Fundamentals of Vibration

History of Vibration
Strings (Music)
Egyptians
Pythagoras: Monochord
Vitruvius acoustic properties of theater
Seismograph
Zhang Heng
History of Vibration
Laws of Vibrating String
Galileo simple pendulum, resonance

Hooke relation between pitch and frequency

Sauveur modes shapes and nodes, harmonics
Equation of Motions- Vibrating Body
Newton - Newtons Second Law
Taylor Taylors Theorem
History of Vibration
Principle of Superposition
Bernoulli
Thin Beam Theory
Euler-Bernoulli
Analytical Solution of Vibrating String
Lagrange
Torsional Oscillations
Coulomb
History of Vibration
Theory of Vibrating Plates

Vibration of Flexible Membrane

Thick Beam Theory
Timoshenko
History of Vibration
Thick Plates
Mindlin
Nonlinear
Poincare pertubation
Lyapunov stability
Random
Lin and Rice
Crandall and Mark
Finite Element Method
Importance of the Study of
Vibration
Importance of the Study of
Vibration
Importance of the Study of
Vibration
 Importance of the Study of
Vibration on the good side!
vibratory conveyors, hoppers, sieves,
compactors, washing machines,
electric toothbrushes, dentist s
drills, clocks, and electric massaging
units.
 Basic Concepts
Vibration
Any motion that repeats itself after an
interval of time
Theory of Vibration
Deals with the study of oscillatory motions
of bodies and the forces associated with
them
 Basic Concepts
Vibratory System
Storing potential energy (spring)
Storing kinetic energy (mass)
Energy dissipation (damper)
 Basic Concepts
Degree of Freedom
The minimum number of independent
coordinates required to determine completely the
position of all parts of a system at any instant of
time defines the degree of freedom of the system
Generalized Coordinates
Coordinates necessary to describe the motion of a
system
 Basic Concepts
Discrete (Lumped) System
A system that can be describe using a finite
number of degree of freedom
Continuous (distributed)System
A system that can be describe using a infinite
number of degree of freedom
 Classification
Free Vibration
A system which after an initial disturbance
is left to vibrate on its own. No external
force acts on the system
Forced Vibration
A system subjected to an external force
resulting in a vibrating system
 Classification
Undamped
Damped
Linear
Nonlinear
Deterministic
Random
 Vibration Analysis Procedure
A vibratory system is a dynamic system for
which the variables such as the excitations
(inputs) and response (outputs) are time-
dependent. The response of a vibrating
system generally depends on the initial as
well as the external excitations.
Consider a simple model of the complex
physical model
 Vibration Analysis Procedure
Procedure
Mathematical Modeling
Derivation
of the governing
equations
Solution of the equations
Interpretation of the results
 Vibration Analysis Procedure
Mathematical Modeling
Represent all important features for the
purpose of deriving the mathematical
equations governing the system behavior
Simple as possible
Linear or Nonlinear
Great deal of engineering judgment
Sequential: First a crude or elementary model
and then a refined model including more
components and/or details
 Vibration Analysis Procedure
Derivation of Governing Equations
Use principle of dynamics and derive the
descriptive equations of a vibration system
The equation of motion is usually in the form of a
set of ordinary differential equations for a discrete
system and partial differential equations for a
continuous system
Linear or Nonlinear
Approaches: Newtons second law, Alamberts
principle, and principle of conservation of energy
 Vibration Analysis Procedure
Solution of the governing equations
Standard methods of solving DFQs
Ordinary
Partial
Laplace transform methods
Numerical methods
 Vibration Analysis Procedure
Interpretation of the Results
Displacements
Velocities
Accelerations
Elements
Springs
Mass/Inertial
Damping
 Vibration Analysis Procedure
Example
The following figure shows a motorcycle with
a rider. Develop a sequence of three
mathematical models of the system for
investigating vibration in the vertical direction.
Consider the elasticity of the tires, elasticity
and damping of the strut, masses of the
wheels, and elasticity , damping, and mass of
the rider
Vibration Analysis Procedure
Vibration Analysis Procedure
Vibration Analysis Procedure
 Vibration Analysis Procedure
Example
A reciprocating engine is mounted on a
foundation as shown in the following figure. The
unbalanced forces and moments developed in
the engine are transmitted to the frame and the
foundation. An elastic pad is placed between the
engine and the foundation block to reduce the
transmission of vibration. Develop two
mathematical models of the system using gradual
refinement of the modeling process.
Vibration Analysis Procedure
Vibration Analysis Procedure
Spring Elements
A linear spring is a type of mechanical link with
negligible mass and damping
The spring force is proportional to the amount of
deformation
F kx
The work done in deforming a spring is stored
as strain or potential energy in the spring
1 2
U 2
kx
Spring Elements
Actual spring are nonlinear

