Mechanical Vibrations

(MED 343)
Lecture 6: Forced vibration of SDOF systems
(Harmonically Excited Vibration(continue))
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

11/24/2024 Mahmoud Abdalhamed.

 3
Force excited Mass-spring- damper system
Equation of motion Vibration response
𝑥(𝑡) = 𝑥ℎ𝑜𝑚𝑜𝑔𝑒𝑛𝑜𝑢𝑠 + 𝑥𝑝𝑎𝑟𝑡𝑖𝑐𝑢𝑙𝑎𝑟

c k

k.x

m
m.x

𝐹(𝑡) = 𝐹𝑜 sin 𝜔 𝑡
11/24/2024 Mahmoud Abdalhamed.
 4
Force excited Mass-spring- damper system
P𝑎𝑟𝑡𝑖𝑐𝑢𝑙𝑎𝑟 Solution (steady-state response)

11/24/2024 Mahmoud Abdalhamed.

Self-excitation Vibration System
 6
Reciprocating and rotating unbalance excitation
Rotating unbalance occurs when the center of mass of a rotating
object does not align with its axis of rotation.
This results in a centrifugal force that varies sinusoidally during
rotation, causing vibrations.
Common Sources:
1-Unbalanced fans, flywheels, or rotors.
2- Misaligned shafts or imperfections in manufacturing.
Mathematical Representation: 𝐹 = 𝑚𝑒𝜔2 sin(𝜔𝑡)
m : unbalanced mass,
e: radius of eccentricity,
ω: angular velocity,
𝑡: time.

11/24/2024 Mahmoud Abdalhamed.

 7
Reciprocating and rotating unbalance excitation
Reciprocating unbalance arises from the linear back-and-forth motion of
components like pistons, which generate inertial forces that can lead to
vibration.
Common Sources:
Internal combustion engines.
Pumps with pistons or plungers.
Mathematical Representation: m r​ : reciprocating
mass,
Mp: mass of the reciprocating piston,
Mp’: equivalent mass of connecting rod
R: crank radius,
𝜔: angular velocity.
L: length of connecting rod
11/24/2024 Mahmoud Abdalhamed.
 8
Response of rotating unbalance excitation
• We consider here a spring-mass system
constrained to move in the vertical direction and d 2 ( x + e sin t )
M −m m.
excited by a rotating machine that is unbalanced dt 2
• The unbalance is represented by an eccentric
mass m with eccentricity e that is rotating
with angular velocity 𝜔 .
• By letting x be the displacement of the non
rotating mass (M - m)

xm = x + e sin t xm = x − e 2 sin t

( M − m) x + m( x − e 2 sin t ) + cx + kx = 0
kx cx
Mx + cx + kx = me 2 sin t

11/24/2024 Mahmoud Abdalhamed.

 9
Response of rotating unbalance excitation
M −m d 2 ( x + e sin t )
Mx + cx + kx = me sin t
2
m.
dt 2
mx + +cx + kx = Fo sin t

x(t ) = X sin(t −  )
2𝜁𝜔/𝜔𝑛
𝜙 = − tan−1 2
1−𝜔 ൗ 2
𝜔𝑛

kx cx
𝐹𝑜 /𝑘 𝑚𝑒𝜔2 /𝑘
𝑋= 𝑋=
𝜔 𝜔
(1 − (𝜔 )2 )2 + (2𝜁𝜔/𝜔𝑛 )2 (1 − (𝜔 )2 )2 + (2𝜁𝜔/𝜔𝑛 )2
𝑛
𝑛

11/24/2024 Mahmoud Abdalhamed.

 10
Response of rotating unbalance excitation

𝜔
𝑋 (𝜔 )2
𝑛
𝑚𝑒 = 𝜔
𝑀 (1 − (𝜔 )2 )2 + (2𝜁𝜔/𝜔𝑛 )2
𝑛

11/24/2024 Mahmoud Abdalhamed.

 11
Example
A counter rotating eccentric weight exciter is used to
produce the forced oscillation of a spring-supported
mass as shown in Fig. By varying the speed of rotation,
a resonant amplitude of 0.60 cm was recorded. When
the speed of rotation was increase considerably beyond
the resonant frequency, the amplitude appeared to
approach a fixed value of 0.08 cm. Determine the
damping factor of the system.

11/24/2024 Mahmoud Abdalhamed.

 12
Example

From Eqn., the resonant amplitude is :

𝑚𝑒 𝜔 2
( )
𝑀 𝜔𝑛
𝑋=
𝜔
(1 − ( )2 )2 + (2𝜁𝜔/𝜔𝑛 )2
𝜔𝑛

When 𝜔 is very much greater than 𝜔𝑛 , the same equation

becomes

By solving the two equations simultaneously, the damping

factor of the system is

11/24/2024 Mahmoud Abdalhamed.

 13
Example
The schematic diagram of a Francis water turbine is
shown in the figure, which shows water flowing from
A into blades B and down into tail race C. The rotor
has a mass of 250 kg and an unbalance (me) of 5kg-
mm. The radial clearance between the rotor and the
stator is 5mm. The turbine operates in the speed range
of 600 to 6000rpm. The steel shaft carrying the rotor
can be assumed to be clamped at the bearings.
Determine the diameter of the shaft so that the rotor is
always clear of the stator at all the operating speeds of
the turbine. Assume damping to be negligible.

11/24/2024 Mahmoud Abdalhamed.

