Free Undamped Vibration of SDOF Systems Dr. Alaa A.

Abdelrahman

CHAPTER Two
Free Undamped Vibration of SDOF Systems

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 the system
has no damping effect. Thus the amplitude of motion remains constant with time (e.g.in a vacuum).
The resulting equation of motion of such type of systems is a second order homogenous
differential equation with constant coefficients. There are several methods to derive the
differential equation of motions. The most common methods are listed below:

1- By the direct application of the Newton’s 2nd law (applying the equilibrium for both the free
body and the kinetic diagrams).
2- By applying D’ Alembert’s principle (Apply the equilibrium for the free body diagram which
includes the inertia forces and moments).
3- By applying the energy conservation principle (used for undamped systems only).
4- By applying the Rayleigh’s methods (used for undamped systems only).
5- Applying the Lagrange equations.

1- Equation of motion using Newton’s second law

To derive the equation of motion using Newton’s 2nd law

Step 1: Draw the F.B.D. K(x+δ)
‫توضح علي المخطط الحر جميع القوي المؤثرة علي النظام‬
x m

mg

F.B.D.
Fig. (2.1) Mass spring system.
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Free Undamped Vibration of SDOF Systems Dr. Alaa A. Abdelrahman

Step 2: Apply the Newton’s 2nd law

∑ 𝑭𝒙 = 𝒎𝒙̈ 𝐓𝐫𝐚𝐧𝐬𝐥𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧 𝐢𝐧 𝐱 𝐝𝐢𝐫𝐞𝐜𝐭𝐢𝐨𝐧

𝑵𝒆𝒘𝒕𝒐𝒏′ 𝒔 𝟐𝒏𝒅 𝒍𝒂𝒘: ∑ 𝑴𝟎 = 𝑰𝟎 𝜽̈ 𝐑𝐨𝐭𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧 𝐚𝐛𝐨𝐮𝐭 𝐚𝐱𝐢𝐬 𝟎 (𝟐. 𝟏)

̈
{∑ 𝑴𝒄 = 𝑰𝒄 𝜽 𝐆𝐏𝐌, 𝐜 𝐢𝐬 𝐭𝐡𝐞 𝐢𝐧𝐬𝐭𝐚𝐧𝐭𝐚𝐧𝐞𝐨𝐮𝐬 𝐜𝐞𝐧𝐭𝐞𝐫 𝐨𝐟 𝐫𝐨𝐭𝐚𝐭𝐢𝐨𝐧

‫نأخذ إتجاه الحركة هو اإلتجاه الموجب‬

∑ 𝑭𝒙 = 𝒎𝒙̈ (𝟐. 𝟐)

−𝒌(𝒙 + 𝜹) + 𝒎𝒈 = 𝒎𝒙̈ → 𝒎𝒙̈ + 𝒌𝒙 + 𝒌𝜹 − 𝒎𝒈 = 𝟎 (𝟐. 𝟑)

From static equilibrium

∑ 𝑭𝒙 = 𝟎 → 𝒎𝒈 − 𝒌𝜹 = 𝟎 (𝟐. 𝟒)

Then the equation of motion can be written as

𝒎𝒙̈ + 𝒌𝒙 = 𝟎 (𝟐. 𝟓)

2- Equation of motion using D’ Alembert’s principle

‫هي نفس خطوات الحصول علي معادلة الحركة باستخدام قانون نيوتن الثاني مع إضافة قوة وعزم القصور الذاتي للمخطط الحر عكس‬

:‫إتجاه الحركة كما يلي‬

Step 1: Draw the F.B.D. K(x+δ)

mẍ
‫توضح علي المخطط الحر جميع القوي المؤثرة علي النظام‬
x m

F.B.D. mg
Fig. (2.2) F.B.D. of mass spring system.

Step 2: Apply the D’ Alembert’s principle

∑ 𝑭𝒙 = 𝟎 𝐓𝐫𝐚𝐧𝐬𝐥𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧 𝐢𝐧 𝐱 𝐝𝐢𝐫𝐞𝐜𝐭𝐢𝐨𝐧

𝑬𝒒𝒖𝒊𝒍𝒊𝒃𝒓𝒊𝒖𝒎 𝒆𝒒𝒖𝒂𝒕𝒊𝒐𝒏: ∑ 𝑴𝟎 = 𝟎 𝐑𝐨𝐭𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧 𝐚𝐛𝐨𝐮𝐭 𝐚𝐱𝐢𝐬 𝟎 (𝟐. 𝟔)

