MEE411 – MECHANICAL VIBRATIONS

LECTURE NOTES
PART 2 – FREE VIBRATIONS

DEPARTMENT OF MECHANICAL ENGINEERING

FACULTY OF ENGINEERING

UNIVERSITY OF BENIN

COURSE LECTURER – ENGR. DR. E. G. SADJERE

ASSISTANT LECTURER – ENGR. MRS. A. G. OREAVBIERE

2020
MEE411 LECTURE NOTES 2020

Contents
Free undamped vibration .................................................................... 3
Simple Harmonic Motion .................................................................. 3
Simple Pendulum ............................................................................ 5
Free Undamped Longitudinal Vibration ................................................. 7
Energy Method for Free Undamped Vibration .................................... 11
Springs in Series and Springs in Parallel .......................................... 13
Transverse Vibration ........................................................................ 16
Torsional Vibration ........................................................................... 18
Shaft Carrying two Flywheels ......................................................... 21
Non Uniform Shaft ........................................................................ 23
Effect of Inertia of Shaft ................................................................ 25

MEE 411 – Mechanical Vibrations Page 2 of 26

MEE411 LECTURE NOTES 2020

FREE UNDAMPED VIBRATION

SIMPLE HARMONIC MOTION

Figure 1-1: SHM

A body is said to move in simple harmonic motion if its acceleration is

proportional to its displacement from some fixed equilibrium point and it is
always directed towards that point. This can be seen in the motion of a
particle at constant angular velocity round a circle.

Let P be the point moving round the circle

Let Q be the projection of Q on the y-axis

Then the displacement of Q along y is

𝑦𝑄 = 𝑅𝑆𝑖𝑛 𝜃

𝑦𝑄 = 𝑅𝑠𝑖𝑛 𝜔𝑡 … … … … … … … … … . . 𝒆𝒒𝒏 𝟐. 𝟏

When 𝜃 = 90𝑜 ; 𝑆𝑖𝑛 90 = 1

𝑦=𝑅

𝑦𝑚𝑎𝑥 = 𝑅 = 𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒

Velocity of Q = Component of Velocity of P parallel to the y axis

𝑦𝑄 = 𝑅 sin 𝜔𝑡

𝑣𝑄 = 𝑦̇ 𝑄 = 𝑅𝜔 cos 𝜔𝑡

𝑣𝑄 = 𝑅𝜔 cos 𝜃 … … … … … … … … … … . . 𝒆𝒒𝒏 𝟐. 𝟐

Now from Pythagoras and Trigonometry

MEE 411 – Mechanical Vibrations Page 3 of 26

MEE411 LECTURE NOTES 2020

√𝑅 2 − 𝑦 2
cos 𝜃 =
𝑅

Substituting

√𝑅 2 − 𝑦 2
𝑣𝑄 = 𝑅𝜔
𝑅

𝑣𝑄 = 𝜔√𝑅 2 − 𝑦 2

From the above,

𝑣𝑄𝑚𝑎𝑥 𝑖𝑠 𝑤ℎ𝑒𝑛 𝑦 = 0

𝑣𝑄𝑚𝑎𝑥 = 𝜔𝑅

Acceleration

𝑎 = 𝑣̇ 𝑄 = 𝑦̈ 𝑄= − 𝑅𝜔2 sin 𝜔𝑡

𝑎 = −𝑅𝜔2 sin 𝜃 … … … … … … … … … … 𝒆𝒒𝒏 𝟐. 𝟑𝒂

Recall
𝑦𝑄 = 𝑅𝑆𝑖𝑛 𝜃

therefore
𝑎 = −𝜔2 𝑦 … … … … … … … … … . 𝒆𝒒𝒏 𝟐. 𝟑𝒃

Hence 𝑎𝑚𝑎𝑥 𝑖𝑠 𝑤ℎ𝑒𝑛 𝑦 = 𝑅

𝑎𝑚𝑎𝑥 = −𝜔2 𝑅

Eqn 2.3b represents the major characteristics of SHM as a motion where

the acceleration is proportional to the body’s distance from equilibrium. Eqn
2.3 can be written in ordinary differential equation as

