Chapter 4

Damped Oscillation

I N the previous chapter we studied the case of simple harmonic oscillation with
the assumption of no losses due to the surrounding. This assumption will not be
valid in real life problems where losses are present due to, for example, friction and
air resistance. In this chapter, we will take into account the effect of losses on
oscillation in mechanical systems represented by the mass spring system.
 Chaptera4 Damped Oscillation

4.1 Un-damped system

If there is no friction, the total energy T.E. of a vibrating body naturally remains
unchanged for vibrations about its equilibrium position. Since potential energy is
usually expressed relative to an arbitrary level, we shall assume that the potential
energy in the equilibrium position (displacement x =0) is equal to zero. At any
instant for motion, the total energy is
1 1
𝑇. 𝐸 = 𝑚𝑥̇ 2 + 𝐾𝑥 2 (4.1)
2 2
At the equilibrium position, the kinetic energy is maximum. At the end of
the oscillation path, the body comes to stand still with 𝑥̇ = 0 and 𝑥 = 𝐴 and the
potential energy is maximum. It is evident from this that
1
𝑇. 𝐸 = 𝐾𝐴2 (4.2)
2
i.e. the vibrational energy is proportional to the square of amplitude.
4.2 Damped Oscillation
In real systems, non-conservative forces are present. Friction is a common
non-conservative force in which case the mechanical energy of the system
diminishes with time, and the motion is said to be damped. Figure (4.1) is an
example of a damped motion where an object is attached to a spring and submerged
in a viscous liquid.

Figure (4.1) An example of a damped mass-spring system.

In many practical cases, the dynamic friction (retarding) force is proportional to the
velocity of the moving object and is always in the reverse direction of the object
velocity.

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 Damped Oscillation Chapter 4

To analyze the system, the damping force 𝐹𝑑 must be known for every
instant of time during which vibrations occur. A simplifying assumption is that the
frictional force is proportional to the speed of motion:
𝐹𝑑 = −𝑟𝑥̇ (4.3)
Where 𝑟 is a coefficient known as the resistance constant or damping coefficient
(unit: 𝑁𝑠/𝑚).
The vibrating particle continuously loses an amount of energy equal to the
work of the resisting force. So this frictional force must be added to the restoring
force and thus the total force that acts on the particle is given by:
𝐹𝑇 = 𝐹𝑠 + 𝐹𝑑 = −𝑘𝑥 − 𝑟𝑥̇ (4.4)
Hence, Newton's second law can be written as:
𝑚𝑥̈ = −𝑘𝑥 − 𝑟𝑥̇ (4.5)

Equation (4.5) can be written in the form

𝑘 𝑟
𝑥̈ = − 𝑥 − 𝑥̇ (4.6)
𝑚 𝑚
𝑘 𝑟
Put 𝑚
= 𝜔02 , and let 𝑚
= 2𝛽, where 𝜔02 and 𝛽 are positive quantities. Thus eq.

(4.6) will be:

𝑥̈ = −𝜔02 𝑥 − 2𝛽𝑥̇ (4.7)

To solve this equation, assume a solution of the form:

𝑥 = 𝑍 𝑒 −𝛽𝑡 (4.8)

Then 𝑥̇ = 𝑍̇ 𝑒 −𝛽𝑡 − 𝛽𝑍𝑒 −𝛽𝑡 and 𝑥̈ = 𝑍̈ 𝑒 −𝛽𝑡 − 2𝛽𝑍̇𝑒 −𝛽𝑡 + 𝑍𝛽2 𝑒 −𝛽𝑡
Substituting in the differential equation (4.7) we get:
𝑍̈𝑒 −𝛽𝑡 − 2𝛽𝑍̇𝑒 −𝛽𝑡 + 𝑍𝛽2 𝑒 −𝛽𝑡
(4.9)
= −𝑍𝜔02 𝑒 −𝛽𝑡 + 2𝑍𝛽2 𝑒 −𝛽𝑡 − 2𝛽𝑍̇𝑒 −𝛽𝑡
This gives

𝑍̈ − 2𝛽𝑍̇ + 𝑍𝛽2 = −𝑍𝜔02 + 2𝑍𝛽2 − 2𝛽𝑍̇ (4.10)

And finally

55
 Chaptera4 Damped Oscillation

𝑍̈ + (𝜔𝑜2 − 𝛽2 )𝑍 = 0 (4.11)

Depending on the relation between 𝛽2 and 𝜔𝑜2 , the motion can take one of three
forms, depicted in Figure (4.2).

