Mechanical Vibration

ME1707
VIIth Semester
Department of Mechanical Engineering
Manipal University Jaipur

Arpit Khandelwal
 What Are Vibrations
• Vibrations are defined as continuous cyclic motions
• Can be experienced by any system, living or not,
from a person walking in a park to a structure
• Vibrations are oscillations of a body about an
equilibrium position.
• Any motion that repeats itself after an interval of time is
called vibration or oscillation
• e.g. Swinging of pendulum, motion of a plucked string,
musical instruments
 What are mechanical Vibration

Losses
Input Energy Output Energy
Machine
(Dynamic system)

 All Dynamic systems are capable of vibration

 Mechanical Vibration is the oscillatory motion of dynamic systems

 Mechanical vibration deals with the relationship between forces
acting on the mechanical system and the oscillatory motion of mechanical
system about a point within the system
 Vibration Presence

Vibrations are everywhere:

• Human body: eardrums, vocal cords, walking and
running
• Vehicles: residual imbalance of engines,
locomotive wheels
• Rotating machinery: Turbines, pumps, fans,
reciprocating machines
• Musical instruments
 Why study of Vibration is
important
 Desirable and Undesirable Vibration
1. Desirable Vibration
• We hear because our eardrums vibrate and see because light waves undergo
vibration.
• Breathing is associated with the vibration of lungs
• Walking involves (periodic) oscillatory motion of legs and hands.
• Human speech requires the oscillatory motion of larynges (and tongues)
• Musical Instruments
• Mobile Vibration
• Grain Separator machine, Washing Machine, Drilling, Demolition
 Why Vibrations are important

2. Undesirable Vibration
• Vehicles: residual imbalance of engines,
locomotive wheels
• Rotating machinery: Turbines, pumps, fans,
reciprocating machines
 Reason for Undesirable Vibration

• Inherent unbalance in the engines

• Unbalance may be due to faulty design or poor
manufacture
• Misalignment of shaft
• Looseness of fasteners while running of machine
• Cyclic stress induced because of fatigue load
• Resonance which leads to excessive deflection and
failure
 Effect of Undesirable Vibration
• Rising of locomotives off the track at high speeds due to
imbalance
• Imbalance in diesel engines, for example, can cause ground
waves sufficiently powerful to create a nuisance in urban areas
• Failures that result from blade and disk vibrations in turbines
• Failure of structure or machine component because of material
fatigue resulting from the cyclic variation of the induced stress
• Wear and tear of machine parts such as bearings and gears and
generates noise
• Metal cutting processes, vibration can cause chatter, which leads
to a poor surface finish.
The Case of the 1940 Tacoma Failure
due to
Narrows Bridge Resonance

• Nature of vibration experienced (with

amplitude of over 8 m) by the Tacoma
Narrows bridge before it collapsed into the
river below.
• The cause of the failure was determined to be
aerodynamic instability
• Engineers ignored during design the high
torsional oscillations generated by typical
wind speed.
Fig: Nature of wind-induced vibration
experienced by Tacoma Narrows
bridge before its failure. The bridge
opened on July 1, 1940, and collapsed
on November 7, 1940.
 Elementary parts of Vibrating
system
• A vibratory system, must possess following properties:
1. Mass or inertia, a means for storing kinetic
energy and
2. Restoring capability, a means for storing potential
energy (spring or elasticity),
In addition to above, following additional characteristics
may be present in the system:
3. Damping, a means by which energy is
gradually lost (damper)
4. External Agency (Excitation force)
 Degree of Freedom

• The minimum number of independent coordinates

required to determine completely the positions of all parts of a
system at any instant of time defines the number of degrees
of freedom of the system.
• Examples of single degree of freedom systems
 Degree of Freedom

• Examples of two degree of freedom systems

 Degree of Freedom

• Examples of three degree of freedom systems

 Discrete and Continuous Systems

• Many practical systems can be describe with a finite number of DoF.

