Department of Mechanical Engineering

Rajshahi University of Engineering & Technology

Machine Dynamics and Vibrations

Md.
Md.Emdadul Hoque,PhD
Emdadul Hoque, PhD
Professor
Professor
Department of Mechanical Engineering
Department of Mechanical Engineering
c D J Ewins 1998
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 Amplitude: How Much Movement Frequency: How Often The Phase: In What Direction Is
Occurs or severity of the vibration. Movement Occurs. How many The Movement. It also called
"cycles" in a period of time: a phase angle.
Amplitude measures as second or a minute
1. Displacement: mm, mils (0.001”) Unit: Degree
2. Velocity: mm/sec, in/sec Unit: Cycle per second (Hz)
3. Acceleration: G’s (1g= Force of Cycle per Minute (CPM)
gravity) or rms (root mean square)

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 6. Machinery Condition Monitoring- A. R. Mohanty

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 VIBRATION

Any motion which repeats itself after an interval

of time is called vibration or oscillation.

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 More Examples

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 Good Vibrations

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 Bad Vibrations

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 BASIC CONCEPTS OF VIBRATION
• All bodies having mass and elasticity are capable of producing
vibration.
• The mass is inherent of the body and elasticity causes relative motion
among its parts.
• When body particles are displaced by the application of external force,
the internal forces in the form of elastic energy are present in the body.
• These forces try to bring the body to its original position.
• At equilibrium position, the whole of the elastic energy is converted
into kinetic energy and body continues to move in the opposite
direction because of it.
• The whole of the kinetic energy is again converted into elastic or strain
energy due to which the body again returns to the equilibrium position.
• In this way, vibratory motion is repeated indefinitely and exchange of
energy takes place.
• Thus, any motion which repeats itself after an interval of time is
called vibration or oscillation.
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 BASIC CONCEPTS OF VIBRATION (Cntd..)
• The swinging of simple pendulum as shown in figure 1 is an
example of vibration or oscillation as the motion of ball is to and
fro from its mean position repeatedly.
• The main reasons of vibration are as follows :
– Unbalanced centrifugal force in the system. This is caused because of non-
uniform material distribution in a rotating machine element.
– Elastic nature of the system.
– External excitation applied on the system.
– Winds may cause vibrations of certain systems such as electricity lines,
telephone lines, etc.

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 DEFINITIONS
• Periodic motion: A motion which repeats itself after equal intervals of time.
• Time period: Time taken to complete one cycle.
• Frequency: Number of cycles per unit time.
• Amplitude: The maximum displacement of a vibrating body from its
equilibrium position.
• Natural frequency: When no external force acting on the system after giving
it an initial displacement, the body vibrates. These vibrations are called free
vibrations and their frequency as natural frequency. It is expressed in rad/sec
or Hertz.
• Fundamental Mode of Vibration: The fundamental mode of vibration of a
system is the mode having the lowest natural frequency.

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 IMPORTANCE OF VIBRATION STUDY IN
ENGINEERING
• The structures designed to support the high speed engines and turbines
are subjected to vibration.
• Due to faulty design and poor manufacture, there is unbalance in the
engines which causes excessive and unpleasant stresses in the rotating
system because of vibration.
• The vibration causes rapid wear of machine parts such as bearings and
gears.
• Unwanted vibrations may cause loosening of parts from the machine.
• Because of improper design or material distribution, the wheels of
locomotive can leave the track due to excessive vibration which results
in accident or heavy loss.
• Many buildings, structures and bridges fall because of vibration.
• If the frequency of excitation coincides with one of the natural
frequencies of the system, a condition of resonance is reached, and
dangerously large oscillations may occur which may result in the
mechanical failure of the system.

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 IMPORTANCE OF VIBRATION STUDY IN
ENGINEERING (Contd…)
• Vibration can be used for useful purposes such as
vibration testing equipments, vibratory conveyors,
hoppers, sieves and compactors.
• Vibration is found very fruitful in mechanical
workshops such as in improving the efficiency of
machining, casting, forging and welding techniques,
musical instruments and earthquakes for geological
research.
• It is useful for the propagation of sound.

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 IMPORTANCE OF VIBRATION STUDY IN
ENGINEERING (Contd…)
Thus undesirable vibrations should be eliminated or
reduced upto certain extent by the following methods :
– Removing external excitation, if possible
– Using shock absorbers.
– Dynamic absorbers.
– Resting the system on proper vibration isolators.

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 DEFINITIONS (Contd..)
Simple Harmonic Motion:
• The motion of a body to and fro about a fixed point is called
simple harmonic motion.
• The motion is periodic .
• The motion of a simple pendulum is simple harmonic in nature.
• A body having simple harmonic motion is represented by the
equation

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 x  Asin(  )  A sin( t )

dx
  A cos( t )
dt
and
d 2x
2
   2
A sin(  t )    2
x
dt

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 DEFINITIONS (Contd..)
Damping:
– It is the resistance to the motion of a vibrating body.
– The vibrations associated with this resistance are known as damped
vibrations.
Phase difference:
– Suppose there are two vectors x1 and x2 having frequencies ω rad/sec,
each The vibrating motions can be expressed as
x1=A1.sin (ωt)
x2=A2.sin (ωt+φ)
– In the above equation the term φ is known an the phase difference.

