Tutorial class

1) Find the natural frequency of the system shown in

a) Given: b) Given: c) Given:
𝑘1 = 𝑘2 = 1500 N/m,
𝑘3 = 2000 N/m,
𝑚 = 5 kg.

𝑘3 = 0.2 MN/m,
𝑚 = 20 kg.

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 1

Cont.
2) A circular cylinder of mass 4 kg and radius 15 cm is connected by a spring of stiffness 4000 N/m as shown. It
is free to roll on horizontal rough surface without slipping, determine the natural frequency.

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 2

Cont.
3) Find the natural frequency of the system shown here

𝑘1 = 5000 N/m,
𝑘2 = 𝑘3 = 8000 N/m,
𝑚 = 25 kg

a) b)

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 3

Cont.
4) Using energy method find the natural frequency of 5) Given: 𝑘1 = 2 N/mm, 𝑘2 = 1.5 N/mm, 𝑘3
the system shown in Fig. The cord may be assumed = 3.0 N/mm, 𝑘4 = 𝑘5 = 1.5 N/mm. Determine the mass
inextensible in the spring mass pulley system and no 𝑊 if the system has a natural frequency of 10 Hz
slip.

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 4

Cont.
6) A vibratory system in a vehicle is to be designed with the following parameters:
𝑘 = 100 N/m, 𝐶 = 2 Nsec/m, 𝑚 = 1 kg

Calculate:
(a) the decrease of amplitude from its starting value after 3 complete oscillations, and
(b) the frequency of oscillation.

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 5

Cont.
7) The system shown in the figure is displaced from its static equilibrium position to the right a distance of 0.01
m. An impulsive force acts towards the left on the mass at the instant of its release to give it an initial velocity
𝑉0 in that direction. If the system has the following parameters:
𝑘 = 15700 N/m, 𝑐 = 1570 Ns/m, 𝑚 = 9.8 kg

(a) Derive the expression for the displacement from the

equilibrium position in terms of time 𝑡 and initial
velocity 𝑉0 .

(b) What value of 𝑉0 would be required to make the mass

pass the position of the static equilibrium 1/100 sec
after it is applied?

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 6

Cont.
8) The successive amplitudes of vibrations of a vibratory system as obtained under free vibration are 0.69, 0.32,
0.19, 0.099 units respectively. Determine the damping ratio of the system.

9) A mass of 1 kg is to be supported on a spring having a stiffness of 9800 N/m. The damping coefficient is 4.9
N·sec/m. Determine the natural frequency of the system. Find also the logarithmic decrement and the amplitude
after three cycles if the initial displacement is 0.30 cm.

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 7

Tutorial
1) The equivalent mass of a single-degree-of-freedom (SDOF) system is 10 kg. The system has a natural
frequency of 80 rad/s. The system is initially at rest in equilibrium when it is subjected to a time-dependent
force. Determine and plot the response of the system if it is subjected to the following forces:

a) 𝐹 𝑡 = 10sin 40𝑡 N

b) 𝐹 𝑡 = 10sin 80𝑡 N

c) 𝐹 𝑡 = 10sin 82𝑡 N

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 8

Cont.
2) A vibrating system having a mass of 1 kg is suspended by a spring of stiffness 1000 N/m and is subjected to a
harmonic excitation force of amplitude 10 N. Assuming the system is undamped, determine:

a) The natural frequency of the system

b) The steady-state amplitude of vibration when the excitation frequency is 20 rad/s

c) The condition for resonance and the response of the system at resonance.

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 9

Cont.
4) A railroad bumper is modeled as a spring 𝑘. A railcar of mass 𝑚 strikes the bumper. (See Fig: mass 𝑚
connected to a spring 𝑘 and to the ground.) Given: 𝑘 = 2 × 105 N/𝑚, 𝑚 = 20,000 kg.

(a) Assume no external force during the impact (i.e., 𝐹(𝑡) = 0)

i. Derive the governing differential equation of motion for the mass – spring – damper system.
ii. Using the initial conditions 𝑥(0) = 0, 𝑥(0)
ሶ = 𝑥ሶ 0 , solve the complete solution 𝑥(𝑡) for the undamped system
iii. Given that the railcar has an initial velocity 𝑣0 = 20 m/𝑠, determine the maximum bumper deflection during
impact and the time at which this maximum occurs.

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 10

Cont.
(b) Now assume the bumper is subjected to a harmonic external force of the form:
𝐹(𝑡) = 𝐹0 cos(𝜔𝑡),

with 𝐹0 = 100 N and 𝜔 = 10 rad/s. (Use the same 𝑚, 𝑘,)

i. Solve the governing equation to obtain the general solution, consisting of the complementary (homogeneous)
solution and the particular (steady-state) solution.
ii. Compute the steady-state amplitude 𝑋 of the forced response.
iii. Comment briefly on whether the given forcing frequency ω = 10 rad/s is near resonance for this system.

