FREE VIBRATIONS WITH VISCOUS DAMPING 73

1.0
0.8
0.6
mc 0.4
0.2
0
0 0.2 0.4 0.6 0.8 1.0

Fig. 3.3.6 Variation of damped natural frequency with damping

From the three cases discussed in the preceding paragraphs, it is seen that the
E ioverdamped and critically damped syste
underdamped system has oscillatory motion
have aperiodic motion while the
ritical damping is the least amount of
damping that a system can have for non-oscillatory or aperiodic motion.
It can be easily seen from the discussion made that the resonant amplitude for an .
undamped system, theoretically is infinite. The presence of an even small amount of
damping in the system brings down this infinite amplitude to a certain finite value. This
fact is crucial to the importance of damping in a vibrating system under resonant
conditions.
Illustrative Examp .3.
The mass of a spri -mass-dashpot system is given an initial velocity (from the
equilibrium position) of Awn where wn is the undamped natural frequency of the system.
Find the equation of motion for the system, for cases, when
(i) c = 2.0, (ii) = 1.0, (iii) = 0.2
Plot displacement-time graphs for the three cases
Solution
Case (I) = 2.0 (over damped)
Putting C = 2.0 in equation (3.3.9), we have
x = C1 e-a27'nt + C2 e-333wnt i.3.18)

Differentiating, x = - 0.27 conC i e -0.27w„t - 3.73C, nt

Putting down the initial conditions

x=0 at t = 0
x = Awn at t = 0
74 DAMPED FREE VIBRATIONS OF SINGLE DEGREE OF FREEDOM SYSTEM

in the above two equations, we have

0 = CI +C2
Awn = - 0.27 conC1 - 3.73 conC2
which give C1 = 0.288 A
and C2 = - 0.288 A
Therefore the equation (3.3.18) becomes
[e
X = 0.288 A [e- - e-3.73(ont (3.3.19)
Case (ii) = 1.0 (critically damped)
Equation (3.3.12) is re-written below.
x = [CI + C2 t]e-a)nt (3.3.20)
Differentiating, x = - [C1 + C2 t]0.)ne-cunt c2e-cont
Putting down the initial conditions as before, we have
0 = CI
Awn = — C 0)n + C2
which give C1 = 0
and C2 = Awn
Hence equation (3.3.20) becomes
x = A curate-cunt (3.3.21)
Case (iii) = 0.2 (under damped).
Substituting = 0.2 in the third of equations (3.3.15), we get
x = A2 e —a2w n t sin (0.98 cont + (1)2) (3.3.22)
differentiating,
x = - 0.2 (On A2 e-0.2(unt sin (0.98 cont + 410 + 0.98 0.), A2 C 0-2°) nt cos (0.98 cun t + 4)2)
Substituting the initial conditions in the above two equations, we have
0 = A2 sin 4)2
A wn = - 0.2 (On A2 sin (02 + 0.98 COn A2 cos 4)2
or A2 sin 4)2 = 0
A2 cos 4:42 = 1.02 A
giving A2 = 1.02 A and 4102 = 0
Hence equation (3.3.22) becomes

x = 1.02 Ae-a2'nt sin (0.98 cont) (3.3.23)

Equation (3.3.19), (3.3.21) and (3.3.23) are plotted as three different curves in
Fig. 3.3.7.
 FREE VIBRATIONS WITH VISCOUS DAMPING 75

ustrative Example 3.3.2

Between a solid mass of 10 kg and the floor are kept two slabs of isolators, natural
rubber and felt, in series as shown in Fig. 3.3.8 (a). The natural rubber slab has a
stiffness of 3000 N./in and an equivalent viscous damping coefficient of 100 N-sec/m.
The felt slab has a stiffness of 12000 N/m and an equivalent viscous damping coefficient
of 330 N-sec/m. Determine the undamped and the damped natural frequencies of the
system in vertical direction. Neglect the mass of the isolators.
Solution
The isolators being in series, the system can be schematically represented by
Fig. 3.3.8(b). This can be further reduced to that shown in Fig. 3.3.8(c), where ke and ce
.are the equivalent stiffness and the equivalent damping coefficient for the system given by
1 = 1 1 = 1 1 — 5
ke kr kf 3000 12000 12000

