AeE 402 Module No.

5
Free Vibration
Dr. Jay Jack R. Manzano
2nd Semester SY 2024-2025

All systems possessing mass and elasticity are capable of free vibration, or vibration that
takes place in the absence of external excitation. Of primary interest for such a system is its
frequency of vibration.
Damping in moderate amounts has little influence on the natural frequency and may be
neglected in its calculation. The system can then be considered to be conservative, and the
principle of conservation of energy offers another approach in the calculation of the natural
frequency. The effect of damping is mainly evident in the diminishing of the vibration
amplitude with time

For basic vibration model of a simple oscillatory system consists of; mass, a massless
spring, and damper.

m = lumped = w/g (lb-s2/in)

For spring, of negligible mass and the force-deflection relationship is considered linear
following the Hooke’s law

F = kx
where:
k = stiffness (N/m or lb./in)

The viscous damping, generally represented by a dashpot where force is proportional to the
velocity
where:
c = damping coefficient (N/m/s or lb./in/s)

Spring-mass system and free-body diagram

Simple undamped spring-mass system move only along the vertical direction coordinate x
(1 DOF). When at motion oscillation take place at the natural frequency fn.

1
From Newton’s second law, where:
𝝙 = deformation of spring in the static equilibrium position
k𝝙 = w = Spring force = mg

By measuring the displacement x from the static equilibrium position, the forces acting on
m are k(𝝙+x) and w. Let x, positive in the downward direction, all quantities ---force, velocity,
and acceleration are all positive.

Applying the second law of motion to the mass;

Since: k𝝙 = w

The choice of the static equilibrium position in x reference has eliminated w, the force due
to gravity, and the static force k𝝙 from the equation of motion, and the resultant force on m
is simply the spring force due to the displacement x.

For circular, frequency wn:

Thus,

The motion produced a harmonic equation

For a homogenous second-order linear differential equation:

Where:
A and B are necessary constants evaluated from x (0) and

Natural period of the oscillation

For natural frequency:

Can also be expressed in terms of statical deflection 𝝙 by using k𝝙 =mg:

2
Note that 𝝉, fn, and wn depend only on the mass and stiffness of the system. This is applicable
to all single-DOF systems, including rotation. A spring can be a beam or torsional member
and the mass can be replaced by a mass moment of inertia.

Example:

A 0.25 kg mass is suspended by a spring having a stiffness of 0.1533 N/mm. determine its
natural frequency in cycles per second. Determine its statical deflection in mm.

Natural frequency of a mass at end of cantilever beam:

For the natural frequency (fn) of the mass M on the end of a cantilever beam of negligible
mass.

The deflection of the cantilever beam under a concentrated end force P is:

Where EI is the flexural rigidity. Thus, the stiffness of the beam is

and the natural frequency of the system becomes:

Where:
EI = Flexural rigidity
E = Modulus of elasticity (N/m2)
I = Moment of inertia (m4)
M= Mass (kg)
l = length (m)
fn = natural frequency (Hertz)

Illustrative Example:

An automobile wheel and tire are suspended by a steel rod 0.50 cm in diameter and 2 m long.
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.

3
The rotational equation of motion corresponding to Newton’s equation is:

Where:
J = rotational moment of inertia
k = rotational stiffness
𝛉 = angle of rotation in radians

The natural frequency of oscillation is:

The torsional stiffness of the rod is:

Where:
= polar moment of inertia of the circular cross-
sectional area of the rod
l = length
G = 80 x 109 N/m2 = shear modulus of steel

By substituting into the natural frequency equation, the polar moment of inertia of the
wheel and tire:

Uniform bar pivoting about a certain point:

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 P1 and P2. Determine the equation
of motion and its natural frequency

4
Under rotation 𝛉, the spring force on the left is decreased on the right is increased. With Jo as
the moment of inertia of the bar about O, the moment equation about O is:

However:

In the equilibrium position, and hence we need to consider only the moment of the forces
due to displacement 𝛉, which is:

Thus, the equation of motion can be written as:

And by inspection, the natural frequency of oscillation is:

Table of Spring Stiffness

5
Energy Method
T + U = Constant
(d/dt) (T + U) = 0
Where:
T = kinetic energy stored in the mass by virtue of its velocity
U = potential energy stored in the form of strain energy in elastic
deformation or work done in a force field such as gravity
In conservative system, the total energy is constant, and the differential equation of motion
is established using the principle of conservation of energy.
For free vibration of undamped system, the energy is partly kinetic and partly potential. The
total energy being constant, its rate of change is zero

6
From the principle of conservation of energy:
T1 + U1 = T2 + U2
Where 1 and 2 represents two instances of time
1 = the time when the mass is passing through its static
equilibrium position where U1 = 0
2 = the time corresponding to the maximum displacement of the
mass where the velocity of the mass is zero, T2 = 0
T1 + 0 = 0 + U2
If the system is undergoing harmonic motion, T1 and U2 are maximum values:
Tmax = Umax

Natural frequency using pulley type source of oscillation:

For the natural frequency of the system

Assume that the system is vibrating harmonically with amplitude 𝛉 from its static
equilibrium position. The maximum kinetic energy is:

The maximum potential energy is the energy stored in the spring

Equating, the natural frequency is:

The loss of potential energy of m due to position r1𝛉 is cancelled by the work done by the
equilibrium force of the spring in the position 𝛉 = 0

Frequency for small circular oscillation:

For a cylinder of weight w and radius r rolls without slipping on a cylindrical surface of radius
R. Using differential equation for motion of small oscillations about the lowest point. For no
slipping r𝛟 = R𝛉

7
In determining the kinetic energy of the cylinder, it must be noted that both translation and
rotation take place. The translational velocity of the center of the cylinder is
whereas the rotational velocity is:

Where is the moment of inertia of the cylinder about its mass center. The
potential energy referred to its lowest position is:
which is equal to the negative work done by the gravity force
in lifting cylinder through the vertical height

Substituting:

And letting sin 𝛉 = 𝛉 for small angles, we obtain the familiar equation for harmonic motion:

By inspection, the circular frequency of oscillation is:

End of Module No. 5