Machine Dynamics Vibration

MACHINE DYNAMICS
VIBRATION
Dr. Tamer Kepeler
What is vibration?
Mechanical vibration is the motion of a particle or body which
oscillates about a position of equilibrium. Most vibrations in machines
and structures are undesirable due to increased stresses and energy
losses.
If a particle is displaced through a distance xm from its equilibrium
position and released with no velocity, the particle will undergo simple
harmonic motion,
Dr. Tamer Kepeler
Simple harmonic motion with a

circular motion of a point mass
Dr. Tamer Kepeler
Dr.Tamer Kepeler
Vibration frequency and period
Time interval required for a system to complete a full cycle of the motion is the
period of the vibration.
Number of cycles per unit time defines the frequency of the vibrations
Maximum displacement of the system from the equilibrium position is the
amplitude of the vibration.
Dr. Tamer Kepeler
The elements for vibrating system

Mass
Spring
Damping
x
Force
Dr. Tamer Kepeler
Degree of Freedom
Minimum number of independent coordinates required
to determine completely the positions of all parts of a
system at any instant of time
Dr. Tamer Kepeler
Dr.Tamer Kepeler
Single degree of freedom system

x
Dr. Tamer Kepeler
Two degree of freedom system

x
1
x1
x2
Dr. Tamer Kepeler
Three degree of freedom system
Dr. Tamer Kepeler
Dr.Tamer Kepeler
Example of Infinite-number-of-degrees-of-freedom
system:
1. Infinite number of degrees of freedom system are
termed continuous or distributed systems
2. Finite number of degrees of freedom are termed
discrete or lumped parameter systems
3. More accurate results obtained by increasing
number of degrees of freedom
Dr. Tamer Kepeler
10
SI Birim Sistemi
sim
Birim
Sembol
Uzunluk
Metre
Ktle
Kilogram
Zaman
Saniye
Kuvvet
Newton
Gerilme
Pascal
Joule
G
Watt
Frekans
Hertz
Moment
M
Ktlesel Atalet Momenti J
Kesit Atalet Momenti
I
m
kg
s
N (kg.m/s2)
Pa (N/m2)
J (N.m)
W (J/s)
Hz (1/s)
N.m
kg.m2
m4
Dr. Tamer Kepeler
11
Harmonic motion
Periodic Motion: motion repeated after equal intervals of time
Harmonic Motion: simplest type of periodic motion
x = A sin 2
t
T
x=displacement (m,rad)
A=amplitude (m,rad)
t=time (s)
T=period (s)
A
t
T
Dr. Tamer Kepeler
Dr.Tamer Kepeler
12
Simple harmonic motion with a

circular motion of a point mass
2
x
A
A sin t
2
= 2f
T
x = A sin t
x& = A cos t = A sin(t + /2)
&x& = -2 A sin t = 2 A sin(t + )

Dr. Tamer Kepeler
13
Displacement, velocity and

acceleration
A 2 x
x&
180 o
90 o
&x&
Dr. Tamer Kepeler
14
Spring elements
A spring is a type of mechanical link, which in most applications is assumed
to have negligible mass and damping. The most common type of spring is
the helical-coil spring used in retractable pens and pencils, staplers, and
suspensions of freight trucks and other vehicles.
In fact, any elastic or deformable body or member such as cable , bar,
beam, shaft, or plate, can be considered as a spring.
Dr. Tamer Kepeler
Dr.Tamer Kepeler
15
Spring elements
Helical springs
Dr. Tamer Kepeler
16
Leaf springs
Dr. Tamer Kepeler
17
Spring characteristics
F (N)
F (N)
X (m)
Linear spring
characteristics
X (m)
Non-Linear spring
characteristics
Dr. Tamer Kepeler
Dr.Tamer Kepeler
18
Spring constant
force
k = tan =
F
(N/m)
x
displacement
Dr. Tamer Kepeler
19
Spring constant table

k=
EI
L
k=
EA
L
k=
G Ip
k=
G d4
64 n R 3
k=
3 EI
L3
Dr. Tamer Kepeler
20
k=
48 E I
L3
k=
192 E I
L3
k=
768 E I
7 L3
L/2
L/2
L/2
Dr. Tamer Kepeler
Dr.Tamer Kepeler
21
k=
3E I L
a 2 b2
yx =
Pbx 2
(L x 2 b 2 )
6EIL
EI
k=
12 E I
L3
Dr. Tamer Kepeler
22
k=
3E I
(L + a ) a 2
k=
24 E I
a 2 (3L + 8 a )
Dr. Tamer Kepeler
23
Springs in paralleel
m
k1
x
k2
x
ke
k e = k1 + k 2 + k 3 + ...... + k n = k i
i =1
Dr. Tamer Kepeler
Dr.Tamer Kepeler
24
Springs in series
m
k1
x
ke
k2
1
1
1
1
1
= +
+
+ ..... +
=
k e k 1 k 2 k 3
kn
k1
i =1
Dr. Tamer Kepeler
25
Example:
k1
k2
m
Determine the equivalent

