GOVERNMENT ENGINEERING

COLLEGE, BHUJ
MECHANICAL ENGINEERING DEPARTMENT

PRESENTATION ON
FREE VIBRATION OF SINGLE DEGREE OF
FREEDOM
GUIDED BY: PROF. V. M. MAKWANA SIR
MECH. NO: ENROLLMENT NO: NAME OF STUDENT:
MECH6036 160153119011 DAVE MOHIT
MECH6037 150150119062 LADANI HEET
MECH6038 150150119056 KEVADIYA VISHAL
MECH6039 160153119019 MARVADA DINESH
MECH6040 150150119118 VIKAS KESHARI 1
 PPT Outlines:
PPT Outlines
List of Symbols(Nomenclature)
Learning Outcomes

1. Response of Anvil of a Forging Hammer

 Example 1

2. Shock Absorber for a Motorcycle

 Example 2

3. Analysis of canon
 Example 3

2
 Learning Objective:
After completing this chapter, you should be able to do the following:

• Derive the equation of free vibration with viscous damping.

• Solve a spring-mass-damper system for different types of free-vibration
response depending on the amount of damping.
• Compute the natural frequency, damped frequency, logarithmic decrement, and
time constant.
• Determine whether a given system is stable or not.
• Find the Response of Anvil of a Forging Hammer.
• Find Response of Shock Absorber of a Motorcycle.
• Analysis of Canon.
• Find the free-vibration response using MATLAB.

3
 List of Symbols(Nomenclature)
Symbol Meaning Units SI Units
c Viscous damping coefficient Lb N
c Constant
c Wave velocity in./sec N.s/m
cc Critical viscous damping constant lb-sec/in N.s/m
ctc Torsional critical viscous damping constant lb-sec/in-rad N.s/m-rad
C,C1,C2, C′1,C′2 Constant
e Base of natural logarithms
F Force lb N
J0 Mass moment of inertia lb-in/sec2 kg.m2
k Spring constant lb/in N/m
kt Torsional spring constant lb-in/rad N-m/rad
m Mass lb-sec2/in kg
s Roots of equation, Laplace variable
t Time sec s 4
v Linear velocity in/sec m/s
x0 Value of x at t=0 in m
𝑥ሶ 0 Value of x at t=0 in m
X Amplitude of x(t) in m
δ Logarithm decrement
ζ Damping ratio
θ Constant, angular displacement
𝜃ሶ Angular velocity
τ Period of oscillation, time, time constant sec s
ϕ Angle rad rad
ωn Natural frequency rad/sec rad/s
ωd Frequency od damping vibration rad/sec rad/s

5
 Response of Anvil of a Forging Hammer
Example 1:
The anvil of a forging hammer weighs 5,000 N and is mounted on a foundation that has a
stiffness of 5 X 106 N/m and a viscous damping constant of 10,000 N-s/m. During a
particular forging operation, the tup (i.e. the falling weight or hammer), weighing 1,000 N,
is made to fall from a height of 2 m onto the anvil (Fig.1(a)). If the anvil is at rest before
impact by the tup, determine the response of the anvil after the impact. Assume that the
coefficient of restitution between the anvil and the tup is 0.4.

Solution:
First we use the principle of conservation of momentum and definition of the coefficient
of restitution to find the initial velocity of the anvil. Let the velocities of the tup just before
and after impact with the anvil be vt1 and vt2 , respectively. Similarly, let and be the
velocities of the anvil just before and just after the impact, respectively (Fig. 1(b)). Note
that the displacement of the anvil is measured from its static equilibrium position and all
velocities are assumed to be positive when acting downward.
(a) (b)
(Fig.1) Forging hammer
The principle of conservation of momentum gives
M (va 2  va1 )  m(vt1  vt 2 ) (E.1)
where (anvil is at rest before the impact) and can be determined by equating its kinetic
energy just before impact to its potential energy before dropping from a height of h=2m.
1
1  mgh
m vt2
2 (E.2)
or vt1  2mg  2  9.81 2  6.26099 m / s

Thus Eq. (E.1) becomes

5000 1000
(va 2  0)  (6.26099  vt 2 )
9.81 9.81
that is,
510.204082va 2  638.87653  102.040813vt 2 (E.3)
The definition of the coefficient of restitution (r) yields:
 va 2  vt 2 
r  
 v 
 (E.4)
 a1  vt 1 
that is,
 va 2  vt 2 
0.4   
 0  6.26099 

that is,
va 2  vt 2  2.504396 (E.5)
The solution of Eqs. (E.3) and (E.5) gives
va 2  1.460898 m / s; vt 2  1.043498 m / s
Thus the initial conditions of the anvil are given by
x0  0; 0  1.40898 m / s
x
The damping coefficient is equal to
c 1000
    0.09899499
2 kM
2 5  10  5000
6 

