EM418

MECHANICAL VIBRATIONS

1
Course Outline
CLO 1: Describe the principles of vibrations and the practical
applications of vibrations. (C2, PLO1)

CLO 2: Evaluate the solution for single degree of freedom undamped

and damped free vibrations. (C6, PLO3)

CLO 3: Evaluate the solution for single degree of freedom forced

vibration system (C6, PLO3)

CLO 4: Evaluate the solution for two degree of freedom undamped

and damped vibration systems. (C6, PLO3)

CLO 5: Analyse the practical engineering implications of vibration

resonance and phase for design solutions. (C4, PLO2)
2
Course Outline
1. Introduction to vibration
Basic concepts of vibration, degree of freedom, elementary
components of vibrating systems, mass, damper, stiffness.

2.Vibrations of a undamped and damped single degree of freedom system

Vibrations of single degree of freedom systems. free vibrations
– undamped system - translational system and torsional system;
Free vibration of damped system - viscous damping, Coulomb and
hysteretic damping

3. Forced vibrations – single degree of freedom system

Harmonic and periodic excitations of single degree of freedom
systems.
3
Course Outline
4.Two degree-of-freedom systems
Free and harmonically excited vibrations, vibration
neutralizer and applications

5.Vibration resonance and phase for design solutions

Vibration nomograph and vibration criteria, reduction of vibration
at the source, balancing of rotating machines, whirling of rotating
shafts, control of vibration, control of natural frequencies, vibration
isolation. Graphical methods – phase plane representation, phase
velocity, method of constructing trajectories, obtaining time
solution from phase plane trajectories.

4
Assessment
Type of Assessment Assessment Percentage (%)
Methods

Assignments 10

Test 1 20

Written tests
Test 2 20

Final Examination 50

5
References
1. Mechanical Vibrations SI 6th Edition, by Singiresu S. Rao,
Pearson, 2016.
2. ENGINEERING VIBRATION, 4th Edition, by D.J. Inman,
Prentice Hall, 2013
3. Mechanical Vibration, 1st Edition, by William Palm, Wiley,
2006.
4. Noise and Vibration Control Engineering: Principles and
Applications, 2nd Edition, by Istvan L Ver, John Wiley &
Sons, 2006.

6
 Introduction to vibration
(non-destructive test)
 Basic concepts of vibration,
degree of freedom,
elementary components of
vibrating systems,
a) mass,
b) damper,
c) stiffness
d) (Isolators)

7
 Vibration - Introduction
 Any motion that repeats itself after an interval of
time is called vibration or oscillation.

 The theory of vibration deals with the study of

oscillatory motions of bodies and the forces
associated with them.

8
 Vibration - Introduction
Example:

Swinging of a pendulum,

Motion of a plucked string.

 Human activities involve vibration in one form or

other (Can you list some of them?)

9
Vibration – Introduction
vibrations in human activities
 We hear because our eardrums vibrate,

 We see because light waves undergo vibration,

 Breathing associated with the vibration of lungs,

 Walking involves periodic oscillatory motion of

legs and hands.

10
Brief History of Vibration

11
Brief History of Vibration

12
Brief History of Vibration

13
Brief History of Vibration

14
 Brief History of Vibration

(1564 – 1642) Galileo Galilei

- Founder of modern experimental science.
- Started experimenting on simple pendulum.
- Studied the behavior of a simple pendulum (observed
pendulum movement of a lamp).
- Described the dependency of the frequency of vibration
on the length of a simple pendulum.
- Described resonance, frequency, length, tension and
density of a vibrating stretched string.

15
 Brief History of Vibration
Sir Isaac Newton (1642-1727) derived the equation of
motion of a vibrating body.
The theoretical solution of the problem of the vibrating
string was found in 1713 by the English mathematician
Brook Taylor.
The procedure of Taylor was perfected through the
introduction of partial derivatives in the equations of
motion by Daniel Bernoulli, Jean D’Alembert and
Leonard Euler.

