Chapter One

Single degree of Freedom Free

Oscillations
Mechanical Vibrations: Study of repetitive motion. Such motion results
from continuous exchange of potential and kinetic energy.
Elements of Mechanical Vibrations Model: The mechanical vibration
model composed of three main elements or components
• Kinetic energy storing element, (mass).
• Potential energy storing element, elastic springs, field potential,
usually gravity.
• Dissipation energy element, such as viscous dampers, coulomb
friction, structural damping….., etc.
To have a repetitive motion at least there should be kinetic and
potential energy storage elements.

Modeling: Replacement of actual physical system with interconnected

equivalent vibration elements (springs, masses and dampers) to
represent approximately the physical system. Certain assumptions
usually employed to facilitate the problem.
Springs:

𝐹 E, A, L 𝐹

𝐹 𝑥 𝐴𝐸
𝜎 = 𝐸𝜖 → = 𝐸 → 𝐹 = (𝐴𝐸/𝐿)𝑥 → 𝑘 =
𝐴 𝐿 𝐿
J, G, L, c T

𝑇𝑐 𝜙𝑐 𝐽𝐺 𝐽𝐺
𝜏 = 𝐺𝛾 → =𝐺 →𝑇= 𝜙→𝑘=
𝐽 𝐿 𝐿 𝐿
𝐶𝑙𝑎𝑚𝑝𝑒𝑑 − 𝑐𝑙𝑎𝑚𝑝𝑒𝑑:
𝐸𝐼 𝐸𝐼
𝑎 𝐹 = 192 3 𝑥 → 𝑘 = 192 3
𝑙 𝑙 𝑎
𝐸, 𝐹
𝐼,
𝑃𝑖𝑛𝑛𝑒𝑑 − 𝑝𝑖𝑛𝑛𝑒𝑑 𝐸, 𝐹
3𝐸𝐼𝑙 𝐼,
𝑙 𝐹= 2 𝑥→ 𝑙
𝑙−𝑎 𝑎 (𝑙 − 𝑎)2
3𝐸𝐼𝑙 𝑙−𝑎
𝑘= 2
𝑎 (𝑙 − 𝑎)2
 Springs: In vibration modeling springs are mass less elastic
elements, the ratio of the applied force to the corresponding
deflection or the slope of the force deflection plot is called
spring stiffness.
ΔF
Oscillation around 𝑥 = 𝑥𝑜 = 0 → 𝑘 = |𝑥𝑜 =0 F, [N]
Δx
1 2
𝐹 = 𝑘 𝑥, 𝑉𝑒 = 𝑘𝑥
2 x, [m]
k

k, [N/m]=slope
Linearization:.
ΔF F, [N]
Oscillation around 𝑥 = 𝑥𝑜 ≠ 0 →𝑘= |𝑥𝑜
Δx
𝑥 = 𝑥𝑜 x, [m]
Spring or elastic force 𝐹 is a function of the deflection 𝑥
measured from the equilibrium point 𝑥 = 𝑥𝑜 .
Springs in series and parallel connections:
𝑘1

𝑘2 𝐹1 𝐹2 𝐹𝑛
F 𝑘3 F 𝐹 𝐹
𝑘𝑛 𝑘1
𝑘2, 𝑘𝑛
Springs in parallel connections. Springs in series connections.
𝐹 = 𝑘1 𝑥 + 𝑘2 𝑥+. . .𝑘𝑛 𝑥= 𝐹 = 𝑘1 𝑥1 = 𝑘2 𝑥2 =, … =𝑘𝑛 𝑥𝑛
𝑘1 + 𝑘2 +. . .𝑘𝑛 𝑥 = 𝑘eq 𝑥 𝐹
𝑥 = 𝑥1 + 𝑥2 +. . . +𝑥𝑛 =
𝑘eq = 𝑘1 + 𝑘2 +. . .𝑘𝑛 𝑘eq
𝐹 𝐹 𝐹 𝐹
𝑥= + +. . . + =
𝑘1 𝑘2 𝑘𝑁 𝑘eq
𝑘1 𝑘2 𝑘3 . . .𝑘𝑛
𝑘eq =
𝑘1 + 𝑘2 + 𝑘3 +. . . +𝑘𝑛
1
𝐹 = 𝑘eq 𝑥; 𝑉𝑒 = 𝑘eq 𝑥 2
2
Mass: The mass used here represent equivalent lumped mass of a distributed one
in the mechanical system, it is an effective mass, or effective polar mass moment
of inertia. The mass is the only mean to store kinetic energy.