spring constant of the given
system
x
k3
k4
Dr. Tamer Kepeler
26
Example:
G1,Ip1,L1
G3,Ip3,L3
G2,Ip2,L2
J
Determine the equivalent spring constant of the

given torsional system.
Dr. Tamer Kepeler
Dr.Tamer Kepeler
27
Example:
k1
Determine the equivalent
spring constant of the given
system.
k1
k2
k2
x
Dr. Tamer Kepeler
28
Find the equivalent spring constant of the system.

Obtain the differential equation and find the natural frequency
k1
k2
m
L1
L2
L
Dr. Tamer Kepeler
29
Solution
Lets find the equivalent spring constant of the system

-Because of the m.g weight force k2 spring affects B point as
A/ B =
k1
A
A =
m.g.L
L1 k 1
Dr. Tamer Kepeler
Dr.Tamer Kepeler
A/ B
m.g.L2
k 1L21
B B =
mg
k2
k2
30
10
-on the same way m.g causes k1 streching.The effect of mg

and extension on A point can be found respectively by
m.g
A =
L
L1
m.g.L
L1k 1
Also, the this force causes extension on B point as given

below;
2
A/ B =
m.g.L
k 1L21
The total displacement on point B is; = B + A / B =
m.g m.g.L2
+
k2
k 1 L21
Dr. Tamer Kepeler
31
-the equivalent spring constant of the

system is;
m.g
k e =
k e =
k 1 k 2 L21
m.g
=
2
m.g m.g.L
k 1L21 + k 2 L2
+
k2
k 1L21
Dr. Tamer Kepeler
32
-The equivalent spring-mass system is;

x
m &x&
ke
k e x
F = m a m &x& = -k e x
n =
2
1
k 1k 2 L
m (k 1L21 + k 2 L2 )
m &x& + k e x = 0
rad/s
Dr. Tamer Kepeler
Dr.Tamer Kepeler
33
11
Skill assessment:
E, d , L
E, I, L
x
Find the equivalent spring

coefficient.
Dr. Tamer Kepeler
34
Mass and Inertia Elements

The definition moments of inertia of mass related to rotating mass:
D
dm
J=
r dm
2
Rotating axis
Dr. Tamer Kepeler
35
Problem: Orta noktasndan mafsall ve sabit kesitli bir ubuun ktlesel atalet
momentinin bulunmas
y
x
A
dx
L/2
L
Dr. Tamer Kepeler
Dr.Tamer Kepeler
36
12
zm:
dV = A dx
dm = dV
J=
L
2
J=
L
2
r dm
2
A x 2 dx = A x 2 dx
L
2
J=A
L
3 2
x
3
=
L
2
L
2
1
A L3
12
m =AL
J=
1
m L2
12
Dr. Tamer Kepeler
37
Example: Disc; find the mpment of inertia of mass.
dr
dA
R
L
Dr. Tamer Kepeler
38
Solution:
Elementary square:
Elementary mass:
sin d d
dA = r.sin d.dr
dV = L.dA = L. r. sin d.dr
Elementary volume:
dm = .dV = .L.r.sin d.dr

dm = .Lr .d.dr
2 R
J=
r dm = .L.r .d.dr = 2 .L..R

2
0 0
m = .V = ..R 2 .L
Dr. Tamer Kepeler
Dr.Tamer Kepeler
J=
1
m.R 2
2
39
13
Undamped Free Vibrations

The motion of equation of mass-spring system(vertical ):
L0
st
Static equilibrium
Dr. Tamer Kepeler
40
Static equilibrium
k st
Free body diagram
G = m.g
Fy = 0
G = m.g = k. st
k
g
=
= 2n
m st
n =
where
k
=
m
g
st
is the natural frequency of the system

Dr. Tamer Kepeler
41
Dynamic equilibrium:
By applying Newtons second rule:
k (st + x )
x
m &x&
G = m.g
F = m.a m &x& = -k (st + x ) + G

