Module 4

Free Damped 1 DOF Vibrations

Equation of motion of simple spring mass
system with damping mẍ + cẋ + kx = 0

m = mass of the body, kg. K=stiffness of the spring, N/m

c= damping coefficient, N-s/m
x = displacement of the body from equilibrium (mean) position.
Ẋ = velocity of the body, m/s, Ẍ= acceleration of the body, m/s2
mẍ + cẋ + kx = 0------------(1)
Solution for above eqation
X = 𝑒 𝑠𝑡 --------(a)
ẋ = s 𝑒 𝑠𝑡 ---------(b)
ẍ = 𝑠 2 𝑒 𝑠𝑡 ---------(c)
Substituting a, b, and c in (1)
m𝑠 2 𝑒 𝑠𝑡 + cs 𝑒 𝑠𝑡 + k𝑒 𝑠𝑡 = 0
m𝑠 2 + cs + k = 0
−𝑐± 𝑐 2 −4𝑚𝑘
𝑠1 𝑠2 =
2𝑚
−𝑐 𝑐2 𝑘
𝑠1 = + 2 -
2𝑚 (2𝑚) 𝑚

−𝑐 𝑐2 𝑘
𝑠2 = - -
2𝑚 (2𝑚)2 𝑚
• Square root value to zero
𝑐2 𝑘
2 - =0
(2𝑚) 𝑚

𝑐2 𝑘
=
(2𝑚)2 𝑚

• Critical Damping Coefficient (𝑐𝑐 )

𝑘
𝑐𝑐 = 2m = 2 m ω𝑛 = 2 𝑘 𝑚
𝑚
Damping ratio or factor (ξ or d)
• Ratio of actual damping coefficient to the critical damping coefficient
𝑐 𝑐
ξ= =
𝑐𝑐 2𝑚ω𝑛
𝑐 −𝑐 𝑐2 𝑘
ξω𝑛 = 𝑠1 = + 2 -
2𝑚 2𝑚 (2𝑚) 𝑚
The characteristic equation can be written as
𝑠1 = - (ξω𝑛 ) + (ξω𝑛 )2 − ω2𝑛

𝑠1 = [- (ξ ) + (ξ)2 − 1]ω𝑛
Similarly, 𝑠2 = [- (ξ ) − (ξ)2 − 1]ω𝑛
If 𝑐𝑐 < c then ξ > 1 Overdamped system
If 𝑐𝑐 = c then ξ = 1 Critically damped system
If 𝑐𝑐 > c then ξ < 1 Under-damped system
Overdamped system (ξ > 1 )
In this case 𝑠1 and 𝑠2 are real and unequal hence solution is given by
equation
X= 𝑐1 𝑒 𝑠1 𝑡 + 𝑐2 𝑒 𝑠2 𝑡 -------------(1)
𝑐1 and 𝑐2 are constants to be determined by known boundary
conditions
Differentiating equation (1)
ẋ = 𝑠1 𝑐1 𝑒 𝑠1 𝑡 + 𝑠2 𝑐2 𝑒 𝑠2 𝑡 ---------------(2)
Then using boundary conditions
At t =0, x=𝑥0 and t =0, ẋ = ẋ0
Substituting first boundary condition in equ. 1
𝑥0 =𝑐1 + 𝑐2 therefore 𝑐1 = 𝑥0 - 𝑐2 ------------(3)
Substituting second boundary condition in equ. 2
ẋ0 = 𝑠1 𝑐1 + 𝑠2 𝑐2 -------------(4)
From 3 and 4
ẋ0 = 𝑠1 (𝑥0 − 𝑐2 )+ 𝑠2 𝑐2 = 𝑠1 𝑥 0 − 𝑠1 𝑐2 + 𝑠2 𝑐2
𝑠1 𝑐2 − 𝑠2 𝑐2 = 𝑠1 𝑥 0 - ẋ0
𝑠1 𝑥 0 − ẋ0
𝑐2 = -------------(5)
𝑠1− 𝑠2
Then from equ. 3
𝑠1 𝑥 0 − ẋ0 ẋ0 −𝑠2 𝑥 0
𝑐1 = 𝑥0 - =
𝑠1− 𝑠2 𝑠1− 𝑠2
ẋ0 −𝑠2 𝑥 0
𝑐1 = --------------------(6)
𝑠1− 𝑠2
From 5, 6, and 1 we get general equ.
ẋ0 −𝑠2 𝑥 0 𝑠 𝑡 𝑠1 𝑥 0 − ẋ0 𝑠 𝑡
X=[ ]𝑒 + [
1 ]𝑒 2
𝑠1− 𝑠2 𝑠1− 𝑠2
 ẋ0 −𝑠2 𝑥 0 𝑠 𝑡 𝑠1 𝑥 0 − ẋ0 𝑠 𝑡
X =[ ]𝑒 + [
1 ]𝑒 2
𝑠1− 𝑠2 𝑠1− 𝑠2
1
= [(ẋ0 − 𝑠2 𝑥0 ) 𝑒 𝑠1 𝑡 + (𝑠1 𝑥 0 − ẋ0 ) 𝑒 𝑠2 𝑡 ]
𝑠1− 𝑠2

