Mz̈ + Cż + Kz = F(t)

mẍ + cẋ + kx = 0 x(t) = Φz(t)

r
c k F(t) = ΦT F (t)
ζ= √ , ωn =
2 mk m
p M=I
ωd = ωn 1 − ζ 2  2
 ω1
0 0 0


 
ω22 0
 
1 Bi  0

0


δ = ln K=
n Bi+n ..

 0 0 . 0 
2πζ δ 

0 0 0 ωn2


δ=p , ζ=√
1 − ζ2 4π 2 + δ 2
z 0 = ΦT M x 0
− − − − − − − − − − − − − − − − − − −−
mẍ + cẋ + kx = f0 cos(ωt) ż 0 = ΦT M ẋ0
f0 − − − − − − − − − − − − − − − − − − −−
xp = p cos(ωt − ψ) 1
(k − mω 2 )2 + c2 ω 2 L = T − U R = ẋT [c]ẋ
  2
2ζr
, ψ = 90◦ if r2 = 1
     
ψ = arctan d ∂L ∂L ∂R
1 − r2 − + = Qj (j = 1, · · · , n)
dt ∂ q̇j ∂qj ∂ q̇j
X 1 − − − − − − − − − − − − − − − − − − −−
M= =p , r = ω/ωn
δst (1 − r )2 + (2ζr)2
2

− − − − − − − − − − − − − − − − − − −− Rayleigh damping:

Base excitation: C = αM + βK
s C = αM + βK
2
X 1 + (2ζr) α βωi
= ζi = +
Y (1 − r2 )2 + (2ζr)2 2ωi 2
x(t) = X cos (ωt − ψ − θ) , θ = arctan [1/(2ζr)] − − − − − − − − − − − − − − − − − − −−
−1
FT /kY = r2 X/Y
  
a b 1 d −b
=
− − − − − − − − − − − − − − − − − − −− c d ad − bc −c a
mẍ + cẋ + kx = m0 eω 2 cos(ωt) a b
= ad − bc
mX r2 c d
=p , r = ω/ωn −1
m0 e
  
(1 − r2 )2 + (2ζr)2 a b c ei − f h ch − bi bf − ce
1 
− − − − − − − − − − − − − − − − − − −− A−1 = d e f  = f g − di ai − cg cd − af 
|A|
g h i dh − eg bg − ah ae − bd
Overdamped:
a b c
x = (A1 eωd t + A2 e−ωd t )e−ζωn t d e f = a(ei − f h) − b(di − f g) + c(dh − eg)
g h i
Critically damped: Cij = (−1)i+j |Mij |
x = (A1 + A2 t)e−ωn t |B| = bi1 Ci1 + bi2 Ci2 + · · · + bin Cin
− − − − − − − − − − − − − − − − − − −−
Underdamped: p
A sin α+B cos α = A2 + B 2 cos(α−arctan(A/B))
x = [A3 cos(ωd t) + A4 sin(ωd t)] e−ζωn t sin(α − β) = sin α cos β − cos α sin β
or: cos(α − β) = cos α cos β + sin α sin β
− − − − − − − − − − − − − − − − − − −−
x = C e−ζωn t sin(ωd t + φ)
Parallel axis theorem
− − − − − − − − − − − − − − − − − − −−
I = I + md2
M ẍ + C ẋ + Kx = F (t)
|K − ω 2 M | = 0 Point mass rotating at a distance l:
1 I = ml2
φi = q Xi
X Ti M X i Slender rod:
Φi = [φ1 · · · φn ] 1 1 2
Icenter of mass = ml2 , Irod end = ml
12 3
 6 .
ζ =0
5.5
1
5 T1 = √
(1−r 2 )2 +(2ζr)2
0.1
4.5

3.5
0.2
T1

2.5
0.3
2
0.4
1.5 0.5

0.5
ζ =1
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2 2.4 2.6 2.8 3
ω
r= ωn
6
ζ =0
5.5

