1)

For each of the response quantities described below, find the second-order differential equation
characterizing its dynamics, in terms of the physical parameters given. In each case, assume
there is no damping. Also, for each case, derive an expression for the natural frequency.

a)

The lateral displacement x of the structure in Figure 1a. Assume the floor has mass m, and that the two columns have
negligible mass, Youngs modulus E, geometric cross-sectional moment of inertia I, and length L. Assume their
deformation is pure bending (i.e., assume there is no shear strain). Also, assume that the mass m is rigid and that the
columns have fixed (i.e., moment) connections at both ends. The effective spring constant of each column can then be
found from standard Euler-Bernoulli beam theory, as the ratio of shear force to lateral displacement, when the
deformation is as shown. The fact that there are two columns is equivalent to there being two springs attached to the
mass.

Since the columns are fixed at both ends, with translation at the top, its behavior is similar to a fixed guided beam,
where the displacement at the top and the effective spring constant, and the effective spring constant of each column
and the system are:
max =

FL3
12EI

k colum =

F
max

F
12EI
= 3
3
FL
L
(
)
12EI

12EI
24EI
k = 2k colum = 2 ( 3 ) = 3
L
L
+ + =
c=0
24EI
mx + ( 3 ) x = 0
L

b)

( )

=
=

The same structure but where the columns are pinned at the bottom, rather than being fixed, as shown in Figure 1b.

Since the columns are fixed at top and pinned at the bottom, with translation at the top, its behavior is similar to a
cantilever beam, where the displacement at the top and the effective spring constant of each column and the system
are:
max =

FL3
3EI

k colum =

F
F
3EI
=
= 3
FL3
max
L
( )
3EI

3EI
6EI
k = 2k colum = 2 ( 3 ) = 3
L
L
+ + =
c=0
6EI
mx + ( 3 ) x = 0
L

( )

= =
=

c)

The elevation x of the liquid column system in Figure 1c. Assume the liquid has a density , the total length of the
column of liquid is L, the pipe has area A, and gravity is g.

m = AL
Vdifference = 2Ax (2x is the total displaced length, equal to difference between both sides)
Wdifference = gVdifference = g(2Ax) = 2Agx
mx = Wdifference
ALx = 2Agx
x =
+

2gx
L

k = 2Ag
=

=
=

d)

The displacement x of a point mass m, on a massless wire with tension T, as shown in Figure 1d. Express your answer
in terms of l1 and l2. Assume |x| << l1 and |x| << l2, so that you can approximate sin1(x/li) x/li and cos(x/li) 1.

It was considered the direction of displacement as positive.

Ty1 = T sin 1
Ty2 = T sin 2
x

li

li

li

li

li

li

Since, sin1 ( ) and cos ( ) 1, it can be assumed that i = and sin ( ) .

tan i =

sin i (xli )
=
= i
cos i
1

tan 1 =

x
= 1 = sin 1
l1

tan 2 =

x
= 2 = sin 2
l2

W + Ty1 + Ty2 = 0
mx + T sin 1 + T sin 2 = 0

+ ( + ) =

L = l1 + l2
x x x(l1 + l2 )
xL
+ =
=
l1 l2
l1 l2
l1 l2
mx +
k=

TLx
=0
l1 l2

TL
l1 l2

2)

=
=

For the mass-spring-damper system discussed in class, suppose the structure is struck with an impulse of
intensity p at time t = 0. Recall from physics that, by the impulse-monemntum principle, the consequence of this

is that immediately after t = 0 (which we denote as t = + ), the position is x(+ ) = 0, and the velocity is (+ ) =
p/m.
a)

For m = 1 kg , k = 9 Nm , c = 2 kgs , show that the system is underdamped, and find and n .

n =

k
9
= = 3 rads
m
1

=
= . < ( )

b)

Find the free response for t > 0, as a function of p. To do this, start from the underdamped free response equation
x(t) = en t [C cos c t + D sin c t]
where c = n 1 2 is the cyclic frequency, and where coefficients C and D are to be determined. Using this, set
up a system of equations that looks like
Q
x(0+ )
[ + ] = [ 11
Q21
x (0 )

Q12 C
][ ]
Q22 D

where the Qij terms just depend on p and the

Then solve this equation for C and D by inverting the matrix.

numerical

parameters

for

the

problem.

x(t) = ent [C cos c t + D sin c t]

x (t) = ent [C(n cos c t c sin c t) + D(c cos c t n sin c t)]

Initial Conditions:
t = 0+
x(0+ ) = 0
x (0+ ) =

p
m

0
1
[ ]=[
p m
n
1 c
C
[ ]=
[
D
c n

0 C
][ ]
c D
0
0
0
][
]=[
]
p mc
1 pm

= 0.33
n = 3 rads
= . = .
() = . [ (. ) +

c)

(. )] = . [. (. )]
.

