Fundamental Elements of Vibration

 Mass or Inertia Elements

 Assumed to be a rigid body.
 Can gain or lose kinetic energy, whenever the velocity of the body
changes.
 E.g. In figure below, the mass and damping of the beam can be
disregarded; the system can thus be modeled as a spring-mass
system as shown.
 Fundamental Elements of Vibration

 Mass or Inertia Elements

Combination of Masses
E.g. Assume that the mass of the frame is
negligible compared to the masses of the
floors. The masses of various floor levels
represent the mass elements, and the
elasticities of the vertical members denote
the spring elements.
 Fundamental Elements of Vibration

 Mass or Inertia Elements

 Case 1: Translational masses connected by a rigid bar

Velocities of masses can be expressed as:

l2 l3
x2  x1 x3  x1
l1 l1
 Fundamental Elements of Vibration

 Mass or Inertia Elements

 Case 1: Translational Masses Connected by a Rigid Bar
By equating the kinetic energy of the system:
1 1 1 1
m1 x12  m2 x22  m3 x32  meq xeq2
2 2 2
2 2
2
l  l 
meq  m1   2  m2   3  m3
 l1   l1 

Case 2: Translational and Rotational Masses Coupled Together

meq = single equivalent translational mass
x = translational velocity
Ѳ = rotational velocity
J0 = mass moment of inertia
Jeq = single equivalent rotational mass
 Fundamental Elements of Vibration

 Mass or Inertia Elements

Case 2: Translational and Rotational Masses Coupled
Together
1. Equivalent translational mass:
Kinetic energy of the two masses is given by:
1 1
T  2 
mx J 0 2
2 2

Kinetic energy of the equivalent mass is given by:

1
Teq  meq xeq
2

2
 Fundamental Elements of Vibration

 Mass or Inertia Elements

Case 2: Translational and Rotational Masses Coupled Together

Since   x and xeq  x , equating Teq & T gives

R

J0
meq  m 
R2
 Equivalent rotational mass:
Here, eq   and x  R , equating Teq and T gives

1
2
 
1
2
2 1
J eq 2  m R  J 0 2
2
or J eq  J 0  mR 2
 Fundamental Elements of Vibration

Example 1.11 (5th edition)

Find the equivalent mass of the system shown in Figure, where the rigid link 1 is
attached to the pulley and rotates with it.
 Fundamental Elements of Vibration

Damping Element
Viscous Damping:
Damping force is proportional to the velocity of the vibrating
body in a fluid medium such as air, water, gas, and oil.

Coulomb or Dry Friction Damping:

Damping force is constant in magnitude but opposite in
direction to that of the motion of the vibrating body between
dry surfaces

Material or Solid or Hysteretic Damping:

Energy is absorbed or dissipated by material during
deformation due to friction between internal planes
 Fundamental Elements of Vibration

Damping Element [Rao]

 Fundamental Elements of Vibration

Damping Element
Shear Stress ( ) developed in the fluid layer at a distance y from the fixed
plate is:
du
 
dy
where du/dy = v/h is the velocity gradient.

Shear or Resisting Force (F) developed at the bottom surface of the moving
plate is:
Av
F  A    cv
h

Where A is the surface area of the moving plate and c  A is

h
the damping constant
 Fundamental Elements of Vibration

Damping Element
If a damper is nonlinear, a linearization process is used about the operating
velocity (v*) and the equivalent damping constant is:

dF
c
dv v*
 Fundamental Elements of Vibration

Harmonic Motion
Periodic Motion: motion repeated after equal intervals of time; e.g. @ time ‘τ’
 Frequency: Reciprocal of ‘τ’ is frequency ‘f’.
 Any periodic motion represented by x(t) must satisfy the relation ship
X (t) = x (t+τ)
 Harmonic Motion: simplest type of periodic motion
 Fundamental Elements of Vibration

Harmonic Motion
Displacement x  A sin   A sin t

dx
Velocity   A cos t
dt

d 2x
Acceleration
  2 A sin t   2 x
dt 2
 Fundamental Elements of Vibration

Harmonic Motion
- Exponential form

Do you know Euler equation??

eiθ = Cosθ + iSinθ

A vector of amplitude ‘A’ rotating at constant angular speed ω can be

represented in complex quantity:

X  A cos  iA sin 

X  Acos  i sin    Ae i
 Fundamental Elements of Vibration

Harmonic Motion
Operations on Harmonic Functions:
Rotating Vector,

X  Ae it
Displacement  Re[ Aeit ]  A cost
Velocity  Re[ iAe it ]  A sin t
 A cost  90 
Acceleration  Re[  2 Ae it ]
  2 A cos t
  2 A cost  180 
where Re denotes the real part