FORCED VIBRATIONS

INTRODUCTION
When a mechanical system undergoes free vibrations, an initial force (causing some
displacement) is impressed upon the system, and the system is allowed to vibrate under the
influence of inherent elastic properties. The system however, comes to rest, depending upon
the amount of damping in the system.
In engineering situations, there are instances where in an external energy source
causes vibrations continuously acting on the system. Then the system is said to undergo
forced vibrations, as it vibrates due to the influence of external energy source. The external
energy source may be an externally impressed force or displacement excitation impressed
upon the system. The excitation may be periodic, impulsive or random in nature. Periodic
excitations may be harmonic or non harmonic but periodic. The amplitude of vibrations
remains almost constant. achine tools, internal combustion engines, air compressors, etc
are few examples that undergo forced vibration.
!." #$%&'( )I*%+TI$,- $# -I,./' ($# -0-T'- 1,('% 2+%$,I&
'3&IT+TI$,
&onsider a spring mass damper system as shown in #igure !.4 excited by a sinusoidal forcing
function #5#
o
-in t

#igure !.4
/et the force acts vertically upwards as shown in #*(. Then the .overning (ifferential
'6uation (.(') can be written as
m 5 7 8 7 & 9 #
x
88 x8 x8
C
:
m
# 5 #
;
-in <t
:x
&x
=
#
x
#
o
#
o

7
m
mg
8
8
x
m

m 9 & 9 8x 5 # 777777777777777 (!.4)
is a linear non homogeneous II order differential e6uation whose solution is in two
parts.
4. &omplementary #unction or Transient %esponse
&onsider the homogenous differential e6uation,
m 9 & 9 8x 5 ; which is incidentally the .(' of a single ($# spring mass damper7
system. It has been shown in earlier discussions that for different conditions of damping,
the response decays with time. Thus the response is transient in nature and therefore
termed as transient response.
#or an under damped system the complementary function or transient response.
x
c
5 3
4
>
?
-in (<
d
t 9 )
x
c
5 3
4
>
?
(+ -in <
d
t 9 * &os <
d
t)777777777777 (!.")
". Particular Integral or -teady -tate %esponse
This response neither builds up nor decays with time. It is steady state harmonic
oscillation having fre6uency e6ual to that of excitation. It can be determined as
follows.
&onsider non7homogenous differential e6uation
m 9 & 9 8 5 #
o
-in <t 77777777777 (!.!)
The particular integral or steady state response is a steady state oscillation of the same
fre6uency < as that of external excitation and the displacement vector lags the force vector
by some angle.
/et x 5 3 -in (<t 7 ) be the trial solution
3@ +mplitude of oscillation
@ Phase of the displacement with respect to the exciting force (angle by which the
displacement vector lags the force vector).
)elocity 5
5 <3. &os (<t 7 )
5 <3 -in AB; 9 (<t 7 )C
+cceleration
5 7 <
"
3. -in (<t 7 ), substitute these values in .(', (e6uation !.4)
We get
7m <
"
3 -in (<t 7 ) 9 &< -in AB; 9 (<t 7 )C
9 83 -in (<t 7 ) 5 #
o
-in <t
m <
"
3 -in (<t 7 ) 7 &< -in AB; 9 (<t 7 )C
7 83 -in (<t 7 ) 9 #
o
-in <t 5 ; 7777777777 (!.D)
x8
x
88
x8
x
88
x
88 x8 x8
x8
x
88
<
n
t
<
n
t
x8

The four terms in the above e6uation represent both in magnitude and direction, the
four forces namely@ inertia force, damping force, spring force and impressed force, ta:en in
order, acting on the system and their sum is e6ual to Eero. Thus they satisfy the (F+lemberts
principle. # 5 ;. ,ow, if vector representation as shown in #igure !.", is employed to
denote these forces the force polygon shown in #igure !.! should close.
%epresent the force vectors and draw the force polygon as given below.
#igure !."
Figure 3.3
Impressed force@ #
o
-in <t@ acts at an angle <t from the reference axis.
Displacement vector 3@ /ags the force vector by an angle and hence shown at (<t 7 ) from
the reference axis.
X
A
O
B
Reference axis
) (t - )

Spring force@ 7 83 -in (<t 7 )@ which means that the vector G 83 acting at (<t 7 ) or 83
acting in opposite direction to (<t 7 ) 5 at AB; 9 (<t 7 )C
Damping force@ 7 &<3 A-in (B; 9 (<t 7 )C
7 &<3 acting at B; 9 (<t 7 ) or &<3 acting in opposite direction to AB; 9
(<t 7 )C
Inertia force@ m<
"
3 -in (<t 7 )
)ector m<
"
3 acting at (<t 7 )
From the force polygo! i figure 3.3
&onsider the triangle $+*.
$+
"
5 $*
"
9 *+
"
5 (&<3)
"
9 (837m<
"
3)
"
#
o
"
5 3
"
(&<)
"
9 x
"
(87m<
"
)
"
#
o
"
5 3
"
A(87m<
"
)
"
9 (&<)
"
C
3 5 777777777 (!.H)
and tan 5 5 5
tan 5
5 tan
74
77777777 (!.I)
If 3 and are expressed in non7dimensional form it enables a concise graphical presentation
of results. Therefore, divide the numerator and the denominator by 8.
3 5 tan 5
#urther, the above e6uations can be expressed in terms of the following 6uantities
5 3
st
7 Jero fre6uency deflection
(eflection of spring mass system under the steady force #
o
should not be mista:en as K
st
5
#
;
L(87m<
"
)
"
9 (c<)
"
$*
*+
&<x
837m<
"
x
&<
87m<
"
&<
87m<
"
&<
87m<
"
#
;
M8
L
m <
"
8
)
"
9 (47
c<
8:
( )
"

&< M8
(47
m<
"
8
)
#
o
8
mg
8

5
5
Thus 3 5
5 r 5 fre6uency ratio
777777777 (!.N)
where is called magnification factor, amplification factor, or amplitude ratio.
5 @ It is the term by which 3
st
is to be multiplied to get the amplitude.
<
tan 5 5
4 7
.
.
. tan 5 77777777 (!.O)
Thus the steady state response x
p
5 3 -in (<t 7 ), in which
3 and are as given above.
Total solution x 5 x
c
9 x
p
#or under damped conditions@
as t , x
c
; i.e., the transient response dies out. &omplete solution consists only
steady state response only.
x 5 3 -in (<t 7 ) 777777777 (!.B)
+s mentioned above, the transient vibrations die out very soon and hence the system vibrates
with steady response amplitudes. The behaviour of the system can be best understood by
plotting fre6uency response curves as given below, in figure !.D and !.H.
Fre"uecy Re#po#e Cur$e#@
Magnification Factor $# Frequency Ratio for Differet %mout# of D%mpig
m
8
4
<
n
"
&
8
"?
8<
n
3
st
L(4 7 )
"
9 (" ?. <)
"
<
"
<
n
"
<
n
<
<
n
3 5
3
st
L (4 7 r
"
)
"
9( " ?. r)
"
3
3
st
3
3
st
"?
<
n
<
"
<
n
"
"?r
47r
"
"?r
47r
"
( )
#re6uency %atio r 5 (<M<

)
? 5 ; ? 5 ;
? 5 ;."H
? 5 ;.!NH
? 5 ;. H
? 5 ;.N;N
? 5 4
? 5 "

a
g
n
i
f
i
c
a
t
i
o
n

#
a
c
t
o
r

5

3
M
3
s
t

Figure 3.&
Phase lag $# frequency ratio for 'ifferet %mout# of '%mpig.
#igure !.H

The follo(ig ch%r%cteri#tic# of the m%gific%tio f%ctor )*+ c% ,e o,#er$e'.
4) #or damped system (? 5;)P as r 4.
") +ny amount of damping (? Q;) reduces the magnification factor () for all values of
forcing fre6uency.
!) #or any specified value of r, a higher value of damping reduces the value of
D) When the force is constant (r 5;), 54.
H) The amplitude of the forced vibrations becomes smaller with increasing value of forced
fre6uency. i.e ;,as r .
I) #or ;R ? R 4M L" (; R ? R;.N;N), the maximum value of occurs when r5L(47"?
"
) or
<5 <
n
L(47"?
"
), which is lower than the 1ndamped natural fre6uency <
n
and the
damped natural fre6uency <
d
5 <
n
L(47" ?
"
),
? 5 ;
-.. /.- /.. 0.-
0.. 3.-
? 5 ;."H
? 5 ;.H
? 5 ;.N;N
? 5 4.;
? 5 ".;
#re6uency %atio r 5 (<M<

)
Ph
a
s
e

+
n
g
l
e
,

,


N) The maximum value of 3 (when r5L (4 7 " ?
"
) is given by (3M3
st
)5 4MA" ?L (47?
"
)C and
the value of 3 at <5 <
n
is given by (3M3
st
) 5 4M" ?
O) #or ? Q4ML", the graphs of decreases with increasing values of r.
The follo(ig ch%r%cteri#tic# of the ph%#e %gle c% ,e o,#er$e' from the gr%ph
4) #or undamped system the phase angle is ;
;
for ;RrR4, and 4O;
;
for rQ4. This implies
that the excitation and response are in phase for ;RrR4 and out of phase for rQ4 when
? 5;.
") #or ? Q; and ;RrR4 the phase angle is given by ;
;
RRB;
;
, implying that the response
lags excitation.
!) #or ? Q; and rQ4, the phase angle is given by B;
;
RR 4O;
;
, implying that the response
leads excitation.
D) #or ? Q; and r54, the phase angle is 5B;
;
implying that the phase difference between
the excitation and response is B;
;
.
H) #or ? Q; and large values of r, the phase angle < approaches 4O;
;
implying that the
response and excitation are out of phase.
The damping factor ? has a large influence on amplitude and phase angle in the region where
r 5 4(resonance).The phenomenon represented be fre6uency response curve can be further
better understood by means of vector diagram as follows. &onsider three different cases as
(4) <M <
n
RR 4 (") <M <
n
5 4 (!) <M <
n
QQ 4
C%#e )/+1 23 2

44 / for (hich 2 #houl' ,e $ery #m%ll
+t very low fre6uencies, when < is very small, the inertia for m <
"
x and the damping force
&<x are very small.
Figure 3.5
This results in small values of as shown in fig .The impressed force #
;
is almost e6ual and
opposite to spring force 83. Thus for very low fre6uencies, the phase angle tends to Eero and
the impressed force wholly balance the spring force
C%#e )0+1 (he

23 2

6 /
x

(<t7)

m<
"
3
8x
#
o
&<3
x
8x
#
o

Figure 3.7
With increased value of <, the damping force &<x and inertia force m <
"
x increase. The
phase angle also increases. If < is increased to such an extent that phase angle 5B;
;
, the
force polygon becomes a rectangle as shown. The spring force and inertia vectors become
e6ual and opposite.
83 5 m <
"
x
< 5 L(8Mm) 5 <
n
< 5 <
n
< M <
n
54
This is the response condition of the system during which the forcing fre6uency is e6ual to
natural fre6uency of the system. +lso the impressed force is completely balanced by the
damping force.
&<35 #
;
35 #
;
M&< 5 #
;
M8M &<M8
353
st
M " ? (<M <
n
)

353
st
M " ? (<M <
n
)

5 4
3
r
M3
st
5 4M" ? 3
r
5 +mplitude at resonance
m<
"
3
&<3

C%#e )3+1 (he 2 3 2

88/
Figure 3.9
+t very large values of < Q approaches 4O;
;
, the inertia force becomes very large, where as
the spring force and damping force vectors becomes negligibly small. The improved force is
wholly utiliEed in balancing the inertia force.
4O;
;
i.e., #
o
5 m <
"
x
3 5 #
o
M m <
"
NU*ERICA: E;A*<:ES@
3./+ + machine part of mass ".H 8gs vibrates in a viscous medium. + harmonic exciting force
of !; , acts on the part and causes resonant amplitude of 4Dmm with a period of ;.""sec.
#ind the damping coefficient. If the fre6uency of the exciting force is changed to D2E,
determine the increase in the amplitude of forced vibration upon removal of the damper.
(ata@ m 5 ".H8g, #
;
5 !;,, 3 5 4Dmm, S 5 ;.""Hsec
Part 4@ +t %esonance
<
n 5
forcing fre6uency 5 "M S 5 "O.HI radMsec
+t resonance@ < 5 <
n
5 "O.HI radMsec
<
n
5 L(8Mm) 5 "O.HI radMsec
8 5 ";!B ,Mm
+mplitude at resonance
3 5

+s <M <
n
5 4, 3 5 (#
;
M8)M"? 5 ;.;4D
.
.
. ? 5 ;.H"I
(amping coefficient 5 & 5 &
c
? 5 "m <
n
?
5 "T".HT"O.HIT;.H"I
5 NH.;D ,MmMs
& 5 ;.;NH;D ,sMm
#
o
M8
L A4 7 r
"
C
"
9 A"?rC
"
x
m<
"
3
83
#
o
&<3

Part (")@ When f 5 D 2E
#orcing < 5 "Tf
n
5 "H.4! radMsec
#re6uency <
n
5 "O.HI radMsec, unchanged
+mplitude of vibration with damper
3
a
5 #
o
M8
L A4 7 r
"
C
"
9 A"?rC
"
5 ;.;4HDDm
+mplitude of vibration without damper
3
b
5 (!;M";!B)M(;.""HO)
5 ;.;IH"m
Increase in +mplitude 5 ;.;IH" G ;.;4HH 5 ;.;DBNm
+mplitude 5 DB.Nmm
3.0+ + body having a mass of 4H :gs, is suspended from a spring which deflects 4"mm due to
the weight of the mass. (etermine the fre6uency of free vibrations. What viscous damping
force is needed to ma:e the motion a periodic at a speed of 4mmMsec.
If when, damped to this extent, a disturbing force having a maximum value of 4;;,
and vibrating at I2E is made to act on the body. (etermine the amplitude of ultimate motion.
-olution@
(ata@ m 5 4H8gP #
;
5 4;; ,P f 5 I2EP K
st
5 4"mmP
(a) f
n
5 (4M")L(gM K
st
) 5 D.HH2E
(b) The motion becomes aperiodic, when the damped fre6uency is Eero or when it is critically
damped (? 5 4).
< 5 <
n
5 L(gM K) 5 "O.HB radMsec
& 5 &
c
5 "m <
n
5 "T4HT"O.HB 5 OHN ,MmMs
5 ;.OHN ,MmmMs
Thus a force of ;.OHN , is re6uired at a rate of 4mmMs to ma:e the motion a periodic.
(c) 3 5 #
;
L(87m<
"
)
"
9 (c<)
"
< 5 "f 5 "TI 5 !N.N radMsec, f
;
5 4;; ,
f
n
5 (4M")(L(8Mm) .
.
. 8 5 4","I; ,Mm
3 5 ;.;;"BOm
5 ".BOmm.


Co'itio for pe%= %mplitu'e of $i,r%tio
)E>pre##io for pe%= %mplitu'e+
The fre6uency at which the maximum amplitude occurs can be obtained as follows.
5 3 5
i.e., for a system acted upon by a :nown harmonic force, the amplitude depends only on (<M
<
n
). 2ence for 3 to be maximum L A4 G r
"
C
"
9 A"?rC
"
should be minimum.
(A4 7 r
"
C
"
9 A"?rC
"
) 5 ;
"(4 7 r
"
)
"
(7"r) 9 D?
"
r 5 ;
"(4 7 r
"
)

9 D?
"
r 5 ;
D
"
?
"
r 5 ; 5 "(4 7 r
"
)
"?
"
5 47r
"
r
"
5 4 7"?
"
r 5 L4 7" ?
"
(<M <
n
)
pea:
5 L4 7" ?
"
5 L4 7" ?
"
5 L4 7" ?
"
7777777777 (!.4;)
<
p
5 fre6uency at which pea: amplitude occurs.
Where <
p
refers to the forcing fre6uency corresponding to the pea: amplitude. ,o maximum
or pea: will occur when the expression within the radical sign becomes negative i.e., for ? Q
or for ? Q ;.N;N.
5 L4 7" ?
"
and pea: amplitude is given by
(3M3
st
)
max
5 4MA" ?(L47 ?)C 777777777 (!.44)

3.3+ + machine of mass "H :gs, is placed on an elastic foundation. + sinusoidal force of
magnitude "H, is applied to the machine. + fre6uency sweep reveals that the maximum
3
3
st
3
st
L A4 7 r
"
C
"
9 A"?rC
"
dx
d(<M <
n
)
dx
d(r)
<
<
n
( )
pea:
( )
pea:
<
p
<
n
4
L"
<
p
<
n
( )

steady state amplitude of 4.!mm occurs when the period of response is ;.""sec. (etermine
the e6uivalent stiffness and damping ratio of the foundation.
-olution@
(ata@ #
;
5 "H,P m 5 "H 8gsP 3
max
5 4.!mmP S 5 ;.""sec
#or a linear system, the fre6uency of response is same as fre6uency of excitation.
.
.
. 'xcitation fre6uency 5 < 5 "f 5 "M S 5 "O.I radMsec
thus 3
max
5 occurs, when < 5 "O.I radMs
&ondition for maximum amplitude to occur@
r 5 L4 7" ?
"
5 <M<
n
.
.
. <
n
5 < M(L4 7" ?
"
) 5 "O.IM(L4 7" ?
"
) 77777777777777(4)
also we have,
3M3
st
5 4 for 3
max
5 r 5L4 7" ?
"


L A4 7 r
"
C
"
9 A"?rC
"
3
max
M3
st
5 4
L A4 G (4 7" ?
"
)C
"
9 AD?
"
(4 7" ?
"
)C

5 4
" ? L (4 7?
"
)

3
max
M(#
;
M8) 5 4
" ? L (4 7?
"
)
3
max
m<
n
"
M#
;
5 4
" ? L (4 7?
"
)
"HT;.;4!T <
n
"
M"H 5 4
" ? L (4 7?
"
)
,ow substitute for <
n
"
from e6.(4)P

;.;4!T"O.IM(L4 7" ?
"
) 5 4
" ? L (4 7?
"
)
4.;I!!M(L4 7" ?
"
) 5 4
" ? L (4 7?
"
)
-6uaring and rearranging,
?
D
7 ?
"
9;.44N 5 ;
J
"
G J 9 ;.44N 5 ; where ?
"
5 J.
-olving the 6uadratic e6uation
? 5 ;.!IO, ;.B!
The l%rger $%lue of ? i# to ,e 'i#c%r'e' ,ec%u#e the %mplitu'e (oul' ,e m%>imum oly
for ? 4 -.7-7 .
.
. t%=e ? 6 -.359
.
.
. natural fre6uency <
n
5 <
L (4 G "(;.!IO)
"
)
<
n
5 !!.H radMsec
stiffness of the foundation,
8 5 m<
n
"
5 "H(!!.H)
"
5 "O.;HT4;
!
,Mm
3.&+ + weight attached to a spring of stiffness H"H ,Mm has a viscous damping device. When
the weight is displaced and released, without damper the period of vibration is found to be
4.Osecs, and the ratio of consecutive amplitudes is D." to 4.;. (etermine the amplitude and
phase when the force #5"&os!t acts on the system.
-olution@
(ata@ 8 5 H"H ,MmP S 5 4.Osecs@ x
4
5 D."P x
"
5 4.;P # 5 #
;
sin<t 5 "cos!t
.
.
. #
;
5 ",, < 5 ! radMsec
3 5 #
o
M8
L A4 7 r
"
C
"
9 A"?rC
"
<
n
5 "M S 5 !.DBradMsec
U 5 ln(D."M4.;) 5 4.D!H
? 5 U 5 ;.""
L (D
"
9 U
"
)
r 5 <M<
n
5 "M!.DB 5 ;.HN!
r
"
5 ;.!"O
3 5 "MH"H
L A4 G ;.!"OC
"
9 ADT;.DODT;.!"OC
3 5 H.!mm

5 tan
74
("?r)
(47r
"
)
5 tan
74
("T;.""T;.HN!)
(47;.!"O)
5 tan
74
(;.!NH)

5 ";.HI
;
3..+ The damped natural fre6uency of a system as obtained from a free vibration test is B.O
cps. (uring a forced vibration test with a harmonic excitation on the same system, the
fre6uency of vibration corresponding to pea: amplitude was found to be B.I cps.
(etermine the damping factor for the system and natural fre6uency.
<
d
5 B.O cps, (<
p
M <
n
) 5 L4 7"?
"
<
p
5 B.I cps.
<
n
5 <
d
ML4 7"?
"
<
p
L4 7"?
"
M<
d
5 L4 7"?
"

-olving for ?@ ? 5 ;.4BI
<
n
5 <
d
M L4 7"?
"
5 4; cps.
3.5+ + reciprocating pump of mass !;; 8gs is mounted at the middle of a steel plate of
thic:ness 4" mm and width H;; mm and length ".H m damped along two edges as shown.
(uring the operation of the pump, the plate is subVected to a harmonic excitation of #(t) 5 H;
cos I; t ,. (etermine the amplitude of vibration of the plate.

m 5 !;; 8gs
#
;
5 H; ,
< 5 I;
8 5 4B"'IMl
!
5 4NI.BDT4;
!
,Mm
? 5 ; 3 5 #
;
M(87m <
"
)
"
3 5 I.4!T4;
7O
mm
Vi,r%tio# Due to Reciproc%tig %' Rot%tig *%##e#
1nbalance in rotating machine is one of the common causes of vibration. The centrifugal
force generated (me
"
) due to the rotation of the body is proportional to the s6uare of the
fre6uency of rotation. This &# varies with speed of rotation and is different from the
0.. m
.--
/0
.

harmonic excitation discussed in previous articles in which the maximum force is
independent of fre6uency.
Fig. 3.@ *o'el of Reciproc%tig *%chie Fig. 3./- *o'el of Rot%tig *%chie
/et@ m@ mass of unbalanced mass.
@ Total mass including unbalanced mass.
e 5 eccentricity of unbalanced mass.
5 cran: radius of reciprocating machine
5 stro:e M ".
The force due to the unbalanced mass is as shown in the #*(.
The .('
m 9 & 9 8x 5 me
"
-in t
5 #
;
-in t
where #
;
5 me
"
/et the steady state response be

x 5 3. -in (t 7 )
from the previous discussion we have
5
where 3
st
5 #
;
M 8, r 5 M
n
here #
;
5 me
"
.
3 5
3 5
x8
3
3
st
4
LA47mr
"
C
"
9 A" ? rC
"
me
"
M8
LA47mr
"
C
"
9 A" ? rC
"
me
"

8
LA47mr
"
C
"
9 A" ? rC
"
x
8
<
<

5 5
777777777 (!.4")
and
5 tan
74
77777777 (!.4!)
The variation of 3Mme with (r 5 M
n
) for different values of ? is shown in figure !.44
2owever, the variation of and r remains as earlier.
Figure 3.//
The following observations can be made.
C%#e )i+ (he 444

! #%y r -
3Mme 5 ; (independent of ?, effect of damping is negligible)
C%#e )ii+ (he 6

A r 6 /
3Mme 5 4M" ?, dependent on ?
if ? 5 ;, 3Mme 5 W, it is a case of resonance.
C%#e )iii+ (he 888

! r88/! r B.
3Mme 5 4 (independent of ?, effect of damping is negligible)
+t low speed me
"
is Eero and hence the curve starts from Eero. It increases with increase in
(M
n
) until the condition of resonance is achieved. +t resonance 3Mme 5 4M" ? and thus the
3
me

"
M8
LA47mr
"
C
"
9 A" ? rC
"

"
T 4
"
(8M)
n
"
LA47mr
"
C
"
9 A" ? rC
"
3
me
r
"

LA47mr
"
C
"
9 A" ? rC
"
" ? r
47r
"
3
M
m
e
? 6 -
? 6 -./
? 6 -./.
? 6 -.0.
? 6 -..
? 6 /.-
r 5 M
n


amplitude 3 is limited, by the damping present in the system. When M
n
is very large
3Mme approaches unity.
Numeric%l E>%mple#
1nbalanced %otating and %eciprocating asses and #orce Transmissibility.
/+ + reciprocating machine of mass NH 8gs is mounted on springs of stiffness 44.NIT4;
H
,Mm
and a damper of damping factor ;.". The slider of mass " 8gs within the machine has a
reciprocating motion with a stro:e of ;.;O m. The speed is !;;; rpm. +ssuming the motion
of the piston to be harmonic, determine
4. +mplitude of vibration of the machine.
-olution@
5 NH 8gsP m 5 " 8gs, 8 5 44.NIT4;
H
,Mm.
#or vibrations due to rotating unbalance
+mplitude of vibration
5
e 5 stro:eM" 5 ;.;OM" 5 ;.;D m
5 "X (!;;;) M I; 5 !4D radMsec.

n
5 L8Mm 5 L44.NIT4;.H MNH 5 4"H radMsec.
M
n
5 r 5 !4D M4"H 5 ".H4
NH (3)M"(;.;D) 5 (".H4)
"
M L(47".H
"
)
"
9 ("T;."T".H4)
"
3 5 ;.;;4"H m 5 4."H mm
3
me
r
"
LA47 r
"
C
"
9 A" ? rC
"

Vi,r%tio I#ol%tio %' Tr%#mi##i,ility
In machines vibrations are caused due to unbalanced masses. These vibrations are transmitted
to the foundation upon which the machines are installed. If the transmission of vibrations to
the foundations is not avoided the adVoining machines also set to vibrate.
To minimiEe the forces transmitted to the foundation machines are usually mounted on
springs or dampers or some other vibration isolation material. )ibration isolation is measured
in terms of the motion or force transmitted to the foundation. The lesser the force or motion
transmitted the greater the vibration isolation.
Force Tr%#mi##i,ility or Tr%#mi##i,ility R%tio
In the case of forced vibrations, it is defined as the rating force transmitted to that impressed
upon the system. it is a measure of the effectiveness of a isolating material.
#or a spring mass damper system under harmonic excitation
3 5 777 (a) and
5 tan
74
777 (b)
The forces are transmitted to the foundation or structure through the springs and dampers
provided in the system. Thus the force transmitted to the foundation are the spring force 83
and the damping force cx. 2ence the total force transmitted to the foundation is the vector
sum of 83 and &3 as shown in the #igure.
#
t
5 #orce transmitted
5 L(83)
"
9 (&3)
"
5 L(83)
"
9 (&3)
"
. (83)
"
M (83)
"
5 (83) L4 9 (&M8)
"
3
st
LA47 r
"
C
"
9 A" ? rC
"
" ? r
47r
"
( )
m
Impressed force
-pring force
(83)
(amping force
(&<3)
#oundation

-ubstituting for 3 from (a)
#
t
5 8. L4(&M8)
"
5
5 5 Transmissibility %atio (T%)
+ plot of transmissibility ratio M
n
is shown in figure given below.
The following observations can be made.
&ase (i) when M
n
5 ;, r 5 ;, T% 5 4, (independent of ? )
(ii) 5
n
, r 5 4, resonance.
T% 5 , dependent on ?
If ? 5 ;, T% 5 W
&ase (iii) when M
n
5 L", #
t
M#
;
5 4, independent of ?
&ase (iv) when M
n
QQQ , r W
#
t
M #
;
5 T% 5 ;
Discussions1 When M
n
5 ;, i.e., the force is steadily applied, T% 5 4, irrespective of the
amount of damping produced in the systems. When M
n
5 4, it is condition of resonance.
The force transmitted is infinity. If damping is used the magnitude of transmitted force is
#
;
8
LA47 r
"
C
"
9 A" ? rC
"
#
;
L 49 (" ? r)
"
LA47 r
"
C
"
9 A" ? rC
"
#
t
#
;
L 49 (" ? r)
"
LA47 r
"
C
"
9 A" ? rC
"
L 49 D ?
"
" ?
Fre"uecy R%tio r 6 )232

+
#
t
M
#
;

? 6 -
? 6 -.0
? 6 -..
? 6 -.5
? 6 -.5
? 6 -.0
? 6 -

reduced. When M
n
R L" the transmitted is always greater then the impressed force. When
M
n
5 L", for all the values of damping the force transmitted is e6ual to impressed force.
When M
n
Q L", the transmitted force is always less than the impressed force. it also implies
that T% decreases with decreasing values of ?. Thus, an undamped spring is superior to a
damped spring in reducing force transmissibility. *ut certain amount of damping is necessary
for to pass through the resonance condition.
+s seen from the above order to isolate vibrations due to external force, M
n
should be very
large, i.e., QL". #or a given value of M
n
should be very small. The static deflection of the
spring should be as high as possible. These conditions will be satisfied by materials li:e steel
springs, rubber, cor:, felt etc., which are generally used as vibration isolators.
,umerical 'xamples on
1nbalanced %otating and %eciprocating asses and #orce Transmissibility.
4. + reciprocating machine of mass NH 8gs is mounted on springs of stiffness 44.NIT4;
H
,Mm
and a damper of damping factor ;.". The slider of mass " 8gs within the machine has a
reciprocating motion with a stro:e of ;.;O m. The speed is !;;; rpm. +ssuming the motion
of the piston to be harmonic.
". +mplitude of vibration of the machine.
!. Transmissibility ratio.
D. #orce transmitted to the foundation.
H. Is vibration isolation achievedY If so how.
-olution@
5 NH 8gs@ m 5 " 8gs, 8 5 44.NIT4;
H
,Mm.
#or vibrations due to rotating unbalance
+mplitude of vibration
5
e 5 stro:eM" 5 ;.;OM" 5 ;.;D m
5 "X (!;;;) M I; 5 !4D radMsec.

