ME 411 :

Mechanical Vibrations

Engr. Dr. M. Usama Siddiqui

ME Department
DHA Suffa University

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 1

 Chapter 2
Free Vibration
of Single
Degree of
Freedom
Systems
Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 2
 Topic 3
Equations of Motion for
Single DOF Systems

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 3

Objectives
After you have finished this topic you will be able to do the following:
• Draw the Free Body Diagram of a mechanical system
• Obtain the equation of motion of a system having a single degree of
freedom

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 4

Introduction
Several mechanical and structural systems can be idealized as single degree of freedom
(1 dof) systems. For example consider the following cam follower mechanism

Cam
follower
system
Equivalent
Spring–mass
system

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 5

Introduction
Modeling of tall structure as spring-mass system

Idealization of
a tall structure

Equivalent Spring –mass

system

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 6

General Form of Equation of Motion for Undamped Systems
• The differential equation governing the free vibration of any undamped single DOF
system has the form,
̈+ =0

• If the generalized coordinate is angular, then,

̈+ , =0

• The solution of the above equation can be found in the form,

0 =
t = with initial conditions
̇ 0 = ̇

Solutions of the equations of motion will be discussed in future topics

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 7

Alternate Form of the Equation of Motion
The equation of motion can be written in a non-dimensional form as,.

̈+ =0 ̈+ =0

where,
=

Therefore, the equation of motion can be written as,

̈+ =0

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 8

Derivation of Equation of Motion
Four methods
1. Newton’s 2nd Law
2. D’Alembert’s Principle
3. Principle of Virtual Work
4. Principle of Conservation of Energy

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 9

Equation of Motion - Newton’s Second Law
1. Select a suitable coordinate to describe the position of the mass in the system  Generalized Coordinate.

2. Determine the static equilibrium configuration of the system and measure the displacement of the mass from
its static equilibrium.

3. Draw the Free Body Diagram (FBD) of the mass when a positive displacement and velocity are given to it.
Indicate all the active and reactive forces acting on the mass.

4. Apply Newton’s second law of motion to the mass shown by the FBD.

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 10

Equation of Motion - Newton’s Second Law
The rate of change of momentum of a mass is equal
to the force acting on it

If mass m is displaced a distance x when acted upon by a resultant force ∑ in the same direction,

∑ =

If mass m is constant, this equation reduces to,

∑ = = ̈

Where ̈ = / is the acceleration of the mass.

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

∑ℳ = = ̈

where ℳ is the resultant moment acting on the body and and ̈ are the resulting angular displacement and
angular acceleration, respectively.
Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 11
Equation of Motion - Newton’s Second Law
For undamped single degree of freedom system, the application of
Newton's second law to the mass m yields the equation of motion:

∑ = = ̈

− = ̈
̈+ =0

̈+ =0

=
Comparing to,

̈+ =0

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 12

Equation of Motion – D’Alembert’s Principle
• D’Alembert’s Principle states the equation of motion as,

∑ − ̈ =0

where − ̈ is treated as a fictitious force called the inertia force.

• Since the summation of forces is equal to zero, the system is considered to be in an artificial state of
equilibrium.

• For a torsional system, the equation of motion is,

∑ℳ − ̈ =0

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 13

 Equation of Motion –Principle of Virtual Work
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 below, the virtual work done by each force can be computed as:

Virtual work done by the spring force = =−

Virtual work done by the inertia force = =− ̈

When the total virtual work done by all the forces is set equal to zero, we obtain
− ̈ − =0 .( . )
Since the virtual displacement can have an arbitrary value, ≠ 0, Eq.(2.5) gives the equation of motion of the spring-mass
system as:
̈+ =0
Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 14
Equation of Motion –Principle of Conservation of Energy
A system is said to be conservative if no energy is lost due to friction or energy-
dissipating.
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:

d
+ = constant → T+U =0
dt
For a spring mass system,

1 1
+ = ̇ +
2 2
Taking time derivative,

1 1
2
̇ +
2
=0 ̇ ̈+ ̇ =0 ̈+ =0

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 15

Example 1- Equation of Motion
Determine the equation of motion of the system shown on right
using:
1. Newton’s second law
2. D’Alembert’s principle
3. Principle of virtual work
4. Principle of conservation of energy

