3 Damped Free Vibrations 3.1 Introduction Every motion dissipates energy in one form or another. Damping is associated with e dissipation, i.e., Damping is the resistance offered by a body to the motion of a vibrating » The resistance may be applied by a liquid or solid internally or externally. Because of this resi vibrations die out overa few cycles of motion, External damping can be increased by using or dampers, A dashpot has a piston which moves in a cylinder filled with some fh advantage of providing damping in mechanical systems is just to control the amplitude of vil so that the failure occurring because of resonance may be avoided. 3.2 Different types of damping ‘The following are the common types of damping. (i) Viscous damping (ii) Coulomb damping (iii) Solid or structural damping (iy) Slip or interfacial damping. (i) Viscous damping It is the most common type of damping. When a system is allowed to vibrate in ali viscous medium, the damping is called as viscous damping. The resisting force experia viscous damping is proportional to the velocity. i.c., Fav -. F=cv x where c is the constant or coefficient of viscous damping. Two important types of viscous dampers coi used are (a) Fluid dash pot (b) Eddy current damping. (a) Fluid dash pot It consists of a piston moving to and fro in a cylinder with full of viscous fluid as sl Fig 3.1. Here the damping is experienced due toFree Vibrations 255 drag of fluid. pressure of the fluid that flows through: the clearance space pressure difference on the two sides of the piston. Fig. 3.1 _ Since the first two components are small, the damping is normally wholly due to the pressure ‘on the two sides of the piston. The value of damping coefficient ¢ is given by, 12p AL eisileg are seal Where [1 = Coefficient of viscosity of the fluid A = Areaof cross section of the piston { =length of the piston d,, = Mean diameter of the piston and the cylinder e = clearance between the piston and the cylinder, Figure 3.2 shows an example of free vibrations with viscous damping. ay . Spring dashpot kx = Spring force 8 ee iter mX = Inertia force cd = Damping force Fig. 3.2 The equation of motion for this can be written as nate eer Ge Rf a G.2.2)258 Mechanical Vibration (« -f) f 3.25 = [%- ZF) cos oer = (3.24 This equation holds good for half the cycle and for the motion towards the left or until again becomes zero, Hence * = — ( = ) @, sin @,1=0 =~ (3.2.10 m When @,¢ = tort= @, + half the cycle is completed. +. Displacement for half the cycle Fj F 2F } HO aoe yop ks ny eee ae G2.H ‘The displacement is negative and itis the amplitude for left extreme position of the body. Fo 2F this position the magnitude of displacement is reduced by an amount ~~ from the initial valueol x, In the next half cycle when the body moves to the right the initial displacement will be redi 2F 4P by = Therefore in one complete cycle the amplitude reduces by ~ Hence aconstant ampli 4F loss of api units for each cycle of motion as shown in Fig 3.6. The natural frequency of the syst remains the same in coulomb damping, X(t)259 Solid or structural damping This type of damping is due to the internal friction of the molecules. Due to vibratory motion, werials are cyclically stressed and energy is dissipated due to intermolecular friction. For most sctural materials like steel, aluminium, the energy dissipated is found to be a function of amplitude ly over a wide frequency range, Experiments show that for elastic materials for loading and siding conditions 2 loop is formed on stress-strain curve. The area of this loop represents the ergy dissipated due to molecular friction per cycle per unit volume, The size of the loop depends the material of the vibrating body, frequency and the amount of dynamic stress. This loop is (Figure. 3.7a), Hence this damping is also called as hysteresis damping. F hysteresis loop Stress (Force) > strain (Displacement) : Fig. 3.7 (a) ; Hysteresis loop Fig. 3.7 (b) ince the enclosed area in the hysteresis loop is the energy loss per loading cycle, it can be Ani ene OU nite SS ay aie (32.12) "thas been found experimentally that the energy loss per cycle is proportional to the stiffness he material and the square of the displacement amplitude X, but is independent of frequency. herefore the energy loss AK can be written as, Kee ain Moe 3.2.13) where $B = Dimensionless structural damping coefficient k = Equivalent spring stiffness X = Amplitude of vibration ‘In many cases AE is small and the motion is nearly harmonic in the form of equation 3.2.13 can be used to obtain an equivalent viscous damping coefficient. Assuming simple harmonic ie, x = Xsin(@,t +0) ‘The force exerted by the viscous damper is, ct = c,X cos (@,1+0)260 Mechanical Vibration alin 20 4 Bnergy loss per eyele AE = JC sar= Je w?x*cos* (@,1+9) a a 2 = mew X* Equating equations 3.2.13 and 3.2.15 Equivalent damping coefficient Bk Uae DUM eo ocean 3.2.16 ‘The value of structural damping coefficient B can be determined experimentally by determining the