10/23/2021

▐ Objectives
Mechanical vibration
 Classification of vibration

 Basic components of mechanical system

 Mass, spring and damper

 Equivalent springs (Combining stiffness)

 Equivalent stiffness elements

Faculty of Engineering  Equivalent dampers

Mechanical Engineering Department  Lumped masses

Dr. Mohamed Saber Sokar

2 Dr. Mohamed Saber Sokar

▐ Classification of vibration ▐ Mechanical Systems

 Vibration is simply classified to the following;

I- Mechanical systems
Vibration

Free vibration Forced Vibration

f(t)=0 f(t)= function Translational Rotational
system system

Damped Undamped Damped Undamped

3 Dr. Mohamed Saber Sokar 4 Dr. Mohamed Saber Sokar

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▐ Basic mechanical elements ▐ Translational mechanical elements

 The three basic elements of mechanical systems are:.  1- Mass Inertia
 Masses is an inertia element that store Kinetic Energy
 Mass or disc (inertia element) (K.E ) Mass
 Spring
Linear mass Rotating mass
 Viscous Damping element (damper) (Block) (Disc)
x
Translational f(t) M
Rotational t JJ 
⇒ ⇒
𝒇 𝒕 𝑴𝒙 𝑇 𝑡 𝐽𝜃
1 1 1 1
𝐾. 𝐸 𝑀𝑥 𝑀𝑣 𝐾. 𝐸 𝐽𝜃 𝐽𝜔
2 2 2 2

5 Dr. Mohamed Saber Sokar 6 Dr. Mohamed Saber Sokar

▐ Translational mechanical elements ▐ Translational mechanical elements

 2- Spring  3- Viscous damping (friction) “damper”
 Springs is a stiffness component that store Potential  Damper is a dissipating component that Disperses
Energy (P. E) Spring Energy (D.E) Damper

Linear spring Rotating spring Linear damper Rotating

Spring force is linear and proportional to linear or angular displacement Spring force is linear and proportional to linear or angular displacement
x x c c 𝑇 𝜔
k  f(t)
𝑇
f(t)
𝜔
𝒅𝒙
𝒇𝒅 𝒄 𝒄𝒙 𝒄𝒗 𝒕 𝑑𝜃
𝒇 𝒕 𝒌𝒙 𝒅𝒕 𝑇 𝑐 𝑐 𝜃 𝑐 𝜔 𝑡
𝑇 𝑡 𝑘 𝜃 𝑑𝑡
1 1 1 1
𝑷. 𝑬 𝒇 𝒅𝒙 𝒌 𝒙 𝒅𝒙 𝒌𝒙 𝑷. 𝑬 𝒇 𝒅𝜽 𝒌𝒕 𝜽 𝒅𝜽 𝒌 𝜽 𝑫. 𝑬 𝒇 𝒅𝒙 𝒄 𝒙 𝒅𝒙 𝑪𝒙 𝑫. 𝑬 𝒇 𝒅𝜽 𝑐 𝜃 𝒅𝜃 𝐶 𝜃
2 2 𝒕 2 2
7 Dr. Mohamed Saber Sokar 8 Dr. Mohamed Saber Sokar

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▐ Equivalent springs (Combining stiffness)

 Springs in series :
Equivalent Springs  𝒙𝒆𝒒 𝒙𝟏 𝒙𝟐 𝒙𝟑  (1) 𝑘1
Since, 𝒇 𝒕 𝒌𝒙 ⇒
𝒇 𝒇 𝒇 𝒇 𝑘𝑒𝑞
Spring 1 𝑘2
𝒌𝒆𝒒 𝒌𝟏 𝒌𝟐 𝒌𝟑
𝒇 𝒄𝒐𝒏𝒔𝒕𝒂𝒏𝒕  (2) 𝑘3
m
Hence, x
Spring 2
𝟏 𝟏 𝟏 𝟏 m
x
𝒌𝒆𝒒 𝒌𝟏 𝒌𝟐 𝒌𝟑
𝒏
𝟏
𝒌𝒆𝒒 𝟏/
𝒌𝒊
𝒊 𝟏
9 Dr. Mohamed Saber Sokar 10 Dr. Mohamed Saber Sokar

