VIBRATIONS

Undamped Free Vibrations

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 Laboratories
No. Topic
1 Forced Vibrations
2 Balancing of Reciprocating Masses

Plan of Continuous Assessment

2 tests (2*25) 50 marks 20%
1 project (1*30) 30 marks 12%
2 lab reports (2*10) 20 marks 8%
100 marks 40%
The continuous assessment counts as 40% of the final course grade.

The examination counts 60%.

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 Vibration = any motion that repeats
itself after an interval of time

Vibration is the motion of a particle or body which oscillates about

4 a position of equilibrium.
 What is Vibration?
• Vibration = any motion that repeats itself after an interval
of time
• Vibration is the motion of a particle or body which oscillates
about a position of equilibrium.
• Most vibrations in machines and structures are undesirable
due to increased stresses and energy losses.

Vibration in Everyday Life

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 Useful Vibration Harmful Vibration

Concrete
Compactor Noise
Pile
Drivers

Destruction

Wear
Ultrasonic
Cleaning
Baths
Fatigue
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 Mechanical Parameters and Components

All mechanical systems contain the three basic components: spring,

damper, and mass. When each of these in turn is exposed to a constant
force they react with a constant displacement, a constant velocity and a
7 constant acceleration respectively.
 Basic Concepts of Vibration
 Vibratory System consists of:
1) spring or elasticity
2) mass or inertia
3) damper
 Involves transfer of potential energy to kinetic energy and vice
versa
 Degree of Freedom (d.o.f) =
minimum number of independent coordinates required to determine
completely the positions of all parts of a system at any instant of time.

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 Importance of the Study of Vibration
 Why study vibration?
Vibrations can lead to excessive
deflections and failure on the machines
and structures
To reduce vibration through proper
design of machines and their mountings
To utilize profitably in several
consumer and industrial applications
To improve the efficiency of certain
machining, casting, forging & welding
processes
To stimulate earthquakes for geological
research and conduct studies in design
9 of nuclear reactors
 Basic Concepts of Vibration
Single degree of freedom (DOF)

Two DOF
Modeling of the systems
Multi DOF

Continuous system
Each system can be under

Free Forced Damped Undamped

Or a combination of these modes

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 Basic Concepts of Vibration
• A single degree of freedom system requires only one coordinate to
describe its position at any instant of time.
Examples of single degree-of-freedom systems:

A simple
pendulum

Slider-crank-spring
mechanism

11 Spring-mass system Torsional system

 Basic Concepts of Vibration
• Examples of Two degree-of-freedom systems:

Figure (a)
• shows a two mass two spring system that
is described by two linear coordinates x1
and x2
Figure (b)
Denotes two rotor system whose Motion
can be specified in terms of θ1 and θ2.

The motion of the system in Figure (c)

can be described completely either by X and
θ or by x, y and X.

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 Basic Concepts of Vibration
• Examples of Three degree of freedom systems:

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 Basic Concepts of Vibration
• Example of Infinite-number-of-d.o.f system:

Discrete and continuous system

• Infinite number of degrees of freedom system are termed

continuous or distributed systems
• Finite number of degrees of freedom are termed discrete or lumped
parameter systems
• More accurate results obtained by increasing number of degrees
14 of freedom
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 Classification of Vibration
• Free Vibration:
A system is left to vibrate on its own after an initial disturbance
and no external force acts on the system. E.g. simple pendulum
• Forced Vibration:
A system that is subjected to a repeating external force. E.g.
oscillation arises from diesel engines
Resonance occurs when the frequency of the external force
coincides with one of the natural frequencies of the system
 the system undergoes dangerously large oscillations.
 Failures of structures such as buildings, bridges, turbines and airplane
wings have been associated with the occurrence of resonance.

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 Classification of Vibration
• Undamped Vibration:
When no energy is lost or dissipated in friction or other
resistance during oscillations
• Damped Vibration:
When any energy is lost or dissipated in friction or other
resistance during oscillations
• LinearVibration:
When all basic components of a vibratory system, i.e. the
spring, the mass and the damper behave linearly

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 Classification of Vibration
• Nonlinear Vibration:
If any of the components behave nonlinearly
• Deterministic Vibration:
If the value or magnitude of the excitation (force or motion)
acting on a vibratory system is known at any given time
• Nondeterministic or random Vibration:
When the value of the excitation at a given time cannot be
predicted

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 Vibration Analysis Procedure

PHYSICAL SOLVE
MATHEMATICAL GOVERNING INTERPRETE
DYNAMIC GOVERNING
MODEL EQUATIONS RESULTS
SYSTEM EQUATIONS

Step 1: Mathematical Modeling

Step 2: Derivation of Governing Equations
Step 3: Solution of the Governing Equations
Step 4: Interpretation of the Results

