#9 Kdom Sdof Vibration

ME 316 KDOM SDOF Vibration
Single degree of freedom system
2/28/2017 D.N. Manik 1

Undamped single degree of

freedom (SDOF) system
2/28/2017 D.N. Manik 2

Free undamped vibration
f r  kx
d 2x
f r  kx  m 2
dt
mx  kx  0,
k
x  x  0
m
2/28/2017 D.N. Manik 3

k
x  x  0
m
 2 k
 D   x  0 D≡d/dt
 m
k
D  0
2
m
k
Dj
m
2/28/2017 D.N. Manik 4

k k
x(t )  A sin t  B cos t
m m
k 1 k
n  rad/s fn  Hz
m 2 m
Hertz shortened as Hz is same as cycles/s
Hertz-Armstrong-Marconi are the three scientists who
have made significant contribution to inventions related to
radio and the first letter of each of their last names is
given the name HAM for amateur radio
2/28/2017 D.N. Manik 5

x(t )  A sin  n t  B cos  n t
x(t )  C cos( n t   )
x(0)  x0 x (0)  0 Initial conditions
A  0, B  x0
x(t )  x0 cos  n t
2/28/2017 D.N. Manik 6
Free undamped vibration Example
A single degree of freedom system with no damping consists

of a mass of 0.1 kg attached to a spring of stiffness 1000
N/m attached to a fixed support. (a) Compute the undamped
natural frequency in rad/s and Hz and period of free
oscillation (b) If an initial displacement of 10 mm is given to
the mass by pulling the mass down, determine the equation
of motion of the mass (c) What is the maximum velocity of
the mass and when does it occur (d) Draw the displacement
and velocity response due to the above initial condition for
four cycles
2/28/2017 D.N. Manik 7

k 1000
n    100 rad/s
m 0.1
n 100
fn    15.92 Hz  cycles/s 
2 2
1 1
T   63 ms
f n 15.92
2/28/2017 D.N. Manik 8

x(t )  xo cos(nt   )
x(t )  v(t )   xon sin(nt   )
x(t )  10cos nt , mm
x(t )  v(t )  10n sin nt , mm/s
2/28/2017 D.N. Manik 9

2/28/2017 D.N. Manik 10

Free damped vibration
f r  kx
f d  cx
2
d x
f r  f d  kx  cx  m 2
dt
mx  cx  kx  0
2/28/2017 D.N. Manik 11
c k
x x x 0
m m
k
 
2
n
m
c c
  
2mn 2 km
2/28/2017 D.N. Manik 12

c
 2n
m
x  2n x   x  0 2
n
D 2
 2n D   2
n x 0
D  2n D    0
2 2
n
2/28/2017 D.N. Manik 13

D  n  n  2  1
Damping factor   1
 t  n  2 1 t   
 2 1 t 
x(t )  e n Ae  Be
n
 
 
Critical damping   1
  t  t 
x(t )   Ae n  Bte n 
 
 
2/28/2017 D.N. Manik 14
Underdamping   1
D  n  jn 1   2
d  n 1   2
D  n  j d
 t
x(t )  e n  A sin  t  B cos  t 
d d
2/28/2017 D.N. Manik 15

 t
x(t )  e n  A sin  t  B cos  t 
d d
 t
x(t )  Ae n cos  t   
d
 t
x(t )   Ae n  cos  t      sin  t    
 n d d d 
2/28/2017 D.N. Manik 16

 t
x(t )   Ae n  cos  t      sin  t    
 n d d d 
If the initial conditions are x (0) and x (0) ,

