MECHANICAL VIBRATION

MEng3072

Dr. T. M. Jamir
Assistant Professor
Department Of Mechanical Engineering

Dr. T. M. Jamir

Debre Berhan University

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 MECHANICAL VIBRATION

Course Outline
1. Introduction: Why we study vibration?; Kinematics of vibrations
2. Introduction to Modeling: Mechanical modeling; Mechanical
elements; Continuous system elements
3. Single Degree of Freedom System: Undamped free vibration;
Damped free vibration: Viscous damping; Columb damping; Hysterisis
damping (optional)
4. Forced Vibration of Single Degree of Freedom System: 

Mechanical models and equations of motion; General solution of the
equation of motion; Application of SDOF system
5. Two Degree of Freedom System: Free undamped vibration; Free
vibration with damping; Forced vibration
6. Multi-Degree of Freedom System: Generalized coordinates;
Derivation of the equations of motion; Free undamped vibration; Forced
vibration; Approximate methods: Rayleigh method, Dunkerly’s method,
Holzer’s method, Matrix iteration method(Optional), Jacobi’s method
(optional)
7. Whirling of Shafts Dr. T. M. Jamir
8. Torsional Vibration
9. Causes of Vibration and Control: Causes of vibration; Vibration
control
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 MECHANICAL VIBRATION

Individual and Group Assignments

Whirling of Shafts
TorsionalVibration
Causes of Vibration and Control: Causes of vibration; Vibration control

Attendance 5
Individual Assgn 10
Group Assgn 10
Quiz 10
Mid Exam 15
Final Exam 50
0 13 25 Dr. T. M. Jamir
38 50

Marks Distribution

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 UNIT: 1: Introduction:
Why we study vibration?; Kinematics of vibration.

1.1. What is vibration?

Oscillations of a mechanical or structural system about an
equilibrium position
Study of repeated, or nearly repeated, motion of mechanical
systems
Any motion that repeats itself after an interval of time

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1.2. Vibration Significance
Experience in our everyday life
As Engineers
✦ Avoiding excessive (undesirable) vibration. Eg. structure,
machine, vehicle etc
✦ Induce certain types of vibrations in a very precise manner.
Eg. Cellphone, Music, Machinery etc..

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1.3. Basic Terminology
Period, Frequency, and Amplitude
Motion that repeats itself over and over =
Periodic motion
The time required for one repetition = Period, T.
One complete repetition of the motion = A cycle.
The rapidity of a vibration is represented in
terms of the number of vibrations per second, a
quantity called the frequency, f
Since the period is the number of seconds per
cycle and the frequency is the number of cycles
per second, they are reciprocals of each other
1
f= Units: Hertz
T
1 Hz = 1 s−1
Spring has an equilibrium length, 1, and can be stretched,
2, or compressed, 3. A mass attached to the spring can be
set into motion initially, 4, and will then vibrate, 4-13.

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 Period, Frequency, and Amplitude

Frequency = How fast something vibrates

How big/magnitude vibrations are??
Amplitude, A

A block on the end of the spring

Pendulum or a child on a swing

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 Simple Harmonic Motion [SHM]

If we actually construct the mass-on-a-spring

system and measure its motion accurately, we will
find that its x−t graph is nearly a perfect sine-wave
shape, as shown in figure 1. (We call it a “sine wave”
or “sinusoidal” )
A sinusoidal vibration is known as SHM.

Sinusoidal and non-sinusoidal vibrations

Example: Mass on a spring, for which force on the

mass is given by Hooke’s law
F = −kx

A stiffer spring has a larger value of k and a steeper slope.

The force exerted by an ideal spring, which behaves

exactly according to Hooke’s law.
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 Simple Harmonic Motion

Theorem: A linear force graph makes a sinusoidal

motion graph.
If the total force on a vibrating object depends
only on the object’s position, and is related to the
objects displacement from equilibrium by an
equation of the form F = −kx, then the object’s
motion displays a sinusoidal graph with period
m
T = 2π
k
Period is approximately independent of amplitude.

