Mechanical vibration

(Equivalent stiffness elements)

Course
instructor
Dr. Rasha Afify
 Equivalent stiffness elements
Axially loaded bar
Simply supported beam
Fixed-Fixed beam
Cantilever
Bounced element
Torsional Stiffness of shaft
▐ Equivalent stiffness elements
Axially loaded bar (Bar in tension or compression):

Modulus of Elasticity (Young′s modulus) =

F
F = EA Similar to F= Kx
E= σ/ξ = = F L/
A ∆l X = ∆L

K = EA/L -------bar Stiffness

▐ Equivalent stiffness elements
Example: Find the equivalent spring stiffness of

the following structure

L1
 Series in springs E!A1

= ++
L2
E2 A2

Keq=
L3
E3
Where K1 = A3
Where K2 =

Where K3 =
▐ Equivalent stiffness elements
Example: Find the equivalent spring stiffness of
M
the following structure X
 Parrall in springs
L L2
1
K X = K1X1
eq eq

+K2X2
X constant

Keq = K1
+K2
▐ Equivalent stiffness elements F
Cantilever M
X
L
F = Kc.b δ max

δ max = =

Kc.b =
▐ Equivalent stiffness elements F
 Simply supported beam
δ
F = Ks,s,bδ max

δ max = =δ Kc.b =
I second moment of area (depend on
area
For rectangle cross section I =
▐ Equivalent stiffness elements F
 Fixed Fixed Support
δ
F = Kf.f.sδ max L

δ max = = δ

Kf.f.b =
▐ Equivalent stiffness elements
Example: Find the equavelent Spring

m
▐ Equivalent stiffness elements
Solution
Springs in series:(Simply supported beam + Spring

K1 = Ks.s.b =
K1 =
K2 = K Ks.s.b

K2
= =K

m
Keq =
▐ Equivalent stiffness elements
Example: Find the equavelent stiffiness Spring system

G
m
K
Equivalent stiffness elements
Solution

Springs in parallel :(Simply supported beam & Spring

K1 = Ks.s.b =
K2 = K K2 = K

Keq = K1 + K2 X

K1 = Ks.s.b

Keq = K +
Remember
General Equation of

𝑀 𝑥̈ + 𝐶𝑥̇ + 𝑘 𝑥 = Σ 𝑭
motion General equation of motion

Simple Harmonic Motion (SHM) ω=

𝑀 𝑥̈ + 𝑘 𝑥 = 𝟎

𝑥̈ + x= 0

ω=
Equivalent stiffness elements
Bounced element:
Buoyancy force at dynamic

𝐅𝐛 = 𝛾 𝑉 = 𝜌. 𝑔. 𝐴 𝑦
motion

Spring-up force = 𝑘. 𝑦
Then, Stiffness 𝑘 = 𝜌. 𝑔. 𝐴
The coordinate, y represents the downward
displacement
of the liquid (meniscus) from its equilibrium
position.
Equivalent stiffness elements
𝑀𝒈=
Static 𝑭𝒃,𝒔
Equilibrium (No oscillation
𝑴𝑔 = 𝜌𝑔 𝑉 = 𝜌
𝑔𝑨 𝒉𝒘
i.e., y=0)

𝑴 = 𝜌 𝑉 = 𝜌 𝑨 𝒉𝒘
(1)

= MΣ𝑦̈ 𝐹𝒚
Dynamic Equilibrium 𝑀 𝑦̈
= 𝑀 𝒈 − 𝑭𝒃,𝒅
𝑀 𝑦̈ = 𝑀 𝒈 − 𝜌 𝑔𝑨 (𝒉𝒘+𝒚)

