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FUNDAMENTALS OF
VIBRATIONS
BASIC CONCEPTS
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
VIBRATION IN ENGINEERING
PRACTICE
Good
Machine condition monitoring.
Vibrating sieves, mixers and tools.
Electric massaging units, dentist drills, electric
toothbrushes.
Bad
Noise, vibration and harshness (NVH).
Machinery and structural failures.
Motion sickness, white finger syndrome, etc.
MEMB343 Mechanical Vibrations
EXAMPLES OF VIBRATING
SYSTEM
SPRING ELEMENTS
Linear Spring
FS kx
Torsional Spring
M S kT
A spring is a mechanical link that is generally assumed to
have negligible mass and damping.
A force is developed in a spring whenever there is a
relative motion between two ends of the spring.
Work done in deforming a spring is stored as potential
energy in the spring.
MEMB343 Mechanical Vibrations
Linear Motion
F mx
Rotational Motion
M I
The mass or inertia element is assumed to be a rigid body.
A rigid bodys inertia is responsible for the resistance to
acceleration of a system.
Work done on a mass is stored in the form of kinetic
energy of the mass.
MEMB343 Mechanical Vibrations
2 2 2 2
The equivalent systems mass is therefore obtained
2 2
l2 l3
meq m1 m2 m3
l1 l1
MEMB343 Mechanical Vibrations
x
To obtain the equivalent rotational
mass
eq
MEMB343 Mechanical Vibrations
2
1 2 1 x 1 1 2 1 2 1
mx J 0 meq xeq
2
m r J 0 J eqeq
2
2 2 r 2 2 2 2
J0 J eq mr 2 J 0
meq m 2
r
MEMB343 Mechanical Vibrations
DAMPING ELEMENTS
Linear Damper
FD cx
Torsional Damper
M D cT
A damper is generally assumed to have negligible mass
and stiffness.
A force is developed in a damper whenever there is a
relative velocity between two ends of the damper.
The damper dissipates energy from a system in the form of
heat or sound.
MEMB343 Mechanical Vibrations
Viscous Damping
The damping force is proportional to the velocity of the
vibrating body.
Coulomb Damping
The damping force is constant in amplitude but opposite
the direction to that of the motion of the vibrating body.
Hysteretic Damping
The energy dissipated per cycle is proportional to the
square of the vibration amplitude.
MEMB343 Mechanical Vibrations
DEGREE OF FREEDOM
x
x
z
Unconstrained rigid body with 6 d.o.f.
z
MEMB343 Mechanical Vibrations
CLASSIFICATION OF VIBRATION
Free Vibration
Oscillation occurring at a natural frequency, after an initial
force input.
mx kx 0
mx cx kx 0
Forced Vibration
Oscillation occurring at the frequency of a driving force
input.
mx kx F (t )
mx cx kx F (t )
MEMB343 Mechanical Vibrations
Undamped Vibration
No energy is lost or dissipated in friction or other
resistance during oscillation.
mx kx 0
mx kx F (t )
Damped Vibration
Energy is lost or dissipated during oscillation.
mx cx kx 0
mx cx kx F (t )
MEMB343 Mechanical Vibrations
Linear Vibration
The cause (force) and effect (response) are proportionally
related. Principle of superposition holds.
Nonlinear Vibration
Relationship between cause and effect is no longer
proportional.
MEMB343 Mechanical Vibrations
Deterministic Vibration
The instantaneous values of the vibration amplitude at any
time (t) can be determined from mathematical expressions.
Random Vibration
Future instantaneous values of the vibration amplitude
cannot be predicted in a deterministic sense.
MEMB343 Mechanical Vibrations
EXAMPLE 1
EXAMPLE 1 (cont.)
D 4 d 4
IP
32
Torsional stiffness for the shaft is:
GI P G D d 4 4
kt
l 32l
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
26 10 0.15 0.1
9 4 4
0.207 10
ktA 6
Nm/rad
32 5
Shafts are in parallel, therefore:
keq ktS ktA 5.547 106 Nm/rad
MEMB343 Mechanical Vibrations
FUNDAMENTALS OF
VIBRATIONS
SIMPLE HARMONIC MOTION
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
INTRODUCTION
Multiplication z1 z2 A1 A2ei 1 2
z1 A1 i 1 2
Division e
z2 A2
z n An ein
Powers
1 1 i
z A e
n n n
MEMB343 Mechanical Vibrations
VIBRATION TERMINOLOGY
x lim xt dt
1 T
T T 0
The root mean square (rms) value is the square root of the
mean square value.