n
5 L8Mm 5 L44.NIT4;.H MNH 5 4"H radMsec.
M
n
5 r 5 !4D M4"H 5 ".H4
NH (3)M"(;.;D) 5 (".H4)
"
M L(47".H
"
)
"
9 ("T;."T".H4)
"
3 5 ;.;;4"H m 5 4."H mm
Transmissibility %atio@ (T%)
3
me
r
"
LA47 r
"
C
"
9 A" ? rC
"

T% 5 5
T% 5

5 5
T% 5 ;.4OI4
#orce transmitted to the foundation
+lso T% 5
#
t
5 (T%) #
;
5 (;.4OI4) T me
"
5 (;.4OI4) T " T ;.;D (!4D)
"
#
t
5 4DIN.B ,
)ibration Isolation@ )ibration isolation is achieved as only 4O.I Z of the maximum sha:ing
force (#
;
) is transmitted to the foundation. This is because the operating range of fre6uency
ratio M
n
5 r R L" (".H4Q 4.D4).
+s r QQQQQ L", ;
". + mass of 4;; 8g, is mounted on a spring support having a spring stiffness of ";;;; ,Mm
and a damping coefficient of 4;; ,-Mm. The mass is acted upon by a harmonic force of !B ,
at the undamped natural fre6uency of the set up. #ind
4. +mplitude of vibration of the mass.
". Phase difference between the force and displacement.
!. #orce transmissibility ratio.
!. + refrigerator of mass !H 8gs operating at DO; rpm is supported on ! springs. If only 4;Z
of the sha:ing force is to be transmitted to the foundation what should be the value of 8.
5
assuming that no damped used ? 5 ;
T% 5 4ML(47 r
"
)
5 4M [ (47 r
"
)
5 "XT DO; M I; 5 4I X radMsec, T% 5 ;.4 5
;.4 5
[ ;.4 G ;.4 (4I XM
n
)
"
5 4
#
t
#
;
L 49 (" ? r)
"
LA47 r
"
C
"
9 A" ? rC
"
L4 9 ("T;."T".H4)
"
L(47".H
"
)
"
9 ("T;."T".H4)
"
L 49 4.;;O;
L"O.;B 9 ".;;O
L ".;;O
L"B.;B
#
t
#
;
#
t
#
;
#
t
#
;
L 49 (" ? r)
"
LA47 r
"
C
"
9 A" ? rC
"
#
t
#
;
4
[ A47 (4I XM
n
)
"
C

When positive sign is considered
7 ;.4 (4I XM
n
)
"
[ 4 G ;.4
(4I XM
n
)
"
5 ;.BM7;.4 5 7 B
(4I XM
n
) 5 L7B which is not possible
Ta:ing the negative sign
7 ;.4 9 ;.4 (4I XM
n
)
"
5 4
4I XM
n
5 (49;.4M;.4) 5 L44

n
5 4H.4H radMsec.

n
8 5 L8Mm 8
e6
5 O.;!N ,Mm
8 5 O.;!NM! 5 ".INB ,Mm.
D. + machine supported symmetrically on four springs has a mass of O; 8gs. The mass of the
reciprocating mass is "." 8gs which move through a vertical stro:e of 4;; mm with -2.
,eglecting damping, determine the combined stiffness of the springs so that the force
transmitted to the foundation is 4M";
th
of the impressed force. the machine cran: shaft rotates
at O;; rpm.
If, under actual wor:ing conditions, the damping reduces the amplitudes of successive
vibrations by !;Z, find (a) The force transmitted to the foundation at O;; rpm (b) The force
transmitted to the foundation at resonance. (c) The amplitude of vibrations at resonance.
5 O; 8gs, m "." 8g T% 5 4M"; 5 ;.;H , 5 O;; rpm
e 5 4;;M" 5 H; mm. 5 " X,MI; 5 O!.NO radMsec.
4. In the absence of damping
T% 5 4M (r
"
G 4)
;.;H 5 7 4
n
5 4O."O radMsec

n
"
5 8Mm
8 5
n
"
5 "I.N!B ,Mm
". When damping is present
5 In (3
4
Mx
"
) 5 In (4M47;.!) 5 " X ? M L4 G ?
"
4
O!.NO

n
( )
"

? 5 ;.;HIN
#
t
5 #orce transmitted to foundation at O;; rpm.
5 5 ;.;HI! 5 T%
#
t
5 #
;
T T% 5 T% T me
"
5 D!.DN ,
!. +t resonance M
n
5 4
T% 5 5 O.ONH
5 T%
(#
t
)
%es
5 #
;
T T%
5 me
n
"
T T%
5 "." T ;.;H T (4O.NO)
"
T O.ONH
(#
t
)
%es
5 !"I."H ,
D. +mplitude of vibration at resonance.
5
5 !".I."HM"I.N!B 5 4"." mm
Force' Vi,r%tio# 'ue to E>cit%tio of B%#e
-ome times the base or support of a spring7mass damper system undergoes harmonic
excitation as shown in figure.
/et y@ denotes the displacement of the base and x@ denotes the displacement of the mass from
static e6uilibrium position at a given instant tP such that
+bsolute +mplitude of the ass (3) y 5 0 sin t
#
t
#
;
L 49 (" ? r)
"
LA47 r
"
C
"
9 A" ? rC
"
L 49 (" ? r)
"
" ?
#
t
#
;
#orce transmitted at %esonance
-tiffness
9 x
9 y
*ase
y 5 0 -in t

*ase excitation

,ow from ,-/
m 5 7 8 (x7y) G &( 7 )
5 7 8x 9 8y G & 9
m 9 & 9 8x 5 & 9 8y governing differential e6uation.
/et the steady state response
x 5 3 -in (t 7 )
5 3 cos (t 7 )
5 3 -in AB; 9 (t 7 )C
5 7
"
3 -in (t 7 )
also y 5 0 -in t
5 0 &os t
5 0 -in AB; 9 tC
5 7
"
0 -in (t), substituting these values in .('
7 m
"
3 -in (t 7 ) 9 &3 -in AB; 9 (t 7 )C 9 83 -in (t 7 )
5 & 0 -in AB; tC 9 8 0 -in t.
m
"
3 -in (t 7 ) 7 &3 -in AB; 9 (t 7 )C G 83 -in (t 7 )
9 & 0 -in AB; tC 9 8 0 -in t 5 ;
Thus \] 5 ;. The forces can be represented as shown, and the force polygon should close.
#rom the triangle $+*.
x
88
x8 y8
x8 y8
x
88 x8 y8
x8
x
88
y8
y8 8
83 &3
.
8y
&y
.
x y x
83 &3
.
8y
&y
.
x
8 (x7y) &(x G y)
. .

$+
"
5 +*
"
9 *$
"
#
;
"
5 (83 7 m
"
3)
"
9 (&3)
"
5 A83 7 m
"
3 (83M83)C
"
9 A&3 (83M83)C
"
#
;
"
5 (83)
"
A(47 m
"
M8)
"
9 (&M8)
"
C
+lso #
;
"
5 (80)
"
9 (&0)
"
5 (80)
"
A4 9 &0M 80)
"
C
5 (80)
"
A4 9 &M 8)
"
C
(80)
"
A4 9 &M 8)
"
C 5 (83)
"
A(4 7 m
"
M 8)
"
9 (&M 8)
"
C
Ta:ing s6uare roots and rearranging the terms
80 LA4 9 &M 8)
"
C 5 83 LA47 r
"
C
"
9 A" ? rC
"
The ratio 3M0 is called displacement transmissibility. This e6uation is similar to that of
transmissibility ratio, and all the observation and discussions are same as that discussed
under transmissibility ratio and the fre6uency response curve given below.
(isplacement transmissibility is defined are the ratio of displacement transmitted to the mass
to the displacement impressed upon the base.
83
&<3
m<
"
3
837&<
"
3
&<0
(<t 7 )

80
*
;
#
;
+
3
C
<t
(<t 7 )
&<0
83
&<3
80
<
"
3
;
0

Relatie A!"litu#e1 If J represents the relative motion of the mass with respect to the
support we have J 5 x7y
x 5 (E 9 y)
-ubstituting this in the governing differential e6uation.
m 9 & 9 8x 5 & 9 8y
m 9 & 9 8J 5 7 m
and substituting for ^yF from y 5 0 -in t
m 9 & 9 8J 5 m
"
0 -in t
&omparing this with
m 9 & 9 8x 5 me
"
-in t, of reciprocating and rotating unbalance.
The steady state relative amplitude J and the phase angle lag between the excitation and
relative displacement. The relative motion fre6uency response which is similar to
reciprocating and rotating unbalance as given below, can be used in designing vibration
measuring instruments.
JM 0 5 r
"
M LA47 r
"
C
"
9 A" ? rC
"
5 tan
74
A" ? rM 47 r
"
C
x
88 x8 y8
y8 8
J
88
J
8
J
88
J
8
x
88 x8
r 5 (<M<

)
3
M
0

? 6 -
? 6 -.0
? 6 -..
? 6 -.5
? 6 -..
? 6 -.0
? 6 -

Force $rans!itte#1 #orce is transmitted to the base through the spring and dampers. If ^JF
represents the relative displacement then
#orce transmitted 5 #
t

5 L(8J)
"
9 (&3)
"
#
t
5 JL8
"
(&)
"
The force transmitted to the base is also determined by #
t
5 m
"
3
Numeric%l E>%mple# o B%#e E>cit%tio
4. #igure (given in problem ,o.!) shows a simple model of motor vehicle that can vibrate in
vertical direction while traveling over a rough road. The vehicle has a mass of 4";; 8g. The
suspension system has a spring constant of D;; 8,Mm and a damping ratio of ? 5 ;.H. If the
vehicle speed is 4;; 8mMhr. (etermine the displacement amplitude of the vehicle. The road
surface varies sinusoidally with an amplitude 0 5 ;.;H m and a wave length of I m.
.iven m 5 4";; 8g -peed 4;; 8mMhr
8 5 D;; T 4;
!
,Mm 0 5 ;.;H m
? 5 ;.H wave length 5 I m
5 period
Model@ -ingle degree freedom damped system base excitation.
#re6uency of base excitation@ 5 -peedM /ength of one cycle
5
5 D.I! 2E.
J
M
0
? 6 -
? 6 -./
? 6 -./.
? 6 -.0.
? 6 -..
? 6 /.-
r 5 M
n

(4;;T4;;;)M!I;; mMsec
I m

#re6uency of base excitation
5 "X 5 "X 5 "B.;;ON radMsec.
,atural fre6uency 5
n
5 L 8Mm
5 LD;;T 4;
!
M 4";; 5 4O."HND radMsec.
#re6uency ratio 5 r 5 M
n
5 4.HB;!
5 5 ;.ODB!
(isplacement amplitude of the vehicle
3M0 5 ;.ODB! 3 5 ;.ODB! T (;.;H)
3 5 ;.;D"H m
". + precession grinding machine is supported on an isolator that has a stiffness of 4 ,Mm
and a viscous damping constant of 48,7-Mm. The floor on which the machine is mounted is
subVected to a harmonic disturbance due to the operation of an unbalanced engine in the
vicinity of grinding machine. #ind the maximum acceptable displacement of the floor if
resulting amplitude of vibration of grinding wheel is to be restricted to 4;
7I
m. +ssume that
the grinding wheel and machine are rigid bodies of total weight H;;; ,.
-olution@
W 5 H;;; , m 5 wMg 5 H;B.I 8g
8 5 4T4;
I
,Mm W 5 mgPm 5 H;;;MB.O4 8g
3 5 4;
7I
m & 5 4;
!
,7-Mm
0 5 Y
y 5 0 -in 4;Xt
5 5 4; X
5 !4.D radMsec
(4;;T4;;;)
!I;; T I m
3
0
L 49 (" ? r)
"
LA47 r
"
C
"
9 A" ? rC
"
3
0
L 49 (" ? r)
"
LA47 r
"
C
"
9 A" ? rC
"
y 6 C #i/-t
.
I#ol%tor#
Dri'ig
*%chie
Dri'ig Eheel
> 6 ; #i)2t F +
;6 /-
F5
m
0 5Y

n
5 L8Mm 5 L4;
I
MH;B.I

n
5 DD."B radMsec D"! rpm
& 5 &
c
? 5 &M&
c
5 4;
!
".m
n
5 4;
!
"TH;B.ITDD."B
_ 5 ;.;"""
5 4; X 5 !4.D radMsec
r 5 !4.D M DD."B 5 ;.N;B!
5 5 L49(;.;!4D)
"
5 4M L(;."DI 9 4.;) 5 4.44II
5 4.44II given that 3 5 4;
7I
m
0 5 3M4.44II 5 4;
7I
M4.44II 5 O.BHHT4;
7N
m
0 5 O.BHT4;
7N
mm
!. + trailer has 4;;; 8g mass when fully loaded and "H; 8g when empty. The suspension
has a stiffness of !H; :,Mm. The damping factor is ;.H. The speed of the trailer is 4;; 8mMhr.
The road varies sinusoidally with a wave length of H m. (etermine the amplitude ratio of the
trailer@
4.When fully loaded.
".When empty.
(ata@
ass of empty trailer 5 "H; 8g,
? 5 ;.H; ass of loaded trailer 5 4;;; 8g,
: 5 !H; :,Mm
-peed of trailer 5 4;; 8mMhr
5 4;;T4;;;M!I;; 5 "N.NN mMsec
3
0
L 49 A"(;.;"""T;.N;B!)C
"
L(47 ;.N;B!
"
)
"
9 (" ? r)
"
3
0
y 5 0 -in t
%oad profile
0
m
&,8
4;; :mMhr
x
y
$ne cycle

Time period 5 S
5 wave length Mvelocity
5 HM"N.NN sec.
5 ;.4O sec
#orcing fre6uency, w 5 "XM S 5 "X M ;.4O
5 !D.OBI radMsec.
/. Empty tr%iler1
,atural fre6uency of empty trailer

w
n
5 L(:Mm) 5 L(!H;T4;
!
M"H;) 5 !N.D4I radMsec

#re6uency ratio, r 5 wMw
n
5 !D.OBIM!N.D4I 5 ;.B!!
The ratio of amplitude of vibration of empty trailer to that of road surface is given as
5
5 4.!INIM;.BD4B 5 4.DH4O
3
0
L 49 (" ? r)
"
LA47 r
"
C
"
9 A" ? rC
"

0. :o%'e' tr%iler1
When the trailer is fully loaded the natural fre6uency is given by

w
n
5 L(:Mm) 5 L(!H;T4;
!
M4;;;) 5 4O.N;O radMsec

#re6uency ratio r 5 wMw
n
5 !D.OBIM4O.N;O 5 4.OIH!
5
5 ".44I M !.4;"I 5 ;.IO4B
A3M0C
empty
5 4.DH4O
A3M0C
loaded
5 ;.IO4B
The amplitude of vibration reduces as the mass of the system (loaded trailer) is increased.
D. +n aircraft radio of mass "; 8gs is to be isolated from engine vibrations, which is
vibrating with amplitude of ;.;H mm at H;; cpm. The radio is mounted on four isolators,
each having a spring scale of !4D;; ,Mm, and damping factor of !B" ,-Mm.
a. What is the amplitude of vibration of the radioY
b. What is the amplitude of vibration of the radio relative to the engine.
c. What is the dynamic load on each isolator due to vibration.
<%rt A
m 5 "; 8gs
8 5 DT!4D;; 5 4"HI;; ,Mm
& 5 DT!B" 5 4HIO ,-Mm
y 5 0 -in t
0 5 ;.;H mm, 5 "X] 5 "XT H;;M I; radMsec
5 H".H radMsec.

n
5 L8Mm 5 L4"HI;;M"; 5 NB." radMsec.
M
n
5 H".H M NB.H 5 ;.II"
? 5 &M" L8m 5 ;.DBI
5 3 5 ;.;IB mm 5 I.BT4;
7H
m
<%rt B
3
0
L 49 (" ? r)
"
LA47 r
"
C
"
9 A" ? rC
"
3
0
L 49 (" ? r)
"
LA47 r
"
C
"
9 A" ? rC
"
3
0

5
J 5 ;.;"H mm 5 ".HT4;
H
m
<%rt C
#
t
5 J L8
"
9 (&)
"
5 ".HT4;
7H
L(4HIOTH".D)
"
9 4"HI;;
"
#
t
5 !.O , Total force transmitted.
#
t
on each isolator 5 !.OMD 5 ;.BH ,
The dynamic load can also be computed using
#
t
5 m
"
3

5 (";) (H".D)
"
TI.BT4;
7H
#
t
5 !.O ,

Ch%pter .
Vi,r%tio *e%#urig I#trumet#
../ Itro'uctio
In practice the measurement of vibrations becomes necessary due to following reasons.
4. To determine natural fre6uencies, modal shapes and damping ratios. The
measurement of fre6uencies of vibration and forces developed is necessary to design
active vibration isolation systems.
". The theoretically computed vibration characteristics of a machine or structure may be
different from the actual values due to the assumptions made in the analysis. (To
verify the analytical models).
!. Periodic measurement of vibration characteristics of machines and structures
becomes essential to ensure ade6uate safety margins. (Preventive maintenance).
D. easurement of input and resulting output vibration characteristics of a system helps
in identifying the system in terms of its mass, stiffness and damping.
..0 Vi,r%tio *e%#uremet Scheme
#igure H.4 shows the basic features of a vibration measurement scheme.
4. )ibrating machine or structure.
". )ibration transducer or pic: up.
!. -ignal conversion instrument.
D. (isplay M recording.
H. (ata analysis.
Figure ../ Vi,r%tio *e%#uremet Scheme
The motion of a vibrating body is converted in to an electrical signal by the vibration
transducer or pic: up. The transducer transforms changes in mechanical 6uantities such as
displacement velocity, acceleration in to changes in electrical 6uantities such as voltage or
current. ('lectrodynamic pic: up, electromagnetic pic: up, pieEo electric pic: up, inductive
displacement pic: up, /)(T pic: up, capacitive pic: up). -ince the output signal of a
transducer is too small to be recorded directly, a signal conversion instrument is used to
amplify the signal to the re6uired value (+mplifier). The output from the signal conversion
/
0
3
&
.

instrument can be displayed on a display unit or stored in a computer for later use
($scilloscope, + to ( converters, milli voltmeters, computers etc., the data can then be
analyEed to determine the desired vibration characteristics of the machine. (epending upon
the 6uantity measured the vibration measuring instrument is called a vibrometer, a velocity
meter, an accelerometer, a phase meter or a fre6uency meter. To summarise, following are the
guidelines.
4. (isplacement measurements may be useful for studying low fre6uency vibrations,
where corresponding velocity and acceleration measurements are too small for
practical purposes.
". )elocity measurements may be useful at intermediate fre6uencies where displacement
measurements are li:ely to be small to measure conveniently.
!. +cceleration measurements may be useful at high fre6uencies.
Instead of the above, vibration analyEers can also be used. -everal commercial vibration
analyEers are available today. They consist of a vibration pic: up and an ##T (#ast #ourier
Transformation) analyser, a balancing :it for phase measurement and an inbuilt computer.
The pic: up essentially a pieEo electric type with a natural fre6uency of "H :cps. (82E). *uilt
in double integration is also available for displacement plots. ##T converts time domain
signal to a signal in fre6uency domain to identify the fre6uencies of concern.
..3 Vi,r%tio pic= up#1 Sei#mic I#trumet#
The commonly used vibration pic: ups are called seismic instruments. The basic element of
many vibration measuring instrument is a seismic unit which is basically a spring mass7
damper system mounted on a vibrating body on which measurements are to be made as
shown in #igure H.".

Figure ..0Sei#mic Uit
(epending on the fre6uency range utiliEed displacement, velocity or acceleration is
indicated, by the relative motion of the suspended mass with respect to the case.
C
>
C%#ig
y

Beh%$iour of Sei#mic uit
&onsider the e6uation of motion of spring7mass7damper system, subVected to base excitation,
as shown in #igure H.!.
Figure ..3
mx 5 7 & (x7y) G 8 (x7y)
if J 5 x7yP relative displacement the e6uation of motion becomes
mJ 9 &J 9 8J 5 m
"
0 -in t
from this
5
5 tan
74
A" ? rM47r
"
C
The parameters that influence JM0 and are@ (4) fre6uency ratio r 5 M
n
. (") (amping
factor ?, as shown in the #igure H.D.

B%#e
*
y 6 C Si t
> 6 ; Si )tF+
..
. .
.. . .
J
0
r
"
LA47 r
"
C
"
9 A" ? rC
"
Figure ..&.
Fre"uecy
re#po#e
cur$e# J
M
0
? 6 -
? 6 -./
? 6 -./.
? 6 -.0.
? 6 -..
? 6 /.-
r

6

%ange for )ibrometer
%ange for
+ccelerometer

#igure H.D also shows the range of fre6uencies corresponding to which a seismic instrument
act as a vibrometer or an accelerometer. Type of instrument is determined by the useful range
of fre6uencies with respect to the natural fre6uency (
n
) of the instrument. The relative
displacement J, may represent the displacement or acceleration depending upon
n
of the
seismic unit and fre6uency of vibrating body, .
..& Vi,rometer or Sei#mometer
It is an instrument with low natural fre6uency. Therefore,
QQQQQ
n
r QQQQ 4, r is very large.
JM0 4, in particular when r Q !
JM0 4, (independent of ? )
J50
%elative displacement of the seismic mass 5 displacement of base.
J 5 370, 3 5 ;, J50
2ence the seismic mass remains stationary. It remains undisturbed in space. The supporting
casing moves the vibrating body. Thus the relative displacement between the casing and the
mass is the true displacement of the casing. /i:e wise, the relative velocity between the
casing and the mass is the true velocity of casing. 1sually, the relative motion J is converted
into electric voltage. The seismic mass is a magnet moving relative to the coils fixed to the
case, as shown in #igure H.I.
Figure ..5
The voltage generated is proportional to the rate of cutting of magnetic field. Therefore the
output of the instrument is proportional to the velocity of the vibrating body. -uch
instruements are called velometers. + typical instrument of this :ind may have a natural
fre6uency of 4 2E to H 2E and a useful range of 4; 2E to ";;; 2E. The sensitivity of such
instruments may be in the range of "; m)Mcm to !H; m)Mcm. *oth the displacement and
acceleration are available from the velocity type transducer by means of the integrator or the
differeniator provided in most signal conditioner units.
;
;
; ;
;
;
-eismic mass
y
>

:imit%tio of Vi,rometer#
In order to have r QQQ4,
n
should be very small. This means that, the mass must be very
large and the spring must have a very low stiffness. Therefore, a vibrometer is a spring7mass7
damper system with a very large mass and a flexible spring. This results in bul:y instrument,
which is not desirable in many applications.
In practice, a vibrometer may not have a large value of r, and hence the value of J, may not
be exactly e6ual to 0. In such cases the true value of 0, can be computed from@
5
... Accelerometer
It is an instrument with high natural fre6uency. When the natural fre6uency of the instrument
is high compared to that of the vibrations to be measured, the instrument indicates
acceleration.
Then
RRRR
n
,
r RRRRR 4,
the factor LAr G (M
n
)
"
C
"
9 (" ?r)
"
approaches unity.
J (M
n
)
"
.0
(4M
n
"
).
"
0
2ence, J
"
0, which implies that J is proportional to the acceleration of the vibrating
body. Thus in order to ma:e r RRRR 4,
n
should be very large. 2ence 8 should be very large
and m should be small. This means that, the instrument needs a small mass and spring of
large stiffness. Therefore, the instrument will be very small in siEe and compact.
(ue to their small siEe and high sensitivity accelerometers are preferred in vibration
measurements. The acceleration measured can be integrated once or twice with the help of
modern electrical circuits to obtain velocity and displacement of the system.
Thus the difference between a vibrometer and an accelerometer is in its natural fre6uency. In
vibrometer it is very small where as in accelerometer it is very high. The principle of
construction remains same.
..5 U#eful Fre"uecy R%ge
The useful range of accelerometer can be seen from the following graph for different
amounts of damping ?. 1seful fre6uency range is that range of r between which the
maximum error is less than ;.;4 Z. The useful fre6uency range for un damped accelerometer
is very much limited. 2owever, with ? 5 ;.N the useful fre6uency range is 6uite large, that is,
between ; M
n
;.";, as shown in #igure H.N.
J
0
r
"
LA47 r
"
C
"
9 A" ? rC
"

Figure ..7. U#eful fre"uecy r%ge
Thus an instrument with a natural fre6uency of 4;; 2E has a useful fre6uency range of ; to
"; 2E with negligible error. (1p to "; 2E the error is less than ;.;4Z). #igure H.O shows
accelerometers.

Figure ..9. Accelerometer#
Numeric%l E>%mple# o Vi,r%tio *e%#urig I#trumet#
4. + vibrometer having a natural fre6uency of D radMsec and ? 5 ;." is attached to a structure
that executes harmonic motion. If the difference between the maximum and minimum
recorded value is O mm, find the amplitude of vibration of structure when its fre6uency is D;
radMsec.

n
5 D radMsec, ? 5 ;."
J 5 %elative amplitude
5 OM" 5 D mm
5 D; radMsec
r 5 M
n
5 D;MD 5 4;
5 5 4.;;B!
JM0 5 4.;;B! 0 5 !.BI!4 mm
". + vibrometer has a natural fre6uency of 4; cps and has a damping ratio of ;.N. It is used,
by mista:e, to measure vibrations of a fan base at an exciting fre6uency of 4O; rpm. The
measured vibration velocity of the fan base is ! mmMs. What is the actual velocity of the fan
baseY
#or a vibrometer,
5
In the present case,
n
5 4; cps 5 I".O radMsec.
'xciting fre6uency 5 4O; rpm 5 4O.OD radMsec.
2ence
r 5 M
n
5 ;.!
(JM0) 5 ;.;BM(;.O"O4 9 ;.4NID) 5 ;.;OB
2ence 0 5 JM;.;OB 5 !!.I mmMs.
It m%y ,e ote' th%t the %ctu%l $elocity i# ,eyo' permi##i,le limit#! (here%# (h%t i#
re%' i# (ell ,elo( the permi##i,le limit. Gece oe #houl' ,e $ery c%reful i #electig
the proper i#trumet.
!. + seismic instrument is fitted to measure the vibration characteristics of a machine running
at 4"; rpm. If the natural fre6uency of the instrument is H 2E and if it shows ;.;;D cm
determine the displacement, velocity and acceleration assuming no damping.

n
5 H 2E P
n
5 "
n
5 4; radMsec 5 !4.D radMsec
, 5 4"; rpm 5 ",MI; 5 4".HI radMsec
J
0
r
"
LA47 r
"
C
"
9 A" ? rC
"
H
9 mm
& mm
*e%
J
0
r
"
LA47 r
"
C
"
9 A" ? rC
"

r 5 M
n
5 4".HIM!4.D 5 ;.D
J 5 ;.;;D cm
5 ;.;;;D mm
#or seismic instruments
5 , ? 5 ;
5 5
(isplacement 0 5 J(47r
"
) M r
"
5 ;.;"4 cm
)elocity ) 5 0 5 ",MI;T ;.;"4 5 ;."I cmMsec
+cceleration a 5
"
0 5 (0) 5 !."IH cmMsec
"
D. + vibrometer indicates " percent error in measurement and its natural fre6uency is H 2E. If
the lowest fre6uency that can be measured is D; 2E, find the value of damping factor.
-olution@
(ata@
n
5 H2E, 5 D; 2E, error 5 "Z
r 5 M
n
5 D;MH 5 O
JM0 5 4.;" (since the error is "Z)
5
(4.;")
"
5 O
"
M(47ID)
"
9 (4I ?)
"
? 6 -.3.
J
0
r
"
LA47 r
"
C
"
9 A" ? rC
"
J
0
r
"
LA47 r
"
C
"

r
"
A47 r
"
C
J
0
r
"
LA47 r
"
C
"
9 A" ? rC
"

Se##ioFVIII )5...-.+ BIS
..5 U#eful Fre"uecy R%ge of Vi,r%tio *e%#urig I#trumet#1
1seful fre6uency range is that range of r between which the maximum error is less than ;.;4
Z.
)ibrometer@ +s evident from #igure H.D for value of ? far greater than 4, JM0 4 for any
value of ?. This means that the mass remain un disturbed in space. 2ence the relative
displacement between the casing and the mass is the true displacement of casing. -imilarly
the relative velocity between the casing and the mass is the true velocity of the casing. The
instruments which have natural fre6uency
n
such that r QQQQ 4, can read displacement or
velocity directly. They are vibrometers and velometers, respectively.
The accuracy of these instruments depend upon the amount of damping and fre6uency ratio
at which they are used. #igure H.I shows the values of ? close to 4, plotted against JM0. It is
seen that when ? varies from ;.I to ;.N the percentage error in J as compared to 0 is less than
D. #or ? 5 ;.N;N, and r QQQ4. J 0 and thus the error is less than ;.;4Z. Thus there is a
lower cut7off fre6uency for a vibrometer, beyond which it gives readings with error less than
;.;4Z (concept demonstrated in numerical examples)
Figure ..7. U#eful fre"uecy r%ge for $i,rometer
+ccelerometer@
5 5 r
"

where 5 5 amplitude distortion factor.
Therefore JM0 5 (
"
M
n
"
)
H3C
J
0
r
"
LA47 r
"
C
"
9 A" ? rC
"
4
LA47 r
"
C
"
9 A" ? rC
"

J 5 0 (
"
M
n
"
)
#or r RRRR 4, approaches unity.
Therefore, J `
"
0, (i.e., relative displacement is proportional to the acceleration). The
amplitude distortion factor should remain constant over the desired range of fre6uency of
the accelerometer.
Thus for r RRR 4, ? 5 4ML" 5 ;.N, would remain constant at 4, in the range
5 4MLA49r
D
C

4, i.e., ; R r R ;."H.
The useful range of accelerometer can be seen from the following graph in #ig H.O for
different amounts of damping ?. The useful fre6uency range for undamped accelerometer is
very much limited. 2owever, with ? 5 ;.N the useful fre6uency range is 6uite large, that is,
between ; M
n
;."H, as shown in #igure H.O.
Figure ..9. U#eful fre"uecy r%ge for %ccelerometer
Thus an instrument with a natural fre6uency of 4;; 2E has a useful fre6uency range of ; to
"; 2E with negligible error. (1p to "; 2E the error is less than ;.;4Z). #igure H.B shows
accelerometers.

