Free Vibration

TEXT BOOK: DYNAMICS OF STRUCTURES BY CHOPRA

What is free vibration?
A structure is said to be undergoing free vibration when it is
disturbed from its static equilibrium position and then
allowed to vibrate by itself.

Equation of Motion mu + cu + ku = p(t )

For free vibration, p(t) = 0 mu + cu + ku = 0

2.1 UNDAMPED FREE VIBRATION
Free vibration of the system without damping (c = 0) mu + ku = 0

Free vibration is initiated by disturbing the system from its static equilibrium
position by imparting the mass some displacement u(0) and velocity 𝑢ሶ 0 at
time zero

Thus, initial condition: u = u (0 ) u = u (0 )

u (0)
u (t ) = u (0) cos nt +
Solving the homogeneous differential
sin nt
equation by standard methods n

k
where n =
m
 GRAPH OF u (t ) = u (0) cos nt + u (0) sin nt
n
𝑢ሶ 1 𝑢ሶ 1
Eq. (2.1.3)
𝑢1 𝑢1

The motion described

𝑡1 𝑡1 + 2𝜋Τ𝜔𝑁 by Eq. (2.1.3) is
2𝜋Τ𝜔𝑁
known as simple
harmonic motion.

1. The system oscillates about its static equilibrium (or undeformed, u = 0) position
2𝜋
2. The motion repeats itself after every 𝜔 seconds
𝑛
For example, displacement and velocity of the mass at two time instants, t1 and 𝑡1 +
2𝜋/𝜔𝑛 is identical: 𝑢 𝑡1 =𝑢 𝑡1 + 2𝜋/𝜔𝑛 and 𝑢ሶ 𝑡1 =𝑢ሶ 𝑡1 + 2𝜋/𝜔𝑛
 u

The portion a-b-c-d-e of the

displacement-time curve
describes one cycle of free
vibration of the system.

1. From its static equilibrium (or undeformed) position at a, the mass moves to the right.
2. At b, it reaches maximum positive displacement u0, where the velocity is zero.
3. Then, it moves to the left and the mass returns back to its equilibrium position c, at
where the velocity is maximum.
4. At d, it reaches minimum displacement -u0
5. Then, it moves to the right and returns to its equilibrium position at e.
• Natural period, Tn, in units of seconds is the time required for the undamped system to complete one
cycle of free vibration.
2
• Natural circular frequency, ω𝑛 , in units of radians per second: Tn =
n
• A system executes 1 cycle in Tn sec. Thus, a system executes 1/ Tn cycles in 1 sec.
1
• Natural cyclic frequency of vibration, 𝒇𝒏 in hertz (Hz) [cycles per second (cps)] fn =
Tn

1 1 n n
• fn is related to ω𝑛 , through fn = = = ; or fn =
Tn 2 2 2
n
• Both n and fn are referred as natural frequency.
• The qualifier natural is used in defining Tn, n and fn , to emphasize that these are natural properties
of the system when it is allowed to vibrate freely without any external excitation.
• As the system is linear, these vibration properties: Tn, n and fn are independent of the initial
displacement and velocity.
Alcoa Building, San Francisco, California. The Transamerica Building, San Francisco, California. The
fundamental natural vibration periods of this 26- fundamental natural vibration periods of this 60-story
story steel building are 1.67 sec for north-south steel building, tapered in elevation, are 2.90 sec for
vibration, 2.21 sec for east-west vibration, and 1.12 north-south vibration and also for east-west vibration.
sec for torsional vibration about a vertical axis. These vibration properties were determined by forced
These vibration properties were determined by vibration tests.
forced vibration tests.
Golden Gate Bridge, San Francisco, California. The
fundamental natural vibration periods of this suspension
bridge with the main span of 4200 ft are 18.2 sec for
transverse vibration, 10.9 sec for vertical vibration, 3.81
sec for longitudinal vibration, and 4.43 sec for torsional
vibration. These vibration properties were determined
from recorded motions of the bridge under ambient
(wind, traffic, etc.) conditions. (Courtesy of International
Structural Slides.)
 u (0 )
GRAPH OF u (t ) = u (0) cos n t + sin n t
n

The undamped system oscillates back and forth between the maximum
displacement u0 and minimum displacement -u0.
u(0)2 +  u (0)
2
 
u0 is called as the amplitude of motion and given by u0 =
 n 
The amplitude u0 depends on the initial displacement and velocity.

The motion shown in the graph does not decay.