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 11

Tutorial
1) An electric motor is supported on a spring and a dashpot. The spring has a stiffness of 6400 N/m, and the
dashpot offers a resistance of 500 N at 4.0 m/s. The unbalanced mass is 0.5 kg, rotating at a radius of 5 cm, and
the total mass of the vibrating system is 20 kg. The motor runs at 400 rpm.

Determine:

(a) the damping factor

(b) the amplitude of vibration and phase angle
(c) the resonant speed and resonant amplitude
(d) the forces exerted by the spring and dashpot on the motor.

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 12

Cont.
Given Data
• Spring stiffness: 𝑘 = 6400 N/m Angular speed:
500 2𝜋𝑁 2𝜋 × 400
• Dashpot: 𝐹 = 500 N at 𝑣 = 4 m/s ⇒ 𝑐 = 4 = 125 Ns/m 𝜔= = = 41.89 rad/s
60 60
• Unbalanced mass: M = 0.5 kg
Natural frequency:
• Radius: 𝑟 = 0.05 m
• Total mass: m = 20 kg 𝑘 6400
• Speed: 𝑁 = 400 rpm 𝜔𝑛 = = = 320 = 17.89 rad/s
𝑚 20

(a) Damping Factor (Damping Ratio 𝜁)

𝑐𝑐 = 2𝑚𝜔𝑛 = 2 × 20 × 17.89 = 715.6 Unbalanced force:
𝑐 125 𝐹0 = 𝑀𝑟𝜔2 = 0.5 × 0.05 × 41.89 2 = 43.8 N
𝜁= = = 0.175
𝑐𝑐 715.6
Amplitude:
(b) Amplitude and Phase Angle (X) 𝐹0 /𝑘
Frequency ratio: 𝑋=
𝜔 41.89 1 − 𝑟2 2 + 2𝜁𝑟 2

𝑟= = = 2.34 43.8/6400
𝜔𝑛 17.89 = = 1.5 𝑚𝑚
1− 2.342 2 + 2 × 0.175 × 2.34 2

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 13

Cont.
Phase angle: Resonant amplitude:
2𝜁𝑟 0.819 𝑀𝑟 1
tan 𝜙 = = = −0.183 𝑋𝑟 = ⋅
1 − 𝑟 2 −4.48 𝑚 2𝜁 1 − 𝜁 2
𝜙 = 180∘ − 10.4∘ = 169.6∘ 0.5 × 0.05 1
= ⋅
20 2 × 0.175 × 0.984
1
(c) Resonant Speed and Amplitude = 0.00125 × = 0.00363 m
0.344
Resonance condition: 𝑋𝑟 = 3.63 mm

𝑟𝑟 = 1 − 2𝜁 2 = 1 − 2 0.175 2 = 0.969
(d) Forces in Spring and Dashpot
𝜔𝑟 = 𝑟𝑟 ⋅ 𝜔𝑛 = 0.969 × 17.89 = 17.33 rad/s Spring force:
Convert to rpm: 𝐹𝑠 = 𝑘𝑋 = 6400 × 0.0015 = 9.6 N

𝜔𝑟 ⋅ 60 17.33 × 60 Dashpot force:

𝑁𝑟 = = = 165.5 rpm
2𝜋 2𝜋 𝐹𝑑 = 𝑐𝜔𝑋 = 125 × 41.89 × 0.0015
= 7.85 N

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 14

Cont.
2) A gun-carrying vehicle fires a shell of mass 4.5 kg, as shown in figure below. The combined mass of the gun
and the vehicle is 750 kg, and the recoil mechanism consists of a spring of stiffness 𝑘 = 27 kN/m and a
dashpot with damping constant 𝑐 = 9 kN s/m. Calculate the maximum recoiling of the gun-vehicle unit.

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 15

Cont.
Solution: First, determine the critical damping coefficient 𝑐𝑐 of the given system.
𝑐𝑐 = 2 𝑘𝑚 = 2 27 × 103 × 750 Ns/m = 9 kNs/m

• This value is exactly equal to the dashpot damping provided in the problem. Therefore, the recoiling motion of the gun–vehicle unit
is critically damped.

