ωn t }
= Xe sin ( 1 − ζ ω t + φ )
−ζωn t 2
n
derdamped Sol
與 암기 =X e 0 cos ( 1 − ζ ω t − φ )
−ζωn t 2
n 0 (2.70)
x&0 + ζωn x0
W/ Initial Conditions C1′ = x0 and C2′ = (2.71)
1 − ζ ωn 2
• Case 1: Underdamped System (ζ<1)
⎧⎪ x&0 + ζωn x0 ⎪⎫
Solution w/ x(t ) = e −ζωn t
⎨ x0 cos 1 − ζ ωn t +
2
sin 1 − ζ ωnt ⎬
2
(2.72)
Initial Conditions ⎪⎩ 1 − ζ ωn
2
⎪⎭
Magnitude of Envelope
X = X 0 = (C1′) 2 + (C2′ ) 2 (2.73)
Phase Angle w/ Sine Fn.

φ = tan −1 (C1′ / C2′ ) (2.74)
Phase Angle w/ Cosine Fn.

φ0 = tan −1 (−C2′ / C1′) (2.75)
Damped Natural Frequency ωd = 1 − ζ 2 ωn (2.76)

• Case 2: Critically Damped System (ζ=1) C
Double root of
Characteristic Eqn.
s1 = s2 = −
cc
2m
= −ωn arl (2.77)
As ς → 1, ω n → 0; cos ω d t → 1 & sin ω d t → ω d t

d
rit.cat x(t ) = e −ωnt (C ′ + C ′ω t ) = (C + C t )e −ωnt ,
1 2 d 1 2
뻸왉 where C1 = C1′, C 2 = C 2′ω d
x(t ) = (C1 + C2t )e −ωnt (2.78)
C1 = x0
W/ Initial Conditions
C2 = x&0 + ωn x0 (2.79)
Solution w/
x(t ) = [ x0 + ( x&0 + ωn x0 ) t ] e −ωnt (2.80)
Initial Conditions
• Case 3: Overdamped System (ζ>1) C C
Two roots of s1 = (−ζ + ζ 2 − 1)ωn < 0
Characteristic Eqn. s2 = (−ζ − ζ 2 − 1)ωn < 0
Solution w/ x(t ) = C1e ( −ζ + ζ 2 −1)ωn t

+ C2 e ( −ζ − ζ 2 −1)ωn t
(2.81) where
一
Initial Conditions
Overdamped Sol x0ωn (ζ + ζ 2 − 1) + x&0
암기 C1 =
2ωn ζ 2 − 1
• Comparison of Motions
− x0ωn (ζ − ζ 2 − 1) − x&0
C2 = (2.82)
2ωn ζ − 1
2
• Logarithmic Decrement
it
x1 X 0 e−ζωnt1 cos(ωd t1 − φ0 )
Using Eq. (2.70) = (2.83)
x2 X 0 e −ζωnt2 cos(ωd t2 − φ0 )
t 2 = t1 + τ d , where τ d = 2π ωd
x1 e −ζωnt1
cos(ωd t 2 − φ0 ) = cos(2π + ωd t1 − φ0 ) = −ζωn ( t1 +τ d ) = eζωnτ d (2.84)
x2 e
= cos(ωd t1 − φ0 ) logarithmic
Fate
x1 2π 2πζ 2π c
Logarithmic δ = ln = ζωnτ d =ζωn = = x (2.85)
x2 1 − ζ 2
ω 1 − ζ 2 ωd 2 m
Decrement G n
δ
ζ = (2.87)
(2π ) + δ
2 2
For small damping δ 2πζ if ζK1 (2.86)

δ
ζ (2.88)
2π
• Logarithmic Decrement
Extension w/ Many Cycles
x1 x x x x
= 1 2 3L m (2.89)
xm +1 x2 x3 x4 xm +1
Since xj
= eζωnτ d (2.90)
x j +1
x1
= (eζωnτ d ) m = e mζωnτ d (2.91)
xm +1
1 ⎛ x1 ⎞
δ= ln ⎜ ⎟ (2.92)
m ⎝ xm +1 ⎠
• Energy Dissipated in Viscous Damping
Rate of Change of Energy with Time

