Lecture -14

Advanced Mechanical Vibration

Damped free vibration SDOF systems

 Free vibration with viscous damping

Kx 𝐶 𝑥˙ 𝑚 𝑥¨
C
C

𝑚 𝑥+𝐾
¨ 𝑥 +𝐶 𝑥=0
˙
m
𝑥  Important: The gravitational force and spring force due to
m static deflection are not considered in modelling as these
𝑥 two neutralizes with each other.
𝑥
˙
𝑥
¨
 Solution
 The equation is a second order differential equation and its solution can be written as .

Kx 𝐶 𝑥˙ 𝑚 𝑥¨ Substituting it in equation of motion, we get ,

Or , called as Characteristics equation of the system.

This equation is a quadratic in terms of and thus two values of are given by

𝑚 𝑥+𝐾
¨ 𝑥 +𝐶 𝑥=0
˙
 Hence the solutions are and/ . Thus, the general solution can be

and are constant and can be determined from initial conditions.

Critical damping coefficient : It is the value of damping coefficient for which it gives two equal roots of the quadratic
equation or the radical sign of equation vanishes.

Therefore, , or
 Solution
Damping factor : It is the ratio of the damping coefficient to the critical damping.

, critical damping coefficient is a constant that depends on mass and stiffness of the system and is
independent of actual amount of damping. Thus, .

Therefore, .

If or , there is said to be over-damping in the system.

If or , there is said to be critical damping in the system.
If or , there is said to be under-damping in the system.

Depending upon these different amount of damping in the system, the value of will be real and unequal,
real and equal and complex conjugate, respectively .
 Over damped system ()
Damping is comparatively large and the two values of is given by,

and , both are real negative number.

Constants, and depends on the initial conditions of the system.

Initial condition: Imagine the body to be displaced through a distance from equilibrium position and
released with out any initial velocity. Thus,

Substituting this in governing equation we get and

Thus,
 Displacement-time plot over damped system
Since the power of is negative in both terms in the
above equation, they both decreases exponentially
with and so decreases with increase with , becomes
𝑥 zero as .

Higher the damping more sluggish is the response of

the system. Theoretically, the system takes infinite
time to come back to equilibrium position once it is
disturbed from it.

𝑡 Such type of motion is called aperiodic motion.

 Critically damped system ()
Two values of is equal to each other and is given by

The solution for is given by

Or or

For finding the solution the initial conditions are taken as

That gives and

This gives the equation

The displacement-time curve follows aperiodic motion and lies below any over-
damped system.
Displacement time plot ( and )
 Under damped system ()
Damping is comparatively small and the two values of is given by,

and , both are complex conjugate and the solution of differential equation is given by

Applying the relationship and

Constants and in the equation are real quantities and thus makes and complex conjugates.
Thus, the equation can be written either in these three form
 Under damped system ()
The motion governed by the above equations is of oscillatory type with the damped natural frequency is given by

and an amplitude which decreases in an exponential manner with the increase with time

For finding the solution the initial conditions are taken as

Differentiating the third equation and substituting initial condition

Which gives

and

Substituting these values in third equation we get

This is a oscillatory type of motion and has an amplitude which decay exponentially with time.
 Logarithmic decrement
For the free vibration of under damped system with two points and , corresponding to time and .

and the amplitude of the damped oscillation is given by . Height of the time displacement curve at is equal to the
height of the envelope at the same time.

Therefore, and

Dividing one by other and

Therefore, or . This is called logarithmic decrement ().

Therefore, , This shows the ratio of any two successive amplitudes of under damped
system is constant and is a function of the damping only.
 Logarithmic decrement
For the free vibration of under damped system with two points and , corresponding to time and .

and the amplitude of the damped oscillation is given by . Height of the time displacement curve at is equal to the
height of the envelope at the same time.

Therefore, and

Dividing one by other and

Therefore, or . This is called logarithmic decrement ().

Therefore, , This shows the ratio of any two successive amplitudes of under damped
system is constant and is a function of the damping only.
 Logarithmic decrement
Therefore, or . This is called logarithmic decrement ().

Therefore, , This shows the ratio of any two successive amplitudes of under damped system is constant and is
a function of the damping only.

For small value of ,

 Example 1
The mass of a spring-mass damper system is given an initial velocity (from the equilibrium position) of where is the
undamped natural frequency of the system. Find the equation of motion for the system, for cases when
(i) (ii) (iii) , plot displacement-time graphs for the three cases.
 Example 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 figure. The natural rubber slab has a stiffness of 3000 N/m and 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 damped natural frequencies of the system in vertical direction. Neglect the mass of the
isolator.

kg
Natural
rubber
Felt
 Example 3
A gun barrel of mass 600 kg has a recoil spring of stiffness 294000 N/m, if the barrel recoils 1.3 m on firing,
determine, (a) Initial recoil velocity of the barrel, (b) critical damping coefficient of the dashpot which is engaged at
the end of the recoil stoke, and (c) the time required for the barrel to return to the position 5 cm from the initial
position.
 Example 4
The disc of a torsional pendulum has a mass moment of inertia of 600 kg-cm 2 and is immersed in a viscous fluid. The
brass shaft attached to it 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 0, 60 and 40. Determine
(a) Logarithmic decrement, (b) damping torque at unit velocity and (c) the periodic time of vibration. Assume for the
brass shaft, G=4.4 N/m2. What would the frequency be if the disc is removed from the viscous fluid.
 Acknowledgement

 Mechanical vibrations: S S Rao

 Mechanical Vibrations: G. K. Grover

 NPTEL Lectures on Mechanical vibration