MECHANICAL

VIBRATIONS
ME 421
12-Sep-14
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Marks distribution
2
Quizes (10%-15%)
Announced & surprised
Assignments (5%)
2% for attendance (will be taken anytime after 15
mins)
Sessional Exams (30%)
Final Exam (45%-50%)

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Books
3
Mechanical Vibrations by S. S. Rao 2
nd
/3
rd
/4
th

Schaum's Outline of Mechanical Vibrations
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Course Contents
Fundamentals of Vibrations
Free vibrations and Single DOF systems
Harmonically Excited vibrations
Vibration under general forcing conditions
Two DOF systems
Multi DOF systems
Misc.

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Vibration
Any motion which repeats itself after an interval
of time is called vibration or oscillation
Example
Swing, Pendulum, Legs during walking etc
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Vibration in a positive sense
Hearing, Breathing, Speaking
Music
Vibratory conveyer, Hoppers, sieves, washing
machines, electric tooth brush, Clock,
massagers etc
Vibration improves efficiency of some
machining, casting, forging etc.
Earthquakes simulation
Geological research

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Vibration in negative Sense
Unbalance in engines
In Turbines, unbalance can cause mechanical
failure
Structures
Vibrations cause wear of mechanical parts and
produce noise
Fasteners become loose
Poor surface finish
Resonance!!
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Vibrating system
A vibrating system generally includes
A means of storing potential energy
Spring or Elasticity
A means of storing kinetic energy
Mass or Inertia
A means by which the energy gradually lost
Dampers

EXAMPLE???

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Vibration of a system
PE is converted into KE and KE is converted
into PE alternatively
Some of the energy is lost in each cycle if the
system is damped
The dissipated energy should be replaced by an
external source in order to maintain the steady
state of vibration
EXAMPLE??
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Example of a Pendulum
Initial angular displacement =
KE = 0, PE = mgh @ 1. move due to
gravitational torque
PE = 0 @ 2. Bob will not stop due to KE
KE = 0, PE = mgh @ 3
This process will continue
Oscillatory motion
In reality
Air will offer resistance, and bob will
slow down gradually and will stop at
the end
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Degree of Freedom
The minimum number of
independent coordinates required
to determine completely the
positions of all parts of a system at
any instant of time defines the
number of degrees of freedom of
the system.

Angle:
Cartisian: x, y
X
2
+y
2
=l
2
How Many DOF?
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Degree of Freedom
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Degree of Freedom
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Degree of Freedom
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Discrete and Continuous Systems
Discrete Systems
System having finite number of DOF
Continuous Systems
Systems having infinite number of DOF



Example: Cantilever Beam
Infinite no of mass points require infinite no of
coordinates to specify the deflection (Elastic curve)

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Classification of Vibration
Free and Forced Vibration
Un-damped and Damped Vibration
Linear and Nonlinear Vibration
Deterministic and Random Vibration
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Free and Forced Vibration
Free Vibration
Only initial disturbance is applied to the system and it
is left to vibrate on its own. No external force acts on
the system.
Example: oscillation of a simple pendulum
Forced Vibration
The system is subjected to an external force (often, a
repeating type of force).
If the frequency of the external force coincides with
one of the natural frequencies of the system, a
condition known as resonance occurs, and the
system undergoes dangerously large oscillations.
Failures of such structures as buildings, bridges,
turbines, and airplane wings have been associated
with the occurrence of resonance

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Undamped and Damped Vibration
undamped vibration
If no energy is lost or dissipated in friction or other
resistance during oscillation, the vibration is known as
undamped vibration.

damped vibration
If any energy is lost, it is called damped vibration.
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Linear and Nonlinear Vibration
Linear Vibration
If all the basic components of a vibratory
system the spring, the mass, and the damper
behave linearly, the resulting vibration is
known as linear vibration.
Nonlinear Vibration
If any of the basic components behave
nonlinearly, the vibration is called nonlinear
vibration.


The differential equations that govern the behavior of linear and
nonlinear vibratory systems are linear and nonlinear,
respectively.
If the vibration is linear, the principle of superposition holds, and
the mathematical techniques of analysis are well developed. For
nonlinear vibration, the superposition principle is not valid, and
techniques of analysis are less well known.