From the previous example for xt A sin t , the rms of
the sine wave of amplitude A is:
A
Arms 0.707 A
2
Vibration instrumentation generally measures root mean
square vibration amplitudes (displacement, velocity or
acceleration).
MEMB343 Mechanical Vibrations
EXAMPLE 1
EXAMPLE 1 (cont.)
xmax 2 xmax
From the above equation, we solve for the angular
frequency:
EXAMPLE 1 (cont.)
60 60 125.28
N 1196.3 rpm
2 2
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
INTRODUCTION
The vibration analysis procedure generally involves:
Mathematical modeling.
Derivation of governing equations.
Solution of the governing equations.
Interpretation of the results.
This lecture deals with the undamped free vibration
response of a single-degree-of-freedom system.
MEMB343 Mechanical Vibrations
v0 x0 n A cos n 0 n A cos
MEMB343 Mechanical Vibrations
n2 x02 v02 n x0
A tan 1
n v0
MEMB343 Mechanical Vibrations
ALTERNATIVE SOLUTIONS
m2 k 0
k k
j n j
m m
xt ae jnt xt ae jnt
The principal of superposition for linear systems states that
the sum of two solutions is also a solution, hence:
xt a1e jnt a2e jnt
a1 and a2 are complex-valued constants of integration.
MEMB343 Mechanical Vibrations
SOLUTIONS RELATIONSHIP
A2
A1 a1 a2 A2 a1 a2 j
A1 A2 j A1 A2 j
a1 a2
2 2
MEMB343 Mechanical Vibrations
EXAMPLE 1
EXAMPLE 1 (cont.)
GI P G D 4 d 4
kt
l 32l
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
40 10 0.04 0.03
9 4 4
3436.1 Nm/rad
ktB
32 2
Shafts are in parallel, therefore:
keq ktS ktB 17926.7 Nm/rad
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
keq 17926.7
n 133.89 rad/s
J0 1
22
n 0.047 s
n 133.89
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
INTRODUCTION
ENERGY METHOD
T U 0
d T: kinetic energy
dt U: potential energy
RAYLEIGHS METHOD
EXAMPLE 1
x
x
SOLUTION TO EXAMPLE 1
Energy Method.
T mx lAr x
1 2 1 2
2 2
1 2 1 2 Axrg 2
U kx x
2 2 x
d
T U lArxx 2 Argxx 0
dt
2g 2g
x x 0 n rad / s
l l
MEMB343 Mechanical Vibrations
Newtons Law.
F mx
2 Axg r lArx
2g
x x 0
l
2g
n rad / s
l
MEMB343 Mechanical Vibrations
EXAMPLE 2
x
r k
SOLUTION TO EXAMPLE 2
Energy Method.
1 2 1 2 3 2 1 2
T mx J 0 mx J 0 mr
2 2 4 2
1 2 r x
U kx
2 r x
d
T U mxx kxx 0
3
dt 2
2k
3
mx kx 0 n rad / s
2 3m
MEMB343 Mechanical Vibrations
Newtons Law.
F mx kx
mx kx F f (1)
Ff
M J 0
J 0 F f r Insert (2) into (1) 3
mx kx 0
1 2 x 2
mr F f r
2 r
2k
1
F f mx
n rad / s
2 (2) 3m
MEMB343 Mechanical Vibrations
EXAMPLE 3
x
MEMB343 Mechanical Vibrations
SOLUTION TO EXAMPLE 3
1 2
Kinetic energy of the mass: Tm mx
2
1 2
Potential energy of the spring: U kx
2
1
Kinetic energy of the spring: Ts mlx 2
6
1 1 2
Total kinetic energy of the system: T m ml x
2 3
MEMB343 Mechanical Vibrations
k
n
meff
MEMB343 Mechanical Vibrations
EXAMPLE 4
SOLUTION TO EXAMPLE 4
3x x 3
y y max 4
l l
3x x 3
y y max 4
l l
MEMB343 Mechanical Vibrations
2 y x dx
1 2 m
Tmax 2
2 0 l
0.4857 m y max
1 2
Tmax
2
MEMB343 Mechanical Vibrations
meq 0.4857m
k
n
meff
k
n
M 0.4857 m
48 EI
n
l 3 M 0.4857 m
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
INTRODUCTION
OVERDAMPED SYSTEMS
1 n n 2 1
2 n n 2 1
The solution then becomes:
2 1 t 2 1 t
xt e
n n
nt
a1e
a2 e
MEMB343 Mechanical Vibrations
a1
v0 2 1 n x0
2 n 2 1
a2
v0 2 1 n x0
2 n 2 1
MEMB343 Mechanical Vibrations
UNDERDAMPED SYSTEMS
circular frequency.
