Prince Mohammad bin Fahd University

College of Engineering - Department of Mechanical Engineering

Lecture notes

Course title: Mechanical Vibrations

Course code: MEEN 3395
Credit hours: 3
Semester: Spring 2022
Instructor name: Dr. Omar Dawood Mohammed Al-Sily

Lecture 3 – Torsional Vibration Systems

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 1
Course Content
No List of Lecture Files
1 Introduction to mechanical vibrations
2 Single degree of freedom systems
3 Torsional vibration systems
4 Damped vibrations (Viscous damping)
5 Forced vibration (Transient and steady state vibration response)
6 Two degrees of freedom systems
7 Multi-degree of freedom systems and continuous system
8 Vibration isolation and absorption
9 An introduction to modal analysis
10 An introduction to vibration measurements
11 An introduction to Vibration-based condition monitoring

Course Textbooks
Mechanical Vibrations 6th Edition, by Singiresu Rao,
ISBN-13: 978-0134361307

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 2
1 DOF Undamped Torsional Free Vibration
𝐽 𝜃ሷ 𝑡 = −𝑘𝑡 𝜃 𝑡
𝐽 𝜃ሷ 𝑡 + 𝑘𝑡 𝜃 𝑡 = 0 (the equation of motion)
𝑘𝑡
𝜃ሷ 𝑡 + 𝜃 𝑡 =0
𝐽
𝜃ሷ 𝑡 + 𝜔𝑛 2 𝜃 𝑡 = 0
𝑘𝑡
𝜔𝑛 = (the system natural frequency)
𝐽
Where 𝑘𝑡 is the torsional stiffness coeficient.

The solution of 𝜃 as a function of time is of the following form:

𝜃(t) = A1 sin(ωn . t ) + A2 cos(ωn . t )
where A1 and A2 are arbitrary constants to be evaluated by the initial conditions.
Thus, the solution can be also written in the form
ሶ ωn ) sin(ωn . t ) + 𝜃o cos(ωn . t )
𝜃(t) = (𝜃o/
Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 3
Combination of Springs
In parallel
𝛿𝑠𝑡 1 = 𝛿𝑠𝑡 2=𝛿𝑠𝑡

𝑘𝑡 𝑒𝑞 = 𝑘𝑡 1 + 𝑘𝑡 2

In series
𝛿𝑠𝑡 1 + 𝛿𝑠𝑡 2=𝛿𝑠𝑡

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 4
Example

Find the Keq of the shaft system.

1 1 1 1
= + +
𝑘𝑒𝑞1,2,3 𝑘1 𝑘2 𝑘3

𝑘1 𝑘2 𝑘3
𝑘𝑒𝑞1,2,3 =
𝑘2 𝑘3+𝑘1 𝑘3+𝑘1 𝑘2

𝑘𝑒𝑞= 𝑘𝑒𝑞1,2,3+ k4

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 5
Example

Find the Keq of the shaft gear system.

𝑘𝑒𝑞 2,3 = 𝑘2 + 𝑘3

1 1 1 𝑟2 2
𝑘𝑒𝑞 (𝜃2)2 = 𝑘𝑒𝑞2,3 (𝜃2)2 + 𝑘1 (𝜃2 )
2 2 2 𝑟1

𝑟2
𝑘𝑒𝑞 = 𝑘𝑒𝑞2,3 + 𝑘1 ( )2
𝑟1
𝜃1 𝑟1 = 𝜃2 𝑟2
1 1
𝐽𝑒𝑞 ሶ 2=
(𝜃2) 𝐽2 ሶ 2 + 1 𝐽1 (𝜃2
(𝜃2) ሶ 𝑟2)2 ሶ r1 = 𝜃2
𝜃1 ሶ r2
2 2 2 𝑟1