𝑦̈ + 𝜔 2 𝑦 = 0 … … … …̈ … … … … … 𝒆𝒒𝒏 𝟐. 𝟑𝒄

For the SHM, P makes one full cycle of 𝜃 = 2𝜋 in a period of 𝑡 = 𝜏

Therefore 𝜔𝜏 = 2𝜋

2𝜋
Period, 𝜏 = … … … … … … … … … … … . 𝒆𝒒𝒏 𝟐. 𝟒
𝜔

1 𝜔
Frequency, 𝑓 = = (𝐻𝑧) … … … … . . 𝒆𝒒𝒏 𝟐. 𝟓
𝜏 2𝜋

MEE 411 – Mechanical Vibrations Page 4 of 26

MEE411 LECTURE NOTES 2020

Generally,

Governing Eqn for displacement is

𝑦 = 𝑅𝑆𝑖𝑛( 𝜃 − 𝜙) = 𝑅𝑠𝑖𝑛 𝜔(𝑡 − 𝑡𝑠 ) … … … … … … … … . 𝒆𝒒𝒏 𝟐. 𝟔

Where 𝜙 = phase shift and 𝑡𝑠 = shift time

By Proportionality,

𝜙 𝑡𝑠
=
2𝜋 𝜏

2𝜋𝑡𝑠
𝜙=
𝜏

𝜔 is the angular velocity or circular frequency

SIMPLE PENDULUM

Figure 1-2: Simple Pendulum

A simple pendulum consists of a mass m hanging from a massless string of

length L and fixed at a pivot point P. When displaced to an initial angle and
released, the pendulum will swing back and forth with periodic motion.
Gravity is the restoring force.

Inertia torque
𝑇𝑖 = 𝐼𝛼
Where I = moment of inertia
And 𝛼 = angular acceleration
The mass is assumed to be concentrated at radius L, therefore

MEE 411 – Mechanical Vibrations Page 5 of 26

MEE411 LECTURE NOTES 2020

𝐼 = 𝑚𝐿2
therefore
𝑇𝑖 = 𝑚𝐿2 𝛼

Restoring torque
𝑊𝑒𝑖𝑔ℎ𝑡 = 𝑚𝑔
𝑇𝑔 = 𝑚𝑔𝐿 sin 𝜃

𝑇𝑖 + 𝑇𝑔 = 0

𝑚𝐿2 𝛼 + 𝑚𝑔𝐿 sin 𝜃 = 0

𝐿𝛼 = −𝑔 sin 𝜃
For small angles,
sin 𝜃 ≈ 𝜃
𝐿𝛼 = −𝑔𝜃
𝑔
𝛼=− 𝜃
𝐿

This looks like the simple harmonic motion equation as the acceleration 𝛼
is directly proportional to the displacement 𝜃, and the – sign indicates that
it is always directed towards the rest point.

Therefore,

𝑔
𝜔2 =
𝐿

Since,

𝜔
𝑓=
2𝜋

1 𝑔
𝑓= √
2𝜋 𝐿

Classwork 1

1. Determine the maximum velocity and acceleration of a particle which

moves in SHM with an amplitude of 400mm and a period of 1.4 s
2. A mass is suspended from a 60mm long string, it is nudged so it
makes small swinging oscillations, determine the frequency and
periodic time.

MEE 411 – Mechanical Vibrations Page 6 of 26

 MEE411 LECTURE NOTES 2020

FREE UNDAMPED LONGITUDINAL VIBRATION

Figure 1-1: Free Vibrations

k = Spring Constant (force per Unit Length)

Δ = Static Deflection
x = Additional displacement

Applying Newton’s law,

𝑚𝑥̈ = 𝑚𝑔 − 𝑘(𝑥 + ∆)
From fig 2.2b
𝑚𝑔 = 𝑘∆
𝑚𝑥̈ = 𝑘∆ − 𝑘(𝑥 + ∆)
𝑚𝑥̈ = −𝑘𝑥
𝑚𝑥̈ + 𝑘𝑥 = 0
𝑘
𝑥̈ + 𝑥 = 0 … … … … … … … … … … . . 𝒆𝒒𝒏 𝟐. 𝟕𝒂
𝑚

Compare this with eqn 2.3c and we can write

𝑥̈ + 𝜔𝑛 2 𝑥 = 0 … … … … … … … … … … … 𝒆𝒒𝒏 𝟐. 𝟕𝒃
Where
𝑘
𝜔2 =
𝑚

𝑘
𝜔 = √ … … … … … … … … … … … … 𝒆𝒒𝒏 𝟐. 𝟖
𝑚

Is defined as the undamped natural circular frequency in rad/sec.

