ELEMENTS OF VIBRATION ANALYSIS Second Edition Leonard Meirovitch College of Engineering Virgina Polytectnic Institute and State University COTO KUTUPHANES! M.E.T.U. LIBRARY il Boston, Massachusetts Burr Ridge, linois Dubuque, Iowa Madison, Wisconsin New York, New York San Francisco, California St. Louis, MissouriQas35 To My Wife and to the MSs3 Memory of My Parents z (9&4 as “This book was set in Times Roman by Ea Services Lid. ‘The editor was Anne Murphy the cover was designed ty Kar H. Steinbrenner, the production supervisor was Charles Hess ‘rofet supervision was done by Albeet Harrison, Haley Edo Services. McGraw-Hill 328681 A Dino of The McGrane EI Compares ELEMENTS OF VIBRATION ANALYSIS copyright © 1986, 1975 by McCrsw-Hil, Inc. All ights reserved. Typeset in che United SEE ceric Eacept as penited under the Untod Stats Copyright Act of 1976, 20 Set or th publication may be reproduced or dsebuted in any frm or by any means, oc ee, Pda bare or reuoval sem, witout Ge peor writen permission of the ier. joiri2 1914 15 16 17 18 19 BKMBKM 909876545210 ISBN O-07-O41342-8 . Library of Congress Cataloging in Pubication Data Meirovitch, Leonard. ‘lament of vibration analysis Bibliography: Ineldes index Te Vibration 1 Tie. Qko3s.Ms3 1986 531.32 SBN 0-07-081382-8PREFACE Inthe last several decades, impressive progress has been made in vibration analysis, prompted by advances in technology. On the one hand, the requirement for the tnalysis of neresingly complex systems has been instrumental inthe development of powerful computational techniques. On the other hand, the development of fast. 0, b> 0. In this case the roots are either real and negative or complex conjugates with negative real part, so that x(¢) approaches zero as f — co. Hence, y(@) approaches y, so that the equilibrium position is asymptotically stable. 2a=0, b>0. The roots are pure imaginary, so that the solution x(¢) is Oscillatory. Hence, the motion is bounded and the equilibrium position is stable, 3. a<0, or a2 0, b <0. The roots are either complex conjugates with positive real part or they are both real, with one root being positive and the other being negative. In either case the solution is divergent and the equilibrium position is. unstable. ‘The subject of system stability is discussed in greater detail and in a more rigorous ‘manner in Chap. 9. In the special case in which y_ = 0 the equilibrium position is sai This is a case encountered very frequently in practice. to be rivial. Example 14 The system shown in Fig. 1.12a represents a simple pendulum. It consists of a bob of mass m attached to one end of an inextensible string of16 ELEMENTS OF VIBRATION ANALYSIS Cr) Figure 112 length L, where the other end of the string is fixed at point 0. Derive the ‘equation for the angular motion 6() of the pendulum, identify the equilibrium positions and determine the nature of motion in the neighborhood of the ‘equilibrium positions. To derive the equation of motion, we consider the free-body diagram shown in Fig. 1.126. The forces acting on the bob are the string tension T and the gravity force mg. Note that the string is not capable of carrying transverse forces. Using Newton's second law and summing up forces in the transverse direction, we obtain LF = —mg sin 6= ma, = mod oe where a, ~ LUis the acceleration in the transverse direction. Division of Eq (a) through by mL yields © where £0) © Equation (b) has the same form as Eq, (1.16), except that f does not depend on the angular velocity 6. “To identify the equilibrium positions, we use Eq, (I-17) and write @ g S(0.) = —F-sin 6 which has the solutions 0,20, $n, 42m... © [Although Eq, (¢) indicates that mathematically there is an infinite number of, equilibrium positions, physically there are only two positions Ox=0 O2=% n Of course, the first one is recognized as the trivial solution.[REE RESPONSE OF SINOLE-DEGREE-OF-FREEDOM LINEAR SYSTEMS. 