2.2 VISCOUSLY DAMPED FREE VIBRATION
The equation of motion of a SDF system is mu + cu + ku = p(t )

 + cu + ku = 0
Setting p(t) = 0 for free vibration of SDF systems with damping: mu

u + 2 nu + n u = 0

2
Dividing by m gives
k
where n =
m

c c
 = =  is damping ratio or fraction of critical damping
2mn ccr

2k
ccr = 2mn = 2 km = ccr is critical damping coefficient
n
 2.2.1 Types of Motion

Critically damped

• If c = ccr or  = 1, the system returns to its equilibrium position without oscillating.

• If c > ccr or  > 1, the system does not oscillate and returns to its equilibrium position,
as in the  = 1 case, but at a slower rate. Overdamped condition
• If c < ccr or  < 1, the system oscillates about its equilibrium position with a
progressively decreasing amplitude. Underdamped condition
• The damping coefficient ccr is called the critical damping coefficient because it is the
smallest value of c that inhibits oscillation completely.

• It represents the dividing line between oscillatory and nonoscillatory motion.

If c < ccr , the system will oscillate
If c > ccr , the system will not oscillate

• Most structures, i.e. buildings, bridges, dams, nuclear power plants, offshore structures
are underdamped systems (c < ccr)
2.2.2 Underdamped Systems
The solution to 𝑚𝑢ሷ + 𝑐 𝑢ሶ + 𝑘𝑢 = 0 subject to 𝑢 = 𝑢 0 and 𝑢ሶ = 𝑢ሶ 0 the initial
conditions and for systems with c < ccr or  < 1 is

  u (0) +  nu (0)  
u (t ) = e − n t
u (0) cos  D t +   sin  D t 
  D  

where  D = n 1 −  2
 Both the undamped system and damped system have the same
EFFECTS OF ordinate and slope because both systems are initiated by the same
DAMPING ሶ
intital displacement u(0) and velocity 𝒖(0)

ON FREE
VIBRATION

u (0)
Undamped system: The displacement amplitude u (t ) = u (0) cos nt + sin nt
of the is the same in all vibration cycles. n
  u (0) +  nu (0)  
Damped system: The amplitude is decreasing u (t ) = e − n t
u (0) cos  D t +   sin  D t 
  D  
with every cycle.
Natural period of damped vibration

TD = 2 /  D
OR

Tn
TD =
1−  2
Damping has the effect of lowering the natural frequency from 𝜔𝑛 to 𝜔𝐷 and
lengthening the natural period from Tn to TD. These effects are negligible for damping
ratios below 20%, a range that includes most structures, as shown in Fig. 2.2.3.

Figure 2.2.3 Effects of damping on the

natural vibration frequency.

For most structures the damped

properties D and TD are
approximately equal to the undamped
properties n, and Tn, respectively.
 The more important effect of damping is on the rate at which free vibration decays.

Free vibration due to initial displacement u(0) for four systems having the same
natural period Tn of systems with four different levels of damping:  = 2, 5, 10, and
20%.
 𝑇𝐷
2.2.3 Decay of Motion sin(t)

t t + 𝑇𝐷

𝑇𝐷
cos(t)

t t + 𝑇𝐷

  u (0) + n u (0)  

e −nt u (0) cos  D t +   sin  D t 
u (t )   D   e −nt
= −n (t +TD ) = e −nt  e −−n (t +TD ) = e
n TD
=
u (t + TD )   u (0) + n u (0)   e
u (0) cos  D (t + TD ) +   sin  D (t + TD )
−n (t +TD )
e
  D  

u (t )  2  The ratio of the displacement at time t

= exp( nTD ) = exp  to its value at a full vibration period
u (t + TD )  1−  2 
  TD later is independent of t.
  2 
u (t )  2  Thus, ui
= exp 
= exp( nTD ) = exp 
 1−  2 
u (t + TD )  1−  2 
 
ui +1  

u(t) can be anywhere including the peak. Say, ui = u peak u1  2 

= exp 
u2  1− 2 
 

u2  2 
= exp 
u3  1− 2 
 

u3  2 
= exp 
u4  1− 2 
 
 ui  2 
= exp 
ui +1  1− 2 
 

  2   2
ln
ui 
= ln exp    = =  = logarithmic decrement
   
 1 −   1−
ui +1 2 2


ui 2
 = ln =
ui +1 1−  2

If  is small, 1−  2  1

Thus,   2 an approximate equation

 exact equation

approximate equation which is Eq. (2.2.11)

• The exact equation and approximate

equation is the same for <0.2.

• The approximate equation, Eq. (2.2.11) is

valid for <0.2, which covers most
practical structures.