𝑀 𝑦̈ = −𝜌 𝒈 𝐴 𝑦
(2)
Sub. From eq. (1) in eq. (2)
𝑀 𝑦̈ +
𝜌𝑔 𝐴 𝑦 = 0
𝑦˙˙ + y =0 𝑦˙˙ + y =0 𝑦˙˙ + y =0
Simple Harmonic
Motion
 Equivalent stiffness elements
Example, find the natural frequency of the float shown in Fig. by using
Newton’s Second Law. (No
𝑀 𝒈 = 𝑭𝒃,𝒔
Static Equilibrium

𝑴𝑔=𝜌𝑔𝑉=𝜌𝑔𝑨
oscillation)

𝒉𝒘
𝑴 = 𝜌 𝑉 = 𝜌 𝑨 𝒉𝒘 (1)

f= =
Dynamic Equilibrium
M𝑦̈ = -----------M 𝑦˙˙ = 𝑀 𝒈 − 𝜌 𝑨 (𝒉𝒘 +y)
Sub. From eq. (1) in eq. (2) yields 𝑀 𝑦̈ +
--------------(2)
𝜌𝑔 𝐴 frequency
𝑦 = 0 of vertical
ωn=

𝑦˙˙ + y =0 --------- 𝑦˙˙ + y = 0

Circular
motion as the float bobs up and
down (i.e., angular Simple Harmonic Motion
frequency of the oscillation)
Lumped masses
U-Tube manometer
The coordinate x represents the displacement of the
liquid
(meniscus) from its equilibrium position.
2x
Using Newton’s second law of
motion:
MX˙˙ = mg

M: is the total mass in the manometer → 𝑴 = 𝝆 𝑽 = 𝝆 𝑨 𝑳

m: the mass of the element which acts in the down direction 𝒎
= 𝝆 𝑽 = 𝝆 𝑨 (𝟐𝒙)

𝑴 𝒙̈ + 𝒎 𝒈 = 𝟎
𝑴 𝒙̈ = −𝒎𝒈
Lumped masses
𝑴 𝒙̈ = −𝒎𝒈
𝑴 𝒙̈ + 𝒎 𝒈 = 0
𝒙̈ + 𝒈 = 0 2x

𝒙̈ + 𝒈 = 0

𝒙̈ + x = 0
mg

ωn=

f= =
Lumped masses
Inclined U-tube manometer
The coordinate x represents the displacement of the liquid

from its equilibrium position in direction of 𝜃.

(meniscu)

𝑴 𝒙̈ + 𝒎 𝒈 = 𝟎

𝒙̈ + = 𝟎

𝒙̈ + 𝒈 = 0
co sꝊ
mg mg
sin
Ꝋ

𝒙̈ + x = 0
Equivalent stiffness
elements M
Torsional Stiffness of shaft Ꝋ

= =

M= = I

𝜏 : Shear stress
M = KꝊ, or T = KꝊ Where,

G : Modulus of Rigidity

𝜃: angular displacement
M : Torsional moment
Hence K shaft =
R : Radius of the shaft
L : Length of he shaft
I : Area or 2nd moment
of inertia
Area moment of Inertia
Shape Centroidal area
Sectio moment of inertia
n (Ic)
Circle = = Ic

I dai =
Hollow Ic = ( - )
section D d

Rectangle c Ic = , Ibase =
h
c
b

Triangle h
Ic =
Ix =
+ h)
, Iy = h
Class activity
Class activity
KtAl
Ktbc

= +
Kt st

= = = N.m

)= = = N.m

= = = N.m
Equivalent stiffness elements
Example: Consider the rotational mechanical system
shown, drive the equation of motion by using Newton’s
Second Law.
𝐽𝛼= Σ M External

𝐽d 𝜃˙˙̈ = 𝑀 − 𝑘r Ꝋ
Hint: For the rod , 𝑴𝒓 = 𝜃 =
𝒌𝒓 𝜃
𝐺𝐼 𝑟
𝐾𝑟 =
𝐿

Equation of motion:, 𝐽d 𝜃̈ + 𝑘r 𝜃 = 𝑀,
Jd = md
Mass moment of Inertia