Mechanical Vibrations

MEC4110
Unit IV

Dr. Arshad Hussain Khan

Department of Mechanical Engineering
Zakir Husain College of Engg. & Technology
Aligarh Muslim University, Aligarh
 Unit IV Syllabus
• Approximate Methods of Determining Natural Frequencies and Mode

Shapes

 Matrix Iteration Method

 Holzer’s Method

 Dunkerley’s Formula

 Rayleigh’s Method

• Continuous Systems

 Transverse Vibration of a String or Cable

 Longitudinal Vibration of a Bar or Rod

 Torsional Vibration of a Shaft or Rod

 Lateral Vibration of Beams

 Lecture 1

Matrix Iteration Method

 Matrix Iteration Method
Convergence to the Fundamental (lowest) Natural Frequency
• This method assumes that the natural frequencies are distinct and well separated

such that w1<w2<…..<wn.

• The iteration is started by selecting a trial vector which is then pre-multiplied by

the dynamical matrix [D].

• Resulting column vector is then normalized, usually by making one of its

components equal to unity. The normalized column vector is pre-multiplied by [D] to
obtain a third column vector, which is normalized in the same way as before and
becomes still another trial column vector.

• The process is repeated until the successive normalized column vectors converge
to a common vector: the fundamental eigenvector.

• The normalizing factor gives the largest value of i.e. the smallest or the
fundamental natural frequency
 Matrix Iteration Method
Convergence to the Highest Natural Frequency

• To obtain the highest natural frequency and the corresponding mode shape or
eigenvector by the matrix iteration method, we first write
with

• Select any arbitrary trial vector and pre-multiply it by to obtain an improved

trial vector

• The sequence of trial vectors obtained by pre-multiplying by

converges to the highest normal mode

• The constant of proportionality in this case is w2 instead of 1/ w2.

 Matrix Iteration Method
Computation of Intermediate Natural Frequencies

• Any arbitrary trial vector pre-multiplied by [D] would lead again to the largest
eigenvalue. It is thus necessary to remove the largest eigenvalue from the matrix
[D].

• The succeeding eigenvalues and eigenvectors can be obtained by eliminating the

root from the characteristic or frequency equation.

• A procedure known as matrix deflation can be used for this purpose.

• To find the eigenvector by this procedure, the previous eigenvector is normalized
with respect to the mass matrix such that

• The deflated matrix is then constructed as

• Once is constructed, the iterative scheme

is used, where is an arbitrary trial eigenvector.

 Problem
Ques: Find the natural frequencies and mode shapes using Matrix iteration method of a multi
DOF system.

Sol.
:
Flexibility matrix is ; Dynamical matrix [D] is

Eigenvalue problem can be stated as

First Natural Frequency.

Assuming the first trial eigenvector or mode shape to be

The second trial eigenvector

By making the first element equal to unity

Subsequent trial eigenvector can be obtained from the relation

 First Natural Frequency
Convergence Table

First eigenvalue and the corresponding natural frequency

First Mode shape

 Second Natural Frequency
To compute the second eigenvalue and the eigenvector, we must first find the deflated matrix:
(1)

Eq. (1) calls for a normalized vector satisfying Let

where a is a constant whose value must be such that

(2)

Hence the first normalized eigenvector is (3)

The first deflated matrix from Eq. (1):

(4)

the trial vector can be chosen arbitrarily, taking Using

 Second Natural Frequency
Convergence Table

Second eigenvalue and the corresponding natural frequency

Second Mode shape

 Highest (Third) Natural Frequency

The highest Natural frequency can be easily obtained by following the Procedure for
computation of fundamental frequency with the only difference that rather than pre-
multiplying the Dynamical matrix the inverse of the dynamical matrix is to be pre-
multiplied with the trial vector.
Thank you and
queries?
 Mechanical Vibrations
MEC4110
Unit IV

Dr. Arshad Hussain Khan

Department of Mechanical Engineering
Zakir Husain College of Engg. & Technology
Aligarh Muslim University, Aligarh
 Unit IV Syllabus
• Approximate Methods of Determining Natural Frequencies and Mode

Shapes

 Matrix Iteration Method

 Holzer’s Method

 Dunkerley s Formula

 Rayleigh s Method

• Continuous Systems

 Transverse Vibration of a String or Cable

 Longitudinal Vibration of a Bar or Rod

 Torsional Vibration of a Shaft or Rod

 Lateral Vibration of Beams

 Lecture 2

Holzer’s Method
 Holzer’s Method
• It is essentially a trial-and-error scheme to find the natural frequencies of
undamped, damped, semidefinite, fixed, or branched vibrating systems involving
linear and angular displacements.
• A trial frequency of the system is first assumed, and a solution is found when the
assumed frequency satisfies the constraints of the system.
• Depending on the trial frequency used, the fundamental as well as the higher
frequencies and mode shapes of the system can be determined.

