Laguna University Damped Free Vibration

Prepared by: Engr. Mark Augusto Agus Vibration Engineering

1. Consider a small spring about 30mm long, welded to a stationary table(ground) so that it is fixed at
the point of contact, with a 12mm bolt welded to the other end, which is free to move. The mass of
this system is about 49.2grams. The spring constant is 857.8 N/m. The damping rate of the spring is
measured to be 0.11kg/s. Calculate: a) the natural frequency and period of the system; b) determine
the maximum amplitude of the response if the spring is initially deflected 10mm; c) the damping
ratio; and d) determine if the free motion of the spring-bolt system is over-damped, under-damped,
or critically damped.

Given:

k = 857.8 N/m
m = 49.2 x 10-3 kg
c = 0.11kg/s
k c

m
Required:

a) Fn and T
b) C if xo = 10mm
c) Damping ratio
d) Determine whether over-damped, under-damped, or critically damped.

Solution:

a) For the fn

1 𝑘 1 857.8 N/m
𝑓 = =
2𝜋 𝑚 2𝜋 49.2 x 10 − 3 kg

𝑓 = 21.02 𝐻𝑧

For T: 𝑇= = 0.0475 sec

b) For the maximum amplitude

𝐶 = 𝑥 = 10𝑚𝑚
c) Solving for the damping ratio

𝑐 𝑐 0.11kg/s
𝜁= = = = 0.0085
𝑐 2√𝑘𝑚 N
2 857.8 (49.2 x 10 kg)
m
Laguna University Damped Free Vibration
Prepared by: Engr. Mark Augusto Agus Vibration Engineering

d) Since 𝜁 < 1, then the system is under-damped. The motion resulting from giving-bolt system a
small displacement will be oscillating.
2. A figure has shown a model of a damped vibrating system. The physical parameters are m = 35-
grams, k= 10N/m, c = 0.003 N-s/m.
Calculate the:
a) Natural circular frequency
b) Critical damping coefficient
c) Damping factor
d) Damping circular frequency
e) Damped period

Given:
k = 10 N/m
m
m = 0.035 kg
c = 0.003N-s/m or kgm/s

k c

Solution:

a) For the natural circular frequency

𝑘 10 N/m
𝜔 = = = 16.903 𝑟𝑎𝑑/𝑠
𝑚 0.035 kg
b) For the critical damping coefficient

N 𝑘𝑔
𝑐 = 2√𝑘𝑚 = 2 10 (0.035 kg) = 1.183
m 𝑠

c) For the damping factor

𝑘𝑔
𝑐 𝑐 0 .003
𝜁= = = 𝑠 = 0.0025
𝑐 2√𝑘𝑚 1.183 𝑘𝑔
𝑠
d) For the damping circular frequency
𝑟𝑎𝑑 𝑟𝑎𝑑
𝜔 = 𝜔 1 − 𝜁 = 16.903 1 − 0.0025 = 16.903
𝑠 𝑠
e) For the damped period
2𝜋 2𝜋
𝜏 = = = 0.372 𝑠𝑒𝑐
𝜔 𝑟𝑎𝑑
16.903
𝑠
Laguna University Damped Free Vibration
Prepared by: Engr. Mark Augusto Agus Vibration Engineering

3. A spring mass damper system has a mass of 100kg,stiffness of 3000N/m, and a damping
coefficient of 300kg/s. Calculate: a) the under-damped natural frequency; b) the damping ratio;
c) the damped natural frequency; and d) does the system oscillate?

Given:
m
k = 3000 N/m Required:
m =100kg a) fn, b) 𝜁, c) fd,
c = 300kg/s & d) does the system oscillate?
k c

Solution:

a) For the un-damped natural frequency

1 𝑘 1 3000N/m
𝑓 = = = 0.8717 𝐻𝑧
2𝜋 𝑚 2𝜋 100kg
b) For the damping ratio

300𝑘𝑔
𝑐 𝑐 𝑠
𝜁= = = = 0.27386
𝑐 2√𝑘𝑚 3000𝑁
2 (100𝑘𝑔)
𝑚
c) For the damped natural frequency fd,
𝑘 𝑘
𝜔 𝜔 1−𝜁 1−𝜁 × 1−𝜁
𝑚 𝑚
𝑓 = = = =
2𝜋 2𝜋 2𝜋 2𝜋
3000 𝑁/𝑚
× √1 − 0.27386
100𝑘𝑔
= = 0.8484 𝐻𝑧
2𝜋
d) Does the system oscillate?
Since 𝜁 < 1, then the system oscillates.

