Mechanical Vibrations

MEC4110
Unit I
Lecture 8

Dr. Arshad Hussain Khan

Department of Mechanical Engineering
Zakir Husain College of Engg. & Technology
Aligarh Muslim University, Aligarh
 Lecture 8
Contents

• Problems on Viscous Damping

 Viscous Damping
Prob 1.
A portion of an automobile suspension system consists of
an elastic spring and a viscous damper, as shown. If the
spring is chosen such that k/m = 40 sec-2, determine the
allowable range of the ratio c/m so that any oscillations
that occur will decay by a factor of 95% within 1 cycle.
Sol.
It is required that x2 = 0.05 x1

Thus, in order for an oscillation to decay at the desired rate, the damper must be chosen
such that
 Viscous Damping
Prob 2.
Assuming that the phase angle is zero, show that the response x(t) of an underdamped single degree-
of-freedom system reaches a maximum value when
a minimum value when
Further show that the equations of the curves passing through the maximum and minimum values of
x(t) are given, respectively, by
and
Sol.

Contd….
Prob 2. Contd… Viscous Damping

and
i.e
Prob 3. Viscous Damping
An underdamped shock absorber is to be designed for a motorcycle of mass 200 kg (Fig. (a)). The
resulting displacement-time curve is to be as indicated in Fig. (b). Find the necessary stiffness and
damping constants of the shock absorber if the damped period of vibration is to be 2 s and the amplitude
is to be reduced to one-fourth in one half cycle. Also find the minimum initial velocity that leads to a
maximum displacement of 250 mm.
Sol.

The displacement of the mass will attain its maximum value at time t1 given by:

Contd….
Prob 3. Contd… Viscous Damping

The envelope passing through the maximum is given by:

(1)

Since x = 250 mm, Eq. (1) gives at t = t1

The velocity of the mass can be obtained by differentiating the displacement

(2)

For t =0 Eq. (2) gives

 Viscous Damping

Prob 4. Derive the equation of motion and find the natural frequency of vibration.

Sol. Newton’s Second Law gives

(1)

(2)

From (2) (3)

Back substituting from Eq. (3) in Eq. (1)

(4)

FBD
 Viscous Damping

Prob 5. Derive an expression for the time at which the response of a critically damped system will attain its
maximum value. Also find the expression for the maximum response.
Sol. Response of Critically damped system is:

For x0>0, the response for different is shown in Fig.

Assuming , as it is the only case which gives a maximum

Hence tm corresponds to maximum of x(t)

 Viscous Damping

Prob 6. The maximum permissible recoil distance of a gun is specified as 0.5 m. If the initial recoil velocity
is to be between 8 m/s and 10 m/s, find the mass of the gun and the spring stiffness of the recoil
mechanism. Assume that a critically damped dashpot is used in the recoil mechanism and the mass
of the gun has to be at least 500 kg.
Sol. The response of a critically damped system is:

(1)

(2)

Let tm be the time at which

Given the initial recoil velocity
From Eq. (2) putting
(3)
From Eq. (1) putting and t = tm
(4)
Thank you and
queries?
 Mechanical Vibrations
MEC4110
Unit I
Lecture 7

Dr. Arshad Hussain Khan

Department of Mechanical Engineering
Zakir Husain College of Engg. & Technology
Aligarh Muslim University, Aligarh
 Lecture 7
Contents

• Logarithmic Decrement

• Energy Dissipated in Viscous Damping

• Free Vibration with Coulomb damping

• Salient Features of Coulomb Damping

 Viscous Damping
Logarithmic Decrement (d)
It represents the rate at which the amplitude of free-damped vibration decreases.
Defined as the natural logarithm of the ratio of any two successive amplitudes.

If t1 and t2 denote the times corresponding to two consecutive

amplitudes one cycle apart.

logarithmic decrement “d” is given by

The damping can be determined experimentally by measuring any two consecutive displacements.

