© Thein Min Htike, Department of Mechanical Engineering, Yangon Technological University

ME51035
Mechanical Vibration
Topic 1: Introduction to Mechanical Vibration
1.1 Objectives
At the end of this lecture, students should be able to:
(1) Understand and think in practical sense about vibration systems
(2) Understand working principle of different elements of a vibrations sytem.
1.2 What is Vibration?
- The repeating or oscillatory motion caused by external forces about equilibrium position
- Or repeating accelerated motion
- It can be pure translation or rotation or combination.
- Vibration is the study of oscillatory motion of the bodies about some equilibrium position.
- Typical examples of vibration are the swinging of pendulum and the motion of the plucked
string.

Figure 1.1 Failure of bridge and machinery due to vibration

1.3 Brief History of Vibration

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© Thein Min Htike, Department of Mechanical Engineering, Yangon Technological University

Figure 1.2 Brief history of milestones in vibration study

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 © Thein Min Htike, Department of Mechanical Engineering, Yangon Technological University

1.4 Practical Applications in Design and Maintenance

There are applications where vibration is harmful and needs to be reduced or isolated properly
whereas there are applications where vibration is helpful. Both harmful and helpful vibrations must
be considered during the design phase of structures, machine components and systems. Without
proper consideration of vibration in the design, while in operation, structures, machine components
and systems may experience large amplitude of vibration resulting in catastrophic failure. For
example, misalignment of shafts might result in failure of gears in mesh.

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© Thein Min Htike, Department of Mechanical Engineering, Yangon Technological University

Modeling and Measurement of Vehicle Seat Vibration of Ploughing Machine

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 © Thein Min Htike, Department of Mechanical Engineering, Yangon Technological University

without rubber with rubber(t=0.8cm)

with rubber(t=1.2cm) with rubber (t=1.6cm)
3.2
3
2.8
2.6
2.4
2.2
Acceleration(m/s2)

2
1.8
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0
9 10 11 12 13 14 15 16 17 18 19 20 21 22
Frequency(Hz)

Vibration of Vehicle Seat at Different Frequencies

1.5 Importance of Research on Vibration

a. Vibration Research in Design Phase

Studies and research on vibration are also important especially in designing:

(i) Structures with complex design and high-rise buildings

(ii) Rail roads
(iii) Aircraft structures
(iv) Automotive and locomotive vehicles
(v) Ships or vessels
(vi) Production line
(vii) Space vehicles

Such research studies are conducted to predict the response of those structures and vehicles under
combinations of different types of loadings such as wind, water current, ground motion, seismic
loads, inertia forces.

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 © Thein Min Htike, Department of Mechanical Engineering, Yangon Technological University

The final aim of such studies is to estimate magnitude and frequency range of vibration under both
free and forced vibrations. Then, studies go on to find out proper design to reduce or isolate the
vibration level within acceptable range. Another purpose is to obtain mathematical model of
vibration of those structures and machines and then predict possible vibration amplitudes under
different types of operating conditions and loadings.

b. Vibration Research in Operating Phase

Then, research study or continuous monitoring and evaluation of vibration levels under operation
must be done so that severe vibration level could be known in advance. Then, proper maintenance
actions could be determined before the breakdown. Such kind of continuous monitoring of
vibration and predictive maintenance are indispensable especially in machines and important
structures whose failures cost major loss in economy, lives and materials. Some examples include
hydropower plants, aircraft structures, railroads, automobiles, building structures, bridges and
ground itself.

The following figures show some examples of practical model, geometrical and vibration
responses under different loading conditions.

Figure 1.3 A simply supported beam in vibration test setup

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© Thein Min Htike, Department of Mechanical Engineering, Yangon Technological University

Figure 1.4 Bending vibration of beam in Fig. 1.3 at different frequencies

Figure 1.5 An overhung fan driven by an AC motor

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 © Thein Min Htike, Department of Mechanical Engineering, Yangon Technological University

Figure 1.5 Un-deformed and deformed models of overhung fan in Fig. 1.4

1.6 Vibration Terminology

(i) Vibration
Vibration is an oscillating motion of machine or a structure about its static equilibrium position
under both free and forcing conditions. The frequency and amplitude, i.e., severity of vibration
depends on the combination of structural mechanics and forcing conditions.

(ii) Elements of Vibrating System

(a) Mass, m (kg)
Mass is an inertial element or inherent property of a vibrating system. The mass vibrates or
accelerates under the unbalance of forces on the mass. It can gain or loss kinetic energy. Mass and
acceleration together forms inertial forces on the system. Larger mass will result in lower vibration
acceleration. It must also be noted that mass of some vibrating system changes with time, e.g. mass
of rocket during launch.

(b) Spring, k (N/m)

Spring is an elastic element or restoring element of a vibrating system. It restores the vibrating
mass to its original position because of its elastic nature. Restoring forces in the vibration system
are indispensable fundamental force to be considered in modeling vibration system. They are
proportional to displacement. It property is described by spring constant or stiffness, K (N/m). In
physical system, there might not be physical spring in the system and still system can be
represented by equivalent stiffness.

(c) Damper, c (N.s/m)

Damper is an energy absorbing element or dissipating element of a vibrating system. The damper
release vibration energy into heat energy or sound energy and its property is described by damping
factor, c. Damping forces are proportional to velocity. Generally, the larger the damping, the more
effective in absorbing vibration energy. Some types of damping are viscous damping (fluid inside

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 © Thein Min Htike, Department of Mechanical Engineering, Yangon Technological University

cylinder, fluid film in journal bearing), viscoelastic damping (rubber plate), hysteretic damping
(damping in structural materials) and Coulomb damping (friction between rubbing surfaces).