𝜔𝑛
𝑓= 2𝜋
, frequency in Hz
1 𝑘
𝑓= √ … … … … … … … … … . 𝒆𝒒𝒏 𝟐. 𝟗
2𝜋 𝑚

MEE 411 – Mechanical Vibrations Page 7 of 26

MEE411 LECTURE NOTES 2020

Solving the governing equation,

𝑥̈ + 𝜔𝑛 2 𝑥 = 0
This is a second order differential equation, Hence
𝑚 2 + 𝜔𝑛 2 = 0
𝑚2 = √−(𝜔𝑛 2 )
𝑚 = ±𝑖 𝜔𝑛
Thus m has complex roots resulting in the solution of type
𝑥 = 𝐶1 𝑒 𝑖𝜔𝑛 𝑡 + 𝐶2 𝑒 −𝑖𝜔𝑛 𝑡
Now
𝑒 ±𝑖𝜔𝑛 𝑡 = cos 𝜔𝑛 𝑡 ± 𝑖 sin 𝜔𝑛 𝑡
Hence
𝑥 = 𝐶1 cos 𝜔𝑛 𝑡 + 𝑖 𝐶1 sin 𝜔𝑛 𝑡 + 𝐶2 cos 𝜔𝑛 𝑡 − 𝑖 𝐶2 sin 𝜔𝑛 𝑡
𝑥 = (𝐶1 +𝐶2 )cos 𝜔𝑛 𝑡 + (𝐶1 − 𝐶2 ) 𝑖 sin 𝜔𝑛 𝑡
Let 𝐶1 𝑎𝑛𝑑 𝐶2 be complex conjugates so that
1
𝐶1 = (𝐴 − 𝑖𝐵)
2
1
𝐶2 = (𝐴 + 𝑖𝐵)
2
Therefore
1 1
𝐶1 + 𝐶2 = (𝐴 − 𝑖𝐵) + (𝐴 + 𝑖𝐵) = 𝐴
2 2
1 1
𝐶1 − 𝐶2 = (𝐴 − 𝑖𝐵) − ( (𝐴 + 𝑖𝐵)) = −𝑖𝐵
2 2
And
𝑥 = (𝐶1 +𝐶2 )cos 𝜔𝑛 𝑡 + (𝐶1 − 𝐶2 ) 𝑖 sin 𝜔𝑛 𝑡
𝑥 = 𝐴 cos 𝜔𝑛 𝑡 + (−𝑖𝐵) 𝑖 sin 𝜔𝑛 𝑡
𝑥 = 𝐴 cos 𝜔𝑛 𝑡 + 𝐵 sin 𝜔𝑛 𝑡 … … … … … … … … … … . . 𝑬𝒒𝒏 𝟐. 𝟏𝟎, 𝐺𝑒𝑛𝑒𝑟𝑎𝑙 𝑆𝑜𝑙𝑢𝑡𝑖𝑜𝑛
Equation 2.10 contains the necessary two arbitrary constants for a second order
ODE
Solving for A and B
The determination of the arbitrary constants A and B depends on the boundary
conditions, i.e. initial and or final conditions
Let 𝑥(0) = 𝑥𝑜 – Initial Displacement at t=0
𝑥̇ (0) = 𝑥̇ 𝑜 – Initial Velocity at t =0
Applying the conditions, we have
𝑥 = 𝐴 cos 𝜔𝑛 𝑡 + 𝐵 sin 𝜔𝑛 𝑡
𝑥(0) = 𝐴 cos 0 + 𝐵 sin 0
𝑥𝑜 = 𝐴

𝑥̇ = −𝐴 𝜔𝑛 sin 𝜔𝑛 𝑡 + 𝐵𝜔𝑛 cos 𝜔𝑛 𝑡

𝑥̇ (0) = −𝐴 𝜔𝑛 sin 0 + 𝐵𝜔𝑛 cos 0
𝑥̇ 𝑜 = 𝐵𝜔𝑛
𝑥̇ 𝑜
𝐵=
𝜔𝑛
Thus generally,
𝑥̇ 𝑜
𝑥 = 𝑥𝑜 cos 𝜔𝑛 𝑡 + sin 𝜔𝑛 𝑡 … … … … … … … … 𝑬𝒒𝒏 𝟐. 𝟏𝟏
𝜔𝑛

