Lecture 6

Free vibrations of systems with one

degree of freedom: vibrations with
viscous and Coulomb damping

6.1 Logarithmic decrement

6.2 Energy dissipated in viscous damping
6.3 Torsional system with viscous damping
6.4 Free vibration with Coulomb damping

1
Brief summary of the previous topic: free vibrations with viscous damping

Spring force : 𝐹𝐹 = −𝑘𝑘𝑘𝑘

Viscous damping force : 𝐹𝐹 = −𝑐𝑐 𝑥𝑥̇

Equation of motion Critical damping constant

𝑚𝑚𝑥𝑥̈ = −𝑐𝑐𝑥𝑥̇ − 𝑘𝑘𝑘𝑘 𝑘𝑘

𝑚𝑚𝑥𝑥̈ + 𝑐𝑐𝑥𝑥̇ + 𝑘𝑘𝑘𝑘 = 0 𝑐𝑐𝑐𝑐 = 2𝑚𝑚 = 2 𝑘𝑘𝑘𝑘 = 2𝑚𝑚𝜔𝜔𝑛𝑛
𝑚𝑚

The general solution of the

equation of motion 𝑐𝑐
𝜁𝜁 = , damping ratio
𝑐𝑐𝑐𝑐

𝑐𝑐 𝑐𝑐 2 𝑘𝑘 𝑐𝑐 𝑐𝑐 2 𝑘𝑘
− + − 𝑡𝑡 − − − 𝑡𝑡
2𝑚𝑚 2𝑚𝑚 𝑚𝑚 2𝑚𝑚 2𝑚𝑚 𝑚𝑚
𝑥𝑥 𝑡𝑡 = 𝐶𝐶1 𝑒𝑒 𝑠𝑠1𝑡𝑡 + 𝐶𝐶2 𝑒𝑒 𝑠𝑠2𝑡𝑡 = 𝐶𝐶1 𝑒𝑒 + 𝐶𝐶2 𝑒𝑒
𝑠𝑠1 𝑠𝑠2 2
Case 1 Under damped system 𝜁𝜁 < 1 or 𝑐𝑐 < 𝑐𝑐𝑐𝑐 or 𝑐𝑐/2𝑚𝑚 < 𝑘𝑘/𝑚𝑚
𝑠𝑠1 𝑠𝑠2
−𝜁𝜁+𝑖𝑖 1−𝜁𝜁 2 𝜔𝜔𝑛𝑛 𝑡𝑡 −𝜁𝜁−𝑖𝑖 1−𝜁𝜁 2 𝜔𝜔𝑛𝑛 𝑡𝑡
𝑥𝑥(𝑡𝑡) = 𝐶𝐶1 𝑒𝑒 + 𝐶𝐶2 𝑒𝑒

1−𝜁𝜁 2 𝜔𝜔𝑛𝑛 𝑡𝑡 1−𝜁𝜁 2 𝜔𝜔𝑛𝑛 𝑡𝑡

= 𝑒𝑒 −𝜁𝜁𝜔𝜔𝑛𝑛𝑡𝑡 𝐶𝐶1 𝑒𝑒 𝑖𝑖 + 𝐶𝐶2 𝑒𝑒 −𝑖𝑖 , using 𝑒𝑒 ±𝑖𝑖𝑖𝑖 = cos 𝑥𝑥 ± 𝑖𝑖 sin 𝑥𝑥

= 𝑒𝑒 −𝜁𝜁𝜔𝜔𝑛𝑛𝑡𝑡 𝐶𝐶1 + 𝐶𝐶2 cos 1 − 𝜁𝜁 2 𝜔𝜔𝑛𝑛 𝑡𝑡 + 𝑖𝑖 𝐶𝐶1 − 𝐶𝐶2 sin 1 − 𝜁𝜁 2 𝜔𝜔𝑛𝑛 𝑡𝑡

