Chapter 2: Undamped free vibrations

• When no external force acts on the body after giving it an

initial displacement, then the body is said to be under free
vibration or natural vibration.
• If there is no loss of energy due to friction or resistance
through out motion of the system, then the vibration is
called undamped free vibration.
• A vibratory system having mass & elasticity with single
degree of freedom is the simplest case to analyze.
Ex: Spring-mass system, Simple pendulum, Liquid column in a U-tube
manometer, Torsional pendulum, etc.
 Derivation of differential equation
Spring-mass system in vertical position

(i) Newton’s Method:

k k k


m m

• Consider a spring of stiffness ‘k’ & a mass ‘m’ system

constrained to move in a vertical direction.
• The static deflection of the spring due to weight ‘mg’ is ,

such that mg=k .

 Derivation of differential equation Spring-mass system

..
k(x+ mx
k

m m

mg mg
Free Body diagrams

When the mass is displaced from its equilibrium position by

a distance ‘x’ & released, after a time ' t ', for equilibrium,
Inertia force + Restoring force = 0
i.e. mx  k ( x  )  mg  0. But mg  k 
 Governing equation of the system is mx + kx = 0
 Derivation of differential equation Spring-mass system
 Governing equation of the system is mx + kx = 0
k
Or x    x  0
m
Comparing the above equation with the equation of SHM,
k
x   x  0,  ωn =
2
n rad/sec
m
( where k is in N / m, mass m is in kg )
1 k
Frequency of vibration f n = cps or Hz
2π m
mg
Also, as stiffness k  ( Stiffness  force per unit deflection)

g 1 g
ωn = & fn = ( g  9.81 m / sec 2 ,  in m)
 2π 
(ii) Energy Method:
k

For a conservative system, total energy remains a constant.

In other words, (Kinetic energy  Potential energy)  constant.
d 1 2
  KE  PE   0. Here, KE of the mass = mx
dt 2
PE (Resilience) of the spring  Average spring force  deformation
 0  kx  1 2
i.e. Potential energy of spring     x  kx
 2  2
(ii) Energy Method:

d d 1 2 1 2
 KE  PE   0   mx  kx 
dt dt  2 2 
k
i.e. mxx  kxx  0 or mx + kx = 0 or x + x = 0,
m
Comparing with the equation of SHM x  n x  0,
2

k 1 k
 ωn = rad/sec & f n = cps or Hz
m 2π m
 (iii) Rayleigh Method:

Rayleigh's Principle assumes that the max strain energy at the extreme
position is equal to the maximum kinetic energy at the mean position.
For a simple harmonic motion, let displacement of the mass from mean
position at any time ' t' be x  A sin nt  xmax  A
Differentiating w.r.t time, Velocity x  n A cos nt  xmax  n A
1 1
 Maximum KE of the mass = mx max = mωn2 A2
2

2 2
1 2 1
Equating the energies, kA  mωn2 A2
2 2
k 1 k
 k  mωn  ωn =
2
rad/sec & f n = cps or Hz
m 2π m
 Solution of governing differential equation of motion

T=2n

slope = v0


A
A x0


n

• Let the vibratory motion of spring-mass system be equivalent to a

SHM of amplitude A, frequency n, phase angle .
• Let the system be given an initial displacement x0 (at t=0) & initial
velocity be v0.
 Solution of governing differential equation of motion
The equation of motion for free vibrations of a single dof undamped system is
mx + kx = 0 which is second order differential equation.
The general solution is x  A sin(nt   ), where A &  are the two constants
which may be determined from initial conditions for x & x at time t  0
Velocity of the vibrartory motion x   A cos(nt   )
At at time t  0, let x  x0  x0 = Asin (i )
v0
Also at time t  0, let x  v0  v0  n A cos  or = Acos (ii )
ωn
v02
Squaring & adding (i) & (ii) A= x02 
n2
x0 ω n 1  x0 ω n 
Dividing eqn (i) by (ii), tan      tan  
v0  0 
v
where  is the phase lead angle.  Phase lag   (90   )
 Numerical Problem 1

A body suspended from a spring vibrates vertically

up and down between two positions 3 and 5 cm
above the ground. During each second it reaches
the top position(5 cm above ground) 15 times. Find
the time period, frequency, circular frequency and
amplitude of motion.
 Solution to Problem 1
From the fig,
Amplitude = (5-3)/2 =1 cm.