Figure (4.2): (a) Under damped, (b) Critically damped, (c) Over damped system.

Case 1: Under damped oscillation ( 𝜷 < 𝝎𝒐 )

In this case, Equation (4.11) can be written as
𝑍̈ = −𝜔𝑑2 𝑍 (4.12)
where 𝜔𝑑 is called the damped angular frequency and given by:

𝜔𝑑 = √𝜔02 − 𝛽2 (4.13)

Equation (4.12) is like the differential equation of a simple harmonic motion which
has a solution of the form
𝑍 = 𝐴𝑐𝑜𝑠(𝜔𝑑 𝑡 + 𝜑) (4.14)

Use this in Equation (4.8) to get the displacement as:

𝑥 (𝑡) = 𝐴𝑒 −𝛽𝑡 𝑐𝑜𝑠(𝜔𝑑 𝑡 + 𝜑) (4.15)

where A is constant. This solution is depicted as curve (a) in Figure (4.2). Now the
system oscillates with angular frequency
𝜔𝑑 = √𝜔02 − 𝛽2 (4.16)

Apparently, the system oscillates in this case with a frequency 𝜔𝑑 that is slightly
smaller than its natural frequency 𝜔𝑜 and with an amplitude 𝐴𝑒 −𝛽𝑡 that decays with

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 Damped Oscillation Chapter 4

time until it vanishes as shown in Figure (4.3). This kind of oscillation is termed
under damped vibration.

𝐴𝑒 −𝛽𝑡

Figure (4.3) A graph of 𝒙(𝒕) = 𝑨𝒆−𝜷𝒕 𝒄𝒐𝒔 𝝎𝒅 𝒕 , illustrating the decay in

amplitude of a damped harmonic oscillator. The dotted lines represent
the 𝒆−𝜷𝒕 factor, which forms an envelope of the oscillations.

A graph of 𝐴𝑒 −𝛽𝑡 cos 𝜔𝑑 𝑡 is also shown in Figure (4.3) where the steady decrease in
the amplitude of oscillation is apparent. The dotted lines represent the 𝐴𝑒 −𝛽𝑡 factor
which forms an envelope for the oscillations. The zeros in x occur when cos 𝜔𝑑 𝑡 is
zero and so are separated in time by 𝜋⁄𝜔𝑑 . Therefore, the period of the oscillation
𝑇𝑑 is equal to twice this separation, i.e. 𝑇𝑑 = 2𝜋 ⁄𝜔𝑑 . Successive maxima are also
separated by 𝑇𝑑 . Consider successive maxima 𝐴𝑛 and 𝐴𝑛+1 . If 𝐴𝑛 occurs at time
𝑡𝑜 then
𝐴𝑛 = 𝑥(𝑡0 ) = 𝐴𝑒 −𝛽𝑡0 cos 𝜔𝑑 𝑡0 (4.17)
And
𝐴𝑛+1 = 𝑥 (𝑡0 + 𝑇𝑑 ) = 𝐴𝑒 −𝛽(𝑡0+𝑇𝑑 ) cos 𝜔𝑑 (𝑡0 + 𝑇𝑑 ) (4.18)
Since cos 𝜔𝑑 𝑡0 = cos 𝜔𝑑 (𝑡0 + 𝑇𝑑 ) we have
𝐴𝑛
= 𝑒 𝛽𝑇𝑑 (4.19)
𝐴𝑛+1

Note that the larger amplitude occurs in the numerator of this expression.

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 Chaptera4 Damped Oscillation

We can see that successive maxima decrease by the same fractional amount. The
natural logarithm of this ratio is
𝐴𝑛
𝛿 = ln ( ) = 𝛽𝑇𝑑 (4.20)
𝐴𝑛+1
where 𝛿 is called the logarithmic decrement and is a measure of this decrease. A
larger 𝛿 means a quicker drop of the amplitude of the oscillatory motion. It is easy to
prove that after 𝑁 cycles, the amplitude is reduced by the factor 𝑒 −𝑁𝛽𝑇𝑑 .

