Chapter 9

Vibrations

Part II.
D. Energy Methods
E. Undamped Forced Vibrations
F. Damped Free Vibrations
G. Damped Forced Vibrations
D. Energy Methods Conservation of energy:
T + V = const
1 2 1
mx + k(x + δ st )2 − mgx = const
2 2
1 2 1 2
mx + kx = const
2 2
Differentiating,
x + kxx = 0
mx
x + kx = 0
m

Physical meaning: a conservative

system will stabilized at a state
where its total energy is
minimum.
It is called the principle of
minimum total energy, or the
principle of virtual work.

Chapter 9, Page 17
Example
Conservation of energy:
T + V = const
1 1
mv 2 + I ω 2 + mg(b − bcosθ ) = const
2 2
1 1 2
m(bθ )2 + ( mb2 )θ 2 − mgbcosθ = const
2 2 3
5 2 2
mb θ − mgbcosθ = const
6
Principle of minimum total energy
5 2  
mb θθ + mgb(sin θ )θ = 0
3
3g
θ + sin θ = 0
5b

Chapter 9, Page 18
Problem 9.9 (Sample Problem 19.4, Page 1242)

Determine the period of small T + V = const

oscillations of a cylinder 1 1
mv 2 + I ω 2 + mgh = const
which rolls without slipping 2 2
2
inside a curved surface. 1 2 1 1 2 ⎡ (R − r)θ ⎤

m ⎡(R − r)θ ⎤⎦ + ( mr ) ⎢ ⎥
2 ⎣ 2 2 ⎣ r ⎦
+mg(R − r)(1 − cosθ ) = const
3
(R − r)θ 2 − g cosθ = const
4
Principle of minimum total energy
3
(R − r)θθ + g(sin θ )θ = 0
2
2g
θ + sin θ = 0
3(R − r)
3(R − r)
τ n = 2π
2g

Chapter 9, Page 19
Problem 9.10 (Problem 19.83, 8th edition)

T + V = const
⎡ 1 ⎛ lθ ⎞ 2 1 ml 2 ⎤ 1 5
( )
2
T = ⎢ m⎜ ⎟ + θ 2 ⎥ × 2 + m lθ = ml 2θ 2
⎢⎣ 2 ⎝ 2 ⎠ 2 12 ⎥
⎦
2 6
l(1 − cosθ )
V = mg × 2 + mgl(1 − cosθ ) = 2mgl(1 − cosθ )
2

5 2 2 5 
ml θ + 2mgl(1 − cosθ ) = const lθ + 2g sin θ = 0
6 3
5 2 6g
lθ − 2g cosθ = const θ + sin θ = 0
6 5l
θ θ
5  
lθθ + 2g(sin θ )θ = 0 5l
3 τ n = 2π = 1.586 s
6g

Chapter 9, Page 20
E. Undamped Forced Vibrations

P + W − T = ma W − T = ma
Pm sin(ω f t) + mg − k(δ st + x) = m
x mg − k(δ st + x − δ m sin ω f t) = m
x
x + kx = Pm sin ω f t
m x + kx = kδ m sin ω f t
m

Chapter 9, Page 21
 x + kx = Pm sin(ω f t)
m
Complementary solution:
xc = C1 sin ω nt + C2 cos ω nt
Particular solution:
x p = xm sin ω f t

Pm
where xm =
k − mω 2f
General solution
x = C1 sin ω nt + C2 cos ω nt + xm sin ω f t

The first two terms is the free vibration of the system.

It, in reality, will be damped out. The last term is then
maintained by the external excitation. It is called the
steady-state vibration of the system.

Chapter 9, Page 22
Steady-State Vibrations
Steady-state solution:
x = xm sin ω f t

1 Pm
where xm =
( )
2
1− ω f ωn k

When ω f = ω n , the amplitude becomes infinite.

The external excitation is said to be in resonance
with the system. In reality, the amplitude is
large but remains finite because of damping.
When ω f < ω n , the vibration is said to be in
phase with the external excitation.
When ω f > ω n , the vibration is said to be 180
out of phase with the external excitation.
Note: a = −ω 2f x , vm = ω f xm , am = ω 2f xm

Chapter 9, Page 23
Problem 9.11 (Sample Problem 19.5, Page 1253)

A motor of mass 200 kg is supported by k 600,000

four springs, each having a constant 150 (a) ω n = = = 54.8 rad/s = 523 rpm
m 200
kN/m. The unbalance of the motor is
equivalent to a mass of 30 g located 150 (b) 1200 rpm = 125.7 rad/s
mm from the axis of rotation. Determine Pm = 0.03(0.15)(125.7)2 = 71.1 N
(a) speed in rpm at which resonance will
occur, and 1 Pm
xm =
( )
2
(b) amplitude of the vibration at 1200 1− ω f ωn k
rpm.
1 71.1
=
( )
2
1 − 1200 523 600,000
= −0.2345(0.0001185)
= −0.0000278 m
= 0.0278 mm (180 out of phase)

Chapter 9, Page 24
Problem 9.12 (Problem 19.106, Page 1257)

k ω
let ω n = and r = f , then
m ωn
1 1 1
δ = ±15 , δ = ±18 , δ =?
1− r 2 m
1 − 2r 2 m
1 − 3r 2 m

Solution: 22.5 mm, 5.63 mm

Chapter 9, Page 25
Problem 9.13 (Problem 19.107, Page 1257)

mg ke g 9.81
ke = , ωn = = = = 14.007 rad/s
δ st m δ st 0.050
δm
(x ) =
( )
m B 2
1− ω f ωn

12
< 25
( )
2
1 − ω f 14.007

ω f < 10.10 rad/s or ω f > 17.04 rad/s

Chapter 9, Page 26
F. Damped Free Vibrations
W − T − cv = ma
mg − k(δ st + x) − cx = m
x
x + cx + kx = 0
m
General solution (assume c < cc = 2mω n )
c
− t
x = x0 e 2m
sin(ω d t + φ )
where
2
⎛ c⎞
ωd = ωn 1− ⎜ ⎟
⎝ cc ⎠

Chapter 9, Page 27
G. Damped Forced Vibrations

x + cx + kx = Pm sin(ω f t)
m
Steady-state solution:
x p = xm sin(ω f t − ϕ )

1 Pm
where xm =
2
⎡ ⎛ωf ⎞⎤ ⎡ ⎛ c ⎞⎛ωf ⎞⎤
2 k
⎢1 − ⎜ ⎟ ⎥ + ⎢2 ⎜ ⎟ ⎜ ⎟⎥
⎢⎣ ⎝ ω n ⎠ ⎥⎦ ⎢⎣ ⎝ cc ⎠ ⎝ ω n ⎠ ⎥⎦

⎛ c ⎞⎛ω ⎞
2⎜ ⎟ ⎜ f ⎟
⎝ cc ⎠ ⎝ ω n ⎠
ϕ = tan −1
2
⎛ω ⎞
1− ⎜ f ⎟
⎝ ωn ⎠

Chapter 9, Page 28