MV Mid

ME4131 Mechanical Vibration
01
• Introduction to Vibration
Prof. Suraj Kumar Behera,

Department of Mechanical Engineering
NIT Rourkela
Mail id : beherask@nitrkl.ac.in
Mob : 9040893760
Why to Study Mechanical Vibration
Mechanical vibration is crucial for several reasons
• Equipment Longevity and Reliability
• Safety and Comfort
• Safety standards are met and maintained
• Fabrication Quality
• Noise Reduction
• Saving Energy
• Innovation and Design
• Condition Monitoring and Predictive Maintenance
2
Why its important to study vibrations
• Apart from mechanism, strength, balancing, vibration is one of the
most important phase of designing any machine for Longevity and
Reliability .
• Vibrations can lead to excessive deflection and failure in the machine

and structure.
• If natural frequency of a system coincides with the frequency of the

external excitation, a dangerous resonance will lead to excessive
deflection and failure.
• To improve efficiency of certain machining , casting , forging and

welding process.
• To simulate earth quakes for geological research and conduct studies

in design of nuclear reactor.
• Fault Diagnosis and Condition Monitoring of machines

3
Fault Diagnosis and Condition monitoring of machine
Safety Monitoring Condition Monitoring

Vibration Vibration
Danger Alarm level
Fault detected
Lead time
Machine stopped
for repair
Time
Time
4
Syllabus and Class Plan
Module 1: (10 Classes)
• Introduction to Vibration
• Undamped Free Vibration
• Damped Free Vibrations
• Forced Vibration with Harmonic Excitation
• Two Degrees of Freedom system
Module 4: ( 08 Classes)
• Multi-degree freedom system
Module 5: ( 08 Classes)
• Continuous System
5
Course objectives and Outcomes
Course Objective:
 To impart basic knowledge and importance on Mechanical Vibration in Engineering Fields
among the
Students.
 To create the awareness on Mechanical Vibration in Research and Application area.
 Develop understanding of vibrations and its significance on engineering design.
Course Outcome:
 CO1: Explain basics of sound, noise and vibration; as well as their control strategies.
 CO2: Derive equations of motion for undamped one-dimensional vibrations, and solve
problems of damped free vibrations.
 CO3: Analyse and solve problems of forced vibrations involving frequency response
curves, phase angle plots, vibration isolation and transmissibility.
 CO4: Analyse and solve problems involving vibrations of systems having more than one
degree of freedom and continuous System.
6
Books
7
What is Vibrations
Vibrations: Oscillatory behavior of the mechanical system
When a body is displaced from its

equilibrium position by application
of external forces and then released.
Leads to To and Fro

motion about a mean
position
All bodies possessing mass and

elasticity are capable of vibration.
8
Types of Vibration
1. Free Vibration: Free vibration occurs when a mechanical system is displaced from its equilibrium position
and left to oscillate without any external force. The motion is solely determined by the system's natural
frequency and initial conditions.
2. Forced Vibration: Forced vibration occurs when a mechanical system is subjected to an external excitation
or force. The frequency and amplitude of the forced vibration depend on the frequency and magnitude of the
external excitation.
3. Resonant Vibration: Resonant vibration occurs when the frequency of the external excitation matches the
natural frequency of the mechanical system. This can lead to large amplitudes and potential system failure if
not controlled.
4. Damped Vibration: Damped vibration refers to a vibration where energy is dissipated from the system due
to damping. Damping can be added to a system to reduce the amplitude and stabilize the vibration response.
5. Undamped Vibration: Undamped vibration occurs when there is no damping present in the system. In this
case, the amplitude of the vibration remains constant over time.
6. Self-Excited Vibration: Self-excited vibration is a type of vibration that arises due to internal forces within
the system. An example is the vibration in machine tools caused by the interaction between the cutting tool
and the workpiece.
7. Random Vibration: Random vibration refers to vibrations that do not follow a specific pattern or periodicity.
It is characterized by a broad frequency spectrum and can arise from various sources, such as irregularities in
machine components or external environmental factors.
8. Transient Vibration: Transient vibration occurs during the start-up or shut-down phases of a mechanical
system. It is a temporary vibration that decays over time.
9. Torsional Vibration: Torsional vibration is a specific type of vibration that occurs in rotating systems, where
the twisting motion (torsion) of the shaft or component plays a significant role.
10. Axial Vibration: Axial vibration is the motion of a component or structure along its axis of symmetry. It is
relevant in systems such as pipelines and long shafts.
11. Lateral Vibration: Lateral vibration is the motion of a component or structure perpendicular to its axis of
symmetry. It is significant in systems like bridges and buildings. 9
Types of Vibration
Based on load applied (origin of vibration) F , OneTime Force
• Free vibration: Vibration of a elastic boy,

where there is no friction or continues
external forces after initial release of the
body.
F  f (t )
• Forced vibration: When repeated force

continuously act on a system
• Self excited vibration: Because of non-

linearity of the vibration parameters, the
alternating force that sustains the motion is
created or controlled by the motion itself;
when the motion stops, the alternating force
disappears.
• Parametrically excited vibration: a special

subclass of self-excited vibrations
10
Types of Vibration
Based on Energy Dissipation F
• Damped Vibration: When the energy of a

vibrating system is gradually dissipated by
friction or other resistance.
I. Viscous Damping
II. Coulomb's Damping
III. Material Damping
• Undamped Vibration: When the energy of

a vibrating system is not dissipated at all.
11
Types of Vibration
Based on Vibrating System
• Single DOF: Single independent coordinate

is needed to define the position of the
system.
• Multi DOF: Multiple independent

coordinate is needed to define the position
of the system
F
• Infinity DOF: infinty independent
coordinate is needed to define the position
of the system
12
Types of Vibration
Based on Nature of Time varying function
• Harmonic: Trigonometric Function( Sine , Cosine…)
• Periodic
• Random
13
Types of Vibration
Based on System Characteristics
• Linear
• Non-linear
14
What is Natural Frequency ?
Natural frequency, also known as Eigen frequency, is the frequency at

which a system tends to oscillate in the absence of any driving or
damping force
Natural frequency can be predicted from equation of motion (EOM) of system

Equation of Motion
1. Using Newtonian Mechanics / Equilibrium Method
F x  mx
2. Using Energy Method

KE  PE  Const
3. Rayleigh’s Method
KEmax  PEmax
4. Principle of Virtual Work
5. Finite Element Method

