DE ZG611

Dynamics & Vibrations

BITS Pilani Prof. Y. V. D. Rao
Hyderabad Campus
 BITS Pilani
Hyderabad Campus

DE ZG611
Free Vibrations
 Principle of virtual work
➢ According to the Principle of virtual work, if an ideal system is in
equilibrium (static equilibrium), then the algebraic sum of Virtual works is
equal to zero. 𝑭 𝐅 sin 𝜽
➢ σ 𝜹𝑾𝒊 = 𝟎 ➢ 𝜹𝑾 is Virtual work.
𝐅 cos 𝜽 𝜽 𝒅
➢ 𝐖 = 𝐅 cos 𝜽 ∗ 𝒅 ➢ work due to 𝐅 𝐬𝐢𝐧 𝜽 is zero
𝑵𝑩 𝑩
➢ Work done by real (actual) force 𝑭 due to virtual
𝜹𝑩 𝒃
displacement 𝜹𝒅 is Virtual work 𝜹𝑾. 𝑸
➢ 𝛅𝐖 = 𝐅 cos 𝜽 ∗ 𝜹𝒅 ➢ 𝒚𝑪 = 𝒂 sin 𝜽
𝑪 𝜹𝑪
➢ 𝒙𝑨 = 𝒂 + 𝒃 cos 𝜽 ➢ 𝜹𝒚𝑪 = 𝒂 cos 𝜽 𝜹𝜽 𝜹𝑪𝒚
𝜹𝑪𝒙 𝒂
➢ 𝜹𝒙𝑨 = − 𝒂 + 𝒃 sin 𝜽 𝜹𝜽 ➢ 𝑷𝜹𝒙𝑨 + 𝑸𝜹𝒚𝑪 = 𝟎 𝜽 𝑷
𝑸𝒂 𝑨 𝜹𝑨
➢ 𝑷 ∗ − 𝒂 + 𝒃 sin 𝜽 𝜹𝜽 + 𝑸 ∗ 𝒂 cos 𝜽 𝜹𝜽 = 𝟎 ➢𝑷= cot 𝜽 𝑵𝑨
𝒂+𝒃
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➢ As another example consider a bar supported by a hinge at left end and a
roller at the right end. And loaded with a force 𝑸. Determine the support
reactions. 𝑸

𝒂 𝒃
𝑨 𝑩
𝑪

DE ZG 611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

 𝑲𝒚 𝒎𝒈
𝒂 𝒂 ➢ 𝒚 = 𝒂𝜽
𝜹𝜽 𝜹𝒚
𝜹𝒙 ➢ 𝒙 = 𝟐𝒂𝜽
➢ 𝜹𝒚 = 𝒂𝜹𝜽
➢ 𝒎𝒙ሷ ∗ 𝜹𝒙 + 𝑲𝒚 ∗ 𝜹𝒚 = 𝟎 ➢ 𝜹𝒙 = 𝟐𝒂𝜹𝜽 𝒎𝒙ሷ
𝒂
𝒎
𝒂
➢ 𝒙ሷ = 𝟐𝒂𝜽ሷ
𝜽 𝒚
➢ 𝒎 ∗ 𝟐𝒂𝜽ሷ ∗ 𝟐𝒂𝜹𝜽 + 𝑲 ∗ 𝒂𝜽 ∗ 𝒂𝜹𝜽 = 𝟎 𝒙 𝒙ሷ

➢ 𝟒𝒎𝒂𝟐 𝜽ሷ 𝜹𝜽 + 𝑲𝒂𝟐 𝜽𝜹𝜽 = 𝟎 𝑲𝒚 𝒎𝒈

𝑲 𝒂 𝒂
➢ 𝟒𝒎𝜽ሷ + 𝑲𝜽 = 𝟎 ➢ 𝝎𝒏 =
𝟒𝒎
DE ZG 611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus
➢ Consider a Pulley system shown in figure under free
vibrations. And determine the equation of motion. r

DE ZG 611 Dynamics and Vibrations BITS Pilani, Hyderabad Campus

Free Vibrations

➢ A system is said to under go free vibration if the oscillations occur only

under an initial disturbance with no external forces acting after the initial
disturbance.
➢ A few examples of Free vibrations are
➢ Oscillations of a mass attached to a coiled spring
➢ Oscillations of pendulum in a clock
➢ Vertical oscillations felt by a cyclist due to undulations on the road
➢ Motion of a child swing under initial push

