Free Vibration
When a system is put out of its equilibrium position and
vibrates under the action of forces inherent in the system itself
and in the absence of existing forces
pulled and released
(initial displacement)
or
start with a given velocity
(initial velocity)
Free Vibration
Components of the Basic Dynamic System
(Essential physical properties of any linearly elastic structural
or mechanical system subjected to an external source of
excitation or dynamic loading)
• mass, (m)– inertial property
• elastic properties, (k) - flexibility or restoring property or
stiffness
• energy loss mechanism or damping, (c)
• external source of excitation or loading, F(t)
Free Vibration
Ws
m=
g
Ws – weight of structure
g – gravitational constant
- 9.807 m/s2
- 32.2ft/s2
Two Types of Inertia Forces
*Translational inertia force
fiT(t) = m v(t)
m - translational mass
v(t) – translational acceleration
•Rotational inertia force
fiR(t) = j Ǿ(t)
j - rotational mass moment of inertia
Ǿ(t) - rotational acceleration
Single Degree-of-Freedom (SDOF) Systems
c m v(t)
p(t)
k
k c
m
k
J
p(t) v(t)
Ǿ(t)
M(t)
Single Degree-of-Freedom (SDOF) Systems
Multi Degree-of-Freedom (MDOF) Systems
m1 m2
c1 v1(t) v2(t)
c2
p2(t)
k1 p1(t) k2
Multi-Degree-of-Freedom (MDOF) Systems
SDOF System – Spring-mass-damper system
Forces on the mass
v(t)
c m
damper/dashpot
p(t)
k
v(t) = displacement
k = stiffness
c = damping constant
m = mass
p(t) = external dynamic loading/force
SDOF System – Spring-mass-damper system
Forces on the mass v(t)
c m
p(t)
k
m v(t)
fD(t)= c v(t)
fI(t)= m v(t)
fs(t)= k v(t) p(t)
fI(t)= m v(t) inertia force
fD(t)= c v(t) damping force
fs(t)= k v(t) elastic spring force
SDOF System – Spring-mass-damper system
Forces on the mass v(t)
c m
p(t)
k
m v(t)
fD(t)= c v(t)
fI(t)= m v(t)
fs(t)= k v(t) p(t)
∑ F = 0 inertia force
- fS(t) - fD(t) - fI(t) + p(t) = 0
m v(t) + c v(t) + k v(t) = p(t)
SDOF System – Spring-mass-damper system
Forces on the mass v(t)
c m
p(t)
k
c m v(t)
c v(t)
m v(t)
k v(t) p(t)
k
m v(t) + c v(t) + k v(t) = p(t)
SDOF System – Spring-mass-damper system
Forces on the mass, effect of gravitational force
v’(t) = Δst + v(t)
dynamic displacement
k c
static displacement
total or absolute
Δst displacement
m
p(t) v’(t) v(t)
SDOF System – Spring-mass-damper system
Forces on the mass, effect of gravitational force
c k c
k
Δst
m k v’(t) c v’(t)
p(t) v’(t) v(t)
m v’(t) W
p(t) v’(t)
m v’(t)+ c v’(t) + k v’(t) = p(t) + W
SDOF System – Spring-mass-damper system
Forces on the mass, effect of gravitational force
v’(t) = Δst + v(t) Note: k Δst = W
v’(t) = v(t)
v’(t) = v(t)
m v’(t)+ c v’(t) + k v’(t) = p(t) + W
m v(t) +c v(t)+ k( Δst + v(t) ) = p(t) + W
k v’(t)
m v(t) +c v(t) + k Δst + k v(t) = p(t) + W c v’(t)
m v(t) +c v(t) + k v(t) = p(t)
m v’(t) W
The equation of motion, expressed with p(t)
reference to the static equilibrium v’(t)
position, is not affected by gravity forces
SDOF System – One-storey building with rigid girder
(Influence of Support Excitation)
v(t)
vT(t) = vg(t) + v(t)
vT(t) m disp of mass rel to
fixed reference axis
moving support/base
disp of frame support
rel to fixed reference
k k axis
2 2
total disp of mass rel to
c
fixed reference axis
vg(t) Applications:
1. Motion of building caused by earthquake
2. Motion of equipment due to motion of building
where it is housed
SDOF System – One-storey building with rigid girder
(Influence of Support Excitation)
v(t) fI(t)
vT(t) m fs(t) fs(t)
fD(t)
fixed reference axis
2 2
fI(t)= m vT(t)
k k
fD(t)= c v(t)
2 2
fs(t)= k v(t)
∑ F = 0 inertia force
- fS(t) - fD(t) - fI(t) = 0
vg(t) - k v(t) c v(t) - m (vg(t) + v (t) ) = 0
-
m v(t) +c v(t) + k v(t) = - m vg (t)
Fundamental Periods of Various Structures
seconds
1. Equipment 0.05
2. One-story Simple Frame 0.1
3. Tall Buildings (10-20 stories) 1-2
4. Water Tank on a Single Support 4
5. Offshore Drilling Rig 2.5-6
6. Suspension Bridge 6
END
Free Vibration
When a system is put out of its equivalent position and
vibrates under the action of forces inherent in the system
itself and in the absence of existing forces
F3
∑ F = Res
F2
F4
=
a ∑F
F1 ∑ F = ma
