Lecture 3

DAMPED FREE VIBRATION OF

SDOF
 What is DAMPING?
• So far, we've analysed vibration of several conservative systems.
• In such a scenario if the system was set in motion, it continues to move
indefinitely. This is counter to our everyday experience.
• In real life, when a system is set into vibration, it will vibrate with a
progressively decreasing amplitude and eventually stop moving
• So far we’ve neglected energy dissipation. In this lecture, we explore
the influence of energy dissipation on free vibration of a spring-mass
system

TYPES OF DAMPING
There are mainly five types of damping:
1. Viscous damping
2. Coulomb damping
3. Structural damping
4. Active damping (or) Negative damping
5. Passive damping
 Viscous Damping
When the system is made to vibrate in a surrounding
viscous medium that is under the control of highly viscous
fluid, the damping is called viscous damping.

Viscosity is the property of a fluid by virtue of which it offers

resistance to the motion of one layer over the adjacent
layer. This type of damping is achieved by means of a
device called hydraulic dashpot. The main components of a
viscous damper or dashpot are cylinder, piston and viscous
fluid

The viscous damping force F is proportional to the velocity

𝑥ሶ or v and can be expressed as:
𝐹 ∝ 𝑥ሶ
𝑭 = −𝒄𝒙ሶ
Consider a mass m attached from one end of the linear
spring having stiffness of k and also connected by means
of a dashpot or damper that provides viscous damping
with a damping coefficient or damping constant c.
The force provided by the dashpot is equal to c𝑥ሶ

The governing D.E of motion can be written from FBD as:

𝑚𝑥ሷ + 𝑐𝑥ሶ + 𝑘𝑥 = 0
Viscous damping (cont’d)
The solution may be assumed to be in the form of:
𝑥(𝑡) = 𝑒 𝜆𝑡
Where 𝜆 is a constant to be determined
Differentiating:
𝑥ሶ = 𝜆𝑒 𝜆𝑡
𝑥ሷ = 𝜆2 𝑒 𝜆𝑡
Substituting the above two eqns into the governing D.E

𝑚𝜆2 𝑒 𝜆𝑡 + 𝑐𝜆𝑒 𝜆𝑡 + 𝑘𝑒 𝜆𝑡 = 0

(𝑚𝜆2 + 𝑐𝜆 + 𝑘)𝑒 𝜆𝑡 = 0

Non-trival soln 𝑚𝜆2 + 𝑐𝜆 + 𝑘 = 0

 Viscous damping (cont’d)
Divide through by m

𝑐2
𝑘
𝜆 + 𝜆+ =0
𝑚 𝑚

This equation is known as the characteristic equation and

has two roots
−𝑐 𝑐 2 𝑘
± −4
𝑚 𝑚 𝑚
𝜆1,2 =
2

−𝑐 𝑐 2 − 4𝑘𝑚 −𝑐 1 2
± 𝑚 𝑐 − 4𝑘𝑚
𝜆1,2 𝑚 ± 𝑚2 OR 𝜆1,2 = 𝑚
= 2
2
 Viscous damping (cont’d)
Hence, the general solution is given by the equation:

𝑐 𝑐 2 𝑘
𝜆1,2 =− ± −
2𝑚 2𝑚 𝑚

• When the damping term (c/2m)2 is larger than k/m, the

exponents in the equation are real numbers and no
oscillations are possible. This case as called overdamped.

• When (𝑐/2𝑚)2 is smaller than 𝑘/𝑚, the system is termed as

underdamped system. The roots of the characteristic
equation are complex conjugates, corresponding to oscillatory
motion with an exponential decay in amplitude.
 Critical damping and damping ratio
• The critical damping is defined as the value of the damping
constant cc for which the radical in the preceding eqn
becomes zero
𝑐𝑐 2 𝑘
− =0
2𝑚 𝑚
• The system is termed as critically damped cc. The roots of
characteristic equation are equal, corresponding to simple
decaying motion.

