DE ZG611

Dynamics & Vibrations

BITS Pilani Prof. Y. V. D. Rao
Hyderabad Campus
 BITS Pilani
Hyderabad Campus

DE ZG611
Numericals in one DOF Free Vibrations
 Numericals in one DOF Free Vibrations
𝑪 𝟐 𝑪
𝑲 𝑲 𝑪 𝟐 ➢ = 𝝎𝒏
➢𝝎𝒏 = ➢ = ➢ = 𝝎𝒏 𝟐 𝟐𝒎
𝒎 𝟐𝒎 𝒎 𝟐𝒎

𝑲
➢ 𝑪𝒄 = 𝟐𝒎𝝎𝒏 ➢ 𝑪𝒄 = 𝟐𝒎 = 𝟐 𝑲𝒎
𝒎

➢ Damping Ratio, 𝝃 (Zeta) is defined as the ratio of damping constant to the

critical damping constant.
𝑪 𝑪 𝑪 𝑪∗𝝎𝒏 𝑪
➢ That is 𝝃 = ➢ 𝝃= ➢ = = ∗ 𝝎𝒏 = 𝝃𝝎𝒏
𝑪𝒄 𝟐𝒎𝝎𝒏 𝟐𝒎 𝟐𝒎∗𝝎𝒏 𝟐𝒎𝝎𝒏

➢ If 𝝃𝟐 − 𝟏 > 𝟎, over damped vibration and the two roots are real ➢𝝃>𝟏

−𝝃+ 𝝃𝟐 −𝟏 𝝎𝒏 𝒕 −𝝃− 𝝃𝟐 −𝟏 𝝎𝒏 𝒕
➢Response for Over damped condition is 𝒙 = 𝑨𝟏 𝒆 + 𝑨𝟐 𝒆
➢𝝃=𝟏
➢ If 𝝃𝟐 − 𝟏 = 𝟎, Critical damped vibration and the two roots are equal

➢ 𝒙 = 𝑨𝟏 + 𝑨𝟐 t 𝒆 −𝝎𝒏 𝒕

BITS Pilani, Hyderabad Campus

➢ If 𝝃𝟐 − 𝟏 < 𝟎, Under damped vibration and the two roots are imaginary ➢𝝃<𝟏

−𝝃+𝒋 𝟏−𝝃𝟐 𝝎𝒏 𝒕 −𝝃−𝒋 𝟏−𝝃𝟐 𝝎𝒏 𝒕

➢ Response of under damped vibrations is 𝒙 = 𝑨𝟏 𝒆 + 𝑨𝟐 𝒆

➢ where 𝒋 = −𝟏 ➢ 𝝎𝒅 = 𝟏 − 𝝃𝟐 𝝎𝒏
➢ 𝒙 = 𝒆−𝝃𝝎𝒏 𝒕 𝑨𝟏 𝒆+𝒋𝝎𝒅𝒕 + 𝑨𝟐 𝒆−𝒋𝝎𝒅𝒕

➢ 𝒙 = 𝒆−𝝃𝝎𝒏 𝒕 cos 𝝎𝒅 𝒕 𝑨𝟏 + 𝑨𝟐 + jsin 𝝎𝒅 𝒕 𝑨𝟏 − 𝑨𝟐

➢ 𝒙 = 𝒆−𝝃𝝎𝒏 𝒕 𝑩𝟏 cos 𝝎𝒅 𝒕 + 𝑩𝟐 sin 𝝎𝒅 𝒕 ➢ 𝒙 = 𝒆−𝝃𝝎𝒏 𝒕 𝑿𝟎 𝒄𝒐𝒔 𝝎𝒅 𝒕 + 𝝓

➢ Where 𝑿𝟎 and 𝝓 are respectively the amplitude and phase difference.
➢ And 𝑿𝟎 and 𝝓 are determined using initial conditions initial displacement,
𝒙𝟎 and initial velocity 𝒙ሶ 𝟎 .
𝟐 𝝎𝒅 𝒙𝟎
+ 𝒙 𝟐 ➢ 𝐭𝐚𝐧 𝝓 = ሶ
𝒙ሶ +𝝃𝝎 𝒙
➢ 𝑿 sin 𝝓 = 𝒙 ➢ 𝑿 cos 𝝓 = 𝒙ሶ 𝟎+𝝃𝝎𝒏𝒙𝟎 ➢ 𝑿 =
𝟎 𝟎 𝟎 𝟎
𝟎 𝒏 𝟎
𝝎𝒅 𝟎 𝒙𝟎 +𝝃𝝎𝒏 𝒙𝟎
𝝎𝒅
BITS Pilani, Hyderabad Campus
➢ The expression for response 𝒙 has two parts.
𝒙ሶ 𝟎 +𝝃𝝎𝒏 𝒙𝟎 𝟐𝝅
−𝝃𝝎𝒏 𝒕 𝝉𝒅 =
➢𝒙=𝒆 𝒙𝟎 cos 𝝎𝒅 𝒕 + sin 𝝎𝒅 𝒕 𝝎𝒅 = 𝝎𝒏 𝟏 − 𝝃𝟐 𝝎𝒅
𝝎𝒅

➢ The first part 𝒆−𝝃𝝎𝒏 𝒕 is an exponentially decaying component, which

decreases the magnitude of vibration exponentially.
𝒙ሶ 𝟎 +𝝃𝝎𝒏 𝒙𝟎
➢ The second part 𝒙𝟎 cos 𝝎𝒅 𝒕 + sin 𝝎𝒅 𝒕 is harmonic and periodic.
𝝎𝒅

➢ Clearly only under damped vibration is Periodic and of interest for study as both
Over damped and critical damped cases are aperiodic.
➢ It is found that ratio of natural logarithms for two successive amplitudes is
a constant and is known as Logarithmic decrement 𝜹.
𝑿𝟏 𝑿𝒏
➢ Logarithmic decrement 𝜹 is given by 𝜹 = 𝒍𝒏 = 𝒍𝒏 . 𝑿𝟎 𝑿𝟎
𝑿𝟐 𝑿𝒏+𝟏 log 𝒆 = ln =𝜹
𝑿𝟏 𝑿𝟏
BITS Pilani, Hyderabad Campus
 𝒙ሶ 𝟎 +𝝃𝝎𝒏 𝒙𝟎
➢ 𝒙 = 𝒆−𝝃𝝎𝒏 𝒕 𝒙𝟎 𝒄𝒐𝒔 𝝎𝒅 𝒕 + 𝒔𝒊𝒏 𝝎𝒅 𝒕
𝝎𝒅

