Equivalent tasses, Sprlngs and

M
Equiualent masses

Mass ( M) attached at end of

spring of mass ,r,
m"r: M + ;m
J

Cantilever beam of mass r?r

carrying an end mass M
m"q: + 0.23 m

Simply supported beam of

massmcarryingamass m"s: + 0.5 m
M at the middle

^ :rr+4R-
Coupled translational and
rotational masses
J"n:Jo+mR2

Masses on a hinged bar 22

/,
/ \
tft.^ : nlt . (?) mr-ll,lm,
- \ttl -

Equiualent springs

<1_o____-__-------¡---' Rod under axial load

(/: length, I : cross sectional area) :-1EA

Tapered rod under axial load ,

K"q:
¡EDd
-Ál
(D, d: end diameters)

<--LQ-Q-Q.-0-I-Q-Q-LQ-r+ Helical spring under axial load

( d : wire diameter, D : mean coil : Gd4
k no
diameter, n : number of active turns) SrDt

A I r, Fixed-fixed beam with load at the middle 0", :

ryP

Cantilever beam with end load

,
K:-
3EI
 Simply supported beam with load ,
K
48EI
: ---;l-
at the middle "u' t-

Springs in series
lllI
k"" kt k.
-:-*¡*...{; k:,

Springs in parallel k"u:kt+k2+"'*ku

Hollow shaft under torsion

(/: length, D : outer diameter, n"r: ffito¿ - d4)
d : inner diameter)

Equiualent uiscou.s dampers

h Relative motion between parallel

t ________)
.--------z- surfaces
¡tA
c"q: -T
-FSSÑ\ñS (A : area of smaller plate)
Fluid, viscosity ¡r

Dashpot (axial motion of a

c"r: F3,ÍD3tl-* ¡/
zd\
piston in a cyünder) 4di \t

Torsional damper - np.o2(l-fi -

."u: ÍpD3
32h
-IT-

Dry friction (Coulomb damping) 4fN

(/f : friction force, ,Ío X
o : frequency, X : amplitude
of vibration)
 Mechanical
Vibrations
Fourth Edition

Singiresu S. Rao
University of Miami

i el*$ r'¡- tiir. i.'i

'1463fi'
Pearson Education, Inc.
Upper Saddle Ríver, New Jersey 07458

ü46üfi.
Librar¡ of Congress Cntaloging-in-Publication Dat¿r

Rao. S. S.
Mechanrc¿l vrbrations/Singiresu S. R¿ro.---1th etl.
p. cm.
includes bibliographical ref'erences and lndex.
rsBN 0-13-0,18987-5
L Vibrutron. I. Title.
TA355.R37 2003
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To Lord Sri Venkateswara
Contents

Preface xvii

\cknowledgments XX

List of Symbols xxi

I
-H.\PTER
Fundamentals of
|ibration
1.1 Preliminary Remarks 1
1.2 Brief History of Vibration I
1.2.1 Origins of Vibration I
1,2.2 From Galileo to Rayleigh 4
1.2.3 Recent Contributions 7
1.3 Vibration 9
lmportance of the Study of
1.4 Basic Concepts of Vibration 1l
1.4.1 Vibration 11
1.4.2 Elementary Parts of Vibrating Systems 11
1,4.3 Degree of Freedom 13
1.4.4 Discrete and Continuous Systems 15
1.5 Classification of Vibration 16
1.5.1 F¡ee and Forced Vibration 16
1.5.2 Undamped and Damped Vibration 16
1.5.3 Linear and Nonlinear Vibration 16
1.5.4 Deterministic and Random Vib¡ation 17
1.6 Vibration Analysis Procedure 17
1.7 Spring Elements 20
|.7 .1 Combination of Springs 24
1.8 Mass or Inertia Elements 30
i.8.1 Combination of Masses 31
L.9 Damping Elements 36
1.9.1 Construction of Viscous Dampers 37
1.9.2 Combination of Damoers 38
Vi CONTENTS

1.10 Harmonic Nlotion -13

1.10.1 Vectorial Representatron of Harmonic Motion 44

1.10.2 Compler Number Representation of Harmonic N{otion 45
1.10.3 Complex Algcbla J7
1.10.4 Operations on Harmonic Functions 47
L 10.5
Definitions and Tenninology 50
1.11 Harmonic Analysis 53
1.1 1.1 Fourier Series Expansion 54
1.1 1.2 Complex Foruier Series 55
1.11.3 Frequency Spectrum 56
1.I I .4 T:ime and Frequencv Donrain Representations 57
1. i 1.5 Even ancl Odd Functions 58
1 . 1 1.6 Hrlf-Rlnge Expansions 60
1.11.1 Numeric¿rl Computation of Coeflicients 6l
l.l2 Examples Using NÍATLAB 65
1.13 C++ Program 69
l,l4 Fortran Program 70
1.15 Vibration Literature 7l
References 72
Review Questions 74
Problems 77
Design Projects 102