𝑘 𝑐𝑐 = 2𝑚𝜔𝑛
𝑐𝑐 = 2𝑚 𝑐𝑐 = 2 𝑘𝑚
𝑚
 Critical damping and damping ratio (Cont’d)

For any damped system, the damping ratio is defined as the ratio of
the damping constant to the critical damping constant:
𝑐
𝜁=
𝑐𝑐
𝑐 𝑐 𝑐𝑐
= . = 𝜁𝜔𝑛
2𝑚 𝑐𝑐 2𝑚

𝜆1,2 = −𝜁 ± 𝜁 2 − 1 𝜔𝑛

−𝜁+ 𝜁 2 −1 𝜔𝑛 𝑡 −𝜁− 𝜁 2 −1 𝜔𝑛 𝑡
𝑥 𝑡 = 𝐶1 𝑒 + 𝐶2 𝑒

The nature of the roots 𝜆1 and 𝜆2 , thus behaviour of the solution,

depends upon the magnitude of damping. It can be seen that the case ζ =
0 leads to the undamped vibrations. Hence we assume that 𝜁 ≠ 0
consider the following three cases:
 Underdamped

Underdamped system (𝜁<1 or c < cc or c/2m or < 𝑘/𝑚 .

For this condition (𝜁 2 − 1), is negative and the roots 𝜆1 and 𝜆2

can be expressed as

𝜆1
𝜆2
 Underdamped (cont’d)
The solution of the following eqn can be written in these
forms below:
−𝜁+ 𝜁 2 −1 𝜔𝑛 𝑡 −𝜁− 𝜁 2 −1 𝜔𝑛 𝑡
𝑥 𝑡 = 𝐶1 𝑒 + 𝐶2 𝑒
Underdamped (cont’d)
 Underdamped (cont’d)
Hence solution becomes:
This eqn is for a damped harmonic motion of angular frequency
1 − 𝜁 2 𝜔𝑛 but because of the factor 𝑒 −𝜁𝜔𝑛 𝑡 , the amplitude
decreases exponentially with time, as shown in figure below.

𝜔 = 1 − 𝜁 2 𝜔
The quantity 𝑑 𝑛
is called the frequency of damped vibration.
 Overdamped System

Overdamped system (𝜁>1 or c > cc or c/2m or > 𝑘/𝑚 .

For this condition ( 𝜁 2 − 1 > 0, is positive and the roots 𝜆1 and 𝜆2

are real and distinct & can be expressed as:

When 𝜆2 ≪ 𝜆1 ; eqn below

𝐵𝑒𝑐𝑜𝑚𝑒𝑠:
Overdamped System
 Overdamped System
Eqn shows that the motion is aperiodic regardless of the initial
conditions imposed on the system. Since roots𝜆1 and 𝜆2 are both
negative, the motion diminishes exponentially with time, as
shown below:
 Logarithmic Decrement
• This represents the rate at which the amplitude of a free-
damped vibration decreases.
• Defined as the natural logarithm of the ratio of any two
successive amplitudes.
• Let t1 and t2 denote the times corresponding to two
consecutive amplitudes(displacements), measured one
cycle apart for an underdamped system
 Logarithmic Decrement
From the two previously derived eqns below,

we can form the ratio:

 Logarithmic Decrement

Hence the ratio becomes:

The logarithmic decrement 𝛿 can be obtained from the

above eqn as:

For small damping, the above eqn can be approximated as:

 Logarithmic Decrement

The logarithmic decrement is dimensionless and is actually another

form of the dimensionless damping ratio 𝜁. Once 𝛿 is known, 𝜁 can be
found by solving

𝛿
𝜁=
(2𝜋)2 + 𝛿 2
Torsional Systems with Viscous Damping
Linear vibrations with viscous damping can be extended
directly to viscously damped torsional (angular) vibrations.
For this, consider a single-degree-of-freedom torsional
system with a viscous damper. The viscous damping torque
is given by
 where Jo = moment of inertia of the disc,
kt = constant of the system (restoring torque per unit angular
displacement)
θ = displacement of the disc.
The solution of Eq. above can be found exactly as in the case
of linear vibrations

For example, in the underdamped case, the frequency of

damped vibration is given by

where and
 Coulomb damping
This form of damping is caused by friction between rubbing surfaces that
either are dry or have insufficient lubrication.

