Mechanical Vibrations [10ME72]

Visvesvaraya Technological University

E-notes
Dr.UNIT
.V. 2Govindaraju
UNDAMPED FREE VIBRATIONS
Principal, Shirdi Sai Engineering College, Bangalore

06ME 64 - MECHANICAL VIBRATIONS

UNIT - 2
Undamped Free Vibrationis:

NATURAL FREQUENCY OF FREE LONGITUDINAL VIBRATION

Equilibrium Method: Consider a body of mass ‘m’ suspended from a spring of negligible mass as
shown in the figure 4.
Let m = Mass of the body
W = Weight of the body = mg
K = Stiffness of the spring
δ = Static deflection of the spring due to ‘W’
spring k= Stiffness

Unstrained postion
By applying an external force, assume the body
is displaced vertically by a distance ‘x’, from the x
equilibrium position. On the release of external W=kδ
force, the unbalanced forces and acceleration

δ
imparted to the body are related by Newton m O
Second Law of motion. m k(δ+x)

kx
∴ The restoring force = F = - k × x W x m
x m
(-ve sign indicates, the restoring force ‘k.x’ is
opposite to the direction of the displacement ‘x’)
FIGURE 7 mg
By Newton’s Law; F = m × a
d 2x
∴ F = −k x = m
dt 2
∴ The differential equation of motion, if a body of mass ‘m’ is acted upon by a restoring force ‘k’
per unit displacement from the equilibrium position is;

d 2x k
+ x =0 − This equation represents SHM
dt 2 m

d 2x k
+ ω2 x=0 ω2 = − for SHM
dt 2 m
2π m
The natural period of vibration is T= = 2π Sec
ω k
1 k
The natural frequency of vibration is fn =
cycles / sec
2π m
From the figure 7; when the spring is strained by an amount of ‘δ’ due to the weight W = mg
δ k = mg

06ME 64 - Mechanical Vibrations, Dr.T.V.Givindaraju Undamped Free Vibrations

Dept. Of ME, ACE 1
 Mechanical Vibrations [10ME72]

k g
Hence =
m δ
1 g
∴ fn = Hz or cps
2π δ

Energy method: The equation of motion of a conservative system may be established from energy
considerations. If a conservative system set in motion, the mechanical energy in the system is
partially kinetic and partially potential. The KE is due to the velocity of mass and the PE is due to
the stain energy of the spring by virtue of its deformation.
Since the system is conservative; and no energy is transmitted to the system and from the system in
the free vibrations, the sum of PE and KE is constant. Both velocity of the mass and deformation of
spring are cyclic. Thus, therefore be constant interchange of energy between the mass and the
spring.
(KE is maximum, when PE is minimum and PE is maximum, when KE is minimum - so system goes through cyclic
motion)
KE + PE = Constant
d
[KE +PE ]= 0 − (1)
dt
2 spring k= Stiffness
1 1  dx 
We have KE = m v 2 = m   -(2)
2 2  dt 
Potential energy due to the displacement is equal to
the strain energy in the spring, minus the PE change FIGURE 8
in the elevation of the mass.
x
∴ PE = ∫ (Total spring forece)dx − mg dx Static Equilibrium
m postion
0
x
= ∫ (mg + kx − mg )dx =
1 2
kx −(3) x
0
2

  0 + kx  1 2 
Equation (1) becomes  PE =   x = kx 
  2  2 
d  dx  1 2
2

  + kx  = 0
dt  dt  2 
 d 2x  dx
 m 2 + kx  = 0
 dt  dt

 d 2x  dx
Either  m 2 + kx  = 0 OR =0
 dt  dt
dx
But velocity can be zero for all values of time.
dt
d 2x
∴ m 2 + kx = 0 [m &x& + kx = 0]
dt
d 2x k
⇒ 2 + x=0 − Equation represents SHM
dt m
06ME 64 Of
Dept. - Mechanical
ME, ACE Vibrations, Dr.T.V.Givindaraju Undamped Free Vibrations
2
 Mechanical Vibrations [10ME72]

m
∴ Time period = T = 2π sec and
k
1 k
Natural frequency of vibration = f n = cycles / sec
2π m

(The natural frequency is inherent in the system. It is the function of the system parameters 'k' and 'm' and it is
independent of the amplitude of oscillation or the manner in which the system is set into motion.)

Rayleigh’s Method: The concept is an extension of energy method. We know, there is a constant
interchange of energy between the PE of the spring and KE of the mass, when the system executes
cyclic motion. At the static equilibrium position, the KE is maximum and PE is zero; similarly when
the mass reached maximum displacement (amplitude of oscillation), the PE is maximum and KE is
zero (velocity is zero). But due to conservation of energy total energy remains constant.

