Vibration Three

Kingdom of Saudi Arabia
Ministry of Higher Education
Umm Al-Qura University

College of Engineering & Islamic Architecture
Mechanical Engineering Department
Mechanical Vibrations
804 420 3
Lecture No. 3
Dr. Mohammad S. Alsoufi

BSc, MSc PhD
Room No.: 1080
Tel.: 00966 (012) 5270000 Ext.: 1163
E-mail: mssoufi@uqu.edu.sa


3. Mass or Inertia Element
Mass
Rotating Inertia
The mass or inertia element is assumed to be a rigid body.

It can gain or lose kinetic energy whenever the velocity of the body changes.
From Newtons 2nd law of motion:
the product of the mass and its acceleration is equal to the force
applied to the mass,
WORK is equal to the force multiplied by the displacement in the direction of the force, and
the work done on a mass is stored in the form of the masss kinetic energy.
Example:
Consider a multistory building subjected to
an earthquake.
Assuming that the mass of the frame is
negligible compared to the masses of the
floors, the building can be modeled as a
multi-degree-of-freedom system.
The masses at the various floor levels
represent the mass elements, and
The elasticities of the vertical members
denote the spring elements.
Idealization of a multistory building as a

multi-degree-of-freedom system
3.1 Combination of Masses

In many practical applications, several masses appear in combination, m1, m2, m3, , mn
For a simple analysis, we can replace these masses by a single equivalent mass, meq
Translational Masses Connected by a Rigid Bar
Let the masses be attached to a rigid bar that is pivoted at one end, as shown in Figure.
Translational masses connected by a rigid bar


The equivalent mass, meq, can be assumed to be located at any point along the bar.
To be specific, we assume the location of the equivalent mass to be that of mass m1.
The velocities of masses ( ) and ( ) can be expressed in terms of the velocity of
mass ( ) by assuming small angular displacements for the bar, as
Besides,
By equating the kinetic energy

equivalent mass system, we obtain
, of the three-mass system to that of the
This equation gives

( )
( )
It can be seen that the equivalent mass, meq, of a system composed of several
masses, m1, m2, m3 (each moving at a different velocity, ) can be thought
of as the imaginary mass which, while moving with a specified velocity, v, will
have the same kinetic energy as that of the system.
Translational and Rotational Masses Coupled Together
Let a mass m having a translational velocity be coupled to another mass (of mass moment
of inertia J0) having a rotational velocity as in the rack-and-pinion arrangement shown
in Figure.
Translational and rotational masses

in a rack-and-pinion arrangement
These two masses can be combined to obtain either

1) a single equivalent translational mass meq
2) a single equivalent rotational mass Jeq


Case No.1: Equivalent translational mass

The kinetic energy of the two masses is given by
The kinetic energy of the equivalent mass can be expressed as
Since
and
, the equivalent of T and Teq gives
That is
Case No.2: Equivalent rotational mass
and
and
Here,
The equivalent of T and Teq leads to
( )
( )
Or
Example No.1: Equivalent Mass of a System

Find the equivalent mass of the system shown in Figure below, where the rigid link 1 is attached to
the pulley and rotates with it.
System considered for finding equivalent mass


Solution:
Assuming small displacements, the equivalent mass meq can be determined using the
equivalence of the kinetic energies of the two systems.
When the mass m is displaced by a distance x,
the pulley and the rigid link 1 rotate by an angle
This causes the rigid link 2 and the cylinder to be displaced by a distance
Since, the cylinder rolls without slippage,

it rotates by an angle
The kinetic energy of the system T can be expressed (for small displacements) as:
JP, J1 and Jc denote the mass moments of inertia of the pulley, link 1 (about O), and
cylinder, respectively.
indicate the angular velocities of the pulley, link 1 (about O), and
cylinder, respectively.
represent the linear velocities of the mass, m and link 2, respectively.
( )
)( )
)(
We obtain the equivalent mass of the system as
Example No.2: Cam-Follower Mechanism

A cam-follower mechanism (see Figure below) is used to convert the rotary motion of a shaft into
the oscillating or reciprocating motion of a valve. The follower system consists of a pushrod of
mass mp, a rocker arm of mass mr, and mass moment of inertia Jr about its C.G., a valve of mass mr
and a valve spring of negligible mass.
Find the equivalent mass meq of this cam-follower system by assuming the location of meq as
(1) point A and (2) point C.