17 ‘Next, let us use the notation x = @ — @, and write the linearized equation of motion + bx=0 @ where, from the first of Eqs. (1.19), wy In the case of the equilibrium point 8, = 0, we obtain a baf>o 0 so that the equilibrium is stable. We will discuss Eq. (g) for this case extensively later in this chapter. In the case of the equilibrium point 8; = x, we have o so thatthe equilibrium is unstable ‘The above results conform to expectation. Any small deviation from the equilibrium position in which the pendulum hangs down results in oscillation about the equilibrium. On the other hand, any small deviation from the ‘upright equilibrium position tends to increase without bounds. The case in which the pendulum oscillates about the equilibrium position 0; = Oi by far the most important one, which explains why the equilibrium postion 8,2 = = is discussed so seldom, 15 FORCE-FREE RESPONSE OF FIRST-ORDER SYSTEMS Let us consider the spring-damper system of Sec. 13 and assume thatthe external excitation is zero. Setting F(?) = 0 in Eq, (1.12), we obtain the homogeneous equation ex() + kx() =0 (125) Using the approach of Sec. 14, we let the solution of Eq. (125) have the exponential form a(t) = Ae (126) Inserting Eq. (1.26) into Eq, (1.25) and dividing through by Ae, we obtain the characteristic equation stk=0 a2n18 ELEMENTS OF VIBRATION ANALYSIS 0 a Figure 113 Which has the single root : (1.28) so that the general solution of Eq, (1.25) is x() = Ae (1.29) where 4 is a constant of integration and (130) is known as the time constant. ‘The constant of integration A depends on the initial excitation. Letting -x(0) = xo be the initial displacement, we can easily verify from Eq. (1.29) that ‘A = xo, 60 that the solution to the force-free problem is fee >. 0 <0 x (ast) Equation (1.31) indicates that the response decays exponentially with ‘The homogeneous solution (1.31) is plotted in Fig. 1.13 as a function of time. We observe that, after being displaced initially by an amount x, the system returns to the zero equilibrium position without any oscillation. The time constant © provides a measure of the speed of return of the system to equilibrium. Indeed, the fate of return is greater for small time constants and vice versa. Hence, for a stiff spring, or for light damping, the rate of return is fast, and vice versa. 16 HARMONIC OSCILLATOR Let us consider now the second-order system described by Eq. (I-14). Before we discuss the general response, we wish to investigate the force-free case, namely, the ‘case in which the force F(e) is identically zero. Moreover, quite often damping is extremely small, $0 that for all practical purposes it can be ignored. Hence, weFREE RESPONSE OF SINGLE-DEGRES-OF-FREEDOM LINEAR SYSTEMS 19 ‘concern ourselves with the undamped case for which ¢ = 0. Upon dividing Eq (1.14) by m, the differential equation of motion reduces to 5) +03) =0 wf == 32) [As shown in Sec. 14, the solution of Eq. (1.32) has the exponential form x) = Ae" (133) Introducing Eq, (1.33) into Eq, (1.32) and dividing through by Ae", we obtain the characteristic equation S+or=0 (134) ‘which has the solutions tio, (133) where 1= /=1. Inserting 5, and s, into Eq, (1.33), the general solution of Ea, (1.32) can be written as Xt) = Aye + Ane (136) where Ay and Az are constants of integration. Their values depend on the initial displacement x(0) and initial velocity (0). Because the roots s, and s2are'pure imaginary, we conclude from Sec. 1.4 that the solution, Eq, (1.36), must represent stable motion. This stable motion consists of pure oscillation and the quantity a, is known as the natural frequency of oscillation of the undamped system, The reason for the term natural frequency is that a force-free undamped second-order system, when set in motion by some initial conditions, wll always oscillate with the same frequency Solution (1.36) isin terms of complex quantities. Yet, on physical grounds, it can be argued thatthe solution must be real. Hence, the interest lies in reducing the solution to real form. To this end, consider the series Jon 1 cage + eat)? + Cent + 2 Gag? + 2 Cage)? emt mL ti 5 (loa)? +p (lat) + aplenty + pleat)? + et Pe = Float? + Float ot ‘fon ~ Flea? + Fou] = cos cnt + isin og (1372) In a similar manner, it is easy to verify that eon = 608 at — isin gt (1376) Inserting Eqs. (1.37) into Eq, (1.36), introducing the notation Apt r= Acs (Ay ~ Az) = Asing (138)120 ELEMENTS OF VIBRATION ANALYSIS and recalling the trigonometric