2
dW ⎛ dx ⎞
= force × velocity = Fv = −cv 2 = −c ⎜ ⎟ (2.93)
dt ⎝ dt ⎠
兪心卜라
변하지X다고봄
W/ a simple harmonic motion x(t ) = X sin ωd t i XWaco
swat
ΔW = ∫ i c ⎜ ⎟ dt = ∫ cX 2ωd0cos 2 ωd72
2
⎛ dx ⎞
(2π / ωd ) 2π
鬱
t =0 dt
⎝ ⎠ 0
8 t d (ωd t )
= π cωd X 2 t wat (2.94)

적분 계수
F = − kx − cv = − kx − cx& (2.95)
x(t ) = X sin ωd t (2.96)
F = −kX sin ωd t − cωd X cos ωd t (2.97)

2.6 Free Vibration with lViscous Damping
• Energy Dissipated in Viscous Damping
Energy Dissipated in a Complete Cycle

2 π / ωd
ΔW = ∫ Fvdt
t =0
2π / ωd
=∫ kX 2ωd sin ωd t cos ωd t d (ωd t )
0
스프링고려
2π / ωd o
+∫ cωd X 2 cos 2 ωd t d (ωd t ) = π cωd X 2 (2.98)
0
max 해 Twi 갸 爻sinwat
W 멦솗EE i 二 wacoswat
Specific Damping ΔW π cωd X 2 ⎛ 2π ⎞ ⎛ c ⎞
=1 = 2 ⎜ ⎟⎜ ⎟ = 2δ 4πζ = constant (2.99)
2 mωd X ⎝ ωd ⎠ ⎝ 2 m ⎠
2 2
Capacity W
Ft
system damping의경우
전체E Mass에의한 E가max인경우 반대경우에도동일
(ΔW / 2π ) ΔW
2 3 번째 방식 loss coefficient =
W
=
2π W
(2.100)
• Torsional Systems with Viscous Damping
T = −ctθ& (2.101)
Translationmict i kx 0 Ft
&& &
Rotation J 0θ + ctθ + ktθ = 0 (2.102)
赤宓
Identical Form w/ Linear Systems: e.g.
ωd = 1 − ζ 2 ωn (2.103)
where
kt
ωn = (2.104)
J0
ct ct ct
ζ = = = (2.105)
ctc 2 J 0ωn 2 kt J 0
• Example 2.11 Shock-Absorber for a Motorcycle
M 200KG Ed 2 s
An underdamped shock absorber is to be
designed for a motorcycle of mass 20 kg ki i
(Fig. 2.31a). When the shock absorber n is
subjected to an initial verticle velocity due to
a road bump, the resulting displacement-
time curve is to be as indicated in Fig.
2.31(b). Find the necessary stiffness and
damping constants of the shock absorber if i
the damped period of vibration is to be 2 s
and the amplitude x1 is to be reduced to
one-fourth in one cycle (i.e., x1.5=x1/4).
Also find the minimum initial velocity that
leads to a maximum displacement of 250
mm.
⎛ x1 ⎞ 2πζ
x1.5 = x1 4 , x 2 = x1.5 4 = x1 16 δ = ln ⎜ ⎟ = ln(16) = 2.7726 = (E.1)
x
⎝ 2⎠ 1− ζ 2
ζ = 0.4037
2π
E
2π
2km X Id
2 =τd = =
ωd ωn 1 − ζ 2
2π
ωn = = 3.4338 rad/s
2 1 − (0.4037) 2
cc = 2mωn = 2(200)(3.4338) = 1373.54 N-s/m c = ζ cc = (0.4037)(1373.54) = 554.4981 N-s/m
k = mωn2 = (200)(3.4338) 2 = 2358.2652 N/m
sin ωd t1 = sin π t1 = 1 − (0.4037) 2 = 0.9149

sin ωd t1 = 1 − ζ 2
sin −1 (0.9149)
or t1 = = 0.3678 sec
π
exI2.127
x = 1 − ζ 2 Xe −ζωnt (E.2)
Xanax 250 V0 phase angle x 0 0
x=250 mm 0.25 = 1 − (0.4037) 2 Xe − (0.4037)(3.4338)(0.3678) or X = 0.4550 m.
Displacement x(t ) = Xe −ζωnt sin ωd t
Velocity x& (t = 0) = x&0 = X ωd = X ωn 1 − ζ 2 = (0.4550)(3.4338) 1 − (0.4037) 2

