MCT 456 Dynamic Modeling and Simulation

Basic Concepts
Newton Method
Dr. Ahmed Asker
Production and Mechanical Design Engineering
Department
Mansoura University
2019/2020
 Importance of the Study of Vibration

 Why study vibration?

◦ Vibrations can lead to excessive deflections and failure on the
machines and structures
◦ To reduce vibration through proper design of machines and
their mountings
◦ To utilize profitably in several consumer and industrial
applications (conveyors, washing machines)
◦ To improve the efficiency of certain machining, casting,
forging & welding processes
◦ To stimulate earthquakes for geological research and conduct
studies in design of nuclear reactors

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 Basic Concepts of Vibration

 Vibration = any motion that repeats itself after an interval of

time.

 Involves transfer of potential energy to kinetic energy and vice

versa.

 Vibratory System consists of:

1) Spring or elasticity “Means of storing potential energy”

2) Mass or inertia “Means of storing kinetic energy”

3) Damper “Means of dissipate energy”

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 Basic Concepts of Vibration

 Degree of Freedom (d.o.f.) =

min. no. of independent coordinates required to determine
completely the positions of all parts of a system at any instant of
time
 Examples of single degree-of-freedom systems:

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 Basic Concepts of Vibration

 Examples of single degree-of-freedom systems:

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 Basic Concepts of Vibration

 Examples of Two degree-of-freedom systems:

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 Basic Concepts of Vibration

 Examples of Three degree of freedom systems:

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 Basic Concepts of Vibration

 Example of Infinite-number-of-degrees-of-freedom system:

 Infinite number of degrees of freedom system are termed

continuous or distributed systems
 Finite number of degrees of freedom are termed discrete or
lumped parameter systems
 More accurate results obtained by increasing number of degrees
of freedom

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 Basic Concepts of Vibration

 The coordinates necessary to describe the motion of a system

constitute a set of generalized coordinates.
 These are usually denoted as 𝑞1 , 𝑞2 , … and may represent
Cartesian and/or non-Cartesian coordinates.

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 Classification of Vibration

 Free Vibration:
A system is left to vibrate on its own after an initial disturbance
and no external force acts on the system. E.g. simple pendulum

 Forced Vibration:
A system that is subjected to a repeating external force. E.g.
oscillation arises from diesel engines

◦ Resonance occurs when the frequency of the external force

coincides with one of the natural frequencies of the system

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 Classification of Vibration

 Undamped Vibration:
When no energy is lost or dissipated in friction or other resistance
during oscillations
 Damped Vibration:
When any energy is lost or dissipated in friction or other
resistance during oscillations

 Linear Vibration:
When all basic components of a vibratory system, i.e. the spring,
the mass and the damper behave linearly
 Nonlinear Vibration:
If any of the components behave nonlinearly

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 Classification of Vibration

 Deterministic Vibration:
If the value or magnitude of the excitation (force or motion)
acting on a vibratory system is known at any given time
 Nondeterministic or random Vibration:
When the value of the excitation at a given time cannot be
predicted

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 Vibration Analysis Procedure

 Step 1: Mathematical Modeling

◦ Representation of all the important features of the system
◦ Mathematical equations governing the system’s behavior.
 Step 2: Derivation of Governing Equations
◦ drawing the free-body diagrams
◦ Ordinary differential equations for a discrete system and partial
differential equations for a continuous system.
 Step 3: Solution of the Governing Equations
◦ Response of the vibrating system (Laplace, Numerical).
 Step 4: Interpretation of the Results
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 Vibration Analysis Procedure

 Example of the modeling of a forging hammer:

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 Example 1.1

Mathematical Model of a Motorcycle

 Figure 1.18(a) shows a motorcycle with a rider. Develop a
sequence of three mathematical models of the system for
investigating vibration in the vertical direction. Consider the
elasticity of the tires, elasticity and damping of the struts (in the
vertical direction), masses of the wheels, and elasticity, damping,
and mass of the rider.

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 Example 1.1 Solution

 We start with the simplest model and refine it gradually.

 When the equivalent values of the mass, stiffness, and damping

of the system are used, we obtain a single-degree of freedom
model of the motorcycle with a rider as indicated in Fig. 1.18(b).

 In this model, the equivalent stiffness (keq) includes the stiffness

of the tires, struts, and rider.

 The equivalent damping constant (ceq) includes the damping of

the struts and the rider. The equivalent mass includes the mass of
the wheels, vehicle body and the rider.

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 Example 1.1 Solution

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 Example 1.1 Solution

 This model can be refined by representing the masses of wheels,

elasticity of tires, and elasticity and damping of the struts
separately, as shown in Fig. 1.18(c).