Equation of Motion for a of Simple Pendulum
I   Tinertia
ml 2  mgl sin 
ml 2  mgl  0...........( EOM )
  n2  0
g
n 
l
Free Longitudinal Vibration
Equilibrium Method
m : mass of the block , kg
s : Stiffness, N / m
 :Static Defelection
In static equilibrium position

s  mg
s s    x  mx
When mass is at a distance x from mean position.
m m
mx  s    x   mg  0
mx  sx  s  mg  0 mg mg
s Similar to SHM equation
x x0 x  n2 x  0
m
s
Where, Natural circular frequency , n 
m
1 n 1 s
Natuaral Linear frequency , f n   
T 2 2 m
18
Energy Method
KE  PE  Const
d
 KE  PE   0
dt
1
KE  mx 2
2
1 2
PE   Mean Force  Displacement   sx
2
d 1 2 1 2
 mx  sx   0
dt  2 2 
s Similar to SHM equation

x x0 x  n2 x  0
m
s
Where, Natural circular frequency , n 
m
1 n 1 s
Natural Linear frequency , f n   
T 2 2 m
19
Rayleigh’s Method
KEmax  PEmax
let displacement , x  X cos(nt  )

Velocity, x  n X cos(nt  )
1 2 1
KEmax  mxmax  m n X 
2
2 2 s
1 1
m n X   sX 2
2
n 
1 2 1 2 2 m
PEmax  sxmax  sX 2
2 2
20
Thank You
ME4131 Mechanical Vibration
02
• Un-damped Free Vibration
• Damped Free Vibration

NIT Rourkela
Mob : 9040893760
Equation of Motion
1. Using Newtonian Mechanics / Equilibrium Method
F x  mx
2. Using Energy Method

KE  PE  Const
3. Rayleigh’s Method
KEmax  PEmax
4. Principle of Virtual Work
5. Finite Element Method

Equation of Motion for Free undamped Vibration
W  mg  k
After mass is displaced by distance x

mx   k  x     mg
mx  kx  0.................( EOM )
k
x x 0
m
x  n2 x  0
k
n 
m
Solution to EOM of Longitudinal Vibration
x  n2 x  0; Where, Natural circular frequency , n  k
m
Exact Solution to the Differential
equation. k k
(i ) x  A sin nt  B cos nt
(ii ) Let , A  X cos  and B  X sin  ;
x  X cos  sin nt  X sin  cos nt  X sin(nt   )

(iii ) Let , A  X sin and B  X cos ;
x  X sin sin nt  X cos cos nt  X cos(nt  )
(iv) ComplexTerms
4
Ex 1.1 : Free Undamped Vibration
Find the Equation of Motion and Natural Frequency for system shown .
Assuming initial displacement as 2 m and initial velocity as 6 m/s. k  20 kN / m
Solution: 1.1
m  2kg
Given : k  20 kN / m , m  2 kg , x(0)  2m, x(0)  6m / s
k 20 X 103
n    100 rad / s Ans (ii)
m 2
Let EOM :
x  A sin nt  B cos nt B 2
A  0.06
x  n A cos nt  n B sin nt
So, EOM :
x  0.06sin100t  2 cos100t Ans (i)
5
Ex. 1.2: Free Undamped Vibration
Find the Equation of motion and natural frequency for system shown . k x1
Using Energy Method.
Solution: 1.2 R
r
Energy Method :
 KE  PE   Const d
 KE  PE   0 m
dt
d 1 1 2 1 2 x
 o I  2
 mx  kx1   0 Where, x  r and x1  R
dt  2 2 2  m
 I o  mr 2   2  kR 2 2   0
d
dt  
I o  mr 2    kR 2  0
kR 2
  0 Equation of motion
 I o  mr 
2 Ans (i)
kR 2
n 
 I o  mr 2 
Ans (ii)
6
Ex. 1.3: Free Un-damped Vibration
Determine the natural frequency of the system shown in figure.
The slender bar of mass m is pivoted at O and two springs having
mass  m
same stiffness k are connected at two ends. Find EOM and k k
x1 G
Natural Frequency x x1
'
l G 2l
Solution: 1.2 Lets use Energy Method : 3 3
d
 KE  PE   0
dt
d
KE 
1 2 1 2
I  mx Where, I   ml 2  and x  
1 l
 KE  PE   0
2 2 12 6 dt
d  1 2 2 5 2 2
 ml   kl    0
1 2 2
KE  ml  dt  18
18 18 
1 2 1 2 l 2l 5
PE  kx1  kx2 Where, x1   , x1    k  0 EOM Ans (i)
2 2 3 3 m
5 2 2
PE  kl  n 
5
k
18 m Ans (ii)
7
In which side door to be placed inside a AC Room?
Damped Free Vibration
Damping
Damping is the process by which energy

is dissipated in a mechanical system
reducing the amplitude of oscillations or

vibrations over time.
Types of damping
• Viscous Damping: Due to viscous drag
• Coulomb Damping: Due to friction
• Structural Damping: due to internal friction as it undergoes deformation.
• Magnetic Damping/ Eddy current Damping: conductor moves through a
magnetic field
• Interfacial damping: Relative motion eg. In composites
Damped Vibration
k c
mx  cx  k  x     mg
c k
x x x 0 Solutions
m m
c k
x x x 0
x  Ae s1t  Be s2t
x  2n x  n2 x  0
m m
 
 c  c  k 
2
Where, s1,2         s1,2     2  1 n
 2m  2 m  m

Damping Ratio or Factor ,  

c

c Damping coefficent , cc  2mn
cc 2mn
Damped and Un-Damped Vibration
I. For Over Damped System,   1
x  Ae
   
 2 1 n t
 Be
    1  t
2
n
II. For Under Damped System,   1
x  e nt  X sin d t     Where, d   

1   2 n ;
III. For Critical Damped System,   1
x   A  Bt  e nt
IV. For Un-Damped System,   0
x  X sin(nt   )
Damped Vibration
I. Over Damped system   1 or c 2  4km  0

II. Under damped   1 or c 2  4km  0
III. Critical Damped system   1 or c 2  4km  0
Thank You
13
ME4131: Mechanical Vibration 03

NIT Rourkela
Mob : 9040893760
Damped Vibration
k c
mx  cx  k  x     mg
c k
x x x 0 Solutions
m m
c k
x x x 0
x  Ae s1t  Be s2t
x  2n x  n2 x  0
m m
 
 c  c  k 
2
Where, s1,2         s1,2     2  1 n
 2m  2 m  m

c c
Damping Ratio or Factor ,    Damping coefficent , cc  2mn  2 km
cc 2mn
Damped and Un-Damped Vibration
EOM for Damped Vibrations
mx  cx  kx  0
I. Over Damped System,   1 or c 2  4km  0
x  Ae
    1  t
2
n
 Be
    1  t
2
n
II. Under Damped System,   1 or c 2  4km  0
 
x  e nt  X sin d t     Where, d  1   2 n ;
III. Critical Damped System,  1

x   A  Bt  e nt
IV. Un-Damped System,  0
x  X sin(nt   )
Solution for Under Damped Vibrations
x  Xent sin d t     Where, d   
1   2 n ;
Or
xe n t  Aei 1 2 n t
 Be  i 1 2 n t 
 
Or
x  e nt C1 sin
  
1   2 nt  C2 cos  
1   2 n t 

 
Decaying
Oscillating with frequency d  1   2 n ;
x  Xent sin d t    
Solution for Under Damped Vibrations
x  Xe nt sin d t      e nt C1 sin

