Lecture 1 - ME2617 Free Motion of Undamped SDOF Systems

ME2617 Dynamics of Machines
Free Motion of Undamped SDOF Systems
Dr Cristinel Mares
cristinel.mares@brunel.ac.uk
VIBRATIONS AND OSCILLATIONS
Oxford dictionary:
Vibration – Vibrating, oscillation; (phys.) rapid motion to and fro, especially
of parts of a fluid or elastic solid whose equilibrium is disturbed.
Generally oscillations are variations of a state parameter about the value
corresponding to a stable equilibrium position (or trajectory).
Vibrations are oscillations due to an elastic restoring force.
A flexible beam or string vibrates while a pendulum oscillates.
Brunel University London 2

WHAT IS A Degree of Freedom (DoF)?
• The ability to move in any one direction represents a

DoF
• The number of coordinates required to specify the
motion of a system uniquely determines the order of that
system
Rigid bar with mass

moving along all translations
and rotations

OBJECTIVES
• Formulate equivalent spring mass models for systems

whose motion can be represented by a single DOF.

OBJECTIVES
• Determine the free vibration response for such models

using equilibrium equations or calculation of system
energy and Lagrange equations.
40
30
20
10
0 Displacement
0 2 4 6 8 Velocity
-10
Acceleration
-20
-30
-40

Why Vibrations’ study?
• Analysis of dynamics of complex systems

determining the response characteristics, the operational
safety envelope
• Design and optimization for complex systems using

experimental work or correlation with analytical models

Outline
Some concepts
Objectives
Review of Dynamics
Discrete systems
Examples of 1 Single Degree of Freedom systems
Vibrations free 1DOF systems
Equivalent stiffness
Design aspects for 1 DOF systems
Examples
References

Review of Dynamics

Fundamentals of Solid Body Mechanics: Dynamics
Mechanics:The study of how bodies

react to the forces applied to them
Statics: The study of bodies in Dynamics:

equilibrium 1. Kinematics: concerned with the
geometric aspects of motion
2. Kinetics: concerned with the
forces causing the motion

Newton’s Laws of Motion

Newton’s Laws of Motion
Newton’s second law can be defined mathematically as:
𝐹 ∝a
𝐹=𝑚a
( )
𝐹= = 𝑚𝑣̇ = 𝑚𝑎
Where F is the resultant force acting on the particle and a is its acceleration; the positive scalar m
is the mass of the particle.
Mass therefore is a property of an object and it is a measure of its resistance to change in velocity
or motion (acceleration).

The Equations of Motion (EOM)
The Equation of motion is written as:
∑𝐹 = 𝑚 = 𝑚𝑎
From the force analysis (Free Body Diagram),

the resultant of these forces produces the vector ma.
∑𝐹 = 0 Acceleration is zero.
Static equilibrium. Newtons’s First Law of Motion.

We can define the momentum for a particle in motion 𝑝 = 𝑚𝑣

and from Newton’s second law of motion:
( )
𝐹= =
Consider a particle defined by a position vector r in motion around a fixed origin O.

The angular momentum of the particle about point O is:
𝐻 = 𝑟 × 𝑚𝑟̇ Which is a new vector with the direction

defined by the right hand rule.

Angular Momentum
It can be shown that the time derivative of the angular momentum is
𝐻̇ = 𝑟 × 𝑚𝑟̈
The rate of change of angular momentum about a point O is equal with the total
𝐻̇ = 𝑟 × 𝐹 = 𝑀
momentum about O of the external forces acting on the system.