 In this model, the mass of the vehicle body (mv) and the mass of
the rider (mr) are shown as a single mass, mv + mr. When the
elasticity (as spring constant kr) and damping (as damping
constant cr) of the rider are considered, the refined model shown
in Fig. 1.18(d) can be obtained.

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 Example 1.1 Solution

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 Example 1.1 Solution

 Note that the models shown in Figs. 1.18(b) to (d) are not unique.

◦ For example, by combining the spring constants of both tires,

the masses of both wheels, and the spring and damping
constants of both struts as single quantities, the model shown in
Fig. 1.18(e) can be obtained instead of Fig. 1.18(c).

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 Spring Elements

 Linear spring is a type of mechanical link that is generally

assumed to have negligible mass and damping
 Spring force is given by:
F  kx 1.1
𝐹 = spring force,
𝑘 = spring stiffness or spring constant, and
𝑥 = deformation (displacement of one end with respect to the other)

 Work done (U) in deforming a spring or the strain (potential)

energy is given by:
1 2
𝑈 = 𝑘𝑥 (1.2)
2
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 Spring Elements

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 Spring Elements

 Static deflection of a beam at the free end is given by:

𝑊 = 𝑚𝑔 is the weight of the mass m,
𝐸 = Young’s Modulus, and
𝐼 = moment of inertia of cross-section of beam
𝑊𝑙 3
𝛿𝑠𝑡 = (1.6)
3𝐸𝐼
 Spring Constant is given by:
𝑊 3𝐸𝐼
𝑘= = 3 (1.7)
𝛿𝑠𝑡 𝑙

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 Spring Elements

 Combination of Springs:
1) Springs in parallel – if we have n spring constants k1, k2, …, kn in
parallel, then the equivalent spring constant keq is:

keq  k1  k2  ...  kn 1.11

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 Spring Elements

 Combination of Springs:
2) Springs in series – if we have n spring constants k1, k2, …, kn in
series, then the equivalent spring constant keq is:

1 1 1 1
   ...  1.17 
k k k
eq 1
k 2 n

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 Mass or Inertia Elements

 Using mathematical model to represent the actual vibrating

system
◦ E.g. In figure below, the mass and damping of the beam can be
disregarded; the system can thus be modeled as a spring-mass
system as shown.

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 Mass or Inertia Elements

 Combination of Masses
◦ E.g. Assume that the mass of the
frame is negligible compared to
the masses of the floors. The
masses of various floor levels
represent the mass elements, and
the elasticities of the vertical
members denote the spring
elements.

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 Mass or Inertia Elements

 Case 1: Translational Masses Connected by a Rigid Bar

◦ Velocities of masses can be expressed as:

l2 l3
x2  x1 x3  x1 1.18
l1 l1

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 Mass or Inertia Elements

 Case 1: Translational Masses Connected by a Rigid Bar

xeq  x1 1.19

◦ By equating the kinetic energy of the system:

1 2 1 2 1 2 1
m1x1  m2 x2  m3 x3  meq xeq
2
1.20
2 2 2 2
2 2
 l2   l3 
meq  m1    m2    m3 1.21
 l1   l1 

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 Mass or Inertia Elements

 Case 2: Translational and Rotational Masses Coupled Together

meq = single equivalent translational mass

𝑥 = translational velocity
𝜃 = rotational velocity
J0 = mass moment of inertia
Jeq = single equivalent rotational mass

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 Mass or Inertia Elements

 Case 2: Translational and Rotational Masses Coupled Together

1. Equivalent translational mass:
◦ Kinetic energy of the two masses is given by:
1 2 1 2
T  mx  J 0 1.22
2 2
◦ Kinetic energy of the equivalent mass is given by:

1
Teq  meq xeq 2 1.23
2

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 Mass or Inertia Elements

 Case 2: Translational and Rotational Masses Coupled Together

𝑥
◦ Since 𝜃 = and 𝑥𝑒𝑞 = 𝑥, equating Teq & T gives
𝑅

J0
◦ 2. Equivalent rotational mass: meq  m 
2
1.24
R
Here, 𝜃𝑒𝑞 = 𝜃 and 𝑥 = 𝜃𝑅, equating Teq and T gives

J eq  mR   J 0 2

1  2 1  2 1
2 2 2
or J eq  J 0  mR 2 1.25

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 Damping Elements

 Viscous Damping:
Damping force is proportional to the velocity of the vibrating
body in a fluid medium such as air, water, gas, and oil.
 Coulomb or Dry Friction Damping:
Damping force is constant in magnitude but opposite in direction
to that of the motion of the vibrating body between dry surfaces.
 Material or Solid or Hysteretic Damping:
Energy is absorbed or dissipated by material during deformation
due to friction between internal planes.

