CHAPTER THREE

Free Vibration of SDOF System

SEYFE N.
Undamped Free Vibration of SDOF
System

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By Seyfe N.
Undamped Free Vibration of SDOF System
 Structures can vibrate in the absence of external excitation

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By Seyfe N.
 In undamped system the frictional force or damping is neglected
 The vibration is influenced only by the initial condition such as
displacement ,velocity at time t=0 sec.

Mathematical modeling of SDOF system

x
fs = kx
k ..
m fI= m x
FORMULATION OF THE EQUATIONS OF MOTION
 The governing differential equation describing the motion is known as

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Equation of motion

Method to derive equation of motion

1. Newton’s second law of motion
2. D’Alembert’s principle
3. Simple harmonic motion method
4. Energy method AS -3 -1
5. Rayleigh’s method
 FORMULATION OF THE EQUATIONS OF MOTION
 Newton’s second law of motion

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which states that the rate of change of momentum of any mass particle m is mg
equal to the force acting on it
Force = P(t) = Rate of change of momentum of any mass
..
When mass is not varying with time, kx mx
d  dx 
P(t) = m  ..
dt  dt  P(t) = m x(t) = mass x acceleration

The force P(t) includes , Inertia force N

1) Elastic constraints which opposes displacement mx  k x  0

2) Viscous forces which resist velocities
3) External forces which are independently defined
4) Inertia forces which resist accelerations
FORMULATION OF THE EQUATIONS OF MOTION
 D’Alembert’s principle

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which states that a system may be in dynamic equilibrium by adding to the
external force, an imaginary force ,which is commonly known as inertial force

fs = kx 𝒎 𝒙¨ +𝒌𝒙=𝟎 dividing by m
..
fI= m x 𝒌
𝒙+
¨ 𝒙 =𝟎
𝒎

ωn = Natural frequency
𝟐
𝒙
¨ + ω𝒏 𝒙 =𝟎
SOLUTION OF THE EQUATIONS OF MOTION

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By Seyfe N.
The
 governing differential equation of motion is in the form of homogeneous
second order linear equation

There

𝒎 𝒙¨ +𝒌𝒙=𝟎
are five differential solutions
i. X = A cos t
ii.X = B sin t
iii.X = A cos t + B sin t
iv.X = A sin ( t + Ф)
v.X = A cos ( t - Ф)
Where A and B are constants depending on their initial condition of motion
 Solution 1 X = A cos t

If at t = 0 sec , x = xo => xo = A cos ( 0) => A= xo

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X = xo cos t

 Solution 2 X = B sin t = B cos t

if at t =0 sec , x = and
= B cos B= X = sin t
 Solution 3 superposition of the above two solutions

X = xo cos t + sin t
 Solution 4 X = A sin ( t + Ф) = A sint cos Ф + A
t sin Ф
From solution 3 comparing the coefficient of sint and t =A cos Ф and xo = Asin Ф dividing

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term

X = xo cos t + sin t =
=A cos Ф and xo = Asin Ф then
squaring and adding
=

()

A =
𝑨− 𝑨𝒎𝒑𝒍𝒊𝒕𝒖𝒅𝒆 (AS 3 -2)
By Seyfe N.
08/04/2023
U(t) = uo cos t + sin t

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By Seyfe N.
 Equivalent stiffness of spring combination
 For systems which have more than one spring , it is comment to

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replace with one spring of the same stiffness and they all show the
same stiffness as a whole and this stiffness is called Equivalent
stiffness
 Springs can be connected parallel or series
Springs in parallel
When two springs connected in parallel ,they subjected to common
deflection and total load supported is the sum of the individual loads
shared by each spring
Δ = Δ1 = Δ2 static deflection
W = w1 + w2 => ke Δ = k1 Δ1 + k2 Δ2
ke = k1 + k2
 Equivalent stiffness of spring combination

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Springs in series
If they share a common load ,the total deflection of the system
must be equal to the sum of the deflection of the individual
spring
Δ = Δ1 + Δ2 static deflection
W = w1 = w2 => w/ke = w1/k1 + w2/k2
 By Seyfe N.
08/04/2023
AS 3 -3 Ke =????
 Natural frequency and time period
 The equation of simple harmonic motion is given by
X = A sin ( t + Ф)

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Particles having phase difference of integral multiple of 2π will be in the same phase
For SHM the time period is the time interval in which the phase of the vibrating particle change by 2π
( t+ T) - => T =
T=

T is the natural period or time period of vibration (time required to complete one cycle of free vibration )
And from = and k= and m= w/g => = => T =
Where static deflection
 Frequency- f - number of cycles to be completed in one second
= cps
Influence of Gravitational force

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(-w/g) – k(x+ Δ)+w =0 where m= w/g and w= k Δ
( -w/g) –kx- w + w =0
m + kx = 0 therefore dynamic system is not affected by gravity force
Damped Free Vibration of SDOF System

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By Seyfe N.
Damped Free Vibration of SDOF System

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By Seyfe N.
 In reality vibration without decrease in amplitude is never realized,
frictional force (or) damping forces are always present in any
physical system while undergoing motion

 The mechanical energy of the system kinetic energy or potential

energy is transformed to other form of energy such as heat energy.

