1

ME-416
U.K. Dynamic Systems Elective:
Mechanical Vibration Mechanical Vibration
John R. Baker
Lecture Notes
Set 4
Fall, 2011
Copyright 2006-2011, John R. Baker
System Equation Using Energy Method
When there is no damping and no external energy input, one
way to get the system equations, is using the Energy Method y g y q g gy
(Section 2.3).
T=Kinetic Energy in the System
U=Potential Energy in the System
E=Total Energy in the System
For no damping, there is no energy dissipation, so E is
constant when there is no external energy input. So,
E=T+U=Constant, and:
( ) 0 = +U T
dt
d
System Equation Using Energy Method
2
2
1
x m T =
Example:
2
2
1
2
x k U =
0 ) ( ) ( ) ( = + = = U T
dt
d
x x k U
dt
d
x x m T
dt
d

0
0
= +
= +
x k x m
x x k x x m


System Equation Using Energy Method
If we just want the natural frequency for:
t x t
x
t x
n n
n
e e
e
cos ) 0 ( sin
) 0 (
) ( + =

Note that the free response is:
If we just want the natural frequency for:
( ) | e + = t A t x
n
sin ) ( We can rewrite this as:
So that:
( ) | e e + = t A t x
n n
cos ) (
2
System Equation Using Energy Method
2 2 2
) ( sin
1 1
t A k x k U
n
| e + = =
2 2 2 2
) ( cos
2
1
2
1
) (
2 2
t A m x m T
n n
n
| e e
|
+ = =
2 2
max
2
max
2
1
2
1
A m T A k U
n
e = =
System Equation Using Energy Method
U=U
max
, T=0
Free response, x(t):
T=T
max
, U=0
System Equation Using Energy Method
For all time, T+U=E=Constant, so:
T =U T
max
U
max
k
A m A k
n
=
e
e
2
2 2 2
2
1
2
1
m
k
m
n
n
=
=
e
e
2
Energy Method Example
Consider the system shown:
3
Energy Method Example
a) Write an expression for the kinetic energy, T, in the
system in terms of the velocity of mass, M
1
.
b) W it i f th t ti l U i b) Write an expression for the potential energy, U, in
the system in terms of the displacement of mass,
M
1
.
c) Write an expression for the system natural
frequency in terms of system parameters.
d) Write the systemsecond order differential equation d) Write the system second order differential equation
in terms of x and identify the effective mass and
effective stiffness.
Energy Method Example
Assume small rotations of cylinders, J
2
and J
3
.
The displacement of mass, M
1
, is x.
1
When x=0, the springs are neither stretched nor
compressed.
Mass M
1
is connected by a rigid rod to a cylinder of
mass, M
2
, with mass moment of inertia, J
2
, which rolls
without slipping.
M M i l t d b i id d t li d Mass M
1
is also connected by a rigid rod to a cylinder
with inertia, J
3
, which can rotate but cannot translate.
There is no damping in the system.
Energy Method Example
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Energy Method Example
Workspace
4
Energy Method Example
Workspace
Energy Method Example
Workspace
Logarithmic Decrement
For an underdamped single DOF system, if we know the free
response is x(t), we can determine using the logarithmic
d t W k th t
( ) t C t C e t x
d d
t
n
e e
,e
cos sin ) (
2 1
+ =

( ) | e
,e
+ =

t e X t x
d
t
n
sin ) (
decrement. We know that:
This can be rewritten as,
( ) |
d
) (
where,
|
|
.
|

\
|
=

1
2 1
tan
C
C
|
Logarithmic Decrement
x(t)
Free response of underdamped
single DOF system
t
x
1
x
2
The logarithmic decrement, , is:
|
|
.
|

\
|
=
2
1
ln
x
x
o

d
t
1
t
2
5
Logarithmic Decrement
|
|
.
|

\
|
=
2
1
ln
x
x
o
( ) ( ) | | | |
,e ,e t t
( )
( )
( )
( )
|
|
.
|

\
|
+ +
+
=
|
|
.
|

\
|
+
+
=
+

| t e
| e
| e
| e
o
t ,e
,e
,e
,e
) ( sin
sin
ln
sin
sin
ln
1
) (
1
2
1
1
1
2
1
d d
t
d
t
d
t
d
t
t e
t e
t e X
t e X
d n
n
n
n
Note that:
( ) |
e
t
e | t e
|
|
.
|

\
|
+
|
|
.
|

\
|
+ = + +
1 1
2
sin ) ( sin t t
d
d d d
( )
( ) | e
| t e
+ =
+ + =
1
1
sin
2 sin
t
t
d
d
Logarithmic Decrement
( ) ln ln ln
1 1
t ,e o
t ,e
,e ,e
= =
|
|
|

|
=
|
|
|

|
=

d
t t
d n
n n
e
e e
( )
2
) (
1
2 2
ln ln ln
1 1
, e
t,e
e
t,e
o
t ,e o
t ,e ,e t ,e

= =
= =
|
|
.

\
=
|
|
.

\
=
+
n
n
d
n
d n t t
d n n d n
e
e e e
2
1
2
,
t,
o

=
2
2 2
2
2
1
4
1
2
,
, t
o
,
t,
o
=

=
( )
2 2 2 2
2 2 2 2 2
2
4
4
1
o , o
, t , o o
,
=

( )
2 2
2 2 2 2
4
4
o t
o
,
o , o t
+
=
= +
For lightly damped systems (small ), the following
approximation is often used:
t
o
, t, o
2
; 2 ~ ~
If the amplitudes are not measured on consecutive cycles, the
logarithmic decrement can also be calculated using:
|
|
.
|

\
|
=
n
o
x
x
n
ln
1
o
Wh Where:
n is an integer number of vibration cycles.
x
o
is the initial amplitude.
x
n
is the amplitude at cycle n, or n-cycles after the cycle
with amplitude, x
o
.
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Logarithmic Decrement Example 1
Based on the single DOF system free response shown, find , e
n
, and e
d
.
Peak A at t=0.119 s; x=1.739
Peak B at t=1.402 s; x=0.482
Logarithmic Decrement Example 1
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Logarithmic Decrement Example 1
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Logarithmic Decrement Example 1
Workspace
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For the single DOF spring-mass-damper system, M=2 kg, and
=0.2. In free response, at some time t
o
, x=0.9 m, and the velocity
is instantaneously zero. The damped period of oscillations is
Logarithmic Decrement Example 2

d
=0.25 s.
Find:
a) The value of x at t= t
o
+5
d
= t
o
+1.25 s.
b) The spring constant, K.
c) The damping coefficient, C.
Logarithmic Decrement Example 2
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Logarithmic Decrement Example 2
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Logarithmic Decrement Example 2
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