ERT 452

VIBRATION
Lecture 2
Free Vibration of Single Degree
of
Freedom Systems

ERT 452 SESION 2011/2012

MUNIRA MOHAMED NAZARI

SCHOOL OF BIOPROCESS
UNIVERSITI MALAYSIA PERLIS
1

COURSE OUTCOME

CO 2
Ability to DEVELOP and PLAN the solutions
to vibration problems that contain free and
forced-vibration analysis of one degree of
freedoms system.

ERT 452 SESION 2011/2012

COURSE OUTLINE
2.1

Introduction

2.2

Free Vibration of an Undamped

Translational System

2.3

Free Vibration of an Undamped

Torsional System

ERT 452 SESION 2011/2012

2.1 Introduction

Free Vibration occurs when a system

oscillates only under an initial disturbance
with no external forces acting after the initial
disturbance.
Undamped vibrations result when amplitude
of motion remains constant with time (e.g. in
a vacuum).
Damped vibrations occur when the amplitude
of free vibration diminishes gradually
overtime, due to resistance offered by the
surrounding medium (e.g. air).
ERT 452 SESION 2011/2012

2.1Introduction

A spring-mass system in horizontal position.

ERT 452 SESION 2011/2012

2.1Introduction

Several mechanical and structural systems

can be idealized as single degree of freedom
systems, for example, the mass and stiffness
of a system.

Equivalent spring-mass
system for the cam
follower system.

ERT 452 SESION 2011/2012

2.1Introduction

Modeling of tall structure as spring-mass

system.

ERT 452 SESION 2011/2012

2.2 Free Vibration of an

Undamped Translational System
Equation of Motion Using Newtons Second Law
of Motion:
Procedure

Select a suitable coordinate to describe the position

of the mass of rigid body in the system (linear or
angular).
Determine the static equilibrium configuration of the
system and measure the displacement of the mass or
rigid body from its static equilibrium position.
Draw free body diagram.
452 SESION 2011/2012
Apply Newtons second lawERTof
motion.

2.2 Free Vibration of an Undamped

Translational System

x (t ) when
If mass m is displaced a distance

(t )
acted upon by a resultantF force
in the same

direction,

d
dx (t )
F (t )
m

dt
dt
If mass m is constant, this equation reduces to
2

d x (t )

F (t ) m
mx
(2.1)
2
dt

d x (t )

wher x
is the acceleration of the
2
dt
e
mass.
2

2.2 Free Vibration of an Undamped

Translational System

d x (t )

is the acceleration of the

wher x
2
dt
e
mass.
2

For a rigid body undergoing rotational motion,

Newtons Law gives

M (t ) J

(2.2)

where M is
moment acting on
the resultant

d 2 (t ) / dt 2
the body and
and
are the
resulting angular displacement and angular
acceleration, respectively.
10

2.2 Free Vibration of an Undamped

Translational System

For undamped single degree of freedom

system, the application of Eq. (2.1) to mass m
yields the equation of motion:

F (t ) kx mx
or
mx kx 0

(2.3)

11

2.2 Free Vibration of an Undamped

Translational System

Equation of Motion Using Other Methods:

1)DAlemberts Principle.
The equations of motion, Eqs. (2.1) & (2.2)
can be rewritten as

F (t ) mx 0

M (t ) J 0

(2.4a )
(2.4b)

The application of DAlemberts principle to

the system shown in Fig.(c) yields the
equation of motion:

kx mx 0

or

mx kx 0

12

(2.3)

2.2 Free Vibration of an Undamped

Translational System

2)Principle of Virtual Displacements.

If a system that is in equilibrium under
the action of a set of forces is subjected to
a virtual displacement, then the total
virtual work done by the forces will be
zero.
Consider spring-mass system as shown in
figure, the virtual work done by each force
can be computed as:

13

2.2 Free Vibration of an Undamped

Translational System

Virtual work done by the spring force WS (kx)x

Virtual work done by the inertia force Wi (mx)x

When the total virtual work done by all the

forces is set equal to zero, we obtain

mxx kxx 0

(2.5)

Since the virtual displacement can have an

x 0 , Eq.(2.5) gives the
arbitrary value,
equation of motion of the spring-mass system
as

mx kx 0

(2.3)

14

2.2 Free Vibration of an Undamped

Translational System

3)Principle of Conservation of Energy.

A system is said to be conservative if no
energy is lost due to friction or energydissipating nonelastic members.
If no work is done on the conservative
system by external forces, the total energy
of the system remains constant. Thus the
principle of conservation of energy can be
expressed as:T U constant
or

d
(T U ) 0
dt

(2.6)
15

2.2 Free Vibration of an Undamped

Translational System

The kinetic and potential energies are given by:

1 2
T mx
2
or

(2.7)
1 2
U kx
2

(2.8)

Substitution of Eqs. (2.7) & (2.8) into Eq.

