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Free Vibrations
Newton's second law is the first basis for examining the motion of the system. As
shown in Figure below the deformation of the spring in the static equilibrium
position is ∆ , and the spring force 𝑘∆ is equal to the gravitational force 𝑊 acting
on mass 𝑚:
Static Dynamic
∑ 𝐹𝑦 = 0 (𝑆𝑡𝑎𝑡𝑖𝑐 𝑠𝑡𝑎𝑡𝑒)
𝑘∆= 𝑊 = 𝑚𝑔
By measuring the displacement 𝑥 from the static equilibrium position, the forces
acting on mare 𝑘(∆ + 𝑥) and 𝑊. With 𝑥 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 m:
∑ 𝐹𝑦 = 𝑚𝑎 (Dynamic state)
𝑚𝑥̈ = ∑ 𝐹𝑦 = 𝑚𝑔 − 𝑘(∆ + 𝑥)
𝑚𝑥̈ = 𝑚𝑔 − 𝑘∆ − 𝑘 𝑥
𝑘∆= 𝑊 = 𝑚𝑔
𝑚𝑥̈ = 𝑚𝑔 − 𝑚𝑔 − 𝑘 𝑥
𝑚(−𝜔2 𝑥) + 𝑘 𝑥 = 0 𝑥̇ = 𝜔𝐴 cos 𝜔𝑡
𝑥̈ = −𝜔2 𝐴 sin 𝜔𝑡
2 𝑥̈ = −𝜔2 𝑥
𝑚𝜔 𝑥 = 𝑘 𝑥
𝑘
𝜔2 =
𝑚
𝑘
𝜔𝑛 = √
𝑚
𝑚𝑥̈ + 𝑘 𝑥 = 0 (÷ m)
𝑥̈ + 𝜔2𝑛 𝑥 = 0
𝑥(𝑡) = 𝑋 cos(𝜔𝑡 − Φ)
𝑚𝑥̈ + 𝑘 𝑥 = 0
Assume : 𝑥(𝑡) = 𝐶𝑒 𝑠𝑡
𝑥̇ (𝑡) = 𝑠𝐶𝑒 𝑠𝑡
𝑥̈ (𝑡) = 𝑠 2 𝐶𝑒 𝑠𝑡
𝑘
𝑠1,2 = ±𝑗√
𝑚
𝑘 𝑘 𝑘 𝑘
𝑥(𝑡) = 𝐶1 [cos (√ 𝑡) + 𝑗𝑠𝑖𝑛 (√ 𝑡)] + 𝐶2 [cos (√ 𝑡) − 𝑗𝑠𝑖𝑛 (√ 𝑡)]
𝑚 𝑚 𝑚 𝑚
𝑘 𝑘
𝑥(𝑡) = (𝐶1 + 𝐶2 ) [cos (√ 𝑡)] + 𝑗(𝐶1 − 𝐶2 ) [𝑠𝑖𝑛 (√ 𝑡)]
𝑚 𝑚
𝑘 𝑘
𝑥(𝑡) = 𝐴 [cos (√ 𝑡)] + 𝐵 [𝑠𝑖𝑛 (√ 𝑡)]
𝑚 𝑚
∴
𝑚𝑥̈ + 𝑘 𝑥 = 0
Equation is a homogeneous second-order linear differential equation, has the
following general solution:
where 𝐴 and 𝐵 are the two necessary constants. These constants are evaluated from
initial conditions 𝑥(0) and 𝑥̇ (0)
𝑥(0) = 0 + 𝐵(1)
𝐵 = 𝑥(0)
𝑥̇ = 𝐴 𝜔𝑛 cos 𝜔𝑛 𝑡 − 𝐵 𝜔𝑛 sin 𝜔𝑛 𝑡
𝑥̇ (0)
𝐴=
𝜔𝑛
𝑥̇ (0)
𝑥= sin 𝜔𝑛 𝑡 + 𝑥(0) cos 𝜔𝑛 𝑡
𝜔𝑛
Lecture notes on Mechanical Vibrations 2-6
website : www.abdulrahmanbahaddin.epu.edu.krd
The natural period of the oscillation is established from 𝜔𝑛 𝜏 = 2𝜋, or
𝑚
𝜏 = 2𝜋√
𝑘
1 𝑔
𝑓𝑛 = √
2𝜋 ∆
∆ ∶Statical deflection
Harmonic motion :
2
𝑥̇ (0)
𝑋 = √𝐴2 + 𝐵2 = √𝑋(0)2 + ( )
𝜔𝑛
𝑥(0)𝜔𝑛
Φ = tan−1 Φ: phase
𝑥̇ (0)
𝐹 = 𝑘𝑥
3- Beam in bending
