MEEM 3700

Mechanical Vibrations
Mohan D. Rao
Chuck Van Karsen
Mechanical Engineering-Engineering Mechanics
Michigan Technological University
Copyright 2003

MEEM 3700

1 of 16

Lecture 3-SDOF Undamped

EOM

Key Points:
System is un-damped
No external forces
Only vertical motion

Given some initial conditions, Determine the resulting motion

MEEM 3700

2 of 16

Lecture 3-SDOF Undamped

EOM

At rest, x = 0 (static equilibrium)

mg

mg = k
MEEM 3700

3 of 16

Lecture 3-SDOF Undamped

EOM

Maintains Dynamic
Equilibrium

kx+k

x
mg

Note: x is measured from the static equilibrium position.

MEEM 3700

4 of 16

Lecture 3-SDOF Undamped

EOM

Free Body Diagram

Apply Newtons 2nd Law

kx + k
m

mg

F = m&x&
Fx+ = m&x&
mg (kx + k) = m&x&

Equation of motion (EOM)

m&x& + kx = 0

MEEM 3700

5 of 16

Lecture 3-SDOF Undamped

EOM

Equation of motion

m&x& + kx = 0

2nd order Differential equation

homogeneous
linear
constant coefficients
Forms of solution:

x(t)=X sin(t + )
x(t)=X cos(t - )
x(t)=Cest ---We will use this form

MEEM 3700

6 of 16

Lecture 3-SDOF Undamped

EOM

Equation of motion

m&x& + kx = 0
x& ( t ) = sCe
&x&( t ) = s Ce

Assume x(t) = Cest

st

st

ms2Cest + kCest = 0

(ms2 + k)Cest = 0
for a non - trivial solution
ms2 + k = 0
MEEM 3700

7 of 16

Lecture 3-SDOF Undamped

EOM

Equation of motion

m &x& + kx = 0

s1,2 = j

ms + k = 0

k
m

x(t) = C1es1t + C 2 es2 t

x(t) = C1e

k
t
m

+ C2e

-j

k
t
m

C1 and C2 are arbitrary constants to be determined from initial conditions

MEEM 3700

8 of 16

Lecture 3-SDOF Undamped

EOM

x(t) = C1e

k
t
m

+ C2e

-j

k
t
m

e j =cos ( ) jsin()

Recall Eulers identity:

k
k
k
k
x(t) = C1 cos t + j sin
t + C2 cos t - j sin
t
m
m
m
m

k
k
t + j (C1 - C2 ) sin
t
m
m

x(t) = (C1 + C2 ) cos

k
k
t + B sin
t
m
m

x(t) = A cos

A & B are always real

since C1 and C2 are
Complex conjugates

MEEM 3700

9 of 16

Lecture 3-SDOF Undamped

EOM

k
k
t + B sin
t
m
m

x(t) = A cos

case 1:

imaginary roots

2.5
2
1.5

a
m
p
litu
d
eX

1
0.5
0
-0.5
-1
-1.5
-2
-2.5

n =

5
time - seconds

10

k
2
=
= natural frequency (rad/sec)
m
T

MEEM 3700

10 of 16

Lecture 3-SDOF Undamped

EOM

x(t) = A cos ( n t ) + B sin ( n t )

f n=

1
= natural frequency
T

cycles

, or Hz

sec

x(t) = A cos ( 2f n t ) + B sin ( 2fn t )

MEEM 3700

11 of 16

Lecture 3-SDOF Undamped

EOM

x(0)

x(t) = A cos ( n t ) + B sin ( n t )

&
x(0)

A and B are determined from the Initial Conditions

1
0

x(0) = A cos ( 0 ) + B sin ( 0 )

x(0) = A

& = - n A sin ( n t ) + n B cos ( n t )

x(t)
0

& = - n A*( 0) + n B (1)

x(0)

MEEM 3700

&
x(0)
=B
n
12 of 16

Lecture 3-SDOF Undamped

EOM

x(t) = A cos ( n t ) + B sin ( n t )

x(t) = x(0) cos ( n t ) +

x& (0)

2.5
2
1.5

case 1:

&
x(0)
sin ( n t )
n
imaginary roots

am
p
litud
eX

1
0.5
0
-0.5
-1

X(0)

-1.5
-2
-2.5

5
time - seconds

MEEM 3700

10

13 of 16

Lecture 3-SDOF Undamped

EOM

Different forms of the same solution:

x(t ) = X cos ( nt )

x& ( 0 )
X = A + B = x (0) +

n
2

x& ( 0 )

x ( 0)n

= tan 1

Phase

Amplitude
MEEM 3700

14 of 16

Lecture 3-SDOF Undamped

EOM

Different forms of the same solution:

x(t ) = X sin ( nt + )

X (0)
X = A2 + B 2 = X (0) 2 +
n

x ( 0)n

x& ( 0 )

= tan 1

Phase

Amplitude
MEEM 3700

15 of 16

Lecture 3-SDOF Undamped

EOM

Equation of Motion:
J o&& + k t = 0

Solution Form:
(t)=Acos ( n t ) +Bsin ( n t )
Here n =

kt
2
=
= natural frequency (rad/sec)
J
T

Equation of Motion: m&x& + k x = 0

Compare with Translatory System

Solution Form:

MEEM 3700

x(t)=Acos ( n t ) +Bsin ( n t )
k
2
n =
=
m
T
16 of 16

Lecture 3-SDOF Undamped

EOM