5
f = Frequency =15 cps
T = Period = 1/15 Sec
3
Circular Frequency
 = 2  f = 2  (15) =30 
rad/sec
 Numerical Problem 2
A block of mass 0.05 kg is suspended from a spring of
stiffness 25 N/m. The block is displaced from its
equilibrium position through a distance of 2cm &
released with an upward velocity of 3 cm/sec.
Determine;
(i) Natural frequency & period of oscillation
(ii) Maximum velocity & acceleration
(iii) Phase angle
Data : m  0.05 kg , k  25 N / m, x0  2cm, v0  3cm / sec
(i) Natural fequency & Time period :
k 25
Circular frequency n    22.36 rad / sec
m 0.05
n 22.36
Frequency in Hz f n    3.56 Hz
2 2
2 1 1
Time period T=    0.28 sec
n f n 3.56
v02
(ii) Max velocity & Acceleration : Amplitude A= x02 
n2
2
3
 A= 2 
2
2
 2.0045 cm
22.36
 Max velocty xmax  n A  22.36  2.0045  44.82 cm / sec
Max acceleration xmax  n2 A  22.362  2.0045  1002.2 cm / sec 2
(iii) Phase angle :
 x0 ω n  1  2  22.36 
Phase angle   tan  1
  tan    86.16 0

 v0   3 
i.e. the equation of motion is x  2.0045sin(22.36t  86.160 )
 Numerical Problem 3
An oscillating system with a natural frequency of
3.98 Hz starts with an initial displacement of 10
mm and an initial velocity of 125 mm/sec.
Calculate all the vibratory parameters involved &
the time taken to reach the first peak.
Data : f n  3.98 Hz , x0  10 mm, v0  125 mm / sec
(i) Circular frequency & Time period :
22.36
Circular frequency n  2 f n  2  3.98   25 rad / sec
2
1 1
Time period T    0.251sec
f n 3.98
(ii) Amplitude of motion, Max vel & Accleration :
v02 125 2
Amplitude A= x02  2  10 2  2  11.18 mm
n 25
Max velocity xmax  n A  25 11.18  279.5 mm / sec
Max acceleration xmax  n2 A  252 11.18  6787.5 mm / sec 2
(iii) Phase angle & Time required to reach the first peak :
 x0 n  1  10  25 
Phase angle   tan 1
  tan    63.43 0

 v0   125 

Time required to reach the first peak 
n
     
(90   )    (90  63.43)   
  180   180   0.0185sec
n 25
T=2n

slope = v0


A
A x0


n


 Numerical Problem 4
An unknown mass m is attached to one end of a
spring of stiffness k having a natural frequency of 6
Hz. When 1 kg mass is attached with m, the natural
frequency is lowered by 20%. Determine the
unknown mass & stiffness k.
Data : f n1  6 Hz when mass attached is m kg
f n 2  0.8  6  4.8 Hz, when mass is (m + 1) kg
(i) Magnitude of unknown mass :
1 k
f n1  6  (i ) &
2 m
1 k
fn2  4.8  (ii )
2 (m  1)
62 (m  1) 1
(i )  (ii ) gives 2
  1   m = 1.778 kg
4.8 m m
(ii) Stiffness of the spring : k  mn21
But n1  2 f n1  2  6  37.7 rad/sec
 k  1.778  37.7 2  2527 N / m
 Natural frequency of Spring-mass system taking self weight of spring into account
(Effect of inertia of spring)

dy
l
k

m
x

Spring with self weight

Consider a spring of stiffness k & a mass m attached at its free end.

Let m' be the mass per unit length of the spring & l be length of spring.
Also let x & x be the displacement & velocity of mass at free end of spring.
The velocity of a spring element of length dy at a distance y from fixed end is
 y
equal to x  
l
 Effect of inertia of spring
2
1  y
Kinetic energy of the spring element  ( m ' dy ) x 2  
y 2  l
l
dy 1 m'x 2 l
1 m'x  y 
2 3
K.E of the full spring  0 y dy  2 l 2  3 
2
l
k 2 l2 0

1 1
m  K .E of the spring = m ' lx 2  m s x 2
x 6 6
Spring with self weight
(where ms  m ' l  Mass of spring)
 K.E of the system = K.E of spring + K.E of mass
1 1
 K.E of the system  m s x 2  mx 2
6 2
1 2
Also, potential energy of spring = kx
2
1 1 1 2
 Total energy = K.E + P.E = m s x  mx  kx
2 2

