CHAPTER 1: INTRODUCTION TO VIBRATION

Dr Asif Israr, HoD (Mechanical Engineering)

Institute of Space Technology
 Attention Required
2

 Class will start as per Time Table i.e. 9:00am

 5 minute cushion at the start of the class is available only for
Emergency
 You will be Marked Absent on Late Arrival/Joining of Online
Class
 Not to use Mobile/Cell Phone during the class. Strict action
will be taken if the mobile phone is found Visible
 No Disturbance and Irrelevant/Cross Talking during the class
 Ask Questions relevant to the topic discussed
 Show Positive Attitude and act like a Gentleman during the
course of study
Dr Asif Israr - Institute of Space Technology Week 1
 Course Text and References
3

 Course Text
 Theory of Vibration with Applications by W. T. Thomson and Marie Dillon Dahleh
 Mechanical Vibrations by S. S. Rao

 Relevant References
 Engineering Vibration by D. J. Inman
 Any book related to Vibration

 Lecture notes can be provided at the end of each

Chapter/Lecture

Dr Asif Israr - Institute of Space Technology

 Course Learning Outcomes
4

 Use of different modeling techniques such as

Newton's 2nd law, energy and matrix techniques
applied to vibrating systems for one/two/multi Degree
of Freedom.
 Analyze the physical parameters involved in natural
frequency calculations to free, harmonic or impulse
inputs.
 Construct engineering structures and mechanical
systems under dynamic conditions.

Dr Asif Israr - Institute of Space Technology Week 1

 Program Learning Outcomes
5

 PLO-01: Engineering Knowledge: An ability to apply knowledge of

mathematics, science and engineering fundamentals and an engineering
specialization to the solution of complex engineering problems.
 PLO-02: Problem Analysis: An ability to identify, formulate, research
literature, and analyze complex engineering problems reaching
substantiated conclusions using first principles of mathematics, natural
sciences and engineering sciences.
 PLO-03: Design/Development of Solution: An ability to design
solutions for complex engineering problems and design systems,
components, or processes that meet specified needs with appropriate
consideration for public health and safety, cultural, societal, and
environmental considerations.

Dr Asif Israr - Institute of Space Technology Week 1

 Course Lesson Plan
6

 Chapter 1: Introduction
1.1 Fundamentals of Vibration
1.2 Types of Vibration
1.3 Vibration Terminology
1.4 Degree of Freedom
1.5 Discrete and Continuous Systems
1.6 Simple Harmonic Motion
1.7 Vibration Analysis Procedure

Dr Asif Israr - Institute of Space Technology Week 1

 Course Lesson Plan
7

 Chapter 2: Single Degree of Freedom Systems -

Free Vibratory Systems
2.1 Introduction
2.2 Vibration Model
2.3 Newton’s Method
2.4 Energy Method
2.5 Viscously Damped Free Vibration
2.6 Logarithmic Decrement
2.7 Springs in Combination

Dr Asif Israr - Institute of Space Technology Week 1

 Course Lesson Plan
8

 Chapter 3: Single Degree of Freedom Systems -

Forced Vibratory Systems
3.1 Introduction
3.2 Forced Harmonic Vibration
3.3 Frequency Response
3.4 Rotating Unbalance
3.5 Base Excitation
3.6 Vibration Isolation
3.7 Whirling of Rotating Shaft
3.8 Energy Dissipation by Damping
Dr Asif Israr - Institute of Space Technology Week 1
 Course Lesson Plan
9

 Chapter 4: Transient Vibration

4.1 Introduction
4.2 Impulse Response Function
4.3 Response to an Arbitrary Input

Dr Asif Israr - Institute of Space Technology Week 1

 Course Lesson Plan
10

 Chapter 5: Systems with Two Degrees of Freedom

5.1 Introduction
5.2 The Normal Mode Analysis
5.3 Free Vibration Analysis of an Undamped Systems
5.4 Coordinate Coupling
5.5 Free Vibration Analysis of Damped Systems
5.6 Forced Harmonic Vibration of an Undamped Systems
5.7 Forced Harmonic Vibration of Damped Systems

Dr Asif Israr - Institute of Space Technology Week 1

 Course Lesson Plan
11

 Chapter 6: Multi Degree of Freedom Systems -

Solution Methodologies
6.1 Introduction
6.2 Eigen Values and Eigen Vectors
6.3 Dunkerley’s Method
6.4 Rayleigh’s Method
6.5 Influence co-efficients
6.6 Matrix Iteration Method
6.7 Stodola’s Method
6.8 Holzer’s Method
Dr Asif Israr - Institute of Space Technology Week 1
 Course Grades
12

 Grades will be based on:

 Assignments (Optional) (5-10)%
 Quizzes (10-15)%
 OHTs (25-30)%
 Course/Term project (10-15)% to be handed in by 15th Week
 Final Exam (45-50)% in 17th week
 All write ups that you present MUST contain Your name and
Registration Number
 In case of no assignments %age will be added to Quizzes/OHTs

Dr Asif Israr - Institute of Space Technology

 Assignments
13

 Be as detailed and explicit as possible. For full credit Do NOT

omit steps.

