Scribd Logo
Upload

Welcome to Scribd!

  • 90 views

    2 Free Vibration: Any System Possessing Mass and Elasticity Is Capable of Vibration

    Uploaded by

    Numkang Kang
    This document discusses free vibration and natural frequency of systems. It begins by explaining that any system with mass and elasticity can vibrate and the natural frequency is what is of interest. Different methods for determining natural frequency are then presented, including writing the equation of motion, using an energy method, and Rayleigh's method of effective mass. Examples are provided to illustrate each method. The key points are that natural frequency depends on the system's mass and stiffness properties and can be found using various analytical techniques depending on what information is known about the system.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    2 Free Vibration: Any System Possessing Mass and Elasticity Is Capable of Vibration

    Uploaded by

    Numkang Kang
    90 views11 pages
    This document discusses free vibration and natural frequency of systems. It begins by explaining that any system with mass and elasticity can vibrate and the natural frequency is what is of interest. Different methods for determining natural frequency are then presented, including writing the equation of motion, using an energy method, and Rayleigh's method of effective mass. Examples are provided to illustrate each method. The key points are that natural frequency depends on the system's mass and stiffness properties and can be found using various analytical techniques depending on what information is known about the system.

    Original Description:

    Chaiwat Klumpol

    Original Title

    lecture03-2014

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    This document discusses free vibration and natural frequency of systems. It begins by explaining that any system with mass and elasticity can vibrate and the natural frequency is what is of interest. Different methods for determining natural frequency are then presented, including writing the equation of motion, using an energy method, and Rayleigh's method of effective mass. Examples are provided to illustrate each method. The key points are that natural frequency depends on the system's mass and stiffness properties and can be found using various analytical techniques depending on what information is known about the system.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    90 views11 pages

    2 Free Vibration: Any System Possessing Mass and Elasticity Is Capable of Vibration

    Uploaded by

    Numkang Kang
    This document discusses free vibration and natural frequency of systems. It begins by explaining that any system with mass and elasticity can vibrate and the natural frequency is what is of interest. Different methods for determining natural frequency are then presented, including writing the equation of motion, using an energy method, and Rayleigh's method of effective mass. Examples are provided to illustrate each method. The key points are that natural frequency depends on the system's mass and stiffness properties and can be found using various analytical techniques depending on what information is known about the system.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 11

    2 Free Vibration

    Any system possessing mass and


    elasticity is capable of vibration.

    215323 Aircraft Vibration


    Lecture 3

    What is interested in the system is its natural


    frequency/frequencies.

    The purpose of this chapter is know how


    to write the equation of motion hence the
    natural frequency.
    2

    2.1 Vibration Model


    Although there will always be damp in the system
    but if the value is small
    it will not effect the natural frequency much.
    So sometime we could neglect the damp.
    Damp will decay the amplitude of oscillation.
    There are many type of damps but what we are going to mention
    will be the ones that could be solved by mathematics
    manipulation.
    Damp, dashpot, absorber
    3

    Basic vibration model consists of a mass, a


    massless spring and a damp.
    Mass is a lumped mass. For SI unit will be in
    kg.
    The spring supporting the mass is assumed to
    be of negligible mass. Its force-deflection
    relationship is considered to be linear, following
    Hookes Law [F = kx]
    The viscous damping, generally represented by
    a dashpot, is described by a force proportional
    to the velocity, F = cx&

    Second Order Differential Equation combines with two parts


    One part is Homogeneous Equation
    The another part is Particular Equation.
    The Homogeneous Equation will be in the form
    Asint + B cost
    or C sin(t + )

    x = Asint + Bcost
    x& = Acost - Bsint
    &x& = - A2 sint - B2 cost
    = - 2 ( Asint + Bcost)

    or a1eit + a2eit

    The Particular Equation will have the same form as the


    forcing function but the amplitude or its coefficient will depend on
    the boundary condition.
    We will concentrate on Homogeneous equation in this chappter. 5

    F = ma

    = m&x&
    - mg sin = m&x&

    - mg = m&x&
    m&x& + mg = 0
    x
    m&x& + mg = 0
    l
    T = 2

    &x& + 2 x = 0
    The equation to be used
    will be in the form

    &x& + n2 x = 0

    x = Asin n t + Bcos n t
    Coefficient A and B can be found by using
    Boundary Condition
    or Initial Condition.
    Substitute the B.C. to the above equation will get
    when x(0) and x& (0)

    When swing to small angle

    g
    =
    l

    = - 2 x

    l
    g

    x=
    7

    uld
    You sho rs
    the
    try the o s
    solution )
    ( nt+
    X = Csin

    x& (0)
    sinn t + x(0)cos n t
    n
    8

    According to the previous examples, spring-mass system and pendulum system,


    only one degree of freedom needed to describe each system.