The solution then becomes: xt e nt a1e jd t a2e jd t
MEMB343 Mechanical Vibrations
A
v0 n x0 2 x0 d 2 tan1 x0 d
d2 v0 n x0
MEMB343 Mechanical Vibrations
EXAMPLE 1
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
0 n 0 0d
2 2
d2
0 0.4355 20.94 0.035 0.035 18.85
2 2
18.852
0.039 rad
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
0d
tan
1
0 n 0
1 0.035 20.94
tan
0 0.4355 18.85 0.035
68.6
1.2 rad
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
t e n t
sin d t
0.039 e 0.435520.940.33 sin 18.85 0.33 1.2
0.0017 rad
0.097
MEMB343 Mechanical Vibrations
LOGARITHMIC DECREMENT
EXAMPLE 2
EXAMPLE 2 (cont.)
MEMB343 Mechanical Vibrations
EXAMPLE 2 (cont.)
EXAMPLE 2 (cont.)
0.693
0.11
2 2
Undamped natural frequency is then computed from:
d 31.416
n 31.608 rad/s
1 2 1 0.112
MEMB343 Mechanical Vibrations
EXAMPLE 2 (cont.)
500
k m 2
n 31.6082 50920.8 N/m
9.81
Damping constant of the foundation is:
500
c 2mn 2 31.608 0.11 354.4 Ns/m
9.81
MEMB343 Mechanical Vibrations
HARMONICALLY EXCITED
VIBRATION OF SINGLE-DEGREE-
OF-FREEDOM SYSTEMS
UNDAMPED FORCED VIBRATIONS
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
INTRODUCTION
EQUATION OF MOTION
k x
m F(t)
F0
x t A1 cos nt A2 sin nt 2
cos t
k m
MEMB343 Mechanical Vibrations
F0
A1 x0
k m 2
v0
A2
n
1
n
1
n
MEMB343 Mechanical Vibrations
MAGNIFICATION FACTOR
F0
X k
2
1
n
1
n
X/st vs. /n
0 / n 1 / n 1
RESONANCE
xt A1 cos nt A2 sin nt
f0
t sin nt
2 n
F0
f0
m
RESONANCE (cont.)
BEAT PHENOMENA
n2 2 4
MEMB343 Mechanical Vibrations
Substituting n 2 , n 2 and n2 2 4
into the general solution equation, we obtain:
F0
x t
m
sin t sin t
2
EXAMPLE 1
EXAMPLE 1 (cont.)
2f 2 5 31.42 rad/s
Static deflection is obtained from:
F0 100
st 0.025 m
k 4000
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
k
4000
m 2 9.1 kg
n 20.95 2
MEMB343 Mechanical Vibrations
EXAMPLE 2
EXAMPLE 2 (cont.)
2 2
b 5s
n 2 40 39.8
MEMB343 Mechanical Vibrations
HARMONICALLY EXCITED
VIBRATION OF SINGLE-DEGREE-
OF-FREEDOM SYSTEMS
DAMPED FORCED VIBRATIONS
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
EQUATION OF MOTION
k x
m F(t)
X k m 2 cos c sin cos t
X k m sin c cos sin t F cos t
2
0
MEMB343 Mechanical Vibrations
X k m 2 cos c sin F0
X k m sin c cos 0
2
MEMB343 Mechanical Vibrations
X
F0 1 c
tan
k m c
2 2 2
k m
2
MEMB343 Mechanical Vibrations
xt X 0 e nt sin 1 2 nt 0
F0
k
cos t
2 2
1 2
n n
MEMB343 Mechanical Vibrations
EXAMPLE 1
EXAMPLE 1 (cont.)
