LEC - 02 Mechanical Elements

ME 553 :
Advanced Vibrations
Dr. Abdelaziz Bazoune

Mechanical Engineering Department
King Fahd University of Petroleum & Minerals
Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 1

LEC-02
Mechanical Elements

After you have finished this lecture you should be able to
Identify the mechanical elements used in vibration (Mass, Spring Damper)

for translational and rotational motion
Model mechanical systems
Obtain the equivalent spring, mass and dampers
Spring Elements
Mass or Inertia Elements
Damping Elements
Find the kinetic energy and the potential energy of a given mechanical
system

Step 1: Mathematical Modeling
Use mechanical elements such as spring, mass, dashpot
Step 2: Derivation of Governing Equations
Using Newton’s second law of motion for translation and/or rotation
Using Energy Method for conservative systems
Using Lagrange Equations
Step 3: Solution of the Governing Equations
Direct solution

Figure 1.18(a) shows a motorcycle with a rider. Develop a sequence of three
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.
Figure 1.18(a)
Motorcycle with a rider

We start with the simplest model and refine it gradually.
When the equivalent values of the mass, stiffness, and
damping of the system are used, we obtain a single-degree
of freedom model of the motorcycle with a rider as
indicated in Fig. 1.18(b). In this model,
 The equivalent stiffness (keq) includes the stiffness of the

tires, struts, and rider.
 The equivalent damping constant (Ceq) includes the

damping of the struts and the rider.
 The equivalent mass (meq) includes the mass of the

Figure 1.18(b) wheels, vehicle body and the rider.
Simplified model of a
motorcycle with a rider

This model can be refined by representing the
masses of wheels, elasticity of tires, and
elasticity and damping of the struts separately,
as shown in Fig. 1.18(c). In this model, the
mass of the vehicle body (mv) and the mass of
the rider (mr) are shown as a single mass,
(mv+mr). When the elasticity (as spring
constant kr) and damping (as damping constant
cr) of the rider are considered, the refined
model shown in Fig. 1.18(d) can be obtained.
Figure 1.18(c)
Refined model of a motorcycle with a rider

Note that the models shown in
Figs. 1.18(b) to (d) are not
unique. For example, by
combining the spring constants
of both tires, the masses of both
wheels, and the spring and
damping constants of both struts
as single quantities, the model
shown in Fig. 1.18(e) can be
obtained instead of Fig. 1.18(c).
Figure 1.18(d)-(e)
Refined model of a motorcycle with a rider

Any mechanical system consists of mechanical elements. There
are three types of basic elements in mechanical systems:
1. Spring elements
2. Mass or Inertia
3. Dampers elements

 An ideal spring is a mechanical element that that is generally assumed to have
negligible mass and damping.
 A linear spring can be deformed by external force or torque such that the
deformation is directly proportional to the force or torque applied to the element.
 Linear Spring force Relationship is given by: F k x (1.1)
F = spring force, x = deformation (displacement of one end with respect to the other) and k =
spring stiffness or spring constant, and has units of [force/displacement] = [N/m] in SI units.

Leaf Spring

 Consider the torsional spring shown in the Figure below, where one end is fixed and
a torque is applied to the other end.
 The angular displacement of the free end is .

 The torque in the torsional spring is   kt  (1.2)
τ = spring force,  = angular displacement and kt = spring stiffness or spring constant, and has units
of [Torque/angular displacement]=[N-m/rad] in SI units.

http://www.esm.psu.edu/courses/emch13d/design/animation/animation.htm

 Work done (U) in deforming a spring or the strain (potential) energy is given by:
x
1
U   k x dx  k x 2
0 2
Similarly, for a torsional spring

1
U   kt d  kt  2
0 2

Springs in parallel –
if we have n spring constants
k1, k2, …, kn in parallel, then
the equivalent spring constant
keq is obtained from the relation:
F  k1 x  k2 x  L  kn x   k1  k2  L  kn  x  keq x
Where
n
k eq  k 1  k 2  L  k n  k
i 1
i

Springs in Series –
if we have n spring constants k1, k2, …, kn in parallel, then the equivalent spring constant
keq is given by:
n
1 1 1 1 1
  L   
keq k1 k2 kn i 1 ki

 Static deflection of a beam at the
free end is given by:
Wl 3
 st 
3EI
W = mg is the weight of the mass m,
E = Young’s Modulus, and
I = moment of inertia of cross-section
of beam
 Spring Constant for a cantilever

beam is given by:
W 3EI
k  3
 st l
Stiffness associated with the axial
Stiffness associated with a
(longitudinal) vibration of a slender
helical spring
Prismatic bar

Stiffness associated with the torsional vibration of a shaft

Equivalent k for a suspension system
Figure 1-29 Parallel arrangement of springs in a

freight truck.