CHAPTER 2
Free Vibration of 106
Single Degree of
Freedom
Systems
2.r Introduction f06
)) Free Vibration of an Undamped Translational System 109
2.2.1 Equation of Motion Usin_e Newton's Second Law of Motion 109
2.2.2 Equation ol Motion Using Other Methods ll0
2.2.3 Equation of Motion of a Spring-Mass System in Vertical Position ll2
2.2.4 Solution 114
2.2.5 Harmor.ric Motion 115
2.3 Free Vibration of an Undamped Torsional System 126
2.3.1 Equation of Motion 128
2.3.2 Solution 128
2.4 Stability Conditions 132
t{ Rayleigh's Energy Nlethod 134
2.6 Free Vibration with Viscous Damping 139
2.6.1 Equation of Motion 139
2.6.2 Solution 740
 CONTENTS vll

2.6.3 Logalithmic Decrement 146

2.6.4 Energy Dissipated in Viscous Damping 749
2.6.5 Torsional Systems with Viscous Damping 151
2.7 Free Vibration with Coulomb Damping 157
2.7.I Equation of Motion 158
2.7.2 Solution 159
2.'7.3 Torsional Systems with Coulomb Damping 162
2.8 Free Vibration with Hysteretic Damping 161
2.9 Examples Using MATLAB 170
2.t0 C++ Program 176
2.rl Fortran Program 177
References 178
Review Questions 178
Problems 182
Design Projects 216

CH.qPTER 3

Harmonically 2L9
Excited
Vibration
3.1 Introduction 219
3.2 Equation of l\Iotion 220
3.3 Response of an Undamped System Under Harmonic Force 221
3.3.1 Total Response 225
3.3.2 Beating Phenomenon 225
3.4 Response of a Damped System Under flarmonic Force 228
3.4.1 Total Response 232
3.4.2 Quality Factor and Bandwidth 234
3.5 Response of a Damped System Under F(l) : Foei't 2J5
3.6 Response of a Damped System Under the Harmonic Nlotion of the Base 239
3.6.1 Force T¡ansmitted 241
3.6.2 Relative Motion 242
3.7 Response of a Damped System Under Rotating Unbalance 245
3.8 Forced Vibration with Coulomb Damping 249
3.9 Forced Vibration with Ilysteresis Damping 254
3.10 Forced Motion with Other Types of Damping 256
3.11 Self-Excitation and Stability Analysis 258
3. I 1. I Dynamic Stability Analysis 258
3.1,1.2 Dynamic Instability Causecl by Fluid Flow 261
3.12 Examples Using MATLAB 269
3.13 C++ Program 2T6
3.14 Fortran Program 277
References 277
viii coNrENrs

Review Questions 278

Problems 282
Design Projects 301

CHAPTER 4

Vibration Under 302

General Forcing
Conditions
4.1 Introduction 302
4.2 Response Under a General Periodic Force 303
4.3 Response Under a Periodic Force of lrregular Form 309
4.4 Response Under a Nonperiodic Force 311
4.5 Convolution Integral 312
4.5.1 Respttnse to an lmpulse 312
,+.5.2 Response to a General Forcing Condition 316
4.5.3 Response to Base Excitation 317
4.6 Response Spectrum 325
4.6.1 Response Spectrum for Base Excitation 327
4.6.2 Earthquake Response Spectra 331
4.6.-l Design Under"a Shock Environment 3J5
4.7 Laplace Transforms 337
4.8 Response to Irregular Forcing Conditions Using Numerical Nlethods 342
4.9 Examples Using NIATLAts 349
4.1(l C++ Prograrns 356
4.10.1 Response Llnde¡ an Arbitlary Periodic Force 356
4.10.2 Response Under an Arbitrary Forcin,e Function 357
4.11 Fortran Programs 358
4.1 L I Response Under an Arbitrary Periodic Force 358
4.1 | .2 Response Under an Arbitrary Forcing Function 359
References 359
Review Questions 360
Problems 363
Design Projects 378

CHAPTER 5
Two Degree of 381
Freedom Systems
5.1 Introduction 381
{? Equations of Motion for Forced Vibration 383
5.3 Free Vibration Analysis of an Undamped System 38s
5.4 Torsional System 394
Coordinate Coupling and Principal Coordinates 399
 CONTENTS 1X

5.6 Forced Vibration Analysis 406

5.7 Semidefinite Systems 409
5.8 Self-Excitation and Stability Analysis 412
5.9 Examples Using MATLAB 414
5.f0 C++ Program 421
5.11 Fortran Program 122
References 422
Review Questions 423
Problems 126
Design Projects 146

