S-5

Free Damped Vibration

 Introduction:
 In practical, the vibrational energy is gradually converted to heat or
sound.
 Damping is the resistance offered by a body to the motion of a
vibratory system due to dissipation of energy.
 A damper is assumed to have neither mass nor elasticity, and damping
force exists only if there is relative velocity between the two ends of the
damper.
 Types of Damping:
 Viscous damping
 Coulomb or Dry-Friction Damping
 Material or Solid or Hysteric Damping
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Free Damped Vibration

 Viscous Damping:
 Vibration under fluid medium such as air, gas, water, oil.
 Resistance offered by the fluid to the moving body causes energy
to be dissipated.
 The damping force is proportional to the velocity of the vibrating
body
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Free Damped Vibration

 Coulomb or Dry-Friction Damping:

 Damping force is constant in magnitude but opposite in
direction of to that of the motion of the vibrating body
 Friction between rubbing surfaces
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Free Damped Vibration

 Material or Solid or Hysteric Damping:

 When material is deformed, energy is absorbed and dissipated
by the material. The effect is due to friction between the internal
planes, which slip or slide as the deformations take place.
 S-5

Free Vibration with Viscous Damping:

The viscous damping force F is proportional to the velocity , or

where c is the damping constant or coefficient and negative sign

indicates that the damping force is opposite to the direction of
velocity
From the figure, Newton’s law yields
the equation of motion:

𝑚 𝑥¨ =∑ 𝐹
𝑚 𝑥=−𝑐
¨ 𝑥˙ − 𝑘𝑥
𝑚 𝑥¨ +𝑐 𝑥+
˙ 𝑘𝑥=0
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Free Damped Vibration

 Solution of Governing Equation:

 Assume a solution in the form: 𝒙 ( 𝒕 )=𝑪 𝒆 𝒔𝒕

 Characteristic equation: 𝒎 𝒔 𝟐+ 𝒄𝒔+𝒌=𝟎

 Roots of the equation

− 𝒄 ± √ 𝒄 −𝟒𝒎𝒌
√( )
𝟐 𝟐
𝒄 𝒄 𝒌
𝒔𝟏 , 𝟐 = =− ± −
𝟐𝒎 𝟐𝒎 𝟐𝒎 𝒎
𝒔𝟏 𝒕 𝒔𝟐 𝒕
∴ 𝒙 𝟏 ( 𝒕 )=𝑪 𝟏 𝒆 𝒂𝒏𝒅 𝒙 𝟐 ( 𝒕 )=𝑪 𝟐 𝒆
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Free Damped Vibration

 General solution:
𝑠1 𝑡 𝑠2 𝑡
𝑥 ( 𝑡 ) =𝐶 1 𝑒 +𝐶 2 𝑒

{ √( ) } + 𝐶 𝑒{ √( ) }
2 2
𝑐 𝑐 𝑘 𝑐 𝑐 𝑘
− + − 𝑡 − − − 𝑡
2𝑚 2𝑚 𝑚 2𝑚 2𝑚 𝑚
¿ 𝐶1 𝑒 2
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Free Damped Vibration

 Critical Damping Constant and Damping Ratio:

The critical damping cc is defined as the value of the
damping constant c for which the radical becomes zero:

( ) 𝒌
√
𝟐
𝒄𝒄 𝒌
𝟐𝒎
−
𝒎
=𝟎 ∴𝒄𝒄 =𝟐𝒎 =𝟐 √ 𝒌𝒎=𝟐𝒎𝝎 𝒏
𝒎
The damping ratio ζ is defined as: 
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Free Damped Vibration

 General solution:
{− + √ 𝟐 − 𝟏} 𝝎 𝒏 𝒕 { − − √ 𝟐 − 𝟏} 𝝎𝒏 𝒕
𝒙 ( 𝒕 )=𝑪𝟏 𝒆 +𝑪𝟐 𝒆
Assuming that the, consider the following 3 cases
Case-1: Under damped system

For this condition, (ζ2-1) is negative and the roots are:

𝑠 1=( − +𝑖 √ 1−  ) 𝜔𝑛 𝑠 2= − −𝑖 √ 1−  ) 𝜔 𝑛

(
2 2
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Free Damped Vibration

 Response of Free under Damped System:

( −+𝑖 √1−  2) 𝜔 𝑛𝑡 (−  −𝑖 √1 − 2 ) 𝜔𝑛 𝑡
𝑥 ( 𝑡 ) =𝐶 1 𝑒 +𝐶 2 𝑒

¿𝑒 − 𝜔𝑛 𝑡
{𝐶 𝑒
1
( 𝑖 √ 1 − 2 ) 𝜔𝑛 𝑡 ( −𝑖 √1 −  2) 𝜔 𝑛𝑡
+𝐶 2 𝑒 }
 The frequency of damped vibration is:
𝜔 𝑑 =𝜔 𝑛 √ 1−  2