= 1.4294 m/s
When t=0
x& (t ) = Xe −ζωnt (−ζωn sin ωd t + ωd cos ωd t ) (E.3)

Skip
t CH.2 Free Vibration of Single D.O.F. System
2.7 Free Vibration with Coulomb Damping
Friction
F = μ N = μW = μ mg (2.106)
Force
• Case 2: x>0, dx/dt<0 or x<0, dx/dt<0 (Fig. 2.33(c))

− kx + μ N = mx&& or mx&& + kx = μ N (2.109)
μN
x(t ) = A3 cos ωnt + A4 sin ωnt + (2.110)
k
Friction
F = μ N = μW = μ mg (2.106)
Force
• Case 1: x>0, dx/dt>0 or x<0, dx/dt>0 (Fig. 2.33(b))

mx&& = − kx − μ N or mx&& + kx = − μ N (2.107)
μN
x(t ) = A1 cos ωnt + A2 sin ωnt − (2.108)
k
Signum Fn.
• Solution 1: dx/dt>0, -1: dx/dt<0,0: dx/dt=0
mx&& + μ m g sgn( x& ) + kx = 0 (2.111)
For the first half cycle ( 0 ≤ t ≤ π ω n )

x(t = 0) = x0
I.C.s x& (t = 0) = 0 (2.112)
μN
x(t ) = A3 cos ωnt + A4 sin ωnt + (2.110)
k
μN
A3 = x0 − , A4 = 0
k
⎛ μN ⎞ μN
x(t ) = ⎜ x0 − ⎟ cos ω n t + (2.113)
⎝ k ⎠ k
⎛ π ⎞ ⎛ μN ⎞ μN ⎛ 2μ N ⎞
− 1= ⎜ =
x x t ⎟ = ⎜ x0 − ⎟ cos π + = − x
⎜ 0 − ⎟
⎝ ωn ⎠ ⎝ k ⎠ k ⎝ k ⎠
For the second half cycle (π ωn ≤ t ≤ 2 π ωn )
π
π ⎛ 2μ N ⎞ x& (t = 0) = value of x& at t = in Eq. (2.113)
x(t = 0) = value of x at t = in Eq. (2.113) = − ⎜ x0 − ⎟& ωn
ωn ⎝ k ⎠
⎧ ⎛ μN ⎞ π ⎫
= ⎨ value of − ωn ⎜ x0 − ⎟ sin ω t at t = ⎬=0
ω
n
⎩ ⎝ k ⎠ n ⎭
3μ N μN
− A1 = − x0 + , A2 = 0 x (t ) = A1 cos ωn t + A2 sin ωn t − (2.108)
k k
⎛ 3μ N ⎞ μN
x(t ) = ⎜ x0 − ⎟ cos ω n t − (2.114)
⎝ k ⎠ k
⎛ π ⎞ 4μ N ⎛ π ⎞
x2 = x ⎜ t = in Eq. (2.114) = x − x& ⎜ t = ⎟ in Eq. (2.114) = 0
⎟
⎝ ωn ⎝ ωn
0
⎠ k ⎠
⎧ μN ⎫
x
⎪ 0 − ⎪
2μ N μ N r≥⎨ k (2.115)
x0 − r ≤ ⎬
k k ⎪ 2μ N ⎪
⎩ k ⎭
• Characteristics of a system with Coulomb damping
Coulomb damping Viscous damping

