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Lecture 2

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Lecture 2

Uploaded by

Muhannad Mohammed
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© © All Rights Reserved
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Mechanical Vibrations

(MED 343)
Lecture 2: Free vibration of SDOF systems
Dr. Mahmoud Atef
Department of Mechanical Design and Production
Engineering
2
Physical model of SDoF system

The basic components of a mechanical system are:

1- Inertia components store kinetic energy


2- Stiffness components store potential energy
3- Damping components dissipate energy
4- Energy sources provide energy to the system

10/21/2024 Mahmoud Abdalhamed.


3
Dynamic model of SDOF system
To derive the equation of motion of mechanical system we apply one of this
principles (methods) :
1- Conservation of momentum (dynamic equilibrium)
The principle of impulses and momentum states that the sum of all the impulses created
by the external load system which acts on the body during the time interval dt is equal to
the change in the momentum of the body during this time interval.

෍ 𝐹 𝑑𝑡 = 𝑑𝑝

𝑑𝑝
෍𝐹 =
𝑑𝑡

𝑑𝑝
𝑑𝑡
− ෍𝐹 = 0 Dynamic equilibrium conditions

10/21/2024 Mahmoud Abdalhamed.


4
Dynamic model of SDOF system
To derive the equation of motion of mechanical system we apply one of this
principles (methods) :

2- Conservation of energy (conservative system, no energy dissipated)


law of conservation of energy states that the total energy of an isolated system
remains constant
Types of energy in dynamic system:
1 1
Kinetic energy 𝑇 = 𝑚𝑣 2 𝑇 = 𝐼𝜔2
2 2
1
Potential energy 𝑈 = ‫𝑥𝑑 𝐹 ׯ‬ 𝑈 = 𝑘𝑥 2
2

𝑇+𝑈 =𝑐
10/21/2024 Mahmoud Abdalhamed.
5
Dynamic model of SDOF system
To derive the equation of motion of mechanical system we apply one of this
principles (methods) :

3- Lagrange equations (conservative system, no energy dissipated)

𝐿 =𝑇−𝑈
𝑑 𝜕𝐿 𝜕𝐿
− =0
𝑑𝑡 𝜕𝑞𝑗ሶ 𝜕𝑞𝑗

10/21/2024 Mahmoud Abdalhamed.


6
Equation of Motion of a Spring-Mass System
Conservation of momentum

𝑑𝑝
− ෍𝐹 = 0
𝑑𝑡
𝑑
(𝑚𝑥)
ሶ − (𝑤 − 𝑘(𝛿𝑠𝑡 + 𝑥) = 0
𝑑𝑡
𝑚𝑥ሷ − 𝑤 + 𝑘𝛿𝑠𝑡 + 𝑘𝑥 = 0, 𝑤 = 𝑘𝛿𝑠𝑡
𝑚𝑥ሷ + 𝑘𝑥 = 0

Equation of motion

10/21/2024 Mahmoud Abdalhamed.


7
Equation of Motion of a Spring-Mass System
Conservation of energy

1
𝑈𝑠 = 𝑚𝑔𝑥 + 𝑘𝑥 2
2
𝑈𝑔𝑟𝑣 = −𝑚𝑔𝑥
1
𝑈 = 𝑈𝑠 + 𝑈𝑔𝑟𝑣 = 𝑚𝑔𝑥 + 𝑘𝑥 2 − 𝑚𝑔𝑥
2
1 1
= 𝑚𝑔𝑥 + 𝑘𝑥 2 − 𝑚𝑔𝑥 = 𝑘𝑥 2
2 2
1
𝑇 = 𝑚𝑥ሶ 2
2
For conservation of energy 𝑇+𝑈 =𝑐
𝑑
𝑇+𝑈 =0
𝑑𝑡

10/21/2024 Mahmoud Abdalhamed.


8
Equation of Motion of a Spring-Mass System
Conservation of energy

𝑑 1 2
1 2
𝑚𝑥ሶ + 𝑘𝑥 = 0
𝑑𝑡 2 2
𝑚𝑥ሶ 𝑥ሷ + 𝑘𝑥 𝑥ሶ = 0
𝑚𝑥ሷ + 𝑘𝑥 𝑥ሶ = 0
𝑥ሶ = 0 𝑚𝑥ሷ + 𝑘𝑥 = 0
Trivial solution Equation of motion

10/21/2024 Mahmoud Abdalhamed.