relation cos «cos f + sin asin, solution becomes £08 (a ~ f), the X(0) = A cos (at — 6) 39) where now the constants of integration are A and @. ‘The constants A and ¢ are referred to as the amplitude and phase angle, respectively. Because A and depend on A, and Az, they can also be regarded as constants of integration depending on the initial conditions x(0) and %(0). Equation (1.39) indicates that the system executes simple harmonic oscillation with the natural frequency «,, for which reason the system itself is called a harmonic ‘oscillator. The motion described by Eq, (1.39) is the simplest type of vibration. The harmonic oscillator represents more of a mathematical concept than a physical reality, Nevertheless, the concept is valid for negligible damping, if the interest lies in the response for atime duration too short for extremely light damping to make its effect fet. ‘The discussion of the nature of harmonic oscillation is perhaps enhanced by the vector diagram shown in Fig. 14a. IFA represents a vector of magnitude A and the vector makes an angle «%t — @ with respect to the vertical axis x, then the projection of the veetor A on x represents the solution x(t) = 4 cos (wt — @). The ‘angle et — ¢ increases linearly with time, with the implication that the vector A. rotates counterclockwise with angular velocity a. As the vector’ rotates, the projection varies harmonically, so that the motion repeats itself every time the vector A sweeps a 2x angle. The projection x(t) is plotted in Fig, .14b as a function of time. 7 “The time necessary to complete one cycle of motion defines the period T given by (140) Figure 114FREE RESPONSE OF SINGLE-DEGREE-OF-FREEDOM LINEAR SYSTEMS. 21 where ©, is measured in radians per second (rad/s) if T is measured in seconds. Physically, T represents the time necessary for one complete oscillation to take place; it is equal to the difference between two consecutive times at which the Oscillator reaches the same state, where the state is to be interpreted as consisting of both position and velocity. As an illustration, the period is measured in Fig. 1.14 between two consecutive peaks, It is also customary to measure the natural frequency in cycles per second (cps). In such a case the natural frequency is denoted by fa, and because one cycle is equal to 2x radians we have ial RonF (aly so that the natural frequency f, and the petiod T are the reciprocals of each other. One eycle per second is a unit generally known as one hertz (H2). Finally, it wll prove interesting to evaluate the constants of integration A and 6 in terms of the initial conditions. Introducing the notation x(0) = xo, X(0) = vo, ‘where xo is the initial displacement and vp the initial velocity, and using Eq. (1.39), it is easy to verify that the response of the harmonic oscillator to the initial conditions is te X(0) = X9 008 wt + asin gt (1.42) Moreover, we conclude that the amplitude A and the phase angle $, when expressed in terms of the initial displacement and velocity, have the values an far(2) omar «aay A lege variety of dynamical systems behave lke harmonic oclators, quite often when restricted to small motions. Asan ilusraion, the simple pendulum of Example 14, when restricted (o small angular motions about the val equi rium B = 0, can be desribed bythe difrental equation 20 = aged G4 a20=0 afmt (1.44) Which represents a harmonic oscillator with the natural frequency o, = /@/L Note that Eq (144) is valid a long as sin O =, whichis approximately tre for surprisingly large values of @. For example, 930° = 03236 ed and sin d= Sin 30° 0.000 are close in vale, Infact, there is es than 5 percent eror in ting @ instead of sin @ for 830° Example 1.5 The semicircular thin shell of radius R shown in Fig. 1.15a is. allowed to rock on a rough horizontal surface. Derive the differential equation ‘of motion for the case of no slip, show that for small motions the shell behaves like harmonic oscillator, and calculate the natural frequency of the oscillator.22 ELEMENTS OF VIBRATION ANALYSS Figure 118 This example provides us with the opportunity to derive the differential cquation of motion for a relatively more complicated system than