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MAE 244
Introduction to Vibration
(written by Julio A Noriega, slightly modified)
Lab 5-A
 
s
 
Introduction to Vibration Theory
Vibration is a terminology used to describe a broad range of phenomena, bothnatural and man-made, ranging from the oscillating motion of the atoms, the swaying back and forth of the water in a beach, to the beautiful violin sounds and the rattling of the steering wheel of a car in motion. Our bodies are an embodiment of vibratory phenomena. We can not even say ‘vibration’ properly without the tip of the tongueoscillating.Vibration prevails in man-made devices, machines, and transportation systemssuch as automobiles, airplanes and satellites as every successful engineering design mustaddress vibration problems. The vibration of mechanical systems may be caused bysudden or continuos disturbances, such as aerodynamics forces on airplanes, oscillationsof the internal combustion engines in automobiles, etc. Qualitatively speaking, the energycontained in the disturbance is transmitted to the mechanical systems and finds its way to propagate throughout the system. The energy carried by mechanical vibrations from one part of the system may reverse its transmission path and reverse its flow path.The designer must evaluate whether any component of the mechanical system break during the initial violent disturbance stages, subsequent steady-state vibration,degradations of system performance during the post-disturbance period, and potentialfatigue failure due to prolonged vibrations.
Undamped Free Vibrations for Single-Degree-of-Freedom Systems
The simplest vibratory system consists of an elastic member and a mass element,as represented in Fig. 1a. This is a single-degree-of-freedom system since it can move inonly one coordinate; that is, it requires only coordinate
 x
to define its configuration. Sincethere is no external force to drive the system, the motion is designated as a free vibration.It is also undamped, as no condition is present which would inhibit the motion. Now consider a free-body diagram of the mass in Fig.1a, with the massless springelongated from its rest, or equilibrium position. The mass of the object is
m
and thestiffness of the spring is
k 
. Assuming that the mass moves on a frictionless surface alongthe
 x
direction, the only force acting on the mass in the
 x
direction is the spring force. Aslong as the motion of the spring does not exceed its linear range, the force in the
 x
direction equal the product of mass and acceleration:
( ) ( )
t kxt  xm
−=
(1)
1
 
Fig 1a Single-degree-of-freedom systems
 
MAE 244
Introduction to Vibration
(written by Julio A Noriega, slightly modified)
Lab 5-A
 
s
 
( ) ( )
0
=+
t kxt  xm
(2)One of the goals of vibration analysis is to be able to predict the response, or motion, of avibration system. Thus it is desirable to calculate the solution to equation (2), which can be written as:0
2
=+
 x x
ω 
(3)Where the natural frequency is defined as:
mk 
=
ω 
 Equation (3) is a homogeneous linear differential equation with constant coefficient.Since it is of second order, the solution must contain two arbitrary constants.
t it i
ecec x
ϖ ω 
−
+=
21
t d t d  x
ϖ ω 
sincos
21
+=
t  Bt  A x
ω ω 
cossin
+=⇒
(4)The arbitrary constant A and B can be determined from the initial conditions of themotionWhen
t = 0
0
 x x
=
(5)
0
v x
=
(6)Substituting Eqs. 5 and 6 into Eq. 4, its time derivative will evaluate the arbitraryconstants as
ω 
0
v A
=
(7)
0
 x B
=
(8)So the solution becomes
t  xt v x
ω ω ω 
cossin
00
+=
(9)Using trigonometric relations we can transform to)sin(
φ ω 
+=
t  X  x
(10)
2
 
MAE 244
Introduction to Vibration
(written by Julio A Noriega, slightly modified)
Lab 5-A
 
s
 
where X represents the amplitude of the displacement and
φ
is the phase angle as defined by:
0220
 xv X 
+     =
ω 
(11)
      =
ω φ 
/tan
00
v x
(12)The motion represented by Eqs. 9 and 10 is said to be harmonic, because of its sinusoidalform. The motion is repeated (see Fig.2), with the time for one cycle being defined by thevalue of 
ω 
t 
equal
to 2
π 
.
Thus the period
 
τ
 ,
or the time for one cycle, is given by
 
τ 
= 2
π 
 / 
ω 
(13)
The reciprocal of 
τ
expresses the frequency
 f 
in cycles per unit time. Thus
f =
ω 
 /2
π 
(14)
Because the solution is a circular function. The term
ω
is designated as the circular frequency. It is measured in radians per second.
Damped Free-Vibration for Single-Degree-of-Freedom System
The vibrations considered in the preceding section were self-sustaining and wouldnot increase, diminish, or change in character with time. That is, there was not sourcewhich would excite the system and hence increase the amplitude of the vibration, nor wasthere any form of resistance that would dissipate energy and reduce the oscillation in anyway. A consideration of practical cases, however, would reveal that this condition is notrealistic, since all vibrations gradually lose amplitude and eventually cease altogether,unless, they are maintained by some external source. Since the amplitude of a freevibration slowly dies away, something must cause energy to be removed from the system.The vibration is said to be damped, and the means of energy removal is called damper.
3
 
Figure 2 undamped free vibrations for single-degree-of-freedom systems [1]
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