 Only neatly written assignments will be graded

 Late Assignments will NOT be accepted.

Dr Asif Israr - Institute of Space Technology

 Course Project
14

 Submit 1-page project proposal latest by 3rd week (in class). The earlier the
better.
 A Final presentation of 10 min + 5 min (Q/A) will be required in 15th week.
 Submit a project report (typed) by 15th week.
 Project report Must be professional (Text font Times 11pt with single spacing)
and Must include the following sections:
Introduction

Problem Statement

Methodologies used

Results and Discussions

 Other sections might be included in the report as per requirement of the

project

Dr Asif Israr - Institute of Space Technology

 Outline
15

Chapter 1: Introduction
 Fundamentals of Vibration
 Types of Vibration

 Vibration Terminology

 Degree of Freedom

 Discrete and Continuous Systems

 Simple Harmonic Motion

 Vibration Analysis Procedure

Dr Asif Israr - Institute of Space Technology Week 1

 Definitions
16

 Def 1: Vibration is the physical movement or oscillation of a mechanical part

about a reference position

 Def 2: When an elastic bodies such as a spring, a beam or a shaft is displaced

from the equilibrium position by the application of external forces, and then
released, they execute a vibratory motion

 Def 3: Vibration deals with the oscillatory behaviour of bodies (bodies

possessing mass and elasticity are capable of vibration).

 Def 4: An important and special class of problems in dynamics concerns the

linear and angular motions of bodies which oscillate or otherwise respond to
applied disturbances in the presence of restoring forces

Dr Asif Israr - Institute of Space Technology Week 1

 Examples
17

• The response of an engineering structure to earthquakes

• The vibration of an unbalanced rotating machine
• The time response of the plucked string of a musical instrument
• And, the flutter of aircraft wings
Dr Asif Israr - Institute of Space Technology Week 1
 Practical Examples
18

 Everyday examples where vibrations are involved

 Mostly, vibrations are undesirable in machines and

structures because they produce increased stresses,
energy losses, cause added wear, increase bearing loads,
induce fatigue, create passenger discomfort in vehicles
and absorb energy from the system

Dr Asif Israr - Institute of Space Technology Week 1

 Terminology
19

Prior to any discussion of vibration, it is important to first understand the common

terms used in vibration studies:

Time Period or Period of Vibration

It is the time required to complete one cycle. It is usually expressed in second.

Cycle
 An interval of time during which a regularly repeated events or sequence of
event occurs
 The movement of a vibrating body from its undisturbed or equilibrium position
to its extreme position in one direction, then to the equilibrium position, then to
its position in other direction, and back to equilibrium position

Amplitude
 The maximum displacement of a vibrating body from its equilibrium position

Dr Asif Israr - Institute of Space Technology Week 1

 Terminology
20

Frequency
Number of cycles described in one second. It is represented in Hertz (SI units)

Natural Frequency
 Frequency of the system having vibration without friction
 If a system, after an initial disturbances, is left to vibrate on its own, the
frequency with which it oscillates without external forces are called natural
frequency

Damped Natural Frequency

Frequency of the system having vibration with friction

Resonance
Occurs when the frequency of the excitation is equal to the natural frequency of
the system. The failure of major structures such as bridges, buildings, or air
plane wings is an awesome possibility under resonance.

Dr Asif Israr - Institute of Space Technology Week 1

 Types of Vibration
21

 Free or Natural Vibrations

 When no external force acts on the body, after giving it an initial
displacement, then the body is said to be under free or natural
vibrations. The frequency of the free vibration is called free or
natural frequency

 Forced Vibrations
 When the body vibrates under the influence of external force, the
body is said to be under forced vibrations. The external force applied
to the body is a periodic disturbing force created by unbalance. The
vibration have the same frequency as the applied force.

 Damped Vibrations
 When there is reduction in amplitude over every cycle of vibration,
the motion is said to be damped vibration

Dr Asif Israr - Institute of Space Technology Week 1

 Types of Vibration
22

 Longitudinal Vibrations
 When the particles of the shaft or disc moves parallel to the axis of
the shaft then the vibrations are known as longitudinal vibrations

 Transverse Vibrations
 When the particles of the shaft or disc move approximately
perpendicular to the axis of the shaft then the vibrations are known as
transverse vibration

 Torsional Vibrations
 When the particles of the shaft or disc move in a circle about the axis
of the shaft then the vibrations are known as torsional vibration
Dr Asif Israr - Institute of Space Technology Week 1
 Types of Vibrational Systems
23

Oscillatory systems can also be broadly characterized as linear or nonlinear.