The damping ratio can also be found by measuring two displacements separated by any number of
complete cycles. If x1 and x2 denote the amplitudes corresponding to times t1 and tm+1= t1 + mtd where m is
an integer.
 Energy Dissipated in Viscous Damping
The rate of change of energy with time (dW/dt) with viscous
damping:
-ve sign indicates that energy dissipates with time
Assuming SHM:
The energy dissipated in a complete cycle:

(1)
Energy dissipated is proportional to the square of the amplitude of motion.
Eq. (1) is valid even when there is a spring of stiffness k parallel to the viscous damper

The total force resisting motion

Assuming SHM

Energy dissipated in a complete cycle

The spring force will not do any net work over a complete cycle or any integral number of cycles.

Specific damping capacity Fraction of the total energy of the vibrating system that is
dissipated in each cycle of motion
The total energy of the system W can be expressed either as the maximum potential energy or
as the maximum kinetic energy

The loss coefficient is defined as the ratio of the energy dissipated per radian and the total strain energy:
 Free Vibration with Coulomb Damping
In vibrating structures, as the components slide relative to each other, dry-friction damping appears internally

Coulomb’s law of dry friction states that, when two bodies are in contact, the force required to produce
sliding is proportional to the normal force acting in the plane of contact.

The friction force F is given by: m is the coefficient of sliding or kinetic friction.

The friction force acts in a direction opposite to the direction of velocity.

Coulomb damping is also called constant damping, since the damping force is independent of the
displacement and velocity; it depends only on the normal force N between the sliding surfaces.

Single-degree-of-freedom system with dry friction

Since the friction force varies with the direction of velocity, we need to consider two cases Figs. (b) & (c)

Case 1. When x is positive and dx/dt is positive or when x is negative and dx/dt is positive (i.e., for the
half cycle during which the mass moves from left to right), Fig. (b)
(1)
Second-order nonhomogeneous differential equation. The solution is: (2)
A1 & A2 are constants whose values depend on the initial conditions of this half cycle.
 Free Vibration with Coulomb Damping
Case 2. When x is positive and dx/dt is negative or when x is negative and dx/dt is negative (i.e., for the
half cycle during which the mass moves from right to left), Fig. (c)

(3)
(4)
A3 & A4 are constants whose values depend on the initial conditions of this half cycle.

The term mN/k is a constant representing the virtual displacement of the spring under the force mN, if it were
applied as a static force.
Equations (2) and (4) indicate that in each half cycle the motion is harmonic, with the equilibrium position
changing from, mN/k to -(mN/k) every half cycle.

Equations (1) and (3) can be expressed as a single equation: (5)

where sgn(y) is called the signum function, whose value is defined as 1 for y>0; -1 for y<0; 0 for y=0

Equation (5) is a nonlinear differential equation for which a simple analytical solution does not exist.
Equation (5), however, can be solved analytically if we break the time axis into segments separated by
(i.e., time intervals with different directions of motion)
Let us assume the initial conditions as: (6)
That is, the system starts with zero velocity and displacement x0 at t = 0, the motion starts from right to left.
Let x0 , x1 , x2 , ….. denote the amplitudes of motion at successive half cycles.

Using Eqs. (4) and (6), we can evaluate the constants A3 and A4

Eq. (4) becomes (7)

 Free Vibration with Coulomb Damping
This solution given by Eq. (7) is valid for half the cycle only that is, for
the mass will be at its extreme left position and its displacement from equilibrium position

From Eq. (7) (8)

The motion started with a displacement of x=x0 and, in a half cycle, the value of x becomes

The reduction in magnitude of x in time

In the second half cycle, the mass moves from left to right so Eq. (2) is to be used

The initial conditions for this half cycle are in Eq. (7)

in Eq. (7)

Thus the constants in Eq. (2):

Thus Eq. (2) becomes: (9)

This equation is valid only for the second half cycle that is
At the end of this half cycle the value of x(t) is in Eq. (9)

in Eq. (9)
 Free Vibration with Coulomb Damping
These become the initial conditions for the third half cycle, and the procedure can be continued until the
motion stops.

