FACULTY OF

ENGINEERING

CHAPTER: VIBRATION
FREE vs damped VIBRATION
 VIBRATION TYPES
FREE VIBRATION DAMPED FREE
(UNDAMPED) VIBRATION

Vibration

FORCE VIBRATION FORCE DAMPED

VIBRATION
Free Vibration (Undamped)

X - DIRECTION

Y - DIRECTION
Free Vibration (Undamped)

FRICTIONLESSS

X-
DIRECTION

Y-
DIRECTION
Simple Harmonic Motion

Y-direction X-direction
 Free Body Diagram W = mg

F = kx = Fx  max

 Reaction force
 F x  ma x ;  k x  mx
(Equation of Motion)
Free Body Diagram

When t = 0, R = x

k
where n 
m

x  n2 x  0
x  n2 x  0 is a homogeneous, second-order, linear,
differential equation with constant coefficients, and the
general solution is
 x  n2 x  0 is a homogeneous, second-order, linear,
differential equation with constant coefficients, and the
general solution is

y @ x  A sin n t  B cos n t

If t = 0,
MATLAB Code for General Solution

syms x t free_rot A B x_dot_int x_int;

x = A*sin(free_rot*t) + B*cos(free_rot*t); %general
solution
x_dot = diff(x,t); disp(x_dot);
t1 = input('Give the initial time, t: ');

x_initial = subs(x,t1); %disp(x_initial);

x_initial_new = x_initial - x_int;
B1 = solve(x_initial_new == 0, B); disp(B1);

x_dot_initial = subs(x_dot,t1); %disp(x_dot_initial);

x_dot_initial_new = x_dot_initial - x_dot_int;
%disp(x_dot_initial_new);
A1 = solve(x_dot_initial_new == 0,A); disp(A1);

x_new = subs(x,A,A1);disp(x_new);
x_new = subs(x_new,B,B1);disp(x_new);
 SUMMARY – Free Vibration

x  A sin n t  B cos n t
 C sin n t   

x   x  0
2
n
k
where n 
m
 Period is the total time needed to make a complete cycle of vibration

 Frequency, f is defined as the number of cycles completed per unit of

time. Frequency is expressed in cycles/s or hertz (Hz)

2 m
  2
n k

1n 1 k
f   
 2 2 m
 EXAMPLE (FREE VIBRATION)
A body weighing 25 lb is suspended from a spring of constant k = 160
lb/ft. At time t = 0, it has a downward velocity of 2 ft/s as it passes
through the position of static equilibrium. Determine:
 (a) the static spring deflection δst
 (b) the natural frequency of the system in both rad/sec (n) and
cycles/s (ƒn)
 (c) the system period, τ
EXAMPLE (FREE VIBRATION)
 EXAMPLE (FREE VIBRATION) –
continue…
A body weighing 25 lb is suspended from a spring of
constant k = 160 lb/ft. At time t = 0, it has a downward
velocity of 2 ft/s as it passes through the position of
static equilibrium. Determine:
 (d) the displacement x as a function of time, where
x is measured from the position of static equilibrium
 (e) the maximum velocity vmax attained by the
mass
 (ƒ) the maximum acceleration amax attained by the
mass.
EXAMPLE (FREE VIBRATION) –
continue…
EXAMPLE (FREE VIBRATION) –
continue…
weight = input('Give the weight value: ');
k_spring = input('Give the spring constant: ');

displacement = weight / k_spring; disp(displacement);

free_rot = sqrt(k_spring/(weight/32.2)); disp(free_rot);
free_freq = free_rot/(2*pi); disp(free_freq);
free_period = 1/free_freq; disp(free_period);

syms t;
A = 0; velocity = 2; t1 = 0:0.01:3;
x_displacment = A * cos (free_rot*t) + (velocity/free_rot)*sin(free_rot*t);
disp(x_displacment);
x_displacment_new = subs(x_displacment,t1);
subplot(3,1,1);
plot(t1,x_displacment_new);
title('displacement');

x_velocity = diff(x_displacment);
disp(x_velocity);
x_velocity_new = subs(x_velocity,t1);
subplot(3,1,2);
plot(t1,x_velocity_new);
title('velocity');

x_acc = diff(x_velocity);
disp(x_acc);
x_acc_new = subs(x_acc,t1);
subplot(3,1,3);
plot(t1,x_acc_new);
title('acceleration');
Example 2:
A spring has stiffness 25 kN/m. If a block of mass 10
kg is attached to the spring, pushed a distance 20
mm above its equilibrium position, and released from
rest at t = π/400 s, determine:

1. The frequency
2. The period time
3. The displacement, velocity and acceleration when
time, t is quarter of the period time.
Example 2 - Solution
Example 3:
A spring has stiffness 20 kN/m. If a block of
mass 4 kg . At the initial stage, the mass is
pushed 8 mm and released to produce linear
oscillations. Calculate:

1. The frequency
2. The period time
3. The displacement, velocity and
acceleration when time, t is 0.05s
Damped Free Vibration

 As shown, the effect of damping is provided by the dashpot of

coefficient of damping c connected to the block on the right side.
 Damping occurs when the piston P moves to the right or left within the
enclosed cylinder
 Damped Free Vibration
 In many cases, damping is attributed to the resistance created by the
substance, such as water, air, oil, or in which the system vibrates.
 This type of force developed under these conditions is called a viscous
damping force, which is expressed by

F  cx
where the constant c, is the coefficient of viscous damping and has
units of N.s/m
  Fx  max ;
 kx  cx  mx

(Equation of Motion)
mx  cx  kx  0
c k
 x  x  x  0
m m
General solution for this linear, second-order,
t
homogeneous, differential equation is x  e
where e is the base of the natural logarithm
and λ is a constant.
 The Mathematic Reason behind the
Scene
t
xe mx  cx  kx  0
x
 e t
t
t
 x
2
(m  c  k )e  0
2
 e2 t

t 2
(m  c  k )  0
2

Quadratic equation will ease our calculation!!!