    Example 2.2-1 A mass 1/4 kg is suspended by a spring, stiffness 0.1533


    N/mm. Determine the natural frequency in cps. and its statical deflection.
    Given

    k=0.1533 N/mm
    m= 0.25 kg

    The systems could be angular or linear depend on the set up.

    from = 2f
    k

    1 k
    = m =
    f=
    2 2 2 m

    So no matter what the systems be, angular or linear, we will be able to


    find the natural frequency according to the DOF of the systems.

    1 153.3
    = 3.941 Hz
    2 0.25

    Ans. .

    Example 2.2-1 A mass 1/4 kg is suspended by a spring, stiffness 0.1533


    N/mm. Determine the natural frequency in cps. and its statical deflection.
    Given

    10

    Example 2.2-2 Determine the natural frequency of the mass M on the end
    of the cantilever beam of negligible mass as shown

    k=0.1533 N/mm
    m= 0.25 kg
    The deflection of the cantilever beam under a concentrated end force, P is

    F = ma

    x =

    from k = mg
    mg 0.25 9.81 kg m/s
    =
    k
    0.1533
    N / mm
    = 16.0 mm
    Ans..

    Pl3 P
    =
    3EI k

    Compare to this equation F= kx = P

    Or we may find from Hooke s Law or in any books on


    Material science, Strength of Material then search on Deflection
    11

    12

    where

    E= modulus of elasticity
    I= mass moment of inertia
    EI= flexural rigidity

    k =

    13

    3EI
    l3

    fn =

    Pl3 P
    x =
    =
    3EI k

    1 3EI
    2 Ml3

    Ans..

    14

    Example 2.2-3 An automobile wheel and tire are suspended by a steel rod
    0.5 cm in diameter and 2 m long, as shown in Fig. When the wheel is given
    an angular displacement and released, it makes 10 oscillations in 30.2 s.
    Determine the polar moment of inertia of the wheel and tire.
    The rotational equation of motion corresponding to Newtons equation is

    J&& = K

    where J = rotational mass moment of inertia


    K = rotational stiffness
    = 2

    10
    = 2 . 081 rad/s
    30 . 2
    15

    16

    From ready used formulas at the inner cover of the text


    K=

    GIp

    = torsional stiffness
    l
    d4
    = polar moment of inertia of the
    Ip =
    32
    circular cross - sectional area of
    the rod
    G = 80 10 9 N/m2 = shear modulus of steel

    Ip = (0.5 10 2 ) 4 = 0.006136 10 -8 m4
    32
    80 10 9 0.006136 10 8
    = 2.455 N m/rad
    K=
    2

    J=

    K
    2 . 455
    =
    = 0 . 567
    2
    n ( 2 . 081 ) 2

    kg m 2

    Ans..

    17

    Example 2.2-4 Figure shown a uniform bar pivoted about point O with springs
    of equal stiffness k at each end. The bar is horizontal in the equilibrium position
    with spring forces P1and P2. Determine the equation of motion and its
    natural frequency.

    18

    Under rotation , the spring force on the left is


    decreased and that on the right is increased.