logarithmic decrement in a manner similar to that of viscous damping. ‘The energy equation for the half cycle between f, and 1, i.e., between C and E in Fig 3.8 is, dx mB? RBM 2 4 4 | Xt | 1+ nBy2 asl ie, 5 BE eS gc ee ee : SO Xe ~ 1am B/2 Similarly for the next half cycle Xi, | 1+nB/2 eee anergy 9 thy be wen ao Ge -. Ratio of successive amplitude x 1+nB/2 x Soe all als anu aan hose Gotta tres GJ Since B is very small for many materials, equation 3.2.19 can be written as, XL x, = 1+nB2 ae x <. Logarithmic decrement 8 = In x = in (1 + nB/2)=x8 Gh++ (3.2.22) — (3.2.23) iv) Slip or interfacial damping Machine elements are connected by means of various types of joints. Energy of vibration is d by microscopic slip on the interfaces of machine parts in contact under fluctuating ads. Slip also occurs on the interfaces of machine elements, forming various types of joints. The y dissipated per cycle depends upon the coefficient of friction, the pressure between the ting parts and the amplitude, The amount of damping depends upon the energy dissipated reyele. At zero pressure there is no energy loss since no energy is dissipated in friction but there aye slip. At very high pressure also no energy loss since there is no slip, Therefore there is an value of pressure for which the energy dissipated is maximum. The effective damping is for larger the energy dissipation. Figure 3.9 shows the variation of slip damping with contact Larger ampllitude Smaller amplitude Effective slip damping —— Pressure Fig, 3.9 Differential equation of damped free vibration (Viscous damping) WU.Feb/Mar 2002, ¥TU, June/July 2009, Dec.2010, VTU, Dec. 2013 / Jan. 2014, Dee 2014/Jan 2015) ‘Consider a spring carrying a mass at one end and the other end of which is fixed. A damper is ided between the mass and the rigid support as shown in Fig 3.10.262 Mechanical Vibratio Mean position affter time ‘t” * Fig. 3.10 me 6 c = damping coefficient (damping force per unit velocity) Let k = Stiffness of spring = @, = Frequency of natural undamped vibrations = displacement of mass from mean positions at time *t * * = velocity of mass at time ‘t’ X = Acceleration of mass at time ‘t’ kx = spring force mx = Inertia force c& = Damping force m = Mass suspended from the spring Ww = Weight of body = mg & = static deflection of the spring Let the body be displaced by a distance x in the downward direction from mean Now the forces acting on the body are, " & (i) Accelerating force in the direction of motion (i.e., downwards) = mn a =me (ii) Damping force or friction force in the opposite direction of motion (i.¢., upwards) =c (iii) Spring force in the opposite direction of motion (i.e., upwards) = keFree Vibrations 263 For the dynamic equilibrium of the body, the sum of inertia force and external forces in any etion should be zero. Here the external forces are damping force and spring force. The magnitude of inertia force “is same as that of accelerating force but it acts in the opposite direction of accelerating force, ; +. Inertia force = m¥, in the opposite direction of motion (i.e., upwards). Therefore the equation of motion can be written as, Match eR we ane (3.3.1) Equation 3.3.1 is the differential equation of the system and it can also be written as Cnet eee be yo tet] ee (8.3.2) mm A system having the equation of motion as given by equation 3.3.2 is said to be a single of freedom damped vibrating system. determine the natural frequency (@,) Put c =90 k ‘Hence the equation 3.3.2 becomes ¥ + 0+ —.x=0 m o, = ie , rad/sec soren (3.3.3) m ‘determine the critical damping coefficient Equation 3.3.2 is the differential equation of second order. Assuming the solution is of the xoe™, (3.3.4) ‘ & = ge“ and ¥= a7" "Substituting these values in equation 3.3.2, the equation becomes B: k ore™+ — ge%+ —e™ = 0 m m des We ie, [o?+—a+—]e* =0 mom k LG + a+ =0 ---- (3.3.5) m m264 Mechanical Vibre ae c c & SO 2m 2m m. otal The solution given by equation 3.3.6 takes one of the three forms, depending on whether 2 e k quantity ( ) | is zero or positive or negative. If this quantity is zero, then 2m) om ( 2 2m * ¢ = 2mo, ‘The critical damping coefficient c, is defined as the value of damping coefficient ¢ 2 ic k which the mathematical term () at ‘| ‘in equation 3.3.6 is equal to zero +. Critical damping coefficient ¢, = 2m, = 2/mk 2 ‘The ratio of actual damping coefficient to critical damping coefficient is called the: factor or damping ratio. It is denoted by & (zeta) Damping factor or Damping ratio E We have, o -to,+ 0,8 -1= [sive =i], a, = {8+ -ifo, a, = tee E-i}o, ‘The most general solution for the differential equation 3.3.2 is given by, SUE IN lege, toi os x=AeWhere A, and A, are two arbitrary constants which are to be determined from the initial litions of motion of the mass. cL, and G1, are its two roots Therefore equation 3.3,10 can be written as [ane ter ‘ a= Ae G31) Depending upon whether & is greater or equal or less than one, these roots may be real or ‘qual or complex conjugate Ai) 1f§> 1, the roots