A2- Free Vibration Single Degree of Freedom

Chapter Outline
1. 2. 3. 4. 5. 6. 7. 8. 9. Single Degree of Freedom EOM and Natural Frequency Energy Method Rayleigh Method Viscously Damped Vibration Underdamped: Oscillatory Motion Overdamped and Critically Damped Logarithmic Decrement Coloumb Damping

1. Single Degree of Freedom (SDOF)

Lumped Mass Stiffness displacement Damping velocity Linear time variant 2nd order differential equation

mx + cx + kx = F (t )
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2. EOM and Natural Frequency

Undamped spring-mass system
Circular frequency (n)

=
2 n

k m

x + n x = 0
2

Homogeneous second-order linear differential equation has a general solution: x = A sin n t + B cos n t

3. Energy Method
In a conservative system, the total energy is constant. The kinetic energy T is stored in the mass by virtue of its velocity, whereas the potential energy U is stored in the form of strain energy in elastic deformation or by a spring or work done in a force field such as gravity. The total energy being constant, its rate of change is zero. T + U = constant Tmax = Umax d/dt( T + U ) = 0

4. Rayleigh Method
Effective Mass In systems in which masses are joined by rigid links, levers, or gears, the motion of various masses can be expressed in terms of the motion x of some specific point and the system is simply one of a single DOF, because only one coordinate is necessary. The kinetic energy, T can then be written as 1

m eff x

where meff is the effective mass or an equivalent lumped mass at the specified point. If the stiffness at that point is also known, the natural frequency can be calculated from the equation k n = m
eff

4. Rayleigh Method
KE= 0.5 m (v)2

KE = 0.5m p x p 2 + 0.5mv xv 2 + 0.5J r r 2 + 0.5mr xr 2 KE = 0.5{mv + Jr l l + m p ( 1 )2 + mr ( 3 )2}xv 2 l2 2 l2 l2

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5. Viscously Damped Vibration

mx + cx + kx = F (t )
Define critical damping

cc = 2mn = 2 km
Damping ratio 1 2 c x + 2n x + n x = F (t ) = m cc Homogeneous solution (3 cases) Roots are: Underdamped <1 n ( Critically damped =1 Overdamped >1

1)n
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6. Underdamped: Oscillatory motion

1 0.8 0.6 0.4 Displacement 0.2 0 -0.2 -0.4 -0.6 -0.8 0

0.5

1 Tim s e,

1.5

x (t ) = e nt ( A sin d t + B sin d t )
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7. Overdamped and critically damped

1 0.9 0.8
Displacement

0.9 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0 0 0.2 0.4 Tim s e, 0.6 0.8 1

0.7 Displacement 0.6 0.5 0.4 0.3 0.2 0.1 0 0 0.2 0.4 Tim s e, 0.6 0.8 1

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8. Logarthmic Decrement

2 1 2
Force

0.5

0.5

For small damping, =2

-0.5 -0.5

-1 0

0.5

1 Tim (s) e

1.5

2 11

-1

Position

9. Coulomb damping
Sliding or dry friction Constant force opposite to velocity Decay in amplitude per cycle is 4mg/k
0.1 0.08 0.06 0.04 Displacement (m) 0.02 0 -0.02 -0.04 -0.06 -0.08 -0.1 0 0.2 0.4 0.6 0.8 Tim (s) e 1 1.2 1.4 1.6

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Any Questions ?

Thank You
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