16
 Brief History of Vibration
 The analytical solution of the vibrating string was
presented by Joseph Lagrange.

 Rayleigh presented the method of finding the

fundamental frequency of vibration of a
conservative system by making use of the
principle of conservation of energy (Rayleigh’s
method).

17
 Brief History of Vibration
 Frahm investigated the importance of torsional
vibration study in the design of the propeller shafts
of steamships.

 Stephen Timoshenko presented an improved

theory of vibration of beams.

18
Time Spectrum vs Frequency Spectrum

19
Time Spectrum vs Frequency Spectrum
Flute Sample
0.05
1000

0.04 900

0.03 800

0.02 700

600
Amplitude

0.01

Amplitude
500
0
400
-0.01
300
-0.02
200

-0.03 100

-0.04 0
3.34 3.342 3.344 3.346 3.348 3.35 3.352 3.354 3.356 0 1000 2000 3000 4000 5000 6000 7000
Time/44100 (sec) 4 Frequency (Hz)
x 10

Piano Sample
0.08 x 10
4
Frequency Spectrum of Piano
12
0.06

10
0.04

0.02 8
Amplitude

Amplitude
0
6

-0.02

4
-0.04

-0.06 2

2.82 2.84 2.86 2.88 2.9 2.92

4 0 500 1000 1500
Time (x44100) x 10 Frequency (Hz)

20
 Vibration – Introduction
Importance of the Study of Vibration
◦ Most prime movers have vibrational problems
due to inherent unbalance in the engine.

◦ Wheel of some locomotive rise more than

centimeter off the track at high speeds due to
imbalance.

◦ In turbines – vibration cause spectacular

mechanical failure.
21
 Vibration – Introduction
Importance of the Study of Vibration
◦ Vibration causes more rapid wear of machine
parts such as bearings and gears and also causes
the excessive noises.

◦ In machines, vibration can loosen fasteners such

as nuts.

◦ In metal cutting processes, vibration cause

chatter, which leads to a poor surface finish.

22
 Vibration – Introduction
Importance of the Study of Vibration
◦ Vibration causes fatigue failure of structures like
aircraft fuselage, machine components like
crankshaft.

◦ Vibration causes severe damages due to

resonance; collapsing of bridges, damages in
transmission lines, damages to offshore
structures.

23
 Vibration – Introduction
Importance of the Study of Vibration
 Vibration causes malfunctioning of sensitive
Instruments/ systems; payloads from vibration
of launching rockets, high precision machining,
micromachines & microassembly

24
Loss of accuracy of work-piece:
Shifting of tool position due to
vibration of cutting tool

Consider how a CNC operates (which

component is moving? workpiece or cutting tool?
25
This phenomenon is generally referred as
'chatter vibration'.

26
Fatigue Failure – broken camshaft

27
Space craft – isolation of payload

28
Space craft – isolation of payload

29
 Vibration – Introduction
Importance of the Study of Vibration
 In spite of its detrimental effects, vibration can
be utilized profitably in several industrial and
consumer applications.

For example,

 Vibratory conveyors, hoppers, compactors,

washing machines, electric toothbrushes,
dentist’s drills, clocks, electric massaging units.

30
 Basic Concepts of Vibration

 It involves the transfer of potential energy to

kinetic energy and vice versa.

 If the system is damped, some energy is

dissipated in each cycle of vibration and must be
replaced by an external source if a state of steady
vibration is to be maintained.

31
Basic Concepts of Vibration
An example
showing cause of
vibration;
conversion of
potential energy
to kinetic energy.

32
Basic Concepts of Vibration – Degrees of
freedom
Degree of Freedom (d.o.f.) is min. no. of independent
coordinates required to determine completely the
positions of all parts of a system at any instant of
time.

