Mechanical Vibrations

Chapter 1: Fundamentals of Vibration

What is Vibration?
• Vibration can be described
as the periodic movement of
a body about an equilibrium
position
• Vibration is caused by any
force that is a function of
position of the body
Vibration in Engineering
The Good Vibrations:
• Vibration creates sound, we use vibrating elements
to synthesize sounds in musical instruments and
speakers
• Vibration is utilized in sifting, separating and mixing
operations for solids and liquids
• Vibration is used to create large impulsive forces in
devices such as Jackhammers and impact wrenches
• Vibrating is also used in some finishing operations
to create smooth and homogenous surfaces
• Some casting and molding operations also use
vibration to improve flow of molten liquid and to
reduce airpockets and other defects
Vibration in Engineering
• Vibratory feeder:
https://www.youtube.com/watch?v=JL5TGMphJLY
• Vibratory finishing process:
https://www.youtube.com/watch?v=67twsGz4CtA
• Jack Hammer:
https://www.youtube.com/watch?v=N7jNgyHelfI
Vibration in Engineering
The Bad Vibrations:
• Vibration can produce sound / noise; this is undesirable
in many engineering applications such as:
• Interior cabin noise in cars
• Noise pollution from heavy machinery
• Sonar signature of submarines
• Vibration can create large impulsive forces, combined
with the periodic nature of vibration; these can lead to
fatigue failure in structures
• High deflections due to vibration can cause localized
plastic deformation in in components distorting their
shape
• Vibration can cause turbulence or otherwise affect the
nature of fluid flow inside machinery
• When humans interact with machines such as when
driving a vehicle or operating tools, vibration
transmitted to human body causes discomfort
• Vibrations can loosen fasteners
Vibration in Engineering
• Vehicle interior noise:
https://www.youtube.com/watch?v=AJ_v9b6nqUI
• Structural failure:
https://www.youtube.com/watch?v=M5QNV3So7G
M
• Fastener loosening:
https://www.youtube.com/watch?v=IKwWu2w1gG
k
Vibration in Engineering
• Where vibration is desirable there is a need to
accurately control it
• Where vibration is undesirable, we try to reduce
their amplitude or impede their transmission
• Analyzing vibration of a machine or component can
give information about its health or imminent
failure
• Mathematical models can help us predict the
behavior of a vibrating system in response to
different inputs
https://www.youtube.com/watch?v=Tum26mr4Oh8
https://www.youtube.com/watch?v=cY53367jvDw
 Basic Concepts
Vibrating System:
• A vibrating system consists
of three major components,
most vibrating systems can
be simplified to this
configuration:
• The Mass or Inertia Element
stores kinetic energy
• The Spring Element stores
potential energy
• The Damping Element
removes or dissipates energy
from the vibrating system
Basic Concepts
Number of Degrees of Freedom:
• Degrees of freedom of a system is
the minimum number of
independent coordinates needed
to fully describe the position of
all parts of the system
• How many DOFs does the
pendulum on the right have?
• Systems which cannot be
described by a discreet number
of coordinates are called
continuous systems
Basic Concepts
Discreet & Continuous Systems:
• Discreet systems are those which have a finite
number of DOFs, these are also called Lumped
Mass systems
• Continuous systems or Distributed Mass systems
are those which cannot be described by a finite
number of coordinates, most elastic structural
members are examples of continuous systems
• Continuous systems can often be approximated as
lumped mass systems for ease of analysis
Basic Concepts
Free & Forced Vibration:
• When a system is left to vibrate on its own after an
initial input / disturbance, it is referred to as Free
Vibration
• When a system is subjected to a continuous
periodic input, it is referred to as Forced Vibration
Basic Concepts
Undamped & Damped Vibration:
• Undamped vibrations are those vibrations whose
amplitude does not diminish over time
• Damped vibrations are those vibrations whose
amplitude decays with time until they die out
Basic Concepts
Linear & Nonlinear Vibration:
• If all components of a vibrating system (i.e. mass,
spring, damper) are linear the vibrating system is
called a linear system, if any of these components
are nonlinear then the system is called a nonlinear
system
• The mathematics for nonlinear systems are not
well-established, they are mostly solved
numerically
Basic Concepts
Deterministic & Random Vibrations:
• If the vibration can be described by a definite
continuous & repetitive mathematical function, it is
called Deterministic Vibration
• If the vibration displays a random non-repetitive
behavior, it is called Random Vibration
Mathematical Models for Vibrating Systems
Mathematical Models for Vibrating Systems
 Spring Elements
• Spring elements are used for storing potential energy
in a vibrating system
• They form a mechanical link between two bodies
(usually assumed rigid)
• Generally Springs in vibrating systems are assumed to
have negligible mass and damping
• The force exerted by a linear spring is given by 𝐹 = 𝑘𝑥
where k is the stiffness of the spring and x is the
deformation of the spring under applied load
1
• Energy stored in a linear spring I given by 𝑈 = 𝑘𝑥 2
2
Spring Elements
Spring Elements
Spring Constant of a Uniform Rod
Spring Elements
Spring Constant of a Cantilever Beam
Spring Elements
Combinations of Springs:
• Springs in Parallel
𝑘𝑒𝑞 = 𝑘1 + 𝑘2 … … + 𝑘𝑛
• Springs in Series
−1
1 1 1
𝑘𝑒𝑞 = + ……+
𝑘1 𝑘2 𝑘𝑛
Mass and Inertia Elements
Combination of Masses: Rigidly connected translational masses
Mass and Inertia Elements
Combination of Masses: Coupled rotational and translational masses
Mass and Inertia Elements
Mass and Inertia Elements
• Kinetic Energy of the system:

