Chapter 1 - Vibrations

• Harmonic Motion/
Circular Motion
• Simple Harmonic
Oscillators
– Linear, Mass-Spring Systems
– Initial Conditions
• Energy of Simple
Harmonic Motion
• Damped Oscillations
• Driven/Forced Oscillations
 Math Prereqs
d
sin   cos 
d
d
cos    sin 
d
2 2 2

 cos d   sin d   sin  cos d 

0 0 0
0
2 2
1 1 1
     d 
2 2
cos d sin
2 0 2 0 2
Identities (see appendix A for more)
sin 2   cos 2   1

cos       cos  cos  sin  sin 

 
cos   cos   2 cos sin
2 2
1 1
cos 2    cos 2
2 2
 i
e  cos   jsin 
j  j
e  e
Re e  j   cos  
j
2  j
e e
Im e    sin   
 j

2j
 Why Study Harmonic Motion

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Relation to circular motion
x  A cos       A cos  t   
Or
j   j t  
x  Ae  Ae

2

T
 Math Prereqs

 "Time Average"
T
1
f t    f  t  dt
T0
Example:

2 2   1
T
2 2   1
T
1 1  2   1
cos  t    cos  t  dt     cos  2 t   dt 
 T  T0  T  T 0 2 2  T  2
 Horizontal mass-spring
 f  ma
Hooke’s Law: f s  sx
Frictionless
d2x
sx  m 2 (1D constraint)
dt
d2x s
2
 x0
dt m

• Good model!
– Force is linear
– Mass is constant
– Spring has negligible mass
– No losses
 Solutions to differential equations
• Guess a solution
• Plug the guess into the differential equation
– You will have to take a derivative or two
• Check to see if your solution works.
• Determine if there are any restrictions (required
conditions).
• If the guess works, your guess is a solution, but it
might not be the only one.
• Look at your constants and evaluate them using
initial conditions or boundary conditions.
Our guess

x  A1 cos o t
 Check
x  A1 cos o t
d2x s
 x0
d2x dt 2
m
2
  A1 o cos o t
2

dt
s
 A1 cos o t  A1 cos o t  0
2
o
m

s 2
  o  cos o t  0
m 
The restriction on the solution
s
 
2
o
m

o 1 s
fo  
2 2 m

1 2 m
T   2
f o o s
 Any Other Solutions?
x  A1 cos o t
x  A 2 sin o t

x  A1 cos o t  A 2 sin o t
Or
A1
 x  A cos  cos o t  A sin  sin o t
A2
A x  A cos  o t   
 Definitions
x  A cos  o t   
• Amplitude - (A) Maximum value of the displacement (radius of
circular motion). Determined by initial displacement and velocity.
• Angular Frequency (Velocity) -  Time rate of change
of the phase. Natural Angular Frequency
• Period - (T) Time for a particle/system to complete one cycle.
• Frequency - (fo) The number of cycles or oscillations completed
in a period of time. Natural Frequency
• Phase - t Time varying argument of the trigonometric
function.
• Phase Constant -  Initial value of the phase. Determined by
initial displacement and velocity.
 The constants – Phase Angle
Case I: x t  0  xo u t  0  0 0
x  x o cos  o t    u   x o o sin  o t   
xo x o o

x o  x o o


a   x o o2 cos  o t   
x o o2 Note phase
relationship
 x o o2 between x, u, and a

Case II: x t  0  0 u t  0  u0 
uo
o
2
uo
A

uo
o
o
 General Case
x  t  0  xo u t  0  u0

x  A1 cos o t  A 2 sin o t A1  x o
uo
u   A1o sin o t  A 2 o cos o t A2 
o
A1  uo 
2

A  xo   
2

  o 
A2
A  u o 
1
  tan  
 x
 o o
 Energy in the SHO

1 1 1 1
E  EK  EP  mu 2  sx 2  sA 2  mU 2
2 2 2 2

s
u
m
 A 2
 x 2

 Average Energy in the SHO
x  A cos  o t   
1 1 1
E P  s x 2  sA 2 cos 2  o t     sA 2
2 2 4

dx
u   A o sin  o t   
dt
1 1 1 1 2
EK  m u  mo A sin  o t     mo A  sA
2 2 2 2 2 2

2 2 4 4

EK  EP
 Example
• A mass of 200 grams is connected to a light spring that has
a spring constant (s) of 5.0 N/m and is free to oscillate on a
horizontal, frictionless surface. If the mass is displaced 5.0
cm from the rest position and released from rest find:
• a) the period of its motion,
• b) the maximum speed and
• c) the maximum acceleration of the mass.
• d) the total energy
• e) the average kinetic energy
• f) the average potential energy
 Complex Exponential Solution
Im o


x  Ae jo t
jb
o t
  a  jb  Ae j
A

Re
• Check it – it works and is simpler. A cos  o t   
a

• Phase relationships are more obvious.