4. An oscillator consists of a 15-lbf weight that is connected to a spring of stiffness k = 20lb/in and a
viscous damper with a damping constant c = 10lbf-s/ft. a) show that the oscillator is
underdamped, and b) determine the logarithmic decrement of two successive peak
displacements.
m
k = k = 20lb/in
W =15-lbf
c = 10lbf-s/ft
k c
Laguna University Damped Free Vibration
Prepared by: Engr. Mark Augusto Agus Vibration Engineering

Given: Required:
a) The damping ratio
b) Logarithmic decrement

Solution:
a) Determination of damping ratio
𝑐 𝑐 10𝑙𝑏𝑓 − 𝑠/𝑓𝑡
𝜁= = = = 0.4729
𝑐 2√𝑘𝑚
𝑙𝑏 𝑖𝑛 15 𝑙𝑏𝑓
2 20 (12 )
𝑖𝑛 𝑓𝑡 32.2 𝑓𝑡/𝑠
Since 𝜁 < 1, then the system is under-damped.
b) Logarithmic decrement
2𝜋 2𝜋𝜁
𝛿 = 𝜁𝜔 𝜏 = 𝜁𝜔 =
1−𝜁 𝜔 1−𝜁
2𝜋(0.4729)
𝛿= = 3.373
√1 − 0.4729

5. Figure below shows a block of mass m that is attached to two ideal springs and a viscous
damper. a) Derive the equation of two motions for the block, assuming that x is measured from
the position where the springs are deformed. B) If x = 0, and 𝑥̇ = 4 𝑚/𝑠 when t =0, plot x(t) for
𝜁= 2.5, 1.0, and 0.25. Use m = 0.2kg, k1 = 20 N/m, and k2 = 30N/m.
Given:

k1
k1 = 20 N/m m =0.2kg
c
m k2 = 30N/m t0 = 0
x0 = 0 𝑥̇ = 4 𝑚/𝑠

k2

Required:
a) The equation of the motion of block m
b) Plot x(t) for 𝜁= 2.5, 1.0, and 0.25
Solution
a) Derivation of the equation of motion

(FBD) (MAD)

mg

k1x c𝑥̇ mẍ
=
k2x
N
Laguna University Damped Free Vibration
Prepared by: Engr. Mark
rk Augusto Agus Vibration Engineering

[ 𝐹 = 𝑚𝑎 ] → +
−𝑘 𝑥 − 𝑘 𝑥 − 𝑐𝑥̇ = 𝑚𝑥̈
𝑚𝑥̈ + 𝑘 𝑥 + 𝑘 𝑥 + 𝑐𝑥̇ = 0
𝑚𝑥̈ + 𝑐𝑥̇ + 𝑥(𝑘 + 𝑘 ) = 0
b) Plot x(t) for 𝜁== 2.5, 1.0, and 0.25

Solving for the under-damped

damped circular frequency

N N
𝑘 𝑘 +𝑘 20 + 30
𝜔 = = = m m = 15.81 𝑟𝑎𝑑
𝑚 𝑚 0.2 kg 𝑠
Case of 𝜁= 2.5: over-damped
damped system
Since 𝜁 > 1, then the system is over-damped,
damped, and the displacement equation is as follows:

