DAMPED VIBRATION

There are some means by which vibration energy is reduced in all mechanical systems. Thus without any
external stimulus any system will eventually come to rest. All vibrations are damped to some degree by
friction. Damping forces are defined as those that will result in a dissipation of energy from a vibrating
system. They exit in many forms, for example dry friction, or coulomb friction (damping) arising at the
any rubbing surfaces. Fluid friction when a rigid body moves in a fluid, air resistance, electromagnetic
forces, or by internal friction between the molecules of an elastic system.
Damping may be inherent in the system or may be added where essential to the functioning ( as the
vehicle shock absorber, or instrument damping).
If a body moving in a straight line and acted upon by a force directed to a fixed point in the line and
proportional to its distance, the S.H.M is said to be damped. The simplest case is when the resistance is
proportional to the velocity of the body.

VISCOUS AND COULOMB DAMPING

When a vibrating body is subjected to a damping force, this force may be due to either
 Viscous friction (as obtained with a dash-pot) in which the resistance is assumed to be
proportional to the velocity.
 Coulomb friction (as obtained between two dry surfaces) in which the resistance is assumed to
be independent of the velocity.

LINEAR VIBRATIONS WITH VISCOUS DAMPING

If a body of mass m, is acted upon by a restoring force S per unit displacement from the equilibrium
position and also by a damping force c per unit velocity, the equation of motion is

md 2 x dx
=−Sx−c
dt 2 dt

d 2 x cdx S
¿ + + x=0
dt 2 mdt m

dx
c
The quantity c is called the damping coefficient and the force dt is negative since its direction is
dx
opposite to that of the velocity dt

This equation may be written as

2
d x 2 μ dx 2
+ +ω x=0
dt 2 dt
Where 2μ = c/m and ω 2 = S/m

But (D2 + 2μD + ω2) x = 0 Where D represents d/dt

∴ D = -μ ±√ μ 2 –ω2

1. If μ > ω x =C1e(-μ +√ μ2-ω2 ) t + C2e(-μ-√ μ2-ω2)t

The coefficient of t is negative in each term, so that X is the sum of two vanishing exponential terms.
the motion is non- oscillatory and the mass when disturbed from rest, will slowly return to its
equilibrium position. the damping is described as heavy and the motion is termed aperiodic.

2. If μ = ω x =C1e-μ t + C2e-μt
-μt
∴ X = (C 1 + C2)e
The motion is again aperiodic but the damping coefficient has the least value which will produce such
motion. The damping in this case is said to be critical. The damping coefficient which makes the damping
critical is denoted by co and the ratio c/ co is called the damping ratio.
3. If μ <
x =C1e (-μ +√ μ2-ω2 )t + C2e(-μ-√ μ2-ω2)
X = e-μt {C1e-i√( ω2-μ2)t + C2e- i√(ω2-μ2)t
X = e-μt {C1[cos √(ω2-μ2)t + isin √(ω2- μ2)t] + C2 [cos√( ω2-μ2)t – isin√(ω2-μ2)t]
X = e-μt{Acos√(ω2-μ2)t + Bsin√(ω2-μ2)t} where
 A = C1 + C2 B = i ( C1 – C2)
The equation represents an oscillatory motion in which the amplitude decreases exponentially as shown
in the diagram

Exponential curve

x
a1

a2

tp

2π 1
The periodic time, tp = √ ω −√ μ
2 2
s or frequency, n= 2π √ ω2−√ μ2 Hz

If a1 and ar are the first and the r th amplitudes on the same side of the equilibrium position, then,
measuring the time from the point a so that t = 0 when x=a 1 and t = (r-1)tp when x = ar

a1 e o { A cos 0 + B sin 0 }
= ¿¿
ar e
− μ (r − 1 ) t p
¿¿

a1 − μ( r−1 )t p A −μ( r−1 )t p

=e =e
ar {A cos(r−1)2 π +B sin(r−1 )2 π }
Thus the ratio of successive amplitudes is e µtp
a1 2 πμ
=μt p =
or loge =
a2 √( ω2 −μ2 )
2 πμ
The term √(ω2−μ2 ) is referred to as the logarithmic decrement.
When μ < ω, the damping is described as light. This is the case which most commonly arises in
engineering problems and usually µ is so small in comparison with ω that the periodic time
approximates very closely to 2π/ω.

