MODULE NO.

1
BASIC CONCEPTS OF VIBRATION
UNDAMPED FREE VIBRATION
 MECHANICAL VIBRATION
This is the motion of a particle or a body which oscillates about a
position of equilibrium. Any motion that repeats itself after an interval of
time is called vibration or oscillation. The swinging of a pendulum and
the motion of a plucked string are examples of vibration.

DEGREE OF FREEDOM
The number of independent coordinates required to determine
completely the positions of all parts of a system at any instant of time
defines the degree of freedom of the system.
Examples of one, two, and three degree of freedom systems are
shown in the figures below.

(a) First Degree of Freedom (b) Second Degree of Freedom

CLASSIFICATION OF VIBRATION
a. Free and Forced Vibration
a.1 Free Vibration
If a system, after an initial disturbance, is left to vibrate on its
own, the ensuing vibration is known as free vibration.
a.2 Forced Vibration
If a system is subjected to an external force, the resulting
vibration is known as forced vibration.
•
 If the frequency of the external force coincides with one of the
frequencies of the system a condition known as resonance occurs, and the system
undergoes dangerously large vibrations.
b. Undamped and Damped Vibration
b.1 Undamped Vibration
If no energy is lost or dissipated in friction or other resistance during
oscillation, the vibration is called undamped vibration.
b.2 Damped Vibration
If any energy is lost during oscillation, it is called damped vibration.
c. Linear and Non-linear Vibration
c.1 Linear Vibration
If all the basic components of a vibratory system, the spring, the mass,
and the damper behave linearly, the resulting vibration is known as linear vibration.
c.2 Non-linear Vibration
If the basic components behave non-linearly, it is called non-linear
vibration.
.
d. Deterministic and Random Vibration
d.1 Deterministic Vibration
If the value of the excitation acting on a vibratory system is
known at any given time, the excitation is known as deterministic
vibration.
d.2 Random Vibration
If the value of the excitation at a given time cannot be
predicted it is called the random vibration.
UNDAMPED FREE VIBRATION
a. Spring-mass System in Horizontal Position
Consider a block in horizontal position that has a mass 𝑚 attached
to a spring having a stiffness 𝑘 as shown in the figure.
From Newton’s Second Law of Motion;
෍ 𝐹𝐻 = 𝑚𝑎𝑥

−𝑘𝑥 = 𝑚𝑥ሷ
or
𝑚𝑥ሷ + 𝑘𝑥 = 0
b. Spring-mass System in Vertical Position
Consider a block in vertical position that has a mass 𝑚 attached to
a spring having a stiffness 𝑘 as shown in the figure.
 ෍ 𝐹𝑉 = 0

𝑊−𝑇 =0
or
𝑊 = 𝑇 = 𝑘𝛿
 Suppose that he block is displaced through a distance 𝑥𝑚 from its
equilibrium position as shown in the figure

