Free vibration of single degree

of freedom (SDOF)
Chapter 2
Introduction
• A system is said to undergo free vibration when
it oscillates only under an initial disturbance
with no external forces acting after the initial
disturbance
Introduction - SDOF
• One coordinate (x) is sufficient to specify the
position of the mass at any time
• There is no external force applied to the mass
• Since there is no element that causes
dissipation of energy during the motion of
the mass, the amplitude of motion remains
constant with time, undamped system
Introduction - SDOF
• If the amplitude of the free vibration diminished
gradually over time due to the resistance the
resistance offered by the surrounding medium,
the system are said to be damped
• Examples: oscillations of the pendulum of a
grandfather clock, the vertical oscillatory motion
felt by a bicyclist after hitting a road bump, and
the swing of a child on a swing under an initial
push
Free Vibration of an Undamped
Translation System
• Equation of Motion using Newton’s Second Law
▫ Select a suitable coordinate to describe the
position of the mass or rigid body
▫ Determine the static equilibrium configuration of
the system and measure the displacement of the
mass or rigid body
▫ Draw the free body diagram of the mass or rigid
body when a positive displacement and velocity
are given
▫ Apply Newton’s second law of motion
FV of an undamped …
• Newton’s second law
 

F (t )  mx
 
M (t )  J For rigid body
undergoing
rotational motion

• Applied to a undamped SDOF system

FV of an undamped …


F (t )  kx  mx

mx  kx  0
FV of an undamped …
• Equation of Motion using other methods
▫ D’Alembert’s Principle
▫ Principle of Virtual Displacements
▫ Principle of Conservation of Energy

mx  kx  0
 • Spring-Mass
System in Vertical
Position
W  mg  k st

mx  k x   st   W

mx  kx  0
FV of an undamped …Solution!
• The solution can be found assuming,

x(t )  Ce st

substituting
d2
m 2 (Ce st )  k (Ce st )  0
dt
 
C ms2  k  0
1 1
 k 2

s      in k 2

ms  k  0
2
 m
n   
characteristic equation eigenvalues
m
FV of an undamped …Solution!
• The general solution,
int int
x(t )  C1e  C2e
using, eit  cos t  i sin t

x(t )  A1 cos nt  A2 sin nt

A and C can be determine from the initial conditions
FV of an undamped …Solution!
• The initial conditions at t =0,
x(t )  A1  x0 x (t )  n A2  x0
• The solution is

x0
x(t )  x0 cos nt  sin nt
n
FV of an undamped …Harmonic
• Previous equations are harmonic function of
time
• The motion is symmetric about the equilibrium
position of the mass
• The velocity is maximum and the acceleration is
zero at the equilibrium position
• At the extreme displacement the velocity is zero
and the acceleration is a maximum
• The quantity  n is the natural frequency
FV of an undamped …Harmonic
x(t )  A1 cos nt  A2 sin nt
A1  A cos  A2  A sin 
2 1/ 2
  x0  
 
1

A A  A 2 2 2
  x0   
2
  amplitude
 n 
1 2
 
 A2  1  x 0 
  tan    tan 
1
  phase angle
 A1   x0n 
FV of an undamped …Harmonic
Substituting, the solution can be written

x(t )  A cosnt   

using the relation, A1  A0 cos 0 A2  A0 sin 0

x(t )  A0 sinnt  0 
2 1/ 2
  x0    x0n 
A0   x0   
2
 0  tan 
1

  n    x0 
Example - Harmonic
• Obtain the free response of 2x  128x  f (t )
a) in the form
x  A1 sin nt  A2 cos nt
b) in the form x  A sin nt  

Initial condition are x(0) = 0.05 m and x(0) = -

0.3 m/s
Example - solution
 0.3
a) x  sin 8t  0.05 cos 8t  0.0375 sin 8t  0.05 cos 8t
8

b) A

2 0.3
0.05  2
2
 0.062
8
0.05  0.3
sin    0.806 cos    0.605
0.062 0.062(8)

