School of Mechanical and Manufacturing Engineering

(SMME)

Dr. Niaz Bahadur Khan

 VIBRATION:
 Any motion that repeats itself after an
interval of time is called vibration or
oscillation.
 The swinging of a pendulum and the motion
of a plucked string are typical examples of
vibration.
 The study of vibration deals with the study of
oscillatory motions of bodies and the
forces/energies associated with them.
APPLICATIONS

• Practical applications
?

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VIBRATION IN OUR LIVES
 Our heat beat, our lungs oscillate
 We hear ----- Ear drum vibrates
 We see…. Light waves undergo vibration
 We speak….. Oscillatory motion of larynges ( tongue)
 Walking…. Periodic oscillation motion of legs and hands

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APPLICATIONS

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APPLICATIONS

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IMPORTANCE OF THE STUDY OF VIBRATION
APPLICATIONS

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 APPLICATIONS

Shock absorber is used for comfortable ride by dissipating the

energy due to road disturbance.
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 APPLICATIONS

Furthermore, the vibration causes more rapid wear of machine parts

such as bearings and gears and also creates excessive noise. In
machines, vibration can loosen fasteners such as nuts. In metal
cutting processes, vibration can cause chatter, which leads to a poor
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surface finish.
APPLICATIONS

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APPLICATIONS

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https://www.youtube.com/watch?v=0FeXjhUEXlc
 APPLICATIONS
Tacoma Narrows bridge during wind-induced vibration. The
bridge opened on July 1, 1940, and collapsed on November 7,
1940

The literature is full of accounts of system failures brought about by resonance and
excessive vibration of components and systems

https://www.youtube.com/watch?v=lXyG68_caV4
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APPLICATIONS

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WHAT’S THE NEED TO STUDY VIBRATION ?

 The vibration in mechanical systems e.g. Engine and

components e.g. Compressors etc. is called Mechanical
Vibrations
 Because mechanical vibrations causes wastage of
useful energy in sustaining vibratory motion.
 This also causes oscillating stresses due to oscillating
motion and these cyclic stresses causes fatigue
failures.
 Noise production: vibratory motion is always
accompanied by noise.
 Vibration can lead to loosening of the mechanical
assemblies e.g Nuts and Bolts
 WHAT’S THE NEED TO STUDY VIBRATION ?

 While working in the noise we can’t concentrate to our work,

Can’t do precise work
 Exposure for long period cause human body damage
 Vibrating system can be easily detected by the enemy e.g.
submarine; vibration becomes a critical thing
 Vibrating machinery can’t be controlled properly e.g.
Vibrating Steering wheel of a car, the car of your Mamu.
 Can’t give us the desired functionality, adversely affects the
functionality of a machine e.g. vibrating cutting tools, Poor
surface finish, misaligned hole, mismatched mating parts
FACTORS RESPONSIBLE FOR VIBRATIONS

1. Design faults; thickness, length, stiffness

2. Manufacturing faults; rough cutting tool, imprecise
machining
3. Assembly faults; loose assemblies, misalignment, wrong
size of screws etc
4. Operational Faults; speeds, excessive loads, lack of
lubrication, improper cooling; all due to the lack of
properly trained and skilled operators. Generally
vibrations are majorly produced due to the operating of
machinery by unskilled and untrained personnel
5. Lack of maintenance, lubricants, cooling, alignment,
replacement of worn out parts members, belts, bearing,
bend shafts,
 Important to note: The presence of vibration will show the
presence of mechanical faults
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 VIBRATION SIGNATURE
1. The use of mechanical vibration signals for
faults diagnosis in machinery i.e. a given
mechanical defect causes characteristic
vibrations. This is referred to as vibration
signature.
 This knowledge enable us to pinpoint the
exact nature of fault in our system.

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VIBRATION FROM MECHANICAL FAULTS
VIBRATION FROM MECHANICAL FAULTS
Vibration from Mechanical Faults
Vibration from Mechanical Faults
Vibration from Mechanical Faults
Vibration from Mechanical Faults
 PURPOSE OF STUDY AND MECHANICAL
ENGINEER JOB
In many engineering systems, a human being acts as an integral part of the
system. The transmission of vibration to human beings results in discomfort
and loss of efficiency. The vibration and noise generated by engines causes
annoyance to people and, sometimes, damage to property. Vibration of

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instrument panels can cause their malfunction or difficulty in reading the
meters
Thus one of the important purposes of vibration study is to reduce vibration
through proper design of machines and their mountings.