.H.\PTER 6

\lultidegree of 448
Freedom Systems
6.1 Introduction 448
6.2 Modeling of Continuous Systems as Multidegree of Freedom Systems 449
6.3 Using Newton's Second Law to Derive Equations of Nlotion 450
6.4 Influence Coefficients 455
6.1.1 StifTness Influence Coetficients 456
6.4.2 Flexibiliti, Influence Coefficients 461
6.4.3 Inertia Influence Coefñcients 466
6.5 Potential and Kinetic Energy Expressions in Matrix Form 468
6.6 Generalized Coordinates and Generalized Forces 470
6.7 Using Lagrange's Equations to Derive Equations of N{otion 471
6.8 Equations of Motion of Undamped Systems in Matrix Form 475
6.9 Eigenvalue Problem 476
6.10 Solution ofthe Eigenvalue Problem 478
6.10.1 Solution of the Characteristic (Polynomíal) Equation 478
6.10.2 Orthogonality of Normal Modes 483
6.10.3 Repeated Eigenvalues 486
6.11 Expansion Theorem 488
6.t2 Unrestrained Systems 489
6.r3 Free Vibration of Undamped Systems 493
6.14 Forced Vibration of Undamped Systems Using Modal Analysis 495
6.15 Forced Vibration of Viscously Damped Systems 503
6.16 Self-Excitation and Stability Analysis 508
6.17 Examples Using MATLAB 511
6.18 C++ Programs 519
6.t9 Fortran Programs 521
References 522
Review Questions 522
Problems 526
Design Project 540
 CONTENTS

CHAPTER 7

Determination 542
of Natural
Frequencies and
Mode Shapes
7.1 fntroduction 542
7.2 Dunkerley's Formula 543
7.3 Rayleigh's Method 545
1 .3.l Properties of Rayleigh's Quotient 546
7.3.2 Computation of the Fundamental Natural Frequency 548
1.3.3 Fundamental Frequency of Beams and Shafts 550
7.4 Holzer's Method 553
7.4.1 Torsional Sy.tems 553
'7.4.2 Spring-Mass Systems 556
7.5 Matrix Iteration Method 557
7.-5.1 Convergence to the Highest Natural Frequency 560
'7.5.2 Computation of Intermediate Natural Frequencies 560
7.6 Jacobi's Method 5ó5
7.7 Standard Eigenvalue Problem 567
7 .7.1 Choleski Decomposition 568
1.'7.2 Other Solution Methods 570
7.8 Examples Using MATLAB 570
7.9 C++ Programs 573
7.10 Fortran Programs 575
References 577
ReviewQuestions 578
Problems 581
Design Projects 586

CHAPTER 8

Continuous 588
Systems
8.1 Infroduction 588
8.2 Transverse Vibration of a String or Cable 589
8.2.I Equation of Motion 589
8.2.2 Initial and Bounclary Conditions 590
8.2.3 Free Vibration of a Uniform String 592
8.?.4 Free Vibration of a String with Both Ends Fixed s92
8.2.5 Traveling-Wave Solution 596
8.3 Longitudinal Vibration of a Bar or Rod 597
8.3.1 Equation of Motion and Solution 597
8.3.2 Orthogonality of Nomal Funcfious 600
8.4 Torsional Vibration of a Shaft or Rod 606
 CONTENTS XI

8.5 Lateral Vibration of Beams 609

8.5.1 Equation of Motion 609
8.5.2 lnitial Condltions 611
8.5.3 Free Vibration 6ll
8.5.4 Boundary Conditions 612
8.5.5 Orthogonality of Normal Functions 615
8.5.6 Fo¡ced Vibration 617
8.5.7 Effect of Axial Force 620
8.5.8 Effects of Rotary Inertia and Shear Deformation 623
8.5.9 Other Effects 627
8.6 Vibration of Membranes 627
8.6.1 Equation of Motion 628
8.6.2 Initial and Boundary Conditions 629
8.7 Rayleigh's N{ethod 631
8.8 The Rayleigh-Ritz Nlethod 633
8.9 Examples Using MATLAB 636
8.10 C++ Program 639
8.11 Fortran Program 610
References 640
Review Questions 642
Problems 615
Design Project 655

CHAPTER 9

Vibration 657
Control
9.1 Introduction 657
9.2 Vibration Nomograph and Vibration Criteria 658
9.3 Reduction ofVibration at the Source 662
9.4 Balancing of Rotating Machines 662
9.4.1 Single-PlaneBalancing 663
9.4.2 Balancing 666
Tr.vo-Plane
9.5 Whirling of Rotating Shafts 671
9.5.1 Equations of Motion 671
9.5.2 Critical Speeds 674
9.,5.3 Response of the System 674
9.5.4 Srabiliry Analysis 676
9.6 Balancing of Reciprocating Engines 678
9.6.1 Unbalanced Forces Due to Fluctu¿rtions in Gas Pressure 678
9.6.2 Unbalanced Forces Dne to Inertia of the lMoving Parts 680
9.6.3 Balancing of Reciprocating Engines 682
9.7 Control of Vibration 684
9.8 Control of Natural l-requencies 685
9.9 Introduction of Damping 685
XII CONTENTS