Case 2 Critically damped system 𝜁𝜁 = 1 or 𝑐𝑐 = 𝑐𝑐𝑐𝑐 or 𝑐𝑐/2𝑚𝑚 = 𝑘𝑘/𝑚𝑚

𝑠𝑠1 𝑠𝑠2
𝑥𝑥 𝑡𝑡 = 𝐶𝐶1 𝑒𝑒 −𝜔𝜔𝑛𝑛𝑡𝑡 + 𝐶𝐶2 𝑡𝑡𝑒𝑒 −𝜔𝜔𝑛𝑛𝑡𝑡 = 𝐶𝐶1 + 𝐶𝐶2 𝑡𝑡 𝑒𝑒 −𝜔𝜔𝑛𝑛𝑡𝑡

𝑐𝑐
Case 3 Over damped system 𝜁𝜁 > 1 or 𝑐𝑐 > 𝑐𝑐𝑐𝑐 or > 𝑘𝑘/𝑚𝑚
2𝑚𝑚
𝑠𝑠1 𝑠𝑠2

−𝜁𝜁+ 𝜁𝜁 2 −1 𝜔𝜔𝑛𝑛 𝑡𝑡 −𝜁𝜁− 𝜁𝜁 2 −1 𝜔𝜔𝑛𝑛 𝑡𝑡

𝑥𝑥(𝑡𝑡) = 𝐶𝐶1 𝑒𝑒 + 𝐶𝐶2 𝑒𝑒
3
 4
* S.S. Rao. Mechanical Vibrations, 5th Edition, Pearson Education, 2011.
 6.1 Logarithmic decrement
The logarithmic decrement represents the rate at which the amplitude of a free-damped
vibration decreases.
Using Eq. 𝑋𝑋𝑒𝑒 −𝜁𝜁𝜔𝜔𝑛𝑛𝑡𝑡 cos 1 − 𝜁𝜁 2 𝜔𝜔𝑛𝑛 𝑡𝑡 − , we can form the ratio

𝑥𝑥1 𝑋𝑋𝑒𝑒 −𝜁𝜁𝜔𝜔𝑛𝑛𝑡𝑡1 cos 𝜔𝜔𝑑𝑑 𝑡𝑡1 − φ

= (∗)
𝑥𝑥2 𝑋𝑋𝑒𝑒 −𝜁𝜁𝜔𝜔𝑛𝑛𝑡𝑡2 cos 𝜔𝜔𝑑𝑑 𝑡𝑡2 − φ

where 𝑡𝑡1 , 𝑡𝑡2 - denote the times corresponding to two consecutive amplitudes.

2𝜋𝜋 2𝜋𝜋
𝑡𝑡2 = 𝑡𝑡1 + 𝜏𝜏𝑑𝑑 , where 𝜏𝜏𝑑𝑑 = = is the period of damped vibration. Hence
𝜔𝜔𝑑𝑑 1 − 𝜁𝜁 2 𝜔𝜔𝑛𝑛

cos 𝜔𝜔𝑑𝑑 𝑡𝑡2 − φ = cos 𝜔𝜔𝑑𝑑 𝑡𝑡1 + 𝜔𝜔𝑑𝑑 𝜏𝜏𝑑𝑑 − φ = cos 2π + 𝜔𝜔𝑑𝑑 𝑡𝑡1 − φ = cos 𝜔𝜔𝑑𝑑 𝑡𝑡1 − φ

Then Eq. (*), can be rewritten as

𝑥𝑥1 𝑒𝑒 −𝜁𝜁𝜔𝜔𝑛𝑛𝑡𝑡1 cos 𝜔𝜔𝑑𝑑 𝑡𝑡1 − φ 𝑒𝑒 −𝜁𝜁𝜔𝜔𝑛𝑛𝑡𝑡1

= = −𝜁𝜁𝜔𝜔 𝑡𝑡 + 𝜏𝜏 = 𝑒𝑒 𝜁𝜁𝜔𝜔𝑛𝑛𝜏𝜏𝑑𝑑 (**)
𝑥𝑥2 𝑒𝑒 −𝜁𝜁𝜔𝜔𝑛𝑛 𝑡𝑡1+ 𝜏𝜏𝑑𝑑 cos 𝜔𝜔𝑑𝑑 𝑡𝑡1 − φ 𝑒𝑒 𝑛𝑛 1 𝑑𝑑

