Mechanics of Machinery I (ME 349)

[Vibration]

Md. Sharier Nazim

B.Sc. Mechanical Engineering, KUET

Adjunct Lecturer, Mechanical Engineering Department

Sonargaon University
 Vibration

❑Vibration can be considered to be the oscillation or repetitive motion of an object

around an equilibrium position
❑Any motion that repeats itself after an interval of time is called vibration.
❑It involves transfer of potential energy to kinematic energy & vice versa.
❑Vibratory system consists of-
✓ A means of storing potential energy (Spring or elasticity)
✓A means of storing kinetic energy (Mass or inertia)
✓ A means by which energy is gradually lost (damper)
 How Vibration Occurs?

❑When elastic bodies such as a spring, a beam and a shaft are

displaced from the equilibrium position by the application of
external forces, and then released, they execute a vibratory motion.
❑This is due to the reason that, when a body is displaced, the
internal forces in the form of elastic or strain energy are present in
the body. At release, these forces bring the body to its original
position. When the body reaches the equilibrium position, the
whole of the elastic or strain energy is converted into kinetic
energy due to which the body continues to move in the opposite
direction.
❑The whole of the kinetic energy is again converted into strain
energy due to which the body again returns to the equilibrium
position. In this way, the vibratory motion is repeated indefinitely.
 Terms Used in Vibratory Motion

❑Period of Vibration or Time Period: It is the time interval after

which the motion is repeated itself. The period of vibration is
usually expressed in seconds.
❑Cycle: It is the motion completed during one time period.
❑Frequency: It is the number of cycles described in one second.
In S.I. units, the frequency is expressed in hertz (briefly written
as Hz) which is equal to one cycle per second

2𝜋
❖ Angular Frequency, ω=2𝜋f=
𝑇
 Types of Vibratory Motion

❑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 vibrations is called free or natural
frequency.
Example: Simple Pendulum

❑Forced vibrations: When the body vibrates under the

influence of external force, then 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
vibrations have the same frequency as the applied force.
Example: Oscillation arise from Diesel Engine Vibrations
 Types of Vibratory Motion

❑Damped vibrations:When there is a reduction in

amplitude over every cycle of vibration, the motion
is said to be damped vibration.
✓This is due to the fact that a certain amount of energy
possessed by the vibrating system is always
dissipated in overcoming frictional resistances to the
motion.

❖Undammed Vibrations: When no energy is lost or

dissipated in friction or other resistance during
oscillations, it is called undammed vibrations.
 Degree of Freedom

❑Degree of Freedom : The minimum number of independent coordinates required

to determine completely the position of all parts of a system at any instant of time.
❖Single degree of freedom systems:
 Degree of Freedom

❖Two degree of freedom systems:

❖Three degree of freedom systems:

 Types of Free Vibration

❑ Longitudinal vibrations
❑Transverse vibrations
❑ Torsional vibrations

❑Longitudinal vibrations :When the particles of the shaft or disc

moves parallel to the axis of the shaft, as shown in Fig. then the
vibrations are known as longitudinal vibrations.
✓ In this case, the shaft is elongated and shortened alternately and thus
the tensile and compressive stresses are induced alternately in the shaft.
 Types of Free Vibration

❑Transverse Vibrations: When the particles of the shaft or disc

move approximately perpendicular to the axis of the shaft, as
shown in Fig. then the vibrations are known as transverse
vibrations.
✓In this case, the shaft is straight and bent alternately and
bending stresses are induced in the shaft.

❑Torsional Vibrations :When the particles of the shaft or disc

move in a circle about the axis of the shaft, as shown in Fig.
then the vibrations are known as torsional vibrations.
✓In this case, the shaft is twisted and untwisted alternately and
the torsional shear stresses are induced in the shaft
 Natural Frequency of Free Longitudinal Vibrations

❑Equilibrium Method
❑ Energy Method
❑Rayleigh’s Method
 Equilibrium Method

❑Consider a constraint(i.e. spring) of negligible mass

in an unstrained position.
Let, s = Stiffness of the constraint.
=It is the force required to produce unit
displacement in the direction of vibration. [N/m]
m = Mass of the body suspended from the constraint
[Kg]
W = m.g =Weight of the body in newtons [N]
𝛿 = Static deflection of the spring in metres due to
weight W
x = Displacement given to the body by the external
force, [m]
 Equilibrium Method
❑In the equilibrium position,
the gravitational pull W = m.g
The spring force, W = s𝛿
❑Since the mass is now displaced from its equilibrium
position by a distance x, as shown in Fig. and is then released,
therefore after time t
❑Restoring force=W-s(𝛿+x)
=W-s𝛿-sx
= s𝛿-s𝛿-sx
= -sx …………………………(1)
❑Accelerating force = Mass × Acceleration
𝑑2 𝑥
=m×
𝑑𝑡 2
………………..(2)
 Equilibrium Method

❑From eqn (1) & (2)

𝑑2 𝑥
m× 2 = −sx
𝑑𝑡
𝑑2 𝑥
or, m× 2 + sx=0
𝑑𝑡
𝑑2 𝑥 𝑠
or, 2 + x=0
𝑑𝑡 𝑚
❑We know that the fundamental equation of simple harmonic motion is ,
𝑑2 𝑥
2 + ω2 x=0………….(4)
𝑑𝑡
𝑠
Comparing (3) & (4) , ω=
𝑚
 Equilibrium Method