The motion stops when

since the restoring force exerted by the spring (k x) will then be less than the friction force

Thus the number of half cycles (r) that elapse before the motion ceases is given by:

(10)
 Free Vibration with Coulomb Damping

Salient Features of Coulomb Damping

 The equation of motion is nonlinear with Coulomb damping, while it is linear with viscous damping.
 The natural frequency of the system is unaltered with the addition of Coulomb damping, while it is
reduced with the addition of viscous damping.
 The amplitude reduces linearly with Coulomb damping, whereas it reduces exponentially with
viscous damping.
 The final position of the mass is usually displaced from equilibrium position and represents a
permanent displacement in which the friction force is locked. Slight tapping will usually make the
mass come to its equilibrium position.
 The system comes to rest after some time with Coulomb damping, whereas the motion theoretically
continues forever (perhaps with an infinitesimally small amplitude) with viscous and hysteresis
damping.
 The amplitude reduces linearly with Coulomb damping, whereas it reduces exponentially with
viscous damping.
Thank you and
queries?
 Mechanical Vibrations
MEC4110
Unit I
Lecture 6

Dr. Arshad Hussain Khan

Department of Mechanical Engineering
Zakir Husain College of Engg. & Technology
Aligarh Muslim University, Aligarh
 Lecture 6
Contents

• Effect of Inertia of the Constraint

• Free Vibration with Viscous damping

• Under Damping
 Effect of Mass of Spring on the natural frequency in longitudinal vibration

Let l be the total length of the spring. If x denotes the displacement of the lower end of the spring (or mass
m), the displacement at distance y from the support is given by y(x/l).
The kinetic energy of the spring element of length dy is

The total kinetic energy of the system:

The total potential energy of the system:

Assuming a harmonic motion:

X is the maximum displacement of the mass and wn is the natural frequency,

The maximum kinetic and potential energies are:

Tmax = Umax gives

The effect of the mass of the spring can be accounted for by adding one-third of its mass to the main mass
 Effect of Mass of Constraints on the natural frequency in transverse vibration
The static deflection of a cantilever beam under a concentrated end load

the velocity variation,

The maximum kinetic energy of the beam itself is given by

where m is the total mass and (m/l) is the mass per unit length of the beam

(A)

If meq.denotes the equivalent mass of the cantilever at the free end, its maximum kinetic energy can be
expressed as
(B) From (A) & (B)

The effect of the mass of cantilever can be accounted for by adding 33/140 of its mass to the main mass at
the free end
 Free Vibration with viscous damping
The viscous damping force F is proportional to the velocity or v and can be
expressed as
where c is the damping constant or coefficient of viscous damping and the
negative sign indicates that the damping force is opposite to the direction of
velocity.

single-degree-of-freedom system with a viscous damper

If x is measured from the equilibrium position of the mass m
Application of Newton s law gives the equation of motion: (1)

Assuming the solution of the form (2) C and s are constants

Back substituting, Eq. (1) leads to the characteristic equation (3)

(4)

These roots give two solutions to Eq. (1) (5)

Thus the general solution of Eq. (1) is given by a combination of the two solutions
(6)

where C1 & C2 are arbitrary constants to be determined from the initial conditions of the system.
 Free Vibration with viscous damping
Critical Damping Constant and the Damping Ratio

The damping is said to be critical for the value of the damping constant c for which the radical in Eq. (6)
becomes zero:
(7)

For a damped system the ratio of the actual damping constant to the critical damping constant is referred to as
damping factor or damping ratio

From Eq. (4)

The general solution given by Eq. (6) can be written as: (8)

Case 1. Underdamped system

(9)

are arbitrary constants to be determined from the initial conditions.