1  n x (0)  x (0) 
.   tan  
 d x(0) 
2
 n x(0)  x(0) 
. A   x(0)  
2

  d 
2/28/2017 D.N. Manik 17
Free damped vibration Example
A single degree of freedom system (SDOF) has a
mass of 0.1 kg, stiffness 1000 N/m, and a damping
coefficient of 5 N-s/m is subjected to an initial
condition by moving it by 10 mm from its
equilibrium position. (a) Determine the damping
factor and damped natural frequency of oscillations
(b) Determine the constants from initial conditions
and obtain the equation for displacement and
velocity response (c) Plot the displacement and
velocity response for four cycles
2/28/2017 D.N. Manik 18

k 1000
n    100 rad/s
m 0.1
c c 5
     0.25
2 km 2mn 2  0.1100
d  n 1   2  100 1  0.252  96.82 rad/s
2/28/2017 D.N. Manik 19

The given initial conditions are x(0)  20 mm; x(0)  0 .
  x(0)  x(0)  1  0.25  100  20) 

.   tan 1  n    tan     14.47 0
  d x (0)   96.82  20 
2
  x(0)  x(0)   0.25 100  20 
2
. A   x(0)   n
2
  20 2
    20.65 mm
 d   96.82 

x(t )  20.65e25t cos d t  14.140 mm 
   
x(t )  20.65e25t  25cos d t  14.140  96.82sin d t  14.140  mm/s
2/28/2017 D.N. Manik 20
2/28/2017 D.N. Manik 21

Logarithmic decrement
2/28/2017 D.N. Manik 22

Logarithmic decrement
n t
x  x0e cos(d t )
x1  x0en (2 /d ) cos 2
x2  x0en (4 /d ) cos 4
x0 x1 2 n 2
  ln  ln  
x1 x2 d 1 2
2/28/2017 D.N. Manik 23
Impulse response function
x(0)  0 mx(0)  1
 nt
x  Ae cos( d t   )
x   Ae n t
n cos(d t   )  d sin(d t   )
 1
 A
2 md sin 
2/28/2017 D.N. Manik 24

Impulse response function
n t
e sin(d t )
x(t ) 
md
ent sin(d t )
h(t ) 
md
2/28/2017 D.N. Manik 25

Convolution Integral
2/28/2017 D.N. Manik 26

Convolution Integral
F ( ) e n  t  
sin d  t    
x(t ) 
F ( ) 
md
t F ( )e n  t  
sin d  t     d
x(t )  
0 md
x(t )   F ( )h  t   d
t
2/28/2017 D.N. Manik 27

Convolution Integral Example
A spring-mass system that is initially at rest

is subjected to an impulse that linearly
drops from 100 N to 0 within half of the
time period of natural oscillation of the
spring mass system. Determine the
displacement response of the system
during and after removing the force .
Assume the mass m=10 kg and stiffness
k=100 kN.
2/28/2017 D.N. Manik 28
2/28/2017 D.N. Manik 29

The natural frequency is given by

k 100000
n   100 rad/s
m 10
2 2
   0.0628 s
The time period is given by n 100
The given force can be represented by
t 
F (t )  100  200 0t 
 2
2/28/2017 D.N. Manik 30

2

n
1
h(t )  sin nt
mn
1
t
 
y (t )  
mn 0
sin n (t   ) 100  200 d
 

0t 
2
2/28/2017 D.N. Manik 31
t t
100 200
y (t )  
mn 0
sin  n (t   )d  
 mn 0
 sin n (t   )d

100 cos n (t   )  200  cos  (t   ) t 
t t
1
    n
 2 sin n (t   ) 
mn  n 0
 mn  n n 0
  0 

0t 
2
100 200  t sin nt 
y (t )  1  cos nt    
k k  2 

0t 
2
2/28/2017 D.N. Manik 32
100n 200
v(t )  sin nt  1  cos nt 
k k
y (t   / 2)  1mm
v(t   / 2)  68.2 mm/s
Time can be reset to zero at the end of forced
response and the above values of displacement and
velocity can be taken as initial conditions at t=0 for
free vibration. With the reset time, the new initial
conditions are
2/28/2017 D.N. Manik 33
y (t  0)  1mm y (t )  1.2 103 sin(nt  0.97)

