Chapter 5

LINEAR VIBRATION:
AN INTRODUCTION

1
Features

• Classification
• Main steps of analysis
• Modeling of vibratory systems
• DOF of planner mechanical systems

2
What is vibration?!!
It is oscillation or repetitive motion of an
object around an equilibrium position.

3
What is vibration?!!
Do we have to consider "vibration" when designing?!!

4
Classification
Classifications of Vibration

Source Damping

Free Forced Damped Undamped

Excitation Behavior

Deterministic Random Linear Nonlinear

5
Classification
• The following types of vibratory motion are important from the subject
point of view :
– Free or natural vibrations. When no external force acts on the body, after giving it an
initial displacement, then the body is said to be under free or natural vibrations. There
are three types of free vibration: longitudinal, transverse, and torsional vibrations.
– Forced vibrations. When the body vibrates under the influence of external force, then
the body is said to be under forced vibrations. The external force applied to the body is a
periodic disturbing force created by unbalance. The vibrations have the same frequency
as the applied force.
• Note : When the frequency of the external force is same as that of the natural vibrations,
resonance takes place.
– Damped vibrations. When there is a reduction in amplitude over every cycle of
vibration, the motion is said to be damped vibration. This is due to the fact that a certain
amount of energy possessed by the vibrating system is always dissipated in overcoming
frictional resistances to the motion.

6
Main steps of analysis

Step 1 Step 2 Step 3 Step 4 Step 5

Develop a Derive the Solve Analyze Validate the
mathematical equation(s) the and theoretical
model of equation(s) interpret results using
approximating motion of the a suitable
the behavior of motion results experimental
of the real the system loop
model

7
Modeling of vibratory systems

• Introduction

Springs PE storage

Masses KE storage

Dampers Energy dissipation

8
Modeling of vibratory systems

• Introduction
x

Me
q

keq Ceq

Physical System Mathematical Model

9
Modeling of vibratory systems

• Inertia Elements

Masses KE and PE storage

But

10
Modeling of vibratory systems

• Stiffness Elements

Springs PE storage

 F
k x V   k
F 1
F ( x)
x  x

11
Modeling of vibratory systems

• Stiffness Elements
• Equivalent Stiffness for Two Springs in Series:

k1 k2


ke  ?

12
Modeling of vibratory systems

• Stiffness Elements
• Equivalent Stiffness for Two Springs in Series:
The force on each spring is the same.

k1 k2

x
k1 k2
F

13
Modeling of vibratory systems

• Stiffness Elements
• Equivalent Stiffness for Two Springs in Series:
The force on each spring is the same.

k1 k2
F F F F
F  k1 x1 F  k2 x2
F F
 x1   x2 
k1 k2
14
Modeling of vibratory systems

• Stiffness Elements
• Equivalent Stiffness for Two Springs in Series:
k1 k2

l1 l2
k1 k2

l1  x1 l2  x2

F F 1 1
x  x1  x2    F   
k1 k2  k1 k2 
15
Modeling of vibratory systems

• Stiffness Elements
• Equivalent Stiffness for Two Springs in Series:

k1 k2
k1k2
 ke 
k1  k2
ke
16
Modeling of vibratory systems

• Stiffness Elements
• Equivalent Stiffness for N Springs in Series:
k1 k2 k N 1 kN


ke

1
1 1 1 1
ke       
 k1 k2 kN 1 kN 
17
Modeling of vibratory systems

• Stiffness Elements
• Equivalent Stiffness for Two Springs in Parallel:
The displacements of both springs are equal.

k1 k2 k1 k2

x
F
18
Modeling of vibratory systems

• Stiffness Elements
• Equivalent Stiffness for Two Springs in Parallel:

 ke  ?
k1 k2

19
Modeling of vibratory systems

• Stiffness Elements
• Equivalent Stiffness for Two Springs in Parallel:

F1 F2 F1  k1 x
k1 k2 F2  k2 x

F1 F2

F
F  F1  F2
20
Modeling of vibratory systems

• Stiffness Elements
• Equivalent Stiffness for Two Springs in Parallel:
k1 k2

l0 l0
k2
k1

l0  x l0  x
F  F1  F2  k1x  k2 x   k1  k2  x
21
Modeling of vibratory systems

• Stiffness Elements
• Equivalent Stiffness for Two Springs in Parallel:

k1 k2

F x

F   k1  k2  x  ke  k1  k2
22
Modeling of vibratory systems

• Stiffness Elements
• Equivalent Stiffness for Two Springs in Parallel:

k1 k2  ke

ke  k1  k2
23
Modeling of vibratory systems

• Stiffness Elements
• Equivalent Stiffness for N Springs in Parallel:

k1 k1 kk11kk2 2 kk22 k N 1 kkNNk11N kkN N  ke

 
ke kkee

24
Modeling of vibratory systems

• Dissipation Elements

Dampers Energy dissipation

Viscous Fluid

x
F

Cylinder Piston

Linear Case: F  x   c x C: damping coefficient

25
Modeling of vibratory systems

• Dissipation Elements
• Equivalent damping coefficient for Two Dampers in Series

c1 c2

c1 x1 c2 x2

F
26
Modeling of vibratory systems

• Dissipation Elements
• Equivalent damping coefficient for Two Dampers in Series
c1 c2


ce  ?