33
Example of single degree-of-freedom
system

The motion of the pendulum can be stated either

in  or x and y in Cartesian coordinates.
34
Example of single degree-of-freedom system

K.E = ½ MV2

35
 Example of two degree-of-freedom system

Total K.E = ½ MV2 + ½ M2 V22 Total K.E = ½ Jθ2 + ½ J2θ

½ Meq Veq2= ½ MV2 + ½ M2 V22 ½ Jeq θ eq2= ½ Jθ2 + ½ J2θ
Jeq =/ J1 + J2

36
Example of three degree-of-freedom system

37
Example of Infinite number of degrees of
freedom system
 Infinite number of degrees of freedom system are
termed continuous or distributed systems.

 Finite number of degrees of freedom are termed

discrete or lumped parameter systems.

 More accurate results obtained by increasing number

of degrees of freedom.

38
 Classification of Vibration

 Free Vibration:

A system is left to vibrate on its own after an initial

disturbance and no external force acts on the system.

Ex. simple pendulum

 Forced Vibration:

A system that is subjected to a repeating external force.

Ex. oscillation arises from diesel engines

39
 Classification of Vibration

 Resonance occurs when the frequency of the

external force coincides with one of the natural
frequencies of the system.

 It causes a large oscillations.

 The failure of major structures such as bridges, or

airplane wings is an awesome possibility under
resonance.

40
 Classification of Vibration

 Undamped Vibration:

When no energy is lost or dissipated in friction or other

resistance during oscillations.

In many physical systems, the amount of damping is so small

that it can be disregarded for most engineering purposes.

 Damped Vibration:

When any energy is lost or dissipated in friction or other

resistance during oscillations

41
Classification of Vibration

Note:

 Calculations for natural frequencies are generally made on

the basis of no damping.

 On the other hand, damping is of great importance in

limiting the amplitude of oscillation at resonance.

42
Classification of Vibration

 Linear Vibration:
When all basic components of a vibratory system, i.e. the
spring, the mass and the damper behave linearly.

 Nonlinear Vibration:
If any of the components behave nonlinearly, it is called
nonlinear vibration.

Note: For linear system, the principle of superposition

holds, and the mathematical techniques of analysis are
well developed.
43
Classification of Vibration

 Deterministic Vibration:
If the value or magnitude of the excitation (force or motion)
acting on a vibratory system is known at any given time
 Nondeterministic or random Vibration:
When the value of the excitation at a given time cannot be
predicted.
Ex. Wind velocity, road roughness, ground motion during
earthquakes.

44
 Classification of Vibration - Examples of
deterministic and random excitation

45
Basic components of a vibrating system

Vibratory System consists of:

1) spring or elasticity
2) mass or inertia
3) damper

 A vibratory system, in general includes a means for storing

potential energy (spring or elasticity), a means for storing
kinetic energy (mass or inertia), and a means by which
energy is gradually lost (damper).

46
Inertia & stiffness
 Inertia is linked with kinetic energy of the system.

 Mass and Moment of Inertia are considered to be

inertia of the system.

 Stiffness is linked to the potential energy inside the

system.

 Linear spring and torsional springs are considered

to be stiffness of the system.
47
 Mass
 The mass or inertia element is assumed to be a
rigid body.

 It can gain or lose kinetic energy whenever the

velocity of the body changes.

 According to F=ma, the product of mass and

acceleration is equal to the force applied to the
mass.

48
Mass
 Work is equal to the force multiplied by the
displacement in the direction of the force,

 Work done on a mass is stored in the form of the

mass’s kinetic energy.

49
 Mass or Inertia Elements

Mathematical model is used to represent the actual

vibrating system

50
 Mass or Inertia Elements
Combination of Masses

➢ Ex. Assume that the mass of

the frame is negligible
compared to the masses of the
floors.

➢ The masses of various floor

levels represent the mass
elements, and the elasticities of
the vertical members denote the
spring elements.

