Galala University

Faculty of Engineering
Material & Manufacturing Engineering Program
Mechatronics & industrial Automation Program

MEC214 MECHANICAL VIBRATIONS

LECTURE 2
FREE VIBRATION OF UNDAMPED SINGLE-DEGREE-OF-FREEDOM SYSTEMS

Dr. Bahi Bakeer

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Contents
1. Introduction

2. Derivation of Differential Equation of Motion (DEOM)

3. DEOM of a Spring-mass System in Vertical position

4. Solution of the differential equation

5. Torsional system

6. Solved Examples

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1. Introduction
Vibration Analysis Procedure

Derivation of Solution of the

Mathematical Interpretation
Governing Governing
Modeling of the Results
Equations Equations

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1. Introduction
• A system is said to undergo free vibration when it oscillates only under an initial
disturbance with no external forces acting afterward

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1. Introduction

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2. Derivation of Differential Equation of Motion (DEOM)

Using Newton’s Second Law

Follow these steps:
1. Imagine the motion
2. Draw the system in general position.
3. Draw the free-body diagram of the mass or rigid body when a positive
displacement and velocity are given to it.
4. Apply Newton’s second law of motion.

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2. Derivation of Differential Equation of Motion (DEOM)

Using Newton’s Second Law

• Translation Motion
𝑚𝑥 ̈ = Σ𝐹

• Pure Rotation Motion

𝐼𝑜 𝜃 ̈ = 𝛴𝑀𝑜

O
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2. Derivation of Differential Equation of Motion (DEOM)

Using Newton’s Second Law

• General (Complex) motion

• 𝑚𝑥𝐺 ̈ = Σ𝐹
• 𝐼𝐺 𝜃 ̈ = 𝛴𝑀𝐺
Complex motion can be treated as rotation motion about instantaneous center of
rotation

𝐼𝑐 𝜃 ̈ = 𝛴𝑀𝑐

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2. Derivation of Differential Equation of Motion (DEOM)

Using other methods
• D’Alembert’s Principle
• Principle of Virtual Displacements.
• Principle of Conservation of Energy.
• Lagrange equation
• Hamilton’s principle

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3. DEOM of a Spring-mass System in Vertical position

For static equilibrium

Let the mass be deflected a distance +x from its

static equilibrium position;

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4. Solution of the differential equation

• 𝑚𝑥 ̈ = Σ𝐹
• 𝑚 𝑥̈ = −𝑘𝑥
• 𝑚 𝑥̈ + 𝑘𝑥 = 0
• The solution of this differential equation of motion is
• 𝑥 = 𝐴 cos 𝜔𝑛 𝑡 − 𝛽
• 𝐴 and 𝛽 are determined by initial conditions.
• Such that
𝑘
• 𝜔𝑛 = , circular natural frequency, [rad/s]
𝑚
𝜔𝑛
• 𝑓𝑛 = , natural frequency, [Hz].
2𝜋
1 2𝜋
• 𝑇 = = , periodic time, [s].
𝑓 𝜔

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5. Torsional systems
Torsional stiffness
𝐺𝐽
𝑞=
𝑙
• 𝐽: Polar moment of inertia
𝜋𝑑 4
𝐽=
32
• 𝐺: Modulus of rigidity

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5. Torsional system
• 𝐼𝜃 ̈ = 𝛴𝑀𝑜
• 𝐼𝜃 ̈ = −𝑞𝜃
• 𝐼 𝜃̈ + 𝑞𝜃 = 0
• The solution of this differential equation of motion is
• 𝜃 = 𝐴 cos 𝜔𝑛 𝑡 − 𝛽
• 𝐴 and 𝛽 are determined by initial conditions.
• Such that
𝐼 𝐼
𝑞
• 𝜔𝑛 = , circular natural frequency, [rad/s]
𝐼
𝜔𝑛
• 𝑓𝑛 = , natural frequency, [Hz].
2𝜋
1 2𝜋
• 𝑇= = , periodic time, [s].
𝑓 𝜔

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Effect of Spring Mass on Natural Frequency

• The kinetic energy of the spring element of length 𝑑𝑦 is

• T = kinetic energy of mass (Tm) + kinetic energy of spring (Ts)

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Spring Constants of Elastic Elements

• Any elastic or deformable member (or element) can be considered as a spring.

Bar (Rod)

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Spring Constants of Elastic Elements

Cantilever Beam

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Spring Constants of Elastic Elements

Simple Beam
3𝐸𝐼𝐿
•𝑘=
𝑎2 𝑏2
𝐿
If 𝑎 = 𝑏 =
2
48𝐸𝐼
𝑘= 3
𝐿

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Combination of Springs
Case 1: Springs in Parallel
𝐹 = 𝐹1 + 𝐹2 𝛿 = 𝛿1 = 𝛿2

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Combination of Springs
Case 2: Springs in Series.
• 𝛿 = 𝛿1 + 𝛿2 𝐹 = 𝐹1 = 𝐹2

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6. Solved Example 1
• An undamped single-degree-of-freedom system has a mass of 1 kg and a stiffness of 2500
N/m. Find the magnitude and the phase of the response of the system when the initial
displacement is -2 mm and initial velocity of 100 mm/s.

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6. Solved Example 2
• The column of the water tank shown is 100 m high and is made of
reinforced concrete with a tubular cross section of inner diameter 2.5 m
and outer diameter 3 m. The tank has a mass of 275,000 kg when filled with
water. By neglecting the mass of the column and assuming the Young’s
modulus of reinforced concrete as 30 GPa, determine the following:
a. The natural frequency and the natural time period of transverse vibration
of the water tank.
b. The vibration response of the water tank due to an initial transverse
displacement of 25 cm with initial velocity equals to zero
c. The maximum values of the velocity and acceleration experienced by the
water tank.

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6. Solved Example 2
• 𝐿 =100 m,𝑑𝑖 = 2.5 m, 𝑑𝑜 =3 m, 𝑀 =275,000 kg 𝐸 =30 GPa, determine:
a. 𝑓 and 𝑇
b. 𝑥, if 𝑥 0 =25 cm, if 𝑥 ̇ 0 = 0
c. 𝑥̇ 𝑚𝑎𝑥 , 𝑥 ̈𝑚𝑎𝑥

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6. Solved Example 2
= 25

0
𝛽 tan−1 =0
25 0.8209

𝜋
𝑥̇ = −0.2052 sin 0.8209𝑡 = 0.2052 cos 0.8209𝑡 +
2
𝑥̇ max = 0.2052 m/s
𝑥 ̈max = 0.1684 m/s2

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6. Solved Example 3
Find 𝜔𝑛

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6. Solved Example 4
• Find 𝜔𝑛

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6. Solved Example 5
• Find 𝜔𝑛

MEC214-Mechanical Vibrations Free Vibration of Undamped Single DOF Systems

 Thank You

MEC214-Mechanical Vibrations Free Vibration of Undamped Single DOF Systems