{ ∑ 𝑴𝒄 = 𝟎 𝐆𝐏𝐌, 𝐜 𝐢𝐬 𝐭𝐡𝐞 𝐢𝐧𝐬𝐭𝐚𝐧𝐭𝐚𝐧𝐞𝐨𝐮𝐬 𝐜𝐞𝐧𝐭𝐞𝐫 𝐨𝐟 𝐫𝐨𝐭𝐚𝐭𝐢𝐨𝐧

‫نأخذ إتجاه الحركة هو اإلتجاه الموجب‬

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Free Undamped Vibration of SDOF Systems Dr. Alaa A. Abdelrahman

∑ 𝑭𝒙 = 𝟎 (𝟐. 𝟕)

−𝒌(𝒙 + 𝜹) + 𝒎𝒈 − 𝒎𝒙̈ = 𝟎 → 𝒎𝒙̈ + 𝒌𝒙 + 𝒌𝜹 − 𝒎𝒈 = 𝟎 (𝟐. 𝟖)

From static equilibrium

∑ 𝑭𝒙 = 𝟎 → 𝒎𝒈 − 𝒌𝜹 = 𝟎 (𝟐. 𝟗)

Then the equation of motion can be written as

𝒎𝒙̈ + 𝒌𝒙 = 𝟎 (𝟐. 𝟏𝟎)

3- Energy conservation principle (for undamped systems only)

The equation of motion can be obtained as
𝒅
(𝑻 + 𝑽) = 𝟎 (𝟐. 𝟏𝟏)
𝒅𝒕
Where T is the total kinetic energy of the system, and V is the total potential energy of the system.
To obtain the equation of motion using the conservation of energy principles.
Step 1: obtain the kinetic energy of the system
𝑻
𝟏
𝒎𝒙̇ 𝟐 𝐓𝐫𝐚𝐧𝐬𝐥𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧 𝐢𝐧 𝐱 𝐝𝐢𝐫𝐞𝐜𝐭𝐢𝐨𝐧
𝟐
𝟏
= 𝑰 𝜽̇𝟐 𝐑𝐨𝐭𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧 𝐚𝐛𝐨𝐮𝐭 𝐚𝐱𝐢𝐬 𝟎 (𝟐. 𝟏𝟐)
𝟐 𝟎
𝟏 𝟏
𝟐 ̇𝟐
{𝟐 𝒎𝒙̇ 𝑮 + 𝟐 𝑰𝑮 𝜽 𝐆𝐏𝐌, 𝐆 𝐢𝐬 𝐭𝐡𝐞 𝐩𝐞𝐫𝐩𝐢𝐧𝐝𝐢𝐜𝐮𝐥𝐚𝐫 𝐚𝐱𝐢𝐬 𝐩𝐚𝐬𝐬𝐢𝐧𝐠 𝐭𝐡𝐫𝐨𝐮𝐠𝐡 𝐭𝐡𝐞 𝐜𝐞𝐧𝐭𝐫𝐨𝐢𝐝
𝟏
𝑻 = 𝒎𝒙̇ 𝟐 (𝟐. 𝟏𝟑)
𝟐
Step 2: obtain the potential energy of the system
𝑽 = 𝑽𝒈 + 𝑽𝒆 (𝟐. 𝟏𝟒)
Where Vg is the gravitational potential energy and Ve is the elastic strain energy in springs.

𝒎𝒈𝒉 𝐈𝐟 𝐭𝐡𝐞 𝐛𝐨𝐝𝐲 𝐯𝐞𝐥𝐨𝐜𝐢𝐭𝐲 𝐢𝐬 𝐝𝐞𝐜𝐫𝐞𝐚𝐬𝐢𝐧𝐠 (𝐛𝐨𝐝𝐲 𝐢𝐬 𝐦𝐨𝐯𝐢𝐧𝐠 𝐮𝐩𝐰𝐚𝐫𝐝)

𝑽𝒈 = {−𝒎𝒈𝒉 𝐈𝐟 𝐭𝐡𝐞 𝐛𝐨𝐝𝐲 𝐯𝐞𝐥𝐨𝐜𝐢𝐭𝐲 𝐢𝐬 𝐢𝐧𝐜𝐫𝐞𝐚𝐬𝐢𝐧𝐠 (𝐛𝐨𝐝𝐲 𝐢𝐬 𝐦𝐨𝐯𝐢𝐧𝐠 𝐝𝐨𝐰𝐧𝐰𝐚𝐫𝐝) (𝟐. 𝟏𝟓)
𝟎 𝐈𝐟 𝐭𝐡𝐞 𝐛𝐨𝐝𝐲 𝐢𝐬 𝐦𝐨𝐯𝐢𝐧𝐠 𝐢𝐧 𝐚 𝐡𝐨𝐫𝐢𝐳𝐨𝐧𝐭𝐚𝐥 𝐩𝐥𝐚𝐧𝐞
𝟏
𝒌𝒙𝟐 𝐋𝐢𝐧𝐞𝐚𝐫 𝐭𝐫𝐚𝐧𝐬𝐥𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐬𝐩𝐫𝐢𝐧𝐠
𝑽𝒆 = { 𝟐 (𝟐. 𝟏𝟔)
𝟏
𝒌 𝜽𝟐 𝐋𝐢𝐧𝐞𝐚𝐫 𝐭𝐨𝐫𝐬𝐢𝐨𝐧𝐚𝐥 𝐬𝐩𝐫𝐢𝐧𝐠
𝟐 𝒕
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Free Undamped Vibration of SDOF Systems Dr. Alaa A. Abdelrahman

