MEEM 3700
Mechanical Vibrations
Mohan D. Rao
Chuck Van Karsen
Mechanical Engineering-Engineering Mechanics
Michigan Technological University
Copyright 2003
MEEM 3700
1 of 16
Lecture 3-SDOF Undamped
EOM
Key Points:
System is un-damped
No external forces
Only vertical motion
Given some initial conditions, Determine the resulting motion
MEEM 3700
2 of 16
Lecture 3-SDOF Undamped
EOM
At rest, x = 0 (static equilibrium)
mg
mg = k
MEEM 3700
3 of 16
Lecture 3-SDOF Undamped
EOM
Maintains Dynamic
Equilibrium
kx+k
x
mg
Note: x is measured from the static equilibrium position.
MEEM 3700
4 of 16
Lecture 3-SDOF Undamped
EOM
Free Body Diagram
Apply Newtons 2nd Law
kx + k
m
mg
F = m&x&
Fx+ = m&x&
mg (kx + k) = m&x&
Equation of motion (EOM)
m&x& + kx = 0
MEEM 3700
5 of 16
Lecture 3-SDOF Undamped
EOM
Equation of motion
m&x& + kx = 0
2nd order Differential equation
homogeneous
linear
constant coefficients
Forms of solution:
x(t)=X sin(t + )
x(t)=X cos(t - )
x(t)=Cest ---We will use this form
MEEM 3700
6 of 16
Lecture 3-SDOF Undamped
EOM
Equation of motion
m&x& + kx = 0
x& ( t ) = sCe
&x&( t ) = s Ce
Assume x(t) = Cest
st
st
ms2Cest + kCest = 0
(ms2 + k)Cest = 0
for a non - trivial solution
ms2 + k = 0
MEEM 3700
7 of 16
Lecture 3-SDOF Undamped
EOM
Equation of motion
m &x& + kx = 0
s1,2 = j
ms + k = 0
k
m
x(t) = C1es1t + C 2 es2 t
x(t) = C1e
k
t
m
+ C2e
-j
k
t
m
C1 and C2 are arbitrary constants to be determined from initial conditions
MEEM 3700
8 of 16
Lecture 3-SDOF Undamped
EOM
x(t) = C1e
k
t
m
+ C2e
-j
k
t
m
e j =cos ( ) jsin()
Recall Eulers identity:
k
k
k
k
x(t) = C1 cos t + j sin
t + C2 cos t - j sin
t
m
m
m
m
k
k
t + j (C1 - C2 ) sin
t
m
m
x(t) = (C1 + C2 ) cos
k
k
t + B sin
t
m
m
x(t) = A cos
A & B are always real
since C1 and C2 are
Complex conjugates
MEEM 3700
9 of 16
Lecture 3-SDOF Undamped
EOM
k
k
t + B sin
t
m
m
x(t) = A cos
case 1:
imaginary roots
2.5
2
1.5
a
m
p
litu
d
eX
1
0.5
0
-0.5
-1
-1.5
-2
-2.5
n =
5
time - seconds
10
k
2
=
= natural frequency (rad/sec)
m
T
MEEM 3700
10 of 16
Lecture 3-SDOF Undamped
EOM
x(t) = A cos ( n t ) + B sin ( n t )
f n=
1
= natural frequency
T
cycles
, or Hz
sec
x(t) = A cos ( 2f n t ) + B sin ( 2fn t )
MEEM 3700
11 of 16
Lecture 3-SDOF Undamped
EOM
x(0)
x(t) = A cos ( n t ) + B sin ( n t )
&
x(0)
A and B are determined from the Initial Conditions
1
0
x(0) = A cos ( 0 ) + B sin ( 0 )
x(0) = A
& = - n A sin ( n t ) + n B cos ( n t )
x(t)
0
& = - n A*( 0) + n B (1)
x(0)
MEEM 3700
&
x(0)
=B
n
12 of 16
Lecture 3-SDOF Undamped
EOM
x(t) = A cos ( n t ) + B sin ( n t )
x(t) = x(0) cos ( n t ) +
x& (0)
2.5
2
1.5
case 1:
&
x(0)
sin ( n t )
n
imaginary roots
am
p
litud
eX
1
0.5
0
-0.5
-1
X(0)
-1.5
-2
-2.5
5
time - seconds
MEEM 3700
10
13 of 16
Lecture 3-SDOF Undamped
EOM
Different forms of the same solution:
x(t ) = X cos ( nt )
x& ( 0 )
X = A + B = x (0) +
n
2
x& ( 0 )
x ( 0)n
= tan 1
Phase
Amplitude
MEEM 3700
14 of 16
Lecture 3-SDOF Undamped
EOM
Different forms of the same solution:
x(t ) = X sin ( nt + )
X (0)
X = A2 + B 2 = X (0) 2 +
n
x ( 0)n
x& ( 0 )
= tan 1
Phase
Amplitude
MEEM 3700
15 of 16
Lecture 3-SDOF Undamped
EOM
Equation of Motion:
J o&& + k t = 0
Solution Form:
(t)=Acos ( n t ) +Bsin ( n t )
Here n =
kt
2
=
= natural frequency (rad/sec)
J
T
Equation of Motion: m&x& + k x = 0
Compare with Translatory System
Solution Form:
MEEM 3700
x(t)=Acos ( n t ) +Bsin ( n t )
k
2
n =
=
m
T
16 of 16
Lecture 3-SDOF Undamped
EOM
