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chapter2-section1and2 (3)

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June Lim
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© © All Rights Reserved
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VIBRATION

(BDA31103)

LECTURE 2:
SINGLE DEGREE OF FREEDOM

Izzuddin Zaman, PhD


Faculty of Mechanical and Manufacturing Engineering
UTHM
Table of Contents

1. Equation of Motion
2. Free Vibration of Undamped System – Translational,
Rotational and Torsional System
3. Free Vibration of Damped system
4. Harmonic Excitation of Undamped System
5. Harmonic Excitation of Damped System

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Equation of Motion

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Difference: Free and Force
Vibration ?

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Free Vibration of Undamped
Translation System
2 Equation of motion (EOM)

1 3 Assumption

Free Body
Diagram
(FBD)

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Free Vibration of Undamped
Torsional System

Torsional Spring Constant:

GI 0 Gd 4
Mt
kt = = = (2.39)
 l 32l

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• Equation of Motion:
Applying Newton’s Second Law of Motion,

J 0 + kt = 0 (2.40)


Thus, the natural circular frequency:
1/ 2
 kt 
n =   (2.41)
 J0 
1) 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
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• 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)
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Free Vibration of Damped System
2 Equation of motion (EOM)

1 3 Assumption
(FBD)

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

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


(
s1 = −  n + in 1 −  2 )
s2 = (−  − i n 1−  2 )
 − + i 1− 2  t  − −i 1− 2  t
x(t ) = C1e  
+ C2 e  
n n n n

=e − n t
C e 1
i d t
+ C2 e − i d t
 A1 = x0 and A 2 =
x

=e A1 cos d t + A2 sin Ad t= x and A


− n t
=
x0 +  n x0
d
= Xe − t sin (d t +  )
1 0 2
n

t t x0)+  n x0 
=
x(t ) = e0
X −
e −
n cos (n
t − 
 x0 cos dd t + 0 sin d t  (2.72) (2.70)
 d 
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The frequency of damped vibration is:
d = 1 −  2 n (2.76)

Underdamped Solution

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• Logarithmic Decrement:

− n t1
x1 X 0 e 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 previous eqn:

x1 2 2 c
 = ln =  n d =  n =  (2.
x2 n 1 −  2  d 2m

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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 ) = (C1 + C2t )e −nt (2.78)


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


 −nt
(2.80)

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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

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It can be seen that the motion represented by Eq.(2.80) is a
− t
nonperiodic. Since e n → 0 as t →  , the motion will eventually
diminish to zero, as indicated in the figure below.

Comparison of motions with different types of damping


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Example Problem 1

a) Free vibration with F(t) = 0

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Harmonic Excitation of
Undamped System

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Harmonic Excitation of
Damped System

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Example Problem 2

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Example Problem 3

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Example Problem 3

A rigid table of mass m1 20 kg is mounted


on four elastic supports. A compilation
books of mass m2 5 kg is drop from a height
of 1 m and adheres to the table without
rebounding. If the spring constant k of each
elastic support of the table is 100 N/m,
investigate a) the resulting amplitude and b)
the vibration response of the table system
which including mass of the books.

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Thank You For Listening
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