𝟏
𝑽 = 𝑽𝒈 + 𝑽𝒆 = 𝟎 + 𝒌𝒙𝟐 (𝟐. 𝟏𝟕)
𝟐
Step 3: Equation of motion
𝒅 𝒅 𝟏 𝟏
(𝑻 + 𝑽) = ( 𝒎𝒙̇ 𝟐 + 𝒌𝒙𝟐 ) = 𝟎 (𝟐. 𝟏𝟖)
𝒅𝒕 𝒅𝒕 𝟐 𝟐
𝟏 𝟏
× 𝟐𝒎𝒙̇ 𝒙̈ + × 𝟐𝒌𝒙𝒙̇ = 𝟎 → 𝒎𝒙̈ + 𝒌𝒙 = 𝟎 (𝟐. 𝟏𝟗)
𝟐 𝟐

4- Lagrange Equations
The equation of motion can be obtained as
𝒅 𝝏𝑻 𝝏𝑻 𝝏𝑹𝒅 𝝏𝑽
( )− +( )+ =𝑸 (𝟐. 𝟐𝟎)
𝒅𝒕 𝝏𝒒̇ 𝝏𝒒 𝝏𝒒̇ 𝝏𝒒
Where T is the total kinetic energy of the system, V is the total potential energy of the system, Rd
is the dissipated energy in dampers, Q is the external force or moment applied to the system, q is
the generalized coordinate that describe the body motion. To obtain the equation of motion using
the conservation of energy principles.
Step 1: obtain the kinetic energy of the system as described in Eqs. (2.12-2.13)
Step 2: obtain the potential energy of the system as presented by Eqs. (2.14-2.17)
Step 3: obtain the dissipated energy in dampers (for damped systems only)
𝟏 𝟐
𝒄𝒙̇ 𝐋𝐢𝐧𝐞𝐚𝐫 𝐭𝐫𝐚𝐧𝐬𝐥𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐝𝐚𝐦𝐩𝐞𝐫
𝑹𝒅 = {𝟐 (𝟐. 𝟐𝟏)
𝟏
𝒄𝒕 𝜽̇𝟐 𝐋𝐢𝐧𝐞𝐚𝐫 𝐭𝐨𝐫𝐬𝐢𝐨𝐧𝐚𝐥 𝐝𝐚𝐦𝐩𝐞𝐫
𝟐
𝑹𝒅 = 𝟎 𝐟𝐨𝐫 𝐭𝐡𝐞 𝐮𝐧𝐝𝐚𝐦𝐩𝐞𝐝 𝐬𝐲𝐬𝐭𝐞𝐦 (𝐦𝐚𝐬𝐬 + 𝐬𝐩𝐫𝐢𝐧𝐠) (𝟐. 𝟐𝟐)
Step 3: Equation of motion
𝒅 𝝏𝑻 𝝏𝑻 𝝏𝑹𝒅 𝝏𝑽
( )− +( )+ =𝟎 (𝟐. 𝟐𝟑)
𝒅𝒕 𝝏𝒙̇ 𝝏𝒙 𝝏𝒙̇ 𝝏𝒙
𝒅 𝝏 𝟏 𝝏 𝟏 𝝏 𝟏
( [ 𝒎𝒙̇ 𝟐 ]) − ( 𝒎𝒙̇ 𝟐 ) + 𝟎 + ( 𝒌𝒙𝟐 ) = 𝟎 → 𝒎𝒙̈ + 𝒌𝒙 = 𝟎 (𝟐. 𝟐𝟒)
𝒅𝒕 𝝏𝒙̇ 𝟐 𝝏𝒙 𝟐 𝝏𝒙 𝟐

‫مما سبق يتضح لنا أنه مع إختالف طرق إيجاد المعادلة التفاضلية المعبرة عن الحركة ألي نظام ديناميكي غير تخميدي يهتز‬

‫إهت اززات حرة بدون قوي خارجية فإن الصورة العامة لمعادلة الحركة يمكن وضعها علي الصورة العامة التالية‬

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Free Undamped Vibration of SDOF Systems Dr. Alaa A. Abdelrahman

Equation of motion of free undamped system

𝒎𝒆𝒒 𝒙̈ + 𝒌𝒆𝒒 𝒙 = 𝟎 𝐓𝐫𝐚𝐧𝐬𝐥𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧
{ (𝟐. 𝟐𝟓)
𝑰𝒆𝒒 𝜽̈ + 𝒌𝒕𝒆𝒒 𝜽 = 𝟎 𝐑𝐨𝐭𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧
Where meq is the equivalent mass of the system, Ieq is the equivalent mass moment of inertia, keq
is the equivalent spring stiffness, kteq is the equivalent torsional spring stiffness. Methods of
obtaining these values are discussed in details in chapter 1.

