Mechanical Vibrations

2.1 Introduction

• Vibration is a to and fro motion about an equilibrium point.

• Free vibration requires only initial disturbance. No external forces
acting after the initial disturbance.
• Forced vibration is subjected to repeated force. Vibration frequency is
same as forcing frequency.
• Resonance phenomena occurs when forcing frequency reaches natural
frequency.

• Undamped vibrations result when amplitude of motion remains

constant with time (e.g. in a vacuum)
• Damped vibrations occur when the amplitude of free vibration diminishes
gradually overtime, due to resistance offered by the surrounding medium.
 2.1 Introduction
• Period is the time in which motion is repeated.
• Cycle is motion completed in one time period.
• Frequency measures number of cycle per second.
• Types of vibration:
(a) Longitudinal
(b) Transverse
(c) Torsional

• Basic elements of vibration:

(a) Inertia element
(b) Restoring element
(c) Damping element
 2.1 Idealized system
• Several mechanical and structural systems can be idealized as single or
multiple degree of freedom systems of mass and spring.
 Equation of
motion

Newton's 2nd Other

law of motion methods

D’Alembert’s Virtual Energy

principle displacement conservation
Newton's 2nd law of motion

Apply Newton s
second law of motion
Draw the free-
body diagram

Determine the static equilibrium

configuration of the system The rate of change
of momentum of a
Select a suitable mass is equal to the
coordinate force acting on it.
 Newton's 2nd law of motion
d  d xt   d 2 xt  ..
F t   m m mx

dt  dt   dt 2

.. ..
F t   kx  m x  m x  kx  0

 Energy conservation
Kinetic energy Potential energy
1 .2 1 2
T  mx U  kx
2 2
T  U  constant
..
d
T  U   0 m x  kx  0
dt
 It can be written as

The above equation has solution of the form

or

or
Interference:
 Superposition of two harmonic motions.
 Resultant displacement = vector sum of the displacements

Frequency of beat = (1 - 2)/2

Example: Find the natural frequency of the systems shown in the following figure, also
derive the equation of motion.
Example: Find the natural frequency of the systems shown in the following figure, also
derive the equation of motion.
 Damped vibration

Damping coefficient vs damping factor

Damped vibration
Damping coefficient and its effect on vibration
 Free Vibration with Viscous Damping

Comparison of motions with different types of damping

Free Vibration with Viscous Damping
 Logarithmic decrement
We know

Logarithmic decrement,
Q1: A vibrating system consists of a mass of 20 kg, a spring of stiffness 20 kN/m and a damper.
The damping provided is only 30% of the critical value. Determine the natural frequency,
damped natural frequency, critical damping coefficient, damping ratio, ratio of the two
consecutive oscillations and logarithmic decrement.
Q2: For a vibrating system of mass 140 kg, stiffness 50 N/mm and damping ratio 0.25, find the
time required to settle down the mass to 1/80th of its initial value. Also what will be the number
of oscillations completed to reach this value?
[0.927 s; 2.7]
Q3: A machine weighs 18 kg and is supported on spring (12 N/mm) and dashpots (c=0.2
Ns/mm). The system is initially at rest and a velocity of 120 mm/s is given to the mass. Find the
displacement and velocity of the mass as a function of time for both damped and undamped
cases, and displacement of the mass after 0.4 s for the damped case.
 Forced vibration
 Step input excitation, or
 Periodic excitation, or
 Impulse excitation

The system vibrates about the new equilibrium

position, the new displacement = F0/s


x = Complementary function + Particular integral

 In actual practice, the value of the complementary function << particular integral.
Therefore, the displacement x, at any time t, is given by the particular integral only.
 Steady state response = Particular integral
Forced vibration

Static deflection

Dimension less
 Forced vibration
Let
 Forced vibration

If c = 0. In that case, magnification factor

If  = n. In that case, magnification factor

 Forced vibration
Phase angle
Q: A machine part having a mass of 2.5 kg vibrates in a viscous medium. A harmonic exciting
force of 30 N acts on the part and causes a resonant amplitude of 14 mm with a period of 0.22
seconds. Find the damping coefficient.
If the frequency of the exciting force is changed to 4 Hz, determine the increase in the amplitude
of the forced vibrations upon the removal of the damper. (Ans: 75.04, 0.05)

Q: A machine part of mass 1.95 kg vibrates in a viscous medium. Calculate the damping
coefficient when a harmonic exciting force of 24.46 N results in a resonating amplitude of 12.7
mm with a period of 0.20 seconds. (Ans: c = 61.3 N.s/m)
Q: For a viscously damped system excited by a harmonic force, F = F0 sin(t), the resonating
amplitude is found to be 5.8 mm. At 80% of the resonating frequency, the amplitude is observed as
4.6 mm. Calculate the damping factor for the system from the observed data. (Ans: =0.18)
Q: A single cylinder vertical diesel engine has a mass of 400 kg and is mounted on a
steel chassis frame. The static deflection owing to the weight of the chassis is 2.4 mm.
The reciprocating masses of the engine amount to 18 kg and the stroke of the engine is
160 mm. A dashpot with a damping coefficient of 2 N/mm/s is also used to dampen the
vibrations. In the steady-state of the vibrations, determine the
i. Amplitude of the vibrations if the driving shaft rotates at 500 rpm.
ii. Speed of the driving shaft when the resonance occurs.
 Forced vibration
Response of a Damped System Under the Harmonic Motion of the Base:

….(1)
where

….(2)
Compare equation (1) and (2)
Q: Consider an automobile traveling over a rough road at a speed of 10 km/hr. The suspension
system has a spring constant of 40kN/m and a damping ratio of  = 0.1. The road surface varies
sinusoidal with an amplitude of Y = 0.05 m and a wavelength of 6m. Find the displacement
amplitude of the automobile if the mass of the automobile = 600 kg.

A
 Vibration Isolation and transmissibility

Transmissibility
 Vibration Isolation and transmissibility

If c = 0. In that case, transmissibility

If  = n. In that case, transmissibility

1) When ω/ωn = 2, then ε = 1 for all values of c/cc. Force transmitted = Force applied
2) When ω/ωn < 2, then ε > 1 for all values of c/cc. Force transmitted > Force applied.
3) When ω/ωn > 2, then ε < 1 for all values of c/cc. Force transmitted < Force applied.
4) Damping is detrimental beyond ω/ωn > 2. Thus, dampers need not to be provided but in
order to limit resonance amplitude, stops may be provided.
 Forced Vibration due to unbalance
Find expression of amplitude A
Find expression of amplitude A/(m.e/M)
M
Plot “A/(m.e/M)” vs “/n”

Equivalent system
(if the system is
constrained to move
vertically)