 Free Vibration with viscous damping

(10)

The motion described by Eq. (10) is a damped harmonic motion of angular frequency

The amplitude decreases exponentially with time,

Eq. (10)
Thank you and
queries?
 Mechanical Vibrations
MEC4110
Unit I
Lecture 5

Dr. Arshad Hussain Khan

Department of Mechanical Engineering
Zakir Husain College of Engg. & Technology
Aligarh Muslim University, Aligarh
 Lecture 5
Contents
• Free Undamped Vibration of Single DOF system

• Spring Mass System in Vertical position

• General solution

• Undamped Torsional Systems

• Problems on Free undamped vibration

 Free Vibration of an Undamped Translational System

If a system is left to vibrate on its own after giving an initial disturbance with no external forces acting
afterward, the system is said to be in free vibration.
In a single-degree-of-freedom system, only one coordinate is sufficient to specify the position of the mass
at any time

Newton’s Second Law of Motion:

D’ Alembert’s Principle:

These equations can be considered equilibrium equations provided that are treated as a
force and a moment. This fictitious force (or moment) is known as the inertia force (or inertia
moment) and the artificial state of equilibrium is known as dynamic equilibrium.
 Free Vibration of an Undamped Translational System

Principle of Conservation of Energy:

A system is said to be conservative if no energy is lost due to friction or energy-dissipating non-
elastic members. If no work is done on a conservative system by external forces (other than gravity
or other potential forces), then the total energy of the system remains constant. Since the energy of
a vibrating system is partly potential (U) and partly kinetic (T), the sum of these two energies
remains constant.

Principle of Virtual Displacements:

If a system which is in equilibrium under the action of a set of forces, is subjected to a virtual
displacement, then the total virtual work done by the forces will be zero.

Since the virtual displacement can have an arbitrary value

 Spring-Mass System in Vertical Position

Newton’s Second Law:

This indicates that when a mass moves in a vertical direction, we can ignore its
weight, provided we measure x from its static equilibrium position.
 Solution of Governing Equation
The governing equation of motion of a single degree of freedom spring mass system undergoing
free undamped vibration is: (1)
Assuming the solution of the form: C and s are constants to be determined
Back substituting in Eq. (1) (2)
Since C cannot be zero for possible case of vibration, we have
auxiliary or the characteristic equation

eigenvalues or the characteristic values

The general solution (3) C1 and C2 are constants to be determined

By using the identities
From Eq. (3) x(t)=C1 cos𝜔𝑛 𝑡 + 𝑖sin𝜔𝑛 𝑡 + C2 cos𝜔𝑛 𝑡 − 𝑖sin𝜔𝑛 𝑡
x(t ) = C1 + C2 )cos𝜔𝑛 𝑡 + 𝑖 C1 − C2 )sin𝜔𝑛 𝑡

The constants C1 and C2 or A1 and A2 can be determined from the initial conditions of the system. Two
conditions are to be specified to evaluate these constants uniquely. Generally the initial conditions
specified are the values of displacement x(t) and velocity at t = 0:

(4)

Since Eq. (4) represents simple harmonic motion, the spring-mass system itself is called a harmonic

oscillator. The quantity represents the system’s natural frequency of vibration.

 Different forms of the solution

Assuming
where A and f are the new constants, which can be expressed in terms of A1 and A2 as

The solution becomes

Assuming

The solution becomes

Graphical representation of the motion of a harmonic oscillator

 Free Vibration of an Undamped Torsional System
If a rigid body oscillates about a specific reference axis,
the resulting motion is called torsional vibration. The
restoring moment in such cases may be due to the
torsion of an elastic member or due to the unbalanced
moment of a force or couple.

The shaft acts as a torsional spring with a torsional

spring constant

Based on Newton s second law of motion

the governing equation of motion is

polar mass moment of inertia

the natural circular frequency of the torsional system

the period and frequency of vibration in cycles per second are

The polar mass moment of inertia of a disc is given by

Where r is the mass density, h is the thickness, D is the diameter, and W is the weight of the disc.
 Solution of Governing Equation
The governing equation of motion is:
(1)

The general solution

(2)

The initial conditions (3)

 Problems: Free Undamped Vibration
Find the natural frequency of the system shown in Fig. with and
without the springs in the middle of the elastic beam.

Sol.
 Problems: Free Undamped Vibration
Find the natural frequency of the pulley system shown in Fig. by neglecting the
friction and the masses of the pulleys.

Sol.

