ME208: VIBRATIONS

K. R. JAYAPRAKASH
Department of Mechanical Engineering,
Indian Institute of Technology Gandhinagar
http://krjp.people.iitgn.ac.in/
 Non-dimensionalization
• Consider a characteristic length 𝑙 and define the non-
dimensional coordinate 𝑦 = 𝑥 ⁄𝑙 and the non-
dimensional time 𝑡 = 𝜏⁄𝑇 , where 𝑇 is the
characteristic time
𝑥 𝑑𝑥 𝑑𝑦 𝑑𝑡 𝑙
𝑥! = =𝑙 = 𝑦̇
𝑘 𝑑𝜏 𝑑𝑡 𝑑𝜏 𝑇
"
𝑑 𝑦 𝑙
𝑚 𝑥 !! = " = " 𝑦̈
𝑑𝜏 𝑇
𝑙 𝑙
𝑐 𝑚 " 𝑦̈ + 𝑐 𝑦̇ + 𝑘𝑙𝑦 = 0
𝑇 𝑇
𝑐𝑇 𝑘𝑇 "
𝑦̈ + 𝑦̇ + 𝑦=0
𝑚 𝑚
• Setting 𝑇 = 𝑚⁄𝑘
𝑦̈ + 𝜉 𝑦̇ + 𝑦 = 0
#
• Where 𝜉 = is the non-dimensional damping
$%
coefficient and the non-dimensional natural
frequency of oscillation is unity

http://krjp.people.iitgn.ac.in/
 Theory of linear ODEs
Consider a general homogeneous linear ODE of order 𝑛
𝑑! 𝑢 𝑑!"# 𝑢 𝑑!"$ 𝑢
𝑎! 𝑡 + 𝑎!"# 𝑡 + 𝑎!"$ 𝑡 + ⋯ + 𝑎% 𝑡 𝑢 = 0
𝑑𝑡 ! 𝑑𝑡 !"# 𝑑𝑡 !"$
Such that 𝑎! 𝑡 ≠ 0, and 𝑎& 𝑡 are sufficiently smooth.
• It has 𝑛 linearly independent solutions 𝜙# 𝑡 , 𝜙$ 𝑡 , … , 𝜙! 𝑡 and a general
solution of the homogeneous ODE is of the form
𝑢 𝑡 = 𝐶# 𝜙# 𝑡 + 𝐶$ 𝜙$ 𝑡 + ⋯ + 𝐶! 𝜙! 𝑡
Where 𝐶# , 𝐶$ , … , 𝐶! are constants of integration to be found from the 𝑛 initial
conditions at a point 𝑡% ∈ 𝑎 𝑏
𝑢 𝑡% 𝜙# 𝑡% 𝜙$ 𝑡% 𝜙( 𝑡% … 𝜙! 𝑡% 𝐶#
𝑢' 𝑡% 𝜙#' 𝑡% 𝜙$' 𝑡% 𝜙(' 𝑡% ⋯ 𝜙!' 𝑡% 𝐶$
𝑢'' 𝑡% = 𝜙#'' 𝑡% 𝜙$'' 𝑡% 𝜙('' 𝑡% ⋯ 𝜙!'' 𝑡% 𝐶(
⋮ ⋮ ⋮ ⋮ ⋱ ⋮ ⋮
!"# !"# !"#
𝑢 !"# 𝑡% 𝜙# 𝑡% 𝜙$ 𝑡% 𝜙( 𝑡% ⋯ 𝜙!!"# 𝑡% 𝐶!

http://krjp.people.iitgn.ac.in/
 Theory of linear ODEs
• The system can be solved for the constant 𝐶# , 𝐶$ , … , 𝐶! for any arbitrarily
defined initial condition at 𝑎 ≤ 𝑡 ≤ 𝑏, if
𝜙! 𝑡 𝜙" 𝑡 𝜙$ 𝑡 … 𝜙# 𝑡
𝜙!% 𝑡 𝜙"% 𝑡 𝜙$% 𝑡 ⋯ 𝜙#% 𝑡
𝑊 𝜙! 𝑡 , 𝜙" 𝑡 , … , 𝜙# 𝑡 = 𝜙!%% 𝑡 𝜙"%% 𝑡 𝜙$%% 𝑡 ⋯ 𝜙#%% 𝑡 ≠0
⋮ ⋮ ⋮ ⋱ ⋮
#&! #&! #&! ⋯ 𝜙##&! 𝑡
𝜙! 𝑡 𝜙" 𝑡 𝜙$ 𝑡
Where 𝑊 is called the Wornskian after the Polish Mathematician G. Wornski.
• This is equivalent to saying
𝐶# 𝜙# 𝑡 + 𝐶$ 𝜙$ 𝑡 + ⋯ + 𝐶! 𝜙! 𝑡 = 0 ⇒ 𝐶& = 0, 𝑖 = 1,2,3, … 𝑛
• In fact one can check the linear independence of two functions by verifying if
there ratio is not a constant
𝜙& 𝑡
≠ 𝑐𝑜𝑛𝑠𝑡. , ∀𝑖, 𝑗 = 1,2,3, … 𝑛, 𝑖 ≠ 𝑗
𝜙) 𝑡