  
1   2 nt  C2 cos  
1   2 n t 

With known int ial condition of x(0) and x(0)

 x(0)  n x(0) 
x  e nt  sin d t   x(0) cos d t  
 d 
Damped Circular Frequency  d
2
Damped Time Period , d 
d
Logarithmic Decrement for Under Damped Vibrations
x  Xent sin d t    
x  Xe nt sin d t    
x0 xn
x1 x2
x0 x1 x2 xn 1
  ............. 
x1 x2 x3 xn
2 1 xo 2
Logarithmic Decrement,   ln
xn 1
   ln 
xn 1  2 n xn 1  2
Eg. 1.5: Under Damped Vibrations
A piston of mass 4.53 kg is travelling in a tube with a velocity of 15.24
m/s and engages a spring and damper as shown in figure.
a. Determine the maximum displacement of the piston after engaging

with spring-damper?
b. How many times does it take to reach maximum displacement?
N
k  350 m
cm v  15.24
s
Ns
c  1.75 m  4.53 kg
cm
N
k  350 m
Solution 1.5 cm v  15.24
s
Ns
N N c  1.75 m  4.53 kg
Given, k  350  35000 ; cm
cm m
Ns
c  175 ; m  4.53 kg ; v  x  0   15.24
m
m s
k 35000
n    87.89 rad / s cc  2 km  797.04 Ns / m
m 4.53
c
   0.2197 Under-damped system
cc
Apply Intial Condition :
x  e nt C1 sin
  
1   2 nt  C2 cos  
1   2 n t 

x  0   0;
x  0   15.24 m / s;
x  0.18 e 19.34 t
sin  85.75t 
For Maximum displacemet , x (t )  0; t  0.016 s Ans(b)
xmax  x(t  0.016)  0.13 m Ans(a)
N
k  350 m
One More Approach cm v  15.24
s
Ns
c  1.75 m  4.53 kg
cm
t ? 2 2
d  
d
 
1   2 n
xmax
Time
X(t)
d
t  0.0174 s Ans(b)
4
Where Should Be the Clutch?
? ?
f
l c c
y l l
Engine w u u Output
GB
h t t
e c c
e h h
l
Power
Power  Tourqe X Speed Tourqe 
Speed
If GB is Speed Reducer: Clutch is before the GB

If GB is Speed Enhancer: Clutch is after the GB
A gun carrying vehicle fires a shell of mass 4.5 kg as shown in figure.
The combined mass of gun and vehicle is 750 kg. The recoil
mechanism consist of spring stiffness k= 27 kN/m and a dashpot with
damping constant c = 9 kN/s.
Find EOM and calculate maximum recoiling of gun vehicle unit.

Solution 1.6
Given :
ms  4.5 kg ;   200 ;
m  750 kg ; m
N xs (o)  250 ;
k  27 X 103 ; s
m
x(o)  o; k 27 X 103
Ns n    6 rad / s
c  9 X 103 ;
m x(o)  ??????; m 750
Type of motion
c c 9 X 103
    1 System is
cc 2 mk 2 750 X 27 X 10 3 critically damped
So
x   A  Bt  e nt
x(t )   A  Bt  e nt
x(o)  Ae 0  0 A0
x(t )  Bte nt
 
x(t )   Bt  n e nt   B  e nt   B  x(0)
Applying Conservation of linear momentum
 m   x  0     ms   xs  0  cos     750   x  0     4.5  250 cos 200 

m
x  0   1.41 B
s
EOM
x(t )  Bte nt x(t )  1.41te 6t Ans(a)

x(t )  1.41te 6t

At Maximum Recoiling ,
Velocity of vehicle will be Zero
x(t )  1.41t   6e 6t   1.41  e 6t   0
6t  1  0 1
t   0.167 s
6
1
6 
xmax (t  0.167 s )  1.41 0.167  e 6
 0.087 m  87 mm
Ans(b)
An under-damped shock absorber is to be designed for a motorcycle of mass
200 kg. When the shock absorber is subjected to an initial vertical velocity
due to a road bump, the resulting displacement-time curve is to be as
indicated in Figure.
Find the necessary stiffness and damping constants of the shock absorber if
the damped period of vibration is to be 2 s and the amplitude x1 is to be
reduced to one-fourth in one half cycle.
Also find the minimum initial velocity that leads to a maximum displacement
of 250 mm.
x1
Given, x1.5 
4
Solution 1.6 Given:
 d  2; m  200 kg
x1 x1.5
x1.5  x2 
4 4
x1
x2 
16
Hence the logarithmic decrement:
x   16  2
  ln  1   ln    2.7726   2.7726   0.4037
 x2  1 1  2
2 2
d   2 n  3.4338 rad / s
d
 1   n
2

N
k  mn2 k  mn2   200  3.4338   2358.2652
2
Stiffness, Ans(a)
m
Ns
Damping, c   cc    2mn    0.4037  2  200  3.4338   554.4981 Ans(b)
m
Class Work: minimum initial velocity =1.4294 m/s Ans(c)
Thank You
17
ME4131: Mechanical Vibration
04

NIT Rourkela
Mob : 9040893760
Damped Vibration
Types of dampers:
• Viscous Dampers:
• Friction Dampers/Constant Damping:
• Hysteretic/Material Dampers:
• Pneumatic Dampers:
• Magnetic Dampers:
• Electrorheological (ER) and Magnetorheological (MR)

Dampers:
• Viscoelastic Dampers:
Energy Dissipated in Viscous Damping
In a viscously damped system, the rate of change of energy with time:
dW
 Force X Velocity   F  x    Cx  x   Cx 2
dt
The negative sign in Eq. denotes that energy dissipates with time.
Let x(t )  X sin d t 
Energy Dissipated in one cycle
2
d 
d
W   Cx 2 dt   cd X 2
0
Energy dissipated in each cycle W  cd X 2

Specific damping capacity:   4
Total energy of the vibrating system W 1
md2 X 2
2
W  cd X 2
Loss coefficient: Energy dissipated per radian
 2  2 2
Total Strain Energy W 1
md2 X 2
2
Coulomb Damping
• Also known as Dry Friction Damping or Constant Damping,
• Damping is due to the friction between two surfaces in contact.
• The frictional force opposes the relative motion of the surfaces and
dissipates energy.
• Coulomb damping is commonly encountered in mechanical systems where
components slide against each other, such as in brakes, clutches, and
certain types of machinery.
Mathematical Modelling:
Coulomb Damping
Mathematical Modelling:
Moving Right Moving Left
EOM : mx  kx   N  0 mx  kx   N  0
N N
Solution : x(t )  A sin nt  B cos nt  x(t )  A sin nt  B cos nt 
k k
Coulomb Damping
Amplitude Loss/cycle for coulomb damping:
Using Work Energy Principle x0
x1
k  x12  x21    N  x1  x1 
1 x2 4 N
2 k
2 N
x1  x1 
k x1
Similarly x0
2 N
x1  x2 
k Motion of the mass with Coulomb damping
So,
4 N
x1  x2 
k
4n N
xn  x0 
k
Characteristics of Coulomb Damping
• The equation of motion is nonlinear with Coulomb damping, whereas it
is linear with viscous damping.
• The natural frequency of the system is unaltered with the addition of