Figure ..@. Accelerometer#
Numeric%l E>%mple# o Vi,r%tio *e%#urig I#trumet#
4. + vibrometer having a natural fre6uency of D radMsec and ? 5 ;." is attached to a structure
that executes harmonic motion. If the difference between the maximum and minimum
recorded value is O mm, find the amplitude of vibration of structure when its fre6uency is D;
radMsec.

n
5 D radMsec, ? 5 ;."
J 5 %elative amplitude
5 OM" 5 D mm
5 D; radMsec
r 5 M
n
5 D;MD 5 4;
5 5 4.;;B!
JM0 5 4.;;B! 0 5 !.BI!4 mm
". + vibrometer has a natural fre6uency of 4; cps and has a damping ratio of ;.N. It is used,
by mista:e, to measure vibrations of a fan base at an exciting fre6uency of 4O; rpm. The
measured vibration velocity of the fan base is ! mmMs. What is the actual velocity of the fan
baseY
#or a vibrometer,
5
J
0
r
"
LA47 r
"
C
"
9 A" ? rC
"
H
9 mm
& mm
*e%
J
0
r
"
LA47 r
"
C
"
9 A" ? rC
"

In the present case,
n
5 4; cps 5 I".O radMsec.
'xciting fre6uency 5 4O; rpm 5 4O.OD radMsec.
2ence
r 5 M
n
5 ;.!, J 5 ! mmMsec
(JM0) 5 ;.;BM(;.O"O4 9 ;.4NID) 5 ;.;OB
2ence 0 5 JM;.;OB 5 !M;.;OB 5 !!.I mmMs.
It may be noted that the actual velocity is beyond permissible limits, whereas what is read is
well below the permissible limit. 2ence one should be very careful in selecting the proper
instrument.
!. + seismic instrument is fitted to measure the vibration characteristics of a machine running
at 4"; rpm. If the natural fre6uency of the instrument is H 2E and if it shows ;.;;D cm
determine the displacement, velocity and acceleration assuming no damping.

n
5 H 2E P
n
5 "
n
5 4; radMsec 5 !4.D radMsec
, 5 4"; rpm 5 ",MI; 5
r 5 M
n
5 ",MI;T4; 5 ;.D r 5 ;.D
J 5 ;.;;D cm
5 ;.;;;D mm
#or seismic instruments
5 , ? 5 ;
5 5
(isplacement 0 5 J(47r
"
) M r
"
5 ;.;"4 cm
)elocity ) 5 0 5 ",MI;T ;.;"4 5 ;."I cmMsec
+cceleration a 5
"
0 5 (0) 5 !."IH cmMsec
"
D. + vibrometer indicates " percent error in measurement and its natural fre6uency is H 2E. If
the lowest fre6uency that can be measured is D; 2E, find the value of damping factor.
-olution@
(ata@
n
5 H2E, 5 D; 2E, error 5 "Z
r 5 M
n
5 D;MH 5 O
J
0
r
"
LA47 r
"
C
"
9 A" ? rC
"
J
0
r
"
LA47 r
"
C
"

r
"
A47 r
"
C

JM0 5 4.;" (since the error is "Z)
5
(4.;")
"
5 O
"
M(47ID)
"
9 (4I ?)
"
? 6 -.3.
H. + commercial vibration pic:7up has a natural fre6uency of H.NH 2E and a damping factor
of ;.IH. What is the lowest fre6uency beyond which the amplitude can be measured with in
(a) 4Z error (b) "Z error.
Part (a).

5 'rror 5 AJ70CM0T4;;
4 5 (JM074)4;;
.iven that error is to be 4Z JM0 5 49;.;4 5 4.;4
J 5 4.;4 times 0
5 4.;4,
-implification leads to
;.;" r
D
G ;.!4r
"
9 4 5 ;
gi$ig r 6 3.3- %' 0.-0
These are the two values at which JM0 5 4.;4 in between these two values JM0 will be
greater than 4.;4, as shown.
The lowest value of r beyond which the amplitude can be measured with in 4Z error is r 5
!.!;.
M
n
5 M
n
5 r 5 !.!;
5 !.!; T H.NH 5 4; 2E
5 4; 2E.
Part (b).
When the error is "Z JM0 5 4.;"
When solved for r, for the given value of damping, we get imaginary value of r
"
. This means
that, for ? 5 ;.IH, the curve JM0 vMs r, does not go as high as JM0 5 4.;". Thus to get the
fre6uency for "Z error we have to consider JM0 5 ;.BO -olving for r
r 5 4.HH
5 O.B 2E.
J
0
r
"
LA47 r
"
C
"
9 A" ? rC
"
J
0
r
"
LA47 r
"
C
"
9 A" ? rC
"
r
"
LA47 r
"
C
"
9 A" ? rC
"
r
"
LA47 r
"
C
"
9 A" ? rC
"
H3C
/.--
/.-/
? 6 -.5.
J J
/.-- 0.-0 3.--
r

I. -pecify the lowest fre6uency of a vibrometer that can be measured with 4Z error, if its
natural fre6uency is D 2E and damping ratio is ;."
? 5 ;."

n
5 D 2E
5
5
on simplification
r
D
G "r
"
9 4 9 D ?
"
r
"
5 r
D
M (4.;4)
"
error 5 4Z
JM0 5 4.;4
We get r
D
7B!.!Or
"
9 H;.NH 5 ;
-olving, we get
r 6 @.53. %' -.73@
These are the two values at which JM0 5 4.;4. In between these two values JM0 will be
greater than 4.;4
at r
4
5 ;.N!B
M
n
5 r
4
,
5 ".B 2E.
at r
"
5 B.I!H
M
n
5 r
"
, 5 !O.HD 2E.
The lowest fre6uency beyond which the amplitude can be measured with 4Z error is !O.HD
2E.
N. +n accelerometer is made with a crystal of natural fre6uency "; :2E. The damping ratio of
accelerometer is found to be ;.N4. (etermine the upper cut off fre6uency of the
accelerometer for 4Z accuracy.
5
n
5 "; :2E
? 5 ;.N4
error 5 4 Z
4.;4 5 , imaginary value
;.BB 5
solving r 5 ;.!IIN
J
0
r
"
LA47 r
"
C
"
9 A" ? rC
"
r
"
LA47 r
"
C
"
9 A" ? rC
"
J
0
r
"
LA47 r
"
C
"
9 A" ? rC
"
r
"
LA47 r
"
C
"
9 A" ? rC
"
r
"
LA47 r
"
C
"
9 A" ? rC
"
H3C
/.-/
/.--
-.73@ /.-- @.53 r
J J

upper cut7off fre6uency
f 5 rT f
n
5 ;.!IINT";: 2E
5 N.!!H : 2E.
O. + device used to measure torsional acceleration consists of a ring having a moment of
inertia of ;.;DB 8g7m
"
connected to a shaft by a spiral spring having a scale of ;.BO ,m7M
rad, and a viscous damper having a constant of ;.44 ,m7secMrad. When the shaft vibrates
with a fre6uency of 4H cpm, the relative amplitude between the ring and the shaft is found to
be "
;
. What is the maximum acceleration of the shaftY
-olution@
(ata@
a 5 ;.;DB 8g7m
"
&
t
5 ;.44 ,m7secMrad
8
t
5 ;.BO ,mMrad 5 "XT4HMI; 5 XM" radMsec

n
5 L8
t
Ma 5 D.DN radMsec
? 5 &
t
M"L8
t
a 5 ;.44 M "L;.BOT;.;DB 5 ;."H
b
E
5 "
;
, 5 "MHN.! 5 ;.;!DB rad
M
n
5 ;.!H"
5
b
y
5 ;."H! rad
aximum acceleration of the shaft 5
"
b
y
5 (XM")
"
T ;."H! 5 ;.I" radMsec.
B. + vibrometer having a mass of 4; 8gs is used to measure the vibration amplitude of a
machine which is vibrating with a fre6uency of 4;;; cpm. If the error in the reading of the
dial indicator is not to be more than !Z of the actual amplitude of the vibrating machine
determine the stiffness of the vibrometer springY
4;. -how that an undamped seismic instrument will show the true response at a fre6uency
ratio r 5 4ML".
-olution@ JM0 5 r
"
M(47r
"
), ? 5 ;,
#or true response J50 r
"
M(47r
"
) 5 4
"r
"
5 4 or r 5 4ML"
(M
n
)
"
LA47 r
"
C
"
9 A" ? rC
"
b
E
b
y

Se##ioFI; )/-...-.+ BIS
5.7 Whirling of Shafts
In many practical applications such as turbines, compressors, electric motors and pumps, a
heavy rotor is mounted on a light weight flexible shaft that is supported between bearings.
The mass centre of rotor do not coincide with the centre line of the shaft. Thus there will be
unbalance in the rotor due to manufacturing errors. When the shaft rotates centrifugal force is
induced on the shaft, which ma:es it to bend in the direction of eccentricity of rotor. In
addition to this other effects such as stiffness and damping of the shaft, hyrtersis damping,
gyroscopic effects, and fluid friction in bearings also cause the shaft to bend. This bending
further increases eccentricity and hence the centrifugal force. This effect is cumulative and
ultimately the shaft may even fail. The extent to which the shaft bends depends upon the
eccentricity of the rotor mass and speed of the shaft.
+t certain rotational speeds the shaft tends to vibrate violently in transverse direction. +t
these speeds the shaft has a tendency to bow7out and whirl in a complicated manner as shown
in #igure H.4; and H.44.
Figure 5.10 Whirling of Shaft
Figure 5.11 Whirling of Shaft
O
C
D
O
C
D
;
e
*earing centre
line
U'eflecte' <o#itio
Deflecte' <o#itio

Bet up #h%ft %>i#

Be%rig cetre lie
Rotor or Di#c
Be%rig Be%rig

This phenomenon is called whirling or whipping of shafts and the corresponding speeds are
referred as whirling or whipping or critical speeds of shafts. These critical speeds are found
to coincide with the natural fre6uencies of lateral (transverse) vibrations of the shaft.
The excessive vibrations associated with critical speeds may cause permanent deformation
resulting in structural damage. 'g@ The rotor blades of a turbine may come in contact with
stator blades. /arger shaft deflections produce larger bearing reactions, which may lead to
bearing failure. The amplitude build up is a time dependent phenomenon and therefore, it is
very dangerous to continue to run the shaft at it critical speed.
The whirling motion of a shaft consists of two components of motion as shown in #igure
H.4".
a. -pinning of the shaft along with rotor about the bent up shaft axis.
b. %otation of plane + made by the centre line of the bearings and bent up7shaft, about
the centre line of the bearings.
Figure 5.12 Whirling of Shaft
The rotation of plane +, which is generally referred as whirling, may ta:e place in the same
sense as that of spinning of the shaft or in the opposite sense. #urther the speed of whirling
may or may not be e6ual to the speed of spinning of the shaft. When the whirling speed is
e6ual to the speed of rotation of shaft it is called c#ychroou# (hirld.
..7./ Critic%l #pee' of % #h%ft (ith % #igle rotor )(ith out '%mpig+1
&onsider a shaft on which a rotor in symmetrically located between two bearings. The
expression for the deflection of the shaft in terms of fre6uency ratio and eccentricity can be
obtained as follows based on the following assumptions.
4. -haft is light and flexible.
". .ravity effects are negligible.
!. #riction at shaft centre is small.
D. (amping due to air is neglected.
/et m@ mass of the disc in #igure H.4;.
Rot%tio of pl%e A

pl%e A

Bet up #h%ft %>i#

Be%rig cetre lie
Rotor or Di#c
Be%rig Be%rig
<l%e A
<l%e A
<l%e A <l%e A

@ +ngular rotation of the disc (uniform angular velocity of shaft)
e@ eccentricity of the disc@ radial distance of the mass centre of the disc from its geometric
centre7 ..
8@ -tiffness of the shaft in transverse direction
&@ .eometric centre of the disc.
.@ &.. of disc (mass centre)
3@ /ateral deflection of the shaft centre from ;. ($&) (deflection of the geometric centre of
the disc).

c
@ &ritical speed of the shaft.
The rotor, (disc) is in e6uilibrium under the action of two forces.
&entrifugal force, which acts radially outwards through . 5 m
"
(x 9 e)
%estoring force which act radially inwards through & 5 83
#or e6uilibrium restoring force 5 &entrifugal force
83 5 m
"
(3 9 e)
5 m
"
3 9 m
"
e
83 7 m
"
3 5 m
"
e
(8 7 m
"
) 3 5 m
"
e
3Me 5 m
"
MA:7m
"
C
5 4MA(:Mm
"
)74C 5 4MA(
n
M
"
) G 4C
when
5
n
, 3Me ratio is infinite. This particular value of is called critic%l #pee'.
*ut, M
n
5 r (
n
M 5 4Mr)
3Me 5 4MA(4Mr
"
) G4C
..7.0 Di#cu##io#1
The relation between 3Me and
c
M can be plotted as shown below in #igure H.4!.
Figure 5.13 Relation between X/e and n /
r 4
/.-
r

3
;3e
K
F $e

C%#e )i+1 Ehe 6

)r 6/+
#orcing fre6uency coincides with the natural fre6uency of transverse vibration of the
shaft. 3Me G approaches infinity i.e., the deflection of geometric centre of the disc tends to
infinity.
The dis: has a tendency to fly out, if the damping is insufficient. There will be severe
vibrations of the shaft thereby producing huge bearings reactions.
+t 5
n
, the above undesirable effects would occur and therefore 6

6
c
is called
the critical speed of the shaft.
C%#e )ii+1 4
c
! r 4 /
RRR
n
, r R 4
3Me 5 is positive. The deflection x and eccentricity ^eF are in the same sense. This condition
of disc is referred as cGe%$y #i'e out#i'ed i.e.,. The disc rotates with heavy side outside.
Thus & will lie between $ and .. Positive sign indicates that 3 is in phase with &#.
Figure 5.14 Disk with Heavy side outside
C%#e )iii+1 Ehe 8
c
! r 8 /
QQQ
n
3Me 5 negative, the deflection x and the eccentricity e are in opposite sense. This condition of
the disc is referred as cGe%$y #i'e i#i'ed. . falls between $ and &. ,egative sign indicates
that 3 is out of phase with &#.
Figure ../. Di#= (ith Ge%$y #i'e i#i'e
Ehe i# $ery l%rge! 3

6 r
L
L
L
O
C
D
L
L
L
O
C
D

. tends to coincide with $. The disc tends to rotate about its mass centre and hence
vibrations are very minimum. This is the principle used for stabiliEation of aircrafts at high
speeds.
..7.3 Dy%mic force tr%#mitte' to the ,e%rig#.
#
d
5 83
n
"
5 8Mm, 8 5 m
n
"
at the critical speed
5 m
"
n
3
5 m
"
3, at
,ote@
4. R
n
, r R 4, 3Me is positive, #
d
5 m
"
(3 9 e)
". Q
n
, r Q 4, 3Me is negative, #
d
5 m
"
(3 G e)
If the shaft is vertical dynamic load on each bearing #
*
5 #
d
M"
If the shaft is horiEontal dynamic load on each bearing 5 #
*
5 (mgM" 9 #
d
M")
u!eri"al #$a!%les
Critic%l #pee'# (ith out '%mpig
4. + rotor has a mass of 4" 8g and is mounted midway on a horiEontal shaft of "D mm
supported at the ends by two bearings. The bearings are 4 m apart. The shaft rotates at 4";;
rpm. The mass centre of the rotor is ;.44 mm away from the geometric centre of the rotor due
to certain manufacturing errors. (etermine the amplitude of steady state vibrations and
dynamic force transmitted to the bearings if ' 5 ";; .,Mm
"
.
-olution@
(ata@
m 5 4" 8gs, l 5 4m, d 5 "D mm 5 ;.;"D m.
e 5 ;.44 mm, ' 5 ";;T4;
B
,Mm
"
+mplitude of steady state vibrations
;3e 6 /3M)

3+
0
N /O 6 /3M)/3r+
0
N /O
+ssume the bearings are short. -haft is simply supported.
I 5 d
"
MID 5 4I.!T4;
7B
5 4I.! T 4;
7B
m
D
P

st
5 mgl
!
MDO'I 5 ;.;;;NH" m

n
5 g M
st
5 44D." radMsec.
5 ",MI; 5 4"H.II radMsec
r 6 3

6 /0..553//&.0 6 /./
;3e 6 F ..75! e 6 -.// mm
; 6 F -.53& mm! Neg%ti$e #ig i'ic%te# th%t the 'i#pl%cemet i# out of ph%#e (ith the
cetrifug%l force.

(ynamic force@ #
d
5 m
"
(37e) as r Q 4
#
d
5 4" T (4"H.II)
"
(;.I!D G ;.44) T 4;
7!
#
d
5 BB."B ,
Total load on each bearing (shaft horiEontal)
# 5 5 mgM" 9 8
d
M" 5 (4"T B.O4)M" 9BB."BM" 5 4;O.H ,
". + rotor having a mass of H 8gs is mounted midway on a 4; mm diameter shaft supported
at the ends by two bearings. The bearing span is D;; mm. (ue to certain manufacturing in
accuracies the &. of the disc is ;.;" mm away from the geometric centre of the rotor. If the
system rotates at !;;; rpm determine the amplitude of steady state vibrations and dynamic
force transmitted to the bearings. ,eglect damping. Ta:e ' 5 4.BI T 4;
H
,Mmm
"
-olution@
8 5 N";;; ,Mm

n
5 4"; radMsec
5 4;; radMsec
3 5 7 ;.;"!D mm
#
d
5 4.IOM" 5 ;.OD , on each bearing
!. + shaft of 4D mm and the length 4." m is held in log ,e%rig#. It carries a rotor of 4I
8gs at its midspan. The eccentricity of the mass centre of the rotor from the shaft centre is
;.D mm. The shaft is made of steel for which ' 5 ";; .,Mm
"
and permissible stress is N;
Pa
(etermine the critical speed of the shaft and range of speed over which it is unsafe to run the
shaft. +ssume the shaft is mass less, (a) When the shaft is horiEontal (b) When the shaft if
vertical.
(ata@
m 5 4I 8gs, l 5 4." m, e 5 ;.;;;D m, d 5 4D mm 5 ;.;4D m, ' 5 "T4;
H
Pa
+llowable bending stress@
b
5 N; Pa
-olution@
)i+ Critic%l #pee'

c
5
n
5 (gM
st
)

st
5 mgl
!
M4B" 'I
(#or long bearing@ both ends are fixed)

st
5 ;.;;!NH m.

n
5 (gM
st
) 5 H4.4N radMsec

n
5 ",MI;, , 5 DOB rpm
Critic%l #pee' 6 &9@ rpm.
)ii+ R%ge of #pee'

*ending load@
When the shaft rotates additional dynamic load acts on the shaft which causes additional
deflection and induces bending stress.
*ending stress induced@

b
5 yMI, 5 A(W
b
lMO) T dM"CM(d
D
MID)
W
b
5 *ending load
d 5 diameter of shaft, l 5 span
5 (W
b
lMO) 5 *ending moment (*oth ends fixed)
.iven allowable bending stress 5 N; Pa
-ubstitute
b
5 N; Pa in the above
We get W
b
5 4"H.N,
W
b
5 4"H.N,, additional load due to bending
+dditional deflection due to this W
b
(whirling effect)

4
5 (W
b
MW) T
st
5 (4"H.NMmg) T ;.;;!NH

4
5 ;.;;! m
)ii+ )%+. R%ge of #pee' (he the #h%ft i# $ertic%l
When the shaft is vertical
3 5
4
(-tatic deflection can be neglected)
3 5 ;.;;! m
We have
35 [ eMA(r
"
G 4)C 5 [ e M A(
n
M)
"
74C
3 5 [ e MAe(",
n
MI;fMe",MI;)
"
f74C, *ut ,
n
5 DOB rpm
;.;;! 5 [ ;.;;;DM (DOBM,)
"
G 4
(DOBM,)
"
5 [ ;.4!!!
N 6 &.@ %' .0. rpm.
Thus the range of unsafe speed is DHB and H"H rpm. This range is unsafe because the stress
induced exceeds N;,Mmm
"
)ii+ ),+ R%ge of #pee' (he the #h%ft horiPot%l
When the shaft is horiEontal
x 5
st
9
4

5 ;.;;!NH 9 ;.;;!
5 ;.;;INH m
3 5 [ eM A(,
n
M,)
"
G 4C
;.;;INH 5 [ ;.;;;DMA(DOBM,)
"
G 4C

(DOBM,)
"
G4 5 [ ;.;HB
Ehe K $e #ig i# co#i'ere'
&9@
0
3N
0
6 / K -.-.@ 6 /.-.@
N 6 &7../9 rpm
Ehe N $e #ig i# co#i'ere'
DOB
"
M,
"
5 4 7 ;.;HB 5 ;.BD4
N 6 .-& rpm
Thus the range of unsafe speed is DNH and H;D rpm. This range is unsafe because the stress
induced exceeds N;,Mmm
"
D. + shaft of "H mm diameter is freely supported on bearings NH; mm apart carries a rotor of
"; 8gs, midway between the bearings. (etermine the critical speed of the shaft, if the shaft
material has a density of O;;; 8gMm
!
and ' 5 ".4 T 4;
H
,Mmm
"
.
-olution@
(ata@
d 5 "H mm, l 5 NH;, m 5 "; :gs, ' 5 ".4 T 4;
H
,Mmm
"
, 5 O;;; 8gMm
!
&ritical speed 5
n
5 (gM
st
)
&onsidering the weight of the shaft

st
5 (W
e
l
!
)MDO 'I

W
e
5 A(WMg 9 (4NM!H) l) l
!
CMDO'I
5 ;.;DIO T 4;
7H
m

6 &.79 r%'3#ec! f

6 70@ GP.

Se##ioF; )/3...-.+ BIS
..7.& Critic%l Spee' of % Sh%ft (ith % Sigle Rotor (ith D%mpig
In engineering applications, rotors are subVected to air7resistance or structural damping.
2owever, for analytical purposes, e6uivalent viscous damping may be considered with a
viscous damping coefficient & and damping ratio ?.
It has been shown that, in a viscously damper system subVected to forced vibrations the
displacement lags behind the forcing function by an angle which is given by
tan 5 "rM(47r
"
), r 5 M
n
5 damping ratio.
(ue to damping the points $, & and . no longer remain collinear and ta:e up the
configuration given below as shown in #igure H.4I. The point & is pulled bac: due to
damping. Thus the rotor will be in e6uilibrium under the action of the following forces.
a. &entrifugal force 5 me
"
, due to the eccentricity of mass of the rotor.
b. -pring force 5 83.
c. &entrifugal force m3
"
due to whirling.
d. (amping force &3.
The above forces are shown both in magnitude and direction as given below in #igure H.4I.
Figure 5.16
%esolve these forces in horiEontal and vertical direction and for e6uilibrium.
(87m
"
) 3 5 me
"
&os 77 (a)
&3 5 me
"
-in 77 (b)
-6uaring and adding
(87m
"
)
"
3
"
9 (&3)
"
5 (me
"
)
"
(&os
"
9 -in
"
)
3
"
A(87m
"
)
"
9 (&)
"
C 5 (me
"
)
"
3 5 me
"
MLA(87m
"
)
"
9 (&)
"
CP
(ivide both numerator and denominator by 8
83
$
3
&
.
&3
m3
"
me
"
me
"
&3
(8 7m
"
)x
.
) )
me
"
&os
me
"
-in

3Me 5A mM8T
"
CMLA(47mM8T
"
)
"
9 (&M8)
"
C, *ut@ 8Mm 5 4M
n
"
&M8 5 "?M
n

;3e 6 r
0
3 QM)/Fr
0
+
0
K )0?r+
0
O %' t% 6 C3)IFm
0
+ 6 0r3)/Fr
0
+
These expressions are very much similar to fre6uency response curve of single ($# system
subVected to harmonic excitation due to rotating unbalance. The fre6uency response curves
are as shown in #igure H.4N and H.4O.
Figure 5.17
Di#cu##io#
3
M
e
? 6 -
? 6 -./
? 6 -./.
? 6 -.0.
? 6 -..
? 6 /.-
r 5 M
n

? 5 ;
-.. /.- /.. 0.-
0.. 3.-
? 5 ;."H
? 5 ;.H
? 5 ;.N;N
? 5 4.;
? 5 ".;
#re6uency %atio r 5 (<M<

)
P
h
a
s
e

+
n
g
l
e
,

,

Figure ../9

a. Ehe 444

! r 444 /.
tan , B;
;
(isc rotates with heavier side outside i.e., . outside & as shown in figure (a)
b. Ehe 6

! r 6 /
tan , B;
;
%esonance occurs@ (eflection 3 is maximum. +s damping increases deflection
reduces. -evere lateral vibrations occurs.
c. 8888

! r 888 /
B;
;
R R 4O;
;
(isc rotates with heavy side inside.
'. Ehe 6 /9-
-
.
&

$
)%+ 4 @-
.
&

$
),+ 6 @-
.
&

$
)c+ @-
-
4 4 /9-
-

Irrespective of amount of damping, the point . approaches $. The system tends to be more
stable and it is the desirable conditions.
#igure H.4B shows the phase at different rotational speeds.
Figure 5.19
u!eri"al #$a!%le
H. + disc of mass H :g is mounted midway between two bearings which are DO; mm apart, on
a horiEontal steel shaft B mm in diameter. The &. of the disc is displaced by ! mm from its
geometric centre. '6uivalent viscous damping at the centre of the disc is DO ,sMm. If the shaft
rotates at INH rpm determine (a) the maximum stress in the shaft. (b) What is the power
re6uired to drive the shaft at this speed. (c) +lso compare the maximum bending stress with
the dead load stress in the shaft.
(ata@
m 5 H :gs, l 5 DO; mm, d 5 B mm, ' 5 ";; .Pa (assumed)
e 5 ! mm, & 5 DO ,sMm, , 5 INH rpm,
Part (a)

n
5 (gM
st
)P

st
5 Wl
!
MDO'I 5 4.NB mm 5 4.NB T 4;
7!
m

n
5 AB.O4M4.NBT4;
7!
C 5 ND.;! radMsec
5 ",MI; 5 N;.IOI radMsec
.
&

$
.
&

.
&

.
&

$ $
)%+ 4 @-
$
),+ 6 @-
)c+ @-
-
4 4 /9-
-
)'+ 6 /9-
-
.
&

$
)'+ 6 /9-
-

r 5 M
n
5 ;.BHH
8 5 m
n
"
5 "ND;"." ,Mm
5 "N.D T 4;
!
,Mm
& 5 DO ,sMm
? 5 &M"m
n
5 ;.;IDO
3Me 5 r
"
M A(4 Gr
"
)
"
9 ("? r)
"
C
; 6 /..9 mm 6 /..9 J /-
F3
m
(ynamic load
#
d
5 A(83)
"
9 (&3)
"
C 5 DBN.HI ,
Total bending load 5 #
*
5 (H T B.O4) 9 DBN.HI 5 HDI.I ,
aximum bending stress

b
5 (!" )Md
!
, 5 WlMD (bending moment, simply supported)
W 5 #
b
5 HDI.I ,

b
5 (!"THDI.ITDO;)M (D) (B)
!
6 @/5.& N3mm
0
Part (b)
T 5 Tor6ue@ (amping force T 3
5 (amping tor6ue
5 (&3) 3 5 &3
"
5 (DOTN;.IOIT4H.OT4;
7!
) T 4H.OT4;
7!
T 6 /./-0 Nm
Power 5 ",TMI;
, 5 INH rpm
< 6 77.@ E%tt#
Part (c)
*ending stress due to dead load.

b
5 (!" )Md
!
, 5 WlMD (bending moment, simply supported)

W 5 mg 5 H T B.O4 5 DB.;H ,

,
6 90.0& N3mm
0

bmaxM

b, dead load
5 B4I.DMO".;D 5 44.4D

Se##ioF;I )/7...-.+ BIS
%&'i(rations of $)o Degree of Free#o! *yste!s
6.1 Introduction
The modeling method discussed in previous chapters employed only one coordinate to
describe the motion of the system completely. *ut general mechanical systems re6uire
several degrees of freedom for a meaningful model. -ystems modeled with two independent
co7ordinates to describe their motion are called two (egree of #reedom systems.
There are two e6uations of motion for a two ($# system, one for each mass. They are
generally in the form of coupled differential e6uations7 i.e., each e6uation involves all the co7
ordinates. If a harmonic solution is assumed for each co7ordinate, the e6uations of motion
lead to a fre6uency e6uation that gives two natural fre6uencies for the system. If a suitable
initial excitation is given the system vibrates at one of these natural fre6uencies. (uring free
vibrations at one of the natural fre6uencies, the amplitude of two degrees of freedom (co7
ordinates) are related in a specific manner and the configuration is called principal mode, or
normal mode or natural mode of vibration. Thus a two ($# system has two normal modes of
vibration corresponding two natural fre6uencies.
5.0 Free $i,r%tio# of t(o DOF #y#tem1
&onsider a two ($# system as shown in #igure I.4, executing free vibrations. /et an initial
displacement 3
4
be given to mass m
4
and 3
"
to mass m
"
. #igure I." shows the corresponding
free body diagram.
Figure 5./
I
/
I
0
I
3
m
0
m
/
;
0
;
/

Figure 5.0
*ased on ,ewtonFs second law of motion 5 m3
#or mass m
4
m
4
x
4
5 7 8
4
x
4
9 8
"
(x
"
7x
4
)
m
4
x
4
9 8
4
x
4
G 8
"
x
"
9 8
"
x
4
5 ;
m
4
x
4
9 x
4
(8
4
9 8
"
) 5 8
"
x
"
77777 (4)
for mass (")
m
"
x
"
5 7 8
!
x
"
G 8
"
(x
"
G x
4
)
m
"
x
"

9 8
!
x
"
9 8
"
x
"
G 8
"
x
4
m
"
x
"
9 x
"
(8
"
9 8
!
) 5 8
"
x
4
77777 (")
..
..
..
..
..
..
;
0
;
0
;
/
m
/
m
/
m
0
I
/
;
/
I
/
;
/
I
0
;
/
I
0
;
/
I
0
;
0
I
0
;
0
I
3
;
0
I
3
;
0
I
0
);
0
N ;
/
+
I
0
);
0
N ;
/
+
:et ;
0
8 ;
/
;
/
m
0
..