0.806
  tan 1
 tan 1 (1.333)  .927  .0927    2.214 rad
 0.605

x  0.062 sin8t  2.214 m

FV of an undamped …Harmonic
1)Note the following aspect,

1/ 2
k
1/ 2
W mg  g 
n    k
 st

 st n   
m   st 
1/ 2
1  g 
fn   
2   st 
1/ 2
1  
n   2  st 
fn  g 
FV of an undamped …Harmonic
2)

x(t )  A cosnt   
 
x (t )  n A sin nt     n A cos nt    
 2
x(t )  n2 A cosnt     n2 A cosnt     
FV of an undamped …Harmonic
3) If the initial displacement is zero,


x0   x0
x(t )  A cos nt    sin nt
n  2  n
If the initial velocity is zero,

x(t )  x0 cos nt

FV of an undamped …Harmonic
4)The response of a SDOF system can be represent in the
displacement (x ) – velocity (x ), known as the state space
or phase plane
x
x(t )  A cosnt   
A
x (t )  n A sinnt   
y

A
x2 y2
2
 2 1
A A
Example - Harmonic
• The column of the water tank shown is 300 ft.
high and is made of reinforced concrete with a
tubular cross section of inner diameter 8 ft. and
outer diameter 10 ft. The tank weighs 6 x 105 lb
with water. By neglecting the mass of the column
assuming the Young’s modulus of reinforce
concrete as 4 x 106 psi, determine the following:
Example
• the natural frequency and the natural time
period of transverse vibration of the water tank
• the vibration response of the water tank due to
an initial transverse displacement of 10 in.
• the maximum values of the velocity and
acceleration experienced by the water tank
Example – solution
3EI P
a) The stiffness of the beam, k  3
 l
 
l= 3600 in. , E = 4 x 106 psi, I 
64
d 4
0  di4  
64

120 4
 964   600 104 in 4

3EI 3(4 106 )(600 104 )

k 3  3
 1545 lb / in
l 3600
k 1545  386.4
n    0.9977 rad / sec
m 6 10 5

2
n   6.2977 sec
n
Example – solution
b) Using the initial displacement of x0 =0 and the
initial velocity =0,

x(t )  A0 sinnt  0 
1/ 2
  x0    x0n  
2

A0   x0    
2
 x0  10 in 0  tan 
1

  n    0  2

 
x(t )  10 sin 0.9977t    10 cos 0.9977t
 2
Example – solution
c) The velocity and acceleration can be determine by
differentiating,
 
x (t )  100.9977  cos 0.9977t  
 2
xmax  A0n  100.9977  9.977 in / sec

 
x(t )  100.9977  sin 0.9977t  
2

 2
xmax  A0 n 2  100.99772  9.9540 in / sec2
Example - Harmonic
• A simply supported beam of square cross section
5 mm x 5 mm and length 1 m, carrying a mass of
2.3 kg at the middle, is found have a natural
frequency of transverse vibration of 30 rad/s.
Determine the Young’s modulus of elasticity of
the beam.
Example – solution
k 192 EI
n  k
m l3

I
1
12
5 103 5 103   0.5208 1010 m4

192 EI mn2l 3
k  m 2
n E
l3 192 I
2.330.0 1.0
2 3
E  207.0132  10 9
N / m 2

192(0.5208 1010 )
Example - Harmonic
• An industrial press is mounted on a rubber pad
to isolated it from its foundation . If the rubber
pad is compressed 5 mm by the self-weight of
the press, find the natural frequency of the
system
 st  5 103 m
1/ 2
 g 
1/ 2
 9.81 
n       44.2945 rad / sec  7.0497 Hz
  st 
3
 5 10 m 
Example - Harmonic
• An air-conditioning chiller
unit weighing 2,000 lb is to
be supported by four air
springs. Design the air
springs such that the
natural frequency of
vibration of the unit lies
between 5 rad/s and 10
rad/s
Example – solution
2000 n  7.5 rad / s
m
386.4
keq
n 
m
 2000 
keq  m   7.5  291.1491lb / in
2 2
n
 386.4 