Case 2: Critically damped motion ( 𝜷 = 𝝎𝒐 )

In this case, Equation (4.11) is reduced to
𝑍̈ = 0 (4.21)

You can integrate twice w.r.t. time to find that

𝑍 = (𝑑1 + 𝑑2 𝑡) (4.22)

In this case Equation (4.8) gives the displacement as

𝑥 (𝑡) = (𝑑1 + 𝑑2 𝑡)𝑒 −𝛽𝑡 (4.23)
This solution is represented by curve (b) in Figure (4.2). This case is called critical
damping. Here the mass returns to its equilibrium position in the shortest possible
time without oscillating, as shown in Figure (4.2). Critical damping has many
important practical applications. For example, a spring may be fitted to a door to
return it to its closed position after it has been opened. In practice, Critical damping
is applied to the spring mechanism so that the door returns quickly to its closed
position without oscillating. Similarly, critical damping is applied to analogue
meters for electrical measurements. This ensures that the needle of the meter moves
smoothly to its final position without oscillating or overshooting so that a rapid
reading can be taken. Springs are used in motor cars to provide a smooth ride.
Damping is applied in the form of shock absorbers as illustrated schematically in
Figure (4.4). Without these, the car would continue to bounce up and down long
after it went over a bump in the road. A shock absorber consists essentially of a
piston that moves in a cylinder containing a viscous fluid. Holes in the piston allow
it to move up and down in a damped manner and the damping constant is adjusted so
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 Damped Oscillation Chapter 4

that the suspension system is close to the condition of critical damping. You can see
the effect of a shock absorber by pushing down on the front of a car, just above a
wheel. The car quickly returns to equilibrium with little or no oscillation. You may
also notice that the resistance is greater when you push down quickly than when you
push down slowly. This reflects the dependence of the damping force on velocity.

Figure 4.4: Schematic diagram of a car suspension system showing the spring and
shock absorber.

Case 3: Over damped system ( 𝜷 > 𝝎𝒐 )

In this case, Equation (4.11) can be written as 𝑍̈ = 𝛾 2 𝑍, where 𝛾 = √𝛽2 − 𝜔𝑜2 is

positive. The solution for this differential equation is 𝑍 = 𝑐1 𝑒 𝛾𝑡 + 𝑐2 𝑒 −𝛾𝑡 . (You
may check this solution by direct substitution). The displacement is obtained by
using equation (4.8) as:

𝑥 (𝑡) = 𝑒 −𝛽𝑡 (𝑐1 𝑒 𝛾𝑡 + 𝑐2 𝑒 −𝛾𝑡 ) (4.24)

Or
𝑥(𝑡) = 𝑐1 𝑒 −(𝛽−𝛾)𝑡 + 𝑐2 𝑒 −(𝛽+𝛾)𝑡 (4.25)
In this case, both terms in the solution given by Equation (4.25) will be
exponentially decaying terms but with different amplitudes and rates. The term with
amplitude 𝑐2 is decaying faster than that of amplitude 𝑐1 and thus after enough time,

59
 Chaptera4 Damped Oscillation

the system will be dominated with the term with amplitude c1. The term with
amplitude 𝑐1 is decaying slower than the critical damping case. Here, the resistance
is high and the system is very slowly approaching its equilibrium position as curve
(c) in Figure (4.2).

Choose the correct answer

1) Relation between the oscillation frequency of a damped system (w𝑑 ), and that of the
undamped system (wo) is (both have the same mass “m’ and restoring force constant
“k”):
A. wd > wo
B. wd < wo
C. wd = wo
D. they are not related

2) Relative to un-damped oscillation, in damping oscillation, there is a reduction in:

A. frequency
B. periodic time
C. amplitude
D. amplitude and periodic time
E. amplitude and frequency

3) In a mass-spring system, as friction increases ………….

A. The system goes from under damped to critically damped to over damped.
B. The system goes from over damped to critically damped to under damped.
C. The system goes from critically damped to over damped to under damped.
D. The system goes from over damped to under damped to critically damped.
Answer: (1-B), (2-E), (3-B), (4-A).

Solved Examples
1. A 5.0-kg block is attached to an ideal massless spring whose spring
constant is 125 N/m. The block is pulled from its equilibrium position at
x = 0.00 m to a position at x = +0.50 m and is released from rest. Find the
position of the block at any time if the damping constant is
(a) 20 kg/s,
(b) 50 kg/s, and
(c) 80 kg/s.