Exact and approximate relations between

logarithmic decrement and damping ratio.
 What if our peaks are not successive, but are several cycles apart
ui  2 
= exp 
ui +1  1− 2 
 

For example, the cycle, j =4,

u1 u2 u3 u4  2   2   2   2 

   = exp   exp   exp   exp 
u 2 u3 u 4 u5  1−  2   1−  2   1−  2   1−  2 
       

   = exp(2 ) exp(2 ) exp(2 ) exp(2 )

u1 u2 u3 u4
u 2 u3 u 4 u5
u1 u2 u3 u4
    = e 2  e 2  e 2  e 2 = e  e  e  e = e 4
u 2 u 3 u 4 u5
 u1 u2 u3 u4
    = e 2  e 2  e 2  e 2 = e  e  e  e = e 4
u 2 u 3 u 4 u5
u1
 = e 4
u5

 u1 
 ln  = 4
 u5 

1  u1  1  u1 
  = ln  Or in general,  2 = ln
4  u5  j  u1+ j 

1  u1 
 2 = ln 
4  u5 
The number of cycles to reduce the peak to half of the first peak :

0.11
j50% =


1  u1 
 2 = ln
j  u1+ j 
1  u1  1  1  1
 2 = ln  = ln  = ln(2 ) =
1
(0.693)
j  0.5u1  j  0.5  j j

0.693 0.11
 j50% = =
2 
2.2.4 Free Vibration Tests
→ Free Vibration tests are always used to determine damping ratio
→ For lightly damped systems the damping ratio can be determined from
acceleration record
1 ui 1 ui
 = ln or  = ln acceleration
2j ui + j 2j u i + j
Example 2.4

Determine the natural vibration period and damping ratio of the plexiglass frame
model from the acceleration record of its free vibration.

Solution

The peak values of acceleration and the time instants they occur can be read from the
free vibration record or obtained from the corresponding data stored in a computer
during the experiment.
The peak values of acceleration and the time instants they occur can be read from
the free vibration record or obtained from the corresponding data stored in a
computer during the experiment. The latter provides the following data:

3.844 − 1.110
TD = = 0.273 sec
10

1 ui 1 0.915g
 = ln = ln = 0.0396 = 3.96%
2j ui + j 2 (10) 0.076g
Example 2.5
A free vibration test is conducted on an empty elevated
water tank such as the one in Fig. 1 . 1 .2. A cable
attached to the tank applies a lateral (horizontal) force of
80 kN and pulls the tank horizontally by 5 cm. The cable
is suddenly cut and the resulting free vibration is
recorded. At the end of four complete cycles, the time is
2.0 sec and the amplitude is 2.5 cm. From these data
compute the following: (a) damping ratio; (b) natural
period of undamped vibration; (c) effective stiffness; (d)
effective weight; (e) damping coefficient; and (f) number of
cycles required for the displacement amplitude to
decrease to 0.5 cm.
Solution
(a) Assuming small damping: To get damping ratio 
0.11 0.11
j50%   = = 0.0275 = 2.75% j50%
 4
(b) At the end of four complete cycles, the time
TD =
2.0
= 0.5 sec Tn  TD = 0.5 sec is 2.0 sec and the amplitude is 2.5 cm.
4
80 103 A cable attached to the tank applies a lateral
(c) k = = 1600 kN / m (horizontal) force of 80 kN and pulls the tank
0.05 horizontally by 5 cm
F = k

2 2 Question:
(d) n = = = 12.57rad / sec Determine b) natural period of
Tn 0.5 undamped vibration; (c)
effective stiffness; (d) effective
k 1.6 106 𝑘
m= = = 10,132kg 𝜔= weight; (e) damping
n 2
(12.57 )2 𝑚 coefficient;

( )  
(e) c = 2mn =  2 km = 0.0275 2 1.6 106 (10,132 ) = 7023N .s / m
(f) number of cycles required for the displacement amplitude to decrease to 0.5cm.
1 ui
 = ln A cable attached to the tank applies a lateral
2j ui + j (horizontal) force of 80 kN and pulls the tank
1 ui horizontally by 5 cm
j= ln ui =5
2 ui + j
1 ui 1 5
j ln = ln = 13.32cycles  13cycles
2 ui + j 2 (0.0275) 0.5

From (a),  = 0.0275

Example 2.6
The weight of water required to fill the tank of Example 2.5 is 40,000 kg. Determine
the natural vibration period and damping ratio of the structure with the tank full.

Solution
m = 10,132 + 40,000 = 50,132 kg

2 m 50,132
Tn = = 2 = 2 = 1.11sec
 k 1.6 10 6

𝑐 𝑐 7023
𝜁= = = = 0.0123 = 1.23%
2𝑚𝜔𝑛 2 𝑘𝑚 2 1.6 × 106 50,132