CH 03a, Free Vibration of SDOF

Chapter Three
Free Vibration of Single Degree of Freedom

(SDOF) Systems
Contents
Introduction
Un-Damped Free Vibrations in SDOF

• Response of Free Vibrations of an un-damped translational
system in SDOF
• Response of Free Vibrations of an Un-damped rotational system

in SDOF
Con…
Damped free vibrations in SDOF
• Response of free vibration with viscous damping in SDOF
• Free vibration of viscously damped translational system in SDOF
• Free vibration of viscously damped rotational system in SDOF
• Logarithmic decrement
• Energy dissipation in viscous damping

Con…
Damped free vibrations in SDOF
• Free Vibration with Coulomb Damping in SDOF
• Free Vibration with Hysteretic Damping

Introduction
 A system is said to undergo free vibration when it oscillates only under an

initial disturbance with no external forces acting afterward.
 The change of potential energy into kinetic energy and vice-versa keeps the
body vibrating without external excitation (force or disturbance).
 Some examples are the oscillations of the pendulum of a grandfather clock,

the vertical oscillatory motion felt by a bicyclist after hitting a road bump,
and the motion of a child on a swing after an initial push.
Cont...
 In many practical systems, the mass is distributed, but for a simple analysis, it
can be approximated by a single point mass.
 Similarly, the elasticity of the system, which may be distributed throughout the
system, can also be idealized by a single spring.
 Mechanical and structural systems can be idealized as single-degree-of-

freedom systems.
Cont...
 It is important to study the single degree freedom system for a clear

understanding of basic features of a vibration problem.
 Many of the techniques developed in single degree of freedom analysis are
applicable to more complicated systems.
Un-damped free vibrations in SDOF
Cont…
 Since there is no element that causes dissipation of energy during the motion
of the mass, the amplitude of motion remains constant with time; it is an un-
damped system.
 In actual practice, except in a vacuum, the amplitude of free vibration

diminishes gradually over time, due to the resistance offered by the
surrounding medium (such as air).
Response of un-damped free vibration in SDOF
1. Select a suitable coordinate to describe the position of the mass or rigid body in the
system. Use a linear coordinate to describe the linear motion of a point mass or the
centroid of a rigid body, and an angular coordinate to describe the angular motion of
a rigid body.
2. Determine the static equilibrium configuration of the system and measure the
displacement of the mass or rigid body from its static equilibrium position.
3. Draw the free-body diagram of the mass or rigid body when a positive displacement
and velocity are given to it.
4. Write an equation of motion and solve the resulting governing equation.

Cont...
 There are several methods to write an EOM
 Newton‟s 2nd law of motion

 D‟Alembert‟s Principle
 Virtual work method (the principle of virtual displacement)
 Energy method (the principle of conservation of energy)
Newton‟s second law of motion:
12 of change of momentum of a mass is equal to the force acting on it”

“The rate
Translational motion Rotational motion
A spring-mass system in horizontal position

D‟ Alembert‟s principle:
13
A spring-mass system in horizontal position

Principle of Virtual Displacements:
14
“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.”
Mass under virtual displacement

Principle of Conservation of Energy:
A conservative system:
 No energy lost due to friction or energy-dissipating non-elastic members.
 Total energy of the system remains constant.
15
Equation of Motion of a Spring-Mass
System in Vertical Position
is the static deflection the elongation due to the weight W of the mass m.
Cont... The system shown in Figure can be disturbed in two
ways :
(a) by pulling mass by distance „X’ given initial
displacement @ t=0, and
(b) by hitting mass by means of a fast moving object
with a velocity \ say „V’ given initial velocity @ t=0.
Solution
 Divide the EOM by m:
 It is 2nd Order Linear Homogeneous Ordinary Differential

Equation with Constant Coefficients
 As we anticipate oscillatory motion, we may propose a solution
in the form:
 To incorporate two arbitrary constants we choose a solution of

the form
Cont...
Cont...
 Now the general solution with arbitrary constant
 By applying the initial conditions to the general solution

arbitrary constants A and B can be determined:
 The particular solution becomes:

Cont...
For a clearer picture general solution can be expressed in a
different form by introducing the notation
Amplitude & Phase from the initial
conditions
Cont…
 Or
Amplitude & Phase from the initial
conditions
Solving yields
Frequency and Period
We often speak of frequency in Hertz, but we need rad/s in the arguments of the trigonometric
functions (Sin and Cos function).
Free Vibration of an Undamped Torsional
System
Equation of Motion
Solution

CH 03a, Free Vibration of SDOF

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Chapter Three

Free Vibration of Single Degree of Freedom

Un-Damped Free Vibrations in SDOF

• Response of Free Vibrations of an Un-damped rotational system

• Free vibration of viscously damped translational system in SDOF

• Free vibration of viscously damped rotational system in SDOF

• Energy dissipation in viscous damping

• Free Vibration with Hysteretic Damping

 A system is said to undergo free vibration when it oscillates only under an

 Some examples are the oscillations of the pendulum of a grandfather clock,

 Mechanical and structural systems can be idealized as single-degree-of-

 It is important to study the single degree freedom system for a clear

 In actual practice, except in a vacuum, the amplitude of free vibration

4. Write an equation of motion and solve the resulting governing equation.

 There are several methods to write an EOM

 Newton‟s 2nd law of motion

12 of change of momentum of a mass is equal to the force acting on it”

Translational motion Rotational motion

A spring-mass system in horizontal position

A spring-mass system in horizontal position

Mass under virtual displacement

 It is 2nd Order Linear Homogeneous Ordinary Differential

 To incorporate two arbitrary constants we choose a solution of

 Now the general solution with arbitrary constant

 By applying the initial conditions to the general solution

 The particular solution becomes:

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