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Damped Oscillation Chapter 4

Solution:
𝜔𝑜 = √𝑘/𝑚 = √125/5 = √25 = 5 𝑟/𝑠
𝑟 20
(a) 𝛽 = 2𝑚 = 2(5) = 2 𝑠 −1 ➔ 𝛽 < 𝜔𝑜
So, 𝑥(𝑡) = 𝐴𝑒 −𝛽𝑡 cos(𝜔𝑑 𝑡 + 𝜙)
𝜔𝑑 = √𝜔𝑜2 − 𝛽 2 = √25 − 4 = 4.583 𝑟/𝑠
𝑥(0) = 0.5 ➔ 𝐴 cos 𝜙 = 0.5 –(1)
𝑑𝑥
𝑣 (𝑡 ) = = −𝛽𝐴𝑒 −𝛽𝑡 cos(𝜔𝑑 𝑡 + 𝜙) − 𝜔𝑑 𝐴𝑒 −𝛽𝑡 sin(𝜔𝑑 𝑡 + 𝜙)
𝑑𝑡
𝑣 (0) = 0 ➔ −𝛽𝐴 cos 𝜙 − 𝜔𝑑 𝐴 sin 𝜙 = 0
𝛽 2
tan 𝜙 = − 𝜔 = − 4.583 ➔ 𝜙 = −23.58° or 156.42°
𝑑
The second value of 𝜙 is rejected as it violates equation –(1)
0.5
From equation –(1), 𝐴 = cos(−23.58°) = 0.545 m
So, 𝑥(𝑡) = 0.545𝑒 −2𝑡 cos(4.583𝑡 − 23.58°) m

𝑟 50
(b) 𝛽 = 2𝑚 = 2(5) = 5 𝑠 −1 ➔ 𝛽 = 𝜔𝑜
So, 𝑥(𝑡) = 𝑒 −𝛽𝑡 (𝑑1 + 𝑑2 𝑡)
𝑥(0) = 0.5 ➔ 𝑑1 = 0.5 m
𝑑𝑥
𝑣 (𝑡) = = −𝛽𝑒 −𝛽𝑡 (𝑑1 + 𝑑2 𝑡) + 𝑒 −𝛽𝑡 𝑑2
𝑑𝑡
𝑣 (0) = 0 ➔ −𝛽𝑑1 + 𝑑2 = 0
𝑑2 = 𝛽𝑑1 = 5(0.5) = 2.5 m/s
So, 𝑥(𝑡) = 𝑒 −5𝑡 (0.5 + 2.5𝑡) m

𝑟 80
(c) 𝛽 = = = 8 𝑠 −1 ➔ 𝛽 > 𝜔𝑜
2𝑚 2(5)
−𝛽𝑡 (
So, 𝑥(𝑡) = 𝑒 𝑐1 𝑒𝛾𝑡 + 𝑐2 𝑒−𝛾𝑡 ) = 𝑐1 𝑒(−𝛽+𝛾)𝑡 + 𝑐2 𝑒(−𝛽−𝛾)𝑡
𝛾 = √𝛽 2 − 𝜔𝑜2 = √64 − 25 = 6.245 𝑠 −1
So, 𝑥 (𝑡) = 𝑐1 𝑒 −1.755𝑡 + 𝑐2 𝑒 −14.245𝑡
𝑥(0) = 0.5 ➔ 𝑐1 + 𝑐2 = 0.5 m --(2)
𝑑𝑥 −1.755𝑡 −14.245𝑡
𝑣 (𝑡 ) = = −1.755𝑐1 𝑒 − 14.245𝑐2 𝑒
𝑑𝑡
𝑣 (0) = 0 ➔ −1.755𝑐1 − 14.245𝑐2 = 0 --(3)
Solving (2), (3), 𝑐1 = 0.57 m, 𝑐2 = −0.07 m
So, 𝑥(𝑡) = 0.57𝑒−1.755𝑡 − 0.07𝑒−14.245𝑡 m
The three cases are plotted in the next figure.

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 Chaptera4 Damped Oscillation

(c)

(a) (b)