MEE 411 – Mechanical Vibrations Page 8 of 26

MEE411 LECTURE NOTES 2020

In the particular case of the spring when the weight is pulled down and released,
𝑥𝑜 = 𝑅 − 𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒 𝑎𝑡 𝑡𝑖𝑚𝑒 𝑡 = 𝑜
𝑥̇ 𝑜 = 0 − 𝑧𝑒𝑟𝑜 𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑎𝑡 𝑡𝑖𝑚𝑒 𝑡 = 0
Hence
0
𝑥 = 𝑅 cos 𝜔𝑛 𝑡 + sin 𝜔𝑛 𝑡
𝜔𝑛
𝑥 = 𝑅 cos 𝜔𝑛 𝑡
𝜋
𝑣 = 𝑥̇ = −𝑅𝜔𝑛 sin 𝜔𝑛 𝑡 = 𝑅𝜔𝑛 cos(𝜔𝑛 𝑡 + )
2
v leads by 90o
𝑎 = 𝑥̈ = −𝑅𝜔𝑛 2 cos 𝜔𝑛 𝑡 = 𝑅𝜔𝑛 2 cos(𝜔𝑛 𝑡 + 𝜋)
a leads by 180o

In general, we let,
𝐴 = 𝑅𝑐𝑜𝑠𝜙, 𝐵 = 𝑅𝑠𝑖𝑛𝜙
Where R is the amplitude of motion
And 𝜙 = leading or lagging phase angle
Then from eqn 2.10
𝑥 = 𝐴 cos 𝜔𝑛 𝑡 + 𝐵 sin 𝜔𝑛 𝑡
𝑥 = 𝑅 cos 𝜔𝑛 𝑡 𝑐𝑜𝑠𝜙 + 𝑅 sin 𝜔𝑛 𝑡 𝑠𝑖𝑛𝜙
𝑥 = 𝑅 cos(𝜔𝑛 𝑡 − 𝜙)
or

𝑥 = 𝑅 sin(𝜔𝑛 𝑡 + 𝜙) … … … . . 𝐸𝑞𝑛 2.12

𝐴2 = 𝑅 2 cos 2 𝜙
𝐵 2 = 𝑅 2 sin2 𝜙
𝐴2 + 𝐵 2 = 𝑅 2 cos 2 𝜙 + 𝑅 2 sin2 𝜙
𝐴2 + 𝐵 2 = 𝑅 2 (cos2 𝜙 + sin2 𝜙)
𝐴2 + 𝐵 2 = 𝑅 2
𝑅 = √𝐴2 + 𝐵 2 … … … . . 𝐴𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒
And
𝐵
𝜙 = tan−1 … … … … … … … 𝑃ℎ𝑎𝑠𝑒 𝐴𝑛𝑔𝑙𝑒
𝐴

MEE 411 – Mechanical Vibrations Page 9 of 26

MEE411 LECTURE NOTES 2020

Classwork 2

1. A 10kg block is initially held so that the vertical spring, k=16KN/m attached
is not stretched. The block was then suddenly released from rest. Determine
a. The amplitude and frequency of the resulting motion
b. The maximum velocity and acceleration of the block

2. A machine is subjected to the motion 𝑥(𝑡) = 𝐴𝑐𝑜𝑠(50𝑡 + 𝛼)𝑚𝑚. The initial

conditions are given by 𝑥(0) = 3𝑚𝑚 and 𝑥̇ (0) = 1.0𝑚/𝑠 2
(i) Find the constants A and 𝛼
(ii) (ii) Express the motion in the form 𝑥(𝑡) = 𝐴1 𝐶𝑜𝑠𝜔𝑡 + 𝐴2 𝑆𝑖𝑛𝜔𝑡 and
identify the constants 𝐴1 and 𝐴2
3. An automobile is found to have a natural frequency of 20 rad/s without
passengers and 17.32rad/s with passengers of mass 500 kg. Find the mass and
stiffness of the automobile by treating it as a single-degree-of-freedom
system.

