2 Free Vibration

Any system possessing mass and

elasticity is capable of vibration.

215323 Aircraft Vibration

Lecture 3

What is interested in the system is its natural

frequency/frequencies.

The purpose of this chapter is know how

to write the equation of motion hence the
natural frequency.
2

2.1 Vibration Model

Although there will always be damp in the system
but if the value is small
it will not effect the natural frequency much.
So sometime we could neglect the damp.
Damp will decay the amplitude of oscillation.
There are many type of damps but what we are going to mention
will be the ones that could be solved by mathematics
manipulation.
Damp, dashpot, absorber
3

Basic vibration model consists of a mass, a

massless spring and a damp.
Mass is a lumped mass. For SI unit will be in
kg.
The spring supporting the mass is assumed to
be of negligible mass. Its force-deflection
relationship is considered to be linear, following
Hookes Law [F = kx]
The viscous damping, generally represented by
a dashpot, is described by a force proportional
to the velocity, F = cx&

Second Order Differential Equation combines with two parts

One part is Homogeneous Equation
The another part is Particular Equation.
The Homogeneous Equation will be in the form
Asint + B cost
or C sin(t + )

x = Asint + Bcost
x& = Acost - Bsint
&x& = - A2 sint - B2 cost
= - 2 ( Asint + Bcost)

or a1eit + a2eit

The Particular Equation will have the same form as the

forcing function but the amplitude or its coefficient will depend on
the boundary condition.
We will concentrate on Homogeneous equation in this chappter. 5

F = ma

= m&x&
- mg sin = m&x&

- mg = m&x&
m&x& + mg = 0
x
m&x& + mg = 0
l
T = 2

&x& + 2 x = 0
The equation to be used
will be in the form

&x& + n2 x = 0

x = Asin n t + Bcos n t
Coefficient A and B can be found by using
Boundary Condition
or Initial Condition.
Substitute the B.C. to the above equation will get
when x(0) and x& (0)

When swing to small angle

g
=
l

= - 2 x

l
g

x=
7

uld
You sho rs
the
try the o s
solution )
( nt+
X = Csin

x& (0)
sinn t + x(0)cos n t
n
8

According to the previous examples, spring-mass system and pendulum system,

only one degree of freedom needed to describe each system.

Example 2.2-1 A mass 1/4 kg is suspended by a spring, stiffness 0.1533

N/mm. Determine the natural frequency in cps. and its statical deflection.
Given

k=0.1533 N/mm
m= 0.25 kg

The systems could be angular or linear depend on the set up.

from = 2f
k

1 k
= m =
f=
2 2 2 m

So no matter what the systems be, angular or linear, we will be able to

find the natural frequency according to the DOF of the systems.

1 153.3
= 3.941 Hz
2 0.25

Ans. .

Example 2.2-1 A mass 1/4 kg is suspended by a spring, stiffness 0.1533

N/mm. Determine the natural frequency in cps. and its statical deflection.
Given

10

Example 2.2-2 Determine the natural frequency of the mass M on the end
of the cantilever beam of negligible mass as shown

k=0.1533 N/mm
m= 0.25 kg
The deflection of the cantilever beam under a concentrated end force, P is

F = ma

x =

from k = mg
mg 0.25 9.81 kg m/s
=
k
0.1533
N / mm
= 16.0 mm
Ans..

Pl3 P
=
3EI k

Compare to this equation F= kx = P

Or we may find from Hooke s Law or in any books on

Material science, Strength of Material then search on Deflection
11

12

where

E= modulus of elasticity
I= mass moment of inertia
EI= flexural rigidity

k =

13

3EI
l3

fn =

Pl3 P
x =
=
3EI k

1 3EI
2 Ml3

Ans..

