Mechanical Vibrations

(MED 343)
Lecture 4: Free vibration of damped SDOF systems

Dr. Mahmoud Atef

Department of Mechanical Design and Production
Engineering
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Quiz

A mass m is attached to a cord that is under a tension T, as shown in Figure. Assuming

that T remains unchanged when the mass is displaced normal to the cord.
(a) write the differential equation of motion for small transverse vibrations .
(b) find the natural frequency of vibration

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Damping

• Damping is the dissipation of energy from a vibrating

structure.
• Damping converts kinetic or potential energy in the
system into thermal energy.
• Dissipation of energy, typically through friction or other
resistive forces.
• Damping leads to a reduction of the amplitude of
oscillations or vibrations over time.

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Types of Damping
1- Viscous Damping:
• It is commonly encountered in mechanical systems with components that move through or are in
contact with fluids.
• In viscous damping, the resistive force acting against motion is directly proportional to the velocity
of the moving object.
• Example: Shock Absorbers in Cars, which uses viscous damping to absorb shocks, with a piston
moving through oil to reduce the amplitude of bumps.
x Fd = C.x
C is the viscous
damping coefficient,
N.s/m

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Types of Damping
2- Dry friction damping:
• Dry friction damping, also known as Coulomb damping
• It occurs when two surfaces slide against each other, creating a resistive force due to friction.
• Resistive force due to dry friction damping remains nearly constant, regardless of the velocity of the
moving object, as long as motion continues.

N = mg
Fd =  .N
μ is the coefficient of
friction

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Types of Damping
3- Structural damping:
• Structural damping, also known as hysteretic damping
• Energy is dissipated as the material undergoes cyclic stress and strain, causing internal friction
among molecules or microscopic structural changes. This loss of energy per cycle appears as heat.
• The damping force in structural damping is related to the amplitude of deformation rather than the
velocity or constant friction.
• Different materials have varying degrees of structural damping. Metals, for example, have low
internal damping, while polymers and some composites exhibit much higher damping.

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Mass-spring- damper system
Equation of motion m.x + cx + kx = 0
Assume the solution is

Upon substitution into the differential equation, we

obtain the characteristic equation as:

This equation has two roots which are:

The general solution of this equation is

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Mass-spring- damper system
▪ The behavior of the damped system depends upon werther the raidical are real ,
imaginary or zero.
▪ The value of damping coefficient which makes the radical is zero knowing as
critical damping coefficient Cc

▪ The value of any damping is conventionally expressed in terms of critical

damping by nondimensional term (damping ratio):
▪ The roots of characteristics equation can be expressed as:

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Response of free-damped SDOF system

Under damped motion

Undamped motion

Over damped Critically damped motion

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Response of free-damped SDOF system
Overdamped system

▪ The roots of characteristics equations are real,

which are

▪ The response of system are:

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Response of free-damped SDOF system
Critical damped system

▪ The roots of characteristics equations are two

equal roots , which are

▪ The response of system are:

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Response of free-damped SDOF system
underdamped system

▪ The roots of characteristics equations are two

imaginary roots , which are

▪ The response of system are:

▪ The damped natural frequency:

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Response of free-damped SDOF system

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Logarithmic decrement
▪ The logarithmic decrement is the natural log of the ratio of the amplitudes of any
two successive peaks.

Xn X .e −nt
 = ln = ln
X n +1 X .e −n (t + )
n
= ln e
n 2. 2.
= =
n 1− 2
1− 2

1 X0
 = ln
n Xn

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Logarithmic decrement
▪ The logarithmic decrement is dimensionless
and is actually another form of the
dimensionless damping ratio Once is known,
can be found

▪ For small

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Example 1

The following data are given for a vibrating system with viscous damping:
w = 10 N, k = 30 N/m., and C = 0.12 N.s/m.
Determine the logarithmic decrement and the ratio of any two successive amplitudes.

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Example 2
A rigid uniform bar of mass m and length l is
pinned at o and supported by a spring
and viscous damper, as shown in Figure .

Measuring 𝜗 from the static equilibrium

position, determine

(a) the equation for small 𝜗 (the moment of

inertia of the bar about 0 is ml 2/3).
(b) the equation for the undamped natural
frequency
(c) The expression for critical damping.
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Example 3
The schematic diagram of a large cannon is shown in Figure . When the gun is fired, high-pressure
gases accelerate the projectile inside the barrel to a very high velocity. The reaction force pushes the
gun barrel in the direction opposite that of the projectile. Since it is desirable to bring the gun barrel to
rest in the shortest time without oscillation, it is made to translate backward against a critically damped
spring-damper system called the recoil mechanism. In a particular case, the gun barrel and the recoil
mechanism have a mass of 500 kg with a recoil spring of stiffness 10,000 N/m. The gun recoils 0.4 m
upon firing. Find (1) the critical damping coefficient of the damper, (2) the initial recoil velocity of the
gun, and (3) the time taken by the gun to return to a position
0.1 m from its initial position

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