4k  291.1491lb / in  k  72.78 lb / in
Example
• An electrical switch gear is
supported by a crane
through a steel cable of
length 4 m and diameter
0.01 m. If the natural time
period of the axial vibration
of the switch gear is found
to be 0.01 s, find the mass of
the switch gear
Example – solution
AE 1   2
cable stiffness  k    0.01 2.07(1011)  4.064(106 ) N / m
l 4 4 
1 2
 n  0.1  
f n n

2 k
n   20 
0.1 m

k 4.0644(106 )
m 2   1029.53kg
n (20 ) 2
Example
• A bungee jumper weighing
160 lb ties one end of a
elastic rope of length 200 ft
and stiffness 10 lb/in to
bridge and the other to
himself and jumps from the
bridge. Assuming the bridge
to be rigid, determine the
vibratory motion of the
jumper about his static
equilibrium position
Example – solution
160 lb  sec 2
m , k  10 lb / in
386.4 inch
velocity of the jumper
mgh  12 mv2 or v  2 gh  2(386.4)200(12)
 1,361.88 in / sec

about the equilibriu m position :

x0  x(t  0)  0, x0  x (t  0)  1,362.88

response of the jumper : x(t )  A0 sin(nt  0 )

Example – solution
where,
1


 2  x 
2


2
x0 x0 m 1361  160 
A 0   x0           277.12 in

  n  

n k 10  386.4 

where,
 x0n 
0  tan 1
  0
 xn 
Free Vibration of an Undamped
Torsional System
• If a rigid body oscillate about a specific reference
axis, the resulting motion is called torsional
vibration
• The displacement of the body is measured in
terms of a angular coordinate
• The restoring moment may be due to the torsion
of an elastic member or to the unbalanced
moment of a force or couple
 GIo
Mt 
l

d 4
Io 
32

Mt GIo Gd 4
kt   
 l 32l
• Equation of Motion
▫ The equation of the angular
motion of the disc about its axis
can be derived by using Newton’s
second laws
J 0  kt  0
kt
n 
J0
J0 1 kt
 n  2 fn 
kt 2 J0
• Important aspects of this system
▫ If the cross section of the shaft supporting the
disc is not circular, an appropriate torsional
spring constant is to be used
▫ The polar mass moment of inertia of a disc is
given by
hD 4 WD 2
J0  
32 8g
▫ The general solution
A1   0
 (t )  A1 cos nt  A2 sin nt
A2  0 / n
Example
• The figure shows a spacecraft
with four solar panel. Each
panel has the dimension of 5
ft. x 3 ft. x 1 ft. with a density
of 0.1 lb/in3 , and is connected
to the body by aluminum rods
of length 12 in. and diameter 1
in. Determine the natural
frequency of vibration each
panel about the axis of the
connecting rod
Example – solution
 0.283 
m  mass of a panel  (5 12)(3 12)(1)   1.5820
 386.4 
J 0  mass momentof inertia of the panel about the x - axis 
m 2
12
a  b2 

12

1.5820 2

1  36 2  170.98
 
I 0  polar momentof inertia of rod  d 
4
14  0.098175 in 4
32 32

kt  
  
GI0 3.8 108 0.098175
 
 3.1089 104 lb  in / rad
l 12
1

 kt  2

n     13.4841 rad / sec

 J0 
Example
• Find the equation of motion
of the uniform rigid bar OA
of length l and mass m
shown in the figure. Also
find its natural frequency
Example – solution
Equation of motion :
J 0  kt  k1a a  k2l l
2
1 l 1
where J 0  ml 2  m   ml 2
12 2 3

ml   kt  k1a 2  k2l 2   0

1 2 
3
 
1

 3 kt  k1a  k2l 
2 2 2

n   2 
 ml 
Rayleigh’s Energy Method
• Uses the energy method to find the natural
frequencies of a single degree of freedom
systems
• The principle of conservation of energy, in the
context of an undamped vibrating system, can be
restated as
T1  U1  T2  U 2
• Subscript 1 denote the time when the mass is
passing through its static equilibrium position
(U1=0)
Rayleigh’s Energy Method
• Subscript 2 indicate the time corresponding to
the maximum displacement of the mass (T2=0)