k 4000
n 20 rad/s
m 10
Critical damping is given by:
cc 2mn 2 10 20 400 Ns/m
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
X0
v0 n x0 2 x0d 2
d2
0 0.05 20 0.012 0.0119.97 2
19.97 2
0.01 m
x0d 0.0119.97
0 tan1
tan 1
1.52 rad
v0 n x0 0 0.05 20 0.01
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
Determine from:
2r 1 2 0.05 0.5
tan
1
2
tan 0.067 rad
1 r 1 0.5
2
HARMONICALLY EXCITED
VIBRATION OF SINGLE-DEGREE-
OF-FREEDOM SYSTEMS
RESPONSE DUE TO BASE EXCITATION
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
INTRODUCTION
mz cz kz my m 2Y sin t
y t Ye jt
z t Ze j t Ze j e jt
xt Xe j t
Xe e
j jt
MEMB343 Mechanical Vibrations
j m 2Y
Ze
k m 2 jc
Xe e
j jt
Ze j Y e jt
MEMB343 Mechanical Vibrations
Xe e
j jt
k j c jt
Ye
k m jc
2
MEMB343 Mechanical Vibrations
k 2 c
2
X
Y k m c
2 2 2
mc 3
tan
1
2
k k m c
2
MEMB343 Mechanical Vibrations
FORCE TRANSMITTED
F m 2 Xe j t FT e j t
MEMB343 Mechanical Vibrations
FT k 2 c
2 2 2
2 2
kY n k m c 2
FT
The ratio kY is known as the Force Transmissibility.
The transmitted force F T is in phase with the motion of
the mass xt .
MEMB343 Mechanical Vibrations
EXAMPLE 1
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
1 2 1
2
4
1 1 2 1
2 2 2
64 2 1 4 2
0.129
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
3000
11.44 2 0.0025
9.81
2
2
11.44 902.6 11.44
3000
40000
2
9.81
0.0097 m
MEMB343 Mechanical Vibrations
HARMONICALLY EXCITED
VIBRATION OF SINGLE-DEGREE-
OF-FREEDOM SYSTEMS
RESPONSE DUE TO ROTATING
UNBALANCE
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
INTRODUCTION
me 2 c
X tan 1
2
k M c
2 2 2
k M
MEMB343 Mechanical Vibrations
EXAMPLE 1
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
TWO-DEGREE-OF-FREEDOM
SYSTEMS
EQUATIONS OF MOTION AND FREE
VIBRATION RESPONSE
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
INTRODUCTION
MATHEMATICAL MODELING
DEGREES OF FREEDOM
EQUATIONS OF MOTION
m1 0
m Mass Matrix
0 m2
c1 c2 c2
c Damping Matrix
c 2 c 2 c 3
k1 k 2 k2
k Stiffness Matrix
k2 k 2 k3
MEMB343 Mechanical Vibrations
F1 t
F t
F2 t
Force Vectors
MEMB343 Mechanical Vibrations
k X m k k X cost 0
2 1 2
2
2 3 2
m1 2 k1 k2 k2 X 1 0
k2 m2 k2 k3 X 2 0
2
MEMB343 Mechanical Vibrations
m k k
1
2
1 2 k2
0
det
k2 m2 k2 k3
2
MEMB343 Mechanical Vibrations
4
2 m1m2 m1m2
MEMB343 Mechanical Vibrations
x1 t X 1 cos t
x2 t X 2 cos t
X 21 m112 k1 k 2 k2
r1 1
X1 k2 m212 k 2 k3
X 22 m1 22 k1 k 2 k2
r2 2
X1 k2 m2 22 k 2 k3
MEMB343 Mechanical Vibrations
1 2
The vectors X and X , which define the normal
modes of vibration, are known as the modal vectors of the
system.
MEMB343 Mechanical Vibrations
1 x11 t X 11 cos 1t 1
x t 1 1
x2 t r1 X 1 cos 1t 1
2 x12 t X 12 cos 2 t 2
x t 2 2
x2 t r2 X 1 cos 2t 2
MEMB343 Mechanical Vibrations
TWO-DEGREE-OF-FREEDOM
SYSTEMS
COORDINATE COUPLING AND SEMI-
DEFINITE SYSTEMS
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
COORDINATE COUPLING
STATIC COUPLING
DYNAMIC COUPLING
m ml1 x1 k1 k 2 k 2l x1 0
ml J k l 2
k2l 0
1 1 2
SEMI-DEFINITE SYSTEMS
2 m1m2 2 k m1 m2 0
MEMB343 Mechanical Vibrations
EXAMPLE 1
EXAMPLE 1 (cont.)
2 22 r 2
3
meq m
2
Since both mass are identical the equivalent masses are the
same.
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
mx1 k x1 x2 0
3
2
mx2 k x1 x2 0
3
2
EXAMPLE 1 (cont.)