/et us assume that under steady state conditions the solutions for x
4
and x
"
be harmonic
therefore, assume x
4
5 3
4
sin t, x
"
5 3
"
sin t
x
4
5 7
"
3
4
sin t, x
"
5 7
"
3
"
sin t
-ubstitute these in (4) and (")
7 m
4

"
3
4
sin t 9 (8
4
9 8
"
) 3
4
sin t 5 8
"
3
"
sin t
7 m
"

"
3
"
sin t 9 (8
"
9 8
!
) 3
"
sin t
5
8
"
3
4
sin

t.
%emoving sin t through out and re arranging the terms.
3
4
M3
"
5 8
"
M(8
4
9 8
"
G m
4

"
) 5 A(8
"
9 8
!
) G m
"

"
CM8
"
&ross multiplying
8
"
"
5 (8
4
9 8
"
G m
4

"
) (8
"
9 8
!
G m
"

"
)
$n simplification we get
m
4
m
"

D
G Am
4
(8
"
9 8
!
) 9 m
"
(8
4
9 8
"
)C
"
9 A8
4
8
"
9 8
4
8
!
9 8
"
8
!
C 5 ;
The above e6uation is 6uadratic in
"
and gives two values of
"
and therefore the two
positive values of correspond to the two natural fre6uencies
n4
and
n"
of the system. The
above e6uation is called fre6uency e6uation since the roots of the above e6uation give the
natural fre6uencies of the system.
(iscussions@
/et 8
4
5 8
!
5 8
m
4
5 m
"
5 m
Then the fre6uency e6uation becomes
m
"

D
G " m (8 9 8
"
)
"
9 (8
"
9 "88
"
) 5 ;
/et@
"
5
"
5
D
,
m
"

"
G " m (8 9 8
"
) 9 (8
"
9 " 88
"
) 5 ;
m
"

"
G " m (8 9 8
"
) 9 (8
"
9 "88
"
) 5 ;
The roots of the above e6uation are as follows@
/et a 5 m
"
, b 5 7" m (8 9 8
"
)P c 5 (8
"
9 "88
"
)

4,"
5 A7 b (b
"
G Dac)CM"a
5 A7 (7"m) (8 9 8
"
) A7"m (898
"
)C
"
G D (m
"
) (8
"
9 "88
"
)CM"m
"

.. ..

5 A9 "m (8 98
"
)CM"m
"
ADm
"
A(8
"
9 :
"
"
9 " 88
"
) G (8
"
9 "88
"
)CMDm
D
5 (89 8
"
)

Mm (8
"
"
Mm
"
)
5 (8 98
"
)

Mm 8
"
Mm

"
5 (8 9 "8
"
)

Mm

n"
"
5 (8 9 "8
"
)

Mm
0
6 M)I K 0I
0
+

3mO

4
5 (8 9 8
"
)

Mm G 8
"
M m 5 8Mm

n4
"
5 8Mm

/
6 )I3m+

n4
is called the first or fundamental fre6uency or I mode fre6uency,
n"
is called the second
or II mode fre6uency. Thus the number of natural fre6uencies of a system is e6ual to the
number of degrees of freedom of system.

Se##ioF;II )/9...-.+ BIS
T(o DOF Sy#tem )cot'.+
*o'e# Sh%pe#1
#rom 3
4
M3
"
5 8
"
M(898
"
) 7m
"
5 (8
"
9 8) 7 m
"
M8
"
-ubstitute
n4
in any one of the e6uation.
(3
4
M3
"
)
n4
5 8
"
M 89 8
"
G m . 8Mm
(3
4
M3
"
)
n4
5 4
(3
4
M3
"
)
n"
5 8
"
M 8 9 8
"
G m(89 "8
"
Mm) 5 8
"
M78
"
5 74
(3
4
M3
"
)
n"
5 74
The displacements 3
4
and 3
"
corresponding to the two natural fre6uency of the system can
be plotted as shown in #igure I.!, which describe the mode in which the masses vibrate.
-uch a diagram is called principal mode shape of the system. When the system vibrates in
principal mode the masses oscillate in such a manner that they reach maximum
displacements simultaneously and pass through their e6uilibrium points simultaneously or all
moving parts of the system oscillate in phase with one fre6uency. -ince the ratio 3
4
M3
"
is
important rather than the amplitudes themselves, it is customary to assign a unit value of
amplitude to either 3
4
or 3
"
. When this is done, the principal mode is referred as normal
mode of the system.
Figure 5.3
I
/

I
0

I
3

m
/

m
0

I *o'e
m
/

m
/

m
0

m
0

;
/

;
/

;
0

;
0

.
No'e

5.3 Di#cu##io o N%tur%l fre"uecie# %' mo'e #h%pe#1
O,#er$%tio /@ It can be seen from the figure when the system vibrates in first mode, the
amplitude of two masses remain same. The motion of both the masses are in phase i.e., the
masses move up or down together. When the system vibrates in II mode the displacement of
two masses have the same magnitude with opposite signs. Thus the motions of m
4
and m
"
are
4O;
;
out of phase.
O,#er$%tio 0@ When the system vibrates in first mode, the length of the middle spring
remains constant, this spring (coupling spring) is neither stretched nor compressed. It moves
bodily with both the masses and hence totally ineffective as shown in #igure I.D. 'ven if the
coupling spring is removed the two masses will vibrate as " -($# system with
n
5 (8Mm).
Where as when it vibrates in II mode, the midpoint of the middle spring remains stationary
for all the time. -uch a point which experiences no vibratory motion is called a node, as
shown in #igure I.H.
O,#er$%tio 3@ When the two masses are given e6ual initial displacements in the same
direction and released, they will vibrate in I mode. When they are given e6ual initial
displacements in opposite direction and released they will vibrate in II mode as shown in
#igures I.D and I.H
Figure 5.&
m
/
m
/
m
/
m
0
m
0
m
0
I
0
I
0
I
0
I
/
I
/
I
/
I
3
I
3
I
3
;
/
;
/
;
0
;
0

Figure 5..
If une6ual displacements are given in any direction, the motion will be superposition of two
harmonic motions corresponding to the two natural fre6uencies.
Numerica !"am#e
4. $btain the fre6uency e6uation for the system shown in #igure. +lso determine the natural
fre6uencies and mode shapes when 8
4
5 "8, 8
"
5 8, m
4
5 m, m
"
5 "m.
m
/
m
/
m
/
m
0
m
0
m
0
I
0
I
0
I
0
I
/
I
/
I
/
I
3 I
3
I
3
;
/
;
0
N
.
N
.
m
/
m
0
I
/
I
0
;
/
;
0
I
/
;
/
I
0
;
/
I
0
;
0
I
0
;
0
I
0
;
/
m
/
m
0
;
0
;
/
m
/
;
/
;
/
m
0
I
/
;
/
I
0
);
0
N ;
/
+
I
0
);
0
N ;
/
+

#rom
,-/ for mass (4)
m
4
3
4
5 7 8
4
3
4
9 8
"
(3
"
G 3
4
)
5 7 8
4
3
4
9 8
"
3
"
G 8
"
3
4
m
4
3
4
9 3
4
(8
4
9 8
"
) 5 8
"
3
"
77777 (4)
#or mass (")
m
"
3
"
5 7 8
"
(3
"
G 3
4
)
5 7 8
"
3
"
9 8
"
3
4
m
"
3
"
9 8
"
3
"
5 8
"
3
4
77777 (")
/et 3
4
5 + -in t 3
"
5 * -in t
3
4
5 7
"
+ -in t, 3
"
5 7
"
* -in t
-ubstitute these in (4) and (")
7m
4

"
+ -in t 9 (8
4
9 8
"
) + -in t 5 8
"
* -in t
+ (8
4
9 8
"
G m
4

"
) 5 8
"
*
+M* 5 8
"
M A(8
4
9 8
"
G m
4

"
)C 77777 (!)
7 m
"

"
* -int 9 8
"
* -in t 5 8
"
+ -in t
(8
"
G m
"

"
) * 5 8
"
+
+M* 5 A8
"
G m
"

"
C M 8
"
77777 (D)
'6uating (!) and (D)
8
"
M (8
4
9 8
"
G m
4

"
) 5 A8
"
G m
"

"
C M8
"
8
"
"
5 (8
4
9 8
"
G m
4

"
) (8
"
G m
"

"
)
8
"
"
5 (8
4
9 8
"
) 8
"
G m
4

"
8
"
G m
"

"
(8
4
9 8
"
) 9 m
4
m
"

D
m
4
m
"

D
7
"
Am
4
8
"
9 m
"
(8
4
9 8
"
)C 9 8
4
8
"
5 ;
Put
"
5 g
m
4
m
"
g
"
G g Am
4
8
"
9 m
"
(8
4
9 8
"
)C 9 8
4
8
"
5 ;
$r
g 5 AAm
4
8
"
9 m
"
(8
4
9 8
"
)C [ L Aem
4
8
"
9 m
"
(8
4
98
"
)f
"
C7 D m
4
m
"
8
4
8
"
CC M "m
4
m
"
#re6uency e6uation of the system
To determine the natural fre6uencies
.iven 8
4
5 " 8, 8
"
5 8
m
4
5 m, m
"
5 "m
..
..
..
..
..

g 5 Am8 9 "m ("8 98) [ Am8 9 Im8)
"
G Dm "m8
"
8CC M "m . "m
5 AN m8 [ A(Nm8)
"
G D (Dm
"
8
"
)CC M Dm
"
5 ANm8 [ (DBm
"
8
"
G 4Im
"
8
"
C M Dm
"
g 5 ANm8 [ H.NDD m8C MDm
"
g
4
5
n4
"
5 AN m8 G H.NDD m8C MDm
"
5 4."HH m8 MDm
"
5 ;.!4!O 8Mm

/
6 -..5 )I3m+
g
"
5
n"
"
5 ANm8 9 H.NDD m8C MDm
"
5 !.4OI 8 Mm

0
6 /.79& )I3m+
To determine the mode shapes@
I mode shape@ -ubstituting
n4
"
5 ;.!4!O 8Mm
+M* 5 A8
"
G m
"

"
C M8
"
5 A8
"
Gm
"
.
n4
"
CM8
"
+M* 5 (8 G "m.;.!4!O 8Mm)M8 5 47"(;.!4!O)C
A3B 6 -.370&
If A 6 /! B 6 0.59.0
II mode@ -ubstituting
n"
"
5 !.4OI 8Mm
+M* 5 A8
"
Gm
"

n"
"
C

M8
"
5 (8 G "m. !.4OI 8Mm) M 8 5 (4 G !.4OI T") 5 7 H.!N"
+M* 5 7 H.!N", if + 5 4, * 5 7 ;.4OI
.
. .
.
A 6/
A 6/
B 6 0.59.0
B 6 F-./95
I *o'e

". (etermine the natural fre6uency and the corresponding mode shapes for the system shown
in figure




.iven 8
4
5 !8, 8
"
5 "8, 8
!
5 8
m
4
5 m, m
"
5 "m
#ree body diagram

/
6 )I3m+
0
6 )... I3m+
I
/
;
/
I
0
;
/
I
0
;
/
I
3
;
0
I
0
;
0
I
0
;
0
m
/
m
0
;
/
;
0
I
/
;
/
I
3
;
0
I
0
);
0
N;
/
+
I
0
);
0
N;
/
+


I
/
m
/
I
0
I
3
m
0
;
/
;
0

Se##ioF;III )0-...-.+ BIS
T(o DOF #y#tem# )cot'.+
!. (etermine the ,atural fre6uencies and ratio of amplitudes of the system shown in #igure.
-olution similar to example ,o. 4

/
6 -../7 )I3m+
0
6 /.@3/ )... I3m+
)A3B+
/
6 -.73/ )A3B+
0
6 F-.0730
D. -ame as above
.iven
m
4
5 4.H :g m
"
5 ;.O :g
8
4
5 8
"
5 D; ,Mm

/
6 @.3@r%'3#ec
0
6 3.99 r%'3#ec
)A3B+
/
6 F-.75. )A3B+
0
6 -.5@5
m
0m
I
0I
m
/
m
0
I
/
I
0

H. (etermine the natural fre6uencies of the system shown in figure. +lso determine the ratio
of amplitudes and locate the nodes for each mode of vibration. +ssume that the tension ^TF in
the string remains unchanged, when the masses are displaced normal to the string.
*%##e# i 'i#pl%ce' po#itio
Free ,o'y 'i%gr%m
,-/. #or mass (4)
l l l
m
4
m
"
T
TT
T
m
4
m
"
x
4
x
"


x
4
7 x
"
T
T
T
T



m
4
m
"
x
4
x
"
T cos T cos
T cos T sin
T sin
T sin
T sin
T cos
x
4
(x
4
7 x
"
)

mx
4
5 7 T -in 7 T -in -in 5 x
4
Ml, -in 5 x"Ml (x
4
G x
"
Ml
5 7 T x
4
Ml G T (x
4
7x
"
)Ml 5 7 Tx
4
Ml G Tx
4
Ml 9 Tx
"
Ml
mx
4
9 "Tx
4
Ml 5 Tx
"
Ml 77777 (a)
,-/. #or mass (")
mx
"
5 7 T -in 9 T -in
5 7 Tx
"
Ml 9 T. (x
4
Gx
"
)Ml
mx
"
9 "Tx
"
Ml 5 Tx
4
Ml 77777 (b)
/et x
4
5 + -in t, x
"
5 * -in t
x
4
5 7
"
+ -in t x
"
5 7
"
* -in t,
-ubstitute in (a) and (b)
7 m
4

"
+ -in t 9 ("TMl) + -in t 5 (TMl) * -in t. %emoving sin t throughout
+ A("TMl) G m
4

"
)C 5 *. (TMl)
+M* 5 (TMl)M A("TMl) G m
4

"
)C 77777 (a
4
)
-imilarly
7 m
"

"
. * -in t 9 ("T* -in t)Ml 5 (T. + -in t)Ml
* A("TMl) G m
"

"
)C 5 +. (TMl)
+M* 5 A("TMl) G m
"

"
)CMTMl 77777 (a
"
)
'6uating (a
4
) and (a
"
) and cross multiplying
(TMl)M A("T7lm
4

"
)MlC 5 A("T G lm
"

"
)MlCM(TMl)
T
"
5 ("T G lm
4

"
) ("T G lm
"

"
)
T
"
5 DT
"
G "Tlm
4

"
G "Tlm
"

"
9 l
"
m
4
m
"

D
l
0
m
/
m
0

&
N 0Tl )m
/
K m
0
+
0
K 3T
0
6 - Fre"uecy E"u%tio
/et 5
"
..
..
..
.. ..
..

l
"
m
4
m
"

"
G "Tl (m
4
9 m
"
) 9 !T
"
5 ;

4, "
5 A"Tl (m
4
9 m
"
) Ae"T (m
4
9 m
"
)lf
"
G D l
"
m
4
m
"
!T
"
)C M " m
4
m
"
l
"
/et 5 m
4
5 m
"
5 m

4."
5 A"Tl (m 9 m) A"T ("ml)
"
G Dl
"
m
"
. !T
"
)C M ". m
"
. l
"
5 DmTl A(DmTl)
"
G 4" m
"
l
"
T
"
C M "m
"
l
"
$n further simplification

/
6
/
0
6 T3ml
/
6 )T3ml+

0
6

0
6 3T3ml
0
6 )3T3ml+
*o'e Sh%pe1
+M* 5 (TMl)MA("TMl) G m
4

"
C
I mo'e1
+M* 5 4 if + 5 4, * 5 94
II mo'e1
+M* 5 74
+M* 5 74 if + 5 4, * 5 74
Se!i &efinite S'ste!s or &egenerate S'ste!
m
/
m
0

;
/

;
0

I *o'e
(+M*)
n4
5 4
II *o'e
m
/

m
0

;
/

No'e
.
(+M*)
n4
5 74

'g@ Couple' locomoti$e

-ystems for which one of the natural fre6uencies is e6ual to Eero are called semi definite
systems.

#*(@
ass (4)
m
4
x
4
5 8 (x
"
Gx
4
)
m
4
x
4
9 8x
4
5 8x
"
77777 (4)
m
"
x
"
5 7 8 (x
"
G x
4
)
m
"
x
"
9 8x
"
5 8x
4
77777 (")
/et x
4
5 + -in t, x
"
5 * -in t
x
4
5 7
"
+ -in t x
"
5 7
"
* -in t,


m
/
I
m
0
;
/
;
0
x
"
Q x
4
I;
0
I;
0
I;
/
I;
/
m
/
m
0
;
/
;
0
I );
0
N;
/
+
I );
0
N;
/
+
m
/
m
0
..
..
..
..
.. ..

-ubstitute in (4) and (")
m
4
(7
"
+ -in t) 9 8 + -in t 5 8 * -in t
#urther simplifications leads to
+M* 5 (8)M A8 G m
4

"
C 77777 (!)
m
"
(7
"
* -in t) 9 8 * -in t 5 8 + -in t
#urther simplifications leads to
+M* 5 A8 G m
"

"
C M (8) 77777 (D)
&ross multiplying and simplifying further
m
/
m
0

&
N I )m
/
K m
0
+
0
6 - Fre"uecy e"u%tio

"
Am
4
m
"

"
G 8 (m
4
9 m
"
)C 5 ;
#inding the roots we get the natural fre6uencies

/
6
/
6 -

0
6
0
6 MRI)m
/
K m
0
+S3)m
/
J m
0
+O
When one of the roots of the fre6uency e6uation is Eero, one of the natural fre6uencies is
Eero. -uch systems are referred as semi definite systems. The system will move as a rigid
body without any distortion of spring. The amplitudes of two masses are e6ual. They are also
referred as free7free system.
*o'e Sh%pe#@
I mode@
(+M*)
n4
5 (8)M A8 G m
4

"
C

/
6 -
(+M*)
n4
5 4
II mode@
B 6/
- -
m
/
m
0
A 6/
I mo'e
- m
0
- m
/
.
No'e
II mo'e
A 6 /
B 6 F /

(+M*)
n"
5 (8)M A8 G m
4

"
C

0
6 MRI)m
/
K m
0
+S3)m
/
J m
0
+O
if m
4
5 m
"
5m
Then
)A3B+
0
6 F/
I. (etermine the natural fre6uency and mode shapes of the system shown in #igure. .iven
m
4
5 4; :gs, m
"
5 4H :gs, 8 5 !"; ,Mm
-olution@ It is a free Gfree system
#ree body diagram
#re6uencies

/
6 -

n"
5 A8 (m
4
9 m
"
)M(m
4
T m
"
)C

n"
5 Ae!";(4; 9 4H)fM (4;T4H)C
6 7.3- r%'3#ec
ode -hapes
I mode


m
/
I
m
0
;
/
;
0
x
"
Q x
4
I;
0
I;
0
I;
/
I;
/
m
/
m
0
;
/
;
0
I );
0
N;
/
+
I );
0
N;
/
+
m
/
m
0

(+
4
M+
"
)
n4
5 4.;, if + 5 4, * 5 4
II mode
(+
4
M+
"
)
n"
5 (8)MA8 G m
4

n"
"
C
5 !"; M A!"; G 4; T (N.!;)
"
C
5 7 4.DB
if + 5 4, * 5 7;.IN4
N. +n electric train made of two cars each of mass ";;; :gs is connected by couplings of
stiffness e6ual to D; T 4;
I
,Mm. (etermine the natural fre6uency of the system.
Couple' C%r#
-olution@ This is an example similar to problem ,o. I only the answer are given here.
B 6/
- -
m
/
m
0
A 6/
I mo'e
- m
0
- m
/
.
No'e
II mo'e
A 6 /
B 6 F -.57/
m
/
m
0
I

.iven m
4
5m
"
5 ";;; :gs. 8 5 D;T 4;
I
,Mm

n4
5 ;

n"
5 ("8Mm)
5 ("TD;T4;
I
) M";;;

n"
5 ";; radMsec
(nal'sis of )wo &*F )orsional S'ste!s
#igure above shows a two rotor system which can be represented as follows.
#ree body diagram is as given below.
I
t
T
/ T
0

4
and
"
in &&W direction loo:ing from left.
,-/ for %otor (4)
a
4

4
5 7 8
t
(
4
7
"
)
T
/

/
K I
t

/
6 I
t

0
FFFFF )/+
#or rotor (")
a
"

"
5 9 8
t
(
4
7
"
)
a
"

"
5 9 8
t

4
G 8
t

"

T
0

0
K I
t

0
6 I
t

/
FFFFF )0+
/et,
..
..
..
..
..
T
/ T
0

/
8
t

0
8
t

/

0
8
t

0
8
t

/

/
I
t
)
/
F
0
+
I
t
)
/
F
0
+

/
I
t
)
/
F
0
+
I
t
)
/
F
0
+

4
5 + sin t,
"
5 * sin t

4
5 7
"
+ sin t,
"
5 7 *
"
sin t
-ubstituting the above in 4 and " and simplifying we get the amplitude ratios and fre6uency
e6uation as follows.

+M* 5 8
t
MA8
t
G a
4

"
C 77777 (a
4
)
+M* 5 A8
t
G a
"

"
C M 8
t
77777 (a
"
)
#re6uency e6uation
a
4
a
"

D
G (a
4
9 a
"
) 8
t

"
5 ;

"
Aa
4
a
"

"
G (a
4
9 a
"
) 8
t
C 5 ;

0
6 -!
/
6 -
and or
a
4
a
"

"
G (a
4
9 a
"
) 8
t
5 ;

n"
"
5 A(a
4
9 a
"
) 8
t
C Ma
4
T a
"

0
6 MR)T
/
K T
0
+ I
t
S3 T
/
JT
0
O
O. (etermine the natural fre6uency of Torsional vibrations of a shaft with two circular dis:s
of uniform thic:ness at its ends. The masses of the discs are m
4
5 H;; :gs and m
"
5 4;;; :gs
and their outer diameter (
4
5 4"H cm and (
"
5 4B; cm. The length of the shaft is ! m and its
diameter 5 4; cm. odulus of rigidity for shaft material of the shaft . 5 ;.O! T 4;
44
,Mm
"
+lso determine in what proportion the natural fre6uency of the shaft gets changed if along
half the length of the shaft the diameter is increased from 4; cm to "; cm.
-olution@
Part (4) #or free body diagram and expression for fre6uencies refer previous discussion.
m
4
5 H;; :g m
"
5 4;;; :g
(
4
5 4."H m (
"
5 4.B m
l 5 !.;; m
d 5 ;.4; m
. 5 ;.O! T 4;
44
,Mm
"
Two rotor system is a semi definite system whose natural fre6uency is given by

n4
5 ;

0
6 MR)T
/
K T
0
+ I
t
S3 T
/
JT
0
O
.. ..

n
5 A8t(a
4
9a
"
)Ma
4
a
"
C
a
4
5 h m
4
%
4
"
5 BO :g G m
"
, a
"
5 h m
"
%
"
"
5 DH! :gm
"
8
t
5 .I
p
Ml 5 A;.O! T 4;
44
M !.;;C TA (d
D
)M !"C 5 ".N"H T 4;
H
,7mM rad

0
6 .9./ r%'3#ec
Part (")@ -ince the diameters are different along the length e6uivalent stiffness is to be
determined as follows.

'6uivalent -ystem
.iven,
d
4
5 4; cm, d
"
5 "; cm, l
4
5 l
"
5 4.H m

/3I
te
6 /3I
t/
K /3I
t0
8
te
5 H.4! T 4;
H
,7mMrad

0
6 7@..@7 r%'3#ec
Gece there i# 37U icre%#e i the %tur%l fre"uecy of the #y#tem.
B. (etermine the fre6uency e6uation, natural fre6uency and mode shapes for a double
pendulum shown in figure.
T
/ T
0
I
te
T
/
T
0
I
t/
I
t0

.iven m
4
5 m
"
l
4
5 l
"
5 l
Free $ody diagram
m
/
m
0
l
/
l
0

2
m
"
g
m
4
m
4
g
m
"

1
x
4
x
"
l
4
l
"
T
4
T
"
T
"

&onsidering only the oscillation
+pplying ,-/ for mass (4)
m
4
x
4
5 7 T
4
sin
4
9 T
"
sin
"
but x
4
5l
4
x
4
5 l
4
, x
"
5 l
4
9 l
"
x
"
5 l
4
9 l
"
m
4
l
4
5 7 T
4
sin
4
9 T
"
sin
"
77777 (a)
+t mass (4) T
4
cos
4
5 mg 9 T
"
cos
"
77777 (4)
+t mass (") T
"
cos
"
5 mg

"
being very small cos 5 4
T
"
5 mg 77777 (")
T
4
5 mg 9 mg
T
4
5 "mg 77777 (!)
..
..
..
.. ..
..
T
4
&os
1
T
4
-in
1
T
"
-in
2
T
4
T
"
T
"
T
"
&os
2
T
"
&os
2
m
4
g
m
"
g
T
"
-in
2

2
..
..

ml
4
5 7 " mg sin
4
9 mg sin
"
l
/
K 0g
/
F g
0
6- FFFFF ),+
-imilarly for mass (")
mx
"
5 7 T
"
sin
"
T
"
cos
"
5 m
"
g, T
"
5 mg
5 7 mg sin
"
5 7 mg
"
ml (
4
9
"
) 9 mg
"
5 ;
l
/
K l
0
K g
0
6 - FFFFF )c+
'6uations (b) and (c) represent .('
/et
4
5 + sin t
"
5 * sin t

4
5 7
"
+ sin t,
"
5 7 *
"
sin t
-ubstitute in (b) and (c)
7 l
"
+ sin t 9 " g + sin t G g * sin t 5 ;
+ ("g 7 l
"
) 5 *g
A3B 6 g3M0gFl
0
O FFFFF ),
/
+
7l
"
+ sin t 7 l
"
* sin t 5 7 g * sin l
+M* 5 (l
"
G g)Ml
"
A3B 6 Mg F l
0
O 3 l
0
FFFFF )c
/
+
'6uating b
4
and c
4
and cross multiplying we get fre6uency e6uation.
l
0

&
N &gl
0
K 0g
0
6 - fre"uecy e"u%tio
/et
5
"
l
"

"
G Dgl 9 "g
"
5 ;
..
..
..
.. ..
.. ..
..