MEE 411 – Mechanical Vibrations Page 10 of 26

MEE411 LECTURE NOTES 2020

ENERGY METHOD FOR FREE UNDAMPED VIBRATION

This is based on the law of conservation of energy. In free Vibration, no external

energy is supplied to the system; therefore, the total energy remains constant.
This is made up of the kinetic energy and potential energy in the system.
That is
Let kinetic Energy = KE
Potential Energy = PE

KE + PE = Constant
And
𝑑
(𝐾𝐸 + 𝑃𝐸) = 0
𝑑𝑡
For the Spring System

Figure 2-2

When the spring is loaded, it is stretched by Δ to equilibrium position and then

set up in vibration by pulling down x, then

1 1
𝐾𝐸 =𝑚𝑣 2 = 𝑚𝑥̇ 2
2 2
Inertia or gravitational energy = -mgx
1 1
Strain Energy in the spring = Average Force X distance =2 𝑘(𝑥 + ∆𝑥)2 − 2 𝑘∆2
1 1
=2 𝑘(𝑥 2 + 2𝑥∆ + ∆2 ) − 2 𝑘∆2
1 1 1
= 𝑘𝑥 2 + 𝑘𝑥∆ + 𝑘∆2 − 𝑘∆2
2 2 2
1 2
= 𝑘𝑥 + 𝑘𝑥∆
2
Hence total potential energy is
1
𝑃𝐸 = 𝑘𝑥 2 + 𝑘𝑥∆ − 𝑚𝑔𝑥
2
But K∆ =mg
1
𝑃𝐸 = 𝑘𝑥 2
2
Total Energy is

MEE 411 – Mechanical Vibrations Page 11 of 26

MEE411 LECTURE NOTES 2020

1 1
𝐾𝐸 + 𝑃𝐸 = 𝑚𝑥̇ 2 + 𝑘𝑥 2
2 2
From conservation of energy
𝑑
(𝐾𝐸 + 𝑃𝐸) = 0
𝑑𝑡
𝑑 1 1
( 𝑚𝑥̇ 2 + 𝑘𝑥 2 ) = 0
𝑑𝑡 2 2

𝑚𝑥̇ 𝑥̈ + 𝑘𝑥𝑥̇ = 0
𝑚𝑥̈ + 𝑘𝑥 = 0
𝑘
𝑥̈ + 𝑥 = 0
𝑚

𝑥̈ + 𝜔2 𝑥 = 0
As earlier obtained using equilibrium method. Further analysis is as previously
done.

MEE 411 – Mechanical Vibrations Page 12 of 26

MEE411 LECTURE NOTES 2020

SPRINGS IN SERIES AND SPRINGS IN PARALLEL

Figure 2-3

Consider two springs in series, plan here is to determine a single spring to

replace the series of springs in 2.4

Let the system be in equilibrium with the Load, mg, then

F = F1 =F2 =mg

∆ = ∆1 + ∆2

𝑚𝑔 = 𝐾𝑒𝑞 ∆
𝑚𝑔
∆=
𝐾𝑒𝑞
Similarly,
𝑚𝑔
∆1 =
𝐾1
𝑚𝑔
∆2 =
𝐾2

So,
𝑚𝑔 𝑚𝑔 𝑚𝑔
= +
𝐾𝑒𝑞 𝐾1 𝐾2

1 1 1
= +
𝐾𝑒𝑞 𝐾1 𝐾2

1 𝐾1 + 𝐾2
=
𝐾𝑒𝑞 𝐾1 𝐾2

𝐾1 𝐾2
𝐾𝑒𝑞 =
𝐾1 + 𝐾2

MEE 411 – Mechanical Vibrations Page 13 of 26

MEE411 LECTURE NOTES 2020

For this system,

1 𝐾1 𝐾2
𝜔= √
2𝜋 𝑚(𝐾1 + 𝐾2 )

For Springs in Parallel

We will use the case where the spring has the same thickness

The extensions are the same

∆ = ∆1 = ∆2

𝐹 = 𝐹1 + 𝐹2
𝐾𝑒𝑞 ∆ = 𝐾1 ∆ + 𝐾2 ∆
𝐾𝑒𝑞 = 𝐾1 + 𝐾2
In the case 𝐾1 = 𝐾2

𝐾𝑒𝑞 = 2𝐾

Classwork 3

1. A 20kg block is supported as shown, if the block is displaced 50mm vertically

downwards and released, determine
(i) Period
(ii) Frequency
(iii) Maximum velocity
(iv) Maximum acceleration
Of the resulting motion of the block