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Components of a vibratory system
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Spring
Mass
Damper

Deterministic and Random
Vibration
Deterministic Vibration
If the value or magnitude of the excitation (force or motion) acting on a vibratory
system is known at any given time, the excitation is called deterministic.
The resulting vibration is known as deterministic vibration.
Random Vibration
In Random excitation, the value of the excitation at a given time cannot be
predicted.
In these cases, a large collection of records of the excitation may exhibit some
statistical regularity. It is possible to estimate averages such as the mean and
mean square values of the excitation.
Examples of random excitations are wind velocity, road roughness, and ground
motion during earthquakes.
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https://sites.google.com/site/421vibrations

Web link
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Vibration Analysis Procedure
The response of a vibrating system generally depends on the initial
conditions as well as the external excitations.
Most practical vibrating systems are very complex.
Often the overall behavior of the system can be determined by
considering even a simple model of the complex physical system.

The analysis of a vibrating system usually involves
mathematical modeling
derivation of the governing equations
solution of the equations
interpretation of the results
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Step1: Mathematical Modeling
The purpose of mathematical modeling is to represent all the important features of
the system for the purpose of deriving the mathematical (or analytical) equations
governing the system behavior.
The mathematical model should include enough details to allow describing the
system in terms of equations without making it too complex.
The mathematical model may be linear or nonlinear, depending on the behavior of
the system s components.
Linear models permit quick solutions and are simple to handle; however, nonlinear
models sometimes reveal certain characteristics of the system that cannot be
predicted using linear models.
Sometimes the mathematical model is gradually improved to obtain more accurate
results. In this approach, first a very crude or elementary model is used to get a
quick insight into the overall behavior of the system.
Subsequently, the model is refined by including more components and/or details so
that the behavior of the system can be observed more closely.
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Step1: Mathematical Modeling (cont.)
Forging Hammer
First approximation
Refined approximation
Further refinement ???

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Step 2: Derivation of Governing Equations
Once the mathematical model is available, we use the principles of
dynamics and derive the equations that describe the vibration of the
system.
The equations of motion can be derived conveniently by drawing
the free-body diagrams of all the masses involved.
The free-body diagram of a mass can be obtained by isolating the
mass and indicating all externally applied forces, the reactive
forces, and the inertia forces.
Linear or non linear equations??
depending on the behavior of the components of the system.
Governing equations can be derived using Newton s second law of
motion, DAlembert s principle, and the principle of conservation of
energy.
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Step 3: Solution of the Governing
Equations.
The equations of motion must be solved to find the
response of the vibrating system.
Depending on the nature of the problem, the following
techniques can be used
Standard methods of solving differential equations
Laplace transform methods
Matrix methods
Numerical methods.
Nonlinear equations can be solved in closed form.
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Step 4: Interpretation of the Results.
The solution of the governing equations gives the
displacements, velocities, and accelerations of the
various masses of the system.
These results must be interpreted with a clear view of
the purpose of the analysis and the possible design
implications of the results.
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Develop a sequence of three mathematical models of the system for
investigating vibration in the vertical direction.
Consider the elasticity of the tires, elasticity and damping of the struts
(in the vertical direction), masses of the wheels, and elasticity,
damping, and mass of the rider
Example
Elements of Vibrating system
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Spring Elements
Mass/Inertia Elements
Damping Elements
Spring/Elastic Elements
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A spring is a type of mechanical link, which in most applications is assumed
to have negligible mass and damping.
The most common type of spring is the helical-coil spring used in
retractable pens and pencils, staplers, and suspensions of freight trucks
and other vehicles.
Any elastic or deformable body or member, such as a cable, bar, beam,
shaft or plate, can be considered as a spring
Restoring force is also developed
Potential Energy
Nonlinear Springs
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Nonlinear Springs
(More than one linear Springs)
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Linearization of Nonlinear Spring
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In many practical applications we assume that the deflections are
small and make use of the linear relation
Example
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Spring Constant of a cantilever
beam
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Spring Constant of a Rod
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Combination of Springs
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Springs in Parallel Springs In Series
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Example (From Book)
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A hoisting drum, carrying a steel wire rope, is mounted at the end of
a cantilever beam as shown in Figure.
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.
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Example (From Book)
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END
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