The roots are

4
5 ;.HOHN gMl 5
n4
"

/
6 -.75.. )g3l+

"
5
n"
"
5

!.D4D gMl

0
6
0
6 /.9&7 )g3l+
ode shapes
I mode
(+M*)
n4
5 g MA"g 7 l
n4
"
C 5 4M4.D4D!
(/+ , 1/1.-1-3 ( , 1. + , / 1.-1-3
II mode
(+M*)
n"
5 g MA"g 7 l
n"
"
C 5 4M74.D4D!
( , 1. + , 01.-1-

Se##ioF )+CS* NChF/
1.1)R*&2C)1*
/./ The #tu'y of $i,r%tio
+ body is said to vibrate if it has periodic motion. echanical vibration is the study of
oscillatory motions of bodies. )ibrations are harmful for engineering systems. -ome times
vibrations can be useful. #or example, vibratory compactors are used for compacting
concrete during construction wor:. 'xcessive vibration causes discomfort to human beings,
damage to machines and buildings and wear of machine parts such as bearings and gears.
The study of vibrations is important to aeronautical, mechanical and civil engineers. It is
necessary for a design engineer to have a sound :nowledge of vibrations. The obVect of the
sixth semester course on mechanical vibrations is to discuss the basic concepts of vibration
with their applications. The syllabus covers fundamentals of vibration, undamped and
damped single degree of freedom systems, multidegrees of freedom systems and continuous
systems.
/.0 E>%mple# of $i,r%tio
4.*eating of heart
". /ungs oscillate in the process of breathing
!. Wal:ing7 $scillation of legs and hands
D. -hivering7 $scillation of body in extreme cold
H. -pea:ing 7 'ar receives )ibrations to transmit message to brain
I. )ibration of atoms
N. echanical )ibrations
/.3 Cl%##ific%tio of $i,r%tio#
$ne method of classifying mechanical vibrations is based on degrees of freedom. The
number of degrees of freedom for a system is the number of :inematically independent
variables necessary to completely descibe the motion of every particle in the system. *ased
on degrees of freedom, we can classify mechanical vibrations as follows@
4.-ingle (egree of freedom -ystems
".Two (egrees of freedom -ystems
!.ultidegree of freedom -ystems
D.&ontinuous -ystems or systems with infinite degrees of freedom
+nother broad classification of vibrations is@
4. #ree and forced vibrations
". (amped and undamped vibrations.
-ometime vibration problems are classified as@
4./inear vibrations
". ,on7linear vibrations
!. %andom vibrations

D.Transient vibrations
+ system is linear if its motion is governed by linear differential e6uations. + system is
nonlinear if its motion is governed by nonlinear differential e6uations. If the excitation force
is :nown at all times, the excitation is said to be deterministic. If the excitation force is
un:nown, but averages and standard derivations are :nown,the excitation is said to be
random. In this case the resulting vibrations are also random. -ome times systems are
subVected to short duration nonperiodic forces. The resulting vibrations are called transient
vibrations. $ne example of a nonperiodic short duration excitation is the ground motion in an
earth6ua:e
The main causes of vibrations are@
4. *ad design
". 1nbalanced inertia forces
!. Poor 6uality of manufacture
D. Improper bearings ((ue to wear i tear or bad 6uality)
H. Worn out gear teeth

I. 'xternal excitation applied on the system
The effects of vibrations are as follows@
4. 1nwanted noise
". 'arly failure due to cyclical stress(fatigue failure)
!. Increased wear
D. Poor 6uality product
H. (ifficult to sell a product
I. )ibrations in machine tools can lead to improper machining of parts
/.& B%#ic term# %##oci%te' (ith $i,r%tio#
FREE VIBRATIONS
)ibrations under free or natural conditions. ,o disturbing forces.
'xample@ 7 -imple Pendulum

#ig 4.4 (a) -imple pendulum

FORCED VIBRATIONS
)ibration due to impressed disturbing force
'xamples
4.'lectric bell7clipper oscillation under electromagnetic force.
".I.& 'ngines7vibrations due to unbalanced inertia forces
DEDREES OF FREEDO*
m
4
m
4
m
"
m
4
m
"
m
!
-ingle (.$.# Two (.$.#
Three (.$.#
&antilever *eam
&ontinuous system
Infinite Degrees of Freedom

#ig 4.4(b) #ig 4.4 (a)
#ig 4.4( c)
#ig 4.4( d )

1.5 S1345# 6(R3*1C 3*)1* 7S 6 38
The oscillations of the mass shown in fig 4.4 (a
+ are described as simple harmonic motion. . -imple harmonic motion is represented
graphically in fig 4."
;


-imple harmonic motion is characteriEed by periodic oscillation about the e6uilibrium
position. 'ach oscillation is one cycle. #or -.2. the time ta:en to execute one cycle, the
period, is constant. The fre6uency of motion is the number of cycles executed in a fixed
period of time, usually 4 second. The amplitude, the maximum displacement from
e6uilibrium position, is also constant in -.2..
+
t
t
t
3
x
+
j+
37(isplacement
+7amplitude
T7Periodic Time
f7#re6uency
f54MT
5#re6uency in radians per second
t5 time
35 + sin t
#ig 4." -2

35)elocity
5 + cos t
5+ sin ( t 9 M" )

35+cceleration
5 7 j + sin t
5 j + sin (t 9 )
5 7j x
<RO<ERTIES OF OSCI::ATORC *OTION
Pea: value7 Indicates space re6uirement.
+n indication of maximum stress in the vibrating part
+verage )alue 7 +verage value for complete sine wave is Eero
#or half sine wave 3 5 "+ M
+7+mplitude
ean s6uare value 7 #or sine wave 3j 54M" +j
%- )alue 5 + M "
<ro,lem /
The fre6uency of )ibrations of a machine is 4H; 2E. (etermine a) Its fre6uency in radMsec.
b)Time Period of oscillations. If the amplitude of vibrations is ;.O mm, determine the
acceleration
a) In mMsj b) In terms of g
Solutio1
.iven f 5 4H; 2E , +5 ;.O mm w5 Y T5Y
a 5 Y (in mMsj) a 5 Y (in terms of g)
w5" f 5 " (4H;) 5 BD" %adMsec
T5 4Mf54M4H;5 ;.;;II sec 5 I.II milli seconds
x 5 + sin ( t 9k )
5 ;.O sin ( BD" t 9 k )
x 5 ;.O (BD")

cos (BD" t 9k )
x 5 7 ;.O (BD")
"
-in (BD" t 9 k)
a 5 (x )
max
5 ;.O (BD")
"
mmMs
"
5 N4;.I4 mMs
"

5 N4;.I4MB.O45 N".D! g
. .
.
. .
.

<ro,lem 0.
+ body suspended from a spring vibrates vertically up and down between two positions ! and
H cms above the ground. (uring each second it reaches the top position (H cms above
ground) 4H times. #ind the time period, fre6uency, circular fre6uency and amplitude of
motion.
Solutio1

+mplitude 5 (H7!)M" 54 cm.
f 5 #re6uency 54H cps
T 5 Period 5 4M4H -ec
5 &ircular #re6uency
5 " f 5 " (4H) 5!; radMsec

/.5 A''itio of h%rmoic motio# of #%me fre"uecy
x
45
+
4
-in t
x
"
5 +
"
-in (t 9 k)
3 5 x
4
9 x
"
5 +
4
-in t 9 +
"
-in (t 9 k)
3 5 -in t (+
4
9 +
"
&os k ) 9 &os t (+
"
-in k)
/et

+
4
9 +
"
&os k 5 + &os 77777777 4
+
"
-in k 5 + -in 77777777 "
3 5 -in t (+ &os ) 9 &os t (+ -in )
35 + -in (t 9 )
+
"
(-in
"
9 &os
"
) 5 (+
4
9 +
"
&os k)
"
9 (+
"
-in k)
"
+ 5 +
4
"

9 +
"
"

9 " +
4
+
"
&os k)
#rom e6uations 4 and " we also get
Tan 5 +
"
-in kM (+
4
9 +
"
&os k)
!
H
!

.raphical ethod for addition of two harmonic motions

/.7 BEATS
The phenomenon of beats occurs when two harmonic motions of slightly different
fre6uencies and same amplitude are added. When the two harmonic motions are in the same
phase, the resultant amplitude will be maximum. $n the other hand, when the two motions
are out of phase, they will provide minimum amplitude vibration.
/et 3
4
5 + -in
4
t
3
"
5 + -in
"
t
3 5 3
4
9 3
"
5+ -in
4
t 9 + -in
"
t

t
+
4
+
"
+

-1 $# 2+%$,I&
$TI$,-
-ame fre6uency but
different phase
angles
-um of two harmonic motions of
slightly different fre6uencies and
same amplitude
*eats
Is also a harmonic
motion of the
same fre6uency
&ontinuous build up
and decrease in
amplitude

5 " + -in (
4
9
"
)t &os (
4
7
"
)t
3 5 -in A(
4
9
"
)t CM" When *5 " + &os A(
4
7
"
)tCM"
The #re6uency of beats is (
4
7
"
)M" 2E
.raphical representation of *eats
1.9 Fourier series anal'sis
#orces acting on machines are generally periodic but this may not be harmonic for example
the excitation force in a punching machine is periodic and it can be represented as shown in
figure 4.!. )ibration analysis of system subVected to periodic but nonharmonic forces can be
done with the help of #ourier series. The problem becomes a multifre6uency excitation
problem. The principle of linear superposition is applied and the total response is the sum of
the response due to each of the individual fre6uency term.
'xample @7 'xcitation force is periodic
#orce (eveloped during punching operation
With the help of #ourier series vibration analysis of such problems can be done

H;;; ,
;." ;.H ;.N 4 4."
Time in sec
#orce

Fourier Serie#
3(t)5 a
o
M"

9 (a
n
cos nt) 9 b
n
sin nt)
5 " M T 5 #undamental fre6uency
a
o
, a
4
,a
"
,llb
4
,b
"
l.. are coefficients of infinite series
(a
4
cos t9 b
4
sin t) is #irst 2armonic
a
o
5 M x(t) dt , a
n
5

M x (t) cos (nt)dt
b
n
5 M x(t) sin(nt)dt
Problem 4.
De$elop the Fourier Serie# for the cur$e #ho( i figure
The function is defined as y5x (t) 7 R t R
3(t)5 a
o
M"9 a
4
cos t9 a
"
cos "t 9 ll9 b
4
-in t9 b
"
-in "t 9 ll
The e6uation for the curve for one cycle
for +* , 3(t)5 t 7 RtR

n54
"M

o
"M

o

5 " M T 5 " M " 5 4
a
o5
4M tdt 5;
a
n
5 4M p t cos nt dt 5 ;
The graph is symmetrical about the origin and the function is odd
a
o
5

a
n
5 ;
b
n
5 4M t sin nt dt
5 7 ("Mn) &os n 5 ("Mn) (74)
n94
3(t) 5 ("M4)(74)
"
-in t 9("M") (74)
!
-in "t 9 l
3(t) 5 " ( -in t G (-in " t)M" 9 (-in !t) M! 7... )
5 " (-in t G(-in"t) M " 9

(-in !t) M ! 7 ll)

The first four harmonics of the series are "-int, 7 -in "t ,("M!) -in !t, 7 (4M") -in Dt

7

They are plotted as numberd curves in the figure. The sum of the first four harmonies is
y 5 x(t) 5 " -in t G -in "t 9 ("M!) -in !tG (4M")sin Dt
-ince this is a partial sum of the #ourier series, it may be expected to approximate the
function x. The sum of the four terms is shown in figure
<ro,lem1
#ind the #ourier series of the periodic function shown in figure
f(x)5; if 7 x ;
f(x)5 if ; x
a
;
54M ( ; dx 9 dx ) 5
a
n
5 4M &os nx dx 5 ; n 4
b
n
54M sin nx dx 5 4Mn(47cosn)
The factor (47cos n ) assumes the following values as n increases
x
7" 7 ; "
f(x)
;

7
;

;
ll " ; " ; " (47cos n)
ll H D ! " 4 n

f(x) 5 M" 9 "sin x 9("M!)sin!x 9 ("MH)sin Hx 9l..
5 M" 9 " ( (sin x)M4 9 (sin !x)M! 9(sin Hx)H 9...
4.-hows sum of one term i.e y5 M"
".-hows sum of two terms i.e y5 M" 9 " sin x
!.-hows sum of three terms i.e y5 M" 9 "(sin x 9(4M!) sin x )
/.@ SO:VIND A VIBRATION <ROB:E*
The following steps are involved in solving a vibration problem
4. Problem Identification
". athematical modeling
!. -etting up the differential e6uation of motion
D. Interpretation of results

Se##ioF )+CS* NChF0
0. UNDA*<ED FREE VIBRATION
".4 Introduction
#ree vibrations are oscillations about a systems e6uilibrium position that occur in the absence
of an external excitation force. If during vibrations there is no loss of energy, it is :nown as
undamped vibration.
The first step in solving a vibration problem is setting up the differential e6uation of motion.
The three approaches to setting up differential e6uation of motion are as follows
-'TTI,. 1P T2' 'm1+TI$, $# $TI$,
4.1se (F+lembertFs Principle
#orces 7m x 5 ;
Tor6ues 7 I 5 ;
m 5 ass x 5 (isplacement
m x 5 Inertia #orce, 5 +ngular (isplacement
I 5 ass oment of Inertia,
I 5 Inertia Tor6ue

(F+lembertFs Principle states that the resultant of all forces acting on a body along with the
inertia force is e6ual to Eero. #or a rotational system we have to consider tor6ues instead of
forces. 1sing (F+lembertFs Principle we can setup the differential e6uation of motion.
+lternatively, we can get the differential e6uation of motion by applying ,ewtonFs second
law of motion. The third approach to setting up the e6uation of motion is to apply energy
method.
"." -pring mass system
#ig ".4 shows a one degree of freedom simple spring mass system. It represents several
practical systems. #ree vibrations of a system with a single degree of freedom is one of the
most important topics. In fig ".4 the co7ordinate x is used to describe the position of the
mass. The mass and spring are the basic building bloc:s for vibrational analysis. -pring
stiffness is defined as the force re6uired to elongate or compress the spring by unit length.
The differential e6uation of the spring mass system is set up by considering all the forces and
applying (F+lembertFs Principle
-pring mass system represents several practical systems
..
..
..
..

'xamples@
4. achine mounted on isolators
". ass m attached to the end of a cantilever beam
87-pring stiffness in ,Mm
m7ass in 8g
m x 5 Inertia #orce
8x 5 -pring #orce,
5 -tatic deflection of spring
8 5 #orce due to static deflection
mg 5 .ravitational pull
m x 9 8x 9 8 7 mg 5 ;
m x 9 8x 5 ;
/inear homogeneous second order differential e6uation
35+ sin
n
t 9 * cos
n
t
m
8
m x
8
..
. .
. .
..
#igure ".4
#ree body diagram
x
m
8

5 & sin (
n
t 9 )

n
5 8 Mm
5 ,atural #re6uency of vibrations
This is the only fre6uency with which the system vibrates when disturbed and let free
. The natural fre6uency is a characteristic property of the vibrating system. The amplitude of
oscillations & and the phase angle can be determined by applying the initial conditions.
<ro,lem
+ small Pelton wheel rotating at 4H;; rpm has a rotor of mass 4; 8g mounted at the centre of
a steel shaft which has a span of ;.D m between bearings. What should be the diameter of the
shaft , so that the transverse natural fre6uency is H; percent higher than the running speedY
+ssume ' for steel as "x4;
44
pa.
'6uivalent system
85 '6uivalent stiffness
m 5 ass of rotor
5 (eflection at centre
5 Wl
!
M DO'I
85WM 5 DO'I M l
!
'5odulus of 'lasticity
5 "x4;
44
Pa
I 5 d
D
MID
8 5 (DOx"x4;
44
x d
D)
M (;.D
!
xID)
5 !.IOx4;
4"
d
D
,Mm

n
5
8Mm 5 (!.IOx4;
4"
xd
D
)M4; 77774
%otor
-teel shaft
;.D m
m
8

*ut
n
5 (4.Hx4H;;x" )MI; %adMsec777"
'6uating 4 i "
d5 ;.;4BN m5 4.BN &m
".! ,+T1%+/ #%'m1',&0 I, T'%- $# -T+TI& ('#/'&TI$,
The figure"." shows how a spring elongated by when a mass is placed at the end of a
spring. is :nown as static deflection. The natural fre6uency of vibration can be expressed in
terms of static deflection as shown below
5 -tatic deflection
85 mg M

n
5 8Mm 5 (mg) M ( m )

n
5 g M
".D 'm1I)+/',T -TI##,'-- $# -P%I,.- I, P+%+//'/
#5 #orce applied x 5 'longation of spring
#5 8
4
x 9 8
"
x 5 x(8
4
9 8
"
)
8
e
5#Mx 5 8
4
9 8
"
5 '6uivalent stiffness
m
8 8

m
8
"
m
8
e
8
4
#
x
#ig "."
#ig ".!

-P%I,.- I, -'%I'-
#5 +pplied #orce
x
4
5 'longation of -pring 4
x
"
5 'longation of -pring "
x5 x

9 x
"
5 #M8
4
9 #M8
"
5 #(4M8
4
94M8
"
)
x 5 #( (8
4
98
"
)M (8
4
8
"
))
8
e
5 '6uivalent -tiffness
5 #Mx 5 ((8
4
8
"
)M (8
4
98
"
))
".H %$T+TI$,+/ -0-T'-
In the case of rotational systems,the differential e6uation of motion is obtained by adding the
inertia tor6ue to the sum of external tor6ue and e6uating the sum to Eero
'xternal Tor6ues 9 Inertial Tor6ue 5 ;
&ompound Pendulum
$ is Point of -uspension
h is distance from $ to .
. is &entre of .ravity
I is .I about $
5 m:
"
9 mh
",
m is mass of the pendulum
8 is %adius of .yration
is angular displacement
%estoring Tor6ue 5 hW sin &W
..
8
4
8
"
4
"
#
W

Inertia Tor6ue 5 I &W
%eference Point for ta:ing tor6ues is $
I 9 h mg sin 5
#or small amplitude oscillation sin
I 9 mgh 5 ;

n
5 mgh M I 5 gh M( :
"
9 h
"
)
<ro,lem
The mass of the slender uniform rod shown in the figure is small compared to the mass
attached to it. #or small oscillations, calculate the natural #re6uency of vibrations of the mass

o
9I
;

5 ;
m l
"
98a

a cos 9 mg sin x l 5 ;
#or small , cos 4 i sin
9 (8a
"
9mgl )Mml
"
5 ;
9 ((8a
"
9mgl)Mml
"
) 5 ;

8a
o
mg
#.*.(
..
..
..
..
..
..

n
5 (8a
"
9mgl)M ml
"
<ro,lem
+ connecting rod of mass "8g oscillates H! times in 4minute when suspended as shown in
fig. (etermine its moment of inertia about its centre of gravity, which is located "H cm from
the point of support
m 5 " 8g, f
n
5 H! cpm,

n
5 "f
n
5 (" H! )MI; 5 H.HH radMsec

n
5 (gh)M(8
"
9h
"
)
H.HH 5 ( (B.O4x ;."H)M(8
"
9 ;."H
"
)
8
"
5 ;.;4N4"I
I
.
5 m 8
"


5 "x ;.;4N4"I
5 ;.;!D"H" 8g m
"
"H
.

<ro,lem
(etermine the effective mass at a point o of a uniform rod of mass m and length l pivoted at a
distance nl from o as shown in figure.
Treated as rotational system
Inertia tor6ue 9 'xternal tor6ue 5 ;
I
+
98nl (nl) 5 ;
I
+
5 ass .I. about +
5 ml
"
M4" 9 m (lM"7nl)
"
5 ml
"
M!(!n
"
7!n 94)
x5 nl
5 x M nl
x I
+
M (n
"
l
"
) 9 8x 5 ;
l
8
$
nl +
..
..
..
..
..
3
%
+
8nl

I
+

#ree body diagram

'6uivalent system m
e
x 9 8 x 5 ;
m
e
5 'ffective mass at ;
m
e
5 I
+
M( n
"
l
"
)
5 ml
"
(!n
"
7!n 94)M (!n
"
l
"
)
m
e
5 m ((!n
"
7!n 94)M!n
"
)
<ro,lem
The contour of a bumpy road is approximated as y(x) 5 ;.;! sin(;.4"Hx) mts.
What is the amplitude of vertical acceleration of the wheels of an automobile as it travels
over the road at a constant horiEontal speed of D; mMs Y
y(x) 5 ;.;! sin(;.4"Hx) mts.
+ 5 +mplitude 5 ;.;! m
sin(;.4"Hx) 5 ;
for x 5 ;
;.4"Hx 5 "
x 5 "M;.4"H 5 H;."I m
m
e
8
+
x
y
H;."I
*ody
Wheels
*umpy road

T 5 Periodic time 5 H;."IMD; 5 4."HI sec.
5 "MT 5 "M4."HI 5 H.;;" radMsec
y 5 +-in t
y5 + &ost
y 5 7
"
+ -int
aximum vertical acceleration of wheels
5
"
+
5 (H.;;")
"
(;.;!)
5 ;.NH mMs
"
".I ','%.0 'T2$(
The differential e6uation of motion can also be derived using energy method. In a
conservative system the total energy is constant. In a vibrating system the energy is partly
potential and partly :inetic.
#or a conservative system
Total energy 5 &onstant
T 9 1 5 &onstant
T 5 8inetic 'nergy
1 5 Potential 'nergy
5 'nergy stored in the spring

5 ( -pring force) dx 7 mgx


5 ( mg 9 8x) dx G mgx
8
x
m
x

;
x

;
.
..
T 5 m x
"
M "
.

5 mgx 9 8x
"
M" G mgx 5 8x
"
M"
dMdt (T 9 1) 5 ;
dMdt (m x
"
M" 9 8x
"
M" ) 5 ;

m x 9 8 x 5 ;
".I.4 %+0/'I.2F- 'T2$(
%ayleighFs method is also an energy approach to solving vibration problems. In this method
we e6uate the maximum :inetic energy at one extreme position to the maximum potential
energy at another extreme position. The motion is assumed to be simple harmonic and the
natural fre6uency is obtained as indicated below.
Total 'nergy of the system 5 ( 8.')
max
5 ( P.')
max
x5 + -in t x 5 + &os t
(x)
max
5 + ( x)
max
5 + w
( 8.')
max
5 m x
"
max
M" 5 m(+

)
"
M"
( P.')
max
5 8x
"
max
M" 5 8 +
"
M"
m(+

)
"
M" 5 8 +
"
M"
m
"
5 8
5 8Mm radMsec
.
.
.
..
.

".N '##'&T $# +-- $# -P%I,.

5 ass per unit length of spring
8.'. of the system 5 8.' of mass 9 8.' of spring
8.'. of the system 5 mx
"
M"9 ( dy)(y x Ml )
"
5 m x
"
M"9( x M "l
"
) (y
"
dy)
5 m x
"
M"9( x
"
M "l
"
)(y
!
M!)
l
;
5 m x
"
M"9( l
!
M Il
"
) x
"

5

(m 9 lM!)x
"
M "
Total 'nergy5 8.' 9 P.'
5 (m 9 lM!) x
"
M " 98x
"
M"

dMdt( 8.' 9 P.' ) 5;
dMdtA(m 9 lM!) x
"
M" 9 8 x
"
M" C 5 ;
4

;
4

;
. .
. .
. .
.
.
. .
.
M"

"M"(m9 lM!) x x 9 "M" 8 x x 5 ;
(m9 lM!) x 9 8x 5 ;

n
5 8 M (m 9 l

M!)
l

5ass of -pring
".O. Problems
1 Tube Problem

5 (ensity of li6uid, +5 &ross sectional +rea of tube, l5 /ength of li6uid column in tube
8.' 5 m x
"
M" 5 (l+ ) x
"
M"
P.' 5 (+ x)gx 5 + g x
"
dMdtA 8.' 9 P.' C 5 ;
dMdt A (l+ ) x
"
M"9 + g x
"
C 5 ;
l+ x x 9 " g x x 5 ;
l x 9 " g x 5 ;

n
5 ("gMl) radMsec
.
. .
.
. . . .
..

<ro,lem
+ circular cylinder of mass m and radius r is connected by a spring of stiffness 8 as shown in
figure. If it is free to roll on the rough surface which is horiEontal without slipping, find its
natural fre6uency


/et m 5 ass of the cylinder
I 5 ass .I of cylinder 5 mr
"
M"
x5 /inear displacement of cylinder
5 +ngular motion of cylinder
x 5 r
Total 'nergy of the system 5 8.' of translation 98.' of rotation 9 P.'
5 m x
"
M"

9 I
"
M" 9 8 x
"
M"


5 m(r )
"
M" 9 I
"
M" 9 8 (r )
"
M"
5 m r
"

"
M"9 I
"
M"9 8 r
"

"
M"
dMdt( 8.' 9 P.') 5 ;
mr
"
(" )M" 9 I (" ) M"9 8 r
"
(" )M" 5;
mr
"
9I 9 8r
"
5 ;
(mr
"
9 mr
"
M") + r
"
= 0
. .
. .
. .
. .. . .. .
.. ..
..

n
5 "8 M !m %adMsec
Cotet#
4. Introduction
". ethods of $btaining .overning e6uations
!. '6uations in atrix #orm
D. Influence &oefficients
H. ethods of #inding ,atural #re6uencies and ode -hapes
8.1. Introduction
O.4.4. (efinition@ 7 The number of degrees of freedom of any structural system is the number
of :inematically independent coordinates re6uired to describe the motion of every particle
that constitute the system. It is determined by the number of inertial elements and the number
of coordinates re6uired to describe the motion of each inertial element.
E>%mple# of *FDFF Sy#tem#
#ig.O.4 (a)@ Two7degree7of freedom system with one inertial element and two independent coordinates y and
bfor one inertial element.
#ig. O.4(b) @ Two degree7of7freedom system with two inertial elements each having independent coordinate y4
and y" to describe their motion.
8.2. GoverningEquations
4. #orce7*alance ethod and oment *alance ethod
". 'nergy ethod (/agrangeFs '6uations)
y

Inertial element
k
1
k
2
m
1
m
2
y
y

,ote@ 7 We restrict our discussion only to the force7balance methodMmoment balance method
for obtaining the e6uations of motion of the given sys;ntem

Force B%l%ce *etho'
This method is nothing but the application of (F+lembertFs principle for rectilinear motion
('g. /inear -pring7ass -ystems). It states that for dynamic e6uiibrium, the algebraic sum
of all the forces including the inertia forces is e6ual to Eero.
*omet B%l%ce *etho'
This method is the application of (F+lembertFs principle for angular motion ('g. Torsional
-ystems), which states that for dynamic e6uilibrium, the algebraic sum of all the moments
including the inertial moment about any point in the system is e6ual to Eero.
,ote@ 7 &ertain systems can have both rectilinear and angular motions. #or such systems both
the methods have to be used to get the re6uired e6uations of motion
E"u%tio# for A:ie%r SprigF*%##FD%mper Sy#tem
#orce balance for m4 gives the following e6uation @
m4o4 9 :4y4 9 :"(y4 G y") 9 c4p4 9c"(p4 G p") 5 #4(t) lllll.AO.4(a)C
#orce balance for m" gives the following e6uation@
m"o" G :"(y4 G y") 9 :!y" Gc"(p4 G p") 9 c!p" 5 #"(t) llll..AO.4(b)C
8.3. Equations In Matrix Form
The two e6uations O.4(a) and O.4(b) can be written in matrix form as shown below.
'6uation O." is normally written in short form as AmiVCeoif
9 AciVCepif 9 A:iVCeyif 5 e#i(t)f llll..(O.!)
Do$erig
E"u%tio#
)cot'+
The matrix AmiVC is called the mass matrix, the matrix AciVC Is called the damping matrix, the
matrix A:iVC is called the stiffness matrix. The column vector eyif is called the displacement
m
1
0
0 m
2
; [c
ij
] =
(c
1
+ c
2
) c
2
c
2
(c
2
+ c

)
!"ere [m
ij
]
(k
1
+ k
2
) k
2
k
2
(k
2
+ k

)
[k
ij
] =
; #$
i
% =
$
1
$
2
;#&
i
%=
&
1


&
2
m
1
0
0 m
2
; [c
ij
] =
(c
1
+ c
2
) c
2
c
2
(c
2
+ c

)
!"ere [m
ij
]
(k
1
+ k
2
) k
2
k
2
(k
2
+ k

)
[k
ij
] =
; #$
i
% =
$
1
$
2
;#&
i
%=
&
1


&
2
'otor (it" inertia )
1
*il "ou+in, (it"
dam-in, c
t2
k
t1
k
t2
'otor (it" Inertia )
2

vector, epif is called the velocity vector, and eoif is called the acceleration vector. The mass
matrix, the damping matrix and the stiffness matrix are symmetric matrices. + matrix AaiVC is
called a symmetric matrix if it is a s6uare matrix with aiV 5 aVi. The off7diagonal elements of
the mass matrix are Eero, where as the off7diagonal elements of the damping matrix and the
stiffness matrix are not Eero.
E"u%tio# for % Tor#io%l Sy#tem
$il housing with damping ct4

#ig.O.D@ Torsional system with two degrees of freedom

FreeF,o'y 'i%gr%m#
E"u%tio# for #y#tem #ho( i
Fig.9.&
oment balance for a4 gives the
following e6uation@
.. .
a4b4 9 :t4b4 9 :t" (b4 G b") 5
(t) lll lllO.D(a)
oment balance for a" gives the
following e6uation@
.. .
a"b" 9 ct"b" 9:t" (b" G b4) 5 ; llllllllO.D(b)
'6uations O.D(a) and O.D (b) can be written in matrix form as follows.
1
2
....(8./)
)1 0
0 )2
1
2
+
ct1 0
0 ct2
1
2
+
(kt1+kt2) kt2
kt2 kt2
1
2
=
0(t)
0
..
.