Coulomb damping( d=n), whereas it is reduced with the addition of
viscous damping.
• No over damped scenario.
• The amplitude reduces linearly with Coulomb damping, whereas it

reduces exponentially with viscous damping.
• In each successive cycle, the amplitude of motion is reduced by the

amount 4N/k.
• Oscillation continue till Spring force > Friction force. After that it reaches
a dead Band Area.
Why usually Connecting Rods are I Sections ?
z-z
x-x
 EI xx  EI zz
Pcrxx  Pcrzz 
l2 le2
e
Eg. 1.8: Coulomb Damping
A 35 kg mass block is connected to a spring of stiffness 170 kN/m.
The co-efficient of friction between the block and surface on which it
slides is 0.11. The block is displaced by 10 mm from equilibrium and
released.
Calculate:
i. The amplitude of motion at the end of the 1st cycle.
ii. How many cycles of motion occurs before it stops?
Solution 1.8
kN N
Given:   0.11; k  170  170 , m  35kg ; x0  10 mm
m mm
4  N 4  mg
Amplitude Decay in Each Cycle, x0  x1   x1  9.11 mm Ans(i)
k k
Oscillation Stops, When spring force = friction force
Stretches on Spring when spring force =friction force

F  mg
 f  xn  d   0.22 mm
k k
4n N
xn  x0  n  10.19  11 cycles Ans(ii)
k
Hysteresis Damping
The damping caused by the friction
between the internal planes that slip or
slide as the material deforms is called
hysteresis (or solid or structural) damping.
The energy loss in one loading and

unloading cycle is equal to the area
enclosed by the hysteresis loop
It was found experimentally that the energy

loss per cycle due to internal friction is
Hysteresis loop.
independent of the frequency but
approximately proportional to the square of
the amplitude
Mathematically Modelling : Home Work

Thank You
11
• Damped Longitudinal Forced Vibration

NIT Rourkela
Mob : 9040893760
Recap: Longitudinal Free Vibration
s
EOM : x  n2 x  0; Where, Natural circular frequency , n 
m
(i ) x  A sin nt  B cos nt
(ii ) x  X sin(nt   ) s
(iii ) x  X cos(nt  ) m
Recap : Damped Free Vibration
I. For Over Damped system,   1
x  Ae
   
 2 1 n t
 Be
   
 2 1 n t s c
II. For Under Damped system,   1 m

x  e nt  X sin d t    
II. For Critical Damped system,   1
x   A  Bt  e nt
n 
k
m
cc  2mn
c
  
c
cc 2mn
d   
1   2 n ; fd 
1
2
 
1   2 n ; Td 
2
d
X 0 X1 X  X  2
 ......  n  enTd Logarithimic Decrement ,   ln  n   nTd 
X1 X 2 X n 1  X n 1  1  2
Damped Longitudinal Forced Vibration
k c k c k c k c
m m m m
F F(t) F(t) F(t)

Harmonic Periodic Random
Eg. F(t)=F0sint
Harmonic
EOM : mx  cx  sx  F0 sin t kx mx cx
Solutions
x  xc  x p m
s c
x  Complementary Function(CF )  Particular Integral ( PI ) m

F(t)=F0sint
Always Steady irrespective of any damping

F(t)=F0sint
Solution of : mx  cx  sx  0
( Over , Under or Critically damped)
xc  Ae s1t  Be s2t
Let x p  X sin(t   )
Can be:
Where,   Forcing Frequency
a. Over Damped
b. Under Damped   Phase angle between Applied
c. Critically Force and Displacement
Damped
 
x p   X sin  t    
Transient  2
x p   X sin(t     )
2
Dies with Time Important part for

vibration
Harmonic
Substituting x p , x p , and x p in EOM
 
m 2 X sin t       c X sin  t      kX sin t     Fo sin(t ) s c
 2
m
kX : Spring Force
c X : Damping force F(t)=F0sint
a m 2 X : Inertial Force
t b

o Reference Axis
In  oab : F   kX  m X    c X 
2 2 2 2
0
F0  c 
X a nd   tan 1  2 
 k  m    c 
2 2 2  k  m 
Harmonic
F0  c 
X and   tan 1  2 
 k  m    c 
2 2 2  k  m 
s c
k c c m
Using n  ,  
m cc 2mn
  
F0  2    F(t)=F0sint
X k 
and   tan 1   n  
2 
   2  
2
  
2
 1    
1       2      
  n     n     n 
So, Particular Solution : x p  X sin t   

 F0  sin t  
 k   
xp    Always harmonic, irrespective of
2
   2     
2
type of damping motion:(under, over
1       2   or critical)
  n     n  
Harmonic
Complete Solution : x  xc  x p
s c
Solved based on Solved based on
initial condition substitution
m
(Transient) (Steady)
 F0  sin t  
 k  
x  e nt  X sin d t        F(t)=F0sint
2
   2
    
2
1       2  
  n     n  
xc  t 
xp t 
x  t   xc  t   x p  t 
What are these in transmission Line ?
Stockbridge damper
Eg. 1.9: Damped Longitudinal Forced Vibration
Example 1.9: At what frequency amplitude of steady response?
Solution
SteadyVibration, x p  X sin t   
 F0 
 k
Amplitude of steady response, X   
2
   2     
2
1       2  
  n     n  
dX
0  
   1  2
2
   n  max
d 
 n 
Non dimensional expression for amplitude and phase   
Xk 1  2   
 1   n  
F0 2
   2       2   tan  2 
1       2     1    
 
  n     n      
  n  
Amplitude of steady state response
Amplification factor or Magnification Factor ( MF ) 
Static Deflection under the force F0
Characteristic Curve
X 1   
  2   
 st 2
1   n  
   2     
2
  tan  2 
1       2     
  n     n    1 
   
  n 
Characteristics of the magnification factor:

1. MF or Amplitude of vibration is infinity, when damping ratio is ZERO.
2. MF increase with decrease with damping ratio.
3. Max amplitude of damped force vibration is at frequency ratio <1.
4. When damping ratio is 0.5 amplitude of vibration is same as static
deflection at resonance.
5. When damping ratio is > 0.707, maximum amplitude is Static Deflection.
Home Work: Study Characteristics of curve of Phase angle

Example 1.10
A weight attached to a spring of stiffness 252 N/m has a viscous damping device. When
the weight is displaced and released, the period of vibration is found to be 1.8 s, and the
ratio of consecutive amplitudes is 4.2 to 1.0. Determine the amplitude and phase for
steady response when the force F=2 cos 3t N acts on the system.
Solutions:
N 2 x s c
Given: k  252 ; Td   1.8s; n  4.2; F0  2 N ;   3 rad / s
m d xn 1
m
 X  2
Logarithimic Decrement ,   ln  n     0.2226
 X n 1  1  2
F(t)
d   
1   2 n ; n  3.58 rad / s Harmonic
F0 / k
Amplitude( A)  Aplitude( A)  7.982 mm
2
   2    
2
1       2 
  n    n 
  
 2 
 n 
tan   2
  51.410
 
1  
 n 
Thank You
15
• Vibration of Unbalanced Rotor

NIT Rourkela
Mob : 9040893760
Characteristic Curve
X X 1   
   2   
 st F0 / k 2
   2   2 1   n  
     tan  2 
1       2     
  n     n    1 
   
  n 
Characteristics of the magnification factor
1. MF is Unit at ZERO Frequency ratio.