2
The above equations in matrix form are:
3
2 m 2
k k X 1 0
3
k m 2 k X 2 0
2
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
9 2 4 6
m mk 2 0
4 2
9 2 2 6 2
m mk 0
4 2
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
TWO-DEGREE-OF-FREEDOM
SYSTEMS
FORCED VIBRATION RESPONSE
USING MODAL ANALYSIS
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
PRINCIPAL COORDINATES
T m T k T F (6)
MEMB343 Mechanical Vibrations
M D K D T F (9)
i is the ith column of the modal matrix i.e. the ith mode
shape.
M i and K i are the ith modal mass and the ith modal
stiffness, respectively.
MEMB343 Mechanical Vibrations
i i2i
Fi
i F
T
(11)
Mi i T mi
MEMB343 Mechanical Vibrations
EXAMPLE 1
10 x2 2 x1 2 4x2 0
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
5 4X 2 X e 0
2
1 2
jt
2 X 10 6X e 0
1
2
2
jt
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
5 2 / 5 2 4 2 X 1 0
2 2
10 2 / 5 6 X 2 0
2 X1 2 X 2 0
X1 X 2
X1
The mode shape for the natural frequency 1 is: 1 X
1
X 1 is arbitrary.
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
X1 2 X 2 0
X1
X2
2
The mode shape for the natural frequency 2 is:
X1
2
1
X / 2
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
1
2 2 1
1 / 2
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
EXAMPLE 2
EXAMPLE 2 (cont.)
1
2 1 2
1 / 2
Thus the modal matrix using the natural mode shapes is:
1 1
1 1 / 2
MEMB343 Mechanical Vibrations
EXAMPLE 2 (cont.)
5 0 1 T 4 2 1 T F1
T
0 10 2 2 6 2 F2
MEMB343 Mechanical Vibrations
EXAMPLE 2 (cont.)
1 1 4 2 1 1 6 0
k
T
1 1 / 2 2 6 1 1 / 2 0 15 / 2
MEMB343 Mechanical Vibrations
EXAMPLE 2 (cont.)
EXAMPLE 2 (cont.)
EXAMPLE 2 (cont.)
x2 t 1 t 2 t
1
2
The preceding equation illustrates a very important
principle in vibration, namely that any systems motion in
physical coordinates can be written as the sum of its
motion in each principle mode in some proportion and
relative phase.
MEMB343 Mechanical Vibrations
EXAMPLE 2 (cont.)
EXAMPLE 2 (cont.)
LAGRANGES EQUATIONS
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
INTRODUCTION
GENERALIZED COORDINATES
LAGRANGES EQUATIONS
j 1, 2, 3,4........N
SINGLE-DEGREE-OF-FREEDOM
SYSTEM
For a single-degree-of-freedom-system, N 1 , and Eq. (1)
becomes:
d T T D V
Q1 (4)
dt q1 q1 q1 q1
SINGLE-DEGREE-OF-FREEDOM
SYSTEM (cont.)
For a single-degree-of-freedom system, the expressions for
T , V and D given in Eq. (3) become:
1 1 1 1 1
T m jn q j q n m11q12 me q12
2 j 1 n 1 2 2
1 1 1 1 1
D c jn q j q n c11q12 ce q12
2 j 1 n 1 2 2 (6)
1 1 1 1 1
V k jn q j qn k11q12 ke q12
2 j 1 n 1 2 2
SINGLE-DEGREE-OF-FREEDOM
SYSTEM (cont.)
Substituting the expressions for T , V and D given in
Eq. (6) into Eq. (4), we have:
1 2 1 2 1 2 1 2
m
q m q c q k q
d 2 e 1 2 e 1 2 e 1 2 e 1
Q1
dt q1 q1 q1 q1
(7)
d
me q1 0 ce q1 ke q1 Q1
dt
me q1 ce q1 ke q1 Q1
MEMB343 Mechanical Vibrations
SINGLE-DEGREE-OF-FREEDOM
SYSTEM (cont.)
For the case of free vibration, Q1 0 , and the last of Eq.
(7) becomes:
me q1 ce q1 ke q1 0 (8)
EXAMPLE 1
x
r k
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
EXAMPLE 2
EXAMPLE 2 (cont.)
d T T D V
0
dt q1 q1 q1 q1
EXAMPLE 2 (cont.)
mb2
Mass moment of inertia of the rod about O is J O .
3
2
1 2 1 ca
D cxd c a 2
2
2 2 2
MEMB343 Mechanical Vibrations
EXAMPLE 2 (cont.)
