ADDIS ABABA SCIENCE AND TECHNOLOGY UNIVERSITY

College of Engineering
Department of Mechanical Engineering

Mechanical Vibration
MEng5103
Dr. Abdulbasit M.
 2. SINGLE DOF SYSTEMS

2.1 Equation of Motion

• Newton’s Law of Motion

• D’Alembert’s Principle
• Energy Methods

2.2 Damped Free Vibrations

2.3 Forced Vibrations With & Without Damping

 2.1 Equation of Motion

Newton’s Law of Motion

❑ If mass m is displaced a distance when acted upon by a
resultant force in the same direction,
❑ If mass m is constant, this equation reduces to

(2.1)

❑ Where

❑ For a rigid body undergoing rotational motion, Newton’s Law:

 (2.2)

❑ Where is the resultant moment acting on the body

is the resulting angular displacement, and

is angular acceleration

❑ For undamped single DOF system, the application of Eq. (2.1)

to mass m yields the equation of motion:

(2.3)
 D’Alembert’s Principle
❑ The equations of motion, Eqs. (2.1) & (2.2) can be rewritten as
❑ The application of D’Alembert’s principle to the system
shown in Fig.(c) yields the equation of motion:
 Principle of Virtual Displacements
✓ “If a system that is in equilibrium under the action of a set of
forces is subjected to a virtual displacement, then the total
virtual work done by the forces will be zero.”
✓ Consider spring-mass system as shown, the virtual work
done by each force can be computed as:
▪ Virtual work done by the spring force
𝜹𝑾𝒔 = − 𝒌𝒙 𝜹𝒙
▪ Virtual work done by the inertia force
𝜹𝑾𝒊 = − 𝒎𝒙ሷ 𝜹𝒙
✓ When the total virtual work done by all the forces is set
equal to zero, we obtain
− 𝒎𝒙ሷ 𝜹𝒙 − 𝒌𝒙 𝜹𝒙 = 𝟎 (2.5)
✓ Since the virtual displacement can have an arbitrary value, ,
Eq.(2.5) gives the equation of motion of the spring-mass
system as
𝒎𝒙ሷ + 𝒌𝒙 = 𝟎 (2.3)
 Energy Method
❑ “A system is said to be conservative if no energy is lost due to
friction or energy-dissipating nonelastic members.”

❑ If no work is done on the conservative system by external

forces, the total energy of the system remains constant.

❑ Thus the principle of conservation of energy can be

expressed as:
❑ The kinetic and potential energies are given by
❑ Substitution of Eqs. (2.7) & (2.8) into Eq. (2.6) yields the
desired equation
 Spring-Mass System in Vertical Position
❑ Consider the configuration of the spring-mass system shown in fig.
❑ For static equilibrium,
❑ Where w = weight of mass m,

δst= static deflection, and g = acceleration due to gravity

❑ The application of Newton’s 2nd law of motion to mass m gives

❑ and since kδst = W , we obtain,

❑ Notice that Eqs. (2.3) and (2.10) are identical. This indicates that
❑ when a mass moves in a vertical direction, we can ignore its
weight, provided we measure x from its static equilibrium
position.

❑ Hence, Eq. (2.3) can be expressed as

(2.11)
❑ Where C1 and C2 are constants
❑ By using the identities

(2.12)

❑ Where A1 and A2 are new constants

❑ From Eq (2.12), we have

(2.13)
❑ Hence,

❑ Solution of Eq. (2.3) is subjected to the initial conditions of

Eq. (2.13) which is given by

(2.14)
 Harmonic Motion
❑ Eqs.(2.11), (2.12) & (2.14) are harmonic functions of time. Eq.
(2.12) can also be expressed as:

(2.15)

❑ where A0 and ϕ0 are new constants, amplitude and phase

angle respectively:
 (2.16)

(2.17)

❑ The nature of harmonic oscillation can be represented

graphically as shown in the figure.
Note the following aspects of spring-mass systems:

1. If the spring-mass system is in a vertical position, the

circular natural frequency can be expressed as

(2.18)