51
Exercise 1
Determine the equivalent mass of the system

52
 Exercise 1 - solution

The equivalent mass can be assumed to be located at

any point along the bar;

we assume that it is at m1.

Velocities of masses m2 and m3 can be expressed as:

l2 l3
x2 = x1 x3 = x1 (1.18)
l1 l1
xeq = x1 (1.19)

53
 Exercise 1 - solution
By equating the kinetic energy of three mass system to that of

the equivalent mass system:

1 2 1 2 1 2 1
m1x1 + m2 x2 + m3 x3 = meq xeq
2
(1.20)
2 2 2 2

2 2
l  l 
meq = m1 +  2  m2 +  3  m3 (1.21)
 l1   l1 

54
 Exercise 2

 Determine the equivalent mass of the system

meq = single equivalent translational mass

x = translational velocity
 = rotational velocity
J0 = mass moment of inertia
Jeq = single equivalent rotational mass
55
 Exercise 2 - solution

1. Equivalent translational mass:

➢Kinetic energy of the two masses is given by:
1 1
T = mx 2 + J 0 2 (1.22)
2 2

➢Kinetic energy of the equivalent mass is given by:

1
Teq = meq xeq 2 (1.23)
2

56
 Exercise 2 - solution

Translational and Rotational Masses Coupled Together

x
➢Since  = and
 xeq = x, equating Teq & T
gives R
J0
meq = m + 2
(1.24)
R
Equivalent rotational mass:
➢Here, eq =  and x = R , equating Teq and T
gives

J eq = m(R ) + J 0 2

1  2 1  2 1
2 2 2
or J eq = J 0 + mR 2 (1.25)

57
Exercise 3
 Determine equivalent mass of the rocker arm assembly
with respect to x coordinate.

58
Exercise 3 - solution

59
Exercise 4 – do it yourself

60
Exercise 4 – do it yourself

61
Exercise 4 – do it yourself

62
Exercise 5
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, a rocker arm
of mass mr, and mass moment of
inertia Jr about its C.G., a valve
of mass 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.

63
Exercise 5
At point A

At point B,

64
 Spring
 A spring is a type of mechanical link, which in
most applications is assumed to have negligible
mass and damping.

 The most common type of spring is the helical-coil

spring.

 Any elastic or deformable body such as cable, bar,

beam, shaft or plate can be considered as a spring.

65
 Spring
Spring force is given by

𝐹 𝐴𝐸
𝑘= =
𝑥 𝑙

F = spring force,
k = spring stiffness or spring constant, and
x = deformation (displacement of one end with respect
to the other)
G = modulus of rigidity or shear modulus
J = mass moment of Inertia, l =length
66
Spring constant (k) of a rod - Example

How is k determined?

67
Spring constant (k) of a cantilever
beam - Example

Refer strength of materials book for the deflection and k

of any beam
68
Spring constant (k) of a cantilever beam - Example
Static deflection of a beam at the free end is
given by:
Wl 3
 st = (1.6)
3EI
W = mg is the weight of the mass m,
E = Young’s Modulus, and
I = moment of inertia of cross-section of beam
Spring Constant is given by:
W
3EI
k= = (1.7 )
 lst
3

69
 Spring Elements - Springs in parallel
If we have n spring constants k1, k2, …, kn in parallel,
then the equivalent spring constant keq is:

keq = k1 + k2 + ... + kn (1.11)

70
 Spring Elements - Springs in series

If we have n spring constants k1, k2, …, kn in series,

then the equivalent spring constant keq is:
1 1 1 1
= + + ... + (1.17 )
k
eq
k k1 2
kn

71
Spring constants

72
 Spring constants

𝐴𝐸 Rod with length l, Area A

𝑘=
𝑙 and modulus of elasticity E

𝐹
Linear spring constant 𝑘 =
𝑥
𝐺𝐽
Torsional spring constant 𝐾𝑡 = 𝑙

73
Summary of Spring constants
Spring Arrangement Equation Example Force
Characteristics Orientation
Force acting parallel Involves series and 𝑘1. 𝑘2
𝑘=
to axis parallel loading 𝑘1 + 𝑘2