V kxs k b
1 2 1 kb2 2
2
2 2 2
EXAMPLE 2 (cont.)
d mb2
0 ca 2 kb2 0
dt 3
mb2
ca 2 kb2 0
3
2 2
3ca 3 kb
2
2
0
mb mb
2
3ca 3k
2
0
mb m
MEMB343 Mechanical Vibrations
EXAMPLE 2 (cont.)
TWO-DEGREE-OF-FREEDOM SYSTEM
TWO-DEGREE-OF-FREEDOM SYSTEM
(cont.)
For a two-degree-of-freedom system, the expressions for
T , V and D given in Eq. (3) become:
1 2 2 1 1
T m jn q j q n m11q12 m12q1q 2 m22q 22
2 j 1 n 1 2 2
1 2 2 1 1
D c jn q j q n c11q12 c12q1q 2 c22q 22
2 j 1 n 1 2 2 (12)
1 2 2 1 1
V k jn q j qn k11q12 k12q1q2 k 22q22
2 j 1 n 1 2 2
TWO-DEGREE-OF-FREEDOM SYSTEM
(cont.)
Substituting the expressions for T , V and D given in
Eq. (12) into the first of Eq. (10), we have:
1 1 2 1 1
m11q1 m12q1q2 m22q2 m11q1 m12q1q2 m22q 22
2
2
d 2 2 2 2
dt q1 q1
1 2 1 2 1 1
c11q1 c12q1q 2 c22q 2 k11q1 k12q1q2 k 22q22
2
(13)
2 Q
2 2 2
q1 q1
1
d
m11q1 m12q2 0 c11q1 c12q2 k11q1 k12q2 Q1
dt
m11q1 m12q2 c11q1 c12q 2 k11q1 k12q2 Q1
MEMB343 Mechanical Vibrations
TWO-DEGREE-OF-FREEDOM SYSTEM
(cont.)
Substituting the expressions for T , V and D given in
Eq. (12) into the second of Eq. (10), we have :
1 1 2 1 1
m11q1 m12q1q2 m22q2 m11q1 m12q1q2 m22q 22
2
2
d 2 2 2 2
dt q 2 q2
1 2 1 2 1 1
c11q1 c12q1q 2 c22q 2 k11q1 k12q1q2 k 22q22
2
(14)
2 Q
2 2 2
q 2 q2
2
d
m12q1 m22q2 0 c12q1 c22q2 k12q1 k22q2 Q2
dt
m12q1 m22q2 c12q1 c22q 2 k12q1 k 22q2 Q2
MEMB343 Mechanical Vibrations
TWO-DEGREE-OF-FREEDOM SYSTEM
(cont.)
Eqs. (13) and (14) represent the equations of motion for a
two-degree-of-freedom system.
TWO-DEGREE-OF-FREEDOM SYSTEM
(cont.)
In matrix form, Eq. (15) is expressed as:
M q C q K q Q (16)
m11 m12 q1
M q
12
m m22 q2
q1
q
c11 c12 q 2
C
12 22
c c q1
q
q 2
k11 k12 Q1
K Q
12 22
k k Q2
MEMB343 Mechanical Vibrations
EXAMPLE 3
EXAMPLE 3 (cont.)
EXAMPLE 3 (cont.)
EXAMPLE 3 (cont.)
V k1 x L1 sin k2 x L2 sin
1 2 1 2
2 2
EXAMPLE 3 (cont.)
EXAMPLE 3 (cont.)
mx k1 x L1 k 2 x L2 0
J k1 L1 x L1 k 2 L2 x L2 0
m 0 x k1 k 2 k1L1 k2 L2 x
0 J k L k L 2
k1L1 k2 L2
2
0
1 1 2 2
MEMB343 Mechanical Vibrations
EXAMPLE 4
EXAMPLE 4 (cont.)
d T T D V
M O t
dt
MEMB343 Mechanical Vibrations
EXAMPLE 4 (cont.)
2 2
EXAMPLE 4 (cont.)
k1 x k2 x r
1 2 1
V
2
2 2
MEMB343 Mechanical Vibrations
EXAMPLE 4 (cont.)
1 1 2 1 1 2
T m1 x J O
2
T m1 x J O
2
2 2 2 2
T T
0 0
x
T T
m1 x J O
x
d T d T
m1 x J O
dt x dt
MEMB343 Mechanical Vibrations
EXAMPLE 4 (cont.)