𝑚 𝑚
𝑉
. .
𝑂 .
𝑚 = 𝑚𝑒𝑞 𝜃 𝜃

1 𝑚𝑒𝑞 =𝐽𝑜
𝑇 = 𝑚𝑒𝑞 𝑉 2
2 1 2
1 .2
𝑇 = 𝑚𝑒𝑞 𝑉 = 𝐽𝑜 𝜃
2 2

𝑂
.
𝑚 𝐽𝑜 𝜃, 𝜃

1 2
1 .2
𝑇 = 𝑚𝑒𝑞 𝑉 = 𝐽𝑜 𝜃
2 2
Viscous Damper: Is an Energy dissipation element. The force act in
a viscous damper is proportional to the velocity. The
constant of proportionality is the damping coefficient c,
[N.s/m].

Equivalent damper for a group of dampers in series or parallel follow the same
rule as springs.
Examples: Model the following cantilever beam by an equivalent lumped mass at its
,
tip
,
and an equivalent spring (single degree of freedom system).
𝑦 𝑥 , and k have expressions you found in the material mechanics textbook
Equivalent mass of actual spring (Coil).
Find the equivalent mass of the spring at point A,
where y  l , if the mass of the spring per unit length
is m . First find the Kinetic. Energy of the spring

1 1
dT  dm[ x( y )]2  (mdy )[ x( y )]2 , (1-9)
2 2
Undamped Free Vibration Model:
No damping exists, and free since there is no external excitation

𝐹, 𝑁
Equilibrium position:
𝑚𝑔 + 𝑘𝛿 = 0
Undamped Free Vibration Model (cont’ed): The system vibrates because of initial
disturbance called initial conditions. These are initial displacement , velocity or
both displacement and velocity . If we select the position reference at the
equilibrium point, the static deflection force 𝑘 Δ𝑥 will cancel the weight 𝑊, (𝑊
= 𝑚𝑔), So whenever the reference datum we use to measure the motion is located
at the equilibrium position do not include the weight force .
Steps to write the equation of motion
1) Draw free body diagram,
Isolate the mass, chose
coordinate system and indicate
the positive direction,
determine whether gravity is
included or not.
Indicate (Draw) all forces act on the
body. Draw the inertia force in the
opposite positive direction.
2. Sum all forces: The summation of all
Equilibrium position 𝑘(𝑥 + 𝛿)
forces including the inertia is zero.
෍ 𝐹 = 0: 𝑚𝑔 − 𝑘 𝑥 + 𝛿 − 𝑚𝑥ሷ = 0 𝑚

𝑚𝑔 + 𝑘𝛿 = 0: eq. position
x, 𝑥,ሶ 𝑥ሷ
(𝑚𝑔 + 𝑘𝛿) − 𝑘 𝑥 + 𝛿 − 𝑚𝑥ሷ = 0 𝑚𝑥ሷ + 𝑘𝑥 = 0 𝑚𝑔 𝑚𝑥ሷ
Draw the inertia force in the opposite positive direction.
2) Sum all forces: The summation of all forces including the inertia is zero.

3)Find the solution.

𝑘
𝑥 𝑡 = 𝐴 cos 𝜔𝑛 𝑡 + Φ , 𝜔𝑛 = , 𝑟𝑎𝑑/𝑠 (1-2a)
𝑚
,

Where, 𝜔𝑛 is called the natural frequency of the system, and Φ is some

phase angle. The amplitude A and the phase angle Φ are to be determined
from given initial conditions. As you notice the solution is harmonic. That is
it contains sinusoidal term with only one frequency, .
4) If the Initial conditions are given, lets say x(0)=𝑥0 , 𝑥ሶ 0 = v0 . Find A and
Solution
x(t)=A cos(nt  ), (1-2a) x(0)  x0  A cos(0  )  A cos() (1-2b)

x(t )  n A sin(nt  ), x(0)  v0  n A sin() (1-2c)

x 0  A cos()  v0 1 ( v 0 )  tan 1 ( v 0 )
   n tan( ),    tan
v 0  n A sin()  x0 n x 0 n x 0
(1-2d)
 v0  2 2  2x 2
 A sin()  v v n 0
n 2 0 2
  A  2  x0  A 
0
  2
x 0  A cos()  n n

v0  2 2  2x 2
 A sin()  v v n 0
n 2 0 2
  A  2  x0  A 
0
  2
x 0  A cos()  n n
The solution is, v02  n2 x02
cos(n t  tan 1(
v0
x(t)= ))
n2 n x0

