Tenth Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

DYNAMICS
19 Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Mechanical Vibrations
Lecture Notes:
Brian P. Self
California Polytechnic State University

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 Vector Mechanics for Engineers: Dynamics
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Contents

Introduction Sample Problem 19.4

Free Vibrations of Particles. Simple Forced Vibrations
Harmonic Motion
Sample Problem 19.5
Simple Pendulum (Approximate
Damped Free Vibrations
Solution)
Damped Forced Vibrations
Simple Pendulum (Exact Solution)
Electrical Analogues
Sample Problem 19.1
Free Vibrations of Rigid Bodies
Sample Problem 19.2
Sample Problem 19.3
Principle of Conservation of Energy

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Because running in the International Space Station

might cause unwanted vibrations, they have installed a
Treadmill Vibration Isolation System.

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Introduction
Mechanical vibration is the motion of a particle or body which
oscillates about a position of equilibrium. Most vibrations in
machines and structures are undesirable due to increased stresses
and energy losses.
Time interval required for a system to complete a full cycle of the
motion is the period of the vibration.
Number of cycles per unit time defines the frequency of the vibrations.
Maximum displacement of the system from the equilibrium position is
the amplitude of the vibration.
When the motion is maintained by the restoring forces only, the
vibration is described as free vibration. When a periodic force is
applied to the system, the motion is described as forced vibration.
When the frictional dissipation of energy is neglected, the motion
is said to be undamped. Actually, all vibrations are damped to
some degree.
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Free Vibrations of Particles. Simple Harmonic Motion

If a particle is displaced through a distance xm from its
equilibrium position and released with no velocity, the
particle will undergo simple harmonic motion,
ma F W k st x kx
mx kx 0
General solution is the sum of two particular solutions,
k k
x C1 sin t C 2 cos t
m m
C1 sin n t C 2 cos n t
x is a periodic function and n is the natural circular
frequency of the motion.
C1 and C2 are determined by the initial conditions:
x C1 sin n t C 2 cos n t C 2 x0
v x C1 n cos n t C 2 n sin n t C1 v0 n
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Free Vibrations of Particles. Simple Harmonic Motion

x xm sin n t xm v0 n 2 x02 amplitude

tan 1 v0 x0 n phase angle
2
n period
n
1 n
fn natural frequency
n 2
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Free Vibrations of Particles. Simple Harmonic Motion

Velocity-time and acceleration-time curves can be
represented by sine curves of the same period as the
displacement-time curve but different phase angles.
x xm sin n t
v x
xm n cos n t
xm n sin n t 2
a x
xm n2 sin n t
xm n2 sin n t

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Simple Pendulum (Approximate Solution)

Results obtained for the spring-mass system can be
applied whenever the resultant force on a particle is
proportional to the displacement and directed towards
the equilibrium position.
Consider tangential components of acceleration and
force for a simple pendulum,
Ft mat : W sin ml
g sin 0
l

for small angles,

g
0
l
m sin n t
2 l
n 2
n g

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Simple Pendulum (Exact Solution)

g
An exact solution for sin 0
l
l 2 d
leads to n 4
g 0 1 sin 2 2 sin 2
m

which requires numerical

solution.
2K l
n 2
g

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Concept Question

The amplitude of a
vibrating system is
shown to the right.
Which of the following
statements is true
(choose one)?

a) The amplitude of the acceleration equals the amplitude of

the displacement
b) The amplitude of the velocity is always opposite (negative to)
the amplitude of the displacement
c) The maximum displacement occurs when the acceleration
amplitude is a minimum
d) The phase angle of the vibration shown is zero
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Sample Problem 19.1

SOLUTION:
For each spring arrangement, determine
the spring constant for a single
equivalent spring.
Apply the approximate relations for the
harmonic motion of a spring-mass
system.

