Introduction to Mechanical Vibration
Prof. Anil Kumar
Department of Mechanical and Industrial Engineering
Indian Institute of Technology – Roorkee
Lecture - 08
Damped Free Vibration
Welcome to the lecture on Damped Free Vibration. So, in the previous lecture we discussed
the free vibration of single degree of freedom system having mass and stiffness. There was
not a damping element so there was not a dissipation of energy in the system. So, the
vibration of the system was maintained forever. There was no reduction in the amplitude of
the vibration.
Now if we introduce a damping element in the system means we have mass M and stif fness
K now we have the damping element in the system having damping coefficient C then what
will happen like in the case of the free undamped vibration we had the vibration of the system
with the natural frequency ωn now will the damped system will vibrate with the same
frequency as ωn or different, will the amplitude of the vibration remain constant or it will
change with the time, will it decay with the time, will it increase with the time.
So, all these questions that we will discuss in this lecture.
(Refer Slide Time: 01:55)
So we will discuss type of damping because when we want to discuss the damped free
vibrations there are several types of damping the most common is the viscous damping
because this is very important and simple so it is used vastly then we hav e the dry fiction or
Coulomb damping then solid or structural damping then slip or interfacial damping. So
viscous damping occurs when a piston in certain fluid that has some viscosity. The piston
moves in the fluid and the fluid is allowed to pass through some orifice so there is the small
velocity of the movement of the piston.
(Refer Slide Time: 03:04)
So, this kind of damping we can see that the force and velocity relationship that is linear.
Here is the force F = C.V where F is the damping force, C is the damping constant and V is
the relative velocity. Here we can see one damper and if some force is applied here on the
piston and it is moving and here is the orifice through which the fluid is passing so this kind
of damper is called the viscous damper because they are based on the principle of viscous
damping.
Why we give this so important to this kind of damping because here this damping force is
directly proportional to the velocity so x . So, if we use this force in the differential equation
of motion of the system that makes the differential equation linear so that is why this
damping is more important. Several times we use the equivalent of the other type of damping
are equivalent viscous damping for the other type of damping just for this reason.
We represent this damping C like this symbol then another type of damping is friction dry
friction damping or Coulomb damping. So whenever a mass is sliding on some surface there
is friction between the two surfaces and due to the friction there is some energy dissipation
because the basic role of the damping is the energy dissipation so like in the viscous damping
it was the energy dissipation in the fluid and energy dissipation is usually results into heat and
sound.
So here when a mass is sliding on a surface due to the friction there is energy dissipation into
heat. So, when there is dry friction here the damping resistance is constant because it depends
on mμ and therefore it is independent of the rubbing velocity.
(Refer Slide Time: 06:19)
So here we can see we have mass that may slide on the surface and due to the friction
between the two surface there could be the energy dissipation and this kind of mechanism is
called Coulomb Damping.
(Refer Slide Time: 06:31)
Now we have another type of damping that is called Solid or Structural Damping. It is also
called a Material Damping or Hysteresis Damping. So, there is various name to this damping.
So, we can see the stress-strain diagram when there is a material that has this kind of
damping. The stress strain diagram may form a hysteresis loop this loop that is the area there
is some area between stress and strain and the area shows the energy dissipated in one cycle
of this loop.
So, this energy shows the energy that is due to the friction in the molecules so there is the
molecular deformation in the material. So therefore, this damping depends on material, the
frequency and amount of the dynamic stress.
(Refer Slide Time: 07:43)
There is a one more type of damping that is Interfacial Damping or Slip Damping so we have
several mechanical parts and there is roughness between these parts and when they come into
contact, they meet. There is some micro level of interfaces and rubbing and that makes the
energy loss, energy dissipation. For example, there is some joints like bolted joints and some
machine parts so this damping depends on the roughness of the surfaces the contact pressure
and the amplitude of the vibration.
Now in this lecture we will discuss, we will take the viscous damping as we said that in the
taking the viscous damping there is certain advantage that it makes the differential equation
linear and so it is easier to solve these kinds of equations. Therefore, we start with a single
degree of freedom system having viscous damping. So, we can see here we have a spring
damper and mass system and again it is a free vibration case.
So due to the free vibration we will give some initial disturbance to the system and then we
will isolate this mass to make a free-body diagram means we have to show the forces t hat is
acting on the body and then we have to apply the Newton’s law of motion to write the
differential equation.
(Refer Slide Time: 09:42)
So, let us do it so we take the single degree of freedom system so this is the system having
spring, damper and mass. So we disturb the system by x now we make a free-body diagram
so the mas m and because we have pulled this system x and it has the velocity x .So to apply
the Newton’s law of motion to write the differential equation.
