University of Gondar

School of Technology
Department of Mechanical Engineering

MECHANICAL VIBRATIONS

Time

Lecturer: Ephrem Yohaness

 Topic Outline
 Introduction
 Basic Concepts of Vibration
 Classification of Vibration
 Spring Elements
 Mass or Inertia Elements
 Damping Elements
 Vibration Analysis Procedure
Introduction
Why Study Vibration ??

Tacoma Narrows
More often, vibration is undesirable, wasting energy and creating
unwanted sound – noise!
The vibrational motions of engines, electric motors, other mechanical
devices which are usually the results of imbalance in rotating parts, uneven
friction, meshing gear, etc. are typically unwanted!
Desirable application of vibration

Physically, sound is vibrational mechanical energy that

propagates through matter as a wave
 Sound Pressure Level
The difference between the actual pressure in the medium and the average,
or equilibrium pressure of the medium at that location.
Can be measured by microphone in air and hydrophone in water.

Perception of Sound
For humans, hearing is limited to frequencies between
about 20 Hz and 20000 Hz, with the upper limit generally
decreasing with age.
 Vibratio
Hearing
illness
deteri-
oration Neuritis

NOISE
&
Memory
loss VIBRATION
Irritability

Indifference Apathy
Basic Concepts of Vibration
Vibration :Any motion that repeats itself after an interval of time. [Ex.
swinging of a pendulum] /continuous cyclic motion of a structure or a
component/mechanical oscillation about a reference position
Generally, engineers try to avoid vibrations, because vibrations have a
number of unpleasant effects:
Cyclic motion implies cyclic forces. Cyclic forces are very damaging to
materials.
Even modest levels of vibration can cause extreme discomfort;
Vibrations generally lead to a loss of precision in controlling machinery.
A vibratory system includes:
–storing potential energy (springs or elasticity)
–storing kinetic energy (mass or inertia)
–gradually losing energy (damper).

The vibration of a system involves the transfer of its potential energy to kinetic energy
and vice versa. If damping exists, energy is dissipated in each cycle.
 PROPERTIES
- Frequency
- Wavelength
- Period
- Amplitude
- Intensity Frequency, fn= 1
Tn
in [Hz = 1/sec] m1
- Speed k m
n= 2  fn =
m
- Displacement
- Direction
Degree of freedom of the system(DOF)
The minimum number of independent coordinates required
to determine completely the positions of all parts of a
system at any instant of time.

2 - 10
Cont.…
 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]
• Un damped 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
• Periodic /harmonic/Random/
• Resonance : phenomena when the natural frequency of a system coincides with that of
the external frequency
Cont..
Deterministic Vibration: If the value or magnitude of the excitation
(force or motion) acting on a vibratory system is known at any given
time
random Vibration: When the value of the excitation at a given time
cannot be predicted
 Forces and Vibration

System
Input
Forces + Response = Vibration
(Mobility)

+ =
Frequency Frequency Frequency
Forces caused by Structural Vibration
Imbalance Parameters: Parameters:
Shock Mass Acceleration
Friction Stiffness Velocity
Acoustic Damping Displacement

891875
 Spring element
Linear spring : is a type of mechanical link that is generally assumed to
have negligible mass and damping
• Spring force is given by:

• F = spring force
• k = spring stiffness (constant),
• 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
 Spring Elements
Static deflection of a beam at the free end is
given by:
Wl 3
 st  1.6
3EI
W = mg is the weight of the mass m,
E = Young’s Modulus, and
I = moment of inertia of cross-section of beam
Spring Constant is given by:
W3EI
k  1.7 
 l
st
3

16
Mechanical Parameters and Components
Displacement Velocity Acceleration

d
v a
k

c m

F=k×d F=c×v F=m×a

 Example
A 50-kg block moves between vertical
guides as shown. The block is pulled
40mm down from its equilibrium
position and released.
For each spring arrangement, determine
a) the period of the vibration, b) the
maximum velocity of the block, and c)
the maximum acceleration of the block.
Damping Elements

Damping Elements
 Damping Elements

Hysteresis loop for elastic materials:

 Damping is the decrease in amplitude with time due to the resistance of the medium to the
vibration.
 Damping occurs progressively as energy is taken out of the system by another force such as
friction.
 If the damping is enough that the system just fails to oscillate, then it is said to be critically
damped. Damping more than this is referred to as over damping and less is similarly
underdamped.