5
 The logarithmic decrement δ can be obtained from Eq. (**) as

𝑥𝑥1 2𝜋𝜋𝜋𝜋 2𝜋𝜋 𝑐𝑐 𝑥𝑥1

𝛿𝛿 = ln = 𝜁𝜁𝜔𝜔𝑛𝑛 𝜏𝜏𝑑𝑑 = = ⋅ (***) = 𝑒𝑒 𝜁𝜁𝜔𝜔𝑛𝑛𝜏𝜏𝑑𝑑
𝑥𝑥2 1−𝜁𝜁 2 𝜔𝜔𝑑𝑑 2𝑚𝑚 𝑥𝑥2

𝑐𝑐 𝑐𝑐 𝑐𝑐𝑐𝑐 2𝜋𝜋 2𝜋𝜋

= ⋅ 𝜏𝜏
= 𝜁𝜁𝜔𝜔𝑛𝑛 𝑑𝑑 = =
2𝑚𝑚 𝑐𝑐𝑐𝑐 2𝑚𝑚 𝜔𝜔 𝑑𝑑 1 − 𝜁𝜁 2 𝜔𝜔𝑛𝑛

𝟐𝟐𝟐𝟐𝟐𝟐
𝜹𝜹 =
The logarithmic decrement δ is dimensionless and is 𝟏𝟏 − 𝜻𝜻𝟐𝟐
another form of the dimensionless damping ratio 𝜁𝜁.
Solving Eq. (***) with respect to 𝜁𝜁, we can write
𝛿𝛿
𝜁𝜁 =
2𝜋𝜋 2 + 𝛿𝛿 2
𝜹𝜹 = 𝟐𝟐𝟐𝟐𝟐𝟐

For small damping 𝜁𝜁<<1, Eq. (***) can be approximated as:

𝛿𝛿≈2𝜋𝜋𝜋𝜋
𝛿𝛿
∴𝜁𝜁≈ Variation of logarithmic
2𝜋𝜋
decrement with damping*
6
* S.S. Rao. Mechanical Vibrations, 5th Edition, Pearson Education, 2011.
 6.2 Energy dissipated in viscous damping
1
Inertia force : 𝐹𝐹 = 𝑚𝑚𝑥𝑥̈ Kinetic energy : 𝑇𝑇 = 𝑚𝑚𝑥𝑥̇ 2
2
Spring force : 𝐹𝐹 = −𝑘𝑘𝑘𝑘 1
Potential energy (spring) : 𝑈𝑈 = 𝑘𝑘𝑥𝑥 2
2
Viscous damping force : 𝐹𝐹 = −𝑐𝑐 𝑥𝑥̇

In a viscously damped system, the rate of change of energy with time (𝑑𝑑𝑑𝑑 / 𝑑𝑑𝑑𝑑)
is given by
𝑑𝑑𝑑𝑑
= 𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓×𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣 = 𝐹𝐹 � 𝑥𝑥̇ (∗)
𝑑𝑑𝑑𝑑
Spring-mass system The total force resisting motion can be expressed as 𝐹𝐹 = −𝑘𝑘𝑘𝑘 − 𝑐𝑐 𝑥𝑥̇
with viscous damping
Assume simple harmonic motion 𝑥𝑥(𝑡𝑡) = 𝑋𝑋 sin ω𝑑𝑑 𝑡𝑡 , then

𝐹𝐹 = −𝑘𝑘𝑘𝑘 sin ω𝑑𝑑 𝑡𝑡 − 𝑐𝑐ω𝑑𝑑 𝑋𝑋 cos ω𝑑𝑑 𝑡𝑡

2π
Taking into consideration Eq. (*), the energy dissipated in a complete cycle τ = will be
ω𝑑𝑑

2π⁄ω𝑑𝑑 2π⁄ω𝑑𝑑
∆𝑊𝑊 = � ̇ = �
𝐹𝐹 � 𝑥𝑥𝑑𝑑𝑑𝑑 𝑘𝑘𝑋𝑋 2 ω𝑑𝑑 sin ω𝑑𝑑 𝑡𝑡 cos ω𝑑𝑑 𝑡𝑡 𝑑𝑑 ω𝑑𝑑 𝑡𝑡 +
𝑡𝑡=0 𝑡𝑡=0
2π⁄ω𝑑𝑑
2
+� 𝑐𝑐ω𝑑𝑑 𝑋𝑋 2 ω𝑑𝑑 cos 2 ω𝑑𝑑 𝑡𝑡 𝑑𝑑 ω𝑑𝑑 𝑡𝑡 = π𝑐𝑐ω𝑑𝑑 𝑋𝑋 7
𝑡𝑡=0
 6.3 Torsional system with viscous damping
The equation of motion can be derived as

𝐽𝐽0 θ̈ + 𝑐𝑐𝑡𝑡 θ̇ + 𝑘𝑘𝑡𝑡 θ = 0

where 𝑐𝑐𝑡𝑡 is the torsional viscous damping constant;

𝑇𝑇 = −𝑐𝑐𝑡𝑡 θ̇ is the viscous damping torque; 𝐽𝐽0 is mass
moment of inertia of the disc, 𝑘𝑘𝑡𝑡 is the spring
constant of the system (restoring torque per unit
angular displacement); θ is the angular displacement
of the disc.