a spring- 20,51 ~+ Oand s; + ~co. In the sequel, we relate the position ofthe roots sy and 52 in the s plane to the system behavior. Inserting the roots given by (1.49) into (47), we can write the general solution x(t) = Aye" + Ane = Avex [(—0+ JF = Doo] + Az exp (6 = P= Doge] =[Avexp (VE =T oy) + Asexp(—YE=T ole (1.50) Solution (1.50) is in a form suitable forthe cases in which £ > 1. For €> 1 the motion is aperiodic and decaying exponentially with time. The exact shape of the curve depends on Ay and 2, which, in turn, can be evaluated in terms ofthe initial displacement xp and initial velocity vg. The case { > | is known as the overdamped case. Typical response curves for ¥(0) = 0 and #(0) =v are given in Fig. 1.17 In the special case in which ¢ = 1, Eq, (148) has a double root, s, In this case the solution can be shown to have the form (see Prob. 1.29) X() = (Ay + tdae“™ ast) ‘whieh again represents an exponentially decaying response. The constants Ay and ‘Az depend on the intial conditions. The case { = 1 is known as critical damping, and response curves for certain intial conditions are show in Fig 1.18. From the expression { = ¢/2my, we see that for { = | the coefficient of viscous damping has the value cy = 2ma, = 2/km. The importance of the concept should not be overstressed, because critical damping merely represents the bordertine between the cases in which £ > Land ¢ < 1. Ttmay be interesting to note, however, that fora given inital excitation a critically damped system tends to approach the ‘equilibrium position the fastest (see Fig. 1.17). ‘When 0-< { < J, solution (1.50) is more conveniently written in the form (0) = [Ay exp T= gt) + Aa exp (1 T= F ont) (Aye + Agee So as)216 ELENENTS OF VIBRATION ANALYSIS sn | Sta ogee yi o 2 nso Pia 1 ote | co | op : ° 5 7 > o xe.ia Pfr eesti 7 Sola 2 Figure 1.17FREE RESPONSE OF SINGLE-DEGRES-OF-FREEDOM LINEAR SYSTEMS 27 sovin wo : =sbie oape a | seston a he a Q 1 2 5 sin : T oa bat i syrinne (iy =3 rads via o 1 7 y » Figure 118 where 04" (1 2)!0 (1.53) is often called the frequency of the damped free vibration. From Eqs. (1.37), we can write e*H = cos ct + isin @,t, Moreover, using the notation of Eqs. (1.38), Eq. (1.52) reduces to x(t) = Ae“ cos (wat — 8) (asa) ‘which can be interpreted as an oscillatory motion with the constant frequency and phase angle ¢ but with the exponentially decaying amplitude Ae", wheresiP.in esFRE RESPONSE OF SINGLE-DEGREE-OF-FREEDOM LINEAR SYSTEMS. 29 the constants A and depend on the initial conditions, The case 0<{ <1 is roferred (0 as the underdamped case, and typical response curves are shown in Fig 1.19. The curves + Ae” provide the envelope bounding the oscillatory response. Clearly, as ¢+ ©, x(¢) 0, so that the response eventually dies out, which represents the observed behavior of real systems, Example 1.7 Consider the system of Fig, 1.9 and caleulate its response to the initial conditions x(0) = 0, (0) = vo, for {> 1, [= 1, and 0<¢ <1. For { > 1 we make use of the formula (1.50), and write x)= Ay + AZ=0 A= Ay @ so that now the solution has the form x(0) = 2AyeS"' sin SF =T ont o Differentiating Eq. (b) with respect to time, we obtain 20 = 24 (JF =T 0, cosh JF =T at ~ Cog sinh JET enters" © Letting %(0) = v9, Eq. (€) yields 2A, = @ yea Ic follows that for {> 1 the general solution is 24) e-sink JT aot © VF-10, For = 1, itis easy to show from Ea. (1.51) that A, = Oand Az = v9, 50 that the response is X(t) = vote" Ww For 0<{<1, the intial displacement being equal to zero leads to = m/2 in Eq, (1.54). Moreover, the amplitude is related to the initial velocity by A= vp/ay, So that Eq. (1.54) reduces to x)= et sin cat Oe = Or @ Expressions (e), (f), and (g), corresponding to overdamping, critical damping, and underdamping, are plotted in Figs. 1.17, 1.18, and 1.19, respectively for the indicated values ofthe system parameters { and «and the initial velocity vo.30. ELEMENTS OF VIBRATION ANALYSIS 18 LOGARITHMIC DECREMENT in a given system is not known and must be determined experimentally. We are concerned with the case in which damping is viscous and the system underdamped. As shown in Sec. 1.7, viscous damping. ‘causes the vibration to decay