Assuming the motion executed by the vibration to be simple harmonic, then;

x = A Sinωt
x = displacement of the body from the mean position after time 't' sec and
A = Maximum displacement from the mean position
x& = A Sin ωt
At mean position, t = 0; Velocity is maximum
•
 dx 
∴ v max =   = x max = ω A
 dt  max
1
∴ Maximum K. E = m ω 2 A2
2
1
Maximum P.E = 2
k x max x max = A
2
1 2
∴ Maximum P.E = kA
2
We know (KE )max = (PE )max
m ω2 = k
1/ 2
k 
ω =  
m
Q δ k = m g 
1 k  k g 
fn =
2π m ⇒ = 
 m δ 

06ME 64 - Mechanical Vibrations, Dr.T.V.Givindaraju Undamped Free Vibrations

3

Dept. Of ME, ACE 3

 Mechanical Vibrations [10ME72]

1. Determine the natural frequency of the spring-mass system, taking mass of the spring into
account.
Let l = Length of the spring under
equilibrium condition

y
ρ = Mass/unit length of the spring
k= Spring
ms = Mass of the spring = ρ × l
stiffness

dy
l
Consider an elemental length of 'dy' of the
spring at a distance 'y' from support.
∴ Mass of the element = ρ dy
At any instant, the mass 'm' is displaced by a
distance 'x' from equilibrium position. m
1
∴P E = kx2
2
K E of the system at this instant,
is the sum of (KE) mass and (KE) spring
x
l 2
∴TK V
EG
1
= m x& 2 +
∫
1
(ρ dy ) y x& 
2 2  l 
0
l
x& 2
∫y
1 1
= m x& 2 + ρ 2
dy
2 2 l2
0
1 1 x l3 &2
= m x& 2 + ρ
2 2 l2 3
1 1 2 ms 1  m 
= m x& 2 + x& =  m + s  x& 2
2 2 3 2 3 

1 1 m 
k x 2 +  m + s  x& 2 = 0
2 2 3 
d
Differenti ating with respect to ' t ' ; (PE + KE ) = 0
dt
 m 
k x x& +  m + s  x& &x& = 0 − Differenti al equation
 3 
k
&x& + x=0
 m 
m+ s 
 3 
1 k
∴ fn = cps [ ρ l = ms ]
2π  m 
m + s 
 3 
OR
k
∴ fn = radians / sec
 m 
m + s 
 3 
We know that PE + KE = Constant

06ME 64 - Mechanical Vibrations, Dr.T.V.Givindaraju Undamped Free Vibrations

Dept. Of ME, ACE 4
 Mechanical Vibrations [10ME72]

2. Determine the natural frequency of the system shown in figure by Energy and Newton's
method.

When mass 'm' moves down a distance 'x'

from its equilibrium position, the center
k
of the disc if mass m1 moves down by  x x/2

and rotates though and angle θ.

x Disc
∴ = rθ
2

x/ 2
x&
⇒ θ& =

θ° =
2r
KE = ( KE ) Tr + ( KE ) rot Io x/2
m1
1 1 x& 2 1 F1
= m x& 2 + m1 + I o θ& 2 m
2 2 4 2
1 1 1 x& 2
= m x& 2 + m 1 x& 2 + m1 r 2 x
2 8 4 4 r2
1 3
= m x& 2 + m 1 x& 2
2 16
2
1  x 
PE = k  
2  2 
d
(KE + PE )= 0
dt
3 1
⇒ m x& &x& + m 1 x& &x& + k x& x = 0
 8 m + 3 m 1  1
&x&  + kx = 0
TVG  8  4
1 2k
∴ fn = cps
2π 8m + 3m1
2k
or fn = rad/ sec
8m + 3m1

Newton's Method: Use x, as co-ordinate

or mass m; m &x& = − F −1
&x& kx
for disc m1 ; m = F + F1 − −2
2 2
I o θ = Fr − F1 r
&& −3
&x&
Substituti ng (1) in ( 2) and (3) and replace θ&& by
2r
&x& kx
m1 = − m &x& + F1 − −4
2 2
&x&
Io = − m &x& r − F1 r −5
2r
&x&
Io = − m &x& − F1 −6
2r 2
06ME 64 - Mechanical Vibrations, Dr.T.V.Givindaraju Undamped Free Vibrations
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Dept. Of ME, ACE
 Mechanical Vibrations[10Me72]
Mech

