Section 4.9; Section 5.

6
Free Mechanical Vibrations/Couple Mass-Spring
System

June 30, 2009

Free Mechanical Vibrations/Couple Mass-Spring System

Todays Session

Free Mechanical Vibrations/Couple Mass-Spring System

Todays Session

A Summary of This Session:

Free Mechanical Vibrations/Couple Mass-Spring System

Todays Session

A Summary of This Session:

(1) Free Mechanical Vibration (no forcing term).

Free Mechanical Vibrations/Couple Mass-Spring System

Todays Session

A Summary of This Session:

(1) Free Mechanical Vibration (no forcing term).
(2) Coupled Mass-Spring systems

Free Mechanical Vibrations/Couple Mass-Spring System

Todays Session

A Summary of This Session:

(1) Free Mechanical Vibration (no forcing term).
(2) Coupled Mass-Spring systems
(3) Our first exposure to systems of differential equations

Free Mechanical Vibrations/Couple Mass-Spring System

Todays Session

A Summary of This Session:

(1) Free Mechanical Vibration (no forcing term).
(2) Coupled Mass-Spring systems
(3) Our first exposure to systems of differential equations
(4) Eigenvalues and Eigenvectors

Free Mechanical Vibrations/Couple Mass-Spring System

Todays Session

A Summary of This Session:

(1) Free Mechanical Vibration (no forcing term).
(2) Coupled Mass-Spring systems
(3) Our first exposure to systems of differential equations
(4) Eigenvalues and Eigenvectors

Free Mechanical Vibrations/Couple Mass-Spring System

Free Mechanical Vibrations

Free mechanical vibration=no forcing function, so f (t) = 0. We

are dealing with
my + by + ky = 0
where m = mass attached to a spring of stiffness k, subject to
friction (or damping) proportional to speed with damping constant
b.

Free Mechanical Vibrations/Couple Mass-Spring System

Free Mechanical Vibrations

Free mechanical vibration=no forcing function, so f (t) = 0. We

are dealing with
my + by + ky = 0
where m = mass attached to a spring of stiffness k, subject to
friction (or damping) proportional to speed with damping constant
b.
Four cases: (1) undamped free case; (2) underdamped case; (3)
overdamped case; (4) critical damped case.

Free Mechanical Vibrations/Couple Mass-Spring System

Free Mechanical Vibrations

Free mechanical vibration=no forcing function, so f (t) = 0. We

are dealing with
my + by + ky = 0
where m = mass attached to a spring of stiffness k, subject to
friction (or damping) proportional to speed with damping constant
b.
Four cases: (1) undamped free case; (2) underdamped case; (3)
overdamped case; (4) critical damped case.

Free Mechanical Vibrations/Couple Mass-Spring System

Case 1: Undamped mass-spring system: b = 0.

The equation is given by:
my + ky = 0

Free Mechanical Vibrations/Couple Mass-Spring System

Case 1: Undamped mass-spring system: b = 0.

The equation is given by:
my + ky = 0
or
y +

k
y =0
m

Free Mechanical Vibrations/Couple Mass-Spring System

Case 1: Undamped mass-spring system: b = 0.

The equation is given by:
my + ky = 0
or

k
y =0
m
q
k
k
2
Let = m . The quantity = m
is called the angular
frequency (measured in radians per second)
y +

Free Mechanical Vibrations/Couple Mass-Spring System

Case 1: Undamped mass-spring system: b = 0.

The equation is given by:
my + ky = 0
or

k
y =0
m
q
k
k
2
Let = m . The quantity = m
is called the angular
frequency (measured in radians per second)
y +

Period: T =

(measured in seconds)

Free Mechanical Vibrations/Couple Mass-Spring System

Case 1: Undamped mass-spring system: b = 0.

The equation is given by:
my + ky = 0
or

k
y =0
m
q
k
k
2
Let = m . The quantity = m
is called the angular
frequency (measured in radians per second)
y +

Period: T = 2
(measured in seconds)

Frequency: f = T1 = 2
(measured in Hertz=1/seconds=# cycles
per second)

Free Mechanical Vibrations/Couple Mass-Spring System

Case 1: Undamped mass-spring system: b = 0.

The equation is given by:
my + ky = 0
or

k
y =0
m
q
k
k
2
Let = m . The quantity = m
is called the angular
frequency (measured in radians per second)
y +

Period: T = 2
(measured in seconds)

Frequency: f = T1 = 2
(measured in Hertz=1/seconds=# cycles
per second)
The solution is given by: y = C1 cos t + C2 sin t = A sin(t + ).