5
0.1
4.5
q
1+(2ζr)2
4 T2 = (1−r 2 )2 +(2ζr)2
3.5
0.2
T2

3
0.3
2.5
0.4
2
0.5
1.5
ζ =1
1

0.5
ζ =1
ζ =0
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2 2.4 2.6 2.8 3
ω
r= ωn
 6 q
1+(2ζr)2
5.5 T3 = r 2 (1−r 2 )2 +(2ζr)2
5
ζ=0

4.5 ζ=1
0.1
4

3.5
0.2
T3

3
0.3
2.5 0.4

1.5

1
ζ=1 ζ=0
0.5

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2 2.4 2.6 2.8 3
ω
r= ωn

6
ζ=0
r2
5.5
T4 = √
(1−r 2 )2 +(2ζr)2
5 0.1
4.5

3.5
0.2
T4

2.5 0.3
0.4
2 0.5
1.5

0.5
ζ=1
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2 2.4 2.6 2.8 3
ω
r= ωn
 Laplace Transforms

Original function of t (f (t)) Laplace transform (F (s))

1
eat
s−a
n!
tn
sn+1
n!
tn eat
(s − a)n+1
s
cos ωt
s + ω2
2

s−a
eat cos ωt
(s − a)2 + ω 2
ω
sin ωt
s2 + ω 2
ω
eat sin ωt
(s − a)2 + ω 2
s 2 − a2
t cos at
(s2 + a2 )2
2as
t sin at
(s2 + a2 )2

eat f (t) F (s − a)

u(t − a)f (t − a) e−as F (s)

f (n) (t) sn F (s) − sn−1 f (0) − sn−2 f 0 (0) −

... − sf (n−2) (0) − f (n−1) (0)

1
Example 1
Consider the spring-mass oscillator shown below. The spring
stiffness k = 6400 N.m-1 and the mass m = 36 kg.
a) Write the Equation of Motion for the system and find the
natural frequency ωn.
b) If the initial displacement xo=20mm and initial velocity vo=0,
find x(t) and sketch a graph of x(t)
c) If xo= 0 and vo=-0.5 m.s-1, find x(t) and sketch a graph of x(t)

x(t)
K
M
Example 2
Consider the simple pendulum, where a light, rigid connecting
rod joins a point mass to a frictionless hinge. The distance from
the hinge to the centre of the mass is L.
a) Why is this a single DOF system?
b) Find the Equation of Motion for the system.
c) If we assume small angular displacements, what are the
implications for the EOM, and hence the natural frequency?
d) If we relax some of the assumptions above, what happens?

θ(t) L

M
Example 3
The base of a machine is supported by springs and dampers,
constrained to only move vertically, as shown in the diagram.
The mass m= 45 kg, each spring has stiffness k1=20 kN.m-1
and the damper has a damping coefficient c=1400 Ns.m-1. If
the spring has a free (uncompressed) length of 125 mm, and a
solid height of 90 mm, what is the maximum initial downward
velocity than can be applied without bottoming out? Assume no
initial displacement (other than that due to static weight).

M
y(t)

k1 c k1

i) Find spring deformation at static equilibrium

ii) Find maximum dynamic deformation (as function of IC)

Example 4 – Ballistic Pendulum
A ballistic pendulum is an experimental device used to infer momentum
transfer from very short duration, high load scenarios such as explosive
loading or projectile impact. The natural period of the pendulum is
approximately 5 orders of magnitude longer than the explosion or impact
event, so the initial loading can be simplified to purely impulsive
(resulting in an initial velocity of the pendulum). Prior to testing, the
researcher timed the free movement of the pendulum (m = 80 kg) as
taking 5 complete swings in 16 seconds. The displacement of the
pendulum during a blast event was recorded using a pen tracing on
paper, with the first peak being 360mm and the second peak 280mm.
Determine the initial velocity of the pendulum immediately after the
explosion, and hence infer the impulse transferred.

