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2.3 Energy in Free Vibration

The energy input to an SDOF by imparting to it an initial
displacement and initial velocity is given by

Recall he displacement response of a free vibration with initial displacement and velocity:

This is the same as the input energy in Eq. 2.3.1. Therefore the total energy is
independent of time and is dependent only on the input energy. Hence, there is
conservation of energy during free vibration of a system without damping.

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The energy dissipated is proportional to the square of the amplitude of motion. It

is not a constant value for any given amount of damping and amplitude since the
energy dissipated increases linearly with the excitation frequency.

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In steady-state vibration, the energy input to the system due to the applied
force is dissipated in viscous damping. The external force p(t) inputs energy to
the system which for each cycle is

Using Eq. 3.2.12:

Eq. 3.8.2 can be written as (see Derivation 3.6)

Hence, from Eq. 3.8.1 and 3.8.3, ED = EI

The preceding energy concepts help explain the growth of the

displacement amplitude caused by harmonic force with = n
until steady-state is attained as shown in Fig 3.2.2. For = n ,
= 90o and Eq. 3.8.2 gives
EI = po uo

(3.8.4)

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The input energy and the dissipated energy vary linearly and quadratically, respectively
with the displacement amplitude.
Before steady-state is reached, the EI
per cycle exceeds the ED during the
cycle by damping, leading to a larger
amplitude of displacement in the next
cycle. With growing displacement
amplitude, the dissipated energy
increases more rapidly than does the
input energy. Eventually, the EI and the
ED will match at the steady-state
displacement uo, which will be bounded
no matter how small the damping.

This energy balance provides an alternative means of finding

uo due to harmonic force with = n . Equating Eq 3.8.1 and
3.8.4 gives

po uo = cnuo2

uo = po. / cn

This result agrees with previously derived results.

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(a)

Fig. 3.8.2 Hysteresis Loop for (a) viscous damper;

(b) spring and viscous damper in parallel

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Equivalent Viscous Damping

All internal damping mechanisms, e.g., internal friction,
uid resistance, etc., grouped as Viscous Damping with
parameter c or ,
Energy is lost in the system as evidenced by the amplitude
decay. The loss is due to damping

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Problem from Clough and Penzien (2e)

damping ratio - and damping coefficient c.

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Solution:
Only the column provides lateral stiffness and damping.

(a) k = f s max /1 = 390 lbs/ 0.15 in = 2600 lb/in

(b) From Eq. 3.9.2

-eq = (1/4:)(ED/Eso)

E so = k12 and ED = 26 lb-in

Hence, -eq = 0.071 or 7.1%

- = c/ 2m9

- eq = c eq / 2m9 (at resonance)

c eq = - eq (2m 9) = 2 - eq k/ 9 = 2(0.071)(2600)/10 = 36.92 lb-sec/in

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