Torsional spring constant of a propeller shaft
Determine the torsional spring constant of the speed propeller shaft shown in Fig. 1.25.
We need to consider the segments 12 and 23 of the shaft as springs in combination.
Solution
From Fig. 1.30, the torque induced at any

cross section of the shaft (such as AA or
BB) can be seen to be equal to the torque
applied at the propeller, T.
Hence, the elasticities (springs)

corresponding to the two segments 12 and
23 are to be considered as series springs.
The spring constants of segments 12 and 23 12 23
of the shaft (kt12 and kt23) are given by
Figure 1-30 Propeller shaft

GJ G ( D  d ) (80  10 ) (0.3  0.2 ) 4 4 9 4 4
k   12 12 12
l 32l
t12
12
32(2) 12
 25.5255  10 N - m/rad 6
GJ G ( D  d ) (80  10 ) (0.25  0.15 )

4 4 9 4 4
k    23 23 23
l 32l
t 23
23
32(3) 23
 8.9012  10 N - m/rad 6
k k (25.5255  10 )(8.9012  10 ) 6 6
Since the springs k   t12 t 23
are in series, the k k (25.5255  10  8.9012  10 )

t eq 6 6
equivalent Spring
t12 t 23
constant is  6.5997  10 N - m/rad 6

Mass and inertia elements. Inertia may be defined as the change in force (torque)
required to make a unit change in acceleration (angular acceleration). That is,
change in force N
inertia (mass)  2
or kg
change in acceleration m/s
change in torque N-m

inertia (moment of inertia)  2
change in ang. accel. rad/s

Kinetic energy of a system in
1
translation having a mass m T  m x 2
2
and a linear velocity x
Kinetic energy of a system in

1 2
rotation having a mass T  J
2
moment of inertia J and an
angular velocity 

Kinetic Energy of rolling motion
1 2 1 2
T  mx  J Non slip condition
x 2 2

r
x  r
1 2 1 x 2 1  J  2 1  J 
T = mx  J 2   m  2  x  meq x 2
 meq   m  2 
2 2 r 2 r  2  r 
1 1 1
  1
T = mr 2 2  J 2  mr 2  J  2  J eq 2 
J eq  mr 2  J 
2 2 2 2

M,J
CG
O
 1
T  J 0 &2
CG
2{
d
O
CG M,J
J0  JG  md 2
Parallel Axis Theorem

 Combination of Masses
 E.g. Assume that the mass of the frame

is negligible compared to the masses of
the floors. The masses of various floor
levels represent the mass elements,
and the elasticities of the vertical
members denote the spring elements.
Idealization of a multistory building as a

multi-degree of freedom

 Case 1: Translational Masses Connected by a Rigid Bar
Velocities of masses
can be expressed as:
x1  l1
l2
x 2  l 2  x1
l1
l3
x 3  l3  x1
l1
By equating the kinetic energy of the system x eq  x1

1 1 1 1
m1 x1  m2 x2  m3 x3  meq xeq
 2
 2
 2 2
meq  m1   l2 l1  m2   l3 l1  m3
2 2 2 2 2 2
1 1
m1  m2  l2 l1   m3  l3 l1   x12  meq xeq
2 2 2
2  2
 Case 1: Translational Masses Connected by a Rigid Bar
 By equating the kinetic energy of the system:
1 1 1 1
m1 x1  m2 x 2  m3 x3  meq  xeq
2 2 2 2
2 2 2 2
where
2 2
 l2   l3 
meq  m1    m2    m3
 l1   l1 

 Case 2: Translational and Rotational Masses Coupled Together
Translational and rotational

masses in a rack and pinion
arrangement.
meq = single equivalent translational mass

x = translational velocity
 = rotational velocity
J0 = mass moment of inertia
Jeq = single equivalent rotational mass

 Case 2: Translational and Rotational Masses Coupled Together
1. Equivalent translational mass:
1 1
 Kinetic energy of the two masses is given by:T  m x  J 0 
2 2
2 2
1
 Kinetic energy of the equivalent mass is given by: Teq  meq xeq 2
2
x xeq  x J0
Since   and , equating Teq & T gives meq  m  2
R R
2. Equivalent rotational inertia:
Here, eq   and x  R , equating Teq and T gives