'6. O.H can be written in a more compact form as@
.. .
AaiVC ebif 9 ActiVC ebif 9 A:tiVC ebiC 5 ei(t)f lllllll..O.I.
+s in the case of spring mass system, here also, the moment of inertia matrix AaiVC, the
damping matrix, A&tiVC, and the stiffness matrix, A:tiVC are symmetric matrices and the off7
diagonal terms of the inertia matrix are Eero.
Deer%l Form of E"u%tio# for % NFDegreeFof F Free'om Sy#tem
The general form of e6uations for an ,7degree7of7freedom system can now be written as
follows@
ACeo f 9 A&C epf 9 A8C eyf 5 e#(t)fllllO.N
for a spring7mass7damper system, and
.. .
AaC eqf 9 A&tCeqf 9 A8tC eqf 5 e(t)f lllO.O
#or a torsional system.
8.4. Influence Coefficients
Stiffe## Ifluece Coefficiet#1 F The elements of the stiffness matrix A:iVC are called
cstiffness influence coefficientsd. The physical interpretation of :iV is that r:iV represents the
restraining force at station i due to unit displacement at station V, all the other mass stations
except station V is held fixed at the e6uilibrium position.
Fle>i,ility Ifluece Coefficiet#1 F The governing e6uations of motion for a 7(7#
system can also be expressed in terms of the flexibility influence coefficients. The flexibility
influence coefficient aiV is defined as the displacement at station i due to a unit force acting at
station V.
It can be shown that AaiVC 5 Inverse of A:iVC
axwellFs %eciprocal Theorem @7 The theorem states that the displacement at any point
i in the system due to a unit load acting at any other point V in the same system is e6ual
to the displacement at the point V due to a unit load acting at i in the same system.i.e.aiV
5 aVi
Proof of axwellFs Theorem @ 7 &onsider a system shown in #ig. O.I.
#ig. O.I@ + general system to prove axwellFs theorem
#
i
#
V
point i point V

/et i and V be two points on the system where loads #i and #V can be applied. ,ow imagine
that the two loads are applied as follows. (i) #irst load #i is applied gradually from Eero to its
full value and then load #V is applied at V gradually from Eero to its full value with #i acting
all the time. #or this arrangement the total wor: done by both the forces is calculated as
follows.
When load #i is applied gradually at point i, the final displacement at i would be aii#i. -ince
the load is applied gradually, the wor: done is given by
(W)#i 5 (4M")#i aii#i
,ow when the load #V is applied at point V gradually from Eero to its full value with #i acting
at i all the time the wor: done is given by
(W)#V 5 Wor: done by #i 9 Wor: done by #V
5 #i aiV#V 9 (4M")#V aVV#V
Total wor: done 5 Wtotal 5 (W)#i 9 (W)#V
5 (4M")#i aii#i 9 #i aiV#V 9 (4M")#V aVV#V
-imilarly when #V is first applied gradually and then #i is applied gradually with #V acting
all the time the total wor: done is given as follows@
Total 5 (4M")#V aVV#V 9 #i aVi #V 9 (4M")#i aii#i
The total wor: done should be the same for both the cases as the final deflection curve is
same in both the cases. Therefore e6uating the two expressions for the total wor: done we
have
aiV 5 aVi
Determination of Influence Coefficients(Illustrative
examles!
'xample O.4@ To find the stiffness influence coefficients for the system shown in #ig.'O.4
#ig. 'O.4 @ -chematic for example O.4
To find :44 and :4"@7 *y definition r:iV represents the force at station i due to unit
displacement at V, all other stations being held fixed./et m4 be displaced by a distance 34,
:eeping m" held fixed. Then the free body diagram for m4 and m" will be as shown in
#ig.'O.4(a).
:
4
m
4
:
"
m
"
:
!

#ig. 'O.4(a)@ #ree7body diagram when a displacement 34 is effected at m4 with m" being held fixed.
%esultant force at station 4 5 #44 5 r:434 r:"34
5 r(:4 9 :")34
Therefore r:44 5 #44 M 34 5 r (:4 9 :")
$r :44 5 (:4 9 :")
%esultant force at station " 5 #"4 5 :"34
Therefore r:"4 5 #"4 M 34 5 :"
$r :"4 5 r:".
*y axwellFs theorem :4" 5 :"4
To find :""@7 /et a displacement 3" be effected
at m" with m4 held fixed. Then the free7body diagram for m4 and m" will be as shown in
#ig.'O.4(b).
#ig.'O.4(b)@ #ree7body diagram when a displacement 3" is effected at m" holding m4 fixed.
Total force acting on m" 5 #"" 5 r:"3" r:!3" 5 r(:" 9 :!) 3"
Therefore r:"" 5 #"" M 3" 5 r(:" 9 :!)
$r :"" 5 (:" 9 :!)
+lso Total force on m4 5 #4" 5 :"3"
Therefore r:4" 5 #4" M 3" 5 :"
$r :4" 5 r:" 5 :"4
(as obtained earlier)
m
4 :
"
3
4
m
"
:
4
3
4
1
1
m
4
m
"
3
"
:
"
3
"
:
!
3
"

E>%mple 9.0
To obtain the flexibility influence coefficients for the system given in example O.4
/et a force #4 be applied at station 4. /et 344 and 3"4 be the displacements at station 4 and
station " due to this force. Then the free7body diagram for m4 and m" will be as shown in
#ig.'O."(a).
#ig. 'O."(a)@ #ree7body diagram when #4 acts on m4

#orce balance for m4 gives, #4 5 :4344 9 :"(344 r 3"4)
$r #4 5 (:4 9 :")344 r :"3"4lllll.(4)
#orce balance for m" gives :"(344 r 3"4) r:!3"4 5 ;
$r 3"4 5 :"344 M (:" 9 :!)llllll..(")
-ubstituting this in '6.(4) we get
(:""344)
#4 5 (:4 9 :")344 r 77777777777777777
(:" 9 :!)
$r #4 5 344A:4:" 9 :":! 9 :!:4C M (:" 9 :!) llll.(!)
Therefore a44 5 344 M #4 5 (:" 9 :!) MA:4:" 9 :":! 9 :!:4C
a"4 5 3"4 M #4 5 A3"4 M 344C M A#4M344C
:" M (:" 9 :!)
5 7777777777777777777777777777777777777777
A:4:" 9:":! 9:!:4CM (:" 9:!)
:"
a"4 5 777777777777777777777777777777777777777 5 a4"
A:4:" 9 :":! 9 :!:4C
:
4
3
44
8
"
(3
44
r3
"4
)
#
4
3
44
3
"4
m
1
m
2
:
!
3
"4

s To find a""@7 /et a force #" be applied at m". The free7body diagram for the two
masses will be as shown in #ig. 'O."(b)
#ig. 'O."(b)@ #ree7body diagram when #" is applied at m"
#orce balance for m4 gives
:4x4" r :"(x"" r x4") 5 ;
:"x""
$r x4" 5 7777777777777777777 llll..(!)
(:4 9 :")
#orce balance for m" gives
#" 5 :"(x"" rx4") 9 :!x""
$r #" 5 (:" 9 :!)x"" r :"x4".
-ubstituting for x4" from '6. (!) we get
:"" x""
#" 5 (:" 9 :!)x"" r 7777777777777777777777777777
( :4 9 :")
x""A(:" 9 :!)(:4 9 :") r :""C
$r #" 5 77777777777777777777777777777777777
( :4 9 :")
(:4:" 9 :":! 9 :!:4)
Therefore a"" 5 x"" M #" 5 7777777777777777777777777777
(:4 9 :")
2
2
(3
22
3
12
) k

3
22
k
1
3
12
m
1

m
2
4
2

E>%mple 9.3 @
To determine the flexibility influence coefficients for the system shown in #ig. O.!
#ig.O.!@ Triple pendulum
s /et a force #4 be applied at m4 in the horiEontal direction as shown in #ig. 'O.!(a).
1
2

51
52
5
m
m2
m1
311
321
31
1
1
41
61
(m1 + m2 + m),
4i,. 78.(a)8 4ree 9ody dia,ram
m1

#orce balance in horiEontal direction at m4 gives
#4 5 T4sin b4
and in vertical direction gives
(m4 9 m" 9 m!)g 5 T4cos b4.
#or small oscillations, sin b4 5 tan b4 and cos b4 5 4.
Therefore #4 5 (m4 9 m" 9 m!)g tan b4
5 (m4 9 m" 9 m!)g x44 M /4
/4
$r a44 5 x44 M #4 5 777777777777777777777777777777
(m4 9 m" 9 m!)g
It can be seen from the free body diagram that
x"4 5 x!4 5 x44. Therefore a"4 5 a!4 5 a44. +lso by axwellFs reciprocal theorem, a4" 5
a"4 and a4! 5 a!4.
Therefore /4
a44 5 a"4 5 a4" 5 a!4 5 a4! 5 7777777777777777777777777
(m4 9 m" 9 m! )g
,ow let a horiEontal force #" be applied on m". Then the free body diagram will be as shown
in #ig. 'O.!(b).
#ig. 'O.!(b)@ #ree body diagram when #" acts on m"
1
2
312
122 = 32
42
5 2
m2
(m2 + m),
62
2
42

#orce balance in horiEontal direction gives
#" 5 T" sin b"
and force balance in vertical direction gives
T" 5 (m" 9 m!) g.
#or small oscillations sin b" 5 tan b" and cos b" 5 4
Therefore #" 5 (m" 9 m!)g tan b"
5 (m" 9 m!)g (x"" r x4") M /"
$r x"" M #" r x4" M #" 5 /" M (m" 9 m!)g
Therefore a"" r a4" 5 / " M (m" 9 m!)g
$r a"" 5 a4" 9 / " M (m" 9 m!)g
/ 4 / "
a"" 5 77777777777777777777777777 9 777777777777777777777777
(m4 9 m" 9 m!)g (m" 9 m!)g
+lso a!" 5 a""
s /et a force #! be applied horiEontally on m!. The free body diagram will be as shown
below.
s #orce balance in the horiEontal direction gives
s #! 5 T! sin b!
s and in vertical direction it gives
s m!g 5 T! cos b!.
4
1
2

5
31
32
3
6
m,

s #or small oscillations, sin b! 5 tan b! and cos b! 5 4
s Therefore #! 5 m!g tanb! 5 m!g (x!! r x"!) M / !
s $r x!! M #! r x"! M #! 5 / ! M m!g
s $r a!! r a"! 5 / ! M m!g
s Therefore a!! 5 a"! 9 / ! M m!g 5 a!" 9 / ! M m!g
:/ :0 : 3
$r %33 6 FFFFFFFFFFFFFFFFFFFFFFF K FFFFFFFFFFFFFFFFFFFFF K FFFFFFFFFFF
)m/ K m0 K m3+g )m0 K m3+g m3g
E>%mple 9.&1
Three e6ual springs of stiffness : are Voined at one end and the other ends are arranged
symmetricaly at 4";; from each other. -how that the stiffness influence coefficients of the
Vunction in a direction ma:ing an angle b with any spring is independent of b and e6ual to 4 M
(4.H :).
-olution to example O.D
#ig. 'O.D@ -chematic for example O.D
s /et point o be displaced by a distance x in the direction ooF ma:ing an angle b with
one of the springs as shown in #ig. 'O.D(a).
k
k
k
o
120
0
120
0

#ig. 'O.D(a) @ (irections of the three springs with respect to ooF
&omponent of the displacement x in the direction of spring4 5 x cos b.
-pring force due to this displacement in the direction of spring 4 5 :x cos b.
&omponent of this spring force in the direction ooF
5 :x cos"b.
The direction of spring " with respect to ooF 5 I; r b
&omponenet of the displacement x in the direction of spring " 5 x cos (I; rb).
-pring force due to this displacement 5 :x cos (I; rb)
s &omponent of spring force in the direction ooF
s 5 :x cos"(I; rb)
-pring ! ma:es an angle of (I; 9 b) with ooF.
Therefore the component of spring force ! in the direction ooF 5 :x cos"(I;9b).
Total spring force due to all the three springs in the direction ooF is given by
#x 5 :x cos"b 9 :x cos" (I; rb) 9 :x cos"(I;9b)
5 :xAcos"b 9ecos I;;cos b G sin I;;sin bf"
9ecos I;;cos b 9 sin I;;sin bf"C
$r #x 5 :xAcos"b 9 t cos"b r(L!M")cos b sinb 9 (u) sin"b
9 t cos"b 9(L!M")cosb sinb 9 u sin"bC
5 :x A4.H cos"b 9 4.H sin"bC
5 4.H :x
Therefore displacement influence coefficient 5 x M #x
5 4 M (4.H :)
E>%mple 9..1
o:
o

;0
0
;0
0 <-rin,
<-rin, 1
<-rin, 2

(etermine the flexibility influence coefficients for the cantilever beam shown in #ig. 'O.H
#ig.'O.H@-chematic for example O.H
-olution@7 /et the location at which m is acting be designated as station 4 and the location at
which "m is acting be designated as station". ,ow let only m be acting at station 4. Then the
deflection curve and the bending moment diagram will be as shown in #ig. 'O.H(a).
#ig. 'O.H (a) @ (eflection curve and *7 diagram when only mg is acting
1sing moment7area method,
y44 5 oment of the area of the *7 diagram about 4 M ('I)
y44 5 (4 M 'I) h (mg/) x / x "M! / 5 mg/! M (!'I)
Therefore %// 6 y// 3 mg 6 :3 3)3EI+
0"4 5 oment of the area of *7 diagram up to " about "
5 (4 M 'I) Ahmg/ x /M" x /MD 9 h (mg/M") x /M" x ("M!)/M"C
5 Hmg/! M (DO 'I)
Therefore %0/ 6 y0/ 3mg 6 .:3 3 )&9 EI+
5 = 2 5 = 2
2m m
y11
y21
m,5
5 = 2 5 = 2
m,5 = 2
1
2

*y axwellFs reciprocal theorem %/0 6 %0/ 6 .:3 3 )&9 EI+
,ow let only the load "mg act at station". The deflection curve and the *7 diagram will be
as shown in #ig. 'O.H(b).
8.".Matrix Iteration Met#o$
4. Introduction@ 7 This is the most commonly used method among the iterative methods for
determining the natural fre6uencies (eigen values) and the corresponding mode shapes(eigen
vectors)
If we are using the flexibility coefficients to write the e6uations of motion, then this
method will lead to the lowest natural fre6uency of the system and the higher natural
fre6uencies are obtained by using the orthogonal property between any two principal modes
and the sweeping matrix. $n the otherhand if we use the stiffness influence coefficients to
write the governing e6uations of motion, this method will lead to the highest natural
fre6uency and using the sweeping matrix method the remaining natural fre6uencies can be
obtained.
".$rthoganality between principal modes @7 /et us consider the e6uations of motion for an ^nF
degree7of7freedom system expressed in terms of stiffness influence coefficients. These
e6uations in matrix form for free harmonic oscillations can be written as follows.
r<"AmiCexif 9 A:iVCexif 5 e;f lll.O.I.4.
Where AmiC 5 mass matrix with off7diagonal elements e6ual to Eero,
exif 5 +mplitude vector, and A:i VC 5 -tiffness matrix.
$r <" AmiCexif 5 A:i VCexif llllllllllO.I."
#or one of the natural fre6uencies say < 5 <r, the above e6uation can be written as
<r" AmiC exifr 5 A:i VC exifr llllllll..O.I.!
where exifr is the amplitude vector corresponding to the natural fre6uency <r. -imilarly for
another natural fre6uency <s, we can write the e6uation O.I." as follows@
<s" AmiCexifs 5 A:i VC exifs lllllllllO.I.D.
Pre7multiplying '6. O.I.! by by transpose of exifs
and '6. O.I.D. by transpose of exifr we get
<r" exifsTAmiC exifr 5 exifsT A:i VC exifr .............................O.I.H
and <s" exifrT AmiC exifs 5 exifrT A:i VC exifs llllllllO.I.I
-ince AmiC and A:i VC are symmetric matrices the following relations hold good.
exifsTAmiC exifr 5 exifrTAmiC exifs llllll..O.I.N
and exifsT A:i VC exifr 5 exifrT A:i VC exifs llllll.O.I.O
-ubtracting '6. O.I.I from '6. O.I.H we get
(<r" G <s") exifrT AmiC exifs 5 ; llllllllll............O.I.B
If <r v <s, then it follows that exifrT AmiC exifs 5 ; llllllO.I.4;

+nd exifrT A:i VC exifs 5 ; lllllll..O.I.44
'6uations O.I.4; and O.I.44 define the orthogonal properties of the
normal modes of vibration.#or example, for a three degree7of7freedom system '6. O.I.4; can
be written in expanded form as follows@
ex4 x" x!fr m4 ; ; x4 ;
; m" ; x" 5 ; llll..O.I.4"

; ; m! x! s ;
+fter performing the matrix multiplication the above e6uation reduces to
(x4)rm4(x4)s 9 (x")rm"(x")s 9 (x!)rm!(x!)s 5 ; llllllllO.I.4!
Where (x4)r, (x")r and (x!)r are the amplitudes of vibration of masses m4, m", and m!
respectively when the system is vibrating with natural fre6uency <r and (x4)s, (x")s, and
(x!)s are the amplitudes of masses m4, m", and m! respectively when the system is vibrating
with the natural fre6uency <s.
When <r 5 <s, exifrT AmiC exifs 5 r .................................O.I.4D
+nd exif r A:i VC exifs 5 8r lllllllll.O.I.4H
Where r and 8r are referred to as cgeneraliEed massd and cgeneraliEed stiffnessd
respectively.r and 8r are actually 4 x 4 matrices.
!.To determine the lowest natural fre6uency @7
To determine the lowest natural fre6uency, the governing e6uations for free vibrations has
to be written in terms of flexibility influence coefficients as follows@
x4 5 a44#4 9 a4"#" 9 lll.a4n#n
x" 5 a"4#4 9 a""#" 9 lll.a"n#n llll..O.I.4I
xn 5 an4#4 9 an"#" 9 lll. ann#
#or free vibrations, #i 5 r mi xi , i 5 4 to n. -ubstituting this in '6. O.I.4I we have
.. .. ..
x4 5 r a44m4x4 r a4"m"x" lllll.ra4nmn xn
.. .. ..
x" 5 r a"4m4x4 r a""m"x" lllll..r a"nmnxn lllO.I.4N
@ .. .. ..
xn 5 r an4m4x4 r an"m" x" lll.........r annmnxn
+ssuming harmonic oscillations i.e. xi 5 xi sin<t, '6s.O.I.4N reduces to
exif 5 <" AaiVC AmiC exif lllllllllO.I.4O

Where x4 a44 a4" l...a4n m4 ;ll...;
x" a"4 a"" l...a"n ; m"ll..;
exif 5 @ P Aai VC 5 @ AmiC 5 @
@ @ @
xn an4 an"ll.ann ; ;llmn
'6. O.I.4O can be simplified as @
exif 5 <" Abi VCexif llllllllllO.I.4B
Ehere Abi VC 5 Aai VC AmiC llllllllll.O.I.";
'6uation O.I.4B is the starting point for the iteration process which is as follows. The
iteration process is started by assuming a set of displacements for exif and substituting on the
%2- of '6. O.I.4B. +fter performing the multiplication, the %2- reduces to a column vector.
This is then normaliEed and the procedure is repeated with the normaliEed column vector
itself as the new estimate. The iteration process is continued till the first mode repeats itself.
The iteration process described above converges to the lowest value of <" so that the
fundamental mode of vibration is obtained. #or the next higher modes and the natural
fre6uencies, the orthogonality principle is applied to obtain a matrix e6uation that does not
contain the lower modes. Then the iterative process is repeated as before to get the other
modes.
D. &alculation of 2igher odes @7 -ince the governing differential e6uations are linear, we
can use the principle of superposition, which in this case can be stated as follows @ If exif4,
exif" , ll.exifn are the amplitude vectors corresponding to the natural fre6uencies <4, <",
ll..<n then the linear combination of these vectors will also be a solution of the governing
differential e6uations. That is
exif 5 &4exif4 9 &" exif" 9lll.. 9 &n exifn llllllllO.I."4
If we want to obtain the second mode, then we have to eliminate the first normal mode by
letting &4 5 ;. This is done as follows @
Pre7multiplying the above e6uation by exif4TAmiC we have
exif4TAmiC exif 5 &4exif4TAmiCexif4 9 &" exif4T AmiC exif" 9 ll.&nexif4T AmiCexifn
lllllll..O.I.""
Introducing the orthogonality principle ('6. O.I.4;) in '6. O.I."" we get
exif4T AmiC exif 5 &4 exif4T AmiC exif4
By lettig C/ 6 - (e h%$e exif4T AmiC exif 5 e;f lllllO.I."!(a)
The expanded form of the above e6uation for a three degree7of7freedom system will be as
follows@
m4 ; ; x4 ;
e x4 x" x! f4 ; m" ; x" 5 ; l..O.I."!(b)

; ; m! x! ;
'6. O.I."!(b) simplifies to
(x4)4m4(x4) 9 (x")4m"(x") 9 (x!)4m!(x!) 5 ; llll..O.I."!(c)
-olving for (x4) from the above e6uation we get
(x")4 m" (x!)4 m!
(x4) 5 r 7777777777777 (x") r 77777777777777 (x!)
(x4)4 m4 (x4)4 m4
+lso we can write (x") 5 (x")
and (x!) 5 (x!)
V........................9.5.0&
'6uations O.I."D can be written in matrix form as @
exif 5 Asi VC exif llllllllll.O.I."H
r(x")4m" r(x!)4m!
; 7777777777 77777777777
Where x4 (x4)4m4 (x4)4m4
exif 5 x" Asi VC 5 ; 4 ;
x! ; ; 4
-ince '6.O.I."H is the result of putting &4 5 ;, the first mode of vibration is eliminated or
swept out by the sweeping matrix Asi VC. Therefore replacing exif on the right hand side of
'6.O.I.4B we get
exif 5 <" Abi VC Asi VC exif lllllllll..O.I."I
The above e6uation is used for the iteration process to get the second lowest mode of
vibration. #or obtaining the third lowest mode the following e6uations, which will eliminate
the first and second modes are used.
(x4)4m4(x4) 9 (x")4m" (x") 9 (x!)4m!(x!) 5 ; llllllO.I."N(a)
(x4) "m4(x4) 9 (x") "m" (x") 9 (x!) "m!(x!) 5 ;llllllO.I."N(b)
'6.O.I."N(b) is obtained by introducing orthogonality relationship by pre7multiplying
'6.O.I."4 by exif"T AmiC and setting &" 5 ;.The sweeping matrix Asi VC is formed by using
the '6s. O.I."N(a) and O.I."N(b) along with the identity
(x!) 5 (x!) llll..O.I."N(c)
'6uations O.I."N (a) to (c) can be rewritten as follows@
(x4) 5 ; r A(x")4m" M (x4)4m4C(x") r A(x!)4m! M (x4)4m4C (x!)
(x") 5 rA(x4)"m4M(x")"m"C(x4)r A(x!)"m! M (x")"m"C (x!)
and (x!) 5 (x!) lllll.O.I."O

'6uations O.I."O can be written in matrix form as@
exif 5 AsiVC exif lllllllllllllllll..O.I."B
Where AsiVC is given by
; r A(x")4m" M (x4)4m4C r A(x!)4m! M (x4)4m4C
AsiVC 5 rA(x4)"m4M(x")"m"C ; r A(x!)"m! M (x")"m"C
; ; 4
,ow exif is replaced by AsiVCexif on the right hand side of '6. O.I.4B and
The iteration process is repeated as done earlier to obtain the second lowest mode shape.
H. To #ind the 2ighest ,atural #re6uency@7
..
AmVC exif 9 A:iVC exif 5 e;f llllllll. O.I."4
Pre7multiplying by AmiCr4 we get
..
AIC exif 9 AmiC A:iVC exif 5 e;f
..
$r AIC exif 9 AdiVC exif 5 e;f lllllllllO.I.""
Where AdiVC 5 AmiCr4 A:iVC
+ssuming harmonic oscillations, i.e., exif 5 exif sin <t, '6. O.I."" reduces to
r <" exif 9 AdiVC exif 5 e;f
Or exif 5 ( 4 M <") A d I V C exif lllllO.I."!
The expanded form of the above e6uation would be
x4 d44 d4" l d4n x4
x" d"4 d"" l d"n x"
@ @ @ @ @
x n dn4 dn" l dnn xn
1sing '6. O.I."D, the iteration process as described above is started and this converges to the
lowest value of (4 M <") so that the highest mode of vibration is obtained.
#or the next lower modes and the natural fre6uencies the orthogonality principle is applied to
obtain a modified matrix e6uation that does not contain the higher modes. The process is
repeated as before.
The method is illustrated by the following examples.
Illu#tr%ti$e E>%mple# o *%tri> Iter%tio *etho'

'xample O.I.4@7 #ind the fundamental fre6uency and the corresponding mode shape for the
system shown in #ig. 'O.I.4 by the method of matrix iteration. +lso obtain the higher modes
by applying the principle of orthogonality.