𝒙ሶ 𝟎 +𝝃𝝎𝒏 𝒙𝟎
➢ 𝑿𝟏 = 𝒆−𝝃𝝎𝒏 ∗𝟎 𝒙𝟎 cos 𝝎𝒅 ∗ 𝟎 + sin 𝝎𝒅 ∗ 𝟎
𝝎𝒅

➢ 𝑿𝟏 = 𝒙𝟎
𝒙ሶ 𝟎 +𝝃𝝎𝒏 𝒙𝟎
➢ 𝑿𝟐 = 𝒆−𝝃𝝎𝒏 ∗𝝉𝒅 𝒙𝟎 cos 𝝎𝒅 ∗ 𝝉𝒅 + sin 𝝎𝒅 ∗ 𝝉𝒅 ➢ 𝝉𝒅 =
𝟐𝝅
𝝎𝒅 𝝎𝒅
𝟐𝝅 −𝟐𝝅𝝃𝝎𝒏
−𝝃𝝎𝒏 ∗ 𝟐𝝅 𝒙ሶ 𝟎 +𝝃𝝎𝒏 𝒙𝟎 𝟐𝝅
➢ 𝑿𝟐 = 𝒆 𝝎𝒅
𝒙𝟎 cos 𝝎𝒅 ∗ + sin 𝝎𝒅 ∗ ➢ 𝑿𝟐 = 𝒙𝟎 𝒆 𝝎𝒅
𝝎𝒅 𝝎𝒅 𝝎𝒅
𝑿𝟏 𝒙𝟎 𝟐𝝅𝝃𝝎𝒏 𝟐𝝅𝝃𝝎𝒏
𝑿𝟏
➢ = 𝟐𝝅𝝃𝝎𝒏 ➢
𝑿𝟏
=𝒆 𝝎𝒅 ➢
𝑿
ln 𝟏 = ln 𝒆 𝝎𝒅
=
𝟐𝝅𝝃𝝎𝒏
➢ 𝐥𝐧 =𝜹
𝑿𝟐 − 𝑿𝟐 𝝎𝒅 𝑿𝟐
𝒙𝟎 𝒆 𝝎𝒅 𝑿𝟐
𝑿𝟏
𝐥𝐨𝐠 𝒆 𝒂𝒃 = 𝒃 𝒍𝒐𝒈𝒆 𝒂
𝟐𝝅𝝃𝝎𝒏 𝟐𝝅𝝃𝝎𝒏 𝟐𝝅𝝃
➢𝜹= ➢𝜹= ➢𝜹= ➢ = 𝒆𝜹
𝝎𝒅 𝝎𝒏 𝟏−𝝃𝟐 𝟏−𝝃𝟐 𝑿𝟐 𝐥𝐨𝐠 𝒆 𝒆𝒃 = 𝒃 𝒍𝒐𝒈𝒆 𝒆 = 𝒃
𝑿𝟏 𝑿𝟏 𝑿𝟐 𝑿𝒏−𝟏 𝑿𝟏 𝑿𝟏
➢ = ∗ ∗ ⋯∗ = 𝒆𝜹 *𝒆𝜹 *𝒆𝜹 ∗ ⋯∗ 𝒆𝜹 = 𝒆𝒏𝜹 ➢ ln = 𝐥𝐧 𝒆𝒏𝜹 ➢ ln 𝑿𝒏
= 𝒏𝜹
𝑿𝒏 𝑿𝟐 𝑿𝟑 𝑿𝒏 𝑿𝒏
BITS Pilani, Hyderabad Campus
➢ Find the response of the free undamped vibration given by the equation
of motion 𝟐𝒙ሷ + 𝟓 𝒙 = 𝟎. What are values of mass 𝒎 and spring stiffness 𝑲?
Determine the response of the system if initial displacement is 𝟏 𝒎𝒎 and
initial velocity is 𝟎.
➢ 𝒎𝒙ሷ + 𝑲𝒙 = 𝟎 is the equation of motion.
𝑵
➢ 𝟐𝒙ሷ + 𝟓𝒙 = 𝟎 is the given equation of motion. ➢ 𝒎 = 𝟐 𝑲𝒈 ➢𝑲=𝟓
𝒎
𝑲 𝟓 𝒓𝒂𝒅
➢ 𝝎𝒏 = = ➢ 𝝎𝒏 = 𝟏. 𝟓𝟖𝟏
𝒎 𝟐 𝒔

➢ The response of a free undamped vibration is given by

➢ 𝒙 = 𝑨 sin 𝝎𝒏 𝒕 + 𝑩 cos 𝝎𝒏 𝒕
➢ Then velocity is given by ➢ 𝒙ሶ = 𝝎𝒏 𝑨 cos 𝝎𝒏 𝒕 − 𝝎𝒏 𝑩 sin 𝝎𝒏 𝒕
BITS Pilani, Hyderabad Campus
➢ 𝒙 = 𝑨 sin 𝝎𝒏 𝒕 + 𝑩 cos 𝝎𝒏 𝒕 ➢ 𝒙ሶ = 𝝎𝒏 𝑨 cos 𝝎𝒏 𝒕 − 𝝎𝒏 𝑩 sin 𝝎𝒏 𝒕

➢ 𝒙 = 𝑨 sin 𝟏. 𝟓𝟖𝟏𝒕 + 𝑩 cos 𝟏. 𝟓𝟖𝟏𝒕 ➢ 𝒙ሶ = 𝟏. 𝟓𝟖𝟏 𝑨 cos 𝟏. 𝟓𝟖𝟏𝒕 − 𝟏. 𝟓𝟖𝟏 𝑩 sin 𝟏. 𝟓𝟖𝟏𝒕