T1  0  0  U 2
• If the system is undergoing harmonic motion,
then T1 and U2 denote the maximum values

Tmax  U max
Example
• Find the natural frequency of the transverse
vibration of the water tank considered in the
first example by including the mass of the
column
Example
2
yx   3l  x 
Px
6 EI
ymax

 3 3 x 2l  x 3
2l

The maximum kinetic energy of the beam,
l
  y x  dx
1 m 2
Tmax
20 l
Example

yx   3 3x 2l  x 3 
y max
2l
2 l

 3x l  x  dx
m  y max  3 2
Tmax   3  2

2l  2l  0

 33 7  1  33  2
2
m y max
Tmax  6 
l   m  y max
2l 4l  35  2  140 
Example
1
Tmax  meq y max
2
meq denotes the equivalent mass of the
2 cantilever at the free end, its maximum
33 kinetic energy
meq  m
140
The total effective mass acting at the
M eff  M  meq end, M is the mass of the water tank

k k
n  
M eff 33
M m
140
Free Vibration with Viscous Damping
• The viscous damping force F is proportional
to the velocity,
F  cx
• c is the damping constant or coefficient of
viscous damping
• The negative sign indicates that the damping
force is opposite to the direction of velocity
Free Vibration with Viscous Damping

mx  cx  kx

mx  cx  kx  0
FV with Viscous Damping - Solution
mx  cx  kx  0
xt   Ce st

ms  cs  k  0
2

 c  c  4mk
2
 c  k
2
c
s1, 2      
2m 2m  2m  m

The general solution

xt   C1e  C2e
s1t s 2t
FV with Viscous Damping
• Critical Damping Constant and Damping Ratio
▫ The critical damping is defined as the damping
constant for which the radical becomes zero
2
 cc  k
   0
 2m  m
k
cc  2m  2 km  2mn
m
▫ The damping ratio is defined as the ratio of the
damping ratio to the critical damping constant
  c / cc
FV with Viscous Damping
• Critical Damping Constant and Damping Ratio
c c cc
    n
2m cc 2m

 
s1, 2      2  1 n

▫ the solution,

    2 1  t     2 1  t
xt   C1e   n
 C2e   n
FV with Viscous Damping
▫ The nature of the roots and hence the behavior of
the solution depends upon the magnitude of
damping;
  0, leads to undamped vibrations

  0, three cases : underdamped, critical, overdamped

▫ Case 1: Underdamped   1 or c  cc or c / 2m  k / m
 
for this condition,  2 1 is negative and the roots can be expressed


s1     i 1  2 n 
s2     i 1  2 n 
FV with Viscous Damping
Case 1: Underdamped
  i 1 2  t   i 1 2  t
xt   C1e   n
 C2e   n


xt   e nt C1' cos 1   2 nt  C2' sin 1   2 nt 
For the initial condition, x(t  0)  x0 and x (t  0)  x0

x0   n x0
C  x0
'
1 and C  '
2
1  2 n
 the solution,

 x0   n x0 

xt   e  n t
 x0 cos 1   nt 
2
sin 1   nt 
2


 1   n
2



The frequency of damped vibration is

d  1  n 2
FV with Viscous Damping
the solution can be expressed as ,

xt   Xe  nt

sin 1   2 nt  
xt   X 0e  nt
cos  1    t   
2
n 0

The constants are,

X  X0  C   C  ' 2
1
' 2
2

  tan C / C 
1 '
1
'
2

  tan  C / C 
0
1 '
2
'
1
FV with Viscous Damping
▫ Case 2: Critical damped
  1 or c  cc or c / 2m  k / m