The frequency of vibration for underdamped case:

𝑘𝑘𝑡𝑡
ω𝑑𝑑 = 1− 𝜁𝜁 2 𝜔𝜔𝑛𝑛 𝜔𝜔𝑛𝑛 =
𝐽𝐽0

Damping ratio 𝑐𝑐𝑐𝑐 = 2𝑚𝑚𝜔𝜔𝑛𝑛

𝑐𝑐𝑐𝑐𝑡𝑡 𝑐𝑐𝑡𝑡 𝑐𝑐𝑡𝑡
𝜁𝜁 = = =
𝑐𝑐𝑡𝑡𝑐𝑐 2𝐽𝐽0 𝜔𝜔𝑛𝑛 2 𝑘𝑘𝑡𝑡 𝐽𝐽0
where 𝑐𝑐𝑡𝑡𝑐𝑐 is the critical torsional damping constant. 8
* S.S. Rao. Mechanical Vibrations, 5th Edition, Pearson Education, 2011.
6.4 Free vibration with Coulomb damping
• Coulomb damping arises when bodies slide on dry surfaces;
• the force required to produce sliding is proportional to the normal force acting in the plane of
contact
𝐹𝐹 = 𝜇𝜇𝜇𝜇 = 𝜇𝜇𝜇𝜇 = 𝜇𝜇𝜇𝜇𝜇𝜇 Coulomb friction force
where 𝑁𝑁 is the normal force, equal to the weight of the mass 𝑊𝑊 and 𝜇𝜇 is the coefficient of
sliding or kinetic friction.
Coulomb damping is sometimes called constant damping, since the damping force is independent
of the displacement and velocity; it depends only on the normal force 𝑁𝑁 between the sliding surfaces.

Case 1. 𝑥𝑥̇ > 0, the mass moves Case 2. 𝑥𝑥̇ < 0, the mass moves
from left to right, Fig. (b) from right to left, Fig. (c)

Equation of motion Equation of motion

𝑚𝑚𝑥𝑥̈ = −𝑘𝑘𝑘𝑘 − 𝜇𝜇𝜇𝜇

second-order nonhomogeneous 𝑚𝑚𝑥𝑥̈ = −𝑘𝑘𝑘𝑘 + 𝜇𝜇𝜇𝜇
differential equations

9
 Case 1 𝑥𝑥̇ > 0 Case 2 𝑥𝑥̇ < 0
𝜇𝜇𝜇𝜇 𝜇𝜇𝜇𝜇
𝑥𝑥 𝑡𝑡 = 𝐴𝐴1 cos ω𝑛𝑛 𝑡𝑡 + 𝐴𝐴2 sin ω𝑛𝑛 𝑡𝑡 − (*) 𝑥𝑥 𝑡𝑡 = 𝐴𝐴3 cos ω𝑛𝑛 𝑡𝑡 + 𝐴𝐴4 sin ω𝑛𝑛 𝑡𝑡 + (**)
𝑘𝑘 𝑘𝑘

where 𝐴𝐴1 , 𝐴𝐴2 , 𝐴𝐴3 , and 𝐴𝐴4 are constants to be found from the initial conditions; the term 𝜇𝜇𝜇𝜇⁄𝑘𝑘 is
representing the virtual displacement of the spring under the force 𝜇𝜇𝜇𝜇, if it were applied as a static
𝑘𝑘
force; ω𝑛𝑛 = is the frequency of vibration.
𝑚𝑚

Equations of motion can be expressed as a single equation 𝑚𝑚𝑥𝑥̈ + 𝜇𝜇𝜇𝜇𝜇𝜇 sgn 𝑥𝑥̇ + 𝑘𝑘𝑘𝑘 = 0 (∗∗∗)
−1 if 𝑥𝑥̇ < 0
where sgn 𝑥𝑥̇ = � 0 if 𝑥𝑥̇ = 0
1 if 𝑥𝑥̇ > 0
Equation (***) is a nonlinear differential equation. However, it can be solved analytically if we break
the time axis into segments separated by 𝑥𝑥̇ = 0.

