Mechanical vibrations
ME 4253
Chapter-2
Free Damped Vibration of Single-Degree of Freedom
Systems
Free single DoF vibration + viscous damping
1. Consider the mass spring damper system shown in the figure
2. Figure 2 shows the corresponding Free body diagram of the above
system
Figure 1
• 3. Recall: viscous damping force ∝ velocity:
• 4. where c is the damping constant or
coefficient [Ns/m]
• 5. Applying Newton’s second law of motion
to obtain the equation of motion
6. If the solution of the above equation is assumed to take the form
7. Substituting for x, xሶ and xሷ in the eqn. of motion (as shown in step on previous slide)
The root of the characteristic eqn is
8. The two solutions are
9. The general solution to the Eqn. of motion is
Eq.1
10. where C1 and C2 are arbitrary constants determined from the initial conditions
Roots of the equation will determine the behavior of the SDOF vibration system
11. Critical damping (cc): value of c for which the radical in the general solution is zero
12. Damping ratio ( ): damping coefficient : critical damping coefficient.
12. The roots can be written as
13. And the solution becomes
Eq-2
The response x(t) depends on the roots s1 and s2 . The behavior of the system is dependent
on the damping ratio .
Look at the Eq-2 now we will change the values of and see the behavior of the equation
There are three possible values of
14. CASE-1 When <1, the system is underdamped. (𝟐 -1) is negative and the roots can be written
as:
And the solution becomes
Step-1 Eq-3
Step-2 taking 𝝎𝒏
common Eq-4
Step-3 using Eq-5
trigonometric identities
Step-4 Introducing new Eq-6
constants by replacing C1
and C2
Lets debate Eq-6
ሶ
By using the initial conditions x(t=0)= x0 and 𝒙(t=0) = 𝒙𝒐ሶ respectively, in Eqs
Refer to page 191
The motion is a damped harmonic motion
of angular frequency
but because of the factor, the
amplitude decreases exponentially with
time, as shown in Fig. 2.22
CASE-2 Critically damped system =1
CASE-3 Overdamped system >1
Under-damped
Critically Damped
Over-damped
Example 2.11
The parameters of a single-degree-of-freedom system are given by m = 1kg, c = 5 N-
s/m, and k = 16 N/m. Find the response of the system for the following initial
conditions:
Solution
So which equation represents the response of the system
Underdamped ?
Example 2.12 Page 197
identification of the Characteristics of the System from the response
• The response of a single-degree-of-freedom system that is initially
displaced and released is given by
Determine the damping ratio, natural frequency, and the initial displacement of the system
A railroad car of mass 2000 kg traveling at a velocity v = 10 m/sec is stopped at the end of the tracks by a spring-
damper system, as shown . If the stiffness of the spring is k = 80 N/mm and the damping constant is c = 20 N-
s/mm, determine (a) the maximum displacement of the car after engaging the springs and damper and (b) the time
taken to reach the maximum displacement.
Example 2.15
Given
Mass of system m=500 kg
Stiffness K = 10 000 N/m
Required
(1) the damping constant of the damper
(2) The initial recoil velocity of the gun
(3) the time taken by the gun to return to a position 0.1 m from
its initial position
1. The undamped natural frequency of the system is
Mass of system m=500 kg
Stiffness K = 10 000 N/m
How ?
can we use the following formula
𝑐𝑐 = 2m 𝜔𝑛
and the critical damping coefficient (Eq. 2.65) of the damper is
2. The initial recoil velocity of the gun 𝑥𝑜ሶ
So what is the response (displacement of critically damped system )
The response of a critically damped system is given by Eq. (2.78):
The values of the constants can be determine with the help of initial conditions
𝐶1 = 𝑥0
𝐶2 = 𝑥𝑜ሶ + 𝜔𝑛 𝑥0
The differentiation of the equation 2.78 results in What information we
have from the system
The time t1 at which x(t) reaches a maximum value can be obtained by setting the differential equal to zero
As
Problem 2-137
Problem 2-137
Problem 2-149
Problem 2-150
