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MMÜ 342
Mechanical Vibrations
Week II: Fundamentals
Hakan Doğan
24/25 Fall, Week1 II

OBJECTIVES
• To provide a comprehensive understanding of mechanical vibrations
• To develop analytical skills for modelling and solving vibration problems

in mechanical systems.
• To explore methods for vibration control and suppression in engineering

applications, with a focus on enhancing the design and performance of
mechanical systems.
DEFINITION
Any motion that repeats itself after an interval of time is called vibration or
oscillation.
Pendulum Vibration of Guitar Strings

Voice Vibrating body of an airplane Earthquake
The theory of vibration deals with the study of oscillatory motions of bodies and the
forces associated with them.
VIDEO EXAMPLES
Tacoma Bridge - https://www.youtube.com/watch?v=XggxeuFDaDU&t=51s
Aircraft Flutter - https://www.youtube.com/watch?v=iTFZNrTYp3k
X-56 Full Body - https://www.youtube.com/watch?v=qwylNMeJHp4
Undamped - https://www.youtube.com/watch?v=a9IRD06TYvk&t=113s
Damped - https://www.youtube.com/watch?v=0lWG2yzqnSs
Why do we study vibrations?
• To verify that frequencies and amplitudes do not exceed the material
limits.
• To avoid excitation of resonance in certain parts of a machine.
• To be able to dampen or isolate vibration sources.
• To make conditional maintenance on machines.

ELEMENTARY PARTS
• Springs or elastic elements: Storing potential energy
• Mass or inertia: Storing kinetic energy
• Damper: Dissipating energy
ELEMENTARY PARTS
• Springs or elastic elements: Storing potential energy
• Mass or inertia: Storing kinetic energy
• Damper: Dissipating energy
• 1 and 3 Maximum PE, zero KE

• 2 Maximum KE, zero PE
No energy loss is assumed.

Number of Degree of Freedom (#DoF)
The minimum number of independent coordinates required to determine

completely the positions of all parts of a system at any instant of time
defines # DoF of a system.
Single Degree of Freedom Systems

Two Degree of Freedom Systems
Three Degree of Freedom Systems

Infinite Number Degree of Freedom Systems – Cantilever beam
This is also called a continuous or distributed system. They are generally

approximated as discrete systems and solutions are obtained in a simple manner.
Classification of Vibration
• Free and forced vibrations: If a system, after an initial disturbance, is left to
vibrate on its own, the ensuing vibration is known free vibration (No external force).
If a system is subjected to an external force, the resulting vibration is known as
forced vibration.
• Undamped and damped vibrations: If no energy is lost or dissipated in friction or
other resistance during oscillation, it is called undamped vibration. If any energy is
lost, it is known as damped vibration.
• Linear and nonlinear vibrations: If all the basic components of a vibrating system
behave linearly, it is a linear vibration problem. If, however, any of the basic
components behave nonlinearly, it is called a nonlinear vibration (No
superposition principle).
• Deterministic and random vibrations: If the value or magnitude of the excitation
acting on a vibrating system is known at any given time, the excitation is called
deterministic. If the values cannot be predicted, then it is called nondeterministic
or random vibration.
Classification of Vibration
Harmonic motion Periodic motion
Transient motion Random motion

Vibration Analysis
• Mathematical modelling
• Derivation of governing equations

• Newton’s 2nd law of motion
• D’Alembert’s principle
• Principle of conservation of energy
• Lagrange’s method
• Solution of governing equations
• Interpretation of the results

Modelling
Modelling
Spring Elements
• Most-common type: helical-coil spring
• Neglect its mass and damping effect
• Any elastic element or deformable body such as
cable, bar, beam, shaft or plate can be
considered as spring.
• Spring force:
𝐹 = 𝑘𝑥
• The work done in deforming a spring is stored as
strain or potential energy in the spring
U = 1/2𝑘𝑥 2
Spring Elements
(Linear/Nonlinear) Spring force:
𝐹 = 𝑎𝑥 + 𝑏𝑥 3 , 𝑎>0
Linearisation of a nonlinear spring can be

possible using Taylor’s Series expansion.
Spring Constants of Elastic Elements
Spring Constants of Elastic Elements
Torsional Spring Example
Mass or Inertia Element
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Damping Element
• Most-common type: Viscous damping
• In viscous damping, the damping force is
proportional to the velocity of the vibrating body:
𝐹 = 𝑐𝑣
• Coulomb or friction damping
• Material or Solid or Hysteretic damping
• Combination of dampers
Derivation of Governing Equations
• Newton’s 2nd Law of Motion
• D’Alembert’s Principle
• Conservation of Energy
𝑑𝐸𝑡𝑜𝑡𝑎𝑙
= 𝑃𝑛𝑒𝑡
𝑑𝑡
𝐸𝑡𝑜𝑡𝑎𝑙 = 𝑇 + 𝑈 𝑃𝑛𝑒𝑡 = Σ𝑃𝑖 − Σ𝑃𝑜 - Σ𝑃𝑑
• Lagrange’s method
L=𝑇−𝑈
𝑑 𝜕𝐿 𝜕𝐿
− = 𝑄𝑖
𝑑𝑡 𝜕𝑞ሶ 𝑖 𝜕𝑞𝑖
Example Example
Rotational spring
Example Example
Example Example
Example Example
Effective mass

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MMÜ 342

Week II: Fundamentals

24/25 Fall, Week1 II

• To provide a comprehensive understanding of mechanical vibrations

• To develop analytical skills for modelling and solving vibration problems

• To explore methods for vibration control and suppression in engineering

Pendulum Vibration of Guitar Strings

• To avoid excitation of resonance in certain parts of a machine.

• To be able to dampen or isolate vibration sources.

• To make conditional maintenance on machines.

• 1 and 3 Maximum PE, zero KE

No energy loss is assumed.

The minimum number of independent coordinates required to determine

Single Degree of Freedom Systems

Two Degree of Freedom Systems

Three Degree of Freedom Systems

Infinite Number Degree of Freedom Systems – Cantilever beam

This is also called a continuous or distributed system. They are generally

Harmonic motion Periodic motion

Transient motion Random motion

• Derivation of governing equations

• Solution of governing equations

• Interpretation of the results

(Linear/Nonlinear) Spring force:

Linearisation of a nonlinear spring can be

• Material or Solid or Hysteretic damping

𝐸𝑡𝑜𝑡𝑎𝑙 = 𝑇 + 𝑈 𝑃𝑛𝑒𝑡 = Σ𝑃𝑖 − Σ𝑃𝑜 - Σ𝑃𝑑

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