Mechanical Vibrations (10 ME 74) Chapter 5:

Vibration measuring instruments

The

primary

purpose

of

vibration

measuring

instrument is to give an output signal which closely

represents the vibration phenomenon.

This phenomenon may be displacement, velocity or

acceleration of the vibrating system and accordingly,
these instruments are called vibrometers (vibration pickups), velocity pick-ups or accelerometers.
Vibration measuring

devices having

mass, spring

dashpot etc. are known as seismic instruments.

1

Vibrometer
Z
r2
W .K .T relative amplitude ratio is given by;
2
B
(1- r 2 ) 2 2 r
1
If r is high, (i.e. r 3 & above) & =
,
2
Z
r2
r2

1 (Neglecting 1 compared to r 4 )
B
(1- 2r 2 r 4 ) 2r 2
r4
Z B. In other words, the amplitude of relative motion ( Z ) is
equal to the amplitude of the vibrating body ( B).
This results in output signal which is a true reproduction of input
quantity. Hence the device based on this works as a displacement
transducer or vibrometer.
2

Vibrometer

Vibrometer

Vibrometers are low natural frequency transducers used to

measure the amplitude of vibrations of a body vibrating with

high frequency.

The natural frequency of vibrometers is small (1 to 5 Hz) and

hence it requires a heavy mass & a soft spring. This makes it
unsuitable for use in sophisticated applications.

Accelerometer
Z
r2
W .K .T relative amplitude ratio is given by;
2
2 2
B
(1- r ) 2 r
If r is 1, & hence r 2 & (2 r ) 2 are neglegible,
Z r2

r2
B
1

B Acceleration of vibrating body

2
Z r B 2
n
n2

As n is a constant for the device, the amplitude of relative motion

( Z ) is proportional to the acceleration of the vibrating body ( B).
Device based on this is an acceleration transducer or Accelerometer.

Accelerometer

Accelerometers are high natural frequency transducers

used to measure the acceleration of a vibrating body which

vibrates with low frequency, such that frequency ratio r<<1
(0.25 & below).

The natural frequency of accelerometers is high (above

100Hz) and hence it requires a light mass & a hard spring.

Due to light weight, it is widely used in many applications.

Also, by using electronic integrating devices, velocity &

displacement of the vibrating body can be calculated.
6

Numerical Problem 1

A seismic instrument with a natural frequency of 5

Hz is used to measure the vibration of a machine

operating at 120 rpm. The relative displacement of

the seismic mass as read from the instrument is

0.05 mm. Determine the amplitude of vibration of

the machine. Neglect damping.

Data :
1200
f n 5 Hz , Z 0.05 mm , 0, N 1200 rpm f
20 Hz
60
Solution :

f
20
The ratio of frequencies r
=

4
n f n 5
The ratio of amplitudes (relative motion) is ;
Z
r2
r2

2
2
2
2
B

(1

r
)
(1 r ) (2 r )

as =0

Z
42
0.05

1.067 Hence B 0.047 mm

2
B
(4 1)
B
The amplitude of machine is 0.047 mm.
8

Numerical Problem 2

A vibrometer indicates 2 percent error in

measurement and its natural frequency is 5
Hz. If the lowest frequency that can be
measured is 40 Hz, find the value of damping

factor.

Data : f n 5 Hz, f 40 Hz, Error 2%

Solution :

f
40
The ratio of frequencies r
=

8
n f n 5
The ratio of amplitudes (relative motion) is ;
2

Z
r

B
(1 r 2 ) 2 (2 r ) 2
1.02

Z
As error is 2%, 1.02
B

(1 82 ) 2 (2 8) 2

= 0.35
10

Numerical Problem 3

A commercial vibration pick-up has a natural

frequency of 5.75 Hz and a damping factor of 0.65.

What is the lowest frequency beyond which the

amplitude can be measured with in

(a) 1% error

(b) 2% error.

11

Data : f n 5.75 Hz, 0.65

Z
Solution : When the error is 1%, 1.01
B
r2
1.01
(1 r 2 ) 2 (2 0.65 r ) 2
i.e. 0.02 r 4 0.31r 2 1 0
r 3.30 and 2.14
In between r 3.3 & 2.14, error is more than 1%.
The lowest value of r beyond which the amplitude can be measured
f
f
within 1% error is r = 3.30. But r
3.3
f 19 Hz
fn
5.75
i.e. the lowest frequency beyond which the amplitude can be measured
within 1% error is 19 Hz.
12

Solution : When the error is 2%,

1.02

r2
(1 r ) (2 0.65 r )
2 2

Z
1.02
B

0.04 r 4 0.31r 2 1 0, r becomes imaginary.