A 50-kg block moves between vertical

guides as shown. The block is pulled
40mm down from its equilibrium
position and released.
For each spring arrangement, determine
a) the period of the vibration, b) the
maximum velocity of the block, and c)
the maximum acceleration of the block.
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Sample Problem 19.1

k1 4 kN m k2 6 kN m SOLUTION:
Springs in parallel:
- determine the spring constant for equivalent spring

- apply the approximate relations for the harmonic motion

of a spring-mass system
k 104 N/m
n 14.14 rad s
m 20 kg
2
n n 0.444 s
n

P k1 k2 vm x m n
P 0.040 m 14.14 rad s vm 0.566 m s
k k1 k2

4
10 kN m 10 N m am x m an2
0.040 m 14.14 rad s 2 am 8.00 m s 2

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Sample Problem 19.1

Springs in series:
k1 4 kN m k2 6 kN m
- determine the spring constant for equivalent spring
- apply the approximate relations for the harmonic motion
of a spring-mass system
k 2400N/m
n 6.93 rad s
m 20 kg
2
n n 0.907 s
n

vm x m n
P k1 k2 0.040 m 6.93 rad s vm 0.277 m s
P
k k1 k2 am x m an2

10 kN m 104 N m 0.040 m 6.93 rad s 2 am 1.920 m s 2

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Free Vibrations of Rigid Bodies

If an equation of motion takes the form
x n2 x 0 or n2 0
the corresponding motion may be considered
as simple harmonic motion.
Analysis objective is to determine n.
Consider the oscillations of a square plate
W b sin mb I

1 m 2b 2 2b 2 2 mb 2 , W mg
but I 12 3
3g 3g
sin 0
5b 5b
3g 2 5b
then n , n 2
5b n 3g
For an equivalent simple pendulum,
l 5b 3
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Sample Problem 19.2

SOLUTION:
From the kinematics of the system, relate
k the linear displacement and acceleration
to the rotation of the cylinder.
Based on a free-body-diagram equation
for the equivalence of the external and
effective forces, write the equation of
motion.
A cylinder of weight W is suspended Substitute the kinematic relations to arrive
as shown. at an equation involving only the angular
Determine the period and natural displacement and acceleration.
frequency of vibrations of the
cylinder.

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Sample Problem 19.2

SOLUTION:
From the kinematics of the system, relate the linear
displacement and acceleration to the rotation of the cylinder.
x r 2 x 2r

a r r a r
Based on a free-body-diagram equation for the equivalence of
the external and effective forces, write the equation of motion.
M A M A eff : Wr T2 2r ma r I
but T2 T0 k 12 W k 2r
Substitute the kinematic relations to arrive at an equation
involving only the angular displacement and acceleration.
2
Wr 1 W 2kr 2r m r r 1 mr 2
2
8k
0
3m
8k 2 3m n 1 8k
n n 2 fn
3m n 8k 2 2 3m
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Sample Problem 19.3

SOLUTION:
Using the free-body-diagram equation for
the equivalence of the external and
effective moments, write the equation of
motion for the disk/gear and wire.
W 20 lb
With the natural frequency and moment
n 1.13 s n 1.93 s
of inertia for the disk known, calculate
The disk and gear undergo torsional the torsional spring constant.
vibration with the periods shown. With natural frequency and spring
Assume that the moment exerted by the constant known, calculate the moment of
wire is proportional to the twist angle. inertia for the gear.
Determine a) the wire torsional spring Apply the relations for simple harmonic
constant, b) the centroidal moment of motion to calculate the maximum gear
inertia of the gear, and c) the maximum velocity.
angular velocity of the gear if rotated
through 90o and released.
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Sample Problem 19.3

SOLUTION:
Using the free-body-diagram equation for the equivalence
of the external and effective moments, write the equation
of motion for the disk/gear and wire.
M O M O eff : K I
K
W 20 lb 0
I
n 1.13 s n 1.93 s
K 2 I
n n 2
I n K

With the natural frequency and moment of inertia for the

disk known, calculate the torsional spring constant.
2
1 20 8
I 12 mr 2 0.138 lb ft s 2
2 32.2 12