• Let 𝑥 𝑡 = displacement of the unit after firing. For a critically damped system,
𝑐
𝑥 𝑡 = 𝐶1 + 𝐶2 𝑡 𝑒 −𝑐𝑡/ 2𝑚
or 𝑥 𝑡 = 𝐶1 + 𝐶2 𝑡 𝑒 −𝜆𝑡 , 𝜆 =
2𝑚

• Differentiating,
𝑥ሶ 𝑡 = 𝐶2 𝑒 −𝜆𝑡 − 𝜆 𝐶1 + 𝐶2 𝑡 𝑒 −𝜆𝑡

• Initial conditions:
𝑥 0 = 𝐶1
𝑥ሶ 0 = 𝐶2 − 𝜆𝐶1 • For the given problem
• Thus, 𝑥 0 = 0 ⇒ 𝐶1 = 0
𝐶2 = 𝜆𝑥 0 + 𝑥ሶ 0 𝐶2 = 𝑥ሶ 0

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 16

Cont.
• The initial velocity of the gun–vehicle unit can be Maximum recoil:

obtained from the principle of conservation of linear • For maximum displacement,

momentum (neglecting external forces): 𝑥ሶ 𝑡 = 0

• Thus,
750 𝑥ሶ 0 = 4.5 × 250 cos 20∘
1 2𝑚
𝑥ሶ 0 = 1.41 m/s 𝑡= =
𝜆 𝑐
• Therefore,
2 750
𝑥 𝑡 = 𝑥ሶ 0 𝑡 𝑒 −𝜆𝑡 𝑡= = 0.167 s
9000
and • Substituting into the displacement equation,

𝑥ሶ 𝑡 = 𝑥ሶ 0 1 − 𝜆𝑡 𝑒 −𝜆𝑡 𝑥max = 0.0864 m

𝑥max = 86.4 mm

Maximum recoil of the gun–carrying vehicle = 86.4 mm.

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 17

Cont.
3) Consider the spring–mass system shown in Fig. The mass is given a velocity of 0.1 m/s. Determine the
subsequent displacement and velocity of the mass if: 𝑐 = 100 Ns/m, 𝑘 = 3000 N/m, 𝑚 = 20 kg, 𝐹 sin 𝜔 𝑡 = 0.
Assume the initial displacement of the mass is zero. Also, calculate the steady-state response of the mass if
𝐹 sin 𝜔 𝑡 = 5sin 10𝑡 .

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 18

Cont.
Solution
• The equation of motion is: 𝑚𝑥ሷ + 𝑐 𝑥ሶ + 𝑘𝑥 = 0 • Velocity:
𝑑𝑥
• The general solution is: 𝑥ሶ =
𝑑𝑡
𝑥 = 𝑒 −𝜀𝜔𝑛 𝑡 𝐴 cos 𝜔𝑑 𝑡 + 𝐵 sin 𝜔𝑑 𝑡 𝑥ሶ
• Natural frequency: = 11.98𝑒 −2.49𝑡 −𝐴 sin 11.98 𝑡 + 𝐵 cos 11.98 𝑡
− 2.49𝑒 −2.49𝑡 𝐴 cos 11.98 𝑡 + 𝐵 sin 11.98 𝑡
𝑘 3000
𝜔𝑛 = = = 12.24 rad/s • Applying boundary conditions: at 𝑡 = 0,
𝑚 20
𝑥=0
• Damping ratio:
0 = 𝑒0𝐴 ⇒ 𝐴 = 0
𝑐 100
𝜀= = = 0.204
2𝑚𝜔𝑛 2 × 20 × 12.24 • Initial velocity:
• Damped frequency: 𝑥ሶ 0 = 0.1 m/s
0.1 = 11.98𝐵
𝜔𝑑 = 𝜔𝑛 1 − 𝜀 2 = 12.24 1 − 0.2042 = 11.98 rad/s
𝐵 = 0.00835
Substituting these values:
• Thus, the displacement becomes:
𝑥 = 𝑒 −0.204 12.24 𝑡 𝐴 cos 11.98 𝑡 + 𝐵 sin 11.98 𝑡 𝑥 𝑡 = 0.00835 𝑒 −2.49𝑡 sin 11.98𝑡
𝑥 = 𝑒 −2.49𝑡 𝐴 cos 11.98 𝑡 + 𝐵 sin 11.98 𝑡

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 19

Cont.
Continuation of Solution Steady-state response of the system
𝐹
𝑥 = 0.00835 𝑒 −2.49𝑡 sin 11.98𝑡 𝑥𝑝 = sin 𝜔𝑡 − 𝛼
• Velocity: ൬𝑘 − 𝑚𝜔 2 )2 + ቀ𝑐𝜔)2