9
Equation of Motion of a Spring-Mass System
Lagrange equation

𝐿 =𝑇−𝑈
1 1
= 𝑚𝑥ሶ 2 − 𝑘𝑥 2
2 2
𝜕𝑙
= 𝑚𝑥ሶ
𝜕𝑥ሶ
𝑑 𝜕𝑙 𝑑
= 𝑚𝑥ሶ = 𝑚𝑥ሷ
𝑑𝑡 𝜕𝑥ሶ 𝑑𝑡
𝜕𝑙
= −𝑘𝑥
𝜕𝑥
𝑑 𝜕𝐿 𝜕𝐿
− =0
𝑑𝑡 𝜕𝑥ሶ 𝜕𝑥
𝑚𝑥ሷ − −𝑘𝑥 = 0
𝑚𝑥ሷ + 𝑘𝑥 = 0 Equation of motion
10/21/2024 Mahmoud Abdalhamed.
10
Free vibration response of undamped SDOF
Vibration response is found by solution the differential equation of motion
𝑚𝑥 ̈+𝑘𝑥=0
The solution can be found by assuming
𝑥 𝑡 = 𝑏𝑒 𝑠𝑡 𝑥ሶ 𝑡 = 𝑏𝑠𝑒 𝑠𝑡 𝑥ሷ 𝑡 = 𝑏𝑠 2 𝑒 𝑠𝑡
𝑚𝑏𝑠 2 𝑒 𝑠𝑡 + 𝑘 𝑏𝑒 𝑠𝑡 = 0
𝑚𝑠 𝑠 + 𝑘 𝑏𝑒 𝑠𝑡 = 0
For non-trivial solution 𝑚𝑠 𝑠 + 𝑘 = 0
𝑘
𝑠 = ±𝑖 = ±𝑖𝜔𝑛
𝑚

𝑥 𝑡 = 𝑏1 𝑒 𝑖𝜔𝑛 𝑡 + 𝑏2 𝑒 −𝑖𝜔𝑛 𝑡
𝑥 𝑡 = 𝐴 𝑐𝑜𝑠𝜔𝑛 𝑡 + 𝐵𝑠𝑖𝑛𝜔𝑛 𝑡
𝑥 𝑡 = 𝐴 𝑐𝑜𝑠(𝜔𝑛 𝑡 − 𝜑)

10/21/2024 Mahmoud Abdalhamed.


11
Free vibration response of undamped SDOF

The standard form of differential equation of motion of undamped SDOF system is


𝑘𝑒𝑞
𝑥ሷ + 𝑥=0
𝑚𝑒𝑞

𝑥ሷ + 𝜔𝑛 2 𝑥 = 0

𝜔𝑛 is natural frequency of motion


Also the general free vibration
response of undamped SDOF
system is
𝑥 𝑡 = 𝐴 𝑐𝑜𝑠(𝜔𝑛 𝑡 − 𝜑)
𝑥𝑜ሶ 2
𝐴= 𝑥𝑜 2 + ( ) is vibration amplitude
𝜔𝑛
𝜔𝑛 𝑥𝑜
𝜑 = tan−1 ( ) is the phase angle
𝑥𝑜ሶ
10/21/2024 Mahmoud Abdalhamed.
12
Examples
A simple pendulum whose string length is L and whose bob mass is m was initially held at rest to
make a small angle with the vertical. It was then released to move freely.
If damping is negligible, and the instant pendulum position measured from the vertical
equilibrium position is: θ(t) = 0.122 sin ( 2t + ∅ ), where ∅ is a constant.
i. Sketch a FBD of the bob at a general position showing all exact forces acting on it.
ii. Apply conservation of momentum to derive the math model without using a moment
equation.
iii. Find the pendulum string length L in cm.
iv. Find the initial pendulum position in degrees.
v. Find the displacement amplitude in degrees.
vi. Find the velocity (m/s) and acceleration (m/s2) amplitudes of the bob.
vii. If the string tension was found to be 50 N at the bottom position during motion,
estimate the mass of the bob in kg.

10/21/2024 Mahmoud Abdalhamed.


13
Examples
Figure shows a uniform bar pivoted about point o with springs of equal stiffness
k at each end. The bar is horizontal in the equilibrium position with spring forces
P1 and P2. Determine the equation of motion and its natural frequency

10/21/2024 Mahmoud Abdalhamed.


14
Examples
Determine the natural frequency of the system shown in Figure.

10/21/2024 Mahmoud Abdalhamed.


15
Examples
A cylinder of weight wand radius r rolls without slipping on a cylindrical surface
of radius R, as shown in Fig. 2.3-2. Determine its differential equation of motion
for small oscillations about the lowest point. For no slipping, we have 𝑟𝜑 = 𝑅𝜃 .

10/21/2024 Mahmoud Abdalhamed.


16
Examples
A cylinder weighted to float vertically is D in diameter and weighs W lb.
Neglecting any accompanying motion of water, determine the differential
equation of motion and the period of oscillation of the cylinder if it is depressed
slightly an released

10/21/2024 Mahmoud Abdalhamed.


17
Examples
The exhaust from a single-cylinder four-stroke diesel engine is to be connected to
a silencer, and the pressure therein is to be measured with a simple U-tube
manometer. Calculate the minimum length of the manometer tube so that the
natural frequency of oscillation of the mercury column will be 3.5 times slower
than the frequency of the pressure fluctuations in the silencer at an engine speed
of 600 rpm. The frequency of pressure fluctuation in the silencer is equal to

10/21/2024 Mahmoud Abdalhamed.


10/21/2024

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