CHAPTER 2

ANALYSIS OF SIMPLE ROTOR SYSTEMS

In previous chapter, a brief history and recent trends in the subject of rotor dynamics has been outlined.
The main objective of the previous chapter was to have introduction of various phenomena in rotor
dynamics so as to have an idea of them before detailed mathematical treatment is given to
comprehensively understand these phenomena. It also introduced various mathematical methodologies,
which are used to understand the dynamic behaviour of rotor systems, and briefed the recent and future
requirements of the modern high-speed, high-power, and high-reliability rotating machineries.

Rotating machines are extensively used in diverse engineering applications, such as power stations,
marine propulsion systems, aircraft engines, machine tools, automobiles, household accessories and
futuristic micro- and nano-machines. The design trend of such systems in modern engineering is towards
lower weight and operating at super critical speeds. An accurate prediction of rotor system dynamic
characteristics is vitally important in the design of any type of machinery. There have been many studies
relating to the field of rotor dynamic systems during the past years (Biezeno and Grammel, 1959; Chen
and Gunter, 2005; Dimentberg, 1961; Tondl, 1965; Rieger, 1977; Dimargonas and Paipetis, 1983;
Mahrenholtz, 1984; Vance, 1988; Goodwin, 1989; Childs, 1993; Krmer, 1993; Lee, 1993; Rao, 1996;
Lalanne and Ferraris, 1998; Genta, 1999; Rao, 2000; Admas, 2001; Yamamoto and Ishida, 2001; Robert,
2003; Muszynska, 2005; Genta, 2005). Of the many published works, the most extensive portion of the
literature on rotor dynamics analysis is concerned with determining critical speeds, natural whirl
frequencies, the instability thresholds and bands, and the unbalance and transient responses. Apart from
these analyses some works also cover balancing of rotors, the estimation of bearing dynamic parameters,
the condition monitoring and the nonlinear analysis.

For understanding basic phenomena of any dynamic system requires adequate modeling of the system. To
start with only transverse vibrations of the rotor are considered. The torsional and axial vibrations will be
considered in subsequent chapters. The dynamic system can be as simple as single degree of freedom
(DOF). The rotor is considered as a single mass in the form of a point mass, a rigid disc or a long rigid
shaft. In a three-dimensional space a particle and a rigid body can have utmost three and six DOFs,
respectively. On neglecting the torsional and axial vibrations effects, the single mass rotor has at most
four DOF. In the present chapter, mathematical treatment is performed of simple rotor models in use over

25
the years is detailed, e.g., the single-DOF undamped and damped, two-DOF Rankines model, the two
and three-DOF Jeffcott rotor models, and four-DOF rotor models derived from the Jeffcott rotor model.
Various terminologies in use to explain the dynamic behaviour of the rotor system, e.g. the unbalance, the
whirling and wobbling motions, the natural and excitation frequencies, the resonance, the critical speed,
the synchronous, anti-synchronous and asynchronous motions, the phase, etc.; are introduced. The
understanding of the present chapter would help in exploring more complex rotor models described in
subsequent chapters.
2.1 Single-DOF Undamped Rotor Model
The simplest model of the rotor system can be a single DOF. Figure 2.1 shows two types of rotor model.
In Figure 2.1(a) the bearing (support) is assumed to be flexible and the rotor (the shaft and the disc) as
rigid; whereas in Figure 2.1(b) the bearing is assumed to be rigid (i.e., the simply supported) and the shaft
as flexible with the disc as rigid. The mass of the rotor is considered as that of the rigid disc that is
mounted on the massless thin shaft. Both the cases can be idealized as a single DOF as shown in Figure
2.1(c).

Fig 2.1(a) A rigid rotor mounted on flexible

bearings

Fig 2.1(c) An equivalent single degree of

freedom spring-mass system

Fig 2.1(b) A flexible shaft with a rigid disc

mounted on rigid bearings

Fig 2.1(d)The free body diagram of the

disc mass

26
2.1.1 Unbalance force model: If the rotor is perfectly balanced then theoretically speaking there will not
be any unbalance force as shown in Figure 2.2(a), where C and G are the center of rotation (or the
geometrical center) and the center of gravity of the rotor, respectively. However, in actual practice it is
unattainable to have a perfectly balanced rotor as shown in Figures 2.2(b)-(d), where U is the location of
an additional unbalance mass (for example a small screw attached to the disc). The unbalance may come
due to manufacturing tolerances, operational wears and tears, thermal distortions, repair, etc. The rotor
unbalance gives a sinusoidal force at the rotor spin speed. Thus, the unbalance force is modeled as a
sinusoidal force

f (t ) = m 2 e sin t

(2.1)

where m is the mass of the rotor, is the spin speed of the rotor, e is the eccentricity of the rotor (see
Figure 2.2(b)) and the product me is normally called the unbalance. The above unbalance force will come
when the rotor is eccentric, i.e., the rotor center of rotation and the center of gravity are not coincident.
This type of unbalance is called the residual or inherent unbalance.
When the rotor is not eccentric (i.e., when C and G are coincident), and a small unbalance mass, mi is
attached at a relatively larger radius of ri as shown in Figure 2.2(c), the unbalance force can be written as

f (t ) = mi 2 ri sin t

(2.2)

The above type of unbalance is called the trial or additional unbalance and it is often used for the
residual unbalance calculation using dynamic balancing procedures. For the case when the rotor is
eccentric and a small trial unbalance mass is attached as shown in Figure 2(d), the total unbalance force
would be

f (t ) = m 2 e sin t + mi 2 ri sin(t + )

(2.3)

where is the phase difference between the vectors of unbalance forces due to the rotor eccentricity and
the trial unbalance mass.

27

G
C,G

(a) Rotor geometrical center and center of gravity

(b) Rotor geometrical center and center of gravity
are coincide.
are not coincide.
U

C,G

G
C

(c) An additional unbalance mass location is not (d) Rotor geometrical center, center of gravity and
coincident with rotor geometrical center and center unbalance mass location are not coincident.
of gravity.
Figure 2.2 Different types of unbalances in a single plane

Figure 2.3 shows positive conventions and variables to define the unbalance location on a rotor system at
a particular instant of time, t. For a constant angular velocity of the rotor, , the location of the unbalance
is given as = t (in general
(the dot represents the derivative with respect to the time) , i.e.,
when a rotor has some angular acceleration, e.g., for a constant angular acceleration

= and for zero
initial conditions, we will have
= t and = 12 t 2 ).

Figure 2.3 Unbalance location on a rotor at a particular instant of time

28
2.1.2 Equations of Motion: On application of the Newtons second law of motion on the free body of the
rotor mass as shown in Figure 2.1(d), i.e., on equating the sum of external forces to the mass of rotor
multiplied by the acceleration of center of gravity of the rotor mass, we have

= my

or

k eff y + m 2 e sin t = m
y

(2.4)

where keff is the effective stiffness of the rotor system (see Figure 2.1) and keff y is the restoring force
that acts opposite to the motion so negative sign. Equation (2.4) is a standard form of equation of motion
of a single DOF spring-mass system and could be rearranged as

m
y
+ k eff y = m 2 e sin t

(2.5)

2.1.3 Free Vibrations: From the free vibration, when the external unbalance force is absent (i.e., e = 0 ), it
is generally assumed that the rotor mass will have a simple harmonic oscillation and the free response
displacement is expressed as

y (t ) = Y sin nf t

(2.6)

where nf is the frequency of oscillation during the free vibration and it is called the natural frequency of

y (t ) = Y nf2 sin nf t ) into the homogeneous part (i.e.,

the system. On substituting equation (2.6) (with


with e = 0 ) of equation of motion (2.5), it gives

(mnf2 + keff )Y sin nf t = 0

(2.7)

For a non-trivial solution (i.e., Y 0 or nf 0 ) of equation (2.7), the natural frequency of the system
can be written as

(mnf2 + keff ) = 0

or

nf = k eff / m

(2.8)

2.1.4 Forced responses: Now to obtain the steady state forced response, it can be expressed as

y (t ) = Y sin(t )

(2.9)

where Y is the amplitude of displacement and is the phase lag of displacement with respect to the
unbalance force. On substituting equation (2.9) with


y (t ) = Y 2 sin(t ) into equation (2.5), the
steady state forced response amplitude can be written as

29

(m 2 + keff )Y sin(t ) = me 2 sin t

On expanding, we get

(m 2 + keff )Y [sin t cos cos t sin ] = me 2 sin t

On separating the sine and cosine terms of t , we have

(m 2 + keff )Y cos = me 2

and

(m 2 + keff )Y ( sin ) = 0

Since terms (m + keff ) and Y in general may not be zero, hence from the second expression, we have
2

= 0 and the first expression can be simplified as

Y
m 2
2
2
Y = =
=
=
e keff m 2 nf2 2 1 2

with

and nf = k eff / m
nf

(2.10)

where Y is the non-dimensional unbalance response (ratio of the unbalance response to the eccentricity)
and is the frequency ratio (ratio of the spin speed of the rotor to the natural frequency of the rotor
system). The absolute value of non-dimensional unbalance response, Y , is plotted with respect to the
frequency ratio as shown in Figure 2.4. From Figure 2.4 and equation (2.10) it should be noted that we
have unbounded unbalance response when the denominator (1 2 ) becomes zero, i.e., when the spin
speed is

cr =

cr
= 1
nf

or

cr =

keff
m

= nf

(2.11)

This is a resonance condition and the spin speed corresponding to the resonance is defined as critical
speed. The subscript: cr represent the critical. For the present case the critical speed is equal to the

transverse natural frequency of the non-rotating rotor system as given by equation (2.11). The undamped
steady state forced response amplitude tends to be infinity at the critical speed. The natural frequency and
the critical speed concepts have come from the free and forced vibrations, respectively. It should be noted
that in rotor dynamics, in general, the natural frequency might not be a constant and might vary with the
spin speed of the shaft (e.g., when gyroscopic couple is considered in the analysis when the spin speed of
rotor is high, for the case of speed dependent bearing dynamic properties, etc.). The sign represent that
the rotor will have critical speed while rotating in either the clockwise or counter clockwise sense. Since

30
the damping is not considered in the analysis the phase angle, , becomes zero (or 1800 after the critical
speed).