▐ Equivalent springs (Combining stiffness) ▐ Equivalent springs (Combining stiffness)

 Springs in parallel :  Combined Springs (not in series nor in parallel):
𝒏
 𝒇𝒆𝒒 𝒇𝟏 𝒇𝟐 𝒇𝟑  (1) 𝑘1 𝑘2 𝑘3 ⇒
𝑘𝑒𝑞 𝑷. 𝑬.𝒆𝒒 𝑷. 𝑬𝒊 𝐿
Since, 𝒇 𝒕 𝒌𝒙
𝒌𝒆𝒒 𝒙𝒆𝒒 𝒌𝟏 𝒙𝟏 𝒌𝟐 𝒙𝟐 𝒌𝟑 𝒙𝟑 m m 𝒊 𝟏
𝐿𝟏 
x x 1 1 1 2
𝒙𝒆𝒒 𝒙𝟏 𝒙𝟐 𝒙𝟑 𝒙  (2) 𝑷. 𝑬𝒆𝒒 𝒌 𝒙 𝒌 𝒙
2 𝟏 2 𝟐 𝑘1 𝑘2
Hence,
𝒌𝒆𝒒 𝒌𝟏 𝒌𝟐 𝒌𝟑 1 1 1
𝒏 𝒌 𝒙 𝒌 𝒙 𝒌 𝒙
2 𝒆𝒒 2 𝟏 2 𝟐
𝒌𝒆𝒒 𝒌𝒊
𝒊 𝟏

11 Dr. Mohamed Saber Sokar 12 Dr. Mohamed Saber Sokar

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▐ Equivalent springs (Combining stiffness) ▐ Equivalent springs (Combining stiffness)

 Combined Springs (not in series nor in parallel):  Combined Springs (not in series nor in parallel):
 If equivalent spring at point (1)
𝒙𝒆𝒒 𝒙𝟏 𝐿  If equivalent spring at point (2)
1 1 1 1 
𝒌 𝒙 𝒌 𝒙 𝒌 𝒙 𝐿
2 𝒆𝒒 2 𝟏 2 𝟐 𝒙𝒆𝒒 𝒙𝟐
𝒙 𝑘𝑒𝑞
𝒌𝒆𝒒 𝒌𝟏 𝒌𝟐  2
𝒙 1 1 1
𝒌 𝒙 𝒌 𝒙 𝒌 𝒙 𝑘𝑒𝑞
2 𝒆𝒒 2 𝟏 2 𝟐
𝒙 𝑳 𝐿
𝐿 𝟐
Hence 𝒙𝟏 𝑳𝟏  𝒙𝟐 𝑳𝟐  𝒙 𝐿
𝟐 𝑥 𝑥 𝒌𝒆𝒒 𝒌𝟏 𝒌𝟐 𝒌𝟏 𝒌𝟐
𝐿  𝒙 𝐿
𝒌𝒆𝒒 𝒌𝟏 𝒌𝟐
𝐿
13 Dr. Mohamed Saber Sokar 14 Dr. Mohamed Saber Sokar

▐ Equivalent springs (Combining stiffness) ▐ Equivalent springs (Combining stiffness)

 Another method (Using Newton 2nd law for rotational system)  The equivalent spring at the position of spring (2)

