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Example 3

Take the spring and mass example of Example 1 and attach a damper to it with the following values:
a) c = 100kg/sec, b) c = critical damping, c) c = 5 kg/sec

Given:
m
g 9.81 ma 7 kg L 900 mm
2
s
mm
uo 500 mm Vo 1000
sec

Determine stiffness and frequency of the system:

ma g
N
k 76.3
L m
k rad
ω 3.3015
ma sec

Determine the critical damping,

kg
ccr 2 ma ω 46.2212
s

2a) c = 100 kg/sec

kg
c 100
s
Since c is greater than the critical damping, the system is overdamped,
c
ξ 2.1635
ccr

Constants of integration,

2
uo ω ξ 1 Vo uo ω ξ
C1a 0.6109 m
2
2 ω ξ 1

2
uo ω ξ 1 Vo uo ω ξ
C2a 0.1109 m
2
2 ω ξ 1

The equation of motion is given by,

2 2
ω ξ t sec ω ξ 1 t sec ω ξ 1 t sec
ua t e C1a e C2a e

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0.75

0.5

0.25

-0.25

-0.5 t sec
-0.75
0 1 2 3 4 5 6 7 8 9 10 11 12
u x
ua x

2b) c = critical damping

kg
c ccr 46.2212
s

The system is critically damped,

c
ξ 1
ccr

C1b uo 0.5 m

m
C2b uo ω Vo 2.6508
s
The equation of motion is given by,

ω t sec
ub t e C1b C2b t sec

y
1

0.75

0.5

0.25

u 0
x

-0.25

-0.5

-0.75

-1 0 1 2 3 4 5 6 7 8 9
-1
u x
ub x
t sec

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2c) c = 5 kg/sec
kg
c 2.5
s

Since c is less than the critical damping, the system is underdamped,

c
ξ 0.0541
ccr

2 rad rad
ωD ω 1 ξ 3.2967 ω 3.3015
sec sec

Constants of integration,
C1c uo 0.5 m

uo ω ξ Vo
C2c 0.3304 m
ωD

The equation of motion is given by,

ω ξ t sec
uc t e C1c cos ωD t sec C2c sin ωD t sec

0.75

0.5

0.25
u
0

-0.25

-0.5

-0.75

-1 0 1 2 3 4 5 6 7 8 9 10
u x
t sec
uc x

2 π
T 1.9031 s
ω

2 π
TD 1.9059 s TD T 0.0028 s
2
ω 1 ξ

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Comparison of Undamped & Damped Responses

0.75

0.5

0.25

u 0

-0.25

-0.5

-0.75

-0.5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

u x
t sec
ua x
ub x
uc x

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Example 4

A free vibration test is conducted on an empty elevated tank. A cable attached to the tank applies a lateral force of 16.4kips
and pulls the tank horizontally by 2 in. The cable is suddenly cut and the resulting free vibration is recorded. At the end of four
complete cycles, the time is 2.0sec and the amplitude is 1 in. Compute the following: damping ratio, natural period of vibration,
stiffness, weight and damping coefficient.

u1 2 in j 4 u5 1 in

Compute damping ratio,

1 2
ξ ln 0.0276
2 π j 1
Compute natural period of vibration,

2.0 sec
TD 0.5 s
4

T TD 0.5 s

Compute stiffness of the structure,

16.4 kip kip

k 8.2
2 in in
Compute weight of the structure,

2 π rad
ω 12.5664
T sec

k
m 20048.463 lb
2
ω

WT m g 20.0553 kip

Compute damping coefficient,

lb
c ξ 2 m ω 13896.5356
sec

Compute after many cycles will the amplitude of vibration be equal to 0.25in,

1 2
j ln 12
2 π ξ 0.25

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