Substituting 𝑠1 = [- (ξ ) + (ξ)2 − 1]ω𝑛 and 𝑠2 = [- (ξ ) − (ξ)2 − 1]ω𝑛

𝑥0 𝑒 −ξω𝑛 𝑡 ẋ0 ( (ξ)2 −1]ω𝑛𝑡)

X= {[ - ω𝑛 (- (ξ ) + (ξ)2 − 1)] 𝑒 } + {[ω𝑛 (- (ξ ) +
𝑥0
2 (ξ)2 −1]ω𝑛
ẋ0 (− (ξ)2 −1]ω𝑛 𝑡)
(ξ)2 − 1) - ] 𝑒 }
𝑥0
plot
Critically damped system (ξ = 1 )
In this case both roots are real and equal hence solution is given by
equation
X= (𝑐1 + 𝑐2 𝑡)𝑒 𝑠𝑡 =𝑐1 𝑒 𝑠𝑡 + 𝑐2 𝑡 𝑒 𝑠𝑡
Differentiating equation
ẋ = 𝑐1 𝑠 𝑒 𝑠𝑡 + 𝑐2 𝑠𝑡 𝑒 𝑠𝑡 +𝑐2 𝑒 𝑠𝑡 = 𝑐1 𝑠 𝑒 𝑠𝑡 + 𝑐2 (𝑠 𝑡 𝑒 𝑠𝑡 + 𝑒 𝑠𝑡 )
Here s = - ω𝑛
ẋ = -ω𝑛 𝑐1 𝑒 −ω𝑛 𝑡 + −ω𝑛 𝑡 𝑐2 𝑒 −ω𝑛 𝑡 +𝑐2 𝑒 −ω𝑛 𝑡
ẋ = 𝑒 −ω𝑛 𝑡 [-ω𝑛 𝑐1 - 𝑐2 (ω𝑛 𝑡 – 1)] -------(1)
also we know displacement
X= (𝑐1 + 𝑐2 𝑡)𝑒 −ω𝑛 𝑡 ----------(2)
𝑤ℎ𝑒𝑟𝑒 𝑐1 and 𝑐2 are constants to be determined by known boundary
conditions
At t =0, x=𝑥0 and t =0, ẋ = ẋ0 X= (𝑐1 + 𝑐2 𝑡)𝑒 −ω𝑛 𝑡 ----------(2)
Substituting first boundary condition in equ. 2, we get 𝑥0 = 𝑐1
and Substituting second boundary condition in equ. 1,
ẋ = 𝑒 −ω𝑛 𝑡 [-ω𝑛 𝑐1 - 𝑐2 (ω𝑛 𝑡 – 1)] -------(1)
ẋ0 =−ω𝑛 𝑐1 + 𝑐2
Substituting value of 𝑐1 in above equation
ẋ0 =−ω𝑛 𝑥0 + 𝑐2 therefore 𝑐2 = ẋ0 + ω𝑛 𝑥0
Substituting value of 𝑐1 and 𝑐2 in equ. 2