0.8

0.7

0.6
=0.2
0.5

0.4 •=i‘

i
••
••
0.3

tt
••
=2 • ••
0.2
xi<
0.1

0 Ibb1
1 1110
2
-0.1

-0.2

-0.3

-0.4
-0.5

Fig. 3.3.7 Time-displacement plots for over-damped, critically damped

and under-damped systems with zero initial displacement
76 DAMPED FREE VIBRATIONS OF SINGLE DEGREE OF FREEDOM SYSTEM

NATURAL
RUBBER

(a) (b) (c)

Fig. 3.3.8 A System with two isolators in series

or ke = 12000— 2400 N/m

1 1 1 1 1 ,..,
and =—+—= + v.013
ce cr c t- 100 330

or ce = 0.013 — 77 N-sec/m

like — 1 2400 —
Now, (On = 15.49 rad/sec
m 1 10
1 5. 4 9
or fn — — 2.47 Hz Ans.
2 it

0)d = con
Ce 77
— 0.249 s:
21/kem 2 x V2400 x 10

Therefore cod = 41— 0.2492 x 15.49 = 15.00 rad/sec

= 15.00
or. fd 2n — 2.39 Hz Ans.
Illustrative Example 3.3.3
A gun barrel of mass 600 kg has a recoil spring of stiffness 294,000 N/meter. If the
barrel recoils 1.3 meters on firing, determine,
(a) the initial recoil velocity of the barrel,
(b) the critical damping coefficient of the dashpot which is engaged at the end of the
recoil stfoke, and
(c) the time required for the barrel to return to a position 5 cm from the initial position.
Solution
(a) Energy stored at the end of the recoil
1 1
kx2 = x 294,000 x 1.32 = 248,400 N-m (Joules)
 FREE VIBRATIONS WITH VISCOUS DAMPING 77

This should be equal to the initial kinetic energy of the barrel since no energy is lost
in the recoil of the barrel.

Therefore, MV02 = 248,400

2
1
or 2 600 V02 248,400

or V02 828
giving V0 = 28.75 meter/sec. Ans.
(b) The critical damping coefficient is given by
cc = 2JI\71 = 2 V294,000 x 600
or c = 26600 N-sec/rn Ans.

Ik 14 00
(c) co n ' — 22.1 rad/sec
I m 1 29600 0
2 7C 2 A
T = = .ZOLI- sec
-—V
CO n 22.1
Time for the recoil or outward stroke

x time period
4
0.284
- 0.071 sec.
4
During the return stroke the system has critical damping, whose equation (3.3.12) is
re-written below.
x = (C1 + C2t) e-cost

Differentiating, x = C, e-w nt - (C1 + t) con e'nt

Counting time from the end of the recoil stroke or the beginning of the return travel,
we have the initial conditions as
x = l.3}
at t = 0
x=0

Substituting these initial conditions in the equations for x and X above we have
1.3 = C1
0 = C2 - C I (On
giving C1 = 1.3
C2 = 28.8
Therefore the equation of motion becomes
x = (1.3 + 28.80 e-22.1t (3.3.24)
78 DAMPED FREE VIBRATIC.4S OF SINGLE DEGREE OF FREEDOM SYSTEM

Now it is required to find t x = 0.05. This can be done by trial and error as
follows:

t 28.8t 1.3 + 28.8t e-22.1t x

0.10 2.88 4.18 0.11 0.460
0.20 5.76 7.06 0.012 0.085
0.21 6.05 7.35 0.0096 0.071
0.22 6.35 7.65 0.0077 0.049
The approximate time is 0.22 seconds when x = 0.05 meter (actually x will be 0.049
instead of 0.05).
Therefore, the total time required by the barrel to move out and to return to a position
given x = 0.05 meters is given by
Total time = 0.071 + 0.22
or T = 0.29 seconds
The displacement-time plot of the system under the above mentioned conditions is
shown in Fig. 3.3.9.