Mechanical engineer tries to design the engine or machine so as to minimize

imbalance.

Look at vibration to detect a certain fault ( Vibration Signature).

Structural engineer tries to design the supporting structure so as to ensure that the
effect of the imbalance will not be harmful
 USEFUL VIBRATION: A FRIEND
vibration is put to work in vibratory conveyors, hoppers, sieves, compactors,
washing machines, electric toothbrushes, dentist s drills, clocks, and electric
massaging units.
Vibration is also used in pile driving, vibratory testing of materials, vibratory finishing
processes, and electronic circuits to filter out the unwanted frequencies.

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Music Instruments, Clocks and Massagers also use vibration.
 VIBRATION FRIEND OR FOE
Friend
 Conveyors, Hoppers,
Compactors, Pneumatic
Drills, etc.
 Washing Machine
 Mechanical Shakers, Mixers,
Sieves, Sorters, etc.
 Musical Instruments
 Clocks, Watches
 Medical Field – Massagers,
etc.
 Vibrations as a means of
generating mechanical
pulses for some
functionality/requirement
A good understanding underlying theory of vibration is
critical for mechanical engineers
Foe
 RESONANCE
 Similar problems in machine
tools, vehicles, turbines, pumps,
compressors, buildings, aircraft
& spacecraft systems
 Excessive vibration leads to
loosening on parts, noise &
eventual failure
 Effects of vibration on human
body: Discomfort, Fatigue
Failure, Loss of Efficiency
 Sound quality in products
 Poor Quality and Control,
Wastage of useful energy
 BASIC CONCEPTS
 Vibration
 Any motion that repeats itself after an interval of time
 Theory of Vibration
 Deals with the study of oscillatory motions of bodies and the
forces associated with them
 Vibratory System/ Elements of a Vibrating System
 Storing potential energy (spring)
 Storing kinetic energy (mass)
 Energy dissipation (damper)

 Actuator: The elements that apply

an external force or impose a prescribed
Motion on parts of a system
 BASIC CONCEPTS (CONT’D.)
 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 defines the
degree of freedom of the system
 The strict definition of number of degrees of freedom
is n = number of masses * number of possible types of
motion for each mass.
 NO. of DOF=NO of equations=NO. of natural freq

 Classification
 Single Degree of Freedom Systems

 Two Degree of Freedom Systems

 Three Degree of Freedom Systems

BASIC CONCEPTS (CONT’D.)
 BASIC CONCEPTS (CONT’D.)

What will happened if we replace k2 spring with rod

Now, m1 and m2 will not be independent. Both depend on each other and will be consider single
mass. So DOF=1
BASIC CONCEPTS (CONT’D.)
34
 Hold the rotation of the wheel and bar fixed.
You can still move the block.

Hold the block fixed and the rotation of the

bar fixed. You can still rotate the wheel

Hold the wheel and block fixed. You can still

rotate the bar.

It is possible to hold any two of the

coordinates fixed and still be able to change
the remaining coordinate. Therefore, the 35

system is verified to have three DOF's.

 BASIC CONCEPTS (CONT’D.)
 Discrete (Lumped) System
 A system that can be describe using a finite number of
degree of freedom