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 Equivalent Springs
Helical spring under axial load
(d = wire diameter,
D = mean coil diameter,
n = number of active turns)

Tapered rod under axial load

1D, d = end diameters2

Fixed-fixed beam with

20 load at the middle
Cantilever beam with end load

Simply supported beam with load

at the middle

Springs in series

Springs in parallel

Hollow shaft under torsion

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 Single Degree of Freedom System
Free Vibrations of Particles: (Vertical, Undamped) Simple Harmonic
Motion If a particle is displaced through a distance xm from its
equilibrium position and released with no velocity, the
particle will undergo simple harmonic motion,
ma  F  W  k  st  x    kx
mx  kx  0
General solution is the sum of two particular solutions,
 k   k 
x  C1 sin  t   C 2 cos t 
 m   m 
 C1 sin  n t   C 2 cos n t  (a)

x is a periodic function and ωn is the natural circular

frequency of the motion. t  0, v  vo , x  xo
C1 and C2 are determined by the initial conditions:
x  C1 sin  n t   C 2 cos n t  C 2  x0
v  x  C1 n cos n t   C 2 n sin  n t  C1  v0  n
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 x  C1 sin nt   C2 cosnt  (a) x 
vo
sin n t   xo cosn t  (b)
n
• Equations (a) and (b) is harmonic functions of time.
• The motion is symmetric about the equilibrium position of the mass m.
• The velocity is a maximum and the acceleration is zero each time the
mass passes through this position.
• At the extreme displacements, the velocity is zero and the acceleration
is a maximum.
• Since this represents simple harmonic motion the spring-mass system
itself is called a harmonic oscillator.
• The quantity ωn, represents the system’s natural frequency of vibration.
• Equation (a) can be expressed in a different form by introducing the
notation
where xm and ϕ are the new constants, which can be
C1  xm cos  expressed in terms of C1 and C2 as
(c)
C2  xm sin  xm  v0  n 2  x02  amplitude
  tan 1  x0n v0   phase angle
Introducing Eq. (c) into Eq. (a), the solution can be written as x  xm sin n t   
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 Free Vibrations of Particles: Simple Harmonic Motion

x  xm sin nt    xm  v0  n 2  x02  amplitude

  tan 1 v0 x0 n   phase angle
2
n   period
n
1 n
fn    natural frequency
 n 2
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 Free Vibrations of Particles: (Horizontal, Undamped)

• One coordinate ( x ) is sufficient to specify the position of the mass at any time
…. SDOF
• No external force applied to the mass; hence the motion resulting from an initial
disturbance ….. free vibration.
• No element that causes dissipation of energy during the motion of the mass, so
the amplitude of motion remains constant with time .. Un-damped system

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 Free Vibrations: Simple Pendulum (Approximate Solution)

Results obtained for the spring-mass system can be

applied whenever the resultant force on a particle is
proportional to the displacement and directed towards
the equilibrium position.
Consider tangential components of acceleration and
force for a simple pendulum, Recall
 Ft  mat :  W sin   ml
g
  sin   0
l

For small angles,

g
    0
l
   m sin  n t   
2 l
n   2
n g
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 Spring Constant of a rod
F

A

  E 
L


F  A  EA  EA
L

 k

 EA 
F  
 L 
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 Spring Constant of a Cantilever Beam

Cantilever with end force

Equivalent spring

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 Free Vibration of an Undamped Torsional System

polar mass moment of inertia Jo

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 Free Vibrations: Springs in Combinations:
Parallel Combination

Series combination

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  When a body or a system of connected bodies is given an initial
displacement from its equilibrium position and somehow released,
it will vibrate with a frequency known as its natural frequency.
 Vibrations of the type that we have described so far are called free
vibration, since no extra forces except gravitational or elastic
forces act on the body during the motion.
 Provided that the amplitude of vibration remains constant, the
motion is said to be undamped.

Note:
• Although we tend to draw coil springs when we treat these systems theoretically, any
resilient member or energy storing component acts as a spring.
• Therefore the same theory applies equally to systems supported on solid
compressible materials such as rubber, cork, as well as to those supported by liquids
or gases, for example, to floating bodies and those supported by compressed air or
oil.
• In the realm of metal springs, all obey Hooke’s Law that displacement is directly
proportional to the force applied, and they include leaf springs, torsion springs,
cantilevered elastic members and simply supported ones.
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 Examples

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 1. The Figure below shows the suspension system of a freight truck
with a parallel-spring arrangement. Find the equivalent spring
constant of the suspension if each of the three helical springs is
made of steel with a shear modulus G= 80 x 109N/m2 and has
five effective turns, mean coil diameter D = 20 cm, and wire
diameter d = 2 cm.
The stiffness of each helical
spring is given by

Since the three springs are identical and

parallel, the equivalent spring constant of
the suspension system is given by
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2. A 50-kg block moves between vertical guides as shown.
The block is pulled 40mm down from its equilibrium position
and released.
For each spring arrangement, determine a) the period of the
vibration, b) the maximum velocity of the block, and c) the
maximum acceleration of the block.