2. MF is infinity, when damping ratio is
ZERO.
3. MF increase with decrease with
damping ratio.
4. Max amplitude of damped force
vibration is at frequency ratio <1.
5. When damping ratio is 0.5 amplitude
of vibration is same as static
deflection at resonance.
6. When damping ratio is > 0.707,
maximum amplitude is Static
Deflection.
X 1

 st 2
   2   2
  
1       2  
  n     n  
Vibration of Unbalanced Rotor
Harmonic disturbing force resulting from rotating unbalance

Let ,
System mass: M
Rotating mass or Eccentric mass: m
Eccentricity of the rotating mass : e
So, Unbalance : me
Rotating speed (const.): 
Angular displacement :q =t
Found
Let Displacement of ation
NON-Rotating part = x System
So, Displacement of
Rotating part =x  e sin t
d2
 M  m x  m  2  x  e sin t 
dt
x
FBD of the system:
kx cx
EOM using Dynamic d2
Equilibrium System  M  m x  m  2  x  e sin t 
dt
x
Inertia Inertia
force of force of Damping Spring
Non- Rotating Force Force 0
Rotating part Force
part
EOM: 2 kx cx
d
 M  m x  m 2 
x  e sin t   cx  kx  0
dt
Mx  mx  mx  me 2 sin t  cx  kx  0
F0
Expression is Similar to
Mx  cx  kx  me sin t 2
Generalized Harmonic
excitation in Forced vibration
F0 d2
 M  m x  m  2  x  e sin t 
Mx  cx  kx  me sin t2 dt
x
a cx
kx
b
 t
o Reference Axis
me 2  c 
X and   tan 1
2 
 k  M     c 
2 2 2  k  M 
d2
 M  m x  m  2  x  e sin t 
dt
x
a
t b

o Reference Axis
me 2  c  kx cx
X and   tan 1  2 
 k  M     c 
2 2 2  k  M 
k c c
Using n  ,  
M cc 2M n
 
2
  
   2   
 M  X   n  
and   tan 1   n  
   2 
 m  e     2  
2 2 
 1   
  
1       2      
  n     n     n 
 
2
  
   2   
 M  X   n  
and   tan 1   n  
   2 
 m  e  2
   2   2
 1    
  
1       2      
  n     n     n 
Observations:
 When, 0 < /n <1,

Response increases with
/n.
 When /n =1, Response

is Maximum
 /n > 1, Effect of

Damping is negligible
 The peak response occurs

right to the resonance
Why ?
Why Wine glass shapes are different from others ?

Example 1.11
An electric motor of mass M, mounted on an elastic foundation, is found to vibrate with a
deflection of 0.15 m at resonance. It is known that the unbalanced mass of the motor is
8% of the mass of the rotor due to manufacturing tolerances used, and the damping ratio
of the foundation is  = 0.025. Determine the following:
a. The eccentricity or radial location of the unbalanced mass (e),
b. The peak deflection of the motor when the frequency ratio varies from resonance, and
c. The additional mass to be added uniformly to the motor if the deflection of the motor at
resonance is to be reduced to 0.1 m.
Assume that the eccentric mass remains unaltered when the additional mass is added to
the motor.
Solutions:
Given: X  0.15 m
1
n
  0.025
m
 8%  0.08
M
Example 1.11
Solutions:
m
Given: X  0.15 m,   0.025,  8%  0.08
1 M
n
a. The eccentricity or radial location of the unbalanced mass (e):

2
 
 
 M  X   n   M  X  1
        20 e  0.09375 m
 m  e     2 2
    
2
 m   e  at 
1 2
n
1       2   Ans(a)
  n     n  
b. The peak deflection of the motor when the frequency ratio varies from
resonance:
2
 
 
d  M  X   n   M  X  1
    0      20.0063
    m  e     2  
2 2
    Max 2 1  
m e 2
d    
 n  1       2  
  n     n  
X Max  0.150047 Ans(b)
Example 1.11
Solutions:
m
Given: X  0.15 m,   0.025,  8%  0.08
1 M
n
c. The additional mass to be added uniformly to the motor if the

deflection of the motor at resonance is to be reduced to 0.1 m.
Assume that the eccentric mass remains unaltered when the additional mass is
added to the motor. 0.1 m
 M  X  1  M  Ma  X  1
         20
 m  e  at 
1 2  m   e  at 
1 2
n n
0.08M
M a  0.5M Ans(c)
Thank You
15
• Vibration of Reciprocating Unbalance

• Whirling of Shaft

NIT Rourkela
Mob : 9040893760
Recap: Damped Longitudinal Forced Vibration
Forced Harmonic Vibration Rotating Unbalance Vibration
EOM : mx  cx  kx  F0 sin t EOM : Mx  cx  kx  me 2 sin t
2
 
 Xk  1  
   M  X   n 
 0 
F    
2
   2
    
2
 m  e  2
1       2      2     
2
  n     n   1       2  
  n     n  
Reciprocating Unbalanced Rotor
M


x
BDC
k c
Harmonic disturbing force resulting from reciprocating unbalance
mcc
2
Unbalance in a mcr 3
single slider m  m p  mcp

machine 1 F  mx p 4
xp Secondary
0
Force
O
  cos 2  
F  m  r 2  cos   
  n  
Vibration of Reciprocating Unbalanced
Let ,
Mass of Whole System: M d2
 m  2  x  r sin t 
Mass of Reciprocating part: dt
m
Length of the conntig rod: l
x
FBD of the
Crank Radius: r system:
 M  m x
Rotating speed (const.): 
kx cx
EOM:
d2
 M  m  x   m  2  x  r sin t   cx  kx  0
dt
F0
Expression is Similar to
Mx  cx  kx  mr sin t 2
Generalized Harmonic
excitation in Forced vibration
F0
Mx  cx  kx  mr 2 sin t
mr 2
X
 k  M  2    c 
2 2
a
 c 
 t
b   tan 1
2 
Reference Axis  k  M 
o
k c c
Using n  ,  
M cc 2M n
 
2
  
   2   
 M  X   n  
and   tan 1   n  
   2 
 m  r     2  
2 2 
 1   
  
1       2      
  n     n     n 
Eg. 1.12: Vibration due to Reciprocating Unbalance
A reciprocating engine of 100 kg, has stiffness

and damping ratio as 1.2x106 N/m and 0.1
m respectively.
M
 The mass of the piston is 2 kg and stroke
length of the engine is 80 mm.

