6 Design of Structures and Foundations for Vibrating Machines This equation is an ordinary second-order linear dif- ferential equation with constant coefficients, also called ‘8 homogenous equation. For the ease when a forcing function F(t) is also acting, the retulting equation is classified as nonhomogenous (ref. 10} and is written as my + + hy = FO The solution of Equation (1-8) yields the dynamic characteristic of the system such as the natural frequency, the damped natural frequency, the critical damping coefficient, or the transient motion of the system. Each of these terms has a special significance depending upon the particular problem at hand. (a-10) Transient or Free Vibrations AA solution of the form’y = e* is assumed for Equa- tion (1-9) where s is a corstant to be determined, and is the independent time variable; then, (11) Upon substitution of y, 5, 9 into Equation (1-9), the following expression is obtsined Poa F a ste (P+ [C/ms + [K/m) & = 0 (1-12) Since e** must be greater than zero for all values of &, Fb Gms + Wm) =0 (1-13) Equation (1-13) is a quadratic equation having wo roots: 44 = (2m) (-0 + VE= Tem) fy (I/2n) [= = VO = Hen] (1-14) Several. terms, relating various parameters of Equa- tion (1-9), are defined ae: n= Vifm is called the circular natural frequency of the system in radians/sec; Co= 2m is the critical damping of the syster units of force/ velocity; D=C/Gy=C/2V ki is called the damping ratio; and oj= oe V1~D" is named the frequency of oscil tion of the system with damping included, ‘The complete solution of Equation (1-9) is y= A + Bet, (1-15) where A and B are arbitrary constants which depend upon the inital problem conditions. The motion de- seribed by Equation (1-15) is called transient motion ‘of the system, and the oscillations die out in a short interval of time when significant damping is present. Equations (1-14) and (1-15) show that the nature of oscillation depends upon the value af C, Four possible values of C will be considered here ‘ref. 6) to illustrate the physical significance of Equation (1-15). Case 1: C =0 (no damping). This case reduces the problem to an undamped system, and the roots obtained from Equation (1-14) are 5,,2= + ivy. Equation (1-15) can be written as ym deen Bett 16) Equation (1-16) can be written in three alternate forms by the use of trigonometric identities and complex numbers: y= adie ay By C08 wl + By sin gt (1-18) y= G.c08 (et ~ 4) 19) Equation (1-17) is in terms of phasors, while C, and are components of a complex number. B; and By are arbitrary constants in Equation (1-18) representing the veal part of the solution and can be evaluated from the initial boundary conditions. For example, at time the system has a given initial displacement (0) and an initial velocity (0) =v. Equation (1-18) then becomes Y= I C08 Wet + (ay/erg) sin wt (1-20) and the velocity function, Sifery = = ya sin wt + (ofa) 608 at (0-21) Equation (1-19) can be obtained from Equation (1-18) if the following substitutions are made: B, = C, cor $, and B,=Cysing. Then tan $= By/Bs, and By +B. By using the trigonometric identities, y= C, 005 (ont — 4) (1-22) Jie, = —C, sin (os — 9) (1-23) An Equation (1-22), C:= Vie" + (voleoa)? is called amplitude of vibration, and $=tan-? (0»/eaye) is called the phase angle. A graphical representation of Equation (1-22) is given in Figure 1-3a by the projece tions of a vector Cy rotating about a fxed point O, with a constant velocity w.. The projection upen the ordinate axis represents the instantaneous displacement y, while the projection on the abscissa gives the velocity function jy/on according to Equations (1-22) and (1-25), respece tively. A displacement time curve based on Equa tion (1-20) can be obtained fom Figure 1-3a by project-