𝑥ሶ
• Substituting the values:
= 11.98 𝑒 −2.49𝑡 0.00835 cos 11.98 𝑡 5
𝑥𝑝 = sin 10𝑡 − 𝛼
− 2.49 𝑒 −2.49𝑡 0.00835 sin 11.98 𝑡 ൬3000 − 20 × 102 )2 + ቀ100 × 10)2
𝑥ሶ = 𝑒 −2.49𝑡 0.1 cos 11.98 𝑡 − 0.021 sin 11.98 𝑡 𝑥𝑝 = 3.5355 × 10−3 sin 10𝑡 − 𝛼
• The transient response is where:
2𝜀 𝜔/𝜔𝑛
𝑥 = 𝑥𝑐 𝛼 = 𝑡𝑎𝑛−1
1 − ቀ𝜔/𝜔𝑛 )2
𝑥𝑐 = 0.00835 𝑒 −2.49𝑡 sin 11.98𝑡 + 𝜙 2 × 0.204 × 10/12.24
= 𝑡𝑎𝑛−1
where 1 − ቀ10/12.24)2
= 𝑡𝑎𝑛−1 1
𝐴
𝜙 = 𝑡𝑎𝑛−1 𝛼 = 45∘
𝐵
27-Mar-26 By: Dr. Tesfaye Olana (PhD) 20
 Cont.
Total response:
𝑥 = 𝑥𝑐 + 𝑥𝑝
𝑥 = 𝐷𝑒 −2.49𝑡 sin 11.98𝑡 + 𝜙 + 3.5355 × 10−3 sin 10𝑡 − 45∘
• Applying the boundary conditions, the constants 𝐷 and 𝜙 can be determined, and the final expression for
𝑥 can then be obtained.

• From the previous steps, the total response of the system is the sum of the transient (complementary)
response and the steady-state response:
𝑥 = 𝑥𝑐 + 𝑥𝑝
a) Transient (Complementary) Response
From the initial conditions 𝑥 0 = 0 and 𝑥ሶ 0 = 0.1 m/s:
𝑥𝑐 = 0.00835 𝑒 −2.49𝑡 sin 11.98𝑡
b) Steady-State Response
𝑥𝑝 = 3.5355 × 10−3 sin 10𝑡 − 45∘

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 21

Cont.
Final Expression for Displacement:

𝑥 𝑡 = 0.00835 𝑒 −2.49𝑡 sin 11.98𝑡 + 3.5355 × 10−3 sin 10𝑡 − 45∘

This equation gives the complete motion of the mass, consisting of:
• a decaying transient vibration 0.00835𝑒 −2.49𝑡 sin 11.98𝑡
• a steady harmonic vibration 3.5355 × 10−3 sin 10𝑡 − 45∘ .

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 22

Tutorial
4) Fig below illustrates a simple model of a motor vehicle capable of vibrating vertically as it travels over a
rough road surface. The vehicle has a mass of 1200 kg, and its suspension system is characterized by a spring
constant of 400 kN/m and a damping ratio of 𝜁 = 0.5. When the vehicle moves at a speed of 20 km/h over a
road that varies sinusoidally with an amplitude of 𝑌 = 0.05 m and a wavelength of 6 m, the task is to determine
the displacement amplitude of the vehicle.

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 23

Cont.
Given Data Step 3: Frequency Ratio
• Mass: 𝑚 = 1200 kg 𝜔 5.82
𝑟= = ≈ 0.319
• Stiffness: 𝑘 = 400 kN/m = 400,000 N/m 𝜔𝑛 18.26
• Damping ratio: 𝜁 = 0.5
Step 4: Displacement Transmissibility
• Road amplitude: 𝑌 = 0.05 m
For base excitation:
• Wavelength: 𝜆 = 6 m
• Speed: 𝑣 = 20 km/h = 5.56 m/s 𝑋 1 + 2𝜁𝑟 2
=
𝑌 1 − 𝑟 2 2 + 2𝜁𝑟 2

Step 1: Excitation Frequency

The vehicle experiences a sinusoidal input:
𝑋 1.102
𝑣 5.56 = = 1.212 ≈ 1.10
𝑓= = = 0.926 Hz 𝑌 0.909
𝜆 6
𝜔 = 2𝜋𝑓 = 2𝜋 0.926 ≈ 5.82 rad/s
Step 5: Vehicle Displacement Amplitude
Step 2: Natural Frequency 𝑋 = 1.10 × 𝑌 = 1.10 × 0.05 = 0.055 m
𝑘 400000
𝜔𝑛 = = = 333.33 ≈ 18.26 rad/s
𝑚 1200

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 24

Cont.
5) A vibratory body of mass 150 kg supported on springs of total stiffness 1050 kN/m has a rotating unbalance
force of 525 N at a speed of 6000 rpm. If the damping factor is 0.3, determine (a) the amplitude caused by the
unbalance and its phase angle (b) the transmissibility, and (c) the actual force transmitted and its phase angle.

