DYNAMICS AND VIBRATION

(DE ZG611)
INSTRUCTOR’S INFORMATION

Name : Dr. Sabareesh.G.R

Phone : 040-66303655 (Office)

8185919590 (Mobile)
Email : [email protected]
BOOKS
Text Book

• "Elements of Vibration analysis", Leonard Meirovitch, McGraw-Hill,

Singapore, 1986.

Reference Books
1. "Theory of Vibrations with Applications", William T. Thomson, Marie
Dillon Dahleh and Chandramouli Padmanabhan, Pearson, Sixth Ed.
2. "Mechanical Vibrations - Theory and Application", Francis S. Tse, Ivan
E. Morse and Rolland T. Hinkle, Allyn and Bacon Inc. London, 1983.
3. "Classical Dynamics", Donald T. Greenwood, Prentice Hall Inc.
Englewood Cliffs, 1977
4. "Lagrangian and Hamiltonian mechanics" M.G. Calkin, World
Scientific, Singapore, 1996
 COURSE PLAN

Vibration of continuous systems

Self-Excited Vibrations

Random and Non-Linear Vibrations

MDOF Systems

Forced Vibration-SDOF Systems

Free Vibration-SDOF Systems

Causes and Reasons for vibration

Fundamental concepts of vibration

 Common Terms

MDOF

Damping
BASICS
System
• Aggregation of components acting
together as a whole
• For mechanical systems- Oscillatory
motion is – Vibrations
• Any motion that repeats itself after an
interval of time-vibration or oscillation
• Bodies possessing mass and elasticity –
capable of vibrations
• Example: Swinging of pendulum, motion of
plucked string
• How systems respond to various stimuli or
excitations?- Required for design of
structures
 Vibration good or bad??
Musical Instruments Eardrums vibrate Machines

Wind on structures Earth Quakes

 Why should I study vibration
• Tachoma Narrows Bridge (1940)
 Engineering applications of vibrations

 Design of machines
 foundations
 structures
 engines
 turbines

Causes & Reasons:

Imbalances in rotating parts, uneven friction, improper meshing of gear teeth
 Vibratory equipment

Vibratory conveyors
Hoppers
Washing machines
Dentists drills
 History
• Pythagoras investigated musical sounds on a scientific basis
Conducted experiments on a vibrating string using monochord

• Galileo observed swinging lamp in the church.

Found that time period was independent of amplitude of swing.

• Bernoulli investigated possibility of a string vibrating with several of

its harmonics present at same time.
 Harmonic Motion Balance wheel of watch

• Motion repeated in equal intervals of time- Periodic

Motion
• Repetition time- period of oscillation (τ)
•
• Simplest form of periodic motion- Harmonic Motion

• Represented as projection on straight line of a point

moving on a circle at constant speed
• Displacement
•
•
• Velocity and acceleration are also harmonic with
same frequency of oscillation, but will lead
displacement by radians.

• Acceleration is proportional to displacement and is

directed towards the origin
 Types of Systems

• Discrete System/Lumped Parameter Systems: Systems with

finite number of degrees of freedom

• Continuous or Distributed Systems: Systems with infinite

degrees of freedom
 Infinite number of mass points
 Infinite number of coordinates required to specify its deflected
configuration

• Structural and machine systems –have many deformable,

elastic members, so infinite degrees of freedom

14 BITS Pilani, Hyderabad Campus

 Types of Vibrations

• Free and Forced vibrations

• Damped and Undamped vibrations
• Linear and Non-linear vibrations
• Deterministic and Random vibrations
• Longitudinal, Transverse and Torsional vibrations

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 Types of Vibrations (Contd.,)

Free Vibrations
 System oscillates under action of forces inherent in system and
external forces are absent
 System after initial disturbance is left to vibrate on its own
 System will vibrate at one or more of its natural frequencies

Natural frequency:
 Frequency at which system tends to oscillate in absence of any
driving or damping force
 Property established by its mass and stiffness distribution
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 Types of Vibrations (Contd..,)

Forced Vibrations
 System subjected to an external force( often repeating force)
 Oscillations arising from diesel engines

Resonance:
 Frequency of external force coincides with one of natural
frequencies of system, system undergoes dangerous large
oscillations
 For example; failure of bridges, turbines and airplane wings
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 Types of Vibrations (Contd..,)

Damped Vibrations
 The vibratory system contains a damper
 The motion of the system is opposed by damper and the energy
is dissipated in the form of friction

Undamped Vibrations
 The vibratory system does not have the damper
 No opposite force and no dissipation in the form of friction

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 Types of Vibrations (Contd..,)

Linear Vibrations
 The elements of the vibratory system behaves in a linear
manner
 These are governed by linear differential equations and follow
law of superposition

Non-linear Vibrations
 The components of the vibratory system behaves in a non-
linear manner
 These does not follow law of superposition

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 Types of Vibrations (Contd..,)

Deterministic Vibrations
 Simplest form of simple harmonic motion (periodic motion)
 The magnitude of force acting on the vibratory system is
known at any given point of time
Random Vibrations
 In some cases, the magnitude of vibration can’t be predicted
 These does not follow law of superposition

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 Types of Vibrations (Contd..,)

Longitudinal, Transverse and Torsional Vibrations

 In longitudinal vibrations, the mass of the system moves
parallel to the axis
 In transverse vibrations, the mass of the system moves
perpendicular to the axis
 In torsional vibrations, the spindle twists/untwists about the axis

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 Vibration Terminology

• Amplitude – the maximum displacement of a vibrating body

from its equilibrium position
• Time period – the time required to complete one complete cycle
• Frequency – the number of cycles per unit time

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 Vibration Terminology (Contd.,)

• Phase angle (φ) – the phase difference corresponding to one

complete cycle
x  Asin t
1

x  Asin t  
2

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Vibration Terminology (Contd.,)

Peak Value: Maximum stress that the vibrating part is

undergoing
Average value: A steady or static value

Square of displacement is associated with energy of

vibration for which mean square value is a measure.

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Vibration Terminology (Contd.,)

Mean Square value is found from average of squared values integrated

over some time interval T

Root mean square value: Square root of mean square value.

Octave: When upper limit of frequency range is twice the lower limit,
frequency span is said to be an octave.

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• Adapted from
• (1) "Theory of Vibrations with Applications",
William T. Thomson, Marie Dillon Dahleh and
Chandramouli Padmanabhan, Pearson, Sixth Ed.
• (2) "Mechanical Vibrations", Singiresu S Rao,
Pearson, 4th Ed.

For remaining portions, refer class notes taken

down during lecture