exponentially, where the exponent is linear function ‘of the damping factor [. In this section, we wish to explore ways of determining { from the observation of this decay. ‘A convenient measure of the amount of damping in a single-degree-of-freedom system is provided by the extent to which the amplitude has fallen during one complete cycle of vibration. Let us denote by t, and ¢2 the times corresponding to two consecutive displacements x, and x measured one cycle apart (see Fig. 120), so that, using Eq, (1.54), we can form the ratio le" cos (oats — 6) ka 7 Ae 605 (Catz —@) Because t2 = t; + T, where T'= 2n/a, is the period of the damped oscillation, it follows that cos (wats ~ $) = cos [(csty ~ #) + agT] = c0s [(eety ~ 4) + 2x] = 1005 (wat, — $), $0 that Eq. (1.55) reduces to (158) (1.56) In notation of the exponential form of Eq. (1.56), it is customary to introduce the asy ‘where 5 is known as the logarithmic decrement. Hence, to determine the amount of damping in the system, it suffices to measure any two consecutive displacements x igure 1.20FREE RESPONSE OF SINGLE-DPOREE-OF-FREEDOM LINEAR SYSTEMS 31 ‘and xz one cycle apart, calculate the logarithmic decrement 6 by taking the natural logarithm of the ratio x,/x2, and obtain £ from 6 (1.58) Vanes For small damping, 5 is a small quantity, so that Eq, (1.58) can be approximated by a an (ss) ‘The damping factor { can also be determined by measuring two displacements separated by any number of complete cycles. Letting x, and x;,-, be the amplitudes ‘corresponding to the times fy and t;., = ty +)T, where jis an integer, we conclude that M288 (denty wheat (160) Kiet 2¥s Xe Fe because the ratio between any two consecutive displacements one eycle apart is ‘equal to 7, Equation (1.60), in conjunction with Eq, (157), yields beatin Zh (st) Ta which can be introduced into Eq, (1.58), or Eq. (1.59), to obtain the viscous ‘damping factor © Example 18 It was observed that the vibration amplitude of a damped singledegroe-ofreedom system had fallen by 80 percent after five complete cycies, Assume that the system i viscously damped and ealeulate the damping factor ¢. Letting j= 5, Eq. (1.61) yields the logarithmic decrement ioe Si 10Sr a3 a Ite above values inserted into Eq, (1.58), we must conclude that damping is relatively light. Hence, using Eq. (1.59), we obtain 5 _ 011386 yo soon © Leway-one 19 COULOMB DAMPING. DRY FRICTION Coulomb damping arises when bodies slide on dry surfaces. For motion to begin, there must be a force acting upon the body that overcomes the resistance to motion ‘caused by friction. The dry friction force is parallel to the surface and proportional32 ELEMENTS OF VIBRATION ANALYSIS to the force normal to the surface, where the latter is equal to the weight WV in the case of the mass-spring system shown in Fig. 1.21. The constant of proportionality is the static friction coefficient 1,, a number varying between 0 and 1 depending on the surface materials. Once motion is initiated, the force drops to y4I¥, where is the kinetic friction coefficient, whose value is generally smaller than that of. The friction force is opposite in direction to the velocity, and remains constant in ‘magnitude as long as the forces acting on the mass m, namely, the inertia force and the restoring force due to the spring, are sufficient to overcome the dry friction. ‘When these forces become insufficient, the motion simply stops. Denoting by Fy the magnitude of the damping force, where Fy = 14H, the equation of motion can be written in the form mi + Fysgn (8) + koe = 0 (1.62) ‘where the symbol “sgn” denotes sign of and represents a function having the value ‘+1 if its argument ¥ is positive and the value —1 if its argument is negative. Mathematically, the function can be written as sen) == 1.63) sen (2) a (1.63) Equation (1.62) is nonlinear, but it an be separated into two linear equations, one for positive and another one for negative , as follows: metke= Fy foré>0 +7 (164) mitke=Fy foré<0 (1.648) Although Eqs. (1.64) are nonhomogeneous, so that they can be regarded as representing forced vibration, the damping forees are passive in nature, so that discussion of these equations in this chapter is in order. ‘The solution of Eqs. (1.64) can be obtained for one time interval at a time, ‘depending on the sign of 3. Without loss of generality, we assume that the motion starts from rest with the mass m in the displaced position x(0) = x0, where the initial displacement xo is sufficiently large that the restoring force in the spring ‘exceeds the static friction force. Because in the ensuing motion the velocity is to Figure 121REE RESPONSE OF SINOLE-DEGREE-OF-FREEDOM LINEAR SYSTEMS. 