Equation of
Nonlinear Linear
Motion
Natural
Unaltered Altered (reduced)
Frequency
Nonperiodic
Motion Periodic
(overdamped system)
Final Stoppage Yes No
Reduction of
Linearly Exponentially
Amplitude
• Characteristics of a system with Coulomb damping
Amplitudes at the end of any two

consecutive cycles:
4μ N
X m = X m −1 − (2.116)
k
Slope of the enveloping straight lines:
⎛ 4 μ N ⎞ ⎛ 2π ⎞ ⎛ 2 μ N ωn ⎞
−⎜ ⎟ ⎜ ⎟ = − ⎜ ⎟
⎝ k ⎠ ⎝ ωn ⎠ ⎝ πk ⎠
• Torsional Systems with Coulomb Damping Constant
Damping Torque
Governing Differential J 0θ&& + ktθ = −T (2.117)

Equation of a J 0θ&& + ktθ = T (2.118)
Torsional System
kt
Natural Frequency ωn = (2.119)
J0
2T
Amplitude of motion at the θr = θ0 − r (2.120)
end of the rth half cycle kt
Initial angular displacement
⎧ T ⎫
θ −
⎪⎪ 0 k ⎪⎪
Condition for the cease r≥⎨ t
⎬ (2.121)
of motion ⎪ 2T ⎪
⎪⎩ kt ⎪⎭
• Example 2.13 Coefficient of Friction from Measured Positions of Mass
A metal block, placed on a rough surface, τ n = 2 / 5 = 0.4 s

is attached to a spring and is given an initial
displacement of 10 cm from its equilibrium k 2π 2π
ωn = = = = 15.708 rad/s
position. After five cycles of oscillation in 2 m τ n 0.4
s, the final position of the metal block is
found to be 1 cm from its equilibrium Reduction of
4 μ N 4 μ mg
position. Find the coefficient of friction Amplitude =
between the surface and the metal block. in 1 Cycle k k
Reduction of
⎛ 4 μ mg ⎞
Amplitude 5⎜ ⎟ = 0.10 − 0.01 = 0.09m
In 5 Cycles ⎝ k ⎠
0.09k 0.09ωn2 0.09(15.708) 2

μ= = = = 0.1132
20mg 20 g 20(9.81)
2.8 Free Vibration with Hysteretic Damping
Force needed to cause displacement
F = kx + cx& (2.122)
For a Harmonic Motion

x(t ) = X sin ωt (2.123)
F (t ) = kX sin ωt + cX ω cos ωt
= kX ± cω X 2 − ( X sin ωt ) 2
= kX ± cω X 2 − x 2 (2.124)
Area of Loop 2π / ω
(Energy dissipated ΔW = ∫ Fdx = ∫

0
(kX sin ω t + cX ω cos ω t )(ω X cos ω t )dt
in a cycle) = πω cX 2 (2.125)
Experimental Observation:
Energy loss per cycle due to internal
friction is independent of the
frequency but approximately
proportional to the square of the
amplitude.
h
c= (2.126)
ω
2π / ω
ΔW = ∫ Fdx = ∫ 0
(kX sin ω t + cX ω cos ω t )(ω X cos ω t )dt
= πω cX 2 (2.125)
ΔW = π hX 2 (2.127)
• Complex Stiffness
For Viscous Damping F = kX eiω t + cω iX eiω t = (k + iω c) x (2.128)
For Hysteretic Damping F = (k + ih) x (2.129)
⎛ h⎞
Complex Stiffness k + ih = k ⎜1 + i ⎟ = k (1 + i β ) (2.130)
⎝ k⎠
• Response of the System
Energy Loss per Cycle ΔW = π k β X 2 (2.131)
Relation b/t Energies at Points P and Q:

kX 2j π k β X 2j π k β X 2j + 0.5 kX 2j + 0.5
− − =
2 4 4 2
Xj 2 + πβ
= (2.132)
X j + 0.5 2 − πβ
Relation b/t Energies at Points Q and R:
X j + 0.5 2 + πβ
= (2.133)
X j +1 2 − πβ
Multiplication of Xj 2 + πβ 2 − πβ + 2πβ
= = 1 + πβ = constant (2.134)
Eqs. (2.132) & (2.133) X j +1 2 − πβ 2 − πβ
• Response of the System
Hysteresis ⎛ Xj ⎞
δ = ln ⎜ ln(1 + πβ ) πβ
⎜ X j +1 ⎟⎟
(2.135)
Logarithmic Decrement ⎝ ⎠
Natural Frequency k
(Assumption: Motion is ω= (2.136)
m
approximately harmonic)
πh
Logarithmic Decrement δ 2πζ eq πβ =
k
Equivalent β h
ζ eq = = (2.137)
Damping Ratio 2 2k
Equivalent β βk h
ceq = cc ζ eq = 2 mk = β mk = = (2.138)
Damping Coefficient 2 ω ω

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CH.2 Free Vibration of Single D.O.F.