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➢ Consider a spring mass system under free vibration.
➢ When the mass is attached to the spring it gets
displaced by 𝜹.
𝑲 𝑲
𝒙 𝑲
➢ If the mass is now displaced by 𝒙 down wards and
released it vibrates without any force acting. 𝒎 𝒎
𝑲𝜹 𝑲𝜹 𝑲𝒙 𝜹 𝒎
➢ 𝑭 = 𝒎𝒙ሷ 𝒙
𝒎 𝒎 𝒙ሷ 𝒙ሶ 𝒙
𝒙ሶ ➢ 𝒎𝒈 − 𝑲𝜹 − 𝑲𝒙 = 𝒎𝒙ሷ 𝑲
➢ 𝒙ሷ + 𝒙 = 𝟎
𝒎
𝒙 𝒙ሷ
➢ −𝑲𝒙 = 𝒎𝒙ሷ ➢ 𝒙ሷ + 𝝎𝟐𝒏 𝒙 = 𝟎
𝒎𝒈 𝒎𝒈 ➢ 𝒎𝒙ሷ + 𝑲𝒙 = 𝟎 𝑲
➢ 𝝎𝟐𝒏 = ➢ 𝝎𝒏 =
𝑲
𝒎
➢ 𝒎𝒈 = 𝑲𝜹 ➢ 𝑭 = 𝒎𝒂 𝒎
➢ This is Newton’s method of equilibrium.
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➢ A cam and follower system is represented by a spring mass system as
shown in figure.
➢ A water tank shown in figure is modelled as a
cantilever fixed at the ground. 𝒙 𝒎
𝒙
𝒎
➢ A building frame shown in figure is
modelled as a spring mass system as shown. 𝑲
𝒎
Rigid Ceiling 𝒙
𝒎
𝑲 𝑲 𝑳
𝟐 𝟐
𝑳 𝑲 𝟑𝑬𝑰
➢ = 𝑲
Elastic columns 𝟐 𝑳

𝟑𝑬𝑰
➢𝑲=
𝑳

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➢ Newton’s second law is used to determine the equation of motion of a free
vibrating system.
𝑲 𝑲
➢ 𝝎𝟐𝒏 = ➢ 𝝎𝒏 =
𝒎 𝒎

𝝎𝒏 𝟏 𝑲
➢ 𝒇𝒏 = =
𝟐𝝅 𝟐𝝅 𝒎

𝟏 𝟐𝝅 𝒎
➢ 𝝉𝒏 = = = 𝟐𝝅
𝒇𝒏 𝝎𝒏 𝑲
➢ 𝒎𝒈 = 𝑲𝜹 𝒔𝒕
𝑲 𝑲𝒈 𝑲𝒈
𝒎𝒈 ➢ 𝑭 = 𝒎𝒙ሷ ➢ 𝝎𝒏 = = =
➢ 𝜹 𝒔𝒕 = 𝒎 𝒎𝒈 𝑲𝜹 𝒔𝒕
𝑲
➢ 𝒎𝒈 − 𝑲𝜹 − 𝑲𝒙 = 𝒎𝒙ሷ 𝒈
➢ 𝝎𝒏 = 𝟏 𝒈
➢ 𝒎𝒙ሷ + 𝑲𝒙 = 𝟎 𝜹 𝒔𝒕 ➢ 𝒇𝒏 =
𝟐𝝅 𝜹 𝒔𝒕
𝜹 𝒔𝒕
➢ 𝝉𝒏 = 𝟐𝝅
𝒈
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➢ A 𝟎. 𝟓 𝒌𝒈 mass is attached to a linear spring of stiffness 𝟎. 𝟏 𝑵/𝒎. Determine
the natural frequency of the system in Hertz. What will be the natural
frequency if mass is 50 kg and a stiffness of 10 N/m?
𝑲 𝟎.𝟏
➢ Mass 𝒎 = 𝟎. 𝟓 𝑲𝒈 ➢ Stiffness 𝑲 = 𝟎. 𝟏 𝑵/𝒎 ➢ 𝝎𝒏 = =
𝒎 𝟎.𝟓
𝝎𝒏 𝟎.𝟒𝟒𝟕 𝟏
➢ 𝝎𝒏 = 𝟎. 𝟒𝟒𝟕 𝒓𝒂𝒅/𝒔 ➢ 𝒇𝒏 = = ➢ 𝒇𝒏 = 𝟎. 𝟎𝟕𝟏𝟏 𝑯𝒛 ➢ 𝝉𝒏 =
𝟐𝝅 𝟐𝝅 𝒇𝒏
➢ 𝝉𝒏 = 𝟏𝟒. 𝟎𝟓 𝒔