0.138
1.13 2 K 4.27 lb ft rad
K

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Sample Problem 19.3

With natural frequency and spring constant known,
calculate the moment of inertia for the gear.
I
1.93 2 I 0.403 lb ft s 2
4.27

Apply the relations for simple harmonic motion to

W 20 lb
calculate the maximum gear velocity.
n 1.13 s n 1.93 s
m sin nt m n sin nt m m n

m 90 1.571 rad

2 2
m m 1.571 rad
K 2 I
n 1 . 93 s
n n 2
I n K
m 5.11 rad s
K 4.27 lb ft rad

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Group Problem Solving

SOLUTION:
Using the free-body and kinetic diagrams,
write the equation of motion for the
pendulum.

Determine the natural frequency and

moment of inertia for the disk (use the
small angle approximation).

Calculate the period.

A uniform disk of radius 250 mm is
attached at A to a 650-mm rod AB of
negligible mass which can rotate freely
in a vertical plane about B. If the rod is
displaced 2from the position shown
and released, determine the period of
the resulting oscillation.

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Group Problem Solving

Draw the FBD and KD of the pendulum (mbar ~ 0).

Bn Bt

l
r
man
mat

I
mg
Determine the equation of motion. *Note that you could also do
M B I B this by using the moment
from at, and that at = l

mgl sin I ml 2 mgl sin I lmat
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Group Problem Solving

Find I, set up equation of motion
using small angle approximation
mgl sin I ml 2
1 2
I mr , sin
2
1 2 2 &&
2 mr ml mgl 0

Determine the natural frequency

gl
n2
r2
2
l2 Calculate the period

(9.81)(0.650) 2
n 1.676 s
1
(0.250) 2
(0.650) 2 n
2
14.053 n 1.676 s
n 3.7487 rad/s
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Concept Question

In the previous problem, what

would be true if the bar was
hinged at A instead of welded at A
(choose one)?

a) The natural frequency of the oscillation would be larger

b) The natural frequency of the oscillation would be larger
c) The natural frequencies of the two systems would be the same

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Principle of Conservation of Energy

Resultant force on a mass in simple harmonic motion
is conservative - total energy is conserved.
T V constant 1 mx 2 1 kx 2 constant
2 2
x 2 n2 x 2
Consider simple harmonic motion of the square plate,
T1 0
V1 Wb1 cos Wb 2 sin 2 m 2
12 Wb m2

T2 12 mvm2 12 I m
2 V2 0

12 m bm 12
2
23 mb 2 m2
12 53 mb 2 m2
T1 V1 T2 V2
0 12 Wb m2 12 53 mb 2 m2 n2 0 n 3 g 5b
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Sample Problem 19.4

SOLUTION:
Apply the principle of conservation of
energy between the positions of maximum
and minimum potential energy.
Solve the energy equation for the natural
frequency of the oscillations.

Determine the period of small

oscillations of a cylinder which rolls
without slipping inside a curved
surface.

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Sample Problem 19.4

SOLUTION:
Apply the principle of conservation of energy between the
positions of maximum and minimum potential energy.
T1 V1 T2 V2

T1 0 V1 Wh W R r 1 cos

W R r m2 2
T2 12 mvm2 12 I m
2 V2 0

2
1 m R r 2 12 1 mr R r 2
2
2 m 2 m
r
34 m R r 2 m2

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Sample Problem 19.4

Solve the energy equation for the natural frequency of
the oscillations.
T1 0
V1 W R r m2 2
T2 34 m R r 2m2 V2 0

T1 V1 T2 V2

m2 3
0 W R r 4 m R r 2 m2 0
2
m2 3
mg R r 4 m R r 2 m n 2m
2

2 g 2 3 Rr
n2 n 2
3 Rr n 2 g

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Forced Vibrations

Forced vibrations - Occur

when a system is subjected to
a periodic force or a periodic
displacement of a support.
f forced frequency