#ig. 'O.I.4 @ -chematic for example O.I.4.
-olution to example O.I.4
#or finding the lowest natural fre6uency using matrix iteration method, the first step is to
write the governing e6uations in terms of flexibility matrix Aai VC. #or the given system we
have
(4M!:) (4M!:) (4M!:) Dm ; ;
Aai VC 5 (4M!:) (DM!:) (DM!:) Ami VC 5 ; "m ;
(4M!:) (DM!:) (NM!:) ; ; m
(4M!:) (4M!:) (4M!:) Dm ; ;
Abi VC 5 Aai VC AmiC 5 (4M!:) (DM!:) (DM!:) ; "m ;

(4M!:) (DM!:) (NM!:) ; ; m
D " 4
$r Abi VC 5 (mM!:) D O D
D O N
!:

:

:
Dm "m
m
!:

exif 5 <" Abi VC exif. In expanded form this e6uation gives
x4 D " 4 x4
x" 5 <"m M (!:) D O D x" lllll(4)
x! D O N x!
'6.(4) is the starting point for the iteration process.
Trial 4 @7 +ssume x4 5 4.;, x" 5 4.; and x! 5 4.;. -ubstituting on the %2- of e6uation (4)
and simplifying we get
x4 N 4
x" 5 (<"m M !:) 4I 5 (N<"m M !:) "."B
x! B ".N4
-ince the calculated amplitude vector is different from the assumed vector one more trial is
re6uired for which the assumed values will be the calculated values of the previous trial.
Trial ,o. " @7 /et x4 5 4.; , x" 5 "."B, and x! 5 ".N4. -ubstituting these values on the %2- of
'6. (4) and simplifying we have
x4 44.ON 4.;
x" 5 (<"m M !:) !!.44 5 (44.ON <"m M !:) ".NB
x! D4."B !.DO
The calculated values of the amplitude are different from the assumed values and hence one
more trial is re6uired.
Trial ,o. !@7 +ssume x4 5 4.;, x" 5 ".NB, and 3! 5 !.DO. -ubstituting these values on the
%2- of '6.(4) and simplifying we get
x4 4.;;
x" 5 (4!.;I <"m M !:) !.;O
x! !.OO
-ince the calculated values of the amplitude are still not matching with the assumed values
one more trial is re6uired.
Trial ,o. D@7 +ssume x4 5 4.;, x" 5 !.;O, and x! 5 !.OO.
#ollowing the same procedure we get
x4 4.;;
x" 5 (4D.;D <"m M !:) !.4H
x! D.;;
The calculated values of the amplitudes agree with the assumed values within ".H Z and the
iteration is stopped.
Therefore 4D.;D <" m M !: 5 4.;
wwwwwwwwwwwww wwwww

$r < 5 L A(!:) M (4D.;Dm)C 5 ;.DI" L (:Mm) 5 <4
&alculation of higher modes@7 #irst step in finding the higher modes is to form the sweeping
matrix using the principle of orthogonality between principal modes. $rthogonality principle
for a three7degree7of7freedom system can be stated as
(x4)4m4(x4) 9 (x")4m"(x") 9 (x!)4m!(x!) 5 ;
Where (x4)4, (x")4 and (x!)4 are the amplitudes of vibration corresponding to the lowest
natural fre6uency, <4, which have already been determined.-ubstituing these values and also
the values for m4, m", and m! we have
Dm(x4) 9 !.4H x "m (x") 9 D.; x m (x!) 5 ;
$r (x4) 5 r 4.HN (x") r 4.; (x!)
+lso (x") 5 (x") (Identity) llllll..(")
+nd (x!) 5 (x!) (Identity)
'6s.(") can be written in matrix form as exif 5 Asi VC exif,
; r 4.HN r 4.; x4
Where Asi VC 5 ; 4.; ; and exif 5 x"
; ; 4.; x!
-ubstituting for exif on the %2- of '6. (4) we have
x4 D " 4 ; r 4.HN r 4.; x4
x" 5 (<" m M !:) D O D ; 4.; ; x"
x! D O N ; ; 4.; x!
The above e6uation simplifies to
x4 ; r D."O r !.; x4
x" 5 (<"m M !:) ; 4.N" ; x" llll(!)
x! ; 4.N" !.; x!
'6.(!) is the starting point for iteration process.
Trial 4@7 +ssume x4 5 4.;, x" 5 4.;, and x! 5 4.;. -ubstituting these values in %2- of '6. (!)
and simplifying we get
x4 r N."O r 4.;
x" 5 (<"m M !:) 4.N" 5 (N."O <"m M !:) ;."D
x! D.N" 4.;"
-ince the calculated amplitudes are different from the assumed values one more trial is
re6uired.
Trial "@7 +ssume x4 5 r 4.;, x" 5 ;."D, and x! 5 4.;". -ubstituting these values in %2- of
'6.(!) and simplifying we get

x4 r D.;ON r 4.;
x" 5 (<"m M !:) ;.D4! 5 (D.;ON<" M !:) ;.4;
x! ;.OH ;.OH
$nce again the calculated values of the amplitudes do not agree with the assumed values and
the iteration has to be continued further.
#inal Trial @7
#ig. 'O.H(b) @ (eflection curve and *7 diagram when only load "mg is acting at station".
0"" 5 h mg/(/M") "M!(/M")
5 mg/!M(4"'I)
a"" 5 0"" M"mg
$r %00 6 :3 3 )0& EI+
y"" 5 (4M'I) h (mg/ x /M" x ("M!)/M" 5 "mg/! M ("D'I)
Therefore a"" 5 y"" M "mg 5 /! M ("D 'I )
+lso y4" 5 (4M'I) h (mg/) x /M" x e/M" 9 ("M!)/M"f
5 (HMDO) "mg/! M ('I)
Therefore a4" 5 y4" M ("mg) 5 H/! M (DO 'I) 5 a"4 as shown earlier
2m,
y22
5 = 2
5=2
y12

E>%mple 9.51
%&tain t#e stiffness influence coefficients for t#e
s'stem given in examle 8.(.
y4 5 a44P4 9 a4"P" and
y" 5 a"4P4 9 a""P"
-olving for P4 and P" we have
P4 5 (a""y4 G a4"y") M (a44a"" G a"4a4") lllllll(4)
+nd P" 5 (a44y" G a"4y4) M(a44a"" G a4"a"4) lllll.(")
When y4 5 4 and y" 5 ; then P4 5 r:44 and P" 5 r:"4.
a"" /! M ("D 'I)
Therefore :44 5 7777777777777777777777777 5 77777777777777777777777777
a"4a4" G a44a"" A eH/!MDO'If"
G e(/!M!'I)(/!M"D'I)fC
$r :44 5 r BI'IM(N/!)
a"4 H/! M DO 'I
+nd :"4 5 77777777777777777777777 5 77777777777777777777777777777
(a44a"" G a"4a4") Ae(/!M!'I)(/!M"D'I)
reH/!M DO'If"C
Therefore :"4 5 "D; 'I M (N/!)
When y" 5 4 and y4 5 ; then P" 5 r :"".
a44 4
Therefore :"" 5 77777777777777777777777 5 777777777777777777777777
A(a4")" G a44a"" C A(a4")" M a44 G a""C
4
5 777777777777777777777777777777777777777777777
>2 >1
y2

y1

A(H/!MDO'I)" M(/! M!'I) G (/! M "D'I)C
5 7 (NIO 'I) M(N/!)
E>%mple 9.7
+ string fixed at both ends carries three point masses m4, m", and m! e6uidistant from each
otheras shown in #ig. 'O.N. (etermine (i) the flexibility influence coefficients and (ii) the
stiffness influence coefficients using basic principles.
#ig. 'O.N@7 -chematic for example O.N
-olution to 'xample O.N
(i) To find displacement coefficients
/et m4 be displaced by a distance y44 by applying a force #4 at m4. Then the free7body
diagram will be as shown in #ig. 'O.N(a).
#ig. 'O.N @ #ree7body diagram when #4 acts at m4
m1 m2 m
5 5 5 5
41
y11 y21
y1
5 5 5 5
?
6
6


#orce balance in vertical direction at m4 gives
#4 5 T sin b 9 T sin x
+nd in horiEontal direction we have
T cos b 5 T cos x.
#or small oscillations we can assume sinb 5 tanb, cos b 54,
sin x 5 tanx and cos x 5 4. Therefore
#4 5 T(y44 M /) 9 T (y44 M !/) 5(DM!)Ty44 M / .
$r a44 5 y44 M #4 5 (!MD)(/MT).
*y law of similar triangles, a"4 5("M!) a445 (4M")(/MT)
*y axwellF theorem, a4" 5 a"4 P a4! 5 a!4
When a force #" is applied at station ", the displacements y4", y"", and y!" will be as shown
in #ig. 'O.N(b).
#ig.'O.N(b)@ #ree7body diagram when #" acts at station".
#orce balance at station " in vertical direction gives
#" 5 T sin b 9 T sinx 5 "T sin b
5 "T tan b 5 "T (y"" M "/)
5 T y"" M /.
Therefore a"" 5 y"" M #" 5 / M T.
*y law of similar triangles, a4" 5 a!" 5 h a"" 5 / M ("T).
*ecause of the symmetry of the problem a!! 5 a445 u (/MT).
5 5 5 5
4
2

?
y
12
y
22
y
2

(ii) To find the stiffness influence coefficients @7 /et a displacement y4 be effected at station
4, holding the remaining stations at their respective e6uilibrium positions. Then the free7body
diagram for the system will be as shown in #ig. 'O.N(c).
#ig. 'O.N(c)@ #ree7body diagram when a displacement y4is effected at station4.
Total restoring force at 4 in vertical direction due to unit displacement at 4 is given by
#44 5 7 "T sin b 5 7 "T tan b 5 7 "T(y4M /)
Therefore 7 :44 5 #44 M y4 5 7 "T M /, or :44 5 "T M /.
*y symmetry :!! 5 :44 5 "T M /.
%estoring force at " is given by #"4 5 T sin b 5 T tan b 5 T(y4 M /)
Therefore 7 :"4 5 #"4 M y" 5 T M / or :"4 5 7 T M / 5 :4"
%estoring force at ! 5 #!4 5 ;. Therefore :!4 5 ; 5 :4!.
/et a displacement y" affected at station " holding the stations 4 and ! at their respective
e6uilibrium position. Then the free7body diagram will be as shown in #ig. 'O.N(d).
#ig. 'O.N(d)@ #ree7body diagram when a displacement y" is effected at
" holding stations 4 and ! in their e6uilibrium position.
Total restraining force at " 5 #"" 5 "T sin b 5 "T tan b 5 "T(y" M /)
Therefore 7 :"" 5 #"" M y" 5 "T M /
$r :"" 5 7 "T M /
-imilarly #!" 5 T sin b 5 T tan b 5 T y" M /
Therefore 7:!" 5 #!" M y" 5 T M /
$r :!" 5 7 T M / 5 :"!.
6 6

y
1

5 5 5 5
6
6

y
2

8.( )umerical Met#o$s for M*D*F s'stems
#or (etermining ,atural #re6uencies and the corresponding mode shapes
s O.H.4. Introduction@ 7 The exact solution of the determinants of higher order becomes
more and more difficult with increasing number of degrees of freedom. It is more
convenient to use numerical methods to find the natural fre6uencies of an 7(7#
system especially when the number of degrees of freedom exceeds three. + number of
numerical methods are available, each method having its own merit. -ome of the
methods which will be discussed are @
4.%ayleighFs ethod
".-todolaFs ethod
!.(un:erlyFs ethod
D.atrix Iteration ethod
H.2olEerFs ethod
I.%ayleigh7%itE ethod
9...0. R%yleighW# *etho'
Introduction @7 This method was developed by %ayleigh and is very handy for finding the
first natural fre6uency (fundamental fre6uency) of a 7(7# system. Though this is a
numerical method, it does not re6uire any iteration process, because , the first trial itself
gives values which are very close to the fundamental fre6uency. The method is based on
e6uating the maximum :inetic energy of the system to the maximum potential energy.
s Procedure@7 (i) +ssume a deflection curve of the system that is consistent with the
boundary conditions. (the static deflection curve itself can be assumed)
s (ii) #ind the maximum :inetic energy and the maximum potential energy for the
assumed deflection curve
s (iii) '6uate the two to get the natural fre6uency
#re6uency e6uation for %ayleighFs ethod@7&onsider a beam having concentrated loads
W4,W",l.. l..Wn acting at different locations as shown in #ig.O.O.
W4 W" W! Wn
/et the corresponding displacements under each load be y4, y", y!, lllll yn.
The total potential energy of the system 5 -um of the wor: done by
all the loads acting on the beam.
That is 1 5 \(h)Wiyi , i 5 4,",!, lll.n
llll..O.O(a)
The total :inetic energy of the system is given by

T 5 \(4M")(Wi M g)pi", i 5 4,",!,lln
lllO.O(b)
+ssume harmonic oscillationsP i.e. yi 5 0i sin <nt.
-ubstituting this in '6s.O.O(a) and O.O(b) we have
1 5 (4M")\Wi0i sin <nt , i 5 4 to n
Therefore 1max 5 (4M") \Wi0i , i 5 4 to nllO.B(a)
and T 5 (4M")\(Wi M g) <" 0i " cos" <nt, i 5 4 to n
$r Tmax 5 (4M")g<n" \Wi0i " , i 5 4 to n l.O.B(b)
'6uating '6s.O.B(a) and O.B(b) and solving for <n" , we get
g \Wi0i
<n" 5 7777777777777777777 lllllll.O.4;
\Wi0i"
Illustrative 'xamples on %ayleighFs ethod
'xample O.O @7 To find the fundamental fre6uency of the system shown in #ig. ' O.O.
m4 5 "H; :g m" 5 4H; :g
#ig. 'O.O@ -chematic for example O.O
-olution to 'xample O.O
The static deflections 04 and 0" are calculated as follows@
04 5 044 9 04" P Where 044 5 (eflection at 4 due to load at 4
and 04" 5 (eflection at 4 due to load at "
-imilarly 0" 5 0"4 9 0"" P Where 0"4 5 (eflection at " due to
load at 4 and 0"" 5 deflection at
" due to load at "
To find 044 and 0"4@7 The loading arrangement to find 044 and 0"4 will be as shown in
#ig. 'O.O(a)
1./ m /.0 m 1./ m

!
1
y
11

#ig. 'O.O(a)@ (eflection of the beam due to load W4at station 4.
When a concentrated load W acts on the beam as shown below, the deflection at any location
x from one end of the beam is given by
yx 5(Wbx)(/" r x" r b") M (I'I/) P (; y x y a) lll..O.44
Therefore 044 5( W4ba)(/" r a" r b") M (I'I/)
"H; x B.O4 x I.H x 4.H
044 5 77777777777777777777777777777 A O" r 4.H" r I.H"C
I'I x O
5 BN4D M ('I)
"H; x B.O4 x I.H x 4.H
-imilarly, 0"4 5 7777777777777777777777777777777 AO" r 4.H" r 4.H"C
I'I x O
5 IOD; M ('I)
-imilarly when W" acts at station ", the deflections at stations 4 and " are calculated as
04" 5 D4;D M ('I), and 0"" 5 HO"! M ('I).
Therefore 04 5 044 9 04" 5 (BN4D 9 D4;D) M ('I)
54!O4O M ('I)
+nd 0" 5 0"4 9 0"" 5 (IOD; 9 HO"O) M ('I)
5 4"IIB M ('I)
g A W404 9 W"0"C
<n" 5 7777777777777777777777777777
AW404" 9 W"0""C
B.O4 x A"H; x4!O4O 9 4H; x 4"IIBC
5 777777777777777777777777777777777777777777777777 ('I)
A"H; x 4!O4O" 9 4H; x 4"IIB"C
wwww
!
a 9
3

$r <n 5 ;.;OH L 'I
'xamples on %ayleighFs method
E>%mple 9.@@
To find the fundamental fre6uency for the lateral vibrations of the cantilever beam shown in
#ig. 'O.B.
#ig. 'O.B @ -chematic for example O.B.
#ig. 'O.B(a)@ (eflection curve when both the loads are acting on the beam.
045 044 9 04" P 0" 5 0"4 9 0""
To find 044 and 0"4 @7 The deflection curve for the beam and the bending moment
diagram when W4 acts at 4 is shown below.
1 m 1 m
@/ k, /0 k,
A
2
!
2
!
1

#rom moment7area method we have
044 5 A4M('I)Coment of the area of *7 diagram about station4
5 A4M('I)C (4M")(W4/)/ ("M!)/ 5 (W4/!) M (!'I)
5 (H; x B.O4 x "!) M (!'I) 5 4!;O M 'I
-imilarly, 0"4 5 A4M('I)C A(h )(W4/ x /M") x /MD 9
(h (W4/M")(/M")("M!)(/M")C
5 (HMDO)(W4/!M'I) 5 (HMDO) (H; x B.O4 x "! M 'I)
5 D;B M ('I)
To find 04" and 0"" @7 /et the load W" act at station ". Then the deflection curve
and the corresponding *7 diagram will be as shown below
0"" 5 (4M'I) (W"/M")(/M")("M!)(/M")
5 W"/!M(4" 'I)
5 NHxB.O4 x "! M(4"'I) 5"DHM'I
04" 5 (4M'I)4M" (W"/M")(/M")A("M!)/M"9 /M"C
5HW"/!M(DO 'I)
5 H xNH x B.O4 x "! M (DO 'I)
5 I4! M ('I)
04 5 044 9 04" 5 (4!;O 9 I4!) M('I) 5 4B"4 M ('I)
0" 5 0"4 9 0"" 5 (D;B 9 "DH) M ('I) 5 IOH M ('I)
g AW404 9 W"0"C B.O4 x AH; x 4B"4 9 NH x IOHC M ('I)
A
21
A
11
!
1
5=2 5=2
!
1
5=2
!
1
5

<n" 5 777777777777777777777777 5 77777777777777777777777777777777777777777777777777
AW404" 9 W"0""C AH; x 4B"4" 9 NH x IOH"C M ('I)"
$r <n 5 ;.;O44 L ('I)
9...3. STODO:AW*ETGOD
Introduction@7 This method is an iterative method and used for finding the fundamental
(lowest) natural fre6uency of un7damped free vibrations of 7(7# systems
Procedure@7 (i) +ssume a reasonable deflection curve of the system. The static deflection
curve itself can be assumed as in the case of %ayleighFs method.
(ii) 1sing the above deflection curve, the inertia loading of the system is
determined. This loading will be in terms of <n", where <n is the fundamental natural
fre6uency of the system.
(iii) &onsidering the system is loaded with the inertia loads, the new deflection
curve is determined. This also will be in terms of <n".
If the assumed deflection curve of (i) above is similar to the calculated deflection curve of
(iii), then the assumed shape of the deflection curve is correct and (iii) gives the value of
<n". If the deflection curve of (i) and (iii) are not similar, then the calculated deflection curve
of (iii) is used as the assumed deflection curve for the next iteration and the procedure is
repeated till the assumed deflection curve and the calculated deflection curve are similar.
It can be shown that whatever deflection curve was assumed initially, we finally end up with
the deflection curve corresponding to the fundamental mode.
'xample O.4; @7 To determine the lowest natural fre6uency for the lateral vibrations of the
beam shown in #ig. 'O.4;.


2/0 k, 1/0 k,
1./ m /.0 m 1./ m
m
1
, = 2/0 3 B.81 C
A
11
A
21

#ig. 'O.4;@ -chematic for example O.4;.
#ig. 'O.4;(a)@ (eflection curve when only m4g is acting on the beam.
a44 5 044 M m4g 5 !.BI M ('I) P a"4 5 0"4 M m4g 5 ".NB M ('I)
-imilarly when m"g alone acts at location " we have
a"" 5 0"" M m"g 5 ;.4OO M ('I) P a4" 5 a"4 by axwellFs theorem.
Trial 4 @7 +ssume 04 5 4.; and 0" 5 4.;
Inertia force at location 4 5 #4 5 m4<"04 5 "H; <".
-imilarly #" 5 4H; <". Therefore 04F 5 a44#4 9 a4" #"
$r 04F 5 A!.BI x "H; 9 ".NB x 4H; C <" M ('I) 5 4D;O.H <" M ('I)
-imilarly 0"F 5 a"4#4 9 a""#" 5 A".NB x "H; 9 ;.4OO x 4H;C <" M ('I)
5 N"H.N <" M ('I)
Therefore 04F @ 0"F 5 4 @ ;.H4H. This is different from the assumed deflection. 2ence
one more trial is re6uired.
Trial " @7 +ssume 045 4.; and 0" 5 ;.H4H.
Then #4 5 "H;<" and #" 5 4H; x ;.H4H x <" 5 NN."H<"
Therefore 04FF 5A!.BI x "H; 9 ".NB x NN."HC <" M ('I) 5 4";H.H <" M ('I).
-imilarly 0"FF 5 A".NB x "H; 9 ;.4OO x NN."HC <" M ('I) 5 N4" <"M ('I)
Therefore 04FF@ 0"FF 5 4 @ ;.HB;.
Trail ! @7 +ssume 04 5 4.; and 0" 5 ;.HB;. Then the calculations as shown in trial "
will give 04FFF 5 4.; and 0"FFF 5 ;.HNN.
Trial D @7 +ssume 04 5 4.; and 0" 5 ;.HNN. Then 04dd 5 4"!4.H <"M ('I) and 0"dd 5
N4!.O <" M ('I).
04dd @ 0"dd 5 4.; @ ;.HO; which is same as the assumed deflection within the
acceptable accuracy. 2ence iteration may be stopped.
Therefore 4"!4.H<" M ('I) 5 4.; or < 5 ;.;"O L ('I).
'xamples on -todolaFs ethod
'xample O.44@7 (etermine the fundamental fre6uency for the system shown in #ig. 'O.44
using -todolaFs method.
#ig. 'O.44@ -chematic for example O.44.
Dm
2m m
k k k

-olution @ The displacement coefficients for the given system are determined as @
a44 5 4M !: P a" 5 a!45 a4"5 a4!5 4M!: P a"" 5 a!" 5 a"!5 DM!:
a!! 5 NM !: .
Trial 4@7 +ssume x4 5 x" 5 x! 5 4.;. Then #4 5 Dm<" , #" 5 "m<" and
#! 5 m<".
34F5 a44#4 9 a4"#" 9 a4!#! 5 Dm<" M(!:) 9 "m<"M(!:) 9 m<" M (!:)
5 Nm<" M (!:)
3"F 5 a"4#4 9 a""#" 9 a"!#! 5 Dm<" M(!:) 9 Om<"M (!:) 9 Dm<"M(!:)
5 4Im<"M(!:), and
3!F 5 a!4#4 9 a!"#" 9 a!!#! 5 ADM! 9 OM! 9 NM!C m<"M : 5 4Bm<"M(!:)
Therefore 34F @ 3"F @ 3!F 5NM! @ 4IM! @ 4BM! 5 4 @ ".! @ ".N, which is not the same as the
assumed deflection. 2ence one more trial is re6uired.
Trial " @7 +ssume 34 5 4.;, 3" 5 ".! and 3! 5 ".N.
#ollowing the procedure as shown in trial 4 we get
34d @ 3"d @ 3!d 5 4 @ ".BD @ !.II which is not the same as assumed profile.
2ence the iteration has to be continued.
#inal trail (Trial ,o. D)@7 +ssume 34 5 4, 3" 5 !.44, and 3! 5 !.B!
Then 34dd 5 4D.4Hm<"M(!:), 3"dd 5 DD.I m<"M(!:)P
3!dd 5HI.!Bm<"M(!:)
Therefore 34dd @ 3"dd @ 3!dd 5 4D.4H @ DD.I @ HI.!B 5 4 @ !.4H @ !.B! which is very close to
the assumed deflections.
2ence 4D.4H m<" M (!:) 5 4.; or < 5 LA!:M (4D.4Hm)C 5 ;.DIL(:Mm)
9...&. Du=erleyW# *etho'
Introduction @7 In beam vibrations the natural fre6uencies of the second and higher modes
are often considerably greater than that of the fundamental fre6uency. This fact will enable us
to approximate the fundamental fre6uency with acceptable accuracy.
(un:erlyFs'6uation@7 In order to illustrate the (un:erlyFs method, let us consider the free
vibrations of a three degree7of7freedom system. The governing e6uations in terms of
flexibility influence coefficients can be written as
x4 5 a44#4 9 a4"#" 9 a4!#!
x" 5 a"4#4 9 a""#" 9 a"!#! lllllllllll. O.4"
x! 5 a!4#4 9 a!"#" 9 a!!#!
#or free vibrations the forces #4, #" and #! can be replaced with the
.. .. ..
inertia forces r m4x4, 7 m"x" and G m!x!.. If the system is vibrating

..
harmonically with fre6uency <, then G mixi5 mi<"xi. Therefore e6uations
O.44 can be written as follows@
x4 5 a44(m4<"x4) 9 a4" (m"<"x") 9 a4!(m!<"x!)
x" 5 a"4(m4<"x4) 9 a""(m"<"x") 9 a"!(m!<"x!) llllllll.O.4"
x! 5 a!4(m4<"x4) 9 a!"(m"<"x") 9 a!!(m!<"x!)
'6uations O.4" can be written in matrix form as follows@
x4 a44m4 a4"m" a4!m! x4
x" a"4m4 a""m" a"!m! x" llll.O.4!
x! a!4m4 a!"m" a!!m! x!
(ividing by <", the above set of e6uations may be rearranged as follows@
(a44m4 G 4M<")x4 9 (a4"m")x" 9 (a4!m!)x! 5 ;
(a"4m4)x4 9 (a""m" G 4M<")x" 9 (a"!m!)x! 5 ; llllO.4D
(a!4m4)x4 9 (a!"m")x" 9 (a!!m! G 4M<")x! 5 ;
'6uations O.4" are satisfied if the determinant of these e6uations vanishes@
(a44 G 4M<") (a4"m") (a4!m!)
(a"4m4) (a"" G 4M<") (a"!m!)
(a!4m4) (a!"m") (a!! G 4M<")
'xpanding the determinant we have the following fre6uency e6uation.
(4M <")! G Aa44m4 9 a""m" 9 a!!m!C (4M<")"
r Aa4"m"a"4m4 9 lll.C(4M<") r A lllC 5 ; llll.O.4D
We :now from a theorem in algebra which states that if the coefficient of the highest term of
the nth7degree e6uation is reduced to unity, the coefficient of the second highest term will be
e6ual to the sum of the roots of the e6uation.
If the roots of '6. O.4D are 4M<4, 4M<", and 4M<!, the above e6uation can be factored into the
following form@
(4M<" G 4M<4") (4M<" G 4M<"") (4M<" G 4M<!") 5 ;
$r (4M<")! G A 4M<4" 9 4M<"" 9 4M<!"C (4M<")" G A...C(4M<") G AlC 5 ;llll.lO.4H
&omparison of e6uations O.4D and O.4H indicates that
4M<4" 9 4M<"" 9 4M<!" 5 a44m4 9 a""m" 9 a!!m!
5 m4M:4 9 m" M:" 9 m! M :!
5 4M<44" 9 4M<""" 9 4M<!!" llll..O.4I
Where the terms <44, <"", and <!! are the natural fre6uencies of the system, with each
mass acting separately in the absence of other masses.

-ince <" and <! are natural fre6uencies corresponding to the higher modes and are larger
than the fundamental fre6uency '6. O.4I can be approximated as
4 4 4 4
77777 z 7777777 9 77777777 9 7777777777 ...........O.4N
<4" <44" <""" <!!"
'6.O.4N is called as the (un:erlyFs e6uation and has many useful applications as illustrated in
the following examples.
'xamples
'xample O.4"@7 (etermine the fundamental fre6uency of a uniformly loaded cantilever beam
with a concentrated mass at the end e6ual to the mass of the uniform beam
-olution@7
/et <44 be the natural fre6uency of the uniformly loaded beam by itself and <"" be the
natural fre6uency of the same beam when a mass is acting at the end of the beam,
neglecting the weight of the beam.
E>%mple 9./0
#or a uniformly distributed load of a cantilever beam we have
<44" 5 !.H4H " A('I) M (/!)C
#or the concentrated mass at the end of the mass less cantilever we have
<""" 5 !.;; A('I) M (/!)C
#rom (un:erlyFs e6uation we have
4M<4" 5 4M<44" 9 4M<"""
<44"<""" !.H4H " x !.; ('I)
$r <4" 5 77777777777777777 5 777777777777777777777777777 5 ".D4A('I) M (/!)C
(<44" 9 <""") (!.H4H " 9 !.; ) (/!)
E>%mple 9./3
The natural fre6uency of a given airplane wing 7
In torsion is 4I;; cpm. What will be the new natural fre6uency if a H;;7:g bomb is hung at a
position one7sixth of the semi span from the centre line of the airplane such that its moment
of inertia about the torsional axis is 4O;; ,G cm G s" Y The torsional stiffness of the wing at
this point is I; x 4; I , G cm M rad.
5
0
0

-olution@ #re6uency of the bomb attached to the weightless wing is
L (I; x 4;I)
f"" 5 (4 M "X) L (:t M a) 5 (4M"X)7777777777777777777777
L (4O;;)
$r f"" 5 "B.4 c.p.s. 5 4NDH c.p.m.
The new natural fre6uency with the bomb will be
4 4
4 M f4" 5 4 M f44" 9 4 M f""" 5 777777777777 9 7777777777777
4I;; " 4NDH "
$r f4 5 44O; c.p.m.
'xample O.4!@7 The fundamental fre6uency of a uniform beam of mass , simply supported
is e6ual to X" L ('I M /!). If a lumped mass m; is attached to the beam at
x 5 /M !, determine the new fundamental fre6uency.

