02 Topic 02 Fundamentals of Vibration-3

Topic 02: Fundamentals of Vibration
se
ea
el
R
lic
ub
rP
Fo
ot
N
COME 474 − Acoustics

Dr. Hilal M. El Misilmani
Introduction
The Simple Oscillator
Damped Oscillations
Forced Oscillations
Power Relations

Lectures Schedule
se
ea
el
R
Topic Nb Topic
lic
Topic 00 Course Description and Regulations
ub
Topic 01 Introduction to Acoustics and Sound Waves
Topic 02 rP
Fundamentals of Vibration
Fo
Topic 03 Acoustic Wave Equation
Topic 04 Sound Intensity and Decibel
ot
N
Topic 05 Loudness Reverberation Time Control of Interfering Noise

Topic 06 Sound Absorption and Reflection
Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 2/59

Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Outline of Topics
se
1 Introduction
ea
2 The Simple Oscillator
el
R
lic
Initial Conditions
ub
Energy of Vibration
rP
Complex Exponential Method of Solution
Fo
3 Damped Oscillations
ot
4 Forced Oscillations
N
Forced Oscillations
Transient Response of an Oscillator
5 Power Relations

Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Current Section
se
1 Introduction
ea
el
R
lic
Initial Conditions
ub
Energy of Vibration
rP
Fo
ot
N
Forced Oscillations
5 Power Relations

Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Introduction
se
ea
Acoustics may be defined as the generation, transmission, and
el
reception of energy as vibrational waves in matter
R
When the molecules of a fluid or solid are displaced from their
lic
normal configurations, an internal elastic restoring force arises
ub
coupled with the inertia of the system, the matter participates
rP
in oscillatory vibrations and thereby generates and transmits
Fo
acoustic waves
ot
Examples include:
N
the increase in pressure produced when a fluid is compressed

the restoring force produced when a point on a stretched wire
is displaced transverse to its length

Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Introduction
se
The most familiar acoustic phenomenon is that associated
ea
with the sensation of sound
el
R
For the average young person, a vibrational disturbance is
lic
interpreted as sound if its frequency lies in the interval from
ub
about 20 Hz to 20,000 Hz
rP
However, in a broader sense acoustics also includes the
Fo
ultrasonic frequencies above 20,000 Hz and the infrasonic

ot
frequencies below 20 Hz
N
In studying vibrations we begin with the simplest type, a

one-dimensional (1D) sinusoidal vibration that has only a
single frequency component (a pure tone)

Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations

Current Section
se
1 Introduction
ea
el
R
lic
Initial Conditions
ub
Energy of Vibration
rP
Fo
ot
N
Forced Oscillations
5 Power Relations

Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations

se
If a mass m, fastened to a spring and constrained to move
ea
parallel to the spring, is displaced slightly from its rest
el
position and released, the mass will vibrate
R
Measurement shows that the displacement of the mass from
lic
its rest position is a sinusoidal function of time
ub
rP
Sinusoidal vibrations of this type are called simple harmonic
vibrations
Fo
ot
N

Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations


The only physical restrictions placed on the equations for the
se
motion of a simple oscillator are:
ea
el
1 the restoring force be directly proportional to the displacement
R
(Hooke’s law)
lic
2 the mass be constant
ub
3 and there be no losses to attenuate the motion
rP
When these restrictions apply, the frequency of vibration is
Fo
independent of amplitude and the motion is simple harmonic
ot
N

Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations

se
The restoring force f in Newtowns (N) can be expressed by:
ea
el
f = −sx
R
lic
where:
ub
x is the displacement in meters of the rest position
rP
s stiffness or spring constant in N/m
Fo
− sign indicates that the force is opposed to the displacement
ot
N

Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations

se
Substituting f into the general equation of linear motion, with
ea
m being the mass in kg:
el
R
d 2x
lic
f = ma = m
ub
dt 2
rP d 2x s
→ + x =0
Fo
dt 2 m
ot
Both s and m are positive, hence we can define a constant

N
ω02 = s/m:
d 2x
+ ω02 x = 0
dt 2

Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations

se
ea
The complete general solution of this differential equation is:
el
R
lic
x = A1 cos ω0 t + A2 sin ω0 t
ub
where: rP
A1 and A2 are arbitrary constants → found using initial
Fo
conditions
ot
the parameter ω0 is the natural angular frequency in radians