6 2 2
 Effect of inertia of spring
d
For a conservative system, total energy =constant  Total energy   0
dt
d 1 1 1  1
i.e.  ms x 2  mx 2  kx 2   0   ms xx   mxx  kxx  0
dt  6 2 2  3
 ms  k
m  x  kx  0. Rearranging the terms, x  0
 3   ms 
m 
 3 
k 1 k
 ωn = & hence f n =
 ms  2  ms 
m+  m+ 
 3   3 
The above equation shows that the mass of spring is equivalent to
one - third of its value if atached at its free end.
 Equivalent stiffness of spring combinations

k1
k1 k2

k2
m

m Springs in parallel
Springs in series

Certain systems have more than one spring joined in series or

parallel or both. In such cases, it is necessary to replace these with
an equivalent spring which offers the same stiffness as that of the
combination of springs.
Springs in series: In this case, the springs are connected end to
end & then a mass is suspended at the free end
k1 such that;
• The same load is acting on all the springs.
k2 • The total deflection at the free end is sum of
individual spring deflections.
m

Springs in series
i.e. Defelction of equivalent spring   1   2  .
Load on spring
But deflection =
stiffness
mg mg mg
As all springs are subjected to load mg ,   
keq k1 k2
1 1 1
 = + +
keq k1 k 2
Springs in Parallel: In this case, the ends of all springs
are connected to mass suspended
k1 at the free end such that;
k2
• The total load is shared by the
k1
m individual springs.
m
• The deflection at the free end
k2
is same for all springs.
Springs in parallel

Total load  Load on spring 1+ Load on spring 2+

i.e. keq   k1  k2  
 Load =stiffness  deflection of spring & deflection is same 
 
 for all springs connected in parallel 
 keq  k1  k 2 
 Numerical Problem 5
A spring mass system has a natural frequency of f1.
Calculate the value of another spring which when
connected in parallel with the first spring increases
the frequency by 30%.
Data : Let the f n1 when the stiffness is k1
f n 2  1.3  f n1 when stiffness is (k1  k 2 )
 Equivalent stiffness for springs connected in 
 
 parallel is sum of individual stiffness values 
1 k1
f n1  (i ) &
2 m
1 (k1  k2 )
1.3 f n1  (ii )
2 m
k2
(ii )  (i ) gives 1.3  1   k2 = 0.69 k1
2

k1
 Numerical Problem 6
For the spring mass system shown in fig,
determine; (i) Equivalent stiffness (ii) Natural
frequency of vibration.

k1 k2
10N/mm 10N/mm

5 N/mm

W=109 N
Solution :
Equivalent stiffness for springs k1 & k 2 connected in
parallel is equal to ( k1  k2 )  (10  10)  20 N / mm
Then the third spring 5 N/mm is in series with the above
1 1 1 20  5
Hence    keq   4 N / mm  4000 N / m
keq 20 5 (20  5)

1 keq g1 4000  9.81

fn    3.02 Hz
2 W 2 109
 Numerical Problem 7
Determine the equivalent spring stiffness & the
natural frequency of the vibrating system when a
mass of 10 kg is ;
(i) Fixed in between two springs of stiffness 5
N/mm & 8 N/mm.
(ii) Fixed between two halves of the spring of
stiffness 5 N/mm.
 Solution :
k1
(i) When a mass is placed in between two springs,
it is equivalent to parallel connection.Hence keq  k1  k2
m keq   5  8   13 N / mm  13000N / m

1 keq 1 13000
k2  fn    5.74 Hz
2 m 2 10
(ii) Stiffness is inversely proportional to the number of turns
of a spring. When a spring is cut into two halves, the number
of turns is halved & hence the stiffness of each half is double
2k1 that of the original.
Also when the mass is placed between two halves, it amounts
m
to springs in parallel.
2k1  keq  2k1  2k1  4k1  4  5  20 N / mm  20000 N / m

1 keq 1 20000
 fn    7.12 Hz
2 m 2 10
 Numerical Problem 8
Determine the natural frequency of the spring
mass system shown in fig.

k 2= 4N/mm

a=0.4 m

k 1 = 6N/mm
b=0.6 m

m
 k 2= 4N/mm 2
k= k 2 (a/b)

a=0.4 m  b=0.6 m

k 1 = 6N/mm k 1 = 6N/mm
b=0.6 m

m m

Solution : Let k be the equivalent of spring 2 at the free end.

