CHAPTER

22
M E C H A N I C A L VIBRATIONS

SYMBOLS

c~
Ct

C1, C2
d
D

e
E

f
F

Fo
Fv
g

J
k
ke
kt
K

coefficients with subscripts

flexibility
acceleration, m/s 2 (ft/s 2)
area of cross section, m 2 (in 2)
constant
constant
coefficient of viscous damping, N s/m or N / u (lbfs/in or lbf/u)
constant
critical viscous damping, N s/m (lbfs/in)
coefficient of torsional viscous damping, N m s/rad
(lbf in s/rad)
coefficients
constants
diameter of shaft, m (in)
flexural rigidity [= Eh~/12(1 - u2)]
displacement of the center of mass of the disk from the shaft
axis, m (in)
modulus of elasticity, GPa (Mpsi)
frequency, Hz
exciting force, kN (lbf)
maximum exciting force, kN (lbf)
transmitted force, kN (lbf)
acceleration due to gravity, 9 . 8 0 6 6 m/s 2
(32.2 ft/s 2 or 386.6in/s 2 )
modulus of rigidity, GPa (Mpsi)
thickness of plate, m (in)
integer (= 0, 1, 2, 3 . . . . )
mass moment of inertia of rotating disk or rotor, N s2 m
(lbfs 2 in)
polar second moment of inertia, m 4 o r c m 4 (in 4)
spring stiffness or constant, kN/m (lbf/in)
equivalent spring constant, kN/m (lbf/in)
torsional or spring stiffness of shaft, J/rad or N m/rad (lbf in/rad)
kinetic energy, J (lbf/in)
22.1

CHAPTER TWENTY-TWO

22.2

l
m
me

M~
P
q
t"

R=I-TR
R2 = D 2 / 2
t
T

TR
U
v
w

W
x
X l , X2

Xo

.2
.2

Xs,
Y
C

= Ce
6
6st

0
A
v
p
a
r
~.
q5
co

length of shaft, m (in)

mass, kg (lb)
equivalent mass, kg (lb)
total mass, kg (lb)
torque, N m (lbf ft)
circular frequency, rad/s
damped circular frequency (= v/1 - ~2)
radius, m (in)
percent reduction in transmissibility
radius of the coil, m (in)
time (period), s
temperature, K or C (F)
transmissibility
vibrational energy, J or N m (lbf in)
potential energy, J (lbf in)
velocity, m/s (ft/min)
weight per unit volume, kN/m 3 (lbf/in 3)
total weight, kN (lbf)
displacement or amplitude from equilibrium position at any
instant t, m (in)
successive amplitudes, m (in)
maximum displacement, m (in)
linear velocity, m/s (ft/min)
linear acceleration, m/s 2 (ft/s 2)
static deflection of the system, m (in)
deflection of the disk center from its rotational axis, m or mm (in)
weight density, kN/m 3 (lbf/in 3)
damping factor
logarithmic decrement,
deflection, m (in)
static deflection, m (in)
phase angle, deg
wavelength, m (in)
Poisson's ratio
mass density, kg/m 3 (lb/in 3)
normal stress, MPa (psi)
shear stress, MPa (psi)
period, s
angular deflections, rad (deg)
angular velocity, rad/s
angular acceleration, rad/s 2
forced circular frequency, rad/s

Formula

Particular

SIMPLE HARMONIC MOTION (Fig. 22-1)

The displacement of point P on diameter R S (Fig. 22-1)

x -- Xo sinpt

(22-1)

The wavelength

A=27r

(22-2)

MECHANICAL VIBRATIONS

Particular

p/,'~v:

Formula

pXo x

_.X:XosineF

22.3

(/

..... ~""

X F m " ~ (a)

s (0)
The periodic time

FIGURE 22-1 Simple harmonic motion.

271
'7- ~ m

(22-3)

P
The frequency
The maximum velocity of point Q
The maximum acceleration of point Q

7-

27r

(22-4)

Vmax-- p X o
amax : 1)max ---p2Xo

(22-5)
(22-6)

I<

--

! Unstrained position

- -

"--'T- ~ r

- i " "i- t

Equilibrium ~. " -..T.i-,6.~ ,.

t x,t

position

Single-degree-of-freedom system without

damping and without external force (Fig. 22-2)
Linear system
The equation of motion
The general solution for displacement

~ : ~_.F."_~_! ~"" L~'O

~___l m.

~ kxl = k(Sst+x)

i rk
lW Free body
diagram

FIGURE 22-2 Spring-mass system.

mE: + k x = 0

(22-7)

x-

(22-8)

A sin pt + B cos pt

x = C sin(pt - ~b)

(22-9)

where ~b- phase angle of displacement

The equation for displacement of mass for the initial
condition x = Xo and ~ = 0 at t = 0

x - - Xo

cosp/

(22-10)

The natural circular frequency

(22-11)
The natural frequency of the vibration

/(22-12)

The natural frequency in terms of static deflection ~Sst

(22-13)

3"132( 1 ) 1/2

( 1 ) 1/2

where 6st in m and f~ in Hz

(22-13a)

22.4

CHAPTER TWENTY-TWO

Particular

4.0
3.0
2.0

Formula

f, = ~99 (6-~t)1/2 ~ 15.76 Q~st) 1/2

\

1.0
0.8
0.6
0.4
0.3
0.2

SI

(22-13b)

USCS

(22-13c)

USCS

(22-13d)

