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Chapter 2 PPT 02
Chapter 2 PPT 02
Vibrations
Singiresu S.
Rao
SI Edition
Chapter 2
Free Vibration of
Single Degree
of
Freedom Systems
Chapter Outline
2.1 Introduction
2.2 Free Vibration of an Undamped
Translational System
2.3 Free Vibration of an Undamped
Torsional System
2.4 Stability Conditions
2.5 Rayleighs Energy Method
2.6 Free Vibration with Viscous Damping
2005 Pearson Education South Asia Pte Ltd. 2
Chapter Outline
2.7 Free Vibration with Coulomb Damping
2.8 Free Vibration with Hysteretic
Damping
F (t ) kx mx
or
mx kx 0 (2.3)
mx kx 0 (2.3)
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2.2 Free Vibration of an Undamped
Translational System
Equation of Motion of a Spring-Mass System in
Vertical Position:
Consider the
configuration of
the spring-mass
system shown in
the figure.
Spring constant, k:
W mg
k (2.27)
st st
Hence, 1/ 2
g
n (2.28)
st
2005 Pearson Education South Asia Pte Ltd. 20
2.2 Free Vibration of an Undamped
Translational System
Hence, natural frequency in cycles per second:
1/ 2
1 g
fn (2.29)
2 st
and, the natural period:
1/ 2
1 st
n 2 (2.30)
fn g
where 2 1/ 2
x
A x02 0
n
x 0
tan 1
x0n
k 3EI
n 3
M m l ( M m)
where
Mt is the torque that
produces the twist ,
G is the shear modulus,
l is the length of shaft,
I0 is the polar moment
of inertia of cross
2005 Pearson Education South Asia Pte Ltd. section of shaft 31
2.3 Free Vibration of an Undamped
Torsinal System
Polar Moment of Inertia:
d 4
I0 (2.38)
32
Torsional Spring Constant:
M t GI 0 Gd 4
kt (2.39)
l 32l
3 2
or 12 kl 2
3Wl
0 (2.48)
2ml 2
The solution for Eq.(2.48) depends on the sign of
(12kl 2 3Wl ) / 2ml 2
42
2005 Pearson Education South Asia Pte Ltd.
, is as discussed below:
2.4 Stability Conditions
Case 1. When (12kl 2 3Wl ) / 2ml 2 0 , the solution of
Eq. (2.48) represents stable oscillations and can
be expressed as
(t ) A1 cos nt A2 sin nt (2.49)
where A1 and A2 are constants and
1/ 2
12kl 3Wl
2
n 2
(2.50)
2ml
Case 2. When (12kl 2 3Wl ) / 2ml 2 0 , Eq.(2.48)
0
reduces to and the solution can be obtained
directly by integrating twice as
(t ) C1t C2 (2.51)43
2005 Pearson Education South Asia Pte Ltd.
2.4 Stability Conditions
For initial conditions (t 0) 0 and (t 0) 0 , the
solution becomes
(t ) 0t 0 (2.52)
Case 3. When (12kl 2 3Wl ) / 2ml 2 0 , we define
1/ 2
3Wl 12kl 2
2
2 ml
and express the solution of Eq. (2.48) as
(t ) B1et B2 e t (2.53)
where B1 and B2 are constants. For initial conditions
(t 0) 0 and (t 0) 0
(t ) 2
1
0 0 et, Eq.(2.53)
0 0 ebecomes
t
(2.54)
2005 Pearson Education South Asia Pte Ltd. 44
2.5 Rayleighs Energy Method
dTs s dy (E.1)
2 l l
where ms is the mass of the spring. The total
kinetic energy of the system can be expressed as
T kinetic energy of mass (Tm ) kinetic energy of spring (Ts )
1 2 l 1 ms y 2 x 2
mx dy 2
2 y 0 2
l l
1 2 1 ms 2
mx x (E.2)
2 2 3
mx cx kx
or
mx cx kx 0 (2.59)
s2 i 1 2
n
e n t
C e1
i 1 2 n t
C2 e i 1 2 n t
e nt C1 cos 1 2 nt C2 sin 1 2 nt
Xe nt sin 1 2 nt
X 0 e nt cos 1 2 nt 0 (2.70)
Underdamped Solution
C1
x0n 2 1 x 0
2n 2 1
C1
x0n 2 1 x 0 (2.82)
2005 Pearson Education South Asia Pte Ltd. 2n 1 2 60
2.6 Free Vibration with Viscous Damping
Logarithmic Decrement:
Using Eq.(2.70),
x1 X 0 e nt1 cos(d t1 0 )
(2.83)
x2 X 0 e nt2 cos(d t 2 0 )
n t1
e n d
n t1 d
e (2.84)
e
The logarithmic decrement can be obtained from
Eq.(2.84):
x1 2 2 c
ln n d n (2.85)
x2 1 2 d 2m
2005 Pearson Education South Asia Pte Ltd. 61
2.6 Free Vibration with Viscous Damping
For small damping,
2 if 1 (2.86)
Hence,
(2.87)
2 2 2
or
(2.88)
2
Thus, 1 x1
ln (2.92)
m xm 1
where m is an integer.