Combination of inertial, restoring and dissipating elements, i.e., mass, spring and damper form a
vibration system. Its characteristics depend on the magnitude of those three elements.

(iv) Degree of Freedom (DOF)

Degree of freedom is an independent coordinate of motion that a body can translate or rotate. It
should not be confused with the number of masses. Number of degree of freedom is number
independent coordinate of motions. Therefore, if a mass of body can both translate and rotate, the
body possesses two degrees of freedom. Most of the times, the choice of number DOFs to be
analysed depends on effects that would like to be considered.

x , x, x
F  F 0sin(t )

(a) (b)
Figure 1.6 (a) Single degree of vibrating system, (b) Two degree of vibration system

(v) Free vibration and Forced Vibration

Free Vibration
If vibrating system moves freely after an initial disturbance, the undergoing vibration is said to be
free vibration. For example, vibration of cantilever beam after initial displacement is a free
vibration. Free vibration will decay after some time under the influence of damping.
Forced Vibration
In contrast, if vibrating system undergoes vibration due to external forces rather than an initial
disturbance, vibration is said to be forced vibration. Vibration of foundation caused by rotating
machines installed on the foundation is forced vibration. Forced vibration will not decay since
external forces are always acting on the system.

(vi) Periodic and Non-Periodic motion

Periodic motion
Any oscillatory motion repeating itself over a certain period of time is called periodic motion, e.g.
motion of a simple pendulum and vibration of rotating machines.
Non-Periodic Motion

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 © Thein Min Htike, Department of Mechanical Engineering, Yangon Technological University

Any motion which does not repeat over a certain period of time is called non-periodic motion, e.g.,
ground motion during earthquake.

Figure 1.7 An Example of Periodic Vibration

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 © Thein Min Htike, Department of Mechanical Engineering, Yangon Technological University
acceleration [m/s2]
displacement [mm]

Figure 1.8 An example of non-periodic ground motion at Mandalay station during

Thabeik Kyin earthquake occurred at 7.50 am on 11th November 2012

(vii) Deterministic and Random Motion

Deterministic motion
If magnitude or level of excitation force or motion is known at a given time, the motion is said to
be deterministic motion.
Random Motion
If magnitude or level of excitation force or vibration could not be determined at a given time, the
motion is said to be random motion. Then, measurement of motion has to be conducted many times
over a period of time and statistical analysis is indispensable to conclude the motion properly.

(viii) Linear and Non-Linear System

Linear System
If a vibrating system, linear mass, spring and damper, the system is said to be linear.

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 © Thein Min Htike, Department of Mechanical Engineering, Yangon Technological University

Non-Linear System
If inertial, restoring and dissipating elements of a vibration system does not behave linearly, the
system is non-linear.

For linear systems, principle of superposition can apply.

1.7 Conversion of Vibration System into Schematic Models or Mathematical

Model
A mathematical model is a model which represents all important features of a system based on
which governing equation of the system physical phenomenon can be derived. Then, governing
equations are solved to derive parameters of interest. In vibration problem, vibration amplitude,
frequency and damping are parameters of interest. When building mathematical model, proper
simplification or inclusiveness has to be determined based on the parameters of interests. Vibration
systems can be modeled as:

o Lumped mass system (concentrated rigid bodies e.g. automotive vehicle body)
o Continuous system (deformable bodies e.g. beam)

Figure 1.9 (a) Physical system for forging process, (b) mathematical model of
corresponding vibration system by neglecting stiffness of elastic pad

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© Thein Min Htike, Department of Mechanical Engineering, Yangon Technological University

Figure 1.10 Complete mathematical model of corresponding vibration system for

physical system in Figure(1.9a)

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© Thein Min Htike, Department of Mechanical Engineering, Yangon Technological University

Figure 1.10 Physical model of rider and motorbike and corresponding mathematical
models

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 © Thein Min Htike, Department of Mechanical Engineering, Yangon Technological University

Figure 1.11 Mathematical model of multi-story building

More Examples
A mass has to be installed at end of cantilever beam as shown in Figure 1.11(a) for some design
requirements. In order to analyze the undamped vibration of such system, single degree of freedom
spring mass model can be used as shown in Figure 1.11(b). For simplicity, distributed mass of the
beam is negligible and only concentrated mass needs to be considered for vibration model.
Equivalent stiffness of the beam can be calculated from beam deflection theory from strength of
materials and it can be used as spring constant in vibration model.
Assumption: Mass of beam is negligible compared to end mass.

keq

(a) (b)
Figure 1.11 (a) Cantilever beam with concentrated mass at the end;
(b) Equivalent spring mass vibration model

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 © Thein Min Htike, Department of Mechanical Engineering, Yangon Technological University

1.8 Spring Configurations

Spring in Parallel (Same Displacement)

If the spring experience the same

displacement, they are in parallel
configuration.

If springs are in parallel, equivalent stiffness can be found by summing all stiffness,

Spring in Series (Same Force)

If they experience the same force,

they are in series configuration.

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© Thein Min Htike, Department of Mechanical Engineering, Yangon Technological University

If springs are in series, equivalent stiffness can be found,

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