1 1
J eq   m  R
   1 2
J eq  J 0  mR 2
2
2
 J 0 or
2 2 2
Find the equivalent mass of the system shown in the Figure below, where the rigid link 1
is attached to the pulley and rotates with it.
Pulley (Jp): Rotation Only
Rigid link l1 with mass (m1) Mass (m): Translation

rotates with pulley about O
Cylinder mass (mc): Rotation and

Translation
Rigid link l2 with mass (m2): Translation

Assuming small displacements, the equivalent mass (meq) can be determined
using the equivalence of the kinetic energies of the two systems. When the
mass m is displaced by a distance x , the pulley and the rigid link 1 rotate by
an angle  p 1  x / rp . This causes the rigid link 2 and the cylinder to be
displaced by a distance x2   pl1  xl1 / rp . Since the cylinder rolls without
slippage, it rotates by an angle c  x2 / rc  xl1 / rp rc . The kinetic energy of
the system (T) can be expressed (for small displacements) as:
1 1 1 1 1 &2
T  mx&2  J p&p2  J1&1
2
 m x
&
2 2
2
 J c c
Notice that 2 2 2 2 2
mc rc2 mcl12
Jc  and J1 
2 3

2 2 2
1 2 1  x& 1  m l   x& 1  xl
2
&1 
T  mx&  J p         m2  
11
2  
2  rp  2  3   rp  2  rp 
2 2
1  m r   xl
2
&1  1  xl &1 
  c c
    mc  
2  2   rp rc  2  rp 
By equating the previous Eq. to the kinetic energy of the equivalent system
1
T  meq x&2
2
we obtain the equivalent mass of the system as
Jp 1 m1l12 m2l12 1 mcl12 l12

meq  m  2   2   mc 2
rp 3 rp 2
rp 2 rp2
rp

A cam-follower mechanism is used to
convert the rotary motion of a shaft into
the oscillating or reciprocating motion of a
valve. The follower system consists of a
pushrod of mass mp, a rocker arm of mass
mr, and mass moment of inertia Jr about its
C.G., a valve of mass mv, and a valve spring
of negligible mass.
Find the equivalent mass (meq) of this cam-

follower system by assuming the location of
meq as
(i) pt A and
(ii) pt C.
Due to a vertical displacement of x of the pushrod,
the rocker arm rotates by an angle r = x l1 about the pivot point,
the valve moves downward by xv = r l2 = x l2 l1 and
the C.G of the rocker arm moves downward by xr = r l3 = x l3 l1 .
The kinetic energy of the

system (T) is:
1 1 1 &2 1
T  m p x&p  mv x&v  J r r  mr x&r2
2 2
2 2 2 2
If meq denotes equivalent mass placed at pt A, with x&eq  x& , the kinetic
energy equivalent mass system Teq is
1
Teq  meq x&eq
2
2
xl
&2 xl
&3 x&
By equating T and Teq, and note that x&p  x&, x&v  , x&r  , and  r 
&
l1 l1 l1
Jr l2 2
l3 2
meq  m p  2  mv 2  mr 2
l1 l1 l1
Similarly, if equivalent mass is located at point C, x&eq  x&v , hence
1 1
Teq  meq x&eq  meq x&v2
2
and 2 22 2
Jr  l1   l3 
2
meq  mv  2  m p    mr  2 
l2  l2   l1 
In many practical systems, the vibrational energy is gradually converted to
heat or sound. Due to reduction in the energy, the response, such as the
displacement of the system, gradually decreases. The mechanism by
which the vibrational energy is gradually converted into heat or sound is
known as damping.
An ideal damper is assumed to have neither mass nor elasticity, and
damping force exists only if there is relative velocity between the two
ends of the damper.
It is difficult to determine the causes of damping in practical systems.
Damping is modeled as one or more of the following types:

Viscous Damping: (Most Commonly used in Vibration)
Damping force is proportional to the velocity of the vibrating body in a
fluid medium such as air, water, gas, and oil.
Coulomb or Dry Friction Damping:

Damping force is constant in magnitude but opposite in direction to that
of the motion of the vibrating body between dry surfaces.
Material or Solid or Hysteretic Damping:

Energy is absorbed or dissipated by material during deformation due to
friction between internal planes.