are real and negative. The damping is known as over damping, (ii) 1f§= 1, the roots are real and equal. The damping is known as critical damping, Mi) IF < 1, the roots are imaginary and both the roots are complex conjugates. The damping is known as under damping. (i) Over damped system Tf§ > 1, then the roots c., and oy, are real but negative, This is a case of over damping or large ing and the mass moves slowly to the equilibrium position. The motion is not periodic (i.e,, fiodic). In actual practice the over damped vibrations are avoided. From equation 3.3,11 the tal solution of the motion is, fsHea}oy ee x= Ae l + Ae The values of constants A, and A, can be determined from initial conditions. ie. when r = 0; displacement x =x, and velocity y= %, =A, +4, Xo =%o Now, iy = A[-G+VE=t]o, + 4[-5-yE=H]u, =», From equation 3.3.12 and 3.3.13 the values of A, and A, can be determined. The value of displacement x goes on decreasing with time. The system is non-vibratory in nujure. The characteristics of this type of motion are shown in Fig 3.1 1a and b @, = 3 rad/sec, § = 1.2, x(0) = 1 mm. baa time (s} (0) = 9mm) se+00e. (0) =—9mm is tab (ay Fig. 3.11266 Mechanical Vibratic (ii) Critically damped system [Fig 3.11(c)} 1f€ = 1, then the radical becomes zero and the roots a, and o., are real and equal. It is thee of critical damping i.e., when the frequency of damped vibration is zero, critical damping » occur, The motion in critical damping is not periodic (i.¢., it is aperiodic). This type of damping also avoided because the mass moves back rapidly to its equilibrium position. Since & = 1, the two roots of the equation 3.3.9, o., and a, are equal to each other 1 —- (3a ie, %, = O,=-@, Now the solution of equation 3.3.2 for ot, = 0, is given by, x= Ae + Ate! = Ae + Aste" = [A, +A, et ‘The values of constants A, and A, can be determined from initial conditions. ie, when = 0; x= 4, and y,=0 Xo = HFA, a = (A, +A) Co) e+ A, em = A, eH —(A, +A, 0, 2% Since when f = 0,x,=A, and y,=0= %,, San oe « A, = 3,0, Substituting the values of A, and A, in equation 3.3.15 x= [4+ xX, @,1] er = x, [1 +0,f] eo If v, #0, thenA,=v, +20, = [ty (vy + x0} eH ,=2 rad/sec, _3(0) =Imm x(t) mm us) = == 15i(0) = Omnis (0) = 10.0mm /s++ Fig. 3.11 (c) ++ (0) = 15.0mm |Under damped system _ Forthis system <1. Therefore the term under the roots becomes negative. The two roots , are thus known as complex conjugate. This is the most general condition that oceurs in all cal systems and is known as under damping, This is the only case which leads to oscillatory ‘Since the two roots of equation 3.3.9, o&, and a, are complex conjugate i.c., imaginary, their can be written as + fee, a= ian 33.18) and a, = {-§-iJ1-§7 fo, Hence the general expression becomes, a= aes + fete =o [A Gali! a Pet 2 [et G39) According to Euler's Theorem e® = cos6 +i sind e® = cos6—isin® ‘Hence equation 3.3.19 can be written as x = gs [A,cos 1-8 ot +4, isin IKE a+ A, cos 1-8? @¢-A, isin y1—€* 4 = e-wyt [(A, +A,) cos J1-€? OF + (A, —A,) é sin , 1-P of ie, x= eter [Ccos@y+Gsinaf (3.3.20) where C, = A, +A, C, = ,-A)i ta, = iE? ©, = Frequeney of under damped vibration Substituting C, = A, +A,=X sing and C,=i(A, ~A,)=Xcos Equation 3.3.20 can be written as x = et [X sind cos of +X cos 6 sin wf] Keg tPA SOPRA) der guiqanie|n egw wih (3.3.21) where X = yC/+Cj and = tan" a 2 "The values of C, and C, can be obtained, if the values of A, and A, are known, The valu A, and A, can be found from the initial conditions, Equation 3.3.21 indicates that the system oscillates with frequency ,. As is less than | is always less than @,. ‘The solution consists of three terms — X which is constant ~» 4% which decreases with time and finally e* =0 when t > 0 —+ Sin (@,t + @) which represents a repetition of motion. ‘Thus the resultant motion is oscillatory with decreasing amplitude having frequency of ultimately the motion dies down with time as shown in Fig 3.12(a). Decreasing exponentially with time Mean position Displacement (a) [Time period--4 ‘OVERDAMPED CRITICALLY DAMPED “'UNDERDAMPED © DISPLACEMENT x All the three types of damping responses (x — t) are presented in Fig. 3.12 (b) Figure 3,13 shows the variation of damped frequency with the damping factor §.Damped Free Vibrations 263 Time period of damped vibration epreat where a = Frequency of damped vibration, = 52@,He 9 == (3.3.23) 3.4 Logarithmic Decrement (VTU, Dec’09/Jan.10, June 2012, June / July 2014) Ivis defined as the natural logarithm of the ratio of any two successive amplitudes on the same side of the mean position in an under damped system. It is denoted by 5 (delta). The ratio of ‘any two successive amplitudes in an under damped system is always constant. Displacement Fig. 3.14 Equation 3.3.21 gives the displacement of an under damped system ie, =X e 4 sins +>)270 Mechanical Vibrations Equation 3,3,21 is an equation of harmonic motion in which Xe is the amplitude and @, is the angular frequency, When sin (02,t + 0) is equal to one, the amplitude is maximum. Also