Mechanical

Vibrations
and Noise
Engineering
A.G. Ambekar
Mechanical Vibrations
and Noise Engineering

Ashok G. Ambekar
Technical Advisor and Former Director
Swami Vivekanand College of Engineering, Indore
and
Former Professor and Head
Mechanical Engineering Department
Shri Govindram Seksaria Institute of Technology and Science (SGSITS)
Indore

New Delhi-110001
2013
MECHANICAL VIBRATIONS AND NOISE ENGINEERING
A.G. Ambekar

© 2006 by PHI Learning Private Limited, Delhi. All rights reserved. No part of this book may be
reproduced in any form, by mimeograph or any other means, without permission in writing from the
publisher.

ISBN-978-81-203-2900-3

The export rights of this book are vested solely with the publisher.

Seventh Printing º º º January, 2013

Published by Asoke K. Ghosh, PHI Learning Private Limited, Rimjhim House, 111, Patparganj
Industrial Estate, Delhi-110092 and Printed by Mudrak, 30-A, Patparganj, Delhi-110091.
 To
My grandson Chi. ISHAN
and
Granddaughters Chi. AYUSHI and Chi. ISHITA
through whose eyes I desire to peep into the future
Contents

Preface ix
1. FUNDAMENTALS AND BASIC CONCEPTS 1–35
1.1 Introduction 1
1.2 Importance 2
1.3 Main Causes of Vibration 3
1.4 Vector Method of Representing Harmonic Motion 4
1.5 Characteristics of Vibration 6
1.6 Harmonic Analysis 8
1.6.1 Addition of Harmonic Motions 8
1.6.2 Lissajous Figures: A case of harmonic motions directed along
perpendicular lines 11
1.6.3 Beats Phenomenon 11
1.7 Work Done by a Harmonic Force on a Harmonic Motion 13
1.8 Periodic, Non-harmonic Excitation: Fourier Series Analysis 15
1.9 Evaluation of Coefficients of Fourier’s Series 17
1.10 Mathematical Models 25
1.11 Elements of a Vibratory System 26
1.12 Lumped/Discrete Parameter and Continuous Distributed Parameter Systems 27
1.13 Linear and Non-linear Vibrating Systems 28
1.14 Equivalent Springs and Dashpots 29
Review Questions 33
2. UNDAMPED FREE VIBRATIONS 36–78
2.1 Introduction 36
2.2 Derivation of Differential Equation of Motion 36
2.2.1 The Energy Method 36
2.2.2 Method Based on Newton’s Second Law of Motion 38
2.2.3 Rayleigh’s Method 39
2.3 Solution of Differential Equation of Motion 40
2.4 Systems Involving Angular Oscillations 42
2.5 The Compound Pendulum 45
Review Questions 73
v
 vi Contents

3. DAMPED FREE VIBRATIONS 79–114

3.1 Introduction 79
3.2 Viscous Damping 79
3.3 Free Vibrations with Viscous Damping 81
3.4 Logarithmic Decrement 93
3.5 Coulomb or Dry Friction Damping 102
3.5.1 Frequency of Damped Vibrations and Rate of Decay 103
3.5.2 Rate of Decay from Energy Considerations 106
3.6 Comparison between Viscous and Coulomb Damping 107
3.7 Solid or Structural Damping 109
3.8 Slip or Interfacial Damping 110
Review Questions 111

4. HARMONICALLY EXCITED VIBRATION (SYSTEMS WITH SINGLE

DEGREE OF FREEDOM) 115–162
4.1 Introduction 115
4.2 Forced Harmonic Vibration 116
4.3 Vector Representation of Forces in Forced Vibration 126
4.4 Excitation Due to Unbalance 127
4.4.1 Rotating Unbalance 127
4.4.2 Reciprocating Unbalance 130
4.5 Vibration Isolation 135
4.6 Force Transmissibility 135
4.6.1 Isolation Using Springs Alone 135
4.6.2 Isolation Using Springs and Damper 138
4.7 Force Transmissibility Aspect of Variable Speed Machine 141
4.8 Motion Transmissibility (Systems Attached to Moving Supports) 147
4.8.1 Absolute Motion of Mass 147
4.8.2 Relative Motion of Mass (Seismic Instruments) 152
Review Questions 159

5. SYSTEMS WITH TWO DEGREES OF FREEDOM 163–213

5.1 Introduction 163
5.2 Undamped Free Vibrations and the Principal Modes of Vibration 164
5.3 Torsional Vibrations 178
5.4 Forced Undamped Vibration with Harmonic Excitation (2 d.o.f.) 183
5.5 Coordinate Coupling 184
5.6 Dynamic Vibration Absorber 188
5.7 Torsional Vibration Absorber 196
5.8 Pendulum Type Dynamic Vibration Absorber 196
5.9 Generalized Coordinates and Lagrange’s Equation 205
Review Questions 210
 Contents vii

6. MULTI-DEGREE OF FREEDOM SYSTEMS 214–259

6.1 Introduction 214
6.2 Equation of Motion 215
6.3 The Matrix Method (Eigenvalues and Eigenvectors) 219
6.4 Method of Influence Coefficients and Maxwell’s Reciprocal Theorem 222
6.5 Orthogonality of the Principal Modes of Vibration 227
6.6 Approximate Methods of Determining Fundamental Frequencies 228
6.6.1 Dunkerley’s Lower Bound Approximation 229
6.6.2 Rayleigh’s Method 233
6.7 Stodola’s Method 237
6.8 The Holzer Method 243
6.9 Method of Matrix Iteration 251
Review Questions 255