Suppose the structure will break if |x(t)| > 1m, at any point during its response. What is the minimum impulse intensity
p required to break the structure?
x(t) = ent [C cos c t + D sin c t]
|x(t)| > 1 m

C=0
D=

p
mc

en t [C cos c t + D sin c t] > 1

p
en t [(
) sin c t] > 1 m
mc
>

>

.
. (. )

3)

Oftentimes, a structures natural frequency and damping are measured in the laboratory by creating exactly
the scenario described in Problem 2, i.e., the structure is excited with a small impulse (using a hammer), its
transient deflection is recorded, and then and n are derived from the data.

a)

For an impulse test, suppose the response is underdamped, and let all the successive peaks in the oscillation of x(t)
(i.e., the points where the velocity is zero) be denoted as x1, x2, x3, .... Show that the quantity
xk+1
=|
|
xk
is the same for all k = 1, 2, 3..., and find an expression for it that only depends on .
x(t) = ent [C cos c t + D sin c t] (Underdamped)
xk = x(t1 )
xk+1 = x(t 2 )
T=

2
=
c

2
n 1 2

c = n 1 2
t 2 = t1 + T = t1 +

2
= t1 +
c

2
n 1 2

xk = x(t1 ) = ent1 [C cos c t1 + D sin c t1 ]

xk+1 = x(t 2 ) = en t2 [C cos c t 2 + D sin c t 2 ]
xk+1 en t2 [C cos c t 2 + D sin c t 2 ] en(t1+T) [C cos c (t1 + T) + D sin c (t1 + T)]
= t
=
xk
e n 1 [C cos c t1 + D sin c t1 ]
ent1 [C cos c t1 + D sin c t1 ]
cos c (t1 + T) = cos c (t1 +
sin c (t1 + T) = sin c (t1 +

2
) = cos(c t1 + 2)
c

2
) = sin(c t1 + 2)
c

Since (c t1 + 2) = c t1 :
cos c (t1 + T) = cos c t1

sin c (t1 + T) = sin c t1

Therefore the following expression is the same for all k = 1, 2, 3...:
n(2n 12 )
xk+1
en(t1+T) [C cos c t1 + D sin c t1 ]
|
|=
= en (t1+T)+nt1 = enT = e

t
xk
e n 1 [C cos c t1 + D sin c t1 ]
(212 )
xk+1
|
|=e
xk

+
= |
|=

b)

Suppose that for a given impulse test, = 1. What is ?

= ln |

xk+1
|=
xk

= 1
2

1
2

(2)2 = (1 2 )
42 2 + 2 = 1

=
= .
+

c)

Many engineering structures have low damping. In fact, = 0.05 (i.e., 5% of critical damping) is pretty common. What
is the value of |xk+1 xk | when = 0.05?
+
((.)(.) )
|
|=
= .

d)

Simplify your expression from part a, when << 1, by assuming 1 2 1. This simplified expression is a very
simple rule of thumb for visually determining the damping of lightly-damped structures from experimental data.
Determine the accuracy of this approximation for = 0.05.
= ln |

xk+1
|=
xk

2
1 2

If << 1:
= ln |

xk+1
2
|=
= 2
xk
1

For = 0.05:
+
.
= |
|=
= . ()

.
+
= |
| = . = . ()

4)

() =

.(.)
.

= . % ( )

A useful quantity for a free vibration response is its global rate of exponential decay. This is defined as the
maximum positive value of such that for arbitrary initial conditions,
et x(t) 0 as t

a)

Find in terms of and n. Note that your expression will be different, depending on whether the system is overdamped
or underdamped.

Underdamped:
x(t) = ent [C cos c t + D sin c t]
et x(t) = et en t [C cos c t + D sin c t] = 0
et(n ) [C cos c t + D sin c t] = 0
Considering that the exponential decay term is equal to 0:
t( n ) = 0
=

Overdamped:
x(t) = A1 e1 t + A2 e2 t
et x(t) = et [A1 e1 t + A2 e2 t ] = 0
A1 et(+1 ) + A2 et(+2 ) = 0
1 = n [ + 2 1]
2 = n [ 2 1]
Considering that each of the exponential decay terms are equal to 0:
t(1 + 1 ) = 0
1 = 1
1 = n [ + 2 1]
1 = n [ 2 1]

t(2 + 2 ) = 0
2 = 2
2 = n [ 2 1]

2 = n [ + 2 1]
Due to the exponential decay term related to 2 vanishes rapidly in comparison to the exponential decay term
related to 1 , it can be assumed that the value of the system is approximately:
= = [ ]

b)

Suppose that you want to design a system that decays as fast as possible, and you can design to be whatever you
want. One way to interpret this objective is to pick the value of such that is as big as possible. What value of
accomplishes this?
In order to find the value of such that is as big as possible, it was considered the definition of time constant, which
is defined as:
=

5.0
4.5

Underdamped:

4.0

= n

3.5

Underdamped
Overdamped
Critical Point

3.0

1
n

2.5
2.0

Overdamped:
= n [ 2 1]
1

1.5
1.0
0.5
0.0
0

10

n [ 2 1]

15

20

25

30

35

40

45

50

In the above Figure can be see that the lower value of n is 1, corresponding to equal to 1 in both expressions
(underdamped and overdamped), which correspond to a critical damping system ( =1).
In both expressions (underdamped and overdamped):
n =

n
=1

Hence, the value of such that is as big as possible is:

= =