Chapter 1

Fundamental of Vibrations

Dr.-Ing. Azmi Mohamed Yusof

Faculty of Mechanical Engineering

Content

ƒ Learning outcome
ƒ Basic concept of vibration
ƒ Classification of vibrations
ƒ Spring element
ƒ Simple harmonics motion
ƒ Harmonic analysis (Fourier series)
ƒ Review problems

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1.0 Learning outcome

At the end of this chapter, student should be able to state and apply
the fundamental principle of vibration involving:-
ƒ basic terminology and classifications of vibration
ƒ Hooke’s law and spring element
ƒ simple harmonic motion and harmonic analysis

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Introduction
Vibration or oscillation
ƒ any motion that repeat itself after an interval of time

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Introduction
Consider a pendulum
ƒ Let the bob has mass m, and give
displacement of T and let it swing
ƒ When it travels to point 1:
¾ Reaching maximum amplitude
¾ K.E = 0, v = 0
¾ P.E = mgl(1 - cosT) [maximum]

ƒ The characteristic motion of the

pendulum: Harmonic, sinusoidal

‫ݔ‬௣

‫ݐ‬

Vibration of an industrial machinery

Vibration of a simple pendulum

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Introduction
Machine vibration

What is Machine
Vibration?

Almost all machine

vibration is due to
one or more of
these causes:

(a) Repeating
forces
(b) Looseness
(c) Resonance

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Degree of freedom [DOF]
DOF = min. number of independent coordinates required to
specify completely the positions of a dynamic systems.

Simple pendulum
¾ The motion of the bob can be described either by
using [x,y] coordinate or T.
¾ x & y are dependent on l Æ x2 + y2 = l2
¾ Thus, only T is the independent coordinate
¾ This is a 1 DOF system

Slider crank spring mechanism

¾ The motion of the slider can be described either by
using x coordinate or T.
¾ Thus, x or T is the independent coordinate
¾ This is a 1 DOF system

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Degree of freedom [DOF]

Degrees of freedom
for the upper body of
the motion capture
skeleton (left) and the
robot (right). For the
human skeleton, all
joints are three degree
of freedom ball joints
except the ROOT
(6DOF), the elbows L
EB and R EB (1DOF
each), and the
clavicles L CLV and R
CLV (2DOF each)

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Degree of freedom [DOF]
Example 1
Spring-mass system
¾ The motion can be described by using x
coordinate.
¾ This is a 1 DOF system

Torsional system
¾ The motion of the mass can be described by
using T as coordinate.
¾ This is a 1 DOF system

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Degree of freedom [DOF]

2 DOF systems 3 DOF systems

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Tutorial 1
Specify the generalized coordinate and state the number of DOF for the
systems shown below
a) b)

Generalized coordinates :________________ Generalized coordinates :________________

_____________________________________ _____________________________________

_____________________________________ _____________________________________

Degree of freedom : ____________________ Degree of freedom : ____________________

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Tutorial 1

c) d)

Generalized coordinates :________________ Generalized coordinates :________________

_____________________________________ _____________________________________

_____________________________________ _____________________________________

Degree of freedom : ____________________ Degree of freedom : ____________________

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Tutorial 1

‫ݔ‬ሺ‫ݐ‬ሻ ‫ߠ ܫ‬ሺ‫ݐ‬ሻ
e) ݇ଵ ݇ଶ f)
݉
‫ݎ‬

Generalized coordinates :________________ Generalized coordinates :________________

_____________________________________ _____________________________________

_____________________________________ _____________________________________

Degree of freedom : ____________________ Degree of freedom : ____________________

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3.0 Classification of vibrations

Discrete & continuous systems
ƒ Discrete / lumped parameter systems
¾ Systems with finite number of DOF
¾ Linear vibrating system
¾ E.g. pendulum, torsional system, spring system

ƒ Covered in chapter 1 until chapter 4

ƒ Continuous / distributed systems

¾ Systems with infinite number of DOF
¾ Non-linear vibrating system
¾ E.g. deflection of beam, elastic members
(deformable)
ƒ Covered in chapter 5.