21
 Critical damping: The minimum damping that will prevent or stop oscillation in the
shortest amount of time.
Effect of Change in Mass

time

m1
k
n  2fn  m
m  m1

Increasing mass
reduces frequency
Mass, Spring and Damper

time

Increasing damping
reduces the amplitude m

k c1 + c2
 Damping Elements
Construction of Viscous Dampers

µ
Velocity of intermediate fluid layers
Fixed plane are assumed to vary linearly

Plate be moved with a velocity v in its own plane

ERT 452 25
 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
where A is the surface area of the moving plate and
is the damping constant. A
c
h

26
 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*

27
VIBRATION ANALYSIS PROCEDURE

28
 Vibration Analysis Procedure

Step 1: Mathematical Modeling

Step 2: Derivation of Governing Equations
Step 3: Solution of the Governing Equations
Step 4: Interpretation of the Results

Find the response Response (result):

Derive Free body diagram
(solve problem Displacement, velocities
system/component (FBD)
method) & acceleration

29
Human Vibration
 Vibration Analysis Procedure
EX-1 modeling of a forging hammer:

31
EX-2 quarter bus/truck/car model

xs
ms

ks cs

xu
mu

kt
u

u = road profile input ks = suspension spring constant

kt = tire spring constant cs = suspension damping constant
mu = unsprung mass ms = sprung mass
xu = displacement of unsprung mass xs = displacement of sprung mass
EX-3 : Develop a 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.

34
• 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-DOF model of the motorcycle with a
rider).
• 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.

35
 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.

36
 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.

37
 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
38
 Mass or Inertia Elements

and,

 By equating the kinetic energy of the system:

xeq  x1 1.19

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 

39
 Mass or Inertia Elements

Case 2: Translational and Rotational Masses

Coupled Together

meq = single equivalent translational mass

x = translational velocity
= rotational velocity

J0 = mass moment of inertia
Jeq = single equivalent rotational mass
40
 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
41
 Mass or Inertia Elements

Case 2: Translational and Rotational Masses

Coupled Together
Since    and xeq  x , equating Teq & T
 x
gives R
J0
meq  m  2 1.24
R
2. Equivalent rotational mass:
Here, eq   and x  R , 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
42
 Example 1.7
Cam-Follower Mechanism

A cam-follower mechanism is used to convert the rotary

motion of a shaft into the oscillating or reciprocating
motion of a valve.

The follower system consists of a pushrod of mass mp, a

rocker arm of mass mr, and mass moment of inertia Jr
about its C.G., a valve of mass mv, and a valve spring of
negligible mass.

Find the equivalent mass (meq) of this cam-follower system

by assuming the location of meq as (i) pt A and (ii) pt C.

43
 Example 1.7
Cam-Follower Mechanism

ERT 452 44
 Example 1.7
Solution
The kinetic energy of the system (T) is:
1 2 1 2 1 2 1
T  m p x p  mv xv  J r r  mr xr
 2
E.1
2 2 2 2
If meq denotes equivalent mass placed at pt A, with
xeq  x the kinetic energy equivalent mass system
Teq is:
1
Teq  meq xeq
2
E.2
2

45
 Example 1.7
Solution

By equating T and Teq, and note that

xl2 xl3 x
, x p  x, xv  , xr  , and  r 

l1 l1 l1
Jr l22 l32
meq  m p   mv  mr E.3
l12 l12 l12
Similarly, if equivalent mass is located at point C, hence

xeq  xv ,
1 1
Teq  meq xeq  meq xv2
2
E.4
2 2
46
 Example 1.7
Solution

Equating (E.4) and (E.1) gives

2 2
Jr  l1   l3 
2
meq  mv  2  m p    mr  2  E.5
l2  l2   l1 

47
 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.

48
 Example 1.10
Equivalent Spring and Damping Constants of a Machine Tool
Support

49
 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

50
 Example
1.10 Solution

51
 Example
1.10 Solution
F  k x;
si i
i  1,2,3,4
F  c x;
di i
i  1,2,3,4 (E.1)

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 F F F F
s s1 s2 s3 s4

F F F F F
d d1 d2 d3 d4
(E.2)
52
 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)

53
 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 x and the ith damper experiences a velocity of x i
i

where x and x can be related to the displacement x

i i

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.

54
 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.

55
 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:

56
 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 32l23
32(3) 23

 8.9012  10 N - m/rad 6

57
 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 )
teq 6 6

t12 t 23

 6.5997  10 N - m/rad 6

58
 Example 1.5
Equivalent k of a Crane

The boom AB of crane is a uniform steel bar of length 10 m

and x-section area of 2,500 mm2.
A weight W is suspended while the crane is stationary. Steel
cable CDEBF has x-sectional area of 100 mm2. Neglect effect
of cable CDEB, find equivalent spring constant of system in
the vertical direction.