9.10 Vibration Isolation 687

9.10. 1 Vibration Isolation Svstem rvith Rigid Foundation 690
9.10.2 Isolation of Source of Vibration from Surroundings 693
9.10.3 Vib¡ation Isolation System with Flexible Foundation 695
9.10.4 Vibration Isolation System with Parlially Flexible Foundation 698
9.10.5 Shock Isolation 700
9. 10.6Active Vibration Control 703
9.Il Vibration Absorbers 704
9.11.1 Undamped Dynamic Vibration Absorber 704
9.11.2 Damped Dynamic Vibration Absorber 710
9,12 Examples Using MATLAB 714
9.13 C++ Program 722
9.14 Fortran Program 722
References 722
Review Questions 724
Problems 727
Design Project 739

CHAPTER I()
Vibration 747
lVleasurement
and Applications
f0.1 Introduction 741
10.2 Ttansducers 743
I 0.2. I Variable Resistance Transducers 743
10.2.2 Piezoelectric Transducers 746
10.2.3 Electrodynamic Transducers 747
10.2.4 Linear Variable Difl-erential Transformer Transducer 748
10.3 Vibration Pickups 749
10.3.1 Vbrometer 751
10.3.2 Accelerometer 752
10.3.3 Velometer 7 55
10.3.4 Phase Distortion 757
10.4 Frequency-Measuringlnstruments 759
10.5 Vibration Exciters 761
10.5.1 Mechanical Exciters 761
10.5.2 Electrodynamic Shaker 762
10.6 Signal Analysis 764
10.6.1 Spectrum Analyzers 765
10.6.2 Bandpass Filter 766
10.6.3 Constant Percent Bandwidth and Constant Bandwidth Analyzers 767
lO.7 Dynamic Testing of Machines and Structures 769
10.7.1 Using Operational Deflection Shape Measurements 769
10.7.2 Using Modal Testing 769
 CONTENTS XIII

10.8 Experimental Modal Analysis 769

10.8.1 The Basic Idea 769
10.8.2 The Necessary Equipment 769
10.8.3 Digital Signal Processing 772
10.8.4 Analysis of Random Signals 774
10.8.5 Determination of Modal Data from Observed Peaks 776
10.8.6 Determination of Modal Data from Nyquist Plot 719
10.8.7 Measurement of Mode Shapes 780
10.9 Machine Condition Monitoring and Diagnosis 783
10.9.1 Vibration Severity Criteria 784
10.9.2 Machine Maintenance Techniques 784
i0.9.3 Machine Condition Monitoring Techniques 786
10.9.-1 Vibration Monitoling Techniques 787
10.9.5 Instrumentation Systems 791
10.9.6 Choice of Monitoring Parameter 794
10.10 Examples Using MATLAB 794
References 797
Review Questions 798
Problems 801
Design Projects 805

CHAPTER 11

Numerical 808
Integration
llethods in
\-ibration
.\nalysis
11.1 Introduction 808
ll.2 Finite Difference Method 809
11.3 Central Difference Method for Single Degree of Freedom Systems 810
ll,4 Runge-Kutta Method for Single Degree of Freedom Systems 813
11.5 Central Difference Method for Multidegree of Freedom Systems 814
11.6 Finite Difference Method for Continuous Systems 818
I L6.1 Longitudinal Vibration of Bars 818
11.6.2 Transverse Vibration of Beams 822
ll.7 Runge-Kutta Method for Multidegree of Freedom Systems 826
11.8 Hout¡olt Method 828
11.9 Wilson Method 832
11.f0 Newmark Method 834
11.11 Examples Using MATLAB 837
ll.l2 C++ Programs 844
11.13 Fortran Programs 846
References 848
Review Questions 849
Problems 85f
 I
\

Xiv CONTENTS

CH.{PTER 12

FiniteElement 856
Method
l2,l Introduction 856
12.2 Equations of Motion of an Element 857
12.3 Mass Matrix, Stiffness Matrix, and Force Yector 858
12.3.I Bar Element 858
12.3.2 Torsion Element 861
12.3.3 Beam Element 862
I2,4 Ttansformation of Element Matrices and Vectors 865
12.5 Equations of Motion of the Complete System of Finite Elements 868
12.6 lncorporation of Boundary Conditions 869
12.7 Consistent and Lumped Mass Matrices 878
12.7.1 Lumped Mass Matrix for a Bar Element 879
12.7.2 Lumped Mass Matrix for a Beam Element 879
12.7.3 Lumped Mass Versus Consistent Mass Matrices 879
12.8 Examples Using MATLAB 881
12.9 C++ Program 886
12.10 Fortran Program 886
References 887
Review Questions 887
Problems 889
Design Projects 899

CHAPTER 13

Nonlinear 901
Vibration
13.1 Introduction 901
13.2 Examples of Nonlinear Vibration Problems 902
13.2.1 Simple Pendulum 902
13.2.2 Mechanicai Chatter, Belt Friction System 903
13.2.3 Variable Mass System 904
13.3 Exact Methods 905
L3.4 Approximate Analytical Methods 906
13.4.1 Basic Philosophy 906
13.4.2 Lindstedt's Perturbation Method 908
13.4.3 Iterative Method 910
13.4.4 Ritz-Galerkin Method 914
13.5 Subharmonic and Superharmonic Oscillations 917
13.5.1 Subharmonic Oscillations 917
13.5.2 SuperharmonicOscillations 920
13.6 Systems with Time-Dependent Coefficients (Mathieu Equation) 921
 CONTENTS