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3.0 Classification of vibrations
Classification of vibrations
ƒ Free & forced vibration
¾ Free vibration: Give initial disturbance for the system
and left it to vibrate on its own
¾ Forced vibration: The system vibrates by subjecting
to an external force continuously
Free - damped
ƒ Undamped & damped vibration Free - undamped vibration
vibration
¾ Undamped vibration – no energy loss/dissipated
¾ Damped vibration – involve friction/lost in energy

ƒ Linear & non-linear vibration

¾ Linear - Influenced by the characteristic of
individual element e.g the spring, Deterministic vibration
¾ Non-linear - mass & the damper
ƒ Deterministic & Random vibration
¾ Deterministic – Amplitude of excitation is predictable
¾ Random – the value of excitation at a given timeForce - damped
cannot be predicted Random vibration
vibration

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4.0 Spring Element

Springs

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4.0 Spring Element
Spring element, k
ƒ A coil spring (fig.(a)) has free length, Ɛ
ƒ When the spring is stretched (or compressed), it
will elongate
ƒ A restoring force will exert that opposes the
direction of applied force
ƒ For the applied force F, the linear force-
deflection model for a spring is given by
‫ ܨ‬ൌ ݇‫ ݔ‬where x is the spring constant
‫݈݀݁݅݌݌ܽ݁ܿݎ݋ܨ‬
݇ൌ
ܴ݁‫݊݋݅ݐ݈݂ܿ݁݁݀݃݊݅ݐ݈ݑݏ‬
ƒ The work done in deforming a spring is stored as
potential energy
ͳ
ܷ ൌ ݇‫ ݔ‬ଶ
ʹ
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4.0 Spring Element

Modeling of spring constant of a rod
(Longitudinal vibration)
ƒ Consider a uniform rod of length l, cross
sectional area A, and Young’s modulus E
subjected to an axial force F.
ƒ Recall from mechanics of materials
knowledge,
௉κ
ƒ the elongation ߜ ൌ ஺ா

ƒ the strain ߝ ൌ ఋκ
ƒ the stress ߪ ൌ ‫ߝܧ‬
ிκ
ƒ Combining these eqn., ߜ ൌ ஺ா

ƒ From the definition of k, ࢑ ൌ ிఋ ൌ ࡭ࡱ

κ
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4.0 Spring Element
Example (lateral vibration)
ƒ Find the equivalent spring constant of a cantilever beam subjected to a
concentrated load F at its end as shown in the figure below

Solution
Consider a small section of the beam with length x (measured from the tip end)
The moment is given by ‫ ܯ‬ൌ െ‫ݔݓ‬
ௗమ௬ ெሺ௫ሻ
The equation of elastic curve is given by ൌ
ௗ௫ మ ா௃೚
ௗమ௬
Substitute the moment term, we obtain ‫ܬܧ‬௢ ൌ െܹ‫ݔ‬
ௗ௫ మ
ௗ௬ ௐ௫ మ
Integrate the equation, we obtain ‫ܬܧ‬௢ ൌെ ൅‫ܥ‬
ௗ௫ ଶ
ௗ௬ ௐ௅మ
Apply the initial condition, at ‫ ݔ‬ൌ ݈ǡ ൌ Ͳ, thus we have  ൌ
ௗ௫ ଶ
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4.0 Spring Element

ௗ௬ ௐ௫ మ ௐ௅మ
The equation now becomes ‫ܬܧ‬௢ ൌെ ൅
ௗ௫ ଶ ଶ
ௐ௫ య ௐ௅మ
Integrate the equation again, yield ‫ܬܧ‬௢ ‫ ݕ‬ൌ െ ൅ ‫ݔ‬ ൅ ‫ܥ‬ଵ
଺ ଶ
Apply another initial condition, ܽ‫ ݔݐ‬ൌ ‫ܮ‬ǡ ‫ ݕ‬ൌ Ͳ & substitute into the above eqn.
ௐ௅య
We obtain ‫ܥ‬ଵ ൌ െ
ଷ
ௐ௫ య ௐ௅మ ௐ௅య
Finally we have, ‫ܬܧ‬௢ ‫ ݕ‬ൌ െ ൅ ‫ݔ‬ െ
଺ ଶ ଷ
The deflection can be obtained when ‫ ݔ‬ൌ Ͳ
ௐ௟ య
Thus ߜ ൌ ‫ ݕ‬ൌ
ଷா௃೚
ி ࢃ ૜ࡱ௃೚
From the stiffness formula  ൌ ൌ ൌ
ఋ ࢾ ௟య