N
per second (rad/s)

f0 = ω0 /2π

Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations

Initial Conditions: Form 1
se
ea
x = A1 cos ω0 t + A2 sin ω0 t
el
R
lic
If at the time t = 0 the mass has an initial displacement x0
ub
and an initial speed u0 rP
Fo
A1 = x0
ot
A2 = u0 /ω0
N

u0
→x = x0 cos ω0 t + sin ω0 t
ω0

Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations


Another form of x = A1 cos ω0 t + A2 sin ω0 t can be obtained
se
ea
by letting:
el
A1 = A cos φ
R
lic
A2 = −A sin φ
ub
→x = A cos (ω0 t + φ)
rP
where:
Fo
A is the amplitude of the motion:

ot
N
q
A = x02 + (u0 /ω0 )2
φ is the initial phase angle of the motion:

φ = tan−1 (−u0 /ω0 x0 )

Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations

se
ea
el
The speed of the mass can be:
R
lic
u = −Aω0 sin (ω0 t + φ) = −U sin (ω0 t + φ)
ub
rP
where U = ω0 A is the speed amplitude
Fo
The acceleration of the mass is:

ot
N
a = −ω0 U cos (ω0 t + φ) = −ω02 A cos (ω0 t + φ)

Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations

se
The displacement lags 90◦ behind the speed and the
ea
acceleration is 180◦ out of phase with the displacement
el
R
lic
ub
rP
Fo
ot
N

Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations

Energy of Vibration: Potential and Kinetic

Ep : the potential energy is the work done in distorting the
se
1
spring as the mass moves from its equilibrium position
ea
→ the force exerted by the mass on the spring i +sx
el
R
Z x
1
sx dx = sx 2
lic
Ep =
2
ub
0
rP
Fo
ot
N
Using x = A cos (ω0 t + φ):

1 2
→ Ep = sA cos2 (ω0 t + φ)
2
Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations

Energy of Vibration
The kinetic energy possessed by the mass is given by:
se
2
ea
1
Ek = mu 2
el
2
R
lic
Using u = −U sin (ω0 t + φ):
ub
rP
→ Ek =
1
mU 2 sin2 (ω0 t + φ)
Fo
2
ot
The total energy of the system is:

N
1 1 1
E = Ep + Ek = mω02 A2 = sA2 = mU 2
2 2 2
Where: s = mω02 , and U = ω0 A

Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations

Energy of Vibration
se
ea
The total energy is a constant (independent of time) and is
el
R
equal either to:
lic
The maximum potential energy (when the mass is at its
ub
greatest displacement and is instantaneously at rest)
rP
or to the maximum kinetic energy (when the mass passes
through its equilibrium position with maximum speed)
Fo
Since the system was assumed to be free of external forces

ot
N
and not subject to any frictional forces, it is not surprising

that the total energy does not change with time

Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations


Another general approach of solving linear differential
se
ea
equations is to use exponential solution:
el
x = Ae γt
R
lic
Substituting γ 2 = −ω02 or γ = ±jω0 :
ub
rP
→ x = A1 e jω0 t + A2 e −jω0 t
Fo
A1 and A2 are determined by initial conditions, with:

ot
N
A1 + A2 = x 0
A1 − A2 = u0 /jω0 = −ju0 /ω0
1 1
→A1 = (x0 − ju0 /ω0 ) and A2 = (x0 + ju0 /ω0 )
2 2
Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations

se
Putting these values in x = A1 e jω0 t + A2 e −jω0 t will also give:
ea
el
x = x0 cos ω0 t + (u0 /ω0 ) sin ω0 t
R
lic
ub
A complete solution can also be obtained if the displacement
rP
is written in the complex form:
Fo
x = Ae jω0 t
ot
N
where A = a + jb. If only real part is considered:
Re{x} = a cos ω0 t − b sin ω0 t

Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations

se
ea
The product A = a + jb may be represented by a phasor of:
el
√
R
length A = a2 + b 2
lic
angle φ = tan−1 (b/a)
ub
Consequently, the product Ae jω0 t may be represented by a
phasor of: rP
Fo
length A
angle φ rotating in the complex plane with angular speed ω0
ot
N
The real part of this rotating phasor (its projection on the real
axis) is A cos(ω0 t + φ) and varies harmonically with time

Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations

se
ea
el
R
lic
ub
rP
Fo
ot
N

Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations

se
ea
el
x = Ae jω0 t
R
lic
ub
The complex speed u and complex acceleration a as are given
rP
by:
Fo
u = jω0 Ae jω0 t = jω0 x

ot
N
a = −ω02 Ae jω0 t = −ω02 x

Introduction
Initial Conditions
Damped Oscillations
Energy of Vibration
Forced Oscillations
Power Relations

