Chapter 2

Single Degree
of Freedom System
 Contents
2.1 Introduction
2.2 Undamped Free Vibration
2.2.1 Undamped Translational System
2.2.2 Response of Undamped Translational Free Vibration
2.2.3 Undamped Torsional System
2.2.4 Response of Undamped Torsional Free Vibration
2.2.5 Equation of Motion using Energy Method
2.3 Damped Free Vibration
2.3.1 Fluid Damping
2.3.2 Response of Damped Free Vibration
2.3.3 Logarithmic Decrement
 2.1 Introduction
• Free Vibration occurs when a system oscillates
only under an initial disturbance with no external
forces acting after the initial disturbance
• Undamped vibrations result when amplitude of
motion remains constant with time (e.g. in a
vacuum)
• Damped vibrations occur when the amplitude of
free vibration diminishes gradually overtime, due
to resistance offered by the surrounding medium
(e.g. air)
• Several mechanical and structural systems can
be idealized as single degree of freedom
systems, for example, the mass and stiffness
of a system
 2.2 Undamped Free Vibration
2.2.1 Undamped Translational System
• Equation of Motion Using Newton’s Second
Law of Motion:

• If mass m is displaced a distance x (t ) when

acted upon by a resultant force F (t ) in the
same direction  
d  dx (t ) 
F (t )   m 
dt  dt 
• If mass m is constant, this equation reduces to
 2
d x (t ) 

F (t )  m 2
 mx (2.1)
dt
 2
• Where x  d x (t ) is the acceleration of the mass
2
dt
• For a rigid body undergoing rotational motion,
Newton’s Law gives
 
M (t )  J (2.2)

• where M is the
 resultant moment acting on the body
and  and   d 2 (t ) / dt 2 are the resulting angular
displacement and angular acceleration, respectively.
• For undamped single degree of freedom
system, the application of Eq. (2.1) to mass m
yields the equation of motion:

F (t )  kx  mx
or
mx  kx  0 (2.3)
Equation of Motion Using Other Methods
• D Alembert s Principle. The equations of
motion, Eqs. (2.1) and (2.2), can be rewritten
as 

F (t )  mx  0 (2.4a)
 
M (t )  J  0 (2.4b)
• The application of D’Alembert’s principle to
the system shown in previous Fig yields the
equation of motion:
 kx  mx  0 or mx  kx  0 (2.3)
2. Principle of Virtual Displacements.
“If a system that is in equilibrium under the action
of a set of forces is subjected to a virtual
displacement, then the total virtual work done by
the forces will be zero.”
Consider spring-mass system as shown in figure, the
virtual work done by each force can be computed
as:
Virtual work done by the spring force  WS  (kx)x
Virtual work done by the inertia force  Wi  (mx)x

• When the total virtual work done by all the

forces is set equal to zero, we obtain
 mxx  kxx  0 (2.5)

• Since the virtual displacement can have an

arbitrary value, x  0 , Eq.(2.5) gives the
equation of motion of the spring-mass system
as mx  kx  0 (2.3)
3. Principle of Conservation of Energy.
A system is said to be conservative if no energy
is lost due to friction or energy-dissipating
nonelastic members.
• If no work is done on the conservative system
by external forces, the total energy of the
system remains constant. Thus the principle of
conservation of energy can be expressed as
T  U  constant
d
(T  U )  0 (2.6)
dt
• The kinetic and potential energies are given
by:
1 2
T  mx (2.7)
2
1 2
U  kx (2.8)
2
• Substitution of Eqs. (2.7) & (2.8) into Eq. (2.6)
yields the desired equation

mx  kx  0 (2.3)
2.2.2 Response of Translational Undamped Free
Vibration
• Equation of Motion of a Spring-Mass System
in Vertical Position:

Consider the
configuration of the
spring-mass system
shown in the figure.
For static equilibrium,
W  mg  k st (2.9)
where W = weight of mass m,
 st= static deflection
g = acceleration due to gravity
The application of Newton’s second law of motion to
mass m gives
mx  k ( x   st )  W
and since k st  W, we obtain
mx  kx  0 (2.10)
Notice that Eqs. (2.3) and (2.10) are identical.
This indicates that when a mass moves in a
vertical direction, we can ignore its weight,
provided we measure x from its static
equilibrium position.
Hence, the general solution of Eq. (2.3) can be
expressed as i t i t
x(t )  C1e n
 C2e n
(2.15)

where C1 and C2 are constants. By using the identities

x(t )  A1 cosnt  A2 sin nt (2.16)

where A1 and A2 are new constants.
 x(t  0)  A1  x0
x (t  0)  n A2  x0 (2.17)