(2.6) yields the desired equation

mx kx 0

(2.3)
16

2.2 Free Vibration of an Undamped

Translational System

Equation of Motion of a Spring-Mass System

in Vertical Position:

17

2.2 Free Vibration of an Undamped

For static
equilibrium,

Translational System

W mg k st

(2.9)

where W = weight of mass m,

st = static deflection
g = acceleration due to gravity

The application of Newtons second law of

motion to mass m gives

mx k ( x st ) W

and since k st W , we obtain

mx kx 0

(2.10)
18

2.2 Free Vibration of an Undamped

Translational System

Notice that Eqs. (2.3) and (2.10) are

identical.
This indicates that when a mass moves in a
vertical direction, we can ignore its weight,
provided we measure x from its static equilibrium
position.

19

2.2 Free Vibration of an Undamped

Translational System
The solution of Eq. (2.3) can be found by assuming

x(t ) Ce

st

(2.11)

Where C and s are constants to be determined.

Substitution of Eq. (2.11) into Eq. (2.3) gives

C (ms 2 k )

(2.12)

Since C 0, we have

ms 2 k 0

(2.13)

20

2.2 Free Vibration of an Undamped

Translational System
And hence,
k 1/ 2
s ( ) i n
m

( 2.13)

Roots of characteristic equation or known as eigenvalues of the problem.

Where i = (-1)

1/2

and
k 1/ 2
n ( )
m

( 2.14)

21

2.2 Free Vibration of an Undamped

Translational System

Hence, the general solution of Eq. (2.3) can be

expressed as

x(t ) C1e int C2 e int

(2.15)

where C1 and C2 are constants. By using the

identities
e it cos t i sin t
x(t ) A1 cos n t A2 sin nt

(2.16)

where A1 and A2 are new constants.

22

2.2 Free Vibration of an Undamped

Translational System

x(t 0) A1 x0
x (t 0) n A2 x 0

(2.17)

Hence, A1 x0 and A2 x 0 / n . Thus the

solution of Eq. (2.3) subject to the initial
conditions of Eq. (2.17) is given by

x 0
x(t ) x0 cos nt
sin nt
n

(2.18)

23

2.2 Free Vibration of an Undamped

Translational System

Harmonic Motion:
Eqs.(2.15),(2.16) & (2.18) are harmonic functions
of time. Eq. (2.16) can also be expressed as:

x(t ) A0 sin(nt 0 )

(2.23)

where A0 and 0 are new constants, amplitude

and phase angle respectively:

2 1/ 2

x
A0 A x02 0

(2.24)

x0n

0 tan
x 0

and

(2.25)
24

2.2 Free Vibration of an Undamped

Translational System

Note the following aspects of spring-mass systems:

1) Circular natural frequency:

k
n
m

1/ 2

( 2.26)

Spring constant,
k:
W mg
k

st

Hence,

st

g
n
st

(2.27)

1/ 2

(2.28)
25

2.2 Free Vibration of an

Undamped Translational System
Hence, natural frequency in cycles per
second:
1/ 2
1 g

fn
(2.29)
2 st
and, the natural period:
st
1

n
2
fn
g

1/ 2

(2.30)

26

2.2 Free Vibration of an Undamped

Translational System

2) Velocity x (t ) and the accelerationx(t )

of the

dx

mass
m
at
time
t
can
be
obtained
as:
x (t ) (t ) n A sin(nt ) n A cos(nt )

dt
2
d 2x
x(t ) 2 (t ) n2 A cos(nt ) n2 A cos(nt )
dt

3) If initial displacement x0

(2.31)

is zero,

x 0

x 0

x(t )
cos nt
sin nt
n
2 n

(2.32)

If initial velocity x 0 is zero,

x(t ) x0 cos nt

(2.33)
27

2.2 Free Vibration of an Undamped

Translational System

4) The response of a single degree of freedom

system can be represented in the state space
or phase plane:
x
cos(nt )
(2.34)
A
x
y
Where
sin(nt )

(2.35)
,
y x / n
An
A
By squaring and adding Eqs. (2.34) & (2.35)

cos 2 (n t ) sin 2 (nt ) 1

x2 y2
2 1
2
A
A

(2.36)
28

2.2 Free Vibration of an Undamped

Translational System

Phase plane representation of an

undamped system

29

Example 2.2
Free Vibration Response Due to Impact

A cantilever beam carries a mass M at the free end as

shown in the figure. A mass m falls from a height h on to
the mass M and adheres to it without rebounding.
Determine the resulting transverse vibration of the
beam.

30

Example 2.2
Solution

Using the principle of conservation of

momentum: mv ( M m) x
m
0
or

m
m

x 0
vm

M m
M m

2 gh

(E.1)

The initial conditions of the problem can be stated:

mg
x0
,
k

m
x 0

M m

2 gh

(E.2)

Thus the resulting free transverse vibration of the

beam can be expressed as:

x(t ) A cos(nt )
31

Example 2.2
Solution

where

2 1/ 2

x
A x02 0

n
x 0
1

tan
x0n

k
3EI
3
M m
l ( M m)
32

Example 2.5
Natural Frequency of Pulley System

Determine the natural frequency of the system

shown in the figure. Assume the pulleys to be
frictionless and of negligible mass.

