Spring and Stiffness Mass or Inertia Elements Damping Simple Harmonic Motion Free Vibrations of SDOF

Spring and Stiffness
Mass or Inertia Elements

Damping
Lecture 3:
Simple Harmonic Motion
Free Vibrations of SDOF
Mechanical Vibrations
Lecture 2:
With many figures and models from Mechanical Vibrations, S. S. Rao

Introduction -1
Harmonic Motion
Periodic Motion: motion repeated after equal
intervals of time
Harmonic Motion: simplest type of periodic motion
Displacement (x): (on horizontal axis)
x A sin A sin t
Velocity:
Acceleration:
dx
A cos t
dt
d 2x
2
2
A
sin
x
2
dt
Introduction -2
Harmonic Motion
Harmonic motion as
the projection of the
end of a rotating
vector. This requires
the description of both
the horizontal and
vertical components.
It is more convenient
to represent harmonic
motion using complex
number representation
Introduction -3
Harmonic Motion
A=1, n=12
x(t) Asin( nt )
Displacement
-1
0
20
x(t) n Acos( nt )
Velocity
x(t) n2 Asin( nt )
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
0.1
0.2
0.3
0.4 0.5 0.6

Time (sec)
0.7
0.8
0.9
-20
0
200
Acceleration
0.1
0
-200
0
Note how the relative magnitude of each increases for n>1
Relationship between Displacement, Velocity and

Acceleration
Harmonic Motion
Introduction -5
Harmonic Motion
Period T
delay t
phase t 2ft
Amplitude A
0
Time (s)
x(t ) A sin(2ft )
Displacement x(t)
Introduction -6
Free Vibration of SDOF Systems

Free Vibration occurs when a system oscillates only
under an initial disturbance with no external forces
acting after the initial disturbance
Undamped vibrations result when amplitude of motion

remains constant with time (e.g. in a vacuum)
Damped vibrations occur when the amplitude of free

vibration diminishes gradually overtime, due to
resistance offered by the surrounding medium (e.g. air)
Free vibration -7

vs. damped vibration
Undamped
Free vibration -8

Several mechanical and structural systems can be
idealized as single degree of freedom systems, for
example, the mass and stiffness of a system
Free vibration -9

To study the free-vibration of the mass, we
need to derive the governing equation, known
as the equation of motion.
The equation of motion of the undamped

translational system is derived using four
methods:
Newtons second law of motion

DAlemberts principle
The principle of virtual displacements
The principle of conservation of energy
Free vibration -10

The equation of motion using Newtons second
law:
Select a suitable coordinate to describe the position
of the mass or rigid body in the system.
Determine the static equilibrium configuration of the
system and measure the displacement of the mass
from its static equilibrium
Draw the free-body diagram of the mass when a
positive displacement is given to it
Apply Newtons second law of motion to the mass
Resultant force on the mass = mass acceleration
F = ma
Free vibration -11
Free Vibration of an Undamped System

For undamped single degree of freedom system,

the application of Newtons second law to mass
m yields the equation of motion:
Free vibration -12
Let be the deflection caused by

hanging a mass on a spring
( = x1-x0 in the figure)
Then from static equilibrium:
mg k
Next use Newtons law in the vertical direction for some point x > x1 measured
from
Does gravity matter in spring problems?
So no, gravity does not have an effect on the vibration

(note that this is not the case if the spring is nonlinear)
Introduction -13

Does it matter if the mass and the spring are
hanged vertically?
No, gravity does not have

an effect on the vibration
M
x(t)
Free vibration -14
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:
or
T U constant
d
(T U ) 0
dt
Principle of Conservation of Energy.

A system is said to be conservative if no energy
is lost due to friction or energy-dissipating
nonelastic members.
Free vibration -15
d
(T U ) 0
dt
Substitution yields the desired equation:
The kinetic energy is stored in the mass and the

potential energy is stored in the spring and are
given by:
1 2
T mx
2
1 2
U kx
2
Recall;
mx kx 0
Free vibration -16

Spring and Stiffness Mass or Inertia Elements Damping Simple Harmonic Motion Free Vibrations of SDOF

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Spring and Stiffness Mass or Inertia Elements Damping Simple Harmonic Motion Free Vibrations of SDOF

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Spring and Stiffness

Mass or Inertia Elements

With many figures and models from Mechanical Vibrations, S. S. Rao

Harmonic Motion: simplest type of periodic motion

Displacement (x): (on horizontal axis)

0.4 0.5 0.6

Note how the relative magnitude of each increases for n>1

Relationship between Displacement, Velocity and

Free Vibration of SDOF Systems

Undamped vibrations result when amplitude of motion

Damped vibrations occur when the amplitude of free

Free Vibration of SDOF Systems

Free Vibration of SDOF Systems

Free Vibration of SDOF Systems

The equation of motion of the undamped

Newtons second law of motion

Free vibration -10

Free Vibration of SDOF Systems

Free Vibration of an Undamped System

For undamped single degree of freedom system,

Free vibration -12

Let be the deflection caused by

Does gravity matter in spring problems?

So no, gravity does not have an effect on the vibration

Free Vibration of an Undamped System

No, gravity does not have

Free vibration -14

Free Vibration of an Undamped System

If no work is done on the conservative system by

Principle of Conservation of Energy.

Free vibration -15

Free Vibration of an Undamped System

Substitution yields the desired equation:

The kinetic energy is stored in the mass and the

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