Notes on the Exponential Form
se
1 Using x = xe jω0 t → u = jω0 x
ea
The phasor representing speed leads that representing
el
displacement by a phase angle of 90◦
R
lic
The projection of this phasor onto the real axis gives the
ub
instantaneous speed
rP
The speed amplitude being ω0 A
Using u = jω0 x → a = −ω02 x
Fo
2
The phasor representing the acceleration is out of phase with

ot
the displacement phasor by π rad, or 180◦

N
The projection of this phasor onto the real axis gives the
instantaneous acceleration, the acceleration amplitude being
ω02 A

Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Current Section
se
1 Introduction
ea
el
R
lic
Initial Conditions
ub
Energy of Vibration
rP
Fo
ot
N
Forced Oscillations
5 Power Relations

Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Damped Oscillations
se
ea
When a body is set into oscillation, frictional forces arise
el
These forces always result in a damping of the oscillations
R
a decrease in the amplitude of the free oscillations with time
lic
ub
The viscous frictional force fr , on a simple oscillator is
rP
assumed proportional to the speed of the mass and directed to
Fo
oppose the motion
dx
ot
fr = −Rm
dt
N
where Rm is a positive constant called the mechanical

resistance of the system (Ns/m or kg /s)

Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Damped Oscillations
se
A device that generates such a frictional force can be
ea
represented by a dashpot (shock absorber)
el
R
lic
ub
rP
Fo
ot
N

Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Damped Oscillations
se
ea
el
R
lic
ub
rP
Fo
ot
(a) (b)
N

Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Damped Oscillations
se
Recall:
ea
d 2x s
el
2
+ x =0
dt m
R
lic
If the effect of resistance is included, the equation of motion
ub
of an oscillator constrained by a stiffness force −sx becomes
rP
d 2x
Fo
dx
m 2
+ Rm + sx = 0
dt dt
ot
N
d 2x Rm dx
+ + ω02 x = 0
dt 2 m dt
p
where ω0 = s/m

Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Damped Oscillations
se
Assume a solution of the form:
ea
el
x = Ae jγt
R
lic
h i q
ub
2 2 jγt
γ + (Rm /m) γ + ω0 Ae = 0 → γ = −β ± β 2 − ω02
rP
where β = Rm /2m is the temporal absorption coefficient
Fo
In most cases of importance in acoustics, the mechanical

ot
N
resistance Rm is small enough so that ω0 > β and γ is complex

q
Note that if Rm = 0 → γ = ± −ω02 = ±jω0 → undamped
oscillator equation

Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Damped Oscillations
se
q
ea
γ = −β ± β 2 − ω02
el
R
lic
Defining a new constant ωd given by:
ub
rPq
ωd = ω02 − β 2
Fo
γ = −β ± jωd
ot
N
where ωd is the natural angular frequency of the damped

oscillator
ωd is always < ω0 of the same oscillator without damping

Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Damped Oscillations
The complete solution is the sum of the two solutions
se
obtained above:
ea
el
x = e −βt A1 e jωd t + A2 e −jωd t

R
lic
This could be written as:
ub
rP x = Ae −βt e jωd t
Fo
where A = Ae jφ
The real part of this complex solution is the complete general
ot
N
solution → one convenient form of this general solution is:

x = Ae −βt cos (ωd t + φ)
where A and φ are real constants determined by the initial
conditions
Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Damped Oscillations
se
Taking back the equation:
ea
el
x = Ae −βt e jωd t
R
lic
= Ae j(ωd +jβ)t
ub
rP
We can then define a complex angular frequency as:
Fo
ωd = ωd + jβ
ot
N
whose real part is the angular frequency ωd of the damped

motion and whose imaginary part is the temporal absorption
coefficient β

Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Damped harmonic oscillator for various β
se
ea
el
R
lic
ub
rP
Fo
ot
N
Figure: β/ω0 = 0.1 (a), 0.2 (b), 0.3(c)
The amplitude of the damped oscillator, defined as Ae −βt , is

no longer constant but decreases exponentially with time
The frequency is independent of the amplitude of oscillation
Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Damped Oscillations
se
Relaxation time τ : a measure of the rapidity with which the
ea
oscillations are damped → the time required for the amplitude
el
to decrease to 1/e (or 0.368) of its initial value
R
lic
Relaxation time is also called decay modulus, decay time, time
ub
constant, and characteristic time
rPτ = 1/β = 2m/Rm
Fo
1 The smaller Rm , the larger τ is and the longer it takes for the
ot
oscillations to damp out

