Sheet 1

Give brief answers to the following:

1. Give two examples each for the bad and the good effects of vibration.

2. What are the three elementary parts of a vibrating system?

3. Define the number of degrees of freedom of a vibrating system.

4. Define these terms: cycle, amplitude, phase angle, frequency, and period.

5. How are T, f and ω related to each other?

Indicate whether each of the following statements is true or false:

1. The amplitude of an undamped system will not change with time.

2. A system vibrating in air can be considered a damped system.

3. Discrete systems are the same as lumped parameter systems.

Fill in the blank with the proper word:

1- Undamped vibration is characterized by no loss of _____.

2- A vibratory system consists of a spring, damper, and _____.
3- If a motion repeats after equal intervals of time, it is called a _____ motion.
4- The time taken to complete one cycle of motion is called the _____ of vibration.
5- The number of cycles per unit time is called the _____ of vibration.
6- The angular difference between the occurrence of similar points of two harmonic
motions is called _____.
7- The number of degrees of freedom of a system denotes the minimum number of
independent _____ necessary to describe the motion of the system at any instant
of time.
8- If a system vibrates due to initial conditions only, it is called _____ vibration.
9- If a system vibrates due to an external excitation, it is called _____ vibration.
10- The rotational speed of 1000 rpm (revolutions per minute) is equivalent to
_____ radians/sec.
11- When the speed of a turbine is 6000 rpm, it takes _____ seconds for the turbine
to complete one revolution.
12- The free vibration of an undamped system represents an interchange of _____
and _____ energies.
13- Continuous or distributed systems can be considered to have _____ number
of degrees of freedom.

Select the most appropriate answer out of the multiple choices given:

1. The equivalent spring constant of two parallel springs k1 and k2 is:

1 1 1
(a) k1+k2 (b) 1 1 (c) +
+ 𝑘1 𝑘2
𝑘1 𝑘2

2. The equivalent spring constant of two series springs k1 and k2 is:

(a) k1+k2 (b) 1 +1 1 (c) 𝑘1 + 𝑘1
1 2
𝑘1 𝑘2

3. The spring constant of a cantilever beam with an end mass is:

3𝐸𝐼 𝐿3 𝑊𝐿3
(a) (b) (c)
𝐿3 3𝐸𝐼 3𝐸𝐼
4. For a viscous damper with damping constant c, the damping force is:
(a) 𝑐𝑥̇ (b) 𝑐𝑥 (c) 𝑐𝑥̈

Problems:

1- A hoisting drum, carrying a steel wire rope, is mounted at the end of a cantilever
beam as shown in Fig. 1.24. Determine the equivalent spring constant of the system
when the suspended length of the wire rope is l. Assume that the net cross-sectional
diameter of the wire rope is d and the Young’s modulus of the beam and the wire
rope is E.

Fig. 1.24 Hoisting drum

2- Find the spring constant of the bimetallic bar shown in Fig. 1.25 in axial motion.

Fig. 1.25 Bimetallic bar

3- A heat exchanger consists of six identical stainless-steel tubes connected in

parallel as shown in Fig. 1.26. If each tube has an outer diameter 0.762 cm, inner
diameter 0.7366 cm, and length 127 cm, determine the axial stiffness and the
torsional stiffness about the longitudinal axis of the heat exchanger.

Fig. 1.26 Heat exchanger

4- Two masses, having mass moments of inertia J1 and J2 are placed on rotating rigid
shafts that are connected by gears, as shown in Fig. 1.27. If the numbers of teeth on
gears 1 and 2 are n1 and n2 respectively, find the equivalent mass moment of inertia
corresponding to θ1.
 Fig. 1.27 Gear set

5- The shell-and-tube exchanger shown in Fig. 1.28(a) can be modeled as shown in

Fig. 1.28(b) for a simplified vibration analysis. Find the cross-sectional area of the
tubes so that the total stiffness of the heat exchanger exceeds a value of 200 × 106
N/m in the axial direction and 20 × 106 N-m/rad in the tangential direction.
Assume that the tubes have the same length and cross section and are spaced
uniformly.

Fig. 1.28 Shell and tube heat exchanger

6- When the displacement of a machine is given by x(t) = 18 cos 8t, where x is

measured in millimeters and t in seconds, find (a) the frequency of oscillation of the
machine in rad/s as well as in Hz, and (b) the period of the machine in seconds.

7- If the displacement of a machine is given by x(t) = 0.2 sin (5t + 3), where x is in
meters and t is in seconds, find the variations of the velocity and acceleration of the
machine. Also, find the amplitudes of displacement, velocity, and acceleration of the
machine.