FBD
 Problems: Free Undamped Vibration
A weight W is supported by three frictionless and massless pulleys and a spring of
stiffness k, as shown in Fig. Find the natural frequency of vibration of weight W for
small oscillations.
Sol.

FBD
 Problems: Free Undamped Vibration
A helical spring of stiffness k is cut into two halves and a mass m is connected to the two halves as shown in
Fig. The natural time period of this system is found to be 0.5 s. If an identical spring is cut so that one part is
one-fourth and the other part three-fourths of the original length, and the mass m is connected to the two
parts as shown in Fig., what would be the natural period of the system?

Sol.
 Problems: Free Undamped Vibration
Draw the free-body diagram and derive the equation of motion of the system

Sol.

FBD

OR
 Problems: Free Undamped Vibration

Sol.
Thank you and
queries?
 Mechanical Vibrations
MEC4110
Unit I
Lecture 4

Dr. Arshad Hussain Khan

Department of Mechanical Engineering
Zakir Husain College of Engg. & Technology
Aligarh Muslim University, Aligarh
 Lecture 4
Contents
• Harmonic Analysis

• Terminology

• Fourier Series

• Gibbs’ Phenomenon

• Problems on Fourier Series

 Harmonic Analysis
 If the motion is repeated after equal intervals of time, it is called periodic motion. The
simplest type of periodic motion is harmonic motion.
 The motion imparted to the mass m due to the Scotch yoke mechanism is SHM.
Displacement of the mass from its middle position:

The velocity of the mass m at time t is given by:

Acceleration
 Definitions and Terminology
Cycle: A complete cycle of vibration occurs when the object moves from one
extreme position to the other extreme, and back again.

Amplitude: The maximum displacement of a vibrating body from its equilibrium

position is called the amplitude of vibration.

Period of oscillation: The time taken to complete one cycle of motion is known as the
period of oscillation or time period (t).

Where w is called the circular frequency in rad./sec.

Frequency of oscillation: The number of cycles per unit time is called the frequency
of oscillation or simply the frequency and is denoted by f and is measured in cycles
per second (hertz).
 Definitions and Terminology
Phase angle: Consider two vibratory motions denoted by

The two harmonic motions are called synchronous because they have the same
frequency or angular velocity, Two synchronous oscillations need not have the same
amplitude, and they need not attain their maximum values at the same time.

The second vector OP2 leads the first one OP1 by an angle f known as the
phase angle.

Natural frequency: If a system, after an initial disturbance, is left to vibrate on its own,
the frequency with which it oscillates without external forces is known as its natural
frequency. In general a vibratory system having n degrees of freedom will have n
distinct natural frequencies of vibration.
 Fourier Series
In many cases the vibrations are periodic but non harmonic. However, any periodic
function of time can be represented by Fourier series as an infinite sum of sine and
cosine terms.

If x(t) is a periodic function with period its Fourier series representation is given by

Although the series is an infinite sum, however

most periodic functions can be approximated with
the help of only a few harmonic functions.
 Gibbs’ Phenomenon
When a periodic function is represented by a Fourier series, it is normally expected
that with the increase in number of terms (n), the approximation should improve,
however an anomalous behaviour is observed and the approximation can be seen
to improve everywhere except in the vicinity of the discontinuity.

For example, while approximating a triangular wave using Fourier series with
different number of terms, it can be seen that as the number of terms (n) increases,
the approximation can be seen to improve everywhere except in the vicinity of the
discontinuity (point P). Here the deviation from the true waveform becomes
narrower but not any smaller in amplitude. This behaviour is known as Gibbs
phenomenon.
 Fourier Series
Ques: The impact force created by a forging hammer
can be modelled as shown in Fig. Determine the Fourier
series expansion of the impact force.
Fourier Series
 Fourier Series
Ques: Determine the Fourier series expansion of the
periodic function shown in the Figure.
Fourier Series
Thank you and
queries?
 Mechanical Vibrations
MEC4110
Unit I

Dr. Arshad Hussain Khan

Department of Mechanical Engineering
Zakir Husain College of Engg. & Technology
Aligarh Muslim University, Aligarh
 Lecture 3
Contents
• Mass or Inertia Element