the amplitude will go on decreasing exponentially with time. Now, maximum amplitude x = X ¢* Letx, be the maximum amplitude when the time is /, and.x, be the maximum amplitude wl the time is ¢, 2x, = kM and gexee a xe a ae i ee Ga Where (f, = f,) is the period of oscillation or time difference between two consecuti amplitudes Substituting the value of ¢, in equation 3.4.2, Fa t,—$— x ade Lee eee ae 238 sili ’ * vig? Similarly it can be proved ors and so on 5 af Hence “= “2 = AB nn : 2 wy x, Now taking natural logarithm on both sides In (2) 7s % i -&? Logarithmic decrement 8 = nf 2 (3.48 a) 28 Sah when & is very small, 8 = 2n& em Also since —* Xy - Logarithmic decrement 5Damped Free Vibrations 271 3.5 Vibrational energy and logarithmic decrement x x Logarithmic decrement, 6 = én (2} ee aaen Xp & ets Lb +57 -> Let £, be the vibrational energy at amplitude x, \ BR =gee Similarly E, be the vibrational energy at amplitude x, I B= yk 2 My 1-(2) =1-(=1-e% a 2 4 ofa | ad 3 2 . ie, AE 2 og _ 20,28) BE 2 3! Since 6 is small, higher powers can be neglected | AE Renee i AE ie, 6 = Bea ater en eae G.5.1) 1 where AE = F, ~F, = Energy dissipated in one eycle. 3.6 Torsional system with viscous damping The viscous damping torque for the single degree of freedom torsional system with a viscous damper is given by where c, is the torsional viscous damping constant and. 6 is the angular velocity of the dise in viscous fluid. Hence the equation of motion can be written as, | anit pe hae aco aad: id | aaa mee age Be aR ade ean le ete (3.6.1)272 Mechanical Vibrat where Fis the mass moment of inertia of the disc, q or k, is the torsional stiffness and @ is angular displacement of the disc. Equation 3.6.1 can also be written as oat ap uabt gee b+ 7o+ 7 050 a (34 Equation 3.6.2 is identical in the form to equation 3.3.2 where the corresponding termsm, X, and x are replaced by f, ¢,, k, 6, @ and @ respectively. Frequency of under damped vibration yi-§? ©, suey o, = 1, a where ©, = fe rad/see and un & & 210, * 2k n ar a where ¢, Critical torsional damping constant and € = damping factor. Example : 3.1 Large guns are designed so that on firing the barrel recoils against a spring. At the end of the: arash pot is engaged that allows the barrel to return to its initial position in the minimum time wi oscillation. Determine the proper spring constant and the dashpot damping coefficient for a barrel amass of 900 kg, Initial recoil velocity at the instant of firing is 25 mm/sec and the distance recoiled m. Allo find the time required for the barrel to return to a position 0.15 m from the initial position ifthe! for recoil is 1/4 of time period. (VEU, Dec’ 6) Data : m = 900 kg 3v=25misee; x Solution : i) Asthe dash potis not operating during recoil, the initial kinetic energy of the barrel is equal tothe done by the spring ie., Kineticenergy = Potential energy Bl itn tw = 1 1 ie, yx Ox 2s e a xkx le 2. Spring constant k = 250000 N/m = 250 N/mm, ii) In order to return the barrel to the original position in minimum time without oscillation the should be designed for critical dampingDamped Free Vibrations 273 € = €,=2ma,=2Jfm = 2v250000%500 = 30000 N-sec/m = 30 N-see/mm. iii) Circular frequency o,= ie =y BeeaOO = 16.667 radleee m 300 an 2n Time period 7 = [6667 =0:377 sec. = cycle time ‘The time taken by the gun barrel is only 1/4 of the total eyele time because recoil takes place only during the quarter of cycle. | + Time for recoil = 1/4 x time period = 1/4 x 0.377 = 0.094 sec. oh For critical damping the displacement x= (A, + A,)) € "where A, and A, are constants. ‘The value of constants A, and A, can be determined from initial conditions. The initial condition is, when t=0,x= 1.5 mand +=0 15 = A, 0, 0 A, +4) -@)e™ +A,€ since when t=0, #=0 0 = -@A,+A, “A, = A\@, = LS x16.667 = 25 Here x = 0.15 m O18 = (L5+25He “sen Solving this equation for t by trial and error method. t (5 + 25t) ee = (1,5 + 25t}e “0 O1 4 0.1889 0.7555 02 6.5 0.03567 0.232 0.25 1.95 0.0155 0.12 0.24 78 0.0183 0.1374 0,232 73 0,02093 0.1527 0,233 7.325 0.02058 0.1507 Hence t can be taken as 0.233 sec. +, Total time = 0.233 + 0.094 = 0,327 sec.274 Mechanical Vibratior 0.094 sec 0.233 sec “Critically damped oO ——> t (sec) Fig. 3.15 Example : 3.2 A damped spring masssystem hasm = 10.4g,£= 10 N/mm ande =0.1 Nsfmm, Obtain the equation! ‘the displacement of the mass Data : m = 10Kg; k= 10 N/mm = 10000 Néms ¢ = 0.1 Nsfmm= 100Ns/m Solution : E Natural frequency undamped system 0, = fé rad/see 4 10000 10 Critical damping coefficient ¢, = 2mm, = 2X 10 x 31,623 = 632.46 Ne/m c 100 '. Damping factor§ = “= G>q¢ = 0.158 = 31.623 rad/sec Damped frequency, = y1-€? @,= 161582 *31.623 = 31.225 rad/see NowEw, = 0.158 x 31.623 = 4.9964 = 5 21 From equation x = Xe sin (@p+) Equation for displacement of mass x(1) = X e* sin (31.225 1+ 0).Damped Free Vibrations 275 Example : 3.3 A machine of mass 20 kg is mounted on spring and dash pot as shown in Fig 3.16. The total spring stiffness is 10 N/mm and the total damping is 0.15 N/mm/sec. If the system is initially at rest and a velocity 0f100 mm/sec is imparted to the mass, then determine (i) displacement and velocity of massasa function of time (ii) displacement and velocity at time equal to one second. [VTU, January / February 2005, June / July 2014} k + Te ‘oor k HIS or Z LTTE Fig. 3.16 Data: m = kg; k= 10 N/mm = 10,000 Nim; = 0.15 Némmusee = 150 N-sec/m ; £ = 100 mm/see = 0.1 m/see . W Solution : @ Displacement and velocity of mass asa function of time National frequency of undamped system 10000 = |—— =22.3 s rad/sec 30. 