Let  be the angular displacement of lever due to load. Then
elongation of spring 2  aθ & that of equivalent spring  bθ
Taking moments about the left support,
2 2
a  0.4 
k2 (a )  a  k (b )  b  k  k 2   = 4   = 1.778 N / mm
b  0.6 
 k 2= 4N/mm 2
k= k 2 (a/b)

a=0.4 m  b=0.6 m

k 1 = 6N/mm k 1 = 6N/mm
b=0.6 m

m m

Then the spring 1 ( stiffness 6 N/mm) is in series with the above

1 1 1
  
keq 1.778 6
1.778  6
 keq   1.3714 N / mm  1371.4N / m
(1.778  6)
1 keq 1 1371.4
fn    2.4 Hz
2 m 2 6
 Natural frequency of transverse vibrations
• In case of transverse vibrations, the vibration occurs in a
direction perpendicular to the axis of elastic constraint.
• The equation for natural frequency is same as that of
longitudinal vibrations.


m

1 k 1 g mgl 3
i.e. f n   , where;   for cantilever with end load
2 m 2  3EI
mgl 3
&  for simply supported beam with central load
48 EI
 Numerical Problem 1

A steel cantilever beam of length 250 mm has a

square cross section of 5x5 mm. A mass of 5 Kg is
attached to the free end of the beam as shown in
figure. Determine the natural frequency of the
system if the mass is displaced slightly and released.
 
m

Solution : Given l  250 mm, m  5kg , b  h  5 mm

For steel, elastic modulus E  210 GPa  210 103 MPa( N / mm 2 )
bh3 b 4 54
Moment of inertia of square section I     52.08 mm 4
12 12 12
( b=h for square section)
mgl 3
For cantilever with load at free end, deflection due to end point load  =
3EI
5  9.81 2503 3
  23.36 mm  23.36  10 m
3  210 10  52.08
3

1 g 1 9.81
 fn    3.26 Hz
2  2 23.36 10 3
 Numerical Problem 2

A small Pelton wheel rotating at 1500 rpm has a

rotor of mass 10 Kg mounted at the centre of a steel
shaft which has a span of 0.4 m between bearings.
What should be the diameter of the shaft , so that
the transverse natural frequency is 50 percent higher
than the running speed? Assume E for steel as 2x1011
pa.
Given : l  0.4 m, m  10kg , N  1500rpm, E  2 1011 Pa, f n  1.5  rps
Solution : As natural frequency is 50% more than operating speed,
 1500 
f n  1.5  rps  1.5     37.5 Hz
 60 
1 g 1 9.81
But f n   37.5   Δ = 0.000177 m
2  2 
mgl 3
For simply supported beam with load at center, deflection load  =
48 EI
10  9.81 0.43
 0.000177   I = 3.695 × 10 -9
m 4

48  2 1011  I
d4
But moment of inertia of circular section I 
64
d4
 3.695 × 10 
-9
 Dia of shaft d = 0.0166 m = 16.6 mm
64
 Natural frequency of torsional vibrations
In case of torsional vibrations, the twisting & untwisting of the
elastic shaft occurs about the axis of the shaft.

Torsional stiffness (Nm/rad) kt

Here, n  
Mass moment of inertia (kg-m 2 ) I
 Torque  T 
Torsional stiffness kt    
 angle of twist    
L d T G T GJ
But from torsion equation,    ,where,
J L  L
G  Rigidity modulus of shaft material=80 GPa for steel
d4
J  Polar moment of inertia of shaft  (d being dia of shaft )
I 32
I  Mass moment of inertia of disk, L  Length of shaft

 kt GJ 1 GJ
 circular frequency n    fn 
I IL 2 IL
 Numerical Problem 3

Determine the natural frequency of a simple

pendulum of length of rod l & mass m attached at
its end;

(i) Neglecting the mass of rod and

(ii) Considering the mass of the rod mr

Use both Newton’s method & energy method.

(i) Nelgecting mass of rod
O (i) Newton's method : Taking moments about point O,
for equilibrium, (Inertia torque + Restoring torque)= 0
I O  mg (l sin  )  0, (I O is mass moment of inertia about 'O')

 l Here, I o  ml 2 , sin    for small oscillations

l
 The equilibrium equation is ml 2  mgl  0.
g g 1 g
h m i.e.     0  ωn = & hence f n =
l l 2π l
mg
1 1
(ii) Energy method : Kinetic energy of mass K .E  I o 2  ml 2 2
2 2
Potential energy P.E  mgh  mgl (1- cos  )
d 1 2 2 
For a conservative system,  ml   mgl (1- cos  ) 0
dt  2 
l  g 0  ( sin  )   0. As sin    , l  g  0
g g 1 g
i.e.     0  ωn = & hence f n =
l l 2π l
(ii) Considering mass of rod
(i) Newton's method : Taking moments about point O,
O for equilibrium, (Inertia torque + Restoring torque)= 0