✓ The spring constant k can be expressed

(2.19)
✓ Hence,
(2.20)

✓ Natural frequency in cycles per second and Natural period

(2.21)

(2.22)
2. Velocity 𝒙(𝒕)
ሶ and the acceleration 𝒙(𝒕)
ሷ of the mass m at time t
can be obtained as:

(2.23)

(2.24)
3. If initial displacement (x0) is zero

(2.24)

✓ If initial velocity is zero,

(2.25)
4. The response of a single DOF system can be represented by:
(2.26)

(2.27)
✓ where y = 𝑥/𝜔
ሶ 𝑛

✓ By squaring and adding Eqs. (2.26) & (2.27)

(2.28)
✓ Phase plane representation of an undamped system
 2.4 Damped Free Vibrations

What is Damped Vibration?

❑ Damped vibration is the type of oscillation that occurs

when the energy of a vibrating system is gradually
dissipated by friction and other resistances.

❑ On this occasion, we say the vibration is damped.

❑ Moreover, in this situation, the vibrations gradually tend to
reduce or change the frequency or the intensity, causing the
system to rest in its equilibrium position.

❑ A common example of this type of vibration is the vehicular

suspension dampened by the shock absorber
 Types of Damping

❑ The following are the common types of damping;

a) Viscous Damping
b) Coulomb Damping
c) Structural or Hysteresis Damping
d) Slip or Interfacial Damping
e) Eddy Current Damping
 Free Vibration with Viscous Damping

❑ The viscous damping force F is proportional to the velocity 𝑥ሶ

or v and can be expressed as

(2.29)

❑ Where c is the damping constant or coefficient of viscous

damping and
❑ From the figure, Newton’s
law yields that the equation
of motion is

(2.30)
❑ To solve Eq. (2.30), we assume a solution in the form
(2.31)

❑ Where C and s are undetermined constants

❑ Inserting this function into Eq. (2.30) leads to the
characteristic equation

(2.32)
❑ The roots and solutions are

(2.33)

(2.34)
❑ Thus the general solution is

(2.36)

❑ Where C1 and C2 are arbitrary constants to be determined

from the initial conditions of the system
 Critical Damping Constant and Damping Ratio:

❑ The critical damping cc is defined as the value of the

damping constant c for which the radical in Eq.(2.33)
becomes zero:

(2.37)
❑ The damping ratio ζ is defined as:

(2.38)

❑ Thus the general solution for Eq.(2.36) is

(2.39)

❑ Assuming that ζ ≠ 0, consider the following 3 cases:

❑ The system can be analyzed for three conditions.
• ζ < 1, i.e, c > cc, which is called Under damped system.
• Ζ = 1, i.e, c = cc, which is called Critically damped system.
• ζ > 1, i.e, c < cc, which is called Over damped system.
❑ Depending upon the value of ζ, value of s in equation (2.39),
will be real and unequal, real and equal, and complex
conjugate respectively.
 𝒄
❖ Case 1. Underdamped system 𝜻 < 𝟏 𝒐𝒓 𝒄 < 𝒄𝒄 𝒐𝒓 𝟐𝒎
< 𝒌/𝒎.

✓ For this condition, 𝜻𝟐 − 𝟏 is negative and

✓ The roots s1 and s2 can be expressed as
✓ The solution, Eq. (2.39), can be written in different forms:
 (2.41)

✓ Where 𝐶1′ , 𝐶2′ , 𝑋, 𝜙 and 𝑋0 , 𝜙0 are arbitrary constants

to be determined from the initial conditions
✓ For the initial conditions at t = 0,

(2.42)

✓ and hence the solution becomes

(2.43)
✓ The motion described by Eq.(2.43) is damped harmonic
motion of angular frequency 𝟏 − 𝜻𝟐 𝝎𝒏
✓ But because of the factor 𝒆−𝜻𝝎𝒏𝒕 , the amplitude
decreases exponentially with time,
✓ The frequency of damped vibration is

