3.

Free Vibrations of Damped Single

Degree of Freedoms Systems
3.1. Introduction

 Damping in a vibrating structure is

associated with dissipation of
mechanical energy.
 The energy dissipation equals the work
done by the damping force.
 In the case of free vibrations the
presence of damping results in a
continuous decay of the amplitude.
3.2 Damping Models

 Damping in structural systems is

conventionally represented in three ways

1. Viscous Damping
2. Coulomb Damping
3. Hysteretic (or Structural Damping)
3.2.1 Viscous Damping

 Viscous Damping is the dissipation of energy

that occurs when the motion of a mass is a
vibrating system is resisted by a force that
has a magnitude proportional to the
magnitude of the velocity of the mass and
direction opposite to the direction of the
velocity of the mass.
3.2.2 Coulomb Damping
(Dry Friction Damping)

 This is dissipation of energy that occurs

when the motion of a mass in a vibrating
system is resisted by a force whose
magnitude is constant and whose direction is
opposite to the direction of the velocity of the
mass.
3.2.3 Hysteretic Damping

 In the literature it is also called

STRUCTURAL DAMPING
 Hysteretic Damping is attributed to internal
friction in structural materials that are not
perfectly elastic.
 The energy dissipated per unit volume of
material is represented by the shaded area
within the hysteresis loop in Fig. 3.1 bellow.
3.2.3 Hysteretic Damping

Loading
Stress
Unloading

Strain

Fig. 3.1: Hysteresis Loop

3.2.3 Notes on Fig. 3.1: The Hysteresis Loop

 The loop is formed by stress-strain curves for

increasing (or Loading) and decreasing (or
Unloading) levels of stress and strain.
 The figure shows a complete reversal of
stress and strain, which corresponds to one
cycle of vibration.
 This damping mechanism dissipates energy
approximately in proportion to the square of
the strain amplitude
 The shape of the hysteresis loop is relatively
independent of amplitude and strain rate.
3.3 Viscously Damped Single Degree
of Freedom System

 In considering damping forces in Structural

systems, Viscous damping is usually assumed.
 There are situations in which this assumption is
realistic.
 Nevertheless the assumption of viscous damping
is often made regardless of the actual dissipative
characteristics of the system
 The primary reason for this assumption is that it
leads to a relatively simple mathematical
analysis
3.3 Viscously Damped Single Degree
of Freedom System

 Fig. 3.2 Shows a model of a viscously

damped one degree of freedom system
k x(t)
m
c

Fig. 3.2: One Degree of Freedom System

3.3 Viscously Damped Single Degree
of Freedom System

Fig. 3.3 is a free body diagram, showing

the forces, which are acting on the mass
x(t)
k∙x
m  x
c  x
Fig.3.3: Free Body Diagram
3.3 Viscously Damped Single Degree
of Freedom System

 Equilibrium requirements give:

m  x  c  x  k  x  0 [3.1]
t into [3.1] gives
Substituting x Ae
m 2

 c  k  Ae t
0

i.e. m  c  k  0
2 [3.2]
3.3 Viscously Damped Single Degree
of Freedom System

Equ. [3.2] is called the characteristic Equation for

the system. The roots the equation [3.2] are
2
1 ,  2   c   c   k [3.3]
2m  2m  m
Thus the solution of Eq. [3.1] is given by the
superposition of the two possible solutions i.e.
1 t  2 t
x(t )  A  e  Be [3.4]
3.3 Viscously Damped Single Degree
of Freedom System

• Where A and B are constants of integration to be

determined from the initial conditions.
• The final form of Eq. [3.4] depends on the sign
of the expression under the radical in Eq. [3.3]
• Depending on the DAMPING present in the
system the expression under the radical can
either be: NEGATIVE or POSITIVE or ZERO
3.3.1 The Expression Under the Radical is Zero

 If the expression under the radical is zero the

system is said to be CRITICALLY DAMPED
and the damping in this case is called
CRITICAL DAMPING.
 Critical damping is designated by ccr
3.3.1 The Expression Under the Radical is Zero

From the condition that for a critically damped

system the expression under the radical is
zero and the damping is Ccr , it follows that
2 ccr  k
 ccr   k  0
  i.e.
2m m
 2m  m

Which gives ccr  2m k  2 km [3.5]

m
3.3.1 The Expression Under the Radical is Zero

 k
But = Natural Frequency
m

 m  k2 and k  m 2


ccr  2m k  2m  2 k  2 km
Hence
m 
3.3.1 The Expression Under the Radical is Zero

It follows from Eq. [3.3] that for critically damped

system the roots of the characteristic equation are
equal and are given by:
c
1   2   cr [3.6]
2m
From this it follows that the general solution of a
critically damped system is given by

  cr t
 c
x( t )   A  B  t  e  2m  [3.7]