Hence, A1  x0 and A . 2  x0 / n

Thus the solution of Eq. (2.3) subject to the initial
conditions of Eq. (2.17) is given by
x0
x(t )  x0 cosnt  sin nt (2.18)
n
Harmonic Motion:

Eqs.(2.15), (2.16) & (2.18) are harmonic functions of

time. Eq. (2.16) can also be expressed as:
x(t )  A0 sin(nt  0 ) (2.23)
where A0 and 0 are new constants, amplitude and
phase angle respectively:
2 1/ 2
  
x  
A0  A   x02   0   (2.24)
  n  
 x0n 
0  tan 
1
 (2.25)
 x0 
The nature of
harmonic
oscillation can be
represented
graphically as
shown in the
figure.
Note the following aspects of spring-mass systems:
1) Circular natural frequency:
1/ 2
k
n    (2.26)
m

Spring constant, k:
W mg
k  (2.27)
 st  st
Hence, 1/ 2
 g 
n    (2.28)
  st 
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 
2) Velocity x (t ) and the accelerationx(t ) of the
mass m at time t can be obtained as:
dx 
x (t )  (t )  n A sin(nt   )  n A cos(nt    )
dt 2
d 2x
x(t )  2 (t )  n2 A cos(nt   )   n2 A cos(nt     ) (2.31)
dt
3) If initial displacement x0  is zero,
x0    x0
x(t )  cos nt    sin nt (2.32)
n  2  n

If initial velocity x0  is zero,

x(t )  x0 cosnt (2.33)
4) The response of a single degree of freedom
system can be represented in the state space
or phase plane:
x (t )   An sin(nt   ) (2.34)
or x y
sin(nt   )    (2.35)
An A
where y  x / n
By squaring and adding Eqs. (2.34) & (2.35)
cos2 (nt   )  sin 2 (nt   )  1
x2 y2
2
 2 1 (2.36)
A A

Phase plane representation of an undamped system

 2.2.3 Free Vibration of an Undamped Torsional
System
• From the theory of torsion of circular shafts,
we have the relation
GI 0
Mt  (2.37)
l
where
Mt is the torque that
produces the twist θ,
G is the shear modulus,
is the length of shaft,
I0 is the polar moment
of inertia of cross section
of shaft
• Polar Moment of Inertia:
d 4
I0  (2.38)
32
• Torsional Spring Constant:
Mt GI 0 Gd 4
kt    (2.39)
 l 32l
 2.2.4 Response of Undamped Torsional Free
Vibration
• Equation of Motion:
Applying Newton’s Second Law of Motion,
J 0  k t  0 (2.40)
Thus, the natural circular frequency:
1/2
 kt 
n    (2.41)
 J0 
The period and frequency of vibration in cycles per second
1/2
are:  J0 
 n  2   (2.42)
 t 
k
1/2
1  kt 
fn    (2.43)
2  J0 
• Note the following aspects of this system:
1)If the cross section of the shaft supporting the
disc is not circular, an appropriate torsional
spring constant is to be used.
2)The polar mass moment of inertia of a disc is
given by:
where ρ is the mass density
hD 4
WD 4
h is the thickness
J0  
32 8g D is the diameter
W is the weight of the disc
• An important application: in a mechanical
clock
• General solution of Eq. (2.40) can be obtained:
 (t )  A1 cosnt  A2 sin nt (2.44)

where ωn is given by Eq. (2.41) and A1 and A2 can be

determined from the initial conditions. If
 d
 (t  0)   0 and  (t  0)  (t  0)  0 (2.45)
dt
The constants A1 and A2 can be found:
A1   0
A2  0 / n (2.46)
Eq. (2.44) can also represent a simple harmonic motion.
• Note the following aspects of this system:
1) If the cross section of the shaft supporting the disc is
not circular, an appropriate torsional spring constant
is to be used.
2) The polar mass moment of inertia of a disc is given
by: hD 4 WD 4
J0  
32 8g
where ρ is the mass density
h is the thickness
D is the diameter
W is the weight of the disc
3) An important application: in a mechanical clock
• General solution of Eq. (2.40) can be obtained:
 (t )  A1 cosnt  A2 sin nt (2.44)