Adding equation s ( 4) and (6)

&x& &x& kx 1
m1 + I o = − 2 m &x& − {I o = m1 r 2 }
2 2 2 2
2r

 m 
&x&  m1 + 1 + 4m  + kx = 0
 2 
2k
fn = rad / sec
3m1 + 8m
1 2k
fn = cps or Hz
2π 3m1 + 8m

3. Determine the natural frequency of the system shown in figure by Energy and Newton's
method. Assume the cylinder rolls on the surface without slipping.
a) Energy method:
When mass 'm' rotates through an angle θ, the center of the roller move
distance 'x'
KE = ( KE ) Tr + ( KE ) rot

1 1
= m x& 2 + I o θ& 2
2 2 x x
1 1  1  x &2 Roller/Disc
m x& 2 +  m r 2 
= k
2 2  2  r2

θ°
3 Io
∴ KE = m x& 2 m
r
4
1
PE = k x2
2
d
(KE + PE )= 0 kx
dt
3
⇒ m &x& + k x = 0 Fr
2
1 2k
Natural frequency = fn =
2π 3m

Newton’s method:
ma = ∑F
m &x& = − kx + Fr
using torque equation I o θ&&= − Fr . r
m&x&
Fr = −
2
1
m&x& = − k x − m &x&
2
3
m&x& + k x = 0
2
1 2k 2k
∴ fn = cps or fn = rad / sec
2π 3m 3m

06ME 64 - Mechanical Vibrations, Dr.T.V.Givindaraju Undamped Free Vibrations

6
Dept. Of ME, ACE
 Mechanical Vibrations [10ME72]

4. Determine the natural frequency of the system shown in figure by Energy and Newton's
method.
Energy Method: Use θ or x as coordinate
KE = ( KE)Tr + ( KE) rot
Disc
1 1
= m x& 2 + I o θ& 2

θ°
2 2
1 11  x& 2
= m x& 2 +  m1 r 2  Io m1
2 22  r2 krθ
F
1 1 
∴KE =  m x& 2 + m1 x& 2  m
2 4  x=rθ
1 2
PE = k x x
k
2
d
(KE + PE) = 0
dt
1 1 
⇒ k x &x& +  m + m1  2 x& &x& = 0
 2 4 
 1 
k x +  m + m1  x& = 0
 2 

2k 1 2k 1 kr 2
Natural frequency = f n = rad / sec = cps OR cps orHz
2m + m1 2π 2m + m1 2π Io + m r 2

TVG
Newton’s Method: Consider motion of the disc with ‘θ’ as coordinate.
For the mass ‘m’ : m &x& = − F r − (1 ) .

For the disc : Io θ&&= − Fr .r − k r2θ − (2)

Substitute (1) in (2):
I o θ&& = − m r &x& − k r 2 θ
I o θ&& = − m r 2 θ&& − k r 2 θ
(I o + m r 2 )θ&& + k r 2 θ = 0
k r2
∴ fn = rad / sec
Io + m r 2

1 k r2
= cps or Hz
2π Io + m r 2
1 2k  1 
= cps  I o = m1 r 2 
2π m1 + 2 m  2 

06ME 64 - Mechanical Vibrations, Dr.T.V.Givindaraju Undamped Free Vibrations

Dept. Of ME, ACE 7
 Mechanical Vibrations [10ME72]

5. Determine the natural frequency of the system shown in figure 5 by Energy and Newton's
method. Assume the cylinder rolls on the surface without slipping.

Energy Method: θ°
k k
KE = ( KE ) Tr + ( KE ) rot
c

a
1 1 x
= m x& 2 + I o θ& 2 Io o
2 2 r
m
1 11 
= m r 2 θ& 2 +  m r 2 θ& 2
2 22  FIGURE 5 (x+aθ)
3
∴ KE = m r 2 θ& 2 c' 2k(x+aθ)
4 a(Appx)
+x
1 
PE = 2  k x 2  = k (r + a )2 θ 2
o'
2 
F
d
(KE + PE ) = 0 x
dt Figure 'a'

m r 2 θ& θ&& + 2 k (r + a )2 θ θ& = 0

3
⇒
2
3 m r 2 θ&& + 4 k (r + a )2 θ = 0

4 k (r + a )2 1 4 k (r + a )2
Natural frequency = f n = rad / sec = cps or Hz
3m r2 2π 3m r 2