4- Torsion
Example (2) :
𝑇 𝐺𝜃 𝜏
= =
𝐽 𝑙 𝑟
𝑇. 𝑙
𝜃= (𝑟𝑜𝑑)
𝐺𝐽
𝐹 = 𝑘𝑥 (𝑙𝑖𝑛𝑒𝑎𝑟)
𝑇 = 𝑘𝑡 𝜃 (𝑇𝑜𝑟𝑠𝑖𝑜𝑛𝑎𝑙)
𝑘𝑡 . 𝜃. 𝑙
𝜃= (𝑟𝑜𝑑)
𝐺𝐽𝑟𝑜𝑑
𝐺𝐽𝑟𝑜𝑑
𝑘𝑡 = (𝑟𝑜𝑑)
𝑙
∑ 𝑇 = 𝐽0 𝜃̈ (Disk)
𝑘𝑡
𝜃̈ + 𝜃=0
𝐽0
𝑘𝑡
𝜔𝑛 = √ (𝑟𝑎𝑑/𝑠𝑒𝑐)
𝐽0
𝜔𝑛
𝑓𝑛 = (𝐻𝑧)
2𝜋
1 𝑘𝑡
𝑓𝑛 = √ (𝐻𝑧)
2𝜋 𝐽0
General Solution:
𝑑𝜃
𝜃 (𝑡 = 0) = 𝜃0 𝑎𝑛𝑑 𝜃̇ (𝑡 = 0) = (𝑡 = 0) = 𝜃̇0
𝑑𝑡
𝐴1 = 𝜃0
𝜃̇0
𝐴2 =
𝜔𝑛
𝜃̇0
𝜃(𝑡) = 𝜃0 sin 𝜔𝑛 𝑡 + cos 𝜔𝑛 𝑡
𝜔𝑛
SOLUTION:
𝐽𝜃̈ = −𝑘𝑡 𝜃
10
𝜔𝑛 = 2𝜋 = 2.081 𝑟𝑎𝑑/𝑠𝑒𝑐
30.2
𝐺𝐽𝑟𝑜𝑑
The torsion al stiffness of the rod is given by the equation 𝑘𝑡 = ,
𝑙
𝜋𝑑 4
where 𝐽𝑟𝑜𝑑 = = polar moment of inertia of the circular cross-sectional area of
32
the rod
𝑙 = length of rod
𝐺𝑠𝑡𝑒𝑒𝑙 = 80 × 109 𝑁/𝑚2 = shear modulus of steel.
𝜋(0.5 × 10−2 )4
𝐽𝑟𝑜𝑑 = = 0.006136 × 10−8 𝑚4
32
𝑘𝑡 2.455
𝐽𝑤ℎ𝑒𝑒𝑙 = = = 0.567 𝑘𝑔. 𝑚2
𝜔𝑛2 (2.081)2
Spring in Parallel
Solution:
Left of block
1 𝑘
=
1 1 1 1 2
+ + +
𝑘 + 2𝑘 3𝑘 𝑘 𝑘 + 2𝑘
1 𝑘
=
1 1 1 1 2
+ + +
3𝑘 3𝑘 𝑘 3𝑘
The springs attached to the right of block are in series and are replaced by a spring
of stiffness:
1 2𝑘
=
1 1 3
+
𝑘 2𝑘
𝑘 2𝑘 7𝑘
+ =
2 3 6
𝑇 + 𝑈 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑑
(𝑇 + 𝑈) = 0
𝑑𝑡
𝑇1 + 𝑈1 = 𝑇2 + 𝑈2
where 1 and 2 represent two instances of time. Let 1 be the time when
the mass is passing through its static equilibrium position and choose
𝑈1 = 0 as reference for the potential energy. Let 2 be the time
corresponding to the maximum displacement of the mass. At this
position, the velocity of the mass is zero, and hence 𝑇2 = 0. We then
have
𝑇1 + 0 = 0 + 𝑈2
If the system is undergoing harmonic motion, then 𝑇1 and 𝑈2 are
maximum values, and hence
𝑇𝑚𝑎𝑥 = 𝑈𝑚𝑎𝑥
𝑑 1 1
( 𝑘𝑥 2 + 𝑚 𝑥̇ 2 ) = 0
𝑑𝑡 2 2
That is
𝑚𝑥̈ 𝑥̇ + 𝑘𝑥̇ 𝑥 = 0
Or
𝑘
𝑥̈ + 𝑥=0
𝑚
This is a very useful method for certain types of problem in which it is difficult to
apply Newton’s laws of motion.
