MECHANICAL VIBRATIONS FUNDAMENTALS

Mechanical Vibrations
Dr. Jorge A. Olórtegui Yume, Ph.D.

MECHANICAL VIBRATIONS
FUNDAMENTALS

Lecture No. 2

Mechatronics Engineering School

National University of Trujillo
1 Mech. Vibrations Fundamentals 2 Dr. Jorge A. Olortegui Yume, Ph.D.

MECHANICAL VIBRATIONS FUNDAMENTALS MECHANICAL VIBRATIONS FUNDAMENTALS

BASIC ELEMENTS OF A VIBRATING SYSTEM BASIC ELEMENTS OF A VIBRATING SYSTEM
Spring Elements
Spring Elements
Free Body Diagrams (FBD´s)
Spring FBD FBD of Body attached to spring
• Linear
Strectching Fs Fs
• Mass and Damping negligible
(“Coming out”)
• Restoring Force opossed to Lo Lf x Stretching
deformation Fs
Shrinking
Fs
Assume : x1 > x2 W
(“Coming in”) Fs
Lo x (“Coming out”)
Lf
N
Spring Force Potential Energy stored in spring Shrinking

1
Fs  kx E pot  kx 2
2
Fext = Fint Fs : Spring Force (in N) W
Epot : Potential Energy (in J) Fs
Externa Internal
(“Coming in”)
Fext Fint Fint Fext (Deforming) (Restoring) x : Spring elongation (in m)
k : Spring Constant or Stiffness (in N/m) N

Mech. Vibrations Fundamentals 3 Dr. Jorge A. Olortegui Yume, Ph.D. Mech. Vibrations Fundamentals 4 Dr. Jorge A. Olortegui Yume, Ph.D.

MECHANICAL VIBRATIONS FUNDAMENTALS MECHANICAL VIBRATIONS FUNDAMENTALS

BASIC ELEMENTS OF A VIBRATING SYSTEM BASIC ELEMENTS OF A VIBRATING SYSTEM
Spring Combinations Spring Combinations
In Parallel In Series

= keq
= keq

• Equivalent spring can replace original system • Equivalent spring can replace original system
• All elongations are equal  st  1   2 • Total elongation is summation of elongations
• Forces in each spring are different  st  1   2
F1  k11  F1  k1 st F2  k 2 2  F2  k 2 st • Forces in each spring are equal because of equilibrium W  F1  F2
 st  1   2
W
• Equilibrium F1  k11  W  k 21  k1  1
W  F1  F2  k11  k 2 2 1 1 1
keq st  F1  F2  k1 st  k 2 st  keq  k1  k 2 F2  k 2 2  W  k 2 2 
W
k2
 2
W W W
  
keq k1 k 2
 
keq k1 k 2
Mech. Vibrations Fundamentals 5 Dr. Jorge A. Olortegui Yume, Ph.D. Mech. Vibrations Fundamentals 6 Dr. Jorge A. Olortegui Yume, Ph.D.
 MECHANICAL VIBRATIONS FUNDAMENTALS MECHANICAL VIBRATIONS FUNDAMENTALS
BASIC ELEMENTS OF A VIBRATING SYSTEM BASIC ELEMENTS OF A VIBRATING SYSTEM
Spring Combinations in general Example: Find the equivalent stiffness k of the following system diameter d = 2 cm
In Parallel 1   2  ...   n   eq  Fs1  Fs 2  ...Fsn  Fseq Solution: Springs in parallel and series:
k11  k 2 2  ...k n n  keq eq
keq  k1  k 2  ...  k n k1 k2 k1+k2+k5
Special case
k1  k 2  ...k n  k keq  nk m
m
In Series 1   2  ...   n   eq F F F Fseq
 s1  s 2  ... sn  k3
k1 k2 kn keq k3
1 1 1 1 k5
   ... 
keq k1 k 2 kn
k4 k4
Special case k1k 2
keq 
n2 k1  k 2
k
Special case k1  k 2  ...k n  k k eq 
n
Mech. Vibrations Fundamentals 7 Dr. Jorge A. Olortegui Yume, Ph.D. Mech. Vibrations Fundamentals 8 Dr. Jorge A. Olortegui Yume, Ph.D.

MECHANICAL VIBRATIONS FUNDAMENTALS MECHANICAL VIBRATIONS FUNDAMENTALS

BASIC ELEMENTS OF A VIBRATING SYSTEM BASIC ELEMENTS OF A VIBRATING SYSTEM
Solution:
Your turn !!!
Exercise: Determine the equivalent spring constant of the system shown

k1+k2+k5 k1+k2+k5

m m m

k3 1 kk
  3 4
1 1 k3  k4

k4 k3 k4 kk
keq  k1  k 2  k5  3 4
k3  k 4

Mech. Vibrations Fundamentals 9 Dr. Jorge A. Olortegui Yume, Ph.D. Mech. Vibrations Fundamentals 10 Dr. Jorge A. Olortegui Yume, Ph.D.

