Unit V : VIBRATIONS

When elastic bodies such as

a spring,
a beam and
a shaft are displaced from the equilibrium
position by the application of external forces,
and then released, they execute a vibratory
motion.
Reason: When a body is displaced, the internal
forces in the form of elastic or strain energy
are present in the body.
At release, these forces bring the body to its
original position.
When the body reaches the equilibrium
position, the whole of the elastic or strain
energy is converted into kinetic energy due to
which the body continues to move in the
opposite direction.
The whole of the kinetic energy is again
converted into strain energy due to which the
body again returns to the equilibrium position.
In this way, the vibratory motion is repeated
indefinitely
 Free Vibrations

Forced Vibrations

F
TYPES OF VIBRATIONS
 DEGREES OF FREEDOM

Any point in space has - 6 DOF

Single DOF
Two DOF

Infinite DOF
LONGITUDINAL VIBRATIONS
 SPRING MASS SYSTEM
Three methods to find natural frequency
1) Equilibrium Method 2)Energy Method 3)Rayleigh’s method

Equilibrium Method/Newton method

s∆

W=mg

--(1)

∆ - Static deflection of spring

Forces are shown in FDB (c)
mg=mx..+sx+s∆ --(2)
Sub (2) in (1)
mg=mx..+sx+mg S(x+∆)
mx..+sx=0 mx..
Inertia force + External force =0
x..
W=mg
Energy method
Rayleigh’s method
Q1
(e)
Q2
 Q3

F2
l2

∆2 ∆1
l1
O
F1=W
∑Mo=0 i.e W(l1)=(F2)(l2) L/r=θ
F2=Wl1/l2 ∆2/l2= ∆1/l1
∆1=(l1 /l2 ) ∆2
Spring mass system – Considering inertia
effect of mass of spring

l δy

Velocity at dist ‘l’ -- v

Velocity at dist ‘y’ -- vy/l
π
 DAMPED VIBRATIONS

External damping can be increased by dashpots or dampers.

Applications of damper : Shock absorbers in vehicles

cx.=0 S(∆+x) cx.

s∆

x..
W=mg
W=mg=s∆ W=mg

W=mg=s∆ W=mg=s(∆+x)+cx.+mx..
W=mg=(mg+sx)+cx.+mx..
mx.. +cx. + sx=0
quadratic eq.is ax2  bx  c  0,
b b 2  4ac
ots  
2a 2a
b b 2 4ac 2
ots   ( ) ( )
2a 2a 2a
cc

If roots are equal – critical damping

If roots are real and unequal – Over damping
If roots are imaginary - Under damping
Case 1 : Over damping

When displaced, system takes infinite time

to reach the equilibrium position
Not desirable
Case 2 : Under damping

System vibrates with frequency

For damped vibrations,
Displacement as a function of time, x=f(t)
Case 3 : Critical damping
Logarithmic Decrement
 Important formula
(Damped vibrations)
s - spring stiffness in (N/m) cc

Case 1 : Over damping

Case 2 : Under damping

Case 3 : Critical damping

Q4
 Q5

M=60kg, s=12N/mm=12000N/m,
X0=45mm,X2=8mm

(i)c (ii) d (iii) Td
n
Q6
PRACTICE SUMS

Hint: W.D = Change in KE

-1/2 k x2 = ½ m (v2-u2)
v=0, k, x, m – known,
find u(recoil vel. of gun)
 FORCED VIBRATION
• External force
– Step input forcing – Application of const. F.
– Harmonic forcing – Oscillating force -
– Periodic forcing – Motion repeats itself after a
period of time

Differential eq.
mx.. + sx = F
mx.. + sx = F0 sin ωt
mx.. + sx = F0+ F1 sin ωt + F2 sin2ωt + F3 sin3ωt + …..

F
 FORCED DAMPED VIBRATIONS
Harmonic forcing
With time ‘t’ damped free vibrations part become negligible i.e CF becomes 0 as e -(infinity)=0
Steady state response is then given by the second term i.e PI
 Magnification factor
Amplitude of steady state response
Magnification factor,
MF 
Static deflection under action of F0
Recap

MF depends on (a) , (b)

 FORCED DAMPED VIBRATIONS
Imp Formula
Differential eq. of forced undamped vibrations mx.. + sx = F
Differential eq. of forced damped vibrations mx.. + cx.+ sx = F
Q7
Q8
PRACTICE SUMS
 VIBRATION ISOLATION
TRANSMISSIBILITY

Force transmitted to foundation

Transmissi bility 
Force applied
Variation of transmissibility with ω/ ωn

Thus vibration isolation is possible only in range ω/ ωn>

Q9
 Q 10

M=80kg, m=2.2kg, L=100mm,

r=L/2=50mm=0.05m
Neglect damping, s=???, ϵ = 1/20 = 0.05,
N=800rpm, ω=2πN/60= 83.78rad/sec
X2=X1-30%X1=0.7X1,
find (i) Ft at 800rpm (ii) Ft at resonance
(iii) Amplitude at resonance
Q 11