 Continuous (distributed)System
 A system that can be describe using a infinite number of
degree of freedom
 CLASSIFICATION OF VIBRATIONS
 Free Vibration
 A system which after an initial disturbance is left to
vibrate on its own. No external force acts on the system
 Forced Vibration
 A system subjected to an external force resulting in a
vibrating system
 Undamped Vibration
 A system where no energy is lost or dissipated in friction or
other resistance during oscillation
 Damped Vibration
 A system in which any energy is lost or dissipated in
friction or other resistance during oscillation
 CLASSIFICATION OF VIBRATIONS (CONT’D)
 Linear Vibration
 A system in which all the basic components of a vibratory
system, spring, mass and damper behave linearly
 Nonlinear Vibration
 A system in which any of the basic components of a vibratory
system, spring, mass and damper behave non – linearly
 Deterministic Vibration
 A system where value or magnitude of the excitation (force or
motion) acting on a vibratory system is known at any given
time
 Random Vibration
 A system where value or magnitude of the excitation can not
be predicted
 VIBRATION ANALYSIS PROCEDURE
 A vibratory system is a dynamic system for which the
variables such as the excitations (inputs) and response
(outputs) are time-dependent. The response of a vibrating
system generally depends on the initial condition as well
as the external excitations.
 Predict the behavior under specified input conditions
 Consider a simple model of the complex physical model
(make a free-body diagram)
 Procedure
 Mathematical Modeling
 Derivation of the governing equations
 Solution of the equations
 Interpretation of the results
STEP 1: MATHEMATICAL MODELING
 Mathematical modeling is to represent all the important
features of the system for purpose of deriving the
mathematical equations governing the system’s behavior
 Mathematical model may be linear or nonlinear depending
on the behavior of the system’s component.
 First, a very crude or elementary model is used to get a quick
insight into the overall behavior of the system
 Subsequently, model is refined by including more components
and/or details so that the behavior of the system can be
observed more quickly

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STEP 2: DERIVATION OF GOVERNING
EQUATIONS

 After mathematical modeling, we use principal of dynamics

and derive the equations that describe the vibration of the
system
 Free body diagram (FBD) is used to derived equation of
motions
 FBD of a mass can be obtained by isolating the mass and
indicating all externally applied forces, the reactive forces
and the inertia forces.
 Equations of motion
 Usually in form of set of ordinary differential equation for
discrete system
 In form of partial differential equation for continuous system
 Using Newton’s 2nd law, D’Alembert’s principle, and the
principle of conservation of energy
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STEP 03 & 04 VIBRATION ANALYSIS
PROCEDURE
 Solution of the governing equations
 Standard methods of solving Differential Equations
 Ordinary

 Partial

 Laplace transform methods

 Matrix methods
 Numerical methods
 Interpretation of the Results
 Displacements
 Velocities
 Accelerations
STEP 4: INTERPRETATION OF THE RESULTS
 The solution of the governing equations gives the
displacement, velocities and acceleration of the various masses
of the system
 Results must clearly interpret the purpose of analysis
 The analytical methods have their own limitations. It is
therefore necessary to make practical vibration measurements
under certain circumstances. The measurements involve not
only the measurement of the response of the system to actual
perturbation forces being experienced but also for determining
the inherent structural properties such as mass distribution,
stiffness distribution (springs in discrete systems) and the
damping. The measured data then can be used to make
discrete system models which can be used for parametric
studies which then can become a very powerful tool for design
as well as for solving the existing vibration problem.
 Solving a vibration problem or designing equipment such that
it will not fail prematurely does require inputs of both
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analytical as well as the experimental methods.
MODELING OF BASIC VIBRATION SYSTEMS

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MODELING A SYSTEM (FREE – BODY DIAGRAM)

 Translational Elements
MODELING A SYSTEM (CONT’D.)
 Rotational Elements
EQUIVALENT SYSTEMS
 In many applications the motion of a certain point of the
system is of primary concern, and a single type of motion is
dominant
 For such cases, certain simplifications may be made that
allow us to approximate a higher DoF system by a lower
DoF, say a single DoF system
 Simplifications of this type approximate one type of motion
(the lowest mode) of the many possible motions of discrete
multi-degree of freedom systems and continuous system.

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EQUIVALENT SYSTEMS

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EXAMPLE
Develop mathematical models of the
system for investigating vibration in the
vertical direction. Consider the elasticity
of the tires, elasticity and damping of the
struts (in the vertical direction), masses
of the wheels, and elasticity,
damping, and mass of the rider.

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Develop mathematical models of the
system for investigating vibration in the
vertical direction. Consider the elasticity
of the tires, elasticity and damping of the
struts (in the vertical direction), masses
of the wheels, and elasticity,
damping, and mass of the rider.

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Develop mathematical models of the system
for investigating vibration in the vertical
direction. Consider the elasticity of the
tires, elasticity and damping of the struts
(in the vertical direction), masses of the
wheels, and elasticity,
damping, and mass of the rider.