14

Example 2.2-3 An automobile wheel and tire are suspended by a steel rod
0.5 cm in diameter and 2 m long, as shown in Fig. When the wheel is given
an angular displacement and released, it makes 10 oscillations in 30.2 s.
Determine the polar moment of inertia of the wheel and tire.
The rotational equation of motion corresponding to Newtons equation is

J&& = K

where J = rotational mass moment of inertia

K = rotational stiffness
= 2

10
= 2 . 081 rad/s
30 . 2
15

16

From ready used formulas at the inner cover of the text

K=

GIp

= torsional stiffness
l
d4
= polar moment of inertia of the
Ip =
32
circular cross - sectional area of
the rod
G = 80 10 9 N/m2 = shear modulus of steel

Ip = (0.5 10 2 ) 4 = 0.006136 10 -8 m4
32
80 10 9 0.006136 10 8
= 2.455 N m/rad
K=
2

J=

K
2 . 455
=
= 0 . 567
2
n ( 2 . 081 ) 2

kg m 2

Ans..

17

Example 2.2-4 Figure shown a uniform bar pivoted about point O with springs
of equal stiffness k at each end. The bar is horizontal in the equilibrium position
with spring forces P1and P2. Determine the equation of motion and its
natural frequency.

18

Under rotation , the spring force on the left is

decreased and that on the right is increased.

With JO as the moment of inertia of bar about point O, we will get

M O = (P1 ka )a + mgc (P2 + kb )b = JO&&
whenequilibrium at horizontallevel
19

P1a + mgc P2b = 0

20

2.3 Energy Method

MO = ( ka2 kb2 ) = JO&&

arrange the equation
2
2
&& + k(a + b ) = 0
JO

hence
n =

k( a 2 + b 2 )
JO

Ans..
21

In conservative system, the total energy is

constant, and the differential equation of motion
can also be established by the principle of
conservation of energy.
For the free vibration of an undamped system,
the energy is partly kinetic and partly potential.
kinetic energy T : store energy in form of
velocity
while potential U : store energy in form of
elasticity and/or gravitational attraction as in
22
force field

T + U = constant
d
( T + U) = 0
dt

If our interest is only in the natural frequency of the system, it can be

determined by the following considerations.
T1 + U1 = T2 + U2
At the point where kinetic and potential energy have their peak values,
the equation will become

x = Asin(t )
x& = A cos( t )
xmax = A
x& max = A = xmax

Using the above equations substitute into the equation

Tmax = Umax

Tmax = Umax

This equation hence bring to the solution in finding

natural frequency.
23

24

When the system oscillate by rotating the drum

clockwise and anti-clockwise harmonically.
Max. kinetic energy is

Example 2.3-1 Find the natural frequency of the system shown below

( )

2
1
1
Tmax = J& 2 + m r1&
2
2
max

Max. potential energy is

Umax =

1
2
k (r2 )max
2

Equal the above equations, then the natural frequency is

xmax = A
x& max = An = n xmax

n =

kr22
J + mr12

An s..

25

26

Example 2.3-2 A cylinder of weight w and radius r rolls without slipping on

a cylindrical surface of radius R, as shown in Fig. below. Determine its
differential equation of motion for small oscillations about the lowest point.
For no slipping r = R.

In determining the kinetic

energy of the cylinder,
it must be noted that
both translation and
rotation take place.
27

translation velocityof center of cylinderis

(R - r)&
rotational velocityis
R
(& - &) = ( - 1)&
r

Qr = R
R
r

& = &

1 2 1 2

T = 2 mv + 2 I

2
1w
1 w r 2 R &
T=
(R r)& +
1
2 g
2 g 2 r

3w
=
(R r) 2 & 2
4 g

Moment of inertia
About its mass center
28

Problem
Find the natural frequency of a
long slender rod which is suspended vertically from
one end and oscillates in one plane as a pendulum
by using energy method. Locate the center of
percussion and determine the radius of gyration.

U = w(R - r)(1 - cos )

substitute in this equation
d
( T + U) = 0
dt
we willget
3 w
&
2 &&
2 g (R r ) + w(R r ) sin = 0

U = mg

when small angle sin

&& +

n =

2g

3(R - r )

[( ) ]

1 1

T = m l2 & 2 0
2 3

2g
=0
3(R - r )

Ans..

l
l
mg cos
2
2

y
29

30

Assuming harmonic motion where is the maximum displacement

l 2
1 1
2
2
m l (n ) = mg
2 3
2 2

= sin nt
& = cos t
n

where

Tmax = Umax
l
11 2
2
ml (n ) = mg (1 cos)
23
2

The radius of gyration is from

This is a nonlinear equation. It can be linearized by using two terms of the

power series for the cosine function.