27
Modeling of vibratory systems

• Dissipation Elements
• Equivalent damping coefficient for Two Dampers in Series
• The force on each damper is the same
c1 x1 x1 c2 x2
F F F F
F  c1 x1 F  c2  x2  x1 
F F
 x1   x2  x1 
c1 c2
28
Modeling of vibratory systems

• Dissipation Elements
• Equivalent damping coefficient for Two Dampers in Series
c1 x1 x1 c2 x2

x2  x1   x2  x1 
F F 1 1
x2    F   
c1 c2  c1 c2 
29
Modeling of vibratory systems

• Dissipation Elements
• Equivalent damping coefficient for Two Dampers in Series

c1 c2

 ce 
c1c2
ce c1  c2

30
Modeling of vibratory systems

• Dissipation Elements
• Equivalent damping coefficient for N Dampers in Series
c1 c2 cN 1 cN
c
e

1
1 1 1 1
ce       
 c1 c2 cN 1 cN 
31
Modeling of vibratory systems

• Dissipation Elements
• Equivalent damping coefficient for Two Dampers in parallel
• The velocities of both dampers are equal

c1 c2 c1 c2
x
F
32
Modeling of vibratory systems

• Dissipation Elements
• Equivalent damping coefficient for Two Dampers in parallel

c1 c2  ce  ?

33
Modeling of vibratory systems

• Dissipation Elements
• Equivalent damping coefficient for Two Dampers in parallel
F1 F2
F  F1  F2
F1  c1 x
c1 c2  c1 x  c2 x
F2  c2 x
  c1  c2  x

F1 F2
x
F 34
Modeling of vibratory systems

• Dissipation Elements
• Equivalent damping coefficient for Two Dampers in parallel

c1 c2 F   c1  c2  x
 ce  c1  c2
x
F
35
Modeling of vibratory systems

• Dissipation Elements
• Equivalent damping coefficient for Two Dampers in parallel

c1 c2  ce ce  c1  c2

36
Modeling of vibratory systems

• Dissipation Elements
• Equivalent damping coefficient for N Dampers in parallel

c1 c2 cN 1 cN
 ce

ce  c1  c2   cN 1  cN
37
Modeling of vibratory systems

• Example
x

Me
q

keq Ceq

Physical System Mathematical Model

38
Modeling of vibratory systems

• Example 1: Stiffness of a rod

F

A, E L
Or, we know that

F ,

39
Modeling of vibratory systems

• Example 1: Stiffness of a rod

F F

A, E L

F
F ,

40
Modeling of vibratory systems

• Example 2: Linear stiffness of a cantilever beam

F, w
x
a
L

41
Modeling of vibratory systems

• Example 3: Linear stiffness of a cantilever beam

keq ?

42
Modeling of vibratory systems

• Example 3: Linear stiffness of a cantilever beam

F
3𝐸1 𝐼1 1
𝑘1 = 3  1 1
𝐿
3𝐸2 𝐼2
keq      k2
𝑘2 = 3
𝐿  k1 k  43
Modeling of vibratory systems

• Example 4: Linear stiffness of a pinned-pinned beam

F, w

a b
3EI  a  b 
k
a 2b 2

44
Modeling of vibratory systems

• Example 4: Linear stiffness of a pinned-pinned beam

k
EI A keq ?
a b
F F

45
Modeling of vibratory systems

• Example 4: Linear stiffness of a pinned-pinned beam

k k
EI A k1 keq
a b
F F F
3EI  a  b 
keq  k1  k Where k1 
a 2b 2
46
DOF of planner mechanical systems

• Definition
• DOF are the minimum number of independent coordinates
required to determine completely the positions of all the parts
of a system at any instant of time.
• DOF of Rigid Body in a Plane:
Ө

Translations x & y and Rotation 

3 DOF

47
DOF of planner mechanical systems

• Kinematic constraints
• are constraints between rigid bodies that result in decreasing
the DOF of rigid body system.

Revolute (R) Prismatic (P)

(allows only rotation )  1DOF (allows only translation x)  1DOF

48
DOF of planner mechanical systems

• Gruebler’s equation

Where:
#DOF = Total number of DOF of system
N = Total number of members
R = Total number of revolute joints
P = Total number of prismatic joints

49
DOF of planner mechanical systems

• Examples: Dump Truck

4 R

R
3 R
2

1 P
Number of members (N) =4 Number of R Joints (R) =3
Number of P Joints (P) =1

50
DOF of planner mechanical systems

• Examples: Load supporting structure

R

2 3

R R
1

Number of members (N) =3

Number of R Joints (R) =3
Number of P Joints (P) =0

51
DOF of planner mechanical systems

• Examples: Punching mechanism

1
R
2
R
3
R
4
P

Number of members (N) =4 Number of R Joints (R) =3

Number of P Joints (P) =1

52
DOF of planner mechanical systems

• Applications:
• Show that the given four-bar linkage is a single degree of freedom system by writing
the constraints equations that relate the configurations of the links. The position of
point c can be written in two ways:

OR

Equate the two expressions:

53
DOF of planner mechanical systems

• Applications

One degree of freedom

{x}
One degree of freedom
{ }

One degree of freedom

{ }

54
DOF of planner mechanical systems

• Applications
x2 x1
k
m2 m1

Two degrees of freedom

{x1,x2}
x
k1 k2 Two degrees of freedom
M
{1,2}

Two degrees of freedom

C

{x, }


55