X = 𝒆−𝝎𝒏 𝒕 [𝒙𝟎 + (ẋ𝟎 + 𝝎𝒏 𝒙𝟎 )𝒕] 𝒆−𝝎𝒏 𝒕

From above equ. We can say that displacement decreases exponentially
with respect to time, when t ꚙ x=0 then motion of critically
damped system is “aperiodic”
Then shortest possible time which will be taken by
system under critically damping condition, so that
x=0 is given by equ.
0 = 𝒙𝟎 + (ẋ𝟎 + 𝝎𝒏 𝒙𝟎 )𝒕

−𝒙𝟎
𝒕 =
ẋ𝟎 +𝝎𝒏 𝒙𝟎
For ‘t’ to be +ve magnitude of ẋ𝟎 > magnitude of
𝝎𝒏 𝒙𝟎 and direction of ẋ𝟎 must be apposite to 𝒙𝟎
Under-damped system (ξ < 1 )
In this case general solution is given by equation
X= 𝑐1 𝑒 𝑠1 𝑡 + 𝑐2 𝑒 𝑠2 𝑡
Here 𝑠1 = [- (ξ ) + 𝑖 (1 − (ξ)2 )ω𝑛
𝑠2 = [- (ξ ) − 𝑖 (1 − (ξ)2 )ω𝑛
Substituting these values in above equation
[− (ξ )+𝑖 (1 −(ξ)2 )ω𝑛 𝑡 [− (ξ )−𝑖 (1 −ξ2 )ω𝑛 𝑡
X= 𝑐1 𝑒 + 𝑐2 𝑒
𝑖 (1 −(ξ)2 )ω𝑛 𝑡 𝑖 (1 −ξ2 )ω𝑛 𝑡
X= 𝒆−ξ𝝎𝒏 𝒕 (𝑐1 𝑒 + 𝑐2 𝑒
We know that 𝑒 𝑖Ɵ = cosƟ +i sinƟ & 𝑒 −𝑖Ɵ = cosƟ - i sinƟ
Then above equation can be written as
X= 𝒆−ξ𝝎𝒏 𝒕 {[𝑐1 cos( (1 − (ξ)2 )ω𝑛 𝑡) + 𝑐1 i sin( (1 − (ξ)2 )ω𝑛 𝑡 ] +
[𝑐2 cos( (1 − (ξ)2 )ω𝑛 𝑡) – 𝑐2 i sin( (1 − (ξ)2 )ω𝑛 𝑡 ]

X= 𝒆−ξ𝝎𝒏 𝒕 {(𝑐1 +𝑐2 ) cos( (1 − (ξ)2 )ω𝑛 𝑡) +i (𝑐1 − 𝑐2 ) sin( (1 − (ξ)2 )ω𝑛 𝑡 ]
In above equation (𝑐1 +𝑐2 ) and (𝑐1 − 𝑐2 ) are real quantities which make
𝑐1 and 𝑐2 complex conjugate quantities.
Hence above quantities can be replaced by constants A and B respectively.
Then displacement equ. for under damped system is written as
X= 𝒆−ξ𝝎𝒏 𝒕 { A cos( (1 − (ξ)2 )ω 𝑡) + B sin( (1 − (ξ)2 )ω 𝑡 ] ---------(1)
𝑛 𝑛
Where A and B can be found out by using boundary conditions
At t =0, x=𝑥0 -------(i) and t =0, ẋ = ẋ0 ------------(ii)
Substituting (i) boundary condition in equ. 1 𝑥0 = A -------(I)
𝑥0 = A ----------(I)
Now differentiate equ (1)
ẋ = 𝒆−ξ𝝎𝒏 𝒕 {A sin( (1 − (ξ)2 )ω𝑛 𝑡 x (1 − (ξ)2 )ω𝑛 + B cos( (1 − (ξ)2 )ω𝑛 𝑡 x
(1 − (ξ)2 )ω } + 𝒆−ξ𝝎𝒏 𝒕 (−ξ𝝎 ) [A cos( (1 − (ξ)2 )ω 𝑡) + B
𝑛 𝒏 𝑛
sin( (1 − (ξ)2 )ω 𝑛𝑡 ]
Substituting (ii) boundary condition in above equ. We get
ẋ0 = {B (1 − (ξ)2 )ω𝑛 } −ξ𝝎𝒏 A -----------(II)
Substituting A =𝑥0 we can write
ẋ0 = {B (1 − (ξ)2 )ω𝑛 } −ξ𝝎𝒏 𝑥0
ẋ0 +ξ𝝎𝒏 𝑥0
B=
(1 −(ξ)2 )ω𝑛

