Sr. Practical 1 : Static and dynamic balancing of rotating masses.

No.
Explain the term Balancing and differentiate between Static balancing and Dynamic
1
balancing of rotating masses.

2 “Reciprocating masses are partially balanced.” – Explain.

A circular disc mounted on a shaft carries three attached masses of 4 kg, 3 kg, and 2.5
kg at a radial distance of 75 mm, 85 mm and 50 mm respectively and at the angular
3 positions of 45°, 135° and 240° respectively. The angular positions are measured
counter-clockwise from the reference line along the x-axis. Determine the amount of the
counter mass at a radial distance of 75 mm required for the static balance.

A rotating shaft carries four unbalanced masses A=20 kg, B=15kg, C=18kg and
D=12kg. The mass centers are 50, 60, 70 and 60 mm respectively from the axis of the
shaft. The second, third and fourth masses rotates in planes 100, 150 and 300 mm
respectively measured from the plane of first mass and at angular locations of 60º, 120º,
4
and 280º respectively, measured clockwise from the first mass. The shaft is dynamically
balanced by two masses, both located at 50mm radii and revolving in planes midway
between those of first and second masses and midway between those of third and fourth
masses. Determine the balancing masses and their angular positions.

A, B, C and D are four masses carried by a rotating shaft at radii 0.1 m, 0.15 m, 0.15 m
and 0.2 m respectively. The planes in which the masses rotate are spaced at 500 mm
5 apart and the magnitude of the masses B, C and D are 9 kg, 5 kg and 4 kg respectively.
Find the required mass A; and the relative angular settings of the four masses so that the
shaft shall be in complete balance.
 Practical 2

v Aim: Understanding of gyroscopic effect using motorized gyroscope.

v Apparatus: Motorized Gyroscope

v Theory:

Ø Introduction:
Ø When the axis of rotation / spin is given an angular motion about an axis
perpendicular to axis of spin, an angular acceleration acts on the body about
the axis which is perpendicular to above two axis. The torque required to
produce this acceleration is known as active gyroscopic couple.
Ø A reactive gyroscopic torque or couple also acts on the body similar to the
centripetal and centrifugal forces on a body. The effect produced by reactive
gyroscopic couple is known as gyroscopic effect.
Ø This effect is affecting the stability of vehicle when vehicle is having large
inertia or high speed.
Ø Equation of Gyroscopic couple:
Ø Consider a disc rotating at an angular velocity of ω around the axis X. The
direction is Shown by OX. Now, if the magnitude of angular velocity changes
to ω + δω and direction of the axis of spin is changed to OX’ in time δt, the
vector ob will represent the angular velocity in new Position. The vector
joining a and b will represent change in angular velocity of the rotor.
Ø Now ab can be resolved into two components as:
1. ac representing angular velocity change in a plane normal to ac or
x-axis, and
2. cb representing angular velocity change in a plane normal to cb or
y-axis.
Ø Change in angular velocity ac = ob Cos δθ – oa = (ω + δω) Cos δθ - ω
Rate of change of angular velocity = (ω + δω) Cos δθ - ω
δt
Angular acceleration radial component αr= Lt (ω + δω) Cos δθ - ω
δt 0 δt
= Lt ω + δω – ω = dω ( as δt 0, δθ 0 and Cos δθ 1)
δt 0 δt dt
Ø Change in angular velocity bc = ob Sin δθ = (ω + δω) Sin δθ
Rate of change of angular velocity = (ω + δω) Sin δθ
δt
Angular acceleration tangential component αt= Lt (ω + δω) Sin δθ
δt 0 δt
= Lt ω δθ + δωδθ = ω dθ ( as δt 0, δθ 0 and Sin δθ δθ)
δt 0 δt dt

So it is observed that radial component is solely due to change in angular

velocity of motion whereas the tangential component is due to change in
direction of axis of rotation, so tangential component will be responsible for
gyroscopic effect.
 Ø Angular acceleration due to change in direction (θ):
αt = ω • dθ
dt
if we put dθ = ωp (angular velocity of precession)
dt
αt = ω • ωp;
Active gyroscopic couple C = I • αt
C = I • ω • ωp

v Procedure:

1. Balance initial horizontal position of rotor.

2. Start the motor and adjust the voltage to get the constant speed.
3. Press the yoke frame about the vertical axis by applying the necessary force by
hand in the clockwise direction viewed from the top.
4. It will be observed that rotor frame swing about the horizontal axis so that the
motor side moves upwards.
5. Balance the rotor in the horizontal plane.
6. Start the motor and adjust the speed with the help of voltage regulation. The speed
is measured using a tachometer.
7. Put weights on the side opposite to the motor.
8. Note down and verify the direction of precession of the yoke.
9. Measure the time taken by pointer mounted with the yoke to complete the angle θ
with the help of stop watch.

