Single Degree of freedom system (undamped)

The Single Degree of Freedom System (SDOF ) is the fundamental system for
more advanced studies in vibrations.

There are 4 main analytical techniques, namely:

I. Energy Method
II. Newton's Law of Motion
III. Frequency Response Method
IV. The Superposition Theorem

Only methods (i) and (ii) will be considered in detail in this course.

Energy Method
Based on the law of conservation of energy. It says that the total energy of the
system is constant (no energy lost).

Let Consider a mass spring system:

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 Single Degree of freedom system (undamped)

ℓ0= free length of spring

𝛿st= static deflection

Figure 2.1
x

x
For conservative system (as shown above) set into oscillatory motion, total
mechanical
Energy, which is sum of its K.E (T) and P.E (U), is constant
𝑇ℎ𝑢𝑠, 𝑇 + 𝑈 = 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑑
𝑇+𝑈 =0 (1)
𝑑𝑡
• Let the displacement x(t) of mass be +ve downward as shown.
• Assuming that the mass of the spring is negligible, then the K.E of the system is
1
𝑇 = 𝑚𝑥ሶ 2 (2)
2
• P. E of the system is
1
𝑈 = 𝑘𝑥 2 (3)
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 Single Degree of freedom system (undamped)

Substituting (2) and (3) into (1)

𝑑 1 1
𝑚𝑥ሶ 2 + 𝑘𝑥 2 = 0
𝑑𝑡 2 2
1 1
2m𝑥ሶ 𝑥ሷ + 2𝑘𝑥 𝑥ሶ = 0
2 2
Finally we get
𝑚𝑥ሷ + 𝑘𝑥 = 0 (4)
Which is equation of the motion of the system, alternatively
𝑘
𝑥ሷ + 𝑥 = 0 (5)
𝑚
Can also be written in
𝑥ሷ + 𝜔𝑛2 𝑥 = 0

𝑘
where 𝜔𝑛 = (natural angular freq. in rad/s)
𝑚
𝜔𝑛 1 𝑘Τ
and 𝑓𝑛 = = 2𝜋 𝑚 (natural freq. in Hz)
2𝜋

Equation (4) or (5) is equation of motion of the system.

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 Single Degree of freedom system (undamped)

Newton’s Law
The rate of change of momentum of a mass is equal to the force acting on it.
−𝐾(𝛿𝑠𝑡 + 𝑥)
𝑑 2 𝑥(𝑡)
Ԧ 𝑑 𝑑𝑥Ԧ (𝑡)
𝐹Ԧ 𝑡 = 𝑚 Ԧ
𝐹(𝑡) = 𝑚
𝑑𝑡 2 𝑑𝑡 𝑑𝑡

𝐹Ԧ t = m𝑥Ԧሷ
𝑥+
ሷ
Consider Figures 2.1 and 2.2
𝐹 = 𝑚𝑥ሷ mg
Figure 2.2 FBD
−𝐾(𝛿𝑠𝑡 + 𝑥) + 𝑚𝑔 = 𝑚𝑥ሷ
𝐴𝑡 𝑠𝑡𝑎𝑡𝑖𝑐 𝑒𝑞𝑢𝑖𝑙𝑖𝑏𝑟𝑖𝑢𝑚 𝐾𝛿𝑠𝑡 = 𝑚𝑔
−𝐾𝑥 = 𝑚𝑥ሷ
𝑚𝑥ሷ + 𝐾𝑥 = 0 (6)
Equations (4) & (6) are identical, which are second order homogeneous
ordinary differential equations
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 Single Degree of freedom system (undamped)

Equations (4) or (6) can be solved, which result in a general solution for the free
vibration of undamped system .

Consider Eq. (6) 𝑚𝑥ሷ + 𝐾𝑥 = 0

𝑑2𝑥
𝑚 2 + 𝐾𝑥 = 0
𝑑𝑡
Using Laplace transform
𝑚𝑠 2 𝑋 𝑆 + 𝐾𝑋 𝑆 = 0

𝑚𝑠 2 + 𝐾 = 0 (7) Eq. (7) is called Auxiliary or the

characteristic equation
Roots of the Eq. (7) are
𝐾 𝐾
𝑠2 =− , 𝑠 = ±𝑖
𝑚 𝑚
𝐾 Eq. (8) is the natural frequency of
𝜔𝑛 = (8) the system
𝑚

Eq. (9) gives roots of the auxiliary Eq.

and also known as eigenvalues or the
𝑠 = ±𝑖𝜔𝑛 (9) characteristic values.
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 The solution of Eq.(6) is the form of
𝑥 𝑡 = 𝐶𝑒 𝑠𝑡 (10)
𝑠1 = 𝐶1 𝑒 𝑖𝜔𝑛 𝑡 , 𝑠2 = 𝐶2 𝑒 −𝑖𝜔𝑛 𝑡
The general solution of Eq. (6) can be expressed as (By superposition)

𝑥 𝑡 = 𝐶1 𝑒 𝑖𝜔𝑛 𝑡 + 𝐶2 𝑒 −𝑖𝜔𝑛 𝑡 (11)

where C1 and C2 are constants. By using the identities 𝑒 ±𝑖𝑡 = 𝑐𝑜𝑠𝑡 + 𝑖𝑠𝑖𝑛𝑡
Eq. (11) can be rewritten as
𝑥 𝑡 = 𝐴𝑐𝑜𝑠𝜔𝑛 𝑡 + 𝐵𝑠𝑖𝑛𝜔𝑛 𝑡 (12)
Eq. 12 can also be written as 𝑥 = 𝑅𝑠𝑖𝑛(𝜔𝑛 𝑡 + 𝜑)
These constants R and 𝜑 have physical significance that these are determined by the initial
state of motion of the spring mass system. The phase angle describes the relative shift in the
sinusoidal vibration of the spring-mass system resulting from the initial displacement.