2.2 Solution of the differential equation of motion (system response)

Consider the general form of the equation of motion for free undamped vibration presented in Eq.
(2.25) which can be rewritten as
(𝒎𝒆𝒒 𝑫𝟐 + 𝒌𝒆𝒒 )𝒙 = 𝟎 𝐓𝐫𝐚𝐧𝐬𝐥𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧 𝝏𝟐
{ , 𝑫𝟐 = (𝟐. 𝟐𝟔)
(𝑰𝒆𝒒 𝑫𝟐 + 𝒌𝒕𝒆𝒒 )𝜽 = 𝟎 𝐑𝐨𝐭𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧 𝝏𝒕𝟐
The system characteristic equation can be written as
(𝒎𝒆𝒒 𝑫𝟐 + 𝒌𝒆𝒒 ) = 𝟎 𝐓𝐫𝐚𝐧𝐬𝐥𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧
{ (𝟐. 𝟐𝟕)
(𝑰𝒆𝒒 𝑫𝟐 + 𝒌𝒕𝒆𝒒 ) = 𝟎 𝐑𝐨𝐭𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧

Solving Eq. (2.27) yields

𝒌𝒆𝒒
𝑫 = ±𝒊√ = ±𝒊𝝎𝒏 𝐓𝐫𝐚𝐧𝐬𝐥𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧
𝒎𝒆𝒒
(𝟐. 𝟐𝟖)
𝒌𝒕𝒆𝒒
𝑫 = ±𝒊√ = ±𝒊𝝎𝒏 𝐑𝐨𝐭𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧
{ 𝑰𝒆𝒒

Where ωn is the natural frequency of free undamped vibration.

Then the system response can be expressed as
𝒙(𝒕) = 𝑪𝟏 𝒄𝒐𝒔(𝝎𝒏 𝒕) + 𝑪𝟐 𝒔𝒊𝒏(𝝎𝒏 𝒕) 𝐓𝐫𝐚𝐧𝐬𝐥𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧
{ (𝟐. 𝟐𝟗𝒂)
𝜽(𝒕) = 𝑪𝟏 𝒄𝒐𝒔(𝝎𝒏 𝒕) + 𝑪𝟐 𝒔𝒊𝒏(𝝎𝒏 𝒕) 𝐑𝐨𝐭𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧

The velocity can be written as

𝒙̇ (𝒕) = −𝑪𝟏 𝝎𝒏 𝒔𝒊𝒏(𝝎𝒏 𝒕) + 𝑪𝟐 𝝎𝒏 𝒄𝒐𝒔(𝝎𝒏 𝒕) 𝐓𝐫𝐚𝐧𝐬𝐥𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧

{ ̇ (𝟐. 𝟐𝟗𝒃)
𝜽(𝒕) = −𝑪𝟏 𝝎𝒏 𝒔𝒊𝒏(𝝎𝒏 𝒕) + 𝑪𝟐 𝝎𝒏 𝒄𝒐𝒔(𝝎𝒏 𝒕) 𝐑𝐨𝐭𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧

Where C1 and C2 are constants obtained from initial condition which can be expressed as

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Free Undamped Vibration of SDOF Systems Dr. Alaa A. Abdelrahman

𝐓𝐡𝐞 𝐢𝐧𝐢𝐭𝐢𝐚𝐥 𝐝𝐢𝐬𝐩𝐥𝐚𝐜𝐞𝐦𝐞𝐧𝐭 𝒙(𝒕)|𝒕=𝟎 = 𝒙𝟎

𝐓𝐫𝐚𝐧𝐬𝐥𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧 {
𝐓𝐡𝐞 𝐢𝐧𝐢𝐭𝐢𝐚𝐥 𝐯𝐞𝐥𝐨𝐜𝐢𝐭𝐲 𝒙̇ (𝒕)|𝒕=𝟎 = 𝒙̇ 𝟎
(𝟐. 𝟑𝟎)
𝐓𝐡𝐞 𝐢𝐧𝐢𝐭𝐢𝐚𝐥 𝐚𝐧𝐠𝐮𝐥𝐚𝐫 𝐝𝐢𝐬𝐩𝐥𝐚𝐜𝐞𝐦𝐞𝐧𝐭 𝜽(𝒕)|𝒕=𝟎 = 𝜽𝟎
𝐑𝐨𝐭𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧 {
{ 𝐓𝐡𝐞 𝐢𝐧𝐢𝐭𝐢𝐚𝐥 𝐚𝐧𝐠𝐮𝐥𝐚𝐫 𝐯𝐞𝐥𝐨𝐜𝐢𝐭𝐲 𝜽̇(𝒕)|𝒕=𝟎 = 𝜽̇𝟎