In the case of pure rotation of a rigid body one can define the angular motion around the axis of
rotation. Angular rotation is 𝜃 and angular velocity is
𝑑𝜃
𝜔 = 𝜃̇ =
𝑑𝑡
𝑑 𝜃
and the angular acceleration is: 𝛼 = 𝜔̇ = 𝜃̈ =
𝑑𝑡
For a body in rotation the angular momentum
𝑑𝐻
𝑀= =𝐼 𝛼
𝑑𝑡

The general equations of motion for a rigid body
𝑑(𝑚𝑣)
𝐹= = 𝑚𝑎
𝑑𝑡
𝑑𝐻
𝑀= =𝐼 𝛼
𝑑𝑡
𝐼 is the “second moment of mass” or “mass moment of inertia” as it

represents a measure of the rotational a body possesses i.e.
resistance to change in rotational motion. It is a result of the radial
distribution of the mass around the rotational axis, e.g. z axis.

Solution Procedure:
Select an appropriate inertial coordinate system (either fixed or translating with a fixed velocity).
Draw the Free Body Diagram showing all the forces acting on the particle.
Draw the kinetic diagram showing the inertial force.
Determine the equations of motion (EOM) and solve them.
𝑑(𝑚𝑣)
𝐹= = 𝑚𝑎
𝑑𝑡
𝑑𝐻
𝑀= =𝐼 𝛼
𝑑𝑡

EOM determined using Lagrange Equations
Consider a system described by the generalized coordinates 𝑞 and generalized velocities 𝑞 ̇ .

The Lagrange equations are:
𝐿 =𝑇−𝑈
𝑑 𝜕L 𝜕𝐿
− =0
𝑑𝑡 𝜕𝑞̇ 𝜕𝑞
𝐿 – system’s Lagrangean
𝑇 – kinetic energy
𝑈 – potential energy
Substitution of the Lagrangean expression leads to:
d  T  T U
    0
dt  q j  q j q j
Brunel University London

DISCRETE SYSTEMS

DISCRETE SYSTEM ELEMENTS - SPRINGS
It is generally assumed that the length of spring is negligible

and the direction of load and deformation vectors are the
same and furthermore a simple spring supports tension or
compression only along its length.
Torsion or Bending load may be supported by Torsion or

Bending springs.
Although simple strings support one type of load, it is also

assumed that a more complex type of springs may combine
several types of loads, such as bending and extension or
torsion and extension or several translations.
K – spring stiffness < >

DISCRETE SYSTEM ELEMENTS - DAMPING IDEALISATION
Damping is seen through the reduction of the amplitude

of vibrations through a complex mechanism of dissipation
x c x T or radiation of energy of the system.
T
A common way of representing damping is by
assuming discrete dashpots which produce reaction
forces as a function of velocity.
For simplicity, reaction forces due to damping are
assumed to be a linear function of the relative velocity
between two ends of the dashpots.
The reaction force due to velocity is in the same direction
as the velocity vector and both act along the dashpot
element.
c – damping coefficient < >

DISCRETE SYSTEM ELEMENTS - MASS and INERTIA
K
K
m J
c
Mass of a body is defined as the amount of matter in that body.
It is probably better to define mass of a body as its ability to resist to acceleration

when subjected to an external force.
As both the force and the acceleration may have up to six components the relationship
between these two vectors will have a 6x6 inertial matrix.
An idealised concept of point mass will usually be represented as a simple rectangle.

Simple disc or ring representations are usually used to represent inertia about the axis of
rotation.
FORCING FUNCTIONS – CONSTANT FORCE
This may be due to body mass acting as a force under

gravitational acceleration, applied individually on a body in
different directions.
F Since each body has six degree of freedom the force vector may
have six components (including three torsions).
The simplest treatment of the external force is assuming that it

T F is acting about the centre of mass.
If the point of action of a force (F) is measured relative to centre

of mass by a vector, r, then this may be transferred to the centre
of mass as a combined force and moment.

FORCING FUNCTIONS – PERIODIC FORCE
A common forcing function is

given by:
Excitation due to unbalanced forces,
common in unbalanced rotating shafts,
𝐶𝑠𝑖𝑛(𝜔𝑡 + 𝜑)
wheel and primary engine excitation.
A is the amplitude of the force
w is the frequency in rad/s
f is the phase angle
This can be written also as :

𝐴𝑠𝑖𝑛 𝜔𝑡 + 𝐵𝑐𝑜𝑠(𝜔𝑡)

FORCING FUNCTIONS – FLOOR or BASE MOVEMENT
This type of excitation is common in analysing the

effect of road on the motion of a vehicle.
In practise the road surface is defined as a function of
c k x horizontal velocity of vehicle resulting a vertical
displacement, measuring acceleration of the floor
movement

EXAMPLES

WATER TANK

WATER TANK

DRILLING MACHINE
Photo Courtesy of Clausing Industrial, Inc.

