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(ME 421)
Section 3
Single Degree of Freedom Systems: Free Vibrations
Book:
Mechanical Vibrations, by S.S. Rao, Fifth Edition,
Chapter 2
Course Contents
S.No.
Description
1.
Basic Concepts
2.
3.
4.
5.
6.
7.
8.
Lagrangian Method
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Lecture Outline
Introduction
Stability of Systems
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i.
DAlemberts Principle
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Derive the expression for the natural frequency of the system shown in Figure.
Note that the load W is applied at the tip of beam 1 and midpoint of beam 2.
Review Examples: 2.2-2.5; Practice Problems: 2.2-2.6, 2.9,2.11, 2.12, 2.18, 2.22, 2.28,
2.33, 2.36, 2.38-2.40, 2.43, 2.44, 2.49-2.52, 2.54, 2.56, 2.58, 2.60
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Period of vibration, = 2
Frequency of vibration, = 2
) and for a
4
= = = 32
= (
circular shaft =
4
32
4
32
2
8
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= 0 = and = 0 =
= 0 =
2 =
Practice Problems: 2.64, 2.65, 2.67, 2.68, 2.69, 2.72, 2.73, 2.74, 2.76, 2.79, 2.81
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1
2
simple pendulum, =
1
2
, gives
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1
2
=
2
1
2
2
=
2
2
= 2
=
=
/
No matter whether the body is pivoted from O or A, its natural frequency is the
same. The point is called center of percussion.
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From here, =
= 1 = 0.368
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2
1,2 =
=
2
2
2
2+
2
2
2
2
= 1
+ 2
where 1 and 2 are arbitrary constants to be
determined from the initial conditions of the
system.
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= 0 = 2
= 2 = 2
Damping Ratio
The ratio between damping constant to the critical damping constant
Mathematically, =
.
2
1,2
2 1
= 1
+ 2
The nature and behavior of solution depends upon the magnitude of damping
Based on the value of damping ratio, we have three different system behaviors
Undamped( < 1), critically damped ( = 1) and overdamped ( > 1) systems
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1 = + 1 2 ; 2 = 1 2
Solution can be written as
= 1
+ 1 2
= 1
=
1 2
+ 2
1 2
+ 2
1 2
1 + 2 cos 1 2 + 1 2 sin 1 2
= 1 cos 1 2 + 2 sin 1 2
Let 1 = sin and 2 = cos , we get
= sin( 1 2 + ) = cos ( 1 2 )
Where 1 , 2 , (, ) and ( , ) are arbitrary constants to be determined from
initial conditions
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+ + 2
2
2
= = 1 + 2 =
(1 2
(1
1
= tan1 ( ) = tan1 (
)
2
+
2
+
1
1
= tan ( ) = tan (
)
2
1
(1
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= cos 1 2 +
sin 1 2
(1 2
is a damped harmonic motion of angular frequency , the frequency of
damped vibration. Mathematically, its given by
= (1 2
Factor exponentially decays the amplitude with time
,
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( = 1 or = or 2 =
=
2
Because of repeated roots, the solution of the EOM is given by
= 1 + 2
Application of initial conditions = 0 = and = 0 = , gives
C1 = and 2 = +
and the solution becomes
= + +
1 = 2 =
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In this case the roots are real and distinct and are given by
1 = + 2 1 < 0
2 = 2 1 < 0
the solution of the EOM is given by
+ 2 1
2 1
= 1
+ 2
For the initial conditions = 0 = and = 0 = , the constants can be
obtained as
( + 2 1 +
C1 =
2 2 1
( 2 1
C2 =
2 2 1
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1 1 cos( 1 )
=
2 2 cos( 2 )
But 2 = 1 + , where = 2/ is the period of damped vibration.
Hence cos 2 = cos(2 + 1 ) = cos( 1 )
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2
The logarithmic decrement can be
obtained as
1
2
= ln = =
2
1 2
2
2
=
=
.
2
2
1
For small damping, can be
approximated as
2
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=
2 2 + 2
When using linear approximation
=
2
If damping in the system is unknown, we
can determine it experimentally by
measuring any two consecutive
displacement 1 and 2
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+ + = 0
and
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2 + + = 0
or
2 + 2 + 2 = 0
The roots of the characteristic equation, called the characteristic roots, help us
in understanding the behavior of the system
The roots are given by
2 4
1 = 2 =
2
or,
1 = 2 = 1 2
The roots given by above equations can be plotted in a complex plane, also
known as the s-plane, by denoting the real part along the horizontal axis and
the imaginary part along the vertical axis.
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sin =
= = sin1
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Stability of Systems
Stability is one of the most important characteristics for
any vibrating system
Definition of stability depends on the kind of system or
the point of view
Following are the terms related to stability for linear timeinvariant systems (the parameters m, c, and k do not
change with time)
A system is stable (marginally stable in controls literature)
if its free-vibration response neither decays nor grows, but
remains constant or oscillates as time approaches infinity.
A system is asymptotically stable if its free-vibration
response approaches zero as time approaches infinity
A system is unstable if its free-vibration response grows
without bound as time approaches infinity
It is evident that an unstable system whose free-vibration
response grows without bounds can cause damage to the
system, adjacent property, or human life.
Usually, dynamic systems are designed with limit stops to
prevent their responses from growing with no limit.
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Stability of Systems
Example 2.18
Consider a uniform rigid bar, of mass m and length l, pivoted at one end and
connected symmetrically by two springs at the other end. Assuming that the
springs are unstretched when the bar is vertical
a) derive the equation of
motion of the system
for small angular
displacements (u) of
the bar about the pivot
point
b) investigate the stability
behavior of the system.
Practice Problem: 2.115
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