Torsional Systems
Considering an Undamped torsional semidefinite system.
The equations of motion of the discs:
(1)
(2)
(3)
Since the motion is harmonic in natural mode, assuming
Equations (1)- (3) lead to
(4) (5) (6)

Summing equations (4) to (6) (7)

 Holzer’s Method
• It is essentially a trial-and-error scheme to find the natural frequencies of
undamped, damped, semidefinite, fixed, or branched vibrating systems involving
linear and angular displacements.
• A trial frequency of the system is first assumed, and a solution is found when the
assumed frequency satisfies the constraints of the system.
• Depending on the trial frequency used, the fundamental as well as the higher
frequencies and mode shapes of the system can be determined.
Torsional Systems
Considering an Undamped torsional semidefinite system.
The equations of motion of the discs:
(1)
(2)
(3)
Since the motion is harmonic in natural mode, assuming
Equations (1)- (3) lead to
(4) (5) (6)
Summing equations (4) to (6) (7)
Sum of the inertia torques of the semidefinite system must be zero.
Equation (7) represents frequency equation, and the trial frequency must satisfy this requirement.
 Holzer’s Method
• In Holzer’s method, a trial frequency w is assumed, and is arbitrarily chosen as unity.
Using equations (4) to (5)

These values are substituted in Eq. (7) to verify whether the constraint is satisfied. If Eq. (7)
is not satisfied, a new trial value of w is assumed and the process is repeated
For an n-disc system (8)

(9)

Eqs. (8) and (9) repeatedly for different trial frequencies. If the assumed trial frequency is not
a natural frequency of the system, Eq. (8) is not satisfied. The resultant torque in Eq. (8)
represents a torque applied at the last disc. This torque Mt is then plotted for the chosen w.
From this graph, the natural frequencies of the system can be identified as the values of w at
which
The amplitudes 1, 2,3, ….n) corresponding to the natural
frequencies are the mode shapes of the system.

Holzer s method can also be applied to systems with fixed

ends. At a fixed end, the amplitude of vibration must be zero.
In this case, the natural frequencies can be found by plotting
the resulting amplitude (instead of the resultant torque) against
the assumed frequencies.
 Problem
Ques: The arrangement of the compressor, turbine, and generator in a thermal power plant is
shown in Fig. Find the natural frequencies and mode shapes of the system..
Sol.:
The system represents an unrestrained
or free-free torsional system

The quantity Mt3 denotes the torque to

the right of Station 3 which must be
zero at the natural frequencies.
Convergence Table
Torque v/s Frequency Plot First Two Flexible Modes

w = 0, corresponds to the rigid body rotation

Thank you and
queries?
 Mechanical Vibrations
MEC4110
Unit IV

Dr. Arshad Hussain Khan

Department of Mechanical Engineering
Zakir Husain College of Engg. & Technology
Aligarh Muslim University, Aligarh
 Unit IV Syllabus
• Approximate Methods of Determining Natural Frequencies and Mode

Shapes

 Matrix Iteration Method

 Holzer’s Method

 Dunkerley’s Formula

 Rayleigh’s Method

• Continuous Systems

 Transverse Vibration of a String or Cable

 Longitudinal Vibration of a Bar or Rod

 Torsional Vibration of a Shaft or Rod

 Lateral Vibration of Beams

 Lecture 3

Dunkerley’s Formula
Dunkerley’s formula gives the approximate value of the fundamental frequency of a composite
system in terms of the natural frequencies of its component parts.

Based on the fact that the higher natural frequencies of most vibratory systems are large
compared to their fundamental frequencies.
Consider a general n-degree-of-freedom system whose eigenvalues can be determined by
solving the frequency equation.
(1) (2)

For a lumped-mass system with a diagonal mass matrix

(3)

(4)
The expansion of Eq. (4) leads to

(5)

This is a polynomial equation of nth degree in 1/w2

Let the roots of Eq. (5) be denoted as

(6)

Equating the coeff. From Eq. 5 & 6

(7)

(8)

Eq. 7 can be approximated as (9)

Eq. (9) is known as Dunkerley’s formula. The fundamental frequency given by Eq. (9) will always
be smaller than the exact value. In some cases, it will be more convenient to rewrite Eq. (9) as
(10)

denotes the natural frequency of a single-degree of-freedom system

 Problem
Ques: Estimate the fundamental natural frequency of a simply supported beam carrying three identical
equally spaced masses, as shown in Fig. The flexibility influence coefficients (Inverse of stiffness
influence coefficients) are given as:

Sol.:
Using m1 = m2 = m3 = m
 Problem
Ques: In an overhead crane the trolley weighs ten times the weight of the girder. Using Dunkerley’s
formula, estimate the fundamental frequency of the system.