F kx
Spring Elements
Linearization process

F k x
Spring Elements
Elastic elements like beams also behave like
spring
F k x
Wl 3
st
3EI

W 3EI
k
st l3
Spring Elements
Combination of Springs
Spring in Parallel

W k1 st k2 st

W keq st

keq k1 k 2 L kn
Spring Elements
Combination of Springs
Spring in Series
st 1 2

W k1 1 W k2 2
W keq st

k1 1
k2 2
keq eq

keq keq
eq eq
1 2
k1 k2
keq keq 1 1 1 1
st st L
k1 k2
st keq k1 k2 kn
Spring Elements
Example
The figure shown the suspension system of a
freight truck with a parallel-spring arrangement.
Find the equivalent spring constant of the
suspension if each of the three helical springs is
made of steel with a shear modulus G = 80 x 109
N/m2 and has five effective turns, mean coil
diameter D = 20 cm, and wire d = 2 cm
keq 3k 120,000 N / m
Spring Elements
Example
Determine the torsional spring constant of the
steel propeller shaft
Spring Elements

kt12 kt 23
kteq 6.5997 106 N m / rad
kt12 kt23
Mass or Inertia Elements
Assumed to be a rigid
body
Gain or lose kinetic
energy whenever the
velocity changes
The work done on the
mass is stored in the
form of kinetic
energy
Discrete masses:
Point mass
Has translation only, therefore kinetic energy is

Rigid body
Has both translation and rotation, therefore kinetic energy is

46
For systems with 1DOF, equivalent mass is something
that conceptually is very similar to the equivalent
spring idea:
What would be the mass, associated with a generalized
coordinate that characterizes the DOF of the system, that would
lead to a kinetic energy identical to that of the actual system?

47
 Four steps:

STEP 1:
1 Identify the displacement variable of interest

STEP 2:
2 Write down the defining kinematic constraints

STEP 3:
3 Get equivalent mass/moment of inertia
Kinetic energy of actual system and that of the simplified 1-DOF system
(expressed in terms of the time derivative of displacement variable of
interest) should be the same

Step 4:
4 Get equivalent force/torque
Equate virtual power between actual system and the simplified 1-DOF
system in terms of the displacement variable of interest

Discussion serves as justification for need of equivalent mass. Examples covered later in the course. 48
Mass or Inertia Elements
Combination of masses
Translational Masses Connected by a Rigid
Bar

ll2
x&2 x&1
l1

ll3
x&3 x&1
l1
Mass or Inertia Elements
Translational Masses Connected by a Rigid
Bar
x&eq x&1
Equating the KE of the three-mass system to that of the
equivalent mass system

1 2 1 2 1 2 1 2
2
m1x 1
& 2 m2 x 2
& 2 m3 x 3
& 2 meq x eq
&
2 2
l2 l3
meq m1 m2 m3
l1 l1
Mass or Inertia Elements
Combination of masses
Translational Masses and Rotational Masses
Coupled Together
Equivalent translational mass T 1
mx& 2 1
2 J o &2
2
1
Teq 2
meq x&eq

x&eq x& & x& / R

2
1 1 x&
1
2
meq x& 2 2 mx& 2 2 Jo
R
Jo
m m
eq
R
Mass Elements
Example
A cam-follower mechanism is used to convert
the rotary motion of a shaft into the oscillating
or reciprocating motion valve. The follower
system consist of a pushrod of mass mp, a
rocker arm of mass mr, and mass moment of
inertia Jr , a valve of mass mv , and a valve
spring of negligible mass. Find the equivalent
mass of this cam-follower system by assuming
the location as (i) point A and (ii) point C
Mass Elements
T 1
2 mp x& p2 1
2 mv x&v2 1
2 J r &r 2 1
2 mr x&r2

1
Teq 2
meq x&eq
x&l2 x&l3 x&
x& p x& x&v x&r &
r
l1 l1 l1

Jr l22 l32
meq mp 2 mv 2 mr 2
l1 l1 l1
Mass Elements
In the figure find the
equivalent mass of the
rocker arm assembly
with respect to the x
coordinate
Mass Elements
In the figure find the
equivalent mass of the
rocker arm assembly
with respect to the x
coordinate
x xa
x1
b b
J0 &2
1 2 1 2 1
1
meq x& 2 2 &
x
m1 1 2 m2
&
x 2
2

2 2
a 1
meq m1 m2 J0
b b
In real life, systems dont vibrate forever, or if
they do, there should be something pumping
energy into the system

Energy initially associated with an oscillatory

motion is gradually converted to heat and/or
sound
This mechanism is known as damping

Most common damping mechanism:

Viscous Damping
Coulomb friction
Material or Solid or Hysteretic Damping

57
Experienced by systems vibrating in a fluid medium
such as air, water, oil

Resistance offered by the fluid to the moving body

causes energy to be dissipated
Amount of energy dissipated depends on:
Fluid viscosity
Vibration frequency
Relative velocity of the vibrating body wrt that of the fluid
Typically damping force is proportional to relative velocity
Shape (geometry) characteristics

58
The most common damping force expression:

Linear form, c is a constant coefficient, v is relative velocity

Why this expression?