where ωn is given by Eq. (2.41) and A1 and A2 can be

determined from the initial conditions. If
 d
 (t  0)   0 and  (t  0)  (t  0)  0 (2.45)
dt
The constants A1 and A2 can be found:
A1   0
A2  0 / n (2.46)
Eq. (2.44) can also represent a simple harmonic motion.
 2.2.5 Equation of Motion using Energy Method
• The simple harmonic motion of a body is
obtained due to the gravitational and elastic
forces against the body.
• Law of conservation energy
.2
T  mv 2 / 2  m x / 2 (2.47  2.7)
U  kx 2 / 2 (2.48  2.8)
• The law of conservation energy
T  U  cons tan t (2.6)
. 2
m x / 2  kx 2 / 2  cons tan t (2.49)
 • The time derivative of the total energy

d 1 . 2
1 2  ..
m x  kx  0  m x  kx  0 (2.50  2.3)
dt  2 2 

• The natural frequency can be obtained by
equating maximum potential and kinetic
energies
. 2
T  mv / 2  m x / 2  cons tan t (2.51)
2

U  kx / 2  cons tan t
2
(2.52)
• Since the motion of the block is harmonic

.
x  A sin( wt   ); x  Aw cos(wt   ) (2.53)
.
x max  A; x max  Aw (2.54)
k
U  T  kA  m(Aw )  w n 
2 2
(2.55)
m
 2.3 Damped Free Vibration
Damped vibration:
When the energy of a vibrating system is
gradually dissipated by friction and other
resistances, the vibrations are said to be damped.
Or Damping is a phenomenon by which
mechanical energy is dissipated(usually converted
as thermal energy) in dynamic systems.
The vibrations gradually reduce or change in
frequency or intensity or cease and the system
rests in its equilibrium position.
Vibrating systems can encounter damping in
various ways like
 Intermolecular friction
Sliding friction
 Fluid resistance
Three primary mechanisms of damping are as:
Internal damping – of material
Structural damping – at joints and interface
Fluid damping – through fluid -structure interactions
Two types of external dampers can be added to a
mechanical system to improve its energy
dissipation characteristics:
 Active dampers – require external source of power
Passive dampers – Does not required
 MATERIAL (Internal) Damping
 Internal damping originates from energy dissipation
associated with:
microstructure defects (grain boundaries & impurities),
 thermo elastic effects (caused by local temperature gradients)
eddy-current effects (ferromagnetic materials),
dislocation motion in metals, etc.
 Types of Internal damping:
Viscoelastic damping
Hysteretic damping
 Damping estimation of any system is the most difficult
process in any vibration analysis.
• Types of damping
• a) Viscous damping
• b) Coulomb (dry friction) damping
• c) Hysteretic damping
• Free Vibration with Viscous Damping
• The viscous damping force F is proportional to the
velocity 𝑥̇ or v and can be expressed as 𝐹=−𝑐𝑥̇
• where c is the damping coefficient and 𝑥̇ is the
velocity and F is the damping force.
 Fluid damping

𝐹=−𝑐𝑥̇ (2.58)

Viscous damping elements: Simple viscous damper

A
Fd  
d
A
c (2.56)
d
 Piston and cylinder

dv
 
dy
dv 2

dy D  d
Fd  A p ; A pdL
2dL
Fd     c
Dd
2dL
c (2.57a )
Dd
Journal bearing

.
M  c
A (rd )l .
dF    r
e e
r 3dl .
dM  rdF  
e
2 r 3 l . 2r 3l .
M   d  
0 e e
2r 3l
(2.57b)
e
 2.3.2 Response of Damped Free Vibration

• Equation of Motion:
F  cx (2.58)
where c = damping constant
From the figure, Newton’s law yields the equation of
motion:

mx  cx  kx
or
mx  cx  kx  0 (2.59)
We assume a solution in the form:
x(t )  Ce st (2.60)
where C and s are undetermined constants
Hence, the characteristic equation is
ms  cs  k  0
2
(2.61)
the roots of which are
 c  c  4mk
2
 c  k
2
c
s1, 2       (2.62)
2m 2m  2m  m
These roots give two solutions to Eq.(2.59)
x1 (t )  C1e and x2 (t )  C2e
s1t s 2t
(2.63)
Thus the general solution is:
x(t )  C1e s1t  C2e s2t
 c 2   c 2 
  c  k    c  k 
     t      t
 2 m  2 m  m  2 m  2 m  m
 C1e  
 C2 e  
(2.64)
where C1 and C2 are arbitrary constants to be
determined from the initial conditions of the system.