This solution is called undamped free

solution
1) Draw the solution.
Given m  9kg , k  81 N / m, x(0)  1 and x(0)  2, the solution is

x(t)=1.2 cos(3t  0.588)

Where,
49
,   tan 1 (
81 v0
n   3 rad / s , A  1.2 m , )  0.588 rad .
9 9 n x 0

v max
v 0  2m /s

x (t ), m A  1.2 m

x 0  1, m

t ,s

1 2
T   ,s
f 3
7) Draw the velocity v(t), and displacement, x(t) and on the same p

8) Add the acceleration a(t )  x (t )

v (t)

x(t)

t, s
9) Notice the amplitude of v(t), x(t), and a(t)and notice the phase shift between them. what is
the value of A for which the x (t )  v (t )  a(t )
Free Damped Vibrations:
Besides the spring- mass element model used
to model the un-damped system, for damped
systems we need to add some kind of energy
dissipation. The easiest way is to consider
the viscous damper, the force in the viscous
damper at any moment is proportional to the
velocity of the moving mass.
Find the solution for the displacement of
the mass m, x(t).

Step 1. Draw FBD

1) Isolate the mass block .
2) Assign coordinate axis with positive
direction.
3) Draw all external forces acting on the .
4)Draw inertia force with direction
opposite to the positive assigned
direction.
5) Summation of all forces should be zero.
Step 2. Apply Newton Law
 Fx  0 , cx  kx  mx  0 , (1-3a)
mx  cx  kx  0. (1-3b)
This is homogeneous ODE, homogeneous since the right hand side is
zero. Its solution is transient one, which decays with time.

Step 3. Find the solution of this equation of motion.

1) Assume the solution is
x(t )  aet , x(t )  aet , x(t )  a 2et . (1-3c)
Substitute in the equation of motion to get the characteristic equation.
m  2  c   k  0 , (1-3d)

2) Find values of  that satisfy the characteristic equation.

c  c 2  4mk
1,2  ,
2m
the radical B  c  4mk is called discriminate,
2

and 1,2 are called eigenvalues.

3) Three values possible for B,
1) B  0,  1 and 2 are real distinct numbers.
2) B  0,  1 and 2 are repeated real numbers,
B  c2  4mk  0  c  2 mk  cr . (1-3e)
This damping coefficient is called critical damping.
Lets define a dimensionless damping ratio as
c c c
   .
c r 2m n 2 km
𝜁𝜔𝑛
𝜁𝜔𝑛
Use Euler formula, e zjt  cos(zt )  j sin(zt )
n  t n j ( 1 2 )t  j n ( 1 2 )t
x (t )  e (ae  be )

x (t )  e n  t (a[cos(n ( 1   2 )t )  j sin(n ( 1   2 )t )]

b [cos(n ( 1   2 )t )  j sin(n ( 1   2 )t )])

x(t )  en t ([a  b]cos(n ( 1   2 ) t )  [a  b] j sin(n ( 1   2 ) t )))

A1 d A2 d

x (t )  e n  t (A1 cos(d t )  A 2 sin(d t )) , (1-4)

Where d  n ( 1   2 ) is the damped natural frequency of
the system. A1 and A 2 are constants to be determined from
the initial conditions.

Note the last solution is harmonic, it could be written as

x (t )  e n  t A cos(d t  ) , or x (t )  e n  t D sin(d t  ) , (1-5a)

Where
A2
1
  tan ( ) and A  Ai2  A 22
A1
1 A1
or   tan ( ) , D  D12  D 22 , (1-5b)
A2
Apply Initial Conditions: x (0)  x 0 , x (0)  v 0
Substitute these initial conditions into the last
solution to get, two algebraic equations in terms of A1 and A2.

x (0)  x 0  A1 cos(0)  A2 sin(0)  A1  A1  x 0

n  t
x (t )  n  e (A1 cos(d t )  A 2 sin(d t ))
e n  t (d A1 sin(d t )  d A 2 cos(d t ))

x (0)  v 0  n  A1  d A2

v 0  n  x 0
A2  , (1-5c)
d
So the solution is,

v 0  n  x 0
x (t )  e n  t (x 0 cos(d t )  sin(d t ))
d
v  n  x 0 2
x (t )  e n  t x 02  ( 0 ) sin(d t  )
d
n t 1 x0d
1
x(t )  e x02d2  (v0  n x0 ) sin{d t  tan (
2
)} , (1-5d)
d v0  n x0
 Draw the solution for
  0.1,0.3,0.6, n  4 rad / s, ,
x0  1 m, v0  1m / s
You need to find A and 
x(t)
3
2.0 11
0.5
 2 2
 n t ( x0  wd )  ( v0  z wn  x0 ) 
2 e 
wd
x(t)
1
n( wd t ph)