l/2  
I O  mg (l sin  )  mr g l sin   0
2
 m 
Here, I o   m  r  l 2 , sin    for small oscillations
l  l  3 
mr g  mr  2  mr 
 The equilibrium equation is  m  l    m   gl  0.
h m  3   2 
 mr   mr 
mg
 m  g  m + g
i.e.      0ω =   & hence
2 2
  l   l
n
mr mr
 m    m + 
 3   3 
 mr 
1  g
m +
fn =
2 
2π  mr  l
 m + 
 3 
(ii) Considering mass of rod
(ii) Energy method :
1 m  2 2
K .E of mass+K .E of rod   m  r l 
O 2 3 
l
l/2 P.E of mass + P.E of rod  mgl (1- cos  )  mr g (1- cos  )
2
 m 
 l i.e.P.E of mass + P.E of rod  gl  m  r  (1- cos  )
l  2 
mr g
d 1  mr  2 2  mr  
For a conservative system,  m   l   gl  m   (1- cos  ) 0
m dt  2  3   2  
h
 m   
mr
mg l  m  r   g  m  0  ( sin  )   0. As sin    ,
 3   2
 mr 
 m  
 mr  g mr   2 g
i.e.  m     m     0 i.e.    0
 3  l  2   m  l
m
r

 3 
 mr   m 
m+ g  m+ r g
 ωn =   & hence f = 1  
2 2
  l 2π   l
n
mr mr
 m +   m + 
 3   3 
 Numerical Problem 4

A U-tube manometer of cross section area A

contains a liquid column of length l & density
r in its two limbs. Determine the frequency of
oscillation of the liquid column.
 (i) Newton's method :
Here, total mass of liquid column =r Al
P
2x
Q Weight of liquid which restores equilibrium=( r A2 x) g
x
(Inertia force + Restoring force)= 0
 2g 
( r Al ) x  ( r A2 x) g  0  x   x 0
 l 
l 2g 1 2g
 ωn = & hence f n =
l 2π l
1
(ii) Energy method : Kinetic energy of liquid column  ( r Al ) x 2
2
Potential energy P.E w.r.t datum P-Q  ( r Agx) x  r Agx 2
d 1 2
For a conservative system,  ( r Al ) x 2
 r Agx  0
dt  2 
2g 2g 1 2g
( r Al ) xx  2 r Agxx  0 i.e. x  x  0  ωn = & fn =
l l 2π l
 Numerical Problem 5

A cylinder of mass m & and radius r is connected at

the center by a spring of stiffness k to a fixed support.
It is free to roll on a horizontal rough surface without
slipping. Determine its natural frequency.

m r k

o
 m
K
x

 r

(i) Newton's method : Taking moments about 'A'

Inertia torque + Restoring Torque =0  I A  ( kx) r  0, where;
 is the angular displacement of cylinder center
x  deformation of spring  r
1 2 3
By parallel axis theorem,I A  I O  mr  mr  mr  m r 2
2 2

2 2
3 2  2k 
 mr   kr   0    
2
  0
2  3m 
2k 1 2k
Comparing with equation of SHM, ωn = & fn =
3m 2π 3m
 m
K
x

 r

d
(ii) Energy method :  K .E  P.E   0
dt
K.E of cylinder =Rotational kinetic energy about point A
1 13 2 2 3
K.E of cylinder  I A   mr    mr 2 θ 2
2

2 22  4
1 1
P.E of spring  kx 2  kr 2 θ 2
2 2
d 3 1 2 2 3 2 1 2
 mr θ
2 2
 kr θ   0  mr 2   kr 2  0
dt  4 2  4 2
 2k  2k 1 2k
i.e.       0.  ωn = & fn =
 3m  3m 2π 3m
 Numerical Problem 6

Determine its natural frequency of the system shown in fig.