Critical Damping Constant and Damping Ratio:

The critical damping cc is defined as the value of the
damping constant c for which the radical in Eq.(2.62)
becomes zero:
 2
 cc  k
   0
or  2m  m
k
cc  2m  2 km  2mn (2.65)
m
The damping ratio ζ is defined as:
  c / cc (2.66)

Thus the general solution for Eq.(2.64) is:

    2 1  t     2 1  t
x(t )  C1e   n
 C2 e   n
(2.69)

Assuming that ζ ≠ 0, consider the following 3 cases:

Case1. Underdamped system (  1 or c  cc or c/ 2m  k / m )

For this condition, (ζ2-1) is negative and the roots are:


s1     i 1   2 n 
s2     i 1  2  n

and the solution can be written in different forms:

   i 1 2  t   i 1 2  t
x(t )  C1e   n
 C2 e   n

e  n t
C e i 1 2  n t
 C2 e  i 1 2  n t

 
1

 e  nt C1 cos 1   2 nt  C2 sin 1   2 nt


 Xe  nt sin 1   2 n t   

 X 0 e  nt cos 1   2 nt  0  (2.70)
where (C’1, C’2), (X,Φ), and (X0, Φ0) are arbitrary
constants to be determined from initial conditions.

For the initial conditions at t = 0,

x0   n x0
C1  x0 and C2  (2.71)
1   n
2

and hence the solution becomes

 n t

 x0   n x0 

x(t )  e  0
x cos 1   2
 n t  sin 1   2
 n  (2.72)
t

 1   n
2



Eq.(2.72) describes a damped harmonic motion. Its

amplitude decreases exponentially with time, as
shown in the figure on slide 48.
The frequency of damped vibration is:
d  1   2 n (2.76)

Underdamped Solution
Case2. Critically damped system (  1 or c  cc or c/ 2m  k / m )

In this case, the two roots are:

cc
s1  s2    n (2.77)
2m
Due to repeated roots, the solution of Eq.(2.59) is
given by x(t )  (C  C t )e nt
(2.78)
1 2

Application of initial conditions gives:

C1  x0 and C2  x0  n x0 (2.79)
Thus the solution becomes:
x(t )  x0  x0  n x0 t e
  n t
(2.80)
It can be seen that the motion represented by Eq.(2.80)
is a periodic (i.e., nonperiodic). Since e t  0 as t  
n

, the motion will eventually diminish to zero, as

indicated in the figure below.

Comparison of motions with different types of damping

Case3. Overdamped system (  1 or c  cc or c/ 2m  k / m)
The roots are real and distinct and are given by:

s1      2  1 n  0 
s2     2  1 n 0

In this case, the solution Eq.(2.69) is given by:

    2 1  t     2 1  t
x(t )  C1e   n
 C2 e   n
(2.81)
For the initial conditions at t = 0,
C1 

x0n    2  1  x0 
2n  2  1

C1 

 x0n    2  1  x0  (2.82)
2n   1 2
2.3.3 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
For small damping,
  2 if   1 (2.86)
Hence, 
  (2.87)
2    2
2


or   (2.88)
2

1  x1 
Thus,   ln  (2.92)
m  xm1 
where m is an integer.
• 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 
The energy dissipated in a complete cycle is:
2
 dx 
( 2 /  d ) 2
W   c  dt   cX 2d cos2 d t  d (d t )
t 0
 dt  0

 cd X 2 (2.94)
Consider the system shown in the figure below. The
total force resisting the motion is:
F  kx  cv  kx  cx (2.95)
If we assume simple harmonic motion:
x(t )  X sin d t (2.96)
Thus, Eq.(2.95) becomes
 F  kX sin d t  cd X cosd t (2.97)
The energy dissipated in a complete cycle will be
2 /  d
W   Fvdt
t 0
2 /  d
 kX 2d sin d t  cosd t  d (d t )
t 0
2 /  d
 cd X 2 cos2 d t  d (d t )  cd X 2 (2.98)
t 0