In this case the two roots s1 and s2 are equal,

cc
s1  s2    n
2m
the solution,
x(t )  C1  C2t e  t
n

For the initial condition, x(t  0)  x0 and x(t  0)  x0

C1  x0 C2  x0  n x0
 x(t )  x0  x0  n x0 t e nt

the motion represented by theequation is aperiodic. Since

e nt  0 as t  0, the motion will eventually diminish t o zero
FV with Viscous Damping
▫ Case 3: Overdamped
  1 or c  cc or c / 2m  k / m

In this case the two roots s1 and s2 are real and distint,

 
s1      2  1 n  0 
s2      2  1 n  0
the solution,
    2 1  t     2 1  t
x(t )  C1e   n
 C2e   n
FV with Viscous Damping
▫ Case 3: Overdamped
For the initial condition, x(t  0)  x0 and x(t  0)  x0

C1 
 
x0n    2  1  x0
C2 
 
 x0n    2  1  x0
2n   1
2
2n  2  1

the motion represented by theequation is aperiodic. Since

the roots are negative , the motion diminishes exponentally with time
FV with Viscous Damping
FV with Viscous Damping
• The nature of the roots
with varying values of
damping can be shown
in a complex plane. The
semicircle represent the
locus of the roots for
different values of
damping ratio in the
range of 0 to 1
FV with Viscous Damping
• A critically damped system
will have the smallest
damping required for
aperiodic motion: hence
the mass returns to the
position of rest in the
shortest possible time
without overshooting
• The figure represent the
phase plane or state space
of a damped system
FV with Viscous Damping
• Logarithmic Decrement
▫ Represent the rate at which the amplitude of a free
damped vibration decreases. It is defined as the natural
logarithm of the ratio of any successive amplitude
x1 X 0e  nt1 cosnt1  0   n
  e
x2 X 0e  nt2 cosnt2  0 
x1 2 2 2 c
  ln   n d   n   
x2 1   n
2
1  2  d 2m
 
  or  for small damping
2    2
2 2
FV with Viscous Damping
• Energy Dissipated in Viscous Damping
▫ The rate of change of energy with time is given
2
dW  dx 
 force  velocity  Fv  cv  c 
2

dt  dt 
▫ The negative sign denotes that energy dissipate with
time. Assuming a simple harmonic motion
2
2 / n  dx  2
W   c  dt   cX 2d cos 2 d  d d t 
t 0
 dt  0

W  cd X 2
FV with Viscous Damping
• Energy Dissipated in Viscous Damping
▫ The fraction of the total energy of the vibrating system
that is dissipated in each cycle of motion is called the
specific damping capacity
W cd X 2  2  c 
1  2    2  4  constant
2 md X  d  2m 
2 2
W
▫ Another quantity used to compare damping capacity of
engineering materials is called loss coefficient and is
define as the ratio of energy dissipated per radian and
the total energy
loss coefficien t 
W / 2  W