𝐿 0 𝑘 𝑥 𝐿 𝐿
𝐽𝜃 ∑𝑀
𝐿𝟏 𝐿𝟏
(Since, link has negligible mass, then 𝐽 0 1 2
1 2
0 𝑘 𝑥 𝐿 𝑘 𝑥 𝐿  (1) 𝑀 𝑀 𝑘1 𝑥
𝑘1 𝑥 𝑘2 𝑥 At position (2) 𝑥 𝑥 𝑘2 𝑥
 The equivalent spring at the position of spring (1)
𝐽𝜃 ∑𝑀 0 𝑘 𝑥 𝐿  (2)
𝐿
𝐿 𝑘 𝑥 𝐿 𝑘 𝑥 𝐿 𝑘 𝑥 𝐿 𝐿𝟏
At position (1) 𝑥 𝑥 , eq. (1) =eq. (2) 𝐿𝟏
1 2
𝑘 𝑥 𝐿 𝑘 𝑥 𝐿 𝑘 𝑥 𝐿 1 2 𝑀
𝑀 𝑥 𝐿 𝐿 𝑘𝑒𝑞 𝑥
𝑘𝑒𝑞 𝑥 𝑘 𝑘 𝑘 𝑘 𝑘
𝑥 𝐿 𝐿 𝑥 𝐿 𝐿
𝑘 𝑘 𝑘 𝑘
𝑥 𝐿 𝐿

15 Dr. Mohamed Saber Sokar 16 Dr. Mohamed Saber Sokar

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▐ Equivalent dampers
 Dampers in series :
Equivalent dampers 𝒚𝒆𝒒 𝒚𝟏 𝒚𝟐 𝒚𝟑 𝑐1
𝒚𝟏
𝒚𝒆𝒒 𝒚𝟏 𝒚𝟐 𝒚𝟑  (1)
Since, 𝒇 𝒕 𝒄𝒚 𝑐2 ⇒ 𝐶𝑒𝑞
𝒚𝟐
𝒇 𝒇 𝒇 𝒇
𝑪𝒆𝒒 𝒄𝟏 𝒄𝟐 𝒄𝟑 𝑐3
𝒚𝟑 m
𝒇 𝒄𝒐𝒏𝒔𝒕𝒂𝒏𝒕  (2) y
𝟏 𝟏 𝟏 𝟏 m
Hence, y
𝑪𝒆𝒒 𝒄𝟏 𝒄𝟐 𝒄𝟑
𝒏
𝟏
𝑪𝒆𝒒 𝟏/
𝒄𝒊
𝒊 𝟏

17 Dr. Mohamed Saber Sokar 18 Dr. Mohamed Saber Sokar

▐ Equivalent dampers ▐ Equivalent dampers

 Dampers in parallel :  Combined dampers (not in series nor in parallel):
c1 c2 𝒏
𝒇𝒆𝒒 𝒇𝟏 𝒇𝟐 𝒇𝟑  (1) c3
𝑫. 𝑬.𝒆𝒒 𝑫. 𝑬𝒊
Since, 𝒇 𝒕 𝒄 𝒚 c2
m 𝒊 𝟏 𝐿
𝑪𝒆𝒒 𝒚 𝒄𝟏 𝒚𝟏 𝒄𝟐 𝒚𝟐 𝒄𝟑 𝒚𝟑 y
𝐿𝟏  𝒚
⇒

Since, 𝒚𝒆𝒒 𝒚𝟏 𝒚𝟐 𝒚𝟑 𝒚  (2) 1 1 1 2

𝑫. 𝑬𝒆𝒒 𝑪 𝒚 𝑪 𝒚 c1
Hence, 2 𝟏 2 𝟐
𝑪𝒆𝒒 𝒄𝟏 𝒄𝟐 𝒄𝟑 1 1 1
𝒏 𝐶𝑒𝑞 𝑪 𝒚 𝒄 𝒚 𝒄 𝒚
2 𝒆𝒒 2 𝟏 2 𝟐
𝑪𝒆𝒒 𝒄𝒊
𝒊 𝟏
m
y

19 Dr. Mohamed Saber Sokar 20 Dr. Mohamed Saber Sokar

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▐ Equivalent dampers ▐ Equivalent dampers