➢ Initial displacement 𝒙𝟎 = 𝟏 𝒎𝒎 ➢ 𝟏 = 𝑨 sin 𝟏. 𝟓𝟖𝟏 ∗ 𝟎 + 𝑩 cos 𝟏. 𝟓𝟖𝟏 ∗ 𝟎

➢𝟏=𝟎+𝑩 ➢𝑩=𝟏 ➢ Initial velocity 𝒙ሶ 𝟎 = 𝟎

➢ 𝟎 = 𝟏. 𝟓𝟖𝟏 𝑨 cos 𝟏. 𝟓𝟖𝟏 ∗ 𝟎 − 𝑩 sin 𝟏. 𝟓𝟖𝟏 ∗ 𝟎 ➢ 𝟎 = 𝟏. 𝟓𝟖𝟏 𝑨 ∗ 𝟏 − 𝟏. 𝟓𝟖𝟏 𝑩 ∗ 𝟎

➢𝑨=𝟎 ➢ 𝒙 = cos 𝟏. 𝟓𝟖𝟏𝒕 ➢ 𝒙ሶ = −𝟏. 𝟓𝟖𝟏 sin 𝟏. 𝟓𝟖𝟏𝒕

➢ The amplitude of vibration of an undamped system is measured to be

𝟏 𝒎𝒎 . The phase shift from 𝒕 = 𝟎 is measured to be 𝟐 𝒓𝒂𝒅 and the
frequency is found to be 𝟓 𝒓𝒂𝒅/𝒔. Calculate the initial conditions that
caused this vibration to occur.
BITS Pilani, Hyderabad Campus
➢ The amplitude of free vibration of an undamped system is measured to be
𝟏 𝒎𝒎 . The phase shift from 𝒕 = 𝟎 is measured to be 𝟐 𝒓𝒂𝒅 and the
frequency is found to be 𝟓 𝒓𝒂𝒅/𝒔. Calculate the initial conditions that
caused this vibration to occur.
➢ The response of a free undamped vibration is given by

➢ 𝒙 = 𝑨 sin 𝝎𝒏 𝒕 + 𝑩 cos 𝝎𝒏 𝒕 ➢ 𝒙 = 𝑿 𝐬𝐢𝐧 𝝎𝒏 𝒕 + 𝝓 ➢ Where 𝑿 is amplitude

➢ 𝝎𝒏 is frequency ➢ And 𝝓 is phase difference ➢ Given 𝑿 = 𝟏 𝒎𝒎

➢ 𝝎𝒏 = 𝟓 𝒓𝒂𝒅/𝒔 ➢ 𝝓 = 𝟐 𝒓𝒂𝒅 ➢ 𝒙 = 𝟏 𝐬𝐢𝐧 𝟓 𝒕 + 𝟐 ➢ 𝒙 = 𝐬𝐢𝐧 𝟓 𝒕 + 𝟐

➢ 𝒙𝟎 = 𝐬𝐢𝐧 𝟓 ∗ 𝟎 + 𝟐 ➢ 𝒙𝟎 = 𝐬𝐢𝐧 𝟐 𝒓𝒂𝒅 ➢ 𝒙𝟎 = 𝟎. 𝟗𝟎𝟗𝟑 𝒎𝒎

➢ 𝒙ሶ 𝟎 = 𝟓 cos 𝟓 ∗ 𝟎 + 𝟐 ➢ 𝒙ሶ 𝟎 = 𝟓 cos 𝟐 𝒓𝒂𝒅

➢ 𝒙ሶ = 𝟓 cos 𝟓 𝒕 + 𝟐
➢ 𝒙ሶ 𝟎 = −𝟐. 𝟎𝟖𝟏 𝒎𝒎/𝒔
BITS Pilani, Hyderabad Campus
➢ Find the response of free damped vibration if the initial displacement is
𝒎𝒎
𝟏. 𝟓 𝒎𝒎 and initial velocity is 𝟐 . The equation of motion 𝟐. 𝟓𝒙ሷ + 𝟕. 𝟎𝟕𝒙ሶ +
𝒔
𝟓 𝒙 = 𝟎. What is the damped frequency of the system?
𝑵 𝟓 𝒓𝒂𝒅
➢ Given 𝒎 = 𝟐. 𝟓 𝑲𝒈 ➢ 𝑪 = 𝟕. 𝟎𝟕 𝑵𝒔 ➢𝑲=𝟓 ➢ 𝝎 𝒏 = = 𝟏. 𝟒𝟏𝟒
𝒎 𝒎 𝟐.𝟓 𝒔
𝑵𝒔 𝑪 𝟕.𝟎𝟕
➢ 𝑪𝒄 = 𝟐𝒎𝝎𝒏 = 𝟐 ∗ 𝟐. 𝟓 ∗ 𝟏. 𝟒𝟏𝟒 ➢ 𝑪𝒄 = 𝟕. 𝟎𝟕 ➢𝝃= = =𝟏
𝒎 𝑪𝒄 𝟕.𝟎𝟕
➢ Critical damped vibration
−𝟏.𝟒𝟏𝟒𝒕 ➢ 𝒙𝟎 = 𝑨𝟏 + 𝑨𝟐 ∗0 𝒆 −𝟏.𝟒𝟏𝟒∗𝟎
➢ 𝒙 = 𝑨𝟏 + 𝑨𝟐 t 𝒆 −𝝎𝒏 𝒕 ➢ 𝒙 = 𝑨𝟏 + 𝑨𝟐 t 𝒆
➢ 𝒙ሶ = 𝟎 + 𝑨𝟐 ∗1 𝒆 −𝟏.𝟒𝟏𝟒𝒕 + 𝑨𝟏 + 𝑨𝟐 t 𝒆 −𝟏.𝟒𝟏𝟒𝒕
➢ 𝑨𝟏 = 𝟏. 𝟓 ∗ −𝟏. 𝟒𝟏𝟒