2KN/m 2KN/m

3KN/m 3KN/m

MEE 411 – Mechanical Vibrations Page 14 of 26

MEE411 LECTURE NOTES 2020

2. (a) Determine the equivalent spring constant of the system shown below;

(b) Find the equivalent spring constant if

K1 = 2KN/m, K2 = 5KN/m, K3 = 3KN/m, K4 = 10KN/m, K5 = 7KN/m

MEE 411 – Mechanical Vibrations Page 15 of 26

MEE411 LECTURE NOTES 2020

TRANSVERSE VIBRATION

Figure 3-1

Just like longitudinal Vibration, the restoring force to state of static equilibrium
gives

𝐹 = −𝑘𝑥
Accelerating force = m𝑥̈
Therefore

𝑚𝑥̈ = −𝑘𝑥
𝑚𝑥̈ + 𝑘𝑥 = 0
𝑘
𝑥̈ + 𝑥 = 0
𝑚
This gives the same result as longitudinal vibration

Note that
𝑘𝛿 = 𝑚𝑔
𝑚𝑔
𝑘=
𝛿
So
𝑚𝑔
𝑥̈ + 𝑥=0
𝑚𝛿
𝑔
𝑥̈ + 𝑥=0
𝛿

𝑥̈ + 𝜔𝑛 2 𝑥 = 0
Therefore,
𝑘 𝑔
𝜔𝑛 2 = =
𝑚 𝛿

𝑘 𝑔
𝜔𝑛 = √ = √
𝑚 𝛿
Now considering the beam as a cantilever and from strength of materials

MEE 411 – Mechanical Vibrations Page 16 of 26

MEE411 LECTURE NOTES 2020

Static deflection
𝑊𝑙 3 𝑚𝑔𝑙 3
𝛿= =
3𝐸𝐼 3𝐸𝐼
Where
W = Load at free end
L = length of beam
E = Young’s Modulus
I = Moment of Inertia of shaft

Classwork 4

A shaft of 100mm diameter and 1 metre long is fixed at one end and the other end
carries a flywheel of mass 1 tonne. Taking Young’s modulus for the shaft material
as 200GN/m2. Find the natural frequency of longitudinal and transverse vibrations.

MEE 411 – Mechanical Vibrations Page 17 of 26

MEE411 LECTURE NOTES 2020

TORSIONAL VIBRATION

Figure 4-1

The disc is twisted by application of torque T or as in a belt drive pulley. Let the
torque T be applied to a disc and suddenly removed, vibration will ensue. The
angle of twist 𝜙 is angle which a radial line makes with the position of the same
radial line when the disc was at rest.

𝑇 = 𝐾𝜙
𝑇
𝐾=
𝜙
K= torsional stiffness in torque per unit radian twist
From Strength of materials,
For a shaft of length l, the angle of twist is
𝑇𝐿
𝜙=
𝐺𝐽
Hence
𝑇 𝐺𝐽
𝐾 = = … … … … … … … … … 𝑬𝒒𝒏 𝟑. 𝟏
𝜙 𝐿
𝐺𝐽𝜙
𝑇=
𝐿
Where G = Shear Modulus or Modulus of Rigidity
J = Polar Moment of Inertia of a Cross Section
For a Circular Cross Section of diameter d
𝐽 = ∫ 𝑟 2 𝑑𝑎
𝑟
𝐽 = ∫ 𝑟 2 . 2𝜋𝑟𝑑𝑟
0

𝑟
2𝜋𝑟 4
𝐽=[ ]
4 0
𝜋𝑑4
𝐽=
32
𝑇𝐿 32𝑇𝐿
𝜙= =
𝐺𝐽 𝜋𝐺𝑑4
And
𝜋𝐺𝑑4
𝐾= … … … … … … … … … . . 𝑬𝒒𝒏 𝟑. 𝟐
32𝐿

The equation of motion is given by

𝐼𝜙̈ = −𝑘𝜙
𝑘
𝜙̈ + 𝜙 = 0
𝐼

MEE 411 – Mechanical Vibrations Page 18 of 26

MEE411 LECTURE NOTES 2020

Where I is the Mass moment of Inertia.