Substitute with the initial conditions into Eqs. (2.29a) and (2.29b) the system response can be
expressed as
𝒙̇ 𝟎
𝒙(𝒕) = 𝒙𝟎 𝒄𝒐𝒔(𝝎𝒏 𝒕) + 𝒔𝒊𝒏(𝝎𝒏 𝒕) 𝐓𝐫𝐚𝐧𝐬𝐥𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧
𝝎𝒏
(𝟐. 𝟑𝟏)
𝜽̇𝟎
𝜽(𝒕) = 𝜽𝟎 𝒄𝒐𝒔(𝝎𝒏 𝒕) + 𝒔𝒊𝒏(𝝎𝒏 𝒕) 𝐑𝐨𝐭𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧
{ 𝝎𝒏

The system response can be expressed a sine form only as

𝒙(𝒕) = 𝑪𝒔𝒊𝒏(𝝎𝒏 𝒕 + 𝝋) 𝐓𝐫𝐚𝐧𝐬𝐥𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧
{ (𝟐. 𝟑𝟐)
𝜽(𝒕) = 𝑪𝒔𝒊𝒏(𝝎𝒏 𝒕 + 𝝋) 𝐑𝐨𝐭𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧

Where C is the amplitude and 𝝋 is the phase angle which can be expressed as

𝒙̇ 𝟎 𝟐
√(𝒙𝟎 )𝟐 +( ) 𝑭𝒐𝒓 𝒕𝒓𝒂𝒏𝒔𝒍𝒂𝒕𝒊𝒐𝒏𝒂𝒍 𝒎𝒐𝒕𝒊𝒐𝒏
𝝎𝒏
𝑪= (𝟐. 𝟑𝟑𝒂)
𝟐
𝜽̇𝟎
√(𝜽𝟎 )𝟐 + ( ) 𝑭𝒐𝒓 𝒓𝒐𝒕𝒂𝒕𝒊𝒐𝒏𝒂𝒍 𝒎𝒐𝒕𝒊𝒐𝒏
{ 𝝎𝒏

𝝎𝒏 𝒙𝟎
𝐭𝐚𝐧−𝟏 ( ) 𝑭𝒐𝒓 𝒕𝒓𝒂𝒏𝒔𝒍𝒂𝒕𝒊𝒐𝒏𝒂𝒍 𝒎𝒐𝒕𝒊𝒐𝒏
𝒙̇ 𝟎
𝝋= 𝝎𝒏 𝜽𝟎 (𝟐. 𝟑𝟑𝒃)
𝐭𝐚𝐧−𝟏 ( ) 𝑭𝒐𝒓 𝒓𝒐𝒕𝒂𝒕𝒊𝒐𝒏𝒂𝒍 𝒎𝒐𝒕𝒊𝒐𝒏
{ 𝜽̇𝟎
The system response can be illustrated as shown in Fig. (2.3)

Fig. (2.3) Free undamped vibration response.

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The amplitude C
The amplitude C (defined in Eq. (2.33a)) is the maximum displacement from equilibrium. The
amplitude is a function of the system parameters and the initial conditions. The amplitude is a
measure of the energy imparted to the system through the initial conditions. For a linear system

𝟐𝑬
𝑪=√ , 𝐄 𝐢𝐬 𝐭𝐡𝐞 𝐬𝐮𝐦 𝐨𝐟 𝐤𝐢𝐧𝐞𝐭𝐢𝐜 𝐚𝐧𝐝 𝐩𝐨𝐭𝐞𝐧𝐭𝐢𝐚𝐥 𝐞𝐧𝐞𝐫𝐠𝐲 (𝐄
𝑲𝒆𝒒

= 𝐓 + 𝐕) (𝟐. 𝟑𝟒)

The Natural frequency ωn

𝑲𝒆𝒒
√𝒎 𝐅𝐨𝐫 𝐭𝐫𝐚𝐧𝐬𝐥𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧
𝒆𝒒
𝝎𝒏 = (𝟐. 𝟑𝟓)
𝑲𝒕𝒆𝒒
√𝑰 𝐅𝐨𝐫 𝐑𝐨𝐭𝐚𝐭𝐢𝐨𝐧𝐚𝐥 𝐦𝐨𝐭𝐢𝐨𝐧
{ 𝒆𝒒

The natural circular frequency fn

The natural circular frequency is the number of oscillations in one second.
𝝎𝒏
𝒇𝒏 = (𝑯𝒛) (𝟐. 𝟑𝟔)
𝟐𝝅

The natural period Tn

The natural period is the time required for complete cycle.
𝟏 𝟐𝝅
𝑻𝒏 = = (𝒔𝒆𝒄) (𝟐. 𝟑𝟕)
𝒇𝒏 𝝎𝒏
Solved Examples

Example (2-1)
Write down the equation of motion and drive an expression for the natural frequency for the
system shown using 1- Newton’s Method 2- Principle of energy conservation.