x
The crankshaft of the engine rotating at 30 Hz.
BDC
Find amplitude of vibration and phase angle of

k c vibration relative to unbalance force.
Eg. 1.12: Vibration due to Reciprocating Unbalance
Solutions:
N
Given: M  100 kg ; m  2 kg ;   0.1; k  1.2 X 10 f  30 Hz;
6
m
Sroke  2r  80 mm;
k rad n
n   109.54 fn   17.43 Hz
M s 2
 f   
      1.72 2
 f n   n   
 
 M  X   n 
    X  1.19 Ans(a)
 m  r    
2
    
2 2
1       2   
  n     n  
  
 2   

  tan 1   n     9.960 Ans(b)
2 
 1    
   
  n  
Vibration of Happy Family K,C,M and Villain F
F
m c
k
Happy Family
Happy Family k c
without No Disturbances
Villain
m
Vibration of Happy Family
Villain c
Called Once to k
Happy Family in
the absence of Father
m
Constant
F (Disturbed once) Disturbances
Villain k c
Called Once to
Happy Family m
Disturbances Dies
with Time
F (Disturbed once)
Villain
Called c
k c
periodically
(Less Times)
to m
Happy Family
Spring Force/Mother
F(t)=F0sint (low) Controls the
Disturbances
Villain
Called
periodically k c
(More Times)
to
m
Happy Family
Inertia Force/SON
F(t)=F0sint (High) Controls the
Disturbances
Villain
Called c
k c
periodically
(with natural
frequency) to m
Happy Family
Damping
F(t)=F0sint (at Natural Frequency) Force/Father
Controls the
Disturbances
Whirling of Shaft
Whirling of Shaft
Major issues with Rotor-bearing System:
• Unbalance
• Misalignment
• Bearing Defects Rotor Bends in a
• Improper stiffness and damping of the Rotor complicated manner at
• Fulid-Bearing friction certain speed
• Gyroscopic effects
Whirling /Whipping/Critical Speed

What is Critical Speed ?
When the rotor rotates a its one of the natural frequency, then rotor tends to
vibrate violently in the transverse direction. This speed is called critical
/whirling/whipping speed.
The whirling of a shaft is a critical mechanical phenomenon where a

rotating shaft starts to vibrate or "whirl" around its axis of rotation.
or
The whirling of a shaft is defined as rotation of the plane made by

bent shaft and line of center of bearings.
Whirling of Shaft
Jeffcott Rotor
Top View
y
e G
o,s t
G
o s
x
O: Bearing Centre
S: Geometric Centre
G: Centre of Gravity
Thank You
15
• Whirling of Rotor
• Sharpness of Resonance

NIT Rourkela
Mob : 9040893760
Whirling of Shaft
What is whirling of a shaft ?
The whirling of a shaft is a critical mechanical phenomenon where
a rotating shaft starts to vibrate or "whirl" around its axis of rotation.
or
What is Critical Speed ?
When the rotor rotates a its one of the natural frequency, then rotor
tends to vibrate violently in the transverse direction. This speed is
called critical /whirling/whipping speed.
or
The speed at which the shaft runs so that the additional deflection of
the shaft from the axis of rotation becomes infinite, is known as
critical /whirling/whipping speed.
Whirling of Shaft
The magnitude of deflection depends upon the following:

a)Stiffness of the shaft and its support
b)Total mass of shaft and attached parts
c)Unbalance of the mass with respect to the axis of rotation
d)The amount of damping in the system
How to Reduce or avoid Critical speed vibration/Whirling of Shaft ?

a) Operate Below or Above Critical Speeds
b) Increase Shaft Stiffness
c) Add Damping
d) Optimize Bearing Placement
e) Balance the Shaft
Whirling of Shaft
Jeffcott Rotor
Top View
y
e G
o,s t
G
o s
x
O: Bearing Centre Without Damping: With Damping:

S: Geometric Centre Spring force+ Inertia Spring force+
G: Centre of Gravity force=0 Damping Force+
Inertia force=0
Whirling of Shaft
y
 Fc
Equation of Dynamic Equilibrium
……..in X Direction
myG
mxG  cx  kx  0......EOM (i )
mxG G
……..in Y Direction
e 
myG  cy  ky  0......EOM (ii ) S t
r y

xG  x  e cos t and yG  y  e sin t O
x
x
xG  x  e cos t
2
Substituting in EOM
yG  y  e sin t
2
EOM x and y : Instantanous coordinates of Centre

mx  cx  kx  me cos t
2
xG and yG : Coordinates of CG
my  cy  ky  me 2 sin t r  x2  y2
Whirling of Shaft
y
EOM  Fc
mx  cx  kx  me 2 cos t
Similar to EOM myG
my  cy  ky  me 2 sin t In rotating unbalance mxG G
 
2
e 
e  S t
x t    n  cos t  r y
2 
   2       2 O
x
1       2    x
  n     n  
2
 
e 
y t    n  sin t  x and y : Instantanous coordinates of Centre
2
   2       2
xG and yG : Coordinates of CG
1       2   
  n     n   r  x2  y2
2
    
e   2   
r  n    n  
2 and   tan 1  2 
   2     
2

 1   
1       2      
  n     n     n 
Whirling of Shaft
  
y
2
   Fc
e   2   
r  n    n  
and   tan 1  2  myG
  
2
   2     
2
 1 
1       2      
mxG G
  n     n     n   e 
S t
r y
 x
O
x
Phase at Different Speed
y
 y
 y

G
G
e e
S
r S G e S
r r
x
O x x
O O
     
   1   1    1
 n   n   n 
Whirling of Shaft
Given: d  10 mm
mass, m  4kg ;
eccentricity , e  2mm;
Ns
Damping , c  50 ; l  50 cm
m
Speed , N  250 rpm;
N
Young ' s Modulus, E  1.96 X 10 2
11
m
Find:
(i) Maximum Stress in the Shaft.

(ii) Power Required to drive the shaft.
Whirling of Shaft
Given: F
m  4kg ; e  2 X 103 m; l  0.5m; d  10 X 10 3 m
d  10 mm
N Ns
E  1.96 X 1011 2
; c  50 ; N  250 rpm;
m m
(i) Maximum Stress in the Shaft.
From Flexure Formula :
 Fl  d  l  50 cm
My   

   
4 2
I  max
I
To Find K :
mgl 3
 ( simply Supported )   1.0629 X 103 m
48 EI
rad
N  250 rpm   26.16
g rad s
 n  c  c  96 
 s  0.2725
c
N
k  c2 m k  36864 c
m    0.065
2mc
Whirling of Shaft
 c F
 0.2725;    0.065
c 2mc d  10 mm
2
 
e 
x  n 
2
x  0.16 X 103 m
   2     
2
1       2 l  50 cm
 
  n     n  
Dynamic Load :
Fd  x k 2   c  Fd  5.90 N
2
Fd   Spring Force    Damping Force 