USCS

(22-13e)

where 6st in mm and fn in Hz

\

5.67( 1 ) 1/2
(1)
f~ = ~
~t
~ 0.9 ~
\

1/2

where 6st in ft and f,, in Hz

. m

= 0.1
.o 0.08
"6
0.06
=
-o 0.04
o 0.03
0.02

f ~ = 1 9 1" /627-(31"~t
)1 2 7 2 ~- v/~t

where 6st in in and fn in Hz

\

oO

0.01
0.008
0.006
0.004
0.003

187.6
fn--~

\
\
\

where 6st in in and f, in cpm (cycles per minute)

\
\

0.002

[
I
I
i~x
1 in, = 2 5 . 4 mm
I
I
I
I

0.001
0
o

v-

o
i.o
~

o
o

(:)
o

0 0 0
0 0 0

00
oo

03 ,,~'kOt, D C 0 0

c) o
0:3 0:3
~

C)

0
o

00
00

00

Normal frequency, cpm

22-3 Static deflection (~.,.t)vs. natural frequency.

(Courtesy of P. H. Black and O. E. Adams, Jr., Machine
Design, McGraw-Hill, New York, 1955.)
FIGURE

The plot of natural frequency vs. static deflection

Refer to Fig. 22-3.

Simple pendulum
The equation of motion for simple pendulum
(Fig. 22-4)

~/=g
g
7sin0 = b'+-~ 0 = 0

(22-14)

The angular displacement for 0 = 0o and t)= 0 at

t--0

0 = 0o sin ~ t

(22-15)

The circular frequency for simple pendulum for small

oscillation

P = ~/-~7
Vt

(22-15a)

ENERGY
The total energy in the universe is constant according
to conservation of energy

K + U = constant

(22-16)

Kinetic energy

K --- I m v 2 __ I m22

(22-17)

MECHANICAL VIBRATIONS

22.5

Formula

Particular
Potential energy

U = kx 2

(22-18)

Maximum kinetic energy is equal to maximum potential energy according to conservation of energy

Kmax :

(22-19)

gmax

!Ts;n

mg cos 0
'Rotor

W=mg

FIGURE 22-4 Simple pendulum.

FIGURE 22-5 Single rotor system subject to torque.

Torsional s y s t e m ( F i g . 22-5)
The equation of motion of torsional system (Fig. 22-5)
with torsional damping under external torque Mt sinpt

I0 + CtO + ktx = Mt sinpt

The equation of motion of torsional system without

considering the damping and external force on the
rotor

I0 + ktO = 0

(22-20)

where Ct = coefficient of torsional viscous

damping, N m s/rad
(22-21)
(22-22a)

= A sinpt + B cospt

The equation for angular displacement

(22-22b)

0 = C sin(pt - 0)
where 0 = phase of displacement

The angular displacement for 0 = 0o and 0 = 0 at

t=0

~' = ~o c o s ( x / ~ ) t

(22-23)

Pn = X / ~ t / I

(22-24)

The natural circular frequency

[/(,s)

1/2

I+-~

(22-25)

The natural frequency

1
fn = Pn __
~t/I
27r 27r

(22-26)

The expression for torsional stiffness

JG
red4 G
kt-=- 1 = 3--2 V

The natural circular frequency taking into account

the shaft mass

pn=

kt

(22-27)

where J = 7rd4/32 = moment of inertia, polar, m 4

or cm 4

22.6

CHAPTER TWENTY-TWO

Particular

Formula

Single-degree-freedom system with damping

and without external force (Fig. 22-6)
The equation of motion

mS? + c k = k x = 0

(22-28)

The general solution for displacement

x -- C1 eslt + C2 es2t

(22-29)

X --- C1 e(--V/-~-l)p't -Jr- C2 e(-+

~'-~-l)p't

x = A e -p"t sin(qt + ~b)

(22-30)
(22-31)

where C1, C2, and A are arbitrary constants of

integration. (They can be found from initial
conditions.)
C

Free body
diagram

S1'2 = - - ~ m -]"

~m

(22-32)

--

c,

--~-m I t
C
where ~ = ~,. = damping ratio,

vv~
Single-degree-of-freedom
spring-mass-dashpot system.

C,. = 2rap, = 2 v I-kin

FIGURE 22-6

q = frequency of damped oscillation

=

~'d

vl

(2 P n =

4m 2
(22-33a)

~b -- phase angle or phase displacement with respect to

the exciting force
For the damped oscillation of the single-degreefreedom system with time for damping factor ( < 1

"

X0
$ XO~i-~n

"".. ~.

Xo e- ~ pnt

~ * ~ " " - - ~ , ~ - - - >,..~.,

Refer to Figs. 22-7 and 22-8.

X1

pnt

"'.
...... __,

.....
.....-

.....

.....

FIGURE 22-7 Damped motion ( < 1.0.

FIGURE 22-8 Logarithmic decrement. (Reproduced from

Marks' Standard Handbook for Mechanical Engineers, 8th

edition, McGraw-Hill, New York, 1978.)

MECHANICAL VIBRATIONS

Particular

22.7

Formula

LOGARITHMIC DECREMENT (Fig. 22-8)

The equation for logarithmic decrement

2~
6 = In x = In x--JL= A U
= L---------~V/1"~ 27r(
X1
X2
U
(

(22-34)

EQUIVALENT SPRING CONSTANTS

(Fig. 22-9)
The spring constant or stiffness
k---

(22-35)

The flexibility

a--m

(22-36)

F
The equivalent spring constant for springs in series
(Fig. 22-9a)

ke:

1
kl

k2

The equivalent spring constant for springs in parallel

(Fig. 22-9b)

ke

For spring constants of different types of springs,

beams, and plates

Refer to Table 22-1

/Z

(22-37)

--- k 1 + k 2

(22-38)

,///
"lllllllllllllln

IIIIII1[

kl

kl

k2

k2 !