• Combination of Masses

• Equivalent Mass

• Damping Elements
 Mass or Inertia Elements

 A mathematical model represents the actual

vibrating system, and there are often several
possible models.
 The purpose of the analysis generally determines
which mathematical model is appropriate.
 For eg. In case of modelling a multi-storey building
subjected to an earthquake, one possibility is that
the mass of the frame may be neglected compared
to the masses of the floors.
 The masses at the various floor levels represent the
mass elements, and the elasticities of the vertical
members denote the spring elements.
 Combination of Massess
Several masses appear in combination in many practical applications. For
simplicity, we can replace these masses by a single equivalent mass.
 Translational Masses Connected by a Rigid Bar
Equivalent mass can be assumed to be located at any
point along the bar.
For e.g. if we wish to convert the three mass system
into a single mass system with equivalent mass at
location A.

From the equivalence of the kinetic energy of the three-

mass system to that of the equivalent single mass
system.
 Translational and Rotational Masses
Coupled Together
The two masses can be combined into either:
(1) A single equivalent translational mass, or
(2) A single equivalent rotational mass

Equivalent translational mass

kinetic energy of the original system (two masses)

kinetic energy of the equivalent system (Translational single mass)

Equivalence of kinetic energy

Equivalent rotational mass

kinetic energy of the original system (two masses)

kinetic energy of the equivalent system (Rotational single mass)

 Equivalent Mass
Ques: A cam-follower mechanism is used to convert the
rotary motion of a shaft into the oscillating or reciprocating
motion of a valve. The follower system consists of a pushrod
of mass mp rocker arm of mass mr and mass moment of
inertia Jr about its C.G., a valve of mass mv and a valve
spring of negligible mass. Find the equivalent mass meq. of
this cam-follower system by assuming the location of meq. as
(i) point A and (ii) point C.

Sol.: Corresponding to displacement x= xp of the pushrod,

the rocker arm rotates by an angle about the
pivot point,
the valve moves downward by
and the C.G. of the rocker arm moves downward by

kinetic energy of the original system:

Case 1 If equivalent mass “meq.” is placed at point A ( )

Equivalence of kinetic energy

Case 2 If equivalent mass “meq.” is placed at point C ( )

Equivalence of kinetic energy

 Equivalent Stiffness and Mass Thin Disc
Pulley
Determine keq and meq for the system, when x, the
displacement of the center of the disk measured from
equilibrium, is used as the generalized coordinate,
Assume the disk is thin and rolls without slip.
Sol.:
 Equivalent Mass
Find the equivalent mass “meq” of the system shown
in the Figure.

Sol.:

Total kinetic energy of the original system:

For sphere: Mass M.I. = 2/5 ms rs2

Equivalence of kinetic energy
 Damping Element
Damping The mechanism by which the vibrational energy is gradually converted into
heat or sound.
A damper is assumed to have neither mass nor elasticity, and damping force exists only if
there is relative velocity between the two ends of the damper.
Damping is modelled as one or more of the following types:
• Viscous Damping: When mechanical systems vibrate in a fluid medium such as air, gas, water, or oil, the
resistance offered by the fluid to the moving body causes energy to be dissipated. In viscous damping, the
damping force is proportional to the velocity of the vibrating body. Typical examples include (1) fluid film
between sliding surfaces, (2) fluid flow around a piston in a cylinder, (3) fluid flow through an orifice, and
(4) fluid film around a journal in a bearing.

• Coulomb or Dry-Friction Damping: Damping force is constant in magnitude but opposite in direction to
that of the motion of the vibrating body. It is caused by friction between rubbing surfaces that either are
dry or have insufficient lubrication.