motion starts from

For initial conditions: 𝑥𝑥 = 𝑥𝑥0 (𝑥𝑥0 > 0), 𝑥𝑥̇ = 0 at 𝑡𝑡 = 0
right to left (case 2)

Using the initial conditions, from Eq. (**) we can find constants
𝐴𝐴3 and 𝐴𝐴4 as:

𝜇𝜇𝜇𝜇
𝐴𝐴3 = 𝑥𝑥0 − 𝐴𝐴4 = 0 , then, substituting 𝐴𝐴3 and 𝐴𝐴4 into Eq. (**), we obtain
𝑘𝑘 10
 𝜇𝜇𝜇𝜇 𝜇𝜇𝜇𝜇
𝑥𝑥 𝑡𝑡 = 𝑥𝑥0 − cos ω𝑛𝑛 𝑡𝑡 + , this solution is valid for the half cycle only,
𝑘𝑘 𝑘𝑘 when: 0 ≤ 𝑡𝑡 <
𝜋𝜋
and 𝑥𝑥̇ < 0
𝜔𝜔𝑛𝑛
𝜋𝜋
When 𝑡𝑡 = , the mass will be at
𝜔𝜔𝑛𝑛
its extreme left position and its
displacement from equilibrium
position can be found from the
above equation as

𝜋𝜋
−𝑥𝑥1 = 𝑥𝑥 𝑡𝑡 =
𝜔𝜔𝑛𝑛
𝜇𝜇𝜇𝜇 𝜇𝜇𝜇𝜇
= 𝑥𝑥0 − cos 𝜋𝜋 +
𝑘𝑘 𝑘𝑘
𝜇𝜇𝜇𝜇
= − 𝑥𝑥0 − 2
𝑘𝑘

The reduction in magnitude of

𝜋𝜋
vibration in time 𝑡𝑡 = is
𝜔𝜔𝑛𝑛

Motion of the mass with Coulomb damping* 𝜇𝜇𝜇𝜇 𝜇𝜇𝜇𝜇

𝑥𝑥0 − 𝑥𝑥0 − 2 =2
𝑘𝑘 𝑘𝑘
𝑡𝑡 = 0 𝜋𝜋
𝑡𝑡 =
𝜔𝜔𝑛𝑛 11
* S.S. Rao. Mechanical Vibrations, 5th Edition, Pearson Education, 2011.
In the second half cycle, the mass moves from left to right (case 1, 𝑥𝑥̇ > 0). The initial conditions for
this half cycle are:
𝜋𝜋 𝜋𝜋
𝑥𝑥 𝑡𝑡 = 0 = 𝑥𝑥 𝑡𝑡 = 𝑥𝑥̇ 𝑡𝑡 = 0 = 𝑥𝑥̇ 𝑡𝑡 =
𝜔𝜔𝑛𝑛 𝜔𝜔𝑛𝑛
𝜇𝜇𝜇𝜇 𝜇𝜇𝜇𝜇
= − 𝑥𝑥0 − 2 = −ω𝑛𝑛 𝑥𝑥0 − sin 𝜋𝜋
𝑘𝑘 𝜇𝜇𝜇𝜇 𝜇𝜇𝜇𝜇 𝑘𝑘
𝑥𝑥 𝑡𝑡 = 𝑥𝑥0 − cos ω𝑛𝑛 𝑡𝑡 + =0
𝑘𝑘 𝑘𝑘
𝜇𝜇𝜇𝜇
Then, constants 𝐴𝐴1 , 𝐴𝐴2 in Eq. (*), can be found as: −𝐴𝐴1 = −𝑥𝑥0 + 3 , 𝐴𝐴2 = 0
𝑘𝑘
𝜇𝜇𝜇𝜇
𝑥𝑥 𝑡𝑡 = 𝐴𝐴1 cos ω𝑛𝑛 𝑡𝑡 + 𝐴𝐴2 sin ω𝑛𝑛 𝑡𝑡 − (*)
𝑘𝑘
𝜇𝜇𝜇𝜇 𝜇𝜇𝜇𝜇
Finally, Eq. (*) can be rewritten as 𝑥𝑥 𝑡𝑡 = 𝑥𝑥0 − 3 cos ω𝑛𝑛 𝑡𝑡 − ,
𝑘𝑘 𝑘𝑘
𝜋𝜋 𝜋𝜋
This solution is valid for the second half cycle only, when: ≤ 𝑡𝑡 ≤ 2 and 𝑥𝑥̇ > 0
𝜔𝜔𝑛𝑛 𝜔𝜔𝑛𝑛
2𝜋𝜋
At the end of this half cycle the value of x(t) is 𝑥𝑥2 = 𝑥𝑥 𝑡𝑡 = , and from the above equation
𝜔𝜔𝑛𝑛