n2 =

3g
2l

1
2
I o = mko = ml2
3
l
ko =
3

and the distance to the center of percussion is

2 4
+

2! 4!
2 4
1 cos =

+
2! 4!
cos = 1

qo =
31

ko
2l
=
r
3
32

2.4 Reyleigh Method: Effective Mass

The energy method can be used for multimass
systems or for distributed mass systems, provided
the motion of every point in the system is known.
In systems in which masses are joined by rigid links,
levers, or gears, the motion of the various masses
can be expressed in terms of the motion x of some
specific point and the system is simply one of a single
DOF, since only one coordinate is necessary.
The kinetic energy can be expressed in terms of the
velocity of the lumped mass in the form

1
T = meff x& 2
2

1
T = meff x& 2
2

where meff is the effective mass or an equivalent lumped mass

at a specified place of the system.
1
1
T = meff x& 2 , Tmax = meff X 22
2
2
1
1
U = kx2 ,
Umax = kX 2
2
2
1
1 2
2 2
meff X = kX
2
2

So the natural frequency can be written as

n =

33

k
meff

34

Example 2.4-1 Determine the effect of the mass of the spring on the
natural frequency of the system shown in Figure.
with x& equal to the velocity of the lumped mass m,
we will assume the velocity of a spring element located
a distance y from the fix end to vary linearly with y
as follows
at distance l velocity is x&
y
y
y& = x&
"
y "
x&
l
l

The kinetic energy of the spring may then be integrated to

Tadd

1
=
2

n =

k
1
m + ms
3

Ans..

1m 2
y m
0 x& l ls dy = 2 3s x&
l

masseffectiveness of springis equal to

ms
3
and naturalfrequencyof the systembecomes

Mass of spring
element

Mass effectiveness
of system
35

36

Example 2.4-2 A simple support beam of total mass mb has a concentrated

mass M at midspan. Determine the effective mass of the system at midspan
and find its fundamental frequency. The deflection under the load due to a
concentrated force P applied at midspan is Pl3/48EI (see figure and table
of stiffness at the end of the chapter.)

EIy =
y=

y maxoccurat mid span wherex =

l
2

Px 3 2
2
l x
12 4

for x

l
2

Px 3 2
2
l x
12EI 4

l
Px 3 2 2 P 2 3 2 l 2
l x =
l 2
12EI 4
12EI 4

3
y 48EI
Pl
=
max 3 = 1
Pl
48EI

( )

so ymax =

3x x 3
y 48EI Px 3

y = max 3 l2 x 2 = ymax 4
Pl 12EI 4

l
l

37

EIy =
y=

Px 3 2
2
l x
12 4

for x

38

l
2

meff = M+ 0.4857mb

Px 3 2
2
l x
12EI 4

3
3x
x
y = y max 4
l
l

ymax occur at mid span where x =

l
x
2

l
2

( )

Pl 3 2
Px 3 2
2
2 l l 2
l x =
2
12EI 4
12EI 4
3
Pl
=
48EI

so y max =
2

3
1 l 2 2mb & 3x
x

y
4
dx
max
2 0 l
l
l

1
2
= (0.4857m b )y& max
2

Tmax =

[F = kx]

39

F
P
=
Pl3
x
48EI
48EI
= 3
l

k=

n =

48 EI
l (M + 0 . 4857 m b )
3

Ans..

40

Problem 2-24 Determine the effective mass at point n and its

natural frequency for the system shown in Fig.

y
For mass m

y
For the linkage

x y
= =
b a
b
x = y
a

1
T = m x& 2
2
2

1 b
T = m y& 2
2 a

41

1 &2
J
2
2
2
2
1 x& 1 1 b
T = J = J y&
2 b 2 b a
1 1
= J 2 y& 2
2 a

HW.

T =

x y
=
b a
x& y&
& = =
b a
b
x& = y&
a
=

42

2-3,2-5, 2-6,2-8, 2-11, 2.12, 2-17, 2-19 2-22, 2-23

25,26

y
Total kinetic energy then be
2

1 b
1 1
Ttotal = m y& 2 + J 2 y& 2
2 a
2 a
1 mb 2 + J & 2
=
y
2 a 2

so

mb 2 + J
m eff =

Ans..

43

44