Q1.. A body of mass 6 kg is hung on a spring of stiffness 1kN/m. It is pulled down 50 mm below its static
equilibrium position and released. There is a frictional resistance which is proportional to the velocity,
and which is 36 N when the velocity is 1 m/s.
Write down the differential equation of the motion, and its solution evaluating the constants.
Calculate the distance which the body moves when t =2secs.

SOLUTION

m =6kg , S = 1KN/m, c =36NS/m ,

ω2 = S/m = 1000/6 = 166.7 (rad/s)

Also μ = c/2m = 36/12 = 3rad/s

The differential equation of motion is

d2 x dx
=6 +36 +1000 x=0
dt 2 dt

d 2 x dx
+6 +166 . 7 x =0
dt
2 dt

Hence the solution is

X = e -μt {Acos√(ω2-μ2)t + Bsin√(ω2-μ2)t} ------------1

X = e -3t (Acos12.56t +Bsin12.56t) ---------------------2

dx/dt =-3e -3t(Acos12.56t + Bsin12.56t) + 12.56e -3t (-Asin12.56t+Bcos12.56t)-------
3

when t=0 x=25mm

0.05 =e 0 (Acos0 +Bsin0) hence A = 0.05
when t=0 dx/dt =0 ∴ -3A +12.56B = 0 but A = 0.05
∴ B = 0.01195
The solution of the equation is X = e-3t (0.05cos12.56t + 0.01195sin12.56t)
(ii) When t = 1 sec. X = e-3(0.05cos12.56 +0.01195sin12.56)
 X = 0.05(0.0488 + 0.0026)
X = 0.00257mm
(iii) f = ω/2π f = 12.911/6.28 =2.056Hz

Q2. (a)Obtain an equation of motion and its solution for the vibration of a body of mass m when acted
on by a restoring force of s per unit displacement from the position static equilibrium and subjected to a
damping force of c per unit velocity.
(b)A machine of 20kg mass is mounted on springs. The total stiffness of the springs is 17KN/m and
the total damping force is 300N S/m if the system is initially at rest.
I. Write down the differential equation of the motion and its solutions evaluating the
constants at x (0) = 25mm
Determine:
II. The displacement at t = 1 sec.
III. The frequency of the vibration.

.
SOLUTION
Q2 (a)
Let the equation of motion be

md 2 x dx
=−Sx−c
dt 2 dt

d 2 x cdx S
¿ + + x=0
dt 2 mdt m

d 2x/dt2 + 2μdx/dt + ω2x =0

Where 2μ = c/m and ω 2 = S/m

But (D2 + 2μD + ω2 ) x = 0

Where D represents d/dt so that D = -μ ±√ μ 2 –ω2

When μ < ω

x =C1e(-μ +√ μ2-ω2 ) t + C2e(-μ-√ μ2-ω2)t

x = e-μt {C1e-i√( ω2-μ2)t + C2e- i√(ω2-μ2)t}

x = e-μt {C1[cos √(ω2-μ2)t + isin √(ω2- μ2)t] + C2 [cos√( ω2-μ2)t – isin√(ω2-μ2)t]}

 x = e-μt{Acos√(ω2-μ2)t + Bsin√(ω2-μ2)t} where

A = C1 + C2 B = i ( C1 – C2)
The equation represents an oscillatory motion in which the amplitude decreases exponentially

(2b)
m =20kg , S = 17KN/m, c =300NS/m ,

ω2 = S/m = 1700/20 =850(rad/s)

Also μ = c/2m = 300/400 =7.5rad/s

But x = e-μt {Acos√(ω2-μ2)t + Bsin√(ω2-μ2)t}

X = e-7.5t (Acos28.2t +Bsin28.2t)

Dx/dt =-7.5e-7.5t(Acos28.2t + Bsin28.2t) + 28.2e-7.5t (-Asin28.2t+Bcos28.2t)
From equation (2) when t=0 x=25mm