Newton’s Method: Considering combined translation and rotational motion as shown in Figure
‘a’.
Hence it must satisfy:
m &x& = ∑ Force in x direction
m &x& = − F − 2k ( x + aθ )
and I o θ&& = ∑ Torque about 'θ '
= F r − 2k (x + aθ ) a
m r θ&& = − F − 2 k (r + a )θ − (1)

m r 2 θ&& = F r − 2k (r + a ) aθ
1
and − ( 2)
2
Multiply equation (1) by 2r and (2) by 2. Then add
3m r 2 θ&& = − 4kr ( r + a )θ − 4k (r + a ) aθ
3m r 2 θ&& + 4k [ r ( r + a ) + (r + a ) a ]θ = 0
3m r 2 θ&& + 4k ( r + a ) 2 = 0
4 k (r + a ) 4 k (r + a )
2 2
1
Natural frequency = f n = rad / sec = cps or Hz
3m r 2
2π 3m r2

Refer PPT – For more problems

06ME 64 - Dept.
Mechanical Vibrations,
Of ME, ACE Dr.T.V.Givindaraju Undamped Free Vibrations
8
 Mechanical Vibrations [10ME72]

Oscillation of a simple pendulum:

Figure shows the arrangement of simple pendulum, which consists of a light, inelastic
(inextensible), flexible string of length 'l' with heavy bob of weight W (m×g)
suspended at the lower end and the upper end is fixed at 'O'. The bob oscillates freely
in a vertical plane.

The pendulum is in equilibrium, when the bob is at 'A'. If the bob is brought at B or C
and released, it will start oscillating between B and C with 'A' as mean position.
O
Let θ be a very small angle (′ 4 ), the bob will have SHM.
o

Consider the bob at 'B', the forces acting on the bob are:
i) weight of the bob = W = mg ⇒ acting downwards vertically.
θ°
ii) tension 'T' in the string
l
The two components of the weight 'W' l
i) along the string = W cosθ T
ii) normal to the string = W sinθ
The component W sinθ acting towards 'A' C B
will be unbalanced and will give rise to an
A

θ°
acceleration 'a' in the direction of 'A'. Wsinθ
Wcosθ
W
∴ Accelerati on = a = Force = W sin θ Oscillation of a simple pendulum
Mass m
mg sin θ
= = g sin θ
m
Since θ is very small; sin θ = θ
∴a = gθ
Arc length AB
=g
Radius
− (1)
Arc AB
=g
L

Acceleration of the body with SHM is given by; [a = -ω2 × Distance form
centre]
Numerically, a = ω2 × Arc AB -(2)

From (1) and (2)

g
ω=
L
2π L
Time period of oscillatio n = T = 2π
ω g
T
Beat = Beat is ha lf of the oscillatio n =
2

Second's pendulum: is defined as that pendulum which has one beat per second. Thus
the time period for second's pendulum will be equal to two seconds.
06ME 64 - Mechanical Vibrations, Dr.T.V.Givindaraju Undamped Free Vibrations
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Dept. Of ME, ACE 9

 Mechanical Vibrations [10ME72]

Compound pendulum:
When a rigid body is suspended Point of suspension
vertically, and it oscillates with a small
amplitude under the effect of force of
gravity, the body is known as O
compound pendulum. l
θ°
Let W = weight of the pendulum
= mass × g = m × g N G

θ°
kG = radius of gyration W Sinθ
W Cosθ
l = distance from point of suspension
to 'G' (CG) of the body.
W=mg
The components of the force W, when the
pendulum is given a small angular A

displacement 'θ' are:

Equilibrium position
1. W cosθ - along the axis of the body.


     
2. W sinθ - along normal to the axis of the body.

The component W sinθ acting towards

equilibrium position (couple tending to
restore) of the pendulum:
C = W sinθ × l = m g l sinθ
Since θ is very small sinθ = θ
∴C = mglθ
Mass moment of inertia about the axis of suspension 'O':
I = IG + m l2 (parallel axis theorem)
= m (kG2+ l2)
C
∴Angularacceleration of the pendulum= α =
I
mglθ
α=
(
m kG2 + l 2 )
θ k 2 +l 2 θ Displacement
= G =
α gl α Acceleration
Displacement θ kG2 + l 2
We know that timeperiod = T = 2π = 2π = 2π sec
Acceleration α gl

1 1 gl
Frequency of oscillatio n = =n=
T 2π k +l2
2
G

Comparing the above equation w ith simple pendulum, the equivalent length
of simple pendulum
k G2 + l 2 k2
L= = G +l
l l
06ME 64 - Mechanical Vibrations, Dr.T.V.Givindaraju Undamped Free Vibrations
10
Dept. Of ME, ACE