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LIST OF SYMBOLS

Maximum cantilever length (inches); measured from the face

a
of block to edge of foundation
Maximum deflection (inches), for estimating the fundamental
d
natural frequency of beam or column
e Rotor eccentricity for centrifugal machines
f1 First coupled natural frequency
f2 Second coupled natural frequency
f0 Machine operating speed (cps or rpm)
fd Damped resonant frequency (cps or rpm)
fn Undamped natural frequency (cps or rpm)
f’c Concrete compressive strength
fy Yield strength of reinforcement
fnx Uncoupled natural frequency in translational x direction
fny Uncoupled natural frequency in translational y direction
fnz Uncoupled natural frequency in translational z directions
fnφ Uncoupled natural frequency , rocking about X
fnψ Uncoupled natural frequency , rocking about Y
fnθ Uncoupled natural frequency , rocking about z, Torsional

fx,1 Parameters for calculating single pile stiffnesses in horizontal

(X),
fz,1 Parameters for calculating single pile stiffnesses in vertical (Z),

fφ,1 Parameters for calculating single pile stiffnesses in rocking (φ)

modes
fx,2 Parameters for calculating single pile damping coefficients in
horizontal (X),
fz,2 Parameters for calculating single pile damping coefficients in
vertical (Z)
fφ,2 Parameters for calculating single pile damping coefficients in
rocking (φ) modes,
g Acceleration of gravity (32.2 ft/sec2 or 386.4 in/sec2)

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Foundation embedment depth, the distance between the CG

h
of a machine foundation system and the foundation base.
hi Thickness of ith soil layer
l Embedded length of a pile
Total mass of a machine foundation system
m
(machine+foundation)
me Rotor mass for centrifugal machines
r Frequency ratio, defined as f0/fd (or f0/fn)
Equivalent radius of foundation; equivalent radius of concrete
r0 Ap
pile,
π
t Thickness of mat foundation or pile cap
A0 displacement amplitude
Stress influence area (spreading below the foundation at a
Ai ratio of 2 vertical to 1 horizontal) measured at the centroid of
ith soil layer
Ap Cross sectional area of concrete pile
B Foundation width, parallel to the y-axis
Bx Mass ratios for calculating the soil geometrical damping ratios
in horizontal X directions
By Mass ratios for calculating the soil geometrical damping ratios
in horizontal Y directions
Bz Mass ratios for calculating the soil geometrical damping ratios
in vertical Z directions
Mass ratios for calculating the soil geometrical damping ratios
Bφ
in rocking about X (φ) directions
B

Mass ratios for calculating the soil geometrical damping ratios

Bψ
in rocking about Y (ψ) directions
B

Mass ratios for calculating the soil geometrical damping ratios

Bθ
in torsional about Z (θ) directions
B

Cx Damping coefficients for a single pile in horizontal (X)

direction
Cz Damping coefficients for a single pile in vertical (Z) direction
Damping coefficients for a single pile in rocking about X (φ)
Cφ directions
System damping or equivalent modal damping ratio for a
D
coupled vibrational motion
Dx Soil or soil-pile damping ratios in horizontal X directions

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Dy Soil or soil-pile damping ratios in horizontal Y directions

Dz Soil or soil-pile damping ratios in vertical (Z) directions

Dφ Soil or soil-pile damping ratios in rocking about X(φ) directions

Soil or soil-pile damping ratios in rocking about Y
Dψ
(ψ)directions
Soil or soil-pile damping ratios in torsional about Z (θ)
Dθ directions
Ep Young's modulus of concrete pile
F0 Machine unbalanced force for centrifugal machines
Fn Unbalanced force at natural frequency of the foundation
system
Fx Unbalanced force in horizontal x direction
Fy Unbalanced force in horizontal y direction
Fz Unbalanced force in vertical z direction
G, Gs Dynamic soil shear modulus
Gavg Weighted average soil shear modulus
Io Mass moment of inertia at the C.G. of a machine foundation
Ip Area moment of inertia of single pile
Mass moments of inertia at the foundation base in rocking
Iφ
about X (φ) direction
Mass moments of inertia at the foundation base in rocking
Iψ
about Y (ψ) direction
Mass moments of inertia at the foundation base in torsional
Iθ
about Z (θ) direction
Ks Soil dynamic subgrade reaction (lbs/in3)