25 =e0 (Acos0 =Bsin0) hence A = 25

From equation (3) when t=0 dx/dt =0
-7.5A +28.2B = 0 but A = 25 then B = 6.7
The solution of the equation is x = e -7.5t (25cos28.2t + 6.7sin28.2t)
(ii) When t = 1 sec. x = e-7.5 (25cos28.2 +6.7sin28.2)
x =5.53(220.25 + 31.69)
x = 0.1394mm
(iii) f = ω/2π f = 29.2/6.28 =4.65Hz

Q3.(a) With the aid of an appropriate diagram show that log ea1/a2 = µtp for a linear vibrations with
Viscous damping and determine also the logarithmic decrement
 (b) A mass of 5 kg hangs from a spring and makes damped oscillations. The time of 50 complete
oscillations is found to be 20 s, and the ratio of the first downward displacement to the sixth is found to
be 2.25. Find the stiffness of the spring and the damping force.

Exponential curve

x
a1

a2

tp

If a1 and ar are the first and the rth amplitudes on the same side of the equilibrium position, then,
measuring the time from the point a so that t = 0 when x=a 1 and t = (r-1)tp when x = ar

a1 e o { A cos 0 + B sin 0 }
= ¿¿
ar e
− μ (r − 1 ) t p
¿¿

a1 − μ( r−1 )t p A −μ( r−1 )t p

=e =e
ar {A cos(r−1)2 π +B sin(r−1 )2 π }
Thus the ratio of successive amplitudes is e µtp
a1 2 πμ
=μt p =
or loge =
a2 √( ω2 −μ2 )
2 πμ
The term √(ω2−μ2 ) is referred to as the logarithmic decrement.
(b) tp = 20/50 = 0.4s

a1/a6 = e5µtp Hence 2.25 = e 5µ x 0.4

µ = 0.4055rad/s But tp = 2л/√ (ω 2 - µ2)

i.e 0.4 = 2л/√(ω2 -0.40552) ∴ ω2 = 249.96 = S/m

Hence S = 246.96 x 5 = 1235N/m

But µ = c/2m Hence c = 2x5x0.4055 = 4.055Ns/m

Q4. (a) Obtain an equation of motion and its solution, for the vibration of a body of mass when acted on
by a restoring force of S per unit displacement from the position of static equilibrium and subjected to a
damping force of C per unit velocity.
(b) Given that m = 25kg and S = 15KN/m, and that the amplitude of the vibration diminishes to one-fifth
of its original value in 2 complete vibrations, find the frequency of vibration and the value of the
damping force C.

SOLUTION

(b) a1/ar = 5= e2µtp Hence 5 = e 2µ x tp

Taking loge of both sides
2µtp = loge5 ∴ tp = loge5/2µ
But tp = 2л/√ (ω2 - µ2) Hence ω 2 = S/m = 15000/25= 600

∴ tp = loge5/2µ = 2л/√ (600 - µ2)

0.699/2µ = 6.28//√ (600 - µ2)

(0.699/2µ)2 = 6.282/600 - µ2
157.75µ2 = 293.16 – 0.699µ2
158.449µ2 = 293.16
µ2 = 1.85 ∴ µ = 1.36

But µ = c/2m Hence c = 2x25x1.36 = 68Ns/m

√ω −μ = √ 600−1 .85 = 24 . 46 =3 .89 Hz
2 2

n= 2π 6 . 28 6 .28

Q5. a) A mass of 100kg is suspended from a vertical coil spring of stiffness 20kN/m. Find the
 frequency of free vibration.
b) The system is now damped. The mass is pulled downwards a definite distance, and when
released, the vibration amplitude is reduced to 0.10 of the original 0f the original in four
complete oscillations. Determine the frequency of the damped oscillation and the value of the
damping force.

Q6. A machine of 20kg mass is mounted on springs and dampers. The total stiffness of the springs is
8KN/m and the total damping force is 130N S/m. If the system is initially at rest and a velocity of 10cm/s
is imparted to the mass.
I. Write down the differential equation of the motion and its solutions evaluating the
constants.
II. Determine the displacement at t =2 sec.

ANGULAR VIBRATIONS WITH VISCOUS DAMPING

The corresponding equation of motion of damped angular vibrations is

2
d θ cd θ
I 2+ +qθ=0
dt mdt
where I = moment of inertia
 c = damping torque per unit angular velocity
and q = restoring torque per unit angular displacement

2
d θ dθ
I + 2 μ +ω2 θ=0
dt 2 dt

This can be written as:

The solution of this equation is exactly as f or linear vibrations.

