MEKANIKA GETARAN

JATI SUNARYATI
OBJECTS
1. SINGLE DEGREE OF FREEDOM (SDOF)
1.1 Free Vibration
1.2 Force Vibration

2. MULTY DEGREE OF FREEDOM (MDOF)
1.1 Modal Superpotition
1.2 Numerical Solutions
Single Degree of Freedom
) (t P ku u c u m = + +

Free Vibration
P(t) = 0
Undamped , c = 0
m + ku = 0
Damped
m + c + ku = 0
0 = c
Undamped , c = 0
m + ku = 0
.. (1)
The solution (linier, homogeneous, second order differential equation)
is :
st
e u =
.. (2)
Substitution into Eq. (1) gives
0 ) (
2
= +
st
e k ms
.. (3)
The characteristic equation is
n
i s k ms e = = +
2 , 1
2
0 ) (
.. (4)
The general solution of Eq (1) is :
.. (5)
t s t s
e A e A t u
2 1
2 1
) ( + =
Undamped , c = 0
m + ku = 0
Remember : de Moivres theorem
i
e e
x
e e
x
ix ix ix ix
2
sin
2
cos

=
+
=
Substitution Eq (4) to Eq (5) gives :
t i t i
n n
e A e A t u
e e
+ =
2 1
) (
.. (6)
Eq (6) can be written as
and
t B t A t u
n n
e e sin cos ) ( + =
(7)
t B t A t u
n n n n
e e e e cos sin ) ( + =

(8)
At the time zero,
u(0) = A and (0) =
n
B
(9)
The solution is
t
n
n
u
t
n
u t u e
e
e sin
) 0 (
cos ) 0 ( ) (

+ =
(10)
-2
0
2
0 5 10 15
t
u
Amplitude,u
o
T
n
= 2t/e
n
u(0)
(0)
a
b
c
d
e
Undamped , c = 0
m + ku = 0
Damped , c 0
m + c + ku = 0
=
. (11 a)
By dividing by m
0 2
2
= + + u u u
n n
e e

. (11 b)
where
m
k
km
n
m
cr
c
cr
c
c
n
m
c
2
2 2
2
= = =
= =
e
e

. (12)
. (13)
Critical damping coefficient
Damping ratio
Type of motion
1. c = c
cr
= 1 critical damped system
2. c > c
cr
> 1 overdamped system
3. c < c
cr
< 1 underdamped system
The solution of Eq (11 b) is Eq (2), and substitution into Eq (11 b) gives
0 ) 2 (
2
2
= + +
st
n n
e s s e e
. (14)
Which is satisfied for all values of t if
0 2
2
2
= + +
n n
s s e e
. (15)
That has two roots :
( )
2
2 , 1
1 e = i s
n
. (16)
t i t i
n n
e A e A t u
e e
+ =
2 1
) (
Hence the general solution is
. (17)
Undamped , c 0
m + ku = 0
Substitution Eq (16) into Eq (17) gives
) ( ) (
2 1
t i t i t
D D n
e A e A e t u
e e e
+ =

. (18)
If the initials condition at the time zero u(0) and (0)
The equation becomes
where
2
1 e e =
n D
. (18)
Eq (16) can be written as trigonometric function as
) sin cos ( ) ( t B t A e t u
D D
t
n
e e
e
+ =

. (20)
Undamped , c 0
m + ku = 0
(

+
+ = t
u u
t u e t u
D
D
n
D
t
n
e
e
e
e
e
sin
) 0 ( ) 0 (
cos ) 0 ( ) (

. (21)
-1.5
-1
-0.5
0
0.5
1
1.5
0 2 4 6 8
T
D
= 2t/e
D
u
t
Undamped , c 0
m + ku = 0
Eq(21) indicates that the displacement amplitude decays exponentially
with time. The envelope curves e
e
n
t
, where

and
0.2
0.4
0.6
0.8
1
0.2 0.4 0.6 0.8 1
(e
D
/e
n
)
2
+
2
=1

Range of damping
for structure
D
n
n
D
T
T
=
e
e
| |
2
2
) 0 ( ) 0 (
) 0 (
(

+
+ =
D
n
u u
u
e
e

. (22)
2
1
=
Tn
T
D
. (23)
Decay of motion
A relation between the ratio of two successive peaks of damped free
vibration given by
Called logarithmic decrement
2
1 1
2
ln

t
o

= =
+ i
i
u
u
. (24)
If is small, 1 1
2
~ and this gives an approximate equation
o ~ 2t
. (25)
-1.5
-1
-0.5
0
0.5
1
1.5
0 2 4 6 8
T
D
= 2t/e
D
u
t
u
1
u
2
u
3
Over j cycles the motion decreases from u
1
to u
j+1
, the ratio is given
by
o j
j
j
j
e
u
u
u
u
u
u
u
u
u
u
= =
+ + 1 4
3
3
2
2
1
1
1
...
.. (26)
therefore
( ) t o 2 ) / ln( ) / 1
1 1
~ =
+ j
u u j
.. (27)
Damping ratio
0
2
4
6
8
10
0.2 0.4 0.6 0.8 1
o=2t
2
1
2

t
o

=
L
o
g
a
r
i
t
h
m
i
c

d
e
c
r
e
m
e
n
t

o

Decay of motion