10. Verify the relation C = I x ω x ωp with the moment applied by mass.

v Observation:

Ø Technical data:
1. Distance of centre of mass from the rotor centre-L: __________ mm
2. Weigh of rotor-W: _________ kg
3. Rotor diameter-d: _________ mm
4. Moment of Inertia of disc, coupling and motor -I: _________ kg-m2
5. Motor:

Ø Observation Table:

Sr. Speed ω Weight δθ δt ωp Theoretical Gyroscopic

No. (rpm) (rad/sec) (kg) (deg) (sec) (rad/sec) Torque couple
(kg-m) (kg-m)

1.
2.
3.

Ø Calculation:

1. Angular velocity - ω = 2π N/60

2. Angular velocity of Precession – ωp = δθ / δt

3. Theoretical torque –T = Wx L

4. Gyroscopic couple- C = I x ω x ωp
v Conclusion:
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Sr.
Practical 3 : To study longitudinal free vibration of spring mass system
No.
Define:
1. Degrees of Freedom.
2. Time Period .
3. Stiffness of Spring .
1 4. Damped Vibration .
5. Equivalent spring stiffness.
6. Resonance.
7. Steady state and transient vibrations.
8. Undamped Free Vibration

Sketch image for mass spring system havine single degree of freedom and two degree of
2
freedom vibration sstem.

If two springs of stiffness K1 and K2 are connected in parallel and mass m is attached to
3
it. Find its natural frequency of the longitudinal vibration.

Equation of Motion of a Spring-Mass System having single degree of freedom. Prove

that its solution
x& 0
x(t ) = x 0 cos ωn t + sin ωn t and
ωn
4 1/ 2
 2  x&  2    x&  
x(t ) =  x0 +  0   cos ωn t − tan−1  0  
  ωn     x 0 ωn  
where variable with o subscrips indicate variable when time t = 0.

Determine equation for the natural frequency of vibration of the compound pendulum
shown in figure.

Find the natural frequency of system shown in Figure. If m, K1, K2, L are fixed, find the
6
value of 'b' for which the system will not vibrate.
 The mass 'm' is hanging from a chord attached to the circular homogeneous disc of mass
'M' and radius 'R' as shown in Figure. The disc is restrained from rotating by a spring
attached at radius 'r' from the centre. If the mass is displaced downwards from rest
position, determine the frequency of oscillations.

Determine the natural frequency of the mass m = 15 Kg as shown in figure. Assuming

that the cords do not stretch and slide over the pulley rim. Assume that the pulley has no
mass. Take K1 = 8000 N/m and K2 = 6000 N/m.

Example
The column of the water tank shown in Fig. is 91 m high and is made of reinforced
1 concrete with a tubular cross section of inner diameter 2.5 m and outer diameter 3 m.
The tank weighs 2669 x 103 N when filled with water. By neglecting the mass of the
 column and assuming the Young s modulus of reinforced concrete as 27.58 GPa,
determine the following:
a. the natural frequency and the natural time period of transverse vibration of the water
tank.
b. the vibration response of the water tank due to an initial transverse displacement of
0.250 m.
c. the maximum values of the velocity and acceleration experienced by the water tank

A refrigerator unit having mass of 35 kg is to be supported on three springs, each having

2 a spring stiffness. The unit operates at 480 rpm. Find the value of stiffness s if only 10%
of the shaking force is allowed to be transmitted to the supported.

A vertical spring mass system has a mass of 0.5 kg and an initial deflection of 0.2 cm.
3
find the spring stiffness and the natural frequency of the system.
Sr. Practical 4 : To Study of torsional vibration in shaft (single rotor and two rotor
No. system).
Define:
1. Torsional vibration.
1 2. Two degree of freedom system .
3. Mode.
4. Torsional equivalent shaft.