Given Data Step 2: Natural Frequency

• Mass: 𝑚 = 150 kg
• Stiffness: 𝑘 = 1050 kN/m = 1.05 × 106 N/m 𝑘 1.05 × 106
𝜔𝑛 = = = 7000 ≈ 83.67 rad/s
• Unbalance force: 𝐹0 = 525 N 𝑚 150
• Speed: 𝑁 = 6000 rpm
• Damping ratio: 𝜁 = 0.3 Step 3: Frequency Ratio
𝜔 628.32
𝑟= = ≈ 7.51
𝜔𝑛 83.67
Amplitude
Step 1: Angular Speed 𝐹0 /𝑘
2𝜋𝑁 2𝜋 6000 𝑋=
𝜔= = = 628.32 rad/s 1 − 𝑟 2 2 + 2𝜁𝑟 2
60 60 𝐹0 525
= = 0.0005 m
𝑘 1.05 × 106
27-Mar-26 By: Dr. Tesfaye Olana (PhD) 25
Cont.
0.0005 • Force Transmitted
𝑋= ≈ 9.0 × 10−6 m
55.6 𝐹𝑇 = 𝑇𝑅 ⋅ 𝐹0 = 0.083 × 525 ≈ 43.6 N
𝐹𝑇 ≈ 44 N
• Phase Angle
2𝜁𝑟 4.506
tan 𝜙 = = = −0.0813
1 − 𝑟 2 −55.4 • Phase of Transmitted Force
𝜙 ≈ −4.65∘ 2𝜁𝑟
Since 𝑟 ≫ 1, actual phase: tan 𝜓 =
1 − 𝑟2
𝜙 ≈ 180∘ − 4.65∘ = 175.35∘
• Same as displacement phase:
𝜓 ≈ 175.35∘
• Transmissibility
1 + 2𝜁𝑟 2
𝑇𝑅 =
1 − 𝑟 2 2 + 2𝜁𝑟 2
1 + 20.3 = 21.3 = 4.62
4.62
𝑇𝑅 = ≈ 0.083
55.6
𝑇𝑅 ≈ 0.083

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 26

Tutorial
• Determine the total response of a single-degree-of-freedom (SDoF) system with the following parameters: 𝑚
= 10 kg, 𝑐 = 20 N− sec/m, 𝑘 = 4000 N/m, 𝑥0 = 0.01 m, 𝑥ሶ 0 = 0, for the conditions specified below.
a. When the system is subjected to F(t) = 𝐹0 ​cos(ωt), where: 𝐹0 = 100 N and ω= 10 rad/s.

b. For free vibration, the external force is absent, i.e. 𝐹 𝑡 = 0

• A body of mass 70 kg is suspended from a spring which deflects 2.0 cm under the load. It is subjected to a
damping effect adjusted to a value 0.23 times that required for critical damping. Find the natural frequency of
the undamped and damped vibrations and ratio of successive amplitudes for damped vibrations. If the body is
subjected to a periodic disturbing force of 700 N and of frequency equal to 0.78 times the natural undamped
frequency, find the amplitude of forced vibrations and the phase difference with respect to the disturbing force.

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 27

Cont.
• The weight of an electric motor is 125 N and it runs at 1500 rpm. The armature weighs 35 N and its centre of
gravity lies 0.05 cm from the axis of rotation. The motor is mounted on five springs of negligible damping so
that the force transmitted is one-eleventh of the impressed force. Assume that the weight of the motor is equally
distributed among the five springs. Determine (a) stiffness of each spring (b) dynamic force transmitted to the
base at operating speed (c) natural frequency of the system.

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 28

Cont.
• A machine of mass one tonne is acted upon by an external force of 2450 N at a frequency of 1500 rpm. To
reduce the effects of vibration, isolator of rubber having a static deflection of 2 mm under the machine load and
an estimated damping ε = 0.2 are used. Determine:(a) the force transmitted to the foundation, (b) the amplitude
of vibration of machine, (c) the phase lag.

• A machine having a mass of 100 kg and supported on springs of total stiffness 784 kN/m has an unbalanced
rotating element which results in a disturbing force of 392 N at a speed of 3000 rpm. Assuming a damping
factor of 𝜀 = 0.20, determine (a) the amplitude of motion due to unbalance, (b) the transmissibility, and (c) the
transmitted force.

27-Mar-26 By: Dr. Tesfaye Olana (PhD) 29