    With JO as the moment of inertia of bar about point O, we will get


    M O = (P1 ka )a + mgc (P2 + kb )b = JO&&
    whenequilibrium at horizontallevel
    19

    P1a + mgc P2b = 0

    20

    2.3 Energy Method

    MO = ( ka2 kb2 ) = JO&&


    arrange the equation
    2
    2
    && + k(a + b ) = 0
    JO

    hence
    n =

    k( a 2 + b 2 )
    JO

    Ans..
    21

    In conservative system, the total energy is


    constant, and the differential equation of motion
    can also be established by the principle of
    conservation of energy.
    For the free vibration of an undamped system,
    the energy is partly kinetic and partly potential.
    kinetic energy T : store energy in form of
    velocity
    while potential U : store energy in form of
    elasticity and/or gravitational attraction as in
    22
    force field

    T + U = constant
    d
    ( T + U) = 0
    dt

    If our interest is only in the natural frequency of the system, it can be


    determined by the following considerations.
    T1 + U1 = T2 + U2
    At the point where kinetic and potential energy have their peak values,
    the equation will become

    x = Asin(t )
    x& = A cos( t )
    xmax = A
    x& max = A = xmax

    Using the above equations substitute into the equation

    Tmax = Umax

    Tmax = Umax

    This equation hence bring to the solution in finding


    natural frequency.
    23

    24

    When the system oscillate by rotating the drum


    clockwise and anti-clockwise harmonically.
    Max. kinetic energy is

    Example 2.3-1 Find the natural frequency of the system shown below

    ( )

    2
    1
    1
    Tmax = J& 2 + m r1&
    2
    2
    max

    Max. potential energy is


    Umax =

    1
    2
    k (r2 )max
    2

    Equal the above equations, then the natural frequency is


    xmax = A
    x& max = An = n xmax

    n =

    kr22
    J + mr12

    An s..

    25

    26

    Example 2.3-2 A cylinder of weight w and radius r rolls without slipping on


    a cylindrical surface of radius R, as shown in Fig. below. Determine its
    differential equation of motion for small oscillations about the lowest point.
    For no slipping r = R.

    In determining the kinetic


    energy of the cylinder,
    it must be noted that
    both translation and
    rotation take place.
    27

    translation velocityof center of cylinderis


    (R - r)&
    rotational velocityis
    R
    (& - &) = ( - 1)&
    r

    Qr = R
    R
    r

    & = &

    1 2 1 2

    T = 2 mv + 2 I

    2
    1w
    1 w r 2 R &
    T=
    (R r)& +
    1
    2 g
    2 g 2 r

    3w
    =
    (R r) 2 & 2
    4 g

    Moment of inertia
    About its mass center
    28

    Problem
    Find the natural frequency of a
    long slender rod which is suspended vertically from
    one end and oscillates in one plane as a pendulum
    by using energy method. Locate the center of
    percussion and determine the radius of gyration.

    U = w(R - r)(1 - cos )


    substitute in this equation
    d
    ( T + U) = 0
    dt
    we willget
    3 w
    &
    2 &&
    2 g (R r ) + w(R r ) sin = 0

    U = mg

    when small angle sin


    && +

    n =

    2g

    3(R - r )

    [( ) ]

    1 1

    T = m l2 & 2 0
    2 3

    2g
    =0
    3(R - r )

    Ans..

    l
    l
    mg cos
    2
    2

    y
    29

    30

    Assuming harmonic motion where is the maximum displacement


    l 2
    1 1
    2
    2
    m l (n ) = mg
    2 3
    2 2

    = sin nt
    & = cos t
    n

    where

    Tmax = Umax
    l
    11 2
    2
    ml (n ) = mg (1 cos)
    23
    2

    The radius of gyration is from

    This is a nonlinear equation. It can be linearized by using two terms of the


    power series for the cosine function.

    n2 =

    3g
    2l

    1
    2
    I o = mko = ml2
    3
    l
    ko =
    3

    and the distance to the center of percussion is

    2 4
    +

    2! 4!
    2 4
    1 cos =

    +
    2! 4!
    cos = 1

    qo =
    31

    ko
    2l
    =
    r
    3
    32

    2.4 Reyleigh Method: Effective Mass


    The energy method can be used for multimass
    systems or for distributed mass systems, provided
    the motion of every point in the system is known.
    In systems in which masses are joined by rigid links,
    levers, or gears, the motion of the various masses
    can be expressed in terms of the motion x of some
    specific point and the system is simply one of a single
    DOF, since only one coordinate is necessary.
    The kinetic energy can be expressed in terms of the
    velocity of the lumped mass in the form

