Advanced Course of Mechanical Vibration

One-degree-of-freedom Vibration System No.1

Contents
1. Actual vibration systems and the analytical model
2. Deriving the equation of motion
3. Natural angular frequency, natural frequency and natural period
4. Equivalent stiffness

1. Actual vibration systems and the analytical model

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(b) Tire and suspension

(a) Tall Building
(c) Simple pendulum
Fig.1 Actual vibration systems

1
Displacement

0 m Mass
−1
0 1 2 3 4
t
1 Spring Damper
First mode

−1 k c
0 1 2 3 4
t
Second mode

0.5

−0.5
0 1 2
t
3 4
Fig.3 Analytical model of
one-degree-of-freedom vibration system
Fig.2 Example of free vibration

Table 1 Feature of free vibration (= Time response without external force)

(1) Displacement can be represented by the sum of the responses of each mode.
(2) The amplitude of the first mode is larger than other mode(s).
(3) The time response of the first mode lasts longer than other mode(s).

The first approximation model for actual vibration systems should be one-degree-
of-freedom vibration system shown in Fig.3. Analysis of the one-degree-of-freedom vi-
bration system gives us fundamental knowledge about multi-degrees-of-freedom vibration
systems. Thus, we focus on the one-degree-of-freedom vibration system in the first part of
this lecture.
2. Deriving the equation of motion
A. Coordinate
(1) The origin of the displacement should be placed on the equilibrium point.
(2) The direction of the force should agree with that of the displacement.
(Both of the Case 1 and 2 in Fig.4 are acceptable.)

Case 1 x f
m x f
f x Case 2 m

k c
Fk=-kx ࡮
Fc=-cx

Fig.5 Free body and acting force

Fig.4 Coordinate system
B. Reaction force
(1) Reaction force of the damper is proportional to the velocity of the mass and its sign
is minus.
Fc = −cv = −cẋ
The notation c(Ns/m) represents a viscous damping constant of the damper and
v = dx
dt
= ẋ is the velocity of the mass.
(2) Reaction force of the spring is proportional to the displacement of the mass and its
sign is minus.
Fk = −kx
The notation k(N/m) represents a stiffness constant of the spring.
C. d’Alembert’s principle
The sum of the differences between the generalized forces acting on a system and
the time derivative of the generalized momenta of the system itself along an infinitesimal
displacement compatible with the constraints of the system (a virtual displacement), is zero.
For the one-degree-of-freedom system with arbitrary virtual displacement δx, the fol-
lowing equation is derived from the d’Alembert’s principle.
( )
d(mv)
F− δx = 0, (1)
dt
where F is the sum of the forces acting on the mass. Thus, if an external force f acts on
the mass, F is calculated as

F = Fc + Fk + f = −cẋ − kx + f,

and the equation of motion of the system is represented as the following equation.

mẍ + cẋ + kx = f (2)

3. Natural angular frequency, natural frequency and natural period
Consider an undamped and free vibration system; c = 0 and f = 0. The equation of
motion is written in the following.

mẍ + kx = 0 (3)

The solution of this equation is assumed as x(t) = Xeλt . From Eq.(3),

(mλ2 + k)Xeλt = 0 (4)

is derived. Considering X 6= 0 for meaningful solutions and eλt 6= 0 for any λ and t, we
obtain an equation that is called a characteristic equation of the system.

mλ2 + k = 0 (5)

Thus,

λ = ±iωn , (6)
q
k
where i is a unit imaginary number and ωn = m
. The general solution of the equation is
represented as,

x(t) = C1 e−iωn t + C2 eiωn t , (7)

= D1 cos ωn t + D2 sin ωn t, (8)
= A cos(ωn t − φ). (9)