X2=X1-30%X1=0.7X1
PRACTICE SUM
 TRANSVERSE VIBRATIONS
Natural vibrations of shafts and beams under different loadings
Concentrated loads

Uniformly distributed loads

 5g 0.4985
fn   Hz
2 384   /1.27
Deflections of beams
Deflections of beams ...
Shaft carrying several loads

Dunkerley’s method
 90kg
Q 12 0.8m 1.7m
2.5m
 Whirling of shafts
The speed at which the
shaft runs so that the
additional deflection of
the shaft from the axis of
rotation becomes
infinite, is known as
critical or whirling speed.

• In actual practice, a rotating shaft carries different mountings and accessories in the
form of gears, pulleys, etc.
• When the gears or pulleys are put on the shaft, the centre of gravity of the pulley or
gear does not coincide with the centre line of the bearings or with the axis of the shaft,
when the shaft is stationary.
• This means that the centre of gravity of the pulley or gear is at a certain distance from
the axis of rotation and due to this, the shaft is subjected to centrifugal force.
• This force will bent the shaft which will further increase the distance of centre of
gravity of the pulley or gear from the axis of rotation.
• This correspondingly increases the value of centrifugal force, which further increases
the distance of centre of gravity from the axis of rotation.
• This effect is cumulative and ultimately the shaft fails.
• The bending of shaft depends upon
• the value of eccentricity
• speed at which the shaft rotates
 Q 13: Find critical speed of shaft shown in Q12

Q 14

Short bearing – Simply supported ends

Long bearings – Fixed ends
ωn2=s/m; s=m(ωn2)
Q 15

W - ∆ 
1  W1
W1 - ∆1 = ?? W
 PRACTICE SUMS
A vertical shaft of 5 mm diameter is 200 mm
long and is supported in long bearings at its
ends. A disc of mass 50 kg is attached to the
centre of the shaft. Neglecting any increase in
stiffness due to the attachment of the disc to
the shaft, find the critical speed of rotation and
the maximum bending stress when the shaft is
rotating at 75% of the critical speed. The
A vertical steel shaft 15 mm diameter is held in centre of the disc is 0.25 mm from the
long bearings 1 metre apart and carries at its geometric axis of the shaft. E = 200 GN/m 2
middle a disc of mass 15 kg. The eccentricity (Nc=8.65rps)(96.2 MN/m2)
of the centre of gravity of the disc from the
centre of the rotor is 0.30 mm. The modulus of
elasticity for the shaft material is 200 GN/m 2
and the permissible stress is 70 MN/m2 .
Determine : 1. The critical speed of the shaft
and 2. The range of speed over which it is
unsafe to run the shaft. Neglect the mass of the
shaft. (Nc= 772.8r.p.m)(718rpm to 843rpm)
FREE TORSIONAL VIBRATIONS
•Single rotor system
•Two rotor system
•Three rotor system
SINGLE ROTOR SYSTEM

T/J=Gθ/l
q= T/θ=GJ/l I
SINGLE ROTOR SYSTEM
considering “inertia of shaft”

For length L – MI is I1
For length Δy – MI is (I1/L)(Δy )

For length L – Ang. Vel is ω

For length y – Ang. Vel is (ω /L)(y) I1
TWO ROTOR SYSTEM
•Torsional vibrations occur when both
rotors rotate in opposite direction
•This causes a part of shaft to twist in
one direction and other part of the shaft
twists in opposite direction.
•Section which do not undergo any twist
is called node.

Also la+lb=l—(2)
Solving (1) and (2)
la and lb can be calculated
--(1)
 THREE ROTOR SYSTEM

•Torsional vibrations occur when two

rotors rotate in same direction and third
rotor rotate in opposite direction.
• (b)- Amp. Diagram when A,B rotate
in same direction and C in opposite
direction ( 2 – node system)
• (c) – Amp. Diagram when A,C rotate
in same direction and B in opposite
direction. ( 1 – node system)
• (d) – Amp. Diagram when C, B rotate
in same direction and A in opposite
direction. (1–node system)
•Section which do not undergo any twist
is called node.
TORSIONALLY EQUIVALENT SHAFT
 A B
A 100mm
1001.5mm
 A B
A 100mm
1001.5mm
 l1 l2

Sol 2: la=0.913m < 1.247,

L  4(
40 4 40
)  2( ) 4  5.247 m
lb=0.548m < 4
40 45
l2  4m, l1  1.247 m
So, 2 node system

lb

Sol 1: : Sol 2
Sol 1: la=4.821m > 1.247,
lb=2.893m < 4
So, 1 node system

4.821
PRACTICE SUMS