MECH 429 Mechanical Vibrations a0  2

F (t )    (an cos nt  bn sin nt ) Where 

2 n1 T
Newton’s Laws : The equations of motion of a mechanical system T T T
2 2 2
T 0 T 0
is determined from Newton’s laws of motion :
T 0
a0  F (t )dt an  F (t ) cos ntdt bn  F (t ) sin ntdt
 F  ma , 
M G  I where G is the center of mass of the
Single DOF system: mx  cx  kx  F (t )
body. 
a
SINGLE DEGREE OF FREEDOM SYSTEMS x(t )  0   ( xcn (t )  x sn (t )) where:
Harmonic Motion : Mass spring system mx  kx  0 . 2k n1
x(0)  x0 , x (0)  v0 Solution : x(t )  XSin ( n t   ) xcn (t ) 
an k
cos( nt   n )
(1  n r 2 ) 2  (2nr ) 2
2

n2 x02  v02 n x0 bn k  2nr 

𝑋= 𝜙= tan 1  n  k m : Natural frequency x sn (t )  sin( nt   n )  n  tan 1  2 2 
n v0 (1  n r )  (2nr )
2 2 2 2 1 n r 

2 Damped system : mx  cx  kx  0

Non-periodic Forcing Single DOF system :
T : Period of motion  t
n Impulse response function : h(t )  e n

sin  t Convolution
m d
d

x(0)  x0 , x (0)  v0 Underdamped solution : t t

 
integral : x(t )  h( ) F (t   )d  F ( )h(t   )d
 x  (v0   n x0 )
2 2
d 0
2
0 0
x(t )  Xe  n t sin( d t   ) X = ϕ=
d e  nt t

m d 0
 e n sin  d (t   ) F ( )d
d x0
tan 1 ) where  d   n 1   2 : damped natural MULTI DEGREE OF FREEDOM SYSTEMS
v0  n x0
zeta=delta/2pi Lagrange Equations d  L  L
   Qi i  1 N
frequency and   c  c : Damping ratio. dt  qi  qi
cc 2m n
𝑥(𝑡) 𝛿
where L = T-V, qi : generalized coordinates, Qi : generalized
Logarithmic decrement: 𝛿 = 𝑙𝑛 = 𝜁𝜔𝑛 𝑇 𝜁 = forces.
𝑥(𝑡+𝑇) √4𝜋2 +𝛿 2
Forced Vibration mx  cx  kx  F (t ) Equation of Motion : Mx  Cx  Kx  F (t ) where M, C and K
are nxn symmetric mass, damping and stiffnes matrices, x is the
Or : x  2 n x   x  F (t ) m
2
n displacement vector, F is the forcing vector.
Harmonic excitation : F (t )  F0 sin t Impedance Method for Harmonic Forcing:
Steady state response : x(t )  X sin t    Mx  Cx  Kx  Fe jt Assume x(t )  XSint , 
X

1 where r   and   tan 1 2r
n 1 r2

X  M 2  jC  K 1
F or X  ZF where Z is the system
F0 / k (1  r )  (2r )
2 2 2
impedance matrix.
Base excitation : mx  c( x  y )  k ( x  y)  0
y(t )  Y sin t , response: x(t )  X sin t    Undamped Free Vibration
Assume x  USint : Eigenvalue problem : KU   MU
2
X 1  (2r ) 2

TR   : Transmissibility. Solution gives natural frequencies , and the mode shapes U.

Y (1  r 2 ) 2  (2r ) 2 Eigenvalue Problem: KU  2MU has a nontrivial solution if:
Force transmitted to the base : F (t )  c( x  y )  k ( x  y) 
det K   2 M   0 . Solution gives  i2 . K   i2 M U i  0 gives the 
F (t )  FT sin( t   ) FT  r 1  (2r )
2 2 mode shapes Ui i=1..N.
Mass normalized mode shapes: Mode shapes are mass
kY (1  r 2 ) 2  (2r ) 2
normalized if UT M U =1.
Rotating Unbalance: mx  cx  kx  m0 e 2 sin t
Response : x(t )  X sin t    Free response, modal analysis : Let x  Pq . P=[U1 ... UN] (mass
  q  0 .
,   tan 1 2r
mX r2 normalized) Then, the equations are tranformed to Iq
 q(0)=PTMx(0) Solution for each mode is :
m0 e (1  r )  (2r )
2 2 2 1 r 2
qi (t )  Ai sin( i t  i ) i  1 N Physical solution is: x  Pq .
Measuring devices : mx  c( x  y )  k ( x  y)
Let z(t )  x(t )  y(t ) : Motion of mass relative to the base. Forced Response: Mx  Kx  F (t ) modal analysis.
mz  cz  kz  mx If y(t )  Y sin t , equation becomes:  Make the coordinate transformation x(t)=Pq(t).
mz  cz  kz  m 2Y sin t solution : z(t )  Z sin( t   )  Modal equations become : Iq (t )  q(t )  P T F (t ) .
Z

r2 ,   tan 1 2r where   diag (i2 )  P T KP .
Y (1  r )  (2r )
2 2 2 1 r 2  Solve the decoupled equations in modal coordinates q(t) and
Zn2 then back transform to physical coordinates x(t).
1 𝑎 = 𝑦̈ =-  Y sin t
2
 Damped Systems: In general modal analysis does not apply to
a0 (1  r )  (2r )
2 2 2
damped systems. It applies only if the system is proportionally
The device becomes an accelerometer for low frequencies (r<0.2) damped. In this case: C  M  K .
and a seismometer (r>3) for high frequencies.

Periodic Excitation : A periodic function F(t) with period T can be

expressed in Fourier series as :