2 2
Maximum Load :
F  mg  Fd F  45.1 N
 Fl   d 
  
   
4 2 N
 max  max  5.745 X 10 10 Ans(i)
I m2
Whirling of Shaft
F
(i) Power Required to drive the shaft. d  10 mm
 Damping Force  x 
Damping Torque
l  50 cm
2 NT
P
60
2 N  c x  x 
P P  87.26 X 105Watts Ans(ii)
60
How do you pull the tree to break?
For Ductile :
Tensile Strength ~= Compressive Strength Hints: Tensile Strength is
For Brittle:
lower than compressive
Tensile Strength << Compressive Strength strength for wood
L R
12
Sharpness of Resonance
Half Power Points
k c
F(t)
Sharpness of Re sonance :
n
Q
2  1
X X 1 Resonate Amplitute

F0 / k X 0 2
   2   2
   X res 
Fo / k
1       2  
  n    2
 n  
Half Power Points Where, X is 0.707 X res

Sharpness of Resonance
X 1

F0 / k    2  
2 2
  
1       2  
  n     n  
X res Fo / k 1
Let X  
2 2 2
2
1 1  1

4 2
    2   
2  2     2  
2
  
2
   2 1  2     1  8   0
2
1       2    n   n 
  n     n  
 
2 2  
   1 
4 2
 4
1   1  2
 n 
2 2 
  n  n2
n 1
Sharpness of Resonance , Q  
2  1 2
Thank You
15
• Vibration Due to Motion of Support

NIT Rourkela
Mob : 9040893760
Vibration due to motion of Support
Examples of the Situation: x
a. Machinery: In machinery, support motion
can come from foundations that are not
perfectly rigid or from vibrations m
transmitted through the ground.
b. Building Structures: In buildings, y
c k
support motion can come from seismic
activity or nearby construction activities. Support
c. Vehicles: In vehicles, the motion of the
wheels or chassis can transmit vibrations
to the rest of the vehicle and its
components. To Predict:
 Absolute Motion: x ?
Issues due to Motion of Support  Relative Motion : z=y-x ?
Dynamic Loading: The movement of the support can introduce

dynamic forces into the system it supports. This can alter the
effective loads experienced by the system and potentially lead to
increased vibration level.
x
 Absolute Motion: x ?
EOM :
mx  c  x  y   k  x  y   0 m
y  Y sin t
mx  cx  kx  cy  ky c k
Support
mx  cx  kx  Y  k sin t  c cos t 
FBD
Lets, Modify the expression to x

resembles Forced vibration expression mx
mx  cx  kx  m
2 2  k sin t c cos t  c x  y k  x  y
Y k c  
2
 
 k c  k 2  c 2 2 
2 2 2
x
mx  cx  kx 
 k sin t c cos t  m
Y k c  
2 2 2
 
 k c  k c   y  Y sin t
2 2 2 2 2 2
c k
Support
mx  cx  kx 
Y k 2  c 2 2 sin t cos   cos t sin   c

k
 c  1  
  tan  2
1
F0 tan  
 k    n 
mx  cx  kx  Y k 2  c 2 2 sin t   
The expression to resembles Forced vibration

For Forced Vibration,
mx  cx  kx  F0 sin t 
Steady State x  X sin t   
Solution
  
F0  2    x
X k 
and   tan 1   n  
2 
2
   2     
2
 1    
1       2     m
    n 
  n     n   y  Y sin t
c k
For Support Motion :
mx  cx  kx  Y k 2  c 2 2 sin t    Support
x  X sin t     
Steady State
Solution
  
Y k 2  c 2 2  2   
X k 
and   tan 1   n  
2 
   2  
2
  
2
 1    
1       2      
  n     n     n  
Characteristic Curve for Absolute motion
2
Y k c 
2 2 2    
1   2  
X k X   n  
2 
   2     
2
Y    2  
2 2
1       2   
  1       2  
  n     n     n     n  
x
2
      
1   2    2   
X   n     n   m
 and   tan 1  2 
Y 2
   y  Y sin t
   2     
2
 1 
1       2      
c k
  n     n     n  
Support
2
   
1   2  
Displacement of Body X   n  
Tansmssibility =  
Y 
2
   
Displacement of Support 2
  
2
1       2  
  n     n  
How does a Train takes turn without use of differential
 Relative Motion : z=y-x ?
x
z : Relative motion of the mass w.r.t support
z  x y m
z  x y c k
y
z  x y Support
EOM :
mx  c  x  y   k  x  y   0
m  z  y   cz  kz  0
 2Y sin t
mz  cz  kz  my
mz  cz  kz  m 2Y sin t The expression to resembles

Rotor unbalance System
For Rotor unbalance system,
Mx  cx  kx  me 2 sin t 
Steady State x  X sin t   
Solution   
2
 
   2   
 M  X   n  
and   tan 1   n   x
    2 
 m  e     2  
2 2
 1    
  
1       2      
  n     n     n 
m
For Support Motion( Relative Motion) : y  Y sin t

c k
mz  cz  kz  m 2Y sin t
Support
Steady State
z  Z sin t     
Solution
2
 
 
Z
  n 
Y    2  
2 2
  
1       2  
  n     n  
Characteristic Curve for Relative motion
2
 
 
Z
  n 
Y 2
   2   2
  
1       2  
  n     n  
Thank You
12
• VIBRATION ISOLATION

NIT Rourkela
Mob : 9040893760
Vibration Isolation
Machines are often mounted on springs and dampers to minimize the transmission of
unbalanced forces between the machine and the foundation.
F(t)=F0sinwt
x
m
c k
EOM :
mx  cx  kx  F0 sin wt 
Steady State x  X sin wt   
Solution
F0
X k
2
  w 2    w 
2
1       2  
  wn     wn  

wt
o Reference Axis
Vibration Isolation
How Much Force is transmitted to Foundation ? F(t)=F0sinwt
x
m
FT c k

wt
o Reference Axis
2
  w 
FT   kX    cw X  FT  kX 1   2
2 2
 
  wn  
Ratio of the transmitted force to that of the disturbing force,
2
 w 
1   2  
FT   wn 
Transmissibility  
F0   w 2  
2 2
 w 
1       2  
  wn     wn  
Eg 1.13
A simple model of a motor vehicle that can vibrate in the vertical
direction while traveling over a rough road. The vehicle has a mass of
1200 kg. The suspension system has a spring constant of 400 kN/m
and a damping ratio of 0.5. If the vehicle speed is 20 km/h,
Determine:
The displacement amplitude of the vehicle. The road surface varies
sinusoidally with an amplitude of Y = 0.05 m and a wavelength of 6 m.
Eg 1.13
Given :
km kN
v  20 ;   6m; k  400 ;
hr m
m  1200 kg ;   0.5; Y  0.05 m
v rad
w  2 f  2 w  5.819
 s
k rad
wn  wn  8.257
m s
To Find X ?
2
 w 
1   2  
  wn  X  0.0550 m
X Y
2
  w 2    w 
2
This indicates that a 5 cm bump in
1       2   the road is transmitted as a 5.5 cm
  wn     wn  
bump to the chassis and the ANS
passengers of the car.
Eg 1.14
An exhaust fan, rotating at 1000 rpm, is to be supported by four springs, each
having a stiffness of K. If only 10% of the unbalanced force of the fan is to be
transmitted to the base, what should be the value of K?
Assume the mass of the exhaust fan to be 40 kg.
Given :
m  40 kg ; TR  0.1; N  1000 rpm;   0;
rad
w  104.72
s
2
  w 
1   2  
FT   wn   k N
Transmissibility   will give wn  k  9969.6365
F0   w 2  
2 2
 w  m m
1       2  
  wn     wn  
ANS
Why it is always advisable to change engine oil in the 1st service of
your vehicle ?
Few Questions from Previous Mid Sem
Describe the following methods for finding natural frequencies with suitable
examples:
(a) Energy method Already Learned
(b) Rayleigh Method Already Learned