G = m.g = k. st
m &x& + k x = 0
Dr. Tamer Kepeler
Dr.Tamer Kepeler
42
14
The motion of equation of mass-spring system(horizontal):
x
k
kx
m &x&
Newtons second rule:
F = m.a
m &x& = -k x m &x& + k x = 0
Dr. Tamer Kepeler
43
Obtaining Motion of Equation

by Energy Method
This method can be applied if the system is;
Undamped
First order system
E k + E p = C = sabit
d
(E k + E p ) = 0
dt
Dr. Tamer Kepeler
44
Obtaining motion of equation for

undamped free vibration
m &x& + k x = 0
The solution for this system is given as
x = A es t
where, A and s are integration constants.
x& = s A e s t
&x& = s 2 A e s t
Dr. Tamer Kepeler
Dr.Tamer Kepeler
45
15
(m s
where,
+ k A est = 0
A , es t 0
dr.
m s2 + k = 0
This equation is called characteristic equation and the
root are,
s1, 2 = m
k
= m i n
m
Dr. Tamer Kepeler
46
In this case the motion of equation is:
x( t ) = A1es1t + A 2 es 2 t = A1e in t + A 2 e in t
A1 and A2 can be found by initial conditions.
e m it = cos .t m i.sin .t
x ( t ) = A1 (cos n t i sin n t ) + A 2 (cos n t + i sin n t )

x ( t ) = (A1 + A 2 ) cos n t i (A1 A 2 ) sin n t
B1 = (A 1 + A 2 )
ve
B 2 = (A 1 A 2 )
Dr. Tamer Kepeler
47
x ( t ) = B1 cos n t + B 2 sin n t
Initial conditions
are assumed
x(0) = x 0
t=0
x& (0) = x&
0
B1 = x 0 , B 2 =
x ( t ) = x 0 cos n t +
x& 0
n
x& 0
sin n t
n
Dr. Tamer Kepeler
Dr.Tamer Kepeler
48
16
Problem: Obtain the diferential equation of the given pendulum. Find the natural
frequency and period.
The length of the robe is L and there is a

weightless mass on the tip of the robe.
Solution:
&&
J
mg
Dr. Tamer Kepeler
49
Newtons second law:
&&
M = J Top
&& = -m g.L sin

J
J = m L2
<< 0 sin
g
&& + m g L = 0
&& + = 0
m L2
L
k
g
2 1
rad/s
T=
=
n =
=
fn
m
L
n
Dr. Tamer Kepeler
assumption
s
50
Problem: obtain the motion af equation and

find the natural frequency of the given system
m,L
k
M
Dr. Tamer Kepeler
Dr.Tamer Kepeler
51
17
Solution:
Disturb the system...and examine the forces...
&&
Jm
k.x
m.g
&&
JM
M.g
Dr. Tamer Kepeler
52
Newton`s second law:
&&
M = J Top
L
&& + J M
&& = m g. sin - M g.L sin - k x.L cos
J m
2
<< 0 sin cos 1 assumption
For spring
x = L. sin = L
1 m L2 + M L2
1
2
&& + m g.L + M g.L + k L = 0

3
Dr. Tamer Kepeler
1
J m = m L2 , J M = M L2
3
53
dir.
1 m + M L
1
&& + m g + M g + k L = 0
3
k
n =
=
m
1
mg+Mg+kL
2
1
m + M L
3
Dr. Tamer Kepeler
Dr.Tamer Kepeler
54
18
Problem: obtain the motion af equation and

find the natural frequency of the given system
m,L
Dr. Tamer Kepeler
55
Solution:
M &x&
&&
Jm
m,L
kx
Dr. Tamer Kepeler
56
&&
M = J Top
&& + M &x&.L = -k x.L
Jm
<< 0 sin cos 1
1
J m = m L2
3
x = L. sin = L
x& = L &
&&
&x& = L
Dr. Tamer Kepeler
Dr.Tamer Kepeler
57
19
1 m L2 + M L2
2
&& + k L = 0
3
1m +M
&& + k = 0
3
n =
k
=
m
k
=
1
m+M
3
3k
m +3M
rad/s
Dr. Tamer Kepeler
58
Problem: Aada denge konumunda verilen sistemin diferansiyel denklemini karp

tabii frekansn hesaplaynz
m,r
k
x
Dr. Tamer Kepeler
59
zm:
&&
Jm
kx
x
M &x&
Dr. Tamer Kepeler
Dr.Tamer Kepeler
60
20
Newtonun 2. kanunu uygulanrsa,
&&
M = J Top
Jm =
&& + M &x&.r = -k x.r

Jm
1
m r2
2
<< 0 sin cos 1

x = r. sin = r
x& = r &
&&
&x& = r
yazlabilir.
Dr. Tamer Kepeler
61
dzenleme yaplrsa,
1 m r2
&& + M &x&.r = -k x.r