(a)

Series (b) Parallel

FIGURE 22-9 Springs in series and parallel.

F o sin co t

FIGURE 22-10 Spring-mass-dashpot system subjected to

external force.

Single-degree-of-freedom system with

damping and external force (Fig. 22-10)
The equation of motion

mS~ + c.ic + k x = Fo sin cot

(22-39)

2 + 2~pn2 + pZx = Fo sin cot

m

(22-40)

22.8

CHAPTER TWENTY-TWO

TABLE

22-1

Spring constants or spring stiffness of various springs, beams, and plates

Formula for spring
constant, k

Particular

Figure

Equation

Linear Spring Stiffness or Constants [Load per mm (in) Defection]

Helical

Helical spring subjected to tension with i number of turns k = Gd4

64iR 3

spring

EA

Bar under tension

k =~

(22-41)

(22-42)

Cantilever beam subjected to transverse load at the free k = 3EI

l3
end

(22-43)

k = 2EI

(22-44)

Cantilever beam subjected to bending at the free end

Simply supported beam with concentrated load at the

center

k = 48EI

(22-45)
2

Simply supported beam subjected to a concentrated load k = 3Eli

a2 b 2
not at the center

(22-46)

Beam fixed at both ends subjected to a concentrated load k = 192EI

at the center

(22-47)

Beam fixed at one end and simply supported at another k = 768EI

7/3
end subjected to concentrated load at the center

(22-48)

k = 167rD

(22-49)

Circular plate clamped along the circumferential edge

subjected to concentrated load at the center whose
flexural rigidity is D = Eh3/12(1 - u2), thickness h
and Poisson ratio u
Circular plate simply supported along the
circumferential edge with concentrated load at the
center

167rD ( 1 + u )

k =--~

(22-50)

3--~

L = ..... _Y
where u = Poisson's ratio

String fixed at both ends subjected to tension T

(22-51)

k = m4
T String tension T

Torsional or Rotational Spring Stiffness or Constants (Load per Radian Rotation)

Spiral spring whose total length is l and moment of
inertia of cross section I

(22-52)

k, = - 7 -

Helical spring with i turns subjected to twist whose wire diameter is d, the coil

diameter is D

MECHANICAL VIBRATIONS

22.9

Ed 4

kt -- 64iD

(22-53)
TABLE 22-1
Spring constants or spring stiffness of various springs, beams, and plates (Cont.)

Particular

Formula for spring

constant, k

Figure

Bending of helical spring of i number of turns

At_ gd 4

(k (O0000{){J'j)

Twisting of bar of length l

1
32iD 1 + (E/2G)

Equation

(22-54)

JG

k,= T

Twisting of a hollow circular shaft with length l,

whose outside diameter is Do, and inside
diameter is D i

k,-

Twisting of cantilever beam

kt

Simply supported beam subjected to couple at the

center

kt -- 12EI
l

O"

ci~ _ ~G D 4 - / ~ 4

32

(22-55)
(22-56)

GJ

Particular

The complete solution for the displacement

(22-57)

Formula

X -- Ae -pnt sin(qt + ~bl) + Xo s i n ( w t - ~b)

(22-60a)

X = A e -pnt sin(qt + ~bl)

The steady-state solution for amplitude of vibration

(Folk) sin(wt - q~)

[{1 -- (cO/pn)2} 2 + (2~cO/pn)2] 1/2

Fo

X=
v/(k-

me02) 2 -+- (coo) 2

Folk

[{1 The phase angle

The magnification factor

The plot of magnification factor (Xo/Xst) vs. frequency ratio (w/p,,) and phase angle v s . (&2/pn)

q5 = tan -1

*go
Xst

(22-60b)

(cO/pn)2} 2 .qt_(2~0/pn)2]1/2
2~(cV/Pn) ]
1 7 (--~ni2J

1
[{1 - (cO/pn)2} 2 -+-(2~O/pn)2] 1/2

Refer to Figs. 22-11 and 22-12.

(22-60c)

(22-61)

(22-62)

22.10

CHAPTER TWENTY-TWO

Particular

Formula

180
0

6~ 150

i=0

%4
,i-,

(1)
"0

120

"6 3

e--

~
0

90

C:
.O
m

e-

a.

~2

60

~..0.2

30

1
2
Frequency ratio, (o
Pn

FIGURE 22-11

Phase angle ~bvs. frequency ratio (w/p,).

1
2
Frequency ratio co

' Pn

FIGURE 22-12 Magnification factor

quency ratio (w/p,).

The amplitude at resonance (i.e. for ~v/p, = 1)

Xre s .

Fo

cp,,

ro
.

2k

X,,

(Xo/Xst)

vs.

fre-

(22-63)

UNBALANCE DUE TO ROTATING MASS

(Fig. 22-13)
The equation of motion
The steady-state solution for displacement

MS~ + c~c + kn = (me~v2) sin ~vt

X =

meo3

(22-64)

(22-65a)

V/(k- M~2) ~ + (c~) ~

X =

Equilibrium position
Central
position ~, I /
of piston
"
m

~-x

(m/M)e(w/P')2
[{1 -(W/pn)2} 2 + (2~/pn)2] 1/2

(22-65b)

--"e cos cot

~lr

0 c
FIGURE 22-13

External force due to rotating unbalanced mass. (Produced with some modification from N. O. Myklestad,

Fundamentals of Vibration Analysis, McGraw-Hill, New York, 1956.)