( )
∴ 𝑥 𝑡 =𝑒−𝜔 𝑡
{ 𝐴𝑐𝑜𝑠 ( 𝜔𝑑 𝑡 ) }+ 𝐵𝑠𝑖𝑛 ( 𝜔𝑑 𝑡 )
𝑛
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Free Damped Vibration

 For the initial conditions at t = 0,

′ ′ 𝑥
˙ 0+ 𝜁 𝜔 𝑛 𝑥0
𝐶 = 𝑥 0   and   𝐶 =
1 2
√1 − 𝜁 2 𝜔 𝑛
and hence the solution becomes

𝑥(𝑡)=𝑒
− 𝜁 𝜔𝑛 𝑡

{
𝑥 0 cos √ 1− 𝜁 𝜔𝑛 𝑡+
2 𝑥˙ 0 +𝜁 𝜔 𝑛 𝑥 0
√1 − 𝜁 2
𝜔𝑛
sin √1 − 𝜁 𝜔 𝑛 𝑡
2

}
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Free Damped Vibration

 Damped harmonic motion:

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Free Damped Vibration

 Case-2: Critically damped system: (  1 or c  cc or c/ 2m  k / m)

In this case, the two roots are:

𝑐𝑐
𝑠 1= 𝑠 2=− =− 𝜔𝑛
2𝑚
Due to repeated roots, the solution of Eq.(2.59) is given by
−𝜔 𝑛 𝑡
𝑥 (𝑡 )=(𝐶 1 +𝐶 2 𝑡 )𝑒
Application of initial conditions gives:
𝐶 1= 𝑥 0 and    𝐶 2= 𝑥
˙ 0 + 𝜔𝑛 𝑥 0
Thus the solution becomes:

𝑥(𝑡 )=[ 𝑥0 + ( 𝑥
˙ 0+ 𝜔𝑛 𝑥 0 ) 𝑡 ] 𝑒
− 𝜔𝑛 𝑡
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Free Damped Vibration

 Case-3: Overdamped system (  1 or c  cc or c/ 2m  k / m )

The roots are real and distinct and are given by:
 
s1      2  1 n  0
s2     2  1  n 0

In this case, the solution Eq.(2.69) is given by:

( −𝜁 + √ 𝜁 2 − 1) 𝜔𝑛 𝑡 (− 𝜁 − √ 𝜁 2 − 1 ) 𝜔 𝑛 𝑡
𝑥(𝑡)=𝐶 1 𝑒 +𝐶 2 𝑒
For the initial conditions at t = 0,
 S-5

Free Vibration with Viscous Damping

Comparison of motions with different types of damping

 S-6
Free Damped Vibration
(Logarithmic Decrement)

Definitions of Terminology:
 n t1
x1 X 0 e cos(d t1  0 )
  n t 2
(2.83)
x2 X 0 e cos(d t 2  0 )
e  nt1
  n t1  d 
 e n d (2.84)
e
The logarithmic decrement can be obtained from Eq.(2.84):

𝛿=ln
( )
𝑥1
𝑥2
= 𝜔𝑛 𝜏 𝑑 = 𝜔 𝑛
2𝜋
=
2 𝜋  𝜔𝑛
=
2𝜋
𝜔𝑑 𝜔𝑛 √ 1 − 2 √ 1− 2
( 2.85 )
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Free Damped Vibration

 Definitions of Terminology:

 Un-damped Natural Frequency: 𝝎 𝒏 =√ 𝒌/𝒎

 Critical Damping Coefficient: 𝑪𝑪 =𝟐 𝒎 𝝎 𝒏=𝟐 √ 𝒌× 𝒎

𝑪
=
 Damping Factor: 𝑪𝒄

𝝎 𝒅=𝝎 𝒏 √𝟏−
𝟐
 Damped Natural Frequency:

 Logarithmic Decrement: 𝜹=𝐥𝐧

( )
𝒙𝟏
𝒙𝟐
=
𝟐𝝅 
√ 𝟏− 𝟐
 S-7

Free Damped Vibration

Problem -3
For the system shown in fig, determine:
(i) Un-damped natural frequency
(ii)Damped natural frequency
(iii)Logarithmic decrement
(iv)If the mass is initially at rest and is given a velocity of 10
cm/sec, then calculate the amplitude of vibration after 5
oscillations.