v(t  0)  68.2 mm/s m
y(t )  A sin(nt   ) 
t
2
v(t )  An cos(nt   )
 y (0) 
  a tan n   0.97 rad
 v(0) 
y (0)
A  1.2 mm
sin( )
2/28/2017 D.N. Manik 34
Sinusoidal Excitation
mx  cx  kx  F sin t
x p  A sin t   
x p  A cos t   
x p   A  2 sin t   
mA 2 sin t     cA cos t   

 kA sin t     F sin t
2/28/2017 D.N. Manik 35
mA 2 sin t cos   cos t sin    cA cos t cos   sin t sin  
 kA sin t cos   cos t sin    F sin t
sin t  mA 2 cos   kA cos   cA sin   

cos t  mA 2 sin   cA cos   kA sin    F sin t
2/28/2017 D.N. Manik 36

 
 k  m 2 cos   c sin   A  F
 
 
 k  m 2 sin   c cos   A  0
 
c
tan  
k  m 2
2/28/2017 D.N. Manik 37

c
sin  
 k  m    c 
2 2
2
k  m 2
cos  
 k  m    c 
2 2
2
2/28/2017 D.N. Manik 38

F
A
 
 k  m  2 cos   c sin  
 
F

 
 
2
   

2 2
 k m c 
  

 k  m   c   
k  m   c  
2 2 2 2

2 2
F

 k  m    c 
2 2
2
2/28/2017 D.N. Manik 39


Frequency ratio, r 
n
F 2 r
A   tan 1
1  r    2 r  1 r2
2 2
2
k
F
xp  sin t   
1  r    2 r 
2 2
2
k
2/28/2017 D.N. Manik 40

xp 1

F /k
1  r    2 r 
2 2
2
2/28/2017 D.N. Manik 41

2/28/2017 D.N. Manik 42

2/28/2017 D.N. Manik 43

Sinusoidal Excitation Example
A spring-mass-damper system has a mass of 0.1

kg, a spring of stiffness constant 1000 N/m and
damping coefficient 0.15 N-s/m. It is subjected to
a driving force that has two excitation
frequencies, represented by
F  2 cos  85t   4sin(120t ) N. (a) Determine the
time-domain displacement response of the above
system (b) Why the phase angles are different by
an order of magnitude?
2/28/2017 D.N. Manik 44
k 1000
n    100 rad/s
m 0.1
c 0.15
    0.0075
2 km 2 1000  0.1
2/28/2017 D.N. Manik 45

Amplitude of the first force F1=2 N

Amplitude of the second force F2=4 N
Excitation frequency of the first force ω1=85 rad/s
Excitation frequency of the second force ω2=120
rad/s
1 85
Frequency ratio of the first force r1= n  100  0.85
2 120
Frequency ratio of the second force r2= n  100  1.2
2/28/2017 D.N. Manik 46
F1
y (t )  cos(1t  1 )
k (1  r12 ) 2  (2 r1 ) 2
F2
 sin(2t  2 )
k (1  r22 ) 2  (2 r2 ) 2
2 r1 1 2  0.0075  0.85
1  tan 1
 tan  2.630
1  r12 1  0.852
2/28/2017 D.N. Manik 47

2 r2 1 2  0.0075  1.2
2  tan 1
 tan  177.650
1  r22 1  1.22
2
y (t )  cos(85t  2.630 ) 
1000 (1  0.852 ) 2  (2  0.0075  0.85) 2
4
sin(120t  177.650 )
1000 (1  1.22 ) 2  (2  0.0075 1.2) 2
y(t )  0.0072cos(85t  2.630 )  0.0091sin(120t  177.650 )
2/28/2017 D.N. Manik 48