8- An automobile moving over a rough road (Fig. 1.29) 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.

Fig. 1.29 An automobile moving over a rough road

9- A reciprocating engine is mounted on a foundation as shown in Fig. 1.30. The

unbalanced forces and moments developed in the engine are transmitted to the frame
and the foundation. An elastic pad is placed between the engine and the foundation
block to reduce the transmission of vibration. Develop two mathematical models of
the system using a gradual refinement of the modeling process.

Fig. 1.30 Reciprocating engine

 Sheet 2 Free vibration
1- A mass m is attached at the end of a bar of negligible mass and is made to
vibrate in four different configurations as shown in Fig. 2.29. (a) Find the
configuration corresponding to the highest natural frequency. (b) Which
configuration may experience instability and what will be the condition of stability
in this case?

k
m

(d)

Fig. 2.29 Different configurations of pendulum

2- Derive the equation of motion of the system shown in Fig. 2.30, using the
following methods:
(a) Newton s second law of motion,
(b) D’Alembert’s principle,
(c) principle of virtual work, and
(d) principle of conservation of energy.

Fig. 2.30
3- Write the differential equation of motion for the following systems (Fig. 2.31) and
determine the natural frequency:

(a) (b)

(c) (d)

(e) (f)

(g) (h)
 (i)

f(t)

(j)

(k)
 Fig. 2.31 Different vibrating systems

3- A vibrating system consisting of a mass of 2.267 kg and a spring of stiffness

17.5 N/cm is viscously damped such that the ratio of any two consecutive amplitudes
is 1.00 and 0.98. Determine: (a) the natural frequency of the damped system, (b) the
damping factor, and (d) the damping coefficient.

4- An automobile is found to have a natural frequency of 20 rad/s without passengers

and 17.32 rad/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.

5- An underdamped shock absorber is to be designed for a motorcycle of mass 200

kg (Fig. 2.32(a)). When the shock absorber is subjected to an initial vertical velocity
due to a road bump, the resulting displacement-time curve represents free damped
vibration response. Find the necessary stiffness and damping constants of the shock
absorber if the damped period of vibration is to be 2 s and the amplitude is to be
reduced to one-fourth in one cycle.
 Fig. 2.32 Shock absorber of a motorcycle

4- The free-vibration response of an electric motor of weight 500 N is shown in

Fig. 2.33. Identify the following: (i) the damping factor, (ii) the damped and
undamped natural frequencies of the electric motor, and (iii) the spring constant and
damping coefficient of the foundation.

Fig. 2.33

5- A pick-and-place robot arm, shown in Fig. 2.34, carries an object weighing 45 N.

Find the natural frequency of the robot arm in the axial direction for the following
data: 𝑙1 = 30 cm , 𝑙2 = 25 cm , 𝑙3 = 20 cm , 𝐸1 = 𝐸2 = 𝐸3 = 107 , 𝐷1 =
5 cm, 𝐷2 = 3.8 cm, 𝐷3 = 2.5 cm, 𝑑1 = 4.5 cm, 𝑑2 = 3 cm, 𝑑3 = 1.9 cm.
Fig. 2.34
 Sheet 3 Forced vibration
1- For a vibrating system, m = 10 kg, k= 2500 N/m, and c= 45 N.s/m. A harmonic
force of amplitude 180 N and frequency 3.5 Hz acts on the mass. If the initial
displacement and velocity of the mass are 15 mm and 5 m/s, find the complete
solution representing the motion of the mass.

2- A weight attached to a spring of stiffness 500 N/m is viscously damped. When

the weight is displaced and released, the period of vibration is found to be 1.8 s and
the ratio of consecutive amplitudes is 4.2 to 1.0. Determine the amplitude and phase
when a force F = 2 cos 3t acts on the system.

3- Derive the equation of motion and find the steady-state response of the system
shown in Fig. 2.35 for rotational motion about the hinge O for the following data:

𝑘1 = 𝑘2 = 5000 N/m, 𝑎 = 0.25 m, 𝑏 = 0.5 m, 𝑙 = 1 m, 𝑀 = 50 kg, 𝑚 = 10 kg,

𝐹0 = 500 N, 𝜔 = 1000 rpm.