F ma :
Pm sin f t W k st x mx
W k st x m sin f t mx

mx kx Pm sin f t mx kx k m sin f t

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Forced Vibrations
x xcomplementary x particular
C1 sin n t C 2 cos n t xm sin f t
Substituting particular solution into governing equation,
m 2f xm sin f t kxm sin f t Pm sin f t
Pm Pm k m
xm
k m 2f
1 f n 2
1 f n 2

mx kx Pm sin f t

mx kx k m sin f t
At f = n, forcing input is in
resonance with the system.
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Concept Question
A small trailer and its load
have a total mass m. The trailer
can be modeled as a spring
with constant k. It is pulled
over a road, the surface of
which can be approximated by
a sine curve with an amplitude
of 40 mm and a wavelength of
5 m. Maximum vibration
amplitude occur at 35 km/hr.
What happens if the driver
speeds up to 50 km/hr?
a) The vibration amplitude remains the same.
b) The vibration amplitude would increase.
c) The vibration amplitude would decrease.

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Sample Problem 19.5

SOLUTION:
The resonant frequency is equal to the
natural frequency of the system.
Evaluate the magnitude of the periodic
force due to the motor unbalance.
Determine the vibration amplitude
from the frequency ratio at 1200 rpm.

A motor weighing 350 lb is supported

by four springs, each having a constant
750 lb/in. The unbalance of the motor is
equivalent to a weight of 1 oz located 6
in. from the axis of rotation.
Determine a) speed in rpm at which
resonance will occur, and b) amplitude
of the vibration at 1200 rpm.
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Sample Problem 19.5

SOLUTION:
The resonant frequency is equal to the natural frequency of
the system.
350
m 10.87 lb s 2 ft
32.2

k 4 750 3000 lb in
36,000 lb ft
W = 350 lb
k = 4(350 lb/in)
k 36,000
n
m 10.87
57.5 rad/s 549 rpm

Resonance speed = 549 rpm

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Sample Problem 19.5

Evaluate the magnitude of the periodic force due to the
motor unbalance. Determine the vibration amplitude from
the frequency ratio at 1200 rpm.
f 1200 rpm 125.7 rad/s

1 lb 1
m 1 oz
32.2 ft s 2
0.001941 lb s 2 ft
16 oz

W = 350 lb Pm man mr 2
k = 4(350 lb/in) 0.001941 126 125.7 2 15.33 lb
n 57.5 rad/s
Pm k 15.33 3000
xm

1 f n 2 1 125.7 57.5 2
0.001352 in

xm = 0.001352 in. (out of phase)

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Damped Free Vibrations

All vibrations are damped to some degree by
forces due to dry friction, fluid friction, or
internal friction.

With viscous damping due to fluid friction,

F ma : W k st x cx mx
mx cx kx 0

Substituting x = et and dividing through by et

yields the characteristic equation,
2
c c k
m2 c k 0
2m 2m m

Define the critical damping coefficient such that

2
cc k k
0 cc 2 m 2m n
2 m m m
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Damped Free Vibrations

Characteristic equation,
2
c c k
m2 c k 0
2m 2m m
cc 2m n critical damping coefficient
Heavy damping: c > cc
x C1e 1t C2 e 2t - negative roots
- nonvibratory motion
Critical damping: c = cc
x C1 C 2t e nt - double roots
- nonvibratory motion
Light damping: c < cc
x e c 2 m t C1 sin d t C 2 cos d t
2
c
d n 1 damped frequency
cc
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Concept Question
8

-2

-4

-6

-8
0 0.5 1 1.5 2 2.5 3 3.

The graph above represents an oscillation that is

a) Heavily damped b) critically damped c) lightly damped

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Concept Question
8

-2

-4

-6

-8
0 0.5 1 1.5 2 2.5 3 3.

The period for the oscillation above is approximately

a) 1.25 seconds b) 2.5 Hz c) 0.6 seconds

Estimate the phase shift for the oscillation Zero

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Forced vibrations can be caused by a test machine, by rocks on a trail, by

rotating machinery, and by earthquakes. Suspension systems, shock
absorbers, and other energy-dissipating devices can help to dampen the
resulting vibrations.