Kx Soil spring constants or single pile spring constants in

translational X direction.
Ky Soil spring constants or single pile spring constants in
translational Y direction.
Kz Soil spring constants or single pile spring constants in
translational Z direction.
Soil spring constants or single pile spring constants in
Kφ rotational φ modes
Soil spring constants or single pile spring constants in
Kψ
rotational ψ modes
Soil spring constants or single pile spring constants in
Kθ
rotational θ modes

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(Ki)g Pile spring constants for a pile group

L foundation length, parallel to the X-axis .
Mφ Unbalanced moments about X (φ),
Mψ Unbalanced moments about Y (ψ),
Mθ Unbalanced moments about Z (θ),
N Number of soil layers; number of piles
Ni Dynamic amplification factors at ith vibrational motion
V0 Maximum velocity amplitude
Vp Compression wave velocity of pile, E p g/ γ p
Vs Shear wave velocity of soil Gs / ρs
W Total weight of a machine foundation system (m x g)
We Rotor weight
X Cartesian coordinates in horizontal X (parallel to L)
Y Cartesian coordinates in horizontal Y (parallel to B )
Z Cartesian coordinates in vertical Z
αx Coefficients for soil damping calculation due to embedment
effect in horizontal (X),
αz Coefficients for soil damping calculation due to embedment
effect in vertical (Z)
αφ Coefficients for soil damping calculation due to embedment
effect in rocking about X (φ) mode
αψ Coefficients for soil damping calculation due to embedment
effect in rocking about Y (ψ) mode
I0 I0
β or
Iψ Iφ
βx Geometrical coefficients for soil spring calculation for
rectangular foundation in translational X direction.
βy Geometrical coefficients for soil spring calculation for
rectangular foundation in translational Y direction.
βz Geometrical coefficients for soil spring calculation for
rectangular foundation in translational Z direction.
βφ Geometrical coefficients for soil spring calculation for
rectangular foundation in rotational about X (φ) modes.
βψ Geometrical coefficients for soil spring calculation for
rectangular foundation in rotational about Y (ψ) modes.
γ Correction factor for soil damping calculation in rocking mode

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γs Weight density of soil (Ds x g)

γp Weight density of concrete pile
ρs Mass density of soil
μ Poisson's ratio of soil
ω Machine operating speed (rad/sec)
ηx Coefficients for soil spring calculation due to embedment
effect in horizontal X direction.
ηy Coefficients for soil spring calculation due to embedment
effect in horizontal Y direction.
ηz Coefficients for soil spring calculation due to embedment
effect in vertical Z direction.
ηφ Coefficients for soil spring calculation due to embedment
effect rocking about X (φ)
ηψ Coefficients for soil spring calculation due to embedment
effect rocking about Y (ψ)
θ rotation about vertical Z-axis (torsion)
φ rotation about horizontal X-axis (rocking)
ψ rotation about horizontal Y-axis (rocking)

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Table 1

GENERAL MACHINERY - VIBRATION - SEVERITY DATA

Horizontal Peak Velocity

Machine Operation
(in./sec)
<0.005 Extremely smooth

0.005-0.010 Very smooth

0.010-0.020 Smooth

0.020-0.040 Very good

0.040-0.080 Good

0.080-0.160 Fair

0.160-0.315 Slightly rough

0.315-0.630 Rough

>0.630 Very rough

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Table 2

ROTOR ECCENTRICITIES

Operating Speed Eccentricity

Machine
f (RPM) e (MILS)