𝑟2
𝐽𝑒𝑞 = 𝐽2+ 𝐽1 ( )2
𝑟1

𝑘𝑒𝑞
𝜔𝑛 =
𝐽𝑒𝑞
Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 6
Example
The column system shown in the figure below is 100 m high and is made of reinforced concrete with a tubular
cross section of inner diameter 2.4 m and outer diameter 3 m. The mass is 3 ×105 kg. By neglecting the mass of the
column (𝐽𝑏 = 0) and assuming the Young’s modulus of reinforced concrete as 27 GPa, determine the system
natural frequency.
3𝐸𝐼
Note that the beam stiffness is 𝑘𝑏 = 3 , 𝑘 = 100 𝑘𝑁/𝑚 and 𝑘𝑡 = 50𝑘𝑁. 𝑚/𝑟𝑎𝑑
𝑙
Solution
𝑙 = 100 𝑚, 𝐸 = 27 𝐺𝑃𝑎, m = 3 ×105 kg
𝜋 𝜋
𝐼= (𝑑𝑜4 − 𝑑𝑖 4 ) = 34 − 2.44 = 2.34 𝑚4
64 64
3 × 27 × 109 × 2.34
Hence, 𝑘𝑏 = = 189.54 𝑘𝑁/𝑚
1003
𝑘𝑒𝑞 = 𝑘 + 𝑘𝑏
σ 𝑀=𝐽 𝜃ሷ
(𝐽𝑏 +𝐽𝑚𝑎𝑠𝑠 )𝜃ሷ = − 𝑘𝑒𝑞. 𝑙. 𝜃 𝑙 − 𝑘𝑡 𝜃 Where 𝐽𝑚𝑎𝑠𝑠 = 𝑚 𝑙2
0 + 𝑚 𝑙 2 𝜃ሷ = − 𝑘𝑒𝑞. 𝑙 2 𝜃 − 𝑘𝑡 𝜃

𝑘𝑒𝑞.𝑙 2 + 𝑘𝑡 𝑘𝑒𝑞. 𝑙 2 + 𝑘𝑡
𝜃ሷ +( )𝜃 =0 𝜔𝑛=
𝑚 𝑙2 𝑚 𝑙2
Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 7
Example
Determine the equation of motion and the natural frequency of the system.

Solution

σ 𝑀=𝐽 𝜃ሷ
( 𝐽𝑝𝑢𝑙𝑙𝑒𝑦 +𝑚 𝑟12 ) 𝜃ሷ = −k (r2)2 𝜃

( 𝐽𝑝𝑢𝑙𝑙𝑒𝑦 +𝑚 𝑟12 ) 𝜃ሷ + k (r2)2 𝜃 = 0

k (r2)2
𝜃ሷ + 𝜃=0
( 𝐽𝑝𝑢𝑙𝑙𝑒𝑦 +𝑚 𝑟12 )
𝜃 𝑟1 = 𝑥
𝜃ሶ r1 = 𝑥ሶ

k (r2)2 𝜃 𝑟2 = 𝑥𝑘
𝜔𝑛 = 𝜃ሶ r2 = 𝑥𝑘
ሶ
( 𝐽𝑝𝑢𝑙𝑙𝑒𝑦 +𝑚 𝑟12 )

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 8
Tutorial:
Determine the equation of motion and the natural frequency of the system.

Note that:
r =30 cm , m= 15 kg
𝑟2
𝐽=𝑚
2 𝑘𝑡 3 𝑘𝑡 2 r 𝑘𝑡 1
𝑘𝑡 1= 50 KN.m/ rad
J
𝑘𝑡 2= 30 KN.m/ rad

𝑘𝑡 3= 10 KN.m/ rad

Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 9
Solution:
First we need to find keq and Jeq

𝐾𝑡 2 𝐾𝑡 3 30 × 103 ∗ 10 × 103
𝑘𝑒𝑞 = + 𝐾𝑡 1 =
30 × 103 +10 × 103
+ 50 × 103
𝐾𝑡 2 + 𝐾𝑡 3

(30 ∗ 10)106
3
+50 × 103 = 57.5 × 103 N.m/ rad 𝑘𝑡 3 𝑘𝑡 2 r 𝑘𝑡 1
(30 + 10) 10

𝑟2 0.32 J
𝐽 = 𝑚 = 15 = 0.675 kg. m2
2 2
𝐽𝑒𝑞 𝜃ሷ 𝑡 + 𝑘𝑒𝑞 𝜃 𝑡 = 0 (𝐽𝑒𝑞 = 𝐽, 𝑏𝑒𝑐𝑎𝑢𝑠𝑒 𝑖𝑡 𝑖𝑠 𝑜𝑛𝑙𝑦 𝑜𝑛𝑒 𝑑𝑖𝑠𝑘) Check the units to be in kg, m, s, N:
r = 0.3 m , m= 15 kg

𝜔𝑛 =
𝑘𝑒𝑞
= 291.86 rad/sec 𝑘𝑡 1= 50 × 103 N.m/ rad
𝐽𝑒𝑞
𝑘𝑡 2= 30 × 103 N.m/ rad
Try to get the same answer using Energy method!
𝑘𝑡 3= 10 × 103 N.m/ rad
Dr. Omar Dawood Mohammed Al-Sily- Prince Mohammad bin Fahd University 10