Chapter 6 (Free Vibration)

Chapter 6
Free Vibration
Al Emran Ismail
1
Introduction
• When elastic bodies such as a spring, a beam and a shaft are
displaced from the equilibrium position by the application of
external forces, and then released, they execute a vibratory motion.
• This is due to the reason that, when a body is displaced, the
internal forces in the form of elastic or strain energy are present in
the body.
• At release, these forces bring the body to its original position.
• When the body reaches the equilibrium position, the whole of the
elastic or strain energy is converted into kinetic energy due to which
the body continues to move in the opposite direction.
• The whole of the kinetic energy is again converted into strain
energy due to which the body again returns to the equilibrium
position.
• In this way, the vibratory motion is repeated indefinitely.
2
Terms Used in Vibratory Motion
1. Period of vibration or time period. It is the time
interval after which the motion is repeated itself.
The period of vibration is usually expressed in
seconds.
2. Cycle. It is the motion completed during one time
period.
3. Frequency. It is the number of cycles described in
one second. In S.I. units, the frequency is
expressed in hertz (briefly written as Hz) which is
equal to one cycle per second.
3
Types of Vibratory Motion
1. Free or natural vibrations. When no external force acts on the body,
after giving it an initial displacement, then the body is said to be
under free or natural vibrations. The frequency of the free
vibrations is called free or natural frequency.
2. Forced vibrations. When the body vibrates under the influence of
external force, then the body is said to be under forced vibrations.
The external force applied to the body is a periodic disturbing force
created by unbalance. The vibrations have the same frequency as
the applied force.
Note : When the frequency of the external force is same as that of
the natural vibrations, resonance takes place.
3. Damped vibrations. When there is a reduction in amplitude over
every cycle of vibration, the motion is said to be damped vibration.
This is due to the fact that a certain amount of energy possessed by
the vibrating system is always dissipated in overcoming frictional
resistances to the motion.
4
Types of Free Vibrations
The following three types of free vibrations are important from the subject
point of view :
1. Longitudinal vibrations,
2. Transverse vibrations, and
3. Torsional vibrations.
5
1.Longitudinal vibrations. When the particles of
the shaft or disc moves parallel to the axis of
the shaft, as shown in Fig. 23.1 (a), then the
vibrations are known as longitudinal
vibrations. In this case, the shaft is elongated
and shortened alternately and thus the tensile
and compressive stresses are induced
alternately in the shaft.
6
2.Transverse vibrations. When the particles of
the shaft or disc move approximately
perpendicular to the axis of the shaft, as
shown in Fig. 23.1 (b), then the vibrations are
known as transverse vibrations. In this case,
the shaft is straight and bent alternately and
bending stresses are induced in the shaft.
7
3. Torsional vibrations. When the particles of the
shaft or disc move in a circle about the axis of
the shaft, as shown in Fig. 23.1 (c), then the
vibrations are known as torsional vibrations. In
this case, the shaft is twisted and untwisted
alternately and the torsional shear stresses
are induced in the shaft.
8
Natural Frequency of Free Longitudinal
Vibrations
9
Vibrations
10
Vibrations
11
Vibrations
12
Vibrations
13
Vibrations
14
Natural Frequency of Free Transverse
Vibrations
15
TUTORIAL 1
16
EQUIVALENT MASS, EQUIVALENT STIFFNESS,
AND EQUIVALENT DAMPING CONSTANT FOR
AN SDOF SYSTEM
• In this section, equivalent mass, equivalent
stiffness, and equivalent damping constant are
derived for a rotor–shaft system, spring with
non-negligible mass, parallel and series
combinations of springs and dampers, and a
combined rotational and translational system.
17
A ROTOR–SHAFT SYSTEM
• Consider a rotor with mass m which is supported at the
mid-span of a simply supported shaft of length (Figure
1.3.1).
• The mass of the shaft is negligible in comparison with
the mass of the rotor.
• For the purpose of transverse vibration modeling, the
shaft is considered as a simply supported beam.
• For a simply supported beam, when a load P is applied
at the mid-span (Figure 1.3.2), the deflection δ of the
shaft at the mid-span is obtained from the results
provided by
18
A ROTOR–SHAFT SYSTEM
Therefore, the equivalent stiffness of the shaft is defined as
And, an equivalent SDOF system can be constructed as shown in

Figure 1.3.3, where x(t) is the displacement of the rotor mass.
19
EQUIVALENT MASS OF A SPRING
Consider an SDOF system (Figure 1.3.4) in
which the mass of the spring ms is not
negligible with respect to the main mass m.
Then, an equivalent system with a massless
spring can be obtained on the basis of the
total KE.
20
Let the length of the spring be , and assume
that the mass of the spring is uniformly
distributed over its length. Then, the mass of a
spring strip of the length dy will be
To determine the KE, the velocity vy of the

spring strip at a distance y from the base of
the spring must be known. But, we only have
the following information:
21
The velocity at an intermediate point (0 < y < )

is not known. Therefore, it is assumed that the
velocity profile over the length of the spring is
linear as shown in Figure 1.3.4, that is,
22
23
24
SPRINGS IN SERIES AND PARALLEL
25
26
27
28
29
30
AN SDOF SYSTEM WITH TWO SPRINGS AND COMBINED
ROTATIONAL AND TRANSLATIONAL MOTION
31
32
33
34
FREE VIBRATION OF AN UNDAMPED
SDOF SYSTEM
• Consider an SDOF spring–mass system with equivalent
spring stiffness keq and equivalent mass meq (Figure
1.4.1).
• First, consider the system with the unstretched spring
(Figure 1.4.1). As we let the mass be under gravity, the
spring will deflect due to the weight.
• There will be a static equilibrium configuration where
the net force on the mass will be zero.
• The free body diagram is shown in Figure 1.4.2, where
is the static deflection or the deflection of the spring in
the static equilibrium configuration.
• For the static equilibrium condition,
35
SDOF SYSTEM
36
SDOF SYSTEM
37
SDOF SYSTEM
38
SDOF SYSTEM
39
SDOF SYSTEM
40
SDOF SYSTEM
41
TUTORIAL 1
42
TUTORIAL 1
43
TUTORIAL 1
44
TUTORIAL 1
45
TUTORIAL 1
46
TUTORIAL 2
47
TUTORIAL 2
48
TUTORIAL 2
49
TUTORIAL 2
50
TUTORIAL 3
51
TUTORIAL 3
52
TUTORIAL 4
53
TUTORIAL 4
54
TUTORIAL 4
55
TUTORIAL 4
56
TUTORIAL 4
57
TUTORIAL 4
58
TUTORIAL 4
59
EQUIVALENT SYSTEMS METHOD
60
61
62
63
64
65
66
67
TUTORIAL 5
68
TUTORIAL 5
69
TUTORIAL 5
70
TUTORIAL 5
71

Chapter 6 (Free Vibration)

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Chapter 6 (Free Vibration)

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Chapter 6

Therefore, the equivalent stiffness of the shaft is defined as

And, an equivalent SDOF system can be constructed as shown in

To determine the KE, the velocity vy of the

The velocity at an intermediate point (0 < y < )

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