Free Mechanical Vibrations/Couple Mass-Spring System

Undamped case, contd

Here A is called the amplitude, and is called the phase. They are
given by
q
C1
A = C12 + C22
= arctan .
C2

Free Mechanical Vibrations/Couple Mass-Spring System

Undamped case, contd

Here A is called the amplitude, and is called the phase. They are
given by
q
C1
A = C12 + C22
= arctan .
C2
Example A 1/8 kg manss is attached to a spring with stiffness
k = 16N/m. The mass is displaed 0.5 m to the right of the

equilibrium point and given an outward initial velocity of 2 m/s.

(a) Neglecting damping, find a formula of the displacement as a
function of time. Display the values of , T , f , A and .

Free Mechanical Vibrations/Couple Mass-Spring System

Undamped case, contd

Here A is called the amplitude, and is called the phase. They are
given by
q
C1
A = C12 + C22
= arctan .
C2
Example A 1/8 kg manss is attached to a spring with stiffness
k = 16N/m. The mass is displaed 0.5 m to the right of the

equilibrium point and given an outward initial velocity of 2 m/s.

(a) Neglecting damping, find a formula of the displacement as a
function of time. Display the values of , T , f , A and .
(b) How long after release does the mass pass first through the
equilibrium position?

Free Mechanical Vibrations/Couple Mass-Spring System

Undamped case, contd

Answers:

(a) = 8 2 rad/sec; f = 1.8 cycles/sec (or Hz); T = 0.555 sec.

Free Mechanical Vibrations/Couple Mass-Spring System

Undamped case, contd

Answers:

(a) = 8 2 rad/sec; f = 1.8 cycles/sec (or Hz); T = 0.555 sec.

y (t) =

1
1
cos 8 2t + sin 8 2t
2
8

Free Mechanical Vibrations/Couple Mass-Spring System

Undamped case, contd

Answers:

(a) = 8 2 rad/sec; f = 1.8 cycles/sec (or Hz); T = 0.555 sec.

y (t) =
A=

1
1
cos 8 2t + sin 8 2t
2
8

1/2
and tan = 1/8
= 4 so = 1.326 rad.

17
sin(8 2t + 1.326)
y (t) =
8

( 12 )2 + ( 81 )2 =

17
8

Free Mechanical Vibrations/Couple Mass-Spring System

Undamped case, contd

Answers:

(a) = 8 2 rad/sec; f = 1.8 cycles/sec (or Hz); T = 0.555 sec.

y (t) =
A=

1
1
cos 8 2t + sin 8 2t
2
8

1/2
and tan = 1/8
= 4 so = 1.326 rad.

17
sin(8 2t + 1.326)
y (t) =
8

( 12 )2 + ( 81 )2 =

17
8

(b) y (t) = 0 means sin(8 2t + ) = 0 so 8 2t + = k for k

= 0.16 sec. Every 1/2 period (or
integer. Solving gives: t = k

0.28 sec) the mass goes through the equilibrium point.

Free Mechanical Vibrations/Couple Mass-Spring System

Overdamped case: b 2 4k m > 0

The equation is
my + by + ky = 0

Free Mechanical Vibrations/Couple Mass-Spring System

Overdamped case: b 2 4k m > 0

The equation is
my + by + ky = 0
The characteristic equation is given by
mr 2 + br + k = 0

Free Mechanical Vibrations/Couple Mass-Spring System

Overdamped case: b 2 4k m > 0

The equation is
my + by + ky = 0
The characteristic equation is given by
mr 2 + br + k = 0
so
b

r =
2m
The solution is given by:

b 2 4k m
2m

y (t) = C1 e r1 t + C2 e r2 t

Free Mechanical Vibrations/Couple Mass-Spring System

Overdamped case: b 2 4k m > 0

The equation is
my + by + ky = 0
The characteristic equation is given by
mr 2 + br + k = 0
so
b

r =
2m
The solution is given by:

b 2 4k m
2m

y (t) = C1 e r1 t + C2 e r2 t
Note that both r1 and r2 are negative (why?), so as t ,
y (t) 0.
Free Mechanical Vibrations/Couple Mass-Spring System

Underdamped case: b 2 4k m < 0

With =

4k mb2
,
2m

the roots of the characteristic equation are:

r =

b
i
2m

So the solution is given by:

b

y (t) = C1 e 2m t cos t + C2 e 2m t sin t.

Free Mechanical Vibrations/Couple Mass-Spring System

Underdamped case: b 2 4k m < 0

With =

4k mb2
,
2m

the roots of the characteristic equation are:

r =

b
i
2m

So the solution is given by:

b

y (t) = C1 e 2m t cos t + C2 e 2m t sin t.