Solution:
The equivalent mass of the cam-follower
system can be determined using the
equivalence of the kinetic energies of the two
systems.
Due to a vertical displacement x of the pushrod
The rocker arm rotates by an angle
about the pivot point
The
valve
moves
downward
by
The C.G. of the rocker arm moves

downward by
The kinetic energy of the system T can be

expressed as
Cam-follower system

are the linear velocities of the
pushrod, C.G. of the rocker arm, and the valve,
respectively,
is the angular velocity of the rocker arm.
If meq denotes the equivalent mass placed at point A

with
the kinetic energy of the equivalent mass system Teq is given by
At point A
By equating T and Teq and noting that
At point B
We obtain
If meq denotes the equivalent mass placed at point C

with
and
The equations above gives
( )
( )
Question?
What about at point
G
B


4. Damping Elements
Amplitude
Ratio
Damper
Torsional Damper
In many practical systems, the vibrational energy is gradually

converted to heat or sound.
Due to the reduction in the energy, the response, such as the
displacement of the system, gradually decreases
The mechanism by which the vibrational energy is gradually
converted into heat or sound is known as damping.
Although the amount of energy converted into heat or sound
is relatively small, the consideration of damping becomes
important for an accurate prediction of the vibration response
of a system.
A damper is assumed to have neither mass nor elasticity,
and damping force exists only if there is relative velocity
between the two ends of the damper.
Oscillating
Damping
Oscillating
Frequency
The graph below shows three scenarios whereby the damping effects vary.
Often damping leads to an exponential decay of displacement.
It is important to notice that the frequency of a heavily damped and lightly damped
system are equal given than the mass and spring constant are equal for that system.


It is difficult to determine the causes of damping in practical systems.

Hence, damping is modeled as one or more of the following types:
1) Viscous Damping
2) Coulomb or Dry-Friction Damping
3) Material or Solid or Hysteretic Damping
1) Viscous Damping
Viscous damping is the most commonly used damping

mechanism in vibration analysis.
When mechanical systems vibrate in a fluid medium such

as air, gas, water or oil, the resistance offered by the fluid
to the moving body causes energy to be dissipated.
In this case, the amount of dissipated energy depends on

many factors, such as
The size and shape of the vibrating body.
The viscosity of the fluid.
The frequency of vibration.
The velocity of the vibrating body.
The damping force is proportional to the velocity of the

vibrating body.
Typical examples of viscous damping include:

1) Fluid film between sliding surfaces.
2) Fluid flow around a piston in a cylinder.
3) Fluid flow through an orifice.
4) Fluid film around a journal in a bearing.
2) Coulomb or Dry-Friction Damping
The damping force is constant in

magnitude but opposite in direction to
that of the motion of the vibrating body.
It is caused by friction between rubbing

surfaces that either are dry or have
insufficient lubrication


3) Material or Solid or Hysteretic Damping
A purely elastic material ideal spring returns along the

same curve. No energy is lost.
In reality, when a material is deformed, energy is absorbed

and dissipated by the material.
Lost energy or dissipation hysteresis
The effect is due to friction between the internal planes,

which slip or slide as the deformations take place.
When a body having material damping is subjected to

vibration, the stress-strain diagram shows a hysteresis
loop as indicated in Figure (a).
The area of this loop denotes the energy lost per unit
volume of the body per cycle due to damping.
Viscoelastic materials exhibit a time delay in returning the

material to original shape. Some energy is lost.
Hysteresis loop
for elastic materials
4.1 Construction of Viscous Dampers