33, negative, we must solve Eq, (1.646) frst, where the equation can be written in the form Etolx=o}f, of== (165) in which f= F,/k represents an equivalent displacement. Equation (1.65) is ‘subject to the initial conditions x(0) = xo, 3(0) = 0, so that its solution is simply 20) = (9 — fi) 008 048 +f (1.66) which represents harmonic oscillation superposed on the average response fi Equation (1,66) is valid for 0 < ¢ < ty, where fis the time at which the velocity reduces to zero and the motion is about to reverse direction from left to right. Differentiating Eq, (1.66) with respect to time, we obtain i XO = ~ 040% —f) sin ot sn 0 that the lowest nontrivial value satisfying the condtion %(%,) = Os t; = my, at which time the displacement is x(¢;) = —(xo ~ 2). If x(¢,) is suficiently large in ‘magnitude to overcome the static friction, then the mass acquires a positive velocity, so that the motion must satisfy the equation d+ o3x = 0} fy (1.68) where x(t) is subject to the initial conditions x(,) = —(o ~ 2), #(t)) = 0. The solution of Eq, (1.68) is (0) = (0 — Ya) €08 ent — fo (1.69) Compared to (1.66), the harmonic component in solution (1.69) has an amplitude smaller by 2f, and a negative constant component, namely ~f,. Solution (1.69) is valid in the time interval ¢, < ¢ < fa, where fi the next value of time at which the velocity reduces to zero, This value i = 2x, at which time the velocity is ready to reverse direction once again, this time from right to le, The displacement at t= tris x42) = x0 ~ Ah ‘The above procedure can be repeated for > ta, every time switching back and forth between Eqs. (1.642) and (1.648). However, a pattern seems to emerge, rendering this task unnecessary. Over each half-cycle the motion consists of @ constant component and a harmonic component with frequency equal to the natural frequency «, ofthe simple mass-spring system, where the duration of every halfeyeleis equal to m/e. The average value ofthe solutions alternates between fa ‘and ~f,, and at the end of each hallcycle the displacement magnitude is reduced by f= 2Fu/k It follows that for Coulomb damping the decay is linear with time, 1s opposed to the exponential decay for viscous damping. The motion stops abruptly when the displacement at the end of a given hal-cycle is not sufficiently large forthe restoring force in the spring to overcome the static friction. This occurs at the end of the hal-cycle for which the amplitude of the harmonic component is34 ELEMENTS OF VIBRATION ANALYSIS Figure 1.22 smaller than 2f,, Letting n be the number of the half-cycle just prior to the cessation of motion, we conclude that m is the smallest integer satisfying the inequality xo — Qn— Dr <%e (1.70) ‘The plot x(@) versus # can be obtained by combining solutions (1.66), (1.69), etc. ‘Such a plot is shown in Fig. 1.22 : Example 1.9 Let the parameters of the system of Fig. 1.21 have the values 1, k-= 800 Ibjin, and jy = 0.1, and calculate the decay per cycle and the number of half-cycles until oscillation stops ifthe initial conditions are x(0) = Xo = 1.2in, X(0) = 0. ‘The decay per cycle is @ Moreover, n must be the smallest integer satisfying the inequality 12 ~Qn—1) x 020966 < 2 x 0.0966 6 from which we conclude that the oscillation stops after the half-cycle m = with m in the position x(t) = xo — 12fg = 1.2 ~ 12 x 0.0966 = 0.0408 in. PROBLEMS 1L1 Consider two dashpots with viscous damping coticens cy and cy and calulte the equivalent, riscous damping coetilent forthe casein which the dashpocs ar arranged in parallel and in sie, respectively[FREE RESPONSE OF SINGLE-DEGREE-OF-FREEDOM LINEAR SYSTEMS. 