• Implied solution is the real part
• Are there enough arbitrary constants? What are they?
 jo t
u  jo Ae  jo x

 jo t  2 x
a  o2 Ae o
 Damped Oscillations
Dashpot
Dissipative forces
dx
f r  R m
dt

d2x dx
Equation of Motion: m 2  Rm  sx  0
dt dt
d 2 x R m dx
2
  ox  0
2

dt m dt

Solution Guess:  t
x  Ae
 Check 
x  Ae t

t Rm t t
 Ae 
2
Ae  o Ae  0
2

m
 2 Rm 2   t
    o  Ae  0
 m 
Rm
       2 2 
o
2m
d  o2  2     jd

  jd t

x  Ae  A1e   jd t
 A 2e   jd t

 e t A1e jd t  A 2e  jd t 

x  Ae t e 
j d t  
e
 j d t  
  Ae t cos  d t   
Damped frequency oscillation
Ae t
Rm

2m
s R 2m
d  
m 4m 2

R  4ms
2
m

B - Critical damping (=)

C - Over damped (>)
 Relaxation Time
• Decay modulus, decay time, time constant,
characteristic time
• Time required for the oscillation to decrease
to 1/e of its initial value

1 2m
 
 Rm
 Forced Vibrations
f t 

d2x dx
m 2  Rm  sx  f  t 
dt dt
f  t   Fcos t or Fe jt
• Transient Solution – decays away with time constant, 
• Steady State Solution
 Resonance
s

x  Ae jt Natural frequency 0 
m

 A m 
2 m  jAR  As e jt  Fe jt
d  o2  2

 1 F
A
j  s
R m  j  m  
 

make small!!

s s
m   0   0
 m
 Mechanical Input Impedance
V
• Think Ohm’s Law Z
I
f
Z m  f  Fe jt
u
1 Fejt Fe jt
 jt
x  Ae  u 
j  s  s
R m  j  m   R m  j  m  
   
2
 s
Zm  R m2   m  
 
Z  R  j  m  s   R  jX  Z e j
m m   m m m  s 
  
  tan1 
m  


 R m 
 
Significance of Mechanical Impedance
• It is the ratio of the complex driving force to the
resulting complex speed at the point where the
force is applied.
• Knowledge of the Mechanical Impedance is
equivalent to solving the differential equation. In
this case, a particular solution.

f
u 
Z m

u f
x  
j jZ m
 Electrical Analogs
d 2q dq q
L 2 R   V(t)
dt dt C

V Elec Zelec Mech

V f
I u
L jL m jm
R R Rm Rm
s
f 1/C 1/jC s s/j

m
d2x dx
m 2  Rm  sx  f  t 
Rm dt dt
How would you electrically model this?
s
f
m

Rm
u um

f u 1/s um
m
Rm
 Transient Response
 jt  1 Fe jt F
x  Ae
j  s x sin  t   
R m  j  m   Z m
 
2
 s
Z m  R   m  
2
m
 

 s 
 m  
  tan1  

Which is transient,  R m 
 
which is steady state?
F
x  Ae  t
cos  d t     sin  t   
Z m
See front cover and figure 1.8.1 (pg 14)
 Instantaneous Power
• Think EE P  VI  i  fu

Fe jt F
u 
 s u cos  t   
R m  j  m   Zm
 

f  Fe jt f  Fcos t

2
F
i  cos t cos  t   
Zm
 Average Power
1 T
  i T
   i dt
T 0

2
1 FT
  cos t cos  t    dt
T 0 Zm

F2 F2 R m
 cos  
2Zm 2Z2m

2
1 T F
  cos 2 t cos   cos t sin t sin dt
T Zm
0
 Quality (Q) value
0 0
• Q describes the sharpness of Q 
the resonance peak  u  l
• Low damping give a large Q m0 0 0 
Q  
• High damping gives a small Q Rm 2 2
• Q is inversely related to the
fraction width of the resonance
peak at the half max amplitude 
point.
Tacoma Narrows Bridge
Tacoma Narrows Bridge (short clip)
x  Ae t cos  t   
dx
v   Ae t  sin  t     A    e t cos t   
dt

  Ae t  sin  t      cos  t   

d2x
a  2   Ae t 2 cos  t     Ae t  sin  t     Ae t  sin  t     A 2e t cos t   
dt


 Ae t 2 sin  t      2  2  cos t    

d 2 x b dx k
2
  x0
dt m dt m

Ae t 2 sin  t      2  2  cos  t     b
m
k
Ae t  sin  t      cos  t     Ae t cos t     0
m


b
t  b   2 b k 
  2   sin  t            cos t     0
2
Ae 2m

 m   m m 

b k  b 
2


2
k  b 
     0
2
   
2m m  2m 
m  2m 