ME 440

Intermediate Vibrations
Spring 2009
Tu, January 20

Dan Negrut
University of Wisconsin, Madison

Before we get started

Today:

ME440 Logistics

Syllabus
Grading scheme

Start Chapter 1, Fundamentals of

Vibrations

HW Assigned: 1.79

HW due in one week

2

ME440

Course Objective

The purpose of the course is to develop the skills needed to

design and analyze mechanical systems in which vibration
problems are typically encountered. These skills include
analytical and numerical techniques that allow the student to
model the system, analyze the system performance and employ
the necessary design changes. Emphasis is placed on developing
a thorough understanding of how the changes in system
parameters affect the system response.

Catalog Description:

Analytical methods for solution of typical vibratory and balancing

problems encountered in engines and other mechanical systems.
Special emphasis on dampers and absorbers.
3

Course Outcomes

Students must have the ability to:

1. Derive the equations of motion of single and multi-degree of

freedom systems, using Newton's Laws and energy methods.

2. Determine the natural frequencies and mode shapes of single

and multi-degree of freedom systems.

3. Evaluate the dynamic response of single and multi-degree of

freedom systems under impulse loadings, harmonic loadings, and
general periodic excitation.

4. Apply modal analysis and orthogonality conditions to establish

the dynamic characteristics of multi-degree of freedom systems.

5. Generate finite element models of discrete systems to simulate

the dynamic response to initial conditions and external excitations.
4

Instructor: Dan Negrut

Polytechnic Institute of Bucharest, Romania

The University of Iowa, Iowa-City

Adjunct Assistant Professor, Dept. of Mathematics (2004)

Division of Mathematics and Computer Science, Argonne National Laboratory

Product Development Engineer 1998-2005

The University of Michigan

Ph.D. Mechanical Engineering (1998)

MSC.Software, Ann Arbor, MI

B.S. Aerospace Engineering (1992)

Visiting Scientist 2004-2005, 2006

The University of Wisconsin-Madison, Joined in Nov. 2005

Research: Computer Aided Engineering (tech. lead, Simulation-Based Engineering

Lab)
Focus: Computational Dynamics (http://sbel.wisc.edu)

Good to know

Time:

9:30-10:45 AM

Location:
3349EH (through end of Jan)
3126ME (after Feb. 1)

Office:

2035ME

Phone:

608 890-0914

E-Mail:

negrut@engr.wisc.edu

Grader:

Naresh Khude, khude@wisc.edu

6

ME 440 Fall 2009

Office Hours

Monday
2 4 PM
Wednesday 2 4 PM
Friday
3 4 PM

Text

S. S. Rao Mechanical Vibrations

Pearson Prentice Hall

Fourth edition (2004)

Well cover material out of first six chapters

On a couple of occasions, the material in the book will be

supplemented with notes

Available at Wendt Library (on reserve)

Paperback international edition available for $35 ($150 for

hardcover)

Other Tidbits

Handouts will be printed out and provided before each lecture

Lecture slides will be made available online

Good idea to organize material provided in a folder

Useful for PhD Qualifying exam, useful in industry

http://sbel.wisc.edu/Courses/ME440/2009/index.htm

Im in the process of reorganizing the class material

Moving from transparency to slide format

Grades will be maintained online at https://LearnUW.wisc.edu

Schedule will be updated as we go and will contain info about

Topics we cover
Homework assignments

Grading

Homework
+ Projects
40%
Exam 1 (Feb. 24)
20%
Exam 2 (Apr. 7)
20%
Exam 3 (May 7)
20%
Total

100%

NOTE:

Score related questions (homeworks/exams/projects) must be

raised prior to next class after the homeworks/exams/project is
returned.

Exam 3 will serve as the final exam and it will be comprehensive

10

Homework

Weekly if not daily homework

Assigned at the end of each class

Due at the beginning of the class, one week later
No late homework accepted

Two lowest score homeworks will be dropped

Grading

Each problem scored on a 1-10 scale (10 best)

For each HW an average will be computed on a 1-10 scale

Solutions to select problems will be posted at Learn@UW

11

Midterm Exams

Scheduled dates on syllabus

Tu, 02/24 covers chapters 1 through 3

Tu, 04/07 covers chapter 4 through 5
Th, 05/07 comprehensive, chapters 1 through 6

A review session will be offered prior to each

exam

One day prior to the exam, at 7:15PM

Will run about two hours long
Room: 3126ME
12

Final Exam

There will be no final exam

The third exam will be a comprehensive

exam

13

Scores and Grades

Score
94-100
87-93
80-86
73-79
66-72
55-65
<54

Grade
A
AB
B
BC
C
D
F

Grading will not be done

on a curve

Final score will be rounded

to the nearest integer prior
to having a letter assigned

86.59 becomes AB
86.47 becomes B

14

Prerequisite:
ME340

15

MATLAB and
Simulink

Integrated into every chapter in the text

You are responsible for brushing up on your MATLAB skills

Ill offer a MATLAB Workshop (outside class)

Friday, January 30 1 to 4 PM (room 1051ECB )

Topics covered: working in MATLAB, working with matrices, mfile: functions and scripts, for loops/while loops, if statements,
2-D plots
Actually it covers more than you need to know for ME440
Offered to ME students, seating is limited, register if you plan
to attend

