4DA00: Dynamics
S8/2 PT 1: FREE VIBRATIONS MASS-SPRING SYSTEM
Department of Mechanical Engineering, Dynamics and Control Group
EoM for Undamped Free Vibration
Mass-spring system:
mass of 𝑚 [kg], linear spring with stiffness 𝑘 [N/m]
Displacement from equilibrium: 𝑥
FBD, EoM (Newton’s 2nd law in horizontal direction):
Σ𝐹𝑥 = 𝑚𝑥ሷ ⇒ −𝑘𝑥 = 𝑚𝑥ሷ or 𝑚𝑥ሷ + 𝑘𝑥 = 0 (8/1)
Standard form: 𝑥ሷ + 𝜔𝑛2 𝑥 = 0 (8/2)
𝑘
Angular eigenfrequency: 𝜔𝑛 = [rad/s] (8/3)
𝑚
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Solution for Undamped Free Vibration (1)
EoM: 𝑚𝑥ሷ + 𝑘𝑥 = 0 (8/1)
Standard form: 𝑥ሷ + 𝜔𝑛2 𝑥 = 0 (8/2)
𝑘
Angular eigenfrequency: 𝜔𝑛 = [rad/s] (8/3)
𝑚
General solution
Displacement: 𝑥 = 𝐴 cos 𝜔𝑛 𝑡 + 𝐵 sin 𝜔𝑛 𝑡 (8/4)
Velocity: 𝑥ሶ = −𝐴𝜔𝑛 sin 𝜔𝑛 𝑡 + 𝐵 𝜔𝑛 cos 𝜔𝑛 𝑡
Acceleration: 𝑥ሷ = −𝐴𝜔𝑛2 cos 𝜔𝑛 𝑡 − 𝐵𝜔𝑛2 sin 𝜔𝑛 𝑡
Proof: substitution in (8/1) or (8/2)
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Solution for Undamped Free Vibration (2)
General solution
Displacement: 𝑥 = 𝐴 cos 𝜔𝑛 𝑡 + 𝐵 sin 𝜔𝑛 𝑡 (8/4)
Velocity: 𝑥ሶ = −𝐴𝜔𝑛 sin 𝜔𝑛 𝑡 + 𝐵 𝜔𝑛 cos 𝜔𝑛 𝑡
Acceleration: 𝑥ሷ = −𝐴𝜔𝑛2 cos 𝜔𝑛 𝑡 − 𝐵𝜔𝑛2 sin 𝜔𝑛 𝑡
Constants 𝐴 and 𝐵 follow from two initial conditions at 𝑡 = 𝑡0 :
𝑥 𝑡0 = 𝑥0 and 𝑥ሶ 𝑡0 = 𝑥ሶ 0
Substitute: 𝑥0 = 𝐴 cos 𝜔𝑛 𝑡0 + 𝐵 sin 𝜔𝑛 𝑡0
𝑥ሶ 0 = −A𝜔𝑛 sin 𝜔𝑛 𝑡0 + 𝐵𝜔𝑛 cos 𝜔𝑛 𝑡0
Solve 2 equations for 𝐴 and 𝐵 ⇒ Free vibration response for 𝑡 ≥ 𝑡0
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Alternative Solution for Undamped Free Vibration (1)
EoM: 𝑚𝑥ሷ + 𝑘𝑥 = 0 (8/1)
Standard form: 𝑥ሷ + 𝜔𝑛2 𝑥 = 0 (8/2)
𝑘
Angular eigenfrequency: 𝜔𝑛 = [rad/s] (8/3)
𝑚
General alternative solution
Displacement: 𝑥 = 𝐶 sin 𝜔𝑛 𝑡 + 𝜓 (8/5)
Velocity: 𝑥ሶ = 𝐶𝜔𝑛 cos 𝜔𝑛 𝑡 + 𝜓
Acceleration: 𝑥ሷ = −𝐶𝜔𝑛2 sin 𝜔𝑛 𝑡 + 𝜓
Proof: substitution in (8/1) or (8/2)
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Alternative Solution for Undamped Free Vibration (2)
General alternative solution
Displacement: 𝑥 = 𝐶 sin 𝜔𝑛 𝑡 + 𝜓 (8/5)
Velocity: 𝑥ሶ = 𝐶𝜔𝑛 cos 𝜔𝑛 𝑡 + 𝜓
Acceleration: 𝑥ሷ = −𝐶𝜔𝑛2 sin 𝜔𝑛 𝑡 + 𝜓
Constants 𝐶 and 𝜓 again follow from two initial conditions at 𝑡 = 𝑡0 :
𝑥 𝑡0 = 𝑥0 and 𝑥ሶ 𝑡0 = 𝑥ሶ 0
Substitute: 𝑥0 = 𝐶 sin 𝜔𝑛 𝑡0 + 𝜓 , 𝑥ሶ 0 = 𝐶𝜔𝑛 cos 𝜔𝑛 𝑡0 + 𝜓
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𝑥ሶ 0
Solve for 𝐶 and 𝜓: 𝐶 = 𝑥02 + , 𝜓 = −𝜔𝑛 𝑡0 + tan−1 𝑥0 𝜔𝑛 /𝑥ሶ 0 !!!