2
1 m r2 + M r2
2
&& + k r = 0
2
1 m + M
&& + k = 0
2
n =
k
=
m
k
=
1
m+M
2
2k
m+2M
rad/s
Dr. Tamer Kepeler
62

k
m,r
Dr. Tamer Kepeler
Dr.Tamer Kepeler
63
21
zm:
m &x&
kx
&&
Jm
r
T
Dr. Tamer Kepeler
64
&& , F = m a
M = J Top
Jm =
1
m r2
2
&& = T r
J m
m &x& = -k x + T T = m &x& + k x
&& = (m &x& + k x ) r
J m
x = r. sin = r
x& = r &
&&
&x& = r
yazlabilir.
Dr. Tamer Kepeler
65
&& = (m r
&& + k r ) r
J m
1 m r2 + m r2
2
&& + k r = 0
2
3
k
2k
&& + k = 0
m
n =
=
2
m
3m
Dr. Tamer Kepeler
Dr.Tamer Kepeler
rad/s
66
22

x
k
k
M
m,r
m,r
y
Dr. Tamer Kepeler
67
zm:
Dr. Tamer Kepeler
x = 2y
y=r
y& = r &
d
(E k + E p ) = 0
dt
68
x = 2r
x& = 2 r &
&&
&x& = 2 r
1
1
1
M x& 2 + 2 m y& 2 + 2 J & 2
2
2
1
1
11
2 2
2 2
&
&
Ek = M 4 r + 2 m r + 2
m r 2 & 2
2
2
2 2
3 2 2
E k = 2 M + m r &
2
Ek =
Dr. Tamer Kepeler
Dr.Tamer Kepeler
69
23
1
1 1
= +
k e k k
Ep =
k e =
k
2
1
1k 2 2
k e x 2 =
4 r = k r 22
2
22
d
(E k + E p ) = 0
dt
d
3 2 2
2 2
2 M + m r & + k r
dt
2
[(4M + 3 m ) r && + 2 k r ]& = 0

2
& 0
olmal,
Dr. Tamer Kepeler
70
(4M + 3 m ) && + 2 k = 0
n =
k
=
m
2k
4M + 3 m
Dr. Tamer Kepeler
71
x2
x1
k2
k3
m2
k1
m1
2h
h
Dr. Tamer Kepeler
Dr.Tamer Kepeler
72
24
zm:
x2
x1
k 2 (x 2 x 1 )
k 3x 2
k 1x 1
m 1&x&1
m 2 &x& 2
m2
m1
2h
h
Dr. Tamer Kepeler
73
&&
M = J Top
m1&x&1.h + m 2&x& 2 .2 h = k 1x .h k 2 (x 2 x1 ).2 h
2 k 3x 2 .h + k 2 (x 2 x1 ).h
x 1 ve x 2 koordinatlar
yazlrsa,
x1 = h
x& 1 = h &
&&
&x&1 = h
genelletirilmi Koordinat cinsinden
x 2 = 2h
x& 2 = 2 h &
&&
&x& 2 = 2 h
Dr. Tamer Kepeler
74
&& + 4 m 2 h 2
&& = k 1h 2
m 1h 2
2 k 2 (2 h h)h 4k 3 h 2 + k 2 (2h h)h
(m1 + 4m 2 ) && + (k1 + k 2 + 4k 3 ) = 0

n =
k
=
m
k1 + k 2 + 4k 3
m 1 + 4m 2
Dr. Tamer Kepeler
Dr.Tamer Kepeler
rad/s
75
25
d
(E k + E p ) = 0
dt
1
1
m 1x& 12 + m 2 x& 22
2
2
1
1
1
2
E p = k 1x 1 + k 2 (x 2 x 1 )2 + k 3 x 22
2
2
2
Ek =
x 1 ve x 2 koordinatlar
yazlrsa,
x1 = h
x& 1 = h &
&&
&x&1 = h
genelletirilmi koordinat cinsinden
x 2 = 2h
x& 2 = 2 h &
&&
&x& 2 = 2 h
Dr. Tamer Kepeler
76
1
1
m1h 2 & 2 + m 2 4h 2 & 2
2
2
1
2
E k = m1h + 2m 2 h 2 & 2
2
1
1
1
2
2 2
E p = k1h + k 2 (2h h) + k 3 4h 2 2
2
2
2
1
1
E p = k1 h 2 + k 2 h 2 + 2 k 3 h 2 2
2
2
Ek =
Dr. Tamer Kepeler
77
d
(E k + E p ) = 0
dt
d 1
1
1
2
2 2
2
2
2 2
m 1h + 2 m 2 h & + k 1h + k 2 h + 2 k 3 h = 0
dt 2
2
[(m h
1
&& + (k 1 h 2 + k 2 h 2 + 4 k 3 h 2 ) ] & = 0
+ 4m 2 h 2 )
& 0
olmal, bu durumda parantez ii sfra eit olmaldr.
(m1 + 4m 2 ) && + (k1 + k 2 + 4 k 3 ) = 0

