Mechanical Vibrations Second Edition Singiresu S. Rao Purdue University WENTARIO 17 FEB 2000 ry vv Addison-Wesley Publishing Company Reading, Massachusetts Menlo Park, California + New York Don Mills, Ontario Wokingham, England + Amsterdam Bonn - Sydney + Singapore + Tokyo + Madrid San Juan Uanecnlicd Acibatam o9 Yocabt Prcilted BataanConversion of Units Quantity SI Equivalence English Equivalence Mass 1 Ib, ~ sec?/ft (slug) = 14.5939 kg, 1 kg = 2.204623 Ib, = 32.174 1b, 1b, = 0.45359237 kg = 0.06852178 slug (lb, ~ sec?/ft) Length 1 in. ~ 0.0254 m Am = 39,37008 in, 1 ft = 0.3048 m = 3.28084 ft 1 mile = 5280 ft =1.609344 km 1 km = 3280.84 ft = 0,621371 mile Area Lin? = 0,00064516 m? 1 nt’ =1550.0031 in? 1 ft = 0.0929030 m? 0.76391 ft? Volume 16.3871 X10"§ mm 1 n = 61.0237 x 10? in’ 8.3168 X10~? ot = 353147 3.7853 litres = 10° litres = 0.26418 US gallon = 3.7853 x10" ot Force or 1 tb, = 4.448222 N 1 N= 0.248089 Ib, weight Torque or 1 by — in. = 0.1129848 N-m 1 N-m = 8.850744 Ib, — in. moment 1 by ~ ft = 1.355818 N-m = 0.737562 Iby ~ ft Stress, 1 Ib; /in® (psi) = 6894.757 Pa 1 Pa = 1.450377 x 10°‘ Ib, /in® (psi) pressure, or L by /tt? = 47.8026 Pa = 208.8543 x10-* Iby /ft? elastic modulus Mass density 7.6799 10° kg/m? 1 kg/m? = 36.127 10-8Ib, in? 16.0185 kg/m? = 62.428 107? Ib, /feacre ae career eee eee ansaid _StEaueaenes ‘Work or energy 1129848 J 1 1.355818 3 1 105.056 3 3.6x10° J Power 1 in — Ib, /sec = 0.112948 W 1 1 ft = Ib, /sec =1.355818 W 1 = 0,0018182 hp V hp = 745.7 W Area moment Lin’ = 41,6231 x 107 Smt 1 of inertia or L ft = 863097 10-4 mt second moment of area Mass moment Lin — Ib, — sec? = 0.129848 m*- kg 1 of inertia Spring constant: translatory 1b, /in. =175,1268 N/m 1 1 Ibj/ft = 14.5939 N/m torsional Lin. ~ Ib, /rad = 0.129848 m-N/rad 1 Damping constant: translatory 1 Ib, ~ sec/in = 175.1268 N-s/m 1 torsional 1 im = Ib, = see/rad i = 01129848 m-N-s/rad Angles 1 rad = 517.2959754 degrees; 1 degree = 1 rpm = 0.166667 rev/sec = 0.104720 rad/sec; 1 ralPreface This text is intended for use as an introduction to the subject of vibratio engineering at the undergraduate level. The style of presentation from the pric edition, of presenting the theory, computational aspects, and applications of vibri tions in a manner as simple as possible is retained. As in the first edition, compute techniques of analysis are emphasized. Expanded explanations of the fundamental emphasizing physical significance and interpretation that build upon previo. experiences in undergraduate mechanics are given. Numerous examples and prot lems are used to illustrate principles and concepts. This book was first published in 1986. Favorable reactions and friendly encou agements from professors, students and my publisher have provided me with th impetus to come out with a new edition. In this second edition several new chaptei have been added. Modifications and corrections to many topics have been mad Most of the additions to the first edition were suggested by those who have used tt text and by numerous reviewers. Some of the important changes in this edition are: Approximately forty percent of the problems are new. Design type problems, identified by asterisks, are included in various chapter: Project type problems are added at the end of several chapters. ‘The section on vibration measuring instruments has been expanded into a fu chapter entitled, “ Vibration Measurement.” The chapter on further topics in vibration is now deleted + New chapters on finite element method, nonlinear vibration, and randor vibration are added * All the examples in the book have been presented in a new format. Followin the statement of each example, the known information, the quantities to b determined, and the approach to be used are first identified and then th detailed solution is given.Preface FEATURES Each topic in Mechanical Vibrations is self-contained. All the concepts are ex- plained fully and the derivations are presented with complete details for the benefit of the reader. The computational aspects are emphasized throughout the book. Several Fortran computer programs, most of them in the form of general purpose subroutines, are given at the end of the chapters. These programs are given for use by the students. Although the programs have been tested, no warranty is implied as to their accuracy. Problems, which are based on the use/development of computer programs, are given at the end of each chapter. It is highly desirable that students solve these problems to obtain exposure to many important computational and programming details. Some subjects are presented in a