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 = 𝜇𝑁 = 𝜇𝑊 = 𝜇𝑚𝑔
Consider a SDOF system with dry friction as shown (a) above.
Since the friction force varies with the direction of velocity, we
need to consider two cases (b) and (c)

Let us look at the two cases:

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
2nd law [in fig (b) above]

𝑚𝑥ሷ = −𝑘𝑥 − 𝜇𝑁 OR 𝑚𝑥ሷ + 𝑘𝑥 = −𝜇𝑁

This is a 2nd order nonhomogeneous D.E. The solution can be

verified by substituting eqn below into the above

C.S P.S
𝑘
𝜔𝑛 = the frequency of vibration
𝑚
A1 and A2 are constants whose values depend on the initial
conditions of this half cycle.
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 derived fig (c) above

The solution for the above is given as:

𝜇𝑁
terms is a constant representing the virtual displacement of
𝑘
the spring under the force if it were applied as a static force.
 Comparisons Coulomb & viscous damping
1.The equation of motion is nonlinear with Coulomb damping, it’s
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.

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 by:

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

(i.e., in time 2π/𝜔𝑛 ), the slope of the enveloping straight lines
is given by:
Motion of the mass with Coulomb damping.
 Example 1
You are to determine the dynamic properties of a single storey
building from a damped free vibration test. The mass of the
building is 10 000kg. The building is given a initial displacement
of 0.702cm. Maximum displacement on the first cycle is 0.53 cm
and period of this displacement cycle is 1.7s. Determine the
following:
a. undamped frequency
b. effective weight
c. logarithmic decrement
d. damping ratio
e. damping coefficient
f. damped frequency & the amplitude after 6 cycles.
 Example 1
Given parameters:
➢ Mass (m) = 10,000kg
➢ T= 1.7 s
➢ 𝑥0 = 0.703 cm
➢ Cycles, n = 6
2𝜋 2𝜋
(a) Undamped frequency: 𝜔𝑛 = = =
𝑇 1.7
= 3.695 rad/s

(b) Effective weight 𝑘 = 𝜔𝑛2 . 𝑚 = 3.6952 × 10000

𝑘 = 1.3 × 105 𝑁/𝑚

 𝑊 𝑔𝑘𝑇 2 (9.81)(130000)(1.72 )
𝑇 = 2𝜋 𝑊= 𝑊=
(𝑘)(𝑔) 4𝜋 2 4𝜋 2
Effective weight = 93.36 kN

(c) Logarithmic decrement

𝑥0 0.702
= 𝑒𝛿 = 1.324 = 𝑒 𝛿 𝜹 = 𝟎. 𝟐𝟖
𝑥1 0.53

𝛿
(d) Damping ratio 𝜁= = 0.044
2𝜋

𝑐 𝑐
(e) Damping coefficient 𝜁= = 𝒄 = 3251.59 Ns/m
𝑐𝑐 2 𝑘𝑚
 (f) damped frequency & the amplitude after 6 cycles

𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2

𝜔𝑑 = 3.695 1 − 0.0442

Damped frequency 𝝎𝒅 = 𝟑. 𝟔𝟗 𝒓𝒂𝒅/𝒔

𝑥0
= 𝑒𝛿
𝑥𝑛

𝑥6 = 𝑥0 𝑒 −6𝛿

amplitude after 6 cycles 𝒙𝟔 = 𝟎. 𝟏𝟑𝟎𝟖 𝒄𝒎

 Example 2
A spring mass system with Coulomb damping has a mass of 10
kg attached to a spring of stiffness 1200 N/m. If the coefficient
of friction is 0.03, calculate:
(a) The frequency of free vibration
(b) Number of cycles corresponding to 50% reduction in
amplitude if the initial amplitude is 7cm; and
(c) The time taken to achieve this 50% reduction
Given Data
m = 10 kg
𝜇 = 0.03
k = 1200 N/m
Frictional force F = 𝜇mg = 0.03 x 10 x 9.8 = 2.943 N
 Solutions
(a) The natural frequency

𝑘 1200
𝜔𝑛 = = = 10.95 𝑟𝑎𝑑/𝑠
𝑚 10

𝜔𝑛
𝑓= = 10.95/2𝜋 = 1.74 Hz
2𝜋

(b) Amplitude after 50% reduction is half of the initial amplitude

which is equal to 3.5 cm

Reduction in 4𝐹 4 × 2.943
amplitude/cycle = = 𝟎. 𝟎𝟎𝟗𝟖𝟏𝒎
𝑘 1200
(b) Cycles to be completed in 50% reduction

0.035
=
9.81 × 103
= 𝟑. 𝟓𝟔 ≅ 𝟒 𝒄𝒚𝒄𝒍𝒆𝒔

(c) Time for 50% Reduction

2𝜋
4𝑇 = 4 ×
10.95
= 𝟐. 𝟑𝟏𝟔 s