N
2 If Rm is large enough → ω0 6 β and the system is no longer

oscillatory → a displaced mass returns asymptotically to its
rest position
3 If β = ω0 , the system is known as critically damped

Introduction
Forced Oscillations
Damped Oscillations
Forced Oscillations
Power Relations

Current Section
se
1 Introduction
ea
el
R
lic
Initial Conditions
ub
Energy of Vibration
rP
Fo
ot
N
Forced Oscillations
5 Power Relations

Introduction
Forced Oscillations
Damped Oscillations
Forced Oscillations
Power Relations

Forced Oscillations
se
A simple oscillator is often driven by an externally applied
ea
force f (t)
el
R
The differential equation for the motion becomes:
lic
ub
d 2x dx
m + Rm + sx = f (t)
rP
dt 2 dt
Fo
ot
N

Introduction
Forced Oscillations
Damped Oscillations
Forced Oscillations
Power Relations

Forced Oscillations
se
ea
Let f (t) = F cos ωt applied to the oscillator at some initial
el
time, the solution is the sum of two parts:
R
1 a transient term
lic
2 and a steady-state term that depends on F and ω
ub
rP
Fo
ot
N

Introduction
Forced Oscillations
Damped Oscillations
Forced Oscillations
Power Relations

Forced Oscillations
se
ea
1 The transient term is obtained by setting F equal to zero:
el
R
d 2x dx
lic
→m + Rm + sx = 0
ub
dt 2 dt
→ x = Ae −βt cos (ωd t + φ)
rP
Fo
where:
ot
ωd : angular frequency
N
A and φ are determined by applying the initial conditions to

the total solution

Introduction
Forced Oscillations
Damped Oscillations
Forced Oscillations
Power Relations

Forced Oscillations
se
ea
2 The steady-state solution is obtained by replacing the real
el
R
driving force F cos ωt by its equivalent complex driving force
lic
f = Fe jwt
ub
d 2x dx
m 2 + Rm rP + sx = Fe jωt
dt dt
Fo
ot
The solution of this equation gives the complex displacement

N
x → the real part of the complex displacement will represent

the actual displacement

Introduction
Forced Oscillations
Damped Oscillations
Forced Oscillations
Power Relations

Forced Oscillations
se
1 Transient solution
ea
el
R
lic
2 Steady-state solution is the real part of x in:
ub
rP
d 2x dx
m + Rm + sx = Fe jωt
Fo
dt 2 dt
ot
→ After a sufficient time interval t 1/β, the damping term

N
e −βt makes the transient term to be negligible

→ leaving only the steady-state term whose angular frequency
ω is that of the driving force

Introduction
Forced Oscillations
Damped Oscillations
Forced Oscillations
Power Relations

Forced Oscillations
se
Because f = Fe jωt is periodic with angular frequency ω, it is
ea
plausible to assume that x must be also → x = Ae jωt
el
R
−Aω 2 m + jAωRm + As e jωt = Fe jωt

lic
ub
Solving for A yields the complex displacement
rP
Fo
1 Fe jωt
x=
ot
jω Rm + j (ωm − s/ω)
N
Fe jωt
and u =
Rm + j (ωm − s/ω)
⇒ u = jωx

Introduction
Forced Oscillations
Damped Oscillations
Forced Oscillations
Power Relations

Forced Oscillations
The complex mechanical resistance Zm is given by:
se
ea
Zm = Rm + jXm = Rm + j(ωm − s/ω)
el
R
with the mechanical reactance: Xm = ωm − s/ω
lic
The mechanical impedance can be written as:
ub
Zm = Zm e jθ rP
Fo
q
|Zm | = Rm 2 + (ωm − s/ω)2
ot
N
θ = tan−1 (Xm /Rm ) = tan−1 [(ωm − s/ω) /Rm ]

The dimensions of mechanical impedance are the same as
those of mechanical resistance and are expressed in the same
units, N · s/m, often defined as mechanical ohms
Introduction
Forced Oscillations
Damped Oscillations
Forced Oscillations
Power Relations

Forced Oscillations
se
ea
Fe jωt
el
u= , Zm = Rm + j(ωm − s/ω)
R
lic
ub
Using the equation of speed u and the definition of Zm we
can write: rP
Fo
F
Zm =
u
ot
N
→ The complex mechanical resistance Zm is the ratio of the

complex driving force F = Fe jwt to the resultant complex
speed u of the system at the point where the force is applied