59
 Example 1.5
Solution
A vertical displacement x of pt B will cause the spring k2
(boom) to deform by x2 = x cos 45º and the spring k1 (cable)
to deform by an amount x1 = x cos (90º – θ). Length of
cable FB, l1 is as shown.

l12  32  102  2(3)(10) cos135  151.426

 l1  12.3055 m

60
 Example 1.5
Solution
The angle θ satisfies the relation:
l12  32  2(l1)(3) cos   102
cos   0.8184,   35.0736
The total potential energy (U):
1 2 1
U  k1( x cos 45)  k2[ x cos( 90   )]2 E.1
2 2
A1E1 (100  106 )(207  109 )
k1    1.6822  106 N/m
l1 12.0355
A2 E2 (2500  106 )(207  109 )
k2    5.1750  10 N/m
7
l2 10 61
 Example 1.5
Solution
Potential Energy of the equivalent spring is:
1
U eq  keq x 2 E.2
2

By setting U = Ueq, hence:

keq  26.4304  106 N/m

62
 END:

END:
HARMONIC MOTION

ERT 452 64
 Harmonic Motion

Periodic Motion: motion repeated after equal

intervals of time
Harmonic Motion: simplest type of periodic
motion
Displacement (x): x  Asin  Asin t 1.30
(On horizontal axis)

Velocity: dx
  A cos t 1.31
dt
Acceleration: d x2
2
  2 A sin t   2 x 1.32
dt
65
• Scotch yoke
mechanism:
The similarity
between cyclic
(harmonic) and
sinusoidal
motion.

66
 Harmonic Motion

Complex number representation of harmonic

motion: 
X  a  ib 1.35
where i = √(–1) and a and b denote the real and
imaginary x and y components of X, respectively.

67
 Harmonic Motion

Also, Eqn. (1.36) can be expressed as


X  A cos   iA sin  1.36

X  Acos   i sin    Aei 1.43

Thus,
A j  (a 2j  b 2j ); j  1, 2 1.47

1 b j

 j  tan  ; j  1, 2 1.48
aj 
68
 Harmonic Motion

Operations on Harmonic Functions:


Rotating Vector, X  Aeit 1.51
it
Displacement  Re[ Ae ]  A cos t 1.54
Velocity  Re[iAeit ]  A sin t
 A cos t  90 1.55
Accelerati on  Re[  2 Aeit ]
  2 A cos t
  2 A cos t  180 1.56
Where Re denotes the real part.
69
 Harmonic Motion
• Displacement, velocity, and accelerations as rotating vectors

• Vectorial addition of
harmonic functions

70
 Example 1.11
Addition of Harmonic Motions

Find the sum of the two harmonic motions

x (t )  10 cos t and x (t )  15 cos(t  2).
1 2

Solution:
Method 1: By using trigonometric relations: Since the
circular frequency is the same for both x1(t) and x2(t),
we express the sum as

x(t )  A cos(t   )  x (t )  x (t )
1 2
(E.1)

71
 Example 1.11 Solution
That is,
Acos t cos   sin t sin    10 cos t  15 cos(t  2)
 10 cos t  15(cos t cos 2  sin t sin 2) (E.2)
That is,
cos t ( A cos  )  sin t ( A sin  )  cos t (10  15 cos 2)
 sin t (15 sin 2) (E.3)

By equating the corresponding coefficients of cosωt

and sinωt on both sides, we obtain
A cos   10  15 cos 2
A sin   15 sin 2
A 10  15 cos 2  (15 sin 2)
2 2

 14.1477 (E.4)
72
 Example 1.11 Solution

and
 15 sin 2 
  tan  1

 10  15 cos 2 
 74.5963  (E.5)

Method 2: By using vectors: For an arbitrary value of

ωt, the harmonic motions x1(t) and x2(t) can be
denoted graphically as shown in Fig. 1.43. By adding
them vectorially, the resultant vector x(t) can be found
to be
x(t )  14.1477 cos(t  74.5963 ) (E.6)
73
 Example 1.11 Solution
Method 3: By using complex number representation:
the two harmonic motions can be denoted in terms of
complex numbers:
x (t )  Re A e
1 1
it
  Re10e  i t

x (t )  Re A e
2 2
  Re15e 
i ( t  2 ) i ( t  2 )
(E.7)

The sum of x1(t) and x2(t) can be expressed as

x(t )  ReAe i ( t  )
 (E.8)
where A and α can be determined using Eqs. (1.47)
and (1.48) as A = 14.1477 and α = 74.5963º
74
 Harmonic Motion