Then, from Newton’s Second Law of Motion

𝑊 − 𝑇 = 𝑚𝑥ሷ
 𝑊 − 𝑘 𝑥 + 𝛿 = 𝑚𝑥ሷ
𝑊 − 𝑘𝑥 − 𝑘𝛿 = 𝑚𝑥ሷ
−𝑘𝑥 = 𝑚𝑥ሷ
or
𝑚𝑥ሷ + 𝑘𝑥 = 0
where
𝑥ሷ = 𝐷 2 𝑥; second derivative of 𝑥 with respect to time 𝑡
𝑚𝐷 2 + 𝑘 𝑥 = 0
or
𝑚𝑟 2 + 𝑘 = 0; auxiliary equation
2
𝑘
𝑟 =−
𝑚
𝑘
𝑟= − = ± −𝜔𝑛2 = ±𝜔𝑛 𝑖; imaginary roots
𝑚
where
𝑘
𝜔𝑛 = ; natural circular frequency in radΤsec
𝑚
Hence, the general solution of the equation of motion of the block will be
𝑥 = 𝐴 sin 𝜔𝑛 𝑡 + 𝐵 cos 𝜔𝑛 𝑡 → 𝑎
Differentiating 𝑎 successively results to the equation of velocity and
acceleration,
𝑥ሶ = 𝑣 = 𝐴𝜔𝑛 cos 𝜔𝑛 𝑡 − 𝐵𝜔𝑛 sin 𝜔𝑛 𝑡 → 𝑏
𝑥ሷ = 𝑎 = −𝐴𝜔𝑛2 sin 𝜔𝑛 𝑡 − 𝐵𝜔𝑛2 cos 𝜔𝑛 𝑡 → 𝑐
Solving for 𝐴 and 𝐵 using 𝑎 and 𝑏 at 𝑡 = 0; 𝑥 = 𝑥1 ; 𝑣 = 𝑣1 ; initial
condition
𝑥1 = 𝐴 sin 𝜔𝑛 0 + 𝐵 cos 𝜔𝑛 0
or
𝐵 = 𝑥1
 𝑣1 = 𝐴 𝜔𝑛 cos 𝜔𝑛 0 − 𝐵 𝜔𝑛 sin 𝜔𝑛 0
or
𝑣1
𝐴=
𝜔𝑛
Hence, 𝑎 becomes
𝑣1
𝑥= sin 𝜔𝑛 𝑡 + 𝑥1 cos 𝜔𝑛 𝑡
𝜔𝑛
Similarly, 𝑎 can also be expressed in terms of simple harmonic motion
as shown in the figure
Let
𝐴 = 𝑂𝐴 = 𝑥𝑚 cos ∅ and 𝐵 = 𝑂𝐵 = 𝑥𝑚 sin ∅
Hence
𝑥 = 𝑥𝑚 cos ∅ sin 𝜔𝑛 𝑡 + 𝑥𝑚 sin ∅ cos 𝜔𝑛 𝑡
or
𝑥 = 𝑥𝑚 sin 𝜔𝑛 𝑡 + ∅
Differentiating 𝑑 successively results to
𝑥ሶ = 𝑣 = 𝑥𝑚 𝜔𝑛 cos 𝜔𝑛 𝑡 + ∅
𝑥ሷ = 𝑎 = −𝑥𝑚 𝜔𝑛2 sin 𝜔𝑛 𝑡 + ∅
where
𝑥𝑚 = 𝐴2 + 𝐵2 ; the maximum displacement or amplitude
𝐵
∅ = Arctan ; the phase angle
𝐴
 The maximum values of the velocity and acceleration of the
system are
𝑣𝑚 = 𝑥𝑚 𝜔𝑛
𝑎𝑚 = 𝑥𝑚 𝜔𝑛2
The corresponding time denoted by 𝜏 is called the period of
vibration and is measured in seconds.

2𝜋
𝜏=
𝜔𝑛
The number of cycles per unit time denoted by 𝑓 is known as the
frequency of vibration and is measured in cycles/sec or Hertz (Hz).

