II.
FREE VIBRATION OF UNDAMPED
SINGLE DEGREE OF FREEDOM
SYSTEMS
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 2.1
2.1. Equation of Motion
2.1.1. Newton’s Law Method
m x = ∑ Fx ▬► m x = - k x
m x + k x = 0 Equilibrium position
This is the Differential Equation Of Motion (D.E.O.M.)
Solution ▬►
Equation Of Motion (E.O.M.)
x = A cos (ωnt - β),
k
● ωn = = Circular natural frequency. General position
m
A and β are determined by initial conditions [ x(0) and x (0) ].
fn = ωn / 2π = Natural frequency. Solution is explained in Appendix A.1.
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 2.2
Effect of Gravity
m x = ∑ Fx
m x = mg - k (δ + x)
m x = mg - kδ - kx
m x = - k x
m x + k x = 0 (D.E.O.M.)
Or
m x = Change of ∑ Fx from
equilibrium position
m x = - k x
m x + k x = 0 (D.E.O.M.)
Note: Gravity only changes the equilibrium position.
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 2.3
2.1.2. Energy Method
For conservative systems, K.E. (T) + P.E. (U) = constant
dT dU
Differentiation w.r.t. time ▬► + =0
dt dt
x
1 1
T = m x 2 ,
2
●U= ∫ kx dx = k x2
2
0
1 1
m (2 x ) x + k (2 x) x = 0
2 2
m x x + k x x = 0
x ≠ 0 ▬►
m x + k x = 0 (D.E.O.M.)
Solution ▬►
Equation of motion x = A cos(ωnt - β),
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 2.4
Effect of Gravity
1
T = m x 2 ,
2
1 1 1 1
U=[ k (δ +x)2 - k δ2] – mg x = [k δ x + k x2] – mg x = k x2
2 2 2 2
dT dU
+ = 0 ▬►
dt dt
1 1
m (2 x ) x + k (2 x) x = 0
2 2
m x x + k x x = 0
x ≠ 0 ▬►
m x + k x = 0 (D.E.O.M.)
Note: Gravity only changes the equilibrium position.
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 2.5
2.2. Tortional System
restoring torque of shaft (T)
Tortional stiffness of shaft (q) =
angular twist of shaft (θ)
GJθ
Stress analysis gives T = ,
L
G = modulus of rigidity of shaft material,
J = polar moment of inertia of shaft cross-section ( = πd4 / 32 ),
L = shaft length.
GJ
This gives ● q = [N.m/rad]
L
=
Newton’s law I θ ∑ M ▬►
= - q θ ▬►I θ
Iθ + q θ = 0 (D.E.O.M.)
Solution ▬► E.O.M. θ = A cos (ωnt - β), ωn = (q / I)1/2
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 2.6
2.3. Determination of Natural Frequency by Energy Method
In section 2.1, it was proven that free vibration of undamped single degree
of freedom system is harmonic. In this section, this result is used to
determine the natural frequency of the harmonic motion, by applying the
principle of energy conservation.
Application of the Principle of Energy Conservation
At equilibrium position
T = Tmax U=0
At extreme position
T=0 U = Umax
Conservation of energy ▬►
Tmax + 0 = 0 + Umax
● Tmax = Umax
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 2.7
Example 1
Find the natural frequency of the spring-mass system.
x = A cos(ωnt – β) x = - ωn A sin(ωnt – β)
1 1
Tmax = m ( x max ) 2 = m (ωn A)2.
2 2
1 1
Umax = k ( x max ) 2 = k A2
2 2
Tmax = Umax ▬►
1 1
m (ωn A) = k A2
2
2 2
A ≠ 0 ▬► mωn2 - k = 0 (Characteristic Equation) (C.E.) ▬►
k ωn 1 k
ωn = ▬► fn = =
m 2π 2π m
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 2.8
Example 2
Find the natural frequency of the
system shown
θ = A cos(ωnt – β)
x = L θ = L A cos(ωnt – β)
θ = - ωn A sin(ωnt – β)
x = L θ = - ωn L A sin(ωnt – β)
At equilibrium position, T = Tmax
1 1 1
= IA (ωn A) + IB (ωn A) + m (ωn L A)2
2 2
2 2 2
At extreme position, U = Umax
1
= k (L A)2
2
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 2.9
Tmax = Umax ▬►
1 1
(IA + IB + m L ) (ωn A) = k (L A)2
2 2
2 2
A ≠ 0 ▬►
(IA + IB + m L2) ωn2 - k L2 = 0 (C.E.) ▬►
k L2 ωn 1 k L2
ωn = ▬► fn = =
2
I A + IB + m L 2π 2π I A + IB + m L2
Note: Energy method is useful when the system consists of many rigid
bodies, because the internal forces do not appear in the energy equations.
These internal forces must be considered in the application of Newton’s
law method.
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 2.10
2.4. Effect of Spring Mass
If the spring is replaced by a massless spring, with the same stiffness k,
determine the equivalent mass me, which must replace mass m in order to
keep the system frequency unchanged.
ms = spring mass
L = spring length
x = displacement of mass m
dz = length of spring element
dm = mass of spring element
y = displacement of spring element
z = static position of spring element
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 2.11
ms z z
dm = dz y= x ▬► y = x
L L L
K.E. of equivalent system (Te) = K.E. of mass m (Tm) + K.E. of spring (Ts)
1
Te = m e x 2
2
1
Tm = m x 2
2
m L 2
1 2 1 ⎛ z ⎞ ms 1 ⎛ ms ⎞ 2
Ts = ∫ y dm = ∫ ⎜ x ⎟
dz = ⎜ ⎟ x
0
2 0
2 ⎝L ⎠ L 2⎝ 3 ⎠
1 2 1 2 1 ⎛ ms ⎞ 2
m e x = m x + ⎜ ⎟ x
2 2 2⎝ 3 ⎠
ms
● me = m +
3
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 2.12
2.5. Differential Equation of Plane Motion of a Rigid Body
2.5.1. Translation
● m x = ∑ Fx
2.5.2. Rotation about a Fixed Center
=
● IO θ ∑ MO
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 2.13
2.5.3. Translation of C.G. and Rotation
● m x G =∑ Fx
= ∑ MG
● IG θ
Special Case (Rolling)
m x = P – F, ▬►
x = a θ
= P – F
maθ (1)
= F a
IG θ (2)
(2) + (1) X a ▬►
= P a
(IG +m a2) θ P is external force.
=
● IC θ ∑ MC F is friction force.
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 2.14
2.6. Solved Examples
Example 2.1
Find ωn.
Example 2.2
Find ωn.
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 2.15
Example 2.3
Find ωn.
Example 2.4
Find ωn.
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 2.16
Example 2.5
Mass moment of inertia of the pulley about its axis = IO.
Find ωn.
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 2.17