Mechanical Vibrations

v
i
b
r
a
t
i
o
n
s

.
v  Introduction 2
i
b
r 1
a
t
i
o
n
s

.
v  Examples
i
b
r
a
t
i
o
n
s

.
v  Examples
i
b
r
a
t
i
o
n
s

.
v  Equation of motion
i
b Equation of
r motion
a
t
i Newton's 2nd Other
o law of methods
n motion
s

.
D’Alembert’s Virtual Energy
principle displacement conservation
v  Newton's 2nd law of motion
i
b
r
a
Apply
t Newton s
Draw the
i second law
free-body of motion
o diagram
n Determine the static
s equilibrium configuration
of the system
Select a The rate of change of
suitable momentum of a
.
coordinate mass is equal to the
force acting on it.
v
 Newton's 2nd law of motion
i d  d xt   d 2 xt  ..
F t   m m mx
b
dt  dt  dt 2
r
.. ..
F t   kx  m x  m x  kx  0
a
t
i  Energy conservation
o
Kinetic energy Potential energy
n
1 .2 1 2
s T  mx U kx
2 2

T  U  cons tan t
. ..
d
T  U   0 m x kx  0
dt
v
 Vertical system
..
i m x  k x   st   mg ; mg  k st
b ..
r  m x  kx  0
a
t
i
o
n
s

.
v
Mathematical review
.. .
i
A1 t  xt   A2 t  xt   A3 t xt   F t 
b
r
a F(t) = 0 → Homogenous F(t) ≠ 0 → none homogenous
t
i x(t) = C1x1 + C2x2 x(t) = C1x1 + C2x2 +xp
o
n If A1,A2 and A3 are constants:
s Characteristic equation: xp form is the same type
A1s2+A2s+A3=0 asF(t)
.
 A2  A22  4 A1 A3
s
2 A1
v
i
b
 A2  A22  4 A1 A3
r
s
a 2 A1
t
i
o
n
Only one real root: Complex root:
s Two unequal real
s1,2 root: s1,2 s1,2 = α±βi
x(t) = C1est + C2t est x(t) = C1es1t + C2 es2t x(t) = eαt {C1cos(βt)
. + C1sin(βt)}
v  Solution
..
i  m x kx  0 is 2nd order homogenous differential equation
b
r
where: A1 = m, A2=0 and A3=k
Natural
a frequency
  4mk k
t
s  i  in
i 2m m
o
n  the solution : x(t) = eαt {C1cos(βt) + C1sin(βt)}
s
where α = 0 and β = ωn

.
 x(t) = C1cos(ω nt) + C2sin(ω nt)
v  Solution
i  C1 and C2 can be determined from initial conditions (I.Cs). For
b
this case we need two I.Cs. xt  0  C1  xo
r
. .
a xt  0  C2n  x o
t
i  The I.Cs for this case would be:
o
.
n
So: xt   xo cosnt   sin nt     Eq.1
xo
s 
n

.
v  Harmonic motion
i Introduce Eq.2 into Eq.1: x(t ) = A cos(ωnt – ϕ ) = Ao sin(ωnt + ϕo)
b
r
a
t
i
o
n
s

.
v  Harmonic motion
i xt   C1 cosnt   C2 sinnt 
b .
Harmonic functions in time.
xt   xo cos nt   sin nt 
r xo
a n
t
Assume:
i Mass spring system is called
C1 = A cos(ϕ) --- Eq.2(a) harmonic oscillator
o C2 = A sin(ϕ) --- Eq.2(b)
n
s
   . 
  tan 1  2   tan 1 
. 
2
C xo 
 xo    Phase angle
A  C12  C22  xo2     Amplitude  C1   xon 
 n   
.  
x 
Ao  A o  tan  o. n 
1
 