1
When µ < ω n= π
2 √ ω2−√ μ2 Hz and
φ1 μ( r−1 )tp
=e
φ2 Where Ø1 and Ør are the first and rth amplitudes

LINEAR VIBRATIONS WITH COULOMB DAMPING

Let a body of mass m rest on a horizontal plane, which exerts a constant friction force R uA.pon it and be
connected by a spring of stiffness S to a fixed point A. then, if O is the point at which there is no force in
the spring, the restoring force Sx is opposite in direction to the displacement x and the friction force R is
opposite in the direction to the velocity dx/dt.
-ve +ve
x
m
mm
A
O
R

2
dx d x
m 2 =−S (+x)−R
When x is +ve and dt is +ve, dt
2
dx d x
m 2 =−S (+x )+R
When x is +ve and dt is –ve, dt
 2
dx d x
m 2 =+ S (−x )+R
When x is -ve and dt is –ve, dt
2
dx d x
m 2 =+ S (−x )+R
When x is -ve and dt is –ve, dt
It will be observed that, the four equations are identical and may be written as:
2
d x 2 R
+ω x =−
dt 2 m
2
d x 2 R
+ω x =+
Also, dt
2 m
s
ω2 =
where m

R
x= A cos wt +B sin wt −
The solution is: S
respectively, the constant A and B being difference for the two cases.
Thus there are different equations of motion for each half-period. one for motion to the right and
2π
another for motion to the left. The period time, t p = ω as in undamped vibration.
let successive amplitudes of the motion at each half-period be a o,a1,a2…………ar
π R
0≤t≤ x= A cos wt +B sin wt +
then, for ω , S
dx
=0
when t = 0, x = ao and dt
R
a o= A +
Therefore, B = 0 and S

so that A = ao –R/S,
(
x= ao −
R
S )
cos wt +
R
S
When, t = π/ω, X = -a1
 −a1 = ao −
R
S( cos π + )
R
S
2R
∴ a1=a1 −
S
π 2π
For ≤t≤
ω ω
R
x=A cos wt +B sin wt −
S
π
t=
ω
∴ B=0
R
−a1 =− A−
X= -a1 and dx/dt = 0 S
R R
A=a1 − =ao −
S S

so that,
(
∴ x= a 1−
3R
S )
cos wt −
R
S
2π
t=
when ω ,X = a2

∴ a2 = ao − ( 3R
S )
cos2 π−
R
S

4R
a2 =a o −
S Thus the amplitudes of successive half-periods are decreasing at the uniform rate of
R R
2 ar =ao −r ×2
S so that S
The variation of displacement with time is shown below

ao 4R/S

a2 R/S
 a1

tp

R
ar ≤
Motion ceases when S since the restoring force exerted by the spring is then equal to or less than
R. The number of half- periods which elapse before motion cease is therefore given by
R
ao−
S
r≥
R R R
a−r×2 ≤ , 2
S S ie. S
R
Motion ceases at the first extreme position when the amplitude of the body becomes less than S

Q6. A vertical spring of stiffness 8.5kN/m supports a mass of 32kg.There is a friction force of 45N which
always resists the vertical motion whether upwards or downwards. The mass is released from a position
which the total extension of the spring is 125mm
Determine;
(a) the time which elapses before the mass comes finally to rest,
(b) the final extension of the spring

SOLUTION

Static deflection of spring due to mass

δxS=mxg

δ = mg/S = 32 x 9.81/8.5 x 102 = 0.0369m

∴ = 0.125 – 0.0369 = 0.0881m

R
ao−
S
r≥
R
2
. S
 45
0 . 0881−
8 .5×103
r≥ ≥7 . 81
45
2×
8 .5×103

Hence motion ceases after 8 half cycles.

tp =
2π
√ √
m
S
=2 π
32
8 .5×103
=0. 385 s

Time taken = 4 x 0.385 = 1.54s

2×45
3
=0 . 0034 m
After 8 half-cycles, a = 0.0881 – 8 x 8. 5×10
Hence final extension of spring = 0.0369 + 0.0034 = 0.0403m