➢ 𝒙ሶ = 𝑨𝟐 − 𝟏. 𝟒𝟏𝟒 𝑨𝟏 + 𝑨𝟐 t 𝒆 −𝟏.𝟒𝟏𝟒𝒕

➢ 𝟐
𝒎𝒎
= 𝑨𝟐 − 𝟏. 𝟒𝟏𝟒 𝑨𝟏 + 𝑨𝟐 ∗0 𝒆 −𝟏.𝟒𝟏𝟒∗𝟎 ➢ 𝑨𝟐 − 𝟏. 𝟒𝟏𝟒𝑨𝟏 = 𝟐
𝒔
BITS Pilani, Hyderabad Campus
➢ 𝒙 = 𝑨𝟏 + 𝑨𝟐 t 𝒆 −𝟏.𝟒𝟏𝟒𝒕 ➢ 𝑨𝟏 = 𝟏. 𝟓 ➢ 𝑨𝟐 − 𝟏. 𝟒𝟏𝟒𝑨𝟏 = 𝟐

➢ 𝑨𝟐 − 𝟏. 𝟒𝟏𝟒 ∗ 𝟏. 𝟓 = 𝟐 ➢ 𝑨𝟐 = 𝟒. 𝟏𝟐𝟏

➢ 𝒙 = 𝟏. 𝟓 + 𝟒. 𝟏𝟐𝟏t 𝒆 −𝟏.𝟒𝟏𝟒𝒕

➢ 𝒙ሶ = −𝟏. 𝟒𝟏𝟒 𝟏. 𝟓 + 𝟒. 𝟏𝟐𝟏t 𝒆 −𝟏.𝟒𝟏𝟒𝒕 + 𝟒. 𝟏𝟐𝟏 𝒆 −𝟏.𝟒𝟏𝟒𝒕

➢ 𝒙ሶ = −𝟏. 𝟒𝟏𝟒 𝟏. 𝟓 + 𝟒. 𝟏𝟐𝟏t + 𝟒. 𝟏𝟐𝟏 𝒆 −𝟏.𝟒𝟏𝟒𝒕

−𝟏.𝟒𝟏𝟒𝒕
➢ 𝒙ሶ = −𝟐. 𝟏𝟐𝟏 − 𝟓. 𝟖𝟐𝟕 𝒕 + 𝟒. 𝟏𝟐𝟏 𝒆

➢ 𝒙ሶ = 𝟐 − 𝟓. 𝟖𝟐𝟕 𝒕 𝒆 −𝟏.𝟒𝟏𝟒𝒕

BITS Pilani, Hyderabad Campus

➢ Find the response of free damped vibration if the initial displacement is
𝒎𝒎
𝟐. 𝟓 𝒎𝒎 and initial velocity is 𝟒 . The equation of motion 𝟒𝒙ሷ + 𝟏𝟐𝒙ሶ +
𝒔
𝟕 𝒙 = 𝟎. What is the damped frequency of the system?
𝑵𝒔 𝑵 𝟕 𝒓𝒂𝒅
➢ Given 𝒎 = 𝟒 𝑲𝒈 ➢ 𝑪 = 𝟏𝟐 ➢𝑲=𝟕 ➢ 𝝎𝒏 = = 𝟏. 𝟑𝟐𝟑
𝒎 𝒎 𝟒 𝒔
𝑵𝒔 𝑪 𝟏𝟐
➢ 𝑪𝒄 = 𝟐𝒎𝝎𝒏 = 𝟐 ∗ 𝟒 ∗ 𝟏. 𝟑𝟐𝟑 ➢ 𝑪𝒄 = 𝟏𝟎. 𝟓𝟖𝟒 ➢𝝃= = = 𝟏. 𝟏𝟑𝟒
𝒎 𝑪𝒄 𝟏𝟎.𝟓𝟖𝟒

−𝝃+ 𝝃𝟐 −𝟏 𝝎𝒏 𝒕 −𝝃− 𝝃𝟐 −𝟏 𝝎𝒏 𝒕
➢ Over damped vibration ➢ 𝒙 = 𝑨𝟏 𝒆 + 𝑨𝟐 𝒆
−𝟏.𝟏𝟑𝟒+ 𝟏.𝟏𝟑𝟒 𝟐 −𝟏 ∗𝟏.𝟑𝟐𝟑 𝒕 −𝟏.𝟏𝟑𝟒− 𝟏.𝟏𝟑𝟒 𝟐 −𝟏 ∗𝟏.𝟑𝟐𝟑 𝒕
➢ 𝒙 = 𝑨𝟏 𝒆 + 𝑨𝟐 𝒆
➢ 𝒙 = 𝑨𝟏 𝒆 −𝟎.𝟓𝟗𝟗𝟑 ∗𝟏.𝟑𝟐𝟑 𝒕 + 𝑨𝟐 𝒆 −𝟏.𝟔𝟔𝟗 ∗𝟏.𝟑𝟐𝟑 𝒕

➢ 𝒙 = 𝑨𝟏 𝒆 −𝟎.𝟕𝟗𝟐𝟗 𝒕
+ 𝑨𝟐 𝒆 −𝟐.𝟐𝟎𝟖𝟏𝒕 ➢ 𝒙𝟎 = 𝑨𝟏 𝒆−𝟎.𝟕𝟗𝟐𝟗 ∗𝟎 + 𝑨𝟐 𝒆−𝟐.𝟐𝟎𝟖𝟏∗𝟎

➢ 𝟐. 𝟓 = 𝑨𝟏 + 𝑨𝟐 ➢ 𝑨𝟏 + 𝑨𝟐 = 𝟐. 𝟓
BITS Pilani, Hyderabad Campus
➢ 𝒙 = 𝑨𝟏 𝒆−𝟎.𝟕𝟗𝟐𝟗 𝒕 + 𝑨𝟐 𝒆−𝟐.𝟐𝟎𝟖𝟏𝒕 ➢ 𝑨𝟏 + 𝑨𝟐 = 𝟐. 𝟓