In Fig. 2.4 the response changes its sign (i.e., the positive to the negative) after the frequency ratio equal
to unity, which corresponds to the critical speed (i.e., the spin speed of the shaft is equal to the natural
frequency of the rotor system). It means that the phase difference between the force and the response
becomes 1800, which is 00 when the frequency ratio is less than unity, in the absence of damping. Both
the linear and semi-log plots are shown to have clarity of the response variation, near and away from the
critical speed. It can be seen that as the frequency ratio increases above unity the non-dimensional
response asymptotically approaches to unity, which means unbalance response approaches to the
eccentricity of the rotor. Physically it implies that the rotor rotates about its center of gravity at high
frequency ratio.

The analysis presented in this section can be applied to the transverse, torsional and axial vibrations of
rotors and accordingly natural frequency can be termed by prefixing respective types of vibrations. For
torsional vibrations care should be taken that the mass will be replaced by the polar mass moment of
inertia of the rotor and the stiffness will be by the torsional stiffness. Similarly, for the axial vibrations the
mass will remain the same as transverse vibrations, however, the stiffness will be the axial stiffness. More

detailed treatment will be presented in subsequent chapters.

(a) Linear plot

(b) Semi-log plot

Figure 2.4 Variation of the non-dimensional unbalance response versus the frequency ratio

31
2.1.5: Attenuation of Vibrations: The most common cause of the vibrations in rotors is the unbalance
among the other faults and it will always be present in a rotor. However, the unbalance response can be
reduced up to the desired level depending upon the applications by one or combination of following three
methods.
(i) Correction at the source: Balancing the rotor is the most direct approach, since it attacks the problem
at source. However, in practice a rotor cannot be balanced perfectly and the best achievable state of
balance tends to degrade during operation of a rotor (e.g., the turbo-machinery).
There are two type of unbalances (a) the static unbalance: The principal axis of the polar mass moment of
inertia of the rotor is parallel to the centerline of the shaft as shown in Figure 2.5a and b. The rotor can be
balanced by a single plane balancing and (b) the dynamic unbalance: The principal axis of the polar mass
moment of inertia of the rotor is inclined to the centerline of the shaft as shown in Figure 2.5c and d. For
balancing such (rigid) rotors, minimum of two balancing planes are required.

(a) Perfectly balance (no force and moment)

(c) Dynamic unbalance (pure moment)

(b) Static unbalance (pure radial force)

(d) Dynamic unbalance (both force and moment)

Figure 2.5 Classification of unbalances for a short rigid rotor

(ii) Operate the rotor away from the critical speed: This could be done during the design itself, or during
operation by providing an auxiliary support. At the design stage the critical speed can be altered by
changing the rotor mass and its distributions, and the effective stiffness (e.g., by changing dimensions of
the shaft, i.e., the shaft diameter and length). During the operation an auxiliary support can be provided

32
to increase the effective stiffness of the rotor, which in turn increases the critical speed. For the case when
the rated operational speed is above the critical speed, the actual rotor critical speed can be safely
traversed by this arrangement (by temporarily increasing the critical speed) and then the auxiliary support
can be withdrawn which brings the critical speed of the rotor again below the rated operation speed (refer
Example 2.2). In general, changing the critical speed is useful for machines with a constant or with a
narrow range of operational speed (e.g. the turbo-machinery in power plants).
Example 2.1: A rotor has a mass of 10 kg and the operational speed of (100 1) rad/s. What should be
bounds of the effective stiffness of shaft so that the critical speed should not fall within 5% of operating
speeds? Assume that there is no damping in the rotor system.
Solution:The operational speed range is 99 to 101 rad/s. Now 5% of the lower operational speed would be

99-990.05 = 94.05 rad/s, and 5% of the upper operational speed would be 101+1010.05 = 106.05 rad/s.
Then the effective stiffness corresponding to the lower operating speed would be nf2 m = 94.05210 =
88.45 kN/m and the effective stiffness corresponding to the upper operating speed would be nf2 m =
106.05210 = 112.5 kN/m. Hence, the effective stiffness of shaft should not fall in the range of 98.1 to
112.5 kN/m. It should be noted that the unit of nf is in rad/s when other quantities are in SI units (i.e. m
in kg and k in N/m).

Example 2.2: A rotor system has 100 rad/s as the critical speed and its operating speed is 120 rad/s. If we
want to avoid altogether crossing of the critical speed, then what should be the enhancement in the
support stiffness by an auxiliary support system. To avoid excessive vibration, let us assume we should
have at least 5 rad/s of gap between the operating speed and the critical speed. The rotor has a mass of 10
kg.
Solution: The initial stiffness of the support is nf2 m = 100210 = 100 kN/m.

First we can reach safely a rotor speed of 95 rad/s, which is 5 rad/s lower than the original critical speed
of the rotor. Now since we cannot safely increase the rotor speed further, we need to increase the critical
speed of the rotor to at least 125 rad/s. This will allow us to reach up to 120 rad/s that is 5 rad/s lower
than 125 rad/s i.e. the new critical speed.
The corresponding effective of the support stiffness should be 125210 = 156.25 kN/m. Hence, the
auxiliary support system should increase the effective stiffness by 56.25 kN/m.

33
Example 2.3: A 2 kg mass of a overhung rotor (cantilever) caused the deflection at the free end of 0.5
cm. What would be the stiffness and the natural frequency of the system?

The stiffness of the spring = k =

The natural frequency = n =

static force
mg 2 103 9.81
=
=
= 39.24N/m
corresponding static deflection

0.5 103

k
mg /
g
39.24
=
=
=
= 140.1 rad/s = 22.3 Hz
m
m
2 103

(iii) Add damping to the system or the active control of the rotor: If a critical speed must be traversed
slowly or repeatedly, or if machine operation near a critical speed can not be avoided, then the most
effective way to reduce the amplitude of vibration is to add the damping. On the other hand the some
form damping (e.g., the shaft material or hysteretic or internal damping) may lead to rotor instability
(self-excited vibration). The squeeze film and magnetic bearings are often used to control the dynamics of
such rotor systems. Squeeze-film bearings (SFB) are, in effect, fluid-film bearings in which both the
journal and bearing are non-rotating. The ability to provide the damping is retained but there is no
capacity to provide the stiffness as the latter is related to journal rotation. They are used extensively in
applications where it is necessary to eliminate instabilities, and to limit rotor vibration and its effect on the
supporting structures of rotor-bearing systems, especially in aeroengines. In recent years, advanced
development of electromagnetic bearing technology has enabled the active control of rotor bearing
systems through active magnetic bearings (AMB). In particular the electromagnetic suspension of a
rotating shaft without the mechanical contact has allowed the development of supercritical shafts in
conjunction with modern digital control strategies. With the development of smart fluids (for example
electro and magneto-rheological fluids) now new controllable bearings are in the primitive development
stage. The basic premise of such smart fluids is that their dynamic properties (i.e. the damping and the
stiffness) can be controlled by changing the current or magnetic flux in a micro-second time. Schematics
of typical passive and active (i.e., smart or controllable) squeeze film dampers, and active magnetic
bearings are shown in Figure 2.6.

34

Figure 2.6 (a) A passive squeeze film damper

Figure 2.6 (b) Schematic diagram of a smart (active) fluid-film damper

Figure 2.6 (c) Basic principles of active magnetic bearings

35
2.2 A Single-DOF Damped Rotor Model
In the previous section the damping was ignored in the rotor model and now in the present section its
effects would be considered. The simplest damping model is the viscous (or proportional) damping and
the damping force is expressed as
f d (t ) = cy

(2.12)

where c is a constant of proportionality and is called the viscous damping coefficient. In the free body
diagram (Fig. 2.1d) of the rotor with addition of damping force, it gives equations of motion as
f (t ) ky cy
= my

or

my

+ cy
+ ky = f (t )

(2.13)

For the free damped motion, equation (2.13) takes the form
my

+ cy
+ ky = 0

(2.14)

Let us assume a solution of the form

y = e st

(2.15)

where s is a constant (may be a complex number), so that y
= se st and

y = s 2 e st . On substituting equation
(2.15) in equation (2.14), we get

( ms 2 + cs + k )e st = 0

(2.16)

Hence, from the condition that equation (2.15) is a solution of equation (2.14) for all values of t, equation
(2.16) gives the following characteristic equation

s2 +

c
k
s+ =0
m
m

(2.17)

which can be solved as

2

s1,2

c
k
c
=


2m
2m m

Hence, the following form of the general solution is obtained

(2.18)

36
y (t ) = Ae s1t + Be s2t

(2.19)

where A and B are constants to be determined from initial conditions of the problem (e.g., y (0) = y0 and

y
(0) = v0 ). On substituting equation (2.18) into equation (2.19), we get

y (t ) = e

c
t
2m

Ae

c 2 k

t
2 m m

+ Be

c 2 k

t
2 m m

(2.20)

The term outside the bracket in right hand side is an exponentially decaying function for positive value of
2

c. However, the term

k
c
can have following three cases:

2m m

k
c
(i)
> : Exponents of terms within the square bracket in equation (2.20) are real numbers, which
m
2m

means there would not be any harmonic functions. Hence, no oscillation is possible and it is called the
over-damped system (see Figure 2.7)

Figure 2.7 Response of an over-damped system

2

k
c
(ii)
< : Exponents of terms within the square bracket in equation (2.20) are imaginary numbers
m
2m
2

j
k c
j

, which means, we can write e

m 2m

k c

t
m 2 m

= cos

k c
k c

t jsin
t.
m 2m
m 2m

Hence, equation (2.20) takes the following form

2
2
c

t
k c
k c
y (t ) = e 2 m ( A + B ) cos

t
+
j(
A

B
)sin

t
m 2m
m 2m

37

Let a = ( A + B ) = X cos and b = i( A B) = X sin , we get

2
c
k

t
c
;

x = Xe 2 m cos
t

m 2m

with

= tan 1 (b / a);

X = a2 + b2

(2.21)

For the present case oscillations are possible (with decaying type) and it is called the under-damped
2

system (Fig. 2.8). The damped natural frequency is given as nfd =

k c

.
m 2m

Figure 2.8 Response of an under-damped system

k
c
(iii)
= : Exponents of terms within the square bracket in equation (2.20) are zero numbers. The
2
m
m

damping corresponding to this case is called the critical damping, cc , which is defined as

cc = 2m k / m = 2m n = 2 km

(2.22)

Any other damping can be expressed in terms of the critical damping by a non-dimensional number
called the damping ratio, as

= c / cc

(2.23)

The solution for the critical damped case, having two real repeated roots, can be expressed as
x (t ) = e

nf t

[ A + Bt ]

(2.24)

38

For this case either no oscillation (similar to Fig. 2.7) or for specific initial conditions single crossing of
the zero amplitude axis is possible. Figure 2.9 shows a response of the critically damped system with a
single crossing.