Hysteresis loop for elastic materials
When a body having material damping is subjected to vibration, the stress strain
diagram shows a hysteresis loop as indicated in Fig. (a). The area of this loop denotes
the energy lost per unit volume of the body per cycle due to damping.

A damper is a mechanical element that dissipates energy in the form of heat instead of
storing it. The figure shows a schematic diagram of a translational damper, or a dashpot
that consists of a piston and an-oil-filled cylinder. Any relative motion between the piston
rod and the cylinder is resisted by oil because oil must flow around the piston (or through
orifices provided in the piston) from one side to the other.
Shock absorber with internal

reservoir. The components are:
• the rod (A),
• the piston with seals (B),
• the cylinder (C),
• the oil reservoir (D),
• the floating piston (E), and
• the air chamber (F).

The symbol shown in the figure below is the general symbol for a damping element.
Symbols for dampers

(a) Translational damper; (b) torsional (or rotational) damper (c) rotational damping in bearings

A pneumatic door closer
http://www.meineke.com/stuff_about_cars/how_work_suspension.asp#text

Rotary damper
shock absorber

The expression for the force f on the piston required to keep it moving at velocity v is often
taken to be the linear model.
Translation Rotation
f  cv  cx&   ct  ct&
Where c the viscous friction coefficient Where ct the viscous friction coefficient
(damping coefficient) or viscous friction (damping coefficient) or viscous friction
constant. constant.
The dimension of c is [force/Velocity] = [N-s/m] The dimension of c is [torque/angular Velocity] =
in SI units. [N-m-s/rad] in SI units.

All practical dampers produce inertia and spring
effects.
An ideal damper is massless and springless,

dissipates all energy, and obeys the linear
force-velocity law (or linear torque-angular
velocity law).
Friction that obeys a linear law is called linear friction, whereas friction that does
not is described as nonlinear.
Examples of nonlinear friction include static friction, sliding friction, and square-
law friction. Square law-friction occurs when a solid body moves in a fluid medium.
http://www.mwit.ac.th/~physicslab/applet_04/fun@learning/JAVA/dho/dho2.html

http://www.mwit.ac.th/~physicslab/applet_04/fun@learning/JAVA/dho/dho2.html
http://www.geneseo.edu/~heap/applets/Spring/spring.html
http://www.cabrillo.edu/~jmccullough/Applets/oscillations.html
http://phet.colorado.edu/en/simulation/mass-spring-lab
QUESTIONS … ...?
Thank U … ...!

LEC - 02 Mechanical Elements

Uploaded by

Document Information

Original Description:

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

LEC - 02 Mechanical Elements

Uploaded by

Copyright:

Available Formats

ME 553 :

Dr. Abdelaziz Bazoune

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 1

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 2

Identify the mechanical elements used in vibration (Mass, Spring Damper)

Model mechanical systems

Obtain the equivalent spring, mass and dampers

Mass or Inertia Elements

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 3

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 4

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 5

 The equivalent stiffness (keq) includes the stiffness of the

 The equivalent damping constant (Ceq) includes the

 The equivalent mass (meq) includes the mass of the

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 6

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 7

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 8

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 9

 Linear Spring force Relationship is given by: F k x (1.1)

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 10

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 11

 The angular displacement of the free end is .

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 12

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 13

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 14

k1, k2, …, kn in parallel, then

the equivalent spring constant

keq is obtained from the relation:

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 15

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 16

 Spring Constant for a cantilever

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 18

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 19

Figure 1-29 Parallel arrangement of springs in a

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 22

We need to consider the segments 12 and 23 of the shaft as springs in combination.

From Fig. 1.30, the torque induced at any

Hence, the elasticities (springs)

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 23

GJ G ( D  d ) (80  10 ) (0.25  0.15 )

Since the springs k   t12 t 23

are in series, the k k (25.5255  10  8.9012  10 )

constant is  6.5997  10 N - m/rad 6

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 24

change in torque N-m

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 25

Kinetic energy of a system in

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 26

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 27

Parallel Axis Theorem

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 28

 E.g. Assume that the mass of the frame

Idealization of a multistory building as a

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 30

By equating the kinetic energy of the system x eq  x1

 By equating the kinetic energy of the system:

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 32

Translational and rotational

meq = single equivalent translational mass

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 02, Slide 33

Here, eq   and x  R , equating Teq and T gives

Pulley (Jp): Rotation Only

Rigid link l1 with mass (m1) Mass (m): Translation