Over time y (t) dies in an oscillatory fashion. is a quasi-angular
frequency, T = 2/ is called the quasiperiod and f = 1/T is
called the quasi-frequency.

Free Mechanical Vibrations/Couple Mass-Spring System

Underdamped case: b 2 4k m < 0

With =

4k mb2
,
2m

the roots of the characteristic equation are:

r =

b
i
2m

So the solution is given by:

b

y (t) = C1 e 2m t cos t + C2 e 2m t sin t.

Over time y (t) dies in an oscillatory fashion. is a quasi-angular
frequency, T = 2/ is called the quasiperiod and f = 1/T is
called the quasi-frequency.
The solution can be put in the form
b

y (t) = A e 2m t sin(t + )
where (as before):
A=

C12 + C22

= arctan

C1
.
C2

Free Mechanical Vibrations/Couple Mass-Spring System

Underdamped case: b 2 4k m < 0

With =

4k mb2
,
2m

the roots of the characteristic equation are:

r =

b
i
2m

So the solution is given by:

b

y (t) = C1 e 2m t cos t + C2 e 2m t sin t.

Over time y (t) dies in an oscillatory fashion. is a quasi-angular
frequency, T = 2/ is called the quasiperiod and f = 1/T is
called the quasi-frequency.
The solution can be put in the form
b

y (t) = A e 2m t sin(t + )
where (as before):
A=

C12 + C22

= arctan

C1
.
C2

Free Mechanical Vibrations/Couple Mass-Spring System

Critically damped case: b 2 4k m = 0

In this case, the characteristic equation has a double root
b
, So the solution is
r = 2m
b

y (t) = C1 e 2m t + C2 t e 2m t

Free Mechanical Vibrations/Couple Mass-Spring System

Critically damped case: b 2 4k m = 0

In this case, the characteristic equation has a double root
b
, So the solution is
r = 2m
b

y (t) = C1 e 2m t + C2 t e 2m t
Example: (related to webassign question and example p. 234)

Free Mechanical Vibrations/Couple Mass-Spring System

Critically damped case: b 2 4k m = 0

In this case, the characteristic equation has a double root
b
, So the solution is
r = 2m
b

y (t) = C1 e 2m t + C2 t e 2m t
Example: (related to webassign question and example p. 234)
Find the value of b for which
y + b y + 25y = 0 y (0) = 1,

y (0) = 0

is critically damped. Solve for y (t) in this case and sketch it.

Free Mechanical Vibrations/Couple Mass-Spring System

Critically damped case: b 2 4k m = 0

In this case, the characteristic equation has a double root
b
, So the solution is
r = 2m
b

y (t) = C1 e 2m t + C2 t e 2m t
Example: (related to webassign question and example p. 234)
Find the value of b for which
y + b y + 25y = 0 y (0) = 1,

y (0) = 0

is critically damped. Solve for y (t) in this case and sketch it.
Answer: b = 10; y (t) = (1 t)e 5t

Free Mechanical Vibrations/Couple Mass-Spring System

5.6: Coupled Mass-Spring System: Example 1, p. 308

See the graph and description of the couple mass-spring system on
p. 308.

Free Mechanical Vibrations/Couple Mass-Spring System

5.6: Coupled Mass-Spring System: Example 1, p. 308

See the graph and description of the couple mass-spring system on
p. 308.
I will show the derivation of the following equations in class:

Free Mechanical Vibrations/Couple Mass-Spring System

5.6: Coupled Mass-Spring System: Example 1, p. 308

See the graph and description of the couple mass-spring system on
p. 308.
I will show the derivation of the following equations in class:
We wish to solve:
n m x = k x + k (y x)
1
1
2
m2 y =
k2 (y x)

Free Mechanical Vibrations/Couple Mass-Spring System

5.6: Coupled Mass-Spring System: Example 1, p. 308

See the graph and description of the couple mass-spring system on
p. 308.
I will show the derivation of the following equations in class:
We wish to solve:
n m x = k x + k (y x)
1
1
2
m2 y =
k2 (y x)
In our example: m1 = 2kg ; k1 = 4N/m; m2 = 1kg ; and
k2 = 2N/m. So:
n 2x = 6x + 2y
y = 2x 2y

Free Mechanical Vibrations/Couple Mass-Spring System

5.6: Coupled Mass-Spring System: Example 1, p. 308

See the graph and description of the couple mass-spring system on
p. 308.
I will show the derivation of the following equations in class:
We wish to solve:
n m x = k x + k (y x)
1
1
2
m2 y =
k2 (y x)
In our example: m1 = 2kg ; k1 = 4N/m; m2 = 1kg ; and
k2 = 2N/m. So:
n 2x = 6x + 2y
y = 2x 2y