Viscous dampers can be constructed in several ways.
For instance, when a plate moves relative to another parallel plate with a viscous fluid in
between the plates, a viscous damper can be obtained.
The following examples illustrate the various methods of constructing viscous dampers used
in different applications.
Example No.3: Damping Constant of Parallel Plates Separated by Viscous Fluid
Consider two parallel plates separated by a
distance h, with a fluid of viscosity between the
plates.
Derive an expression for the damping
constant when one plate moves with a
velocity v relative to the other as shown in
Figure.
Parallel plates with a viscous fluid in bet


Solution:
Let one plate be fixed and let the other plate be moved with a velocity, v, in its own
plane.
The fluid layers in contact with the moving plate move with a velocity, v.
The fluid layers in contact with the fixed plate do not move.
The velocities of intermediate fluid layers are assumed to vary linearly between 0 and v.
According to Newtons law of viscous flow:
the shear stress, , developed in the fluid layer at a
distance, y, from the fixed plate is given by
Where
The shear or resisting force, F, developed at the bottom surface of the moving plate is
Where, A is the surface area of the moving plate, by expressing F as F = cv,

The damping constant, c, can be found as
is the velocity gradient.
Example No.4: Clearance in a Bearing

A bearing, which can be approximated as two flat plates separated by a thin film of lubricant (see
Figure below), is found to offer a resistance of 400 N when SAE 30 oil is used as the lubricant and
the relative velocity between the plates is 10 m/s.
If the area of the plates A is 0.1 m2, determine the clearance between the plates, h.
Assume the absolute viscosity of SAE 30 oil as 50 reyn or 0.3445 Pa-s.
Flat plates separated by thin film of lubricant


Solution:
Since, the resisting force F can be expressed as where F = cv, where c is the damping
constant and v is the velocity, we have
By modeling the bearing as a flat-plate-type damper, the damping constant is given by
)(
4.2 Linearization of a Nonlinear Damper

If the force F, velocity v, relationship of a damper is nonlinear
( )
A linearization process can be used about the operating velocity

nonlinear spring.
The linearization process gives the equivalent damping constant as
as in the case of a
Do you remember this one!

|
Linearization of a Nonlinear Damper
|
Linearization of a Nonlinear Spring
4.3 Combination of Dampers

In some dynamic systems, multiple dampers are used.
In such cases, all the dampers are replaced by a single equivalent damper, Ceq.
When dampers appear in combination:
We can use procedures similar to those used in finding the equivalent
spring constant of multiple springs to find a single equivalent damper.
For example, when two translational dampers, with damping constants and appear in
combination
the equivalent damping constant can be found as:


Case No.1
Dampers in Parallel
Case No.2
Dampers in Series
Example No.4: Equivalent Spring and Damping Constants of a Machine Tool Support
A precision milling machine is supported on four shock mounts, as shown in Figure (a). The
elasticity and damping of each shock mount can be modeled as a spring and a viscous damper, as
shown in Figure (b).
Find the equivalent spring constant keq, and the equivalent damping constant ceq, of the
machine tool support in terms of the spring constants ki and damping constants ci of the
mounts.
Horizontal milling machine

Solution:
The free-body diagrams of the four springs and four dampers are shown in Figure (c).


Assuming that the center of mass, G, is located symmetrically with respect to the four
springs and dampers.
All the springs will be subjected to the same displacement, x.
All the dampers will be subject to the same relative velocity, .
The forces acting on the springs, Fsi

The forces acting on the dampers, Fdi
Let the total forces acting on all the springs and all the dampers be Fs and Fd, respectively
(see Figure (d)).
The force equilibrium equations can thus be expressed as
Fs + Fd = W, with W denoting the total vertical force (including the inertia force) acting on
the milling machine.
From Figure (d), we have
From the above equations
When ki = k and ci = c for i = 1, 2, 3, 4

If the center of mass, G, is not located symmetrically with respect to the four
springs and dampers, the ith spring experiences a displacement of xi and the ith
damper experiences a velocity of , where xi and can be related to the
displacement x and velocity of the center of mass of the milling machine, G.
In such a case, all the equations above need to be modified suitably.