K = 10000 N/m;
m = 20 kg;
c = 150 N-sec/m

{ Ref: Example 2.37: Mechanical Vibrations by Graham Kelly}

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Free Damped Vibration

Solution:
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Free Damped Vibration

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Free Damped Vibration

 S-9
Free Damped Vibration – Equivalent
Systems

 Problem:
Derive the governing equation for the system shown in
fig. Determine the expression for (a) the critical damping
coefficient, and (b) the natural frequency of damped
oscillation
 S-5
Free Damped Vibration – Equivalent
Systems

Solution:
 S-5
Free Damped Vibration – Equivalent
Systems
 S-5
Free Damped Vibration – Equivalent
Systems
 S-5
Free Damped Vibration – Equivalent
Systems

 Tutorial:
Write the differential equation of motion for the system
shown in fig. and determine the natural frequency of damped
oscillation and critical damping coefficient.
 S-5
Free Damped Vibration – Equivalent
Systems

Solution:
 S-5
Free Damped Vibration – Equivalent
Systems
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Free Damped Vibration – Equivalent
Systems
 S-5
Free Damped Vibration – Equivalent
Systems

𝐶 𝑒𝑞 𝐶 𝑒𝑞
= = 𝐶 𝑒𝑞 =2 𝐼 𝑒𝑞 𝜔 𝑛 
𝐶 𝐶 2 𝐼 𝑒𝑞 𝜔𝑛

0.09 𝐶=2× 2.25 ×29.1 ×1.25=163.69

𝐶=163.69/ 0.09=1918.78 𝑁 − 𝑠/ 𝑚
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Free Damped Vibration

Problem: A body of mass 5 kg is supported on a spring of

stiffness 1960 N/m and has a dashpot connected to it, which
produces a resistance of 0.98 N at velocity 0.5 m/s. Find (i)
Natural frequency of the system, (ii) Damping ratio, (iii)
Logarithmic decrement and (iv) Displacement of mass, 0.5 sec
after it was displaced through 20 mm and released.

Solution: Given:
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Free Damped Vibration

(i) Natural frequency of the system

(ii) Damping coefficient & Damping factor

(iii) Logarithmic decrement

2𝜋
𝛿= =0.062
√1 −  2
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Free Damped Vibration

(iv) Response equation

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Free Damped Vibration

Problem – 2:
The system shown in fig. has a natural frequency of 5 Hz for the
following data: , When the system is disturbed by giving it an
initial displacement, the amplitude of free vibration is reduced by
80 percent in 10 cycles. Determine the values of and .

{Ref.: Exercise – 2.119 _ Mechanical Vibrations by SS Rao}

 S-7

Free Damped Vibration

Solution:

∑ 𝟐 𝟏)
𝑴=𝑷𝒓 −𝒄 ( ˙
𝜽𝒓

¨ +𝒌𝒙 ) 𝒓 𝟐 − ( 𝒄 𝒓 𝟏 𝜽˙ ) 𝒓 𝟏= 𝑱 𝟎 𝜽
−(𝒎 𝒙 ¨

( 𝑱 𝟎+𝒎 𝒓 𝟐𝟐 ) 𝜽¨ +𝒄 𝒓 𝟐𝟏 𝜽˙ +𝒌 𝒓 𝟐𝟐 𝜽=𝟎
 S-7

Free Damped Vibration

 S-7

Free Damped Vibration

 S-5

Free Damped Vibration

 Case-2: Critically damped system: (  1 or c  cc or c/ 2m  k / m)

In this case, the two roots are:

𝑐𝑐
𝑠 1= 𝑠 2=− =− 𝜔𝑛
2𝑚
Due to repeated roots, the solution of Eq.(2.59) is given by
−𝜔 𝑛 𝑡
𝑥 (𝑡 )=(𝐶 1 +𝐶 2 𝑡 )𝑒
Application of initial conditions gives:
𝐶 1= 𝑥 0 and    𝐶 2= 𝑥
˙ 0 + 𝜔𝑛 𝑥 0
Thus the solution becomes:

𝑥(𝑡 )=[ 𝑥0 + ( 𝑥
˙ 0+ 𝜔𝑛 𝑥 0 ) 𝑡 ] 𝑒
− 𝜔𝑛 𝑡
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Free Damped Vibration

Problem – 3:
The recoil mechanisms of large firearms are designed with
critical damping to take advantage of the quickest return to the
firing position without oscillation. A 52 kg cannon is to return
to within 50 mm of its firing position 0.1 s after maximum
recoil. The initial recoil velocity of the cannon is 2.5 m/s.
Determine (a) the stiffness of the recoil mechanism, (b) the
damping coefficient of the recoil mechanism, and (c) the
maximum recoil.

{Ref.: Example – 3.8 _ Mechanical Vibrations by Graham Kelly}

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Free Damped Vibration

Solution:
The maximum recoil of a critically damped system with a initial velocity v =
2.5 m/s and an initial displacement of zero is given by Equation (3.49) as

Take t =0 to occur at the maximum velocity of the mechanism when

and
The response of the system is given by Equation (3.48) as

Requiring that the mechanism return to within 50 mm of equilibrium 0.1 s

after maximum recoil leads to
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Free Damped Vibration

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Free Damped Vibration

(iv) Response equation

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Free Damped Vibration

(iv) Response equation

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Free Damped Vibration

(iv) Response equation

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Free Damped Vibration

(iv) Response equation

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Free Damped Vibration

(iv) Response equation