ME 553 :

Advanced Vibrations

Dr. Abdelaziz Bazoune

Mechanical Engineering Department
King Fahd University of Petroleum & Minerals
 Chapter 2
Free Vibration
of Single
Degree of
Freedom
Systems
Chapter Outline
2.1 Introduction

2.2 Free Vibration of an Undamped Translational System

2.3 Free Vibration of an Undamped Torsional System

2.4 Stability Conditions

2.5 Rayleigh’s Energy Method

2.6 Free Vibration with Viscous Damping

2.7 Free Vibration with Coulomb Damping

2.8 Free Vibration with Hysteretic Damping

Dr. A. Aziz Bazoune ME 553 Advanced Vibrations LEC 07, Slide 3

 LEC-
LEC-07
Stability Conditions

Rayleigh’s Energy Method

Effective Mass of a spring

Dr. A. Aziz Bazoune ME 553 Advanced Vibrations LEC 07, Slide 4

OBJECTIVES

After you have finished this lecture you will be able to:

discuss the stability conditions for a mechanical structure

use Rayleigh Energy method to find the natural frequency of
a mechanical system
obtain the effective mass of a spring in a mechanical system

Dr. A. Aziz Bazoune ME 553 Advanced Vibrations LEC 07, Slide 5

2.4 Stability Condition

Consider a uniform rigid bar that is

pivoted at one end and connected
symmetrically by two springs at the
other end, as shown in the figure.

Assume that the mass of the bar is

m and that the springs are
unstretched when the bar is
vertical.

Dr. A. Aziz Bazoune ME 553 Advanced Vibrations LEC 07, Slide 6

Dr. A. Aziz Bazoune ME 553 Advanced Vibrations LEC 07, Slide 7
 1)- Energy Method:

1 2 ml 2
Kinetic Energy: T = J o θɺ
2
( ) Where Jo =
3
1 2 l
Potential Energy: U = 2 k ( x ) − mg (1 − cosθ )
2 2
Notice that for small values of θ in radians, we can write x = l sin θ ≈ lθ
1
Therefore T = J oθɺ 2
2
l
and U = kl 2θ 2 − mg (1 − cosθ )
2
d  l
(T + U ) = 0 J oθɺɺ +  2kl 2 − mg θ = 0
dt  2
ɺɺ  4 kl 2
− mgl 
θ + θ = 0
 2Jo 
Dr. A. Aziz Bazoune ME 553 Advanced Vibrations LEC 07, Slide 8
 ɺɺ  4 kl 2
− mgl 
θ + θ = 0 (2-48)
 2Jo 
Case 1. When 4kl 2 − mgl > 0 , the solution of Eq. (2.48) represents stable oscillations and
can be expressed as
(2-49)
θ ( t ) = A1 cos (ωnt ) + A2 sin (ωnt )
where A1 and A2 are constants and

1/2 (2-50)
 4kl 2 − mgl 
ωn =  
 2 J o  θ (t )

Stable system

Dr. A. Aziz Bazoune ME 553 Advanced Vibrations LEC 07, Slide 9

Case 2. When 4kl 2 − mgl = 0 , Eq. (2.48) reduces to θɺɺ = 0 and the solution can be
obtained by integrating θɺɺ twice as

θ ( t ) = C1t + C2 (2-51)

For initial conditions θ (t = 0) = θ0 and θɺ (t = 0) = θɺ0 , the

solution becomes

θ (t ) = θɺ0t + θ 0 (2-52)

Eq.(2-52) shows that the angular displacement increases

linearly at a constant velocity θɺ0 . If θɺ0 = 0 , Eq. (2-52)
denotes a static equilibrium position with θ (t ) = θ0 . That is, the
Unstable system
pendulum remains in its original position defined by θ (t ) = θ0 .

