Consider the vibratory system below:

The system consists of a spring (K), a damper ( C) and a mass (m). The spring is a means of storing
potential energy, the mass stores kinetic energy and the damper allows energy to be gradually lost. The
damper resists vibration and basically provides a force that opposes the vibration.

Let us first define formulas for the P.E and K.E of a mass:

The Kinetic energyis symbolised by T

1 1
T = m v G2  J G  2
2 2
G symbolizes the center of gravity , so v G would be the velocity at thcenter of gravity.
J G is the mass moment of inertia
is the angular velocity

Note :when a body is not rotating about its center of gravity , J G becomes :
J o= J G md 2

where d is the distance between the point of rotation and the center of gravity.

The potential energy is symbolized by V

V =mgy

Spring Elements

Assumptions:
1) negligible mass
2) perfect elasticity (stores and releases P.E)
3) negligible damping (energy dissipation)
4) transmits the applied force
The equation governing the spring force is:
F =k 
where k is the spring constant ;  isthe spring displacement
=x 2 −x 1

A cantilever beam can be converted into a spring as well:

When a number of springs are combined, the effective spring constant will depend on the spring system
setup:

Springs in parallel:

Equal displacement for both springs

1=2
F = k 1 k 2 
Therefore k eff =k 1k 2... k n

Springs in series:

The force acting on both springs are equal

F =k 1 1 ; F =k 2 2 ; F =k n  n
F
n=
kn
F =k eff 1...  n
F F
F =k eff  ... 
k1 kn

1
Therefore k eff =
1 ....1
  
k1 k n
Dashpots

Assumptions:
1) massless
2) cannot store or release P.E.
3) Cannot store or release K.E.
4) Disspiates energy

The damping constant is symbolized by c

F =c  x˙1− ẋ 2

˙
Therefore F =c  c [N.s/m]

˙
Work=c ∗
2
Rate of work done=c ̇

Deriving Equations of motion

Consider the spring-mass-damper system above. This is a single degree of freedom system
(displacement is only in x direction.)

The free body diagram of the system is:

Consider the case where x0 ; ẋ0

F =ma
F t−c ẋ−kx=m ẍ
F t=kxc ẋm ẍ

Special case: Harmonic vibration

F t=F 0 cos t ;
F t=F 0 sin t