Sol.:
In case of a simply supported beam with the mass at the centre the natural frequency is given
by.

Neglecting the mass of the beam, if the trolley is placed at the centre, its natural frequency is:

The fundamental natural frequency of the combined system is:

i.e. 30.15% of the natural frequency of the girder without the

trolley
Thank you and
queries?
 Mechanical Vibrations
MEC4110
Unit IV

Dr. Arshad Hussain Khan

Department of Mechanical Engineering
Zakir Husain College of Engg. & Technology
Aligarh Muslim University, Aligarh
 Unit IV Syllabus
• Approximate Methods of Determining Natural Frequencies and Mode

Shapes

 Matrix Iteration Method

 Holzer’s Method

 Dunkerley’s Formula

 Rayleigh’s Method

• Continuous Systems

 Transverse Vibration of a String or Cable

 Longitudinal Vibration of a Bar or Rod

 Torsional Vibration of a Shaft or Rod

 Lateral Vibration of Beams

 Lecture 4

Rayleigh’s Method
Rayleigh’s Method is used to find the approximate value of the fundamental natural frequency of a
discrete system.

Based on the Rayleigh s principle:

The frequency of vibration of a conservative system vibrating about an equilibrium position has a
stationary value in the neighbourhood of a natural mode. This stationary value, in fact, is a
minimum value in the neighbourhood of the fundamental natural mode

The kinetic (T) and potential energies (V) of an n-degree-of-freedom discrete system can be
expressed as
(1) (2)
Assuming harmonic motion (3)
For conservative system, the maximum kinetic energy is equal to the maximum potential
energy (Tmax. = Vmax.)

(4)

The right-hand side of Eq. (4) is known as Rayleigh s quotient

Rayleigh s quotient is never lower than the first eigenvalue.

Rayleigh s quotient is never higher than the highest eigenvalue.

Rayleigh s quotient provides an upper bound for w1 and a lower bound wn for
 Rayleigh’s Method

Estimation of the Fundamental Natural Frequency

A trial vector is selected to represent the first natural mode and substituted on
the right-hand side of Eq. (4)

This yields the approximate value of w2, since Rayleigh’s quotient is stationary,
remarkably good estimates can be obtained.
 Problem
Ques: Estimate the fundamental frequency of vibration of the system shown in Fig.
Assume that
and the mode shape is

Sol.:
Thank you and
queries?
 Mechanical Vibrations
MEC4110
Unit IV

Dr. Arshad Hussain Khan

Department of Mechanical Engineering
Zakir Husain College of Engg. & Technology
Aligarh Muslim University, Aligarh
 Unit IV Syllabus
• Approximate Methods of Determining Natural Frequencies and Mode

Shapes

 Matrix Iteration Method

 Holzer’s Method

 Dunkerley’s Formula

 Rayleigh’s Method

• Continuous Systems

 Transverse Vibration of a String or Cable

 Longitudinal Vibration of a Bar or Rod

 Torsional Vibration of a Shaft or Rod

 Lateral Vibration of Beams

 Lecture 5
Continuous Systems

In case of Continuous systems we consider the continuous distribution of the

mass, damping and elasticity and assume that each of the infinite number of
points of the system can vibrate.

Such systems are also called system of infinite degrees of freedom.

If the system is modelled as a continuous one, the governing equations are partial
differential equations

In general, the frequency equation of a continuous system is a transcendental

equation that yields an infinite number of natural frequencies and normal modes.
 Transverse Vibration of a String or Cable
Consider a tightly stretched elastic string or cable of length l subjected to a transverse force
f(x, t) per unit length, as shown

Assuming small transverse displacement w(x, t)

Equilibrium of the forces in the z direction

net force acting on an element is equal to the inertia force acting on the element

(1)
P is the tension, r is the mass per unit length, and q is the angle the deflected string makes
with the x-axis.
For an elemental length dx,

Forced-vibration equation of the non-uniform string (2)

If the string is uniform and the tension is constant, (3)

 Transverse Vibration of a String or Cable
If f(x, t) = 0, the free vibration equation is: (4)