 14
Shaft Whirling (Critical Speed)
Shaft whirling (or rotor whirl) is a dynamic
instability where the rotor's centerline begins to orbit
around the shaft's geometric center.
This occurs when the rotational speed approaches a
critical speed, which corresponds to one of the
system's natural frequencies.
Critical Speed: The critical speed (𝜔𝑐 ) of a shaft is
the rotational speed at which resonance occurs due to
alignment of the shaft's natural frequency with the
excitation frequency caused by rotor unbalance.
Causes of Shaft Whirling:
• Rotor unbalance (primary cause).
• Misaligned or worn bearings.

11/24/2024 Mahmoud Abdalhamed.

 15
Shaft Whirling (Critical Speed)
Ignoring damping
𝑘. 𝑟 = 𝑚. 𝜔2 (𝑟 + 𝑒)

(𝜔/𝜔𝑛 )2 𝑒 𝑟 (𝜔/𝜔𝑛 )2
𝑟= =
1 − (𝜔/𝜔𝑛 )2 𝑒 1 − (𝜔/𝜔𝑛 )2
𝐾𝑟 S G 𝑚𝜔2 𝑟 + 𝑒
r/. O
e r e

1 k
/ n
n =
1 m
11/24/2024 Mahmoud Abdalhamed.
 16
Shaft Whirling (Critical Speed)
Considering Friction

(𝜔/𝜔𝑛 )2 𝑒
𝑟=
(1 − (𝜔/𝜔𝑛 )2 )2 −(2𝜁 𝜔 )2
G
ൗ𝜔𝑛 ρ
𝛼 e 𝜑
𝐾𝑟 S
r
O
2𝜁 𝜔ൗ𝜔𝑛 𝐶𝑟 𝜔
tan 𝜑 =
(1 − (𝜔/𝜔𝑛 )2

11/24/2024 Mahmoud Abdalhamed.

 17
Shaft Whirling (Critical Speed)

r/e

11/24/2024 Mahmoud Abdalhamed.

 18
Example

A shaft, carrying a rotor of weight 100 lb and eccentricity 0.1 in., rotates at 1200 rpm.
Determine: (a) the steady-state whirl amplitude and (b) the maximum whirl amplitude
during start-up conditions of the system. Assume the stiffness of the shaft as 2*10^5
ib/in and the external damping ratio as 0.1

11/24/2024 Mahmoud Abdalhamed.

 19
Vibration isolation and transmissibility

11/24/2024 Mahmoud Abdalhamed.

 20
Vibration isolation and transmissibility

m.x + cx + kx = Fo sin t Fo sin t

m.x
x(t ) = X sin(t −  )
m 2 X sin(t −  ) − cX sin(t −  +  / 2)
m
− kX sin(t −  ) + Fo sin t = 0 c
kX Fo sin t k.x
k

FTR
 X sin(t −  )
t
m 2 X FTR = Force transmitted to the base, which is represented by the
damping force and the spring force

11/24/2024 Mahmoud Abdalhamed.

 21
Vibration isolation and transmissibility
𝐹𝑇𝑅 = (𝑘𝑋)2 + (𝑐𝑋𝜔)2 = 𝑋 (𝑘)2 + (𝑐𝜔)2

𝐹𝑜 /𝑘
𝑋=
𝜔
(1 − ( )2 )2 + (2𝜁𝜔/𝜔𝑛 )2
𝜔𝑛
𝜔 2
𝐹𝑜 1 + (2. 𝜉 )
𝐹𝑜 /𝑘 𝜔𝑛
𝐹𝑇𝑅 = (𝑘)2 + (𝑐𝜔)2 𝐹𝑇𝑅 =
𝜔 𝜔
(1 − ( )2 )2 + (2𝜁𝜔/𝜔𝑛 )2 (1 − ( )2 )2 + (2𝜁𝜔/𝜔𝑛 )2
𝜔𝑛 𝜔𝑛

𝜔 2
1 + (2. 𝜉 𝜔 )
𝐹𝑇𝑅 𝑛
𝑇𝑅 = 𝑡𝑟𝑎𝑛𝑠𝑚𝑖𝑠𝑠𝑖𝑏𝑖𝑙𝑖𝑡𝑦 = =
𝐹𝑜 𝜔 2 2
(1 − ( ) ) + (2𝜁𝜔/𝜔𝑛 )2
𝜔𝑛

11/24/2024 Mahmoud Abdalhamed.

 22
Vibration isolation and transmissibility
𝜔 2
1 + (2. 𝜉 )
𝜔𝑛
𝑇𝑅 =
𝜔
(1 − ( )2 )2 + (2𝜁𝜔/𝜔𝑛 )2
𝜔𝑛

11/24/2024 Mahmoud Abdalhamed.

 23
Vibration isolation and transmissibility

For good isolation TR<<<1

“mass” should be large and “damping”
should be small

11/24/2024 Mahmoud Abdalhamed.

 24
Example

An exhaust fan, rotating at 1000 rpm, is to be supported by four springs, each

having a stiffness of K. If only 10 percent of the unbalanced force of the fan is to
be transmitted to the base, what should be the value of K? Assume the mass of the
exhaust fan to be 40 kg

11/24/2024 Mahmoud Abdalhamed.

 25
Example
A centrifugal pump, with a mass of 50 kg and rotational speed of 3000 rpm, is
mounted in the middle of a simply supported beam of length 100 cm, width 20 cm,
and thickness 0.5 cm. The damping ratio of the system (beam) can be assumed as
The impeller (rotating part) of the pump has a mass of 5 kg with an eccentricity of 1
mm. If the maximum deflection of the beam is constrained to be less than the
available rattle space of 3 mm. Determine whether the support system of the pump
is adequate (hint the effective mass of simply supported beam is )

11/24/2024 Mahmoud Abdalhamed.

11/24/2024