12,36 rad/sec € 150 md, ~ 2% 20% 22.36 Damped frequency @, = o J1—E? = 22.36 J) oae77* = 22.043 radisec Nowe, = 0.1677 x22.36=3.75 Damping factor & = 0.1677 ‘Method: 1 Displacementx = g-$' [C, cosy + C, sin oz | = €1[C, cos 22.0431 C, sin 22.0434] Velocity ¢ = - 3.75%" [C, cos 22.043¢ + C, sin 22.0434] + 22.043" [_C, sin 22,0431 +C, cos 22.043r] When ¢ aig, 0=C+0 .c=0 " 2276 Mechanical Vibration When ¢ = 0; 4 = %,,=0.1 m/sec ic,01 = 0+ 22.043 (0+C,) (G50) Ol 2 Cy = Fyggg 745366 10° ‘Substituting the values of C, and C, in displacement and velocity equation, Displacement x = 4.5366 x 107 e*™ sin 22.043 ¢ OR ‘Method: Response of the under damped system is, x = Xe™F*! sin(wy +4) = Xe>™ sin(22.043¢+) a) 4 = (Xe***)(22.043)c0s(22.0431 + ¢) + X(~3.75)e™ sin(22.0431+0) —@) Initial conditions At t=0 x=0; ¥=0.1 mlsec Substituting these values im equations (i) and (ii), we get O =(X)(i)sing;ie., Xsing=0 o GL = (091) 22,043) cose + (40 -3.75) (1) sing ie. Xcos = 4.5366 x 10° (+> Xsinp=0) ~ Squaring and adding equations (iii) and (iv) X? sin! § +X? cos? @ = 04 (4.5366% 10°)" i.e., X (sin? g +605? 6) = (4.5366 x 107)? ie. X* = (4.5366 x 10°)? [++ sin? 6+ cos? G=1) X = 45366x 10° m Equation (iii) divided by equation (iv) gives Xsing o Yeosd = 536x107 'itotang=O =O Substituting the values of X and 0 in equation (i) Displacementx = 4.5366% 10" sin(22.0431) Velocity & = —3.75 xe" x4.5366% 10° x sin 22.043¢+ 22.043 e-27' x 4.5366 x 10° x 008 22.043¢ = €-7" (0.1 cos 22,0431—0.017 sin 22.0431] (ii) Displacement and velocity at time equal to one second ie, t = 1 sec Displacement x = 4.5366% 107 xe-?™' x sin (22.043 x 1) =—5,5296 x 10m Velocity 4 =e}! [0.1 cos (22.043 x 1)—0.017 sin (22.043 x DI} = ~2,328 x 10° m/sec.Damped Free Vibrations arr | Example : 3.4 For the system shown in Fig 3.17, the characteristic of the dash pot is such that when a constant force | of60N is applied to the piston, its velocity is found to be constant at 0.12 m/sec. Determine (i) Damping | coefficient (ii) Check whether the system is periodic or aperiodic. | Solution : @ The viscous force is given by | Piece k=1500N/m fo: ie, 60 = cx0.12 .. Damping factor, = 1.67 2mo, 2X15x10— Damping coefficient ¢ = 500N-sec/m 15 kg bea | freque | (@ Natural frequency of undamped system a Fig, 3.17 | k 1500 0, = ie rad/sec = ae = 10 radlsec = Vin 15 c 500 | | Since > 1, the system is over damped. Hence the motion will be aperiodic in nature. Example : 3.5 A body of mass 10 kg is suspended froma helical spring having astiffiness of 2 N/m. A damper having, resistance of 5 N at.a velocity of 0.1 misee is connected between the mass and the fixed end of the spring. Determine (i) Ratio of successive amplitude. (ii) Amplitude of body after 10-cycles ithe initial amplitude is 1mm. VIU, July / August 2003 F 2N/mm = 2000 N/m 5¢ = — ¥ = 50 Nsfm u Data: k m = Ike; x, = 15 mor Solution : (i) Critical damping coefficient =, = 2mon = 2alkm = 2/2000 x10 = 282,843 N-s/m 50 ~ 282.843 . Damping factor § = = 0.1768 2h _ 280.1768 ji-e — vi—o.768? = 1.1286 Logarithmic decrement 5 0 Also & Ratio of successive amplitude Xn = cael = 30015 Xn278 Gi) For the amplitude after 10 cycles, Xo. We have, = Hg ME Te Hy XH Ky Kg ey Ay My = (2,0915)"=79735.46 tye ash 7973546 7973546 2. Amplitude of vibration after 10 cycles, ,,= 1.8812 x 104mm, (OR) x Fhe, -. Amptitude after 10 cycles a4) = L882 10mm = 1.8812 10%mm ell 128050), Example : 3.6 ‘The measurement on.a mechanical vibrating system shows that the mass of 10 kg and that the: ean be combined to give an equal spring stiffness 5 N/mm. Ifthe vibrating system have a dashpot which exertsa force of 40.V when the mass havea unit velocity of 1 m/sec, Determine (i) Critieal damping coefficient (ii) Damping factor (iii) Logarithmic decrement (iv) Ratio of any two consecutive amplitudes, Data: m = 10kg;k=5 N/mm = $000 Nim ¢ = AD.Nin/see = 40 N-sec/m Xn z, 2Es28= a Solution : (i) Critical damping coefficient (c,) aoe = 22.36 rad/sec. m 10 ©, = Qmto, = 2x 1022.36 = 447,2N-see/m (i) Damping factor (€) arg 7000804Damped Free Vibrations 279 (iti) Logarithmic decrement 8) 2né_ 2x 0.0804 8 = es = 0564 1-8" © i=0.0804? (i) Ratio.of any two consecutive amplitudes Also, § = xs = Pah 1,758 Nott Example : 3.7 Vibrating system consisting of a mass of 50kg, a spring of stiffness 10 kN/m and a damper, Damping 620% of the critical yalue. Determine (i) Damping factor (ii) Critical damping coefficient (iii) Logarithmic decrement (iv) Ratio of twa consecutive