MECHANICAL VIBRATIONS

Particular

22.11

Formula

The complete solution for the displacement

x = Ae -p"tsin(qt +

t~l )

e(m/M)(cO/pn) 2
[{1 - (cO/pn)2} 2 Jr- (2~cO/pn)2] 1/2 sin(cot- qS)

(22-66)
Nondimensional form of expression for Eq. (22-65b)

The phase angle

(~/p.)~

MX
e

[{1 -- (cO/pn)2} 2 _Jr_(2~cO/pn)2]l/2

(o=tan-lI2~(c/pn)2 ]
1 -(a;/pni 2

For a schematic representation of Eqs. (22-67) and

(22-68) or harmonically disturbing force due to
rotating unbalance

Refer to Figs. 22-14 and 22-15

005
3.0
01
.15
2.0

1.0

1.0

FIGURE 22-14

180

2.0
3.0
Frequency ratio, m

MX/me vs. frequency ratio (~/pn).

--

t-

90

Uob

'

....:

'

Co, o

..Q.
0

2.0
3.0
4.0
Frequency ratio, (m/pn)

1.0

5.0

FIGURE 22-15 Phase angle q~vs. frequency ratio

(~/Pn).

4.0

5.0

(22-67)

(22-68)

22.12

CHAPTER TWENTY-TWO

Particular

Formula

W H I P P I N G OF ROTATING SHAFT
(Fig. 22-16)
The equation of motion of shaft due to unbalanced
mass

mS~c + cYcc + kx~ = meco2 cos aJt

(22-69a)

mYc + CYc + kyc = mea~2 sin a~t

(22-69b)

where Xc and Yc are coordinates of position of center

of shaft with respect to x and y coordinates
The solution

mew 2 cos(~t - 4))

Xc

(22-70a)

v/(k -- mod2) 2 -+- (C0)2

meco 2 sin(co/- @)

Yc

v/(kThe displacement of the center of the disk from the

line joining the centers of bearings

meco2
mo2) 2 + (c@ 2

e(c/Pn)2
[{1 -- (cO/pn)2} 2 + (2c0/pn)2] 1/2

The phase angle

,!

mo2) 2 -+- (coo) 2

r = ~/x 2 + y2 = /
V(kr

(22-70b)

~ b = t a n -l

c~

k-moo 2

) = tan-1

(22-71a)

(22-71b)

2~(~/p,,) ] (22-72)
1 --- (--f~i 2]

1
C
V//hJT'
_ /A

tk

m I

I Y:as' t
,t

(a)

(0)

FIGURE 22-16 Whipping of shaft. (Reproduced from

Marks' Standard Handbook for Mechanical Engineers, 8th
edition, McGraw-Hill Book Company, New York, 1978.)

FIGURE 22-17 Excitation of a system by motion of

support.

EXCITATION OF A S Y S T E M BY M O T I O N
OF S U P P O R T (Fig. 22-17)
The equation of motion
The absolute value of the amplitude ratio of x and y

mS~ + ck + k x = ky + c.~
X

I.

l + (2~-)/pn)2

(22-73)

] l/2
(22-74)

MECHANICAL VIBRATIONS

Particular
The phase angle

22.13

Formula

=tan f

{1

--

(co/pn)2} 2 -+-(2(co/pn) 2

(22-75)

Refer to Fig. 22-20 for ]X/Y] vs. co/pn.

The plot of Eq. (22-55) for motion due to support

The curves are similar.

INSTRUMENT FOR VIBRATION

M E A S U R I N G (Fig. 22-18)

m~2 + c~2 + kz = - m y = m yco2 sin cot

The equation of motion

The steady-state solution for relative displacement Z

Z =

Y(co/pn)2
[{1 - (co/pn)2} 2 + (2~co/pn)2] !/2

~b = t a n -1

The phase angle

[ 2~(co/pn) ]
i --(w/pn)2

(22-76)
(22-77)

(22-78)

Refer to Figs. 22-14 and 22-15.

The plot of absolute value of IZ/YI vs. frequency ratio
(co/p,,) and the phase angle ~b vs. frequency ratio

(~/p.)

The curves for IZ/YI vs. co/p,, and ~bvs. cO/pn are identical.

,~Y
z=y-x

2.%^~
FIGURE 22-18 Instrument for vibration measuring.
(Reproduced from Marks' Standard Handbook for Mechanical Engineers, 8th edition, McGraw-Hill, New York, 1978.)

ISOLATION

FIGURE 22-19 External force transmitted to foundation

through damper and springs. (Reproduced from Marks'
Standard Handbook for Mechanical Engineers, 8th edition,
McGraw-Hill, New York, 1978.)

O F V I B R A T I O N (Fig. 22-19)

The force transmitted through the springs and

damper

F r = v/(kX)2 + (c~X) 2

(22-79)

Fo[1 -+-(2~co/pn)2] 1/2

F r = [{1 -(co/pn)2} 2 + (2~CO/p,,)2] 1/2

(22-80)

22.14

CHAPTER TWENTY-TWO

Formula

Particular

Transmissibility

Fr
TR = ~

V/1 + ( 2~c/Pn ) 2
= [{1 -- (cO/pn)2} 2 + (2~cO/pn)2] 1/2

(22-81)

Refer to Fig. 22-20 for TR and IX~ Y].