𝜔𝑛
𝑓=
2𝜋
 EXAMPLE PROBLEMS
1. A spring has a stiffness of 600 NΤm. If a 4 kg block is attached to the
spring, pushed 50 mm above its equilibrium position, and released from
rest, determine the equation which describes the block’s motion. Assume
that positive displacement is measured downward.
Solution:
Determine 𝑥; the equation of motion of the block
Consider the spring-mass system
Solve for 𝑥
𝑥 = 𝐴 sin 𝜔𝑛 𝑡 + 𝐵 cos 𝜔𝑛 𝑡
where
𝑘
𝜔𝑛 =
𝑚
m
N kg ∙ 2
600 x 1.0 sec
= m N
4 kg
𝜔𝑛 = 12.247 rad/sec
Hence
𝑥 = 𝐴 sin 12.247𝑡 + 𝐵 cos 12.247𝑡
Solve for 𝐴 and 𝐵; differentiate 𝑥 with respect to 𝑡
 𝑥ሶ = 12.247𝐴 cos 12.247𝑡 − 12.247𝐵 sin 12.247𝑡
when 𝑡 = 0, 𝑥 = −50 mm = −0.050 m
−0.050 = 𝐴 sin 12.247 0 + 𝐵 cos 12.247 0
𝐵 = −0.050 m
when 𝑡 = 0, 𝑥ሶ = 𝑣 = 0; block is released from rest
0 = 12.247𝐴 cos 12.247 0 − 12.247𝐵 sin 12.247 0
𝐴=0
Thus
𝑥 = −0.05 cos 12.247𝑡 m ← 𝐴𝑛𝑠𝑤𝑒𝑟
2. A 6 lb𝑓 weight is suspended from a spring with a stiffness 3 lb𝑓 Τin, If
the weight is given an upward velocity of 20 ft/sec when it is 2 in above
its equilibrium position, determine the equation which describes the
motion and the maximum velocity and acceleration of the weight.
Assume positive displacement is downward.
Solution:
a. Determine 𝑥; the equation of motion of the weight
Consider the spring-mass system

Solve for 𝑥
𝑥 = 𝐴 sin 𝜔𝑛 𝑡 + 𝐵 cos 𝜔𝑛 𝑡
where
𝑘 𝑘𝑔
𝜔𝑛 = =
𝑚 𝑊
 lb𝑓 in ft
3 in 𝑥 12 𝑥 32.174
𝜔𝑛 =
ft sec 2
6 lb𝑓
𝜔𝑛 = 13.894 rad/sec
Hence
𝑥 = 𝐴 sin 13.894𝑡 + 𝐵 cos 13.894𝑡
Solve for 𝐴 and 𝐵; differentiate 𝑥 with respect to 𝑡
𝑥ሶ = 13.894𝐴 cos 13.894𝑡 − 13.894𝐵 sin 13.894𝑡
when 𝑡 = 0, 𝑥 = −2 in = −0.167 ft
−0.167 = 𝐴 sin 13.894 0 + 𝐵 cos 13.894 0
𝐵 = −0.167 ft
when 𝑡 = 0, 𝑥ሶ = 𝑣 = −20 ft/sec
−20 = 13.894𝐴 cos 13.894 0 − 13.894𝐵 sin 13.894 0
𝐴 = −1.439 ft
Thus
𝑥 = −1.439 sin 13.894t − 0.167 cos 13.894𝑡 ft ← 𝐴𝑛𝑠𝑤𝑒𝑟
b. Determine 𝑣𝑚 and 𝑎𝑚 ; the maximum velocity and maximum acceleration
Solve for 𝑣𝑚 and 𝑎𝑚
𝑣𝑚 = 𝑥𝑚 𝜔𝑛
𝑎𝑚 = 𝑥𝑚 𝜔𝑛2
where
𝑥𝑚 = 𝐴2 + 𝐵2
= −1.439 2 + −0.167 2
𝑥𝑚 = 1.449 ft
Hence
𝑣𝑚 = 1.447 ft 13.894 rad/sec
𝑣𝑚 = 20.132 ft/ sec
2
𝑎𝑚 = 1.449 ft 13.894 rad/sec
ft
𝑎𝑚 = 279.720
sec 2
3. A pendulum has a 0.40 m long cord and is given a tangential velocity
0.20 m/s toward the vertical from a position 𝜃 = 0.30 radian. Determine the
equation which describes the angular motion. Assume positive displacement
is measured counter-clockwise.
Solution:
Determine 𝜃; the equation of angular motion of the pendulum
Consider the pendulum