θ(t) L

M
Example 5 (Meriam & Kraige)
Two small, spherical masses m are connected by a light, stiff rod.
The rod has a frictionless pivot O at its midpoint. Each mass is
connected to two springs of equal stiffness k. The rod is in static
equilibrium when horizontal, with each spring having equal pre-
compression.
Find the equation of motion for the system and hence find its
natural frequency.
Example 6 (Meriam & Kraige)
A rigid rod of mass m, length b and uniform cross section is
pivoted freely at one end O. The rod is connected to a spring
and damper as shown, The rod is in static equilibrium when
horizontal.
Determine the equation of motion for this system, and hence
find the damping ratio. You may assume small oscillation
angles.
Example 7 – Compressor on Shelf
An artist has a small reciprocating compressor, used for spray painting
jobs. They have mounted the compressor on a shelf above their work
bench, at the shelf mid-span. When starting up the compressor, they
notice visible vibration of the shelf which reduces to an audible hum after
the compressor reaches full flow. The motion of the compressor pistons
causes a vertical harmonic force that can be approximated by F(t) =
40Cos(ωt), and the compressor’s normal operating speed is 1500 rpm.
The compressor mass is 8 kg.

The shelf is plywood sheet of thickness 12mm, depth 350mm and span
800mm between the shelf brackets. Plywood’s elastic modulus is 8 GPa ,
density 500 kg/m3[A]. Estimates of damping ratio vary from 0.01 to 0.03
[B].

a) How would we approximate this as a spring-mass system? State

simplifications explicitly!

b) Determine the shelf displacement due to the compressor harmonic

force at (i) steady state (ii) worst case.

c) The artist is annoyed by the vibration, and wants to reduce it by using a

stiffer shelf board (t=22mm). Is this a viable approach? What are other
inexpensive, alternative solutions?

A: Biblis EJ, Carino HF. Factors influencing the flexural properties of finger-jointed southern pine
LVL. Forest products journal. 1993;43(1):41.
B: Wang Z, Li L, Gong M. Measurement of dynamic modulus of elasticity and damping ratio of
wood-based composites using the cantilever beam vibration technique. Construction and Building
Materials. 2012 Mar 1;28(1):831-4.
Example 8 – Rotating Unbalance in
Washing Machine
Domestic washing machines use a high
speed spin cycle to drive water out of wet
clothing. Occasionally, the wet clothes are
not evenly distributed around the drum and
cause rotating unbalance.

The dynamic forces of rotating unbalance

vary both with rotational speed and
orientation of the mass. The rotating drum is
suspended onn springs and dampers to
reduce the force transmitted to the casing
(and hence neighbouring objects). For the
machine in question, the drum and moving
attachments have a mass of 40 kg.

a) When 5kg of dry laundry is placed in the drum, the drum

displaces 2.5mm vertically from its normal position. Determine
the equivalent stiffness of the drum suspension.

b) If the drum is given an initial displacement (when loaded

with 5kg of washing), the first overshoot is five times larger
than the third overshoot. Determine the equivalent damping
constant of the drum suspension.

c) At a later wash, the machine is loaded with wet dish cloths

of mass 2kg and set to spin dry. The clothes are not evenly
loaded, and clump together at a radius of 200mm. If the drum
has a maximum speed of 1000 rpm, determine the amplitude
of oscillations of the drum at maximum speed.

d) Estimate the largest amplitude of oscillations associated

with the above loading, but at any speed of operation.
Ignore the square root
above
Example 4-3 – from M&K 8-92
A uniform cylinder of mass m and radius r rolls without
slipping on a curved surface. The surface has radius of
curvature R. For small oscillations, find the equation of motion
and the natural period of oscillation. Use an energy approach
rather than balances of forces or moments.
Example 4-4 – from M&K
A collar of mass 3kg slides vertically along a frictionless rod,
supported by a spring of stiffness 1500 N/m. The collar is
attached to two uniform links (each of mass 1.2kg and length
300mm). The ends of the bars are free to slide horizontally
and rotate but can’t move vertically. The system is in static
equilibrium when horizontal. Find the equation of motion and
natural frequency for small vertical movements of the collar.
Example 9 – from Meriam & Kraige 8-24
Two masses m1 and m2 are connected to a rigid rod AOB, which
is hinged at Point O. The hinge O is frictionless. The masses are
constrained to only move horizontally and are tied to springs k1
and k2 respectively. Assume small displacements.