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4.0 Spring Element
Springs in series and parallel (finding the
equivalent spring constant)
ƒ Spring in parallel
¾ σ ‫ܨ‬௬ ൌ Ͳ: ܹ ൌ ݇ଵ ߜ௦௧ ൅ ݇ଶ ߜ௦௧
¾ ܹ ൌ ߜ௦௧ ݇ଵ ൅ ݇ଶ ൌ ݇௘௤ ߜ௦௧
¾ Thus for parallel springs arrangement,

݇௘௤ ൌ ݇ଵ ൅ ݇ଶ ൅Ǥ Ǥ Ǥ ൅݇௡
ƒ Spring in series
¾ The total elongation, ߜ௦௧ ൌ ߜଵ ൅ ߜଶ
¾ ܹ ൌ ݇ଵ ߜଵ , ܹ ൌ ݇ଶ ߜଶ
ௐ ௐ ௐ
¾ We have, ൌ ൅
௞೐೜ ௞భ ௞మ

¾ Thus for series springs arrangement,

ͳ ͳ ͳ
ൌ ൅
݇௘௤ ݇ଵ ݇ଶ

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Tutorial 2
Exercise
ƒ The motor is attached to a flexible beam of stiffness kb as shown in
figure below. Find the equivalent stiffness of the system if kb = 200 N/m
and ks = 1000 N/m. [Ans : ͳͺͳǤͺʹܰȀ݉]

ks ks

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Tutorial 2
ƒ Obtain the total stiffness of the system below

a)

଻௞
Ans: ݇ ൌ
଺

b)

Ans: ݇ ൌ ͶǤ͸ͻ ൈ ͳͲହ ܰȀ݉

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5.0 Simple Harmonic Motion

Basic idea
ƒ SHM is the simplest form of periodic motion
ƒ Periodic motion = any motion that repeats in equal
interval of time
ƒ The position of pendulum can be described as
‫ ݔ‬ൌ ܺ •‹ ߱‫ݐ‬
ƒ The velocity of the mass m is
ࢊ࢞
ൌ ࢞ሶ ൌ ࣓ࢄࢉ࢕࢙࣓࢚
ࢊ࢚
ࡹࢇ࢞Ǥ ࢜ࢋ࢒࢕ࢉ࢏࢚࢟ ൌ െ࣓ࢄ
ƒ The acceleration of the mass m is
ࢊ૛ ࢞
ൌ ࢞ሷ ൌ െ࣓૛ ࢄ ‫࢚࣓ ܖܑܛ‬
ࢊ࢚૛
ࡹࢇ࢞Ǥ ࢇࢉࢉࢋ࢒ࢋ࢘ࢇ࢚࢏࢕࢔ ൌ െ࣓૛ ࢄ
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5.0 Simple Harmonic Motion
ƒ The vector OP have both
horizontal and vertical
components, and it can be
represented using complex-
number notation
ƒ ܱܲ ൌ ܺത ൌ ܽ ൅ ܾ݅ or ܺത ൌ
‫ ߠ •‘… ܣ‬൅ ݅‫ߠ ‹• ܣ‬

ƒ with ‫ ܣ‬ൌ ܽଶ ൅ ܾଶ and

௕
–ƒ ߠ ൌ
௔

ƒ On the other hand OP can

also be represented in
exponential form as

ܺത ൌ ‫ ߠ •‘… ܣ‬൅ ݅‫ ߠ ‹• ܣ‬ൌ ‫ ݁ܣ‬௜ఏ

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5.0 Simple Harmonic Motion

Example 1
ƒ A simple harmonic motion has an amplitude of 0.30 cm and a period of
0.20 sec. Determine the maximum velocity and acceleration.