somewhat unconventional manner. The topics of Chapters 9, 10, and 11 fall in this category. Most textbooks discuss the topics of isolators, absorbers, and balancing at different places. Since one of the main purposes of the study of vibrations is to control vibration response, all the topics directly related to vibration control are given in Chapter 9. The vibration measuring instruments, along with vibration exciters and signal analysis procedures, are presented in Chapter 10. Similarly, all the numerical integration methods applicable to single- and multidegree-of-freedom systems, as well as continuous systems, are unified in Chapter 11 Specific features include: * 23 Computer programs to aid the student in the numerical implementation of the methods discussed in the text. * Nearly 100 illustrative examples following the presentation of most of the topics. * More than 250 review questions to help students in reviewing and testing their understanding of the text material. * Over 600 problems, with solutions in the instructor's manual. * More than 290 references to lead the reader to specialized and advanced literature. ‘+ Biographical information about scientists and engineers, who contributed to the development of the theory of vibrations, is given on the opening pages of chapters and appendixes. NOTATION AND UNITS Both the SI and the English system of units have been used in the examples and problems. A list of symbols, along with the associated units in SI and English systems, is given at the beginning of the book. A brief discussion of SI units as they apply to the field of vibration is given in Appendix C. Arrows are used over symbols to denote column vectors and square brackets are used to indicate matrices.Preface vil CONTENTS Mechanical Vibrations is organized into 14 chapters and 3 appendixes. The material of the hook provides flexible options for different types of vibration courses. For a ‘one-semester senior or dual-level course, Chapters 1 through 5, portions of Chapters 6, 7, 8 and 10, and Chapter 9 may be used. The course can be given a computer orientation by including Chapter 11 in place of Chapter 8. Alternatively, with Chapters 12, 13 and 14, the text has sufficient material for a one-year sequence at the senior level. For shorter courses, the instructor can select the topics depending on the level and orientation of the course. It is hoped that the relative simplicity with which the various topics are presented makes the book useful to students as well as practicing engineers for purposes of self-study and as a source of refercnces and computer programs. Chapter 1 starts with a brief discussion of the history and importance of vibrations. The basic concepts and terminology used in vibration analysis are introduced. The free vibration analysis of single-degree-of-freedom undamped trans- lational and torsional systems is given in Chapter 2. The effects of viscous, Coulomb and hysteretic damping are also discussed. The harmonic response of single-degree- of-freedom systems is considered in Chapter 3. Chapter 4 is concerned with the response of a single-degree-of-freedom system under general forcing conditions. The roles of convolution integral, Laplace transformation, and numerical methods are discussed. The concept of response spectrum is also introduced in this chapter. The free and forced vibration of two-degree-of-freedom systems is considered in Chapter 5. The self-excited vibration and stability of the system are discussed. Chapter 6 presents the vibration analysis of multidegree-of-freedom systems. Matrix methods of analysis are used for the presentation of the theory. The modal analysis proce- dure is described for the solution of forced vibration problems. Several methods of determining the natural frequencies of discrete systems are outlined in Chapter 7. Dunkerley’s, Rayleigh’s, Holzer’s, matrix iteration, and Jacobi’s methods are dis- cussed. The vibration analysis of continuous systems including strings, bars, shafts, beams, and membranes is given in Chapter 8. The Rayleigh and Rayleigh-Ritz methods of finding the approximate natural frequencies are also described. Chapter 9 discusses the various aspects of vibration control including the problems of climination, isolation and absorption. The balancing of rotating and reciprocating machines and whirling of shafts are also considered. The vibration measuring instruments, vibration exciters and signal analysis are the topics of Chapter 10. Chapter 11 presents several numerical integration techniques for finding the dy- namic response of discrete and continuous