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Damped Forced Vibrations

mx cx kx Pm sin f t x xcomplementary x particular

xm xm 1
magnification
Pm k
1 f n 2 c c
2 2
c f n 2 factor

2 c cc f n
tan phase difference between forcing and steady

1 f n 2
state response
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Group Problem Solving

SOLUTION:
Determine the system natural
frequency, damping constant, and
the unbalanced force.

Determine the steady state response

and the magnitude of the motion.

A simplified model of a washing machine is shown. A bundle of wet

clothes forms a mass mb of 10 kg in the machine and causes a rotating
unbalance. The rotating mass is 20 kg (including mb) and the radius of the
washer basket e is 25 cm. Knowing the washer has an equivalent spring
constant k = 1000 N/m and damping ratio z = c/cc = 0.05 and during the
spin cycle the drum rotates at 250 rpm, determine the amplitude of the
motion.
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 Vector Mechanics for Engineers: Dynamics
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Group Problem Solving

Given: m= 20 kg, k= 1000 N/m,
f= 250 rpm, e= 25 cm, mb= 10 kg
Find: xm

Calculate the forced circular

frequency and the natural circular
frequency
(2 )(250) k 1000
f 26.18 rad/s n 7.0711 rad/s
60 m 20

Calculate the critical damping constant cc and the damping constant c

cc 2 km 2 (1000)(20) 282.84 N s/m

c
c c (0.05)(141.42) 14.1421 N s/m
cc
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Group Problem Solving

Calculate the unbalanced force
caused by the wet clothes
Pm mb e 2f
Pm (10 kg)(0.25 m)(26.18 rad/s) 2 1713.48 N

Use Eq 19.52 to determine xm

& cx& kx Pm sin f t
mx&

Pm
xm
k
2
m 2f (c f )2
1713.48
xm 134.8 mm
[1000 (20)(26.18) 2 ]2 [(141421)(26.18)]2
1713.48 1713.48
0.13478 m
(12,707.8) 2 (370.24) 2 12, 713.2

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Concept Question
The following parameters were
found in the previous problem:
f 26.18 rad/s
=0.05
n 7.0711 rad/s

What would happen to the

amplitude xm if the forcing
frequency f was cut in half?

a) The vibration amplitude remains the same.

b) The vibration amplitude would increase.
c) The vibration amplitude would decrease.

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 Vector Mechanics for Engineers: Dynamics
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Concept Question

Case 1
f 26.18 rad/s
n 7.0711 rad/s

Case 2
f 13.09 rad/s
n 7.0711 rad/s

Pm
xm

2
k m 2f (c f )2

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Electrical Analogues
Consider an electrical circuit consisting of an inductor,
resistor and capacitor with a source of alternating voltage
di q
E m sin f t L Ri 0
dt C
1
Lq Rq q E m sin f t
C
Oscillations of the electrical system are analogous to
damped forced vibrations of a mechanical system.

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Electrical Analogues
The analogy between electrical and mechanical
systems also applies to transient as well as steady-
state oscillations.

With a charge q = q0 on the capacitor, closing the

switch is analogous to releasing the mass of the
mechanical system with no initial velocity at x = x0.
If the circuit includes a battery with constant voltage
E, closing the switch is analogous to suddenly
applying a force of constant magnitude P to the
mass of the mechanical system.

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Electrical Analogues
The electrical system analogy provides a means of
experimentally determining the characteristics of a given
mechanical system.
For the mechanical system,
m1x1 c1 x1 c2 x1 x 2 k1 x1 k 2 x1 x2 0

m2 x2 c2 x 2 x1 k 2 x2 x1 Pm sin f t
For the electrical system,
q q q
L1q1 R1 q 1 q 2 1 1 2 0
C1 C2
q q
L2 q2 R2 q 2 q 1 2 1 Em sin f t
C2
The governing equations are equivalent. The characteristics
of the vibrations of the mechanical system may be inferred
from the oscillations of the electrical system.

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