35 1.2 Consider the system of Fig. 123 and obtain an expesin or the equivalent spring. Then dive the Gierenal equation of motion. Ys Ke by io TAT ron 13 Consider the system of Prob, 12, let ky = y= SODTbjin (8.7563 x 10* Nn, = 150 fin {2526 + 10° Nj, and m = 15 1b (26269 kg) and calclate the system natural equeny. 4d) booy of ifr erossectional area and mast mis depreied a distance x fom the equim ition, a shown in Fig. 1.24 and then released. Derive the diferential equation of motion and obtain the nator frequency of ebilation. The mass density of the liquid in which the Buoy Boas isp igure 1.24 15 The system shown in Fig 1.28 consitng ofan unknown mass manda sping with unknown spring ‘constant f has ben observed to osilate naturally with the fequeney = 100 rad Determine the ‘mass m and spring constant k knowing that when a mass M09 kyle added the modifed naturel frequency i = 90 rad. ek {U6 Derive he dierenta equation of motion forthe system shown in Fig 126 and obtain the period of ‘sation. Denote the mss density of the gud by p and the ttl length of the column of iui by‘36. ELENENTS OF VIBRATION ANALYSIS Figure 126 1.7 The hinges ofthe rectangular door shown n Fig. 27 are mounted on ine making an sogle = with ‘rapes othe vert. Astute thatthe door as uiform mass distribution and determine the natural frequency of oxilation. Figure 1.27 14 To determine the centroid mast moment of nent cof tre mounted on a wheel the sytem i faspended ona kaifeadge, ss shown in Fig. 28, and the natural period ofosciltion Tis measured. ‘Derive a forts for Ii terms of the mass m, the period ofthe system, andthe radius r fom the canter C tothe knife-egeFREE RESPONSE OF SINGLE-DEGREE-OF-FREEDOM LINEAR SYSTEMS. 37 19 A bead of mass is suspended ona mass sting, as shown in Fig. 129. Assume that che string is subjected othe tension 7; and that this tension doesnot change throughout the motion, and deive the Gierenal equation Tor small motions y rom equilibrium, as well as the natural frequency of celation, eee 110 A conneting rod of mas m = 3 10"? kg and cetrodal mats moment of neta Je = O42 x {0°*kg-m? ie suspended on a knifeadge about the uper inner rurfae of the writin bearing, as shown in Fig 130 When disturbed slighty, the rd was observed to oscillate with the natural frequency rad/s Determine the distance h between the support and the center of mast C. 1.11 A mass attached tothe end ofa mast last lade of lngth Ld exural stifles £1 (28 Fig. 131, Devive the equivalent spring constant of the blade ad waite the equation of motion for the ‘wansverse displacement of m.Caleulate the period T. Y el —-——— 8" i 1L12 A disk ofmass moment of inertia is ttached othe end of a massless uniform shaft of length L and torsional rigty GJ Ge Fig. 132). Derive the equation forthe torsional vibration ofthe dik, and ‘obtain the natural frequency of vibration,[38 ELEMENTS OF VIBRATION ANALYSIS ® LN - 1.13 A massless igi bat i hinged at O, a8 shown in Fig. 138. Determine the natural frequency of (ualaton ofthe system for the parameters ky ~ 2500 [bin (43782 x 10° Njm), ke = $00 jin {USTOL 2 10" Nim), m= Tb sin (17513 kph, a ~ 605 (203m), and b = 100in (2.56). ey 2 Figure 1.33 1.14 circular igi isk ofmas polar moment ofinerts [= 08 kg-m*is mounted on a crear shalt sade of two segments of ferent diameters and lengths, as shown in Fg 1.4. The shat xed at both nds Let the shear modulus ofthe shaft material be C= 80 x 10? N/m? and obtain the natural frequency of angular oseiltion ofthe disk | | wo eeaae ee 1.18 The one-story building shown in Fig. 1.35 canbe modeled in the frst approximation asa singl- agree okecdom system by reaoling the columns as masless and the root as rigid. Desve the ‘Sferental equation of motion and determine the aturl equeacy. Assume thatthe mas M can oly teaolate horontlly, 20 that the columas undergo no rotation atthe fp.[FREE RESPONSE OF SINGLE-DEGREE-OF-FREEDOM LINEAR SYSTEMS. 