Fig. 2.35

4- An air compressor of mass 100 kg is mounted on an elastic foundation. It has been

observed that, when a harmonic force of amplitude 100 N is applied to the
compressor, the maximum steady-state displacement of 5 mm occurred at a speed of
300 rpm. Determine the stiffness and damping constant of the foundation.
5- A fixed-fixed steel beam, of length 5 m, width 0.5 m, and thickness 0.1 m, carries
an electric motor of mass 75 kg and speed 1200 rpm at its mid-span, as shown in
Fig. 2.36. A rotating force of magnitude F0 = 5000 N is developed due to the
unbalance in the rotor of the motor. Find the amplitude of steady-state vibrations by
disregarding the mass of the beam and neglecting damping. If the electric motor is
to be mounted at the free end of a steel cantilever beam of length 5 m, what will be
the change in the amplitude of steady-state vibrations?

Fig. 2.36 Electric motor

6- The propeller of a ship, of weight 105 N and polar mass moment of inertia 10,000
Kg-m is connected to the engine through a hollow stepped steel propeller shaft, as
shown in Fig. 2.37. Assuming that water provides a viscous damping ratio of 0.1,
determine the torsional vibratory response of the propeller when the engine induces
a harmonic angular displacement of (0.05 sin 314.16t) rad at the base (point A) of
the propeller shaft.
 Fig. 2.37 Propeller of a ship
7- For the system shown in Fig. 2.38, x and y denote, respectively, the absolute
displacements of the mass m and the end Q of the dashpot 𝑐1 (a) Derive the equation
of motion of the mass m, (b) find the steady-state displacement of the mass m, and
(c) find the force transmitted to the support at P, when the end Q is subjected to the
harmonic motion 𝑦(𝑡) = 𝑌 cos 𝜔𝑡.

Fig. 2.38

8- A video camera, of mass 2 kg, is mounted on the top of a bank building for
surveillance. The video camera is fixed at one end of a tubular aluminum rod whose
other end is fixed to the building as shown in Fig. 2.39. The wind-induced force
acting on the video camera, is found to be harmonic with f(t)= 25 cos 75.3984 𝑡 N.
Determine the cross-sectional dimensions of the aluminum tube if the maximum
amplitude of vibration of the video camera is to be limited to 0.005 m.

Fig. 2.39
9- An air compressor of mass 50 kg is mounted on an elastic support and operates at
a speed of 1000 rpm. It has an unbalanced mass of 2 kg at a radial distance
(eccentricity) of 0.1 m from the axis of rotation. If the damping is neglected,
determine the following: (a) the spring constant of the elastic support which
transmits no more than 25% of the unbalanced force to the foundation, and (b) the
magnitude of the force transmitted to the foundation.

10- An electric motor of mass 68 kg is mounted on an isolator block of mass 1200

kg and the natural frequency of the total assembly is 160 cpm with a damping factor
of ζ = 0.1. If there is an unbalance in the motor that results in a harmonic force of
f(t)= 100 sin 31.4 t, determine the amplitude of vibration and the force transmitted
to the floor.

11- A turbine rotor is mounted on a stepped shaft that is fixed at both ends as shown
in Fig 2.40. The torsional stiffnesses of the two segments of the shaft are given by
Kt1 = 3000 N.m/rad and Kt2 = 4000 N.m/rad. The turbine generates a harmonic
torque given by M(t) =Mo cos Ωt about the shaft axis with Mo = 200 N.m and Ω =
500 rad/s. the mass moment of inertia of the rotor about the shaft axis is Jo = 0.05
kg.m2. Assuming the equivalent torsional damping constant of the system as Ct =2.5
N.m.s/rad, determine the steady-state response of the rotor, θss (t).

Fig. 2.40

12- A machine of mass M = 20 kg is mounted on vibration isolators incorporating

some damping. Its rotor is unbalanced to the extent of m.e = 0.1 kg.cm. When the
machine is started up, it is observed that at speed of 200 rpm, the maximum forced
vibration occurs. It is also observed that the amplitude of free damped vibrations
decay to 0.05 of its initial value after four complete cycles. At the normal speed of
1000 rpm, determine the amplitude of steady-state forced vibrations, phase angle,
and magnification factor.

13- When an exhaust fan of mass 380 kg is supported on springs with negligible
damping, the resulting static deflection is found to be 45 mm. If the fan has a rotating
unbalance of 0.15 kg-m, find (a) the amplitude of vibration at 1750 rpm, and (b) the
force transmitted to the ground at this speed.