I3.7 Graphical Methods 926

13.7 .l Phase Plane Representation 926
13.7 .2 Phase Velocitv 930
13.7.3 Method of Constructing Trajectories 931
13.7.4 Obtaining Time Solution from Phase Plane Trajectories 932
13.8 Stability of Equilibrium States 933
13.8.1 Stabiliry Analysis 933
3.8.2 Classification of Singular Points 936
1

13.9 Limit Cycles 937

13.10 Chaos 939
l3.l0.l Functions rvith Stable Orbits 910
13.10.2 Functions with Unstable Orbits 941
13.10.3 Chaotic Behavior of Duffing's Equation Without the Forcing Term 943
13.10.4 Chaotic Behavior of Duffing's Equation with the Forcing Term 944
13.11 Numerical Methods 948
L3.12 Examples Using MATLAB 949
13.13 C++ Program 958
13.14 Fortran Program 959
References 959
Review Questions 961
Problems 961
Design Projects 971

-H\PTER 14

Random 973
|ibration
14.1 Introduction 973
14.2 Random Variables and Random Processes 974
1,1.3 ProbabilityDistribution 971
14.4 Mean Value and Standard Deviation 976
14.5 Joint Probability Distribution of Several Random Variables 978
11.6 Correlation Functions ofa Random Process 980
t4.7 Stationary Random Process 981
14.8 Gaussian Random Process 984
14.9 Fourier Analysis 986
14.9.1 Series 986
Fourier
11.9.2 Integral 990
Fourier
14.10 Power Spectral Density 993
14.11 Wide-Band and Narrow-Band Processes 995
14.12 Response of a Single Degree of Freedom System 998
I4.l2.l Impulse Response Approach 998
14.12.2 Frequency Response Approach 1000
14.12.3 Characteristics of the Response Function 1000
XVI CONTENTS

14.13 Response Due to Stationar]' Random Excitations 1001

l4.l3.l [mpulseResponseApproach 1002
14.13.2 Frequency Response Approach 1003
14.14 Response of a Ntultidegree of Freedom System 1009
14.15 Examples Using MATLAB 1015
References 1019
Review Questions 1020
Problems 1023
Design Project f030

APPENDIX.A
llathematical Relationships 1031

APPENDIX B
Deflection of Beams and Plates 1034

APPE\DIX C

Matrices r037

APPENDIX D
Laplace Transform Pairs 1044

APPE\DIX E

Units r046

APPENDIX F
Introduction to MMLAB 1049

Answers to Selected Problems 1059

Index 1071
Preface

This book serves as an introduction to the subject of vibration engineering at the under-
graduate level. The style of the prior editions has been retained. with the theory. compllta-
tional aspects. and applications of vibrations presented ir.r :rs simple a manner as possible.
As in the previous editions. corllputer techniques of analysis :rre emphasized. Expanded
explanations of the fundamentals are given, emphasizing physical significance ancl inter-
pretation that build upon pl'e\ious experienees in under-graduate mechanics. Numeroris
examples and problems are used to illustlate principles and concepts. Favorable reactions
and encouragement fiom prot-essors and stuclents have pror,ided me r.l,ith the ilnpetrls to
r,vrite the fburth edition of this book. Several new features hale been adcled ancl mau)'1{)p-
ics modified and rervritten. Most of the additions were suggested by those u'ho have irsed
the text and by nulnerous rer"iewers. Some important chan-ses shoulcl be noted:
. More than 900 new review questions h¿ri'e been added to help students in revieivin-u
and testin-u their r-rnderstanding of the text rnaterial. The review qLrestions inchrile
rnultiple choice questions. questions with brief answers. true-false questicrrrs. ques-
tions involving matchin-e of related descriptions. and fill-in-the-blank t¡'pe qrLestions.
. A new appendix has been added to introduce the basic ideas of N.,IATLAB progrant-
rring.
. Several MATLAB-based exarnples are included in every chapter.
. General-purpose computer programs using MAILAB, C++, and Fortran plograrurtrinu
are given. along with applications. in all chapters forthe solution of vibration problerrs.
. Several new problerns including problems that are based on the use of MATLAB,
C++. and Fortran problems are given at the end of each chapter to expose students
to many important cor.r-rputational and programmin-c details.
. Answers to the review questions ¿rnd the source codes of all MATLAB, C++. ancl
Fortran pro-grarxs are postecl at the website of the book.
. More than -50 new illustrative examples appear throu_uhout the book.
. More than 100 new problems have been added at the ends of various chapters.