2005 Pearson Education South Asia Pte Ltd. 62
2.6 Free Vibration with Viscous Damping
Energy dissipated in Viscous Damping:
In a viscously damped system, the rate of change
of energy with time is given by:
2
dW dx
force velocity Fv cv c
2
( 2.93)
dt dt
and ct ct ct
(2.105)
ctc 2 J 0n 2 kt J 0
or sin 1 (0.9149)
t1 0.3678 sec 71
2005 Pearson Education South Asia Pte Ltd.
Example 2.11 Solution
The envelope passing through the max points is:
x 1 2 Xe t (E.2) n
Since x = 250mm,
0.25 1 (0.4037) 2 Xe ( 0.4037 )(3.4338)( 0.3678)
X 0.4550 m
The velocity of mass can be obtained by
differentiating the displacement:
x(t ) Xe nt sin d t
as x (t ) Xe nt ( n sin d t d cos d t ) (E.3)
When t = 0,
x (t 0) x 0 Xd Xn 1 2 (0.4550)(3.4338) 1 (0.4037) 2
2005 Pearson Education South Asia Pte Ltd. 1.4294 m/s 72
2.7 Free Vibration with Coulomb Damping
Coulombs law of dry friction states that, when
two bodies are in contact, the force required to
produce sliding is proportional to the normal
force acting in the plane of contact. Thus, the
friction force F is given by:
F N W mg (2.106)
where N is normal force,
is the coefficient of sliding or kinetic friction
is usu 0.1 for lubricated metal, 0.3 for
nonlubricated
metal on metal, 1.0 for rubber on metal
Coulomb damping is sometimes called constant
2005 Pearson Education South Asia Pte Ltd. 73
damping
2.7 Free Vibration with Coulomb Damping
Equation of Motion:
Consider a single degree of freedom system with
dry friction as shown in Fig.(a) below.
F (t ) kX sin t cX cos t
kx c X 2 ( X sin t ) 2
cX 2 (2.125)
Hence, the damping
coefficient:
h
c (2.126)
where h is called the hysteresis
damping constant. 88
Fig.2.36
2005 Pearson Education Hysteresis
South Asia Pte Ltd. loop
2.8 Free Vibration with Hysteretic Damping
Eqs.(2.125) and (2.126) gives
W hX 2 (2.127)
Complex Stiffness.
it
For general harmonic motion, x Xe , the force
is given by
F kXeit ciXe it (k ic) x (2.128)
Corresponding frequency
k
(2.136)
m
2005 Pearson Education South Asia Pte Ltd. Response of a hysteretically damped system90
2.8 Free Vibration with Hysteretic Damping
The equivalent viscous damping ratio
h
2 eq
k
h
eq (2.137)
2 2k
0.04
1 1.04 or 0.0127
The equivalent viscous damping coefficient is
k k
ceq km (E.1)
k
m
2005 Pearson Education South Asia Pte Ltd. 93
Example 2.16 Solution
Using the known values of the equivalent stiffness
and equivalent mass,
ceq (0.0127) (25 106 )(5 105 ) 44.9013 103 N - s/m
1 n
2
ceq
40.9013 103
where 0.0063
cc 7071.0678 10 3