1 1
D c1 x 2 c2 x r
2 2
2 1 1
D c1 x 2 c2 x r
2 2
2
D
x
c1 x c2 x r
D
c 2
r
r
x
D D
c1 c2 x rc2 rc
x r 2
c
x
2 2
MEMB343 Mechanical Vibrations
EXAMPLE 4 (cont.)
k1 x k 2 x r k1 x k 2 x r
1 2 1 1 2 1
V V
2 2
2 2 2 2
V V
k1 x k 2 x r k 2 r x r
x
V V
k1 k 2 x rk2 rk2 x r 2 k 2
x
MEMB343 Mechanical Vibrations
EXAMPLE 4 (cont.)
VIBRATIONS OF
CONTINUOUS SYSTEM
TRANSVERSE VIBRATION OF A
STRING OR CABLE
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
INTRODUCTION
An infinite number of coordinates are necessary to specify
the position of every particle in elastic bodies, and such
bodies therefore possesses an infinite number of degrees of
freedom.
In general the free vibration of these bodies is the sum of
the principal modes.
If the elastic curve of the body under which the motion is
started coincides exactly with one of the principal modes,
only that principal mode will be produced.
However, the elastic curve resulting from a blow or a
sudden removal of forces seldom corresponds to that of a
principal mode, and thus all modes are excited.
MEMB343 Mechanical Vibrations
GENERAL ASSUMPTIONS
WAVE EQUATION
2 y
T dx T dx 2 (1)
x dt
Y x 0
c
2
dx
(6)
d G t
2
2
2
G t 0
dt
MEMB343 Mechanical Vibrations
n 1,2,3,.......
EXAMPLE 1
EXAMPLE 1 (cont.)
T 35000
c 108.01 m/s
3
VIBRATIONS OF
CONTINUOUS SYSTEM
LONGITUDINAL VIBRATION OF A
BAR OR ROD
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
GENERAL ASSUMPTIONS
GOVERNING EQUATIONS
2u P
AE 2 (2)
x x
MEMB343 Mechanical Vibrations
E
c
EXAMPLE 1
EXAMPLE 1 (cont.)
For such a bar, the stress at the ends must be zero.
Since the stress is given by the equation Eu / x , the unit
strain at the ends must also be zero, that is:
u
0 at x 0, and x l
x
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
The two equations corresponding to these boundary
conditions are therefore:
u
A C sin t D cost 0
x x 0 c
u l l
A cos B sin C sin t D cost 0
x x l c c c
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
nl
nl ,2 ,3 ,......n
c E
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
VIBRATIONS OF
CONTINUOUS SYSTEM
TORSIONAL VIBRATION OF A SHAFT
OR ROD
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
GENERAL ASSUMPTIONS
GOVERNING EQUATIONS
T T
T dx T dx (2)
x x
Inserting the net torque from Eq. (2) into Eq. (1), we have:
T 2
dx I PG 2 dx (3)
x x
MEMB343 Mechanical Vibrations
2 G 2
2 (5)
t x
2
MEMB343 Mechanical Vibrations
x A sin x B cos x
c c (8)
G t C sin t D cost
EXAMPLE 1
SOLUTION TO EXAMPLE 1
VIBRATIONS OF
CONTINUOUS SYSTEM
LATERAL VIBRATION OF BEAMS
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
INTRODUCTION
GENERAL ASSUMPTIONS
MATHEMATICAL MODEL
GOVERNING EQUATIONS
d2y
V p x dx V dV dx 2
dt
d2y
p x dx dV dx 2 (1)
dt
d2y
px
dV
2
dx dt
2
Since dx is a differential length, the higher order terms
containing dx 2 can be neglected.
dM Vdx 0
dM (3)
V
dx
MEMB343 Mechanical Vibrations
EI d 4Y x d 2G t
G t Y x
dx 4
dt 2
(9)
1 EI d Y x
4
1 d G t 2
Y x dx 4
G t dt 2
MEMB343 Mechanical Vibrations
d 4Y x
4
4
Y x 0
dx
d 2G t
(11)
2
2
G t 0
dt
2
From the relationship
4
, we can determine the
EI
natural frequencies.
nl
EI EI
n 2 2
(13)
l 4
n
MEMB343 Mechanical Vibrations
EXAMPLE 1
EXAMPLE 1 (cont.)
y0
At x 0 d2y
M dx 2 0
y0
At x l d2y
M dx 2 0
MEMB343 Mechanical Vibrations
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
The natural frequencies are therefore:
2 3
2 2 2
EI EI EI
0, , , ........rad/s
l l l
0 , 0 is a trivial solution because the beam is at
rest.