Z
Hence take 0.98 i.e. 0.04 r 4 0.31r 2 1 0
B
r 1.565 (only possible value)
But r

f
f
1.565
f 9 Hz
fn
5.75

i.e. the lowest frequency beyond which the amplitude can be measured
within 2% error is 9 Hz.
13

Critical speed of shafts (Whirling or whipping speed)

Critical speed of a rotating shaft is the speed at which

the shaft starts to vibrate violently in the transverse

direction.

At these speeds, large amount of force is transmitted

to the foundation or bearings & cause failure of the

same.

Hence it is very important to determine the critical

speed range and avoid such speeds either by keeping
the operating speed well below or above that value by
quickly crossing over the critical speed.

14

Critical speed of shaft with a single rotor (without damping)

Critical speed may occur because of eccentric mounting

of the rotor, non uniform distribution of rotor material,

bending of shaft, etc.
Let us consider a shaft rotating horizontally between

bearing A & B as shown in fig.

Undeflected position
O

A
y
e

S
G

Deflected position

15

Critical speed of shaft with a single rotor (without damping)

Undeflected position
O

A
y
e

S
G

Deflected position

The shaft being of neglegible weight, carries a disc of mass m.

O is the point on axis of rotation, S is the coincident point on the shaft axis,
G is the center of gravity of the disc. If the disc is perfectly mounted without
any eccentricity, O, S & G will coincide. But it is only an ideal situation.
Let; k be the transverse stiffness of the shaft,
y be the dynamic amplitude of vibration the shaft, ( radial distance OS )
e be the eccentricity of disc from shaft axis, ( radial distance SG )

be the angular velocity of the shaft.

16

Critical speed of shaft with a single rotor (without damping)

Undeflected position
O

A
y
e

S
G

Deflected position

Considering equilibrium of the shaft, the centrifugal force acts

radially outwards through the center of gravity G of the disc &
the restoring force due to stiffness acts radially inwards through S.
i.e. m 2 ( y e) ky 0. Rearranging the terms,
2
y
m

(k m 2 ) y m 2 e
e (k m 2 )
17

Critical speed of shaft with a single rotor (without damping)

Taking k as common factor in the denominator,
m 2

k
y
m 2

e
m 2 m 2
k 1
1

k
k

2
2

y
But k mn2 , n 2
e
1 2
n

y
r2

where
r

frequencyratio

e 1 r 2
n
When r 1, i.e. n , amplitude y becomes infinite. This frequency of the shaft
is called critical frequency & it is equal to natural frequency of transverse vibrations.
60 n
Hence, critical speed (or whirling speed) N c
60 f n rpm, where;
2

g
, being the static deflection of the shaft under the weight of mass m.

18

Important notes for calculation of static deflection of beams

Taking k as common factor in the denominator,
m 2

k
y
m 2

e
m 2 m 2
k 1
1

k
k

2
2
n
y

2
But k mn ,
e 2
1 2
n

y
r2

where
r

frequencyratio

e 1 r 2
n
When r 1, i.e. n , amplitude y becomes infinite. This frequency of the shaft
is called critical frequency & it is equal to natural frequency of transverse vibrations.
60 n
Hence, critical speed (or whirling speed) N c
60 f n rpm, where;
2

g
, being the static deflection of the shaft under the weight of mass m.

19

Discussion on critical speeds (without damping)

Case (i): When =n (r =1) Forcing frequency coincides with the natural frequency of
transverse vibration of the shaft. y/e approaches infinity i.e., the deflection of geometric
centre of the disc tends to infinity.
The disk has a tendency to fly out, if the damping is insufficient. There will be severe
vibrations of the shaft thereby producing huge bearings reactions.
Case (ii): < n, r < 1

y/e = is positive. The deflection y and eccentricity e are in the same sense. This condition
of disc is referred as Heavy side outwards i.e.,. The disc rotates with heavy side outside.
Thus S will lie between O and G. Positive sign indicates that y is in phase with centrifugal
force.