Figure 2.9 Response of an critically damped system with a single zero crossing
To summarize, depending upon the value of damping ratio we can have following cases (i) > 1 : the
over-damped condition (ii) < 1 : the under-damped condition with the damped natural frequency as

nf = nf 1 2 (iii) = 1 : the critical damping and (iv) = 0 : the undamped system. For all the three
d

cases, the integration constants A and B are obtained from two initial conditions. Figure 2.10 shows a
response of an unstable system with < 0 in which exponential increase in the amplitude can be seen.
More detailed treatment of the present section could be seen in the text on basics of vibrations (Thomson
and Dahleh, 1998).

Figure 2.10 Response of an unstable system

39
2.3 Rankine Rotor Model
The single DOF rotor model has limitations that it cannot represent the orbital motion of the rotor in two
transverse directions, which the case in practice. Rankine (1869) used a two DOF model to describe the
motion of the rotor in two transverse directions as shown in Figure 2.11(a). The shape of orbit produced
depends upon the relative amplitude and phase of the motions in two transverse directions (which in turn
depend upon relative difference in stiffness in two transverse directions). The orbit could of a circular,
elliptical or straight line, inclined to the x and y axes, as shown in Figure 2.12. The straight-line motion
(Fig. 2.12c) could be considered as a single-DOF system considered in

Section 2.1, whereas, the

elliptical orbital motion (Fig. 2.12b) may occur when the shaft has different stiffness in two orthogonal
directions.

(a) Two- DOF spring-mass rotor model

(b) Free body diagram of the model

Figure 2.11 Rankine rotor model

(a) Circular motion

(b) Elliptical motion

Figure 2.12 Orbital motion of the mass

(c) Straight-line motion

40
For the circular orbital motion (Fig. 2.12a) may occur for a symmetrical shaft. It can be thought of a mass
attached with a spring and is revolved about a point. From the free body diagram of the rotor as shown in
Figure 2.11(b), for a constant spin speed, the radius of whirling of the rotor center will increase
parabolically and is given as r = Fc / k where Fc is the centrifugal force. It can be physically also
visualized as there will not be any resonance condition, as it is found in the single DOF model, when the
spin speed is increased gradually. This is a serious limitation of the Rankine model. Moreover, this model
does not represent the realistic rotating unbalance force.

2.4 Jeffcott Rotor Model

To overcome the limitations of the Rankine model, Jeffcott (1919) proposed a model and Figure 2.13
shows a typical Jeffcott (it is also called Fppl or Laval) rotor model. It consists of a simply supported
flexible massless shaft with a rigid disc mounted at the mid-span. The disc center of rotation, C, and its
center of gravity, G, is offset by a distance, e, which is called the eccentricity. The shaft spin speed is,
and the shaft whirls about the bearing axis with a whirl frequency, . For the present case, the
synchronous whirl is assumed (i.e., = ), which is prevalent in the case of unbalance responses . The
synchronous motion also occurs between the earth and the moon, and due to this we see always the same
face of the moon from the earth. In the synchronous motion the shaft, the orbital speed and its own spin
speed are equal as shown in Figure 2.14(a). The sense of rotation of the shaft spin and the whirling are
also same. The black spot on the shaft represent the unbalance location or any other mark on to the shaft.
The unbalance force in general leads to synchronous whirl conditions hence this motion is basically a
forced response.
Other kinds of whirl motion, which may occur in real system, are: anti-synchronous (i.e., = ; as
shown in Figure 2.14(b)) and asynchronous (i.e., ). The anti-synchronous whirl may occur when
there is rub between the rotor and the stator, however, it occurs very rarely. For this case, the sense of
rotation of the shaft spin and the whirling are opposite. Asynchronous whirl motion may occur when
speeds are high (e.g., when gyroscopic effects are predominate) or when the rotor is asymmetric or when
dynamic properties of the bearing are anisotropic. The asynchronous whirl motion may occur even in the
perfectly balanced rotor, and due to this it will have whirl frequency as one of the natural frequency of the
rotor system as long as the rotor linear model is considered. The black mark on to the shaft will not be so
systematic as in Figure 2.14 and may occupy various positions depending upon the frequency of whirl.

41
The transverse stiffness, k, of a shaft simply supported shaft is expressed as
k=

Load
P
48EI
= 3
= 3
Deflection PL / ( 48 EI )
L

(2.25)

where E is the Youngs modulus, I is the second moment of area of the shaft cross-section and L is the
span of the shaft. Coordinates to define the position of the center of rotation of the rotor, C, are x and y
(Fig. 2.13c). The location of the unbalance is given by , which is measured from the x-axis in the counter
clockwise direction. Thus, three geometrical coordinates (x, y, ) are needed to define the position of the
Jeffcott rotor (i.e., it has three-DOFs).

Fig 2.13(a) A Jeffcott rotor model

Fig 2.13(b) A Jeffcott rotor model in y-z plane

Fig 2.13(c) Free body diagram of the disc

in x-y plane

42
Shaft whirling
direction

Shaft whirling
direction

Shaft

Shaft

Shaft spin
direction

Shaft spin
direction
Figure 2.14(a) Synchronous whirl

Figure 2.14(b) Anti-synchronous whirl

From Figure 2.13(c) the force (or the moment) balance in the x , y and directions can be written as

kx cx
= m

d2
( x + e cos )
dt 2

mg = m
ky cy

d2
( y + e sin )
dt 2

(2.26)

(2.27)

and
mge cos = I p

where ( x + e cos ) and

( y + e sin )

(2.28)

are the position of the centre of gravity, G, of the rotor; m is the

mass and Ip is the polar mass moment of inertia of the disc. Apart from the restoring force contribution
from the shaft, a damping force is also considered. The damping force is idealized as viscous damper and
it is mainly coming from the support and aerodynamic forces at the disc. The material damping of the
shaft is not considered, which may leads to the instability in the rotor and it will be considered in detail in
subsequent chapters.
For the case = t, i.e., when the disc is rotating at a constant spin speed, the Jeffcott rotor model reduces
to two-DOF rotor model. Physically it means that only the transverse vibration is considered and the
torsional vibration is ignored. Neglecting also the effect of gravity force by considering the static
equilibrium as the reference for axes system and this effect will be considered when we will discuss the

43
sub-critical speed phenomenon. Hence, equations of motion in the x and y directions, from equations
(2.26) and (2.27), can be written as
mx

+ cx
+ kx = m 2 e cos t

(2.29)

my

+ cy
+ ky = m 2 e sin t

(2.30)

and

It should be noted that above equations of motion are uncoupled, and motion can be analysed
independently in two transverse planes. Noting equation (2.8), from the undamped free vibration analyses
it can be seen that since the rotor is symmetric, the rotor system will have two equal transverse natural
frequencies in two orthogonal directions and are given as

nf

1, 2

= k /m

(2.31)

2.4.1: Steady-state response (Approach 1): The damping does not affect the natural frequency of the
system appreciably. However, its effect is more predominate for suppressing the vibration amplitude at
the resonance.
Steady state forced responses of equations (2.29) and (2.30) can be assumed as

and

x = X cos(t )

(2.32)

y = Y cos [ (t ( + / 2) ] = Y sin(t )

(2.33)

where X and Y are the steady state forced response amplitude in the x and y directions, respectively; is
same as the excitation frequency due to the unbalance force and is equal to the shaft spin speed
(synchronous condition is assumed), is the phase lag of the displacement, x(t), with respect to the
unbalance force. The phase difference between the two orthogonal direction responses for the direction of
spinning of the shaft chosen is /2 radian. For the direction of shaft whirling shown in Figure 2.13 (i.e.,
counter clockwise; ccw) for the present axis system, the response in y-direction will lag the response in xdirection by /2 radian. Hence the lag of the y-direction response with respect to the force will be (/2 +

). On taking the first and second time derivatives of the response, x(t), we get
x
= X sin(t )

and

x = 2 X cos(t )

(2.34)

44
On substituting equations (2.33) and (2.34) into equation (2.29) and separating the in-phase (i.e., cost)
and quadrature (i.e., sint) terms, we get

m 2 X cos + cX sin + kX cos = m 2 e

(2.35)

m 2 X sin cX cos + kX sin = 0

(2.36)

and

Equation (2.36) can be solved for the phase, as

tan =

c
k m 2

(2.37)

which gives
sin =

( k m ) + ( c )
2 2

and
2

cos =

k m 2

( k m ) + ( c )
2 2

(2.38)
2

Substituting equation (2.38) into equation (2.35), it gives the displacement amplitude as
X=

m 2 e

( k m ) + ( c )
2

(2.39)
2

Similarly, we can obtain the response amplitude in the y-direction from equation (2.30) as
Y=

m 2 e

( k m ) + ( c )
2

(2.40)
2

Above amplitudes could be plotted with respect to spin speed of the shaft for overall understanding of the
response, and it will be seen in the next subsection. From equations (2.32), (2.33), (2.39) and (2.40), it can
be seen that because of the symmetry of the rotor we have

X = Y = R and the orbit is a circular in

nature, i.e.,

x2 + y 2 = R2

(2.41)

2.4.2: Steady-state response (Approach 2): An alternative approach that is very popular in rotor
dynamics analyses is to use the complex algebra to define the whirl radius as
r = x + jy

(2.42)

45

where j = 1 . On multiplying equation (2.30) by j and adding to equation (2.29), we get

mr

+ cr
+ kr = me 2 e j t

with

e jt = cos t + jsin t

(2.43)

Now the steady state response can be assumed as

r = Re j(t )

(2.44)

where R is the whirl amplitude (it is a real quantity), is the phase lag of response with respect to the
unbalance force. On differentiating equation (2.44) with respect to time, t, we get

r
= j Re j(t )

and

r = 2 Re j(t )

(2.45)