Problem No.1: In Figure below, find the equivalent mass of the rocker arm assembly with respect
to the x coordinate
Solution No.1:
Rocker arm assembly

Problem No.2: Find the equivalent mass moment of inertia of the gear train shown in Figure below
with reference to the driving shaft. In Figure below, Ji and ni denote the mass moment of inertia and
the number of teeth, respectively, of gear i, i = 1, 2, , 2N
Solution No.2:


Problem No.3: Two masses, having mass moments of inertia J1 and J2 are placed on rotating rigid
shafts that are connected by gears, as shown in Figure below. If the numbers of teeth on gears 1 and
2 are n1 and n2 respectively, find the equivalent mass moment of inertia corresponding to .
Solution No.3:
Problem No.4: Find a single equivalent damping constant for the following cases:
a) When three dampers are parallel.
b) When three dampers are in series.
c) When three dampers are connected to a rigid bar (Figure below) and the equivalent damper
is at site c1.
d) When three torsional dampers are located on geared shafts (Figure below) and the
equivalent damper is at location ct1.
Hint: The energy dissipated by a
viscous damper in a cycle during
harmonic motion is given by
Where c is the damping constant,
is the frequency, and X is the
amplitude of oscillation.


Solution No.4:


Problem No.5: The damping constant c of the dashpot shown in Figure below is given by:
[(
][
Determine the damping constant of the dashpot for the following data:
= 0.3445 Pa-s, l = 10 cm, h = 0.1 cm, a = 2 cm, r = 0.5 cm.
Find the variation of the damping constant c when:

a) r is varied from 0.5 cm to 1.0 cm.
b) h is varied from 0.05 cm to 0.10 cm.
c) a is varied from 2 cm to 4 cm.
Solution No.5:

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Kingdom of Saudi Arabia

Ministry of Higher Education

Umm Al-Qura University

Mechanical Engineering Department

Dr. Mohammad S. Alsoufi

Kingdom of Saudi Arabia

Umm Al-Qura University

Mechanical Engineering Department

3. Mass or Inertia Element

The mass or inertia element is assumed to be a rigid body.

Idealization of a multistory building as a

3.1 Combination of Masses

Translational masses connected by a rigid bar

Kingdom of Saudi Arabia

Umm Al-Qura University

Mechanical Engineering Department

By equating the kinetic energy

, of the three-mass system to that of the

This equation gives

Translational and Rotational Masses Coupled Together

Translational and rotational masses

These two masses can be combined to obtain either

Kingdom of Saudi Arabia

Umm Al-Qura University

Mechanical Engineering Department

Case No.1: Equivalent translational mass

The kinetic energy of the equivalent mass can be expressed as

, the equivalent of T and Teq gives

Case No.2: Equivalent rotational mass

Example No.1: Equivalent Mass of a System

System considered for finding equivalent mass

Kingdom of Saudi Arabia

Umm Al-Qura University

Mechanical Engineering Department

Since, the cylinder rolls without slippage,

represent the linear velocities of the mass, m and link 2, respectively.

We obtain the equivalent mass of the system as

Example No.2: Cam-Follower Mechanism

Kingdom of Saudi Arabia

Umm Al-Qura University

Mechanical Engineering Department

The C.G. of the rocker arm moves

The kinetic energy of the system T can be

If meq denotes the equivalent mass placed at point A

the kinetic energy of the equivalent mass system Teq is given by

By equating T and Teq and noting that

If meq denotes the equivalent mass placed at point C

The equations above gives

Kingdom of Saudi Arabia

Umm Al-Qura University

Mechanical Engineering Department

In many practical systems, the vibrational energy is gradually

Kingdom of Saudi Arabia

Umm Al-Qura University

Mechanical Engineering Department

It is difficult to determine the causes of damping in practical systems.

Viscous damping is the most commonly used damping

When mechanical systems vibrate in a fluid medium such

In this case, the amount of dissipated energy depends on

The damping force is proportional to the velocity of the

Typical examples of viscous damping include:

2) Coulomb or Dry-Friction Damping

The damping force is constant in

It is caused by friction between rubbing