Force acting Includes Inertia & 𝐴𝐸

perpendicular to axis Young Modulus 𝑘=
𝑙

Force acting Torsional Includes (polar) 𝐺𝐽

to axis Inertia & Modulus 𝐾𝑡 =
𝑙
of Rigidity

74
Exercise 1

75
Exercise 1 - solution

76
 Exercise 2

Determine the torsional spring constant of the speed

propeller steel shaft (G= 80 x 10^9 N/m2) shown in figure.

77
 Exercise 2 - Solution

We need to consider the segments 12 and 23 of the shaft as

springs in combination.

From Fig. 1.25, the torque induced at any cross section of the
shaft (such as AA or BB) can be seen to be equal to the torque
applied at the propeller, T.

Hence, the elasticity (springs) corresponding to the two

segments 12 and 23 are to be considered as series springs. The
spring constants of segments 12 and 23 of the shaft (kt12 and
78 kt23) are given by:
 Exercise 2 - Solution

GJ G ( D − d ) (80  10 ) (0.3 − 0.2 )

4 4 9 4 4

k =
t12
= 12
= 12 12

l 32l
12
32(2) 12

= 25.5255  10 N - m/rad
6

GJ G ( D − d ) (80  10 ) (0.25 − 0.15 )

4 4 9 4 4

k =
t 23
= 23
= 23 23

l 23
32l 32(3)
23

= 8.9012  10 N - m/rad
6

79
 Exercise 2 - Solution

Since the springs are in series, Eq.

(1.16) gives
k k (25.5255  10 )(8.9012  10 )6 6

k = = t12 t 23

k + k (25.5255  10 + 8.9012  10 )
teq 6 6

t12 t 23

= 6.5997  10 N - m/rad 6

80
Exercise 3

81
Exercise 3 - solution

82
Exercise 4

E = 190 (109)
a = 30 cm
b = 150 cm
t = 2 cm
d = 0.5 cm
L = 150 cm
83
Exercise 4 -solution

84
Exercise 4 - solution

Answer = 3.3 (104) N/m

85
Exercise 5 – Home work

86
Exercise 5 - solution

87
Exercise 5 - solution

88
Exercise 5 - solution

89
Exercise 6 – home work
 Determine the equivalent spring constant
of a simple pendulum.

90
Exercise 6 - solution

91
Exercise 7 Keq = K1 + K2
Keq = JG/5 + JG/5

Galuminium = 26(109) ; G steel = 80(109)

Answer: 5.548 (106) N.m/rad
92
 Damping
 The mechanism by which the vibrational energy is
gradually converted into heat or sound is known as
damping.
 Damping indicates that the amount of energy
dissipated from the system during the vibration.
 A damper is assumed to have neither mass or
elasticity, and damping force exists only if there is
relative velocity between two ends of the damper.
93
 Damping 𝑭 𝒕 = 𝟎 = 𝒎𝒆𝒒. 𝒂 + 𝒄𝒆𝒒.ሶ 𝑣 + keq.x

 It is difficult to determine the causes of damping in

practical systems, hence, it is modelled as one of
the following;

 Viscous damping, Coloumb or dry damping,

Material damping are three types of damping.
𝐹 = 𝑐 𝑥ሶ

F= force exerted, c = damping constant,

94
Viscous damping
Viscous Damping is the most commonly used
damping mechanism.

When a mechanical system vibrate in a fluid

medium (air, gas, water, oil) the resistance
offered by the fluid to the moving body causes
energy to be dissipated.

95
 Viscous damping
Damping force is proportional to the velocity of the
vibrating body in a fluid medium.

Ex.

1) fluid film between sliding surfaces,

2) fluid flow around a piston in a cylinder,

3) fluid flow through an orifice,

4) fluid film around a journal in a bearing.

