III.

FREE VIBRATION OF DAMPED SINGLE

DEGREE OF FREEDOM
SYSTEMS

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.1

3.1. Types of Damping
3.1.1. Viscous Damping

x

cx

Viscous damper (dashpot)

Damping force on mass = - c x ,

c is the coefficient of viscous damping [ N/(m/s) = N.s/m ].

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.2

3.1.2. Hysteresis Damping (Structural Damping)
When an elastic member
is loaded and unloaded in
its elastic region, the
(Stress – Strain) relation
is not the same during
loading and unloading.
This is due to the friction
between the internal
layers of the material,
which indicates that actual materials are not perfectly elastic. This gives a
loop on the (Stress – Strain) diagram called Hysteresis loop.

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.3

The area of the loop on the (Force – Displacement) diagram of the
member denotes the energy dissipated by Hysteresis damping during one
cycle of loading and unloading of this member.
In order to study the vibrations of systems with Hysteresis damping,
Hysteresis damping is replaced by the viscous damping which dissipates
the same energy per cycle. The coefficient of this viscous damping is
called the coefficient of equivalent viscous damping (ce).

Original system Equivalent system

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.4
For a system damped by Hysteresis damping and performing harmonic
motion x = A cos ωt, it was found, experimentally, that, the energy
dissipated by Hysteresis damping per cycle (ΔE) is proportional to the
1
maximum strain energy in the system during the cycle ( k A2). This gives
2
ΔE = π η k A2 (1)
η is called the Hysteresis damping factor, the structural damping factor or
the loss factor of the material causing the damping.
It can be proven that, the energy dissipated by viscous damping per cycle,
for the same motion is given by
ΔE = π ce ω A2 (2)
ηk
(1) and (2) ▬► ● ce =
ω

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.5

3.1.3. Coulomb Damping (Dry Friction)

x x

Magnitude of damping force on mass = Fd = μ N,

μ is the kinematical coefficient of friction.
Damping force on mass is opposite to x .

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.6

3.2. Viscous Damping
x

cx

m x = - c x - k x
m x + c x + k x = 0
This is the differential equation of motion (D.O.F.M.).
Solution of this equation depends on the value of c relative to (2 k m ),
which is equal to (2 m ωn). This solution is explained in Appendix A.2.
Let ζ = c / (2 m ωn).
This gives three cases: (1) ζ > 1, (2) ζ = 1, (3) ζ < 1

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.7

Case 1: Overdamped System (c > 2mωn) (ζ > 1)
D.E.O.M. m x + c x + k x = 0 Solution ▬►

E.O.M. ● x = A1 e λ1t + A2 e λ 2 t , ● λ1 , λ2 = ( − ζ ± ζ 2 − 1 ) ω n ,
A1 and A2 are constants determined by initial conditions.

x
ζ=2 ζ=3

t
Motion is nonoscillatory.

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.8

Case 2: Critically Damped System (c = 2mωn) (ζ = 1)
D.O.F.M. m x + c x + k x = 0 Solution ▬►
E.O.M. ● x = (A1 + A2 t) e −ωn t ,
A1 and A2 are constants determined by initial conditions.

t
Motion is nonoscillatory.

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.9

Effect of Damping on Settling Time

x
ζ=1 ζ=2 ζ=3

t
• With zero initial velocity, the time required for the system to reach its
equilibrium position increases as damping increases.
• Critically damped system takes the shortest time. Therefore, the pointers
of measuring instruments are usually designed to be critically damped.
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.10
Case 3: Underdamped System (c < 2mωn) (ζ < 1)
D.O.F.M. m x + c x + k x = 0 Solution ▬►

E.O.M. ● x = A e −ζωn t cos(ωdt - β), ● ωd = ωn 1− ζ2 ,

A and β are constants determined by initial conditions.

x
Ae −ζωn t

− Ae −ζωn t

Motion is oscillatory with decaying (amplitude) and circular frequency ωd.

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.11

 x

x1 x2 x3
t1 Td t2
t

Logarithmic decrement
x1 = A e −ζωn t1 , x2 = A e −ζωn t 2 ▬►
x1
= e − ζωn (t1 − t 2 ) = eζωn (t 2 − t1 ) ▬►
x2
x1
= e ζωnTd
x2

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.12

x1
= e ζωnTd ▬►
x2
x1 2π 2π 2πζ
= eδ, δ = ζ ωn Td = ζ ωn = ζ ωn =
x2 ωd ωn 1 − ζ 2
1− ζ 2

δ (= 2πζ/ 1− ζ 2 ) is called the logarithmic decrement.

x1 x x x
Generally, = 2 = 3 = ....... = n = e δ ▬►
x2 x3 x4 x n+1
x1 x x x x
= 1 × 2 × 3 ....... × n = e nδ
x n+1 x 2 x3 x4 x n+1
This means that, when ζ is known, δ can be determined from the relation

(δ = 2πζ/ 1 − ζ 2 ), and then, the ratio (x1/xn+1) can be found.

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.13

 x1 1 x1
The relation ● = e nδ ▬► ● δ = Ln (3)
x n+1 n x n+1
2πζ δ
Also, the relation ● δ = ▬► ● ζ = (4)
2 2 2
1− ζ 4π + δ
A usual practical way to determine ζ is to let the system vibrate freely, to
determine the ratio between two amplitudes (x1 / xn+1) and use equation (3)
to find δ. Then, equation (4) can be applied for the determination of ζ.
Critical damping coefficient (cc)
cc is defined as the damping coefficient required to make the system
critically damped, or the minimum damping coefficient which produces
nonoscillatory motion. It is obtained from ● cc = 2 m ωn.
Damping factor (damping ratio) (ζ)
ζ is defined as the ratio between c and cc. ▬► ● ζ = c / cc = c / (2 m ωn).