 If equivalent damper at point (1)  Combined damper (not in series nor in parallel):
𝒚𝒆𝒒 𝒚𝟏 then 𝒚𝒆𝒒 𝒚𝟏
𝐿  If equivalent damper at point (2)
𝒚 1 
𝑪𝒆𝒒 𝒄𝟏 𝒄𝟐
𝒚 𝒚𝒆𝒒 𝒚𝟐 then 𝒚𝒆𝒒 𝒚𝟐 𝐶𝑒𝑞
𝐿
𝒚 𝑳 then, 𝒚 𝑳 𝜽 𝑐𝑒𝑞 
1 1 1
𝑪 𝒚 𝒄 𝒚 𝒄 𝒚 2
𝒚𝟏 𝑳𝟏 𝜽 𝒚𝟐 𝑳𝟐 𝜽 2 𝒆𝒒 2 𝟏 2 𝟐
𝟐
𝐿
𝟐  𝑦 𝑦 𝒚 𝐿
𝑪𝒆𝒒 𝒄𝟏 𝒄𝟐 𝑪𝒆𝒒 𝒄𝟏 𝒄𝟐 𝒄𝟏 𝒄𝟐
𝐿 𝐿 𝒚 𝐿
𝐿

21 Dr. Mohamed Saber Sokar 22 Dr. Mohamed Saber Sokar

▐ Equivalent dampers ▐ Equivalent dampers

 Another method (Using Newton 2nd law for rotational system)  The equivalent damper at the point (2)
𝑐2 𝒚 𝟐
𝐽𝜃 ∑𝑀 (Link has negligible mass, then 𝐽 0 0 𝒄 𝒚𝒆𝒒 𝐿 𝐿
𝑐2 𝒚 𝟐
0 𝒄 𝒚𝟏 𝐿 𝒄 𝒚𝟏 𝐿  (1) 𝐿𝟏
𝐿
𝐿𝟏 At position (2) 𝒚𝒆𝒒 𝒚𝟐 1 2
 The equivalent damper at the point (1) 𝑀
1 2 𝑐1 𝒚 𝟏
𝐽𝜃 ∑𝑀 0 𝒄 𝒚𝒆𝒒 𝐿  (2) 𝑀
At position (1) 𝒚𝒆𝒒 𝒚𝟏 𝑐1 𝒚 𝟏 𝑪 𝒚𝟐 𝐿 𝒄 𝒚𝟏 𝐿 𝒄 𝒚𝟐 𝐿
𝑐2 𝒚 𝟐
eq. (1) = eq. (2)
𝒚𝟏 𝐿 𝐿 𝐿
𝐿 𝑪 𝒄 𝒄 𝒄 𝒄 𝐿𝟏
𝑪 𝒚𝟏 𝐿 𝒄 𝒚𝟏 𝐿 𝒄 𝒚𝟐 𝐿 𝐿𝟏 𝒚𝟐 𝐿 𝐿
1 2
1 2 𝑀
𝑪 𝒄 𝒄
𝒚𝟐 𝐿
𝒄
𝐿 𝑀
𝒚𝟏 𝐿 𝐿 𝐶𝑒𝑞 𝒚𝒆𝒒

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▐ Lumped masses
 Transition Masses
𝒏

𝑲. 𝑬𝒆𝒒 𝑲. 𝑬𝒊 𝒎𝒂𝒔𝒔𝒆𝒔
𝒊 𝟏
1 1 1
𝑲. 𝑬𝒆𝒒 𝑴 𝒙 𝑴 𝒙 ⋯ 𝑴 𝒙
Lumped masses 1
𝑴 𝒙
2 𝟏
1
𝑴 𝒙
2 𝟐
1
𝑴 𝒙 ⋯
2 𝒏
1
𝑴 𝒙
2 𝒆𝒒 2 𝟏 2 𝟐 2 𝒏

Case (1):
Link
𝑴𝟏 𝑴𝟐
Two masses connected by a link
𝑥 𝑥
1 1 1
𝑴 𝒙 𝑴 𝒙 𝑴 𝒙
2 𝒆𝒒 2 𝟏 2 𝟐

