02 Introduction of Mechanical Vibration II

LECTURE MODULE
MECHANICAL
VIBRATION
INTRODUCTION OF
MECHANICAL VIBRATION
II
Faculty Major Chapter Code Compiled by

Engineering Mechanical W13170001 Dedik Romahadi, ST., M.Sc
Engineering
02 6
Abstract Competence
Introduction of Mechanical Able to explain the definition of
Vibration. Mechanical Vibration.
GENERALIZED COORDINATES
Mathematical modeling of a physical system requires the selection of a set of variables that
describes the behavior of the system. Dependent variables are the variables that describe
the physical behavior of the system. Examples of dependent variables are displacement of a
particle in a dynamic system, the components of the velocity vector in a fluid flow problem,
the temperature in a heat transfer problem, or the electric current in an AC circuit problem.
Independent variables are the variables with which the dependent variables change. That is,
the dependent variables are functions of the independent variables. An independent variable
for most dynamic systems and electric circuit problems is time. The temperature distribution
in a heat transfer problem may be a function of spatial position as well as time. The
dependent variables in most vibrations problems are the displacements of specified particles
from the system’s equilibrium position while time is the independent variable.
Coordinates are kinematically independent if there is no geometric relationship
between them. The coordinates are kinematically dependent because
x  r2
and
r1
y  r1 
r2
The cables have some elasticity which is modeled by springs. The coordinates x, y, and are
kinematically independent, because Equations are not applicable due to the elasticity of the
cables.
The number of degrees of freedom for a system is the number of kinematically
independent variables necessary to completely describe the motion of every particle in the
system. Any set of n kinematically independent coordinate for a system with n degrees of
freedom is called a set of generalized coordinates. The number of degrees of freedom used
in analyzing a system is unique, but the choice of generalized coordinates used to describe
the motion of the system is not unique. The generalized coordinates are the dependent
variables for a vibrations problem and are functions of the independent variable, time. If the
time history of the generalized coordinates is known, the displacement, velocity, and
acceleration of any particle in the system can be determined by using kinematics.
2019 Mechanical Vibration

2 Dedik Romahadi, ST., M.Sc
Pusat Bahan Ajar dan eLearning
http://www.mercubuana.ac.id
A single particle free to move in space has three degrees of freedom, and a suitable
choice of generalized coordinates is the cartesian coordinates (x, y, z) of the particle with
respect to a fixed reference frame. As the particle moves in space, its position is a function of
time.
A unrestrained rigid body has six degrees of freedom, three coordinates for the
displacement of its mass center, and angular rotation about three coordinate axes. However
constraints may reduce that number. A rigid body undergoing planar motion has three
possible degrees of freedom, the displacement of its mass center in a plane, and angular
rotation about one axis. Two rigid bodies undergoing planar motion have six degrees of
freedom, but they may be connected in a manner which constrains them and reduces the
number of degrees of freedom.
a) The coordinates x, y, and θ are kinematically dependent, because there exists a

kinematic relationship between them.
b) The coordinates x, y, and θ are kinematically independent, because there is no
kinematic relation between them due to the elasticity of the cables modeled here as
springs.

a) The general three-dimensional motion of a rigid body has six degrees of freedom. Its
mass center is free to move in three coordinate directions, and rotation may occur
about three axes.
b) A rigid body undergoing planar motion has at most three degree of freedom. Its mass
center can move in two directions, and rotation occurs only about an axis
perpendicular to the plane of motion.
EXAMPLE
Each of the systems of Figure 1.7 is in equilibrium in the position shown and undergoes
planar motion. All bodies are rigid. Specify, for each system, the number of degrees of
freedom and recommend a set of generalized coordinates.
Solution:

(a) through (d) Systems of Example. Possible generalized coordinates are indicated particle
initially a distance a from the fixed support has a horizontal position a cos θ and a vertical
displacement a sin θ.
(b) The system has two degrees of freedom, assuming it is constrained from side-
toside motion. If θ, the clockwise angular displacement of the bar measured from its
equilibrium position, and x, the displacement of the bar’s mass center measured from
equilibrium, are chosen as generalized coordinates, then the displacement of a particle a
distance d to the right of the mass center is x θ d sin θ. An alternate choice for the
generalized coordinates is x1, the displacement of the right end of the bar, and x2, the
displacement of the left end of the bar, both measured from equilibrium.
(c) The system has two degrees of freedom. The sliding block is rigidly connected to
the pulley, but the pulley is connected by a spring to the hanging block. Two possible
degrees of freedom are x1 (the displacement of the sliding block from equilibrium) and x2
(the displacement of the hanging mass from the system’s equilibrium position). An alternate
choice of generalized coordinates are θ (the clockwise angular rotation of the pulley from
equilibrium) and x2.
(d) The system has four degrees of freedom. The sliding block is connected by an
elastic cable to the pulley. The pulley is connected by an elastic cable to bar AB, which is
connected by a spring to bar CD. A possible set of generalized coordinates (all from

