Vibration and Vibration Damping Lecture Notes

VIBRATION AND VIBRATION
DAMPING LECTURE NOTES

By Eng. KOIRE UTHUMAN
0790790465
Definitions:
 Vibration: Regular oscillatory or periodic motion which repeats itself after a definite interval. vibration refers to mechanical oscillations about an equilibrium
point.
 Oscillation :Oscillation is the repetitive variation, typically in time, of some measure about a central value (often a point of equilibrium) or between two or
more different states. Examples include a swinging pendulum and AC power.
 Periodic motion: A motion which repeats its self after equal intervals of time
 Time period: Time taken to complete one period
 Frequency: Number of cycles per unit time
 Amplitude: The maximum displacement of a vibrating body from the mean position.
 Free vibration: The vibration of a system because of its elastic property. No external exciting force acts in this case.
 Forced vibration: The vibration which the system excites under external periodic force. The frequency of vibration in this case is the same as that of the
excitation.
 Natural Frequency: Frequency of free vibration of the system. It is a constant for a given system.
 Resonance: The vibration of the system when frequency of external force is equal to natural frequency of the system. The amplitude of vibration at resonance
becomes excessive.
 Damping: This the resistance to motion of the vibrating body.
 Phase Difference: It’s the angle between two rotating vectors.
 Simple Harmonic Motion – To and fro motion of a body about a fixed point is called “simple harmonic motion”. Example: Mass on a spring, Mass on a simple
pendulum etc.
 Degree of Freedom –
Definition: The minimum number of independent coordinates required to determine completely the position of all parts of a system at any
instant of time defines the “Degree of Freedom”.
 Classification: Vibratory systems are often classified on the basis of the degree of freedom they have:
i. Single Degree of Freedom System
ii. Multi degree of Freedom System
 Single Degree-of-Freedom (SDOF) systems –
The simplest vibratory system can be described by a single mass connected to a spring (and possibly a dashpot). The mass is allowed to travel
only along the spring elongation direction. Such systems are called Single Degree-of-Freedom (SDOF) systems.
Examples Are: A mass supported by a spring and move in one direction, a pendulum oscillating in one plane, a crank and slider mechanism.
 Multi degree of Freedom System -
The systems having more than one degree of freedom are known as “several or multi degree of freedom system”.
Examples are : A two – mass, two – spring system and A spring – supported rigid mass, (These two system has also two degrees of freedom)
Main Causes –
The main causes of setting up vibratory motion in a body are –
i. Unbalanced centrifugal forces,
ii. Elastic nature of system.
iii. External excitations.
iv. Winds
v. Dry friction between mating surfaces.

Advantages –
Advantages of vibration are –
i. Vibrations are employed to simulate earthquakes for geological investigations.

ii. Vibration may be used for drilling of geo – technical wells.
iii. Vibrations are also employed in agriculture for harvesting by forced vibrations of fruit bearing trees.
Disadvantages –
Disadvantages of vibration are –
i. Unwanted vibrations produce unpleasant stresses in machine parts.
ii. Many structures, buildings and bridges fall because of vibration.
iii. The vibration causes rapid wear of machine parts such as bearings and gears.
iv. Excessive vibration is also dangerous for human beings.
Elementary parts of vibrating system
 The elementary parts of Vibrating system are:

1) Mass
2) Spring
3) Damper
 Description of parts:
 The mass element is considered as a rigid body which executes vibration and can gain
or lose kinetic energy which is proportional to change in velocity of body.
 The Spring element has elasticity and assumed to be of negligible mass.
 The Damping element neither has mass nor elasticity.
Vibrating system elements
Equations
 The stiffness, of the spring is defined by the relation –
 Where,
 F is the force applied on the body
 x is the displacement produced by the force.
 Damping is defined by the relation –
 Where,
 Is the velocity = dx/dt
 The equation of motion for such a vibrating system can be written as –
 Where,
 Is Inertia force
 Is damping force
 Is spring force.
 NOTE –
“Inertia Force – This force essential for a Vibration.”
CLASSIFACATION OF VIBRATION SYSTEMS:
FREE VIBRATION
 If a system, after an initial disturbance, is left to vibrate on its own, the

vibration is known as free vibration no external force acts on the systems
(e.g. simple pendulum).
Free Vibration with Viscous Damping:
 The viscous damping force F is proportional to the velocity 𝑥 or v and can

be expressed as
F = -c𝑥
 where c is the damping coefficient and 𝑥 is the velocity and F is the

damping force
 For a single-degree-of-freedom system with a viscous damper the equation of motion according to
Newton's second law is as follow;
𝑐
 𝑥+ 𝑥+ω 2 =0 where [ω 2 =
𝑘
]
𝑚 𝑚
 The solution for this equation is as follows;
x(t)=𝑒 𝑠𝑡
 where C and s are undetermined constants,
m𝑠 2 +cs+k =0 [characteristic Equation]
From x(t)=𝑒 𝑠𝑡 => 𝑥=s𝑒 𝑠𝑡 and 𝑥=𝑠 2 𝑒 𝑠𝑡