Computing the fraction of the total energy of the

vibrating system that is dissipated in each cycle of
motion,
W cd X 2  2  c 
  2    2  4  constant (2.99)
W 1
m d2 X 2  d  2m 
2
where W is either the max potential energy or the max kinetic
energy.
The loss coefficient, defined as the ratio of the energy
dissipated per radian and the total strain energy:

(W / 2 ) W
loss coefficient   (2.100)
W 2W
2.3.4 Torsional systems with Viscous Damping:
Consider a single degree of freedom torsional system with a
viscous damper, as shown in figure (a). The viscous damping
torque is given by:
T  c 
t (2.101)
The equation of motion can be derived
as:
J 0  ct  kt  0 (2.102)
where J0 = mass moment of inertia of disc
kt = spring constant of system
θ = angular displacement of disc
In the under damped case, the frequency of damped
vibration is given by:
d  1   2 n (2.103)
where
kt
n  (2.104)
J0

and ct ct ct
    (2.105)
ctc 2 J 0n 2 kt J 0

where ctc is the critical torsional damping constant

 2.3.5 Free Vibration with Coulomb Damping
Coulomb’s 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,
μ is the coefficient of sliding or kinetic friction
μ 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
damping
59
 • Equation of Motion:
Consider a single degree of freedom system with dry
friction as shown in Fig.(a) below.

Since friction force varies with the direction of velocity,

we need to consider two cases as indicated in Fig.(b)
and (c).
60
 Case 1. When x is positive and dx/dt is positive or
when x is negative and dx/dt is positive (i.e., for the
half cycle during which the mass moves from left to
right) the equation of motion can be obtained using
Newton’s second law (Fig.b):
mx  kx  N or mx  kx  N (2.107)
Hence,
N
x(t )  A1 cosnt  A2 sin nt  (2.108)
k
where ωn = √k/m is the frequency of vibration
A1 & A2 are constants
61
 Case 2. When x is positive and dx/dt is negative or
when x is negative and dx/dt is negative (i.e., for the
half cycle during which the mass moves from right to
left) the equation of motion can be derived from Fig.
(c):
 kx  N  mx or mx  kx  N (2.109)
The solution of the equation is given by:
N
x(t )  A3 cosnt  A4 sin nt  (2.110)
k
where A3 & A4 are constants

62
• Response/Solution:
Eqs.(2.107) & (2.109) can be expressed as a single
equation using N = mg:
mx  mg sgn( x)  kx  0 (2.111)
where sgn(y) is called the sigum function, whose value
is defined as 1 for y > 0, -1 for y< 0, and 0 for y = 0.
Assuming initial conditions as

x(t  0)  x0
x (t  0)  0 (2.112)
63
 The solution is valid for half the cycle only, i.e., for 0 ≤
t ≤ π/ωn. Hence, the solution becomes the initial
conditions for the next half cycle. The procedure
continued until the motion stops, i.e., when xn ≤ μN/k.
Thus the number of half cycles (r) that elapse before
the motion ceases is:
2N N
x0  r 
k k
 N 
 x0  k 
That is, r  (2.115)
 2 N 
 k 
64
 Note the following characteristics of a system with
Coulomb damping:
1. The equation of motion is nonlinear with Coulomb damping,
while it is linear with viscous damping
2. The natural frequency of the system is unaltered with the
addition of Coulomb damping, while it is reduced with the
addition of viscous damping.
3. The motion is periodic with Coulomb damping, while it can be
nonperiodic in a viscously damped (overdamped) system.
4. 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.
65
5. The amplitude reduces linearly with Coulomb damping,
whereas it reduces exponentially with viscous damping.
6. In each successive cycle, the amplitude of motion is reduced
by the amount 4μN/k, so the amplitudes at the end of any
two consecutive cycles are related:

4N
X m  X m1  (2.116)
k

As amplitude is reduced by an amount 4μN/k in one

cycle, the slope of the enveloping straight lines
(shown dotted) in Fig next slide .