Comparison of Eqs. (22-81) and (22-85) indicates that
the plot of F~-/Fo is identical to ]X/Y].

(22-82)

TR = (cO/pn)2 - 1

Transmissibility when damping is negligible

1
The transmissibility in terms of static deflection 8st

The frequency from Eq. (22-83)

(22-83)

TR = (2rrfn)2~Sst- 1

3.132

_ _

27

~+1

)1

2- R

1 R
SI

)]'2

(22-84a)

where f. in Hz and 6. in m
0

The percent reduction in the transmissibility is defined

u. I,,
II

as R = I - TR

F-

99E, 2.)]
f"=~6-7, 1 R

m
._1
II1
m

[~

1/2

1/2

= 15.76 ~

0-5

SI

(22-84b)

USCS

(22-84c)

USCS

(22-84d)

where f~ in Hz and 8,.t in mm

,I

3
EO

FREQUENCY RATIO, p----~

FIGURE 22-20 Transmissibility (TR) vs. frequency ratio

19.67[ /2-1 2 )

1/2

where 6st in in and jr. in Hz

(~lp.).
1
2-R
f ~ = 1 8 7 " 6 8--~t 1 R

where f. in rpm and 6,,t in in

For the plot of static deflection 8st vs. R

Refer to Fig. 22-21.

MECHANICAL VIBRATIONS

cpm

Hz
tl3

10,000

2(

>" 6,000
o

= 4,000
er

.o
o
x
uJ

22.15

2,000

99%.

-,~

.95oA

90%., " - , ~
1,000

50% ~
600

1
h

400

6 8 10
20
40 60
Static deflection, mm

100

200

Static deflection (6st) vs. disturbing frequency for various

percent reduction in transmissibility (TR)for ( - 0. (Courtesy of F. S. Tes,
I. E. Morse, and R. T. Hinkle, Mechanical Vibration--Theory and Applications,
CBS Publishers and Distributors, New Delhi, India, 1983.)
FIGURE 22-21

Undamped two-degree-of

FIGURE 22-22

freedom system.

Particular

Formula

U N D A M P E D TWO-DEGREE-OF-FREEDOM
SYSTEM (Fig. 22-22) WITHOUT EXTERNAL
FORCE
Equations of motion

The frequency of equation which gives two values

for p2

mlSCl (kl + k3)x1 - k3x2 = 0

(22-85a)

m2x 2 ( k 2 k 3 ) x 2 - k 3 X 1 = 0

(22-85b)

p4 _ p 2 ( klml
k 3 k2k3)m2
(22-86)

k l k 2 at- k2k3 k l k 3 - 0
at"

"

--

mlm2

The amplitude ratio

al

-k3

m 2 p 2 - k2 - k3

a2

ml p2 -- kl _ k3

-k3

(22-87)

DYNAMIC VIBRATION ABSORBER

(Fig. 22-23)
Equations of motion

M 2 1 + ( K + k ) x 1 - k x 2 = F o sin
m22 k(x2 -

The solution of the forced vibration of the absorber

will be of the form

Xl) = 0

aJt

(22-88a)
(22-88b)

Xl = al sinpt

(22-89a)

x 2 = a 2 sinpt

(22-89b)

22.16

CHAPTER TWENTY-TWO

Formula

Particular

The ratio of amplitudes al and a 2 to the static deflection of the main system Xst

al

Xst

'a H L

X1

It Fo sintot

-la "-~'/10b
OaI.~N~4--

Fxxl2 m I

Ib -d

(b)

FIGURE 22-23 Dynamic

vibration absorber,

(,02

032

032

FIGURE 22-24 Two-rotor

system.

(1-pT)(1-1t-2-p--~m)g

If the main system is in resonance, then considering

k

k
m
or . . . .
K
M

(22-90b)

where
Xst "-- F o l K = static deflection of main system
p] = K/m

= natural circular frequency of absorber

p2m = k / M

= natural circular frequency of main system

absorber mass

main mass

R m = - - = mass ratio =

Pa : Pm or -- =

(22-90a)

a2 w

Xst

FI

(.02

//B/r'l111b

" ,;,,';711---"
kt
u 0b
Oa~J'7/~'~-"(a)

~/////

2
CO
p2

1x __
1 - (co/pa) 2
Xst
[1 --(co/pa)2][1 + R m - ( c o / p a )

sin cot
2] - - R m

Rm

Eqs. (7-90a) and (7-90b) become

(22-91a)

X 2 __

Xst

1
[1 --(co/pa)2][1

sin cot

Jr- R m -(co/pa) 2] - R m
(22-91b)

The natural frequencies

The mass equivalent for the absorber

( ~aa) 2 = ( 1 - ' ~ - ~ ) q - ( R

me___..q__q
m

1
1 --(co/pa)

m -{--~R
2 )1/2

(22-92)

(22-93)
2

where meq = equivalent mass solidly attached to

the main mass M

TORSIONAL VIBRATING SYSTEMS

Two-rotor system (Fig. 22-24)
The torque on rotor A

Mta -= Iap20a

(22-94)

The total torque on two rotors

mti = Mta -Jr-mtb -- Iap20a "Jr-I b p20 b = 0

(22-95)

where i = imaginary
The angular displacement or angle of twist of rotor B

Ob"-O a -- k---~---Oa 1----~t

(22-96)

MECHANICAL VIBRATIONS

Particular

22.17

Formula

The frequency equation

p2Oa(la+I b
The natural circular frequency

P" =
The natural frequency

Ialb p 2
kt ) = 0

( (Ia -k- lb)kt ) 1/2

IaIb

1 ( ( I a + I b ) k t ) 1/2
fn = -~
ialb
Oa
Ob

The amplitude ratio

Ib
Ia

la
lb

. . . . .

