MOE (2nd)

MEC 511 - Structural Dynamics
DAMPED FREE VIBRATION

VISCOUS DAMPING
In considering damping forces in the dynamic

analysis of structure, it is assumed that these
forces are proportional to the magnitude of the
velocity and opposite to the direction of motion.
There are situations in which the assumption of

viscous damping is realistic and in which the
dissipative mechanism is approximately viscous.
DAMPED FREE VIBRATION ( Cont.)
EQUATION OF MOTION
Viscous Damped Oscillator Free-Body Diagram
(Equation of Motion)
Solution of the Differential Equation of Motion
(Equation of Motion)
Let u = C ept
= [C x (d/dt) ept ] + [ept x (d/dt) C]
0
= [C x ept p] + [ept x (d/dt) C]
= Cp ept
= [Cp x (d/dt) ept ] + [ept x (d/dt) Cp]

= [Cp x (d/dt) ept ] + [ept x (d/dt) Cp]
0
= [Cp x ept p] + [ept x (d/dt) Cp]
= Cp2 ept
.
Substitute to m + c u + k u = 0
m Cp2 ept + c Cp ept + k C ept = 0
Simplifying;
mp2 + cp + k = 0 Quadratic Formula
mp2 + cp + k = 0
- c (c 2 4mk)1/2
p =
2m
-c (c 2 4mk)1/2
p =
2m 2m
-c (c 2 4mk)1/2
p =
2m (4m2)1/2
-c (c 2 4mk)1/2
p =
2m (4m2)1/2
1/2
-c (c 4mk)
2
p =
2m (4m2)
1/2
-c c 2 4mk
p =
2m 4m2 4m2
1/2
-c c 2 4mk
p =
2m 4m2 4m2
1/2
-c c 2 k
p =
2m 22 m2 m
2 1/2
-c c k Roots of
p = Quadratic
2m 2m m Equation
The General Solution of the Differential Equation of

Motion is;
u(t) = C1 ep1t + C2t ep2t
Where C1 and C2 are constant of integration

determined from the INITIAL CONDITIONS.
2 1/2
-c c k
p =
2m 2m m
Case1 Case2 Case3

Zero Negative Positive
(Critically (Underdamped System) (Overdamped System)
Damped
System)
CASE 1. The quantity under the radical is zero (the
damping present is called critical damping
where c = ccr).
2
c k
= 0
2m m
c2 k
=
4 m2 m
c2 = 4km
c = 4km
c = (4) (km) = 4 km
c = 2 km
But c = ccr, thus

ccr = 2 km
Since = (k/m)
=k /m
If m = k / If k = m
ccr = 2 km ccr = 2 km
ccr = 2 k m ccr = 2 k m
ccr = 2 k ( k / ) ccr = 2 m m
ccr = 2k / ccr = 2m
In critically damped system, the roots of the
characteristic equation are equal;
p1 = p2 = - ccr / 2m
The General Solution would then be;
u(t) = C1 ep1t + C2t ep2t
u1(t) = C1 e- (Ccr/2m) t
u2(t) = C2t e-(Ccr/2m) t
u(t) = C1 e- (Ccr/2m) t + C2t e-(Ccr/2m) t
u(t) = (C1 + C2t ) e- (Ccr/2m) t

CASE 2. The quantity under the radical is negative (the
damping present is less than the value of
critical damping or c < ccr).
c c
Damping ratio, = =
ccr 2m
2 1/2
-c c k
p =
2m 2m m
2 1/2
-c c k
p =
2m 2m m
But = (k/m)
c
=
2m
2 1/2
p = - 2
1/2
2 2
p = - 2
1/2
p = - 2 2 1 [i 2 = -1]
1/2
p = - 2 -1 (1 2)
1/2
p = - 2 i2 (1 2)
1/2
p = - i2 2 (1 2)
1/2
p = - i (1 2)
p = - i (1 2)
But D = (1 2) = damping frequency
p = - i D
The General Solution for the underdamped system

would then be;
u(t) = e-t (A cos Dt + B sin Dt)