On substituting equations (2.44) and (2.45) into equation (2.43), we get

{( k m ) + jc} Re
2

= me 2

(2.46)

Equation (2.46) can be written as

{( k m ) + jc} ( R cos jR sin ) = me

2

(2.47)

On separating the real and imaginary parts of equation (2.47), we get

(k m 2 ) R cos + cR sin = me 2

(2.48)

(k m 2 ) R sin + cR cos = 0

(2.49)

and

From equation (2.49), we get the phase as

tan =

c
k m 2

(2.50)

On substitution of the phase from equations (2.50) into (2.48), the whirl amplitude can be written as
R=

m 2 e

( k m ) + ( c )
2

(2.51)
2

Equations (2.49) and (2.51) are similar to previous results, i.e., equations (2.37) and (2.39). The nondimensional form of equations (2.50) and (2.51) can be written as

tan =

2
1 2

(2.52)

46
and
R=

R
=
e

(1 ) + ( 2 )
2

(2.53)
2

with

= / nf ;

nf = k / m ;

= c / cc ;

cc = 2 km

(2.54)

where R is the whirl amplitude ratio, is the frequency ratio, nf is the natural frequency of nonrotating rotor system, is the damping ratio, and cc is the critical damping for which the damping ratio is
equal to unity. Fig. 2.15 shows the whirl amplitude and the phase variation with the frequency ratio.
Figure 2.15(a) shows that the maximum amplitude (i.e., the location of the critical speed) occurs at = 1
for the undamped case; however, at slightly higher frequency ratio than one (i.e., > 1 ), when damping
is present in the system. It should be noted that we observed previously that damped natural frequency is
lesser than the undamped case. It could be observed that the damping has the most important parameter
for reducing the whirl amplitude at the critical speed.

Figure 2.15 Plot of (a) Non-dimensional response (b) Phase versus frequency ratio

47
It can be seen from Figure 2.15(b), for a lightly under-damped system the phase angle changes from 00 to
900 as the spin speed is increased to nf (i.e., =1) and gradually becomes 1800 as the spin speed is
increased to a higher frequency ratio. It should be noted that the phase angle is 900 at =1 even for the
case of various level of damping in the rotor system. For highly over-damped system the phase angle
always remain at 900 before and after =1, which might be a physically unrealistic case to attain.

As the spin speed crosses the critical speed, the center of gravity of the disc comes inside of the whirl
orbit and the rotor tries to rotate about the center of gravity. This can be seen from Figure 2.15(a) as the
spin speed approaches infinity the displacement of the shaft tends to the equal to the disc eccentricity (

R = 1 ). Since the measurement of amplitude of vibration at the critical speed is difficult, hence the
determination of precise critical speed is difficult. To overcome this problem the measurement of the
phase at critical speed is advantageous (since it remain constant at 900 irrespective of damping in the
system). The change in phase between the force and the response is also shown in Figure 2.16 for three
difference spin speeds, i.e., below the critical speed, at the critical speed, and above the critical speed.

(a) below critical speed

(b) at critical speed

(c) after critical speed

Figure 2.16 Orientation of the unbalance force when damping is present in the rotor system

Since for the present analysis the synchronous whirl condition is assumed, at a particular speed shaft will
not have any flexural vibration and it (in a particular bend configuration) will whirl (orbiting) about its
bearing axis as shown in Figure 2.14(a). It can be seen that the black point in the shaft will have
compression during the whirling. However, it can be seen from Figure 2.14(b) for anti-synchronous whirl
that the shaft (the black point in shaft) will have reversal of the bending stresses twice per whirling of the
shaft. For asynchronous whirl the black point inside the shaft will take all the time different positions
during whirling of the shaft.

48
2.4.3: Steady-state response (Approach 3): With the development in software, which can handle complex
matrices, the following matrix procedure may be very helpful for the numerical simulation, which may be
extended even for very complicated rotor systems. Equations (2.29) and (2.30) can be combined in the
matrix form as

x c 0 x
k 0 x m 2e cos t
m 0


+

0 m


+
=
2

y 0 c y
0 k y m e sin t

(2.55)

The force vector in equation (2.55) could be expressed as

2
jt
2

Funbx

m 2 e cos t
m e ( cos t + jsin t )
me ( e )
jt

=
Re
=
Re
=
Re
e

2
2
j t
Funby

m e sin t
m e ( sin t jcos t )
me ( je )

Funby = jFunbx

(2.56)

(2.57)

where Re(.) represents the real part of the quantity inside the parenthesis. Funbx and Funby are the
unbalance force components in x and y directions, respectively. On substituting equation (2.56) into
equation (2.55), it can be written as (henceforth for brevity the symbol Re(.) will be omitted)
x c 0 x
k 0 x Funbx jt
m 0


+
e
0 m


+
=

y 0 c y
0 k y Funby

(2.58)

The relationship (2.57) is true for the present axis system along with directions of the whirling (R) and the
unbalance force vectors chosen as shown in Figure 2.17(a). For this case Funby lag behind Funbx by 900.
j

Let us derive this relationship: If Funbx = Fe , then

Funby = Fe j( / 2) = Fe j e ( / 2) j = Fe j [ cos( / 2) + jsin( / 2) ] = jFe j = jFunbx

For the direction of whirl (R) opposite to the axis system as shown in Figure 2.17(b), the following
relationship holds

Funby = Fe j( + / 2) = Fe j e( / 2) j = Fe j [ cos( / 2) + jsin( / 2) ] = jFe j = jFunbx

so that,
Funby = jFunbx

(2.59)

49

in which case Funby lead Funbx by 900. It should be noted in equation (2.58) that the right hand side force
vector elements have significance of real parts only, which is quite clear from the expanded form of the
force vector in equation (2.56). Equation (2.58) can be written in more a compact form as

[ M ]{

x} + [C ]{ x
} + [ K ]{ x} = {Funb } e jt

(2.60)

The solution can be chosen as

{ x} = { X } e jt

(2.61)

where elements of the vector {X} are, in general, complex.

Fig 2.17(a) The direction of whirl

same as the positive axis direction

Fig 2.17(b) The direction of whirl

opposite to the positive axis direction

Equation (2.61) can be differentiated to give

{ x
} = j { X } e jt

and

{

x} = 2 { X } e jt

(2.62)

On substituting equations (2.61) and (2.62) into equation (2.60), we get

with

[ Z ]{ X } = {Funb }

(2.63)

[ Z ] = ( 2 [ M ] + [ K ] + j [C ])

(2.64)

where [Z] is the dynamic stiffness matrix. The response can be obtained as

50

{ X } = [ Z ] {Funb }
1

(2.65)

The above method is quite general in nature and it can be applied to multi-DOF systems also once
equations of motion in the standard form are available. The following example illustrates the method
discussed in the present section for a Jeffcott rotor.

Example 2.4: Obtain the unbalance response of a rotor system with following equations of motion.
mx

+ kx = m 2 e cos t and

my

+ ky = m 2 e sin t

Solution: Since equations of motion are uncoupled hence both equations can be solved independently.
The first equation can be written as

mx

+ kx = Fx e jt

with

Fx = me 2

in which the real part of right hand side term has only meaning. The solution can be assumed as
x = Xe jt
where in general X is a complex quantity. The above equation gives

x = 2 Xe j t
On substituting assumed solutions in the equation of motion, we get

( m

X + kX = me 2

which gives
X=

me 2
k m 2

Hence the response in the x-direction becomes

x=

me 2

me 2 j t
me 2
=
+
=
e
Re
(cos

t
jsin

t
)
cos t

2
2
k m 2
k

Similarly, the second equation of motion can be written as

my

+ ky = Fy e j t

with

Fy = jme 2

in which the real part of the right hand side term only has a meaning. The solution can be assumed as

51
y = Ye j t
On substituting in the equation of motion, we get
Y=

Fy
k m 2

Hence the response in the y-direction becomes

y=

Fy
k m

e j t =
2

me 2

me 2
jme 2 j t
e
Re
(
jcos

t
sin

t
)
sin t
=

+
=

2
2
k m 2
k m
k m
(Answer)

Now the same problem is solved in the matrix form. We have

0
;
m

[M ] = 0

[ K ] = 0

[ Z ] = ( [ M ] + [ K ])
2

0
;
k

me 2
2
jme

0 0
;
0

[C ] = 0

{Funb } =

1/ k m 2
=

2
1/ k m
0

k m 2
=
0

;
2
k m

me 2
me 2
1

2
2
2
1/ k m 2 jme k m jme

[Z ]

so that

{X } = [Z ]

1/ k m 2
{Funb } =

The response in the x- and y-directions can be written as

me 2 jt
me 2 cos t
x
1
1

=
Re
e
=

k m 2 jme 2
k m 2 me 2 sin t
y

{ x} =

(Answer)

2.5 A Jeffcott Rotor Model with an Offset Disc

Figure 2.18(a) show a more general case of the Jeffcott rotor when the rigid disc is placed with some
offset from the mid-span. With a and b locate the position of the disc in a shaft of length l. The spin speed
of the shaft is considered as constant. For such rotors apart from two transverse displacements of the
center of disc, i.e., x and y, the tilting of disc about the x and y-axis, i.e., x and y, also occurs; and it
makes the rotor system as a four DOFs. For the present analysis, the effect of the gyroscopic moment has
been neglected. In Fig. 2.18(b) points C and G represent the geometrical center and the center of gravity
of disc, respectively. The angle, , represent the phase between the force and the response.

52

Fig 2.18(a) A Jeffcott rotor with a disc offset

from the mid span in the y-z plane

Fig 2.18(b) Free body diagram of the shaft

in the x-y plane

Fig 2.18(c) Free body diagram of the disc

in the y-z plane

Fig 2.18(d) Free body diagram of the shaft

in the y-x plane

From Figure 2.18(b), we can have the following relations for the eccentricity

ex = CH = e cos t

and

e y = GH = e sin t

(2.66)

where ex and ey are components of the eccentricity, e, in the x and y -directions, respectively (in fact
these components of eccentricity are in the plane of disc that is inclined).
From Figure 2.18(c) equations of motion of the disc in the y- and x directions can be written as
fy = m

d2
( y + ey cos x )
dt 2

(2.67)

and
f y ey x M yz = I d

x

(2.68)

53
where m is the disc mass, I d is the diametral mass moment of inertia about the x-axis, fy is the reaction
force and Myz is the reaction moment. It should be noted that the moment is taken about the point G. From
above equations it can be observed that equations are non-linearly coupled with the angular (titling)
component of displacement, x. Figure 2.19(a) shows the rotor in the z-x plane. From Figure 2.19(b), we
can write equations of motion as

fx = m

d2
( x + ex cos y )
dt 2

(2.69)

and
f x ex y M zx = I d

y

(2.70)

where I d is the diametral mass moment of inertia about the y-axis, fx is the reaction force and Mzx is the
reaction moment. Equations (2.69) and (2.70) are also non-linearly coupled with the angular component
of displacement, y. However, two transverse planes (i.e. y-z and z-x) motions are not coupled and that
will allow two-plane motion to analyze independent of each other, i.e., set of equations (2.67) and (2.68)
and equations (2.69) and (2.70) can be solved independent of each other.

Fig 2.19(a) A Jeffcott rotor with a disc offset

from the mid span in the z-x plane

Fig 2.19(b) Free body diagram of the disc in

the z-x plane

Fig 2.19(c) Free body diagram of the shaft in the z-x plane

54
Unbalance forces can be simplified with the assumption of small angular displacement (i.e.,
cos x = cos y 1 ) and equations (2.67) and (2.69) can be simplified as
my

+ f y = m 2 e sin t

(2.71)

mx

+ f x = m 2 e cos t

(2.72)

and

Now equations (2.71), (2.68), (2.72) and (2.70) are assembled as

m 0
0 I
d

0 0

0 0

y f y 0 m 2 e sin t
0

0 0 x M yz f y e y x
0

+
+
=

x f x 0 m 2 e cos t
m 0

0 I d

y M zx f x ex y
0

(2.73)

which can be written in matrix notation as

[ M ]{

x} + {RL } + {RNL } = { funb }

(2.74)

with

m 0
0 I
M
=
[ ] 0 0d

0 0

y






{

x} =

xx ;



y

0
0 0
;
m 0

0 Id
0

fy
M
{RL } = yz ;
fx
M zx

0
f e
{RNL } = y 0y x ;

f x ex y

m 2 e sin t

{ funb } = 2

m e cos t

where [M] represents the mass matrix, {fumb} is the unbalance force vector, {x} is the displacement vector,
{R} is the reaction force/moment vector and subscripts: L and NL represent the linear and the nonlinear,
respectively. It should be noted that the ordering of the displacement vector can be changed depending
upon the convenience and accordingly elements of other matrices and vectors will change their positions.
The reaction forces and moments onto the shaft can be expressed in terms of shaft displacements at the
disc location with the help of influence coefficients as

x = 11 f x + 12 M zx

and

y = 21 f x + 22 M zx

(2.75)

55

where ij represent the displacement at ith station due to a unit force at jth station. It should be noted that
the displacement and force terms are used as general sense so that displacement can be a linear or an
angular displacement whereas the force can be a force or a moment. The coupling of the force and the
displacement in two orthogonal planes has not been considered because of the symmetry of the shaft.
Equation (2.75) can be written in a matrix form as
x 11 12 f x
=

y 21 22 M zx

(2.76)

with

11

21

a 2b 2

12
= 3EIl

22
ab(b a )

3EIl

3a 2l 2a 3 al 2

2
2

3al 3a l

3EIl

3EIl

where EI is the beam flexure, parameters a and b are defined in Figure 2.19(a) with l = a + b . From the
simple beam deflection theory, we can get these influence coefficients (Timoshenko and Young, 1968).
Equation (2.76) can be written as
1

f x 11 12 x k11 k12 x

=
=

M zx 21 22 y k21 k22 y

(2.77)

where kij is the stiffness coefficient and defined as force at ith station due to a unit displacement at jth
station. Similarly, since the shaft is symmetric about its rotation axis, we can obtain

f y k11 k12 y

=

M yz k21 k22 x

(2.78)

Equations (2.77) and (2.78) can be combined in matrix form as

{R L } = [ K ]{ x}
with

(2.79)

56
k11
k
[ K ] = 021

k12

k22
0

0
k11

k21

0
0
;
k12

k22

fy
M
{RL } = yz ;
fx
M zx

y

{ x} = xx

y

Noting equation (2.79), the nonlinear reaction force vector takes the following form
0
0

f e ( k y + k ) e
{RNL } = y 0y x = 11 012 x y x

f x ex y (k11 x + k12 y )ex y

(2.80)

Above equation contains product of the linear and angular displacements, which makes the system
equations nonlinear in nature. The present analysis considers only linear systems, so contributions from
these nonlinear terms can be ignored with the assumption of small displacements. On substituting
reactions forces and moments from equation (2.79) into equations of motion, i.e., equation (2.74), we get

[ M ]{

x} + [ K ]{ x} = { funb }

(2.81)

with

m 0
0 I
[ M ] = 0 0d

0 0

0
0 0
;
m 0

0 Id

k11
k
[ K ] = 021

k12

k22
0

0
k11

k21

0
0
;
k12

k22

y

{ x} = xx ;

y

m 2 e sin t

{ funb } = 2

m e cos t

2.5.1: Calculation of natural frequencies: For obtaining natural frequencies of the system the determinant

of the dynamic stiffness matrix, [ Z ] = [ K ] 2 [ M ] , should be equated to zero and solved for ,
which gives four natural frequencies of the rotor system. It will be illustrated through examples
subsequently. More general method based on the eigen value problem will be discussed in subsequent
sections.
2.5.2: Unbalance forced response: The unbalance forcing with frequency, , can be written as

{ funb } = {Funb } e jt

with

r
i
Funbk = Funb
+ jFunb
k
k

k = 1, 2, , N

(2.82)

57
where

{Funb }

is the complex unbalance force vector and it contains the amplitude and the phase

information, and N is the total DOFs of the system (N = 4 for the present case). The response of the
system can be written as

{ x} = { X } e jt

{

x} = 2 { X } e jt

so that

(2.83)

On substituting equations (2.82) and (2.83) into equation (2.81), we get the unbalance response as

{ X } = [ Z ] {Fumb }
1

[Z ] = ([K ] 2 [M ])

with

(2.84)

where [Z] is the dynamic stiffness matrix. Similar to the force amplitude vector, the response vector will
also have complex quantities and can be written as

k = 1, 2, , N

X k = X kr + jX ki

(2.85)

which will give amplitude and phase information, as

X kamp =

(X ) +(X )
r
k

i
k

and

X kphase = tan 1 X ki / X kk

(2.86)

Equation (2.84) is more a general form of the Jeffcott rotor response as that of the disc at mid-span.
However, it is expected to provide four critical speeds corresponding to four-DOFs of the rotor system.
Most often it is beneficial to observer the amplitude and the phase of response rather than the time history
and present method gives the response in frequency domain as well. When the damping term is also
present, the above unbalance response procedure can easily handle additional damping term, and the
dynamic stiffness will take the following form

[ Z ] = ( [ K ] 2 [ M ] + j [ C ] )

(2.87)

where [C] is the damping matrix. It should be noted [Z] is now a complex matrix and by simulation
critical speed can be obtained by noticing peaks of responses while varying the spin speed of the shaft.
The procedure for obtaining damped natural frequencies will be discussed subsequently.

2..5.3: Bearing reaction forces: Forces transmitted through bearings are those, which are related to the
deflection of the shaft as shown in Figure 2.20 on the y-z plane.

58
On taking moments about ends L (left) and R (right) of the shaft, we have

= 0 f y a M yz Ry 2l = 0

= 0 Ry1l f y b M yz = 0 or Ry1 =

or Ry 2 =

a
1
f y M yz
l
l

(2.88)

and

b
1
f y + M yz
l
l

(2.89)

Figure 2.20 Bearing reaction forces on the shaft in y-z plane

From above equations, bearing reaction forces at the left and right sides are related to the loading on the
shaft, fy and Myz. In matrix form equations (2.88) and (2.89) can be written as
{fb} = [D] {fs}

(2.90)

with

{ fb } = {Fb } e jt = R y1 ;

y2

f
;
yz

{ f s } = {Fs } e jt = M y

b l

[ D] = a l

1l
1 l

where subcripts: b and s represent the bearing and the shaft, respectively. Complex vectors {Fb} and {Fs}
are bearing forces at the shaft ends and shaft reaction forces at the disc, respectively. On using equations
(2.79) and (2.84) into the form of equation (2.90) for both plane motions (i.e., y-z and z-x), we get

{Fb} = [D] [K]{X}=[D] [K] [Z]{Funb}=[C]{Funb}

(2.91)

59

with

[C] = [D][K][Z]

It should be noted that equation (2.91) has been written for both plane motions (i.e., y-z and z-x), however
they are uncoupled for the present case. Similar to the unbalance force amplitude vector, the bearing
vector will also have complex quantities and can be written as

k = 1, 2, , N

Fbk = Fbrk + jFbik

(2.92)

which will give the amplitude and the phase information, as

Fbamp
=
k

(F ) + (F )
r
bk

i
bk

and

Fbkphase = tan 1 Fbik / Fbrk

(2.93)

It should be noted that for the case of no damping the phase remains zero between a force in one plane
and a response in that plane. These procedures will be illustrated now with simple numerical examples.

Example 2.5 Find the bending natural frequency of a rotor system shown in Figure 2.21. The disc is rigid
and has mass of 10 kg with negligible diametral mass moment of inertia. Consider the shaft as massless
and flexible with E = 2.11011 N/m2. Take one plane motion only.

Figure 2.21 Example 2.5

Solution: Figure 2.22 shows the deflected position of the shaft. For a simply supported beam, the
influence coefficient is defined as (Timoshanko and Young, 1968)
2
2
2
y ( x) bx ( l x b )
=
=
,
F
6 EIl

( x a)

60

Figure 2.22 A shaft in the deflected position

For obtaining 11 (which is defined as the deflection at station 1 for the unit force at station 1), hence, we
have x = 0.6 m with l = 1.0 m and b = 0.4 m. Hence, it can be obtained as

11 x = a =0.6 = 11 =
b = 0.4

0.4 0.6 12 0.62 0.42

6 2.1 10
11

64

) = 1.863 10

m/N

(0.1) 1
4

Considering a single plane motion and neglecting the angular displacement components, the natural
frequency can be obtained as (refer equation (2.83) for the dynamic stiffness matrix)

Z =

11

nf2 m = 0

which gives

n =

1
m

1 11

1
= 2316.83 rad/s
10 1.863 108

or

368.92 Hz

(Answer)

Example 2.6: Obtain transverse natural frequencies of an offset Jeffcott rotor system as shown in Figure
2.23. Take the mass of the disc, m = 10 kg, the diametral mass moment of inertia, Id = 0.02 kg-m2 and the
disc is placed at 0.25 m from the right support. The shaft has the diameter of 10 mm and total length of
the span is 1 m. The shaft is assumed to be massless. Use the influence coefficient method. Take shaft
Youngs modulus E = 2.1 1011 N/m2. Neglect the gyroscopic effect and take one plane motion only.

61
Solution: Influence coefficients for a linear and angular diaplacements (y, ) correspoding to a force (f)
and a moment (M) acting at the disc are defined as

yM

( 3a l 2a
=

( 3al 3a
=

yf

a 2b 2
=
= 1.137 104 m/N;
3EIl

ab(b a )
=
= 3.03 10 4 m/N;
3EIl

al 2 )

3EIl
2

3EIl

l2 )

= 3.03 10 4 m/N

= 1.41 103 m/N

Figure 2.23 Example 2.6

For the present problem only single plane motion is considered. For free vibration, from equation (2.81),
we get

x yf
m 0


0 I

+
d

yM x 0
=
M 0

Since it will execute the SHM for the free vibration, we have

2
nf

m 0 yf
0 I +
d

1
yM x 0

=
M 0

where nf is the natural frequency of the system. Above equation is an eigen value problem. For nontrivial solution, we have

2
nf

m 0 yf
0 I +
d

1
yM
=0
M

62
which gives a frequency equation in the form of a polynomial, as

2
mI d nf4 yf M yM
nf2 ( yf m + M I d ) + 1 = 0

On substituting values of the present problem parameters, it gives

nf4 8.505 104 nf2 + 7.3 107 = 0

It can be solved to give two natural frequency of the system as

nf = 29.4 rad/sec
1

and

nf = 290 rad/sec
2

(Coupled translation and tilting motions)

For the present problem the linear and angular displacements in a single plane are coupled. Since natural
frequencies obtained are system natural frequencies and hence are not as such related to the pure
translational or pure rotational motions. If we consider these two motions are uncoupled, then
corresponding natural frequencies can be obtained as

nf1 =

1
m yf

1
= 879.5 = 29.65 rad/s (Pure translation motion on the disc)
10 1.137 10 4

and

nf =
2

1
I d M

1
= 188 rad/s (Pure tilting motion of the disc)
0.02 1.4146 103

It can be seen that there is a small difference in the fundamental natural frequency due to pure translation
motion (29.65 rad/s) with that of the fundamental natural frequency of the coupled system (29.4 rad/s),
and a large difference in the natural frequency for the pure tilting motion (188 rad/s) with the second
natural frequency of the coupled system (290 rad/s).

Example 2.7: A disc of mass 13.6 kg and the polar mass moment of inertia 0.02 kg-m2, is mounted at the
mid-span of a shaft with a span length of 0.4064 m. Assume the shaft to be simply supported at bearings.
The rotor is known to have an unbalance of 0.2879 kg-cm. Determine forces exerted on bearings at the
spin speed of 6000 rpm. The diameter of the steel shaft is 2.54 cm with E = 200 GNm-2.
Solution: The following data are available:
U = mass of rotor eccentricity = 0.2879 kg-cm,

= 6000 rpm,

d = 2.54 cm,

m = 13.6 kg,

e = U/m = 0.0211 cm,

E = 200109 N/m2

63

Figure 2.24 Example 2.7

Bearing forces are obtained by considering firstly, shaft as rigid and then by considering shaft as flexible.
In both cases, bearings are considered as rigid in transverse directions.

(i). For the rigid shaft & rigid bearings (Fig. 2.24):

The unbalance force = me2 = 0.2879 103 26000

60

= 113.66 N

The force at each bearing (amplitude) = 113.66/2 = 56.83 N

The component of forces in the vertical & horizontal directions are given as
f x = 56.83cos 200t = 56.83cos 200t + 133.4 N
f y = 56.83sin 200t + mg = ( 56.83sin 200t +133.4 ) N

(ii) For the flexible shaft and rigid bearings (Method 1) (Fig. 2.25):
Since fy = ky, bearing reaction forces can be written as (Figure 2.25c)

RA = RB = f y / 2 = ky / 2
The stiffness of the rotor system as shown in Figure 2.24 is given as

48EI
k= 3 =
l

48( 2.01011 )

0.02544

64
3
0.4064
(
)

= 2.92 106 N/m

64

(a) A flexible rotor system

(b) Free body diagram of disc

(c) Free body diagram of shaft

Figure 2.25 Example 2.7

EOM of the disc, from the free body diagram of the disc (Figure 2.25b), is given as

me 2 ky = my


For the simple harmonic motion, we have


y = 2 y , hence the above equation can be written as

0.2879 102 ) ( 200 )

(
me 2
y=
=
= 4.64 104 m
k m 2 2.92 106 13.6 ( 200 )2
2

Hence the bearing reaction force can be obtained as

RA = ky / 2 = 2.92 106 ( 4.64 104 ) / 2 = 677.6 N

65
Components of bearing force in the vertical & horizontal directions can be obtained as

R Ay = ( 677.7sin200t +133.4 ) N

RAx = 677.6cos200t and

(iii) For the flexible shaft and rigid bearings (Method 2): Now the influence coefficient method is used.
Bearing forces are given as
RA b l
=
RB a l

1 l f y 1/ 2 1 0.4064 f y

1 l M zx 1/ 2 1 0.4064 M zx

where the reaction forces from the disc can be expressed as

f y k11

=
M zx k21

k12 y

k22 x

with

11
[K ] =
12

12
111

0 48 EI / l 3
0 2.92 106
0
=
=
=

1
22
0
12 EI / l
0
1.21 105
0 22

where

- 3al -3a 2 -l 2
- 3a 2l -2a 3 - al 2
l3
l

= 0; = ab(b - a) = 0
11 =
; 22 =
=
, 12 =
21
48 EI
3EIl
(12 EI )
3EIl
3EIl
Displacement vectors are related with the unbalance force as

y Z11
=
x Z 21

Z12 me 2

Z 22 0

with

k11 m

[ Z ]1 =

k22 I d 2

k m 2
11
=

7
= 4.08 10

1
0

2
k22 I d

In view of above equations, bearing reaction forces can be written as

8.84 106

66
k11 ( b l )

2
RA k11 m
=

RB k11 ( a l )
k11 m 2

k22 ( 1 l )
k11 ( a l )

me 2

2
2
2
k22 I d me k11 m

k22 (1 l ) 0 k11 ( a l )
me 2
2
2

k22 I d
k11 m

From above equations, we have

RA =

2.92 106 (1/ 2)

2.92 10 13.6 (200 )
6

(0.2879 102 ) (200 )2 = 677.6 N

2

and

RB = 677.6 N
which is same as by previous method. It would be interesting to vary the spin speed and plot the bearing
forces with it. It should be noted since the disc is at the mid-span, hence there is no contribution of the
diametral mass moment of inertia on to bearing reactions. If there had been couple unbalance then the
diametral mass moment of inertia would have affected bearing reactions. As an exercise take the disc
location from the left support a = 0.3 l and obtain bearing bearings for the same.

Example 2.8. Find the transverse natural frequency of a rotor system as shown in Figure 2.27. Consider
the shaft as massless and is made of steel with 2.1(10)11 N/m2 of the Youngs modulus, and 7800 kg/m3 of
the mass density. The disc has 10 kg of the mass. The shaft is simply supported at ends.

Figure 2.27 Example 2.8 (all dimensions are in cm)

Solution: Considering only the linear displacement, first we will obtain the stiffness (or the influence

coefficient, 11 ) for Figure 2.28 using the energy method. On taking the force and moment balances, we
have

67

+ F = 0

FA + FB F = 0

and

= 0 FB 1 F 0.6 = 0

which gives reaction forces as

FA = 0.4 F

and

FB = 0.6 F

Figure 2.28 (dimensions are in m)

Figure 2.29 Free body diagram of shaft segment for 0 x 0.6

Bending moments are obtained at various segments of the shaft to get the strain energy of the system. On
taking the moment balance in the free body diagram as shown in Figure 2.29 of a shaft segment for 0.0
x 0.6, we get

= 0 M1 0.4 Fx = 0; or M 1 = 0.4 Fx , 0 x 0.6

Figure 2.30 Free body diagram of shaft segment for 0.6 x 1.0

(a)

68

On taking the moment balance in the free body diagram as shown in Figure 2.30 of the shaft segment for
0.6 x 1.0, we get

= 0 M 2 + F ( x 0.6) 0.4 Fx = 0 or M 2 = 0.6 F (1 x); 0.6 x 1.0

(b)

The strain energy is expressed as

0.6

U=

1.0

M2EIdx + M2EIdx
2
1

2
2

0.6

The linear displacement is expressed as

0.6

U
=
=
F

M 1 ( M 1 / F ) dx

1.0

M 2 ( M 2 / F ) dx

0.6

EI 2

EI 1

On substituting bending moment expression from equations (a) and (b), we get
0.6

{0.6 F (1 x)}{(0.6(1 x)} dx = 0.01152 + 0.00768 F

)(0.4 x)dx
(0.4FxEI
+

EI
EI
EI
0

0.6

The stiffness is given as

1

F 0.01152 0.00768
7
k= =
+
= 8.45 10 N/m
EI1
EI 2
where

E = 2 1011 N/m 2 ; I =
1

64

0.14 = 4.907 10 6 m 4 ; I 2 =

64

0.33 = 3.976 104 m 4

which gives the natural frequency as

nf =

k
8.45 107
=
= 2906.81 rad/s
m
10

(answer)

It should be noted that the tilting motion of the disc has not considered. For the coupled linear and angular
motions, natural frequencies of the system can be obtained as an exercise by obtaining corresponding
influence coefficients.

69
Example 2.9 Obtain the bending natural frequency for the synchronous motion of a rotor as shown in
Figure 2.31. The rotor is assumed to be fixed supported at one end. Take mass of the disc m = 1 kg. The
shaft is assumed to be massless and its length and diameter are 0.2 m and 0.01 m, respectively. Take shaft
Youngs modulus E = 2.11011 N/m2.

Figure 2.31
Solution: Let us assume for simplicity that there is no coupling between the linear and angular motions.
Considering only the linear displacement, the transverse stiffness for this case would be

k yf =

f 3EI 3 2.1 1011 4.909 1010

= 3 =
= 3.866 104 N/m
3
0.2
y
l

(a)

with

I=

64

d4 =

64

0.014 = 4.909 1010 m4

(b)

Hence, the natural frequency would be

nf =

k
3.866 10 4
=
= 196.62 rad/s
m
1

(answer)

2.6 Suppression of Critical Speeds

In the present section, an interesting phenomenon will be dealt in which a critical speed will be shown to
be eliminated by suitably choosing system parameters. For this purpose, the Jeffcott rotor model with a
disc offset has been chosen. Now, for a detailed in depth analysis a closed form expression for the
response is obtained by the defining the following complex displacements

r = x + jy

and

r = y + j x

(2.94)

70

Equations of motion (2.74) can be written as

md


r + k11r + k12 r = md e 2 e jt

(2.95)

I d

r + k21r + k22 r = 0

(2.96)

and

with I d = I d x = I d y . Let the solution be

r = Re j(t r )

r = r e

and

j( t r )

(2.97)

where R and r are the linear and angular whirl amplitudes, respectively; r and are the phase of the
linear and angular whirl amplitudes, respectively (these are all real quantities); so that

r = 2 Re j(t r )

and

r = 2 r e

j(t )

(2.98)

On substituting equations (2.97) and (2.98) into equations of motion (2.95)-(2.96), we get

(k

11

md 2 Re jr + k12 r e

k 21 Re jr + k 22 I d 2 r e

= md 2 e

=0

(2.99)

(2.100)

Equation (2.100) can be expressed as

r e

k21
Re jr
2
k22 I d

(2.101)

On substituting equation (2.101) into equation (2.99), we get

)(

k11 md 2 k22 I d 2 k12 k21

Re jr = md 2 e
2

k22 I d

On equating the real and imaginary parts of both sides of equation (2.102), we get

(2.102)

71

)(

k11 md 2 k22 I d 2 k12 k21

R cos r = md 2 e

k22 I d 2

(2.103)

and

)(

k11 md 2 k22 I d 2 k12 k21

R sin r = 0

k22 I d 2

(2.104)

From equation (2.104), we get

sin r = 0;

i.e. r = 0

(2.105)

which means there will not be any phase difference. On substituting phase information in equation
(2.104), we get

R=

md 2 e k22 I d 2

(k

11

md

)( k

22

Id

(2.106)

)k

12 k21

which is the whirl amplitude and the condition of resonance can be obtained by equating the denominator
of equation (2.106) to zero

(k

11

md cr2

)( k

22

I d cr2 k12 k21 = 0

(2.107)

where cr represents the critical speed. By defining

r2 =

k11
,
md

2 =

k22
,
Id

r2 =

k12
,
md

and

2r =

k21
Id

(2.108)

Equation (2.107) can be written as

cr4 (r2 + 2 ) cr2 + (r22 r2 2r ) = 0

The solution of the above polynomial can be expressed as

cr2 = 12 (r2 + 2 ) 12
1,2

2
r

+ 2 ) 4 (r22 r2 2r )
2

(2.109)

72
or

cr =

1
2

1,2

2
r

+ 2 12

2
r

+ 2

4 r22 r2 2r

(2.110)

which gives critical speeds of the rotor system (the outer most negative sign has no meaning since
frequency can not be negative). Hence, for the case when the rotor is not mounted at the mid-span, there

are two critical speeds due to coupling of the linear and angular displacements. The above solution
(i.e., equation (2.110)) can be more critically analysed as follows. It can be seen that terms inside the first

square root is always positive, i.e., r2 + 2

2
r

4 (r22 r2 2r ) > 0 , since it can be rearranged as

2 ) + 4r2 2r > 0
2

(2.111)

It can be seen that the above condition be always true since all individual terms r, , r, and r are
the real quantity. However, if the following condition is valid for terms inside the first square root

(
2
r

r2 2r ) > 0

(2.112)

then, it gives two real critical speeds ( cr1,2 ), since equation (2.104) gives two real roots. However, if the
following condition prevails

(
2
r

r2 2r ) < 0

(2.113)

then, it gives only one real critical speed since the other root will be complex. Figures 2.32 (a) and (b)
gives these two cases, respectively. It can be seen that for the first case two distinct peaks corresponds to
two critical speeds. For the second case only one critical speed is observed. However, there is antiresonance with very low amplitude of vibrations. The following data is taken for the simulation: the disc
mass = 1 kg, the unbalance mass eccentricity = 0.0001 m, the diametral mass moment of inertia = 0.03
kgm2, k11 = 1000 N/m, k22 = 6 N/m, k12 = 100 N/m and k21 = 0.5 N/m. For the disc at the center of the
shaft span, we have k12 = k21 = 0 , which gives

R=

md 2 e k22 I d 2

(k

11

)(

md 2 k22 I d 2

) (k

md 2 e

11

md 2

(2.114)

73
which is same as discussed in the previous section for the Jeffcott rotor. The response is shown in Figure
2.32(c). It can be observed that it has only one critical speed, which may not coincide with the critical
speeds obtained by equation (2.110) in Figures 2.32(a) and (b). However, there will be another critical
speed corresponding to angular displacement and it is illustrated subsequently.

Figure 2.32(a) Variation of the

amplitude (R) versus the spin speed () for
(r22 r22r ) > 0

Figure 2.32(b) Variation of the

amplitude (R) versus the spin speed
() for (r22 r2 2r ) < 0

Figure 2.32(c) Variation of the amplitude (R) versus the spin speed () for k12 = k21 = 0

74

On substituting equation (2.106) into equation (2.101), we get

re

(k

22

md 2 e k22 I d 2

k21
Id

) ( k

11

md

)( k

22

Id

)k

(2.115)

12 21

On equating imaginary parts of equation (2.115), we get

sin = 0;

i.e. = 0

(2.116)

which means there will not be any phase difference in the angular displacement also. On substituting
phase information in equation (2.115), we get

r =

md 2 ek21

)(

k11 md 2 k22 I d 2 k12 k21

(2.117)

which is the whirl amplitude of angular displacement and the condition of resonance can be obtained by
equating the denominator of equation (2.117) to zero, which is same as in equations (2.106) and (2.110)
for the linear displacement. For the disc at the center of the shaft span, we have k12 = k21 = 0 , equation
(2.117) becomes

(k

11

md 2

)( k

22

Id 2 = 0

(2.118)

which gives critical speeds as

cr =
1

k11
md

and

cr =
2

k22
Id

(2.119)

which is the case when the disc is at the center of the shaft span, and the linear and angular displacements
are uncoupled.
For the single plane motion from equation (2.91), we have

75
FbA c12 c12 me 2 me 2 c11 me 2
=
=
=

2
l
FbB c21 c22 0 me c21

with

= k11 md cr 2

)( k

22

(
(

)
)

( bk11 + k12 ) k22 I d k21 ( bk12 + k22 )

2
( ak11 k21 ) k22 I d k21 ( ak12 k22 )

I d cr 2 k12 k 21

(2.120)

The bearing force amplitude and phase can be obtained from equation (2.120). Bearing reaction forces
will have similar trend in the variation with spin speed as that of the response, since it has the same
denominator, , as that of the response. It can be shown from equation (2.120) that forces transmitted
through bearings are also a maximum at system critical speeds. These forces are dynamic forces and are
superimposed on any steady loads, which may be present, for example due to gravity loading. In real
systems which are designed to operate above their critical speeds, the machine would normally be run
through the critical speed very quickly so that very large vibrations and forces associated with the
resonance do not have sufficient time to build up. Same is true during the run-down where some form of
braking may be employed. If the system is to run at the critical speed and vibrations are allowed to build
up then either the shaft will fracture and a catastrophic failure will result, or there may be sufficient
damping in the system to simply limit the vibration and force amplitudes to some very large (however,
tolerable) value.
Concluding Remarks: The present chapter explains various simple rotor models in use to describe some of
the important rotor behaviour, especially natural frequencies and critical speeds (i.e., the shaft spin at
which the amplitude of rotor is maximum). Basic terminologies generally used to describe the rotor
dynamic characteristics are introduced. For a single-DOF system the natural frequency and hence the
critical speed decrease by small amount due to damping. However, in the Jeffcott rotor model it is shown
that critical speed increases slightly due the increase in damping in the system. Apart from the amplitude
of the rotor vibrations, it is shown that the phase between the force and the response is also important
parameters to understand the rotor behaviour, especially at the critical speeds, where it changes of the
order of 1800. The damping is shown to be an important factor in suppressing the rotor vibrations at the
resonance. It is shown that the Jeffcott rotor is very a basic model to understand several important
phenomena of the rotor system. However, several other phenomena also emanate from supports, and for
this the basic understanding support dynamics is very important. The motivation of the next chapter
would be to find out dynamic parameters of the rolling element and hydrodynamic bearings, and seals in
isolation to the shaft. This will help in understanding some of the instabilities, which occurs due to
support dynamics.

76

Exercise Problems
Exercise 2.1: For a single degree of freedom damped rotor system, obtain an expression for the frequency
ratio ( = / nf ) for which damped response amplitude becomes maximum (i.e. location of the critical
speed). Show that it is always more than the undamped natural frequency of the system. What is the
maximum feasible value of damping ratio for under-damped system is possible.

[Hint: Differential the denominator of the unbalance response (Y/e) expression with respect to the
frequency ratio and equate is to zero. Answer: = 1/ 1 2 2 , < 1/ 2 ]

Exercise 2.2: Let us define a new frequency ratio in terms of the damped natural frequency, i.e.,

d = / nf with nf = nf 1 2 . Obtain an expression for the amplitude ratio (Y/e) and the phase,
d

, in terms of the new frequency ratio defined. Plot the amplitude ratio and the phase versus the new
frequency ratio and discuss the results. Obtain an expression for the frequency ratio ( d = / nf d ) for
which damped response amplitude becomes maximum. What is the maximum feasible value of damping
ratio for under-damped system is possible.
2 (1 2 )0.5
d2 (1 2 )
y
1 2 2
d

1
=
; for
[Answer: y = =
,
,

=
tan

d
2
2
e 1 2 1 2 2 + 4 2 2 1 2
1 2

1
1

(
)
d

)
)
d (
d (

1/ 2 < < 1 : d is a complex quantity. The maximum feasible value of damping ratio for underdamped system will remain the same < 1/ 2 ].

Exercise 2.3: Obtain transverse critical speeds of an overhung rotor system as shown in Figure E2.3.
Take the mass of the disc, m = 10 kg, the diametral mass moment of inertia, Id = 0.02 kg-m2. The shaft
diameter is 10 mm and total length of the span is 0.2 m. The shaft is assumed to be massless and its
Youngs modulus E = 2.1 1011 N/m2. Neglect the gyroscopic effect and take one plane motion only.

Influence coefficients are given as

yf = l 3 / 3EI ;

yM = f = l 2 / 2 EI ;

M = l / EI

77

Figure E2.3 A cantilever shaft with a disc at free end

[Answer: With the diametral mass moment of inertia effect two natural frequencies will exist: nf1 = 5.55
rad/s and nf 2 = 144.12 rad/s. If the linear and angular motion is uncoupled then yM = f = 0 : nf1 =
5.56 rad/s and nf 2 = 71.80 rad/s. In case diametral mass moment of inertia is zero and no coupling
between the linear and angular motion nf1 = 9.91 rad/s].

Exercise 2.4: Obtain the transverse critical speed of a rotor system as shown in Figure E2.4. Take the
mass of the disc, m = 5 kg and the diametral mass moment of inertia, Id = 0.02 kg-m2. Take shaft length a
= 0.3 m and b = 0.7 m. The diameter of the shaft is 10 mm. Neglect the gyroscopic effect.

Figure E2.4 An overhung rotor system

For the present case, influence coefficients are given as yf =

f = yM =

(3a + b)
a 2 ( a + b)
, M =
, and
3EI
3EI

a (3a + 2b)
.
6 EI

[Answer: nf1 = 12.14 rad/s and nf 2 = 110.24 rad/s. With negligible diametral mass moment of inertia

nf1 = 5.98 rad/s]

78
Exercise 2.5: Obtain the bearing reaction forces and moments of an overhung rotor at rotor speeds of (i)
0.5 nf1 , (ii) 0.5( nf 2 + nf1 ) and (iii) 1.5 nf 2 ; where nf1 and nf 2 are the first and second bending natural
frequencies, respectively. Take the mass of the disc, m = 10 kg, the diametral mass moment of inertia, Id =
0.02 kg-m2. The disc has a residual unbalance of 25 g-cm. The shaft diameter is 10 mm and the total
length of the span is 0.5 m. The shaft is assumed to be massless and its Youngs modulus E = 2.1 1011
N/m2. Take one plane motion only.
Influence coefficients are given as yf = l 3 / 3EI ;

yM = f = l 2 / 2 EI ;

M = l / EI .

[Answer: nf1 = 15.60 rad/s and nf 2 = 203.76 rad/s.; (i) RA = 1.4568109 N, M A = -1.1008 Nm (ii) RA =
-3.23631012 N, M A = 2.42401012 Nm (iii) RA = -2.1125104 N, M A = 1.5831104 Nm].

Exercise 2.6: Find transverse natural frequencies of an overhung rotor system as shown in Figure E2.6.
Consider the shaft as massless and is made of steel with the Youngs modulus of 2.1(10)11 N/m2 . A disc
is mounted at the free end of the shaft with the mass of 10 kg and the diametral mass moment of inertia of
0.04 kg-m2. In the diagram all dimensions are in cm.

Figure E2.6 A stepped shaft with cantilever end conditions

[Answer: For the pure translator motion: 1200.7 rad/s; For pure rotary motion: 6561.9 rad/s; For the
coupled translator and rotary motion: 1186.0 rad/s and 17278.3 rad/s]

Exercise 2.7: (a) While the Jeffcott rotor is whirling, with the help of the center of gravity, the center
spinning of the disc and the bearing axis, draw their relative positions in an axial plane when the rotor is
(i) below the critical speed (ii) at critical speed and (iii) above the critical speed. (b) Define following
terms: natural frequency and critical speed of a rotor; synchronous and asynchronous whirls.

79
Exercise 2.8: In a design stage of a rotor-bearing system it has been found that its one of the critical speed
is very close to the fixed operating speed of the rotor. List what are the design modifications a designer
can do to overcome this problem.

Exercise 2.9: A cantilever shaft of 1 m length (l) and 30 mm diameter (d) has a 5 kg mass (m) attached at
its free end, with negligibly small diametral mass moment of inertia. The shaft has a through hole parallel
to the shaft axis of diameter 3 mm (di) , which is vertically below the shaft center, with the distance
between the centers of the shaft and the hole as 6 mm (e). Consider no cross coupling in two orthogonal
directions as well as between the linear and angular displacements; and obtain the transverse natural
frequencies of the shaft system in two principal planes. Consider the shaft as massless and Youngs
modulus E = 2.1 1011 N/m2.

[Hint: Find the equivalent stiffness of the shaft in two principal directions and then obtain natural
frequencies: nf1 = keq1 / m

I1 =

(d
64

and

d i4 16di2 e 2 ) = 3.95 108 m4;

nf = keq / m .
2

I2 =

64

(d

keq1 =

3EI1
l3

d i4 ) = 3.98 108

keq2 =

and
,

3EI 2
;
l3

nf = 70.55 rad/s,
1

nf = 70.78 rad/s].
2

Exercise 2.10: For the Jeffcott rotor consider pure rotational displacement (tilting) of the disc (without
linear displacement) and obtain transverse natural frequency for the tilting motion.

[Hint: The stiffness due to titling motion would be kt =

6 EIl
and the diametral mass moment
( 6al 6a 2 2l 2 )

of inertia would be I d = 14 mr 2 . Hence, the natural frequency would be nf = kt / I d .]

Exercise 2.11 What should be the length and the diameter of a cantilever shaft if the bending critical
speed has to fixed at 100 Hz and has 2 kg of mass at its free end? Because of the space limitation the
length of the shaft must be less than 30 cm. [Answer: l = 0.3m and d = 0.0288 m].

Exercise 2.12 The transverse critical speed of a rotor system as shown in Figure 1 is to be fixed at 5.98
rad/s. Take disc as a point mass with m = 5 kg. What should be the overhung shaft length, a? Take shaft
length b = 0.7 m. The diameter of the shaft is 10 mm. Neglect the gyroscopic effect. [Answer: 0.291 m]

80

Figure E2.12 An overhung rotor system

[Solution:
0.01
0.009

Flexibility coefficient (m/N)

0.008
0.007
0.006

(0.291, 0.0056)
0.005
0.004
0.003
0.002
0.001
0

0.05

0.1

0.15
0.2
0.25
Overhang shaft length (m)

0.3

0.35

0.4

Exercise 2.13 The transverse critical speed of a rotor system as shown in Figure 1 is to be fixed at 5.98
rad/s. Take disc as a point mass with m = 5 kg. What should be the diameter of the uniform shaft, d? Take
shaft length a = 0.3, b = 0.7 m. Neglect the gyroscopic effect.

[Answer: 0.01m]

Figure E2.12 An overhung rotor system

81
Exercise 2.14 The transverse critical speed of a rotor system as shown in Figure 1 is to be fixed at 5.98
rad/s. Take disc as a point mass with m = 5 kg. What should be the diameter of the uniform shaft, d? Take
shaft length 2a = b = 0.7 m. Neglect the gyroscopic effect. [Hint: = b3 /(8EI ) ]

Figure E2.12 An overhung rotor system

Exercise 2.15 For a Jeffcott rotor with a disc at the mid-span, influence coefficients are given as:

yf = l 3 / (48 EI );

yM = f = 0;

M = l / (12 EI ) , where l is the span length and EI is the modulus

of rigidity of the shaft. Let m and Id be the mass and the diametral mass moment of inertia, respectively,
of the disc. Obtain the natural frequencies of the rotor system.

[Answer: nf = 1 / ( yf m) = 48EI / (ml 3 ) and nf = 1 / ( M m) = 12 EI / ( I d l ) ] .

2

Exercise 2.16 Choose a single correct answer from the multiple choice questions:

(i) The critical speed phenomenon of a rotor is a

(A) free vibration

(B) forced vibration

(C) transient vibration (D) unstable vibration

(ii) A rigid body is defined as

(A) a body with no deformation

(B) a body with their particles have fixed distances

(C) both (A) and (B)

(D) either (A) or (B)

(iii) A particle has how many degrees of freedom

(A) 1

(B) 2

(C) 3

(D) more than 3

(iv) A rigid body has how many degrees of freedom

(A) 1

(B) 3

(C) 6

(D) more than 6

82
(v) A flexible body has how many degrees of freedom
(A) 1

(B) 3

(D) infinite

(C) 6

(vi) If three points have fixed relative distances between them, then it represents a system of
(A) single particle

(B) a rigid body

(C) a flexible body

(D) none of the above

(vii) A system consists of three particles with their relative distances as constant, then it has how many
degrees of freedom
(A) 1

(C) 6

(B) 3

(D) infinite

[Hint: A single particle has three DOF, one additional particle in the system will add only two more DOF,
since it has one constraint to maintain the fixed distance. The third particle will add only one more DOF,
since it has two constraints to maintain fixed distances from the first as well as the second particle. Hence,
a system consists of three particles with their relative distances as constant have total six DOF, i.e., same
as a rigid body.]

(viii) A perfectly balanced Jeffcott rotor (i.e., a flexible shaft with a disc at mid span) when it is rotating at
a particular speed, if it is perturbed in transverse plane from its equilibrium then the frequency of whirl
would be equal to

(A) the shaft spin speed

(B) the transverse natural frequency

(C) the more transverse natural frequency

(D) the less transverse natural frequency

(ix) In a Jeffcott rotor with an off-set disc (i.e., not at the mid-span) and if the disc has a tilt in the
transverse plane. The shaft would experience

(A) A gyroscopic couple

(B) an external moment

(C) either (A) or (B)

(D) both (A) and (B)

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