http://krjp.people.iitgn.ac.in/
 General solution
• Consider the non-dimensional equation
𝑦̈ + 𝜉 𝑦̇ + 𝑦 = 0
• Consider a trial solution 𝑦 𝑡 = 𝐴𝑒 &' , where 𝐴 is
a real constant if 𝜆 is real and 𝐴 is a complex
constant if 𝜆 is complex. Note that this trial solutions
𝑥 doesn’t work if we have non-constant coefficients
𝑘 • Introducing the trial solution in the EOM we
obtain the characteristic equation
𝑚 𝜆" 𝐴𝑒 &' + 𝜉𝜆𝐴𝑒 &' + 𝐴𝑒 &' = 0
• Note that 𝐴𝑒 &' ≠ 0
𝑐 𝜆" + 𝜉𝜆 + 1 = 0
−𝜉 ± 𝜉 " − 4 𝜉 𝜉 "
𝜆(," = =− ± −1
2 2 2
• The general solution of the second order ODE is
𝑦 𝑡 = 𝐶( 𝑒 &! ' + 𝐶" 𝑒 &" '
Where 𝐶( and 𝐶" are constants of integration
obtainable from the imposed initial conditions

http://krjp.people.iitgn.ac.in/
 Undamped oscillation
• If 𝜉 = 0 (undamped system), we have imaginary characteristic roots
𝜆(," = ±𝑖
𝑦 𝑡 = 𝐶( 𝑒 *' + 𝐶" 𝑒 +*'
Where 𝐶(," are complex constants of integration obtainable from the
imposed initial conditions, 𝜔, = 1 is the natural frequency of oscillation
𝑦 𝑡 = 𝐶( cos 𝑡 + 𝑖 sin 𝑡 + 𝐶" cos 𝑡 − 𝑖 sin 𝑡
= 𝐶( + 𝐶" cos 𝑡 + 𝑖 𝐶( − 𝐶" sin 𝑡
• Since 𝑦 𝑡 is a real quantity, we need to have 𝐶( + 𝐶" = 𝐷( and
𝑖 𝐶( − 𝐶" = 𝐷" are real
• The solution is in the form, where 𝐷(," are real constants of integration
obtainable from the imposed initial conditions
𝑦 𝑡 = 𝐷( cos 𝑡 + 𝐷" sin 𝑡
• Note that 𝑅𝑒 𝜆(," = 0, 𝐼𝑚 𝜆(," ≠ 0

http://krjp.people.iitgn.ac.in/
Natural frequency is defined as the frequency of free oscillations, i.e. no forces
applied or damping present in the system. In this case we have the natural frequency
𝜔! = 1

𝟐𝝅⁄𝝎𝒏

http://krjp.people.iitgn.ac.in/
 Under-damped oscillation
-
• If < 1 (under damped system), we have complex characteristic roots
"

𝜉 𝜉 " 𝜉
𝜆(," = − ± 𝑖 1 − = − ± 𝑖𝜔.
2 2 2
𝑦 𝑡 = 𝑒 +-'⁄" 𝐶( 𝑒 *0'' + 𝐶" 𝑒 +*0''
Where 𝐶(," are constants of integration obtainable from the imposed initial
conditions. 𝜔. = 1 − 𝜉 ⁄2 " is the damped natural frequency and 𝜉 ⁄2 is
the decay constant
𝑦 𝑡 = 𝑒 +-'⁄" 𝐶( cos 𝜔. 𝑡 + 𝑖 sin 𝜔. 𝑡 + 𝐶" cos 𝜔. 𝑡 − 𝑖 sin 𝜔. 𝑡
= 𝑒 +-'⁄" 𝐶( + 𝐶" cos 𝜔. 𝑡 + 𝑖 𝐶( − 𝐶" sin 𝜔. 𝑡
• Since 𝑦 𝑡 is a real quantity, we need to have 𝐶( + 𝐶" = 𝐷( and
𝑖 𝐶( − 𝐶" = 𝐷" are real
• The solution is in the form, where 𝐷(," are real constants of integration
obtainable from the imposed initial conditions
𝑦 𝑡 = 𝑒 +-'⁄" 𝐷( cos 𝜔. 𝑡 + 𝐷" sin 𝜔. 𝑡

http://krjp.people.iitgn.ac.in/
 Under-damped oscillation
• Imposing the initial conditions 𝑦 0 = 𝑦1 , 𝑦̇ 0 = 𝑣1 ,
𝐷( = 𝑦1 = 𝐴 cos 𝜙
1 𝜉
𝐷" = 𝑣 + 𝑦 = 𝐴 sin 𝜙
𝜔. 1 2 1
• Alternatively, the solution can be recast in the form
𝑦 𝑡 = 𝐴𝑒 +-'⁄" cos 𝜔. 𝑡 − 𝜙
"
"
1 𝜉
𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒: 𝐴 = 𝑦1 + " 𝑣1 + 𝑦1
𝜔. 2