Vibration Isolation
F sin t
F
y (t )  sin(t   )
m k (1  r 2 ) 2  (2 r ) 2
y(t) F
v(t )  y (t )  cos(t   )
k k (1  r )  (2 r )
2 2 2
c
FT  ky(t )  cv(t )
FT (t )
Transmitted force
2/28/2017 D.N. Manik 49
Vibration Isolation Force transmissibility
kF
FT  sin(t   )
k (1  r )  (2 r )
2 2 2
cF 
 cos(t   )
k (1  r )  (2 r )
2 2 2
1   2 r 
2
FT
 sin(t     )
F (1  r )  (2 r )
2 2 2
2/28/2017 D.N. Manik 50

Vibration Isolation
2 r
  tan 2 r ;   tan
1 1
1 r2
2/28/2017 D.N. Manik 51

Vibration Isolation
2/28/2017 D.N. Manik 52

Vibration Isolation
1. The transmissibility decreases with increase in

damping at the resonance.
2. The family of curves for different values of damping
intersect at T=1 and r  2 .
3. For frequency ratio r greater than 2 , the
transmissibility decreases.
4. The design of vibration isolators is based on the
transmissibility curves for r> 2 .
2/28/2017 D.N. Manik 53

Vibration Isolation
Displacement transmissibility
Y (t ) m Y 1   2 r 
2
 sin(t     )
Yb (1  r )  (2 r )
2 2 2
c k
Yb (t )
2/28/2017 D.N. Manik 54

Vibration Isolation Example
A measuring instrument of mass 10 kg has to be

installed on a floor that is subject to vibration
excitation by other machines that are installed on the
same floor, which vibrates with amplitude of 5 mm at
a frequency of 3000 RPM. In order that the electronic
components of the instrument satisfactorily operate,
the instrument requires that the maximum
displacement amplitude is limited to 100 microns.
2/28/2017 D.N. Manik 55

(a) What is the equivalent stiffness of an

isolator with a damping ratio of 0.01 to limit
the transmitted displacement to an
acceptable level?
(b) What is the maximum acceleration of the
measuring instrument?
(c) What is the maximum deformation of the
isolator?
2/28/2017 D.N. Manik 56

Y 100 106
T  3
 0.02
Yb 5 10
1  (2 r ) 2
T
(1  r 2 ) 2  (2 r ) 2
T 2 (1  r 2 )2  (2 r )2   1  (2 r )2
T r  (2 ) (T  1)  2T  r  T  1  0
2 4 2 2 2 2 2
2/28/2017 D.N. Manik 57

4 104 r 4  1.199 103 r 2  0.9996  0
0.001199  0.0011992  4  4 10 4  0.9996

r  4
 7.18
2  4 10
 314.16 rad/s
n    43.75
r 7.18
2/28/2017 D.N. Manik 58

A  Y 2
 100 106  314.162
 9.86 m/s 2
k  mn2  10  43.752  19.14 kN / m
  Yb  Y 
 5  0.1  4.9 mm
2/28/2017 D.N. Manik 59

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ME 316 KDOM SDOF Vibration

Single degree of freedom system

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Undamped single degree of

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x(t )  A sin  n t  B cos  n t

x(0)  x0 x (0)  0 Initial conditions

A single degree of freedom system with no damping consists

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x(t )  v(t )   xon sin(nt   )

x(t )  10cos nt , mm

x(t )  v(t )  10n sin nt , mm/s

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If the initial conditions are x (0) and x (0) ,

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d  n 1   2  100 1  0.252  96.82 rad/s

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  x(0)  x(0)  1  0.25  100  20) 

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x1  x0en (2 /d ) cos 2

x2  x0en (4 /d ) cos 4

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A spring-mass system that is initially at rest

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The natural frequency is given by

The given force can be represented by

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y (t  0)  1mm y (t )  1.2 103 sin(nt  0.97)

mA 2 sin t     cA cos t   

sin t  mA 2 cos   kA cos   cA sin   

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A spring-mass-damper system has a mass of 0.1

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Amplitude of the first force F1=2 N

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y(t )  0.0072cos(85t  2.630 )  0.0091sin(120t  177.650 )

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1. The transmissibility decreases with increase in

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