Wave equation
Initial and Boundary Conditions
The governing equation (Eqs. 1-4) is a partial differential equation of the second order.
Since the order of the highest derivative of w with respect to x and t is two, we need to
specify two boundary and two initial conditions in finding the solution w(x, t).
The initial conditions are specified as:

If the string is fixed at an end (x= 0)

If string or cable is connected to a pin that can move in a

perpendicular direction
The end cannot support a transverse force

If the end x = 0, is free and P is constant

If the end x = l is constrained elastically

 Free Vibration of a Uniform String

The free vibration equation is: (1)

Using the method of separation of variables, the solution is written as the product of a function
W(x) (which depends only on x) and a function T(t) (which depends only on t)
(2)
Using Eq. (2), Eq. (1) can be written as

Since the left-hand side of this equation depends only on x and the right-hand side depends only
on t, their common value must be a constant (a)

(3) (4)

Since the constant a is generally negative. Let a = -w2

(5) (6)

The solution of Eq. (5) & (6) is given by

(7) (8)

where w is the frequency of vibration and the constants A, B, C, and D can be evaluated from
the boundary and initial conditions
 Free Vibration of a Uniform String with both ends fixed
The solution is (1)
(2) (3)
The boundary conditions for fixed-fixed string are:
(4) (5)
In order to satisfy Eq. (4), A must be zero in Eq. (2) and to satisfy Eq. (5) we get from Eq. (2)
Since B cannot be zero for a nontrivial solution, we have

(6) Frequency Equation or Characteristic equation

The values of w are called the eigenvalues (or

natural frequencies or characteristic values) of the
problem. The nth natural frequency is given by:

The solution corresponding to can be expressed as:

(7)

Where Cn and Dn and are arbitrary constants. The solution is called the nth mode of
vibration or nth harmonic or nth normal mode of the string.

In this mode, each point of the string vibrates with an amplitude proportional to the value Wn
of at that point, with the circular frequency
 Free Vibration of a Uniform String with both ends fixed
The mode corresponding to n = 1 is called the fundamental mode, and is w1 called the
fundamental frequency. The fundamental period is

The points at which wn= 0 for all times are called nodes.

Mode shapes of a string

The general solution which satisfies the boundary conditions (Fixed-fixed string) is given by the
superposition of all wn(x, t):

(A)

This equation (Eq. A) gives all possible vibrations of the string; the particular vibration that occurs
is uniquely determined by the specified initial conditions.

The initial conditions give unique values of the

constants Cn and Dn.
Thank you and
queries?
 Mechanical Vibrations
MEC4110
Unit IV

Dr. Arshad Hussain Khan

Department of Mechanical Engineering
Zakir Husain College of Engg. & Technology
Aligarh Muslim University, Aligarh
 Unit IV Syllabus
• Approximate Methods of Determining Natural Frequencies and Mode

Shapes

 Matrix Iteration Method

 Holzer’s Method

 Dunkerley’s Formula

 Rayleigh’s Method

• Continuous Systems

 Transverse Vibration of a String or Cable

 Longitudinal Vibration of a Bar or Rod

 Torsional Vibration of a Shaft or Rod

 Lateral Vibration of Beams

 Lecture 6

 Longitudinal Vibration of a Bar or Rod

 Longitudinal Vibration of a Bar or Rod
Consider an elastic bar of length l with non-uniform cross-sectional area A(x).

The cross-sectional forces acting on a small element of the bar are given by P and P+dP

where s is the axial stress, E is Young s modulus, u is the axial displacement, and is the
axial strain. If f(x, t) denotes the external force per unit length
Equilibrium of the forces in the x- direction
net force acting on an element is equal to the inertia force acting on the element

(1) r is the mass density of the bar.

Equation of motion for the forced longitudinal

vibration of a non-uniform bar (2)

For a uniform bar (3)

Free-vibration equation: (4)
 Transverse Vibration of a String or Cable

If f(x, t) = 0, the free vibration equation is:

Free Vibration of a Uniform Bar

Similar to the solution for transverse vibration of string the solution for longitudinal vibration
of bar u(x, t) can be obtained using method of separation of variables.

where the function U(x) represents the normal mode and depends only on x and the function
T(t) depends only on t.
The initial conditions can be stated as:
Common boundary conditions for a bar in longitudinal vibration.
 Free Vibration of a Fixed-Free Bar
Let the bar be fixed at x = 0 and free at x= l ; (1) (2)
B.C.’s can be expressed as:

The general solution is (3)