➢ 𝒙ሶ = 𝑨𝟏 𝒆−𝟎.𝟕𝟗𝟐𝟗 𝒕 ∗ −𝟎. 𝟕𝟗𝟐𝟗 + 𝑨𝟐 𝒆−𝟐.𝟐𝟎𝟖𝟏𝒕 ∗ −𝟐. 𝟐𝟎𝟖𝟏

➢ 𝒙ሶ = −𝟎. 𝟕𝟗𝟐𝟗 𝑨𝟏 𝒆−𝟎.𝟕𝟗𝟐𝟗 𝒕 − 𝟐. 𝟐𝟎𝟖𝟏 𝑨𝟐 𝒆−𝟐.𝟐𝟎𝟖𝟏𝒕

➢ 𝒙ሶ 𝟎 = −𝟎. 𝟕𝟗𝟐𝟗 𝑨𝟏 𝒆−𝟎.𝟕𝟗𝟐𝟗 ∗𝟎 − 𝟐. 𝟐𝟎𝟖𝟏𝑨𝟐 𝒆−𝟐.𝟐𝟎𝟖𝟏∗𝟎

➢ 𝟒 = −𝟎. 𝟕𝟗𝟐𝟗 𝑨𝟏 − 𝟐. 𝟐𝟎𝟖𝟏𝑨𝟐 ➢ 𝑨𝟏 + 𝑨𝟐 = 𝟐. 𝟓 ➢ 𝑨𝟏 = 𝟐. 𝟓 − 𝑨𝟐

➢ −𝟎. 𝟕𝟗𝟐𝟗 𝟐. 𝟓 − 𝑨𝟐 − 𝟐. 𝟐𝟎𝟖𝟏 𝑨𝟐 = 𝟒

➢ −𝟏. 𝟗𝟖𝟐𝟐𝟓 + 𝟎. 𝟕𝟗𝟐𝟗 𝑨𝟐 − 𝟐. 𝟐𝟎𝟖𝟏 𝑨𝟐 = 𝟒 ➢−𝟏. 𝟒𝟏𝟓𝟐 𝑨𝟐 = 𝟓. 𝟗𝟖𝟐𝟐𝟓

➢ 𝑨𝟐 = −𝟒. 𝟐𝟐𝟕 ➢ 𝑨𝟏 = 𝟐. 𝟓 − 𝑨𝟐 ➢ 𝑨𝟏 = 𝟐. 𝟓 + 𝟒. 𝟐𝟐𝟕 = 𝟔. 𝟕𝟐𝟕

−𝟎.𝟕𝟗𝟐𝟗 𝒕 + 𝟗. 𝟑𝟑𝟒 𝒆−𝟐.𝟐𝟎𝟖𝟏𝒕
➢ 𝒙 = 𝟔. 𝟕𝟐𝟕 𝒆−𝟎.𝟕𝟗𝟐𝟗 𝒕 − 𝟒. 𝟐𝟐𝟕𝒆−𝟐.𝟐𝟎𝟖𝟏𝒕 ➢ 𝒙ሶ = −𝟓. 𝟑𝟑𝟒 𝒆
BITS Pilani, Hyderabad Campus
➢ An under damped shock absorber is to be designed for a motor cycle of
total mass 𝟐𝟎𝟎 𝑲𝒈. The shock absorber is subjected to vertical motion due
to a road bump. Find the stiffness 𝑲 and damping constant 𝑪 of the shock
absorber, if the damped period of vibration is 𝟐 𝒔𝒆𝒄𝒐𝒏𝒅𝒔 and amplitude
decreases to 𝟎. 𝟐𝟓 of previous value in half cycle.
𝑿𝟏.𝟓 𝑿𝟐 𝑿𝟐 𝑿𝟐 𝑿𝟏.𝟓 𝑿𝟐 𝑿𝟐
➢ = 𝟎. 𝟐𝟓 ➢ = 𝟎. 𝟐𝟓 ➢ = ∗ ➢ = 𝟎. 𝟐𝟓 ∗ 𝟎. 𝟐𝟓 ➢ = 𝟎. 𝟎𝟔𝟐𝟓
𝑿𝟏 𝑿𝟏.𝟓 𝑿𝟏 𝑿𝟏.𝟓 𝑿𝟏 𝑿𝟏 𝑿𝟏
𝑿𝟏 𝟏 𝑿𝟏
➢ = = 𝟏𝟔 ➢ ln =𝜹 ➢ 𝜹 = ln 𝟏𝟔 ➢ 𝜹 = 𝟐. 𝟕𝟕𝟐𝟔
𝑿𝟐 𝟎.𝟎𝟔𝟐𝟓 𝑿𝟐

𝟐𝝅𝝃
➢𝜹= ➢ 𝟐. 𝟕𝟕𝟐𝟔 =
𝟐𝝅𝝃
➢ 𝟐𝝅𝝃 = 𝟐. 𝟕𝟕𝟐𝟔 𝟏 − 𝝃𝟐
𝟏−𝝃𝟐 𝟏−𝝃𝟐
𝟐
➢ 𝟐𝝅𝝃 𝟐 = 𝟐. 𝟕𝟕𝟐𝟔 𝟐 𝟏 − 𝝃𝟐 ➢ 𝟑𝟗. 𝟒𝟕𝟖𝟒 𝝃𝟐 = 𝟕. 𝟔𝟖𝟕𝟑 𝟏 − 𝝃𝟐
➢ 𝟑𝟗. 𝟒𝟕𝟖𝟒 𝝃𝟐 = 𝟕. 𝟔𝟖𝟕𝟑 − 𝟕. 𝟔𝟖𝟕𝟑 𝝃𝟐 ➢ 𝝃 = 𝟎. 𝟒𝟎𝟑𝟕
BITS Pilani, Hyderabad Campus
➢ 𝝃 = 𝟎. 𝟒𝟎𝟑𝟕 𝑪
➢𝝃= ➢ 𝑪𝒄 = 𝟐𝒎𝝎𝒏 ➢ 𝝉𝒅 = 𝟐 𝒔𝒆𝒄𝒐𝒏𝒅𝒔
𝑪𝒄