• Replacing coordinates with generalized coordinate

x(t):

• Kinetic Energy of Equivalent System:

Damping Elements
• The function of the damping elements is to remove
kinetic energy from a vibrating system
• If a constant supply of work is not provided to a
vibrating system (free vibration), damping causes
its response to die out over time
• A system may have multiple sources of energy loss,
all of these can be lumped and represented using a
single damper
• For a linear damper: 𝐹𝑑𝑎𝑚𝑝 = 𝑐𝑥ሶ
Damping Elements
Types of Damping:
• Viscous Damping: A Linear Damper is also referred to
as a viscous damper. This is most common type of
damping used to model vibrating systems. It is an
accurate representation of fluid filled dampers used in
machines. Viscous damping force was shown on the
previous slide
• Friction or Coulomb Damping: It is commonly used to
represent energy loss due to friction. Coulomb damping
is represented as a constant force applied in the
direction opposite to the direction of velocity
• Material or Hysteretic Damping: This represents the
energy loss due to hysteresis when a material is
deformed. The amount of energy can be calculated by
integrating the hysteresis loop on a stress strain
diagram. This however is often difficult to model
analytically
Harmonic Motion
• Harmonic motion is a special type of periodic
motion or oscillation where the restoring force is
directly proportional to the displacement and acts
in the direction opposite to that of displacement
• The motion is sinusoidal in time domain (or a sum
of sinusoidal components)
• Simple harmonic motion provides a basis for the
characterization of more complicated motions
through the techniques of Fourier analysis
Vectorial Representation of Harmonic Functions
Harmonic Motion
Harmonic Motion
Harmonic Motion
Harmonic Motion
Harmonic Motion
Addition of Harmonic functions:
Harmonic Motion
Addition of Harmonic functions:
Harmonic Motion
Definitions & Terminology:
• Cycle: The movement of the oscillating body from its
equilibrium position to the extreme position in one
direction, then to the extreme position in the other
direction and finally back to it’s equilibrium position
constitute one full cycle of oscillation. When the
motion is expressed in radians, one cycle corresponds
to 𝟐𝝅 radians
• Amplitude: The maximum displacement of the
oscillating body from its equilibrium position
• Period of Oscillation: the time taken by the oscillating
2𝜋
body to complete on full cycle of oscillation; 𝜏 =
𝜔
• Phase Angle: the difference in angular position of two
synchronous rotating vectors; it can also be thought of
as the angular displacement between corresponding
peaks of two synchronous harmonic signals
Harmonic Motion
Definitions & Terminology:
• Natural Frequency: If a vibrating system is allowed
to vibrate freely without the application of any
external force, the frequency at which it vibrates is
called the system’s natural frequency. A system
with n degrees of freedom will generally have n
distinct natural frequencies
• Beats When two harmonic signals with slight
difference in frequencies are added, they exhibit a
phenomenon called beats
Harmonic Analysis
Fourier-Series Expansion:
• Motion of vibrating systems may not always be
simple harmonic
• But using Fourier series we can approximate any
periodic function as a sum of harmonic
components
• A Fourier series is an infinite sum of sin and cosine
terms
• In practice only a few initial terms can yield fairly
accurate approximations of the system
Harmonic Analysis
Complex Fourier Series:
Harmonic Analysis
Frequency Spectrum:
Harmonic Analysis
Time and Frequency Domain Representation: