Chapter 9 Vibration

EME1076 Applied Dynamics
Topic 9 (Chapter 22) :

Vibrations
This lecture note is taken and modified from Engineering Mechanics-Dynamics, R.C.Hibbeler, Prentice Hall which
copyright belongs to Pearson Education South Asia Pte Ltd.
Trimester2, 2014/15
Chapter Objectives
To discuss undamped and viscous damped
one-degree-of-freedom vibration of a rigid
body using the equation of motion method.
To study the analysis of undamped forced
vibration and viscous damped forced
vibration.
Chapter Outline
Undamped Free Vibration
Undamped Forced Vibration

Viscous Damped Free Vibration
Viscous Damped Forced Vibration
22.1 Undamped Free Vibration

A vibration is a periodic motion of a body or
system of connected bodies displaced from a
position of equilibrium.
Free vibration occurs when the motion is
maintained by gravitational or elastic restoring
forces
Forced vibration is caused by an external
periodic or intermittent force applied to the
system
Both of these types of vibration may be either
damped or undamped
4

Undamped vibrations can continue indefinitely
because frictional effects are neglected in the
analysis
In reality, motion of all vibrating bodies is
actually damped because of frictional forces
present.
Example of a undamped free vibration is as
shown
The block has a mass m and is attached to a

spring having a stiffness k
When released from a displaced position, x,
the spring pulls on the block, causing a
vibrating motion
The block will attain a velocity such that it will
proceed to move out of equilibrium when x =
0, and provided the supporting surface is
smooth, oscillation will continue indefinitely.

The time-dependent path of motion of the block
may be determine by applying equation of
motion to the block when it is in the displaced
position x
The elastic restoring force F = kx is always
directed toward the equilibrium position,
whereas the acceleration a is assumed to act in
the direction of positive displacement

From the figure, we have
Fx max ;
k x mx
The acceleration is proportional to the blocks

displacement and such motion is called
simple harmonic motion
Rearranging,
x n2 x 0 ,
k
n
m

The constant n is called the natural frequency,
expressed in rad/s,
k
n
m
2
n x 0 is a homogeneous, second-order,
linear, differential equation with constant

coefficients, and the general solution is
x A sin nt B cos nt

The general solution may also be expressed
in terms of simple sinusoidal motion.
Let A C cos
B C sin
where C and are new constant to be
determine in place of A and B
Therefore,
x C cos sin nt C sin cos nt
10

Since sin ( + ) = sin cos + cos sin ,
x C sin(nt )
If this equation is plotted on an x-versus-nt axis,
the graph shown in figure below is obtained
11

The maximum displacement of the block
from its equilibrium position is defined as the
amplitude of vibration
From the figure, the amplitude is C and
angle is the phase angle since it
represents the amount by which the curve is
displaced from the origin when t = 0.
C
A2 B 2
tan
1 B
A
12

Note that the sine curve, completes one
cycle in time t when
The length of time is call a period, which may

be represented as
m
2
k
13

The frequency f is defined as the number of
cycles completed per unit of time, which is
the reciprocal of the period:
n
1
f
2 2
1
k
m
The frequency is expressed in cycles/s. This

ratio of units is called a hertz (Hz)
14

When a body or system of connected bodies
is given an initial displacement from its
equilibrium position and released, it will
vibrate with the natural frequency, n.
Provided the body has a single degree of
freedom, then the vibrating motion of the
body will have the same characteristics as
the simple harmonic motion of the block and
spring just presented.
15

Consequently, the bodys motion is described by
a differential equation of the same standard
form as
x n2 x 0
Hence, if the natural frequency of the body is
known, the period of vibration, natural frequency
and other vibrating characteristics of the body
can be established with the equations.
16
EXAMPLE 22.1
Determine the period of vibration for the simple
pendulum shown. The bob has a mass m and is
attached to a cord of length l.
17
EXAMPLE 22.1
Free-Body Diagram
Motion of the system will be related
to the position coordinate (q =) .
When the bob is displaced by an
angle , the restoring force acting on
the bob is created by the weight
component mg sin .
at acts in the direction of increasing s
(or )
18
EXAMPLE 22.1
Equation of Motion
Applying the equation of motion in the
tangential direction, since it involves the
restoring force, yields
Ft mat ;
mg sin mat
(1)
Kinematics
at = d2s/dt2. furthermore, s may be related to
by the equation s = l, so that
at l
19
EXAMPLE 22.1
Hence, Eq. 1 reduces to
g
sin 0
l
The solution of this equation involves the

use of an elliptic integral.
For small displacements, sin , in which
case
g
0
l
20
EXAMPLE 22.1
Comparing this equation with
x n2 x 0
It can be seen that n = (g/l)

The period of time required for the bob to
make one complete swing is therefore
l
g
21
EXAMPLE 22.2
The 10-kg rectangle plate shown is suspended at
its center from a rod having torsional stiffness k =
1.5 N.m/rad. Determine the natural period of
vibration of the plate when it is given a small
angular displacement in the plane of the plate.
22
EXAMPLE 22.2
Free-Body Diagram
Since the plate is displaced in
its own plane, the torsional
restoring moment created by
the rod is M = k.
This moment acts in the
direction opposite to the angular
displacement
The angular acceleration acts in
the direction of positive
23
EXAMPLE 22.2
Equation of Motion
M O I O ;
or
k I O
k
0
IO
Since this equation is in the standard form,

the natural frequency is
n = (k/IO)
24
EXAMPLE 22.2
The moment of inertia of the plate about an
axis coincident with the rod is given by
1
m( a 2 b 2 )
12
1
(10) (0.2) 2 (0.3) 2 0.108 kg m 2
12
IO
The natural period of vibration is
IO
0.108
2
2
1.69 s
n
k
1.5
25
EXAMPLE 22.3
The bent rod has a negligible mass and supports
a 5-kg collar at its end. Determine the natural
period of vibration for the system.
26
EXAMPLE 22.3
Free-Body and Kinetic

Diagrams
The rod is displaced by a small
amount from the equilibrium
position.
Since the spring is subjected to
an initial compression of xst for
equilibrium, then when the
displacement x > xst, the spring
exerts a force of Fs = kx kxst
on the rod
27
EXAMPLE 22.3
To obtain the standard form, 5ay acts
upward, which is in accordance with positive
displacement
Equation of Motion
Moments will be summed about point B to
eliminate the unknown reaction at this point.
Since is small,
M B ( k ) B ;
kx (0.1) kxst (0.1) 49.05(0.2) (5)a y (0.2)
28
EXAMPLE 22.3
The second term on the left side, -kxst(0.1),
represents the moment created by the spring
force which is necessary to hold the collar in
equilibrium, i.e. x = 0
Since this moment is equal and opposite to
the moment 49.05(0.2) created by the weight
of the collar, these two terms cancel in the
previous equation, so that
kx(0.1) 5a y (0.2)
(1)
29
EXAMPLE 22.3
Kinematics
The positions of the spring and the collar
may be related to the angle .
Since is small, x = (0.1 m) and
y = (0.2 m),
a y 0.2
y
Substituting into Eq.1 yields

400(0.1 )0.1 5(0.2)0.2
30
EXAMPLE 22.3
Rewriting this equation in the standard form
gives,
20 0
Compared with x n2 x 0 , we have
n2 20
n 4.47 rad / s
The natural period of vibration is therefore,

2
1.40 s
n 4.47
31
EXAMPLE 22.4
A 5-kg block is suspended from a cord that
passes over a 7.5-kg disk. The spring has a
stiffness k = 3500 N/m. Determine the natural
period of vibration for the system.
32
EXAMPLE 22.4
Free-body and Kinetic Diagrams

The system consists of the disk, which
undergoes a rotation defined by the angle ,
and the block, which translates by an amount s
The vector I O acts in the direction of positive ,
and consequently mBas acts downward in the
direction of positive s
33
EXAMPLE 22.4
Equation of Motion
Summing moments about point O to
eliminate the reactions Ox and Oy, realising
that IO = mr2, yields
M O ( k ) B ;
5(9 .81) ( 0 .25 ) Fs ( 0 .25 )

1 ( 7 .5)( 0 .25 ) 2 (5 ) a s ( 0 .25 )
2
(1)
34
EXAMPLE 22.4
Kinematics
As shown, a small positive
displacement of the disk
causes the block to lower by
an amount s = 0.25
When = 0, the spring
force required for
equilibrium of the disk is
5(9.81) N, acting to the right
35
EXAMPLE 22.4
For position , the spring force is
Fs = (3500 N/m)(0.25 m) + 5(9.81)N
Substituting these results into Eq.1 and
simplifying yields, 400 0
Hence,
n2 400
n 20 rad / s
Therefore, the natural period of vibration is

2
2
T
0.314 s
n 20
36
22.3 Undamped Forced Vibration

Undamped forced vibration is one of the
most important types of vibrating motion in
engineering work
The principles which describe the nature of
this motion may be used to analyze the force
which cause vibration in many types of
machines and structures.
37
Periodic Force
The block and spring shown provide a
convenient model which represents the
vibrational characteristics of a system
subjected to a periodic force F = F0 sin 0t
This force has an amplitude of F0 and a
forcing frequency 0
38

The free-body diagram for the block when it
is displaced a distance x is shown
Applying the equation of motion yields
Fx ma x ;
or
F0 sin t kx mx
F0
k
x x
sin 0 t
m
m
39

This equation is referred to as a
nonhomogeneous second-order differential
equation
The general solution consists of a
complimentary solution, xc, plus a particular
solution, xp
The complimentary solution is determined by
setting the term on the right side equal to
zero and solving the resulting homogenous
equation
40

The solution is
xc A sin nt B cos nt
where n is the natural frequency, n = (k/m)

Since the motion is periodic, the particular
solution may be determined by assuming a
solution of the form
x p C sin 0t
where C is a constant.
41

Taking the second time derivative and
substituting into the differential equation,
F0
k
C sin 0t (C sin 0t ) sin 0t
m
m
2
Factoring out sin t and solving for C,

F0 / m
F0 / k
C
2
(k / m)
1 ( / n ) 2
42

Therefore we will obtain the particular
solution
F0 / k
xp
sin 0t
2
1 ( / n )
The general solution is therefore

F0 / k
x A sin nt B cos nt
sin 0t
2
1 ( / n )
43

Here x described two types of vibrating
motion of the block
The complimentary solution xc defines the
free vibration, which depends on the circular
frequency n =(k/m) and the constants A
and B
44

The particular solution xp describes the
forced vibration of the block caused by
applied force F = F0 sin t
45

The resultant vibration x is as shown
Since all vibrating systems are subjected to
friction, the free vibration, xc, will in time
dampen out
46

For this reason, the free vibration is referred
to as transient, and the forced vibration is
called steady-state, since it is the only
vibration that remains
47

The amplitude of forced vibration depends on
the frequency ratio /n
If the magnification factor MF is defined as
the ratio of the amplitude of steady-state
vibration, (xp)max, to the static deflection F0/k,
which would be produced by the amplitude of
the periodic force F0, therefore,
MF
( x p )max
F0 / k
1
1 ( / n )2
48

Note that for 0 0, the
MF 1, because of the
very low frequency <<
n, the magnitude of the
force F changes slowly and
so the vibration of the block
will be in phase with the
applied force F.
49

Resonance occurs when the force F is
applied with a frequency close to the natural
frequency of the system, / 1, therefore
the amplitude become extremely large
because the block follows the motion of the
block.
50
Periodic Support Displacement

Forced vibrations can also arise from the
periodic excitation of the support of a system.
The model shown represents the periodic
vibration of a block which is caused by harmonic
movement sin t of the support
0
51

As seen from the FBD, the coordinate x is
measured from the point of zero displacement of
the support
Therefore, general displacement of the spring is
( x 0 sin t )
Applying the equation of motion yields,

+ F ma ;
x
x
or
k ( x 0 sin t ) mx
k 0
k
x x
sin t
m
m
52
EXAMPLE 22.7
The instrument is rigidly attached to a platform P, which in

turn is supported by four springs, each having a stiffness k
= 800 N/m. Initially the platform is at rest when the floor is
subjected to a displacement = 10 sin (8t) mm, where t is
in seconds.
If the instrument is constrained to move vertically and the
total mass of the instrument and platform is 20 kg,
determine the vertical displacement y of the platform as a
function of time, measured from the equilibrium position.
What floor vibration is required to cause resonance?
53
EXAMPLE 22.7
View Free Body Diagram
Since the induced vibration is caused by the

displacement of the supports,
0
y A sin nt B cos nt
sin Ot
(1)
2
1 ( / n )
54
EXAMPLE 22.7
Here 0 sin t 10 sin(8t ) mm, so that
0 10 mm
0 8 rad / s
k
4(800)
n
12.6 rad / s
m
20
The amplitude of vibration caused by floor

displacement is
( yn ) max
0
10
16.7 mm (2)
2
2
1 ( / n ) 1 [(8) /(12.6)]
55
EXAMPLE 22.7
Hence, Eq.1 and its time derivative become
y A sin(12.6t ) B cos(12.6t ) 16.7 sin(8t )
y A(12.6) cos(12.6t ) B(12.6) sin(12.6t ) 133.3 cos(8t )
Evaluating for A and B, the vibrating motion

is described by the equation,
y 10.5 sin(12.6t ) 16.7 sin(8t )
Resonance will occur when the amplitude of

vibration approaches infinity. From Eq.2, it is
n 12.6 rad / s
56
22.4 Viscous Damped Free Vibration*

In many cases damping is attributed to the
resistance created by the substance, such
as water, air, oil, or in which the system
vibrates
Provided the body moves slowly through this
substance, the resistance to motion is
directly proportional to the bodys speed
This type of force developed under these
conditions is called a viscous damping force,
which is expressed by
F cx
57

The constant c, is the coefficient of viscous
damping and has units of N.s/m
As shown, the effect of damping is provided by
the dashpot of coefficient of damping c
connected to the block on the right side.
Damping occurs when the piston P moves to
the right or left within the enclosed cylinder
58

If block is displaced a distance x from its
equilibrium position, both the spring force kx
and the damping force cx oppose the forward
.
motion of the block.
Applying the equation of motion yields
+ Fx max ;
or
kx cx mx
mx cx kx 0
59

This linear, second-order, homogeneous,
differential equation has solutions of form
xe
where e is the base of the natural logarithm

and is a constant
The value of may be obtained by
differentiating the above equation twice and
substituting back into the equation of motion
60

Thus we obtained two values of ,
2
c
k
c
1

2m
2m m
2
c
k
c
2

2m
2m m
There are three possible combinations of 1,

2 which must be considered
61

The critical damping coefficient cc which will
make the radical in the previous equation
equal to zero, i.e.,
2
or
cc k 0

2m m
k
cc 2m 2mn
m
62
Overdamped System
When c > cc, the roots 1 and 2 are both real
1t
x Ae Be
2t
Motion corresponding to this solution is
nonvibrating
The effect of damping is so strong that when the

block is displaced and released, it simply creeps
back to its original position without oscillating.
63
Critically Damped System

If c = cc, then 1 = 2 = - cc/2m = n, it
represents a condition when c has the

smallest value necessary to cause the
system to be nonvibrating
x ( A B)e
nt
64
Underdamped System
Cases where c < cc
The roots 1 and 2 are complex numbers and

the general solution can be written as
x D e(c / 2m)t sin(d t )
Where D and are constants which can be

determined from the initial conditions of the
problem
65

The constant d is called the damped natural
frequency of the system, and has a value of
c
k c
d
n 1
m 2m
cc
2
c /cc is called the damping factor
66

As shown on the
graph, the initial limit
of motion, D,
diminishes with each
cycle of vibration,
since motion is
confined within the
bounds of the
exponential curve
67

Using the damped natural frequency d, the
period of damped vibration may be written as
2
d
d
68
22.5 Viscous Damped Forced Vibration*

The most general case of single-degree-offreedom vibrating motion occurs when the
system includes the effects of forced motion
and induced damping
As shown from diagram, the differential
equation which describes the motion is
mx cx kx F0 sin t
69

The particular solution will be of the form
x p A sin t B cos t
Solving for constant A and B,
F0 / m n2 2
A
2
2
2 2
n c / m
2
F0 c / m
B
2
2 2
n c / m2
70

It is also possible to express the particular
solution in the form of
x p C sin(t )
where
C
F0 / k
1 ( / ) 2(c / c )( / )
2 2
2(c / cc )( / n )
tan
2
1
)
n
71

The angle represent the phase difference
between the applied force and the resulting
steady-state vibration of the damped system.
The magnification factor MF is
C
MF
F0 / k
1 ( / n) 2(c / c )( / )
2 2
72

From the graph, the
magnification of the
amplitude increases as the
damping factor decreases
Resonance occurs only
when the damping is zero
and the frequency ratio
equal 1
73
EXAMPLE 22.8
The 30-kg electric motor is
supported by four springs, each
having a stiffness of 200 N/m. if
the rotor R is unbalanced such
that its effect is equivalent to a 4kg mass located 60 mm from the
axis of rotation, determine the
amplitude of vibration when the
rotor is turning at = 10 rad/s.
The damping ratio is c/cc = 0.15
74
EXAMPLE 22.8
View Free Body Diagram
The periodic force which causes the motor to

vibrate is the centrifugal force due to the
unbalanced rotor
This force has a constant magnitude of
F0 man mr 2 4(0.06)(10)2 24 N
Since F = F0 sin t, where = 10 rad/s, then
F 24 sin 10t
75
EXAMPLE 22.8
The stiffness of the entire system of four
springs is k = 4(200) = 800 N/m
Therefore the natural frequency of vibration
is
k
800
n
30
5.16 rad / s
Since the damping factor is known, the

steady-state amplitude is
F0 / k
C
10.7 mm
22
1 ( / n ) 2(c / cc )( / n )2
76
CHAPTER REVIEW
Undamped Free Vibration

A body has free vibration provided
gravitational or elastic restoring forces cause
the motion.
This motion is undamped when friction forces
are neglected.
The periodic motion of an undamped, freely
vibrating body can be studied by displacing
the body from the equilibrium position and
then applying the equation of motion along
the path.
77
CHAPTER REVIEW
For a one-degree-of-freedom system, the
resulting differential equation can be written
in the form
x n2 x 0
The frequency, or number of cycles

completed per unit of time is
n
f
2
1
78
CHAPTER REVIEW
Undamped Forced Vibration

When the equation of motion is applied to the
body, which is subjected to a periodic force
or support displacement having a frequency
, then the displacement consists of a
complimentary solution and a particular
solution.
The complementary solution is caused by the
free vibration and can be neglected
79
CHAPTER REVIEW
The particular solution is caused by the forced
vibration
Resonance will occur if the natural period of
vibration, n, is equal to the forcing frequency,
This should be avoided since the motion will
become unbounded.
FO / k
xp
sin Ot
2
1 O / n
80
CHAPTER REVIEW
A viscous damping force is caused by a fluid
drag on the system as it vibrates
If the motion is slow, this drag force is then
proportional to the velocity, that is
F cx
C is the coefficient of viscous damping
81
CHAPTER REVIEW
By comparison its value to the critical
damping coefficient cc = 2mn, we can
specify the type of vibration that occurs
If c > cc, it is an overdamped system
If c = cc, it is a critically damped system
If c < cc, it is an undamped system
82
CHAPTER REVIEW
Viscous Damped Force Vibration

The most general type of motion for a onedegree-freedom system occurs when the system
is damped and subjected to periodic forced
motion.
The solution provides inside as to how the
damping factor, c/cc, and the frequency ratio,
/n, influence the vibration
Resonance is avoided provided c/cc, 0 and
/ n, 0
83

Chapter 9 Vibration

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EME1076 Applied Dynamics

Topic 9 (Chapter 22) :

Undamped Forced Vibration

22.1 Undamped Free Vibration

22.1 Undamped Free Vibration

22.1 Undamped Free Vibration

The block has a mass m and is attached to a

22.1 Undamped Free Vibration

22.1 Undamped Free Vibration

The acceleration is proportional to the blocks

simple harmonic motion

22.1 Undamped Free Vibration

linear, differential equation with constant

22.1 Undamped Free Vibration

22.1 Undamped Free Vibration

22.1 Undamped Free Vibration

22.1 Undamped Free Vibration

The length of time is call a period, which may

22.1 Undamped Free Vibration

The frequency is expressed in cycles/s. This

22.1 Undamped Free Vibration

22.1 Undamped Free Vibration

The solution of this equation involves the

It can be seen that n = (g/l)

Since this equation is in the standard form,

The natural period of vibration is

Free-Body and Kinetic

Substituting into Eq.1 yields

The natural period of vibration is therefore,

Free-body and Kinetic Diagrams

5(9 .81) ( 0 .25 ) Fs ( 0 .25 )

Therefore, the natural period of vibration is

22.3 Undamped Forced Vibration

22.3 Undamped Forced Vibration

22.3 Undamped Forced Vibration

22.3 Undamped Forced Vibration

22.3 Undamped Forced Vibration

where n is the natural frequency, n = (k/m)

22.3 Undamped Forced Vibration

Factoring out sin t and solving for C,

22.3 Undamped Forced Vibration

The general solution is therefore

22.3 Undamped Forced Vibration

22.3 Undamped Forced Vibration

22.3 Undamped Forced Vibration

22.3 Undamped Forced Vibration

22.3 Undamped Forced Vibration

22.3 Undamped Forced Vibration

22.3 Undamped Forced Vibration

22.3 Undamped Forced Vibration

Periodic Support Displacement

22.3 Undamped Forced Vibration

Applying the equation of motion yields,

The instrument is rigidly attached to a platform P, which in

Since the induced vibration is caused by the

The amplitude of vibration caused by floor

Evaluating for A and B, the vibrating motion

Resonance will occur when the amplitude of

22.4 Viscous Damped Free Vibration*

22.4 Viscous Damped Free Vibration*

22.4 Viscous Damped Free Vibration*

22.4 Viscous Damped Free Vibration*

where e is the base of the natural logarithm

22.4 Viscous Damped Free Vibration*