2 Explain Torsionally Equivalent Shaft.

3 Derive an expression for length of torsionally equivalent shaft system.

Two rotors A and B are attached to the end of a shaft 50 cm long. Weight of the rotor A
is 300 N and its radius if gyration is 30 cm and the corresponding values of B are 500 N
and 45 cm respectively. The shaft is 7 cm in diameter for the first 25 cm, 12 cm for the
4
next 10 cm and 10 cm diameter for the remaining of its length. Modulus of rigidity for
the shaft material is 8 × 1011 N/m2. Find: (i) the position of the node (ii) the frequency of
torsional vibration.

Two rotors, A and B are attached to the ends of the shaft 600 mm long. The mass and
radius of gyration of rotor A is 40 kg and 400 mm respectively and that of rotor B are 50
kg and 500 mm respectively. The shaft is 80 mm diameter for first 250 mm, 120 mm for
5 next 150 mm and 100 mm for the remaining length from the rotor A. Assume the
modulus of rigidity of the shaft material 0.8×105 N/mm2. Find: (i) Position of node on
equivalent shaft of diameter 80 mm and on the actual shaft. (ii) Natural frequency of the
torsional vibrations.

Example

Find the natural frequencies and mode shapes for the torsional system shown in Fig. for
J 1 = J 0 , J 2 = 2J 0 , and k t1 = k t1 = k

1
 Determine the natural frequency of torsional vibration of shaft with two circular disc
with uniform thickness at the ends shown in figure. G = 0.83 x 1011 N/m2.

The shaft shown in figure carries two masses. The mass A is 300 kg with a radius of
gyration of 0.75 m and the mass B is 500 Kg with a radius of gyration of 0.9 m.
Determine the frequency of the torsional vibrations. It is desired to have the node at the
mid-section of the shaft of 120 mm diameter by changing the diameter of the section
having a 90 mm diameter. What will be the new diameter?

Two identical rotors are attached to the two ends of a stepped shaft as shown in figure.
Each rotor weighs 450 kg and has radius of gyration of 0.38 m. The total length of the
4
shaft is 0.6 m. find the frequency of free torsional vibration of the system and the
position of the node from either mass. Assume modulus of rigidity as 80 * 109 N/m2.

Two identical rotors are attached to the two ends of a stepped shaft as shown in Figure.
Each rotor weighs 450 Kg and has radius of gyration of 0.38 m. The diameters of the
shaft are 0.75 m for first 0.25 m length, 0.1 m for next 0.1 m length and for the
5
remaining length 0.0875 m is the diameter. The total length of the shaft is 0.6 m. Find
the frequency of free torsional vibrations of the system and position of the node from
either masses. Assume modulus of rigidity as 80 x 109 N/m2.
Sr.
Practical 5 : Study of free damped vibration and logarithmic decrement
No.
Define:
1. Degrees of Freedom.
2. Time Period .
3. Stiffness of Spring .
4. Damped Vibration .
5. Equivalent spring stiffness.
6. Resonance.
1 7. Steady state and transient vibrations.
8. Undamped Free Vibration
9. Critical Damping Coefficient
10. Damping ratio
11. Period and cycle of vibration
12. Logarithmic decrement
13. Node in torsional vibration.
14. Zero frequency.

2 Classify types of vibration system

If two springs of stiffness K1 and K2 are connected in series and mass m is attached to it.
3
Find its natural frequency of the longitudinal vibration.

4 Explain beat phenomenon.

Define damping coefficient. Explain with neat sketch experimental method of

5
determination of damping coefficient of particular oil.

6 List types of damping method. Discuss any one with neat sketch.

7 State under what condition vibrating system is under damped.

Derive the equation of motion for a disc having mass moment of inertia ‘I’ suspended
8
on wire of length ‘L’ with diameter ‘d’ ,when the disc was given an angular twist of ‘θ’.

The equation of motion for a spring mass system is given by ̈+ ̇+ = sin .

9
Find steady state response of the system.

10 Derive an expression for logarithmic decrement.

Plot frequency response curve for different damping conditions. State the observations
11
made from the plot.