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Develop mathematical models of the system
for investigating vibration in the vertical
direction. Consider the elasticity of the
tires, elasticity and damping of the struts
(in the vertical direction), masses of the
wheels, and elasticity,
damping, and mass of the rider.

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Develop mathematical models of the system
for investigating vibration in the vertical
direction. Consider the elasticity of the
tires, elasticity and damping of the struts
(in the vertical direction), masses of the
wheels, and elasticity,
damping, and mass of the rider.

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 How will be simplified mass-spring-damper model of
human body standing on vibrating platform??

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SPRING ELEMENT
 A spring is a type of mechanical link, which in most
applications is assumed to have negligible mass and
damping
 The most common type of spring is the helical-coil spring
used in retractable pens and pencils, staplers, and
suspensions of freight trucks and other vehicles
 Any elastic or deformable body or member, such as a cable,
bar, beam, shaft or plate, can be considered as a spring.

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SPRING ELEMENT (CONT’D)
 A spring is said to be linear
if the elongation or reduction
in length x is related to the
applied force F as
F = kx
Where k is a constant, known as spring constant or spring
constant or spring rate
 When the spring is stretched, a restoring force is developed
opposite to the applied force.
 If we plot a graph between F and x, the result is a straight
line.
 The work done (U) in deforming a spring is stored as strain
or potential energy in the spring, and it is given by
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𝑈= 𝑘𝑥 2
2
SPRING ELEMENT (CONT’D)
 Most springs used in practical systems exhibit a nonlinear
force-deflection relation, particularly when the deflections
are large.
𝐹 = 𝑎𝑥 + 𝑏𝑥 3 , a>0
‘a’ denotes the constant associated with the linear part and ‘b’
indicates the constant associated with nonlinearity
 System involving two or more

springs may exhibit nonlinear

force displacement relationship
, although the individual springs
are linear.

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COMBINATION OF SPRINGS
 Some systems, involving two or more springs, may exhibit
a nonlinear force-displacement relationship although the
individual springs are linear.

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COMBINATION OF SPRINGS
 Example

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SPRING ELEMENT (CONT’D)
 Actual spring are nonlinear

 Now what to do?

 approximate non-linear behavior to a linear
one; Linearization.
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 Elastic elements like beams also behave like spring

Appendix B from Book 67

Deflection for different beams

SPRING ELEMENTS: COMBINATION OF SPRINGS

 Spring in Parallel

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SPRING ELEMENTS: COMBINATION OF SPRINGS

 Spring in series

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FIND THE EQUIVALENT SPRING STIFFNESS FOR
GIVEN SYSTEM

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SPRING ELEMENTS: EQUIVALENT K OF
HOISTING DRUM

Assume that the net cross-sectional diameter

of the wire rope is d and the Young s
modulus of the beam and the wire rope is E.

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HOMEWORK
 Study Example 1.5

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MASS OR INERTIA ELEMENT
 Mass or inertia element assume to be a rigid body
 Can gain or lose kinetic energy whenever the velocity of the
body changes
 Work is equal to the force multiplied by the displacement
in the direction of the force, and the work done on a mass is
stored in the form of the mass’s kinetic energy
 Mathematical model to represent the actual vibrating
system, and there are often several possible models
 Once the model is chosen, the mass or inertia elements of
the system can be easily identified.
 Consider Cantilever beam with an end mass?
 Ignore mass and damping of the beam
 The tip mass m represents the mass element, and the
elasticity of the beam denotes the stiffness of the spring.
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MASS OR INERTIA ELEMENTS: COMBINATION
OF MASSES

 Consider a multistory building subjected to an earthquake.

 Assuming that the mass of the

frame is negligible compared to

the masses of the floors, the
building can be modeled as a
multi-degree-of-freedom system
 The masses at the various floor

levels represent the mass elements, and the elasticities of the

vertical members denote the spring elements.

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MASS OR INERTIA ELEMENTS: COMBINATION
OF MASSES

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LINEARIZATION PROCESS

Static equilibrium load F cause a deflection of x*,. If an

incremental force ∆F is added to F, the spring deflect by 80
additional quantity ∆x. The new F+ ∆F can be expressed
using Taylor’s series expansion
LINEARIZATION PROCESS

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EXAMPLE 1.2

 Solution: Static equilibrium position

 Keq at static equilibrium position can be determined as:

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