W 2W
FV with Viscous Damping
• Torsional Systems with Viscous Damping

T  ct
the equation of motion is,

J 0  ct  kt  0

as in the linear case; for the underdamped,

d  1  2 n kt ct ct ct
n     
J0 ctc 2 J 0n 2 kt J 0
Example- FV viscous damping
• The human leg has a measured natural
frequency of around 20 Hz when in its rigid
(knee-locked) position in the longitudinal
direction ( i.e., along the length of the bone) with
damping ratio of ξ = 0.224. Calculate the
response of the tip of the leg bone to an initial
velocity of v0 = 0.6m/s and zero initial
displacement ( this would correspond to the
vibration induced while landing on your feet,
with your knee locked from a height of 18 mm.
What is the maximum acceleration experience
by the leg assuming no damping?
Example- FV viscous damping
• Highway crash barrier are design to absorb a
vehicle’s kinetic energy without bringing the vehicle
to such an abrupt stop that the occupants are
injured. Knowledge of the barrier’s materials
provide the spring constant k and the damping
coefficient c; the mass m is the vehicle mass. For this
application , t=0 denotes the time at which the
moving vehicle contacts the barrier at x=0; thus v(0)
is the speed of the vehicle at the time of contact and
x(0) =0. The applied force is zero. Most of the
barrier’s resistance is due to the term cv, and it stops
resisting after the vehicle comes to rest; so the
barrier does reverse the vehicle motion. Cont……
Example- FV viscous damping
• A particular barrier’s construction gives
k=18000 N/m and c = 20000 N s/m. A vehicle
1800 kg vehicle strikes the barrier at 22 m/s.
Determine how long it takes for the vehicle to
come to rest, how far the vehicle compress the
barrier, and the maximum deceleration of the
vehicle
Example- FV viscous damping
• An underdamped shock absorber is to be design
for a motorcycle of mass 200 kg. When the
shock absorber is subjected to an initial vertical
velocity due to a road bump, the resulting
displacement-time curve is to be as shown. Find
the necessary stiffness and damping constants
of the shock absorber if the damped period is to
be 2 s and the amplitude x1 is to be reduced to
one-fourth in one half cycle (i.e., x1.5 = x1/4 ).
Also find the minimum initial velocity that leads
to a maximum displacement of 250 mm
Example- Solution
• Approach: We use the equation for the logarithm
decrement in term of the damping ratio,
equation for the damped period of vibration,
time corresponding to maximum displacement
for an underdamped system, and envelop
passing through the maximum points of an
underdamped system
x1.5  x1 / 4, x2  x1.5 / 4  x1 / 16

x1 2
  ln  ln(16)  2.7726     0.4037
x2 1  2
Example - Solution
2 2
2 d  
d n 1   2
2
n   3.4338 rad / s
2 1  0.4037 2

cc  2mn  22003.4338  1373.54 N  s / m

c  cc  0.40371373.54  554.4981 N  s / m

k  mn2  2003.4338  2358.2652 N / m

2
Example - Solution
The displacement of the mass attain its maximum
value at time t,

sin d t1  1   2
sin d t1  sin t1  1  0.4037  0.9149
2

sin 1 0.9149
t1   0.3678 sec

The envelop passing through the maximum points,

x  1   2 Xe  nt
Example - Solution
The envelop passing through the maximum points,

x  1   2 Xe  nt

0.25  1  0.4037 Xe 0.40374.4330.3678

2

X  0.4550 m
The velocity of the mass can be obtained by differentiating,

xt   Xe  nt
sin d t
Example - Solution
The velocity of the mass,

xt   Xe  nt   n sin d t  d cos nt 

x t  0  x0  Xd  Xn 1   2

 (0.4550)(3.4338) 1  0.4037 
2

 1.4294 m / s
Example
• The maximum permissible recoil distance of a
gun is specified as 0.5 m. If the initial recoil
velocity is to be 8 m/s and 10 m/s, find the mass
of the gun and the spring stiffness of the recoil
mechanism. Assume that a critically damped
dashpot is used in the recoil mechanism and the
mass of the gun has to be at least 500 kg
Example - Solution
xt   x0  x0  n x0  te
 nt
E1
xt   e nt
x
0  x0n t   x t
2
n 0  E 2
Let tm = time at which x=xmax and v=0 occur. Here x0 = 0 and
v0 =0 initial recoil velocity. By setting v(t)=0,

x0 x0
tm   
1
E3
n x0  n x0  n x0 n
Example - Solution
n t m x0e1
xmax  x0tm e
 
n
x0  n xmax e  n 0.52.7178
when, x0  10 m / s

n  10 / 0.5 * 2.7178  7.3575 rad / sec

when mass of gun is 500 kg,

k   m  7.3575 500  27,066.403 N / m

2 2
n
FV with Coulomb Damping
• In vibrating structure, whenever the components
slide relative to each other, dry friction damping
appears internally
• Coulomb’s law of dry friction states that, when
two bodies are in contact, the force required to
produce sliding is proportional to the normal
force acting in the plane of contact