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 Damping Elements

 Shear Stress ( ) developed in the fluid layer at a distance y from

the fixed plate is:
du
  1.26
dy
where du/dy = v/h is the velocity gradient.
 Shear or Resisting Force (F) developed at the bottom surface of
the moving plate is:
Av
F  A    cv 1.27 
h
𝜇𝐴
where 𝐴 is the surface area of the moving plate and 𝑐 = is the
ℎ
damping constant.

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 Damping Elements

 If a damper is nonlinear, a linearization process is used about the

operating velocity (v*) and the equivalent damping constant is:

dF
c 1.29
dv v*

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 Single Degree of Freedom Systems

 Free Vibration occurs when a system oscillates only under an

initial disturbance with no external forces acting after the initial
disturbance
 Undamped vibrations result when amplitude of motion remains
constant with time (e.g. in a vacuum)
 Damped vibrations occur when the amplitude of free vibration
diminishes gradually overtime, due to resistance offered by the
surrounding medium (e.g. air)

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 Single Degree of Freedom Systems

 Several mechanical and structural systems can be idealized as

single degree of freedom systems, for example, the mass and
stiffness of a system

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 Free Vibration of an Undamped Translational System

Equation of Motion Using Newton’s Second Law of Motion:

 Procedure
◦ Select a suitable coordinate to describe the position of the mass
of rigid body in the system (linear or angular).

◦ Determine the static equilibrium configuration of the system

and measure the displacement of the mass or rigid body from
its static equilibrium position.

◦ Draw free body diagram.

◦ Apply Newton’s second law of motion.

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 Free Vibration of an Undamped Translational System


 If mass m is displaced
 a distance x (t ) when acted upon by a
resultant force F (t ) in the same direction,
 
d  dx (t ) 
F (t )  m 
dt  dt 
 If mass m is constant, this equation reduces to

 2
d x (t ) 

F (t )  m 2
 mx (2.1)
dt
 2
where x  d x (t ) is the acceleration of the mass.
2
dt
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 Free Vibration of an Undamped Translational System
2
where x  d x (t ) is the acceleration of the mass.
dt 2

For a rigid body undergoing rotational motion, Newton’s Law gives

 
M (t )  J (2.2)
 
where M is the resultant moment acting on the body and 


and   d 2 (t ) / dt 2 are the resulting angular displacement
and angular acceleration, respectively.

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 Free Vibration of an Undamped Translational System

 For undamped single degree of freedom system, the application

of Eq. (2.1) to mass m yields the equation of motion:

F (t )  kx  mx
or
mx  kx  0 (2.3)

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 Free Vibration of an Undamped Translational System

 Equation of Motion of a Spring-Mass System in Vertical Position:

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 Free Vibration of an Undamped Translational System

 For static equilibrium,

W  mg  k st (2.9)
where W = weight of mass m,
𝛿𝑠𝑡 = static deflection
g = acceleration due to gravity
The application of Newton’s second law of motion to mass m gives

mx  k ( x   st )  W
and since 𝑘𝛿𝑠𝑡 = 𝑊, we obtain

mx  kx  0 (2.10)
MCT 456 Dynamic Modeling and Simulation
 Free Vibration of an Undamped Translational System

 Notice that Eqs. (2.3) and (2.10) are identical.

 This indicates that when a mass moves in a vertical direction, we
can ignore its weight, provided we measure x from its static
equilibrium position.

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 Free Vibration of an Undamped Translational System

 Derive the equation of motion of the pendulum shown

(a) A schematic of a pendulum. (b) The free-body diagram of (a).

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 Free Vibration of an Undamped Translational System

The nonlinear term can be made linear by approximating the sine for
small values of 𝜃(𝑡) as sin 𝜃 ≈ 𝜃. Then the equation of motion
becomes

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 Example 1.3

Torsional Spring Constant of a Propeller Shaft

 Determine the torsional spring constant of the speed propeller
shaft shown in Fig. 1.25.