The relation between Ia, Ib, la, and lb

The distance of node point from left end of rotor A

(22-97a)

(22-97b)

(22-98)
(22-99)

Iala = Iblb

(22-100)

Ibt
Ia+Ib

la -- ~

(22-101)

Two rotors connected by shaft of varying

diameters
The length of torsionally equivalent shaft of diameter
d whose varying diameters are dl, d2, and d3

11

/2

13

'e'--d4"( ~-1-1-~2 -I- ~33)

(22-102)

Three-rotor torsional system (Fig. 22-25)

The algebraic sum of the inertia torques of rotors A,
B, and C

mti = mta nt- mtb 4- Mtc = Iap20a + Ibp20b nt- Icp20c

(22-103)
where 0a, Oh, and Oc are angular displacement or
angular twist at rotors, A, B, and C,
respectively

lar]A
(a)
(b)

OaU ....

B Ib
ktl

CNIc

Ub kt2 "" No c
..N'2"

._ _
ec

FIGURE 22-25 Three-rotor system.

22.18

CHAPTER TWENTY-TWO

Formula

Particular
The frequency equation

pZOa[(Ia+Ib + Ic) --P2( Ialb-~tl+-~tl

Ialc +-~tz
Ialc +-~t2
Iblc)
+ p4 ( Ialblc
p2

1 ( ktl
=

ktl + kt2

kt2

Ib

+-gc

+-~1 ktl

(22-104a)

=0

kt 2 kt 1 .nt_kt 2 )2

ktlkt2 (Ia -+"Ib -+-ic)] 1/2

--4 lalblc

(22-104b)

where ktl and kt2 a re torsional stiffness of shafts of

lengths/l and 12
The amplitude ratio

The relation between I,,, Ic,

la, and lc

The relation between/~, Ib, l,, and

l,.

Ob = 1 lap2
Oa
ktl

(22-105a)

Oc = l _ p2 ( la Ic Ib ) p41aI
mOa
-~tl -~-~kt2 -+-~t2 -'[-~ktlkt2

(22-105b)

1 l(1

lala=Ib
Frequency can also be found from Eqs. (22-108) and
(22-109)

(22-106)

Iala = I~l~

l)

II --la +12--lc

1
fc-- ('~--~) ~
where

f6=

(22-108)
GJ2

ktc -- lc

1) Z

~--~ V ~

where

2_1o7/
(

GJl
GJ2
k',b = ll~- l, + 12 - l,.

For collection of mechanical vibration formulas to

calculate natural frequencies

Refer to Table 22-2.

For analogy between different wave phenomena

Refer to Table 22-3.

For analogy between mechanical and electrical

systems

Refer to Table 22-4.

(22-109)

MECHANICAL VIBRATIONS

22.19

TABLE 22-2
A collection of formulas
Particular

Equation

Formula
Natural Frequencies of Simple Systems

m,k

i,k,[]l C
k,

End mass M, spring mass m, spring

stiffness k

/
k
P" = V M + m/3

(22-110)

End inertia/, shaft inertia Is, shaft stiffness

/
kt
Pn = V i + Is~3

(22-111)

/kt(I1 +/2)
Pn = V II12

(22-112)

kt

O,c

Two disks on a shaft

Cantilever; end mass M, beam mass m,

stiffness by formula (22-93)

/
k
V M + 0.23m

(22-113)

Pn =

Simply supported beam central mass M;

beam mass m; stiffness by formula (22-95)

/
k
V M + 0.5m

(22-114)

Pn =

Massless gears, speed of 12 n times as as

speed of I 1

1 (ktl

11

12

13

kt3 ktl q- kt3 )

p2 =-~ --i-~l+--~3 + I2

]
1
I + n212
Pn = ~ 1
1
1112n2 )
~tl q- n2kt----2

(22-116)

q_ l ~( ktl
2

(22-115)

kt3 ktl -k-kt312

~,. I1 -F--~3 -+- i2

4 ktlkt3
Ili213 (I1 + I2 + 13)

Uniform Beams (Longitudinal and Torsional Vibration)

[~

=1

Longitudinal vibration of cantilever:

A = cross section, E = modulus of
elasticity

..-n= 1

#] = mass per unit length,

n = 0, 1,2, 3 = number of nodes

Organ pipe open at one end, closed at the

other

p,=

/ l/
n+~

(22-117)
~-

For steel and l in inches, this becomes

Pn =
f=~

(1 + 2n) ~

(22-118)

Hz

For air at atm. pressure, I in m

Pn = (1 + 2n)81 Hz
f=~
n = 0, 1,2,3,...

Water column in rigid pipe closed at one

end (l in m)

Pn = (1 + 2n) 360
f = ~--~
--7-- Hz
n = 0 , 1 , 2 , 3 ....

~--

I---~

n=l

v.