(2.44)
Eq. (2.43)
 𝒄
❖ Case 2. Critically damped system 𝜻 = 𝟏 𝒐𝒓 𝒄 = 𝒄𝒄 𝒐𝒓
𝟐𝒎
= 𝒌/𝒎

✓ In this case, the two roots s1 and s2 in Eq. (2.33) are equal:

(2.45)

✓ Due to repeated roots, the solution of Eq.(2.30) is given:

(2.46)
✓ For the initial conditions 𝒙 𝒕 = 𝟎 = 𝒙𝟎 and 𝒙ሶ 𝒕 = 𝟎 = 𝒙𝟎ሶ for
this case gives:

(2.47)

✓ Thus the solution becomes:

 (2.48)

✓ It can be seen that the motion represented by Eq. (2.48) is

aperiodic (i.e., nonperiodic).
✓ Since 𝒆−𝝎𝒏𝒕 → 𝟎 𝑎𝑠 𝒕 → ∞ , the motion will eventually
diminish to zero, as indicated in the Figure.
 𝒄
❖ Case 3. Overdamped system 𝜻 > 𝟏 𝒐𝒓 𝒄 > 𝒄𝒄 𝒐𝒓
𝟐𝒎
> 𝒌/𝒎

✓ As 𝜻𝟐 − 𝟏 > 𝟎 Eq. (2.33) shows that the roots s1 and s2 are

real and distinct and are given by

(2.49)

✓ In this case, the solution, Eq. (2.34), can be expressed as:

(2.50)
✓ For the initial conditions 𝒙 𝒕 = 𝟎 = 𝒙𝟎 and 𝒙ሶ 𝒕 = 𝟎 = 𝒙𝟎ሶ ,
the constants C1 and C2 can be obtained:

(2.51)
 Logarithmic Decrement:
✓ The logarithmic decrement represents the rate at which
the amplitude of a free-damped vibration decreases.
✓ It is defined as the natural logarithm of the ratio of any
two successive amplitudes.
✓ Using Eq. (2.41), we can form the ratio
 (2.52)

✓ But 𝑡2 = 𝑡1 + 𝜏𝑑, where 𝜏𝑑 = 2𝜋/𝜔𝑑 is the period of damped

vibration.
✓ Hence cos 𝜔𝑑 𝑡2 − 𝜙0 = cos 2𝜋 + 𝜔𝑑 𝑡1 − 𝜙0 = cos 𝜔𝑑 𝑡1 − 𝜙0
✓ Eq. (2.52) can be written as

(2.53)
✓ The logarithmic decrement δ can be obtained from Eq. (2.53)

(2.54)
✓ For small damping, Eq. (2.54) can be approximated:
(2.55)

✓ For small damping, Eq. (2.54) can be approximated:

(2.56)

✓ If we use Eq. (2.55) instead of Eq. (2.54), we have

(2.57)
✓ If x1 and xm+1 are the amplitudes corresponding to times t1
and tm+1 = t1 + mτd where m is an integer, we obtain

(2.58)

✓ Thus
(2.59)
 Energy dissipated in Viscous Damping
✓ In a viscously damped system, the rate of change of energy
with time is given by:

(2.60)

✓ The energy dissipated in a complete cycle is:

(2.61)
✓ Consider the system shown in the figure.
✓ The total force resisting the motion is
(2.62)

✓ If we assume simple harmonic motion is

(2.63)

✓ Eq.(2.62) becomes
(2.64)
✓ The energy dissipated in a complete cycle will be

(2.65)
✓ Computing the fraction of the total energy of the vibrating
system that is dissipated in each cycle of motion,

(2.66)

✓ Where W is either the max potential energy or the max

kinetic energy
✓ The quantity ∆W/W is called the specific damping capacity
and is useful in comparing the damping capacity of
engineering materials.
✓ The loss coefficient is defined as

(2.67)
 Torsional systems with Viscous Damping:
✓ Consider a single degree of freedom torsional system with a
viscous damper as shown in figure
✓ The viscous damping torque is given by