amplitudes. (v) Natural frequency of free vibration (vi) Natural frequency of damped vibration (or) Damped free vibration [VTU, July / August 2004, Dec.2014/Jan.2015] Data: m = S0kg;k=30kN/m = 30,000 Nim; c= 02e, Solution + @ Damping factor, = & | fi) Critical damping coefficiente, = 2moo,=2-vkm = 2,/30,000 x50 = 24495 N-sec/m 2m 2x02 i) Logarithmic deer = = (ii) Logarithmic decrement 3 Jee Toe (iv) Ratio of two consecutive amplitudes 28255 Also 6 = In (») Natural frequency of free vibration 30, Circular frequency of free vibration ©, = \e = 24495 rad fsec (vi) Natural frequency of damped vibration or Damped free vibration x = xanansxyi-oF = 382H2 3 | I 1 Natural frequency of free vibration fy = 5° @n He= 5° %24495=39H2Example : 3.8 Amuss of 2 kg is supported on an isolator having a spring scale of 2940 N/m and viscous the amplitude of free vibration of the mass falls to one halfits original value in 1.5 seconds, damping coefficient of the isolator VTU, July / August: Data : K = 2940 Nim ; m=2kg Solution : Displacement of an a under damped vibrating system is given by ax = Xe sin (ato) , Maximum displacement x = X e®*' when sin(@s+$)=1 ‘Natural frequency of undamped system @, = A = ae = 38.34 rad/sec Let, be the maximum amplitude of vibration when time is ¢, and x, be the maximum amplit vibration when time ist, Ax, = Xe ax oe Xe Bln ey ee Fh a x, Xe = ety) ‘Since the amplitude falls to one half its original value in 1.5 secs. X, = 0.5x,andt,-4,=1,5 SMM Ey 34 Seni9 * 05. Ley 2 = eNst ‘Taking natural logarithm on both sides Ind = Ine?" ie, 0.69315 = 57518 Damping factor § = 0012 Critical damping coefficiente = 2.mex, =2 1, it is an over damped system. ‘The general expression for over damped system is ie ae WPo}oy sagt BEA oe {as asa = Ae + Ay (bbeDamped Free Vibrations 285 ie, Displacements = Aye C2! + Aye #7! 2 Nelocity # = A,C0.210,)¢™ +4,(-4.790,) et 0.210,¢ 4.905 = -0.214,0,€ =4.794, 0, € Applying the initial conditions ie, when 1 = 0 x = Oand *=Xo, 20 =A, +A, and Xo, = -0214,0,-4:794,0, ie, X = —O.21A,-4.79-A,) =A, (4.58) A, = 0.218X A, = -0.218X Hence the equation of motion is, = 0.218X = ie (i) §=1 As& = |, itis acritieally damped system, The general expression for critically damped system is x= [AtAge™ 4 Velocity & = [A,+A,1(-@,Je%"! +A,e°°" Applying the initial conditions ie, whent = 0 x = Oand + =Xo, 2 A, = 0 and XO,=4,(-@) +A, A, = Xo, ( A,=0) Hence the equation of motion is, x= Xue! i) E205 _As& ) 1-8 ©, Ie a, j= 05? ©, = 0.866 @,]Velocity € = (-0.5@)X,e°"™' sin (0.86601 +9) + 0.866 @, X, °°! cos (0.8660, +4) Applying the initial conditions ie, whens = 0 x= Oand t2X0, 2 0 = X, sing and Xe, = -0.50,X, sing + 0.8660, X,cos = 0.866 a, X, cos X, sin = 0) c- Xyeos) = 1.1547X Since X,sing = 0 and X,cosg=1.1547X X, = 1.1547X andp=0 Hence the equation of motion is, % 1.1547X "Sey sin (0.8660) Example : 3.13 ‘A pendulum is pivoted at point 0 as shown in Fig 3.18(a) If the mass of the rod is negligible ‘small oscillations find, (i) Critical damping coefficient and (ii) Damped natural frequency. VTU, Jan / Feb 2006, June/July ek=cbo Fig. 318 Solution : Moment of inertia of mass about 0, 1, = mi? Fora small oscillation the free body diagram of the system is shown in Fig. 3.18(b) From Newton's second law of motion in the form of torquesDamped Free Vibrations 1,6 ie, mL? 6 ie, mL? 6 287 1, 6 = XM where EM = sum of restoring couples about O = =ke? Och? 6 — mgl8 ka? 0 — ch 0 ~ mg. + ch O + (ka? +mgh}0=0 oO =f) " Equation (i) is the differential equation of motion for the given system. The roots of this equation are a, | __ (i) Critical damping coefficient ee me cbt | cot) _( ta? +g tnd? Vani? mL cbt _ ff eb? Y_( ka? + mgs. 2mL? \(2mi? me | Ifthe sytem is critically damped then the radical must be zero 2 cb* \ _ ka” + mg EL Ome mi? Ateritical damping ¢ 2. Critical damping coefficiente, (iy Natural frequency of damped vibration mi? = ka? +mgh. i me mi? fhka? +mgh oop S\N e mi? a ‘The general expression for torsional damped system is, 16 +60 +40 =0288 Mechanical apyeterteso je, 6+ 70478 = ie, § +20, 66 +0;0 = 0 [-». = | pad ts00,§ == «=213] T Fai ‘Comparing the equations (i) and (ily 2bo, = "Damped Free Vibrations 289 Example : 3.14 A damped system shown in Fig 3.19 has a spring constantk = 1S N/mm, mass 10 kg and damping factor ¢ = 1.5 N-sec/mm. It is at rest in its static equilibrium position when it receives an impulse force acting to the right that creates an initial instantaneous velocity v, = 25 m/sec determine, (Will the system vibrate or not, find the motion of the system. (i) An expression for the displacement, of the mass interms of (iii), Maximum displacement of the mass from initial position, (iv) Time required for the mass to attain the position of maximum displacement. x Fig. 3.19 Daia : k= 15 N/mm = 15000 N/m; m = 10kg. c= 1.5 N-secimm = 1500 N-secsm ‘Solution : |) Will the system vibrate oF not SGtrculer frequency of free vibcation @, m | = en =38,73 rad/sec £ 15 gees c Damping factor§ = = -_— ping factors = Smee, 2x10N 3079 As§ > 1, the system is over damped The system not vibrates. Because of overdamping the motion is aperiodic. )Expression for displacement of mass ‘The general expression for the given damped system is, mx + ci +kx=0 ic, 10% + 1500%+15000x = 0 —O ¥+150;¢+1500x = 0 The characteristic equation of equation (i + 15004 1500 = 0 For over damped system the roots areas =150+V150? = 41500 _ ig 774. ef 150-150? - 4a; wD Be 41500 _ 99096 Now the general expression for over damped system is, ea |e Je? | va ae NR alt sat} = Ape Ay eH Since, = {-5+Ve'-t}o, anda, = {-8-vE-!