 Substituting for 𝑥 and 𝑥 in the equation of motion;
𝑐
 (𝑠 2 +𝑚s+ω 2 ) 𝑒 𝑠𝑡 =0 ; 𝑒 𝑠𝑡 ≠0 because this leads to a trivial solution.
𝑐
 Therefore 𝑠 2 + s+ω 2 =0
𝑚
𝑐 𝑐2
 Where 𝑆1,2 = − 2𝑚 ± (4𝑚2 − 𝜔2 ) these are the roots of the second D.E equation;𝑆1 𝑎𝑛𝑑 𝑆2 . The roots
𝑐
depend on the ratio of 𝑚 and 𝜔
 There exist three cases;

𝑐2
 Case 1: when roots are real and distinct i.e > 𝜔2 or 𝑐 2 >4mk ; This is called overdamped free vibration.
4𝑚2
𝑐2
 Case2: when roots are real and equal i.e = 𝜔2 or 𝑐 2 =4mk ; This is called critically damped free
4𝑚2
vibration
𝑐2
 Case3:when roots are complex conjugates i.e < 𝜔2 or 𝑐 2 <4mk ; This is called underdamped free
4𝑚2
vibration:
𝑐2
CASE 1: OVERDAMPED[ 2 − 𝜔2 >0 or 𝑐 2 >4mk ]
4𝑚
 Lets define a new parameter 𝐶𝑐𝑟 called critical damping as
𝐶𝑐𝑟 2
 − 𝜔2 =0 hence 𝐶𝑐𝑟 = 2mω
4𝑚2
∁
 Also define another parameter eta ; η=∁ as ratio of damping constant to critical damping constant.
𝑐𝑟
This is the smallest value of damping necessary to prevent the oscillation of the system when it is
undergoing damped free vibration.
 Roots are:
η𝐶 1 η2 𝐶𝑐𝑟 2
𝑆1,2 = − 2𝑚𝑐𝑟 ±2 𝑚2
− 4𝜔2
𝑆1,2 = −ηω ± ω η2 − 1
Let define the parameters:ὼ 𝑑 = ω η2 − 1 Known as overdamped frequency η>1

𝑆1,2 = −ηω ± ὼ 𝑑
The form of the solution will be;
X(t)=𝑒 −η𝜔𝑡 [Acosh ὼ𝑑 𝑡+Bsinh ὼ𝑑 𝑡] ----------------------------------equation1
where A and B are constants to be determined from the initial conditions
𝑒 𝜃 +𝑒 −𝜃 𝑒 𝜃 − 𝑒 −𝜃
 Also cosh 𝜃= 2 and sinh 𝜃= 2
 Expression for velocity ;

 𝑥(t)= −ηω𝑒 −η𝜔𝑡 [Acosh ὼ𝑑 𝑡+Bsinh ὼ𝑑 𝑡]+𝑒 −η𝜔𝑡 [ὼ𝑑 Asinh ὼ𝑑 𝑡+ὼ𝑑 Bcosh ὼ𝑑 𝑡]-----------------------equation2
 Applying initial conditions to equations 1 and 2
 X(t=0)=𝑥0 and 𝑥(t=0)= 𝑥0 ;
𝑥0 +ηω𝑥0
 X(t=0)=𝑥0 =A , 𝑥(t=0)= 𝑥0 = −ηωA+ὼ𝑑 B ∴B=
ὼ𝑑
The solution is:

𝑥0 +ηω𝑥0
X(t)=𝑒 −η𝜔𝑡 [𝑥0 cosh ὼ𝑑 𝑡+( )sinh ὼ𝑑 𝑡]
ὼ𝑑
𝑐2
CASE 2:CRITICALLY DAMPED[ 2 = 𝜔2 or c= 2mω ]
4𝑚
𝑐
 𝑆1 = 2𝑚 = −ω =𝑆2
 The general solution to this equation is