• Material or Solid or Hysteretic Damping: When a material is deformed, energy is absorbed and
dissipated by the material due to friction between the internal planes, which slip or slide as the
deformations take place. When a body having material damping is subjected to vibration, the stress-strain
diagram shows a hysteresis loop. The area of this loop denotes the energy lost per unit volume of the
body per cycle due to damping
Thank you and
queries?
 Mechanical Vibrations
MEC4110
Unit I

Dr. Arshad Hussain Khan

Department of Mechanical Engineering
Zakir Husain College of Engg. & Technology
Aligarh Muslim University, Aligarh
 Lecture 2
Contents
• Vibration Analysis Procedure

• Mathematical Modelling

• Combination of springs

• Equivalent Stiffness
 Vibration Analysis Procedure
• Mathematical Modeling
 Represent all the important features of the system for deriving the
mathematical (or analytical) equations governing the behaviour of the
system.
 Involves great deal of engineering judgment to come up with a suitable
mathematical model.
 Start with elementary model to get a quick insight into the overall behaviour
of the system and subsequently, the model is refined.

• Derivation of Governing Equations

Principles of dynamics employed for deriving the equations that describe the
vibration of the system. These equations are either differential equations or
integro-differential equations.

• Solution of the Governing Equations

Standard methods of solving differential equations, Laplace transform
methods, matrix methods, and numerical methods may be employed to
get the response of vibrating system.
• Interpretation of the Results
The response results in terms of displacement, velocity, acceleration, strain
or stress are interpreted for the possible design implications of the
results.
 Mathematical Modeling
Ques. Physical system representing a rider driving a bike. Develop
a sequence of three step mathematical model to investigate the vertical
vibration of the bike. Consider the elasticity of tyres, elasticity and
damping of struts (in vertical direction, mass, elasticity and damping of
rider and masses of the wheel.

First Step (Crudest Model, Single DOF model): Total mass of

bike, wheels and rider = meq , Equivalent stiffness of rider,
tyres and struts = Keq, Equivalent damping of rider and struts
= Ceq

Second Step (Refined Model)

OR

Third Step (Re-Refined Model)

Note: Mathematical models are not unique.

 Mathematical Modeling
Ques. An automobile moving over a rough road can be modeled
considering (a) weight of the car body, passengers, seats, front wheels,
and rear wheels; (b) elasticity of tyres (suspension), main springs, and
seats; and (c) damping of the seats, shock absorbers, and tires. Develop
three mathematical models of the system using a gradual refinement in
the modeling process.

First Step (Crudest Model, Single DOF model): Total mass of car
body, passenger, seats and wheels and rider = meq , Equivalent
stiffness of tyres, springs and seats = Keq, Equivalent damping of
seats, shock absorber and tyres= Ceq
Third Step (Re-Refined Model)
Second Step (Refined Model)

Note: This is not a unique solution.

 Combination of Springs

Springs in Parallel.

Springs in Series.

In many applications, springs are connected to rigid components such as pulleys, levers, and gears. In
such cases, an equivalent spring constant can be found using energy equivalence.
 Equivalent Stiffness
Ques: A hinged rigid bar of length l is connected by two springs of
stiffnesses k1 and k2 and is subjected to a force F as shown. Assuming that
the angular displacement(q) of the bar is small, find the equivalent spring
constant of the system that relates the applied force F to the resulting
displacement x.
 Equivalent Stiffness
Ques: Find the equivalent spring constant of the system in the
direction of q.

Ques: Figure shows an air spring. This

type of spring is generally used for
obtaining very low natural frequencies
while maintaining zero deflection under
static loads. Find the spring constant of
this air spring by assuming that the
pressure p and volume v change
adiabatically when the mass m moves.
 Problems
Ques 1: Find the equivalent spring constant of the system
shown in Fig. in the direction of the load P.

Ques 2: Derive the expression for the equivalent spring constant

that relates the applied force F to the resulting displacement x of
the system shown in Fig.. Assume the displacement of the link to
be small.
Thank you and
queries?
 Mechanical Vibrations
MEC4110
Unit I

Dr. Arshad Hussain Khan

Department of Mechanical Engineering
Zakir Husain College of Engg. & Technology
Aligarh Muslim University, Aligarh
 Lecture 1
Contents
• Overview & Introduction

• Parts of a vibrating system

• Degrees of Freedom

• Discrete and Continuous Systems

• Classification of vibrations
Syllabus
 Introduction
Any periodic motion of the particles of an elastic body or medium in alternately
opposite directions from the position of equilibrium when that equilibrium has been
disturbed is referred to as vibration. Alternatively “Any motion that repeats itself after
an interval of time is called vibration or oscillation”.