14- A machine weighing 380 kg is supported by springs of static deflection 0.8 cm.
A part of the machine is rotating at the rate of 800 rpm has a static unbalance of 2
kg.cm. If the amplitude of free vibration decays to 0.05 of its initial value after 4
cycles, determine: (a) the damping ratio, (b) the amplitude of motion, (c) the
transmissibility of forces, (d) the transmitted force to the support, and (e) the
resonant amplitude. (f) Quality factor, (g) If the band width at half-power points
equals 8 rad/s, find the damping ratio and compare its value with (a). Draw
convenient curves to support your answer.

15- A 40-kg fan has a rotating unbalance of magnitude 0.1 kg-m. The fan is mounted
on a cantilever beam as shown in Figure. The beam has been specially treated to add
viscous damping. As the speed of the fan is varied, it is noted that its maximum
steady-state amplitude is 20.3 mm. What is the fan's steady-state amplitude when it
operates at 1000 rpm? Comment on your answer.

Fig. 2.41 Fan mounted on a cantilever beam

16- A machine having a mass of 70 kg is supported on four equal springs each have
stiffness of 9000 N/m. The damping factor is 0.2. Due to unbalanced mass in the
machine, there is a harmonic force of 500 N. The operating speed is 600 rpm. At this
speed, find: (a) The amplitude of the machine and its phase, (b) The transmitted force
to the support, and (c) Redesign the foundation so that the transmitted force is within
10% of the excitation force, assume that the natural frequency and damping constant
do not change.

17- A small machine is known to contain a rotating unbalance on its main shaft. The
machine weighs 300 N and when placed on elastic vibration isolators (Viscous
damper and elastic support), the static deflection is 6 cm. Also, when the machine is
displaced further and released, the subsequent vibration diminishes from amplitude
of 7 cm to 0.35 cm in exactly 3 cycles. Operating the machine at resonance produces
constant amplitude of 0.05 cm. (a) Determine the damping constant for the system,
(b) Considering that the eccentricity is 4 cm, calculate the unbalanced weight. (c)
Determine the steady-state amplitude at a speed of twice the resonant speed.

18- An air compressor of mass 50 kg is mounted on an elastic support and operates

at a speed of 1000 rpm. It has an unbalanced mass of 2 kg at a radial distance
(eccentricity) of 0.1 m from the axis of rotation. If the damping factor of the elastic
support is 0.1, determine the following: (a) the spring constant of the elastic support
which transmits no more than 25% of the unbalanced force to the foundation, and
(b) the magnitude of the force transmitted to the foundation.

19- A turbine rotor of mass 200 kg has an unbalanced mass of 15 kg. It is supported
on a foundation which has an equivalent stiffness of 5,000 N/m and a damping ratio
of 0.05. If the rotor is found to vibrate with a deflection of 0.1 m at resonance,
determine: (a) the radial location (eccentricity) of the unbalanced mass, and (b) the
additional mass to be added (uniformly) to the rotor if the deflection of the rotor at
resonance is to be reduced to 0.05 m.

20- Figure 2.42 is a schematic diagram of a Francis water turbine, in which water
flows from A into the blades B and down into the tail race C. The rotor has a mass
of 250 kg and an unbalance (me) of 5 kg-mm. The radial clearance between the rotor
and the stator is 5 mm. The turbine operates in the speed range 600 to 6000 rpm. 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.
 Fig. 2.42 Francis water turbine

21- An air compressor, weighing 450 kg and operating at 1500 rpm, is to be mounted
on a suitable isolator. A helical spring with a stiffness of 8× 106 N/m, another
helical spring with a stiffness of 3× 106 N/m, and a shock absorber with a damping
ratio of 0.15 are available for use. Select the best possible isolation system for the
compressor.

22- The vibration table shown in Fig. 2.43 is used to test certain electronic
components for vibration. It consists of two identical mating gears 𝐺1 and 𝐺2 that
rotate about the axes 𝑂1 and 𝑂2 attached to the frame F. Two equal masses, m each,
are placed symmetrically about the middle vertical axis as shown in Fig. 1.121.
During rotation, an unbalanced vertical force of magnitude 𝑃 = 2𝑚𝑟𝜔2 cos 𝜔𝑡
where 𝜔 = angular velocity of gears, will be developed, causing the table to vibrate.
Design a vibration table that can develop a force in the range 0-100 N over a
frequency range 25-50 Hz. (Assume r = 0.1 m)
Hint: It is required to suggest the suitable value for unbalance mass that satisfies the
table requirements of force range and speed range.
 Fig. 2.43 Vibration table

23- Figure 2.44 represents a simplified diagram of a spring-supported vehicle

traveling over a rough road with a profile approximated by a sine wave.