Alternatively, assuming SHM, if 𝑥 = 𝑥0 𝑐𝑜𝑠 𝜔𝑡
1
𝑇ℎ𝑒 𝑚𝑎𝑥𝑖𝑚𝑢𝑚 𝑆𝐸, 𝑈𝑚𝑎𝑥 = 𝑘𝑥02
2
1
𝑇ℎ𝑒 𝑚𝑎𝑥𝑖𝑚𝑢𝑚 𝑆𝐸, 𝑇𝑚𝑎𝑥 = 𝑚(𝑥0 𝜔)2
2
1 1
𝑘𝑥02 = 𝑚(𝑥0 𝜔)2
2 2
𝑘
𝜔𝑛 = √ (rad/sec)
𝑚
Assume that the system is vibrating harmonically with amplitude 𝜃 from its static
equilibrium position. The maximum kinetic energy is
1 1
𝑇𝑚𝑎𝑥 = [( 𝐽𝜃̇ 2 + 𝑚𝑥̇ 2 )]
2 2 𝑚𝑎𝑥
1 1
𝑇𝑚𝑎𝑥 = [( 𝐽𝜃̇ 2 + 𝑚(𝑟1 𝜃̇ )2 ]
2 2 𝑚𝑎𝑥
The maximum potential energy is the energy stored in the spring, which is:
1 2
𝑈𝑚𝑎𝑥 = 𝑘𝑥𝑚𝑎𝑥
2
1 1 1
[( 𝐽𝜃̇ 2 + 𝑚(𝑟1 𝜃̇ )2 ] = 𝑘(𝑟2 𝜃)2𝑚𝑎𝑥
2 2 𝑚𝑎𝑥 2
𝑘𝑟22
𝜔𝑛 = √
𝐽 + 𝑚𝑟12
The student should verify that the loss of potential energy of m due to position 𝑟1 𝜃
is canceled by the work done by the equilibrium force of the spring in the position
𝜃 = 0.
SOLUTION:
𝐽𝜃̈ = −(𝑘)(𝑎𝜃)(𝑎)
𝐽𝜃̈ = −𝑘𝑎2 𝜃
That is,
𝑘𝑎2
𝜃̈ + ( )𝜃 = 0
𝐽
In this case
𝑎 = 0.15𝑚 , 𝑙 = 0.3𝑚 , 𝑘 = 2000𝑁/𝑚
and
1
𝐽 = 𝑚𝑏𝑎𝑟 𝑙2 + 𝑚𝑏𝑎𝑙𝑙 𝑙2
3
1
𝐽 = (7)(0.3)2 + (10)(0.3)2 = 0.93 𝑘𝑔. 𝑚2
3
Hence
1 2000 × (0.15)2
𝑓= √ = 1.1 𝐻𝑧
2𝜋 0.93
SOLUTION:
The deflection ∆ at the free end of a uniform cantilever beam acted upon by a static
force 𝑃 at the free end is given by
𝑃𝑙 3
∆=
3𝐸𝐼
The corresponding spring constant 𝑘1 is then
𝑃 3𝐸𝐼
𝑘1 = = 3
∆ 𝑙
𝑏ℎ3
Where the cross-section moment of inertia 𝐼 = ( for a rectangular section)
12
Lecture notes on Mechanical Vibrations 2-25
website : www.abdulrahmanbahaddin.epu.edu.krd
1 1 1
= +
𝑘𝑒𝑞 𝑘1 𝑘2
Substituting corresponding numerical values ,we obtain
(1)(1⁄4)3 1
𝐼= = 𝑖𝑛4
12 768
3 × 30 × 106
𝑘1 = = 60 𝑙𝑏/𝑖𝑛
(12.5)3 × 768
And
1 1 1
= +
𝑘𝑒𝑞 60 100
𝑊
𝑘𝑒𝑞 𝑚=
𝜔𝑛 = √ 𝑔
𝑚
𝑔 = 386
37.5 × 386
𝜔𝑛 = √ = 17.01 𝑟𝑎𝑑/𝑠𝑒𝑐
50
𝑓 = 2.71 𝑐𝑝𝑠