𝟐𝝅 𝟐𝝅 𝟐𝝅
➢ 𝝉𝒅 = ➢ 𝝎𝒅 = = ➢ 𝝎𝒅 = 𝝅 𝒓𝒂𝒅/𝒔 ➢ 𝝎𝒅 = 𝝎𝒏 𝟏 − 𝝃𝟐
𝝎𝒅 𝝉𝒅 𝟐

➢ 𝝅 = 𝝎𝒏 𝟏 − 𝟎. 𝟒𝟎𝟑𝟕 𝟐 ➢ 𝝎𝒏 = 𝟑. 𝟒𝟑𝟑𝟖 𝒓𝒂𝒅/𝒔 ➢ 𝑪𝒄 = 𝟐 ∗ 𝟐𝟎𝟎 ∗ 𝟑. 𝟒𝟑𝟑𝟖

𝑵𝒔 𝒎 𝒔 𝑲𝒈
➢ 𝑪𝒄 = 𝟏𝟑𝟕𝟑. 𝟓𝟐 ➢ 𝑪𝒄 = 𝟏𝟑𝟕𝟑. 𝟓𝟐 𝑲𝒈 ∗ ∗ ➢ 𝑪𝒄 = 𝟏𝟑𝟕𝟑. 𝟓𝟐
𝒎 𝒔𝟐 𝒎 𝒔
𝑭𝒐𝒓𝒄𝒆 𝑵 𝑵𝒔
➢ Unit of damping constant is 𝑪 = = =
𝒗𝒆𝒍𝒐𝒄𝒊𝒕𝒚 𝒎/𝒔 𝒎
𝒎
𝑭𝒐𝒓𝒄𝒆 𝒎𝒂𝒔𝒔 ∗𝒂𝒄𝒄𝒆𝒍𝒆𝒓𝒂𝒕𝒊𝒐𝒏 𝑲𝒈∗ 𝟐 𝑲𝒈 𝒎 𝒔 𝑲𝒈 𝑪
➢ And = = 𝒔
= ∗ = ➢𝝃=
𝒗𝒆𝒍𝒐𝒄𝒊𝒕𝒚 𝑽𝒆𝒍𝒐𝒄𝒊𝒕𝒚 𝒎/𝒔 𝒔𝟐 𝒎 𝒔 𝑪𝒄
𝑪
➢ 𝟎. 𝟒𝟎𝟑𝟕 = ➢𝑪= 𝟓𝟓𝟒. 𝟒𝟗
𝑵𝒔
➢ 𝝎𝒏 = 𝟑. 𝟒𝟑𝟑𝟖 𝒓𝒂𝒅/𝒔 ➢ 𝝎𝒏 =
𝑲
𝟏𝟑𝟕𝟑.𝟓𝟐 𝒎 𝒎
𝑲 𝑵 𝑲𝑵 𝑵
➢ 𝟑. 𝟒𝟑𝟑𝟖 = ➢𝑲= 𝟐𝟑𝟓𝟖. 𝟏𝟗𝟔 ➢𝑲= 𝟐. 𝟑𝟓𝟖 ➢ 𝑲 = 𝟐. 𝟑𝟓𝟖
𝟐𝟎𝟎 𝒎 𝒎 𝒎𝒎
BITS Pilani, Hyderabad Campus
➢ Anvil of a forging hammer weighs 𝟓 𝑲𝑵 and is mounted on a foundation
𝑲𝑵 𝑵𝒔
that has a stiffness of 𝟓𝟎𝟎𝟎 and viscous damping constant 𝟏𝟎𝟎𝟎𝟎 .
𝒎 𝒎
During one forging operation, the hammer of weight 𝟏 𝑲𝑵 falls from a
height of 𝟐 𝒎 on the anvil. If the anvil is at rest before impact determine the
vibration response of the anvil after impact. Assume coefficient of
restitution between anvil and hammer as 𝟎. 𝟒.
𝒎𝒈 = 𝟏𝟎𝟎𝟎 𝑵
𝟓𝟎𝟎𝟎∗𝟏𝟎𝟑 𝒓𝒂𝒅
➢ This is modelled as ➢ 𝝎𝒏 = 𝟓𝟎𝟎𝟎 = 𝟗𝟗. 𝟎𝟒𝟓
𝒉=𝟐𝒎 𝒔
𝟗.𝟖𝟏

𝑾 = 𝟓𝟎𝟎𝟎 𝑵 𝟓𝟎𝟎𝟎
➢ 𝑪𝒄 = 𝟐𝑴𝝎𝒏 ➢ 𝑪𝒄 = 𝟐 ∗ ∗ 𝟗𝟗. 𝟎𝟒𝟓
𝟗.𝟖𝟏
𝑲𝑵 𝑵𝒔 𝑪
𝑲 = 𝟓𝟎𝟎𝟎 𝑵𝒔 ➢ 𝑪𝒄 = 𝟏𝟎𝟎𝟗𝟔𝟑. 𝟑𝟎𝟐𝟖 ➢𝝃=
𝒎 𝑪 = 𝟏𝟎𝟎𝟎𝟎 𝒎 𝑪𝒄
𝒎
𝟏𝟎𝟎𝟎𝟎
➢𝝃= ➢ 𝝃 = 𝟎. 𝟎𝟗𝟗 ➢𝝃<𝟏
𝟏𝟎𝟎𝟗𝟔𝟑.𝟑𝟎𝟐𝟖
➢ Under damped Vibration.
BITS Pilani, Hyderabad Campus
➢ The response of a free damped vibration is given by

➢ 𝒙 = 𝒆−𝝃𝝎𝒏 𝒕 𝑨 sin 𝝎𝒅 𝒕 + 𝑩 cos 𝝎𝒅 𝒕 ➢ 𝝎𝒅 = 𝝎𝒏 𝟏 − 𝝃𝟐 ➢ 𝝎𝒏 = 𝟗𝟗. 𝟎𝟒𝟓

𝒓𝒂𝒅
𝒔

𝒓𝒂𝒅
➢ 𝝃 = 𝟎. 𝟎𝟗𝟗 ➢ 𝝎𝒅 = 𝟗𝟗. 𝟎𝟒𝟓 ∗ 𝟏 − 𝟎. 𝟎𝟗𝟗 𝟐 ➢ 𝝎𝒅 = 𝟗𝟖. 𝟓𝟓𝟖
𝒔

➢ 𝒙 = 𝒆−𝟎.𝟎𝟗𝟗∗𝟗𝟗.𝟎𝟒𝟓𝒕 𝑨 sin 𝟗𝟖. 𝟓𝟓𝟖𝒕 + 𝑩 cos 𝟗𝟖. 𝟓𝟓𝟖𝒕

➢ 𝒙 = 𝒆−𝟗.𝟖𝟎𝟓𝒕 𝑨 sin 𝟗𝟖. 𝟓𝟓𝟖𝒕 + 𝑩 cos 𝟗𝟖. 𝟓𝟓𝟖𝒕

➢ To determine the unknown constants 𝑨 and 𝑩 initial conditions are required.