96
Coulomb or Dry Friction Damping:
It is caused by friction between rubbing
surfaces that either are dry or have insufficient
lubrication.

Damping force is constant in magnitude but

opposite in direction to that of the motion of
the vibrating body between dry surfaces.

97
Material or Solid or Hysteretic Damping

Energy is absorbed or dissipated by material

during deformation due to friction between
internal planes, which slip or slide as the
deformation takes place.

98
 Damping Elements
Construction of Viscous Dampers

µ
Fixed plane
Velocity of intermediate fluid
layers are assumed to vary
linearly
Plate be moved with a velocity v in its own plane
99
 Damping Elements

Shear Stress ( ) developed in the fluid layer at a

distance y from the fixed plate is:

du
 = (1.26)
dy
where du/dy = v/h is the velocity gradient.

v is velocity of the moving plate, h is film thickness.

100
 Damping Elements
Shear or Resisting Force (F) developed at the
bottom surface of the moving plate is:
Av
F = A =  = cv (1.27 )
h
where A is the surface area of the moving
plate and c is the damping constant.

A
c=
h
101
 Damping Elements

If a damper is nonlinear, a linearization

process is used about the operating velocity
(v*) and the equivalent damping constant is:

dF
c= (1.29)
dv v*
Linear, F = 3v+5 || dF/dv = 3 → gradient for Damping
Non-Linear, F = 3v2 + 4v + 5 || c = dF/dv = 6v+4

Non-linear damping is the more common damper available

102
Exercise 1
Find a single equivalent damping constant
for the following cases:
a. When three dampers are parallel.
b. When three dampers are in series.

Spring, would a series / parallel arrangement give u

higher constant value?
Two spring constant = 2N/m

103
Exercise 1 - solution

F = C.v

104
Exercise 1 - solution

Which arrangement has better damping constant?

Compare with spring arrangement.
105
Exercise 2
A flat plate with a surface area of 0.25 m2
moves above a parallel flat surface with a
lubricant film of thickness 1.5 mm in
between the two parallel surfaces. If the
viscosity of the lubricant is 0.5 Pa-s,
determine the following:
a. Damping constant. C=u.A/h
b. Damping force developed when the plate
moves with a velocity of 2 m/s.
106
Exercise 2 - solution

h = 0.01

C=u.A/h C=u.A/h
F = C.v F = C.v (cause higher velocity)
F = 83.33 x 2 =166.666 N F < 166.666 N
If more than 166N, vibration would be higher than estimated
107
Exercise 2 - solution

How vibration control is manipulated by

affecting damping constant?

108
Exercise 3 – home work

A precision milling machine is supported on four

shock mounts, as shown in Figure (a).
The elasticity and damping of each shock mount
can be modeled as a spring and a viscous damper,
as shown in Figure (b).
Find the equivalent spring constant, keq, and the
equivalent damping constant, ceq, of the machine
tool support in terms of the spring constants (ki)
and damping constants (ci) of the mounts.

109
Exercise 3 – home work

110
 Exercise 3 – home work - solution

The free-body diagrams of the four springs and

four dampers are shown in Figure (c).
Assuming that the center of mass, G, is located
symmetrically with respect to the four springs
and dampers, we notice that all the springs will
be subjected to the same displacement, and all
the dampers will be subject to the same relative
velocity.
Hence the forces acting on the springs (Fsi) and
xthe dampers (Fdi) can be expressed as

111
Exercise 3 – home work - solution

112
Exercise 3 – home work - solution

F = k x;
si i
i = 1,2,3,4
F = c x;
di i
i = 1,2,3,4 (E.1)

The force equilibrium equations can thus be expressed as

F =F +F +F +F
s s1 s2 s3 s4

F =F +F +F +F
d d1 d2 d3 d4
(E.2)

113
Exercise 3 – home work - solution

where Fs + Fd = W, with W denoting the total vertical force

(including the inertia force) acting on the milling machine. From
Figure (d), we have

F =k x
s eq

F = c x
d eq
(E.3)

114
Exercise 3 – home work - solution

Equation (E.2) along with Eqs. (E.1) and (E.3),

yield
k = k + k + k + k = 4k
eq 1 2 3 4

c = c + c + c + c = 4c
eq 1 2 3 4
(E.4)

where ki = k and ci = c for i = 1, 2, 3, 4.