Longitudinal vibration of beam clamped

or free at both ends; n = number of half
waves along length

(22-120)
(22-121)

Pn = nTr ~~1 ~

n - - 1,2,3,...
n-2

(22-119)

22.20

CHAPTER TWENTY-TWO

T A B L E 22-2
A collection o f f o r m u l a s

(Cont.)
Particular

Formula

Equation

F o r steel, l in m

Pn __ 2590 Hz
f= ~

(22-122a)

F o r steel, l in inches

f = p___~= 102,000
27r ~
Hz

(22-122b)

Organ pipe closed (or open) at both ends

(air at 60F, 15.5C)

f = p__~= n 16____88Hz
27r
l
n = 1,2, 3 , . . .

Water column in rigid pipe closed (or

open) at both ends

(22-123)

f = n721 Hz
1
n = 1,2,3,...

F o r water columns in nonrigid pipes

fnonrigid

(22-124)
1

V/

frigid

(22-125a)

206/9
1 + tEpip e

--

Epipe elastic modulus of pipe, M P a

D, t = pipe diameter and wall
thickness, same units
F o r water columns in nonrigid pipes

. . . .

fnonrigid =
frigid

1
~/

(22-125b)

300,000D
1+
tEpip'----"-'~

Epipe = elastic modulus of pipe, psi

D, t = pipe diameter and wall
thickness, same units
I

Torsional vibration of beams ...

Same as (22-117) and (22-118); replace

tensional stiffness AE by torsional
stiffness GIp; replace #i by the moment
of inertia per unit length il = Ibar/l

Uniform Beams (Transverse or Bending Vibrations)

The same general formula holds for all the following cases,
(22-126)

Pn -- an ~'~ll"I-~
where E1 is the bending stiffness of the section, I is the length of the beam, #l is the mass per unit length =
numerical constant, different for each case and listed below.
al
~

Cantilever or "clamped-free" beam ...

a2

-4

a3
al
~,..._....~~
A

a2
,~ a 3

Simply supported or "hinged-hinged"

beam

a I = 3.52
a2 = 22.0
a3 = 61.7
a 4 = 121.0
a5 = 200.0
al = 71-2 --- 9.87
a 2 = 47r2 = 39.5
a 3 =97r 2 = 8 8 . 9
a4
167r2
158
a5 = 257r2 = 247

W/gl,

and an is a

MECHANICAL VIBRATIONS

TABLE 22-2
A collection of formulas

81

/.-~-~,,"
\

f,.
~,,al

~ 82

~ ~

-4 ~

Particular

Formula

" F r e e - f r e e " b e a m or floating ship . . .

al = 22.0
a 2 -- 61.7
a 3 = 121.0
a 4 = 200.0
a5 = 298.2
al = 22.0
a2 = 61.7
a3 = 121.0
a4 -- 200.0
a5 = 298.2
al = 15.4
a 2 -- 50.0
a 3 -- 104
a 4 -- 178
a5 = 272
a 1 =0
a2 = 15.4
a3 = 50.0
a 4 = 104
a5 = 178

/ a3

-4---i

(Cont.)

a2
v

" C l a m p e d - c l a m p e d " b e a m has same

frequencies as "free-free"

83
81

,-a 2

0 ---..-..~

a1

0"~~,.~..

82

~ ~ - /

83

22.21

" C l a m p e d - h i n g e d " b e a m m a y be
considered as h a l f a " c l a m p e d - c l a m p e d "
b e a m for even a - n u m b e r s

" H i n g e d - f r e e " b e a m or wing o f a u t o g y r o

m a y be considered as h a l f a "free-free"
b e a m for even a - n u m b e r s

Equation

Rings, M e m b r a n e s , a n d Plates
E x t e n s i o n a l v i b r a t i o n o f a ring, radius r, weight density -y
1 ~/~

(22-127)

P"=r
Bending v i b r a t i o n s of ring, radius r, mass per unit length, #1, in its o w n plane with n full "sine w a v e s " o f d i s t u r b a n c e a l o n g
circumference

n(n 2 - 1 )
/ ;I
Pn= v / l + n 2 V/_q

(22-128)

Circular m e m b r a n e of tension T, mass per unit area #1, radius r

~)z~ c

Pn -- acd

(22-129)

;2

T h e c o n s t a n t acd is s h o w n below, the subscript c d e n o t e s the n u m b e r of n o d a l circles, a n d the subscript d the n u m b e r o f n o d a l

diameters:

0
1
2
3

2.40
3.83
5.11
6.38

5.52
7.02
8.42
9.76

8.65
10.17
11.62
13.02

22.22

CHAPTER TWENTY-TWO

TABLE 22-2
A collection of f o r m u l a s

(Cont.)

M e m b r a n e of any shape of area A roughly of equal dimensions in all directions, fundamental mode:
(22-130)
p,,

Circle
Square
Quarter circle
2 1 rectangle

const
const
const
const

=
=
-=

= const

/1

2.407r = 4.26
4.44
4.55
4.97

Circular plate of radius r, mass per unit area #1, the "plate constant D " defined in Eq (22-49)
(22-131)
Pn = a

- -1 r4

F o r free edges, 2 perpendicular nodal diameters

F o r free edges, one nodal circle, no diameters
Clamped edges, fundamental mode
Free edges, clamped at center, umbrella mode

a
a
a
a

=
=
=
=

5.25
9.07
10.21
3.75

Rectangular plate, all edges simply supported, dimensions Ii and/2:

(22-132)
P,

71.2

-~i +~-l

m=l,2,3,...;n=l,2,3,...