Free Mechanical Vibrations/Couple Mass-Spring System

Example 1, p. 308, contd

Lets clean this up a little bit:
n x = 3x + y
y = 2x 2y

Free Mechanical Vibrations/Couple Mass-Spring System

Example 1, p. 308, contd

Lets clean this up a little bit:
n x = 3x + y
y = 2x 2y
This is a linear system of differential equations of second order
(which is homogeneous; why?) We can put it in the form:
n (D 2 + 3)x y
= 0
2x + (D 2 + 2)y

= 0

Free Mechanical Vibrations/Couple Mass-Spring System

Example 1, p. 308, contd

Lets clean this up a little bit:
n x = 3x + y
y = 2x 2y
This is a linear system of differential equations of second order
(which is homogeneous; why?) We can put it in the form:
n (D 2 + 3)x y
= 0
Therefore

2x + (D 2 + 2)y

= 0

(D 2 + 2)(D 2 + 3)x (D 2 + 2)y = 0

Free Mechanical Vibrations/Couple Mass-Spring System

Example 1, p. 308, contd

Lets clean this up a little bit:
n x = 3x + y
y = 2x 2y
This is a linear system of differential equations of second order
(which is homogeneous; why?) We can put it in the form:
n (D 2 + 3)x y
= 0
Therefore

2x + (D 2 + 2)y

= 0

(D 2 + 2)(D 2 + 3)x (D 2 + 2)y = 0

We note that: (D 2 + 2)y = 2x.

Free Mechanical Vibrations/Couple Mass-Spring System

Example 1, p. 308, contd

Lets clean this up a little bit:
n x = 3x + y
y = 2x 2y
This is a linear system of differential equations of second order
(which is homogeneous; why?) We can put it in the form:
n (D 2 + 3)x y
= 0
Therefore

2x + (D 2 + 2)y

= 0

(D 2 + 2)(D 2 + 3)x (D 2 + 2)y = 0

We note that: (D 2 + 2)y = 2x.

So:
(D 2 + 2)(D 2 + 3)x 2x = 0.

Free Mechanical Vibrations/Couple Mass-Spring System

Example 1, p. 308, contd

Lets clean this up a little bit:
n x = 3x + y
y = 2x 2y
This is a linear system of differential equations of second order
(which is homogeneous; why?) We can put it in the form:
n (D 2 + 3)x y
= 0
Therefore

2x + (D 2 + 2)y

= 0

(D 2 + 2)(D 2 + 3)x (D 2 + 2)y = 0

We note that: (D 2 + 2)y = 2x.

So:
(D 2 + 2)(D 2 + 3)x 2x = 0.

We clean this up a little bit:

(D 4 + 5D 2 + 4)x = 0.
Free Mechanical Vibrations/Couple Mass-Spring System

Example 1, p. 308, contd

Lets clean this up a little bit:
n x = 3x + y
y = 2x 2y
This is a linear system of differential equations of second order
(which is homogeneous; why?) We can put it in the form:
n (D 2 + 3)x y
= 0
Therefore

2x + (D 2 + 2)y

= 0

(D 2 + 2)(D 2 + 3)x (D 2 + 2)y = 0

We note that: (D 2 + 2)y = 2x.

So:
(D 2 + 2)(D 2 + 3)x 2x = 0.

We clean this up a little bit:

(D 4 + 5D 2 + 4)x = 0.
Free Mechanical Vibrations/Couple Mass-Spring System

Example 1, p. 308, contd

Then factor:
(D 2 + 1)(D 2 + 4)x = 0

Free Mechanical Vibrations/Couple Mass-Spring System

Example 1, p. 308, contd

Then factor:
(D 2 + 1)(D 2 + 4)x = 0
Therefore:
x(t) = C1 cos t + C2 sin t + C3 cos 2t + C4 sin 2t
and
y = (D 2 + 3)x = 2C1 cos t + 2C2 sin t C3 cos 2t C4 sin 2t

Free Mechanical Vibrations/Couple Mass-Spring System

Example 2

Use the method of the previous example (the annihilator method)

to solve the first order (homogeneous) linear system:
n x = 3x + 4y
y = 4x + 3y

Free Mechanical Vibrations/Couple Mass-Spring System

Example 2

Use the method of the previous example (the annihilator method)

to solve the first order (homogeneous) linear system:
n x = 3x + 4y
y = 4x + 3y
Answer:
x(t) = C1 e 7t + C2 e t
and
y (t) = C1 e t C2 e t

Free Mechanical Vibrations/Couple Mass-Spring System