Dr. A. Aziz Bazoune ME 553 Advanced Vibrations LEC 07, Slide 10

 2
Case 3. When 4kl − mgl < 0 , we define
1/2
 mgl − 4kl  2
β = 
 2 J o 
and express the solution of Eq. (2.48) as θ (t ) = B1e β t + B2e− β t (2-53)

where B1 and B2 are constants

For initial conditions θ (t = 0) = θ0 and θɺ (t = 0) = θɺ0, the solution becomes

1  ɺ e β t + βθ − θɺ e − β t 
θ (t ) =
2α 
βθ(0 + θ 0 ) 0 (
0  ) (2-54)

Eq.(2-54) shows that the angular displacement increases with time;

hence the motion is unstable . The physical reason for this is that the
restoring moment due to spring ( 2kl θ ) , which tries to bring the
2

system to the equilibrium position, is less than the nonrestoring

moment due to gravity  −mg ( l 2 )θ  , which tries to move the
mass from the equilibrium position .

Dr. A. Aziz Bazoune ME 553 Advanced Vibrations LEC 07, Slide 11

 2)- Newton’s Second Law:

A small popup Quiz:

Use Newton’s second law to find the equation of motion
Time: 06 minutes

Dr. A. Aziz Bazoune ME 553 Advanced Vibrations LEC 06, Slide 12

• Consider uniform rigid bar pivoted at
one end
– Center of gravity indicated in figure

• Using N2L:

ml 2 W = mg
Where J o = and
3

 Can’t digest this (nonlinear), assume small oscillations to linearize…

Dr. A. Aziz Bazoune ME 553 Advanced Vibrations LEC 06, Slide 13

2.5 Rayleigh’s Energy Method

The principle of conservation of energy, in the context of an undamped vibrating system, can be
restated as

T1 + U1 = T2 + U 2 (2-55)

where subscripts 1 and 2 denote two different instants of time. If the system is undergoing
harmonic motion, then

Tmax = U max (2-57)

Dr. A. Aziz Bazoune ME 553 Advanced Vibrations LEC 07, Slide 14

Determine the effect of the mass of the spring on the natural frequency of the spring-mass
system shown in the figure below.

ms : mass of the spring

l: length of the spring

Mass per unit length is (ms/l)

Mass of an element of length dy is (ms/l) dy

If xɺ is the velocity of the free end of the spring at a

distance l from the fixed end, the velocity of an element at a

distance y from the fixed end is xɺ ( y l )

2
1 m  yxɺ 
The kinetic energy of the spring element of length dy is dTs =  s dy   (E-1)
2 l  l 
Dr. A. Aziz Bazoune ME 553 Advanced Vibrations LEC 07, Slide 15
where ms is the mass of the spring. The total kinetic energy of the system can be expressed as

T = kinetic energy of the mass (m) + kinetic energy of the spring mass (m s )

T = (Tm ) + (Ts )

1 2 l 1 m   y xɺ 
2 2
T = mxɺ + ∫ s
 dy  2 
2 y = 0 2 l  l 
1 2 1 ms 2 1  ms  2 (E-2)
= mxɺ + xɺ =  m +  xɺ
2 2 3 2 3 
The total potential energy of the system is given by

1
U = kx 2 (E-3)
2
By assuming a harmonic motion

x(t ) = X cos ωnt (E-4)

Dr. A. Aziz Bazoune ME 553 Advanced Vibrations LEC 07, Slide 16

where X is the maximum displacement of the mass and ωn is the natural frequency, the maximum
kinetic and potential energies can be expressed as

1 ms  2 2
Tmax =  m +  X ωn (E-5)
2 3 
1 2
U max = kX (E-6)
2
By equating Tmax and Umax , we obtain the expression for the natural frequency:

k
ωn =
 ms  (E-7)

m + 
 3 

Thus the effect of the mass of spring can be accounted for by adding one-third of its mass to the main mass.

Dr. A. Aziz Bazoune ME 553 Advanced Vibrations LEC 06, Slide 17

Consider the disk of the figure below connected to two springs. Find the system's natural
frequency of oscillation for small angles θ(t). Assume the disk rolls without slipping.

Dr. A. Aziz Bazoune ME 553 Advanced Vibrations LEC 06, Slide 18

Dr. A. Aziz Bazoune ME 553 Advanced Vibrations LEC 06, Slide 19