𝑲 𝟏𝟎
➢ Mass 𝒎 = 𝟓𝟎 𝑲𝒈 ➢ Stiffness 𝑲 = 𝟏𝟎 𝑵/𝒎 ➢ 𝝎𝒏 = =
𝒎 𝟓𝟎
𝝎𝒏 𝟎.𝟒𝟒𝟕 𝟏
➢ 𝝎𝒏 = 𝟎. 𝟒𝟒𝟕 𝒓𝒂𝒅/𝒔 ➢ 𝒇𝒏 = = ➢ 𝒇𝒏 = 𝟎. 𝟎𝟕𝟏𝟏 𝑯𝒛 ➢ 𝝉𝒏 =
𝟐𝝅 𝟐𝝅 𝒇𝒏
➢ 𝝉𝒏 = 𝟏𝟒. 𝟎𝟓 𝒔

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➢ A mass of 𝟏𝟎 𝒌𝒈 is suspended from a coiled linear spring of stiffness 𝑲 and
the static deflection of the spring is 𝟏𝟎 𝒎𝒎. Determine the natural frequency
of the system in Hertz. What is the stiffness of the spring?
𝑲𝒈 𝒈
➢ 𝝎𝒏 =
𝑲
=
𝑲𝒈
➢ 𝒎𝒈 = 𝑲𝜹 𝒔𝒕 ➢ 𝝎𝒏 = = ➢ 𝜹 𝒔𝒕 = 𝟏𝟎 𝒎𝒎
𝒎 𝒎𝒈 𝑲𝜹 𝒔𝒕 𝜹 𝒔𝒕

𝝎𝒏
➢ 𝝎𝒏 =
𝟗.𝟖𝟏
➢ 𝝎𝒏 = 𝟑𝟏. 𝟑𝟐 𝒓𝒂𝒅/𝒔 ➢ 𝒇𝒏 =
➢ 𝜹 𝒔𝒕 = 𝟎. 𝟎𝟏 𝒎 𝟎.𝟎𝟏 𝟐𝝅

𝑲 𝑲
➢ 𝒇𝒏 =
𝟑𝟏.𝟑𝟐 ➢ 𝒇𝒏 = 𝟒. 𝟗𝟖𝟓 𝑯𝒛 ➢ 𝝎𝒏 = ➢ 𝟑𝟏. 𝟑𝟐 =
𝒎 𝟏𝟎
𝟐𝝅
➢ 𝑲 = 𝟗𝟖𝟎𝟗. 𝟒𝟐 𝑵/𝒎 ➢ 𝑲 = 𝟗. 𝟖𝟎𝟗 𝑲𝑵/𝒎

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➢ Consider a simple pendulum shown in figure under free vibrations.