2𝜋 2𝜋 𝑚
❑Time Period,𝑡𝑝 = = =2𝜋
ω 𝑠 𝑠
𝑚
𝑡𝑝 =2𝜋
𝑚
𝑠

1 1 1 𝑚 1 𝑔
❑Natural frequency, 𝑓𝑛 = = 2𝜋 = [∵mg=s𝛿] 𝑓𝑛 =
𝑡𝑝 2𝜋 𝑠 2𝜋 𝛿
𝑠
𝑚
0.4985
𝑓𝑛 =
1 𝑔 𝑓𝑛 =
2𝜋 𝛿 𝛿

Taking the value of g as 9.81 m/s and 𝛿 in metres

1 𝐺 0.4985
𝑓𝑛 = =
2𝜋 𝛿 𝛿
 Equilibrium Method

❑The value of static deflection may be found out from the given conditions of the
problem. For longitudinal vibrations, it may be obtained by the relation,

[stress= modulus of elasticity* strain]

𝐹𝑜𝑟𝑐𝑒𝑠 change in length

𝐴𝑟𝑒𝑎 original length
0.4985 𝐴𝐸
∴ 𝑓𝑛 = =0.4985
𝛿 𝑊𝐼
 Energy Method

❑We know that the kinetic energy is due to the motion of the body and the potential
energy is with respect to a certain datum position which is equal to the amount of
work required to move the body from the datum position.
❑In the case of vibrations, the datum position is the mean or equilibrium position at
which the potential energy of the body or the system is zero.
❑In the free vibrations, no energy is transferred to the system or from the system.
Therefore the summation of kinetic energy and potential energy must be a constant
quantity which is same at all the times. In other words,
𝑑
(P.E+K.E)=0
𝑑𝑡
 Energy Method

1 1 𝑑𝑥 2
❑We know that kinetic energy, KE= m 𝑣 = m( )2
2 2 𝑑𝑡
0+sx 1
potential energy, P.E=( ) 𝑥 = s 𝑥 2 (∵P.E. = Mean force × Displacement )
2 2

𝑑 1 𝑑𝑥 1
( m( )2 + s 𝑥 2 )=0
𝑑𝑡 2 𝑑𝑡 2
1 𝑑𝑥 𝑑 2 𝑥 1 𝑑𝑥
Or, m*2 * 2 + s*2x * =0
2 𝑑𝑡 𝑑𝑡 2 𝑑𝑡
𝑑2 𝑥 𝑑𝑥
Or, m* 2 +sx=0 [remove from both side]
𝑑𝑡 𝑑𝑡
𝑑2 𝑥 𝑠
∴ 2 + x=0
𝑑𝑡 𝑚
**The time period and the natural frequency may be obtained as discussed in the
previous method.
 Natural Frequency of Free Transverse Vibrations

❑Consider a shaft of negligible mass, whose one end is fixed and the other end
carries a body of weight W, as shown in figure.
❑Let s = Stiffness of shaft,
δ = Static deflection due to weight of the body,
x = Displacement of body from mean position
after time t.
m = Mass of body = W/g

As discussed in the previous article, Restoring force = – s.x.......(1)

𝑑2 𝑥
and accelerating force= m× 2 ……………..(2)
𝑑𝑡
 Natural Frequency of Free Transverse Vibrations

❑From eqn (1) & (2)

𝑑2 𝑥
m× = −sx
𝑑𝑡 2
𝑑2 𝑥
or, m× 2 + sx=0
𝑑𝑡
𝑑2 𝑥 𝑠
or, 2 + x=0
𝑑𝑡 𝑚
𝑚
❑Time Period,𝑡𝑝 =2𝜋
𝑠

1 1 𝑚 1 𝑔
❑Natural frequency, 𝑓𝑛 = = =
𝑡𝑝 2𝜋 𝑠 2𝜋 𝛿
 Natural Frequency of Free Transverse Vibrations

❑We know that, the static deflection of a cantilever beam loaded at the free end
is,
𝑊𝑙 3
δ=
3𝐸𝐼
where W = Load at the free end, in newtons,
l = Length of the shaft or beam in metres,
E = Young’s modulus for the material of the shaft or beam in N/ 𝑚2 ,
and I = Moment of inertia of the shaft or beam in 𝑚4 .
 Math Problems

❑ A shaft of 100 mm diameter and 1 metre long is fixed at one end and other end
carries a flywheel of mass 1 tonne. Taking Young’s modulus for the shaft material as
200 GN/ m2 , find the natural frequency of longitudinal and transverse vibrations.
Solution: Given, d=100 mm=0.1 m ; l=1 m ; m=1 tonne=1000 kg ; E=200 GN/ m2
=200× 109 GN/ m2
Frequency of longitudinal vibration :
0.4985 𝑊𝐼
We know 𝑓𝑛 = δ=
𝛿 𝐴𝐸
0.4985
= W = mg =1000*9.81 = 9810N
6.248 × 10−6
𝜋𝑑 4𝜋(0.1)4
=199.45 Hz (ans) A= = = 0.00785 m2
4 4
𝑊𝐼 9810∗1
δ= = =6.248 ×10 −6 m
𝐴𝐸 0.00785∗200× 109
 Math Problems

Frequency of transverse vibration

0.4985 𝑊𝑙 3
We know 𝑓𝑛 = δ=
𝛿 3𝐸𝐼
0.4985 𝜋𝑑 4 𝜋(0.1)4
= I= = = 4.9 ×10−6 m
3.3× 10−3 64 64
𝑊𝑙 3 9810∗13
=8.64 Hz (ans) δ= = =3.3× 10 −3
m
3𝐸𝐼 3∗200× 109 ∗4.9 ×10−6

Self
Example-23.1,same