systems. The central difference, Runge- Kutta, Houbolt, Wilson, and Newmark methods are summarized and illustrated. The finite element analysis, with applications involving one dimensional elements, is given in Chapter 12. An introductory treatment of nonlinear vibration, including a discussion of subharmonic and superharmonic oscillations, limit cycles, and systems with time dependent coefficients, is given in Chapter 13. The random vibration of linear vibration systems is considered in Chapter 14. Appendixes A. B, and CPreface outline the basic relations of matrices, Laplace transforms, and SI units, respec- tively, ACKNOWLEDGMENTS 1 would like to express my appreciation to the many students and faculty whose comments have helped me improve the presentation. I am most grateful to Profes- sors F. P. J. Rimrott of the University of Toronto and Raymond M. Brach of the University of Notre Dame for pointing out some of the errors in the previous edition and offering suggestions for improvement. The comments and suggestions made by the following reviewers have been of great help in revising the book: Michael K. Wells, Montana State University; Pinhas Barak, GMI Engineering & Management Institute; Donald A. Grant, University of Maine; Tom Burton, Washington State University; and Ramesh S. Guttalu, University of Southern California. It was gratifying throughout to work with the staff of Addison-Wesley on this revision. In particular, the help of Tom Robbins, Executive Editor, has been most valuable. Helen Wythe, Production Supervisor, handled the task of incorporat- ing my corrections and revisions very efficiently. I would like to thank Purdue University for granting me permission to use the Boilermaker Special in Problem 2.49. Finally, 1 wish to thank my wife Kamala and daughters Sridevi and Shobha without whose patience, encouragement, and support this revised edition might never have been completed. S.S. RaoCHAPTER 1 Fundamentals of Vibration ua 12 13 14 15 16 17 18 19 Conti Preliminary Remarks 1 Brief History of Vibration 1 Importance of the Study of Vibration 4 Basic Concepts of Vibration 7 141 Vibration 7 14.2. Elementary parts of vibrating systems 7 143 Degree of freedom 8 144 Discrete and continuous systems 10 Classification of Vibration 10 15.1 Free and forced vibration 10 1.5.2. Undamped and damped vibration 11 153. Linear and nonlinear vibration 11 1.54 Deterministic and random vibration 11 ‘Vibration Analysis Procedure 12 Spring Elements 14 17.1 Combination of springs 16 Mass or Inertia Elements 21 1.81 Combination of masses 22 Damping Elements 25 1.9.1 Construction of viscous dampers 26 1.92 Combination of dampers 27 Harmonic Motion 30 1.10.1 Vectorial representation of harmonic motion 32 1.10.2. Complex number representation of harmonic motion 32 1103 Definitions 36ntents Harmonic Analysis 37 1.11.1 Fourier series expansion bia 1.11.2 Even and odd functions » 1.11.3 Half range expansions 4 L114 Numerical computation of coefficients 41 Vibration Literature 45 Computer Program 45 References 47 Review Questions 9 Problems $0 1f Single Degree tems 2.0 Introduction 6 22 Free Vibration of an Undamped Translational System cy 2.2.1 Equation of motion using Newton's second law of motion 65 222 Equation of motion using the principle of conservation of energy 67 2.2.3 Solution oT | 2.24 Harmonic motion a 23 Free Vibration of an Undamped Torsional System nm 23.1 Equation of motion 73 23.2 Solution 4 24° Stability Conditions 77 25 Energy Method 79 26 Free Vibration with Viscous Damping cc 2.6.1 Equation of motion 8 26.2 Solution a 263 Logarithmic decrement 89 | 264 Energy dissipated in viscous damping 91 | 2.6.5 Torsional systems with viscous damping 2 27 Free Vibration with Coulomb Damping. 7 2.7.1 Equation of motion 97 272 Solution 98 2.73 Torsional systems with Coulomb damping 100 ' 2.8 Free Vibration with Hysteretic Damping 102 29 — Computer Program 107 References 110 Review Questions 111 Problems 112Contents CHAPTER 3 a Harmonicaily Excited Vibration 3 Introduction 127 32 Equation of Motion 128 33. Response of an Undamped System Under Harmonic Force 129 33.1 Total response 132 3.3.2 Beating phenomenon 133 34 Response of a Damped System Under Harmonic Force 136 34.1 Total response 139 3.4.2 Quality factor and bandwidth 139 35 Response of a Damped System Under F(t) = Fe 141 3.6 Response of a Damped System Under the Harmonic Motion of the Base 36.1 Force transmitted 148 3.6.2 Relative motion 146 37 Response of a Damped System Under Rotating Unbalance 149 38 Forced Vibration with Coulomb Damping 1s3, 3.9 Forced Vibration with Hysteresis