    1
    T = meff x& 2
    2

    1
    T = meff x& 2
    2

    where meff is the effective mass or an equivalent lumped mass


    at a specified place of the system.
    1
    1
    T = meff x& 2 , Tmax = meff X 22
    2
    2
    1
    1
    U = kx2 ,
    Umax = kX 2
    2
    2
    1
    1 2
    2 2
    meff X = kX
    2
    2

    So the natural frequency can be written as


    n =

    33

    k
    meff

    34

    Example 2.4-1 Determine the effect of the mass of the spring on the
    natural frequency of the system shown in Figure.
    with x& equal to the velocity of the lumped mass m,
    we will assume the velocity of a spring element located
    a distance y from the fix end to vary linearly with y
    as follows
    at distance l velocity is x&
    y
    y
    y& = x&
    "
    y "
    x&
    l
    l

    The kinetic energy of the spring may then be integrated to


    Tadd

    1
    =
    2

    n =

    k
    1
    m + ms
    3

    Ans..

    1m 2
    y m
    0 x& l ls dy = 2 3s x&
    l

    masseffectiveness of springis equal to


    ms
    3
    and naturalfrequencyof the systembecomes

    Mass of spring
    element

    Mass effectiveness
    of system
    35

    36

    Example 2.4-2 A simple support beam of total mass mb has a concentrated


    mass M at midspan. Determine the effective mass of the system at midspan
    and find its fundamental frequency. The deflection under the load due to a
    concentrated force P applied at midspan is Pl3/48EI (see figure and table
    of stiffness at the end of the chapter.)

    EIy =
    y=

    y maxoccurat mid span wherex =

    l
    2

    Px 3 2
    2
    l x
    12 4

    for x

    l
    2

    Px 3 2
    2
    l x
    12EI 4

    l
    Px 3 2 2 P 2 3 2 l 2
    l x =
    l 2
    12EI 4
    12EI 4

    3
    y 48EI
    Pl
    =
    max 3 = 1
    Pl
    48EI

    ( )

    so ymax =

    3x x 3
    y 48EI Px 3

    y = max 3 l2 x 2 = ymax 4
    Pl 12EI 4

    l
    l

    37

    EIy =
    y=

    Px 3 2
    2
    l x
    12 4

    for x

    38

    l
    2

    meff = M+ 0.4857mb

    Px 3 2
    2
    l x
    12EI 4

    3
    3x
    x
    y = y max 4
    l
    l

    ymax occur at mid span where x =

    l
    x
    2

    l
    2

    ( )

    Pl 3 2
    Px 3 2
    2
    2 l l 2
    l x =
    2
    12EI 4
    12EI 4
    3
    Pl
    =
    48EI

    so y max =
    2

    3
    1 l 2 2mb & 3x
    x

    y
    4
    dx
    max
    2 0 l
    l
    l

    1
    2
    = (0.4857m b )y& max
    2

    Tmax =

    [F = kx]

    39

    F
    P
    =
    Pl3
    x
    48EI
    48EI
    = 3
    l

    k=

    n =

    48 EI
    l (M + 0 . 4857 m b )
    3

    Ans..

    40

    Problem 2-24 Determine the effective mass at point n and its


    natural frequency for the system shown in Fig.

    y
    For mass m

    y
    For the linkage

    x y
    = =
    b a
    b
    x = y
    a

    1
    T = m x& 2
    2
    2

    1 b
    T = m y& 2
    2 a

    41

    1 &2
    J
    2
    2
    2
    2
    1 x& 1 1 b
    T = J = J y&
    2 b 2 b a
    1 1
    = J 2 y& 2
    2 a

    HW.

    T =

    x y
    =
    b a
    x& y&
    & = =
    b a
    b
    x& = y&
    a
    =

    42

    2-3,2-5, 2-6,2-8, 2-11, 2.12, 2-17, 2-19 2-22, 2-23


    25,26

    y
    Total kinetic energy then be
    2

    1 b
    1 1
    Ttotal = m y& 2 + J 2 y& 2
    2 a
    2 a
    1 mb 2 + J & 2
    =
    y
    2 a 2

    so

    mb 2 + J
    m eff =

    Ans..

    43

    44

    You might also like