F  N  W  mg
FV with Coulomb Damping
• Equation of Motion
▫ Case 1
 When x is positive and dx/dt is positive or when x is
negative and dx/dt is positive (half cycle)

mx  kx  N
FV with Coulomb Damping
• Equation of Motion
▫ Case 1
 This is a second-order nonhomogeneous DFQ. The
solution is
N
xt   A1 cos nt  A2 sin nt 
k
3N
 A1   x0  A2  0
k
x(t  0)  x0  2N / k  and x(t  0)  0
4N
At the extreme position,/n  t  2/n  x2  x0 
k
FV with Coulomb Damping
FV with Coulomb Damping
• Equation of Motion
▫ Case 2
 When x is positive and dx/dt is negative or when x is
negative and dx/dt is negative (half cycle)

mx  kx  N
FV with Coulomb Damping
▫ Case 2
 The solution is
N
xt   A3 cos nt  A4 sin nt 
k
N
A3  x0  A4  0
k
x(t  0)  x0 and x(t  0)  0
 2N 
At the extreme position, t  /n   x1   x0  
 k 
FV with Coulomb Damping

number of cycles
 N 
 x0  k 
r 
motion stops at xn  N / k  2 N 
 k 
FV with Coulomb Damping
▫ The previous solutions can be expressed as a
single equation

mx   mg sgn( x)  kx  0

▫ Where sgn(y) is called the signum function and it
is define as
1 for y  1
 1 for y  1
0 for y  1
FV with Coulomb Damping
• The equation of motion is nonlinear with
Coulomb damping, while it is linear with viscous
damping
• The natural frequency of the system is unaltered
with the addition of Coulomb damping, while it
is reduced with addition of viscous damping
• The motion is periodic with Coulomb damping,
while it can be nonperiodic in a viscouly damped
(overdamped) system
FV with Coulomb Damping
• The system comes to rest some time with
Coulomb damping, whereas the motion
theoretically continues forever with viscous and
hysteresis damping
• The amplitude reduces linearly with Coulomb
damping, whereas it reduces exponentially with
viscous damping
FV with Coulomb Damping
• In each successive cycle, the amplitude of
motion is reduced by the amount 4μN/k, so the
amplitude at the end of any two consecutive
cycles are related:
X m  X m1  4N / k

The slope of the enveloping straight lines is

 4N   2   2Nn 
      
 k   n   k 
FV with Coulomb Damping
Example
• A metal block, placed on a rough surface, is
attached to a spring and is given an initial
displacement of 10 cm from its equilibrium
position. It is found that the natural time period
of motion is 1 s and the amplitude reduces by 5
cm in each cycle. Find (a) the kinetic coefficient
between the metal block and the surface and (b)
the number of cycles of motion executed by the
block before it stops.
FV with Coulomb Damping
• Torsional Systems with Coulomb Damping
▫ If a constant frictional torque acts on a torsional
system, the equation governing the angular
oscillations can be derived similar to that of the linear,

J 0  kt  T J 0  kt  T

T denoted the constant damping torque
motion ceased,
the amplitude,  T
kt  
 0 k
n  r  0  r
2T r 
J0 kt  2T 
 k 
FV with Hysteretic Damping
• The damping caused by the friction between the
internal planes that slip or slide as the material
deforms is called hysteretic damping
• This causes a loop to be formed in the stress-
strain of force-displacement curve
• The energy loss in one loading and unloading
cycle is equal to the area enclosed by the loop
• The energy loss per cycle is independent of the
frequency but proportional to the square of the
amplitude
FV with Hysteretic Damping
FV with Hysteretic Damping
Damping coefficien t c and h is the hystereticdamping constant
h
c

The energy dissipated, W  hX 2
The force - displacement relation,
F  k  ih x
k  ih  k 1  i 
complex stiffness,
FV with Hysteretic Damping
Xj 2  
  1  
X j 1 2  

The hysteresislogarithm decrement,

 Xj 
  ln    ln 1     
X 
 j 1 
FV with Hysteretic Damping
k
The frequency is 
m
The equivalent viscous damping ratio
h  h
  2 eq      eq  
k 2 2k
The equivalent damping constant is,

 k h
ceq  cc   eq  2 mk    mk  
2  