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 Example 1.3 Solution

 We need to consider the segments 12 and 23 of the shaft as

springs in combination. From Fig. 1.25, the torque induced at any
cross section of the shaft (such as AA or BB) can be seen to be
equal to the torque applied at the propeller, T. Hence, the
elasticities (springs) corresponding to the two segments 12 and 23
are to be considered as series springs. The spring constants of
segments 12 and 23 of the shaft (kt12 and kt23) are given by

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 Example 1.3 Solution

GJ G ( D  d ) (80  10 ) (0.3  0.2 )

4 4 9 4 4

k  
t12
12
 12 12

l 32l
12
32(2) 12

 25.5255  10 N - m/rad 6

GJ G ( D  d ) (80  10 ) (0.25  0.15 )

4 4 9 4 4

k 
t 23
 23
 23 23

l 32l
23
32(3) 23

 8.9012  10 N - m/rad
6

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 Example 1.3 Solution

Since the springs are in series, Eq. (1.16) gives

k k (25.5255  10 )(8.9012  10 ) 6 6

k   t12 t 23

k k (25.5255  10  8.9012  10 )
t eq 6 6

t12 t 23

 6.5997  10 N - m/rad 6

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 Example 1.7

 A hoisting drum, carrying a steel wire rope, is mounted at the end

of a cantilever beam as shown in Fig. 1.31(a). Determine the
equivalent spring constant of the system when the suspended
length of the wire rope is l. Assume that the net cross-sectional
diameter of the wire rope is d and the Young’s modulus of the
beam and the wire rope is E.

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 Example 1.7 Solution

The spring constant of the cantilever

beam is given by

The stiffness of the wire rope

subjected to axial loading is

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 Example 1.7 Solution

Since both the wire rope and the

cantilever beam experience the same
load W, they can be modeled as springs
in series. The equivalent spring constant
keq is given by

or

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 Example 1.9

 A hinged rigid bar of length 𝑙 is

connected by two springs of stiffnesses
𝑘1 and 𝑘2 and is subjected to a force F
as shown.
 Assuming that the angular
displacement of the bar 𝜃 is small,
 Find the equivalent spring constant of
the system that relates the applied force
F to the resulting displacement x.

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 Example 1.9 Solution

 The equivalent spring constant of the system

𝑘𝑒𝑞 referred to the point of application of the
force F can be determined by considering the
moment equilibrium of the forces about the
hinge point O:

Using 𝑥1 = 𝑙1 𝜃, 𝑥2 = 𝑙2 𝜃, and 𝑥 = 𝑙𝜃 yields the

desired result:

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 Example 1.10

Equivalent Spring and Damping Constants of a Machine Tool

Support
 A precision milling machine is supported on four shock mounts,
as shown in Fig. 1.37(a). The elasticity and damping of each
shock mount can be modeled as a spring and a viscous damper, as
shown in Fig. 1.37(b). Find the equivalent spring constant, keq,
and the equivalent damping constant, ceq, of the machine tool
support in terms of the spring constants (ki) and damping
constants (ci) of the mounts.

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 Example 1.10

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 Example 1.10 Solution

 The free-body diagrams of the four springs and four dampers are
shown in Fig. 1.37(c).
 Assuming that the center of mass, G, is located symmetrically
with respect to the four springs and dampers, we notice that all
the springs will be subjected to the same displacement, 𝑥, and all
the dampers will be subject to the same relative velocity 𝑥, where
𝑥 and 𝑥 denote the displacement and velocity, respectively, of the
center of mass, G.
 Hence the forces acting on the springs (Fsi) and the dampers (Fdi)
can be expressed as

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 Example 1.10 Solution

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 Example 1.10 Solution

 Let the total forces acting on all the springs and all the dampers
be Fs and Fd, respectively (see Fig. 1.37d). The force equilibrium
equations can thus be expressed as

F  k x;
si i
i  1,2,3,4
F  c x;
di i
i  1,2,3,4 (E.1)

F F F F F
s s1 s2 s3 s4

F F F F F
d d1 d2 d3 d4
(E.2)

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 Example 1.10 Solution

 where Fs + Fd = W, with W denoting the total vertical force

(including the inertia force) acting on the milling machine. From
Fig. 1.37(d), we have

F k x
s eq

F  c x
d eq
(E.3)

 Equation (E.2) along with Eqs. (E.1) and (E.3), yield

k  k  k  k  k  4k
eq 1 2 3 4
Parallel
c  c  c  c  c  4c
eq 1 2 3 4
(E.4)

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 Example 1.10 Solution

where ki = k and ci = c for i = 1, 2, 3, 4.

 Note: If the center of mass, G, is not located symmetrically with
respect to the four springs and dampers, the ith spring experiences
a displacement of 𝑥𝑖 and the ith damper experiences a velocity of
𝑥𝑖 where 𝑥𝑖 and 𝑥𝑖 can be related to the displacement 𝑥 and
velocity 𝑥 of the center of mass of the milling machine, G.
 In such a case, Eqs. (E.1) and (E.4) need to be modified suitably.

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 Questions

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