Introduction
Forced Oscillations
Damped Oscillations
Forced Oscillations
Power Relations

Forced Oscillations
se
ea
If, Zm is known:
el
R
F
Zm =
lic
u
ub
without solving the D.E.
1
rP
→ we can immediately obtain the complex speed u
Fo
2 → and use u = jωx to get complex displacement x:
ot
F
N
x=
jωZm

Introduction
Forced Oscillations
Damped Oscillations
Forced Oscillations
Power Relations

Forced Oscillations
se
The actual displacement is given by the real part of:
ea
el
Fe jωt

1
R
Re x =
lic
jω Rm + j (ωm − s/m)
ub
→ x = (F /ωZm ) sin (ωt − θ)
rP
Fo
The actual displacement is given by the real part of:
ot
Fe jωt

N
Re u =
→ u = (F /Zm ) cos (ωt − θ)

Introduction
Forced Oscillations
Damped Oscillations
Forced Oscillations
Power Relations

Forced Oscillations
se
ea
el
x = (F /ωZm ) sin (ωt − θ)
R
lic
u = (F /Zm ) cos (ωt − θ)
ub
rP
The ratio (F /Zm ) gives the maximum speed of the driven
Fo
oscillator
ot
N
θ is the phase angle between the speed and the driving force:
When θ > 0 → the speed lags the driving force by θ
When θ < 0 → the speed leads the driving force

Introduction
Forced Oscillations
Damped Oscillations
Forced Oscillations
Power Relations

se
ea
Superimposing the transient response on the steady-state
el
R
condition:
lic
d 2x dx
m 2 + Rm + sx = Fe iωt
ub
dt dt
rP
The complete general solution can be given by:
Fo
x = Ae −βt cos (ωd t + φ) + (F /ωZm ) sin (ωt − θ)

ot
N
where A and φ are determined by the initial conditions

Introduction
Forced Oscillations
Damped Oscillations
Forced Oscillations
Power Relations

se
ea
el
x = Ae −βt cos (ωd t + φ) + (F /ωZm ) sin (ωt − θ)
R
lic
ub
Special case: assuming x0 = 0, u0 = 0 when the driving force
rP
is first applied, and that β ω0 :
Fo
q
ot
A = F /Zm2 (Xm /ω)2 + (Rm /ωd )2

N
φ = tan−1 [(ω/ωd ) (Rm /Xm )]

Introduction
Forced Oscillations
Damped Oscillations
Forced Oscillations
Power Relations

se
ea
el
R
lic
ub
(a) (b) (c)
rP
Figure: Transient response of a damped, forced oscillator with
Fo
β/ωd = 0.1, x0 = 0, and u0 = 0. (a) ω/ωd = 1/3. (b) ω/ωd = 1. (c)

ot
ω/ωd = 3
N
The effect of the transient is apparent in the left portion

Near the right end the final steady state is nearly reached
The initial conditions are analogous: the waveform is always
somewhat irregular immediately after the application of the
driving force,
Dr. but soon
Hilal M. settles into
El Misilmani the
Topic 02: steady ofstate
Fundamentals Vibration 51/59
Introduction
Forced Oscillations
Damped Oscillations
Forced Oscillations
Power Relations

Decay Transient
se
ea
The Decay transient results when the driving force is abruptly
el
R
removed
lic
The equation of this motion is that of the damped oscillator
ub
rP
Fo
The constants giving the amplitude and phase angle of this

ot
N
motion depend on the part of its cycle in which the driving

force is removed

Introduction
Forced Oscillations
Damped Oscillations
Forced Oscillations
Power Relations

se
It is impossible to remove the driving force without the
ea
appearance of a decay transient:
el
R
Although the effect will be negligible if the amplitude of the
lic
driving force is very slowly reduced to zero or the damping is
ub
very strong
rP
It is important when studying the response of sound
Fo
reproduction components such as loudspeakers and
ot
microphones
N
An example of an overly slow decay is a noticeable

”hangover” at the natural frequency produced by some poorly
designed loudspeaker systems

Introduction
Forced Oscillations
Damped Oscillations
Forced Oscillations
Power Relations

Example
se
ea
A mass of 0.5 kg hangs on a spring. When an additional mass
el
of 0.2 kg is attached to the spring, the spring stretches an
R
lic
additional 0.04 m.
ub
When the 0.2 kg mass is abruptly removed, the amplitude of
rP
the ensuing oscillations of the 0.5 kg mass is observed to
decrease to 1/e of its initial value in 1.0 s. Compute:
Fo
1 Rm
ot
ωd
N
2
3 A
4 φ

Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Current Section
se
1 Introduction
ea
el
R
lic
Initial Conditions
ub
Energy of Vibration
rP
Fo
ot
N
Forced Oscillations
5 Power Relations

Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Power Relations
se
ea
el
The instantaneous power p in watts (W) supplied to the
R
system is equal to the product of the instantaneous driving
lic
force and the resulting instantaneous speed
ub
rP
p = F 2 /Zm cos (ωt − θ)

Fo
ot
In most situations the average power P being supplied to the

N
system is of more significance than the instantaneous power

Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Power Relations
se
ea
This average power is equal to the total work done per
el
complete vibration divided by the time of one vibration:
R
lic
1 T 1 T 2
Z Z
ub
P= pdt = (F /Zm ) cos(ωt) cos(ωt − θ)dt
T 0 T 0 rP
Z T
F2
Fo
cos2 ωt cos θ + cos ωt sin ωt sin θ dt

P=
Zm T 0
ot
N
F2
→P= cos θ
2Zm

Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Power Relations
se
This average power supplied to the system by the driving force
is not permanently stored in the system:
ea
el
however, it is dissipated in the work expended in moving the
R
system against the frictional force Rm u
lic
Since cos θ = Rm /Zm
ub
rP P = F 2 Rm /2Zm2
Fo
The average power delivered to the oscillator is a maximum

ot
N
when the mechanical reactance Xm vanishes, which from
Xm = ωm − s/ω
occurs when ω = ω0
Introduction
Damped Oscillations
Forced Oscillations
Power Relations

Power Relations
se
ea
el
At this frequency (ω = ω0 ) cos θ has its maximum value of
R
unity and Zm its minimum value Rm
lic
ub
Zm = Zm e jθ rP
q
Fo
|Zm | = Rm 2 + (ωm − s/ω 2 )2
ot
θ = tan−1 (Xm /Rm ) = tan−1 ((ωm − s/ω) /Rm )

N

02 Topic 02 Fundamentals of Vibration-3

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

02 Topic 02 Fundamentals of Vibration-3

Uploaded by

Copyright:

Available Formats

Topic 02: Fundamentals of Vibration

COME 474 − Acoustics

Topic 05 Loudness Reverberation Time Control of Interfering Noise

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 2/59

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 3/59

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 4/59

the increase in pressure produced when a fluid is compressed

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 5/59

ultrasonic frequencies above 20,000 Hz and the infrasonic

In studying vibrations we begin with the simplest type, a

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 6/59

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 7/59

The Simple Oscillator

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 8/59

The Simple Oscillator

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 9/59

The Simple Oscillator

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 10/59

The Simple Oscillator

Both s and m are positive, hence we can define a constant

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 11/59

The Simple Oscillator

the parameter ω0 is the natural angular frequency in radians

per second (rad/s)

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 12/59

Initial Conditions: Form 1

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 13/59

Initial Conditions: Form 2

A is the amplitude of the motion:

φ is the initial phase angle of the motion:

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 14/59

Initial Conditions: Form 2

The acceleration of the mass is:

a = −ω0 U cos (ω0 t + φ) = −ω02 A cos (ω0 t + φ)

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 15/59

Initial Conditions: Form 2

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 16/59

Energy of Vibration: Potential and Kinetic

spring as the mass moves from its equilibrium position

Using x = A cos (ω0 t + φ):

The total energy of the system is:

Where: s = mω02 , and U = ω0 A

Since the system was assumed to be free of external forces

and not subject to any frictional forces, it is not surprising

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 19/59

Complex Exponential Method of Solution

A1 and A2 are determined by initial conditions, with:

Complex Exponential Method of Solution

where A = a + jb. If only real part is considered:

Re{x} = a cos ω0 t − b sin ω0 t

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 21/59

Complex Exponential Method of Solution

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 22/59

Complex Exponential Method of Solution

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 23/59

Complex Exponential Method of Solution

u = jω0 Ae jω0 t = jω0 x

a = −ω02 Ae jω0 t = −ω02 x

Dr. Hilal M. El Misilmani Topic 02: Fundamentals of Vibration 24/59

Notes on the Exponential Form

The phasor representing the acceleration is out of phase with

the displacement phasor by π rad, or 180◦

→ After a sufficient time interval t 1/β, the damping term