 The characteristic equation of the equation of motion is given by

 Its roots are the characteristic roots.

m  c  k  0
2

 c  c  4mk 2

2m
The solution for the roots will be one of the
following cases:

1) Two distinct, real roots, denoted by λ1 and λ2.

This case will occur if c2 – 4mk > 0
2) Two equal roots, denoted by λ1. This case will
occurs if c2 – 4mk = 0
3) Two complex conjugate roots, denoted by λ+iq
and λ-iq. This case will occur if c2 – 4mk < 0
 Damping Ratio
 A second-order’s free response can be conveniently characterized by
the damping ratio ξ.

k mx  cx  kx  0
c2 – 4mk = 0, n 
m c k
 x  x  x  0
Damping ratio is defined as m m

c

2 mk

***c2 – 4mk = 0, when ƺ = 1

Damping Ratio x  e t
x
mx  cx  kx  0   e t  x

t
c k 2x
 x  x  x  0  2 t
e  x
m m t 2
2 Root Solution,

Linear systems have the property of superposition, which means that

the general solution is the sum of the individual solutions each of which x  e t
corresponds to one root of the characteristic equation. Thus, the general
solution is
 Categories of Damped Motion

Case (1): Overdamped System, ξ > 1

Case (2): Critical Damping, ξ = 1 , when

Case (3): Underdamped System, ξ < 1

 TUTORIAL #1

The 8-kg body is moved 0.2 m to

the right of the equilibrium
position and released from rest
at time t = 0.
Determine its displacement at
time t = 2 s.
The viscous damping coefficient
c is 20 N.s/m and the spring
stiffness k is 32 N/m.
 TUTORIAL #1 - Solution

We must first determine whether the system is

underdamped, critically damped, or overdamped.

For that purpose, we compute the damping ratio ξ

Free Body Diagram (FBD)

underdamped. !!
 TUTORIAL #1 - Solution

Damped Natural Frequency

When t = 0,
 TUTORIAL #1 - Solution

When t = 0,
(1) (2)

Solving Equation (1) and (2), then we obtain,

Displacement will be

>> time t = 2 s , then gives x2 = -0.0162 m.

k_spring = 32; %input('Spring constant: ');
mass = 8; %input('Mass: ');
c_damper = 20; %input('Damping Constant: ');
wn = sqrt(k_spring/mass);
critical_damping = 2*sqrt(mass*k_spring);
damping_ratio = c_damper/critical_damping;
wd = wn*sqrt(1-damping_ratio^2); disp(double(wd));

syms t C angle;
x = C*exp(-damping_ratio*wn*t)*sin(wd*t + angle);
x_dot = diff(x);

t1 = 0;
x_new = subs(x,t,t1);%disp(x_new);
x_dot_new = subs(x_dot,t,t1);%disp(x_dot_new);

angle1 = solve(x_new == 0.2, angle); disp(angle1);

angle2 = solve(x_dot_new == 0, angle); disp(double(angle2));
angle_1 = angle1(1,1); angle_2 = angle2(2,1);
C_new = solve(angle_1 == angle_2,C); disp(double(C_new));

x_final = subs(x,C,C_new); disp(x_final);

x_final = subs(x_final,angle,angle_2);
disp(x_final);
x_2s = subs(x_final, t, 2); disp(double(x_2s));
 Alternate Solution using General Solution

k_spring = 32; %input('Spring constant: ');

mass = 8; %input('Mass: ');
c_damper = 20; %input('Damping Constant: ');
wn = sqrt(k_spring/mass);
critical_damping = 2*sqrt(mass*k_spring);
damping_ratio = c_damper/critical_damping;
wd = wn*sqrt(1-damping_ratio^2); disp(double(wd));

syms t C A B;
%A = 0.2; velocity = 0;
t1 = 0;
x_displacment = A * cos (wd*t) + B *sin(wd*t);

x = exp(-damping_ratio*wn*t)*x_displacment; %disp(x);
x_dot = diff(x); %disp(x_dot);
x_inital = subs(x,t,t1); x_dot_initial = subs(x_dot,t,t1);
%disp(x_inital); disp(x_dot_initial);
A1 = solve(x_inital == 0.2, A);
x_dot_int = solve(x_dot_initial ==0,B);
disp(x_dot_int); B1 = subs(x_dot_int,A,A1);
disp(B1);
x_final = subs(x,A,A1);
x_final = subs(x_final,B,B1);
disp(x_final);
t2 = 2;
x_final_new = subs(x_final,t,t2);
disp(double(x_final_new));
EXAMPLES
TUTORIAL
syms c x t tida x_dot Wn zida;
k = 100; C = 12; m = 60;
Wn = (k/m)^0.5;
zida = C / (2*m*Wn); %underdamping ; zida <1 (0.0775)

Wd = Wn*(1-zida^2)^0.5;
x = c*exp(-zida*Wn*t)*sin(Wd*t + tida);
%displacement@amplitude
x_dot = diff(x,t); %velocity

t=0;
x_t_0 = subs(x,t);
x_dot_t_0 = subs(x_dot,t);

sol = solve([x_t_0==0.05, x_dot_t_0==0.3],[c, tida]);

%resolve equations
c_sol = double(sol.c); tida_sol = double(sol.tida);
c_new = c_sol(1,1); tida_new = tida_sol(1,1);% extract
number from matrix

x = subs(x,c,c_new); x = subs(x,tida,tida_new); ANS:

t2 = 10; x_t_10 = subs(x,t2); disp(double(x_t_10)); When t = 10, x = 0.0437m