Most human activities involve vibration in one form or other:

• We hear because our eardrums vibrate and see because light waves undergo
vibration.
• Breathing is associated with the vibration of lungs and walking involves
(periodic) oscillatory motion of legs and hands. Human speech requires the
oscillatory motion of larynges (and tongues).

Vibration studies have huge engineering applications in the design of machines,

foundations, structures, engines, turbines, and control systems.
• The structural/machine component subjected to vibration can fail because of
material fatigue resulting from the cyclic variation of the induced stress.
• Vibration may cause rapid wear of machine parts such as bearings and gears
and also creates excessive noise.
• Vibration can loosen fasteners such as nuts in machines. In metal cutting
process vibration can cause chatter, which leads to a poor surface finish.
 Elementary Parts of Vibrating Systems
Vibration of a system involves the transfer of its potential energy to kinetic energy and
vice-versa, alternately.
For a damped system, some energy is dissipated in each cycle of vibration and must
be replaced by an external source if steady state of vibration is to be maintained.
Vibrating system in general will have:
• Means for storing potential energy (spring or elasticity)

• Means for storing kinetic energy (mass or inertia),

• Means by which energy is gradually lost (damper).

Vibration of a simple pendulum.
Bob of mass m be released after being given an angular displacement at position 1.
The velocity and K.E. is zero at 1. But the P.E. is mgl (1 - cos q) w.r.t. to datum 2.
The gravitational force mg induces a torque mgl sinq about the point O, the bob starts
swinging to the left from position 1.
The bob experiences angular acceleration in the clockwise direction, and by the time it
reaches position 2, all of its P.E. gets converted into K.E.. Hence the bob will not stop in
position 2 but will continue to swing to position 3.
However, as it passes the mean position 2, a counterclockwise torque due to gravity starts
acting on the bob and causes the bob to decelerate.
All the kinetic energy of the bob will be converted to potential energy at 3.
Again due to the gravity torque, the bob continues to attain a counterclockwise velocity.
This process keeps repeating, and the pendulum will have oscillatory motion.
Some energy is dissipated in each cycle of vibration due to damping by the air.
 Degrees of Freedom
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 DOF of the system.

Two DOF
Single DOF
Three DOF

Discrete and Continuous Systems.

Systems with a finite number of degrees of freedom are called discrete or lumped parameter systems, and
those with an infinite number of degrees of freedom are called continuous or distributed systems.

Continuous systems are most of the time approximated as discrete systems. Although treatment of a
system as continuous gives exact results, the analytical methods available for dealing with continuous
systems are limited.
 Classification of Vibration

• Free and Forced Vibration:

Free Vibration No external force acts on the system. The system is left to vibrate on its own, after giving initial
disturbance.
Forced Vibration System is subjected to an external force (often, a repeating type of force). If the frequency
of the external force coincides with one of the natural frequencies of the system, a condition
known as resonance occurs leading to large oscillations.

• Undamped and Damped Vibration

In undamped vibrations no energy is lost or dissipated in friction or other resistance during vibrations.
In damped vibrations energy is lost or dissipated.

• Linear and Nonlinear Vibration

If all the basic components of a vibratory system the spring, the mass, and the damper behave linearly, it is
referred to as linear vibration.
If, cases where any of the basic components behave nonlinearly, the vibration is called nonlinear
vibration. The differential equations governing the behaviour may be linear or nonlinear as the case may
be. The superposition principle is not valid for nonlinear systems.

• Deterministic and Random Vibration

In case of deterministic vibrations, the magnitude of the excitation/input (force or motion) acting on a vibratory
system is known(deterministic) at any given time.
If the excitation is nondeterministic or random, the vibration is referred to as random and the response is
described in terms of statistical quantities.
Thank you and
queries?