𝜔𝑛
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Alternative Solution for Undamped Free Vibration (3)
Note that 𝜓 = −𝜔𝑛 𝑡0 + tan−1 𝑥0 𝜔𝑛 /𝑥ሶ 0 should be interpreted as follows:
If 𝑥ሶ 0 > 0: 𝜓 = −𝜔𝑛 𝑡0 + 𝑎𝑟𝑐𝑡𝑎𝑛 𝑥0 𝜔𝑛 /𝑥ሶ 0
If 𝑥ሶ 0 < 0: 𝜓 = −𝜔𝑛 𝑡0 + 𝑎𝑟𝑐𝑡𝑎𝑛 𝑥0 𝜔𝑛 /𝑥ሶ 0 + 𝜋
If 𝑥ሶ 0 = 0 and 𝑥0 > 0: 𝜓 = −𝜔𝑛 𝑡0 + 𝜋/2
If 𝑥ሶ 0 = 0 and 𝑥0 < 0: 𝜓 = −𝜔𝑛 𝑡0 + 3𝜋/2
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Relations between Constants of Both Solutions
It can be verified that: 𝐶 = 𝐴2 + 𝐵2 , 𝜓 = tan−1 𝐴/𝐵 !!!
Terminology
𝜔𝑛 [rad/s]: (undamped) angular/circular/radial eigenfrequency or
(undamped) natural angular/circular/radial frequency
𝑓𝑛 = 𝜔𝑛 / 2𝜋 [Hz] or [1/s]: (undamped) eigenfrequency or
(undamped) natural frequency
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Graphical Representation of Motion
Solution 𝑥 𝑡 can be seen to be the projection onto the vertical axis of a rotating
vector of length 𝐶 = 𝐴2 + 𝐵2 (amplitude). In the graph: 𝑡0 = 0 [s].
Period of the
solution 𝑥 𝑡 :
1 2𝜋
𝜏= = [s]
𝑓𝑛 𝜔𝑛
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Static Equilibrium Position as Reference
Mass-spring system in vertical
direction.
Total elongation undeflected spring: 𝑘 𝑘𝑥 =
𝑥 𝑡 = 𝑥𝑠𝑡 + 𝑥𝑑𝑦 𝑡 𝑥𝑠𝑡 𝑘 𝑥𝑠𝑡 + 𝑥𝑑𝑦
𝑥ሶ = 𝑥ሶ 𝑑𝑦 𝑥𝑑𝑦
𝑥ሷ = 𝑥ሷ 𝑑𝑦
EoM (FBD + Newton’s 2nd law):
−𝑘𝑥 + 𝑚𝑔 = 𝑚𝑥ሷ
−𝑘 𝑥𝑠𝑡 + 𝑥𝑑𝑦 + 𝑚𝑔 = 𝑚𝑥ሷ 𝑑𝑦
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Static Equilibrium Position as Reference
EoM: −𝑘 𝑥𝑠𝑡 + 𝑥𝑑𝑦 + 𝑚𝑔 = 𝑚𝑥ሷ 𝑑𝑦
In static equilibrium position we have
(𝑥𝑑𝑦 = 0, 𝑥ሶ 𝑑𝑦 = 0, 𝑥ሷ 𝑑𝑦 = 0): 𝑘 𝑘𝑥 =
𝑥𝑠𝑡 𝑘 𝑥𝑠𝑡 + 𝑥𝑑𝑦
−𝑘𝑥𝑠𝑡 + 𝑚𝑔 = 0 ⇒ 𝑥𝑠𝑡 = 𝑚𝑔/𝑘 [m] 𝑥𝑑𝑦
Subsitute in EoM: 𝑚𝑥ሷ 𝑑𝑦 + 𝑘𝑥𝑑𝑦 = 0
This EoM has same form as EoM for
horizontal mass-spring system
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Static Equilibrium Position as Reference
Total elongation undeflected spring:
𝑥 𝑡 = 𝑥𝑠𝑡 + 𝑥𝑑𝑦 𝑡
𝑘
𝑚𝑔 𝑥𝑠𝑡
𝑥𝑠𝑡 =
𝑘 𝑥𝑑𝑦
𝑥𝑑𝑦 𝑡 = 𝐴 cos 𝜔𝑛 𝑡 + 𝐵 sin 𝜔𝑛 𝑡
𝐴 and 𝐵 can be found from initial
conditions 𝑥𝑑𝑦 𝑡0 and 𝑥ሶ 𝑑𝑦 𝑡0
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Questions/comments: [email protected]
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