33

Example 2.5
Solution
The total movement of the mass m (point O)
is:
2W 2W

k2
k1

The equivalent spring constant of the system:

Weight of the mass
Net displacement of the mass
Equivalent spring constant
1 1 4W (k1 k 2 )
W
4W

keq
k1k 2
k1 k 2
k1k 2
keq
4(k1 k 2 )

(E.1)
34

Example 2.5
Solution

By displacing mass m from the static equilibrium

position by x, the equation of motion of the mass
can be written as
mx keq x 0
(E.2)
Hence, the natural frequency is given by:
keq

n
m

1/ 2

k1k 2

m
(
k

k
)
1
2

n
1
k1k 2
fn

2 4 m(k1 k 2 )

1/ 2

rad/sec

(E.3)

cycles/sec

(E.4)

1/ 2

35

Free Vibration of an
Undamped Torsinal System

36

2.3 Free Vibration of an Undamped

Torsinal System
From the theory of torsion of circular shafts, we
have the relation:
Shear modulus

GI 0
Mt
l
Torque

Polar moment
of inertia of
cross section of
shaft
Length shaft

37

2.3 Free Vibration of an Undamped

Torsional System
Polar Moment of Inertia:
d 4
I0
32

(2.38)

Torsional Spring Constant:

M t GI 0 Gd 4
kt

l
32l

(2.39)

38

2.3 Free Vibration of an Undamped

Torsional System

Equation of Motion:
Applying Newtons Second Law of Motion,
J 0 kt 0
(2.40)
Thus, the natural circular frequency:
1/ 2
kt

n
(2.41)
J0
The period and frequency of vibration in cycles
1/ 2
per second are:

J0

kt

n 2

1
fn
2

kt

J0

(2.42)

1/ 2

(2.43)
39

2.3 Free Vibration of an Undamped

Torsional System

Note the following aspects of this system:

1)If the cross section of the shaft supporting the
disc is not circular, an appropriate torsional
spring constant is to be used.
2)The polar mass moment of inertia of a disc is
given by:
4
4

hD WD
J0

32
8g

where is the mass density

h is the thickness
D is the diameter
W is the weight of the
3)An important
application: in a mechanical clock
disc
40

2.3 Free Vibration of an Undamped

Torsional System

General solution of Eq. (2.40) can be obtained:

(t ) A1 cos nt A2 sin nt

(2.44)

where n is given by Eq. (2.41) and A1 and A2 can

be determined from the initial conditions. If

(t 0) 0 and (t 0)
(t 0) 0
dt

(2.45)

The constants A1 and A2 can be found:

A1 0
A2 0 / n

(2.46)

Eq. (2.44) can also represent a simple harmonic

41

Example 2.6
Natural Frequency of Compound Pendulum

Any rigid body pivoted at a point other than its

center of mass will oscillate about the pivot point
under its own gravitational force. Such a system is
known as a compound pendulum (shown in Figure).
Find the natural frequency of such a system.

42

Example 2.6
Solution

For a displacement , the restoring torque (due to

the weight of the body W ) is (Wd sin ) and the
equation of motion is

J 0 Wd sin 0

(E.1)

Hence, approximated by linear equation:

J 0 Wd 0

(E.2)

The natural frequency of the compound

pendulum:
1/ 2
1/ 2

Wd

n
J0

mgd

J0

(E.3)
43

Example 2.6
Solution

Comparing with natural frequency, the length of

equivalent simple pendulum:

J0
l
md

(E.4)

If J0 is replaced by mk02, where k0 is the radius of

gyration of the body about O,

gd
n 2
k0

1/ 2

(E.5)

k 02
d

(E.6)
44

Example 2.6
Solution

If kG denotes the radius of gyration of the body

about G, we have:
2
2
2

k0 kG d

and

(E.7)

kG2

l
d
d

(E.8)

If the line OG is extended to point A such that

kG2
GA
d

(E.9)

l GA d OA

(E.10)

Eq.(E.8) becomes

45

Example 2.6
Solution

Hence, from Eq.(E.5), n is given by

g
n 2

k0 / d

1/ 2

g

l

1/ 2

OA

1/ 2

(E.11)

This equation shows that, no matter whether the

body is pivoted from O or A, its natural frequency
is the same. The point A is called the center of
percussion.

46

Text book Problems

Lets try!!!

47

Problem 2.64

A simple pendulum is set into oscillation from

its rest position by giving it an angular
velocity of 1 rad/s. It is found to oscillate with
an amplitude of 0.5 rad. Find the natural
frequency and length of the pendulum.

ERT 452 SESION 2011/2012

48

Problem 2.66

Derive an expression for the natural

frequency of the simple pendulum shown in
Fig. 1.10. Determine the period of oscillation
of a simple pendulum having a mass, m = 5
kg and a length l = 0.5 m.

ERT 452 SESION 2011/2012

49

Problem 2.77

A uniform circular disc is pivoted at point O,

as shown in Fig. 2.99. Find the natural
frequency of the system. Also find the
maximum frequency of the system by varying
the value of b.

ERT 452 SESION 2011/2012

50

Problem 2.78

Derive the equation of motion of the system

shown in Fig. 2.100, by using Newtons
second law of motion method.

ERT 452 SESION 2011/2012

51

52