Chapter 2: Free Vibration of Single-Degree-of-Freedom

Systems

All systems possessing mass and elasticity are capable of free vibration, or vibration
that takes place in the absence of external excitation. Free vibration means that the mass is
set into motion due to initial disturbance with no externally applied force other than the
spring force, damper force, or gravitational force. To study the free-vibration response of
the mass, we need to derive the governing equation, known as the equation of motion and
evaluate its natural frequency, which is mainly a function of 1 the mass and stiffness of the
system. The equation of motion of the undamped translational system is derived using four
methods. The natural frequency of vibration of the system is defined and the solution of the
equation of motion is presented using appropriate initial conditions. The solution is shown
to represent harmonic motion.
Damping in moderate amounts has little influence on the natural frequency and may
be neglected in its calculation. The system can then be considered to be conservative, and
the principle of conservation of energy offers another approach to the calculation of the
natural frequency. The effect of damping is mainly evident in the diminishing of the
vibration amplitude with time. Although there are many models of damping, only those
that lead to simple analytic procedures are considered in this chapter

2.1 Introduction

A system is said to undergo free vibration when it oscillates only under an initial
disturbance with no external forces acting afterward. Some examples are the oscillations of
the pendulum of a grandfather clock, the vertical oscillatory motion felt by a bicyclist after
hitting a road bump, and the motion of a child on a swing after an initial push.

Lambang Sudut nya lebih baik diberi atau tidak ya pak untuk sudut yg tidak 90
derajat?

Figure 2.1(a) shows a spring-mass system that represents the simplest possible
vibratory system. It is called a single-degree-of-freedom system, since one coordinate (x) is
sufficient to specify the position of the mass at any time. There is no external force applied
to the mass; hence the motion resulting from an initial disturbance will be free vibration

31
32 Chapter 2: Free Vibration of Single-Degree-of-Freedom Systems

Lambang Sudut nya lebih baik diberi atau tidak ya pak untuk sudut yg tidak 90
derajat?

Figure 2.1 A spring-mass system in horizontal position

Since there is no element that causes dissipation of energy during the motion of the
mass, the amplitude of motion remains constant with time; it is an undamped system. In
actual practice, except in a vacuum, the amplitude of free vibration diminishes gradually
over time, due to the resistance offered by the surrounding medium (such as air). Such
vibrations are said to be damped. The study of the free vibration of undamped and damped
single-degree-of-freedom systems is fundamental to the understanding of more advanced
topics in vibrations.

2.2 Free Vibration of an Undamped System

2.2.1 Equation of Motion Using Newton s Second Law of Motion

Using Newtons second law of motion, in this section we will consider the derivation
of the equation of motion. The procedure we will use can be summarized as follows:
1. Select a suitable coordinate to describe the position of the mass or rigid body in
the system. Use a linear coordinate to describe the linear motion of a point mass
or the centroid of a rigid body, and an angular coordinate to describe the angular
motion of a rigid body
2. Determine the static equilibrium configuration of the system and measure the
displacement of the mass or rigid body from its static equilibrium position.
3. Draw the free-body diagram of the mass or rigid body when a positive
displacement and velocity are given to it. Indicate all the active and reactive forces
acting on the mass or rigid body.
4. Apply Newton s second law of motion to the mass or rigid body shown by the
free body diagram. Newton s second law of motion can be stated as The rate of

Sriwijaya University
Free Vibration of an Undamped System 33

change of momentum of a mass is equal to the force acting on it. It is illustrated

by Equation (2.1) and (2.2).

= (2.1)

For a rigid body undergoing rotational motion, Newton s law gives

= (2.2)

The procedure is now applied to the undamped single-degree-of-freedom system

shown in Lambang Sudut nya lebih baik diberi atau tidak ya pak untuk sudut yg tidak
90 derajat?

Figure 2.1(a). Here the mass is supported on frictionless rollers and can have translatory
motion in the horizontal direction. When the mass is displaced a distance from its static
equilibrium position, the force in the spring is , and the free-body diagram of the
mass can be represented as shown in Lambang Sudut nya lebih baik diberi atau tidak
ya pak untuk sudut yg tidak 90 derajat?

Figure 2.1(c). The application of Equation (2.1) to mass m yields the equation of
motion.
Figure 2.2 shows a simple undamped spring-mass system, which is assumed to move
only along the vertical direction. It has 1 degree of freedom (DOF), because its motion is
described by a single coordinate x.