Compare with the linear equation of motion,
𝑘
𝑥̈ + 𝑥 = 0
𝑚

Hence for torsion,

𝑘
Circular Frequency 𝜔𝑛 = √
𝐼
1 𝑘
And frequency is 𝑓= √
2𝜋 𝐼
1 𝐼
Period 𝜏 = = 2𝜋√
𝑓 𝑘

For a circular disc of mass M, radius R as example,

𝑀𝑅 2 𝑀𝐷 2
𝐼= =
2 8
and

1 𝜋𝑑 4 𝐺
𝑓= √
2𝜋 4𝑀𝐷2 𝑙
Note that d = diameter of shaft and D = diameter of disc

𝐼 = 𝑀𝑘 2
Where k is the radius of gyration

MEE 411 – Mechanical Vibrations Page 19 of 26

MEE411 LECTURE NOTES 2020

Classwork 5

1. A vertical shaft 20mm in diameter and 0.8m long is made with metal with
a modulus of rigidity G, of 80GPa. The shaft has a flywheel of moment of
inertia 30kgm2 mounted on the end. Determine the frequency of torsional
oscillations

2. A shaft of 100mm diameter and 1metre long is fixed at one end and the
other end carries a flywheel of mass 1 tonne. The radius of gyration of the
flywheel is 0.5m. Find the frequency of torsional vibrations, if the modulus
of rigidity of the shaft material is 80GN/m2

3. A large drum of radius 0.5 m is mounted on a horizontal shaft. A belt runs

over it as shown with a mass of 400 kg on one end. The other end is
restrained with a spring of stiffness 300. N/mm. The drum has a moment
of inertia of 60 kg m2. Determine the natural frequency of the system. The
belt does not slip on the drum.

MEE 411 – Mechanical Vibrations Page 20 of 26

MEE411 LECTURE NOTES 2020

SHAFT CARRYING TWO FLYWHEELS

Figure 4-2

Two equal but opposite twisting torques are applied at the opposite ends of the
shaft and then removed. Torsional vibrations are set up in which the true ends
always oscillate in opposite directions. Initial angular momentum is zero and so it
must remain zero which implies rotation in opposite direction. There will be a nodal
cross – section and the two ends will vibrate as built in shafts but with the same
period. Hence,
𝜏1 = 𝜏 2
𝐼1 𝐼2
√ =√
𝐾1 𝐾2
𝑘1 𝐼1
=
𝑘2 𝐼2
Now
𝑙 = 𝑙1 + 𝑙2
As for built-in shaft
𝐺𝐽
𝐾=
𝑙
Shaft is one material and cross section, so GJ is constant

𝐺𝐽
𝐾1 =
𝑙1

𝐾1 𝑙1 = 𝐺𝐽
Similarly,
𝐾2 𝑙2 = 𝐺𝐽
Therefore,
𝐾1 𝑙1 = 𝐾2 𝑙2
So,
𝑘1 𝑙2 𝐼1
= =
𝑘2 𝑙1 𝐼2

𝐾1 𝐼1
𝑙2 = 𝑙1 = 𝑙1
𝐾2 𝐼2

MEE 411 – Mechanical Vibrations Page 21 of 26

MEE411 LECTURE NOTES 2020

But
𝑙 = 𝑙1 + 𝑙2

𝐼1
𝑙 = 𝑙1 + 𝑙
𝐼2 1

𝐼2 + 𝐼1
𝑙=( ) 𝑙1
𝐼2
Or
𝐼2
𝑙1 = ( )𝑙
𝐼1 + 𝐼2
Similarly,
𝐼1
𝑙2 = ( )𝑙
𝐼1 + 𝐼2

That is, the node divides the length in inverse ratio of the Mass Moment of
Inertia of disc
Therefore,

𝑘1 𝐺𝐽
𝜔𝑛 = √ = √
𝐼1 𝐼1 𝑙1

𝐺𝐽(𝐼1 + 𝐼2 )
𝜔𝑛 = √
𝐼1 𝐼2 𝑙1

1 𝐺𝐽(𝐼1 + 𝐼2 )
𝑓= √
2𝜋 𝐼1 𝐼2 𝑙1

𝐼1 𝐼2 𝑙1
𝜏 = 2𝜋√
𝐺𝐽(𝐼1 + 𝐼2 )