Determine the equation for the natural frequency of the spring mass vibrating system
12
shown in figure.
 Example

Split the harmonic motion x = 10 sin (ωt + π/6), into two harmonic motions on having a
1
phase angle of zero and the other of 450.

The cockpit of a firetruck is located at the end of a telescoping boom, as shown in Fig..
The cockpit, along with the fireman, weighs 2000 N. Find the cockpit s natural
frequency of vibration in the vertical direction. Data: Young s modulus of the material :
E = 2.1 x 1011 N/m2; lengths : l1 = l2 = l3 = 3m; cross sectional area : A1 = 20 cm2, A2 =
10 cm2, A3 = 5 cm2.

A coil of spring stiffness 4 N/mm supports vertically a mass of 20 kg at the free end.
The motion is resisted by the oil dashpot. It is found that the amplitude at the beginning
3 of the fourth cycle is 0.8 times the amplitude of the previous vibration. Determine the
damping force per unit velocity. Also find the ratio of the frequency of damped and
undamped vibrations.

4 A single cylinder engine has a mass of 100 kg and is acted upon by a vertical
 unbalanced force of 400 sin (13πt) N. The engine block is supported on a spring having
a stiffness 60 kN/m and a damper which gives a damping force of 700 N per unit
velocity. Find the damping ratio.

A vertical spring mass system has a mass of 0.5 kg and an initial deflection of 0.2 cm.
5
find the spring stiffness and the natural frequency of the system.

A vibrating system is defined by the following parameters: m=3 kg, k=100 N/m, C=3
N-sec/m. Determine (a) the damping factor (b) the natural frequency of damped
6
vibration (c) logarithmic decrement (d) the ratio of two consecutive amplitudes (e) the
number of cycles after which the original amplitude is reduced to 20 percent.

Derive equation of motion for the system shown in Figure. If m = 1.5 kg, k = 4900 N/m,
a = 6 cm and b = 14 cm, determine the value of damping coefficient (C) for which the
system is critically damped.

A pump is supported on a spring and a damper. The spring stiffness is 6000N/m and the
damper offers resistance of 480 N at 3.5 m/s. The unbalanced mass of 0.6 kg rotates at
8 40 mm radius and total mass of the system is 80 Kg. The pump is running at 500 rpm.
Determine: i) damping factor, ii) amplitude of vibration iii) resonant speed and
amplitude at resonance.

A machine having mass of 100 kg is supported on a spring which deflects 20 mm under

the dead load of machine. A dashpot is fitted to reduce the amplitude of free vibration to
9 10% of its initial value in two complete oscillations. Determine the stiffness of the
spring, critical damping coefficient, logarithmic decrement, damping factor and
frequency of damped-free vibration.

In a single degree viscously damped vibrating system, the suspended mass of 16 Kg

makes 45 oscillations in 27 seconds. The amplitude of natural vibrations decreases to
10 one fourth of the initial value after 5 oscillations. Determine: (i) The logarithmic
decrement, (ii) The damping factor and damping coefficient, (iii) The stiffness of the
spring
 A 40 kg machine is supported by four springs each of stiffness 250 N/m. The rotor is
unbalanced such that the unbalance effect is equivalent to a mass of 5 kg located at
11
50mm from the axis of rotation. Find the amplitude of vibration when the rotor rotates
at 1000 rpm and 60 rpm. Assume damping coefficient to be 0.15.

Determine the natural frequency of the mass m = 15 Kg as shown in figure. Assuming

that the cords do not stretch and slide over the pulley rim. Assume that the pulley has no
mass. Take K1 = 8000 N/m and K2 = 6000 N/m.

12

A machine weighing 20 Kg is supported on two slabs of isolators, natural rubber and

felt as shown in figure K & C represents stiffness and damping coefficients of the
respective materials. Find the undamped and damped natural frequencies of the system
in vertical direction. Neglect the mass of the isolators.

13
Sr.
Practical 6 : To study of forced damped vibration
No.
1 Learning Outcome

Define:
1. Forced Vibration Zero frequency
2 2. Magnification factor
3. Zero frequency deflection.
4. Force transmibility

3 Draw frequency response curve.

4 Derive equation of motion for harmonic excitation.

5 Explain response of a rotating and reciprocating unbalamced system.

6 Discuss forced vibration due to excitation of support.

Explain Fullarton tachometer and Frahm Tachometer vibration frequency measurement

7
instrument with neat sketch.