9.81 
The undamped and damped natural frequencies of the anvil are given by
k 5  106
n    98.994949 rad / s
M  5000 
 
 9.81 

d  n 1   2  98.994949 1  0.09899492  98.024799 rad / s

The displacement response of the anvil is given by Eq. (2.72):

 x
0 
x t   e  n t  sin  d t 
d 

 e 9.799995t 0.01490335 sin 98.024799tm

 Shock Absorber for a Motorcycle
EXAMPLE 2:
An underdamped shock absorber is to be designed for a motorcycle of mass 200 kg
(Fig. 2(a)). When the shock absorber is subjected to an initial vertical velocity due to a
road bump, the resulting displacement-time curve is to be as indicated in Fig. 2(b).
Find the necessary stiffness and damping constants of the shock absorber if the
damped period of vibration is to be 2 s and the amplitude is to be reduced to one-fourth
in one half cycle (i.e. x1.5= x1/4). Also find the minimum initial velocity that leads to a
maximum displacement of 250 mm.

Approach: We use the equation for the logarithmic decrement in terms of the damping
ratio, equation for the damped period of vibration, time corresponding to maximum
displacement for an underdamped system, and envelope passing through the maximum
points of an underdamped system.
(a) (b)

(Fig. 2) Shock absorber of a motorcycle

Solution: Since x1.5= x1/4, x2= x1.5/4= x1/16. Hence the logarithmic decrement
becomes
 x1  2
  ln   ln(16)  2.7726  (E.1)
 x2  1  2

from which the value of can be found as The damped period of

vibration is given to be 2 s. Hence
2 2
2 d  
d n 1   2
2
n   3.4338rad / s
2 1  0.4037 
2

The critical damping constant can be obtained:

cc  2mn  2(200)(3.4338)  1373.54 m / s

Thus the damping constant is given by
c  cc  (0.4037)(1373.54)  554.4981 N  s / m
and the stiffness by
k  mn2  (200)(3.4338) 2  2358.2652 N / m
The displacement of the mass will attain its maximum value at time t1, given
by
sin d t1  1   2
This gives
sin d t1  sin t1  1  (0.4037) 2  0.9149
or
sin 1 0.9149 
t1   0.3678

The envelope passing through the maximum points is given by
x 1  2
Xe nt (E.2)
Since x=250mm, Eq. (E.2) gives at t1
0.25  1  0.4037  Xe 0.4037 3.4338 0.3678 
2

or
X  0.4550 m

The velocity of the mass can be obtained by differentiating the displacement

xt   Xe nt sin d t
as
x t   Xe nt ( n sin d t  d cos d t ) (E.3)
When t=0, Eq. (E.3) gives

x t  0   x0  Xn 1   2  0.4550 3.4338 1  0.4037 

2

 1.4294 m / s
EXAMPLE 3:
The schematic diagram of a large cannon is shown in Fig.3. When the gun is fired, high
pressure gases accelerate the projectile inside the barrel to a very high velocity. The
reaction force pushes the gun barrel in the direction opposite that of the projectile. Since
it is desirable to bring the gun barrel to rest in the shortest time without oscillation, it is
made to translate backward against a critically damped spring-damper system called the
recoil mechanism. In a particular case, the gun barrel and the recoil mechanism have a
mass of 500 kg with a recoil spring of stiffness 10,000 N/m. The gun recoils 0.4 m upon
firing. Find (1) the critical damping coefficient of the damper, (2) the initial recoil
velocity of the gun, and (3) the time taken by the gun to return to a position 0.1 m from
its initial position.
(Fig. 3) Recoil of canon
Solution:
1.The undamped natural frequency of the system is
k 10000
n    4.4721 rad / s
m 500

and the critical damping coefficient (Eq. 2.65) of the damper is

cc  2mn  2500 4.4721  4472.1 N  s / m

2. The response of a critically damped system is given by Eq. (2.78):

x t   C1  C2t e nt ( E.1)

where and The time at which x(t) reaches a maximum value can be
obtained by setting The differentiation of Eq. (E.1) gives
 t   C2e nt  n C1  C2t e nt
x

Hence 𝑥(t)=0
ሶ yields
 1 C1  (E.2)
t1 
  

 n C2 
In this case, x0 = c1= 0; hence Eq. (E.2) leads to t1=1/ωn. Since the maximum value of x(t) or
the recoil distance is given to by xmax= 0.4m,we have
0
x 0
x
xmax  x (t  t1 )  C2t1e nt1  e 1 
n en
or
x0  xmaxne  (0.4)(4.4721)(2.7183)  4.8626 m / s
3. If t2 denotes the time taken by the gun to return to a position 0.1 m from its
initial position, we have
0.1  C2t2e nt2  4.8626t2e 4.4721t2 ( E.3)
The solution of Eq. (E.3) gives t2= 0.8258 s.
THANK YOU