Solution
ଶగ ଶగ
Given: ܺ ൌ ͲǤ͵Ͳ ൈ ͳͲିଶ ݉ǡ ܶ ൌ ͲǤʹ‫ݏ‬Ǣ ߱ ൌ ൌ ൌ ͵ͳǤͶʹ‫݀ܽݎ‬Ȁ‫ݏ‬
் ଴Ǥଶ
ିଶ
‫ݔ‬ሶ ௠௔௫ ൌ ܺ߱ ൌ ͲǤ͵Ͳ ൈ ͳͲ ͵ͳǤͶʹ ൌ ͲǤͲͻͶ݉Ȁ‫ݏ‬
‫ݔ‬ሷ ௠௔௫ ൌ ܺ߱ ൌ ͲǤ͵Ͳ ൈ ͳͲ ሺ͵ͳǤͶʹሻଶ ൌ ʹǤͻ͸݉Ȁ‫ ݏ‬ଶ
ଶ ିଶ

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5.0 Simple Harmonic Motion
Example 2
ƒ A harmonic motion has a frequency of 15 cycles/sec. and its maximum
velocity is 5 m/s. Determine its amplitude, period and maximum
acceleration.

Solution
௖௬௖௟௘௦ ଶగ ଽସǤଶ଺௥௔ௗ
Given: ߱ ൌ ͳͷ ൈ ൌ Ǣ ‫ݔ‬ሶ ௠௔௫ ൌ ͷ݉Ȁ‫ݏ‬
௦ ଵ௖௬௖௟௘ ௦
ହ
‫ݔ‬ሶ ௠௔௫ ൌ ܺ߱; ܺ ൌ ൌ ͲǤͲͷ͵݉
ଽସǤଶ଺
ଶగ ଶగ
ܶൌ ൌ ൌ ͲǤͲ͸͹‫ݏ‬
ఠ ଽସǤଶ଺
‫ݔ‬ሷ ௠௔௫ ൌ ܺ߱ ൌ ͷ ͻͶǤʹ͸ ൌ Ͷ͹ͳǤ͵݉Ȁ‫ ݏ‬ଶ
ଶ

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6.0 Harmonic analysis (Fourier Series)

Fourier Series
ƒ Many vibration systems are not harmonic but periodic

Harmonic function Periodic function

ƒ How to transform a periodic vibration system into harmonic components?
¾ Any periodic function can be represented by its Fourier series
¾ Fourier series contain infinite number of sine and cosine terms

ƒ The periodic function can be represented as the Fourier series

ƒ The periodic function x(t) is given by
ܽ଴ ܾ଴
‫ ݐ ݔ‬ൌ ൅ ܽଵ ܿ‫ ݐ߱ݏ݋‬൅ ܽଶ ʹܿ‫ ݐ߱ݏ݋‬൅ ‫ ڮ‬൅  ൅ ܾଵ ܿ‫ ݐ߱ݏ݋‬൅ ܾʹܿ‫ ݐ߱ݏ݋‬൅ ‫ڮ‬
ʹ ʹ

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6.0 Harmonic analysis (Fourier Series)
ஶ
ܽ଴
‫ ݐ ݔ‬ൌ ൅ ෍ሺܽ௡ …‘• ݊߱‫ ݐ‬൅ ܾ௡ •‹ ݊߱‫ݐ‬ሻ
ʹ
௡ୀଵ

ƒ The constant coefficients a and b can be

determined from
మഏ
ఠ ഘ
¾ ܽ଴ ൌ ‫׬‬ ‫ݐ݀ ݐ ݔ‬
గ ଴
మഏ
ఠ ഘ
¾ ܽ௡ ൌ ‫׬‬ ‫ ݐ ݔ‬Ǥ …‘• ݊߱‫ ݐ‬Ǥ ݀‫ݐ‬
గ ଴
మഏ
ఠ ഘ
¾ ܾ௡ ൌ ‫׬‬ ‫ ݐ ݔ‬Ǥ ‫ ݐ߱݊ ݊݅ݏ‬Ǥ ݀‫ݐ‬
గ ଴

ƒ Any periodic function can be represented as a

sum of harmonic functions
ƒ See figure. We can approximate the actual
function by adding only three harmonic
functions

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6.0 Harmonic analysis (Fourier Series)

ƒ Adding several harmonic function (n) to approximate the actual function

creates an anomalous behavior.
ƒ Increasing n, seems improving the approximation to the actual function
(see figure)
ƒ But it creates variation in amplitude (Error)
ƒ Gibb’s phenomenon Æ the error in amplitude remains at 9% even n Æ f
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6.0 Harmonic analysis (Fourier Series)
Example
ƒ Obtain the Fourier series for periodic signal shown
1