Substituting the first B.C. from (1) in (3) we get

Substituting the second B.C. from (2) in (3) we get (4)

the frequency equation

The eigenvalues or natural frequencies

are given by

Using the mode superposition

Cn and Dn can be determined from the initial conditions,

Thank you and
queries?
 Mechanical Vibrations
MEC4110
Unit IV

Dr. Arshad Hussain Khan

Department of Mechanical Engineering
Zakir Husain College of Engg. & Technology
Aligarh Muslim University, Aligarh
 Unit IV Syllabus
• Approximate Methods of Determining Natural Frequencies and Mode

Shapes

 Matrix Iteration Method

 Holzer’s Method

 Dunkerley’s Formula

 Rayleigh’s Method

• Continuous Systems

 Transverse Vibration of a String or Cable

 Longitudinal Vibration of a Bar or Rod

 Torsional Vibration of a Shaft or Rod

 Lateral Vibration of Beams

 Lecture 7

 Torsional Vibration of a Shaft or Rod

 Torsional Vibration of a Shaft or Rod
Consider non-uniform shaft subjected to an external torque f(x, t) per unit length

If q (x,t) denotes the angle of twist of the cross section the twisting moment is given by:

(1)
where G is the shear modulus and GJ(x) is the torsional stiffness, with J(x) denotes the polar moment of
inertia of the cross section in the case of a circular section.
If the mass polar moment of inertia of the shaft per unit length is I0. Using Newton’s second law

(2)

The forced torsional vibration equation for a non-uniform shaft

(3)
 Torsional Vibration of a Shaft or Rod

The forced torsional vibration equation for a uniform shaft:

(4)

Free torsional vibration equation (5)

If the shaft has a uniform cross section

Using method of separation of variables the general solution can be obtained as:

(6)

The constants A, B, C and D can be evaluated from the boundary conditions and the initial
conditions.

The initial conditions can be stated as:

(7)
 Torsional Vibration of a Shaft or Rod

Common boundary conditions for a uniform shaft undergoing torsional vibration

 Lecture 7

 Lateral Vibration of Beams

 Lateral Vibration of a beam

Considering a beam subjected to transverse external force f(x, t) per unit length of the beam.
The FBD of an element of the beam is shown in Fig., where M(x, t)is the bending moment
and V(x, t) is the shear force.

The inertia force acting on the element of the beam is: (1)

The equilibrium of forces in the z direction gives:

(2)

where r is the mass density and A(x) is the cross-sectional area of the beam.
 Lateral Vibration of a beam
The moment equation of motion about the y-axis passing through point O gives:
(3)

Using (4)

Disregarding terms involving second powers in dx, Eqs. (2) and (3) can be written as:

(5)

(6)

Using: Eq. (5) becomes:

(7)

Since the bending moment and deflection are related as: (8)

where E is Young s modulus and I(x) is the moment of inertia of the beam cross section about
the y-axis.
The forced lateral vibration equation of a non-uniform beam:

(9)
 Lateral Vibration of a beam

For a uniform beam the forced transverse vibration equation is:

(10)

Free transverse vibration equation is:

(11)

The equation of motion involves a second-order derivative with respect to time and a
fourth-order derivative with respect to x, two initial conditions and four boundary
conditions are needed for finding a unique solution for w(x, t).

The initial conditions are: (12)

Free Vibration Solution

Using the method of separation of variables: (13)

Substituting Eq. (13) into Eq. (12) and rearranging:

(14)

Eq. (14) can be written as:

(15)

(16) (17)
 Lateral Vibration of a beam
The solution for Eq. (16) can be expressed as: (18)
where A and B are constants that can be found from the initial conditions
For the solution of Eq. (15), we assume (19) where C and s are constants

Eq. (15), leads to the auxiliary equation: (20)

The solution of Eq. (15) becomes: (21)

where C1, C2, C3 and C4 are constants to be determined from the boundary conditions

Eq. (21) can also be written as:

(22)
OR
(23)

The natural frequencies of the beam are computed from Eq. (17) as:

(24)

The function W(x) is known as the normal mode or characteristic function of the beam and w is called the
natural frequency of vibration

The constants C1, C2, C3 ,C4 and the value of b are computed from the boundary conditions.
 Lateral Vibration of a beam
Common boundary conditions (18)

Free end:

Simply supported (pinned) end:

Fixed (clamped) end:

End connected to a linear spring, damper, and mass:

The resisting force is balanced by the shear force at the end.

Where a = -1 for the left end and + 1for the right end of the beam.
Bending moment must be zero
Common boundary conditions for transverse vibration of a beam
Thank you and
queries?