-olution@7
*y (un:erlyFs e6uation we have
4 M <4" 5 4 M <44" 9 4 M <""".
The above e6uation can be written as follows@
4 M <4" 5 4 M <44" 9 a"" m" ...............................(4)
Where m" is the mass of the concentrated weight or exciter and a"" is the influence
coefficient of the structure at the point of attachment of the exciter. ultiplying '6. (4)
through by <4" and rearranging we can write
4
(<4 M <44)" 5 77777777777777777777777 lllll..(")
A 4 9 a""m"<44"C
a"" is the influence coefficient at x 5 / M ! due to a unit load applied at the same point and
from the :nowledge of strength of materials
a"" 5 O/! M (I x O4 'I)
m
0
3
5

@.Ei9ration+ oF Gontinuou+ <y+tem+
N.4. Introduction@7 If in a mechanical system the inertial elements and the elastic forces are
located at discrete points in the system, then such systems are referred to as cdiscrete systems
or lumped mass systems and they are further classified as single degree and multi degree7
of7 freedom systems. In these systems a finite number of independent coordinates are
re6uired to completely describe the vibratory characteristics of such systems. The number of
natural fre6uencies for such systems will be e6ual to the number of degrees of freedom for
the system. *ut there are many mechanical systems where in it is not possible to assume that
the inertial elements and the elastic forces are concentrated at discrete points within the
system but they are distributed throughout the system. &ables, rods, beams, plates etc. are
some of the examples and such systems are called continuous systems.
&ontinuous systems consist of an infinitely large number of particles and therefore re6uire an
infinitely large number of coordinates to study the vibratory characteristics of the system.
The system will therefore have a infinite number of natural fre6uencies and normal modes of
vibrations. In general, vibrations of continuous systems are governed by partial differential
e6uations and while analyEing these systems all materials are assumed to be homogeneous
and isotropic and obey 2oo:eFs law.
+.2. ,ongitu$inal -i&rations of .ars
N.".4. .overning '6uation @7 &onsider a bar which is vibrating in the longitudinal direction
as shown in #ig. N.4. /et the displacement at any section which is at a distance ^xF from one
end of the rod at any time ^tF be represented by ^uF Au 5 u(x,t)C, { be the mass density and
#ig.N.4@ /ongitudinal )ibrations of a bar
3
d3
u
u+du
Position of the rod
at time ^tF
du 5 dx 9 (|u M
|x) dx
Position of the rod at
time at time t 9 dt


+ be the area of cross section of the bar.
#ig. N." @ #ree body diagram for an elemental length dx of the bar
+pplying ,ewtonFs second law for elemental length dx of the bar we have
{+dx (|"u M |t") 5 }+ 9 A|(}+) M |xCdx r }+
-ince + is constant and assuming that the material of the bar obeys 2oo:eFs law ( } 5 ' ~ , '
is the modulus of elasticity and ~ is the longitudinal strain), the above e6uation can be
simplified as @
{ (| "u M |t ") 5 ' (|~ M|x) lllllll..N.".4
Adx 9 (|u M |x) dxC r dx
*ut ~ 5 7777777777777777777777777777777 5 |u M |x
dx
-ubstituting this in '6. N.4 we get
|"u M |t" 5 c" |"u M|x" ll.N."."
Where c5 L(' M {).
N.".". .eneral -olution for '6.N."." @7 '6uation N."." is a linear, homogeneous, second7order,
partial differential e6uation whose solution can be found by the method of separation of
variables, where the solution is assumed to be a product of two functions, one purely a
function of one independent variable x and the other purely a function of other independent
variable t @ that is
u(x, t) 5 3(x) T(t) 7777777777777777777777N.".!.
-ubstituting this solution in '6. N."." we get
3 (d"T M dt") 5 c" T (d"3 M dx")
(ividing throughout by 3T, we get
(4 M T) (d"T M dt") 5 (c"M 3)(d"3 M dx") llllll.N.".D.
In '6. N.".D, /2- is a function of t only and %2- is a function of x only.
They can be e6ual only if they are e6ual to constant, say r <" , where <" is a positive real
constant ( /ater on it will be shown that < is a natural fre6uency of vibrations) . ,ow we will
have two second order ordinary differential e6uations given by
(4 M T ) (d"T M dt") 5 r <" llllllll.N.".H(a)
u(3Ht)
IJ
IJ + [K(IJ) = K3] d3
d3

and ( c"M 3 ) (d"3 M dx") 5 r <" lllllll..N.".H(b)
$r (d"T M dt") 9 <"T 5 ; llllllllllN.".I(a)
and (d"3 M dx") 9 (<" M c")3 5 ; lllllll..N.".I(b)
'6s. N.".I(a) and N.".I(b) are linear homogeneous second order ordinary
differential e6uations whose solutions are given by
T(t) 5 + cos <t 9 * sin <t lllllllN.".N(a)
and 3(x) 5 & cos A(<Mc)xC 9 ( sin A(<Mc)xC ll..N.".N(b)
-ubstituting these expressions for T(t) and 3(x) in '6. N.".! we get the
general solution as follows@
u(x,t) 5 (+ cos <t 9 * sin <t) A & cose(<Mc)xf 9 ( sin e(<Mc)xf C llllN.".O
In the above solution < is the natural fre6uency. -ince for a continuous system there are
infinite number of natural fre6uencies, the general solution can be written as W
u (x,t) 5 \ A+n cos <nt 9 *n sin <nt C A &n cose(<n M c)xf 9 (n sin e(<nMc)xfC
n 5 4,", llll..llllN.".B
+n, *n, &n,and (n are arbitrary constants which can be determined by the initial and
boundary conditions of the problem and <n the natural fre6uencies of the system.
7.0.3. Illu#tr%ti$e e>%mple#1
4.(etermine the natural fre6uencies and the mode shapes of longitudinal vibrations of a bar
with both ends free with Eero initial displacement.
-olution@7 The boundary and initial conditions for the given problem are as follows.
(i) +t x 5 ;, |u M |x 5 ; (free end and hence strain is Eero)
(ii) +t x 5 /, |u M |x 5 ; (free end)
(iii) +t t 5 ;, u 5 ;.
#rom '6. N.B we have
|u M|x 5 \(<n M c) A+n cos <nt 9 *n sin <ntC Ar &nsin (<nx M c)
9 (n cos (<nx M c)C llllll(4)
&ondition (i) in '6. (4) gives
; 5 \(<nMc) A +n cos <nt 9 *n sin <nt C A ; 9 (nC
The above e6uation has to be satisfied for all values of t.
Therefore, it follows that (n 5 ;.
-imilarly condition (ii) in '6. (4) gives
; 5 \(<nMc) A +n cos <nt 9 *n sin <nt C A r&n sin (<n/ Mc)C
#or non7trivial solution &n cannot be Eero.
2ence it follows that sin (<n/ M c) 5 ;lllll(")

$r (<n/ M c) 5 nX, n 5 4, ", !, ll..to W
The natural fre6uencies are given by
nX wwwww
<n 5 (nX M /)c 5 777777777 L (' M {) lll.(!)
/
-ubstituting (n 5 ; in the general solution (e6. N.B) we have
u(x,t) 5 \ ( 'n cos <nt 9 #n sin <nt ) cos (<nx Mc) llllllll.(D)
Where <n is given by '6. (!), 'n 5 &n +n and #n 5 &n *n
&ondition (iii) in '6. (D) gives @ ; 5 \cos (<nx M c) A 'n 9 ; C.
This e6uation has to be satisfied for all x. Therefore it follows that
'n 5 ;. 2ence the final expression for u(x,t) is given by
u(x,t) 5 \ #n sin <nt cos (<nx M c).
The constants #n can be determined if we :now one more initial condition.
E>%mple 7.0@7 (erive an expression for the free longitudinal vibrations of a uniform bar of
length /, one end of which is fixed and the other end is free.
-olution @ The boundary conditions for the given problem are @
(i) +t x 5 ;, u 5 ; (fixed end)
(ii) +t x 5 /, |u M |x 5 ; (free end)
The general solution for longitudinal vibrations of a bar is given by
u(x,t) 5 \ A +n cos <nt 9 *n sin <nt C A &n cos(<nxMc) 9 (n sin (<nxMc)C ll..(4)
&ondition (i) in '6. (4) gives ; 5 \ A +n cos <nt 9 *n sin <nt C A &n 9 ; C
The above e6uation should be valid for all values of ^tF.
Therefore, &n 5 ;. #rom '6. (4) we have
|u M |x 5 \ A +n cos <nt 9 *n sin <nt C (n cos (<nxMc)C (<nMc)llll..(")
+s (n cannot be Eero for non7trivial solution, &ondition (ii) in '6. (")
5

gives
cos (<n/ M c) 5 ; lllllllll.(!)
$r <n/ M c 5 (nX M " ), n 5 4, !, H, l..to W
$r <n 5 (nXc M "/) 5 (nXM"/) L (' M {) ll(D)
Therefore the displacement u(x,t) is given by
u(x,t) 5 \ A 'n cos <nt 9 #n sin <nt C sin (<nx M c) llllllll(H)
The constants 'n ( 'n 5 +n (n ) and #n ( #n 5 *n (n) can be determined using the initial
conditions of the problem.
E>%mple 7.3@7 + uniform bar of length / is fixed at one end and &onnected at the other end
by a spring as shown in #ig. ' N.!. (erive the fre6uency e6uation for the bar.
-olution@7 #or the given problem the boundary conditions are@
(i) +t x 5 ;, u(;,t) 5 ; (free end) P
(ii) +t x 5 /, : (u)x 5 / 9 + (})x 5 / 5 ;
i.e., : (u)x 5 / 9 + ' (|u M |x )x 5 / 5 ;
#or longitudinal vibrations of a bar the displacement u(x,t) is given by
u(x,t) 5 \ A +n cos <nt 9 *n sin <nt C A &n cos(<nxMc) 9 (n sin (<nxMc)Cll...(4)
&ondition (i) in '6. (4) gives ; 5 \ A +n cos <nt 9 *n sin <nt C &n.
The above e6uation has to be valid for all values of t. Therefore it follows that &n 5 ;.
2ence the solution now reduces to
u(x,t) 5 \ A 'n cos <nt 9 #n sin <nt C sin (<nxMc) llllllll(")
Where 'n and #n are constants which can be evaluated using the initial conditions. To find
the natural fre6uencies <n, boundary condition (ii) is used.
#rom '6. (") (u)x 5 / 5 \ A 'n cos <nt 9 #n sin <nt C sin (<n/Mc)
+nd (|u M |x)x 5 / 5 \ (<n M c)A 'n cos <nt 9 #n sin <nt C cos (<n/Mc)
3
#ig. ' N." @ -chematic for example N.!.
k
5

Therefore condition (ii) gives
: e\ A 'n cos <nt 9 #n sin <nt C
sin (<n/Mc)f 9 + ' e\ (<n M c)A 'n cos <nt 9 #n sin <nt C cos (<n/Mc)f
5 ;
$r \ e : sin(<n/ M c) 9 +' (<nMc) cos (<n/Mc)f ('n cos <nt 9 #n sin <nt)
5 ; for all values of t.
Therefore : sin(<n/ M c) 9 +' (<n M c)cos (<n/ M c) 5 ;
$r tan (<n/ M c) 5 r (+ ' <n) M (:c) lll.(!)
'6. (!) is the re6uired fre6uency e6uation.
'xample N.D.
+ bar of length / is fixed at one end and has a concentrated mass m as shown in #ig. ' N.D.
(erive the fre6uency e6uation.
#ig. ' N.D
The general solution for longitudinal vibrations of a bar is given by
u(x,t) 5 \ A +n cos <nt 9 *n sin <nt C A &n cos(<nxMc) 9 (n sin (<nxMc)C

lllllll..(4)
The boundary conditions for the given problem are@
(i) +t x 5 ;, u(x,t) 5 ; (fixed end)
(ii) +t x 5 /, m (|"u M |t")x 5 / 5 r +' (|u M |x)x 5 /
; 5 \ A +n cos <nt 9 *n sin <nt C A &n 9 ;C
The above e6uation is to be satisfied for all values of t.
Therefore &n 5 ; and
u(x,t) 5 \ A 'n cos <nt 9 #n sin <nt C sin (<nxMc) lllllllll(")
Therefore
r +' (|u M |x)x 5 / 5 r +' \(<nMc)A 'n cos <nt 9 #n sin <nt C cos (<n/Mc)
m
3
5

+lso m (|"u M |t")x 5 / 5 \rm<n" sin (<n/Mc) A 'n cos <nt 9 #n sin <nt C
Therefore condition (ii) gives
(+ ' <nMc) cos (<n/ Mc) 5 m <n" sin (<n/ Mc)
$r tan (<n/ Mc) 5 A (+') M (m<nc)C lllllll(!)
This is the fre6uency e6uation which can be solved to get the natural
fre6uencies of the given system.
'xample on #orced )ibrations@
'xample N.H @7 (etermine the longitudinal forced vibration of a
uniform bar of /ength / subVected to a sinusoidal force #; sin <t at the
free end as shown in #ig. ' N.H.
#ig. ' N.4 @ -chematic for example N.4
-olution to example N.H
The e6uation of motion for longitudinal vibration of uniform bars is given
by
( |"u M |t" ) 5 c" ( |"u M |x")llllll..(4)
#or steady state vibration, let u(x,t) 5 3(x) sin <tlllllllll(")
-ubstituting this solution in '6.(4) we get
r<" 3(x) 5 c" (d"3 M dx")
$r d"3 M dx" 9 (<" M c") 3 5 ; llllll(!)
4
0
+in Lt
5

'6.(!) is a linear, homogeneous, second order, ordinary differential '6uation whose solution
is given by
3(x) 5 +4 cos (<x M c) 9 +" sin (<x M c)
+nd hence
u(x,t) 5 A+4 cos (<x M c) 9 +" sin (<x M c)C sin <t lll..(D)
The boundary conditions for the problems are@
(i) +t x 5 ;, u 5 ; P (ii) at x 5 /, +' (|u M |x)x 5 / 5 #; sin <t
&ondition (i) in '6. (D) gives ; 5 A +4 9 ;C sin <t , for all values of ^tF
Therefore +4 5 ;.
,ow +' (|u M |x)x 5 / 5 +"+'(<Mc) cos (</Mc) sin <t
2ence condition (ii) gives, +" +' (<Mc) cos (</Mc) 5 #;
#; c
$r +" 5 777777777777777777777777
e +' < cos (</Mc)f
7.3. Vi,r%tio# of #trig#
N.!.4. .overning '6uation @7 + flexible string of mass { per unit length is stretched under
tension T. +ssuming that the lateral deflection ^yF of the string to be small, the change in
tension T is negligible and hence neglected.

3
y(3Ht)
+ free7body diagram of an elementary length dx of the string
is shown in #ig. N.!

#ig. N.! @ -tring element in lateral vibration.
+pplying ,ewtonFs second law for the string element we have
{ dx (|"y M |t") 5 T sin e b 9 (|b M|x) dxf r sin b
#or small oscillations y(x,t) is small and hence sin b 5 b.
Therefore the above e6uation reduces to
{ (|"y M |t") 5 T (|b M |x)
*ut b 5 |y M |x. Therefore { (|"y M |t") 5 T (|"y M |x")
$r |"y M |t" 5 c" (|"y M |x") llllllllN.!.4
'6. N.!.4 is a linear partial homogeneous differential e6uation whose
solution can be obtained by the method of separation of variables.
/et y(x,t) 5 3(x) T(t)lllllllll.N.!."
-ubstituting this in '6. N.!.4 we get
3(x) (d"T M dt") 5 c" T(t) (d"3 M dx")
$r (4 M T) (d"T M dt") 5 (c" M 3 ) (d"3 M dx")
/2- of the above e6uation is a function of t only and %2- is a function of x only. They can
be e6ual provided they are e6ual to a constant. Therefore we have
(4 M T) (d"T M dt") 5 (c" M 3 ) (d"3 M dx") 5 r <"
Where <" is a positive real constant. Therefore we get two ordinary differential e6uations,
namely,
(4 M T ) (d"T M dt") 5 r <" ,
and (c" M 3 ) (d"3 M dx") 5 r <"
$r (d"T M dt") 9 <"T 5 ; lllllllllN.!.!.(a)
and (d"3 M dx") 9 (<"Mc") 3 5 ; llllll.N.!.!.(b)




y
3
6
6 d3
y(3Ht)

The solutions to '6s. N.!.!.(a) and N.!.!.(b) are given by
T(t) 5 +4 cos <t 9 +" sin <t lllll..N.!.D.(a)
+nd 3(x) 5 *4 cos (<x M c) 9 *" sin (<x M c) llllll..N.!.D.(b)
-ubstituting these solutions in '6. N.!." we get
y(x,t) 5 A+4 cos <t 9 +" sin <t C A*4 cos (<x M c) 9 *" sin (<x M c)C
llllllllN.!.H.
'6uation N.!.H is the general solution for the lateral vibrations of strings and the constants
+4, +", *4, and *" can be determined for the given initial and boundary conditions. This is
illustrated in the few examples below.

8.@.M*5N7':< 076M*O
9.7./ Itro'uctio@7 When only one coordinate is associated with each lumped mass of the
multi7degree7of7freedom system, we have a 2olEer7type problem which can be solved by
proceeding numerically from one end of the system to the other. *oth the linear spring7mass
and the torsional lumped mass system can be solved by this method.The method
is a trial and error method which can be represented in a tabular form as illustrated in the
examples to follow.
8.+.2. Governing Equations /
(i) '6uations for a #ree7#ree system (-ystems with both ends free)
The governing e6uations are derived by considering a four7degree7of7freedom system as
shown in #ig. O.N.4.
#ig. O.N.4@ #our %otor Torsional -ystem
The differential e6uations of motion for the four rotors are@
..
a4b4 5 r :t4 (b4 r b")
..
a"b" 5 :t4(b4 r b") r :t" (b" r b!)
.. llllllll.O.N.4
a!b! 5 :t" (b" r b!) r :t! (b! r bD)
..
aDbD 5 :t! (b! r bD)
+ssuming b4 5 q4 sin <nt, b" 5 q" sin <nt, b! 5 q! sin <nt, and
bD 5 qD sin <nt, the above e6uations reduce to

ra4<n"q4 5 r :t4 (q4 G q")
ra"<n"q" 5 :t4(q4 G q") G :t"(q" G q!)
lllllllO.N."
ra!<n"q! 5 :t"(q" rq!) G :t!(q! G qD)
raD<n"qD 5 :t!(q! G qD)
+dding all the above e6uations we get XTi20Yi 6 -! i 6 / to & VVVVVV.9.7.3.
Therefore, for a free7free system, <n is found out by trial and error such that '6. O.N.! is
satisfied. #rom '6s. O.N." We have
q" 5 q4r a4<n"q4M :t4
q! 5 q" r (a4<n"q4 9 a"<n"q") M :t"
and qD 5 q! r (a4<n"q4 9 a"<n"q" 9 a!<n"q!) M :t!
i F /
Thus in general, Yi 6 Yi Z/ Z )XT=20Y=+ 3 =t i Z/ VVVV..9.7.&
= 6/
The method consists in assuming <n and displacement of one of the rotors, say q4. Then,
'6.O.N.D is used to find the displacement of the other rotors and hence the sum of the inertia
forces.The condition to be satisfied is a<n"q 5 ;. + graph of a<n"q vs <n is drawn. The
fre6uency <n which gives a<n"q 5 ; is the natural fre6uency.
(ii) '6uations for a #ixed7#ree -ystem@ 7 If the system is fixed at any point, then the
displacement at that point should be Eero. -tarting from the free end the displacement at the
fixed end is calculated assuming <n. + graph of displacement at the fixed end vs <n is
drawn. The fre6uency at which the displacement of the fixed end is Eero is the natural
fre6uency.
(iii) #ixed7#ixed -ystem@ 7 If both ends of the system are fixed, then the displacement at both
the ends must be Eero. &onsider a fixed G fixed system as shown in #ig. O.N.".


Then the e6uations of motion for the three rotors can be written as
. .
a4b4 5 r :t4b4 r :t" (b4 G b") llllllllO.N.H(a)
. .
a"b" 5 :t" (b4 G b") r :t!(b" rb!) lllll..O.N.H(b)
. .
a!b! 5 :t! (b" G b!) r :tDb! llllllll..O.N.H(c)
+ssuming harmonic oscillations the above e6uations reduce to
r<" a4b4 5 r :t4b4 r :t" (b4 G b") llllllllO.N.H(a)

r<" a"b" 5 :t" (b4 G b") r :t!(b" rb!) lllll..O.N.H(b)

r<" a!b! 5 :t! (b" G b!) r :tDb! llllllll..O.N.H(c)
#rom '6. O.N.H(a) we have b" 5 b4 r A:t4b4 r <"a4C M :t"
+dding '6s. O.N.H(a) and (b) and solving for b! we get
"
b! 5 b" 9 A:t4b4 r <"ai bi C M :t! l..O.N.I
i54
'6. O.N.I can be generalised to a system having ^nF rotors. In that case the displacement of
the nth rotor is given by
n74
bn 5 bn G 4 9 A:t4b4 r <" ai bi C M :tn ...................O.N.N
i 5 4
#or a fixed7fixed system with n rotors the displacement at the (n94)th station should be Eero @
that is
n
bn94 5 bn 9 A:t4b4 r <" ai bi C M :tn94 5 ; ............O.N.O
i 5 4


8.+.3. Illustrative Examles
4. 1sing 2olEerFs method determine the natural fre6uencies of the spring7mass system shown
in #ig. ' O.N.4., if m4 5 m" 5 m! 5 4:g and :4 5 :" 5 4,Mm
#ig. ' O.N.4 @ -chematic for example O.N.4 2olEer method is shown in the form of a table.
Position m 3 m<"3 m<"3 : m<"3
+ssume < 5 ;.H 777777777777
:
77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777
4 4 4.;; ;."H ;."H 4 ;."H
" 4 ;.NH ;.4B ;.DD 4 ;.DD
! 4 ;.!4 ;.;N ;.H4
7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777
+ssume < 5 ;.NH
4 4 4.;; ;.HI ;.HI 4 ;.HI
" 4 ;.DD ;."D ;.O; 4 ;.O;
! 4 r ;.!I r;."; ;.I;
Position m 3 m<"3 m<"3 : m<"3
+ssume < 5 4.; 77777777777
:
7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777
4 4 4 4 4 4 4
" 4 ; ; 4 4 4
! 4 r 4 r4 ;
777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777
-ince m<"3 5 ;, the assumed value < 5 4.; is one of the natural fre6uencies.
Position m 3 m<"3 m<"3 : m<"3
+ssume < 5 4.; 77777777777
:
7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777
4 4 4 4 4 4 4
" 4 ; ; 4 4 4
! 4 r 4 r4 ;
777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777
-ince m<"3 5 ;, the assumed value < 5 4.; is one of the natural fre6uencies.
-ince m<"3 changes sign from 9ve to rve when < is changed from

4.H to ".;, it is obvious that another natural fre6uency should lie
between 4.H and ".; rad Ms.
+ssume < 5 4.NH rad M s.
Position m 3 m<"3 m<"3 : (m<"3)M :
4 4 4 !.;I !.;I 4 !.;I
" 4 r ".;I rI.!4 r!.;I 4 r!.;I
! 4 4.;I !."H ;.4B
+ssume < 5 4.N" rad Ms
Position m 3 m<"3 m<"3 : ( m<"3 )M:
4 4 4.;; ".BI ".BI 4 ".BI
4 4 r 4.BI r H.O; r ".OD 4 r".OD
4 4 ;.OO ".I; r;."D
Therefore <" z 4.N" rad M s. The other natural fre6uency is <! 5 ; (semi7definite system)
Examle 8.+.2 (Fixe$ 0 Free 1'stem!
(etermine the natural fre6uencies of the system shown in #ig. ' O.N." using 2olEerFs
method.
#ig. 'O.N." @ -chematic for example O.N."
To assume the order of <n, the order of magnitude of <n can be approximated by (un:erlyFs
e6uation.
4M<n4" 5 4M<44" 9 4M<""" 9 4M<!!" 9 4M<DD"
2ere <44" 5 D: M a P <""" 5 !: M "a P <!!" 5 ": M !a P <DD" 5 : M Da
Therefore 4 M <n4" 5 a M D: 9 "a M !: 9 !a M ": 9 Da M : 5 I.D" a M :
2) )
D) )

$r <n4" 5 : M (I.D"a) or <n4 5 ;.!BH L(: M a)
The table for finding the natural fre6uencies is given below.
Position a b a<n"b a<n"b :t ( a<n"b) M:t
+ssume <n 5 ;."L(: M a)
4 D 4.;; ;.4I ;.4I 4 ;.4I
4 ! ;.OD ;.4; ;."I " ;.4!
4 " ;.N4 ;.;HI ;.!4N ! ;.4;H
4 4 ;.HB ;.;"D ;.!D" D ;.;B
4 W ;.H;
Position a b a<n"b a<n"b :t (a<n"b) M :t
+ssume <n 5 ;.! L(: M a)
4 D 4.;; ;.!I ;.!I 4 ;.!I
4 ! ;.ID ;.4N ;.H! " ;."N
4 " ;.!N ;.;N ;.I; ! ;.";
4 4 ;.4N ;.;" ;.I" D ;.4H
4 W ;.;"
Position a b a<n"b a<n"b :t (a<n"b) M :t
+ssume <n 5 ;.D L(: M a)
4 D 4.;; ;.ID ;.ID 4 ;.ID
" ! ;.!I ;.4N ;.O4 " ;.D4
! " r;.;H r;.;4 ;.O; ! ;."N
D 4 r;.!4 r;.;H ;.NH D ;.4B
H W r;.H;

The above procedure is repeated for different values of <n and the displacement at the fixed
end, bH is calculated for each value of <n as follows@
<n M L(: M a) bH <n M L(: M a) bH <n M L(: M a) bH
;." ;.H; ;.O ;.;! ".; r B!.;
;.! ;.;" 4.; ".I! ".H r""H.H
;.D r;.H; 4.H r4.N; !.; HOB.;
;.I r4.;4 4.O rD;.NO
+ graph of bH versus <n is drawn and the values of <n at which bH 5 ; are the natural
fre6uencies. #rom the plot we find that <n4 5 ;.! L(:Ma)
<n" 5 ;.O4 L(:Ma) P <n! 5 4.DH L(:Ma) P <nD 5 ".O! L(:Ma)

1sing 2olEerFs method determine the natural fre6uencies for torsional vibrations of the
system shown in #ig. 'O.N.! if a4 5 a" 5 a! 5 aD 5 4;; ,7cm7s"Mrad and :t4 5 :t" 5 :t! 5 :tD
5 4;,;;; ,7cm M rad.
#ig. 'O.N.! @ -chematic for example O.N.!.
The order of magnitude of <n can be estimated by (un:erlyFs e6uation.
<44" 5 <""" 5 <!!" 5 : M a 5 4;;;; M 4;; 5 4;; rad M s.
Therefore 4 M <n4" 5 4M 4;; 9 4 M 4;; 9 4 M 4;; 5 ! M 4;;
wwwwwww wwwww
$r <n4" 5 4;; M ! ;r <n4 5 L(4;; M !) 5L(!!.!) rad Ms.
The condition to be satisfied is that the displacement at station D, i.e.,
bD 5 ;. The displacement at any station i can be calculated from the e6uation
bi 5 bi r4 9 (4 M :ti) A :t4b4 r <n" aibi C
The table for calculating bD for different values of <n is shown below.
k
t1
k
t2
k
t
k
tD
)
1
)
2
)

-tation a a<" b a<"b a<"b : T 5 :4b4r a<"b TM :
+ssume <n 5 H.;;
; W W ; ; ; 4;;;; 4;;;; 4.;;
4 4;; "H;; 4.; "H;; "H;; 4;;;; NH;; ;.NH
4 4;; "H;; 4.NH D!NH IONH 4;;;; !4"H ;.!4
4 4;; "H;; ".;I H4H; 4";"H 4;;;; r";"H r;.";
4 4;; W 4.OI

-imilar table is constructed for different values of <n and the displacement at station D, i.e.
bD is calculated as follows@
<n bD <n bD <n bD
H.;; 4.OI 4I.;; ;.BH 4H.;; ;.DB
O.;; r ;."; 4O.;; ;.HN
4;.;; r 4.;; ";.;; rD.;;
+ plot of bD versus <n is drawn and the values of <n at which bD is Eero is read from the
graph. These values of <n are the natural fre6uencies. Thus the natural fre6uencies for the
given system are@
<n4 5 N.II radMs P <n" 5 4D.4" rad Ms and <n! 5 4O.HN rad Ms.
'xample O.N.D (*ranched -ystem) @7 (etermine the lowest natural fre6uency of the branched
system shown in #ig. ' O.N.D if a4 5 4;, a" 5 4H, a! 5 ";, aD 5 4;, aH 5 4; , aI 5 "; ,7cm7s
and 84 5 4;;, :" 5 ";;, :! 5 ";;, :D 5 4;; and :H 54H; ,7cm M rad

Examle 8.+.4.
+ preliminary estimate of <n can be made by reducing the given system to a two rotor
system as shown in #ig. ' O.N.D(a) below.
k
/
)
;
)
/
)
1
)
2
)
D
)

k
2
k
1
k

k
D
) = 20

a 5 4; 9 4H 9"; 9 4; 9 4; 5 IH
wwwwwwwwwwww wwwwwwwwwwwwwwwwwww
<n 5 L :(a4 9 a") M a4a" 5 L 4H; xA"; 9 IHC M("; x IH) 5!." rad M s
Position a a<" b a<" b a<" b : a<" bM:
+ssume <" 5 4.;
4 4; 4; 4.;; 4; 4; 4;; ;.4
" 4H 4H ;.B; 4!.H "!.H ";; ;.4"
H "; 4; ;.NO N.O !4.!
77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777
! "; "; 4.;; "; "; ";; ;.4;
D 4; 4; ;.B; B "B 4;; ;."B
H 4; 4; ;.I4 I.4; !H.4;
+t the Vunction, disc aH cannot have amplitudes of ;.NO and ;.I4 at the the same time. To
ma:e amplitude of aH the same, let ;.NO M ;.I45 4."O be the new amplitude for disc a!
Position a a<" b a<"b a<"b : a<"bM:
! "; "; 4."O "H.I "H.I ";; ;.4!
D 4; 4; 4.4H 44.H !N.4 4;; ;.!N
H 4; 4; ;.NO N.O IO.D 4H; ;.DI
Tor6ue acting on shaft :H e6uals the sum of the inertia tor6ues by (iscs a4a", a!aD and aH
i.e."!.H 9 !N.4 9 N.O 5 IO.D
I "; "; ;.!" I.D ND.OT
The above procedure is repeated for different values of <" and the remainder tor6ue a<"b
is calculated and the results are tabulated as follows.
+ graph of <" versus a<"b is plotted and the value of <" at which a<"b is Eero is read
from the graph as e6ual to ".N. Therefore < 5 4.ID rad M s.
<" a<"b
4.; IO.D
".; 4I!."
!.; r"4D.N