39 a 2 Zs igure 135 116 Two gears and B of mass moments of inertia I, and a espectvely, ae attached to circular safe of gual tifess GU/L (Fig 136). Deve the dierent equation fr the system and determine {he natural frequency ofthe system forthe ease Ry/Ry = n- Hint: Draw one fe-body diagram for each ger recogniing that the reaction forces on the gear tthe point of contac are qualia magaitude and ‘opposite in ection, and thatthe angular mation of gear Bis mimes the angular motion of gear 4 Figure 1:36 (GD A mass min suspended ona mass beam of bending stiles I through spring of ties ke Shown in Fig 137. Derive the diferent equation of motion and determine the natural frequency of ‘xiation, Figure 1.3740 exeMents OF WaRATION ANALYSIS 1.18 The circular shaft shown in Fi, 138 bas the torsional stiffess GJ(2)= GUL — 46/1]. The Shafts ined atx — Oand ha a igi ik of polar mass moment of inertia equal to attached tothe end iP L.Assume thatthe ase of the shal & negligible, derive the dierenil equation of motion and ‘obtain the natural requency of oscil 77 119 A cantilever beam made of wo sitions asa lumped mass at x = L,38shown in ig. 139. Asume that the mass of the Beam can be ignored, derive the diferent equation of motion and obtain the etod of osailation. bt 1.20 A uniform rig bar of mass mi suspended by two inestesible massless tring of length L (Sox Fig 140). Such «system i tferred toa biflar pendulum. Derive the dilerental equation for the ‘slaton 9 about he vertical ais through the bar cete. Note that the mass moment of neta of the bar about its ceteris le = ya a) Li Li co =FREE RESPONSE OF SINGLE-DEGREE-OF-FREEDOM LINEAR SYSTEMS 4 1.2 Obtain the natural frequency of he system shown in Fig. 141. The springs liner and the pulley fhas @ mage moment of ineria 1 about the center 0. Let k-= 2500 Ibn (43782 x 10° Nim), 1600 bins! (6179 Nean-),m-=2:51b-sfia A372 kg) and R= 20% (051m) 7, igure At 1122 Auriform disk ordi rolls without slipping inside crcl tack of radi, 2 shown in Fig 142. Detive the equation of motion for arbitealy large angles 0. Then, sow that inthe neighborhood ofthe trivia equriom @ = 0 the system behaves ikea harmonic oscillator, and determine the natural Frequency of exciton Figure 142 1.23 The pendulum shown in Fig. 43s attached to linear sping of sins kDevve the diferent equation of motion of the system, tea linearize the equation and determine the natural frequency of ‘ulation, Figure 14342 ELEMENTS OF VIBRATION ANALYSIS. 1.24 A uniform bar of total mass msn length I otates withthe constant angular velocity @ about 3 ‘ertcal ant s5 shown in Fig. 144 Denote by @ the angle between the vertical axis and the bar, an: (a) Determine the equilibrium postions as expressed by the constant ange By (@) Derive the ferential equation for small motions 8, about 9. (Demis ition reach uso poston i on throu hae ‘motion 8 be harmonic. (4) Calealte the natral requsey of the oscilation 0, for the stable cases {@) Determine the natural frequency fr very lange and draw coocusions. Figure 144 1.25 The inverted pendulum of Fig. L45 i supported by eae spring fines kas shown. Denote by 0 the ange between the pendulom and the vera trough the hinge O and: (@) Determine the equim positions, as expressed by the angle 6 (@) Derive the diferental equation for small angular motions 0 abost (6) Determine stability citerion based on the requirement thatthe motion 8 be harmonic. (4) Calealate the natura raquency of the oscilation 8, 77 Figuce 1AS 126 An Leshapod maces iid members hinged at point O and has amass m atthe tp. The member ‘supported by a spring of tae fa shown in Fig 146 I is eguied to: (a) Determine the equilibrium poston, as expresed by the angle @y about 0. (@) Derive the diferencia equation for small angular motion 6, about.[FREE RESPONSE OF SINGLE-DEGREE-OF-FREEDOM LINEAR SYSTEMS. 43 ( Calelate the astra frequency of olin 2 (@) Determine the height H for which the system Becomes unstable 1.27 The system of Prob, 112i immersed in viscous gud to that there ia damping free esising the motion, Calculate the period of the damped osilation, wbere the period refers tothe harmonic {actor inthe response. 1.28 The simple pendlum of Fig .47 is immerse in vioeous liquid otha therefore fl essing ‘the motion, Derive the equation of motion for arbitrary amplitudes 8, then insriz the equation and ‘obtain the frequency of the damped osilation. igure 147 1.29 Show that solution (1.50) ean also be writen inthe form w) = (Ci cosh PHT one + Casion JET ‘Then et + 1, set Cy = Ay and CaF T y= Ay and prove Ba (151.