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 DEFINITIONS (Contd..)
Resonance:
– When the frequency of external excitation is equal to the
natural frequency of a vibrating body, the amplitude of
vibration becomes excessively large.
– This concept is known as resonance.
Mechanical systems:
– The systems consisting of mass, stiffness and damping are
known as mechanical systems.
Continuous and Discrete Systems:
– Most of the mechanical systems include elastic members
which have infinite number of degree of freedom.
– Such systems are called continuous systems.
– Continuous systems are also known as distributed systems.
– Cantilever, simply supported beam etc. are the examples of
such systems.
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 DEGREE OF FREEDOM:
• The minimum number of independent coordinates required to specify
the motion of a system at any instant is known as degrees of freedom
of the system.
• In general, it is equal to the number of independent displacements
that are possible.
• This number varies from zero to infinity.
• The one, two and three degrees of freedom systems are shown in
figure 2.
In single degree of freedom there is only one
independent coordinate x1 to specify the
configuration as shown in figure (a).
Similarly, there are two (x1, x2). and three
coordinates (x1, x2 and x3) for two and three
degrees of freedom systems as shown in
figure (b) and (c)

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 PARTS OF A VIBRATING SYSTEM
• A vibratory system basically consists of three elements, namely the
mass, the spring and damper.
• In a vibrating body, there is exchange of energy from one form to
another.
• Energy is stored by mass in the form of kinetic energy (1/2 mv2), in
the spring in the form of potential energy (1/2 kx ) and dissipated in
the damper in the form of heat energy which opposes the motion of
the system.
1. Inertia (stores kinetic energy) –Mass (m)
1 2. Elasticity (stores potential energy) – Spring
(k)
3. Energy Dissipation- Damper (C)
2 3

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 PARTS OF A VIBRATING SYSTEM
• Energy enters the system with the application of external force known
as excitation.
• The excitation disturbs the mass from its mean position and the mass
goes up and down from the mean position.
• The kinetic energy is converted into potential energy and potential
energy into kinetic energy. This sequence goes on repeating and the
system continues to vibrate.

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 PARTS OF A VIBRATING SYSTEM (contd..)
• At the same time damping force (cv) acts on the mass and
opposes its motion. Thus some energy is dissipated in each cycle
of vibration due to damping.
• The free vibrations die out and the system remains at its static
equilibrium position.
• A basic vibratory system is shown in figure .

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Mechanical Parameters and Components
Displacement Velocity Acceleration

x
v a
k

c m

F = kx F = cv F = ma
 TYPES OF VIBRATION

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 TYPES OF VIBRATION
Some of the important types of vibration are as follows
1) Free and Forced Vibration
• After disturbing the system, the external excitation is removed. then
the system vibrates on its own. This type of vibration is known as free
vibration.
– Simple pendulum is one of the examples.
• The vibration which is under the influence of external force is called
forced vibration.
– Machine tools, electric bells etc. are the suitable examples.
2) Linear and Non-linear Vibration
• In a system., if mass, spring and damper behave in a linear manner,
the vibrations caused are known as linear in nature.
– Linear vibrations are governed by linear differential equations.
– They follow the law of superposition.
• On the other hand, if any of the basic components of a vibratory
system behaves non-linearly, the vibration is called non-linear.
– Linear vibration becomes, non-linear for very large amplitude of vibration.
– It does not follow the law of superposition.

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 TYPES OF VIBRATION (Contd..)
3) Damped and Un-damped Vibration
• If the vibratory system has a damper, the motion of the system
will be opposed by it and the energy of the system will be
dissipated in friction.
• This type of vibration is called damped vibration.
• On the contrary, the system having no damper is known as un-
damped vibration.
Underdamped (   0 )
Overdamped (   1 )
Critically Underdamped (   1 )
damped (   1 )

2
d
2
n
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 TYPES OF VIBRATION (Contd..)
4) Deterministic and Random Vibration
• If in the vibratory system, the amount of external excitation is
known in magnitude, it causes deterministic vibration.
• Contrary to it, the non-deterministic vibrations are known as
random vibrations.

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 TYPES OF VIBRATION (Contd..)
5) Longitudinal, Transverse and Torsional Vibrations
• Figure represents a body of mass m carried on one end of a weightless
spindle, the other end being fixed. If the mass m moves up and down parallel
to the spindle axis, it is said to execute longitudinal vibrations as shown in
figure (a).
• When the particles of the body or shaft move approximately perpendicular to
the axis of the shaft, as shown in figure (b), the vibration so caused are
known as transverse.
If the spindle gets alternately
twisted and untwisted on
account of vibratory motion of
the suspended disc, it is called
to be undergoing torsional
vibrations as shown in figure
(c).

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