The notations C1 , C2 , D1 , D2 , A and φ are constants determined from the initial condition
of x and ẋ. Define x0 = x(0) and v0 = ẋ(0) and consider C2 is conjugate to C1 . (Latter is a
necessary condition for a real displacement.)
µ ¶
1 v0
C1 = x0 + i (10)
2 ωn
µ ¶
1 v0
C2 = x0 − i (11)
2 ωn
D1 = C1 + C2
= x0 (12)
D2 = i(C2 − C1 )
v0
= (13)
ωn
q
A = D12 + D22
s µ ¶
v0 2
= x20 + (14)
ωn
µ ¶
−1 D2
φ = tan
D
µ 1 ¶
v0
= tan−1 (15)
x0 ωn
 From Eq.(9), we can see the displacement x(t) is a sinusoidal wave with the amplitude
A and the phase delay φ. Figure 6 shows relationship of initial conditions and the amplitude
and the phase delay. We can also see from Eq.(9) that the angular frequency of the sinusoidal
wave is ωn . The notation ωn is defined as the natural angular frequency of the system
because the value of ωn is determined with natural parameters of the system.

Table 2 Important parameters

Notation Unit Meaning
r
k
ωn rad/s Natural angular frequency = m
ωn
fn Hz (=1/s) Natural frequency = 2π
1 2π
Tn s Natural period = fn = ωn

v0
2
Displacement

x0 A
0
Ǿ Tn
−2
0 0.5 1 1.5 2
t
Fig.6 Example of initial value response

4. Equivalent stiffness
Two or more springs sometimes construct a spring element in the actual mechanism.
Lever-spring mechanism and cantilever are also used as a spring element. To make a simple
analytical model, we have to derive an equivalent stiffness of such elements.
a) Parallel springs
Parallel springs are characterized with the same displacement for plural springs ;
not with the configuration of springs. In Fifg.7, the point P represents the acting point of the
force. The lower spring unit shown in Fig.7(a) is also an example of parallel springs, because
displacement of two springs are same. For the parallel springs, the equivalent stiffness is
calculated as

k = k1 + k2 . (16)

b) Serial springs
Serial springs are characterized with the same force for plural springs. For the
serial springs, the equivalent stiffness is calculated as
k1 k2
k= . (17)
k1 + k2
c) Lever spring mechanism
Lever spring mechanism is sometimes utilized as a linear spring unit. Tire and suspen-
sion system is an example of the lever spring mechanism. In this case, the lever is assumed
as a rigid body. For the lever spring mechanism, the equivalent stiffness is calculated as
L2
k = k1 . (18)
L21
 k1
P F F
P k1
x
k2 F L1 x
P L
k1 x k2
F
(a) Parallel springs k1 P
P F L x
x L1
k1 k2
(c) Lever spring mechanism
(b) Serial springs

L
F
F EI
k1 k2 P
P
L
L1 L2 x
(e) Cantilever
x
(d) Distributed spring mechanism

F F
EI P EI P
x L1 L2
L1 L2
L L x
(f) Beam with simple supported ends (g) Beam with fixed ends

Fig.7 Spring unit

d) Distributed spring mechanism

Distributed spring mechanism is also utilized as a linear spring unit. In this case, the
connecting bar is assumed as a rigid body. If inclination of the connecting bar is barred
by constraints, the mechanism should be treated as a parallel spring mechanism. For the
distributed spring mechanism, the equivalent stiffness is calculated as
k1 k2 L2
k= . (19)
k1 L21 + k2 L22
e) Cantilever
Cantilever shows characteristics of a linear spring for a small force. The bending
deformation of the cantilever should be considered. From knowledge of statics, the equivalent
stiffness is shown as
3EI
k= 3 , (20)
L
bh3
where I is a geometrical moment of inertia which is calculated with 12
for a rectangular
4
section and πd
64
for a circular section.
f ) Beam with simple supported ends
If a beam has simple supported ends, the equivalent stiffness is shown as
3EIL
k= . (21)
L21 L22
Especially in the case of L1 = L2 = L/2,
48EI
k= . (22)
L3
g) Beam with fixed ends
If a beam has fixed ends, the equivalent stiffness is shown as
3EIL3
k= . (23)
L31 L32
Especially in the case of L1 = L2 = L/2,
192EI
k= . (24)
L3