1.8 _ 107
Centrifugal 2
Compressors f
f ≤ 3000
and (or Fo = 0.51 We)
Turbines

Centrifugal
Compressors 12000
and f > 3000 f
Turbines
Gear Units f ≤ 8000 0.8
Gear Units f > 8000 0.5
Motors f ≤ 1500 1.5
Motors 1500 < f < 3000 1
Motors f ≥ 3000 0.5

Fo : Machine unbalanced force

We : Rotor weight

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Table 3

SOIL SPRING CONSTANTS FOR RECTANGULAR FOUNDATION

Mode of Vibration Soil Spring Constants

Horizontal (X) K x = 2(1 + μ ) G β x BL η x

K y = 2(1 + μ ) G β y BL η y
Horizontal (Y)

G
Kz = β BL η z
Vertical (Z) (1 - μ ) z

G
Rocking Kφ = β B2 L ηφ
(1 - μ ) φ
(about X)

G
Rocking Kψ = β B L2 ηψ
(1 - μ ) ψ
(about Y)

16 G r 3o
Torsional Kθ =
(about Z) 3

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Table 4

SOIL SPRING COEFFICIENTS FOR SOIL SPRING CALCULATION

INCLUDING EMBEDMENT EFFECT

Mode of Equivalent Soil Spring

Vibration Radius (ro) Coefficient

Horizontal BL
(X & Y) π

Vertical BL ⎡h⎤
η z = 1 + 0.6(1 - μ ) ⎢ ⎥
(Z) π ⎣ ro ⎦

3
Rocking B3 L ⎡h⎤ ⎡h⎤
4 ηφ = 1+1.2(1- μ ) ⎢ ⎥ + 0.2(2 - μ ) ⎢ ⎥
(about X) 3π ⎣ ro ⎦ ⎣ ro ⎦

3
Rocking BL
3
⎡h⎤ ⎡h⎤
4 ηψ = 1 + 1.2(1 - μ ) ⎢ ⎥ + 0.2(2 - μ ) ⎢ ⎥
(about Y) 3π ⎣ ro ⎦ ⎣ ro ⎦

Torsional 4
BL( B2 + L2 ) N/A
(about Z) 6π

* h = embedment depth

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Table 5

GEOMETRICAL DAMPING RATIOS FOR RECTANGULAR FOUNDATION

(INCLUDING THE EMBEDMENT EFFECT)

Mode of Mass Ratio

Vibration Damping Ratio (D)

(1 - μ ) m 0.425
Vertical Bz = Dz = αz
4 ρ s r 3o Bz
(Z)

(7 - 8 μ ) m 0.288
Horizontal Bx = Dx = αx
32(1 - μ ) ρ s r 3o Bx
(X or Y)

3(1 - μ ) Iφ 0.15 α φ
Rocking Bφ = Dφ =
8 ρ sr 5o (1 + γ Bφ ) γ Bφ
(about X)

3(1 - μ ) Iψ 0.15 α ψ
Rocking Bψ = Dψ =
8 ρ sr 5o (1 + γ Bψ ) γ Bψ
(about Y)

Iθ 0.5
Torsional Bθ = Dθ =
ρ s r 5o 1 + 2 Bθ
(about Z)