(2.68)
✓ The equation of motion can be derived as:
(2.69)

✓ Where J0 = mass moment of inertia of the disc

kt = spring constant of the system
θ = angular displacement of disc
✓ In the underdamped case, the frequency of damped
vibration is given by

(2.70)

✓ Where
(2.71)
✓ And

(2.72)
 Free Vibration with Coulomb Damping

❑ 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:

(2.73)

❑ Where N is normal force and

μ is the coefficient of sliding or kinetic friction
❑ μ is 0.1 for lubricated metal, 0.3 for non-lubricated metal on metal,
1.0 for rubber on metal
❑ Coulomb damping is sometimes called constant damping
❑ Consider SDOF system with dry friction as shown in Figure,
❑ Since friction force varies with the direction of velocity, we
need to consider two cases as indicated in Fig.(b) and (c).

Case 1:
❑ 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 Fig.(b):
 (2.74)

❑ This is a nonhomogeneous 2nd-ODE

(2.75)

❑ Where 𝜔𝑛 = 𝑘Τ
𝑚 is the frequency of vibration and A1 and A2
are constants whose values depend on the initial conditions
of this half cycle
 Case 2:
❑ 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 be
derived from Fig. (c):

(2.76)
❑ The solution of Eq. (2.76) is given by

(2.77)

❑ where A3 and A4 are constants to be found from the initial

conditions of this half cycle.
❑ The term μN/k appearing in Eqs. (2.76) and (2.77) is a constant
representing the virtual displacement of the spring under the
force μN
❑ Eq. (2.61) and (2.63) can be expressed as a single equation
(using N = mg)

(2.78)

❑ where sgn(y) is called the sigum function, whose value is

defined as 1 for y > 0, -1 for y< 0, and 0 for y = 0.
❑ Assuming initial conditions as

(2.79)

❑ The solution is valid for half the cycle only, i.e., for 0 ≤ t ≤ π/ωn.
Hence, the solution becomes the initial conditions for the next
half cycle.
❑ The procedure continued until the motion stops, i.e., when xn ≤
μN/k.
❑ Thus the number of half cycles (r) that elapse before the motion
ceases is:

(2.80)
❑ Note the following characteristics of a system with Coulomb
damping:

1. The equation of motion is nonlinear with Coulomb

damping, while it is 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:

(2.81)
 Torsional Systems with Coulomb Damping:
▪ The equation governing the angular oscillations of the
system is

(2.82)
▪ The frequency of vibration is given by

(2.83)
▪ The amplitude of motion at the end of the rth half cycle (θr)
is given by:

(2.84)

▪ The motion ceases when

(2.85)
 Free Vibration with Hysteretic Damping

▪ Consider the spring-viscous damper arrangement shown in

the figure below.
▪ For this system, the force F needed to cause a displacement
x(t) is given by
(2.86)

▪ For a harmonic motion of frequency ω and amplitude X,

(2.87)
▪ When F versus x is plotted, Eq.(2.86) represents a closed
loop, as shown in Fig(b).
▪ The area of the loop denotes the energy dissipated by the
damper in a cycle of motion and is given by:

(2.88)
▪ Hence, the damping coefficient:

(2.89)

▪ Where h = hysteresis damping constant:

▪ Eqs.(2.87) and (2.88) gives
(2.90)
 Complex Stiffness
❖ For general harmonic motion, , the force is given by

(2.91)
❖ Thus, the force-displacement relation:
(2.92)
❖ Where

(2.93)
 Response of the system
❖ The energy loss per cycle can be expressed as
(2.94)

❖ Under hysteresis damping, the motion can be considered to

be nearly harmonic (since ∆W is small), and the decrease in
amplitude per cycle can be determined using energy
balance.
❖ The hysteresis logarithmic decrement can be defined as

(2.95)
❖ Corresponding frequency

(2.96)

❖ The equivalent viscous damping ratio

(2.97)

❖ Thus the equivalent damping constant is

(2.98)