0 0.0 2 0.0 4 0.0 6 0.0 8 0.1 0.1 2

x( t )
1 t,s

 2.0 11
 Set up your conclusions
x(t), [m]  about the effect of  on the response x(t ) .
 Initial conditions on the starting point location and
slop.

t, [s]

0.6
0.3

  0.1
Case 2: Over damped motion,   1,
1  n (   2  1), 2  n (   2  1) ,

n t (n  2 1)t (n  2 1)t

x(t )  e (ae  be ) , (1-6a)

For x(0)  x0  1, x(0)  vo , Find a and b.

x(0)  x0  a  b ,, (1-6b)
n t (n  2 1)t (n  2 1)t
x(t )  n e {a e  be }
, (1-6c)
n t (n  2 1)t (n  2 1)t
e {a e  be }(n  2  1)
x(0)  n {a  b}  {a  b}(n  2  1)
, (1-6d)
 {n  n  2  1}a  {n  n  2  1}b  v0
Solve equations 1 and 2 to find a and b.

v0  (   2  1)n x0 v0  (   2  1)n x0

a , b , (1-6e)
2(n  2  1) 2(n  2  1)
Case3: Critically damped motion,
  1, c  ccr , 1  2  n
The solution is
n t
x (t )  (A1  A2t )e , (1-7)
Apply the initial conditions to find A1 and A 2 .
Draw the solution for   1,   1.1,   1.2 , n  125.66,
and x0  0 m, v0  0.6 m / s ,

{125.66(1)  125.66 12  1}1  0.6 v0  (n  n  2  1) x0

a , b
2(125.66 12  1) 2(n  2  1)
Problem:
Solve in Class
Consider the system shown below, which consists of a uniform rigid bar OA that is welded to a
uniform disk. The composite system is pinned to ground at point 0. Using the parameters
indicated in the figure, determine a) the equation of motion for the system in terms of the
angular coordinate  t  and b) the critical damping constant.

c2 (3r )
c1(r )
Eq.
Oy Position
 J

Ox

k (r ) x
 Mo  J , , (1-8a)
m 9m
J  Jdisk  Jrod  (1/ 2)(m1)r2  (1/ 3)m2 (3r )2  r2 ( 1  2 ) , (1-8b)
2 3
m 9m
c1(r )r  k (r )r  c2 (3r )3r  r2 ( 1  2 ) ,  , , (1-8c)
2 3
m 9m
r 2 ( 1  2 )  r 2 (c1  c2 9)  r 2 k   0 , (1-8d)
2 3

Write these equations in terms of x,

x  3r ,   x / 3r such that,
 m1 9m2
(  )  (c1  c2 9)  k   0
2 3

1 1 , (1-8e)
m 9m 1 x  (c 
1 2c 9) x  ( k ) x  0 ,
( 1  2) 3r 3r
2 3 3r
ceq keq
meq

(c1  c2 9) k
x  x ( ) x  0 , (1-8f)
m1 9m2 m1 9m2
(  ) (  )
2 3 2 3
2eq n n2
This is exactly the same equation of motion of the equivalent
linear system with mass m  meq , k  keq and c  ceq .
Notice we found the equivalent spring stiffness keq ,
the equivalent mass meq and the equivalent damping ceq
as well as eq are based on the linear displacement coordinate x.
Energy Methods:

undamped systems (c=0), Total energy is conserved

𝑑𝐸 𝑑𝑇 𝑑𝑉
𝐸 = 𝑇 + 𝑉, =0= +
𝑑𝑡 𝑑𝑡 𝑎𝑡

Example: A bar is hanging in equilibrium in the position shown in Figure 2.14(a).

