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mx kx
mx kx 0
m
x
x n2 x 0
k
m
a mass-spring system
natural frequency
2
x (t ) A sin n t B cos n t
m
k
period
conditions.
Sin or Cos ?
? n ?
x (0) ? x (0) ?
x(t )
x (0)
sin n t x (0) cos n t
n
x (0)
[ x (0)]2 sin(n t )
x(0)n
x (0)
where
arctan
Vibration of a pendulum
How to establish the equation of motion?
2
l
m
ml 2 mgl sin
l g sin 0
l g 0
g
l
Equation of Motion
J o K 0
Jo
natural frequency
K
Jo
c
3
mx cx kx 0
m
x
1.
standard equation
x 2 n x n2 x 0
damping factor
c
c
2m n 2 km
x (t ) exp( n t )[
x (0) n x (0)
sin d t x (0) cos d t ]
d
d n 1 2
Students exercise
damped natural
frequency
1
0
0
-1
-2
2.
4
3
2
1
0
0
0.5
1.5
2
1.5
x (t ) ( A Bt ) exp( n t )
1
0.5
0
-0.5
0.5
1.5
positive
Determination of Damping
x (t ) X exp( n t ) sin( d t )
d
2
Xexp(-nt)
x1
x2
X sin
0
0
-1
-2
logarithm decrement
ln
x1
n d
x2
Example:
6
n d
The 2nd and 4th peaks of a damped free vibration measured are
respectively 0.021 and 0.013. What is damping factor?
Solution:
x (t 2 )
exp( n 2 d )
x (t 4 )
2 n d 2 n
n 1 2
4
1 2
x(t 2 )
x(t 4 )
2 n d ln
x(t 2 )
x(t 4 )
ln
x (t 2 )
x (t 4 )
2 n d 4 ln
1 x(t 2 )
0.0382 3.82% .
ln
4 x(t 4 )
1 2
1 x(t 2 )
ln
4 x(t 4 )
. This leads to
1 x(t 2 )
ln
4 x(t 4 )
1 x(t 2 )
1
ln
4
x
(
t
)
4
1 x(t 2 )
2
ln
1 2 4 x(t 4 )
. This leads to
0.0381 3.81%
dn x
d n 1 x
dx
a
...... a1 1 a0 0
n 1
n
n 1
dt
dt
dt
and hence
x (t ) b j exp( j t )
j 1
Re()