➢ The anvil is at rest before impact, 𝒙𝟎 = 𝟎

➢ Due to impact between the hammer and the anvil, velocity is imparted to
anvil, 𝒙ሶ 𝟎 .
BITS Pilani, Hyderabad Campus
➢ Let the initial velocity of hammer of mass 𝒎 = 𝟏𝟎𝟎𝟎 𝑵 at impact be 𝒖𝟏
and initial velocity of anvil of mass 𝑴 = 𝟓𝟎𝟎𝟎 𝑵 at impact be 𝒖𝟐 = 𝟎
➢ And the velocity of hammer of mass 𝒎 = 𝟏𝟎𝟎𝟎 𝑵 after impact be 𝒗𝟏 and
velocity of anvil of mass 𝑴 = 𝟓𝟎𝟎𝟎 𝑵 after impact be 𝒗𝟐 .
➢ Using law of conservation of momentum 𝒎𝒖𝟏 + 𝑴𝒖𝟐 = 𝒎𝒗𝟏 + 𝑴𝒗𝟐
𝟏𝟎𝟎𝟎 𝟓𝟎𝟎𝟎 𝟏𝟎𝟎𝟎 𝟓𝟎𝟎𝟎
➢ 𝒖 + ∗𝟎= 𝒗 + 𝒗 ➢ 𝒖𝟏 = 𝒗𝟏 + 𝟓𝒗𝟐
𝟗.𝟖𝟏 𝟏 𝟗.𝟖𝟏 𝟗.𝟖𝟏 𝟏 𝟗.𝟖𝟏 𝟐

➢ The hammer of mass 𝒎 = 𝟏𝟎𝟎𝟎 𝑵 falls from a height of 𝟐 𝒎 on the Anvil.

➢ Hammer of mass 𝒎 = 𝟏𝟎𝟎𝟎 𝑵 Potential energy at 𝟐 𝒎 height from the Anvil

𝟏𝟎𝟎𝟎
is 𝒎𝒈𝒉 = ∗ 𝟗. 𝟖𝟏 ∗ 𝟐 = 𝟐𝟎𝟎𝟎 𝑱𝒐𝒖𝒍𝒆𝒔.
𝟗.𝟖𝟏

BITS Pilani, Hyderabad Campus

➢ Hammer Potential energy at 𝟐 𝒎 height from the Anvil is 𝟐𝟎𝟎𝟎 𝑱𝒐𝒖𝒍𝒆𝒔.

➢ Hammer of mass 𝒎 = 𝟏𝟎𝟎𝟎 𝑵 Kinetic energy at impact with the Anvil is

𝒎𝒗𝟐 𝟏𝟎𝟎𝟎
= ∗ 𝒖𝟏 𝟐 .
𝟐 𝟐∗𝟗.𝟖𝟏

𝟏𝟎𝟎𝟎 𝒎
➢ 𝒖𝟏 𝟐 = 𝟐𝟎𝟎𝟎. ➢ 𝒖𝟏 = 𝟔. 𝟐𝟔𝟒 ➢ 𝒖𝟏 = 𝒗𝟏 + 𝟓𝒗𝟐 ➢ 𝒗𝟏 + 𝟓𝒗𝟐 = 𝟔. 𝟐𝟔𝟒
𝟐∗𝟗.𝟖𝟏 𝒔

➢ The coefficient of restitution between anvil and hammer, 𝒆 is given by

𝒗𝟐 −𝒗𝟏 𝒎
➢ 𝒆= − ➢ 𝒖𝟏 = 𝟔. 𝟐𝟔𝟒 ➢ 𝒖𝟐 = 𝟎 ➢ 𝒆 = 𝟎. 𝟒
𝒖𝟐 −𝒖𝟏 𝒔

𝒗𝟐 −𝒗𝟏
➢ 𝟎. 𝟒 = − ➢ 𝒗𝟐 − 𝒗𝟏 = 𝟐. 𝟓𝟎𝟓𝟔 ➢ 𝒗𝟐 = 𝒗𝟏 + 𝟐. 𝟓𝟎𝟓𝟔
𝟎−𝟔.𝟐𝟔𝟒

➢ 𝒗𝟏 + 𝟓𝒗𝟐 = 𝟔. 𝟐𝟔𝟒 ➢ 𝒗𝟏 + 𝟓 𝒗𝟏 + 𝟐. 𝟓𝟎𝟓𝟔 = 𝟔. 𝟐𝟔𝟒 ➢ 𝒗𝟏 + 𝟓𝒗𝟏 = −𝟔. 𝟐𝟔𝟒

BITS Pilani, Hyderabad Campus
➢ 𝒗𝟏 + 𝟓𝒗𝟏 = −𝟔. 𝟐𝟔𝟒 ➢ 𝟔𝒗𝟏 = −𝟔. 𝟐𝟔𝟒
𝒎
➢ 𝒗𝟏 = −𝟏. 𝟎𝟒𝟒 ➢ 𝒗𝟐 = 𝒗𝟏 + 𝟐. 𝟓𝟎𝟓𝟔 ➢ 𝒗𝟐 = −𝟏. 𝟎𝟒𝟒 + 𝟐. 𝟓𝟎𝟓𝟔
𝒔