66
 Motion of the mass with Coulomb damping
67
• Torsional Systems with Coulomb Damping:
The equation governing the angular oscillations of the
system is
J   k   T
0 t (2.117)
and J 0  kt  T (2.118)

The frequency of vibration is given by

kt
n  (2.119)
J0

68
and the amplitude of motion at the end of the rth half
cycle (θr) is given by:
2T
r  0  r (2.120)
kt

The motion ceases when

 T 
 0  k 
r t
 (2.121)
 2T 
 kt 

69
 2.3.6 Free Vibration with Hysteretic Damping
Consider the spring-viscous damper arrangement
shown in the figure below. The force needed to cause a
displacement:
F  kx  cx (2.122)
For a harmonic motion of
frequency ω and
amplitude X,
x(t )  X sin t (2.123) Spring-Viscous damper system

 F (t )  kX sin t  cX cost

 kx  c X 2  ( X sin t ) 2
 kx  c X 2  x 2 (2.124) 70
 When F versus x is plotted, Eq.(2.124) represents a
closed loop, as shown in Fig(b). The area of the loop
denotes the energy dissipated by the damper in a
cycle of motion and is given by:
2 / 
W   Fdx  
0
kX sin t  cX cost X cost dt
 cX 2 (2.125)
Hence, the damping
coefficient:
h
c (2.126)

where h is called the hysteresis
71
damping constant.
Fig.2.36 Hysteresis loop
Eqs.(2.125) and (2.126) gives
W  hX 2
(2.127)
Complex Stiffness.
For general harmonic motion, x  Xei,t the force is
given by
F  kXeit  ciXeit  (k  ic) x (2.128)
Thus, the force-displacement relation:
F  (k  ih) x (2.129)
 h
where k  ih  k 1  i   k (1  i ) (2.130)
 k 72
Response of the system.
The energy loss per cycle can be expressed as
W  kX 2 (2.131)

The hysteresis logarithmic decrement can be defined

as  X 
  ln j   ln(1   )   (2.135)
 X j 1 
Corresponding frequency
k
 (2.136)
m

Response of a hysteretically damped system 73

The equivalent viscous damping ratio
h
  2 eq   
k
 h
 eq   (2.137)
2 2k

And thus the equivalent damping constant is

 k h
ceq  cc   eq  2 mk    mk   (2.138)
2  

74
 Example 2.1
Shock Absorber for a Motorcycle
An underdamped shock absorber is to be designed for
a motorcycle of mass 200kg (shown in Fig.(a)). When
the shock absorber is subjected to an initial vertical
velocity due to a road bump, the resulting
displacement-time curve is to be as indicated in Fig.(b).
Find the necessary stiffness and damping constants of
the shock absorber if the damped period of vibration is
to be 2 s and the amplitude x1 is to be reduced to one-
fourth in one half cycle (i.e., x1.5 = x1/4). Also find the
minimum initial velocity that leads to a maximum
displacement of 250 mm.

75
 Approach: We use the equation for the logarithmic
decrement in terms of the damping ratio, equation for
the damped period of vibration, time corresponding to
maximum displacement for an underdamped system,
and envelope passing through the maximum points of
an underdamped system.

76
Since x1.5  x1 / 4, x2  x1.5 / 4 , x1 / 16
Hence the logarithmic decrement becomes
 x1  2
  ln    ln 16  2.7726  i
 x2  1  2

From which ζ can be found as 0.4037. The damped

period of vibration given by 2 s. Hence,
2 2
2 d  
d n 1   2
2
n   3.4338 rad/s
2 1  (0.4037) 2

77
The critical damping constant can be obtained:
cc  2mn  2(200)(3.4338)  1.373.54 N - s/m
Thus the damping constant is given by:
c  cc  (0.4037)(1373.54)  554.4981N - s/m
and the stiffness by:
k  mn2  (200)(3.4338) 2  2358.2652 N/m
The displacement of the mass will attain its max value
at time t1, given by
sin d t1  1   2
This gives: sin d t1  sin t1  1  (0.4037) 2  0.9149
sin 1 (0.9149)
or t1   0.3678 sec
 78
The envelope passing through the max points is:
x  1   2 Xe  n t ii
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  n t sin d t
as x ( t )  Xe  n t (n sin d t  d cosd t ) iii
When t = 0,
x (t  0)  x0  Xd  Xn 1   2  (0.4550)(3.4338) 1  (0.4037) 2
 1.4294 m/s 79
The End!