Definitions of Terminology:
Amplitude (A) is the maximum displacement of a
vibrating body from its equilibrium position
Period of oscillation (T) is time taken to complete one
cycle of motion 2
T 1.59

Frequency of oscillation (f) is the no. of cycles per unit
time 1 
f   1.60
T 2
75
 Harmonic Motion

Definitions of Terminology:
 Natural frequency is the frequency which a system oscillates
without external forces
 Phase angle () is the angular difference between two
synchronous harmonic motions
x1  A1 sin t 1.61
x2  A2 sin t    1.62

76
 Harmonic Motion

Definitions of Terminology:
Beats are formed when two harmonic motions, with
frequencies close to one another, are added

77
 Harmonic Motion

Definitions of Terminology:
Decibel is originally defined as a ratio of electric
powers. It is now often used as a notation of various
quantities such as displacement, velocity, acceleration,
pressure, and power
P
dB  10 log  (1.68)
P 
0

X 
dB  20 log  (1.69)
X  0

where P0 is some reference value of power and X0

is specified reference voltage.
78
HARMONIC ANALYSIS

ERT 452 79
 Harmonic Analysis
• A periodic function:

80
 Harmonic Analysis

• Fourier Series Expansion:

If x(t) is a periodic function with period  , its
Fourier Series representation is given by
a
x(t )   a cos t  a cos 2t  ...
0
1 2
2
b sin t  b sin 2t  ...
1 2

a
   (a cos nt  b sin nt )

0
n n
(1.70)
2 n 1

81
 Harmonic Analysis
•Gibbs Phenomenon:
An anomalous behavior observed from a periodic function
that is being represented by Fourier series.

As n increases, the
approximation can be seen
to improve everywhere
except in the vicinity of the
discontinuity, P. The error
in amplitude remains at
approximately 9 percent,
even when k   .
82
 Harmonic Analysis

•Complex Fourier Series:

The Fourier series can also be represented in terms of
complex numbers.
e  cos t  i sin t
it
(1.78)
and
e  cos t  i sin t
it
(1.79)
Also,
e e
it  it

cos t  (1.80)
2
e e
it it

sin t  (1.81)
2i
83
 Harmonic Analysis

•Frequency Spectrum:
Harmonics plotted as vertical lines on a diagram of
amplitude (an and bn or dn and Φn) versus frequency
(nω).

84
 Harmonic Analysis
• Representation of a function in time and
frequency domain:

85
 Harmonic Analysis
• Even and odd functions:
Even function & its Fourier
series expansion
x(t )  x(t ) (1.87 )
a
x(t )    a cos nt (1.88)

0
n
2 n 1

Odd function & its Fourier

series expansion
x(t )   x(t ) (1.89)
x(t )   b sin nt


n 1 n
(1.90)

86
 Harmonic Analysis

• Half-Range Expansions:
The function is extended to
include the interval   to 0 as
shown in the figure. The Fourier
series expansions of x1(t) and
x2(t) are known as half-range
expansions.

87
 Harmonic Analysis

• Numerical Computation of
Coefficients.
If x(t) is not in a simple
form, experimental
determination of the
amplitude of vibration and
numerical integration 2
a  x
N

(1.97 )
procedure like the 0
N i 1 i

trapezoidal or Simpson’s 2 2nt

a   x cos
N
i
(1.98)
rule is used to determine n
N i 1 i

the coefficients an and bn. 2 2nt
b   x sin
N
i
(1.99)
n
N i 1

i

88
Exercise
 Single Degree-of-Freedom Systems

1. A spring-mass system
General solution for any simple oscillator
General approach
Examples
2. Equivalent springs
Spring in series and in parallel
Examples
3. Energy Methods
Strain energy & kinetic energy
Work-energy statement
Conservation of energy and example
 A spring-mass system

Governing equation of motion:

mx  kx  0
General solution for any simple oscillator:
vo
x(t )  xo cos( nt )  sin( n t )
where: n
x o  initial displacement; v o  initial velocity  x o ; t  time (sec.)
k 2π
ωn   natural frequency (rads/sec. )  ; T  period of vibration
m T
2
1 ω v 
fn  frequency (cycles/se c. or Hz)   n ; C  amplitude  x 2o   o 
T 2π  ωn 
 Any simple oscillator

General approach:
1. Select coordinate system
2. Apply small displacement
3. Draw FBD
4. Apply Newton’s Laws:
d
F  ( mx )
dt
d
M  ( I)
dt
Simple oscillator – Example 1