2𝜋𝜋 𝜇𝜇𝜇𝜇 𝜇𝜇𝜇𝜇 𝜇𝜇𝜇𝜇

𝑥𝑥2 = 𝑥𝑥 𝑡𝑡 = = 𝑥𝑥0 − 3 cos 2𝜋𝜋 − = 𝑥𝑥0 − 4
𝜔𝜔𝑛𝑛 𝑘𝑘 𝑘𝑘 𝑘𝑘
2𝜋𝜋 𝜇𝜇𝜇𝜇
𝑥𝑥̇ 2 = 𝑥𝑥̇ 𝑡𝑡 = = −ω𝑛𝑛 𝑥𝑥0 − 3 sin 2𝜋𝜋 = 0
𝜔𝜔𝑛𝑛 𝑘𝑘
12
 𝜇𝜇𝜇𝜇
The vibration continues as far as 𝑥𝑥 > , since the restoring force exerted by the spring 𝐹𝐹 = 𝑘𝑘𝑘𝑘 is
𝑘𝑘
greater than the friction force 𝐹𝐹 = 𝜇𝜇𝜇𝜇. Thus, the number of half cycles 𝑟𝑟 that elapse before the
motion ceases is given by
The reduction in
𝜇𝜇𝜇𝜇 magnitude for a half cycle
2𝜇𝜇𝜇𝜇 𝜇𝜇𝜇𝜇 𝑥𝑥0 −
that is 𝑟𝑟 ≥ 𝑘𝑘 is (see slide 11)
𝑥𝑥0 − 𝑟𝑟 ≤ 2𝜇𝜇𝜇𝜇
𝑘𝑘 𝑘𝑘
𝑘𝑘 𝜇𝜇𝜇𝜇
2
𝑘𝑘

As the amplitude is reduced by an

4𝜇𝜇𝜇𝜇
amount in one cycle (i.e., in time
𝑘𝑘
2𝜋𝜋
𝑡𝑡 = ), slope of enveloping straight
𝜔𝜔𝑛𝑛
line is

4𝜇𝜇𝜇𝜇 2𝜋𝜋 2𝜇𝜇𝜇𝜇𝜔𝜔𝑛𝑛

− � =−
𝑘𝑘 𝜔𝜔𝑛𝑛 𝜋𝜋𝜋𝜋

13
 Important characteristics of a system with Coulomb damping:
• The equation of motion is nonlinear with Coulomb damping (𝑚𝑚𝑥𝑥̈ + 𝜇𝜇𝜇𝜇𝜇𝜇 sgn 𝑥𝑥̇ + 𝑘𝑘𝑘𝑘 = 0),
whereas it is linear with viscous damping (𝑚𝑚𝑥𝑥̈ + 𝑐𝑐 𝑥𝑥̇ + 𝑘𝑘𝑘𝑘 = 0).
• The natural frequency of the system is unaltered with the addition of Coulomb damping
𝑘𝑘
ω𝑛𝑛 = , whereas it is reduced with the addition of viscous damping �ω𝑑𝑑 =
𝑚𝑚

1 − 𝜁𝜁 2 𝜔𝜔𝑛𝑛 , 𝜁𝜁 < 1�.

• The motion is periodic with Coulomb damping, whereas it can be nonperiodic in a viscously
damped (critically damped and overdamped) system.
• The system comes to rest after some time with Coulomb damping, whereas the motion
theoretically continues forever (perhaps with an infinitesimally small amplitude) with viscous
damping.
• The amplitude reduces linearly with Coulomb damping, whereas it reduces exponentially with
viscous damping.

14
Vibration with Coulomb damping Vibration with viscous damping