The first natural frequency and the first mode shape are:
1 / l EI / rad/s y D sin x / l
2
EXAMPLE 1 (cont.)
MEMB343 Mechanical Vibrations
VIBRATION CONTROL
VIBRATION ISOLATION
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
INTRODUCTION
Vibration isolation is a process by which the undesirable
effects of vibration are reduced.
This is achieved by the insertion of a resilient member
(isolator) between the source of vibration and the vibrating
object.
The objectives of an isolation system are to:
Protect a delicate object from excessive vibration transmitted
to it from its supporting structure.
Prevent vibratory forces generated by machines from being
transmitted to its surroundings.
MEMB343 Mechanical Vibrations
EFFECTIVENESS OF ISOLATORS
OBJECTIVES OF VIBRATION
ISOLATION SYSTEMS
TRANSMITTED FORCES
Ft t kx t cxt (1)
mx cx kx F0 sin t (3)
MEMB343 Mechanical Vibrations
1 c
tan (4b)
k m
2
MEMB343 Mechanical Vibrations
FT k 2 c 2 2
TR
k m
(7)
F0 2 2
c 2
MEMB343 Mechanical Vibrations
TR vs. /n
MEMB343 Mechanical Vibrations
TR vs. /n (cont.)
TR vs. /n (cont.)
mz cz kz my (9)
DISPLACEMENT TRANSMISSIBILITY
(TD)
The displacement transmissibility (TD), which is defined as
the ratio of the displacement of the mass to the
displacement of the base, is given as:
2
1 2
X n
TD (10)
2 2
Y 2
1 2
n n
It is evident that the expression for TD is identical to that of
TR.
MEMB343 Mechanical Vibrations
FT FT
TR (11)
F0 me 2
MEMB343 Mechanical Vibrations
Eqs. (11) and (8) yields the force transmissibility for the
case of rotating unbalance:
2
1 2
FT n
TR (12)
me 2
2 2 2
1 2
n n
MEMB343 Mechanical Vibrations
EXAMPLE 1
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
The positive root is: 2.28
n
EXAMPLE 1 (cont.)
EXAMPLE 2
EXAMPLE 2 (cont.)
EXAMPLE 2 (cont.)
X 1 2r 2 2
2
2
Y 1 r 2r
2
r
1
n
2.92 10 4 1 2 0.02r 2
2
0.003
1 r 2 0.02r
2 2 2
EXAMPLE 2 (cont.)
EXAMPLE 3
EXAMPLE 3 (cont.)
k 392400
n 44.29 rad/s
m 200
MEMB343 Mechanical Vibrations
EXAMPLE 3 (cont.)
EXAMPLE 3 (cont.)
m0 e r
2
X
m 1 r 2
0.02 2.84
2
200 1 2.84 2
11.42 10 5 m
MEMB343 Mechanical Vibrations
EXAMPLE 3 (cont.)
1
FT m0 e
2
1 r 2
2 1
0.02 125.66
1 2.84 2
44.7 N
MEMB343 Mechanical Vibrations
VIBRATION CONTROL
UNDAMPED DYNAMIC VIBRATION
ABSORBERS
MEMB343 Mechanical Vibrations
LEARNING OBJECTIVES
INTRODUCTION
EQUATIONS OF MOTION
x1 a1 sin t
(2)
x2 a2 sin t
MEMB343 Mechanical Vibrations
M 2
K k a1 ka2 P0
ka1 m k a2 0
2
(3)
MEMB343 Mechanical Vibrations
P0
x st static deflection of main system
K
k
a natural frequency of absorber
m
K
n natural frequency of main system
M
MEMB343 Mechanical Vibrations
n 1
2
1
2
4
1 2
2 2
1 1
(6)
a 2 2
MEMB343 Mechanical Vibrations
2
1 2
x1 a
sin t
x st 2
1
2
1
2 a2
a (8)
x2 1
sin t
x st 2 2
1 1
2 2
a a
MEMB343 Mechanical Vibrations
EXAMPLE 1
EXAMPLE 1 (cont.)
EXAMPLE 1 (cont.)
EXAMPLE 2
EXAMPLE 2 (cont.)
EXAMPLE 2 (cont.)
n
2 1 2
1
4 1 2 2 2 1 1
a 2 2
m a
and
M n
MEMB343 Mechanical Vibrations
EXAMPLE 2 (cont.)