.071 0.22

1.30 CRITICALLY

(%)
1 DAMPED MOTION

PART OF \
UNDAMPED \
MOTION \
0.05

t (SEC)

Fig. 3.3.9 Displacement-time plot of a system with zero damping

in the outward stroke and critical damping in the return stroke

Illustrative Example 3.3.4

The system shown in Fig. 3.3.10 is displaced from its static equilibrium position to the
right a distance of 0.01 m. An impulsive force acts towards the left on the mass at the
instant of its release to give it an initial velocity Vo in that direction.
(a) Derive an expression for the displacement of the mass from the equilibrium position
in terms of time t and initial velocity Vo.
 FREE VIBRATIONS WITH VISCOUS DAMPING 79

(b) What value V0 would be required to make the mass pass the position of static
equilibrium 1/100 sec after it is applied?
(c) What would be the maximum displacement of the mass to the left of the static
equilibrium position for (b)?

k=15700 N/m
c=1570 N-Sec/m
m=9.8 kg

Fig. 3.3.10 Motion of a system with initial displacement and an initial velocity
Solution
The equation of motion_of the system is given by
mx +cX +kx = 0

For this system, wn = 1

117 1
15700
- 40 rad/sec
1 9.8
c -1570
2mco n 2 x 9.8 x 40 -2.0
Therefore, the system is an overdamped one, and its equation (3.3.9) is

x = C1 e[-c+VC2-nwn c2 e[-C-1c2 -1]cont

Substituting the value of and con we have

px = C I e-10.8t C2 e-149.21 (3.3.25)
The initial conditions are
0.01
at t = 0
Vo
Differentiating equation (3.3.25) and substituting the initial conditions in both the
equations,
0.01 = Ci +C2 \s/ '
- Vo = - 10.8 CI - 149,2 Ca
giving Pi' = 0.0108 - 0.00723 Vo
c2 = - 0.0008 + 0.00723 Vo
(a) Substituting the values of the constants C1 and C2 in equation (3.3.25), we have,
x = (0.0108 - 0.0072 V0) e-10 8t + (0.00723V0 - 0.0008) e-149.2t (3.3.26)
which is the final solution.
80 DAMPED FREE VIBRATIONS OF SINGLE DEGREE OF FREEDOM SYSTEM

(b) At t = Tap- sec, x = 0

Applying this condition to equation (3.3.26)

0 = (0.0108 - 0.00723 V0) e-0•108 + (0.00723V0 - 0.0008) e-1.49

Solving gives
V0 = 1.96 m/sec Ans.
(c) Substituting the above value of V0 in equation (3.3.26)
x = - 0.0034 e-10.8t 0.0134 e-149.2t (3.3.27)
In order to find the maximum displacement, we differentiate the above equation and
equate it to zero velocity (corresponding to the maximum displacement) i.e.
= 0.0366 e-10.8t 2.00 e-149.2t = 0 (3.3.28)
2.00 - e-10.8t + 149.2t = e138.4t
or
0.0366

which gives t = 0.029 sec

This value oft is substituted in equation (3.3.27) to get the maximum displacement, or
xmax = - 0.0034 e-10.8 x 0.029 + 0.0134 e-I49.2 x 0.029

Or xmax = — 0.0023 m
The egativesign shows that this displacement is on the left side of the equilibrium
The egative
'on. Ans.

.4 LOGARITHMIC DECREMENT

Let us go back to Fig. 3.3.4 for the free vibrations of an underdamped system.
Consider two points, A and B, corresponding to the times tA and t8, where
2 7r
tB — tA
— 2 (.0n

If we look at the equation (3.3.17) for an underdamped system, the amplitude of the
X0
damped oscillation is given by the expression e-43nt which is the envelope of
1-
the maximum of the displacement-time curve. It is shown as a dotted curve in Fig. 3.3.4.
Now the height of the displacement-time curve at t = tA is equal to the height of the
envelope at the same time.