Then general solution for displacement equ is

X= 𝒆−ξ𝝎𝒏 𝒕 { A cos( (1 − (ξ)2 )ω𝑛 𝑡) + B sin( (1 − (ξ)2 )ω𝑛 𝑡 ]
X= 𝒆−ξ𝝎𝒏 𝒕 { A cos (ω 𝑡) + B sin(ω 𝑡 ] -------------(a)
𝑑 𝑑
Above equ of displacement can be written as
X= 𝒆−ξ𝝎𝒏 𝒕 { X sin(ω 𝑡 + ϕ )}
𝑑
Damped frequency ω𝑑 = (1 − (ξ)2 )ω𝑛
Above equ can be written as
X= 𝒆−ξ𝝎𝒏 𝒕 { X sin(ω𝑑 𝑡) cos( ϕ ) + X cos(ω𝑑 𝑡) sin( ϕ ) } ----------(b)
Comparing (a) and (b), we get
A = X sin( ϕ )
B = X cos( ϕ )
𝐴
tan(ϕ) = & hence X = 𝐴2 + 𝐵 2
𝐵
Then response curve for under damped system shown below where displacement
decreases exponentially w.r.t. time

From the above graph we can said that max. amplitude 𝑿 𝒆−ξ𝝎𝒏 𝒕 decays
exponentially w.r.t. time & also as the damping ratio ξ increases for given system
displacement decreases.
 Logarithmic Decrement (δ)
In case of under damped system, we know that displacement is given by
equ.
X= 𝒆−ξ𝝎𝒏 𝒕 { X sin(ω 𝑡 + ϕ )}
𝑑
At time t the peak amplitude is given by relation
x=X 𝒆−ξ𝝎𝒏 𝒕
Consider 2 points A & B on displacement curve as shown in fig.
Points A & B represent successive peak amplitudes on displacement
curve.
Then at t= 𝑡𝐴 , displacement at point A is given by relation
𝑥 = X 𝒆−ξ 𝝎𝒏 𝒕𝑨
𝐴
Similarly, at t= 𝑡𝐵 , peak amplitude at point B is given
𝑥 = X 𝒆−ξ 𝝎𝒏 𝒕𝑩
𝐵
Then,
𝑥𝐴 X 𝒆−ξ 𝝎𝒏 𝒕𝑨
= = 𝒆−ξ 𝝎𝒏 (𝒕𝑨 −𝒕𝑩 )
𝑥𝐵 X 𝒆−ξ 𝝎𝒏 𝒕𝑩
𝑥𝐴
= 𝒆ξ 𝝎𝒏 (𝒕𝑩 −𝒕𝑨 )
𝑥𝐵
Taking log on both sides
𝑥𝐴 2π
l𝑛 = ξ 𝝎𝒏 (𝒕𝑩 −𝒕𝑨 ) but (𝒕𝑩 −𝒕𝑨 ) =
𝑥𝐵 ω𝑑
𝑥𝐴 2π 2πξ 𝝎𝒏 2πξ
Hence l𝑛 =ξ 𝝎𝒏 = = =δ
𝑥𝐵 ω𝑑
(1 −(ξ)2 )ω𝑛 (1 −(ξ)2 )
 𝑥𝐴 2πξ
Logarithmic decrement δ = l𝑛 =
𝑥𝐵
(1 −(ξ)2 )

Above equ. Is used to calculate Logarithmic decrement between 2

successive peak amplitude which is a function of only ‘ξ ‘.

