MEE 442

Chapter 1

Oscillatory
Motion

Introduction
Vibration is the branch of engineering that deals with repetitive motion of
mechanical systems from machine parts to large structures. It is any motion that
repeats itself after an interval of time.

Swinging of a pendulum Mass Spring

MEE442 – Chap 1 2
 Introduction
Simple Vibration Model
m is the mass
k is the stiffness constant
c is the damping constant
k c
The goal of this course is to analyze the system
behavior to various inputs as system parameters
m (mass, stiffness, damping) are varied and to
design systems to have desired behaviors.

In this course we will study the behavior of linear systems only, where the
principle of superposition holds.

MEE442 – Chap 1 3

Periodic Motion
Definition: It is any motion that repeats itself in equal intervals of time τ
𝜏 is the period of motion (s)
𝑓 1/𝜏 is the frequency of motion (Hz)
The motion is periodic if 𝑥 𝑡 𝑥 𝑡 𝜏
x(t)

The period of motion 𝜏 = s

0 1 2 3 4 5 6 t(s)
The frequency of motion 𝑓 = Hz

x(t)

The period of motion 𝜏 = s

The frequency of motion 𝑓 = Hz
0 1 2 3 4 5 6 t(s)
MEE442 – Chap 1 4
 Harmonic Motion
Definition: It is a periodic motion that
can be described by the equation:

𝑥 𝑡 𝐴 𝑠𝑖𝑛 𝜔 𝑡 𝜙

A is the amplitude of motion

ω is the frequency of motion in (rad/s)
ϕ is the phase shift
A harmonic motion can be represented as the projection on a straight line of a point that is
moving on a circle with a constant speed.
y y

P ω is the circular frequency

Α sinω t
A A ω 2π/𝜏 (rad/s)

θ = ωt x ωt

MEE442 – Chap 1 2π 5

Example 1
Problem 1.1
A harmonic motion has an amplitude of 0.2 cm and a period of 0.15 s. Determine the
maximum velocity and acceleration.

MEE442 – Chap 1 6
 Example 2
Problem 1.2
An accelerometer indicates that a structure is vibrating harmonically at 82 cps with a
maximum acceleration of 50 g. Determine the amplitude of vibration.

MEE442 – Chap 1 7

Complex Numbers
𝑅𝑒 𝑧 𝑥 is the real part of z
Standard Form: 𝑧 𝑥 𝐢𝑦 𝐼𝑚 𝑧 𝑦 is the imaginary part of z
𝐢𝟐 𝟏

𝑧 𝐴 is the norm of z
Exponential Form: 𝑧 𝐴𝑒 𝐢 𝐴𝑟𝑔 𝑧 𝜃 is the argument of z

The trigonometric functions sine and cosine are related to the exponential function by
Euler’s Equation:

𝑥 𝐴 cos 𝜃 𝐴 𝑥 𝑦
𝑒𝐢 cos 𝜃 𝐢 sin 𝜃 𝑦 𝐴 sin 𝜃 𝑦
𝜃 tan
𝑥

Complex conjugate: 𝑧 ∗ 𝑥 𝐢𝑦 is the complex conjugate of 𝑧

𝑥 𝑧 𝑧 ∗ /2
𝑦 𝑧 𝑧 ∗ /2𝐢

MEE442 – Chap 1 8
 Complex Numbers
• Let 𝑧 𝑥 𝐢𝑦 and 𝑧 𝑥 𝐢𝑦
Re 𝑧 𝑧 Re 𝑧 Re 𝑧
Addition: 𝑧 𝑧 𝑥 𝑥 𝐢 𝑦 𝑦
Im 𝑧 𝑧 Im 𝑧 Im 𝑧

Re 𝑧 𝑧 Re 𝑧 Re 𝑧
Subtraction: 𝑧 𝑧 𝑥 𝑥 𝐢 𝑦 𝑦 Im 𝑧 𝑧 Im 𝑧 Im 𝑧

• Let 𝑧 𝐴 𝑒𝐢 and 𝑧 𝐴 𝑒𝐢
𝑧 𝑧 𝑧 𝑧
Multiplication: 𝑧 𝑧 𝐴 𝐴 𝑒𝐢 𝐴𝑟𝑔 𝑧 𝑧 𝐴𝑟𝑔 𝑧 𝐴𝑟𝑔 𝑧

Division: 𝑒𝐢 𝑧 /𝑧 𝑧 / 𝑧
𝐴𝑟𝑔 𝑧 /𝑧 𝐴𝑟𝑔 𝑧 𝐴𝑟𝑔 𝑧

MEE442 – Chap 1 9

Example 3
Problem 1.5
Express the complex vector 4+3i in exponential form.

MEE442 – Chap 1 10
 Example 4
Problem 1.6
Add two complex vectors (2 + 3i) and (4 – i). Express the result in exponential form.

MEE442 – Chap 1 11

Fourier Series
Definition: Joseph Fourier (1768 – 1830), a French
mathematician, showed that any periodic motion x(t) can be
represented by a series of sines and cosines as follows:

𝑎
𝑥 𝑡 𝑎 cos 𝜔 𝑡 𝑎 cos 𝜔 𝑡 ……
2
𝑏 sin 𝜔 𝑡 𝑏 sin 𝜔 𝑡 ……

Where: 2𝜋
𝜔 𝜔 𝑛𝜔
𝜏
x(t)
2
𝑎 𝑥 𝑡 cos 𝜔 𝑡 𝑑𝑡
𝜏
a

0 1 2 3 4 5 6 2
t(s) 𝑏 𝑥 𝑡 sin 𝜔 𝑡 𝑑𝑡
𝜏

MEE442 – Chap 1 12
 Example 5 x(t)

Problem 1.9 1.0

Determine the Fourier series for the
rectangular wave shown below.
-π 0 π 2π 3π ω1t

MEE442 – Chap 1 13

Example 5

MEE442 – Chap 1 14
 Vibration Terminology
Peak Value
Indicates the maximum stress that the vibration part is undergoing.

Average Value
1
Is the steady state or the static value. 𝑥̅ lim 𝑥 𝑡 𝑑𝑡
→ 𝑇

Mean Square Value

1
Is the average of the squares of the original values of x(t). 𝑥̅ lim 𝑥 𝑡 𝑑𝑡
→ 𝑇

Root Mean Square

Also known as the rms is the square root of the mean square value. rms 𝑥̅

MEE442 – Chap 1 15

Example 6
Problem 1.13 x(t)

Consider the wave consisting of the positive

portions of a sine wave. Determine:
a – The peak value A

b – The average value

c – Mean square value 0 τ 2τ t(s)

d – rms

MEE442 – Chap 1 16