: .'itures
Each topic in Medtunicul Vibrutiotts is self-contained. with all concepts explained full1, ancl
the derivations presented with complete det¿rils. The computational aspects are emphasized

xvii
Xviii PREFACE

throughout the book. MATLAB-based examples are given in all chapters. Several MATLAB,
interactive C++, and Fortran computer progran.rs! most of them in the form of general pur-

il':;['J;:'il:;:::il.i:i1tl"?,1'H,:J;'.:'JiJ:::",''J]-;"Hi':,'["J,fi l:'Jli:i
il#13;ll,'':J;;:,ffi'nJ;:Til:::..?::.;;:'.1T#"'ffi :jn::*ffii:fJ
progranrming details.
Certain subjects are presented in a somervhat unconventional manner. The topics of
Chapters 9. 10. and ll fall in this category. Most textbooks discuss isolators, absorbers.
and balancing in different places. Since one of the main purposes of the study of l'ibrations
is to control vibration response. all topics directly related to vibration control are given in
Chapter 9. The vibration-measuring instruments, along with vibration exciters. experi-
mental modal analysis procedures. and r.nachine conclition monitoring. are presented in

;l#.::l?,ijs1l1't;l]:$::tT:liTl::Tillj::t::"'::i.::T'J;1l:,Tt"'3f#tiit"'
Specific featr.rres include the fbllowing:
. More than 200 illustrative examples accompirnying most topics.
. More than 900 review questions to help students in reviewing and testing their
understanding of the text material.
. More than 1000 problerns, with solutions in the instructot"s matrual.
. More than 30 design project type problems at the ends of various chapters.
. More than 70 MATLAB, C++, and Fortran computer programs to aid students in the
numedcal irnplenrentation of the methods discussed in the text.
. Biographical information about scientists and engineers who contributed to the
development of the theory of vibrations are presented on the opening pages of chap-
ters and appendixes.
. The MATLAB, C++, and FORTRAN programs given in the book, answers to prob-
lems, and solutions to review questions can be found at the Web site for this book,
www.prenhall. corn/rao.

Notation and Units

Both the SI and the English system of units have been used in the examples and problems.
A list of s¡,n.rbols, along with the associated units in SI and English system-s. appears after
the Acknor.vledgrnents. A brief discussion of SI units as they apply to the field of vibra-
tions is given in Appendix E. Arrows are used over symbols to denote column vectors and
souare brackets are used to indicate matrices.

Contents
Mechanical Vibration,s is organized into l4 chapters and 6 appendixes. The material of
the book provides flexible options for diffelent t1'pes of r.'iblation courses. Fot' a oue-
semester senior or dual-level course. Chapters I through 5, portions of Chapters 6, 7. 8,
 PREFACE xix

and 10. and Chapter 9 may be used. The course can be given a computer orientation by
including Chapter 1l in place of Chapter 8. Alternatively, with Chapters 12, 13, and 14,
the text has sufficient material for a one-year sequence at the senior level. For shorter
courses, the instructor can select the topics, depending on the level and orientation of the
course. The relative simplicity with which topics are presented also makes the book use-
ful to practicing engineers for purposes of self-study and as a source of references and
computer programs.
Chapter I starts with a brief discussion of the history and importance of vibrations.
The basic concepts and terminology used in vibration analysis are introduced. The free
vibration analysis of single dc'-9ree of freedom undamped translational and torsional sys-
tems is given in Chapter 2. The effects of viscous, Coulomb, and hysteretic damping are
also discussed. The harmonic lesponse of single degree of freedom systems is considered
in Chapter 3. Chapter 4 is concerned with the response of a single degree of freedon.r sys-
tem under general forcing functions. The roles of convolution integral, Laplace transfor-
mation, and numerical methods are discussed. The concept of response spectrum is also
introduced in this chapter. The free and forced vibration of two degree of freedom sys-
tems is considered in Chapter 5. The self-excited vibration and stability of the system are
discussed. Chapter 6 presents the vibration analysis of multidegree of freedom systens.
Matrix methods of analysis are used for the presentation of the theory. The modal analy-
sis procedure is described lbr the solution of fbrced vibration problems. Several methods
of determining the natural frequencies of discrete systems are outlined in Chapter 7. The
methods of Dunkerley, Rayleigh, Holzer, and Jacobi and matrix iteration are also dis-
cussed. The vibration analysis of continuous systems, including strings, bars, shafts,
beams, and membranes is given in Chapter 8. The Rayleigh and Rayleigh-Ritz methods
offinding the approximate natural frequencies are also described. Chapter 9 discusses the
various aspects of vibration control, including the problems of elimination. isolation. and
absorption. The balancing of rotating and reciprocating machines and the whirling of
shafts are also considered. The vibration-measuring instruments, vibration exciters, and
signal analysis are the topics of Chapter 10. Chapter I I presents several numerical inte-
gration techniques for finding the dynamic response of discrete and continuous systems.
The central difference, Runge-Kutta, Hor.rbolt. Wilson, and Newrnark niethods are sun-
marized and illustrated. Finite element analysis, with applications involving one-dimen-
sional elements, is discussed in Chapter 12. An introductory treatment of nonlinear
vibration, including a discussion of subharmonic and superharmonic oscillations, limit
cycles, systems with time-dependent coefficients and chaos, is given in Chapter 13. The
random vibration of linear vibration systems is considered in Chapter 14. Appendixes A
and B focus on ma¿hematical relationships and deflection of beams and plates, respec-
tively. The basic relations of matrices, Laplace transforms, and SI units are outlined,
respectively, in Appendixes C, D, and E. Finally, Appendix F provides an introduction to
MATLAB programming.