To find out amplitude at the end of nth cycle following relation is

adopted
Let 𝒙𝟎 - Initial peak amplitude
𝒙𝟏 = peak amplitude after 1st cycle
𝒙𝟐 = peak amplitude after 2nd cycle
𝒙𝒏 = peak amplitude after nth cycle
𝑥0 𝑥0 𝑥1 𝑥2 𝑥𝑛−1
So we can write, = x x x ---------x
𝑥𝑛 𝑥1 𝑥2 𝑥3 𝑥𝑛
Taking log on both sides
 𝑥0 𝑥0 𝑥1 𝑥2 𝑥𝑛−1
ln( ) = ln( x x x ---------x )
𝑥𝑛 𝑥1 𝑥2 𝑥3 𝑥𝑛

𝑥0
ln( ) =nδ
𝑥𝑛

𝟏 𝒙𝟎
δ= ln( )
𝒏 𝒙𝒏
Natural logarithm of ration of any two successive amplitudes on the
same side of [Link] line
Equivalent Damping coefficient
Dampers are in parallel

Dampers are in series

Dry friction or Coulomb Damping
• In case of dry friction, frictional force will oppose the motion of mass
and always opposite in the direction of velocity

Case I :- Mass displaced towards right and moving towards right

Considering FBD of mass m then we can write
mẍ = - kx – F
mẍ + kx + F =0
𝑘𝑥 𝐹 𝑘 𝐹
ẍ+ + =0 or ẍ+ (x + ) = 0
𝑚 𝑚 𝑚 𝑘
 𝐹
Let x + = y then ẍ = ẏ
𝑘
Then equ of motion of mass can be written as
m ẏ + ky =0
Above equ is SHM about y=0
Above equ is valid only for that quarter of cycle
where Mass displaced towards right and moving
towards right
𝑘
Then natural frequency of vibration, 𝜔𝑛 =
𝑚
Case II :- Mass displaced towards right and moving towards left
Considering FBD of mass m then we can write

mẍ = - kx + F

mẍ + kx - F =0

𝑘𝑥 𝐹 𝑘 𝐹
ẍ+ - =0 or ẍ+ (x - ) = 0
𝑚 𝑚 𝑚 𝑘
 𝐹
Let x - = y then ẍ = ẏ
𝑘
Then equ of motion of mass can be written as
m ẏ + ky =0
𝐹
Above equ is SHM about y=0 i.e. x - = 0
𝑘
Above equ is valid only for that quarter of cycle where Mass displaced
towards right and moving towards left
𝑘
Then natural frequency of vibration, 𝜔𝑛 =
𝑚
Similar analysis can be done for rest of quarters of cycle when natural
𝑘
frequency will be given by equ. 𝜔𝑛 =
𝑚
From the above analysis, we can say that after some time mass will
come to rest due to energy lost in friction, then displacement vs time
graph is shown below
Consider points A & C on displacement curve which will represents 2
successive amplitudes.
Let 𝒙𝒄 be the displacement after second quarter of cycle, then energy principle
we can write,
Loss of total energy of system = work done against friction
1 2 1
𝑘𝑥𝐴 - 𝑘𝑥𝑐2 = F (𝑥𝐴 + 𝑥𝑐 )
2 2
1
𝑘 (𝑥𝐴2 - 𝑥𝑐2 ) = F (𝑥𝐴 + 𝑥𝑐 )
2
1
𝑘 (𝑥𝐴 + 𝑥𝑐 ) (𝑥𝐴 - 𝑥𝑐 ) = F (𝑥𝐴 + 𝑥𝑐 )
2
2𝐹
𝑥𝐴 - 𝑥𝑐 = -----------------(1)
𝑘
2𝐹
Similarly, 𝑥𝑐 - 𝑥𝐸 = -----------------(2)
𝑘
𝟒𝑭
Adding (1) & (2) 𝒙𝑨 - 𝒙𝑬 =
𝒌
From above equ. It can be said that Amplitude lost per cycle is constant & is
𝟒𝑭
equal to
𝒌
An weightless rigid rod of length 4L is pivoted as shown in fig. and supported on
weightless spring of scale 10N/cm at other end of rod. The mass weighs 50N. A
dashpot with a viscous damping factor c=1 N-sec/cm is attached between pivot
and spring. The bar is horizontal in the equilibrium position.
Find :- i) Damped natural frequency of oscillations for small displacement of
system.
ii) The critical damping coefficient of the dash pot.
iii) Logarithmic decrement
𝐼𝑒𝑞 Ӫ = [-k(2LƟ)] 2L – [CL Ɵ] L Here 𝐼𝑒𝑞 = M (2𝐿)2 = 4M𝐿2