Dr. Tamer Kepeler
Dr.Tamer Kepeler
78
26

M
y
Dr. Tamer Kepeler
79
zm:
&x&
x
x&
&y& =
y& =
2
2
2
(x y ) = r y = r
&x&
x
x&
&& =
=
& =
2r
2r
2r
y=
M
y
Dr. Tamer Kepeler
80
1
1
1
m x& 2 + M y& 2 + J & 2
2
2
2
1
1 x& 2 1 1
x& 2
1
3
2
E k = m x& + M
+
M r 2 2 = m + M x& 2
2
2
4 22
4r
16
2
1
1 x2 1
Ep = k y2 = k
= k x2
2
2 4 8
d
(E k + E p ) = 0 d 1 m + 3 M x& 2 + 1 k x 2 = 0
dt
dt 2
16
8
Ek =
3
1
m + 8 M &x& + 4 k x x& = 0
4m + 3 M &x& + k x = 0
x& 0
n =
Dr. Tamer Kepeler
Dr.Tamer Kepeler
k
=
m
k
4m +
3
M
2
81
27
T1
F = m a
m &x& = -T1
m &x&
ky
F = m a
&&
J
T1
M &y&
M &y& = -k y + T1 + T2
1, 2 nin iine konursa,
M &y& + k y + m &x& = T2
M = J T
T2
&& = T1 r T2 r
J
Dr. Tamer Kepeler
4
82
1 ve 3, 4 n iine konursa,
&& = -m &x& r - (M &y& + k y + m &x& ) r

J
&x&
&x&
1
x
M r2
= m &x& r - M + k + m &x& r
2
2r
2
2
1
1
1
M &x& = m &x& - M &x& - k x - m &x&
4
2
2
2 m + 3 M &x& + 1 k x = 0
4
2
4 m + 3 M &x& + k x = 0
n =
k
k
=
3
m
4m+ M
2
Dr. Tamer Kepeler
83
Problem:Aadaki titreim sisteminin zerine m ktlesi h yksekliinden dp

yapyor. M ktlesinin hareket denklemini yaznz.
m
h
Dr. Tamer Kepeler
Dr.Tamer Kepeler
84
28
zm:
( M + m ) &x&
m
h
x& 0 = V0 =
V = 2gh
m
x0 =
mg
k
m 2gh
M+m
x
M
k
kx
Dr. Tamer Kepeler
85
m ktlesi ile Mnin arpt andaki momentumunu yazalm.
m V = (M + m) V0 m 2gh = (M + m ) V0 V0 = x& 0 =
m 2gh
M+m
m ktlesinden dolay k yay bir miktar skr.
st = x 0 =
mg
k
F = m a (M + m ) &x& = -k x (M + m ) &x& + k x = 0
Dr. Tamer Kepeler
86
Sistemin tabii frekans.
n =
k
=
m
k
M+m
Snmsz serbest titreim hareketinin balang artlarna bal

hareket denklemi aadaki gibiydi:
x ( t ) = x 0 cos n t +
x& 0
sin n t
n
deerler yerine konulura;
x( t ) =
mg
k
cos
k
M+m
2gh
k
t + m
sin
k (M + m ) M + m
Dr. Tamer Kepeler
Dr.Tamer Kepeler
87
29

k2
m2
k1
m1
Dr. Tamer Kepeler
88
zm:
k2
k1
m2
r
B
A
m1
Dr. Tamer Kepeler
tg =
89
y
y = x tg
x
y& = x& tg
&y& = &x& tg
AB = z = r r =
x
x
=
cos
r cos
x&
& =
r cos
&x&
&& =
r cos
Dr. Tamer Kepeler
Dr.Tamer Kepeler
90
30
1
1
1
m 1x& 2 + m 2 y& 2 + J & 2
2
2
2
1
1
11
x& 2
E k = m 1x& 2 + m 2 x& 2 tg 2 +
m2r2 2
2
2
22
r cos 2
1
1
1
x& 2 2
x&
E k = m 1 + m 2 tg 2 + m 2
2
4
cos 2
2
Ek =
1
1
k 1x 2 + k 2 y 2
2
2
1
1
E p = k 1x 2 + k 2 x 2 tg 2
2
2
1
1
E p = k 1 + k 2 tg 2 x 2
2
2
Ep =
Dr. Tamer Kepeler
91
d
(E k + E p ) = 0
dt
d 1
1
1
1 2 1
1
2
2 2
m1 + m 2 tg + m 2
x& + k1 + k 2 tg x = 0
dt 2
2
4
cos 2
2
2