Determine the governing equation of the bar in terms of the counterclockwise angular
position of the bar from its equilibrium position
a) As the bar swings through an angle ,
as illustrated , the mass center is a
distance

Datum

and has a potential energy with respect to the datum of

1
and the kinetic energy is 𝑇 = 𝑗𝑜 𝜃ሶ 2
2
1 𝐿 𝐿
ሶ 2
𝐸 = 𝑗𝑜 𝜃 + 𝑚𝑔( + 1 − 𝑐𝑜𝑠𝜃 )
2 2 2
𝑑𝐸 𝐿
ሶ ሷ + 𝑚𝑔 𝜃𝑠𝑖𝑛𝜃
= 0 = 𝑗𝑜 𝜃𝜃 ሶ )
𝑑𝑡 2
𝐿
0 = 𝑗𝑜 𝜃 ሷ + 𝑚𝑔 𝑠𝑖𝑛𝜃 ) 𝐿 𝐿
2 𝑗𝑜 𝜃ሷ + 𝑚𝑔 𝜃 = 0 𝜔𝑛 = 𝑚𝑔
2 2𝑗𝑜
 Lagrange Method (Energy
Method)
𝑻: is the total kinetic energy

𝑼: is the total potential energy

𝑳=𝑻−𝑼

𝑳: is called Lagrange multiplier

𝒅 𝝏𝑳 𝝏𝑳
− =𝟎
𝒅𝒕 𝝏𝒒ሶ 𝝏𝒒

𝒒: is the generalized coordinate

Example: A bar is hanging in equilibrium in the position shown in Figure 2.14(a).
Determine the governing equation of the bar in terms of the counterclockwise angular
position of the bar from its equilibrium position

Datum

𝒒 = 𝜽ሶ
𝟏 𝟏 𝟏 𝟏 𝑳 𝟐 𝟏
𝑻= 𝑱𝑮 𝜽ሶ 𝟐 + 𝒎 𝒗𝟐 = 𝑱𝑮 𝜽ሶ 𝟐 + 𝒎 ( 𝜽)
ሶ = 𝑱𝒐 𝜽ሶ 𝟐
𝟐 𝟐 𝟐 𝟐 𝟐 𝟐
𝟏 𝟏 𝟏 𝑳
𝑻 = 𝑱𝒐 𝜽ሶ 𝒐𝒓 𝑻 = 𝑱𝑮 𝜽ሶ + 𝒎 𝒗
𝟐 𝟐 𝟐 𝑼 = 𝒎𝒈( (𝟏 − 𝒄𝒐𝒔𝜽)
𝟐
𝟐 𝟐 𝟐
𝟏 𝑳 𝝏𝑳 𝒅 𝝏𝑳
𝑳=𝑻−𝑼= 𝑱𝒐 𝜽ሶ 𝟐 − 𝒎𝒈( 𝟏 − 𝒄𝒐𝒔𝜽 , = 𝑱𝒐 𝜽,ሶ = 𝑱𝒐 𝜽ሷ
𝟐 𝟐 𝝏𝒒ሶ 𝒅𝒕 𝝏𝒒ሶ

𝝏𝑳 𝑳 𝒅 𝝏𝑳 𝝏𝑳 𝑳 𝑳
= 𝒎 𝒈 𝜽, − = 𝟎, 𝑱𝒐 𝜽ሷ − −𝒎𝒈 𝜽 = 𝟎 ሶ
𝑱𝒐 𝜽 + 𝒎 𝒈 𝜽 = 𝟎
𝝏𝒒 𝟐 𝒅𝒕 𝝏𝒒ሶ 𝝏𝒒 𝟐 𝟐
Example: Assume the wheel rolls without slipping, write the equation
of motion using the energy method.

A
Nonlinear system;Coulomb friction: Bilinear system

1 2
0

x(t)

-1.5

-0.5

0.5

1.5
-2

-1

2
Free body Diagram 0

i=1
 2
1 n
2 2
0
n
3 2

i=2
1 n
4 2

t, [s]
n 0
5

i=3
1 n
6
n
2 mgn
Slope 
k

Linear system: single equilibrium point.

Pendulum: infinite number of equil. points exists.