2L L L
 4𝑘
𝜔𝑛 = m = w/g = 50/9.81
4𝑚

Calculations of Cc:- Cc= 2 𝐼𝑒𝑞 𝜔𝑛 = 2 x 4M𝐿2 x 𝜔𝑛

Calculations of damping ratio ξ = C/Cc =

Calculations of damped natural frequency ω𝑑 = (1 − (ξ)2 )ω𝑛

2πξ
Calculations of Logarithmic decrement δ =
(1 −(ξ)2 )
A vibrating system consists of a weight 10N, spring of stiffness 10N/cm
and damper of damping coefficient of 0.05 N/cm/sec, Determine
i) Damping Factor ii) Logarithmic decrement iii) frequency of damped
vibrations.
W =10N m=W/g = 10/9.81 = 1.02 kg
K= 10 N/cm = 1000 N/m
C = 0.05 N/cm/sec = 5 N-sec/m
𝑘
𝜔𝑛 =
𝑚
Cc= 2 m 𝜔𝑛
ξ = C/Cc
2πξ
δ = ω𝑑 = (1 − (ξ)2 )ω𝑛
(1 −(ξ)2 )
A mass of 0.003 kg is supported by a spring of stiffness 0.3 N/mm. a viscous
damper is provided to damp oscillations. The amplitude of the system is 0.25
times the initial value after 5 cycles. Determine the damping coefficient.
𝟏 𝒙𝟎
δ= ln( )
𝒏 𝒙𝒏

2πξ 𝟏 𝟏
= ln( )
𝟓 𝟎.𝟐𝟓
(1 −(ξ)2 )

ξ = 0.44

𝑘
ξ = C/Cc = C/2m𝜔𝑛 𝜔𝑛 =
𝑚
A recoil system for a large gun is so designed that the barrel moves
against a spring. At the end of the recoil the dash-pot gets engaged
which makes the barrel return its initial position in minimum time, but
without any oscillation. The mass of the barrel is 700kg and recoil
velocity at instant of firing is 25 m/sec. if recoil distance 1.5m,
determine the spring constant and damping coefficient of the dash-pot.

Calculations of spring constant by energy principle

𝐾. 𝐸.𝑀𝑎𝑥 = 𝑃. 𝐸. 𝑀𝑎𝑥
1 1
mV = 𝑘𝑋 2
2
2 2

K=
Calculations of damping coefficient of the dash-pot
damping coefficient must be in such way that barrel must return to its
initial position in minimum time, but without any oscillation and this is
possible when ξ = 1,
ξ = C/Cc
𝑘
C = Cc = 2 m 𝜔𝑛 = 2 m
𝑚
A 500kg vehicle is mounted on springs such that its static deflection is
1.5mm, what is damping coefficient of a viscous damper to be added to
the system in parallel with the springs such that the system is critically
damped?
1 𝑔
𝑓𝑛 =
2𝜋 𝛥

𝑘 𝑔
𝜔𝑛 = =
𝑚 𝛥
𝛥 = 1.5mm = 1.5 x 10−3 m
m = 500kg
system is critically damped ξ = 1

𝑔
C = Cc = 2 m 𝜔𝑛 = 2 m
𝛥
For the given system shown in Fig. find the value of ‘C’ such that the system is
critically damped.