equilibrium) is x, the displacement of the sliding block; θ, the clockwise angular rotation of the
pulley; θ, the counterclockwise angular rotation of bar AB; and θ, the clockwise angular
rotation of bar CD.
The systems of Example are assumed to be composed of rigid bodies. The relative
displacement of two particles on a rigid body remains fixed as motion occurs. Particles in an
elastic body may move relative to one another as motion occurs. Particles A and C lie along
the neutral axis of the cantilever beam, while particle B is in the cross section obtained by
passing a perpendicular plane through the neutral axis at A. Because of the assumption that
plane sections remain plane during displacement, the displacements of particles A and B are
related. However, the displacement of particle C relative to particle A depends on the loading
of the beam. Thus, the displacements of A and C are kinematically independent. Since A and
C represent arbitrary particles on the beam’s neutral axis, it is inferred that there is no
kinematic relationship between the displacements of any two particles along the neutral axis.
Since there are an infinite number of particles along the neutral axis, the cantilever beam has
an infinite number of degrees of freedom. In this case, an independent spatial variable x,
which is the distance along the neutral axis to a particle when the beam is in equilibrium, is
defined. The dependent variable, displacement, is a function of the independent variables x
and time, w(x, t).
The transverse displacements of particles A and B are equal from elementary beam theory.
However, no kinematic relationship exists between the displacements of particle A and B
particle C. The beam has an infinite number of degrees of freedom and is a continuous
system.
CLASSIFICATION OF VIBRATION
Vibrations are classified by the number of degrees of freedom necessary for their modeling,
the type of forcing they are subject to, and the assumptions used in the modeling. Vibrations
of systems that have a finite number of degrees of freedom are called discrete systems. A
system with one degree of freedom is called a single degree-of-freedom (SDOF) system. A
system with two or more degrees of freedom is called a multiple degree-of-freedom (MDOF)

system. A system with an infinite number of degrees of freedom is called a continuous
system or distributed parameter system.
If the vibrations are initiated by an initial energy present in the system and no other
source is present, the resulting vibrations are called free vibrations. If the vibrations are
caused by an external force or motion, the vibrations are called farced vibrations. If the
external input is periodic, the vibrations are harmonic. Otherwise, the vibrations are said to
be transient. If the input is stochastic, the vibrations are said to be random.
If the vibrations are assumed to have no source of energy dissipation, they are called
undamped. If a dissipation source is present, the vibrations are called damped and are
further characterized by the form of damping. For example, if viscous damping is present,
they are called viscously damped.
If assumptions are made to render the differential equations governing the vibrations
linear, the vibrations are called linear. If the governing equations are nonlinear, then so are
the vibrations.
Mathematical modeling of SDOF systems is the topic of Chapter 2. Free vibrations of
SDOF systems are covered in Chapter 3 (first undamped, then viscously damped, and finally
with other forms of damping). Forced vibrations of SDOF systems are covered in Chapter 4
(harmonic) and Chapter 5 (transient). Chapter 6 discusses the special case of two degree
offreedom systems from the derivation of the differential equations to forced vibrations. The
more general MDOF systems are considered in Chapters 7 through 9. Chapter 7 focuses on
the modeling of MDOF systems, Chapter 8 on the free vibration response of undamped and
damped systems, and Chapter 9 on the forced response of MDOF systems. Chapters 10 and
11 consider continuous systems. The exact free and forced response of continuous systems
is covered in Chapter 10, while Chapter 11 presents a numerical method called the
finiteelement method, which is used to approximate continuous systems with a discrete
systems model. Chapter 12 covers nonlinear vibrations. Finally, Chapter 13 covers random
vibrations.
DIMENSIONAL ANALYSIS
An engineer want to run tests to find the correlation between a single dependent variable and
four independent variables,
y  f ( x1 , x2 , x3 , x4 )
There are ten values of each independent variable. Changing one variable at a time requires

