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A single degree of freedom mass-spring-viscous damper system with mass $m$, spring constant $k$ and viscous damping coefficient $q$ is critically damped. The correct relation among $m$, $k$, and $q$ is

  1. $q=\sqrt{2km} \\$
  2. $q=2\sqrt{km} \\$
  3. $q=\sqrt{\dfrac{2k}{m}} \\$
  4. $q=2\sqrt{\dfrac{k}{m}}$
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