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Then write an expression for the system response. o

Solution
1- Equation of motion using Newton’s 2nd law
𝒍
∑ 𝑴𝒐 = 𝑰𝟎 𝜽̈ ̈ (𝒎𝟐 𝒈
𝑰𝟎 𝜽 + + 𝒎𝟏 𝒈𝒍) 𝜽 = 𝟎
𝟐
With
𝒎𝟐 𝒍𝟐
𝟐
𝑰𝟎 = 𝒎𝟏 𝒍 + 𝒌𝒈. 𝒎𝟐
𝟑

Fig. (2.4) Free body diagram for example (2-1)

2- Equation of motion using conservation of energy principle

𝟏 𝒎𝟐 𝒈𝒍
𝑻= 𝑰𝟎 𝜽̇𝟐 𝒂𝒏𝒅 𝑽 = 𝒎𝟏 𝒈𝒍(𝟏 − 𝒄𝒐𝒔𝜽) + (𝟏 − 𝒄𝒐𝒔𝜽)
𝟐 𝟐
Equation of motion
𝒅 𝟏 𝒎𝟐 𝒈𝒍
(𝑻 + 𝑽) = 𝟎 𝑰𝟎 ∗ 𝟐𝜽̇𝜽̈ + 𝒎𝟏 𝒈𝒍(𝒔𝒊𝒏𝜽𝜽̇) + (𝒔𝒊𝒏𝜽𝜽̇) = 𝟎
𝒅𝒕 𝟐 𝟐

𝒎𝟐 𝒈𝒍
𝑰𝟎 𝜽̈ + (𝒎𝟏 𝒈𝒍 + )𝜽 = 𝟎
𝟐

3- The system response can be written as

𝜽(𝒕) = 𝑪𝒔𝒊𝒏(𝝎𝒏 𝒕 + 𝝋)
Where
𝟐
𝜽̇𝟎 𝝎𝒏 𝜽𝟎
𝑪 = √(𝜽𝟎 )𝟐 +( ) 𝒂𝒏𝒅 𝝋 = 𝐭𝐚𝐧−𝟏 ( )
𝝎𝒏 𝜽̇𝟎

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Example (2-2)
Write down the equation of motion and drive an expression for the natural frequency for the
system shown using 1- Newton’s Method 2- Principle of energy conservation.
Then write an expression for the system response.

Fig. (2.5) System for example (2-2).

Solution
𝟐𝒌𝒍𝜽
1- Using Newton’s second Law
𝟑
∑ 𝑴𝑨 = 𝑰𝑨 𝜽̈
𝒌𝒕 𝜽
A
𝟐𝒍 𝒍 𝒍 𝟐 𝟐𝒍 𝟐
̈
𝑰𝑨 𝜽 + (𝒎𝒈 ( − ) + 𝒌𝒕 + 𝟐𝒌 ( ) + 𝟐𝒌 ( ) ) 𝜽 = 𝟎
𝟑 𝟐 𝟑 𝟑 Ɵ