7. WHIRLING MOTION AND CRITICAL SPEEDS 260–283

7.1 Introduction 260
7.2 Critical Speed of a Light Vertical Shaft with Single Disc (Without
Damping) 261
7.3 Critical Speed of a Vertical, Light-Flexible Shaft Carrying Single Rotor
with Damping 267
7.4 Critical Speeds of a Shaft Carrying Multiple Discs (Without Damping) 276
7.5 Secondary Critical Speed 279
Review Questions 282

8. CONTINUOUS SYSTEMS 284–309

8.1 Introduction 284
8.2 Vibration of Strings (Transverse Wave Propagation on a String) 285
8.3 Longitudinal Vibrations of Bars 287
8.4 Torsional Vibrations of Circular Members 289
8.5 Transverse Vibration of Beams 290
Review Questions 308

9. SOUND LEVEL AND SUBJECTIVE RESPONSE TO SOUND 310–342

9.1 Introduction 310
9.2 Subjective Response to Sound 311
9.3 Frequency Dependent Human Response to Sound 312
9.4 Sound-Pressure Dependent Human Response 313
9.5 The Decibel Scale 314
9.6 Relationship among Sound Power, Sound Intensity and Sound
Pressure Level 316
9.6.1 Relation between Sound Power Level and Sound Intensity
Level 316
9.6.2 Relation between Sound Intensity Level and Sound Pressure
Level 317
 viii Contents

9.7 Summation of Pure Tones 318

9.8 Decibel Addition, Subtraction and Averaging 320
9.9 Approximate Method for Decibel Addition 322
9.10 Sound Spectra 325
9.11 Types of Sound Fields 326
9.12 Octave Band Analysis 327
9.13 Anatomy of Human Ear 329
9.14 Mechanism of Hearing 331
9.15 Loudness 332
9.16 Loudness of Composite Sounds 334
9.17 Weighting Networks 335
9.18 Equivalent Sound Level 340
Review Questions 341

10. NOISE: EFFECTS, RATINGS AND REGULATIONS 343–363

10.1 Introduction 343
10.2 Non-auditory Effects of Noise on People 344
10.3 Auditory Effects of Noise 348
10.4 Noise Standards and Limits 351
10.5 Ambient Emission Noise Standards in India 353
10.6 Hazardous Noise Exposure—Legal Aspect 354
10.7 Hearing Conservation and Damage Risk Criteria 355
10.8 Day-Night Sound Level, Ldn 361
10.9 Time Varying Community Noise 361
Review Questions 362

11. NOISE: SOURCES, ISOLATION AND CONTROL 364–384

11.1 Major Sources of Noise 364
11.2 Noise Survey Techniques 366
11.3 Measurement Technique for Vehicular Noise 367
11.4 Road Vehicles Noise Standard 369
11.5 Noise Due to Construction Equipments and Domestic Appliances 370
11.6 Industrial Noise Sources 372
11.7 Industrial Noise Control—Strategies 373
11.8 Noise Control at the Source 375
11.9 Noise Control along the Path 377
11.10 Acoustic Barriers 380
11.11 Noise Control at the Receiver 381
Review Questions 384

Bibliography 385–386
Answers to Selected Review Questions 387–396
Index 397–402
Preface

The subject of vibration deals with the oscillatory motions of bodies and the forces associated
with them. Vibratory motions in machines and structures frequently occur in engineering
applications. In fact, many significant failures of machines and structures in the past are
attributed to severe vibrations to which they were subjected. It is always possible to anticipate
vibration problem at the design stage itself. A design engineer, therefore, needs to be
thoroughly exposed to the basic principles of vibration. The subject is thus important not only
to mechanical and civil engineers but also to aeronautical engineers. With the introduction of
predictive and diagnostic type of maintenance strategies, especially useful in process industries,
periodic measurements of vibration and noise in machines have become all the more
important. In preparing the manuscript of this book, the author has relied heavily on his class
notes and classroom experience in this subject, spread over almost 30 years. The author also
had in his mind, needs of the B.E. and B.Tech. students of Indian universities and those
preparing for competitive examinations. Chapters 1–7 are devoted to cover various aspects of
engineering vibration.
Noise is an obvious outcome of vibrations in machines and structural components. Any
improvement in quality of city life calls for implementation of hearing conservation
programme in the community, by way of increasing public awareness and also through
enforcement of noise level regulations. In very near future, the engineers and executives
working on the shop floors of industries will be required to maintain noise-exposure levels for
industrial workers within permissible limits. An effective noise-control strategy to achieve this
requires one to take into account the noise-emission levels of machines at the time of their
purchase. The subject matter in this textbook is tailored to meet all such basic requirements of
the students and budding engineers in noise engineering and is covered in Chapters 8–11.
With increase of size and speed of modern machines, vibration problems in structures
and machines have assumed greater importance in all the three engineering disciplines. In view
of fast rate of industrialization and also keeping in mind the rate at which increase in
automotive vehicular population is taking place in this country, the author foresees an urgent
need of stricter noise regulations and their effective enforcement to protect environment. A
ix
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Engineering

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