(c) Principle of virtual work method ????
The principle of virtual displacements states that if a system that is in
equilibrium under the action of a set of forces is subjected to a virtual
displacement, then the total virtual work done by the forces will be zero. Here the
virtual displacement is defined as an imaginary infinitesimal displacement given
instantaneously.
VirtualWork by Spring Force    kx  x 
kx
VirtualWork by Spring Force    mx  x 
k
m TotalVirtualWork  0
x 
m mx   mx  x    kx  x   0
x
x k
x x x0 x  wn2 x  0
m m
x x
k
m Where, Natural circular frequency , wn 
m
Write Short Notes On
(a) Accelerometer used in vibration system ????
(b) Structural damping Already Learned
(c) Equivalent viscous damping Home Work
(d) Energy dissipated by damping Already Learned
Accelerometer: A device that measures the vibration, or acceleration of motion,

of a structure
Basic vibration measurement scheme.

Vibration Measurement System
• Accelerometers: These are the most
common type of vibration sensors. They
measure acceleration and are widely used in
industrial applications. They can detect
vibrations across a wide frequency range.
• Vibrometers: These devices measure the

velocity of vibrating objects. They are often
used for low-frequency applications
• Proximity Probes (Eddy Current Sensors):

These measure the distance between the
probe and a target surface, allowing for the
detection of relative vibrations, often in
rotating machinery.
Vibration Measurement System
• Laser Doppler Vibrometers (LDV):

These use laser technology to measure
vibration without direct contact. They are
used for precision measurements in
research and development.
• Vibration Meters: Portable devices that

provide a quick assessment of vibration
levels. They often combine
accelerometers with signal processing
to provide velocity and displacement
readings.
• Seismometers: Although typically

associated with measuring ground
motion during earthquakes,
seismometers can also be used in
industrial settings to measure low-
frequency vibrations.
• Derive completely the expression for

Already Learned
sharpness of resonance.
• Derive the complete expression from the

beginning for “Oscillatory Motion”,
Already Learned
“Nonoscillatory motion” and “Critically
damped motion” for single degree free
vibration with suitable examples.
The schematic diagram of a large cannon is shown in Fig. When the gun is
fired, high pressure gases accelerate the projectile inside the barrel to a very
high velocity. The reaction force pushes the gun barrel in the direction
opposite that of the projectile. Since it is desirable to bring the gun barrel to
rest in the shortest time without oscillation, it is made to translate backward
against a critically damped spring-damper system called the recoil
mechanism.
In a particular case, the gun barrel and the recoil mechanism have a mass of
500 kg with a recoil spring of stiffness 10,000 N/m. The gun recoils 0.4 m
upon firing.
Find (1) the critical damping coefficient of the damper,

(2) the initial recoil velocity of the gun, and
(3) the time taken by the gun to return to a position 0.1 m from its
initial position.
Free Vibration
• The cylinder of weight w and radius r
rolls without slipping on a circular
surface of radius R as shown in Fig.
Determine the frequency of oscillation
when the cylinder is displaced slightly
from its equilibrium position.
Take : r  R
The total energy of the system consists of kinetic energy (rotational and
translational) and potential energy should remain the same all the time.
1
m  R  r   
2
Translational K .E  d
2  KE  PE   0
1 2 dt
mr
2
1
 
2
Rotational K .E  J 0   
2 2g
11 
   0;
1
m  R  r      mr 2       3( R  r )
2 2
K .E. 
2 22 
P.E.  mg  R  r 1  cos  

Thank You
15

MV Mid

Uploaded by

Copyright:

Available Formats

MV Mid

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

MV Mid

Uploaded by

Copyright:

Available Formats

ME4131 Mechanical Vibration

Prof. Suraj Kumar Behera,

• Vibrations can lead to excessive deflection and failure in the machine

• If natural frequency of a system coincides with the frequency of the

• To improve efficiency of certain machining , casting , forging and

• To simulate earth quakes for geological research and conduct studies

• Fault Diagnosis and Condition Monitoring of machines

Safety Monitoring Condition Monitoring

Module 2: (08 Classes)

• Forced Vibration with Harmonic Excitation

Module 3: (04 Classes)

• Two Degrees of Freedom system

• Multi-degree freedom system

Vibrations: Oscillatory behavior of the mechanical system

When a body is displaced from its

Leads to To and Fro

All bodies possessing mass and

• Free vibration: Vibration of a elastic boy,

• Forced vibration: When repeated force

• Self excited vibration: Because of non-

• Parametrically excited vibration: a special

• Damped Vibration: When the energy of a

• Undamped Vibration: When the energy of

• Single DOF: Single independent coordinate

• Multi DOF: Multiple independent

• Harmonic: Trigonometric Function( Sine , Cosine…)

Natural frequency, also known as Eigen frequency, is the frequency at

Natural frequency can be predicted from equation of motion (EOM) of system

1. Using Newtonian Mechanics / Equilibrium Method

2. Using Energy Method

4. Principle of Virtual Work

5. Finite Element Method

ml 2  mgl  0...........( EOM )

In static equilibrium position

s Similar to SHM equation

let displacement , x  X cos(nt  )

• Damped Free Vibration

Prof. Suraj Kumar Behera,

1. Using Newtonian Mechanics / Equilibrium Method

2. Using Energy Method

4. Principle of Virtual Work

5. Finite Element Method

After mass is displaced by distance x

(ii ) Let , A  X cos  and B  X sin  ;

x  X cos  sin nt  X sin  cos nt  X sin(nt   )

Damping is the process by which energy

reducing the amplitude of oscillations or

Damping Ratio or Factor ,  

II. For Under Damped System,   1

x  e nt  X sin d t     Where, d   

III. For Critical Damped System,   1

I. Over Damped system   1 or c 2  4km  0

Prof. Suraj Kumar Behera,

I. Over Damped System,   1 or c 2  4km  0

II. Under Damped System,   1 or c 2  4km  0

III. Critical Damped System,  1

x  Xe nt sin d t      e nt C1 sin

With known int ial condition of x(0) and x(0)

x  Xe nt sin d t    