7/3/2019

Undamped Free Vibration

ME 512 – Vibrations Engineering

Free Vibration
• Free Vibration. If a system,
after an initial disturbance, is
left to vibrate on its own, the
ensuing vibration is known as
free vibration.
• In every actual case of free
vibration, there exists some
retarding or damping force
which tends to diminish the
motion.
• Undamped
• Damped

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Equation of Motion of Undamped Free

Vibration
• Variable 𝒙 denotes the
displacement of the mass from
the equilibrium position (the
position of zero spring
deflection)
• Such a spring exerts a restoring
force –kx on the mass.
• 𝑘 spring constant, modulus, or
𝑁 𝑙𝑏
stiffness and has units or .
𝑚 𝑓𝑡

Equation of Motion of Undamped Free

Vibration
• Applying Newton’s second Law
of Motion,
𝐹𝑥 = 𝑚𝑥

−𝑘𝑥 = 𝑚𝑥
OR
𝑚𝑥 + 𝑘𝑥 = 0

𝑘
𝑥+ 𝑥=0
𝑚

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Equation of Motion of Undamped Free

Vibration
𝑘
𝑥+ 𝑥=0
𝑚
• Natural Circular Frequency 𝜔𝑛
(rad/sec):
𝑘
𝜔𝑛 =
𝑚

𝒙 + 𝝎𝒏 𝒙 = 𝟎
• Natural Frequency 𝑓𝑛
𝑓𝑛 = 𝜔𝑛 /2𝜋 (cycle/sec or Hz)

Equation of Motion of Undamped Free

Vibration
• Because we anticipate an oscillatory motion, we look for a solution
which gives x as a periodic function of time. Thus, a logical choice is

• or, alternatively,

• Constants A and B, or C and 𝜓, from knowledge of the initial

displacement 𝑥0 and initial velocity of the mass 𝑥𝑜 . For

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Equation of Motion of Undamped Free

Vibration

• Evaluate 𝑥 and 𝑥 at time 𝑡 = 0

𝑥0 = 𝐴 and 𝑥0 = 𝐵𝜔𝑛
• Substitution of values of A and B into the equation above,

Equation of Motion of Undamped Free

Vibration

• Evaluate 𝑥 and 𝑥 at time 𝑡 = 0

• Solving for C and 𝜓

• Substituting to the equation above:

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Equation of Motion of Undamped Free

Vibration
𝑥0 = 𝐴 and 𝑥0 = 𝐵𝜔𝑛

Graphical Presentation of Motion

• Period
2𝜋 1
•𝜏 = 𝜔 = 𝑓
𝑛 𝑛

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Equilibrium as Reference Position

• At the equilibrium position

x=0, the force sum must be
equal to zero so that,

Example 1:
• A body weighing 25 lb is suspended from a
spring of constant k=160 lb/ft. At time t = 0, it
has a downward velocity of 2 ft/sec as it
passes through the position of static
equilibrium. Determine:
• (a) the static spring deflection 𝛿𝑠𝑡
𝑚 𝑔 = 𝑘(𝛿𝑠𝑡 )

• (b) the natural frequency of the system in both

rad/sec (n) and cycles/sec (ƒn)
𝑘
𝜔𝑛 =
𝑚

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Example 1:
• A body weighing 25 lb is suspended from a
spring of constant k=160 lb/ft. At time t = 0, it
has a downward velocity of 2 ft/sec as it
passes through the position of static
equilibrium. Determine:
• (c) the system period
2𝜋
𝜏=
𝜔𝑛
• (d) the displacement x as a function of time,
where x is measured from the position of
static equilibrium.

Example 1:
• A body weighing 25 lb is suspended from a
spring of constant k=160 lb/ft. At time t = 0, it
has a downward velocity of 2 ft/sec as it
passes through the position of static
equilibrium. Determine:
• (e) the maximum velocity vmax attained by
the mass

• (ƒ) the maximum acceleration amax attained

by the mass.