Vibration of Single Degree

of Freedom System
Dhiman Basu
IIT Gandhinagar
Acknowledgement
Most of the numerical data and plots
presented in this lecture are taken
from the Text Book
Dynamics of StructuresTheory and
Application to Earthquake Engineering
by Prof. Anil K. Chopra
Introduction
Single Degree of Freedom (SDOF) System
One variable is required to describe the deformation
For example: Mass-Spring-Dashpot System

Newtons Law of Motion

Resultant force
= Mass X Acceleration

Resultant Force
Applied force, f (t )
Force offered by spring, kx
Force resisted by dashpot, cx&
Equation of Motion
mx&&+ cx&+ kx = f (t )
Initial Conditions: x (t = 0) = x0 ; x&(t = 0) = v0
Standard procedure is available to solve this
differential equation

Special Cases
Free vibration--- f (t ) = 0
Undamped--- c = 0
Undamped Free
Vibration
 Equation of Motion
mx&
&+ kx = 0
Initial Conditions:
x (t = 0) = x0 ; and /or x&(t = 0) = v0
Displacement Response x(t): Natural Frequency
n = k m rad/sec
Time Period
Tn = 2 n sec
Amplitude
A0 = x + (v0 n )
2 2
0

v0
Phase 0 = tan
-1

x
0 n
Some Examples (Assume No
Damping)

2k = 6 EI / L3 k = 3EI / L3
Damped Free Vibration
 Equation of Motion
mx&
&+ cx&+ kx = 0
Initial Conditions:
x (t = 0) = x0 ; and /or x&(t = 0) = v0

Displacement Response x(t):

Provided system parameters satisfy certain condition:
ccr = 2 km = critical damping
c ccr = < 1 damping ratio
x = e- nt sin ( D t + )
D x0
tan =
v0 + n x0
1/ 2

2
v + n x0
= x02 + 0

D


Comparison of Damped and
Undamped Systems
Effect of Different Damping Ratios
Initial Conditions

x (t = 0) = x0 ; x&(t = 0)= v0 = 0

More the damping more rapidly the vibration dies out

Logarithmic Decay and Estimation
of Damping

Amplitude ratio in two successive cycles

2 1 x

xi nTD ln i
=e = exp

xi + 1
1 -
2 2 xi+ 1

Damping can be estimated from free vibration test

Undamped Forced Vibration
due to Harmonic Loading
Consider a Sinusoidal Force

f (t ) = p0 sin t is forcing frequency

Governing Equation Initial Conditions
&+ kx = p0 sin t
mx& x (t = 0) = x0 ; x&(t = 0)= v0
General Solution x p (t )= Particular Integral
x (t )= xc (t )+ x p (t )
xc (t ) = Complementary Function Steady State
Transient
= Homogeneous Solution
 Special case
x0 = 0; v0 = n p0 k ; n = 0.2

(xst )0 = p0 k = Displacement due to amplitude of load if

applied statically (maximum static response)
Consider only steady Maximum steady
state motion state response

p0 1
sin t p0 1

x p (t )= xp0 =
k 1- ( n )2
k 1- ( n )2

Deformation Response Factor
Absolute Maximum Steady State Response xp0 1
Rd = = =
Maximum Static Response (xst )0 1- ( n )2
Consider only steady state response

0 < n
x p (t )= (xst )0 Rd sin (t - ) =
180o > n
Resonance: Salient Points
Forcing frequency = Natural frequency = n
Apparently
Deformation Response Factor is Infinite
Unbounded response
In reality
Form of Steady State Response is not valid at = n
Actual Steady State Response is
p0
x p (t )= - nt cos nt
2k

Amplitude
grows to infinity
ONLY at
INFINITE time
Damped Forced Vibration
due to Harmonic Loading
Consider Once again the same Sinusoidal Force

f (t ) = p0 sin t is forcing frequency

Governing Equation is now
&+ cx&+ kx = p0 sin t
mx&
General Solution is, as before,
x (t )= xc (t )+ x p (t )
xc (t ) = Complementary Function
= Homogeneous Solution
Initial Conditions
x (t = 0) = x0 ; x&(t = 0)= v0
x p (t )= Particular Integral
Steady State
Transient
Typical Response in Damped
Harmonic Forced Vibration

Special case
x0 = 0; v0 = n p0 k ; n = 0.2, = 0.05
Resonance in Damped System
= n

For a Special Case of Zero Initial Conditions and 5% Damping

Effect of Damping at Resonance

For a Special Case of Zero Initial Conditions

Deformation Response Factor

Absolute Maximum Steady State Response xp0

Rd = =
Maximum Static Response (xst )0
Consider only steady state response
x p (t )= (xst )0 Rd sin (t - )
1 2 ( n )
Rd = ; tan =
1- ( n )
2
2 2 2
{1- ( ) } + {2 ( )}
n n

< < 1

1
n
> > 1
Response to Arbitrary Force
by Duhamels Integral
Unit Impulse and Its Effect
Newtons 2nd Law
d
(mx&)= p (t )
dt
t2

1= p (t )dt = m(x& - x&)= m x&

2 1
t1
Unit Impulse
Assuming AT REST condition just before the impulse
x&( ) = 1 m
Therefore, unit impulse impart a velocity to the system and hence,
vibration due to initial velocity
x0 = 0; v0 = 1 m
Solution of damped free vibration due to initial velocity lead to
1 - nt
x (t )= e sin D t t is measured from just after the
m D
impulse, i.e., from the instant
Unit Impulse Response Function
If t is measured from the instant when is measured
1 - n (t - )
x (t )= e sin D (t - )
= h (t - ) t
m D

Unit Impulse Response Function, i.e., Response due to unit impulse

Arbitrary Loading Decomposed
into Impulses

Response due to one impulse

p ( ) - n (t - )
dx (t )= p ( )h (t - )= e sin D (t - )

m D
Overall Response
t
1 - n (t - )
x (t )= p ( )e sin D (t - )
d
m D 0

Note:This is the response with ZERO Initial Conditions,

Otherwise, Add the result of Free Vibration

The Procedure can be used in Numerically Evaluating the

response of a variety of loadings including that due to
earthquake
Thank You