Solve for 𝜃
෍ 𝐹𝑡 = 𝑚𝑎𝑡
 −𝑚𝑔 sin 𝜃 = 𝑚𝑠ሷ
where
𝑎𝑡 = 𝑠ሷ
since
𝑠 = 𝐿𝜃 = (0.4 m)𝜃 𝑎𝑡 = 𝑠ሷ = (0.40 m)𝜃ሷ
hence
−𝑚 9.81 mΤs2 sin 𝜃 = 𝑚 0.40 m 𝜃ሷ
or
9.81 sin 𝜃 = 0.40 𝜃ሷ
For oscillation of small magnitude sin 𝜃 ≈ 𝜃
−9.81𝜃 = 0.40𝜃ሷ
0.40𝜃ሷ + 9.81𝜃 = 0
or
9.81
ሷ𝜃 + 𝜃=0
0.40
 9.81 mΤs2
𝜔𝑛 =
0.40 m
𝜔𝑛 = 4.952 rad/s
Hence
𝜃 = 𝐴 sin 4.952𝑡 + 𝐵 cos 4.952𝑡
Solve for 𝐴 and 𝐵; differentiate 𝜃 with respect to 𝑡
𝜃ሶ = 4.952𝐴 cos 4.952𝑡 − 4.9524𝐵 sin 4.952𝑡
when 𝑡 = 0, 𝜃 = 0.30 rad
0.30 = 𝐴 sin 4.952 0 + 𝐵 cos 4.952 0
𝐵 = 0. 30 rad
𝑠ሶ −0.20 mΤs
when 𝑡 = 0, 𝜃ሶ = = = −0.50 radΤs
𝐿 0.40 m
−0.50 = 4.952𝐴 cos 4.952 0 − 4.952𝐵 sin 4.952 0
𝐴 = −0.101 rad
Thus
𝜃 = −0.101 sin 4.952𝑡 + 0.30 cos 4.952 𝑡 rad ← 𝐴𝑛𝑠𝑤𝑒𝑟
 EXERCISE NO. 1
1. When a 20 lb𝑓 weight is suspended from a spring, the spring is
stretched a distance of 4 in. Determine the natural frequency and the
period of vibration for a 10 lb𝑓 weight when attached to the same spring.
2. A spring is stretched 175 mm by an 8 kg block. If the block is
displaced 100 mm downward from its equilibrium position and given a
downward velocity of 1.50 mΤs , determine the differential equation
which describes the motion. Assume that positive displacement is
measured downward.
3. If the block in Problem 2 is given an upward velocity of 4 mΤs when it
is displaced a distance of 60 mm from its equilibrium position, determine
the equation which describes the motion of the block. What is the
amplitude of the motion? Assume that positive displacement is
measured downward.
4. A particle moves in a simple harmonic motion with an amplitude of
4 in and a period of 0.60 sec. Find the maximum velocity and the
maximum acceleration.
5. The analysis of the motion of a particle shows a maximum
acceleration of 30 mΤs 2 and a frequency of 120 cyclesΤmin . Assuming
the motion is simple harmonic, determine 𝑎 the amplitude and 𝑏 the
maximum velocity of the particle.
6. Collar 𝐴 is attached to the spring shown and may slide without friction
on the horizontal rod. If the collar is moved 75 mm from its equilibrium
position and released, determine the period, the maximum velocity, and
the maximum acceleration of the resulting motion.
7. The period of vibration of the system shown is observed to be
0.80 second. If block 𝐴 is removed, the period is observed to be 0.70
second. Determine 𝑎 the weight of block 𝐶 and 𝑏 the period of
vibration when both blocks 𝐴 and 𝐵 have been removed.
8. A 35 kg block is supported by the spring arrangement shown below. If
the block is moved vertically downward from its equilibrium position and
released, determine 𝑎 the period and frequency of the resulting motion
and 𝑏 the maximum velocity and acceleration of the block if the
amplitude of the motion is 20 mm.
9. The uniform beam is supported at its ends by two springs 𝐴 and 𝐵,
each having the same stiffness 𝑘 as shown in the figure. When nothing
is supported on the beam it has period of vertical vibration of
0.83 second. If a 50 kg mass block is placed at its center, the period of
vertical vibration is 1.52 second. Compute the stiffness of the springs
and the mass of the beam.

10. Determine 𝑎 the required length 𝐿 of a simple pendulum if the