Classwork 6

1. The flywheel of an engine driving a dynamo has a mass of 135kg and a

radius of gyration of 250mm. the armature has a radius of 100kg and radius
of gyration of 200mm. the driving shaft has an effective length of 450mm
and is 50mm in diameter. Neglecting the inertia of the shaft, calculate the
natural frequency of torsional vibration of the shaft. G=80GN/m2
2. Two rotors, one of mass 20kg and radius of gyration 120mm, the other
30kg and radius of gyration 150mm, are mounted on opposite ends of a
shaft of 50mm diameter. If the frequency of torsional vibration is 100 Hz,
what is the length of the shaft and the position of the node? Modulus of
rigidity =80,000N/mm2

MEE 411 – Mechanical Vibrations Page 22 of 26

MEE411 LECTURE NOTES 2020

NON UNIFORM SHAFT

T

d1 φ1

d2 φ1

l1 l2

𝜙1 is measured relative to the fixed points while 𝜙2 is measured relative to

where the change in diameter occur

Hence

𝜙 = 𝜙1 + 𝜙2

The torque is the same at each section

𝑇𝑙1 𝑇𝑙2
𝜙 = 𝜙1 + 𝜙2 = +
𝐺𝐽1 𝐺𝐽2

𝑇 𝑙1 𝑙2
𝜙= ( + )
𝐺 𝐽1 𝐽2

𝑇 𝐽1
𝜙= [𝑙1 + 𝑙2 ( )]
𝐺𝐽1 𝐽2

If the two shafts were solid shafts

Then

𝜋𝑑14
𝐽1 =
32

And

𝜋𝑑24
𝐽2 =
32

𝐽1 𝑑14
= 4
𝐽2 𝑑2

And

MEE 411 – Mechanical Vibrations Page 23 of 26

MEE411 LECTURE NOTES 2020

32𝑇 𝑑14
𝜙= [𝑙 + 𝑙 ( )]
𝐺𝜋𝑑14 1 2
𝑑24

The term in big bracket is the equivalent length of the shaft treated as having a
uniform diameter of d1

Classwork 7

The two rotors A and B are attached to the end of a shaft 500mm long. The Mass of
the rotor A is 300kg and its radius of gyration is 300mm. the corresponding values of
the rotor B are 500kg and 450mm respectively. The shaft is 70mm in diameter for
the first 250mm; 120mm for the next 70mm and 100mm diameter for the remaining
length. The modulus of rigidity of the shaft material is 80GN/m2.

Find:
(i) The position of the node and
(ii) The frequency of torsional vibrations

MEE 411 – Mechanical Vibrations Page 24 of 26

MEE411 LECTURE NOTES 2020

EFFECT OF INERTIA OF SHAFT

Is dx

L I, Ω, or ω

Let Ω be angular velocity of disc

We assume that angular velocity of small element of shaft dx at location x

is

𝑥
Ω
𝑙

i.e the angular velocity varies linearly along the shaft

Inertia of small element dx is

𝑑𝑥
𝐼𝑠
𝑙

Hence kinetic energy of the small element dx is

1 𝑑𝑥 𝑥 2
𝐼 ( Ω)
2 𝑠 𝑙 𝑙

Total K. E of shaft

𝐼𝑠 Ω2 𝑙 2
𝐾. 𝐸. = ∫ 𝑥 𝑑𝑥
2𝑙 3 0

𝑙
𝐼𝑠 Ω2 𝑥 3
𝐾. 𝐸. = 3 [ ]
2𝑙 3 0

𝐼𝑠 Ω2 𝑙 3
𝐾. 𝐸. = ( )
2𝑙 3 3

MEE 411 – Mechanical Vibrations Page 25 of 26

MEE411 LECTURE NOTES 2020

1 𝐼𝑠
𝐾. 𝐸. = ( ) Ω2
2 3

The shaft can be considered as a lumped mass located at the position of

1
the disc with an inertia of of its inertia. Therefore effective inertia of the
3
system is

1
𝐼𝑒𝑓𝑓 = (𝐼 + 𝐼𝑠 )
3

Similarly in the Mass Spring case and considering the mass of the spring

1
𝑚𝑒𝑓𝑓 = (𝑚 + 𝑚𝑠 )
3

Classwork 8

A uniform platform OPQA 3m long, 1m wide and of mass 100kg carries a central
load of 20kg. It is hinged at end “O" and it is supported in the horizontal position
by two springs at points P and Q symmetrically placed 2m apart with stiffness’s
20,000Nm and 5,000Nm respectively. Find the natural frequency of the platform
about “O”

MEE 411 – Mechanical Vibrations Page 26 of 26