𝒎 𝒎
➢ 𝒗𝟐 = 𝟏. 𝟒𝟔𝟏𝟔 ➢ Anvil velocity after impact is 𝒗𝟐 = 𝟏. 𝟒𝟔𝟏𝟔
𝒔 𝒔

➢ The anvil is at rest before impact, 𝒙𝟎 = 𝟎

𝒎
➢ Anvil velocity after impact, 𝒙ሶ 𝟎 = 𝟏. 𝟒𝟔𝟏𝟔 .
𝒔

➢ 𝒙 = 𝒆−𝟗.𝟖𝟎𝟓𝒕 𝑨 sin 𝟗𝟖. 𝟓𝟓𝟖𝒕 + 𝑩 cos 𝟗𝟖. 𝟓𝟓𝟖𝒕

➢ 𝟎 = 𝒆−𝟗.𝟖𝟎𝟓∗𝟎 𝑨 sin 𝟗𝟖. 𝟓𝟓𝟖 ∗ 𝟎 + 𝑩 cos 𝟗𝟖. 𝟓𝟓𝟖 ∗ 𝟎

➢𝟎= 𝟎+𝑩∗𝟏 ➢𝑩=𝟎 ➢ 𝒙 = 𝒆−𝟗.𝟖𝟎𝟓𝒕 𝑨 sin 𝟗𝟖. 𝟓𝟓𝟖𝒕

➢ 𝒙ሶ = −𝟗. 𝟖𝟎𝟓 ∗ 𝒆−𝟗.𝟖𝟎𝟓𝒕 𝑨 sin 𝟗𝟖. 𝟓𝟓𝟖𝒕 + 𝒆−𝟗.𝟖𝟎𝟓𝒕 𝟗𝟖. 𝟓𝟓𝟖 𝑨 cos 𝟗𝟖. 𝟓𝟓𝟖𝒕

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➢ 𝒙ሶ = −𝟗. 𝟖𝟎𝟓 ∗ 𝒆−𝟗.𝟖𝟎𝟓𝒕 𝑨 𝒔𝒊𝒏 𝟗𝟖. 𝟓𝟓𝟖𝒕 + 𝒆−𝟗.𝟖𝟎𝟓𝒕 𝟗𝟖. 𝟓𝟓𝟖 𝑨 𝒄𝒐𝒔 𝟗𝟖. 𝟓𝟓𝟖𝒕

➢ 𝟏. 𝟒𝟔𝟏𝟔 = −𝟗. 𝟖𝟎𝟓 ∗ 𝒆−𝟗.𝟖𝟎𝟓∗𝟎 𝑨 𝒔𝒊𝒏 𝟗𝟖. 𝟓𝟓𝟖 ∗ 𝟎 + 𝒆−𝟗.𝟖𝟎𝟓∗𝟎 𝟗𝟖. 𝟓𝟓𝟖 𝑨 𝒄𝒐𝒔 𝟗𝟖. 𝟓𝟓𝟖 ∗ 𝟎

➢ 𝟏. 𝟒𝟔𝟏𝟔 = −𝟗. 𝟖𝟎𝟓 𝑨 ∗ 𝟎 + 𝟗𝟖. 𝟓𝟓𝟖 𝑨 ∗ 𝟏

➢ 𝟏. 𝟒𝟔𝟏𝟔 = 𝟗𝟖. 𝟓𝟓𝟖 𝑨 ➢ 𝑨 = 𝟎. 𝟎𝟏𝟒𝟗 ➢ 𝒙 = 𝟎. 𝟎𝟏𝟒𝟗𝒆−𝟗.𝟖𝟎𝟓𝒕 𝒔𝒊𝒏 𝟗𝟖. 𝟓𝟓𝟖𝒕

➢ 𝒙ሶ = −𝟗. 𝟖𝟎𝟓 ∗ 𝒆−𝟗.𝟖𝟎𝟓𝒕 𝟎. 𝟎𝟏𝟒𝟗 𝒔𝒊𝒏 𝟗𝟖. 𝟓𝟓𝟖𝒕 + 𝒆−𝟗.𝟖𝟎𝟓𝒕 𝟗𝟖. 𝟓𝟓𝟖 ∗ 𝟎. 𝟎𝟏𝟒𝟗 𝒄𝒐𝒔 𝟗𝟖. 𝟓𝟓𝟖𝒕

➢ 𝒙ሶ = 𝒆−𝟗.𝟖𝟎𝟓𝒕 −𝟎. 𝟏𝟒𝟔 𝒔𝒊𝒏 𝟗𝟖. 𝟓𝟓𝟖𝒕 + 𝟏. 𝟒𝟔𝟖 𝒄𝒐𝒔 𝟗𝟖. 𝟓𝟓𝟖𝒕

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➢ A vibrating system consists of a mass of 𝟐𝟎𝟎 𝒌𝒈, a spring of stiffness
𝑵 𝑵𝒔
𝟖𝟎 and a damper with damping coefficient of 𝟖𝟎𝟎 . Determine the
𝒎𝒎 𝒎
frequency of vibration of the system.

➢ In vibratory system with viscous damping, Mass is 𝟐. 𝟓 𝒌𝒈 , spring

𝑵
constant is 𝟑 and the amplitude after 𝟓 cycles is 𝟎. 𝟐𝟓 of the initial
𝒎𝒎
amplitude. Determine the damping coefficient of the damper in the
system.

➢ Undamped natural frequency of vibration of an instrument is 𝟏 𝑯𝒛. And

the frequency of damped vibrations is observed to be 𝟎. 𝟗 𝑯𝒛. Determine
the damping factor and logarithmic decrement. If the amplitude after 𝟒
cycles is 𝟒. 𝟐 𝒎𝒎, what is the initial amplitude?

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 𝑵
➢ A vibrating system has a mass of 𝟖 𝒌𝒈 and spring stiffness is 𝟓. 𝟒 .
The
𝒎𝒎
dashpot in the vibrating system exerts a force of 𝟒𝟎 𝑵 when the mass has
𝒎 𝒓𝒂𝒅
a velocity of 𝟏 , determine the natural circular frequency in , critical
𝒔 𝒔
damping coefficient, damping factor, damped natural circular frequency in
𝒓𝒂𝒅
, logarithmic decrement, and amplitude of vibration after 𝟔 cycles if the
𝒔
initial amplitude is 𝟔 𝒎𝒎.

➢ A mass suspended from a helical spring vibrates in a viscous fluid

medium. The frequency of damped vibration is 𝟗𝟎 𝒄𝒚𝒄𝒍𝒆𝒔 𝒑𝒆𝒓 𝒎𝒊𝒏𝒖𝒕𝒆 and
the amplitude decreases to 𝟐𝟓 % of its initial value in one complete
vibration. Determine the natural frequency of undamped vibration of the
system in Hertz.

Thank you
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