Therefore, xA tA

and x8 = 4.) t B
en
 LOGARITHMIC DECREMENT 81

Dividing one by the other,

XA
en (t A — tB) = e con (tg—t A )
XB

2n
But, t B — to
/i_c2 0)n

XA )
Therefore, =
XB

XA 2 nd
or loge
XB

This is called the Logarithmic Decrement and is denoted by&.

xA — 2nd
Therefore, 5 = loge (3.4.1)
XB

This shows that the ratio of any two successive amplitudes for an underdamped
system, vibrating freely, is constant and is a function of the damping only. For small
values of the above equation reduces to
2 7r c (3.4.2)
The logarithmic decrement is also given by the equation
1 x0
S = n- log (3.4.3)
e
where x0 represents the amplitude at particular maxima and xn represents the amplitude
after a further n cycles. This can be proved easily as below.
xo x x n_ i
S = loge = loge = loge
xi x2 • xn

xo xi x n _i
or n8 = loge = loge
loge
x i x2
xi xn xn

1 x0
or S = — loge
n Xn
The logarithmic decrement method is often used to find the amount of damping in a
physical system.
Illustrative Example 3.4.1
The disc of a torsional pendulum has a moment of inertia of 600 kg-cm2 and is
immersed in a viscous fluid. The brass shaft attached to it is of 10 cm diameter and 40
cm long. When the pendulum is vibrating, the observed amplitudes on the same side of
the rest position for successive cycles are 9°, 6° and 4°. Determine
(a) logarithmic decrement,
82 DAMPED FREE VIBRATIONS OF SINGLE DEGREE OF FREEDOM SYSTEM

(b) damping torque at unit velocity, and

(c) the periodic time of vibration
Assume for the brass shaft, G = 4.4 x 1010 N/m2
What would the frequency be if the disc is removed from the viscous fluid..?
Solution
(a) Logarithmic decrement 8 is given by
9 6
8 = loge — or loge = loge 1.5 = 0.405
6 —
4
or 8 = 0.405 Ans.

(b) Since, 8 =
11-
1 2

therefore, (1 — V) 82 = 4712 c2
or 82 = (4/12 + 82)
0.405
Or, 0.0645
147r 2 + 82 /4 2 4_0. 4052
1 71
Now damping torque at unit velocity is the torsional damping coefficient c of the
system, given by
-
c,
or c= ce
But cc = 2 fict.1 [Similar to equation (3.3.6)]

Therefore c= 2 .117t.T (3.4.4)

d = 10 cm = 0.1 m
1 = 40 cm = 0.4 m
J = 600 kg-cm2 = 0.06 kg-m2
Torsional stiffness of the shaft,
G.I p G TC _34
kt u•
1 1 • 32
4.40101°
x—
Tc x 0.14 = 1.08 x 106 N-m/rad
, 4 32
Substituting the values of ; J and Ict as found above, in equation (3.4.4), we have

c = 0.0645 x 2 x V1.08 x106 x 0.06 = 32.8 N-• '

This is the damping torque at unit velocity. Ans.
 VISCOUS DAMPERS .83

(c) Periodic time of vibration.

27c 27c
03d 0).

irt- 111.08 x106

Now, co n = — 4240 rad/sec
l 0.06
2rc
Therefore = — 0.00149 sec Ans.
4240 x V(1-0.06452 )

The frequency when the disc is removed from the viscous fluid, is the natural
frequency of the system, and is given by
Ct) n
fn = 2n
But con = 4240 rad/sec as found above.

Hence fn = —
4240 675 Hz Ans.
2 TC

3.5/ VISCOUS DAMPERS

There are two important types of viscous dampers that are invariably used for
providing viscous damping in vibrating systems. These are described below.
3.5.1 Fluid dashpot. This consists of a piston moving to and fro in a cylinder full of
viscous fluid as shown in Fig. 3.5.1. There are three components of damping that are
experienced when the piston moves in the cylinder. These are,
(i) Damping due to the drag of the fluid.
(ii) Damping produced by the pressure flow of the fluid through the clearance space as
a result of piston displacement.
(iii) Damping resistance due to the pressure difference on the two sides of the piston.
This pressure difference is caused by the restriction to the fluid flow due to the
piston motion.
can be shown that if clearance between thepiston and cylinder is small, the first two
-- of the damping are negligible and the total damping is wholly due to the
third component, and is given by
i2 µ A p
c (3.5.1)
Dm e3
where c = viscous damping coefficient,
p. = coefficient of viscosity of the fluid,
Ap = area of flat side of the piston,
1 length of the piston