}o, cm Ayer tOTM dyer 18 1070 19.201 Velocity # = -10.7744\¢ Applying the initial condition ie, Whent = 0 x = Oand ¢=25 m/sec J. 0 = A, +A, ; Hence A, ‘Also 25 = -10.774A,—139.226A, = -10,774(-A)- 139.226, (- A\=-A) = -128.452 A, 2. A, = ~0.1946andA, 7+ 0.1946 Te 6M) metre ~139.226A,¢€ A, x Displacements = 0.1946 [e (iii) Maximum displacement de Formaximum displacement “7° = 0 ie, # =0 fe (0.1946) (—10.774) 18TH — (0.1946) (- 139.2266"! 79 0 27.0936 = = 2.097 BM wien 12.922 = et tombe thasHe = gfBKetD ‘Taking natural logarithm on both sides t12922 = 1284528 4. f= (01992 secs 002 see Time required to attain maximum position t= O.02sec. Maximum displacement 2__, = 0.1946[er!07764002 = ¢-issaisrin | 0.145 y) ‘Dime required to attain maximum position = 0.02 sec.Damped Free Vibrations 291 Example ; 3.15 Obtain the differential equation of motion for the system shown in Fig 3.20 and hence find (i) Critical damping coefficient and (i) Natural frequency of damped oscillation [VTU, June/July 2015] Solution : Moment of inertia of mass about O, /, Fora small angular displacement of @ in the downward direction, Spring force = ka T Damping foree = cx=cag T From Newton’ second law of motion in the form of forques 1, = ZM where DA= Sum of restoring couples about O ie, mP@ = (-ca§)a—(kad)a ic. mb'@ +caQ + kee = 0 2 icy ttt oad eo Arp Equation (i) is the differential equation of motion The roots of this equation are,292 Mechanical ca? ca os amb? 2b? () Critical damping coefficient If the system is critically damped then the radical must be zero 2 : ea” ka® ie, |— >| -—5 = 0 mb?) mb Ateritical damping ¢ ea? 2mb* mata E ie =a ple b 5 Critical damping coefficient ¢, = 2 align N-secfm. 2mb [k b om 5 Sin a (Natural frequency of damped vibration Damped frequency ©, = Radical with negative sign : =) Ge) : Proof : When a = 6 o- (Ss) OG) (eile = 0, AE rae Damped natural frequency of a standard system. Example : 3.16 ‘The dise of 2 torsional pendulum has a moment of inertia of 0.06 kgm* and is immersed in a fluid. The brass shaft attached toit is of 100 mm diameter and 400 mm Jong when the pendulum is’ the amplitudes on the same side for the successive cycles are 9°, 6° and 4°. Determine,Damped Free Vibrations 293 (i) logarithmic decrement ii) damping torque at unit velocity (ii) periodic time of vibration ‘Assume for brass shaftG = 4.4 10" N/m?, What would be the frequency if the discis removed from the yiscons fluid. BU, August 1996 Solution : i) Logarithmic decrement bs ii) Damping torque at unit velocity Logarithmic decrement 8 = -8) = 40y ie, (0.405) (1-63) = 4? 0.16418?) = 39.482? 0643 Damping factor & 4 Weknow & = —> Gs i i k,F where k, = Torsional stiffness = 10 ™ x (g4)t 44x10) 59% (01) , Torsional stiffness &, d =100mm =0.1m 4 = 108x106 Num/rad 1 = 400mm = 0.4m 2Skf ¢, = Torsional damping coefficient = 0.0643 x 2V 1.08 x 10° x 0.06 |¢, = Torsional eritical Nees aeane ‘damping coefficient = Damping torque at unit velocity (ii) Periodic time of vibration 2n 2n 9: w,y1-?? ro 7 oe vt NORE IOE F aadaed matinee £ 0.06 T484 x 10° see = Periodic time T= qoaz64 iv) Ifthe discis removed from viscous fluid then the frequency is natural frequency x 4242.64 = 675.24 Hz Example : 3.17 ‘The torsional Pendulum with adise of moment of inertia 0.1 kg m’ immersed in a viscous fluid in Fig 3.21. During the vibrations of Pendulum, the observed amplitudes on the same side of the for successive cyeles are found to be decreased by 50 % of the initial value. Determine, (Logarithmic decrement Gi) darnping torque per unit velocity (iii) the periodic time of vibration and iv) the frequency when the discis removed from the fluid. Take G = 44% 10" N/m? (VTU, Dec'07 Solution = ‘As the amplitude of successive cycles are found to be decreased by 50%, i) Logarithmic decrement 6, = 0.50, ol CSh B= inl} = (aso, ) = 2 = 068 Fig. 3.21 ii) Damping torque per unit velocity Logarithmic decrement 6 = yeeDamped Free Vibrations ie, 1-8 = 3 ie 2 -& (4n04-8) . * 0.693" eS Gar en © dete = s Damping factor & = 041096 ‘Torsional critical damping coefficient, = 2/7 44x10" x™ x01" Torsional stiffness, = 2 = eee = 0432 x 10¢Nem/rad Nm—sec . €, = 2V0432x10°xO1 = 415.68 rad Now damping factor & = ie., 0.1096 = Wises Nm sec +. Damping torque per unit velocity ¢,= 45.56 iii) Periodic time of oscillation ‘Natural frequency of free torsional oscillations. ; . @, = = radisec, = |OATEIO™ = 2078 46radhec ‘Damped frequency of free torsional oscillations @,= @, f1—€? , radi/sec = 2078.46 V1—0.1096* = 2065.94 rad/sec ss ih 2: 2s : ©. Periodic time of oscillation T = 4 * 206594 3.04 x 10” sec in) If the disc is removed from the fluid, then the frequency is known as natural frequency, L 1 oe 2 0 he 3.46 =: i Le Fp * 2OTR46= 3908 He.Example : 3.18 Obtain the differential equation of motion for the system shown in Fig 3.22 and hence (i) Critical damping coefficient (ii) Damping ratio (iii) Natural frequency of damped and (iv) Natural frequency of undamped vibration. (VTU, May/June: b=150mm=0.15m Fig. 3.22 Solution : Moment of inertia of mass about O, /, = ma* = For a small angular displacement of 8 in the downward direction Spring force = kb0 T Damping force =cab T From Newton’ second law of motion in the form of torques 1,6 = IM where IM = Sum of restoring couples about 0 (- cab) a~kbO)d ie, ma@ +ca?O + kb = 0 . §+—O4+—7 = +84 0 Equation (i) is the differential equation of motion. The roots of this equation are, aT oa ake (2) -+45 mon) ma’ a ua 2 of we re 1 nage im) nat =a) BeDamped Free Vibrations | i) Critical damping coefficient Ifthe system is critically damped then the radical must be zero 2 2 ' 4 hb oe ss tess (<) = => [+ Foreritical damping =¢,] ma’ 6 b fk eee eine ie, 5 Ge Hence critical damping coefficient b 4b = -=2— \- G22, lon N-scolm 2015 6 00 3000 x 2 = 300 N-sec/m. Damped frequency ©, = Radical with negative sign oe eee F ‘ony aaa + Natural frequency of damped oseillations Les Fy Oe = x TOT =11.254H0, Natural frequency of undamped vibration a, = Ji-F.o, + be. 7.21 =vi-0389 0, Circular frequency of undamped vibration @, = 75 rad/sec Natural frequency of undamped vibration , = xm m x 75=1194H2298 Mechanical Vi Example : 3.19 Obtain the differential equation governing the motion of the one degree of freedom system shoi Fig3.23, Also determine the undamped natural frequency of the system. Fig, 3.23 Solution = For a small displacement in the downward direction, Spring force = krO Damping foree = er§ According to Newton's second law of motion in the form of torques 1,6 = EM where SM = Sum of restoring couples or torques about A. ie, Uytmr) 8 = —(kré) (cro) r 0 1 ae ie, (me +m?) 6 +6 +O pmb rch eke = 0 ao fe. 2k x Bae ame Nowsince x = 70; #=r0; ¥=r0 Hence the equation (i) can be written as Bok , Bke 3m 7S 3mr Equation (i) or (ii) is the differential equation. Natural frequency of the undamped system 0,A torsional pendulum when it was put to vibration in vacuum without damping having its natural ney as 1) Hz, But when it was immersed in oil its natural frequency was 50 Hz, Determine the factor of the oil. Frequency of torsional vibration in vacuum without damping 1 = 100Hz==— iz Hz= 57 0, +. @, = 200m rad/sec Frequency of torsional vibration in oil with damping 1 = 50Hz=>— f, = S0H= 5-0, ©, = 100n rad/sec Also @, = @, 1-7 ic, 02 = 02 (1-8) ie, 100°R? = 200% (1-§7) *. Damping factors = 0.866, ‘Example : 3.21 thin plate of mass and area is attached to the end of a spring and oscillates in a viscous liquid as in Fig 3.24. Iff, is the frequency of oscillation of the system in air (damping is neglected) and, is the Aregency of ocllation in iqud, prove that == f2—2 where the damping force on the plateis F,=2ndv,y being the velocity. Fig. 3.24300 Mechanical Solution : “ Damping fore F, = 2ndv ie, e& = nav . c= A 1 Frequency of free vibration in air f, =5-> «, Hz where , = Frequency of damped free vibration in liquid 2nm SR [eaape = An Yas = 13 - Hence proved. Example : 3.22 ‘A horizontal spring mass system with coulomb damping has a mass of 10.2 kg attached to ai stiffness 1000 N/m. If the coefficient of friction is 0.02, determine (i) Frequency of free oscillations (ii) Number of cycles required for 50% reduction in amplitude if the initial amplitude is dem. (iii) Time taken for this 50% reduction. Solution : For horizontal system the normal reaction V'=mg . Frictional force F = pN=0.02x 10.2x9.81=2Nped Free Vibrations “i) Frequency of free oscillations = gh le ae ate a fee ad 1.576 Hz ‘Number of cyctes required for 80% aces Forcoulomb damping, reduction in amplitude percyele = a 2 ia =8x 10? Amplitude after 50% reduction =0.5 x4 = 2em=2 x 10?m Total reduction in amplitude = 4-2=2cm=2x 10°m 2M 4 Number of cycles required for 50% reduction in amplitude = 5 j) Time taken for this 50% reduction 1 zs ‘Time required for 50% reduction = 2.5 x time period = 2.5 x Be i576 = 1,586 sees, 301 In asingle degree freedom spring-mass-damper system consists of a mass of Skg and has stiffness Nim. The ratio of two consecutive amplitudes i.e., successive amplitudes is found to be 1.25, Determine, (i) Hysteresis damping constant B i) Equivalent viscous damping coefficiente fi) Energy loss per cycle for an amplitude of 20 mm Logarithmic decrement (i) Hysteresis damping constant \ xs L+np/2 Ratio of successive amplitude. Mg leapye | 2+nB ie, 125 = 548 25-125nB = 2+nB ie, 25-2 = xP+1.25np =f (m+ 125m) . Hysteresis damping constant B = 0.07074 (i) Equivalent viscous damping coefficient = Bvkn =0.07074.75x5 = 0.4332N-sechn ie,