115
Exercise 4

In other word, what is the clearance (h) to be designed at?

C = 100ul2d
uA/h = 100ul2d
h = A / 100l2d

If designing for area

A = 100.l2.d.h

116
Exercise 5

117
 Vibration Analysis Procedure
Step 1: Mathematical Modeling
Step 2: Derivation of Governing Equations
Step 3: Solution of the Governing Equations
Step 4: Interpretation of the Results

Derive
system/component/
determine the DoF

Find the response Response (result):

Free body diagram
(solve problem Displacement, velocities
(FBD)
method) & acceleration

118
 Example 1
Example of the modeling of forging a hammer:

One sequence

Third sequence Frame

Fourth sequence Second sequence

Fifth sequence
119
 Exercise 2

Figure below shows a motorcycle with a rider. Develop a sequence

of three mathematical models (3 DoF) of the system for
investigating vibration in the vertical direction. Consider the
elasticity of the tires ktire, elasticity and damping of the struts Kstrut,
Cstrut, (in the vertical direction), masses of the wheels Mwheel, and
elasticity, damping, and mass of the rider Mrider. Krider Crider

120
 Exercise 2 - Solution

We start with the simplest model and refine it

gradually.

When the equivalent values of the mass, stiffness, and

damping of the system are used, we obtain a single-
degree of freedom model of the motorcycle with a
rider as indicated in Fig.(b).

121
 Exercise 2 - Solution
 In this model, the equivalent stiffness (keq) includes
the stiffness of the tires, struts, and rider.

 The equivalent damping constant (ceq) includes the

damping of the struts and the rider.

 The equivalent mass includes the mass of the

wheels, vehicle body and the rider.

122
 Exercise 2 - Solution

123
 Exercise 2 - Solution

This model can be refined by representing the masses of wheels,

elasticity of tires, and elasticity and damping of the struts separately,
as shown in Fig.(c).

In this model, the mass of the vehicle body (mv) and the mass of the
rider (mr) are shown as a single mass, mv + mr. When the elasticity
(as spring constant kr) and damping (as damping constant cr) of the
rider are considered, the refined model shown in Fig.(d) can be
obtained.

124
Exercise 2 - Solution

125
 Exercise 2 - Solution

x1

x2

x3 x3

126
 Exercise 2 - Solution

Note that the models shown in Figs.(b) to (d) are not

unique.

For example, by combining the spring constants of

both tires, the masses of both wheels, and the spring
and damping constants of both struts as single
quantities, the model shown in Fig.(e) can be obtained
instead of Fig.(c).

127
Exercise 3

128
Exercise 3 – homework - solution

129
Exercise 3 – homework - solution

130
Exercise 3 – homework - solution

131
ator’s
tor

Exercise 4
ire
ope
Develop a sequence of five mathematical
sequence of the system for investigating
ator
mber vibration in the vertical direction for either
a) An elevator – start with motor
Fitted
Equipment b) Piling Driver (Machine) – start with engine
vator
oor Assuming a source of vibration

ound

132
Exercise 5
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 tires (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.

133
Harmonic motion
 If the motion is repeated after equal intervals
of time, it is called periodic motion.
 The simplest type of periodic motion is
harmonic motion.

134
Scotch-yoke mechanism

135
Some terminology

136
Some terminology

137
 Some terminology

Fundamentals (TOPIC 1) completed.

We’ll see undamped free vibration and damped free

vibration in the following classes (Topic 2).

138