 xo 
v  Harmonic motion
i
b
r
a
t
i
o
n
s

.
v
 Natural Frequency (N.F)
i
b  A system property (i.e. depends of system parameters m
r and k )
a
t  Unit: rad/sec
i
o  It is related to the periodic time (τ ) : τ = 2π/ωn
n
s
 Periodic time is the time taken to complete one cycle
(i.e. 4 strokes)
.
 The relation between the ωn and τ is inverse relation
 Example 2.1
v The column of the water tank shown in Fig
i is 90m high and is made of reinforced
b concrete with a tubular cross section of
r inner diameter 2.4m and outer diameter
3m. The tank mass equal 3 x 105 kg when
a
filled with water. By neglecting the mass of
t the column and assuming the Young’s
i modulus of reinforced concrete as 30 Gpa.
o determine the following:
n the natural frequency and the natural
time period of transverse vibration of the
s
water tank
the vibration response of the water tank
due to an initial transverse displacement of
. 0.3m.
the maximum values of the velocity and
acceleration experienced by the tank.
 Example 2.1 solution:
v
i
b Initial assumptions:
r
a
1. the water tank is a point mass
t
i 2. the column has a uniform cross section
o
n 3. the mass of the column is negligible
s
4. the initial velocity of the water tank equal zero

.
 Example 2.1 solution:
v
i
b a. Calculation of natural frequency:
r
 
a 1. Stiffness: k  3EI
3
But: I 
64
d 4
o 
 di4 
64
4
3 
 2.44  2.3475 m 4
t l
i 3x30 x109 x 2.3475
So: k  3
 289,812 N / m
o 90
n k 289,812
2. Natural frequency : n   5
 0.9829 rad / s
s m 3x10

.
 Example 2.1 solution:
v
i
b b. Finding the response:
r
a 1. x(t ) = A sin(ωnt + ϕ )
t
x 
.  1  xon  
2
i  xo    tan  o n 
1
 tan  
A  xo2     xo  0.3m  . 
o
 n   xo   0  2
n  
s

So, x(t ) = 0.3 sin (0.9829t + 0.5π )

.
 Example 2.1 solution:
v
i
b c. Finding the max velocity:
r
.   .
a xt   0.30.9829 cos 0.9829t   x max  0.30.9829  0.2949m / s
t  2
i
o
Finding the max acceleration :
n
s ..   ..
xt   0.30.9829 sin 0.9829t   x max  0.30.9829  0.2898m / s 2
2 2

 2
.
 Example2 : Q2.13
v
i Find the natural frequency of
b
the pulley system shown in Fig.
r
a by neglecting the friction and
t
i the masses of the pulleys.
o
n
s

.
 Example2 : Q2.13
v
i
b
Solution:
r 1. Free body diagram
a x1
t P P x2
i
o
n P
s P
x

. 2. x = 2x1 +2x2 ---- Eq.1

 Example2 : Q2.13
v
Solution:
i
b 3. Equilibrium for pulley_1 : 2P = k1 x1 = 2k x1 ---- Eq.2
r
a
4. Equilibrium for pulley_2 : 2P = k2 x2 = 2k x2 ---- Eq.3
 2P   2P 
5. Substitute Eqs 2 and 3 in Eq.1: x  2   2   4 P   
t 1 1 4P
i  k1   k2   2k 2k  k
o
n
6.Let keq is the equivalent spring constant for the system: keq  P  k
s x 4
..
7. Mathematical model: m x kx  0

.
keq k
8. Natural frequency: n  m

4m
 Rotational system
v
i Governing equation:
b ..
r M O  J O  J O 
a ..
t J O   mgl sin    0
i
o Assume θ is very small
n sin    
s ..
J O   mgl   0
Natural frequency (ωn)
.
mgl JO
n     2
JO mgl
 Torsional system
v
i Governing equation:
b ..
r M O  J O  J O 
a ..
t J O   kT  0
i
o Natural frequency (ωn)
n kT JO
s n     2
JO kT

