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In this study, we present a curve of the starting rolling displacement, which considers the starting region in which the rolling friction force depends on the displacement. We then analyze the nonlinear vibration of a one degree-of-freedom system with rolling friction force depending on the displacement. From the analytical results, it was found that a stopping motion is recognized below the resonance point, and above the resonance point, the vibration wave shows a clear sinusoidal. The parameter m that shows the energy loss in a system using a curve of the starting rolling displacement greatly affects the vibration characteristics, and the different characteristics appear in the case of m≥2 and m<2.

Small Vibration of System Including Rolling Friction with Starting Rolling Displacement