25 Dr. Mohamed Saber Sokar 26 Dr. Mohamed Saber Sokar

▐ Lumped masses ▐ Lumped masses

 Case (2): Two masses on hinged link 1 1 1
𝑴 𝒙 𝑴 𝒙 𝑴 𝒙
1 1 1  2 𝒆𝒒 2 𝟏 2 𝟐 
𝑴 𝒙 𝑴 𝒙 𝑴 𝒙 𝑴𝟏 𝑴 𝑴
2 𝒆𝒒 2 𝟏 2 𝟐  If equivalent mass located at point (2)
𝐿𝟏 1 2 𝒙 𝒙𝒆𝒒 𝒙𝟐 then 𝒙𝒆𝒒 𝒙𝟐 𝐿𝟏 1 2 𝒙
 If equivalent mass located at point (1) 𝐿 𝐿
𝒙𝒆𝒒 𝒙𝟏 then 𝒙𝒆𝒒 𝒙𝟏
𝒙
𝑴𝒆𝒒 𝒙 𝑴𝟏 𝒙 𝑴𝟐 𝒙 𝑴
 𝑴𝒆𝒒 𝑴𝟏 𝑴𝟐
𝒙
𝒙
𝑴𝒆𝒒 𝑴𝟏 𝑴𝟐 𝐿𝟏 1 2 𝒙 𝐿
𝒙 𝟐 𝐿
𝐿 𝐿
𝒙 𝑳 then, 𝒙 𝑳 𝜽 𝑴𝒆𝒒 𝑴𝟏 𝑴𝟐
𝐿 𝐿 𝑥 𝑥

𝒙𝟏 𝑳𝟏 𝜽 𝒙𝟐 𝑳𝟐 𝜽 𝐿
𝟐
𝐿 𝑥
𝑴𝒆𝒒 𝑴𝟏 𝑴𝟐 𝑥
𝐿 

27 Dr. Mohamed Saber Sokar 28 Dr. Mohamed Saber Sokar

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▐ Lumped rotational masses (discs) ▐ Class activity

1- Pure rotating disc  Example: Find the equivalent linear transition
It is a pure rotation motion  mass for the rolling disc shown in Fig.
1 𝐽
𝐾. 𝐸 𝐽𝜃
2 1 1
𝐾. 𝐸. 𝑚𝑥 𝐽𝜃
2 2
Since, 𝒙 𝑹𝜽
2- Rolling motion No slip
𝐾. 𝐸. 𝑚𝑥 𝐽 𝑚 𝑥
It is a combination of (Rotational and linear motions of a disc)
1 1 1 x
𝐾. 𝐸 m𝑥 𝐽𝜃  𝐾. 𝐸. 𝑀 𝑥
2 𝑴
2 2 c 𝑐 Then the equivalent mass 𝑀 𝑚
(Heavier than disk) and must moved with slip
No slip x

29 Dr. Mohamed Saber Sokar 30 Dr. Mohamed Saber Sokar

▐ Lumped rotational masses (discs) ▐ Lumped rotational masses (discs)

 Rotational Masses (discs)  Case (1) If equivalent wheel is located at gear (1)
𝒏
𝜃 𝜃 then 𝜃 𝜃
𝑲. 𝑬𝒆𝒒 𝑲. 𝑬𝒊 𝑫𝒊𝒔𝒄𝒔 1 1 1
𝒊 𝟏 𝐽 𝜃 𝐽 𝜃 𝐽 𝜃
1 1 1 2 2 2
𝑲. 𝑬𝒆𝒒 𝐽 𝜃 𝐽 𝜃 ⋯ 𝑱 𝜃 𝜃
2 2 2 𝒏
𝐽 𝐽 𝐽
1  𝜃
1 1 1 1
𝑱 𝜃 𝐽 𝜃 𝐽 𝜃 ⋯ 𝑱 𝜃
2 𝒆𝒒 2 2 2 𝒏 J1 Z1 Since , or

J2 𝑧
Z2 𝐽 𝐽 𝐽
2 𝑧


31 Dr. Mohamed Saber Sokar 32 Dr. Mohamed Saber Sokar

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▐ Lumped rotational masses (discs) ▐ Lumped masses

 Case (2) If equivalent wheel is located at gear (2)  Transition mass and rotational disc (rack and pinion)
𝜃 𝜃
1 1 1 𝐾. 𝐸. ∑ 𝐾. 𝐸 elements
𝐽 𝜃 𝐽 𝜃 𝐽 𝜃
2 2 2
𝜃 𝐾. 𝐸. 𝒎𝑥 𝐽𝜃
𝐽 𝐽 𝐽
𝜃 Since,