1
1
2
2
m1 + m 2 tg + 2 m 2 cos 2 &x& + k1 + k 2 tg x x& = 0
1
1
2
2
m1 + m 2 tg + m 2
&x& + k1 + k 2 tg x = 0
2
cos 2
n =
rad/s
k
k1 + k 2 tg 2
=
1
1
m
m1 + m 2 tg 2 + m 2
2
cos 2
Dr. Tamer Kepeler
92
k 2y
x
N 21
k 1x
m1
m 2 &y&
N 12
&&
J
y
m2
x& 0
m 1&x&
Dr. Tamer Kepeler
Dr.Tamer Kepeler
93
31
k2y
&&
J
Fy = m a m 2&y& = k 2 y + N12 cos
m2
m 2 &y&
N12
&& J
&& = Tr T =
M = J
N 21
k 1x
&&
J
r
Fx = m a
T
m1
N 12 = N 21
m &y& + k 2 y
= 2
cos
m1&x& = k 1x
T
N 21 sin
cos
m 1&x&
Dr. Tamer Kepeler
94
1 ve 2 eitlikleri 3 nolu denklemde yerine konulursa,
&&
J
m &y& + k 2 y
sin
2
r cos
cos
&x&
1
m2r 2
2
r
cos
m 2 &x& tg + k 2 x tg sin
&
&
m1 x = k1x
r cos
cos
m1&x& = k1x
1
1
2
2
m1 + m 2 tg + m 2
&x& + k1 + k 2 tg x = 0
2
cos 2
Dr. Tamer Kepeler
95

tabii frekansn hesaplaynz.
L
x
Dr. Tamer Kepeler
Dr.Tamer Kepeler
96
32
zm:
M&x&
&&
J
k
A
kx
Agx
Dr. Tamer Kepeler
97
x = L sin << x = L
x& = L &
&&
&x& = L
&&
M = J Top
&& + M&x& L = -kx L - Agx L
J
1 m (2L )2 + ML2
2
2
&&
12
+ (kL + AgL ) = 0
1 m + M
&& + (k + Ag ) = 0
3
n =
Dr. Tamer Kepeler
k
=
m
k + Ag
1
m+M
3
rad/s
98

h
y
b
x
L/2
L/2
y
Dr. Tamer Kepeler
Dr.Tamer Kepeler
99
33
zm:
k e =
m
48 E I
L3
I=
F = m a
ke
b h3
12
4 E bh 3
L3
m &y& = -k e y
m &y& +
k
n =
=
m
k e =
4 E bh 3
y=0
L3
4 E bh 3
4 E bh 3
L3
=
m
m L3
Dr. Tamer Kepeler
rad/s
100
Problem: analyze the motion of the system

by considering initial conditions for 2.5 seconds
c2
k2
y
x
m2
c1
k1
m1
Dr. Tamer Kepeler
101
zm:
c 2 y&
k 2y
y
x
k 1x
m 2 &y&
m2
c 1x&
m1
m 1&x&
Dr. Tamer Kepeler
Dr.Tamer Kepeler
102
34
1
1
m 1x& 2 + m 2 y& 2
2
2
1
1
E d = c1x& 2 + c 2 y& 2
2
2
1
1
E p = k 1x 2 + k 2 y 2
2
2
Ek =
tan =
y
y = x tan
x
y& = x& tan
&y& = &x& tan
1
1
1
m 1x& 2 + m 2 x& 2 tan 2 = (m 1 + m 2 tan 2 ) x& 2
2
2
2
1
1
1
E d = c1x& 2 + c 2 x& 2 tan 2 = (c1 + c 2 tan 2 ) x& 2
2
2
2
1
1
1
2
2
2
E p = k 1x + k 2 x tan = (k 1 + k 2 tan 2 ) x 2
2
2
2
Ek =
Dr. Tamer Kepeler
103
Lagrange equation for the generalized coordinates:
d E k
dt x&
E k + E d + E p = 0
x&
x
x
E k
d E k
2
= (m 1 + m 2 tan 2 ) x&
= (m 1 + m 2 tan ) &x&
x&
dt x&
E p
E d
E k
=0
= (c1 + c 2 tan 2 ) x&
= (k 1 + k 2 tan 2 ) x
x
x&
x
(m
+ m 2 tan 2 ) &x& + (c1 + c 2 tan 2 ) x& + (k 1 + k 2 tan 2 ) x = 0