−kx − mx&& = 0 or mx&& + kx = 0 (2.3)

− mx&&δ x − kxδ x = 0 어떠한 S가에도(2.5)

For x& 0 = 0 x(t ) = x0 cos ωnt (2.33)

Because cos 2 (ωnt − φ ) + sin 2 (ωnt − φ ) = 1

A cantilever beam carries a mass M at

General Solution θ (t ) = A1 cos ωnt + A2 sin ωnt (2.44)

• Case 3: (12kl 2 − 3Wl ) / 2ml 2 < 0

When the mass reaches its

If the system is undergoing harmonic motion, then T1, U2

mx&& = −cx& − kx mx&& + cx& + kx = 0 (2.59)

x(t ) = C1e s1t + C2 e s2t

Damping Ratio ζ = c / cc (2.66)

1−ζ 2 )ωn t 1−ζ 2 )ωn t

= e −ζωnt C1ei{ 1−ζ 2 ωn t

Phase Angle w/ Sine Fn.

Phase Angle w/ Cosine Fn.

Damped Natural Frequency ωd = 1 − ζ 2 ωn (2.76)

As ς → 1, ω n → 0; cos ω d t → 1 & sin ω d t → ω d t

뻸왉 where C1 = C1′, C 2 = C 2′ω d

x(t ) = (C1 + C2t )e −ωnt (2.78)

Solution w/ x(t ) = C1e ( −ζ + ζ 2 −1)ωn t

For small damping δ 2πζ if ζK1 (2.86)

Rate of Change of Energy with Time

= π cωd X 2 t wat (2.94)

x(t ) = X sin ωd t (2.96)

F = −kX sin ωd t − cωd X cos ωd t (2.97)

Energy Dissipated in a Complete Cycle

cc = 2mωn = 2(200)(3.4338) = 1373.54 N-s/m c = ζ cc = (0.4037)(1373.54) = 554.4981 N-s/m

k = mωn2 = (200)(3.4338) 2 = 2358.2652 N/m

sin ωd t1 = sin π t1 = 1 − (0.4037) 2 = 0.9149

Displacement x(t ) = Xe −ζωnt sin ωd t

Velocity x& (t = 0) = x&0 = X ωd = X ωn 1 − ζ 2 = (0.4550)(3.4338) 1 − (0.4037) 2

x& (t ) = Xe −ζωnt (−ζωn sin ωd t + ωd cos ωd t ) (E.3)

• Case 2: x>0, dx/dt<0 or x<0, dx/dt<0 (Fig. 2.33(c))

• Case 1: x>0, dx/dt>0 or x<0, dx/dt>0 (Fig. 2.33(b))

mx&& + μ m g sgn( x& ) + kx = 0 (2.111)

For the first half cycle ( 0 ≤ t ≤ π ω n )

Coulomb damping Viscous damping

Amplitudes at the end of any two

Slope of the enveloping straight lines:

Governing Differential J 0θ&& + ktθ = −T (2.117)

A metal block, placed on a rough surface, τ n = 2 / 5 = 0.4 s

0.09k 0.09ωn2 0.09(15.708) 2

For a Harmonic Motion

(Energy dissipated ΔW = ∫ Fdx = ∫

For Viscous Damping F = kX eiω t + cω iX eiω t = (k + iω c) x (2.128)

For Hysteretic Damping F = (k + ih) x (2.129)

Energy Loss per Cycle ΔW = π k β X 2 (2.131)

Relation b/t Energies at Points P and Q:

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