MECHANICAL VIBRATIONS FUNDAMENTALS MECHANICAL VIBRATIONS FUNDAMENTALS

BASIC ELEMENTS OF A VIBRATING SYSTEM BASIC ELEMENTS OF A VIBRATING SYSTEM
Masa suspendida al final de una viga en voladizo (Flexión):
Solution: Sistema Real o Situación Física
(a) Modelo de 1GDL (asume que no hay amortiguamiento c=0)

= keq

De Resistencia de Materiales
Deflección Estatica al final de una viga en
voladizo debido a masa “m” en el extremo. Ley de Hooke Analogía
Asumir que masa de barra << “m”
F  k
Wl 3 mg l 3 F k
W

3EI
 st   k
3EI 3EI   st l3

Mech. Vibrations Fundamentals 11 Dr. Jorge A. Olortegui Yume, Ph.D. Mech. Vibrations Fundamentals 12 Dr. Jorge A. Olortegui Yume, Ph.D.
 MECHANICAL VIBRATIONS FUNDAMENTALS MECHANICAL VIBRATIONS FUNDAMENTALS
BASIC ELEMENTS OF A VIBRATING SYSTEM BASIC ELEMENTS OF A VIBRATING SYSTEM
Masa suspendida al final de una barra (Torsión):
Constantes de Rigidez para otros Tipos Elementos Simples (Ejemplo)
(a) Sistema Real o Situación Física
(b) Modelo de 1GDL (asume que no hay amortiguamiento )
d
Gd 4
(a) G L (b) kt 
32 L
M
t 
De Resistencia de Materiales
Desplazamiento angular quasi-estatico al
final de una barra redonda debido a torque Ley de Hooke Analogía
“M” en el extremo. M  kt
ML ML 32 ML M M Gd 4
 st    M kt   
GI p  d 4  G d 4 kt   st 32ML 32 L
G  
 32   Gd 4

Mech. Vibrations Fundamentals 13 Dr. Jorge A. Olortegui Yume, Ph.D. Mech. Vibrations Fundamentals 14 Dr. Jorge A. Olortegui Yume, Ph.D.

MECHANICAL VIBRATIONS FUNDAMENTALS MECHANICAL VIBRATIONS FUNDAMENTALS

BASIC ELEMENTS OF A VIBRATING SYSTEM BASIC ELEMENTS OF A VIBRATING SYSTEM
Example: The figure shows the suspension system of a freight truck with a parallel
Ejemplo: Determine the
spring arrangement . Find the equivalent spring constant of the suspension if
torsional spring constant
each of the three helical springs is made of steel (G=80x109 N/m2) and has five
of the steel propeller shaft
effective turns, mean coil diameter D =20 cm, and wire diameter d = 2 cm
shown

Solution:
Solution:
• Consider shaft by parts: 12 y 23
The stiffness of each helical spring is: • Induced torque in any cross section of the shaft equal to the applied torque

k
Gd 4

80 109 0.02  
 40,000 N / m
4 “T” (draw imaginary sections at A-A y B-B)
• Segments 12 y 23 regarded as series springs
80.20  5
3
8D 3n
Parallel spring arrangement:
kt 12  GJ12 
  
G D124  d124


80  109  0.3  0.2 
4 4

 25.53 10 6 N  m / rad
322 
keq  3k  340,000 N / m   120,000 N / m l12 32l12

Mech. Vibrations Fundamentals 15 Dr. Jorge A. Olortegui Yume, Ph.D. Mech. Vibrations Fundamentals 16 Dr. Jorge A. Olortegui Yume, Ph.D.

MECHANICAL VIBRATIONS FUNDAMENTALS BIBLIOGRAPHY

BASIC ELEMENTS OF A VIBRATING SYSTEM
Solution: (cont´d) BASIC:
•Thomson, W.T., Dahleh, M.D., 1997, “Teoria de Vibraciones con Aplicaciones”, Prentice Hall
Iberoamericana, 5ta Edición, México.
•Inman, D., 2007, “Engineering Vibration”, Prentice Hall, 3rd Edition, USA.
•Moore, H., 2008, “Matlab for Engineers”, Prentice Hall, 2nd Edition, USA.

ADDITIONAL:
•Balachandran, B., Magrab, E., 2006, “Vibraciones”, Thomson, 5ta Edición, México
•Rao, S.S., 2004, “Mechanical Vibrations”, Ed. Prentice Hall, 4th Edition, USA.

SPECIALIZED:
•Hartog, D., 1974, “Mecánica de las Vibraciones”, Cecsa, Mexico.

kt 23 

GJ 23 G D234  d 234
 
 
80 10  0.25  0.15 9
 4

 8.9 10 6 N  m / rad

4
 •Harris, C., Piersol, A., 2001, “Harri´s Shock and Vibration Handbook”, McGraw Hill Professional,
5th Edition. USA.
l23 32l23 323
Series spring
1 1 1 kt 12 kt 23
  kt eq   6.6  10 6 N  m / rad
kt eq kt 12 kt 23 kt 12  kt 23
Mech. Vibrations Fundamentals 17 Dr. Jorge A. Olortegui Yume, Ph.D. Mech. Vibrations Fundamentals 18 Dr. Jorge A. Olortegui Yume, Ph.D.