K K

m a

Note:
• The solution is similar to previous one except that there are two springs
in parallel & hence an equivalent stiffness is 2k.
• Also the distance of the spring force from the point of contact A is (r+a)
 K x K

m a

 r

A
(i) Newton's method : Taking moments about 'A'
Inertia torque + Restoring Torque =0  I A  (2kx)(r  a )  0, where;
2k=combined stiffness of the springs in parallel
 is the angular displacement & x  deformation of spring  (r  a )
1 2 3
By parallel axis theorem,I A  I O  mr  mr  mr  mr 2
2 2

2 2
3 2  4 k ( r  a ) 2

 mr   2k (r  a ) 2   0     2   0
2  3mr 
4k(r + a)2 1 4k(r + a)2
Comparing with equation of SHM, ωn = & f n =
3mr 2 2π 3mr 2
 K x K

m a

 r

A
d
(ii) Energy method :  K .E  P.E   0
dt
K.E of cylinder =Rotational kinetic energy about point A
1 13 2 2 3
K.E of cylinder  I A   mr    mr 2 θ 2
2

2 22  4
1
P.E of spring  (2k ) x 2  k(r + a)2 θ 2
2
d 3 2 2  3 2
 mr θ
2 2
 k(r + a) θ   0  mr 2  k ( r  a ) 2
2  0
dt  4  4
 4k ( r  a ) 2  4k(r + a)2 1 4k(r + a)2
i.e.       0.  ωn = & f n =
 3mr
2
 3mr 2 2π 3mr 2
 Numerical Problem 7

Determine the natural frequency of the system

shown in fig neglecting the mass of the rod.

k a

m
 (i) Newton's method : Taking moments about 'O'
O
Inertia torque + Restoring Torque =0
k a  I o  mg (l )  (ka )a  0,
 L  is the angular displacement
a  deformation of spring &
m I O  Mass moment of inertia about 'o'=ml 2
mg  ml 2  (mgl  ka 2 )  0
 mgl  ka 2 
Or    2   0
 ml 
 mgl + ka 2 
 ωn =  2  &
 ml 
1  mgl + ka 2 
fn =  
2π  ml 2

 d
O
(ii) Energy method :  K .E  P.E   0
dt
K.E of mass = I o 2   ml 2   2
1 1
k a 2 2
 L P.E  P.E of mass  P.E of spring
1
P.E  mgl (1  cos  )  k (a ) 2
2
m
d 1 2
mg 
dt  2
 ml 2
  2
 mgl (1  cos  ) 
1
2
k ( a ) 

0

 ml 2  mgl  ka 2  0

 mgl  ka 2 
Or    2   0
 ml 
 mgl + ka 2 
 ωn =  2  &
 ml 
1  mgl + ka 2 
fn =  
2π  ml 2 
 Numerical Problem 8

Determine the natural frequency of the system shown in fig

neglecting the mass of the rod.

k L

Note:
• The solution is similar to previous one except that the moment due to ‘mg’ is negative
as it tends to move the body away from equilibrium.
 (i) Newton's method :
Taking moments about 'O'
Inertia torque + Restoring Torque =0
mg
  I o  mg (l )  (ka )a  0,
k L where a  deformation of spring &
a I O  Mass moment of inertia about 'o'=ml 2
 ml 2  (ka 2  mgl )  0
O
 ka 2  mgl 
Or    2   0
 ml 
 ka 2  mgl 
 ωn =  2  &
 ml 
1  ka 2  mgl 
fn =  
2π  ml 2

 d
(ii) Energy method :  K .E  P.E   0
dt
K.E of mass = I o 2   ml 2   2
1 1
mg 2 2
 P.E  P.E of mass  P.E of spring
k L 1
P.E  mg (l cos  )  k (a ) 2
2
a
d 1 2

dt  2
 ml 2
  2
 mg (l cos  ) 
1
2
k ( a ) 

0
O
 ml 2  mgl  ka 2  0
 ka 2  mgl 
Or    2   0
 ml 
 ka 2  mgl 
 ωn =  2  &
 ml 
1  ka 2  mgl 
fn =  
2π  ml 2 
 Numerical Problem 9

Determine its natural frequency of the system shown in fig

neglecting the mass of the rod.

k
a
m
L

Note:
The solution is similar to previous one except that the moment due to ‘mg’ is cancelled by
the moment due to spring force due to its static elongation.
 (i) Newton's method :
k Taking moments about 'O'
a Inertia torque + Restoring Torque =0

m
 I o  (ka )a  0,
L
where a  deformation of spring &
I O  Mass moment of inertia about 'o'=m l 2
 ml 2  ka 2  0
 ka 2 
Or    2    0
 ml 
a k 1 a  k 
 ωn =   & fn =    
l m 2π  l   m 
 d
(ii) Energy method :  K .E  P.E   0
dt
K.E of mass = I o   ml 2   2
k 1 2 1
a
2 2

1
L m
P.E of spring  k (a ) 2
2
d 1 2

dt  2
 ml 2
  2

1
2
k ( a  ) 

0

 ml 2  ka 2  0
 ka 2 
Or    2    0
 ml 
a k 1 a  k 
 ωn =   & fn =    
l m 2π  l   m 
 Numerical Problem 10

Determine the natural frequency of the system shown in fig

neglecting the mass of the pulley.

k2

k1

m
 From the geometry of the given system, it is evident that if the
elongation of spring 1 is x, the deformation of spring 2 must be 2x.