hD 4 WD 2
. JO  
32 8g
v  Solution
i
b  t   A1 cosnt   A2 sinnt 
r
a
t  t  0  A1   o
i . .
o  t  0  A2n   o
n
s
.
o
 t    o cosnt   sin nt 
n
.
 Example 2.3
v
i
b
Any rigid body pivoted at a
r point other than its center of
a mass will oscillate about the
t pivot point under its own
i gravitational force. Such a
o system is known as a compound
n pendulum (see the Fig). Find
s
the natural frequency of such a
system.
.
 Solution
v
i
the governing equation is found as:
b ..
r  
J O   Wd sin   0
a Assume small angle of vibration:
t ..
i 
J O   Wd   0 
o
n So:
s Wd mgd
n  
JO JO
.
 Example 2.4: Q2.12
v
i
Find the natural frequency of the system shown in Fig. with the
b
r
springs k1 and k2 in the end of the elastic beam.
a
t
i
o
n
s

.
 Example 2.4: Q2.12
v
i
Solution: F.B,D
b
r
a
t
i
o
n
s

.
 Example 2.4: Q2.12
v
i
Solution:
b
r
a keq is equivalent stiffness for the combination of k1, k2 and kbeam
t
3EI
i kbeam  3
o l
n k1 and k2 equivalent: apply energy concept
s
2 2
1 1 2 1  x1   x2 
keq ,1, 2 x  k1 x1  k2 x2  keq  k1    k2  
2 2
. 2 2 2 x  x
 Example 2.4: Q2.12
v
i
Solution:
b
r
a Finding keq
t
i
o 1 1 1 keq ,1, 2 kbeam
   keq 
n keq keq ,1, 2 kbeam keq ,1, 2  kbeam
s

.
 Example 2.4: Q2.12
v
i
Solution:
b
r Finding natural frequency
a
t keq keq ,1, 2 kbeam
n  
i m  
m keq ,1, 2  kbeam
o
n   x1  2  x2  
2

s  k1    k 2   kbeam x1, x2 and x can

 x  x  
n   be found from
  x1  2  x 
2
 strength relation
. m k1    k 2    kbeam 
2
 x  x  
 
 Example 2.5: Q2.7
v
i
Three springs and a mass are attached to a rigid, weightless bar PQ
b
r
as shown in Fig. Find the natural frequency of vibration of the
a system.
t
i
o
n
s

.
 Example 2.5: Q2.7
v
i
Solution :
b
r
Assume small angular motion sin    
a
k1l12  k2l22
keq ,1, 2 l3   k1 l1   k2 l2   keq ,1, 2 
1 2 1 2 1 2
t
i 2 2 2 l32
o
n Let keq is the equivalent stiffness for the whole system
s
1 1 1 keq ,1, 2 k3
   keq 
. keq keq ,1, 2 k3 k3  keq ,1, 2
 Example 2.5: Q2.7
v
i
Solution :
b
r
Now find the natural frequency
a
t keq k k l k k l 2 2
n  
 
1 2 1 2 3 2
i
o m m k l k l k l
11
2 2
2 2
2
3 3
n
s

.
 Example 2.5: Q2.45
v
i
b
Draw the free-body diagram and derive the equation of motion
r using Newton s second law of motion for each of the systems
a shown in Fig
t
i
o
n
s

.
 Example 2.5: Q2.45
v
i
b
Solution F.B.D
r
a
t
i
o
n
s

.
 Example 2.5: Q2.45
v
i
b
Equation of motion:
r
a The distance: x  4r   o 
t ..
i For mass m: mg  T  m x --- (1)
o
..
n For pulley Jo: J o   Tr  4rk    o 4r  --- (2)
s

According to static equilibrium: mgr  k 4r 4r  o   o 

mg
--- (3)
16rk
.
 Example 2.5: Q2.45
v
i
b
Equation of motion [cont]:
r Substitute equations 1 and 3 into equation 1:
a ..  ..  2 mg 
t J o    mg  m x r  16kr   
i
   16rk 
.. .. .. ..
o
J o   mgr  m x r  16kr   mgr  0  J o   m x r  16kr 2  0
2
n
.. ..
s
Use the relation x  r  x  r  to relate the translational
motion with the rotational one:
J o  mr   16kr2   0
. 2
..
S
t
a
t
i P
c
s End of chapter2 – part I