Resources posted on course website

MATLAB workshop tutorial

16

ME440 Major Topics

Chapter 1 Fundamentals of Vibrations

Chapter 2 Free Vibrations of Single DOF Systems

Chapter 3 Harmonically Excited Vibration

Chapter 4 Vibration Under General Forcing

Conditions

Chapter 5 Two Degree of Freedom Systems

Chapter 6 Multidegree of Freedom Systems

17

This Course

Be active, pay attention, ask questions

A rather intense class

The most important thing is taking care of homework

Reading the text is important
The class builds on itself essential to start strong and
keep up

Your feedback is important

Provide feedback both during and at end of the semester

18

End: ME440 Logistics, Syllabus Discussion

Begin: Chapter 1 - Fundamentals of Vibration

19

Mechanical Vibrations: The

Framework

How has this topic, Mechanical Vibrations, come to be?

Just like many other topics in Engineering:

A physical system is given to you (you have a problem to solve)

You generate an abstraction of that actual system (problem)

In other words, you generate a model of the system

You apply the laws of physics to get the equations that govern the
time evolution of the model

You solve the differential equations to find the solution of interest

Post-processing might be necessary

20

Mechanical Vibrations: The Framework

(Contd)

21

Picture worth all the words on previous slide:

What is the problem here?

Both the mass-spring-damper system and the string system

lead to an oscillatory motion

Vibration, Oscillation:

Any motion that repeats itself after in interval of time

For the mass-spring-damper:

One degree of freedom system

Everything is settled once you get the solution x(t)

You get x(t) as the solution of an Initial Value Problem (IVP)

For the string:

An infinite number of degrees of freedom

You need the string deflection at each location x between 0 and L

You get the string deflection as a function of time and location based on
both initial conditions and boundary conditions solution of a set of
Partial Differential Equations

22

The Concept of Degree of

Freedom

Degree of Freedom

This concept means different things to different

people

In ME440:

The minimum number of coordinates (states,

unknowns, etc.) that you need to have in your model to
uniquely specify the position/orientation of each
component in your model
23

Type of Math Problems in

Vibrations

Two different problems lead to two different models

Lumped systems lead to ODEs

Continuous systems leads to PDEs

PDEs are significantly more difficult to solve

In this class, well almost exclusively deal with systems

that lead to ODE problems (lumped systems, discrete
systems)

See next slide

24

Typical ME440 Problem

Not only that we are going to mostly deal with ODEs, but they
are typically linear
Nonlinear ODEs are most of the time impossible to solve in close
form
You end up using a numerical algorithm to find an approximate
solution
Well work in the blue boxes

25

Linear or Nonlinear ODE

y& 4 y 0
&
y& 5 y y 2 t

&
y& sin y 5
2
&
&
&
y 5y y t

26

How Things Happen

In a oscillatory motion, one type of energy gets

converted into a different type of energy time and
again

Think of a pendulum

Potential energy gets converted into kinetic energy which

gets connected back into potential energy, etc.
Note that energy dissipation almost always occurs, so the
oscillatory motion is damped

Air resistance, heat dissipation due to friction, etc.

27

Vibration, the Characters in the Play

One needs elements capable of storing/dissipating various forms of

energy:

Springs capable of storing potential energy

Masses capable of acquiring kinetic energy

Damping elements involved in the energy dissipation

Actuators the elements that apply an external forcing or impose a

prescribed motion on parts of a system

NOTE: The systems (problems) that well analyze in 440 lead to

models based on a combination of these four elements

28

Springs

A component/system that relates a displacement to a force

that is required to produce that displacement

Physically, its often times a mechanical link typically

assumed to have negligible mass and damping

Well work most of the time with linear springs

29

NOTE: After reaching the yield point

A, even a linear spring stops behaving
linearly

Spring (Stiffness) Element

x1

x2

F
Hardening

Linear

Force
Softening

F is the force exerted by the spring

x1, x2 are the displacements of

spring end points

Spring deflection x= x2-x1

Linear springs:
F k x k x 2 x1

k = stiffness (units = N/m or lb/in)

Deflection
30

Energy Stored
(linear springs)

1
E k x 2
2

Springs Dont Necessarily Look Like Springs

Spring Constants of Common Elements
Ewh3
k 3
L

Gd 4
k
64nR 3

16Ewh3
k
L3

EA
k
L

4Ewh
L3

2Ewh3
k
L3
31

Example (Equivalent
Spring)

Assume that mass of beam is negligible in comparison with

end mass.
Denote by W=mg weight of the end mass
Static deflection of the cantilever beam is given by

The equivalent spring has the stiffness:

32

Springs Acting in Series

x

x
k1

k2

keq
F

Note that two springs are in series when:

a) They are experiencing the same tension (or compression)
b) Youd add up the deformations to get the total deformation x
Exercise: Show that the equivalent spring constant k eq is such that:

1
1 1

keq k1 k2

The idea is that you want to determine one abstract spring that has k e
that deforms by the same amount when its subject to F.
33

Springs Acting in Parallel

x

k1
k2

keq
M

Note that two springs are in parallel when:

a) They experience the same amount of deformation
b) Youd add up the force experienced by each spring to come up
with the total force F
Exercise: Show that the equivalent spring constant k eq is such that:

keq k1 k2
34

Equivalent Spring Stiffness

Another way to compute keq draws on a total

potential energy approach:

Example provided in the textbook

35