WAVES

Vibrations
Vibrational Motions
Properties of Periodic Motions
Pendulum Motion
Motion of a Mass on a Spring

Sentagi Sesotya Utami

Engineering Physics, University of Gadjah Mada

Newtons 1st law ~ the law of inertia

Newton's first law of motion is often stated as
An object at rest stays at rest and an object in motion
stays in motion with the same speed and in the same
direction unless acted upon by an unbalanced force.

Vibrations
P

Pendulum Motion

L
Resting/equilibrium position

m
mg sin

a state of equilibrium

mg

mg cos

The Sinusoidal Nature of Pendulum Motion

Simple harmonic oscillator

Vibrations

Properties of Periodic Motion

A motion that is regular and repeating is referred to as a

periodic motion
The Sinusoidal Nature of a Vibration

The position of the mass is a function of the sine of the time

A periodic nature - the motion repeats itself in a regular fashion
Time is being plotted along the horizontal axis
Damping occurs with the mass-spring system - some energy is being
dissipated over the course of time
4

Vibrations

Properties of Periodic Motion

Period and Frequency

the time for the mass to complete a cycle ~ PERIOD
the maximum displacement of the mass above (or below) the
resting position ~ AMPLITUDE
period
= the time for one full cycle to complete itself; i.e., seconds/cycle
frequency = the number of cycles that are completed per time; i.e.,
cycles/second

Amplitude of Vibration
Amplitude defined as the maximum displacement of an object from its
resting position

Vibrations

Simple Harmonic Oscillator

Simple harmonic oscillator

= - sx

Hooks Law
m = mass (kg)
s = stiffness / spring constant (N/m)

m
x

F = ma
d 2x
F = m 2 = sx
dt

0 2 =

s
m

Lumped element system

d 2x s
+ x=0
2
dt
m

0 = natural angular frequency

Equation of motion

d 2x
2
F = 2 + 0 x
dt

General solutions

x = A1 cos 0t + A2 sin 0t
u
x = x0 cos 0t + 0 sin 0t
0

Vibrations

Simple Harmonic Oscillator

Simple harmonic oscillator

Other solutions

x = C cos(0t + )

u0
C = x0 +
0

a
u

u0

= tan
0 .x0
u = kecepatan massa/mass = C0 sin (0t + )
U = C0 = amplitudo kecepatan
1

a = U0 cos(0t + ) = 0 C cos(0t + ) = 0 x
2

Damped oscillation

Vibrations

)(

0 =

s
m

2
4ms R m 2
Rm
4ms R m
Rm

=
1. 2
2
2
2
2m
4m 4m
2m
4m 4m

= j 0 2
Equation of motion

dx
f r = Rm
dt
mx = sx Rm x
mx + Rm x + sx = 0
Damping
We need to measure how long it decays
1
We use a time constant = time to decay by
e
1 2m
= = =
Rm
= time cons tan t / relaxationtime
Rm
=
,
2m

Damped Oscillation
~ t
Assume : x (t ) = A e
~
m 2 + Rm + s A e t = 0

= temporal absorption coefisien

o > x(t ) = Ae

.e

2
2
j o t

o = x(t ) = Ae t

o < x(t ) = Ae

Rm
2m

j = 1

(underdamped)

(criticallydamped)
.e

2 o 2t

(overdamped)

o 2 2 = d
d = natural angular frequency of the damped oscillator
General solutions

~
~
x (t ) = A e t e jd t = Ae t e j (d t + )
x(t ) = Ae t cos(d t + )

Vibrations
Fe

Forced Oscillations
We have,

j t

F
m 2 + j Rm + s

~
~
x (t ) = Ae t .e jd t +
Rm

Equation of motion

mx + Rm x + sx = Fe j t = f (t )
~
~
x = A e t e j d t
h

~
~
x = B e j t

( m

~
+ jRm + s e j t = Fe j t

j Rm + j m

Fe j t

j Rm + j m

Damped oscillations/
transient solution

Forced oscillations that

gives steady state solution

If we stop the steady state force, the frequency

returns to d
Steady state solutions

~
u~ (t ) = x (t ) = j ~
x (t )
Fe j t
=
s

Rm + j m

1
reactance
R + j L

Vibrations

Mechanical Impedance

The ratio of the complex

driving force to the resultant
complex speed of the
system at the point where
the force is applied