𝒎𝒍𝟐 𝟐𝒍 𝒍 𝟐 𝒎𝒈𝒍 𝟐𝒌𝒍𝟐 𝟖𝒌𝒍𝟐 𝒎𝒈

( ̈
+ 𝒎( − ) )𝜽 + ( + 𝒌𝒕 + + )𝜽
𝟏𝟐 𝟑 𝟐 𝟔 𝟗 𝟗 𝟒𝒌𝒍𝜽
=𝟎 𝟑
2- Using energy conservation principle
𝟐 𝟐
𝟏 𝒍 𝟏 𝟐 𝟏 𝒍 𝟏 𝟐𝒍
𝑻 = 𝑰𝑨 𝜽̇𝟐 𝒂𝒏𝒅 𝑽 = 𝒎𝒈 (𝟏 − 𝒄𝒐𝒔𝜽) + 𝒌𝒕 𝜽 + × 𝟐𝒌 ( 𝜽) + × 𝟐 × 𝒌 ( 𝜽)
𝟐 𝟔 𝟐 𝟐 𝟑 𝟐 𝟑
Equation of motion
𝟐
𝒅 𝟏 𝒍 𝟏 𝟏 𝒍
(𝑻 + 𝑽) = 𝟎 𝑰𝑨 ∗ 𝟐𝜽̇𝜽̈ + 𝒎𝒈 (𝒔𝒊𝒏𝜽𝜽̇) + 𝟐 × 𝒌𝒕 𝜽𝜽̇ + × 𝟐 × 𝟐𝒌 ( ) 𝜽𝜽̇
𝒅𝒕 𝟐 𝟔 𝟐 𝟐 𝟑
𝟐
𝟏 𝟐𝒍
+ × 𝟐 × 𝟐𝒌 ( ) 𝜽𝜽̇ = 𝟎
𝟐 𝟑
𝟐 𝟐 𝟐
𝒎𝒈𝒍 𝒍 𝟐𝒍 𝒎𝒍𝟐 𝟐𝒍 𝒍
𝑰𝑨 𝜽̈ + { + 𝒌𝒕 + 𝟐𝒌 ( ) + 𝟐𝒌 ( ) } 𝜽 = 𝟎, 𝑰𝑨 = +𝒎( − ) 𝒌𝒈. 𝒎𝟐
𝟔 𝟑 𝟑 𝟏𝟐 𝟑 𝟐
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Example (2-3)
Write down the equation of motion and drive an expression for the natural frequency for the
system shown using 1- Newton’s Method 2- Principle of energy conservation.
Then write an expression for the system response.

(𝒌𝟏 + 𝒌𝟐 )(𝑹 + 𝒂)𝜽

𝒎𝒙̈

o
𝑱𝒐 𝜽̈
C

Fig. (2.6) System for example (2-3).

Solution
1- Using Newton’s second law

∑ 𝑴𝑪 = 𝑱𝟎 𝜽̈ + 𝒎𝑹𝒙̈ 𝑱𝟎 𝜽̈ + 𝒎𝒙̈ 𝑹 + ((𝒌𝟏 + 𝒌𝟐 )(𝑹 + 𝒂)𝟐 ) 𝜽 = 𝟎, 𝒘𝒊𝒕𝒉 𝒙̈ = 𝑹𝜽̈

The equation of motion can be written as

(𝑱𝟎 + 𝒎𝑹𝟐 )𝜽̈ + ((𝒌𝟏 + 𝒌𝟐 )(𝑹 + 𝒂)𝟐 )𝜽 = 𝟎

2- Using energy conservation principles

𝟏 𝟏 𝟏 𝟏
𝑻= 𝑱𝟎 𝜽̇𝟐 += 𝒎𝒙̇ 𝟐 𝒂𝒏𝒅 𝑽 = (𝒌𝟏 ((𝑹 + 𝒂)𝜽)𝟐 ) + (𝒌𝟐 [(𝑹 + 𝒂)𝜽]𝟐 )
𝟐 𝟐 𝟐 𝟐

The equation of motion can be written as

𝒅
(𝑻 + 𝑽) = 𝟎 → (𝑱𝟎 + 𝒎𝑹𝟐 )𝜽̇ 𝜽̈ + (𝒌𝟏 + 𝒌𝟐 )(𝑹 + 𝒂)𝟐 𝜽𝜽̇ = 𝟎
𝒅𝒕

(𝑱𝟎 + 𝒎𝑹𝟐 ) 𝜽̈ + (𝒌𝟏 + 𝒌𝟐 )(𝑹 + 𝒂)𝟐 𝜽 = 𝟎

‫الحظ أن هذه المعادلة هي نفسها في حالة الحركة علي المستوي األفقي بدون أي تغيير نظ ار لعدم وجود تأثير لقوي اإلحتكاك‬

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Example (2-4)
An L-shaped bracket hinged at point A is supported by two springs with stiffnesses k1 and k2 as
shown in Fig. below. The mass of the bracket is m and is uniformly distributed. Find the equivalent
mass, the equivalent stiffness and the natural frequency of the system and then write the equation
of motion.
𝒌𝟐 𝒍𝟐 𝜽
𝑰𝑨 𝜽̈

