Free vibration of single degree freedom

Free Vibration
• Several mechanical and structural systems can be idealized as
single degree of freedom systems, for example, the mass and stiffness of a
system

Mechanical Vibrations (ME-421)

Lecture - 8
Mechanical Engineering Department
 Free vibration of single degree freedom

Equation of Motion (Using Second Law)

 
If mass m is displaced a distance x (t ) when acted upon by a resultant force F (t )
in the same direction,
 
d  dx (t ) 
F (t )   m 
dt  dt 
If mass m is constant, this equation reduces to

 2
d x (t ) 

F (t )  m 2
 mx
dt

Mechanical Vibrations (ME-421)

Lecture - 8
Mechanical Engineering Department
 Free vibration of single degree freedom

Equation of Motion (Using Second Law)

2 
Where x  d x (t ) is the acceleration of the mass
dt 2
For a rigid body undergoing rotational motion, Newton’s Law gives
 
M (t )  J
  
where M is the resultant moment acting on the body and  and   d 2 (t ) / dt 2 are the
resulting angular displacement and angular acceleration, respectively.

Mechanical Vibrations (ME-421)

Lecture - 8
Mechanical Engineering Department
 Free vibration of single degree freedom

Equation of Motion (Using Second Law)

For undamped single degree of freedom system, the application of previous equation
to mass m yields the equation of motion:

F (t )  kx  mx
or
mx  kx  0

Mechanical Vibrations (ME-421)

Lecture - 8
Mechanical Engineering Department
 Free vibration of single degree freedom

Equation of Motion (Using Second Law)

• Equation of Motion Using Other Methods:
1) D’Alembert’s Principle.
The equations of motion, can be rewritten as
 
F (t )  mx  0
 
M (t )  J  0

The application of D’Alembert’s principle to the system

shown in Figure yields the equation of motion:

kx  mx  0 or mx  kx  0

Mechanical Vibrations (ME-421)

Lecture - 8 6
Mechanical Engineering Department
 Free vibration of single degree freedom

Equation of Motion
• Principle of Virtual Displacements
“If a system that is in equilibrium under the action of a set of forces is
subjected to a virtual displacement, then the total virtual work done by
the forces will be zero.”
Consider spring-mass system (already displaced) as shown in figure, the virtual work
done by each force can be computed as:

Mechanical Vibrations (ME-421)

Lecture - 8 7
Mechanical Engineering Department
 Free vibration of single degree freedom

Equation of Motion
• Principles of Virtual Displacements

Virtual work done by the spring force  WS  (kx)x

Virtual work done by the inertia force  Wi  (mx)x

When the total virtual work done by all the forces is set equal to zero, we obtain

mxx  kxx  0

Since the virtual displacement can have an arbitrary value,x  0 , above equation of motion of
the spring-mass system can be written as:
mx  kx  0

Mechanical Vibrations (ME-421)

Lecture - 8 8
Mechanical Engineering Department
 Free vibration of single degree freedom

Equation of Motion
• Principle of Conservation of Energy

A system is said to be conservative if no energy is lost due to friction or

energy dissipating nonelastic members.

If no work is done on the conservative system by external forces, the total energy of the system
remains constant. Thus the principle of conservation of energy can be expressed as:

T  U  constant
d
(T  U )  0
dt

Mechanical Vibrations (ME-421)

Lecture - 8 9
Mechanical Engineering Department
 Free vibration of single degree freedom

Equation of Motion
• Principle of Conservation of Energy
The kinetic and potential energies are given by:
1 2
T mx
2
1 2
U kx
2

Substitution of Eqs. yields the desired equation

mx  kx  0

Mechanical Vibrations (ME-421)

Lecture - 8 10
Mechanical Engineering Department
 Free vibration of single degree freedom

Equation of Motion
• Spring mass system in vertical configuration

Consider the configuration

of the spring-mass system
shown in the figure.

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Lecture - 8 11
Mechanical Engineering Department
 Free vibration of single degree freedom

Equation of Motion
• Spring mass system in vertical configuration
For static equilibrium,
W  mg  k st
where W = weight of mass m,
 st = static deflection
g = acceleration due to gravity
The application of Newton’s second law of motion to mass m gives
mx  k ( x   st )  W

and since k st  W , we obtain

mx  kx  0
Mechanical Vibrations (ME-421)
Lecture - 8 12
Mechanical Engineering Department
 Free vibration of single degree freedom

Natural Frequency
“ If a system, after initial disturbance, is left to vibrate on its own, the
frequency with which its oscillates without external forces is known as its
‘Natural frequency’ “.

-A vibratory system having n degrees of freedom will have, in general, n

distinct natural frequencies of vibration.

- Mathematical model for single degree freedom free vibration system:

 kx  mx -Vibrating with natural frequency

How we can represent it????

1/ 2
k
n   
m
Mechanical Vibrations (ME-421)
Lecture 8
Mechanical Engineering Department
 Free vibration of single degree freedom

General Equation:

x  n x  0
2

x(t )  A sin nt  B cos nt

x
x(t )  sinnt  x cos nt
n

Mechanical Vibrations (ME-421)

Lecture 8
Mechanical Engineering Department
EXAMPLE 2.1 : Harmonic Response of a Water Tank