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Table 6

DAMPING COEFFICIENTS FOR SOIL DAMPING CALCULATION

INCLUDING EMBEDMENT EFFECT

Mode of Vibration Damping Coefficient

Vertical
(Z) 1 ⎡ ⎛ h ⎞⎤
αz = ⎢1 + 1.9(1 - μ ) ⎜⎝ ⎟⎠ ⎥
ηz ⎣ ro ⎦

Horizontal
(X or Y) 1 ⎡ ⎛ h ⎞⎤
αx = ⎢1 + 1.9(2 - μ ) ⎜⎝ ⎟⎠ ⎥
ηx ⎣ ro ⎦

Rocking
(about X) 1 ⎡ ⎛h ⎞ ⎛ h⎞ ⎤
3

αφ = ⎢ 1 + 0.7(1 - μ ) ⎜ ⎟ + 0.6(2 - μ ) ⎜ ⎟ ⎥
ηφ ⎢⎣ ⎝ ro ⎠ ⎝ r o ⎠ ⎥⎦

Rocking
1 ⎡ ⎛h⎞ ⎤
3
(about Y) ⎛h⎞
αψ = ⎢1 + 0.7(1 - μ ) ⎜⎜ ⎟⎟ + 0.6(2 - μ ) ⎜⎜ ⎟⎟ ⎥
ηψ ⎢⎣ ⎝ ro ⎠ ⎝ r o ⎠ ⎥⎦

Torsional N/A
(about Z)

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Table 7

CORRECTION FACTOR FOR SOIL DAMPING CALCULATION IN ROCKING MODE

5 1.079
3 1.110
2 1.143
1 1.219
0.8 1.251
0.5 1.378
0.2 1.600

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Table 8

PILE STIFFNESSES FOR A SINGLE PILE

Mode of Vibration Pile Stiffness

3
Horizontal Kx = Ky = E p I p f x ,1 / r o
(X or Y)

Vertical K z = E p A p f z ,1 / r o
(Z)

Rocking Kφ = Kψ = E p I p f φ ,1 / r o
(about X or Y)

Torsional
N/A
(about Z)

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Table 9

DAMPING COEFFICIENTS FOR A SINGLE PILE

Mode of Vibration Damping Coefficient

Vertical
(Z) Cz = E p A p f z ,2 Vs

Horizontal
(X or Y) Cx = E p I p f x ,2 ( r o2

Rocking
(about X or Y) Cφ = E p I p f φ ,2 Vs

Torsional N/A
(about Z)

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Table 10

PILE STIFFNESS AND DAMPING PARAMETERS fx,1 , fx,2 , fφ,1 AND fφ,2

Vs Stiffness Parameters Damping Parameters

γs/ γp
μ Vp
fx,1 fx,2
fφ,1 fφ,2

0.01 0.0036 0.202 0.0084 0.139

0.7
0.4
(Concrete)
0.02 0.0100 0.285 0.0238 0.200
0.03 0.0185 0.349 0.0438 0.243
0.04 0.0284 0.403 0.0674 0.281
0.05 0.0397 0.450 0.0942 0.314
0.7
0.25 0.01 0.0032 0.195 0.0076 0.135
(Concrete)
0.02 0.0090 0.275 0.0215 0.192
0.03 0.0166 0.337 0.0395 0.235
0.04 0.0256 0.389 0.0608 0.272
0.05 0.0358 0.435 0.0850 0.304

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Table 11

PILE STIFFNESSES FOR A PILE GROUP

Mode of Vibration Pile Group Stiffness

n
Vertical
(Z)
( K z )g = ∑i=1
K zi

n
Horizontal
(X or Y)
( Kx )g = ( Ky )g = ∑i=1
Kxi

n
Rocking
(about X)
( Kφ )g = ∑ ( Kφ
i=1
i
+ K zi yi2 )

n
Rocking
(about Y)
( Kψ )g = ∑ ( Kφ
i=1
i
+ K zi xi2 )

n
Torsional
(about Z)
( Kθ )g = ∑i=1
2 2
K xi ( xi + yi )

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Table 12

DAMPING RATIOS FOR A PILE GROUP

Mode of Vibration Damping Ratios

Vertical
∑ Cz
(Z) Dz =
2 ( K z )g m

Horizontal
∑ Cx
(X or Y) Dx =
2 ( K x )g m

Rocking
(about X)
Dφ =
[
∑ Cφ + Cz yi2 ]
2 ( Kφ )g Iφ

Rocking
(about Y) ∑ [Cψ + Cz xi2 ]
Dψ =
2 ( Kψ )g Iψ

Torsional
(about Z) ∑ Cx ( xi2 + yi2 )
Dθ =
2 ( Kθ )g Iθ

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Table 13

CALCULATION OF UNCOUPLED NATURAL FREQUENCIES

Mode of Vibration Uncoupled Frequency (CPS)