Square plate, all edges clamped, length of side l, fundamental mode:

(22-133)
p,

Source:

1962.

- - --~

Formulas (Eqs.) (7-110) to (7-133) extracted from J. P. Den Hartog,

Mechanical

Vibrations,

McGraw-Hill Book Company, New York,

MECHANICAL VIBRATIONS

22.23

TABLE 22-3
Analogy between different wave phenomena
Phenomenon
Transverse
wave

Longitudinal
wave

Quantity

String

Particle velocity

M a s s per unit
length

p .A

p .A

p .A

Inverse spring
c o n s t a n t per u n i t
length

1/T

1/G. A

1/E. A

Elastic force o n a
mass-element

Ox
T,~ = T . "
Oy

,-cA = G . A

~)__~

~G

Velocity of
propagation c

R a t i o of force to
velocity

Intensity

Torsional
wave in bar

Electric
cable

c voltage

Pa A

p .J

C capacitance/cm

~p@

(20)2

Ox
-~y
.

2 -

2 = T?.

Wave impedance

Acoustic
wave

p. c = W~

aA = E A
.

Ox
~
.

J. G

Ox
p A --- Pn k A ~
.
.
.

O0
M t = J . G -~y

V@

TA
v/_pG

(20)2
.p.C

p~~_p~k

aA
~

k-

(20)2
.p.C

p . c = v/-p. G

p,, . k . A

pA
V/pn. Pn k

p . c = v/-p. G

i current

0= Mt
v#pG

c=--

.p.C

energy per
sec t o t a l
(00)2
--~ . J. p . c

e n e r g y per
sec
c2
-~ . C . c

p , . c = v / p , . pnk

p . c = x/P . G

inverse wave
impedance

2-

(Xo)2
.p.C

L self-inductance/cm

v/-/c

1-v

wave

Source: Courtesy G. W. van Santen, Introduction to Study of Mechanical Vibration, 3rd edition, Philips Technical Library, 1961.
Key: c = capacitance; e = voltage; i - current, A; I = intensity, W/m2; J = polar moment of inertia, m 4 or cm4; k = Cp/Cv = ratio of specific heats; L = inductance, H; n = any
integer = 1,2, 3, 4,... ; p = pressure of gas, sound pressure, MPa; Pn = average pressure of gas, MPa; R = resistance, ~; T = tension; T.~--component of tension T which
returns the string to the position of equilibrium, kN; p = specific mass of the material of string, density of air, kg/m 3; Pn = average density of gas, kg/m 3; cr = normal stress,
MPa; z = shear stress, MPa; A = wavelength, m,
The meaning of other symbols in Table 7-3 are given under symbols at the beginning of this chapter.

22.24

CHAPTER TWENTY-TWO

TABLE 22-4
Analogy between mechanical and electrical systems
Electrical system
Mechanical system

Force--current

Force---voltage

D'Alembert's principle
Force applied
Rectilinear system

KirchholFs current law

Switch closed
Electrical network

Kirchhoff's voltage law

Switch closed
Electrical network

Torsional system

Mass

Capacitance

--tV~

II

Inductance

di

i = Cb, q = Cg,
Energy = C42

F : m/, = mS~,
Kinetic energy = my,2

e= L-ffi= LO
Energy = Li 2

Viscous Damping

F--~

Resistance

Resistance

II

c
l
i=~.
q=~O

F = ck,
Power = F2 = cu 2

e = Ri = Ril,
Power = ci = Ri 2 = Ril 2

C2

Power = ci =

Inductance

Spring

Capacitance

F--.

II

e
i

1 I e dt;

i=-

F= kx = k lkdt

e=~q=~

q = -

, l idt

Energy = Ce 2

Energy = Li 2
Potential energy = 2 k

II c

i(t)

u t)

F(t) = k x = I k dt

(a) Spring-mass-dashpot
elements

Shaft-rotor-dashpot
elements

Differential equation of motion

m~ + cu + cu + k I u d t = F(t)
mS? + ck + k x = F( t)

I~ - ct() + k, ch = M , ( t )

(b) Parallel connected

electrical elements

(c) Series connected

electrical elements

Differential equation for

current

Differential equation for

voltage

Cb=-~+-

l I edt=

1
d
CE+~b+~=

ei(t)
ex

i(t)

dl
1 J
L dtt + Ri + ~
i dt = e( t)

Li~ + Rq +-dq

= e(t)

MECHANICAL VIBRATIONS 22.25

REFERENCES
1. Den Hartog, J. P., Mechanical Vibrations, McGraw-Hill Book Company, New York, 1962.
2. Thomson, W. T., Theory of Vibration with Applications, Prentice-Hall, Englewood Cliffs, New Jersey, 1981.
3. Baumeister, T., ed., Marks' Standard Handbook for Mechanical Engineers, 8th ed., McGraw-Hill Book
Company, New York, 1978.
4. Black, P. H., and O. E. Adams, Jr., Machine Design, McGraw-Hill Book Company, New York, 1955.
5. Lingaiah, K., and B. R. Narayana Iyengar, Machine Design Data Handbook, Engineering College CoOperative Society, Bangalore, India, 1962.
6. Myklestad, N. O., Fundamentals of Vibration Analysis, McGraw-Hill Book Company, New York, 1956.
7. Tse, F. S., I. E. Morse, and R. T. Hinkle, Mechanical Vibration--Theory and Applications, CBS Publishers and
Distributors, New Delhi, India, 1983.