As there are two springs, it is necessary to find the combined stiffness.

Let k be the equivalent of spring 2 at the center of the pulley.
Taking moments about 'A' (kx)r  k2 (2 x)2r  k  4k2

k2 k=4k2

k1 k1

m m
 k=4 k2

k1

As the pulley mass is neglegible, springs k1 & k are in series

1  1 1  1 1 
& hence their combined stiffness is;     
keq  k1 k   k1 4k2 
4k1k2 keq 4k1 k 2 1 4k1 k 2
 keq   ωn =  & fn =
k1  4k2 m m(k1 + 4k 2 ) 2π m(k1 + 4k 2 )
 Numerical Problem 11

Determine the equation of motion and the natural

frequency of the system shown in fig.

M r

m
 (i) Newton's method :
k Taking moments about 'A'
M Inertia torque + Restoring Torque =0
r x=2r
  (mx)2r  I A  (kr )r  0,

where x  2r  displacement of mass ' m '
I A  Mass moment of inertia about 'A'
m
1 3
I A  ( I o  Mr )= Mr  Mr  Mr 2
2 2 2

2 2
3
 4mr 2  Mr 2  kr 2  0
2
 3 
Or   4m  M   k  0
 2 
k 1 k
 ωn = & fn =
 3  2π  3 
 4m + M   4m + M 
 2   2 
 d
k (ii) Energy method :  K .E  P.E   0
dt
M K.E=(Translational K.E of mass)+(Rotational K.E of pulley about 'A')
r x=2r

K.E= mx 2  I A 2 , But x  2r , I A   Mr 2 



1 1 3
2 2 2
 3 
 K.E == m4r 2 2   Mr 2   2   2m + M  r 2 θ 2
1 3
m
2 4  4 
1 1
P.E of spring  k (r ) 2  kr 2 2
2 2
d  3  2 2 1 2 2
  2 m  M  r   kr    0
dt  4  2 
 3  1
  2m  M  2  k (2 )  0
 4  2
 3 
Or  4m  M    k  0
 2 
k 1 k
 ωn = & fn =
 3  2π  3 
 4m + M  4m + M
 2   2 
 Numerical Problem 12

Determine the equation of motion and the natural

frequency of the system shown in fig.

M r

m k
 (i) Newton's m ethod :
M r Taking moments about fulcrum 'O'
x 
 Inertia torque + Restoring Torque =0
 (mx)r  I O  (kr )r  0,
m k where x  r  displacement of mass ' m '
x
1
I O  Mass moment of inertia about 'O' = Mr 2
2
1
 mr   Mr 2  kr 2  0
2

2
 M
Or   m    k  0
 2
k 1 k
 ωn = & fn =
 M 2π  M
 m +   m + 
 2   2 
 d
M r
(ii) Energy m ethod :  K .E  P.E   0
dt
x  K.E=(Translational K.E of mass)+(Rotational K.E of pulley about 'O')

K.E= mx 2  I O 2 , But x  r , IO   Mr 2 
1 1 1
2 2 2
m k
m M  2 2
 K.E == mr 2 2   Mr 2   2   +
1 1
x
r θ
2 4 2 4 
1 1
P.E of spring  k (r ) 2  kr 2 2
2 2
d  m M  2 2 1 2 2 
   r   kr    0
dt  2 4  2 
m M  1
    2  k (2 )  0
2 4  2
 M
Or  m     k  0
 2 
k 1 k
 ωn = & fn =
 M 2π  M
 m +   m + 
 2   2 
 Numerical Problem 13

A cylinder of mass ‘m’ and radius ‘r’ rolls without

slipping on a circular surface of radius ‘R’. Determine the
natural frequency for small oscillations about the lowest
point.
O