 The mechanism of this energy transformation is called dissipation

of energy
 Damping

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Damping is a phenomenon in which the energy of the system is gradually reduced or the

amplitude of vibration goes on decreasing and finally the vibration of the system is

completely eliminated and the system is brought to rest

 The rate of decreasing amplitude depend on the amount of damping

 The advantage of damping is to control the amplitude of the vibration

Types of Damping
1. Viscous damping
2. Coulomb damping
3. Structural damping
4. Active damping (or) Negative damping
5. Passive damping
Types of Damping
Viscous Damping

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 It is encountered by bodies moving at moderate speed through liquid. This type of
damping leads to a resisting force proportional to the velocity. The damping force

∞ dx/dt = c
 ‘c’ is the constant of proportionality and is called viscous damping Co-eff. With the
dimension of N-S/m
Coulomb damping
 This type of damping arises from sliding of dry surfaces. The friction force is nearly
constant and depends upon the nature of sliding surface and normal pressure
between them as expressed by the equation of kinetic friction

F = µN

Where µ =co-eff of friction N = normal force

Types of Damping
Structural damping

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 This is due to the internal molecular friction of the material and also due to the
loss of energy associated with the slippage of structural connections

Active damping (or) Negative damping

 It refers to energy dissipation from the system by external means ,such as
controlled actuators, etc.
 It is used when amplitude tend to increase and lead to instability of the system

Passive damping
 It refer to energy dissipation within the structure by damping device such as
isolator ,by structural joints and supports or by structural member’s internal
element
Equation of motion Viscous damping
k x fs = kx
..

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c m .
fI= m x
m
fd = cx

Equation of Motion: (t )  cu (t )  k u (t )  0

mu
• The traditional approach is to assume a solution of the form : u(t) =
Where λ is a constant to be determined

= =

Substituting the value of u , and in to the equation of motion

Substituting the value of u , and
in to the equation of motion c c 2  4km
  2
mu(t )  cu (t )  ku (t )  0 1, 2  m m
2

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2 t t t
m e  ce  k e  0 2
 c  c  4km
1, 2 
(m2  c  k )e t  0 2m
2
m  c  k  0 The non- trivial solution

The discernment or tern is

2c k Characteristic equation
   0 2
m m which has two roots c  4km
2
c c k
    4
m m m
1, 2 
2
By Seyfe N.
08/04/2023
 08/04/2023
By Seyfe N.
Underdamped system -The system Critically damped system.
oscillates (at reduced frequency compared to The system returns to equilibrium as
the undamped case) with the amplitude quickly as possible without oscillating.
gradually decreasing to zero.

Overdamped system.
The system returns to equilibrium without
oscillating.
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By Seyfe N.
Overdamped motion of a mass- critically damped motion
spring system with dashpot

underdamped motion of a
mass-spring system with
dashpot
By Seyfe N.
08/04/2023
 Equation of motion for critical damped system ( )
 Cc is the critical damping coefficient
c 2  4km  0

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By Seyfe N.
cc  2 km
=
cc  2m n

 the ratio of the actual damping to the critical damping coefficient is called damping
ratio
𝒄
ρ=
𝒄𝒄
 For critical damping and the roots of the equation will be α and β = - =
 The general solution is

(A +Bt) = (A +Bt)
For

(A +Bt)
Equation of motion for overdamped damped system ( )
 The damping coefficient is higher than the amount of ctrical damping (C>Cc)

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and α and β are real and distinct roots

c
,    
m
c2
4m 2

k
m
 n
   2
1 
+

+
Equation of motion for underamped damped system ( )
 The discernment is negative
 The roots of the characteristic equation are complex(or imaginary)

 

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 ,   n     2  1

+) ( damped natural frequency )

+)= +)

( + Ф) damping period
Amplitude =
 Measurement of Damping
Logarithmic decrement method
 The Logarithmic decrement is defined as
the natural logarithmic value of the ratio of

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two adjacent peak values of displacement
in free vibration
 It is a dimensionless parameter ,δ

δ=
For small value of the damping ratio
δ=
The amplitude after n cycles be
=
Measurement of Damping

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Half Power bandwidth method
 The ratio of the frequency range between
two half power points to the natural
frequency at this mode
 Used to determine the damping ratio from
frequency domain
 Undamped free vibration examples
Example 3.1 A system vibrating with a natural frequency of 6 Hz start
with an initial amplitude of 2 cm and an initial velocity of 25 cm/s .

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Determine
a) Natural period
b) Amplitude
c) Maximum velocity
d) Maximum acceleration
e) Phase angel
f) Write the equation of motion of vibrating system
Damped free vibration examples

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Example 3.2 A vibrating system consists of mass 5 kg ,spring of stiffness120
N/m and a damper with a damping coefficient of 5 N-s/m . Determine :
a) The damping factor
b) Natural frequency of damped vibration
c) Logarithmic decrement
d) Ratio of the two successive amplitudes , and
e) The number of cycles after which the initial amplitude is reduced to 25%
 Damped free vibration examples
Example 3.3 A damped free vibration test is conducted to determine the
dynamic properties of a one story building. The mass of the building is

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10,000 kg. initial displacement of the building is 0.702 cm . maximum
displacement on the first cycle is 0.53 cm and period of this displacement
cycle is 1.7 s. Determine:
a) The effective weight
b) Undamped frequency
c) Logarithmic decrement
d) Damping ratio
e) Damping coefficient
f) Damping frequency
g) The amplitude after 6 cycles
Damped free vibration examples

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Example 3.4 SDOF system is subjected to free vibration with an initial velocity
and without any initial displacement. Determine the subsequent motion of the
system for the three damping ratios.
= 1.0 and = 0.1

k x

c m
By Seyfe N.
08/04/2023
The end