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Lecture-Tutorial 1
A/Prof. Yingyan Zhang
Yingyan.zhang@rmit.edu.au

Additional information to go here

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Newton’s Laws
Law I: A particle remains at rest or continues to move with uniform velocity if there is
 
no unbalanced force acting on it;

Law II: The acceleration of a particle is proportional to the vector sum of forces acting
on it, and is in the direction of this vector sum; and

(linear motion)
(rotational motion), is the (mass) moment of inertia.

Law III: The forces of action and reaction between interacting bodies are equal in
magnitude, opposite in direction, and collinear (they lie on the same line).

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Basic Concepts of Vibration

•Vibration = any motion that repeats itself after an interval of time
•Vibratory System consists of:
1. spring or elasticity
2. mass or inertia
3. damper
•Involves transfer of potential energy to kinetic energy and vice versa

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• Degree of Freedom (d.o.f.) =

min. no. of independent coordinates required to determine completely the
positions of all parts of a system at any instant of time
• Examples of single degree-of-freedom systems:

• Examples of two degree-of-freedom systems:

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Taibei 101 building and its damper

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Equivalent Spring and Damping Constants of a Machine Tool Support

Quiz:
What is the value of Keq in Fig. (d)?

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Equation of motion (EOM) (Dynamic Equilibrium)

A spring-mass-damper system

Forced Damped Vibration

Applied force

 
𝑚 𝑥¨ +𝑐 𝑥˙ +𝑘𝑥= 𝐹 (𝑡 )
Inertial resistance
• Newton’s 2nd Law
• Force required to Damping resistance Spring resistance
accelerate a mass m • Force required to move • Static force required to
a body through a viscous fluid Displace a structure by x
or overcome friction
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Equation of motion (EOM)

Forced Damped Vibration:
 
𝑚 𝑥¨ +𝑐 𝑥˙ +𝑘𝑥=𝐹 (𝑡 )

1) Free damped vibration: F(t)=0

 
𝑚 𝑥¨ +𝑐 𝑥˙ +𝑘𝑥= 0
2) Free undamped vibration: F(t)=0, c=0

A spring-mass-damper system
 
𝑚 𝑥¨ +𝑘𝑥= 0
  Natural frequency:

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How to find Equation of Motion for a vibrating system

 • Free body diagram (FBD) (including all the forces acting on

the system)
• Assuming the positive direction
• Calculate all the forces (spring force, damping force, friction
etc);
• Assuming system moving in the positive direction to
determine the direction of the forces and acceleration.
• Applying Newton’s 2nd of motion based on FBD:
 
(linear motion)
(rotational motion)

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Q2: Find the equation of motion for the system below and find the formula
for the natural frequency. Assume the block slides without friction.

 1. Assuming downward is positive direction ；

2. Plot FBD, including all the forces acting on the block ；
3. Based on FBD, Using Newton’s 2nd law:
(linear motion) for EOM.

Quiz:
Is there any deformation in the spring before vibration starts?
If yes, what is the value of the spring force?

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Block m is moving by x(t) (with respect to its static

equilibrium position) in the positive direction,

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 Q3: For the system shown below where the beam with mass and length is
connected to the fixed surfaces through three springs with same stiffness , derive
the equation of motion in terms of rotational angle and find the natural
frequency.

1. Assuming clockwise is positive direction. The beam rotates about the support O.
2. Plot FBD, including all the forces acting on the beam. (neglect its weight)
3. Based on FBD, Using Newton’s 2nd law:
  (rotational motion)

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Quiz:
If the bar rotates in the positive direction (clockwise), what
type of deformation the spring experiences:

Spring at A: Tension or Compression?

Spring at B: T or C?
Spring at C: T or C?

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Q1: Find the equation of motion for the system.

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