Dr. Tamer Kepeler
104
m1 = 8 kg m 2 = 3 kg k 1 = 700 N/m k 2 = 600 N/m

c1 = 40 Nm/s c 2 = 30 Nm/s = 30o
x = 0.01 m
t=0
x& = 0.05 m/s
9.732&x& + 57.32x& + 1046.41x = 0
x& + n x 0
x ( t ) = e n t x 0 cos ( d t ) + 0
sin (d t )
2
n 1
Dr. Tamer Kepeler
Dr.Tamer Kepeler
105
35
c
c
57.32
=
=
= 0.284
c kr 2 k m 2 1046.41 9.73
n =
k
1046.41
=
= 3.3 rad/s
m
9.73
d = n 1 2 = 3.3 1 0.2842 = 3.164 rad/s

x( t ) = e 2.9443t [0.01cos(3.164t ) + 0.014 sin(3.164t )]
Dr.Tamer Kepeler
Dr. Tamer Kepeler
106
Dr. Tamer Kepeler
107
Dr. Tamer Kepeler
108
36
Problem: Aada denge konumundaki sistemin verilen deer ve balang artlarna

bal olarak 5 s iin hareketini inceleyiniz.
k2
m2
M,L
c
m1
k1
Dr. Tamer Kepeler
109
zm:
m 2 &x& k 2 x
m2
&&
J
M,L
c&x
L
L
L
&&
x& = & &x& =
2
2
2
1
J = ML2
12
x=
m 1&x&
m1
k 1x
Dr. Tamer Kepeler
110
&&
M = J Top
L
L
L
L
L
+ m 2&x& = -cx& - k 1x - k 2 x
2
2
2
2
2
1
L2
L2
L2
L2
L2
&& + c & + k1 + k 2 = 0
ML2 + m1 + m 2
4
4
4
4
12
4
&& + m1&x&
J
1M+m +m
&& + c& + (k 1 + k 2 ) = 0
1
2
3
Dr. Tamer Kepeler
Dr.Tamer Kepeler
111
37
M = 30 kg m1 = 50 kg m2 = 15 kg
k1 = 15 103 N/m k2 = 25 103 N/m
c = 250 N.s/m L = 2 m
x = = 6 rad
0
0
180
t =0
x& 0 = & 0 = 2 rad / s
180
Dr. Tamer Kepeler
112
&& + 250 & + 40000 = 0

75
40000
= 7.35 rad/s
75
c
c
250
=
=
=
= 0.07216
c kr 2 k m 2 40000 75
n =
k
=
m
d = n 1 2 = 7.35 1 0.072162 = 7.33 rad/s
& + n 0
( t ) = e n t 0 cos (d t ) + 0
sin (d t )
2
n 1
( t ) = e 1.666t [0.1047 cos(7.33 t ) + 0.009093 sin(7.33 t )]
Dr.Tamer Kepeler
Dr. Tamer Kepeler
113
Dr. Tamer Kepeler
114
38
Problem: analyze the motion of the system

by considering initial conditions for 2.5 seconds
M,L
k
m
Dr. Tamer Kepeler
115
zm:
&&
x = L x& = L& &x& = L
L
L
L
&&
y = y& = & &y& =
2
2
2
&&
JM
1
J = ML2
c&y
3
Mg
kx
&&
J m
mg
Dr. Tamer Kepeler
116
&&
M = J
L
kx L mg x Mg y
2
L2
L
2 1
2
&& + c & + kL2 + mgL + Mg = 0
mL + ML
3
4
2
&& + J M
&& = cy&
J m
&& + 5& + 12000 = 0

12
Dr. Tamer Kepeler
Dr.Tamer Kepeler
117
39
m = 10 kg M = 6 kg L = 1 m c = 5 Ns/m k = 12 10 3 N/m
10
x 0 = 0 = 180 rad
t =0
x& = & = 5 rad / s
0
0
180
Dr. Tamer Kepeler
118
c
c
5
=
=
= 0.0065
c kr 2 kJ 2 12000 12
n =
k
12000
=
= 10.065 rad/s
12
J
d = n 1 2 = 10.065 1 0.00652 10.065
& + n 0
( t ) = e n t 0 cos(d t ) + 0
sin
(
t
)
n 1 2
(t ) = e 0.2055 t {0.1745 cos(10.065t ) + 0.00389 sin (10.065t )}
Dr.Tamer Kepeler
Dr. Tamer Kepeler
119
Dr. Tamer Kepeler
120
40
Undamped Forced Vibration

The types of the forces?
Compoller external forces.
The forces by unbalanced masses.
The forces which comes from ground.
Consider that the compoller force is harmonic;
F( t ) = F0 e i ( t + ) , F( t ) = F0 cos (t + ) , F( t ) = F0 sin (t + )
Dr. Tamer Kepeler
121
The equation of motion:
F = F0 cos(t )
m &x&
F = F0 cos(t )
kx
Newtons 2nd law,
F = m a m &x& = k x + F m &x& + k x = F
Dr. Tamer Kepeler
122
How can we obtain the equation of motion?