The constants C1 and C2 or A and B can be determined from the initial conditions
of the system. Initial conditions are 𝑥 0 = 𝑥0 and 𝑥ሶ 0 = 𝑥ሶ 0
𝑥ሶ 0
𝐸𝑞. 12 𝑏𝑒𝑐𝑜𝑚𝑒𝑠 𝑥 𝑡 = 𝑥0 𝑐𝑜𝑠𝜔𝑛 𝑡 + 𝑠𝑖𝑛𝜔𝑛 𝑡
𝜔𝑛
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 wℎ𝑒𝑟𝑒
1ൗ
2 2
𝑥ሶ 0
𝑅= 𝐴2 + 𝐵2 = 𝑥02 + = 𝑎𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒
𝜔𝑛
𝐴 𝑥0 𝜔𝑛
𝜑 = 𝑡𝑎𝑛− = 𝑡𝑎𝑛−1 = phase
𝐵 𝑥ሶ 0
If the spring-mass system is in a vertical position, the circular natural frequency can be
expressed as 1
𝑘 2
𝜔𝑛 =
𝑚
𝑤 𝑚𝑔
Spring Constant k can be expressed in terms of mass m 𝑘 = =
𝛿𝑠𝑡 𝛿𝑠𝑡
1 1
𝑚𝑔 2 𝑔 2
𝜔𝑛 = =
𝑚𝛿𝑠𝑡 𝛿𝑠𝑡
Hence the natural frequency in cycles per second and the natural period are given by

We can compute the frequency and the period of vibration

by simply measuring static deflection. No need to know k
and m.

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 Free Vibration of an Undamped Torsional System
If a rigid body oscillates about a specific reference axis, the
resulting motion is called torsional vibration. If the disc is
displaced by Ө from its equilibrium position, the shaft provides a
restoring torque of magnitude Mt. Thus the shaft acts as a
torsional spring with a torsional spring constant
𝐺𝐽𝑝
From the theory of torsion of circular shafts: 𝑀𝑡 = Θ
𝑙

𝑀𝑡 𝐺𝐽𝑝 𝜋𝐺𝑑 4 𝜋𝑑 4
𝐾𝑡 = = = 𝐽𝑝 =
𝜃 𝑙 32𝑙 32

where
Mt is the torque that produces the twist Ө
G is the shear modulus,
l is the length of the shaft,
𝐽𝑜 polar mass moment of inertia of disk: Resistance to angular acceleration
𝐽𝑝 polar moment of inertia (cross section of shaft): Resistance to torsion

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Equation of motion using Newton’s 2nd law

෍ 𝐹 = 𝑚𝑎

෍ 𝑀𝑡 = 𝐽𝑜 Θሷ

−𝐾𝑡 Θ = 𝐽0 Θሷ
Equation of motion

Angular frequency

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 Mass moment of inertia of selected objects

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(1) Determine the equation of motion and natural

LcosӨ
L
frequency of a simple pendulum if

(a) Mas of rod is small compared to the mass ‘m’ at

mgcosӨ
the end

h
(b) Mass of rod ‘M’ is not negligible h=L(1-cosӨ)
mg
Figure (a)

L/2

LcosӨ
θ

mgcosӨ

h mg
Figure (b)
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(2) Determine the effect of Mass on ωn of a Spring

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(3) A 0.25 kg mass is suspended by a spring having a stiffness of 0.1533 N/mm.
Determine its natural frequency in cycles per second. Determine its static deflection.

(4) A rigid body of mass 0.5kg extends a spring statically by 8mm when attached to it. Find
the frequency?
(5) For the following S D O F Systems use free-body diagram to drive the equation of
motion and natural angular frequency.

(b) (c)
(a)

(d)
(e) (f)
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 Rayleigh’s Method
Rayleigh’s method is an extension of the energy method which is also based on the principal
of the conservation of energy. In conservation system, total energy of the system is constant,
then it can be said
E1= E2
where
E1 and E2 refer to total energies evaluated at two different positions 1 and 2 during
oscillations, Hence
T1+U1=T2+U2
where
Ti and Ui are K.E and P.E energies evaluated at position i (i=1,2).

The first position corresponds to extreme position of oscillation, at this position velocity is
zero. Hence K.E is zero but P.E would be maximum.

The second position corresponds to the system while crossing the static equilibrium position.
Here the velocity is maximum and hence K.E is maximum but P.E would be zero.
Therefore 0 + U1=T2+ 0
If the system is undergoing harmonic motion, then T1 and U2 denote the maximum values
of T and U, respectively, and above Eq. becomes
Tmax = Umax
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 In this method property of the SHM is used which gives frequency of the oscillation.
𝑥 = 𝐴𝑐𝑜𝑠𝜔𝑛 𝑡
𝑥ሶ 𝑚𝑎𝑥 = 𝐴𝜔𝑛
Max velocity= Amplitude *Frequency

Examples: Find natural frequency?

X(t)

(a) (b)

Since Max. value of sine and cosine could only be 1. Hence Max. displacement would be A (or X) and Max.
velocity would be 𝐴𝜔𝑛 (or X𝜔𝑛 ).

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