Damping 157 3.10 Forced Motion with Other Types of Damping 159 3.11 Self Excitation and Stability Analysis 160 3.12 Computer Program 163 References 166 Review Questions 167 Problems 168 CHAPTER 4 Vibration under General Forcing Conditions 4.1 Introduction 175 42 Response Under a General Periodic Force 175, 43° Response Under a Periodic Force of Irregular Form 180 44 Response Under Nonperiodic Force 182 4S — Convolution Integral 182 45.1 Response to an impulse 183 4.5.2 Response to general forcing condition 184 4.5.3. Response to base excitation 186 46 — Response Spectrum 193 46.1 Response spectrum for base excitation 195, 4.7 Laplace Transformation 198 48 Response to Irregular Forcing Conditions Using Numerical Methods 203 49° Computer Programs 211Contents 49.1 Response under an arbitrary periodic forcing function 211 492 Response under arbitrary forcing function using the methods of secton 48213 * References 217 Review Questions 217 Problems 218 ‘ee of Freedom Systems Sa 52 53 34 55 56 87 58 59 61 62 63 64 65 66 67 68 69 e of Freedom Systems Introduction 227 Equations of Motion for Forced Vibration 229 Free Vibration Analysis of an Undamped System 230 Torsional System 237 Coordinate Coupling and Principal Coordinates 239 Forced Vibration Analysis 245 Semi-Definite Systems 248 Self-Excitation and Stability Analysis 249 Computer Programs 250 5.9.1 Roots of a quadratic equation 251 5.9.2. Roots of a cubic equation 252 5.93. Roots of a quartic equation 253 References 255 Review Questions 256 Problems 256 Introduction 269 Multidegree of Freedom Spring-Mins System 269 Influence Coefficients 271 Potential and Kinetic Energy Expressions in Matrix Form 276 Generalized Coordinates and Generalized Forces 278 Lagrange’s Equations 279 General Equations of Motion in Matrix Form 281 Eigenvalue Problem 283 Solution of the Eigenvalue Problem 285 6.9.1. Solution of the characteristic (polynomial) equation 285 69.2 Orthogonality of normal modes 289 6.93 Repeated eigenvalues 202Contents 6.10 6. 6.12 6.13 6.14 615 CHAPTER 7 Expansion Theorem 294 Unrestrained Systems 294 Forced Vibration 298 usly Damped Systems 300 Self-Fxcitation and Stability Analysis 306 Computer Programs 308 615.1 Generating the characteristic polynomial from the matrix 6.15.2 Roots of an nth order polynomial equation with compl coefficients 310 Ss fe 615.3 Modal analysis of a multidegree of freedom system 313 616.4 Solution of simultaneous linear equations 316 References 319 Review Questions 319 Problems 320 Determination of Natural Frequencies and Mode Shapes 1 12 13 Ta 78 16 a7 78 Introduction 331 Dunkerley’s Formula 332 Rayleigh’s Method 334 73.1 Properties of Rayleigh’s quotient 338 73.2 Computation of the fundamental natural frequency 336 73.3 Fundamental frequency of beams and shafts 338 Holzer’s Method 341 7.4.1 Torsional systems 341 74.2. Spring-mass systems 345, Matrix Iteration Method — 345, 7.5.1 Convergence to the highest natural frequency 348 7.5.2 Computation of intermediate natural frequencies 48 Jacobi's Method 352 Standard Eigenvalue Problem 354 7.7 Choleski decomposition 355 7.1.2. Other solution methods 386 Computer Programs 387 78.1 Jacobi’s method 357 78.2. Matrix iteration method 359 78.3 Choleski decomposition 362 784 Eigenvalue solution using Choleski decomposition 363 References 366 Review Questions 367 Problems 368Contents “Systems 81 82 83 84 85 86 87 88 89 rontrol 91 92 93 94 Introduction 375 ‘Transverse Vibration of a String or Cable 376 8.2.1 Equation of motion 376 82.2 Initial and boundary conditions 377 8.23. Free vibration of a uniform string 378 8.24 Free vibration of a string with both ends fixed 379 82.5 Traveling-wave solution 382 Longitudinal Vibration of a Bar or Rod 388 8.3.1 Equation of motion and solution 383 832 Orthogonality of normal functions 386 Torsional Vibration of a Shaft or Rod 391 Lateral Vibration of Beams 394 85.1 Equation of motion 394 8.5.2 Initial conditions 396 85.3 Free vibration 396 8.5.4 Boundary conditions 397 85.5 Orthogonality of normal functions 399 8.5.6 Effect of axial force 402 85.7 Effects of rotary inertia and shear deformation 404 858 Other effects 408 Vibration of Membranes 409 8.6.1 Equation of motion 409 8.6.2. Initial and boundary conditions 410 Rayleigh's Method 412 The Rayleigh-Ritz Method 414 Computer Program 417 References 420 Review Questions 421 Problems 422 Introduction 433, Reduction of Vibration at the Source 434 Balancing of Rotating Machines 434 93.1 Single-plane balancing 434 93.2 Tworplane balancing 439 Critical Speeds of Rotating Shafts 443 9.4.1 Equations of motion 443, 942 Critical speeds 445