Figure 2.2 Spring-mass system and free-body diagram

Sriwijaya University
34 Chapter 2: Free Vibration of Single-Degree-of-Freedom Systems

When placed into motion, oscillation will take place at the natural frequency , which
is a property of the system. We now examine some of the basic concepts associated with the
free vibration of systems with 1 degree of freedom
Newton's second law is the first basis for examining the motion of the system. As
shown in Figure 2.2 the deformation of the spring in the static equilibrium position is , and
the spring force is equal to the gravitational force w acting on mass m:

= = (2.3)

By measuring the displacement from the static equilibrium position, the forces
acting on m are ( + ) and . With chosen to be positive in the downward direction,
all quantities-force, velocity, and acceleration-are also positive in the downward direction.
We now apply Newton's second law of motion to the mass :

= = ( + ) (2.4)

= + = 0 (2.5)

It is evident that the choice of the static equilibrium position as reference for has
eliminated , the force due to gravity, and the static spring force from the equation of
motion, and the resultant force on m is simply the spring force due to the displacement .
The solution of Equation (2.4) can be found by assuming

() = (2.6)

where and are constants to be determined. Substitution of Equation (2.6) into Equation
(2.5) gives

(2 + ) = 0 0 2 + = 0 (2.7)

and hence

12 (2.8)
= ( ) =

where = (1)12 and

Sriwijaya University
Free Vibration of an Undamped System 35

12 (2.9)
= ( )

Equation (2.7) is called the auxiliary or the characteristic equation corresponding to the
differential Equation (2.5). The two values of s given by Equation (2.8) are the roots of the
characteristic equation, also known as the eigenvalues or the characteristic values of the
problem. Since both values of s satisfy Equation (2.7), the general solution of Equation (2.5)
can be expressed as

(2.10)
() = 1 + 2 1 2 .

By using the identities

(2.11)
=

Equation (2.10) can be rewritten as

() = 1 + 2 (2.12)

where 1 and 2 are new constants. The constants 1 and 2 or 1 and 2 can be determined
from the initial conditions of the system. Two conditions are to be specified to evaluate
these constants uniquely. Note that the number of conditions to be specified is the same as
the order of the governing differential equation. In the present case, if the values of
displacement () and velocity () are specified as 0 and 0 at = 0 we have, from
Equation (2.12),

( = 0) = 0 = 1 ( = 0) = 0 = 2 (2.13)

Thus the solution of Equation (2.5) subject to the initial conditions of Equation (2.13)
is given by

0 (2.14)
() = 0 +

The natural period of the oscillation is established from = 2, or

Sriwijaya University
36 Chapter 2: Free Vibration of Single-Degree-of-Freedom Systems

(2.15)
= 2

and the natural frequency is

1 (2.16)
= = 2

These quantities can be expressed in terms of the statically deflection by observing

Equation (2.3). Thus, Equation (2.16) can be expressed in terms of the statically deflection
as

1 (2.17)
= = 2

Note that , depend only on the mass and stiffness of the system, which are
properties of the system.
Although our discussion was in terms of the spring-mass system of Figure 2.2, the
results are applicable to all single-DOF systems, including rotation. The spring can be a
beam or torsional member and the mass can be replaced by a mass moment of inertia.

Figure 2.3 A uniform bar pivoted about point O

Figure 2.3 shows a uniform bar pivoted about point O with springs of equal stillness
k at each end. The bar is horizontal in the equilibrium position with spring forces P1 and P2.
Determine the equation of motion and its natural frequency.

Sriwijaya University
Free Vibration of an Undamped System 37

Table 2.1 Some relationship of sine and cosine

Formulas Remarks
Periodic function, where p is the period of the
( + ) = ()
function
cos = sin( + 2)

sin = cos( 2)

= sin( + ) = 2 ;
= cos( + ) = sin( + + 2)

(Hagedorn and Otterbein, 1987) (Thomson and Dahleh, 1998) (Papula, 1990) (Rao,
2011) (Woelfel, 1996) (Marguerre and Wlfel, 2010) (Nataraj, 2011) (Dreisig and
Holzweissig, 2012) (Morley and Parker, 2011)