𝒈
➢ 𝜽ሷ + 𝜽 = 𝟎
𝑳
𝑻
➢ 𝜽ሷ + 𝝎𝒏 𝜽 = 𝟎
𝜽 𝜽ሷ 𝒈
➢ 𝝎𝒏 =
𝑳
𝒎
𝝎𝒏 𝟏 𝒈
➢ 𝒇𝒏 = =
𝒎𝒈 sin 𝜽 𝟐𝝅 𝟐𝝅 𝑳
𝒎𝒈 cos 𝜽
➢ 𝑻 = 𝒎𝒈 cos 𝜃 𝟏 𝑳
𝒎𝒈 ➢ 𝝉𝒏 = == 𝟐𝝅
𝒇𝒏 𝒈
➢ 𝑰𝜽ሷ = −𝒎𝒈 sin 𝜽 ∗ 𝑳 ➢ 𝑳𝜽ሷ + 𝒈 sin 𝜽 = 𝟎
➢ 𝒎𝑳𝟐 𝜽ሷ = −𝒎𝒈 sin 𝜽 ∗ 𝑳 ➢ 𝑳𝜽ሷ + 𝒈𝜽 = 𝟎
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➢ Consider a Pulley system in figure under free vibrations.
r
𝜽
𝑴𝒓
➢ 𝑻 − 𝑲(𝒙 + 𝜹𝒔 ) = 𝜽ሷ 𝑻 𝜽ሷ
𝟐
𝒓 𝜽
𝑴𝒓
➢ 𝑻 = 𝑲𝒙 + 𝑲𝜹𝒔 + 𝜽ሷ 𝑴
𝟐 𝒎 𝒙
𝒙ሷ 𝒙
➢ 𝒎𝒈 − 𝑻 = 𝒎𝒙ሷ
𝒎𝒈
𝒙
𝑴𝒓 𝑻 𝑺
➢ 𝒎𝒈 − 𝑲𝒙 − 𝑲𝜹𝒔 − 𝜽ሷ = 𝒎𝒙ሷ
𝟐 ➢𝑻>𝑺 𝑺 = 𝑲(𝒙 + 𝜹𝒔 )
𝒙
➢ 𝒎𝒈 = 𝑲𝜹𝒔 ➢ 𝑻 − 𝑺 ∗ 𝒓 = 𝑰𝜽ሷ
𝑴𝒓𝟐 𝑲
𝑴𝒓 ➢𝑰=
➢ 𝒎𝒈 − 𝑲𝒙 − 𝑲𝜹𝒔 − 𝜽ሷ = 𝒎𝒙ሷ 𝟐
𝟐 𝑴𝒓𝟐
➢ 𝑻 − 𝑲(𝒙 + 𝜹𝒔 ) ∗ 𝒓 = 𝜽ሷ
𝟐
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 𝑴𝒓
➢ −𝑲𝒙 − 𝜽ሷ = 𝒎𝒙ሷ
𝟐

𝑴𝒓
➢ 𝒎𝒙ሷ + 𝑲𝒙 + 𝜽ሷ =𝟎 ➢ 𝒙 = 𝒓𝜽 ➢ 𝒙ሷ = 𝒓𝜽ሷ ➢ 𝜽ሷ =
𝒙ሷ
𝟐 𝒓
𝑴𝒓 𝒙ሷ 𝑴𝒙ሷ 𝑴
➢ 𝒎𝒙ሷ + 𝑲𝒙 + ∗ =𝟎 ➢ 𝒎𝒙ሷ + + 𝑲𝒙 = 𝟎 ➢ (𝒎 + )𝒙ሷ + 𝑲𝒙 = 𝟎
𝟐 𝒓 𝟐 𝟐
𝟐𝑲
➢ (
𝟐𝒎+𝑴
)𝒙ሷ + 𝑲𝒙 = 𝟎 ➢ 𝒙ሷ + ( ) 𝒙=𝟎 ➢ 𝒙ሷ + 𝝎𝟐𝒏 𝒙 = 𝟎
𝟐 𝟐𝒎+𝑴

𝟐𝑲
➢ 𝝎𝟐𝒏 = ➢ 𝝎𝒏 =
𝟐𝑲
𝒓𝒂𝒅/𝒔 ➢ 𝒇𝒏 =
𝝎𝒏
=
𝟏 𝟐𝑲
𝑯𝒛
𝟐𝒎+𝑴 𝟐𝒎+𝑴 𝟐𝝅 𝟐𝝅 𝟐𝒎+𝑴

D’ Alembert’s principle
➢ Equation of motion is also derived using D’ Alembert’s principle.

➢ If a body of mass 𝒎 is in motion with an acceleration of 𝒙,ሷ Newton’s second

law for equation of motion is 𝑭 = 𝒎𝒙.ሷ
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➢ The same equation of motion is 𝑭 = 𝒎𝒙ሷ may be rearranged as 𝑭 − 𝒎𝒙ሷ = 𝟎.