When initial conditions of displacement uo and
velocity vo are introduced, the General Solution
would then be;
vo + uo
u(t) = e-t (uo cos Dt + sin Dt)
D
CASE 3. The quantity under the radical is positive (the
damping present is greater than the value of
critical damping or c > ccr).
The General Solution of the system is given by;
u(t) = C1 ep1t + C2 ep2t
Since the two roots of the characteristic equation are

real and distinct.
Free vibration of Underdamped, critically damped
and overdamped systems.
IMPORTANT TIPS:
1.) Damped Period of Vibration
2.) The value of damping coefficient for real

structures is much less than the critical damping
coefficient and usually ranges between 2% and 10%
of the critical damping value. Using the extreme value
of = 0.10;
It can be seen that the frequency of vibration for a
system with as much as 10% damping ratio is
essentially equal to the undamped natural frequency.
In practice, the natural frequency for a damped

system may be taken to be equal to the undamped
natural frequency.
LOGARITHMIC DECREMENT
a practical method for determining experimentally
the damping coefficient of a system is to initiate free
vibration, record the oscillatory motion and measure
the rate of decay of the amplitude of motion.
the decay is conveniently expressed by the

logarithmic decrement which is defined as the
natural logarithm of the ratio of any two successive
peak amplitudes u1 and u2 in free vibration,
LOGARITHMIC DECREMENT (Cont.)
Where:
When the cosine factor is unity, the displacement on
points of the exponential curve will then be,
u(t) = C e-t
most practical problems, the discrepancy is
negligible and the displacement curve at points where
the cosine is equal to 1 is assumed to coincide at the
peak amplitude with the curve u(t) = Ce-t, thus, u1
at time t1 and u2 at time TD seconds later would then
be;
u1= C e-t1 and u2= C e-(t1 + TD)

C e -t1
= ln
C e-(t1 + TD)
= ln {e (-t1 [(t1 + TD]}
= ln {e (-t1 [t1 TD]}
= ln {e (-t1 + t1 + TD]}
= ln e TD
Property of natural logarithm; [ln eX = x]
= ln e TD

= TD TD =

Subs. TD to the Damped Period of Vibration formula;
2 (For small values

= = 2
1 2 of damping ratio)
SAMPLE PROBLEM
A vibrating system consisting of a weight of W = 10 lb.
and a spring with stiffness k = 20 lb/in is viscously
damped so that the ratio of two consecutive amplitudes
is 1.00 and 0.85. Determine:
1. The natural frequency of the undamped system.
2. The logarithmic decrement.
3. The damping ratio.
4. The damping coefficient.
5. The damped natural frequency.
SOLUTION:
1. The natural frequency of the undamped system.
n = (k/m)
k = 20 lb./ in
W = 10 lb.
Gravity g = 9.81 m/sec2 = 32.2 ft/sec2
32.2 ft/sec2 x (12 in /1ft.) = 386.4 in/sec2
m= W
g
10 lb.
m=
386.4 in/sec2
m = 0.02588 lb/in/sec2 = 0.02588 lb-sec2/ in

k/m = 20 lb./in [in /0.02588 lb-sec2]
k/m = 772.8 /sec2
k/m = 27.80 rad/sec
n = 27.80 rad/sec (ANSWER)
Or in cycles per seconds (cps);
f = n
2
27.80
f=
2
f = 4.42 cps (ANSWER)
2. The logarithmic decrement.
u1 = 1.00
u2 = 0.85
= ln u1 = ln 1 = TD
u2 2
1.00
= ln
0.85
= 0.163 (ANSWER)
3. The damping ratio.
= 2
0.163 = 2
= 0.026 (ANSWER)
4. The damping coefficient.
Damping ratio, = c and ccr = 2 km

ccr
c
=
2km
2km = 2(20 lb./in)(10 lb./386.4 in/sec2)

2km = 20.5176 lb2-sec2/in2)
2km = 1.4389 lb-sec/in
Thus,
c = 1.4389 lb-sec/in (0.026)
c = 0.0374 lb-sec/in (ANSWER)
5. The damped natural frequency.
But D = (1 2) [ = n]
D = 27.80 (1 0.0262)
D = 27.79 rad/sec (ANSWER)

SAMPLE PROBLEM
A platform of weight W = 4,000 lb is being supported by
4 equal columns that are clamped to the foundation as
well as to the platform. Experimentally, it has been
determined that a static force of F = 1,000 lb applied
horizontally to the platform produces a displacement of
0.10 in. It is estimated that damping in the structures is
of the order of 5% of the critical damping. Determine for
this structure the following:
1. Undamped natural frequency.
2. Absolute damping coefficient.
3. Logarithmic decrement.
4. The number of cycles and the time required for the
amplitude of motion to be reduced from an initial value
of 0.1 to 0.01 in.
SOLUTION:
1. Undamped natural frequency.
k= F

k =1,000 lb
0.10 in
k = 10,000 lb./in
n = k/m
4,000 lb.
m=
386.4 in/sec2
m = 10.352 lb-sec2/ in
k/m = 10,000 lb./in [in /10.352 lb-sec2]

k/m = 966.0 /sec2
k/m = 31.08 rad/sec
n = 31.08 rad/sec (ANSWER)