Sriwijaya University
Bibliography
Dreisig, H. and Holzweissig, F., 2012. Maschinendynamik 11th ed., Berlin, Heidelberg:
Springer Vieweg-Verlag.
Hagedorn, P. and Otterbein, S., 1987. Technische Scwingungslehre, lineare Schwingungen
diskreter mechanischer Systeme 1st ed., Berlin Heidelberg New York London Paris
Tokyo: Springer Verlag.
Marguerre, K. and Wlfel, H.P., 2010. Mechanics of Vibrations (Mechanics of Structural
Systems) 1st ed., Alpen am Rhein, Natherland: Kluwer.
Morley, D. and Parker, C.S., 2011. Understanding Computers: Today and Tomorrow 13th ed.,
Australia, Brazil, Japan, Korea, Mexico, Singapore, Spain, United Kingdom, United
States: Cengage Learning, Course Technology.
Nataraj, C., 2011. Vibration of Mechanical Systems 1st ed., Andover, Melbourne, Mexico
City, Stamford CT, Toronto, Hong Kong, New Delhi, Seoul, Singapore, Tokyo:
Cengange Learning EMEA.
Papula, L., 1990. Mathematische Formelsammlung fuer Ingenieure und Naturwissenschafter 3rd
ed., Braunschweig-Wiesbaden: Fried. Vieweg & Sons.
Rao, S.S., 2011. Mechanical Vibrations 5th ed., Upper Saddle River Boston Columbus San
Francisco New York Indianapolis London Toronto Sydney Singapore Tokyo
Montreal Dubai Madrid Hong Kong Mexico City Munich Paris Amsterdam Cape
Town: Prentice Hall Inc.
Thomson, W.T. and Dahleh, M.D., 1998. Theory of Vibration with Applications 5th ed., Upper
Saddle River, New Jersey 07458: Prentice Hall Inc.
Woelfel, H.P., 1996. Vorlesung Skript Maschinendynamik 1st ed., Darmstadt: Institute fuer
Maschinendynamik-TU Darmstadt.

38
Table of Contents
..................................................................................................Chapter 1: Fundamentals of Vibration
.......................................................................................................................................................... 31
1.1 Elementary Parts of Vibrating Systems ................................ Error! Bookmark not defined.
1.2 Classification of Vibration .................................................... Error! Bookmark not defined.
1.2.1 Free and Forced Vibration............................................ Error! Bookmark not defined.
1.2.2 Undamped and Damped Vibration .............................. Error! Bookmark not defined.
1.2.3 Linear and Nonlinear Vibration .................................... Error! Bookmark not defined.
1.2.4 Deterministic and Random Vibration........................... Error! Bookmark not defined.
1.2.5 Number of Degrees of Freedom .................................. Error! Bookmark not defined.
1.3 Spring Elements.................................................................... Error! Bookmark not defined.
1.3.1 Spring Constants of Elastic Elements ........................... Error! Bookmark not defined.
1.4 Mass or Inertia Elements ..................................................... Error! Bookmark not defined.
1.4.1 Combination of Masses ................................................ Error! Bookmark not defined.
1.5 Damping Elements ............................................................... Error! Bookmark not defined.
1.5.1 Viscous Damping .......................................................... Error! Bookmark not defined.
1.5.2 Coulomb or Dry-Friction Damping ............................... Error! Bookmark not defined.
1.5.3 Material or Solid or Hysteretic Damping...................... Error! Bookmark not defined.
1.5.4 Combination of Dampers ............................................. Error! Bookmark not defined.
1.6 Harmonic Motion ................................................................. Error! Bookmark not defined.
1.6.1 Complex- Number Representation of Harmonic Motion........... Error! Bookmark not
defined.
1.6.2 Complex- Algebra ......................................................... Error! Bookmark not defined.
1.6.3 Operations on Harmonic Functions ............................. Error! Bookmark not defined.
1.7 Test Definitions and Terminology ........................................ Error! Bookmark not defined.

39
Figure 1.1 A simple pendulum ................................................................................................... 32
Figure 1.2 Deterministic and random excitation .......................... Error! Bookmark not defined.
Figure 1.3 Single degree of freedom systems .............................. Error! Bookmark not defined.
Figure 1.4 Deformation of a spring............................................... Error! Bookmark not defined.
Figure 1.5 Spring constant of a rod .............................................. Error! Bookmark not defined.
Figure 1.6 Spring constant of a cantilever beam .......................... Error! Bookmark not defined.
Figure 1.7 Spring in parallel .......................................................... Error! Bookmark not defined.
Figure 1.8 Spring in series ............................................................. Error! Bookmark not defined.
Figure 1.9 Rigid bar connected by springs .................................... Error! Bookmark not defined.
Figure 1.10 Idealization of a multi-storey building as a multi-degree-of-freedom system... Error!
Bookmark not defined.
Figure 1.11 Translational masses connected by a rigid bar. .......... Error! Bookmark not defined.
Figure 1.12 Translational and rotational masses in a rack-and-pinion arrangement ........... Error!
Bookmark not defined.
Figure 1.13 System considered for finding equivalent mass. ......... Error! Bookmark not defined.
Figure 1.14 Recording harmonic motion ........................................ Error! Bookmark not defined.
Figure 1.15 Harmonic motion as the projection of the end of a rotating vector .Error! Bookmark
not defined.
Figure 1.16 Representation of a complex number. ........................ Error! Bookmark not defined.
Figure 1.17 Displacement, velocity, and accelerations as rotating vectors .. Error! Bookmark not
defined.
Figure 1.18 Vectorial addition of harmonic functions .................... Error! Bookmark not defined.

40
41