-2S -S 0 S 2S t(s)
ƒ Solution
ͳǡ  െߨ ൏ ‫ ݐ‬൏ Ͳ
The function for the graph: ‫ ݐ ܨ‬ൌ ቊ
Ͳ
 ǡ Ͳ ൏ ‫ ݐ‬൏ ߨ
The period of the cycle : 2ߨ s, thus ߱ ൌ ʹߨ݂ ൌ ͳ
మഏ
ఠ ഘ ଵ ଴ గ
ܽ଴ ൌ ‫׬‬ ‫ ݐ݀ ݐ ݔ‬ൌ ‫ି׬‬గ ͳ Ǥ ݀‫ ݐ‬൅ ‫׬‬଴ Ͳ Ǥ ݀‫ ݐ‬ൌ ͳ.
గ ଴ గ
మഏ
ఠ ഘ ଵ ଴ ଵ
ܽ௡ ൌ ‫׬‬ ‫ ݐ ݔ‬Ǥ …‘• ݊߱‫ ݐ‬Ǥ ݀‫ ݐ‬ൌ ‫ି׬‬గ ͳ Ǥ …‘• ݊‫ ݐ‬Ǥ ݀‫ ݐ‬൅ Ͳ ൌ •‹ ߨ݊ ൌ Ͳ.
గ ଴ గ గ௡
మഏ
ఠ ഘ ଵ ଴ ଵ
ܾ௡ ൌ ‫׬‬ ‫ ݐ ݔ‬Ǥ ‫ ݐ߱݊ ݊݅ݏ‬Ǥ ݀‫ ݐ‬ൌ ‫ି׬‬గሺͳሻǤ ‫ ݐ݊ ݊݅ݏ‬Ǥ ݀‫ ݐ‬൅ Ͳ ൌ ሺͳ െ …‘•ሺെߨ݊ሻሻ.
గ ଴ గ గ௡

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6.0 Harmonic analysis (Fourier Series)

ଵ ଵ
ܾ௡ ൌ ሺͳ െ …‘•ሺെߨ݊ሻሻ ൌ െ ሺͳ ൅ሺെͳሻ௡ ሻ
గ௡ గ௡

௔బ
‫ ݐ ݔ‬ൌ ൅ σஶ
௡ୀଵሺܽ௡ …‘• ݊߱‫ ݐ‬൅ ܾ௡ •‹ ݊߱‫ݐ‬ሻ
ଶ
ଵ ଵ
‫ݔ‬ሺ‫ݐ‬ሻ ൌ ൅ σஶ
௡ୀଵ െ ሺͳ ൅ െͳ ௡ ሻ Ǥ •‹ ݊‫ݐ‬
ଶ గ௡
૚ ૛ ૚ ૚
࢞ ࢚ ൌ ൅ ‫ ࢞ ܖܑܛ‬൅ ‫ ܖܑܛ‬૜࢞ ൅ ‫ ܖܑܛ‬૞࢞ ൅ ‫ڮ‬
૛ ࣊ ૜ ૞

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7.0 End chapter problems
1. Determine the number of DOF for the following 2. Determine the expression for the equivalent
systems which are in equilibrium position. State spring constant for the systems shown in the
the generalized coordinate for each case. figure below

2m

k
k E = 210 X 109 N/m2

I = 3.8 X 10-5 m4
m m 100kg

k
Ans : 1.5 X 106 N/m

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7.0 End chapter problems

3. A harmonic motion is given by x(t) = 10 sin(30t - Answer
ʌ/3). Determine a) frequency and period of
motion, b) maximum displacement, velocity and
acceleration. 2. (a) 1.11k, (b) 1.5 X 106 N/m (c) 4k

4. Determine the maximum velocity and maximum 3. (a) 30 rad/s {4.77 Hz}, 0.21s (b) 10mm,
acceleration of a particle which moves in simple 300mm/s2, 900 mm/s2
harmonic motion with an amplitude of 3 mm and
a frequency of 20 Hz. 4. 0.377m/s, 47.3m/s2

5. The displacement of a vibrating body is given by 5. -4.45

5 sin(31.41t + ʌ/4). Determine the displacement
of the body after 0.11 second.
6. 1.225 m/s, 0.650 Hz
6. A particle moves in simple harmonic motion.
Knowing that the amplitude is 300 mm and the
maximum acceleration is 5 m/s2, determine the
maximum velocity of the particle and the
frequency of its motion.

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