Unit 2-- Forced Vibration of Mechanical Systems

Unit 2 Lecture 2
Transmissibility, Vibration Isolation
and Rotating Unbalance
Vector Representation
Let us look again at our forced vibration equation

F0 sin(t )  kX sin(t   )  cX cos(t   )  m 2 X sin(t   )

harmonic force input the particular solution x for the system

is:
X sin(t   ) Displacement (x)

 X cos(  t   ) Velocity ( x )



  X sin(  t    )
2

  X sin(  t   )
2
Acceleration ( x)
  2 X sin(  t     )
Since these are all vectors, it means that we can graphically use vector addition to repeat our
last week’s job to work out both amplitude X and phase angle j of the particular solution x
Vector Representation

Let’s first plot the harmonic force:

F 0 sin(  t )

t
Vector Representation

Then, plot the particular solution x:

F 0 sin(  t )
X sin( t   )


t
Vector Representation
Multiply the particular solution x by the spring stiffness k, we have:
F0 sin(t)  kXsin(t ) cX cos(t ) m2X sin(t )
F 0 sin(  t )
X sin( t   )

 kX sin(t   ) Spring
t
Vector Representation
F0 sin(t)  kX sin(t )  cX cos(t )  m2 X sin(t )

cX sin( t    )
2

F 0 sin(  t )
X sin( t   )

 kX sin(t   ) Spring
t cX cos(t   ) Damper
 m 2 X sin(t   ) Inertia

Apply the same principle to the 2nd & 3rd terms on RHS, we have:
Vector Representation
F0 sin(t)  kXsin(t ) cX cos(t ) m2X sin(t )

cX sin( t    )
2

F 0 sin(  t )
X sin( t   )

 kX sin(t   ) Spring
t cX cos(t   ) Damper
 m 2 X sin(t   ) Inertia

X can be solved in terms of F0 by combining the sides of this shaded

right triangle.
Vector Representation

 F0
cwX
t 
(k-mw2)X

c X
F02  [k  m2 ]2 X 2  [c]2 X 2 tan  
( k  m 2 ) X
F0  X [ k  m  2 ]2  [c ]2
 c 
X 
F0   tan 1  2
 k  m 
( k  m 2 )2  (c )2
Transmissibility and Vibration Isolation

A vibration machine is bolted on a rigid floor.

Problem? The force transmitted to the floor is equal
to the force generated in the machine.

Can we avoid this?

Transmissibility and Vibration Isolation

Floor Mount Vibration Isolator

Transmissibility and Vibration Isolation
Mass/Spring/Damper System

F0 sin t force transmitted to

F0 sin t
m ground = f T

x m cx kx f T  c x  kx

c k cx kx
fT

Displacement x  X sin(  t   )
 
Velocity x   X cos(  t   )  X sin( t    )
2
Transmissibility and Vibration Isolation
Vector representation
Since all the forces have been drawn on the vector diagram, we can see that
the force transmitted to the ground is of spring force and damping force.

F 0 sin(  t )
FT sin(t   )


t
Transmissibility and Vibration Isolation
Vector representation
Using basic trigonometry and Pythagoras to the shaded area, we have:

F0 sin(t )
FT sin(t   )


t

FT2  [ kX ] 2  [ c  X ] 2 FT  X k 2  (c )2
Transmissibility and Vibration Isolation

F0  X [k  m  2 ]2  [c ]2
FT  X k  (c )
2 2

Definition

transmissibility, T.R. = force transmitted to ground, FT

applied force, F0
FT
T.R. 
F0
k  (c)
2 2
T .R. 
(k  m )  (c)
2 2 2
Transmissibility and Vibration Isolation

k 2  ( c ) 2
T .R. 
(k  m )  (c )
2 2 2

c
Again dividing by k and substituting   ,   km
2 km n

and  n  r , we can obtain the following important ratio:

1  (2r) 2
T .R. 
(1  r )  (2r)
2 2 2

Transmissibility is a ratio used to describe how the force is transmitted

from the machine m to the ground as a function of frequency ratio r and
damping ratio x
Transmissibility and Vibration Isolation

1  ( 2 r ) 2
T .R . 
(1  r 2 ) 2  ( 2  r ) 2

All the curves cross at r =2

When r <2, the value of T.R. is greater
than 1 FT > F0; x , FT
When r >2, the value of T.R. is less
than 1 FT < F0; x , FT
r  2

Important observation :
above a frequency ratio of r =2 the force transmitted to the
ground is less than the applied force
this is known as Vibration Isolation
Rotating Unbalance
We just studied forced vibration due to the application of a sinusoidal
force. A common source of such sinusoidal excitation comes from
unbalance in a rotating machine or rotor.
The amplitude of the force for a rotating unbalance is: mu e 2

where:
m mu mu: unbalance mass
e e: radius
: rotating speed

m: is the total mass of the machine and

includes the unbalance mass mu
k c
Rotating Unbalance
f  F0 sin( t )
m mu
e  m u e  sin( t )
2

Simply replace F0 with mue 2

in all our equations
k c

( X
F0
(k  m )  (c )
2 2 2
  tan 1  c 
 k  m  2  )
 n  k m
Rotating Unbalance  
c
hence 2 km
F0  c   n  r
X   tan 1

(k  m )  (c )
2 2 2  k  m  2 
Replacing F0 with mue 2 in all our equations, we have
mu e 2  c 
X   tan  1

 k  m  
2
(k  m 2 )2  (c )2
rearranging
mX m 2

mue (k  m  2 )2  (c )2

finally dividing by k we arrive at

mX r2  2r 
  Mr2
  tan  1
2
mu e (1  r )  (2r)
2 2 2
 1  r 
Rotating Unbalance

mX r2

2  Mr
2
mu e (1  r )  (2r)
2 2

All the curves begin at zero amplitude

At very high speeds (large values of r or
), the amplitude is almost unity, and the
effect of damping is negligible.
When x>1, the amplitude is less than or
equal to 1.
When r=1, the amplitude is markedly
affected by damping.
Rotating Unbalance F0  mu e 2
Finally we need to know how a rotating unbalance affects the
transmitted force. We know,
FT  F0  T .R.
Hence, the force transmitted to the ground due to the rotating
unbalance is:
FT  m u e   T . R .
2

Dividing by mu e
2
n

FT 2
 2  T.R.  T . R.  r 2
muen n
2

this force ratio is know as: force transmissibility in case of rotating unbalance
Rotating Unbalance
FT  2
  T . R. T.R.r2
mu en n
2 2

All the curves begin at zero amplitude.

When r <2, as the damping ratio increases,
the force transmitted to the ground for the
rotating unbalance is reduced.
When r >2, as the damping ratio increases,
the force transmitted to the ground for the
rotating unbalance increases dramatically.

r 2