 First Cycle: 𝑖 = 1
First half of a cycle 𝑥 = 𝑥2𝑖 . First half of first cycle, 𝑖 = 1: 𝑥 = 𝑥2
second half of a cycle 𝑥 = 𝑥2𝑖+1 .. second half of first cycle 𝑖 = 1: 𝑥 = 𝑥3
Even numbers for 1st half
Odd numbers for 2ed half
For paths (1  2  0), ( i) / n  t   (i  1) / n , i  1, 2,3,... ,
mx 2i 1  kx 2i 1   mg , x 2i 1  0, Paths (1  2  0),
find the constants of integration A2 , 2 .
The initial conditions are x2 (0)  x0 , x2 (0)  0.

x 2 (0)  A2n sin(2 )  0,

 2  0

This solution continues till d x2/dt=0, at

  mg 2 mg 3 mg
x3 ( / n )   A3 cos( n  / n   )   x0  , A3  x 0 
k k k
  mg 3 mg
x 3 (t )  (  x 0 ) cos(n t   )
k k

The solution for entire first cycle is

The frequency of oscillations is the same as the

frequency of un-damped oscillations
Region of equilibrium positions
 Stability
For any initial condition. The solution is said to be stable for any value of time if ,

m, c and k are all positive physical

values, hence, the solution is
stable for any initial conditions

stable system

Asymptotically stable systems

 Stability

If for other system the value of k is negative and m is positive, the solution
would be

Which no longer bounded for any time, instead increases without bound as t increases. |x(t)|
is no longer remain finite, and such solution is called unstable or divergent

Divergent
instability

Flutter
instability
 Example: Inverted pendulum

Equation of motion: use either Lagrange or Newton’s method

Linearize,

Rearrange,
Spring Stiffness: can be found
knowing the geometry and 3
0 . 01

material. (E ,I, L, G,… etc.) 0 . 00 7 5

7 . 98 41 0

x(t1)

0 . 00 5 x(t2 )
x(t3 )
 z t wn 0 . 00 2 5 x(t4 )
e  xx sin( wd t p h)

 z t wn x ,[m] t2
e  xx
0 t1 0 . 05 0 . 1t3 0 . 15t4 0.2 0 . 25 0.3 0 . 35 0.4
 z t wn
e  xx
0 . 00 2 5 t ,[s]

0 . 00 5

0 . 00 7 5
Damping Coefficient:
 7 . 98 41 0
3

0 . 01

0 t .4
 0 . 01
3
7 . 98 41 0
0 . 00 7 5 x(t1)

0 . 00 5 x(t2 )
x(t3 )
 z t wn 0 . 00 2 5 x(t4 )
e  xx sin( wd t p h)

 z t wn x ,[m] t2
e  xx
0 t1 0 . 05 0 . 1t3 0 . 15t4 0.2 0 . 25 0.3 0 . 35 0.4
 z t wn
e  xx
0 . 00 2 5 t ,[s]

0 . 00 5

0 . 00 7 5
3
 7 . 98 41 0
0 . 01

After one period T the time is t2  T  t1 it would be

0 t .4

x (T  t )  Xe n [T t1 ] cos( [T  t ]   ) .

1 d 1
The logarithmic decrement is defined as
n t
X e cos(d t   ) e n t
 enT
x (t )
  ln( ) 
x (T  t ) X e n [T t ] cos(d [T  t ]   ) e n t e nT
0 . 01
3
7 . 98 41 0
0 . 00 7 5 x(t1)

0 . 00 5 x(t2 )
x(t3 )
 z t wn 0 . 00 2 5 x(t4 )
e  xx sin( wd t p h)

 z t wn x ,[m] t2
e  xx
0 t1 0 . 05 0 . 1t3 0 . 15t4 0.2 0 . 25 0.3 0 . 35 0.4
 z t wn
e  xx
0 . 00 2 5 t ,[s]

0 . 00 5

0 . 00 7 5
3
 7 . 98 41 0
0 . 01

2 2 
   n  ,  
0 t .4

n 1   2 1  2 4 2   2

For higher accuracy we may have more than one cycle

 0 . 01
3
7 . 98 41 0
0 . 00 7 5 x(t1)

0 . 00 5 x(t2 )
x(t3 )
 z t wn 0 . 00 2 5 x(t4 )
e  xx sin( wd t p h)

 z t wn x ,[m] t2
e  xx
0 t1 0 . 05 0 . 1t3 0 . 15t4 0.2 0 . 25 0.3 0 . 35 0.4
 z t wn
e  xx
0 . 00 2 5 t ,[s]

0 . 00 5

0 . 00 7 5
3
 7 . 98 41 0
0 . 01

0 t .4
 Consider the system of Figure 2.40(a). Let x
describe the downward displacement of m1
from the system’s equilibrium position.
(a) Derive the differential equation governing
x(t).
(b) Determine the reaction at the center of the
disk at the pin support in terms x(t), dx/dt and
dx^2/dt^2
At equilibrium: Summing moments about the
pin support to zero with positive moments Static Equilibrium
counterclockwise leads to
Use of Equation (a) in Equation (c) gives