So, we can write mx + Cx + Kx = 0 ……… (1)
this is the equation of motion of free vibration of this system. Now you see if we put C = 0
means if we remove the damping our equation results mx + Kx = 0 . So, it is the same as
undamped free vibration case. Now we have to solve this equation and to solve this kind of
differential equation we assume a solution x = eSt and x = SeSt and x = S 2eSt
So, we put these values in equation (1) we get
mS 2e St + CSe St + Ke St = 0
e St [mS 2 + CS + K ] = 0
mS 2 + CS + K = 0
Now this is a quadratic equation in S so we can write the roots it will have two roots. So, let
us write the roots
−C C 2 − 4mK
S = S1 , S 2 =
2m
−C 1
S = S1 , S 2 = C 2 − 4mK
2m 2m
−C 1 C 4 K
2
S = S1 , S 2 = −
2m 2 m m
Now the solution of this differential equation if we have roots so these roots S 1 and S 2 they
can be real and distinct. So, we will have solution
x = C1e S1t + C2e S2t
If they are equal and real so we will have solution, x = (C1 + C2 )e St .
So, because S is S1 or S2 anyone if they are complex roots so we have if complex roots so that
is let us say α iβ . So, if this kind of complex roots we have S1= α+iβ and S2 = α-iβ .
So, we have x = eαt (C1 Cos βt + C2 Sin βt ) . So, these are the solutions depending on the
different conditions of the roots so roots could be either real and distinct or real and equal or
they could be a complex pair.
So, in these three conditions the solution will be given by these equations. So now let us so
this is our equation now we define certain terms so let us see. Now we define critical
damping so critical damping comes when we have the equal and real roots so equal and rea l
roots means this term is zero. So C 2 − 4mK = 0 .
Cc2 − 4mK = 0
Cc = 4mK = 2 Km = 2mωn
Another thing we define that is damping factor.
C
ξ=
Cc
C C Cc
= . = ξ.2.ωn = 2ξωn
m Cc m
K
= ω2n
m
then
1
S = −ξωn ( 2ξωn ) − 4ωn2
2
2
S = −ξωn ωn ξ 2 − 1
S = [−ξ ξ 2 − 1]ωn
S1 = [−ξ + ξ 2 − 1]ωn
S2 = [−ξ - ξ 2 − 1]ωn
So, these are the two roots S1 and S2 that we have obtained now depending on conditions we
have to fit these in these three conditions. We have to see in which condition these roots are
coming okay. So now I remove this part.
(Refer Slide Time: 23:22)
So now here if we have ξ = 1 . So, we will have S1 = S 2 = −ξωn . So it means we have equal
and real roots so we will have solution x = (C1 + C2t )e − ξωnt , for ξ = 1 .
So, if ξ >1, we have
S1 = [−ξ + ξ 2 − 1]ωn
S2 = [−ξ - ξ 2 − 1]ωn
So, these S1 and S2 are real and distinct.
ξ2 −1]ωnt ξ2 −1]ωnt
So, we will have solution x = C1e[ − ξ+ + C2e[ − ξ- .
Now here we see that we are getting a complex pair root. So here if we compare from this
α+iβ we have α = −ξωn and β = 1- ξ 2 ωn . So, we can write the solution
x = e − ξωnt [C1 Cos 1- ξ 2 ωnt + C2 Sin 1- ξ 2 ωnt ] .
So here we have reached to three conditions based on the damping factor zeta.
So ξ = 1 we get equal and real roots and the solution means the response of the system that is
x = (C1 + C2t )e − ξωnt .
When ξ >1 we have got the two real and distinct roots and the response of the system
ξ2 −1]ωnt ξ2 −1]ωnt
x = C1e[ − ξ+ + C2e[ − ξ-
However, for the case when the damping factor ξ 1 . The response of the system is given by
x = e − ξωnt [C1 Cos 1- ξ 2 ωnt + C2 Sin 1- ξ 2 ωnt ]
So, these three conditions lead to us the three different types of damp systems.
(Refer Slide Time: 30:48)
So, these three different types of damp system like ξ = 1 that is called critical damping or
critically damped system. If ξ >1, we call it over damped system or overdamping of the
system. When ξ 1 , we call it under damped system or underdamping of the system. So, we
see that in these three different conditions of damping that is critical damping, over damping
and underdamping the response of the system is different.
So because from the expressions of the response x we can see that their response is governed
by different equations and therefore we have if you want to study a system we have to decide
that what the damping value we want I mean we want our system to keep in the under
damped region, over damped region or critical damp region because all these different
regions has their own characteristics and that we will discuss in detail one by one in the next
lectures. So, thank you for your attention and see you in the next lecture. Thank you.