Mechanical

Vibrations

Prof. Dr. Kenan Y. Şanlıtürk

[email protected]

Content

1. Introduction to Vibration and Free response

2. Response to Harmonic Excitation
3. General Forced Response
4. Multi-Degree-of-Freedom systems
5. Design for Vibration Suppression

Page 1
 1. Introduction to Vibration and Free response
• Springs and Spring constant
• Torsional Spring Constant
• Helical Springs
• Bending of beams and stiffness constant
• Does wn depend on g?
• Determination of natural frequency using static deflection
• Springs in series and in parallel.

Springs and Spring Constant

Beam in axial motion

 A= Cross sectional area [m2]

 E =Young’s modulus[Pa=N/m2]
l EA  l =Length of the beam[m]
k
 k =Extensional spring constant [N/m]

x(t)

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 Torsional spring constant

 Jp = Polar area moment of inertia of

GJ p the shaft cross section, [m4]
Jp k  J = Mass moment of inertia of the
q(t) disc, [kg-m2]
 G = Shear modulus, [Pa=N/m2 ]
0
J  l = Length of the shaft, [m]

Note: Symbol I is also used for

mass moment of inertia,
area moment of inertia in the literature.

Sample Problem
The properties of a disc-shaft system are given as follows:
Length of the shaft=2 m
Diameter of the shaft=0.5 cm
Mass moment of inertia of the disc =0.5 kg-m2

Determine the natural frequency of the system. (Assume that mass moment of inertia
of the shaft is negligible).

 M  Jq  Jq (t )  kq (t )  0
k
 q (t )  q (t )  0
J
k GJ p d4
 wn   , Jp 
J J 32

GJ p (8 1010 N/m 2 )[ (0.5 102 m) 4 / 32]
wn  
J (2 m)(0.5kg  m 2 )
 2.2 rad/s
 0.35 Hz
Exercise: How can you include the the effect of mass moment of inertia of the shaft?

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Helical springs

Bending Stiffness of Beams

If the mass of the beam is negligible:

3EI
If the mass of the beam is negligible: wn 
m 3

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Example:

 Assume that
 Wing can be approximated as a beam
in bending
 Fuel: mass at the tip of the wing
 Wing mass is negligible
E, I m
Determine the natural frequency of the wing
l and the change of wn as the fuel is burned.
x(t)

The mass of the fuel tank is 100 kg when empty, and 1000 kg when
full. Beam properties: I = 5.2x10-5 m4, E =6.9x109 N/m2, Length = 2 m

3EI 3(6.9 109 )(5.2 105 )

wfull  
m full 3 1000  23
 11.6 rad/s=1.8 Hz
3EI 3(6.9 109 )(5.2 105 )
wempty  
mempty 3
100  23
 36.3 rad/s=5.8 Hz

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Is natural frequency affected by gravitational acceleration?

 In static equilibrium
 F  0  k  mg
Dynamic motion:
 F  mx  k ( x   )  mg
mx  kx  k  mg  0
mx  kx  0 !
BUT:
g g
q (t )  q (t )  0  wn 

Static Displacement and Natural Frequency

 st  Displacement due to the weight of the mass

m at the tip of the spring
mg
mg  k st   st 
k
The symbols xs or x0 are also used for static displacement

If static deflection is known, the ratio of k/m, hence,

natural frequency can be estimated as:

k g k g
k st  mg   ,  wn  
m  st m  st

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Springs in parallel and in series

 Equivalent spring
constant

Recommendations for design:

 Springs with standard spring constants can be selected from

catalogues

 The masses of the individual springs with similar

characteristics are approximately the same.

 Different combinations of springs can be used to control the

natural frequency wn .

 Total deformations should not exceed acceptable levels.

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Example

Determination of Equivalent Spring

Determination of Mass Moment of Inertia (J) About an Axis

Disc: radius r0
Mass m0
Mass moment of inertia: J0

J m
m0 Object:
J0 Mass m
Mass moment of inertia J ?
q

Determine J by vibration measurement ?

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If n number of cables are used,
(m  m0 ) g
Tension in each cable: P  (1)
n
EOM
( J  J 0 )q  n( P sin(  ))r0 (2)
rq
l   r0q    0 (3)
l
For small oscillations, sin(  )   (4)

Insert (1), (3) and (4) in (2)

r0q g (m  m0 )r02
( J  J 0 )q   n( P )r0 =  q
l l
g (m  m0 )r02
( J  J 0 )q  q 0
l

g (m  m0 )r02
wn  Measure wn, then determine J
l(J  J0 )

g (m  m0 )r02
wn 
l(J  J0 )

Measure T: the period of free oscillation

1
fn  Hz
T
2
wn  2 f n 
T

g (m  m0 )r02 2 gT 2 (m  m0 )r02
  J  J0
l(J  J0 ) T 4 2l

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