Seen from close up any Compare the periods of pendula having bobs with different masses.
F − x curve looks like a m
◃ From the equation T = 2π
line. k
We might expect that a larger mass would lead to a longer period.
However, increasing the mass also increases the forces that act on the
pendulum: gravity and the tension in the string. This increases k as
well as m, so the period of a pendulum is independent of m.

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 Energy in Vibration
Resonance:
The tendency of a vibrating system to respond most strongly to a
driving force whose frequency is close to its own natural frequency
of vibration
Energy in Vibration
Total energy is proportional to the square of the amplitude.

Energy Lost From Vibrations

Friction, heat, etc
The dissipation of the energy in a vibration is known as
damping.

Putting Energy Into Vibrations

The steady-state response (SSR) to a sinusoidal driving force
occurs at the frequency of the force, not at the system’s own
natural frequency of vibration.
A vibrating system resonates at its own natural frequency.
That is, the amplitude of the SSR is greatest in proportion to
the amount of driving force when the driving force matches the
natural frequency of vibration.
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 DEGREES OF FREEDOM (DOF)

A two bar mechanism.

DOF= The number of independent coordinates needed to describe the

configuration of a system at any time
If location of pins B and C are know at any time, then we know the
configuration of the entire system at that time, since the lengths of the
rigid rods are specified
Location of pins B and C
(xB , yB) and (xC , yC)
θAB and θBC
(xB , yB) and θBC
Minimum number of coordinates = Two ~ Degrees of freedom of the
system
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 DEGREES OF FREEDOM (DOF)

Examples:
One degree of freedom (1 d.o.f.) systems

Mass-spring system
Simple pendulum.
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 DEGREES OF FREEDOM (DOF)

Examples:
Two degree of freedom (2 d.o.f.) systems

Two-mass-two-spring system
Double pendulum.

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 DEGREES OF FREEDOM (DOF)

Examples:
N-degree of freedom ( N-d.o.f.) systems

N-mass-N+1-spring system

Compound pendulum.

Discrete model of aircraft structure.

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 Discrete and Continuous Systems

A cantilever beam (An infinite-number-of-degrees-

of-freedom system)

Infinite number of mass points, we need an infinite number of

coordinates to specify its deflected configuration.
Systems with a finite number of degrees of freedom = Discrete or
lumped parameter systems
Systems with an infinite number of degrees of freedom =
Continuous or distributed systems

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 Classification Of Vibration
Free and Forced Vibration
Free Vibration: If a system, after an initial disturbance, is left to vibrate
on its own. No external force.
This frequency is called as Natural frequency,

Forced Vibration. If a system is subjected to an external force (often, a

repeating type of force).
The oscillation that arises in machines such as gasoline/diesel engines

Frequency of the external force coincides with one of

the natural frequencies of the system = Resonance.
[Dangerously large oscillations. Failures of
buildings, bridges, turbines, airplane wings, etc. ]

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 Classification Of Vibration

Undamped and Damped Vibration

Undamped vibration: If no energy is lost or dissipated in friction

or other resistance during oscillation.
Damped vibration: If any energy is lost.
In many physical systems, the amount of damping is so small that it
can be disregarded for most engineering purposes. However,
consideration of damping becomes extremely important in analyzing
vibratory systems near resonance.
Linear and Nonlinear Vibration
Linear Vibration: If all the basic components of a vibratory system
behave linearly
Linear Differential Equations
Nonlinear Vibration. If any of the basic components behave
nonlinearly.
Non-Linear Differential Equations
Almost all vibratory systems tend to behave nonlinearly with increasing
amplitude of oscillation
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 Classification Of Vibration

Deterministic and Random Vibration

Deterministic vibration: If the value or magnitude of the
excitation (force or motion) acting on a vibratory system is
known at any given time the excitation is called deterministic.
Random vibration: If the value of the excitation at a given
time cannot be predicted. The excitation is nondeterministic or
random
Examples: Wind velocity, road roughness, ground motion
during earthquakes.

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PROBLEMS

Each of the systems of the given figures [1-4] 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.

[1] [2]

[3] [4]

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