Case (iii): When > c, r > 1

y/e = negative, the deflection y and the eccentricity e are in opposite sense. This condition of
the disc is referred as Heavy side inwards. G falls between O and S. Negative sign

indicates that y is out of phase with centrifugal force.

20

S
y

G
y

< n, r < 1, heavy side outside

S
e

>n, r > 1, heavy side inside

21

Numerical Problem 1
(Critical speeds with out damping)
A rotor has a mass of 12 Kg and is mounted midway on a
horizontal shaft of 24 mm simply supported at the ends by
two bearings. The bearings are 1 m apart. The shaft rotates
at 1200 rpm. The mass center of the rotor is 0.11 mm away
from the geometric center of the rotor due to certain

manufacturing errors. Determine the amplitude of steady

state vibrations and dynamic force transmitted to the

bearings if E = 200 GN/m2.

22

Data :
m 12 kgs, l 1 m, d 24 mm, E 200 GPa, e 0.11 mm, N 1200 rpm
Solution :
Static deflection for a simply supported beam with a central point load;
mgl 3

48 EI

12 9.8113
-4

7
.53

10
m
4
0.024
9
48 200 10

64

g
9.81
Natural frequency n =

114.14 rad / sec

4

7.53 10
2 N 2 1200
Operating frequency

125.66 rad / sec

60
60
125.66
Ratio of frequencies r =
1.1
114.14
Stiffness of spring k = mn2 = 12 114.142 156335 N / m
23

Damping ratio = 0 (undamped).

r 2e
(1.1) 2 0.11
Amplitude of shaft, y =

0.634 mm
2
2
1 r
(1 1.1 )
ve sign indicates the displacement is out of phase with centrifugal force.
Dynamic load on shaft ky 156335 (0.634 103 ) 99.12 N
Total load on shaft, W = Dead load Dynamic load
W (12 9.81) 99.12 216.84 N
W 216.84
Load on each bearing
108.42 N
2
2

24

Numerical Problem 2
A shaft of 14 mm and the length 1.2 m is held in long
bearings. It carries a rotor of 16 Kgs at its midspan. The

eccentricity of the mass center of the rotor from the shaft

center is 0.4 mm. The shaft is made of steel for which E =
200 GN/m2 and permissible stress is 70 MPa.

Determine the critical speed of the shaft and range of

speed over which it is unsafe to run the shaft when;

(a) the shaft is horizontal

(b) the shaft if vertical.
25

Data :
m 16 kgs, l 1.2 m, d 14 mm, E 200 GPa, e 0.4 mm, 70 MPa
Solution :
Shaft is supported in long bearings fixed ends
Static deflection of a beam with both ends fixed with a central point load;
mgl 3

192 EI

16 9.811.23
-3

3.75

10
m
4
0.014
192 200 109

64

Natural frequency n =

g
9.81

51.18 rad / sec

3

3.75 10

Stiffness of spring k = mn2 = 16 (25.6) 2 41910 N / m

60 51.18
Critical speed n 51.18 rad / sec
489 rpm
2

26

Deflection due to dynamic load :

Given the bending stress 70 MPa,
32 M b
32 M b
i.e.
70
3
d
143
Bending moment on shaft M 18857.4 N - mm
Wbl
Wb 1200
For a shaft with fixed ends, M b =
18857.4
8
8
Additional bending load on shaft Wb 125.7 N

3.75
Additional deflection
Wb
125.7 3 mm
16 9.81
mg
27

Range of unsafe speeds of operation :

(i) When the shaft is vertical : ( static deflection due to disc weight neglected )
Amplitude y 3 mm.

y
r2
3
r2

2
e (1 r )
0.4 (1 r 2 )

Taking +ve sign, r 0.94

N
0.94,
Nc

Hence operating speed N 0.94 489 459 rpm.

Taking ve sign, r 1.074

N
1.074,
Nc

Hence operating speed N 1.074 489 525 rpm.

unsafe speed range is from 459 rpm & 525 rpm, as stress exceeds 70 MPa
28

(ii) When the shaft is horizontal : ( static deflection due to disc weight considered )
y
r2
6.75
r2
Amplitude y (3 3.75)=6.75 mm.