a) For the case where the rod AOB is of negligible mass, find the
equation of motion for the system in terms of x1.

b) For the case where the rod has finite mass MR and radius of
gyration ρ about the axis O, find the equation of motion for the
system in terms of x1..
Example 10 – from M&K 8-90
Two bars of length l and mass m/2 are welded together to
form a T shape. The T bar is pivoted at O on a frictionless
bearing. Each end of the T is supported on springs of equal
stiffness k. The right hand spring has an imposed
displacement xB. Find the equation of motion of the body (in
terms of an angular rotation about O). Determine the forcing
frequency which will cause the largest oscillations.
 Laplace Transforms

Original function of t (f (t)) Laplace transform (F (s))

1
eat
s−a
n!
tn
sn+1
n!
tn eat
(s − a)n+1
s
cos ωt
s + ω2
2

s−a
eat cos ωt
(s − a)2 + ω 2
ω
sin ωt
s2 + ω 2
ω
eat sin ωt
(s − a)2 + ω 2
s 2 − a2
t cos at
(s2 + a2 )2
2as
t sin at
(s2 + a2 )2

eat f (t) F (s − a)

u(t − a)f (t − a) e−as F (s)

f (n) (t) sn F (s) − sn−1 f (0) − sn−2 f 0 (0) −

... − sf (n−2) (0) − f (n−1) (0)

1
Example 12
Consider the undamped spring-mass oscillator, subject to a
harmonic force F(t) shown below. The spring has stiffness k =
3600 N.m-1 and the mass m = 64 kg. The forcing function has
Fo= 200 N and ω = 10 rad/s
a) Write the Equation of Motion for the system.

b) If xo= 0 and vo=0.5 m.s-1, use Laplace Transforms to directly

find the total solution for displacement x(t).
x(t)
k F=Fo Cos(ωt)
M
 Laplace Transforms

Original function of t (f (t)) Laplace transform (F (s))

1
eat
s−a
n!
tn
sn+1
n!
tn eat
(s − a)n+1
s
cos ωt
s + ω2
2

s−a
eat cos ωt
(s − a)2 + ω 2
ω
sin ωt
s2 + ω 2
ω
eat sin ωt
(s − a)2 + ω 2
s 2 − a2
t cos at
(s2 + a2 )2
2as
t sin at
(s2 + a2 )2

eat f (t) F (s − a)

u(t − a)f (t − a) e−as F (s)

f (n) (t) sn F (s) − sn−1 f (0) − sn−2 f 0 (0) −

... − sf (n−2) (0) − f (n−1) (0)

1
Example 13
Consider the spring-mass oscillator, with viscous damping and
subject to a harmonic force F(t), shown below. The spring has
stiffness k = 100 N.m-1, , the damper constant c = 24 Ns.m-1 and
the mass m = 4 kg. The forcing function has Fo= 16 N and ω = 5
rad/s
a) Write the Equation of Motion for the system.

b) If the system is initially at rest, use Laplace Transforms to

directly find the total solution for displacement x(t).
x(t)
k F=Fo Cos(ωt)
M

c
Error in taking Inverse Laplace
Transform
Example 15
Consider the spring-mass oscillator, with viscous damping and
subject to a ramped linear force, shown below. The spring has
stiffness k = 400 N.m-1, , the damper constant c = 100 Ns.m-1
and the mass m = 25 kg.
a) Write the Equation of Motion for the system.

b) If the system is initially at rest, use Laplace Transforms to

directly find the total solution for displacement x(t).

x(t)
k F(t)
M

100 N

1s
I don't understand why only the first part of the forcing function is
multiplied by k and the last part is not, I also do not understand where
the -1.5u(t-0.6) is coming from
The TUT solution have +1/9 , I believe that is a mistake
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