ME 4213

Lecturer :

Vibration Theory and Applications

G. Leng

Assoc. Prof. Gerard Leng

Office: E2-02-37, Tel : 6 516 6548
E-mail: mpelsb@nus.edu.sg,

Course Website : http://dynlab.mpe.nus.edu.sg/mpelsb/

Text Books:
S. Rao, Mechanical Vibrations (SI ed), Prentice Hall, 2004.
W. Thomson, Theory of Vibration with Application (4th ed), PrenticeHall, 1993.
Required Reading:

Thomson(3rd ed)

Thomson(4th ed)

Rao

1. MDOF Systems
Normal mode analysis
Initial conditions
Coordinate coupling
Forced vibration (absorber)

5.1
5.2
5.3
5.7

5.1
5.2
5.3
5.4, 5.6

5.1
Ex 5.2
5.5
9.11

2. Properties of MDOF Systems

Orthogonality of modes
Modal matrix
Decoupling via normal modes
Modal damping
Normal mode summation

6.4
6.5
6.6
6.7
6.8

6.6
6.7
6.8
6.9
6.10

6.10.2
6.10.2
6.13, 6.14
6.15
--

3. Lagranges Equations
Generalized cords
Virtual work
Lagranges equations
KE, PE as quadratic forms

--6.9
--

7.1
7.2
7.3
7.4

6.6
-6.7
6.5

4. Continuous Systems
Axial vibration of bars
Transverse vibration of beams
Assumed modes

8.2
8.4
9.1

9.2
9.5
7.5

8.3
8.5
--

1. MDOF Systems
Comments: These problems can be easily done after you have mastered Lagranges equations. Newtons
Equations are workable but a pain.
Basic
1.1 (Effect of stiffness coupling) For the spring mass system in example 5-1 of Rao (fig 5.4 pg 389),
determine how the natural frequencies and modes vary with the coupling coefficient n. Explain what
happens if a)n 0 and b)n .
Intermediate:
1.2 (Choosing coordinates) Do exercise 5.32 of Rao. What is a good choice of coordinates?
1.3 (Small displacements) Do exercise 5.34 of Rao. You need to assume small angular displacements. How
small is small ? What happens if you cant ?
1.4 (Effect of external loads) Do exercise 5.41 of Rao for an arbitrary point of application of the force F(t).
What can you observe ?

ME 4213

Vibration Theory and Applications

G. Leng

Advanced:
1.5 For a vertical spring mass system, should the weight of the masses be included in deriving the EOMs?
Why or why not?
2. Properties of MDOF Systems
Basic:
2.1 Problems 6.58, 6.59 and 6.61 of Rao
Intermediate:
2.2 Problem 6-26 of Thomson (4th ed) has an example of a massless DOF. How do you derive the
equations of motion ?
2.3 Write down the general solution for the free vibration of an undamped MDOF system
[M] x + [K] x = 0 with zero initial displacement but non zero initial velocity. (Hint : Use the
orthogonality of the modes)
Advanced
2.4 Consider N springs of stiffness k and N masses of mass m connected in series. Can you deduce the
general form of the mass, stiffness matrices and find the natural frequencies ? (Hint : refer problem 6-9 of
Thomson 4th ed)
3. Lagranges Equation
Basic
3.1 Write the Lagrangian for the spring mass systems in problems 6.19 and 6.24 of Rao.
Intermediate
3.2 Redo the intermediate problems from section 1 using Lagranges equations. If you are confident, try
7-15 of Thomson (4th ed). Use ro to denote the equilibrium length of the spring. (Warning : velocity is a
vector !)
Advanced
3.3 Suppose that for the quadratic form yTA y, A is not a symmetric matrix. Can you still evaluate
(yTA y) / y ? What is the answer ?
4. Continuous Systems
Intermediate
4.1 Find the natural frequencies for a clamped-clamped uniform beam. Compare the frequencies with a
pinnedpinned beam. Are the frequencies higher or lower? Why?
4.2 (Continuous system with discrete elements). Write down the PE & KE of a uniform beam with a
torsional spring at one end and a linear spring at the other (refer figure 8.29, pg 649 of Rao).
Advanced:
4.3 A uniform cantilevered beam of length L has a mass M at the free end. What is the effect of the tip
mass on natural frequencies and modes? (Hint: How is the shear force at the end related to the acceleration
of the tip mass? ) Compare this problem with example 8.4 of Rao for a bar with an attached mass.