2
e (1 r )
0.4 (1 r 2 )
Taking +ve sign, r 0.972

N
0.972, N 0.972 489 475 rpm.
Nc

Taking ve sign, r 1.03

N
1.03, N 1.074 489 504 rpm.
Nc

Hence it is unsafe to operate the shaft between

475 rpm & 504 rpm, as the stress exceeds 70 MPa.

29

Critical speed of shaft with a single rotor (with damping)

O

A
y

ky

S
c y
G'

G
m x

When the damping force is present, the center of gravity G

will not be in line with O & S. The centrifugal force acts
through G at an angle to the vertical as shown.
Phase angle b/n amplitude y and eccentrcity e is .
30

A
ky

S
c y
G'

Resolving the forces horizontally, m 2 x sin c y

G
m x

From the fig, x sin e sin . Substituting,

(m2 e)sin = cy

(i)

Resolving the forces vertically, m 2 x cos ky

From the fig, x cos ( y e cos ).
Substituting, m 2 ( y e cos ) ky
(m2 e) cos = y(k - m 2 )

(ii)

31

A
y

ky

S
c y
G'

G
m x

Squaring & adding (i) & (ii), we get,

(m 2 e) 2 (sin 2 cos 2 ) y 2 (k m 2 ) 2 (c ) 2
y
m 2
r2

2
2
2
e
(k m ) (c )
(1 - r 2 )2 + (2r)2
Note :
(i) Dynamic force on the bearings (ky ) 2 (c y ) 2 i.e. FD = y (k 2 + (c)2
2r
(ii) Phase angle between amplitude y & eccentricity e, = tan -1
2
1 - r 32

Discussion on critical speeds (without damping)

Case (i): When =n (r =1) and 900
Forcing frequency coincides with the natural frequency of transverse vibration of the shaft.

y/e becomes maximum. i.e., the deflection of geometric center of the disc tends to infinity
in absence of damping. It is called critical speed.
Case (ii): < n, r < 1, and 0 < 900
y/e = is positive. The deflection y and eccentricity e are in the same sense. This condition
of disc is referred as Heavy side outwards i.e.,. The disc rotates with heavy side outside.

Case (iii): When > n, r > 1, and 900 < 1800

y/e = negative, the deflection y and the eccentricity e are in opposite sense. This condition of
the disc is referred as Heavy side inwards.
33

Numerical Problem 1
(Critical speeds with damping)
A disc of mass 5 kg is mounted midway between two
simple bearing supports which are 480 mm apart, on a
horizontal steel shaft 9 mm in diameter. The CG of the disc
is displaced by 3 mm from its geometric center. Equivalent
viscous damping at the center of the disc is 49 Ns/m. If the

shaft rotates at 760 rpm, determine the maximum stress in

the shaft. Also compare it with the dead load stress in the

shaft. Take E= 200 GPa.

34

Data : m 4 kgs, l 480 mm, d 9 mm, E 200 GPa, e 3 mm

c 49 Ns / m, N 760 rpm
Solution : Static deflection for a simply supported beam
mgl 3

48 EI

4 9.81 0.483
-3

1.4

10
m
4
0.009
48 200 109

64

g
9.81
Natural frequency n =

83.6 rad / sec

1.4 103
2 N 2 760
79.6
Operating frequency

79.6 rad / sec r =

0.952
60
60
83.6
Stiffness of spring k = mn2 = 4 83.62 27956 N / m
Damping ratio =
Amplitude y =

c
49
=
0.0733
2mn 2 4 83.6
r 2e

(1 r ) (2 r )
2 2

(0.952) 2 3
(1 0.952 ) (2 0.0733 0.952)
2 2

16.17 mm
35

Dynamic load on shaft :

Fd y k 2 (c ) 2 16.17 103 279562 (49 79.6) 2 456.43 N
Total load on shaft, W = Dead load Dynamic load
W (4 9.81) 456.43 496 N
Wl
496 0.48
32 32

32 M
4
4

831.64 MPa
Max bending stress

d3
d3
(0.009)3
Bending stress considering only disc weight (dead load) :
Weight of disc mg (4 9.81) 39.24 N
39.24 0.48
32

32 M '
4

65.8 MPa
'

d3
(0.009)3
Max bending stress under dynamic condition 831.64

12.64
Max bending stress under static condition
65.8
36