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.14

Motion with Different Values of Damping Factor(ζ)

x ζ=1 ζ=2 ζ=0.04 ζ=0

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.15

3.3. Hysteresis Damping (Structural Damping)

Original system Equivalent system

● ce = η k / ω (5)
In free vibration, ω is equal to ωd, which depends on ce. So, equation (5)
can not applied for direct calculation of ce. Substitution for ce and ω gives
ηk
ζe (2 m ωn) = ▬►
2
ωn 1 − ζ e
2 2
● η = 2 ζe 1− ζ e (6) ▬► ● 2 ζ e = 1 - 1− η 2 (7)
Equations (6) and (7) can be used for calculation of η and ζe respectively.

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.16

3.4. Coulomb Damping (Dry Friction)
Consider the following case
k = 2 N/cm N = mg = 20 N
μ = 0.3, Fd = μ N = 6 N Frictionless equilibrium position

Six equilibrium positions

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.17
The mass can stay in static equilibrium within an equilibrium zone of length
6 cm, 3 cm to the left of the frictionless equilibrium position and 3 cm to the
right of the frictionless equilibrium position.
● The mass of a spring-mass system can stay in static equilibrium on a
rough plane within an equilibrium zone of length 2Δ, Δ to the left of the
frictionless equilibrium position and Δ to the right of the frictionless
equilibrium position,
● Δ = μ N / k = Fd / k.
● During free vibration, the mass stops when its velocity becomes zero
within the equilibrium zone.

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.18

Equation of motion
Example
Consider a spring-mass system with x(0) = X0 and x (0) = 0.
x
1- First half cycle (from right to left) ( x < 0)
m x = - k x + Fd
m x + k x = Fd
Solution ▬► x
x = A cos(ωnt - β) + Fd / k = A cos(ωnt - β) + Δ
Initial conditions ▬► x = (X0 - Δ) cos(ωnt) + Δ
Δ
Motion is harmonic with circular frequency
t
ωn , amplitude (X0 - Δ) and center O1.
X1/2 + Δ = X0 - Δ ▬►
X1/2 = X0 - 2 Δ (8)
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.19
2- Second half cycle (from left to right) ( x > 0)
x
m x = - k x - Fd
m x + k x = - Fd
Solution ▬►

x = A cos(ωnt - β) - Fd / k = A cos(ωnt - β) - Δ x

Initial conditions ▬► x = (X1/2 - Δ) cos(ωnt) - Δ

Motion is harmonic with circular frequency Δ
ωn , amplitude (X1/2 - Δ) and center O2. −Δ t
X1 + Δ = X1/2 - Δ ▬►
X1 = X1/2 - 2 Δ (9)

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.20

Reduction of (apparent amplitude)
X1/2 = X0 - 2 Δ (8) X1 = X1/2 - 2 Δ (9)
Equations (8) and (9) show that, the (apparent amplitude) is reduced by
2Δ every half cycle.
(Apparent amplitude) and mass position
● (Apparent amplitude) after n half cycles = Xn/2 = X0 – 2 n Δ ▬►
● Position of mass after n half cycles = xn/2 = (-1)n (X0 – 2 n Δ)
Mass stop
Mass stops after n half cycle, if (k Xn/2 ≤ Fd) , i.e. if (Xn/2 ≤ Δ) , i.e. if the
mass is inside the equilibrium zone.
In order to find n, put Xn/2 ≤ Δ. This gives
X0
X0 – 2 n Δ ≤ Δ ▬► – 2 n Δ ≤ - X0 + Δ ▬► ● n ≥ - 0.5
2Δ

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.21

Example
m = 2 kg k = 1974 N/m μ = 0.3
x (0) = 0 x(0) = 29 mm (to the right)
Find time and position at which mass stops.
k 1974
ωn = = = 31.417 rad/s
m 2
Fd μN μmg 0.3 × 2 × 9.81
Δ= = = = = 0.003 m
k k k 1974
x0 0.029
n≥ - 0.5 ▬► n ≥ - 0.5 ▬► n ≥ 4.333 ▬► n = 5
2Δ 2 × 0.003
5 5 2π 5 2π
t5/2 = × T = × = × = 0.5 s
2 2 ω n 2 31.417
x5/2 = (-1)5 (0.029 – 2 × 5 × 0.003) = 0.001 m = 1 mm (to the right)

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.22

 30
29
x
(mm)
20
17

10
5
0 1
0 0.1 0.2 0.3 0.4 0.5 t 0.6

-10
-11
-20

-23
-30

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.23

3.5. Solved Examples
Example 3.1
L = 500 mm b = 300 mm
m = 6 kg k = 200 N/m
c = 20 N.s/m
θ(0) = 6.7o C.W. θ (0) = 0
Find time and position after two cycles.

Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.24

Example 3.2
L = 1200 mm d = 30 mm
m = 20 kg E = 20× 1010 N/m2
η = 0.04
x(0) = 10 mm x (0) = 0
Find time and position after two cycles.

Example 3.3
L = 500 mm m = 6 kg
k = 200 N/m Td = 0.5 N.m
θ(0) = 6.7o C.W. θ (0) = 0
Find time and position after two cycles.
Find time and position at which rod stops.
Mohamed T. Hedaya MECHANICAL VIBRATIONS First Edition, p. 3.25