SOLUTION:
• For each spring arrangement,
determine the spring constant for a
single equivalent spring.

• Apply the approximate relations for

the harmonic motion of a spring-
mass system.

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k1  4 kN m k2  6 kN m
SOLUTION:
• Springs in parallel:
- determine the spring constant for equivalent spring

- apply the approximate relations for the harmonic

motion of a spring-mass system

k 104 N/m
n    14.14 rad s
m 50 kg
2  n  0.444 s
n 
n
vm  x m  n
k  k1  k 2
 0.040 m 14.14 rad s  vm  0.566 m s
 10 kN m  10 N m
4

am  x m n2
 0.040 m 14.14 rad s 
2 am  8.00 m s 2

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k1  4 kN m k 2  6 kN m

• Springs in series:
- determine the spring constant for equivalent spring

- apply the approximate relations for the harmonic

motion of a spring-mass system

k 2400N/m
n    6.93 rad s
m 50 kg
2
n   n  0.907 s
n
1 1 1 1 1
    vm  x m  n
k k1 k 2 4 6
 0.040 m 6.93 rad s  vm  0.277 m s
1 10 24
 kN / m  k  kN / m
k 24 10
am  x m n2
am  1.920 m s 2
 0.040 m 6.93 rad s 
2

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 3. Determine the natural frequency of the two systems illustrated.

(a) (b)
Summing forces from the free-body
diagram in the x direction yields

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  Determine the natural frequency of the two systems illustrated.
(b) Summing forces from the free-body
diagram in the x direction yields:

Free-body diagram for part b

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 4. Find the equivalent spring constant of the system shown in Fig.
below.

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 keq1  k  k  2k

keq 3  k  k  2k

1 1 1 2 k
    keq 2 
keq 2 k k k 2

keq1  2k

k
keq 2 
2
keq 3  2k

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 keq1  2k

k
keq 2 
2 keq 3  2k

5k
keq 4  keq 3  2k
2

1 1 1 2 1 10
     keq 5  k
keq 5 keq 4 keq 3 5k 2k 9
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 5. Figure below shows a three-stepped bar fixed at one end and
subjected to an axial force F at the other end. The length of step i is
li and its cross sectional area is Ai, i= 1, 2, 3. All the steps are made
of the same material withYoung’s modulus Ei = E, i = 1, 2, 3.
a) Find the spring constant (or stiffness) ki, of step i in the axial
direction (i = 1, 2, 3).
b) Find the equivalent spring constant (or stiffness) of the stepped
bar, keq , in the axial direction so that F = keqx.

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 F 
  ,   E ,  
A L

F   A   EA  EA
L
 k

 EA 
F  
 L 
a) Spring stiffness of step i in the axial direction is given by:
Ai Ei Ai E
ki   , i  1,2,3
li li
b) Spring stiffness of step i in the axial direction is given by:

1 1 1 1 1  l1 l2 l3  1  l1 A2 A3   l2 A1 A3   l3 A1 A2  

           
keq k1 k 2 k3 E  A1 A2 A3  E  A1 A2 A3 
EA1 A2 A3
 keq 
43 l1 A2 A3   l2 A1 A3   l3 A1 A2 
6. A 200-g block connected to a light spring for which the force
constant is 5.00 N/m is free to oscillate on a frictionless,
horizontal surface. The block is displaced 5.00 cm from
equilibrium and released from rest as in the figure. Find the
period of its motion.

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 6. A car with a mass of 1300 kg is constructed so that its frame
is supported by four springs. Each spring has a force constant of
20000 N/m. Two people riding in the car have a combined mass
of 160 kg. Find the frequency of vibration of the car after it is
driven over a pothole in the road.

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 7. Consider a spring of stiffness k stretched by a distance x from its free
length. One end of the spring is fixed at point O and the other end is
connected to a roller as shown in Fig. below. The roller is constrained
to move in the horizontal direction with no friction. Find the force
(F)-displacement (x) relationship of the spring when the roller is
moved by a horizontal distance x to position B. Discuss the resulting
force-displacement relation and identify the stiffness constant k along
the direction of x.

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 • Let the length of the spring be L
• The spring is undeformed when θ=0.
θ • When the spring is displaced by x as
shown in the figure, the spring is stretched
L by the amount:
  L2  x 2  L

Fs So, the force in the spring (Fs) is given as:

Fx
Fs  k    k  L  x  L
2 2

The spring force Fs along x direction is given by:

Fx  Fs sin  Fs 


x  k

 L  x  Lx
2 2


 L x  L2  x 2
2 2

 L 
 Fx  k 1  x
2 
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 L x 
2
 END

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