➢ That is 𝑭 + −𝒎𝒙ሷ = 𝟎 ➢ σ𝑭 = 𝟎 ➢ 𝑭𝒆𝒙𝒕𝒆𝒓𝒏𝒂𝒍 + 𝑭𝒊𝒏𝒆𝒓𝒕𝒊𝒂𝒍 = 𝟎

➢ 𝑭𝒊𝒏𝒆𝒓𝒕𝒊𝒂𝒍 = −𝒎𝒙ሷ

➢ This equation of motion is σ 𝑭 = 𝟎 or 𝑭 − 𝒎𝒙ሷ = 𝟎 is known as D ’Alembert’s

Principle.

➢ If a body of mass moment of Inertia 𝑰 is in rotation with an angular

acceleration of 𝜽,ሷ Newton’s second law for equation of motion is 𝑴𝒕 = 𝑻 = 𝑰𝜽.ሷ

➢ The same equation of motion is 𝑴𝒕 = 𝑰𝜽ሷ may be rearranged as 𝑴𝒕 − 𝑰𝜽ሷ = 𝟎.

ሷ =𝟎
➢ That is 𝑴𝒕 + (−𝑰𝜽) ➢ σ𝑴 = 𝟎 ➢ 𝑴𝒆𝒙𝒕𝒆𝒓𝒏𝒂𝒍 + 𝑴𝒊𝒏𝒆𝒓𝒕𝒊𝒂𝒍 = 𝟎
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 ➢ 𝑴𝒊𝒏𝒆𝒓𝒕𝒊𝒂𝒍 = −𝑰𝜽ሷ

➢ This equation of motion is σ 𝑴 = 𝟎 or 𝑴𝒕 − 𝑰𝜽ሷ = 𝟎 is known as D

’Alembert’s Principle.

➢ 𝑭 + −𝒎𝒙ሷ = 𝟎 ➢𝑴𝒕 + −𝑰𝜽ሷ = 𝟎 ➢ are D ’Alembert’s Principle.

➢ To illustrate consider a spring mass system shown in figure.

𝑲 𝒙 + 𝜹𝒔𝒕
➢ 𝑲 𝒙 + 𝜹𝒔𝒕 + 𝒎𝒙ሷ − 𝒎𝒈 = 𝟎
𝒎𝒙ሷ
➢ 𝑲𝒙 + 𝑲𝜹𝒔𝒕 + 𝒎𝒙ሷ − 𝒎𝒈 = 𝟎
𝒙 𝒙ሷ
➢ 𝑲𝒙 + 𝒎𝒙ሷ = 𝟎
𝒎𝒈
𝑲
➢ 𝒎𝒙ሷ + 𝑲𝒙 = 𝟎 ➢ 𝒙ሷ + 𝒙 =𝟎 ➢ 𝒙ሷ + 𝝎𝟐𝒏 𝒙 = 𝟎
𝒎
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➢ As another example consider the pendulum shown in figure.

➢ 𝑻 − 𝒎𝒈 cos 𝜽 = 𝟎 ➢ 𝑻 = 𝒎𝒈 cos 𝜽 𝜽ሷ
➢ 𝒎𝒈 𝐬𝐢𝐧 𝜽 ∗ 𝑳 + 𝑰𝜽ሷ = 𝟎
𝑰𝜽ሷ 𝑳
➢ 𝒎𝒈𝑳 𝐬𝐢𝐧 𝜽 + 𝒎𝑳 𝜽ሷ = 𝟎
𝟐
𝑻 𝜽
𝜽
➢ 𝒈 𝐬𝐢𝐧 𝜽 + 𝑳𝜽ሷ = 𝟎
𝒎
➢ 𝒈𝜽 + 𝑳𝜽ሷ = 𝟎
➢ 𝑳𝜽ሷ + 𝒈𝜽 = 𝟎 𝒎𝒈 sin 𝜽
𝒎𝒈
𝒈 𝒎𝒈 𝒎𝒈 cos 𝜽
➢ 𝜽ሷ + 𝜽 =𝟎
𝑳

➢ 𝜽ሷ + 𝝎𝟐𝒏 𝜽 = 𝟎 Thank You

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