S.S. R,co
Acknowledgments

I would like to express my appreciation to the rnany students and faculty whose com-
nrents have helped me improve the book. I am most grateful to the following people for
off'ering their cornments, suggestions, and ideas: Richard Alexander, Texas A&M University;
Cl. W. Bert, University of Oklahoma; Raymond M. Brach, University of Notre Dame:
Alfonso Diaz-Jirnenez. Universidad Distrital "Francisco Jose de Caldas." Colombia:
George Doyle, University of Dayton; Hamid Harnidzadeh, South Dakota State
University; H. N. Hashemi, Northeastern University: Zhikun Hou, Worchester
Polytechnic Institute; J. Richard Hou_shton, Tennessee Technological University; Faryar
Jabbari, University of California, Irvine; Robert Jeffers, University of Connecticut;
Richald Keltie, North Carolina State Univelsit),i J. S. Lamancr-rsa, Pennsylvania State
University: Harr¡r Law, Clemson University; Robert Leonard, Virginia Polytechnic
Institute and State University; James Li, Columbia University; Sameer Madanshetty,
Boston Universit¡r; M. G. Prasad, Stevens Institute of Technologyl F. P. J. Rimrott,
University of Toronto; Subhash Sinha, Auburn University; Daniel Stutts, University of
Missouri-Rolla; Massoud Tavakoli, Georgia Institute of Technology; Theodore Terry.
Lehigh University; Chung Tsui, University of Maryland. College Park; Alexander Vakakis,
University of lllinois-Urbana Champai-en; Chuck Van Karsen, Michigan Technological
University; Aleksandra Vinogradov, Montana State University; K. W Wang, Pennsylvania
State Llniversity: Willi¿rm Webster, GMI En-sineering and Mana-eement Institute. I would
like to thank Purdue University for granting me permission to use the Boilermaker
Special in Problem 2.91. My'sincere thanks to Dr. Qing Liu. a fonne¡ graduate student at
the University of Miami, fbr helping me in writing some of the MATLAB and C** pro-
grams. Finaliy, I wish to thank my wif-e, Kamala, daughters Sridevi and Shobha, and
grandtlaughter. Siriveena Rosa. without whose patience. encouragement, and support this
edition might never have been completed.

S.S. R¡o
srao@miami.edu
List of Svmbols

:r'mbol MeaninEi English Units SI Units

ú¡.41,d'2,.. . constants. lengths

fl exibility coefficient in./lb m/N
flexibility matrix in./lb m/N
area
.)
1n- 111-

4,.¡,4t,... constants
\t.br,. .' constants, lengths
Bt. Bt'. .- constants
balancing weight lb N
viscous damping coelfi cient lb-sec/in. N's/m
C1, C2. constants
wave velocity in./sec m/s
critical viscous damping constant lb-sec/in. N's/m
damping constant of ith damper lb-sec/in. N's/l-l-r
damping coefficient lb-sec/in. N. s/m
damping matrix lb-sec/in. N's/m
( .q,c\,c'2 constants
diameter, dimension 1n. m
diameter In. m
) ,'2
dynamical matrix sec-
base of natural logarithrns
eccentricity in.
unit vectors paallel to.r and l directions
Young's modulus lb/inr Pa

expected value of .r
linear'frequency Hz Hz.

folce pel unit length lb/in. N/m

xxt
XXii LIST OF SYMBOLS

Svmbol Meaning English Units SI Units

[,
unit impulse lb-sec N's
F tr, force lb N
f¡ an'rplitude of force F(¡) lb N
F T:^ force transmitted ib N
tt force acting on ith mass 1b N
F tblce vector lb N

! impulse lb-sec N's

.c acceleration due to gravity in./secl nVsl

8(t) irnpulse response function

G shear modulus lb/in2 N/m2
h hysteresis damping constant lb/in N/m
H(it'u) trecluencl,' response function
i \/-l
I area moment of inertia ina m4

t4 identitv rnatlix
Im0 imaginary part of ()

.I integer
.J
J polal nrornent of iriertia ln tn4
r kg'.'
l, Jo, Jt, J2, . . . mass moment of inertia lb-in./sec

k.b spring constant lb/in. N/m

k¡ spring constant of I th sprin-u lb/in. N/nr
kt torsionai spring constant 1b-inirad N-m./rac1

k¡i stifTness coeft'icient lb/in. N/m

tkl stitfness rnatlix lb/in. N/ni
t, t¡ length in. m
-/ ll). kg
m'ry1 nlASS I tl-SL'C

i th mass b-sec
r/in. Kg
l7l¡ I

m¡j mass coefficient ln-sL'c-/1n. kg

lml mass matlix I h-sec'/ln. kg

r/in.
M rnASS lb-sec kg
M bending moment lb-in. N'm
M,, M,t, fu[,:.... torque lb-in. N.m
M,0 amplitude of M,(t) lb-in. N'ni
n an lnieger
II number of deglees of iieedont
normal fbrce tb
 Lrsr oF syMBoLS xxiir