Since , N 𝑥 𝑅𝜃, 𝑥 𝑅 𝜃, 𝑥 𝑅𝜃

𝐽 𝐽 𝐽 0

33 Dr. Mohamed Saber Sokar 34 Dr. Mohamed Saber Sokar

▐ Lumped masses
 Equivalent transition mass
1 1 𝑥 1
𝐾. 𝐸.
2
𝒎𝑥 𝐽
2 𝑅 2
𝑀 𝑥 To be continued
𝑀 𝒎

 Equivalent disc Go to
𝐾. 𝐸 𝒎 𝑅𝜃 𝐽𝜃 𝐽 𝜃

Part II
𝐽 𝐽 𝑅 𝒎

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▐ Class activity ▐ Class activity

𝒏
 A cam-follower mechanism shown in Fig. is used to convert the
rotary motion of a shaft into the oscillating or reciprocating 𝑲. 𝑬𝒆𝒒 𝑲. 𝑬𝒊
motion of a valve. The follower system consists of a pushrod of 𝒊 𝟏
1 1 1 1 𝟐 1
mass mp a rocker arm of mass mr and mass moment of inertia 𝑲. 𝑬𝒆𝒒 𝑴 𝒙 𝒎 𝒙 𝒎 𝒙 𝐽 𝜽 𝒎 𝒙
Jr about its C.G., a valve of mass mV and a valve spring of 2 𝒆𝒒 2 𝒑 2 𝒗 2 𝒓 𝒓 2 𝒓
negligible mass.  If equivalent mass located at point (A)
 Determine degree of freedom of 𝒙𝒆𝒒 𝒙𝒑 and 𝒙𝒆𝒒 𝒙𝒑
the system, and find the 𝟐
𝑴𝒆𝒒 𝒙 𝒎𝒑 𝒙 𝒎𝒗 𝒙 𝐽𝒓 𝜽𝒓 𝒎𝒓 𝒙
equivalent mass meq of this cam-
𝟐
follower system by assuming the 𝒙 𝜽𝒓 𝒙
location of meq at point A. 𝑴𝒆𝒒 𝒎𝒑 𝒎𝒗 𝐽𝒓 𝒎𝒓
𝒙 𝒙 𝒙

37 Dr. Mohamed Saber Sokar 38 Dr. Mohamed Saber Sokar

▐ Class activity ▐ Class activity

𝒙 𝑳 and 𝒙 𝑳 𝜽  Hint:
𝒙𝒑 𝑳𝟏 𝜽𝒓 𝒙𝒗 𝑳𝟐 𝜽𝒓 𝒙𝒓 𝑳𝟑 𝜽𝒓  The effect of the mass of the valve spring 𝒎𝒔 can
be accounted for by adding one-third of its mass
l3
𝑥𝑝
𝜃 𝒎𝒔,𝒆𝒒 𝒎𝒔
𝑥𝑟 𝑥𝑣
l1 l2  The kinetic energy of the valve spring will be
𝟐 𝟐 𝟐  𝑲. 𝑬𝒔 𝒎𝒔 𝒙
𝐿 𝜽𝒓 𝜽𝒓 𝐿 𝜽𝒓
𝑴𝒆𝒒 𝒎𝒑 𝒎𝒗 𝐽𝒓 𝟐
𝒎𝒓
𝐿 𝜽𝒓 𝜽𝒓 𝐿 𝐿 𝜽𝒓
𝟐 𝟐
𝐿 𝟏 𝐿
𝑴𝒆𝒒 𝒎𝒑 𝒎𝒗 𝐽𝒓 𝟐 𝒎𝒓
𝐿 𝑳𝟏 𝐿
39 Dr. Mohamed Saber Sokar 40 Dr. Mohamed Saber Sokar

10
 10/23/2021

Thank you for your attention

41 Dr. Mohamed Saber Sokar

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