10,000 tests. The expense and time required to run these tests are prohibitive.
A better method to organize the tests is to use non-dimensional variables. The
Buckingham Pi theorem states that you count the number of variables, including the
dependent variable: call it n. Then count the number of basic dimensions involved in the
variables; call it r. Then you need n - r dimensionless variables or π groups. If n = 6 and n = 3
there are three π groups, and the relation has a non-dimensional form of
 1  f ( 2 ,  3 )
where π1 is a dimensionless group of parameters involving the dependent variable and π2
and π3 are dimensionless groups that involve only the independent parameters.
Usually, the dimensionless parameters have physical meaning. For example, in fluid
mechanics when it is desired to find the drag force acting on an airfoil, it is proposed that
D  f (v, L,  , c)
where D is the drag force, v is the velocity of the flow, L is the length of the airfoil, L is the
mass density of the fluid, μ is the viscosity of the fluid, and c is the speed of sound in the
fluid. There are six variables which involve three dimensions. Thus, the Buckingham Pi
theorem yields a formulation involving three π groups. The result is
CD  f ( Re , M )
where the drag coefficient is
D
CD 
1 2
v L
2
the Reynold number is
 vL
Re 

and the Mach number is
v
M
c
The drag coefficient is the ratio of the drag force to the inertia force, the Reynolds number is
the ratio of the inertia force to the viscous force, and the Mach number is the ratio to the
velocity of the flow to the speed of sound.
Dimensional analysis also can be used when a known relationship exists between a
single dependent variable and a number of dimensional variables. The algebra leads to a
relationship between a dimensionless variable involving the dependent parameter and
nondimensional variables involving the independent parameters.

EXAMPLE
A dynamic vibration absorber is added to a primary system to reduce its amplitude. The
absorber is illustrated in Figure 1.9 and studied in Chapter 6. The steady-state amplitude of
the primary system is dependent upon six parameters:
 m1, the mass of the primary system
 m2, the absorber mass
 k1, the stiffness of the primary system
 k2, the absorber stiffness
 F0, the amplitude of excitation
 ω, the frequency of excitation
The example is to determine the non-dimensional form of the steady-state amplitude of the
primary system when an absorber system is added.
The equation for the dimensional amplitude is
Non-dimensionalize this relationship.
Solution:
The dimensional variables involve three independent basic dimensions: mass, length, and
time. The Buckingham Pi theorem predicts that the non-dimensional relationship between

X1 and the parameters involve 7 - 3 = 4 non-dimensional parameters. Factor k2 out of the
numerator and k1k2 out of the denominator, resulting in
SIMPLE HARMONIC MOTION

Consider a motion represented by
x(t )  A cos t  B sin t
Such a motion is referred to as simple harmonic motion. Use of the trigonometric identity
sin(t   )  sin t cos   cos t sin 
in Equation gives
x(t )  X sin(t   )

where
X  A2  B 2
and
 A
  tan 1  
B
Equation is illustrated in Figure. The amplitude, X, is the maximum displacement from
equilibrium. The response is cyclic. The period is the time required to execute one cycle, is
determined by
2
T

and is usually measured in seconds (s). The reciprocal of the period is the number of cycles
executed in one second and is called the frequency

f 
2
The unit of cycles/second is designated as one hertz (Hz). As the system executes one
cycle, the argument of the trigonometric function goes through 2π radians. Thus, 1 cycle = 2π
radians and the frequency becomes
Thus, ω is the circular frequency measured in rad/s. The frequency also may be expressed in
term of revolutions per minute (rpm) by noting that one revolution is the same as one cycle
and there are 60 s in one minute,
The phase angle ϕ represents the lead or lag between the response and a purely sinusoidal
response. If ϕ > 0, the response is said to “lag” a pure sinusoid, and if ϕ < 0, the response is
said to “lead” the sinusoid.

REFERENCES
Benaroya, H., Nagurka, M., & Han, S. (2017). Mechanical Vibration: Analysis, Uncertainties,
and Control, Fourth Edition. Boca Raton: CRC Press.
Kelly, S. G. (2012). Mechanical Vibrations: Theory and Applications, SI. USA: Global
Engineering: Christopher M. Shortt.
Lalanne, C. (2013). Mechanical Vibration and Shock Analysis, Random Vibration. Wiley.


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LECTURE MODULE

Faculty Major Chapter Code Compiled by

2019 Mechanical Vibration

a) The coordinates x, y, and θ are kinematically dependent, because there exists a

2019 Mechanical Vibration

2019 Mechanical Vibration

2019 Mechanical Vibration

2019 Mechanical Vibration

2019 Mechanical Vibration

2019 Mechanical Vibration

The equation for the dimensional amplitude is

Non-dimensionalize this relationship.

2019 Mechanical Vibration

SIMPLE HARMONIC MOTION

2019 Mechanical Vibration

2019 Mechanical Vibration

2019 Mechanical Vibration

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