F = F0 cos(t )
Differential equation of the system:
m&x& + kx = F0 cos(t )
The general solution:
x(t ) = x g ( t ) = x h ( t ) + x (t )
Homogenous solution:
x h ( t ) = A 1 cos ( n t ) + A 2 sin ( n t )
Uyarc kuvvet F( t ) harmonik olduu iin zel zm

harmonik ve ayn frekansna sahip olacaktr.
x ( t ) = X cos(t )
Dr. Tamer Kepeler
Dr.Tamer Kepeler
x ( t ) de
4
123
41
x ( t ) = X cos(t )
x& ( t ) = X sin (t )
&x& ( t ) = 2 X cos(t )
5
m2 X cos(t ) + k cos(t ) = F0 cos(t )
(k m )X cos(t ) = F cos(t )
2
X=
x (t ) = A1 cos (n t ) + A 2 sin (n t ) +
F0
k - m 2
F0
cos (t )
k m 2
Dr. Tamer Kepeler
Initial conditions,
A1 = x 0
A2 =
x t =0 = x 0
x& t =0 = x& 0
7
124
ise,
F0
k m2
x& 0
n
F0
x&
F0
x (t ) = x 0
cos(t )
cos(n t ) + 0 sin (n t ) +
k m2
n
k m2
Dr. Tamer Kepeler
the variation of X by
X=
125
F0
F0
F0
F0
Xk
1
k
k =
k
X
=
=
=
2
2
2
m
k m 2
F0

1 - 2 1
1
k 1
k
n
n
m
{
2n
R=
Xk
F0
Amplitude ratio and extension factor

(Genlik oran veya bytme faktr)
Dr. Tamer Kepeler
Dr.Tamer Kepeler
126
42
CASE 1 :
0<
< 1;
n
F( t ) = F0 cos(t )
x ( t ) = X cos(t )
Dr. Tamer Kepeler
CASE 2:
>1
n
127
F( t ) = F0 cos(t )
x ( t ) = X cos(t )
Dr. Tamer Kepeler
CASE 3:
=1
n
128
F( t ) = F0 cos(t )
x( t )
Dr. Tamer Kepeler
Dr.Tamer Kepeler
129
43
Problem: Analyze the motion of the system by considering initial conditions for 2 seconds.
m, e, 2
m cubuk , L
x
M
Dr. Tamer Kepeler
130
zm:
2
F = me
12
3 cos t
F0
&&
J
x = L x& = L&
1
J = m cubuk L2
3
&&
&x& = L
kx
Dr. Tamer Kepeler
Dr.Tamer Kepeler
x M&x&
131
44

Machine Dynamics Vibration

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Machine Dynamics Vibration

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MACHINE DYNAMICS

Dr. Tamer Kepeler

Dr. Tamer Kepeler

Simple harmonic motion with a

Dr. Tamer Kepeler

Vibration frequency and period

The elements for vibrating system

Dr. Tamer Kepeler

Single degree of freedom system

Dr. Tamer Kepeler

Two degree of freedom system

Dr. Tamer Kepeler

Three degree of freedom system

Dr. Tamer Kepeler

Dr. Tamer Kepeler

Dr. Tamer Kepeler

Simple harmonic motion with a

&x& = -2 A sin t = 2 A sin(t + )

Displacement, velocity and

Dr. Tamer Kepeler

Dr. Tamer Kepeler

Dr. Tamer Kepeler

Dr. Tamer Kepeler

Dr. Tamer Kepeler

Dr. Tamer Kepeler

Spring constant table

Dr. Tamer Kepeler

Dr. Tamer Kepeler

Dr. Tamer Kepeler

Dr. Tamer Kepeler

Dr. Tamer Kepeler

Determine the equivalent

Dr. Tamer Kepeler

Determine the equivalent spring constant of the

Dr. Tamer Kepeler

Dr. Tamer Kepeler

Find the equivalent spring constant of the system.

Dr. Tamer Kepeler

Lets find the equivalent spring constant of the system

Dr. Tamer Kepeler

-on the same way m.g causes k1 streching.The effect of mg

Also, the this force causes extension on B point as given

The total displacement on point B is; = B + A / B =

Dr. Tamer Kepeler

-the equivalent spring constant of the

Dr. Tamer Kepeler

-The equivalent spring-mass system is;

Dr. Tamer Kepeler

Find the equivalent spring

Mass and Inertia Elements

Dr. Tamer Kepeler

Dr. Tamer Kepeler

Example: Disc; find the mpment of inertia of mass.

dV = L.dA = L. r. sin d.dr

dm = .dV = .L.r.sin d.dr

r dm = .L.r .d.dr = 2 .L..R

Dr. Tamer Kepeler

Undamped Free Vibrations

Dr. Tamer Kepeler

is the natural frequency of the system

F = m.a m &x& = -k (st + x ) + G

The motion of equation of mass-spring system(horizontal):

Dr. Tamer Kepeler

Obtaining Motion of Equation