 For linear systems: the mass, damper and spring behave in a linear manner, i.e.
spring force is proportional to displacement, damping resistance is proportional
to relative velocity and mass inertia is proportional to acceleration. The principle
of superposition holds, and the mathematical techniques available for their
treatment.
 In contrast, techniques for the analysis of nonlinear systems are less well
known, and difficult to apply.
 Vibrating systems are all subject to damping to some degree because energy is
dissipated by friction and other resistances.
 If damping is small, it has very little influence on the natural frequencies of the
system, and hence the calculations of the natural frequencies are generally made on
the basis of no damping.
 On the other hand, damping is of great importance in limiting the amplitude of
oscillation at resonance.

Dr Asif Israr - Institute of Space Technology Week 1

 Types of Vibrational Systems
24

 Continuous or Distribute-parameter system is one in which the

mass and spring elements are continuously spread over space e.g.
shafts, plates, beams etc.

 Discrete or Lumped-parameter system is one in which the

mass and spring elements are separate and concentrated e.g.
Spring-mass system

Dr Asif Israr - Institute of Space Technology Week 1

 Degree of Freedom (DOF)
25

 Number of independent coordinates necessary to describe the

motion of the body.
 If only one independent coordinate is required to describe the
geometric location of the masses of the system in space, called
single degree of freedom system (SDOF)
 Rigid body – 6 DOFs
 Continuous System – Infinite DOFs

Dr Asif Israr - Institute of Space Technology Week 1

 Vibration Analysis Procedure
26

 A vibratory system is a dynamic system in which oscillations

(inputs) and responses (outputs) are time dependent
 The response of a vibrating system generally depends on the initial
conditions and external excitations
 Practically, vibrating systems are very complex, therefore
important features are considered in the analysis under specified
input conditions
 Analysis of a vibrating system usually involves
 Mathematical Modelling
 Derivation of Governing Equations
 Solution of the Governing Equations
 Interpretation of the Results

Dr Asif Israr - Institute of Space Technology Week 1

 Example 1 – Vibration Analysis Procedure
27

Modelling of a Forging Hammer

 It consist of a frame, a falling weight (tup), an anvil and a foundation block.
 An anvil is a steel block on which material is forged into desired shape by the
repeated blows of the tup.
 The anvil is mounted on an elastic pad to reduce the transmission of vibration to
the foundation block and the frame.

Dr Asif Israr - Institute of Space Technology Week 1

 Example 1 – Vibration Analysis Procedure
28

 More accurate modeling of a forging hammer

Dr Asif Israr - Institute of Space Technology Week 1

 Example 2 – Vibration Analysis Procedure
29

 Motorcycle with a Rider

v = vehicle
r = rider
s = strut
w = wheel
t = tire

Dr Asif Israr - Institute of Space Technology Week 1

 Example 2 – Vibration Analysis Procedure
30

 More accurate modeling of bike rider system

Dr Asif Israr - Institute of Space Technology Week 1

 Vibration Analysis
31

Dr Asif Israr - Institute of Space Technology Week 1

 Example: Try yourself
32

 An automobile moving over a rough road can be modeled

considering
 (a) weight of the car body, passengers, seats, front wheels, and rear
wheels;
 (b) elasticity of tires (suspension), main springs, and seats; and
 (c) damping of the seats, shock absorbers, and tires.
Develop three mathematical models of the system using a gradual
refinement in the modeling process

Dr Asif Israr - Institute of Space Technology Week 1

33

Dr Asif Israr - Institute of Space Technology Week 1

34

Dr Asif Israr - Institute of Space Technology Week 1

 Example: Try Yourself
35

 A reciprocating engine is mounted on a foundation as shown in

figure. The unbalanced forces and moments developed in the
engine are transmitted to the frame and the foundation of
vibration. Develop two mathematical models of the system using a
gradual refinement of the modeling process

Dr Asif Israr - Institute of Space Technology Week 1

36

Dr Asif Israr - Institute of Space Technology Week 1

 Simple Harmonic Motion
37

 Oscillatory motion may repeat itself

regularly, as in the case of simple pendulum,
or it may display considerable irregularity, as
in the case of ground motion during an earth
quake.

 If a motion is repeated after equal intervals

of time, it is called periodic motion or
harmonic motion

 In Simple harmonic motion acceleration is

directly proportional to the displacement and
directed towards the equilibrium position

Dr Asif Israr - Institute of Space Technology Week 1

 Summary of Simple Harmonic Motion
38

x(t) Period
Amplitude
2
T A
n
Slope
x0 here is v0
t

Maximum
 Velocity
n n A

 n rad/s  n cycles  n
fn    Hz
2 rad/cycle 2 s 2
Dr Asif Israr - Institute of Space Technology Week 1