¡ bol Meanint English Units SI Units

total number of time steps

pressure lD/ tn- N/m2
probability density function of ,r
probability distribution function of x
force, tension tb
j th generalized coordinate
vector of generalized displacements
vector of generalized velocities
jth generalized force
frequency ratio : olan
radius vector
real part of ( )
autocorrelation function
electrical resistance ohm ohm
Rayleigh's dissipation function lb-in/sec N'm/s
Rayleigh's quotient I /sec2 1ls2

exponential coeffrcient, root of equation

5,. acceleration, displacement, velocity spectrum
spectrum ofx
time sec S

ith time station sec S

torque lb-in N-m

kinetic energy in.-lb J
kinetic energy of I th mass in.-lb J
transmissibility ratio
an element of matrix [L/]
axial displacement 1n. m
potential energy in.-lb J

unbalanced weight lb N
upper triangular matrix
linear velocity in./sec m/s
shear force lb N
potential energy in.lb J
potential energy of i th spring in.-lb J

transverse deflections in. m

value of nr at I: 0 in. m
XXiV LIST OF SYMBOLS

Symbol Meaning English Units SI Units

rf(l value of rir at I: 0 rn./sec m/s

11 ,¡ nth n-rode of vibration
w weight of a mass lb N
w total energy in.-1b J

W transverse def-lection 1n. tTt

Wí valueofWti.t: t¡ 1n. m
lV(-r) a firnction of .r

.r, .): i cartesian coordinates. displacements 1n. m

.r¡, r(0) value ofr at I : 0 in. m

io. .i(o) r,alue of -i at ¡ : 0 in./sec m-ls

.rj displacernent clf .lth mass in. tTl

,Yi ofr at t - ti
valtre in. ITI

r, valueofiatt - tt rn./sec m/s

X¡ homogeneous part of ,r(t) tn. tTl

XP particular part of .r(t) in. ltl

f vector of displacements in. m

;¡ valueofi-att - t¡ in. m
X¡ ofÍ ar t : t¡
value ln./sec n/s
-
X¡
---
Valueotratf:fr l n./ sec - m/sl
;lr)¡,¡ I th mode
X arnplitude of .r(¡) ln. m

"t arnplitude of "tr(r) 1n. lTt

trl) i th modal vector in. ln

-(l) i th conrponent ofjth mode in. rT)

tI'l modal matrix in. lI

rth approximation to a mode shape

t' base displacement 1n. m

Y arnplitude of -r'(l) 1n. m
i relative displacement. -r - 1' 1n. m

Z amplitude of :(/) ln. m

Z(ia) mechanical impedance lb/in N/m
d angle. constant

B angle, constant
p hysteresis damping constant

v specific weight lb/inr N/m'

6 logarithmic decrement
6r' 6:'.. . deflections in. m
 LIST O[ S\-.UROLS XXV

Svmbol Meaning English Lnits SI Units

statíc deflection

Klonecker delta
determinant
increment in F tb N
-F
-.f increment in r tn. m

increment in time ¡ sec

II ener-ey dissipatecl in a cycle in.-1b

a small quantity

straln

damping latio
constant. angular displacement

I th an-eirlar displacentent rad rad

valueof0aft:0 rad rad

valueof0att-O rad/sec rad/s

amplitude of 0(r) rad rad

arnplitude of 9¡(r) lacl rad

eigenvalue : lla) sec- S-

1

transfbrmation matríx
viscosity of a fluid I D-SeC/ ln- kgim's
coefljcient of lriction
expected value ofr
mass density lD-sec -/ 1n kg/m'
loss factor

standard deviation of -r

STICSS lb/inr N/rnl

period of oscillation. time sec S

shear stress 1b/inl N/mr

ang1e, phase angle rad rad

phase an-{le in i th mode rad rad

liequency ol oscillation rad/sec rad/s

Ith natural fiequency rad/sec rad/s

natural frequency racl/sec rad/s

l) equenc¡ trl dampetl r ibrrtir'n rad/sec rad/s

xxvl LIST OF SYMBOLS

Subscripts

Meaning

c11 critical value

equivalent value

i ith value
f
L left plane
max maximum value

n corresponding to natural frequency

R right plane
specific or reference value

Í torsional

Operations

Symbol Meaning

do
\i dt
d.'o
0 d,'
-) column vector ( )

tl matrix

U' inverse of [ ]

ilr transpose of [ ]

ao increment in ( )

so Laplace transform of ( )

9-'o inverse Laplace transform of ( )