2. Repeat the previous example if the motion is initiated by giving the block
an initial velocity of 𝑣𝑖 = +5.0 𝑚/𝑠 while the block was in its
equilibrium position 𝑥 = 0.
Solution:
𝜔𝑜 = √𝑘/𝑚 = √125/5 = √25 = 5 𝑟/𝑠
𝑟 20
(a) 𝛽 = 2𝑚 = 2(5) = 2 𝑠 −1 ➔ 𝛽 < 𝜔𝑜
So, 𝑥(𝑡) = 𝐴𝑒 −𝛽𝑡 cos(𝜔𝑑 𝑡 + 𝜙)
𝜔𝑑 = √𝜔𝑜2 − 𝛽 2 = √25 − 4 = 4.583 𝑟/𝑠
𝑥(0) = 0 ➔ 𝐴 cos 𝜙 = 0 ➔ 𝜙 = ±90°
𝑑𝑥
𝑣 (𝑡 ) = = −𝛽𝐴𝑒 −𝛽𝑡 cos(𝜔𝑑 𝑡 + 𝜙) − 𝜔𝑑 𝐴𝑒 −𝛽𝑡 sin(𝜔𝑑 𝑡 + 𝜙)
𝑑𝑡
5
𝑣 (0) = 5 ➔ −𝜔𝑑 𝐴 sin 𝜙 = 5 ➔ 𝜙 = −90°, 𝐴 = 𝜔 = 1.091 m
𝑑
So, 𝑥(𝑡) = 1.091𝑒 −2𝑡 cos(4.583𝑡 − 90°) m

𝑟 50
(b) 𝛽 = 2𝑚 = 2(5) = 5 𝑠 −1 ➔ 𝛽 = 𝜔𝑜
So, 𝑥(𝑡) = 𝑒 −𝛽𝑡 (𝑑1 + 𝑑2 𝑡)
𝑥(0) = 0 ➔ 𝑑1 = 0
𝑑𝑥
𝑣 (𝑡 ) = = −𝛽𝑒 −𝛽𝑡 𝑑2 𝑡 + 𝑒 −𝛽𝑡 𝑑2
𝑑𝑡
𝑣 (0) = 5 ➔ 𝑑2 = 5 m/s

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 Damped Oscillation Chapter 4

So, 𝑥(𝑡) = 𝑒 −5𝑡 (5𝑡) m

𝑟 80
(c) 𝛽 = 2𝑚 = 2(5) = 8 𝑠 −1 ➔ 𝛽 > 𝜔𝑜
So, 𝑥(𝑡) = 𝑒 −𝛽𝑡 (𝑐1 𝑒𝛾𝑡 + 𝑐2 𝑒−𝛾𝑡 ) = 𝑐1 𝑒(−𝛽+𝛾)𝑡 + 𝑐2 𝑒(−𝛽−𝛾)𝑡
𝛾 = √𝛽 2 − 𝜔𝑜2 = √64 − 25 = 6.245 𝑠 −1
So, 𝑥 (𝑡) = 𝑐1 𝑒 −1.755𝑡 + 𝑐2 𝑒 −14.245𝑡
𝑥(0) = 0 ➔ 𝑐1 + 𝑐2 = 0 --(2)
𝑑𝑥 −1.755𝑡 −14.245𝑡
𝑣 (𝑡) = = −1.755𝑐1 𝑒 − 14.245𝑐2 𝑒
𝑑𝑡
𝑣 (0) = 5 ➔ −1.755𝑐1 − 14.245𝑐2 = 5 --(3)
Solving (2), (3), 𝑐1 = 0.40 m, 𝑐2 = −0.40 m
So, 𝑥(𝑡) = 0.40𝑒−1.755𝑡 − 0.40𝑒−14.245𝑡 m
The three cases are plotted in the next figure.

(a)
(b)

(c)

3. A mass of 4.0 kg attached to the lower end of a vertical spring of

constant 20 N/m oscillates with a period of 2.83 s. Find
(a) the natural period.
(b) the damping constant.
(c) the logarithmic decrement.
(d) The number of cycles elapsing such that the amplitude would
diminish by 90%.
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Chaptera4 Damped Oscillation

Solution:
(a) 𝜔𝑜 = √𝑘/𝑚 = √20/4 = 2.236 r/s
2𝜋 2𝜋
𝑇𝑜 = 𝜔 = 2.236 = 2.81 s
𝑜

1 1 1 1
(b) 𝛽 = √𝜔𝑜2 − 𝜔𝑑2 = 2𝜋√𝑇 2 − 𝑇 2 = 2𝜋√2.812 − 2.832 = 0.265 s-1.
𝑜 𝑑

𝑟 = 2𝑚𝛽 = 2(4)(0.265) = 2.123 kg/s

(c) 𝛿 = 𝛽𝑇𝑑 = 0.265(2.83) = 0.75

ln 0.1
(d) The amplitude is 𝐴 = 𝐴𝑜 𝑒 −𝛽𝑡 = 0.1𝐴𝑜 ➔ 𝑡 = = 8.69 s
−𝛽
𝑡 8.69
The number of cycles 𝑁 = 𝑇 = 2.83 = 3.07 cycles
𝑑

64