Example

A body of mass 70 Kg is suspended from a spring which deflects 20 mm under the load.
If the damping factor of 0.23 is provided, then find the natural frequency of damped
1 vibrations and ratio of successive amplitudes for damped vibrations. If the body is
subjected to a periodic disturbance of 700 N at a frequency of 17.277 rad/sec, find the
amplitude of forced vibration and the phase angle with respect to the disturbing force.

A heavy machine weighing 3000 N is supported on a resilient foundation. The static

deflection of the foundation due to the weight of the machine is found to be 75 mm. It is
observed that the machine vibrates with an amplitude of 10 mm when the base of the
2 foundation is subjected to harmonic oscillation at the undamped natural frequency of the
system with an amplitude of 2.5 mm. find the (i) the damping constant of the
foundation, (ii) the dynamic force amplitude on the base, (iii) the amplitude of the
displacement of the machine relative to the base.

A 40 kg machine is supported by four springs each of stiffness 250 N/m. The rotor is
unbalanced such that the unbalance effect is equivalent to a mass of 5 kg located at
3
50mm from the axis of rotation. Find the amplitude of vibration when the rotor rotates
at 1000 rpm and 60 rpm. Assume damping coefficient to be 0.15.

4 The weight of electric motor is 125 kg and ir runs at 1500 rpm. The armature weight 35
kg and its center 0.05 from the axis of rotation. The motor is mounted on five springs of
 negligible damping so that the force transmitted is one-eleventh of the impressed force.
Assume that the weight of motor is equally distributed among five springs. Determine:
1. Stiffness of each spring
2. Dynamic force transmitted to the base at operating load
3. Natura; frequency of the system.

For a measuring frequency of vibration of a system, a Fraham’s Reed Techometer is to

be designed. A mass of 0.01 kg is to be placed at the one end of the reeds so that the
5
reed is in resosance at a frequency of 15 Hz. The steel reed is 40 mm long and 3 mm
wide.Determine the length of the reed. Take E = 2 * 1011 N/m2.
Sr.
Practical 7 : To study of critical speed of shaft.
No.
1 Learning Outcome

Define:
2 1. Critical speed of shaft
2. Secondary critical speed

Explain critical speed of shaft carrying single rotor and having no damping and having
3
damping.

4 Discuss seconadary critical speed of horizontal shaft.

6 Discuss forced vibration due to excitation of support.

7 Explain critical speed of shaft having multiple rotors.

Example
Sr.
Practical 8 : Study of dynamic forces and turning moments in mechanisms.
No.
1 In a four-bar mechanism ABCD the crank AB 5 cm long makes 60° with fixed link AD. Link Be = 7
cm, CD = 9 cm and AD = 10 cm. A force of 8 N at 73.5° acts on BC at a distance of 4 cm from B.
Determine the reactive torque on link AB

2 In a four-bar mechanism ABCD the crank AB = 5 cm long makes 60° with fixed link AD. Link BC =
7 cm, CD = 9 cm and AD = 10 cm. A force of 8 N at 73.5° acts on BC at a distance of 4 cm from B.
Determine the reactive torque to be applied on link AB so that the system is in static
equilibrium.

3 In a four- link mechanism shown in the Figure - 1, torque T3 and T have magnitudes of 30 Nm
and 20 Nm respectively. The link lengths are AD= 800mm, AB= 300mm, BC= 700mm and CD=
400mm. For the static equilibrium of the mechanism, determine the required input torque T2.

4 Find the torque required to be applied to link AB of the linkage shown in Figure - 2 to maintain
static equilibrium. The force F is perpendicular to link CD acting at E. The dimensions of the
links are in mm.

5 Find the magnitude and direction of inertia force acting on links AB, BC, CD, in the four bar
mechanism shown in Figure – 3.

AB= 500 mm, BC= 660 mm, CD= 560 mm, AD= 1000 mm (horizontal), ωAB = 10.5 rad/sec
(CCW), angular retardation αAB = 26 rad/sec2 , ˂ DAB= 60 .

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Figure-3