2. Absolute damping coefficient.
ccr = 2 km
2km = 2(10,000 lb./in)(4,000 lb./386.4 in/sec2)

2km = 2103,519.67 lb2-sec2/in2)
2km = 643.489 lb-sec/in
= c ;
ccr
c = 643.489 lb-sec/in (0.05)
c = 32.17 lb-sec/in (ANSWER)
3. Logarithmic decrement.
= 2
= 2 (0.05)
= 0.314 (ANSWER)
4. The number of cycles and the time required for the
amplitude of motion to be reduced from an initial value
of 0.1 to 0.01 in.
u0 = u0 u1 uk-1
uk u1 u2 uk
Taking the natural logarithm;
ln uu0 = + + + = k
k
u0 = 0.1
uk = 0.01
ln u0 = ln 0.1 = k = 0.314k
uk 0.01
ln 0.1 = 0.314k
0.01
k = 7.33 8 cycles (ANSWER)
The damped frequency D is given by;
D = (1 2) [ = n]
D = 31.08 (1 0.052)
D = 31.04 rad/sec
The damped period TD is given by;
2
TD = =
D
0.314 2
TD = =
0.05 (31.08) 31.04
TD = 0.202 sec.
The time for 8 cycles then be;

t(8 cycles) = TD(8 cycles) = 0.202 sec.(8) =1.62 sec.
T =1.62 sec. (ANSWER)
ASSIGNMENT #1:
A machine weighing 1,000 lb is mounted through springs
having a total stiffness k = 2,000 lb/in. to a simple supported
beam as shown. Determine the equivalent mass mE, the
equivalent spring constant kE, and the equivalent damping
coefficient cE for the system assumed to have 10% of the
critical damping. Neglect the mass of the beam.
EI = 107 lb-in2 ANSWERS:

L = 40 in mE = 2.59 lb-sec2/in
W
u kE = 1,579 lb/in
k
mE = 12.79 lb-sec/in
L/2 L/2
ASSIGNMENT #2:
(ORIG. EQUATION)
(ANSWER)

MOE (2nd)

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MEC 511 - Structural Dynamics

DAMPED FREE VIBRATION

In considering damping forces in the dynamic

There are situations in which the assumption of

Viscous Damped Oscillator Free-Body Diagram

= [Cp x (d/dt) ept ] + [ept x (d/dt) Cp]

m Cp2 ept + c Cp ept + k C ept = 0

The General Solution of the Differential Equation of

u(t) = C1 ep1t + C2t ep2t

Where C1 and C2 are constant of integration

Case1 Case2 Case3

But c = ccr, thus

The General Solution would then be;

u(t) = C1 ep1t + C2t ep2t

u(t) = C1 e- (Ccr/2m) t + C2t e-(Ccr/2m) t

u(t) = (C1 + C2t ) e- (Ccr/2m) t

But D = (1 2) = damping frequency

The General Solution for the underdamped system

u(t) = e-t (A cos Dt + B sin Dt)

The General Solution of the system is given by;

u(t) = C1 ep1t + C2 ep2t

Since the two roots of the characteristic equation are

1.) Damped Period of Vibration

2.) The value of damping coefficient for real

In practice, the natural frequency for a damped

the decay is conveniently expressed by the

u1= C e-t1 and u2= C e-(t1 + TD)

= ln {e (-t1 [t1 TD]}

2 (For small values

m = 0.02588 lb/in/sec2 = 0.02588 lb-sec2/ in

n = 27.80 rad/sec (ANSWER)

Or in cycles per seconds (cps);

4. The damping coefficient.

Damping ratio, = c and ccr = 2 km

2km = 2(20 lb./in)(10 lb./386.4 in/sec2)

D = 27.79 rad/sec (ANSWER)

k/m = 10,000 lb./in [in /10.352 lb-sec2]

n = 31.08 rad/sec (ANSWER)

2km = 2(10,000 lb./in)(4,000 lb./386.4 in/sec2)

Taking the natural logarithm;

The damped frequency D is given by;

The time for 8 cycles then be;

EI = 107 lb-in2 ANSWERS:

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