(a) Determine the equation for the amplitude of the vehicle as a function of the speed
and determine the most unfavorable speed.
(b) If the spring is compressed 10.16 cm under the weight of the vehicle and the
amplitude of the wave representing the rough road equals 7.62 cm with wave length
14.63 m. Find the critical speed and the amplitude of vibration at 64.4 km/h (neglect
damping).
(c) Assume that damping C is considered in the system, determine the equation for
the amplitude of steady-state vibration of the vehicle.
 Fig. 2.44 A car travelling over a rough road

24- The base of a damped spring-mass system, with m = 25 kg and k = 2500 N/m, is
subjected to a harmonic excitation 𝑦(𝑡) = 𝑌0 cos 𝜔𝑡. The amplitude of the mass is
found to be 0.05 m when the base is excited at the natural frequency of the system
with 𝑌0 = 0.01 m. Determine the damping constant of the system.

25- A heavy machine, weighing 3000 N, is supported on a resilient foundation. The

static deflection of the foundation due to the weight of the machine is found to be
7.5 cm. It is observed that the machine vibrates with an amplitude of 1 cm when the
base of the foundation is subjected to harmonic oscillation at the undamped natural
frequency of the system with an amplitude of 0.25 cm. Find:
a. the damping constant of the foundation,
b. the dynamic force amplitude on the base, and
c. the amplitude of the displacement of the machine relative to the base.
 Sheet 4 Review questions
Give brief answers to the following (Use drawings where appropriate):

1. What effect does a decrease in mass have on the frequency of a system?

2. What effect does a decrease in the stiffness of the system have on the natural
period?
3. Why does the amplitude of free vibration gradually diminish in practical
systems?
4. Why is it important to find the natural frequency of a vibrating system?
5. What is the use of the logarithmic decrement?
6. What is critical damping, and what is its importance?
7. How can you find the natural frequency of a system by measuring its static
deflection?
8. Define these terms: natural frequency, damping ratio, logarithmic decrement.
9. Define the term magnification factor. How is the magnification factor related to
the frequency ratio?
10. Define the following terms: quality factor, transmissibility.
11. How does the force transmitted to the base change as the speed of the machine
increases?
12. If a vehicle vibrates badly while moving on a uniformly bumpy road, will a
change in the speed improve the condition?

Give detailed answers to the following questions (use equations and drawings
to support your answer):

1- Explain how to estimate the damping ratio from free response and forced
response.
2- Discuss the three types of damping.
3- Explain the principle of vibration isolation.
4- Explain the effect of changing system’s physical parameters on the natural
frequency and steady-state response.

Indicate whether each of the following statements is true or false:

1. The frequency with which an initially disturbed system vibrates on its own is
known as natural frequency.
2. Discrete systems are the same as lumped parameter systems.

Fill in the blank with the proper word:

1. Systems undergo dangerously large oscillations at _____.

2. The property of _____ damping is used in many practical applications, such as
large guns.
3. The logarithmic decrement denotes the rate at which the _____ of a free damped
vibration decreases.
4. Any two successive displacements of the system, separated by a cycle, can be
used to find the _____ decrement.
5. When the frequency of excitation coincides with the natural frequency of the
system, the condition is known as _____.
6. When the base of system is subject to harmonic motion with amplitude Y
resulting in response amplitude X, the ratio (X/Y) is called the displacement _____.
7. The difference between the frequencies associated with half-power points is
called the _____ of the system.
8. The value of the amplitude ratio at resonance is called _____ factor.

Select the most appropriate answer out of the multiple choices given:

1. The damping ratio, in terms of the damping constant c and critical damping
constant (cc), is given by:
𝑐𝑐 𝑐 𝑐
(a) (b) (c) √
𝑐 𝑐𝑐 𝑐𝑐

2. The equation of motion of a machine (rotating at frequency ω) of mass M, with

an unbalanced mass m, at radius e, is given by:
(a) 𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝑚𝑒𝜔2 𝑠𝑖𝑛 𝜔 𝑡
(b) 𝑀𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝑚𝑒𝜔2 𝑠𝑖𝑛 𝜔 𝑡
(c) 𝑀𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝑀𝑒𝜔2 𝑠𝑖𝑛 𝜔 𝑡
3. The response of an undamped system under resonance will be
(a) very large (b) infinity (c) zero
4. The reduction of the amplitude ratio in the presence of damping is very significant
(a) near ω = ωn (b) near ω = 0 (c) near ω = ∞