R
A'
r
 D

B C r

 mg A
 O


R
A'
r
 D

B C r

 mg A

Solution : When the cylinder is in the lowest position, the point of contact is A
and it occupies the position A' when the point of contact changes to B such that;
R
Arc AB  Arc A ' B  R  r  =   
r
R 
Net rotation of the cylinder =        1  
r 
 O

(i) Newton's m ethod :


A'
R Taking moments about 'B'
r
 D Inertia torque +Restoring Torque =0
B C r
 I B (   )  mg (r sin  )  0
 mg A

3 2
But I B  Mass moment of inertia about B = mr
2
 Rr 
(   )     , & sin  
 r 
3 2 Rr   2g 
 mr     mgr  0 Or      0
2  r   3( R  r ) 
2g 1 2g
 ωn = & fn =
3(R - r) 2π 3(R - r)
 d
 K .E  P.E   0
O
(ii) Energy method :
dt
 1
R Rotational K.E of pulley about 'B'= I B (   ) 2
A' 2
 Rr 
r

B

C r
D
But (   )  
 r


 , I B 
3
2
 mr 2

 3 2 ( R - r )2 2 3
mg A  K.E = mr 2
  m(R - r) θ
2 2

4 r 4

P.E of cylinder  mg(R - r)(1 - cosθ). For a conservative system,

 K .E  P.E   0   m( R - r ) 2 2  mg ( R - r )(1- cos  )   0

d d 3
dt dt  4 
3
Hence m( R  r ) 2 2  mg ( R  r )(sin  )  0
4
3
For small oscillations, sin     ( R  r )  g  0
2
2g 1 2g
 ωn = & fn =
3(R - r) 2π 3(R - r)
 Numerical Problem 14

Determine the frequency of oscillation of a

semicircular homogeneous disk of radius R and
mass M shown in fig.

R
M
 O
r Note : The distance of the cg of a semicircular disk
CG
  4R 
of radius 'R' about its cenetr 'O' is  
 3 
Mg
r =(4R/3

(i) Newton's method :

Taking moments about 'O' Inertia torque +Restoring Torque =0
1  4R 
i.e. I O  Mg (r )  0  MR   Mg 
2
  0
2  3 
 8g  8g 1 8g
    0  ωn = & fn =
 3 R  3πR 2π 3πR
 Note :
O
The vertical displacement of cg w.r.t its equilibrium
r
CG

position due to rotation of the disk through an angle  is;
4R
 r  r cos    r 1  cos    (1  cos  )
Mg 3
r =(4R/3
(ii) Energy method :
1 11  1
Rotational K.E of disk about 'O'= I O 2   MR 2   2  MR 2 θ 2
2 22  4
 4R 
Potential energy of disk =Mgr(1  cos  )  Mg   (1 - cosθ)
 3π 
d d 1  4R  
For a conservative system, K . E  P . E   0   MR 
2 2
 Mg   (1- cos  )  0
dt dt  4  3  
1  4R 
Hence MR 2 2  Mg   (sin  )  0. For small oscillations, sin   
4  3 
 8g  8g 1 8g
Hence       0  ωn = & fn =
 3 R  3 R 2π 3 R
 Numerical Problem 15

A homogeneous cylinder of mass m & radius r is suspended

by a spring of constant ‘k’ N/m and an inextensible cord as
shown in fig. Find the natural frequency of vibration of the
cylinder.

r m
 (i) Newton's method :
k Taking moments about 'A'
r m Inertia torque +Restoring Torque =0
i.e. I A  kx(2r )  0
x =2r  

3 2
But I A  Mass moment of inertia about A = mr
2
From the geometry of the arrangement , x  2r
3 2  8k 
 mr   4kr   0 Or       0
2

2  3m 
8k 1 8k
 ωn = & fn =
3m 2π 3m
 d
(ii) Energy method :  K .E  P.E   0
dt
k
1
K.E=Rotational K.E of pulley about 'A' = I A 2
r m 2

But I A   Mr   K.E =  Mr 2  θ 2
x =2r  3 3
2

2 4
1 2 1
P.E of spring  kx  k (2r ) 2  2kr 2 θ 2
2 2
d 3 2 2

dt  4
 Mr    2kr    0
2 2


3   8k 
  M  2  2k (2 )  0 Or      0
4   3M 
8k 1 8k
 ωn = & fn =
3m 2π 3m
Assignment: Determine the natural frequency of the
following systems shown in figs (a) & (b) below.

3 kg

O
0.4 m
b k
K=1kN/m a
0.2 m
l
k

K=1kN/m
m

Fig (a) Fig (b)