X(t)=𝑒 −𝜔𝑡 [A+Bt] -------------------equation3
 where A and B are constants obtained by applying initial conditions of
 X(t=0)=𝑥0 and 𝑥(t=0)= 𝑥0 ;
𝑥(t)= −ω𝑒 −𝜔𝑡 (A+Bt)+B𝑒 −𝜔𝑡 -------------------equation4
X(t=0)=𝑥0 =A
𝑥(t=0)=𝑥0 = −ωA+B ∴B=𝑥0 +ωA ; B=𝑥0 +ω𝑥0
Complete solution is;
X(t)=𝑒 −𝜔𝑡 [𝑥0 +(𝑥0 +ω𝑥0 )t]
CASE 3: UNDER DAMPED[𝑐 2 <4mk ]
𝑐 𝑐2
 𝑆1,2 = − 2𝑚 ± − 𝜔2
4𝑚2
 𝑆1,2 = −ηω ± jω 1 − η2 where η < 1 for Under damped free vibration;
 Lets define: 𝜔𝑑 =ω 1 − η2 which is called under damped frequency.

 𝑆1,2 = −ηω ± j𝜔𝑑
The solution to the equation;
X(t)=𝑒 −η𝜔𝑡 [Acos 𝜔𝑑 t+Bsin 𝜔𝑑 t]
Applying initial conditions:X(t=0)=𝑥0 and 𝑥(t=0)= 𝑥0 ;
𝑥(t)= −ηω𝑒 −η𝜔𝑡 [Acos 𝜔𝑑 t+Bsin 𝜔𝑑 t]+𝑒 −η𝜔𝑡 [−𝜔𝑑 Asin 𝜔𝑑 t+𝜔𝑑 B cos 𝜔𝑑 t]
𝑥 +ηω𝑥
X(t=0)=𝑥0 =A and 𝑥(t=0)=𝑥0 = −ηωA+𝜔𝑑 B ∴B= 0 𝜔 0
𝑑
𝑥0 +ηω𝑥0
X(t)=𝑒 −η𝜔𝑡 [𝑥0 cos 𝜔𝑑 t+( 𝜔𝑑
)sin 𝜔𝑑 t]
 This solution can be expressed in the polar form as:
𝑥0 +ηω𝑥0
 𝑥0 =Rcos 𝜃 , = Rsin 𝜃
𝜔𝑑
 X(t)=R𝑒 −η𝜔𝑡 [cos(𝜔𝑑 𝑡 − 𝜃)] where R is the amplitude of motion and 𝜃 is the phase.
Different cases of damped free vibration
 CASE 1: overdamped ( when roots are real and distinct ) 𝑐 2 >4mk
 Case2: Critically damped (when roots are real and equal) 𝑐 2 =4mk
 Case3:under damped (when roots are complex conjugates) 𝑐 2 <4mk
 CASE 1: η>1, No oscillation

 CASE 1: η =1, No oscillation , transition between case 1 and 3
 CASE 1: η<1, Oscillations with decay function.
Examples of over damped include , shock absobers, door damper, measuring instrument like
galvanometer.

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VIBRATION AND VIBRATION

DAMPING LECTURE NOTES

i. Single Degree of Freedom System

ii. Multi degree of Freedom System

 Single Degree-of-Freedom (SDOF) systems –

i. Unbalanced centrifugal forces,

ii. Elastic nature of system.

iii. External excitations.

v. Dry friction between mating surfaces.

i. Vibrations are employed to simulate earthquakes for geological investigations.

 The elementary parts of Vibrating system are:

 The stiffness, of the spring is defined by the relation –

 If a system, after an initial disturbance, is left to vibrate on its own, the

 The viscous damping force F is proportional to the velocity 𝑥 or v and can

 where c is the damping coefficient and 𝑥 is the velocity and F is the

 The solution for this equation is as follows;

 where C and s are undetermined constants,

m𝑠 2 +cs+k =0 [characteristic Equation]

From x(t)=𝑒 𝑠𝑡 => 𝑥=s𝑒 𝑠𝑡 and 𝑥=𝑠 2 𝑒 𝑠𝑡

 There exist three cases;

Let define the parameters:ὼ 𝑑 = ω η2 − 1 Known as overdamped frequency η>1

 Expression for velocity ;

The solution is:

 The general solution to this equation is

 𝑆1,2 = −ηω ± jω 1 − η2 where η < 1 for Under damped free vibration;

 Lets define: 𝜔𝑑 =ω 1 − η2 which is called under damped frequency.

 Case3:under damped (when roots are complex conjugates) 𝑐 2 <4mk

 CASE 1: η>1, No oscillation

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