Justify its use for damping force acting between
two plates with relative motion, viscous fluid in
between

59
Symbols used:
fluid viscosity
shear stress dev. in the fluid layer at a distance y of the fixed
plate
v plate relative horizontal velocity; no velocity in the vertical
direction
u velocity of intermediate fluid layers; assumed to change linearly

60
More precisely, through Coulomb friction

Several other friction models are in use beside

Coulomb friction

Well stick to the Coulomb model

Damping force is constant in magnitude and opposite to
relative velocity between bodies in contact
Proportional to the normal contact force between bodies
Caused by rubbing surfaces that are dry or without sufficient
lubrication

61
 Equations of Motion for

Friction here
FBD:

62
Materials are deformed, energy is absorbed and dissipated by the
material
Friction between internal planes, which slip and slide as the
deformations take place
Stress-strain diagram shows hysteresis loop, i.e.,

Area of this loop denotes energy lost per cycle due to damping
Rubber-like materials do this without permanent deformation 63
Dampers in Parallel

Dampers in Series
Example 1
Develop an expression for the damping
constant of the dashpot shown
Example 1
Using the shear stress and rate of fluid
flow,
d
F Dld Dl dy
dy dv
dy
d 2v
F Dldy
dy 2
4P
The pressure, p
D2

The pressure force,

4P
p Ddy
D2
Example 1
4P d 2v d 2v 4P
dy Dldy
dy 2 dy 2 D 2l

Integrating this equation twice and

using the boundary condition v=0 at y=0
and v=0 at y=d

2P y
v 2
( yd y 2 ) v0 1
D l d
The rate of flow,

4 2Pd 3 1
Q v Ddy D v0 d
0 6 D 2l 2
Example 1
The volume of the liquid flowing through
Q
v0 D2
4

Substituting,
2d
3 D 3l 1
D v0
P 3
4d

Writing P=cv, 3 D 3l 2d
c 3
1
4d D
Example 2
The force (F) velocity (x) relationship of
a nonlinear damper is given by
2
F &
ax& bx
where a and b are constant. Find the
equivalent linear linear damping constant
when the relative velocity is 5 m/s with
a=5 N s/m and b=0.2 N s2/m2
Example 2
F ax& bx& 2 5 x& 0.2x& 2
dF
F(x&) F x&0 x& x&0
dx& x& 0
at x&0 5 m / s,
F ( x&0 ) 5 5 0.2 25 30
dF
5 0.4x& 5 7
dx&
x&0
F(x&) 30 7(x& 5) 7 x& 5
F (x& ) 7x& ceq x& ceq 7N s/ m
Example 3
The damping constant (c) due to skin
friction drag of a rectangular plate
moving in a fluid of a viscosity is given
by
2
c 100 l d

Design a plate-like damper that provide

an identical damping constant for the
same fluid
Example 3

c 100 l 2 d

A
c
h

2
ld 1
100 l d c
h 100l
Periodic Motion: motion that repeats itself after an interval of time
is called the period of the function

Harmonic Motion: a particular form of periodic motion represented by a

sine or cosine function

Very Important Observation: Periodic functions can be resolved into a

series of sine and cosine functions of shorter and shorter periods (more
to come, see Fourier series expansion):

73
The motion with no friction of the system below (mass-spring
system) leads to a harmonic oscillation
Formally discussed in Chapter 2

Plot below shows time evolution of function

Nomenclature:

74
If displacement x(t) represented by a harmonic function, same
holds true for the velocity and acceleration:

Quick remarks:
Velocity and acceleration are also harmonic with the same frequency of
oscillation, but lead the displacement by /2 and radians, respectively

75
The need for complex numbers
Solve characteristic equation (concept to be introduced later):

Roots:

To make life simpler, use notation

Using notation, roots above become:

Incidentally, the following hold:

76
Representation of complex number z=a+bj provided below

Note that

Therefore,

77
Use Taylor expansion for sine and cosine

Sum up and interleave terms to get:

In other words, we got Eulers formula:

It follows that our complex number z can be expressed as 78

Multiplication

Division

Integer powers

79
Harmonic
Vectorial
Representation
vector OP
magnitude A

y Asin t
x Acos t
Harmonic
Using complex
number
r
Ae i t
X
r
Harmonic Motion
The displacement, velocity, and
acceleration;
i t
displaceme nt Re[ Ae ] Acos t
Harmonic Motion
Definition and terminology
Phase angle
Harmonic Motion
Definition and terminology
Natural frequency
Beats