I  mass moment of inertia  M  I +

 I cg  md 2  ml 2  K  I
K
ωn  ml   K  0
2
ml 2
 Simple oscillator – Example 2

I  I cg  md 2  ml 2  M o  I o +

ωn 
k a
 
 (ka )a  ml 2
m l 

Note limits: When

a
 1, ωn 
k ml   ka   0

2 2

l m
a
As  0 , ωn  0 (unstable)
l
 Simple oscillator – Example 3





 M o  I o +
 r dm  2 0 x Adx 
l/2

 I cg  2 2

  2
Al ml 
3
 ml 2 
 ( kb)b  
 
 12 12 
 
 I cg  md
Io

2

2


3
 ml 2  l  ml 2 
2
  m  
 2  ml 
  kb 2  0
12 3
 
ω 3k  b  
  


n
m  l  
 3
 Simple oscillator – Example 4

ma 2
From table : I   M z  I +
2

TL  JG   T  I
    T
JG  L 
ma 2  GJ
Equivalent stiffness: K 
JG
   0
L 2 L
2GJ
 n2 
ma 2 L
 Equivalent springs

Springs in series: Springs in parallel:

same force - flexibilities add same displacement - stiffnesses add
1 1
  1   2     P P  k1  k 2 
 k1 k 2   ( k1  k 2 )   k eq 
 ( f1  f 2 ) P  f eq P

f eq  f1  f 2 keq  k1  k 2
Equivalent springs – Example 1

mx  K eq x  0

 12EI 3EI 
mx   3  3  x  0
 L1 L2 
 Equivalent springs – Example 2

 Wl  M o  I o
2
ka
ωn 
2 +
ml 2
 ( ka )a  Wl  ml 2
n  n ( a )
ml    ( ka  Wl )  0
2  2
Consider:
ka2 > Wl n2 is positive - vibration is stable
ka2 = Wl statics - stays in stable equilibrium
ka2 < Wl unstable - collapses
 Equivalent springs – Example 3

We cannot define n  M o  I o +

since we have sin term
 Wl sin  ml 2
If  < < 1, sin   :
g ml   mgl sin  0
2 

   0

l g
g   sin  0

ωn  l
l
 Energy methods

Strain energy U: Kinetic energy T:

energy in spring = work done
1  
T  mr  r
1 2 1 2
U  k  P  
2 2 Increment of work done  F  dr
   
Conservation of energy:  (mr)  (rdt)  d( 2 mr  r)  dT
1

work done = energy stored  increment of kinetic energy T

 Work-Energy principles

Work done = Change in kinetic energy


r2   T2

r1
F  dr  T1
dT  T2  T1

Conservation of energy for conservative systems

E = total energy = T + U = constant

 Energy methods – Example
Work-energy principles have many
uses, but one of the most useful is
to derive the equations of motion.

Conservation of energy: E = const.

d
1 (E)0
U  kx 2 dt
2
kxx  mxx  0
1 2
T  mx
2 mx  kx  0
1 2 1 2
E  U  T  kx  mx Same as vector mechanics
2 2
Example
A 0.500-kg mass is vibrating in a system in which the restoring
constant is 100 N/m; the amplitude of vibration is 0.200 m. Find
a. The p. energy of the system
b. The maximum kinetic energy and maximum velocity
c. The PE and KE when x = 0.100 m
d. The maximum acceleration
e. The equation of motion if x = A at t =0
Modeling of vibration for SDOF
systems
2 - 171
2 - 172
Response to Harmonic Excitation
Forced Vibration
Chapter Three
 Chapter –four
Two Degree of Freedom System
Multi Degrees of freedom system
 Learning Objectives
• After you have finished studying this chapter, you should be able
to do the following:
• Formulate the equations of motion of multidegree-of-freedom
systems using Newtons second law, influence coefficients, or
Lagrange s equations.
• Express the equation of motion in matrix form.
• Find the natural frequencies of vibration and the modal vectors
by solving the eigenvalue problem.
• Determine the free- and forced-vibration response of undamped
systems using modal analysis.
• Use proportional damping to find the response of damped
systems.
• Analyze the stability characteristics of multi-degree-of-freedom
systems using the Routh-Hurwitz criterion.
• Solve free- and forced-vibration problems using MATLAB.
Lagrange’s equation can be stated for general n degree of freedom system
Vibration Measurement
When faced with a vibration problem, engineers generally start by
making some measurements to try to isolate the cause of the
problem. There are two common ways to measure vibrations:
1. An accelerometer is a small electro-mechanical device that gives an electrical
signal proportional to its acceleration.
The picture shows a typical 3 axis accelerometer.
2. A displacement transducer is similar to an accelerometer, but
gives an electrical signal proportional to its displacement.