1 Kz
Vertical fnz =
(Z) 2π m

Horizontal 1 Kx
fnx =
(X) 2π m

1 Ky
Horizontal fny =
(Y) 2π m

1 Kφ
Rocking fnφ =
2π Iφ
(about X)

1 Kψ
Rocking fnψ =
2π Iψ
(about Y)

1 Kθ
Torsional fnθ =
2π Iθ
(about Z)

* Use pile group stiffness (K)g for pile-supported foundation

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Table 14

CALCULATION OF DISPLACEMENT AMPLITUDES BASED

ON UNCOUPLED MODES OF VIBRATION

Mode of Vibration Displacement Amplitudes

Vertical dz = Nz
Fz
(Z) Kz

Horizontal dx = Nx
Fx
(X) Kx

Horizontal dy = Ny
Fy
(Y) Ky

Rocking φ = Nφ
Mφ
(about X) Kφ

Rocking ψ = Nψ
Mψ
(about Y) Kψ

Torsional θ = Nθ Mθ
(about Z) Kθ

Dynamic amplification factors: Nx, Ny, Nz, Nφ, Nψ, Nθ, are to be calculated as follows:

1 f0
Ni = , where, ri =
(2 D i r i )
2 2 2 and Di = Damping ratio at ith
(1 - r )
i + f ni
mode.

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Table 15

CALCULATION OF TOTAL DISPLACEMENT AMPLITUDE BASED

ON UNCOUPLED MODES OF VIBRATION

Direction Displacement Amplitude

Vertical Z = d Z + φ ( Δ Y) + ψ ( Δ X)
(Z)

Horizontal X = d X + θ ( Δ Y) + ψ ( Δ Z)
(X)

Horizontal Y = d Y + θ ( Δ X) + φ ( Δ Z)
(Y)

* The total displacement Ao is then obtained as follows:

2 2 2
Ao = x + y + z

* Δx, Δy and Δz are the distances from the center of foundation base to
the point where the amplitude is determined.

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Figure 1: Criteria for Vibrations of Rotating Machinery

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Figure 2 - General Limits of Displacement Amplitude for a Particular

Frequency of Vibration

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Figure 3 - Geometrical Coefficients for Rectangular Foundation

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Figure 4: Vertical Pile Stiffness and Damping

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Figure 5: Vertical Pile Stiffness and Damping Parameters

for Friction Piles

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COUPLED HORIZONTAL AND ROCKING MOTIONS

Couple mode frequencies, Sliding along X and rocking about Y

1 ⎡ 2
(f + f 2nψ ) - 4 β f 2nx f 2nψ ⎤⎥
2 2 2 2
f = f nx + f nψ +
2 β ⎢⎣
1 nx
⎦

1 ⎡ 2
(f + f 2nψ ) - 4 β f 2nx f 2nψ ⎤⎥
2 2 2 2
f = ⎢ f nx + f nψ -
2β ⎣
2 nx
⎦

1 Kx
Where, fnx = ; uncoupled sliding frequency along X
2π m

1 Kψ
fnψ = ; uncoupled rocking frequency about Y
2π Iψ

Kx: horizontal soil/pile stiffness

Kψ: rocking soil/pile stiffness

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m: total mass of a machine foundation system

Iψ: Io + mh2, the mass moment of inertia at the foundation base

Io: the mass moment of inertia at the C.G. of a machine

foundation system

h: the distance between combined C.G. and the base of a

machine foundation

I0
β =
Iψ

Note that the coupling effect becomes insignificant and can be neglected when
the two coupled frequencies are determined to be away from the machine
operating speed by at least 40%.

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