𝐾𝑒𝑞
𝜔𝑛 =
𝑚

ξ = C/Cc

C = Cc = 2 m 𝜔𝑛 =
• A rail road bumper is designed as a spring in parallel with a viscous
damper. What is the bumper’s damping coefficient such that the
system has a damping ratio of 1.25. when the bumper is engaged by a
20000 kg railroad car and has stiffness of 2 x 105 N/m? if railroad car
travelling at a speed of 20 m/sec, when it engages the bumper. What
is the maximum deflection of bumper.
At t =0, ẋ = ẋ0 = 20 m/sec
At t =0, x=0
𝐾𝑒𝑞 2 𝑥 105
We know, 𝜔𝑛 = = = 3.162 rad/sec
𝑚𝑒𝑞 20000

Using ξ = C/Cc , C = ξ x Cc = ξ x 2 m 𝜔𝑛 =
• Calculation of maximum deflection of bumper:-
Above case is of overdamped motion whose displacement is given by
X= 𝑐1 𝑒 𝑠1 𝑡 + 𝑐2 𝑒 𝑠2 𝑡
Where, 𝑠1 = [- (ξ ) + (ξ)2 − 1]ω𝑛 = −1.581
And 𝑠2 = [- (ξ ) − (ξ)2 − 1]ω𝑛 = - 6.32
Above equation can be written as
X= 𝑐1 𝑒 −1.581𝑡 + 𝑐2 𝑒 −6.32𝑡 ------------(i)
Differentiate equn (i) w. r. t. ‘t’
ẋ = 𝑐1 −1.581 𝑒 −1.581𝑡 + 𝑐2 −6.32 𝑒 −6.32𝑡 -------(ii)
At t =0, x=0
0 = 𝑐1 + 𝑐2 𝑐1 = - 𝑐2 ---------(iii)
At t =0, ẋ = ẋ0 = 20 m/sec
20 = 𝑐1 −1.581 + 𝑐2 −6.32 --------(iv)
From iii & iv
𝑐1 = 4.22
𝑐2 = - 4.22
Displacement equn can be written as
X= 4.22 𝑒 −1.581𝑡 - 4.22𝑒 −6.32𝑡
Then for to be maximum dx/dt =0
Equating equn (ii) to zero
0 = 𝑐1 −1.581 𝑒 −1.581𝑡 + 𝑐2 −6.32 𝑒 −6.32𝑡
t= 0.2923 sec
Substituting value of ‘t’ in displacement equn
𝑥𝑚𝑎𝑥 = 4.22 𝑒 −1.581𝑡 - 4.22𝑒 −6.32𝑡 = 1.99 m
The disc of a torsional pendulum has a M.I. 600 kg-cm2 and is immersed in a
viscous fluid. The brass shaft attached to it is of 10cm dia. And 40cm long. When
pendulum is vibrating , the observed amplitudes on the same side of the rest
position for successive cycles are 80 60 4.50
Determine i) Logarithmic decrement
ii) Damping torque of unit velocity = C Ӫ = C
iii) Periodic time of vibration. (assume for brass shaft G = 4.4 x 1010 N/m2 )

Ɵ𝐴 2πξ
δ= l𝑛 =
Ɵ𝐵
(1 −(ξ)2 )
𝑇 𝐺𝐽 π
𝐾𝑡 = = J= 𝑑4
Ɵ 𝐿 32
𝐾𝑡
𝜔𝑛 = ω𝑑 = (1 − (ξ)2 )ω𝑛
𝐼
ξ = C/Cc , C = ξ x Cc = ξ x 2 𝐾𝑡 𝐼 =
2π
T=
ω𝑑
A 35 kg block is connected to a spring of stiffness 1.7 x 105 N/m. the
coefficient of friction between the block and the surface on which it
slides is 0.11. the block is displaced 10 mm from equilibrium and
released,
What is the amplitude of motion at the end of the first cycle.
How many cycles of motion occurs?

𝟒𝑭
Decrement of amplitude in each cycle is given by δ = =
𝒌
F = μ mg
Let x1 be the displacement after first cycle
x0 - x1 = δ
let xn be the final displacement of the mass when it comes to rest,
when its inertia force is absent and spring force is unable to overcome
the effect of friction force. { F = K xn }
xn = 2.22 x 10-4 m
• No. of cycles completed by mass before it comes to rest

𝑥0 −𝑥𝑛 0.001 −2.22 𝑥 10−4

n= = = 11.0359
δ 8.86 𝑥 10−4