−ζ + (ζ)2 −1 𝜔𝑛 −ζ − (ζ)2 −1 𝜔𝑛
x(t) = A
A𝑒 + B𝑒
Where:
𝑟𝑎𝑑 𝑟𝑎𝑑
𝜆 = −ζ + (ζ)2 − 1 𝜔𝑛 = −2.5 + (2.5)2 − 1 15.81
= −3.2997
−
𝑠 𝑠
𝑟𝑎𝑑 𝑟𝑎𝑑
𝜆 = −ζ − (ζ)2 − 1 𝜔𝑛 = −2.5 − (2.5)2 − 1 15.81 = −75.750
−
𝑠 𝑠
Applying the initial conditions, t0 = 0, x0 = 0, and ẋ0 = 4 m/s
𝑚
𝑥0̇ + 𝜁 + 𝜁2 − 1 𝜔𝑛 𝑥0 −4 + 2.5 + 2.52 − 1 (15.81)((0)
𝑠
𝐴= = = 0.05521𝑚
2𝜔𝑛 𝜁2 − 1 𝑟𝑎𝑑
2 15.81 2.52 − 1
𝑠
𝑚
−𝑥0̇ − 𝜁 − 𝜁2 − 1 𝜔𝑛 𝑥0 −4 − 2.5 − 2.52 − 1 (15.81)(0)
𝑠
𝐵= = = − 0.05521𝑚
2𝜔𝑛 𝜁2 − 1 𝑟𝑎𝑑
2 15.81 2.52 − 1
𝑠
Then,
𝑟𝑎𝑑 𝑟𝑎𝑑
x(t) = (0.05521𝑒 −3.2997 𝑠 − 0.05521𝑒
−75.750
𝑠 )𝑚
𝑟𝑎𝑑 𝑟𝑎𝑑
−3.2997 −75.750
x(t) = (55.21𝑒 𝑠 – 55.21𝑒 𝑠 )𝑚𝑚
Plotting

t 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.6
x (mm) 0 45.6 39.7 33.7 28.5 24.2 20.5 17.4 14.8 12.5 10.6 8.99 7.6
Laguna University Damped Free Vibration
Prepared by: Engr. Mark
rk Augusto Agus Vibration Engineering

Case of 𝜁= 1: critically-damped
damped syste
system

Since 𝜁 = 1, then the system is critically-damped,, and the displacement equation is as follows:

x(t) = (A + Bt)𝑒
Where:
A = x0 = 0
B = ẋ + ωnx0 = 4m/s
m/s + ((15.81 )(0) =4m/s

Then,
𝑟𝑎𝑑 𝑟𝑎𝑑
x(t) = (4m/s)𝑡𝑒 15.81 𝑠
𝑡
= (4000mm/s)𝑡𝑒 15.81 𝑠
𝑡

t 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.6
0 90.72 82.30 56.00 33.87 19.20 10.45 5.53 2.86 1.46 0.73 0.36 0.18
x (mm)

Case of 𝜁= 0.25: under-damped

damped system

Since 𝜁 < 1, then the system is under-damped,, and the displacement equation is as follows:

𝑥= 𝑒 (𝐴𝑠𝑖𝑛 1 − 𝜁 𝜔 𝑡 + 𝐵𝑐𝑜𝑠 1 − 𝜁 𝜔 𝑡)
Where:
Laguna University Damped Free Vibration
Prepared by: Engr. Mark
rk Augusto Agus Vibration Engineering

𝑚 𝑟𝑎𝑑
𝑥̇ + 𝑥 𝜁𝜔 4 + (0)(0.25)15.81
𝐴= = 𝑠 𝑠 = 0.261302𝑚
𝜔 1−𝜁 𝑟𝑎𝑑
15.81 𝑠 √1 − 0.25
B=𝑥 =0
Then,

( . ) .
𝑥(𝑡) = 𝑒 261𝑚)𝑠𝑖𝑛 1 − (0.25) (15.81)𝑡 + (0)𝑐𝑜𝑠 1 − (0.25)
[(0.261 15..81 (𝑡)]
. 𝑟𝑎𝑑 . 𝑟𝑎𝑑
𝑥(𝑡) = 𝑒 (0.261
( 261𝑚)𝑠𝑖𝑛15.308 𝑡 = 261.302e 𝑠𝑖𝑛15.308 𝑡
𝑠 𝑠

t 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.6
0.00 38.30 148.57 108.07 9.47 -61.57 -79.26 -52.34 -8.57 25.11 35.49 25.09 5.80
x (mm)