𝒍𝟐
𝒎( )𝒈
𝒍𝟏 + 𝒍𝟐
A

𝒌𝟏 𝒍𝟏 𝜽

Solution
1- Using Newton’s second law
∑ 𝑴𝑨 = 𝑰𝑨 𝜽̈
𝒍𝟐 𝒍𝟐 𝒎 𝒍𝟐 𝒍𝟏
𝑰𝑨 𝜽̈ + ((𝒌𝟏 𝒍𝟐𝟏 + 𝒌𝟐 𝒍𝟐𝟐 − 𝒎 ( ) ( ) 𝒈)) 𝜽 = 𝟎, 𝑰𝑨 = [( ) ( 𝒍𝟐 ) 𝟐 + ( ) (𝒍𝟏 )𝟐 ]
𝒍𝟏 + 𝒍𝟐 𝟐 𝟑 𝒍𝟏 + 𝒍𝟐 𝒍𝟏 + 𝒍𝟐
2- Using Energy conservation principle
𝟏 𝟏 𝟏 𝒍 𝒍
𝑻= 𝑰𝑨 𝜽̇𝟐 𝒂𝒏𝒅 𝑽 = 𝒌𝟏 (𝒍𝟏 𝜽)𝟐 + 𝒌𝟐 (𝒍𝟐 𝜽)𝟐 − 𝒎𝒈 ( 𝟐 ) ( 𝟐 ) (𝟏 − 𝒄𝒐𝒔𝜽)
𝟐 𝟐 𝟐 𝒍𝟏 + 𝒍𝟐 𝟐
The equation of motion can be written as
𝒅 𝒍 𝒍
(𝑻 + 𝑽) = 𝟎 → 𝑰𝑨 𝜽̇ 𝜽̈ + (𝒌𝟏 (𝒍𝟏 )𝟐 + 𝒌𝟐 (𝒍𝟐 )𝟐 − 𝒎𝒈 ( 𝟐 ) ( 𝟐 )) 𝜽𝜽̇ = 𝟎
𝒅𝒕 𝒍𝟏 + 𝒍𝟐 𝟐
𝒍𝟐 𝒍𝟐
𝑰𝑨 𝜽̈ + (𝒌𝟏 (𝒍𝟏 )𝟐 + 𝒌𝟐 (𝒍𝟐 )𝟐 − 𝒎𝒈 ( ) ( )) 𝜽 = 𝟎
𝒍𝟏 + 𝒍𝟐 𝟐
Condition of stability,
𝒍𝟐 𝒍𝟐
𝝎𝒏 > 𝟎 → 𝒌𝒆𝒒 > 𝟎 → 𝒌𝟏 (𝒍𝟏 )𝟐 + 𝒌𝟐 (𝒍𝟐 )𝟐 − 𝒎𝒈 ( )( ) > 𝟎
𝒍𝟏 + 𝒍𝟐 𝟐

𝟐(𝒍𝟏 + 𝒍𝟐 )
𝒎𝒈 < (𝒌𝟏 (𝒍𝟏 )𝟐 + 𝒌𝟐 (𝒍𝟐 )𝟐 )
(𝒍𝟐 )𝟐

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Problems (Sheet 2)
Problem (1)
A 4 kg mass is suspended by a spring of stiffness k = 900 N/ m. Find:

(a) The static displacement at equilibrium;

(b) The natural circular frequency of oscillation

Problem (2)
A block of mass 16 kg is suspended vertically by two light springs of stiffness
100 N/ m and 300 N/ m hung end-to-end as shown. Find:
(a) The stiffness of an equivalent single spring;
(b) The period of oscillation.

Problem (3)
Find the period of oscillation of the system shown. Neglect friction and the
mass of the pulley

Problem (4)
A uniform rod of mass 5 kg and length 0.9 m
supports a concentrated mass of 10 kg at one
end and is pivoted at the other. It is supported
by two springs, each of stiffness k = 2000 N/
m, positioned as shown. Its equilibrium
position is horizontal. Calculate the period of
small oscillations about this equilibrium
position.

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Problem (5)
A light rigid rod of length L = 0.8 m is able to swing in a vertical plane
about a pivot P at a distance L/4 from one end (see Figure). At the lower
end is a concentrated mass M=5kg. The top of the rod is joined by two
springs of stiffness k = 200 N /m to fixed supports. By considering the
combined torque of all elastic and gravitational forces (or otherwise),
calculate the period of small oscillations.

Problem (6)
In the system shown below a bar of mass 5 kg can pivot smoothly about a horizontal axis
through point O, a distance 0.4 m to the left of its centre of mass. The moment of inertia of
the bar about this axis is 14 kg m2. Masses 8 kg and 5 kg are suspended from the ends of the
bar by smoothly-pinned light rods connected to the main bar at distances 0.4 m and 1.2 m
respectively from the axis whilst the masses
are connected to the ground by light springs
with stiffnesses 900 N/m and 600 N/m
respectively as shown. When the bar is
horizontal the springs are unstretched.
Assume small oscillation, drive the equation
of motion for the angular displacement of the
bar then find the natural period of
oscillation.

Problem (7)
Find the natural frequency of the system shown in
the Fig. with and without the springs k1 and k2 in
the middle of the elastic beam.

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Problem (8)
Draw the free-body diagram and derive the equation of motion using Newton’s second law of
motion for each of the systems shown below.

Prolem (9)
Determine the equivalent spring constant and the natural frequency of vibration of the system
shown

Prolem (10)
A mass m is attached at the end of a bar of
negligible mass and is made to vibrate in
three different configurations, as indicated
in Fig. below. Find the configuration
corresponding to the highest natural
frequency.

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