~
f
Fe j t
~
Zm = ~ = ~
u
u
=

s s

+ j m N
m

mechanical
Rm

resistance

mechanical
reactance (X m )

Fe j t
~
u (t ) = ~
Zm
~
Z m = Rm + j X m
~
Z m = Z m e j

Complex mechanical input

impedance of a system

Z m = Rm + X m

We have,

1
2 2

= tan 1
Rm

F sin ( t )
; x p = the actual displacement
=
Zm

Fe
x p = Re
j Z m e j
Fe j t F cos( t )
;
u p = Re
=
Zm
Z m e j

u p = the actual speed

10

Vibrations

Power Relations

i = instantaneous power = product of an instant driving fom and instant velocity

respond time independent
i = F cos ( t )

{ }

~
1
1 j t Fe j t
= Re f u * = Re Fe .
2
2
Z m e j

F cos ( t )
Zm

F2
=
cos t cos ( t )
Zm

{}

F2
=
cos
2Z m

{ }

~
~
~~
We know that : Re{a } Re b Re a .b

Average Power :

=
=

1
T
1
T

i .dt

F
cos ( t ) cos ( t ).dt
Zm

F2
=
Z mT

F2
=
Z mT

T
. cos + 0

[cos

Rm

( t )cos + cos ( t )sin ( t )sin ].dt

F2
=
cos phase angle of the impedance
2Z m

tan =
cos =

m
Rm

Rm

2
s

R
m

1
2

Rm
Zm

11

Vibrations
=

F 2 Rm
2Z m

Power Relations

R dan F are constant

At what frequency is max?

s
s

2
+

m
m

2
d
d dZ m F 2 R m 1

=o=
.
=

2
Zm
d
dZ m d
Z m3
2
s
Z m = Rm + m

Need to get to 0

1
22

R
s

if m 2 = 0 Z m = Rm m = cos , = 0
Zm

~
f
~
Z m = ~ then if Z m = 0, the phase of f and u could be the same
u
dx
= j x
u=
dt
12

Mechanical Resonance

Vibrations

There are 3 definition;

1. Frequency at which reactance, Xm, vanishes
2. Frequency at which the max power is supplied to the oscillator

~ ~
1
~~
1
1 f . f *

Re
= Re f u * = Re

is max

2
2 Z m *
Zm *

1
2

{ }

3. Frequency at which the max power is supplied to the oscillator

We use definition no.1

0
Quality factor = Q =
2 1
1
For power :
2

(broad of

The sharpness of the resonance

is directly related to the length of
time it takes to decay to 1/e of
its initial amplitude

resonance )

Z m = 2 Rm = Rm + m

m
R
s

m + 1 Rm

=
1
m
1

1
s

m = Rm

m s = R
m
2
2
1
Rm = 2 m
12 m + 1 Rm
2

12 m = (1 + 2 )Rm

2 1

m
Rm
Q= o
m
Rm
13

Mechanical Resonance

Vibrations

Look at 3 frequencies ranges:

If we know the parameter, we know the Q

Phase angle :

= tan 1
Rm

i ) At resonance
= 0 u, F are in phase

reactance
=
resistance

ii ) Above resonance

m
: m >>> 1;
2
Rm
~

f
~
Means : Z m = ~ the force leads u by
2
u

= tan 1

iii ) Below resonance

s
Rm

= tan 1
=

the u~ leads f about

2
2

3
2

>> 1 Zm j

F
cos(t ) .the amplitude is independant of freq
s
F
sin (t ) * stiffness controlled regoin
u
s
2F
cos(t )
a
s
(ii ) o Xm 0 Zm Rm
x

F
sin (t )
Rm
F
cos(t ) independent of freq
u
Rm
F
sin (t ) * damping controlled region
a
Rm
(iii ) > o Zm jm
x

~
f

(i ) << o :

u~

F
cos(t )
2m
F
sin (t )
u
m
14
F
a cos(t ) * mass controlled region
m
x