+(
1 𝑣1 𝜉
𝑃ℎ𝑎𝑠𝑒: 𝜙 = tan +
𝜔. 𝑦1 2
• Note that 𝑅𝑒 𝜆(," ≠ 0, 𝐼𝑚 𝜆(," ≠ 0

http://krjp.people.iitgn.ac.in/
 Damped natural frequency is defined as the frequency of free oscillations, i.e. no forces
applied on the system. In this case we have the damped natural frequency 𝜔# = 1 − 𝜉 ⁄2 $

𝟐𝝅⁄𝝎𝒅
Exponential decay
𝑨 𝑨𝒆"𝝃𝒕⁄𝟐
𝒚𝟎

𝒗𝟎

http://krjp.people.iitgn.ac.in/
 Under-damped oscillation
• Consider the general solution at two time instants 𝑡( , 𝑡" , 𝑡" > 𝑡(
𝑦 𝑡( = 𝑒 +-'(⁄" 𝐷( cos 𝜔. 𝑡( + 𝐷" sin 𝜔. 𝑡(
𝑦 𝑡" = 𝑒 +-')⁄" 𝐷( cos 𝜔. 𝑡" + 𝐷" sin 𝜔. 𝑡"
• Let’s consider 𝑡" = 𝑡( + 2𝜋⁄𝜔. and evaluate the ratio of amplitude
separated by one time period of damped (free) oscillation
𝑦 𝑡(
𝑦 𝑡( + 2𝜋⁄𝜔.
𝑒 +-'(⁄" 𝐷( cos 𝜔. 𝑡( + 𝐷" sin 𝜔. 𝑡(
= +-' ⁄" +-2⁄0 = 𝑒 -2⁄0'
𝑒 ( 𝑒 ' 𝐷 cos 𝜔 𝑡 + 2𝜋 + 𝐷 sin 𝜔 𝑡 + 2𝜋
( . ( " . (
• Denoting 𝑦 𝑡(," = 𝑦(," , we have
𝑦( -2
= 𝑒 0'
𝑦"
• The logarithmic decrement is defined as
𝑦( 𝜉𝜋 𝜉𝜋
𝛿 = ln = =
𝑦" 𝜔. 1 − 𝜉 ⁄2 "
𝑦(
ln = 𝑛−1 𝛿
𝑦,
h2p://krjp.people.iitgn.ac.in/
h2p://krjp.people.iitgn.ac.in/
 Critically damped system
-
• If = 1, we have real and repeated characteristic roots
"
𝜉
𝜆(," = 𝜆 = − = −1
2
𝑦 𝑡 = 𝐶( 𝑒 + 𝐶" 𝑡𝑒 = 𝐶( + 𝐶" 𝑡 𝑒 +'
&' &'

𝐶(," are real constants of integration obtainable from the imposed initial
conditions
• Such a system is called a critically damped system i.e. the damping
threshold at which the 𝐼𝑚 𝜆(," = 0
• Note that 𝑅𝑒 𝜆(," ≠ 0, 𝐼𝑚 𝜆(," = 0, 𝜆( = 𝜆"

h2p://krjp.people.iitgn.ac.in/
 𝜆!,# = −1

h2p://krjp.people.iitgn.ac.in/
 Over-damped system
-
• If > 1, we have real and distinct characteristic roots
"

𝜉 𝜉 "
𝜆(," = − ± −1
2 2
𝑦 𝑡 = 𝐶( 𝑒 &(' + 𝐶" 𝑒 &)'
Note that 𝜆(," < 0 resulting in decaying solutions, 𝐶(," are real constants of
integration obtainable from the imposed initial conditions
• Note that 𝑅𝑒 𝜆(," ≠ 0, 𝐼𝑚 𝜆(," = 0, 𝜆( ≠ 𝜆"

h2p://krjp.people.iitgn.ac.in/
h2p://krjp.people.iitgn.ac.in/
 Single DOF oscillator

𝑥 • The equation of motion is of the form

𝑘 𝑚𝑥̈ + 𝑐 𝑥̇ + 𝑘𝑥 = 0
𝑚 • Multiplying the above equation by 𝑥,̇ we have
𝑚𝑥̈ 𝑥̇ + 𝑐 𝑥̇ " + 𝑘 𝑥𝑥
̇ =0
𝑐 The equation can be recast in the form
𝑑 1 "
1 " "
𝑑𝐸
𝑚𝑥̇ + 𝑘𝑥 = −𝑐 𝑥̇ ⇒ = −𝑐 𝑥̇ "
𝑑𝑡 2 2 𝑑𝑡
• For positive value of 𝑐, we have the rate of
change of energy is negative
• Integrating the above equation,
" ')

X 𝑑𝐸 = 𝐸" − 𝐸( = − X 𝑐 𝑥̇ " 𝑑𝑡
( '(

h2p://krjp.people.iitgn.ac.in/