The system moves in the horizontal plane. The moment of inertia

of the rigid bar is J about its center of rotation

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 16

Example 1- Equation of Motion
1. Newton’s second law
̈ =∑
̈ =− −
̈ =− −
, ̇ , ̈

̈+ + =
, ̇ , ̈

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 17

Example 1- Equation of Motion
2. D’Alembert’s principle

− ̈ +∑ =0
− ̈− − =0
̈
− ̈− − =0
, ̇ , ̈

̈+ + =
, ̇ , ̈

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 18

Example 1- Equation of Motion
3. Principle of virtual work

=0
− ̈ − − =0
̈
− ̈ − − =0
, ̇ , ̈

̈+ + =
, ̇ , ̈

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 19

Example 1- Equation of Motion
4. Principle of conservation of energy

1 1 1
+ = ̇ + +
2 2 2

1 1 1
+ = ̇ + + =0 , ̇ , ̈
2 2 2

1 1 1
2 ̇ ̈ + 2 ̇ + 2 ̇ =0 , ̇ , ̈
2 2 2
̇ ̈ + ̇ + ̇ =0

̈+ + =
Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 20
Example 2 – Equation of Motion
Use the energy method and principle of virtual work to calculate the equation of motion and natural frequency of the
mechanism shown below. Obtain an equation in the linear motion x.

Solution

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 21

Example 2 – Equation of Motion

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 22

Example 2 – Equation of Motion

How can be apply

Principle of virtual work?

− ̈ − ̈ − − =0

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 23

Systems with Viscous Damping
• Damping is always present in actual mechanical systems, although in some
cases it may be negligibly small.
• The equation of motion of the mass- spring-damper system shown in the figure
may be obtained using
qNewton’s second Law,
qD’Alembert’s Principle, or
qPrinciple of Virtual Work.

• Remember,
Mass-Spring Damper System
Method of Conservation of Energy is not applicable to
systems with damping

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 24

General Form of Equation of Motion with Damping
• The differential equation governing the free vibration of any single DOF system with Damping has the form,

̈+ ̇+ =0

• If the generalized coordinate is angular, then,

̈+ ,
̇+ , =0

• The solution of the above equation can be found in the form,

0 =
t = with initial conditions
̇ 0 = ̇

Solutions of the equations of motion will be discussed in future topics

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 25

Alternate Form of the Equation of Motion
Using the definition of damping ratio , the equation of motion can be written in a generalized form.

̈+ ̇+ =0 ̈+ ̇+ =0

where,
2
= = =2

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 26

Equation of Motion for Systems with Damping
Spring force: = k = stiffness constant
Inertia force: = ̈ M = mass
c = damping constant
Damping force: = cẋ

From the figure, Newton’s law

yields the equation of motion:

∑ = ̈
− ̇− = ̈

or

̈+ ̇+ =0

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 27

Problem 2.117 - Equation of Motion
Determine the equation of motion of the system shown below using:
1. Newton’s 2nd law (or D’Alembert’s principle)
2. Principle of virtual work
The moment of inertia of the rigid bar about is

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 28

Problem 2.117 - Equation of Motion
Application of Newton’s 2nd Law
̈ =∑

3
̈ =− − −
4 4 4

3
̈ =− 3 − ̇ −( )
4 4 4

=
3 4
̈+ 3 + ̇+ =0
4 4 4 =
4
3 3
̈+ ̇+ =
=0 4
16 4

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 29

Problem 2.117 - Equation of Motion
Application of Principle of Virtual Work
=0 =
4
− ̈ − − − x =0 =
4
− ̈ − 3 − ̇ − =0 3
=
4
3
̈ + 3 + ̇ + =0
4 4 4

3
̈+ ̇+ =0
16 4

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 30

Problem 2.115 – Equation of Motion
Determine the equation of motion of the system shown below using:
1. Newton’s 2nd law (or D’Alembert’s principle)
2. Principle of virtual work

1
=
2

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 31

Problem 2.115 – Equation of Motion

Newton’s Law: Free body diagram

Equation of Motion
3
̈+ ̇+ =0
2

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 32

Problem 2.115 – Equation of Motion

Principle of virtual work: Free body diagram

Motion of a point of a wheel

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 33
 QUESTIONS … ...?
Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 34