These aren referred to as discrete or lumped parameter systems.
• Some large structures (especially with continuous elastic elements)
have an infinite number of DoF These are referred to as continuous
or distributed systems.
• Example : A cantilever beam
(an infinite-number-of-degrees-of-freedom system).
• In most cases, for practical reasons, continuous systems are
approximated as discrete systems with sufficiently large numbers of
lumped masses, springs and dampers and solution are obtained in
simple manner.
 Classification of Vibration
• Vibration can be classified as:
1. Nature of Vibration or according to source of vibration
a. Free Vibration
• If a system, after an initial disturbance, is left to vibrate
on its own, the ensuing vibration is known as free
vibration.
• No external force acts on the system.
• The oscillation of a simple pendulum is an example of
free vibration.
 Classification of Vibration
b. Forced Vibration
• If a system is subjected to an external force (often, a repeating
type of force), the resulting vibration is known as forced
vibration.
• The oscillation that arises in machines such as diesel engines
is an example of forced vibration.
• If the frequency of the external force coincides with one of
the natural frequencies of the system, a condition known as
resonance occurs, and the system undergoes dangerously
large oscillations.
• Failures of such structures as buildings, bridges, turbines, and
airplane wings have been associated with the occurrence of
resonance
 Classification of Vibration
2. Nature of Dissipation of energy
a. Undamped Vibration (Total energy conserved)
• If no energy is lost or dissipated in friction or other
resistance during oscillation, the vibration is known as
undamped vibration
b. Damped Vibration (energy reduced)
• If energy is lost or dissipated in friction
or other resistance during oscillation,
the vibration is known as damped vibration
 Classification of Vibration

3. Nature of complexity of system

a. Single Degree Freedom system
b. Multi Degree Freedom system
c. Infinite Degree Freedom system (elastic bodies)
 Classification of Vibration
4. Depend upon the nature of time varying function
a. Deterministic
• If the value or magnitude of the
excitation (force or motion) acting on
a vibratory system is known at any given
time, the excitation is called deterministic
b. Random
• If the excitation is nondeterministic or random;
the value of the excitation at a given time
cannot be predicted
Examples: wind velocity, road roughness, and ground motion
during earthquakes
 Classification of Vibration
5. Based on nature of their response to external excitation
a. Linear
• If all the basic components of a vibratory system—the spring, the mass, and
the damper behave linearly, the resulting vibration is known as linear
vibration
b. Non Linear
• If, however, any of the basic components behave nonlinearly, the vibration is
called nonlinear vibration
 Classification of Vibration
6. According to nature of motion
a. Longitudinal
When motion of mass is parallel
to spindle axis
b. Transverse
When motion is approximately
perpendicular to the spindle axis
c. Torsional Vibration
When spindle get twisted and untwisted
on account of vibratory motion of the suspended disc
Course Content
What’s going to study
 Course Content
• The theory of vibration deals with the study of oscillatory motions of
bodies and the forces associated with them.
Syllabus
Introduction to vibration, Longitudinal, Lateral and torsional vibration systems,
Single degree of freedom, Free and forced Vibration: Equation of motion,
Viscous and Coulomb damped vibration, whirling of shaft. Harmonic forced
vibration, Rotary and reciprocating unbalance, Vibration isolation, Periodic and
impulse vibration, Two degrees of freedom systems, Equation of motion using
classical methods, Modal analysis using Eigen method, Vibration absorber.
Multi degree freedom systems, Flexibility and stiffness matrices, Iterative
methods: Holzer method, Matrix iteration, Rayleigh and Dunkerley's methods
for modal analysis. Torsional vibration: Multi Degree of Freedom system,
Geared system. Introduction to continuous systems
 Single Degree of Freedom System
Free Vibration
a. Un-damped free vibration
• Development of mathematical model of various system with the help of
suitable technique such as Newton’s second law of motion,
D’Alembert’s principle, principle of Virtual displacement, principle of
conservation of energy Energy method
• Compute of natural frequency and response of system
b. Damped Free Vibration
• Understanding of Various damped system and their mathematical model
• Classification of underdamped, critical and over-damped systems
• Compute of damping coefficient, damping ratio , damped natural
frequency, Logarithmic Decrement
 Single Degree of Freedom System
Forced Vibration
• Compute the responses of undamped and viscously damped
single-degree-of-freedom systems subjected to different types of
harmonic force, including base excitation and rotating
unbalance
• Distinguish between transient, steady-state, and total solutions.
• Understand the variations of magnification factor and phase
angles with the frequency of excitation and the phenomena of
resonance
• Vibration under general forcing condition
Two Degree of freedom system

• Formulate the equations of motion of two-degree-

of-freedom systems
• Identify the mass, damping, and stiffness matrices
from the equations of motion.
• Modal analysis using Lagrange’s Formulation and
Eigen Value Problem
• Determine the free-vibration solution using the
known initial conditions.
 Multi Degree of freedom system

• Determination of influence coefficient matrices

• Modal analysis using Matrix Iteration method
• Discussion on Dunkerley’s Method and Holzer’s
method
 Continuous System

• A brief introduction to continuous system

• Mathematical formulation of string, bar, beam etc
• Computing of natural frequency with the help of
numerical methods
Thank you