DRILLING MACHINE
Photo Courtesy of Clausing Industrial, Inc.

AUTOMOBILE

AUTOMOBILE VIBRATION MODEL

UNDAMPED VIBRATIONS 1 DOF SYSTEMS

MECHANICAL VIBRATIONS
Vibration is oscillatory motion about a position. If the motion repeats itself after certain time interval,
it is called periodic vibration.
The minimum such time interval is defined as a period (in seconds).
Another type of vibration, which does not repeats itself, is called aperiodic vibration. This type of
vibration is normally caused by nonlinearity and/or time-dependence of the system and/or
unsteadiness of the excitation.
Classifications:
Linear vibration and nonlinear vibration.
External force present/absent  free or forced vibration
Damping present/absent  damped or undamped vibration

HARMONIC VIBRATIONS
f  1/ T
w  2 f  2  / T
x ( t )  A sin( w t ) Frequency f in Hz,
circular frequency ω in rad/s,
T
4
period T in seconds
A 2 A
0
0 2 4 6 8 wt
-2
-4
A=? T=? w =?

HARMONIC VIBRATION
x (t )  A sin( w t )  max x  A
x(t )  Aw cos(wt )  Aw sin(wt   / 2)  max x  Aw
x(t)   Aw2 sin(wt)  Aw2 sin(wt  )  max x  Aw2
x   w 2 x 𝑥̇ =
𝑑𝑥
𝑑𝑡
Notation 𝑑 𝑥
x  w 2 x  0
𝑥̈ =
Equation of oscillation 𝑑𝑡

HARMONIC VIBRATION
x (t )  A sin( w t )
40
30 Displacement
20 Velocity
Acceleration
10
0
0 2 4 6 8
-10
-20 wt
-30
-40

HARMONIC VIBRATIONS
-2
0 1 2 3 4 5
x (t )  4 sin( t )  2 sin(2t )
-4
-6

UNDAMPED FREE VIBRATIONS
Given a system which is vibrating, what steps do we carry out in solving the problem
(in determining the harmonic motion characteristics)?

Given a system which is vibrating, what steps do we carry out in solving the
k problem (in determining the harmonic motion characteristics)?
m x 1. Choose a coordinate which describes the displacement of the body from the
equilibrium position (e.g. the x coordinate).
In general the coordinate should describe in a convenient manner the motion,
for example the translation or rotation of the Centre of Gravity (CG).

Elastic force of the spring in extension
𝑘𝑥
problem (in determining the harmonic motion characteristics)?
Action/ reaction
on the spring 𝑘𝑥
and mass 2. Draw the Free-Body-Diagram (FBD) and determine the system of forces,
𝑘𝑥 couples, acting on the system. The forces or couples should be drawn in a
𝑚𝑥̈ direction consistent with the assumed displacement.
Force of inertia
m
𝑥, 𝑥̈

𝑘𝑥
Action/ reaction
and mass 3. Write the differential Equation of Motion (EOM) by equating the sum of
𝑘𝑥 components of the forces acting on each element. Use the specific kinematic
𝑚𝑥̈ relations in order to obtain the equations using only the defining coordinates
Force of inertia (e.g. x for this system).
m
𝑥, 𝑥̈ Newton’s second law: 𝑚𝑥̈ = 𝐹
mx  kx
mx  kx  0
𝑘𝑥
Action/ reaction
and mass 4. Write the EOM in the form
𝑘𝑥
𝑚𝑥̈ x  w n2 x  0
Force of inertia
m
allowing to identify the natural circular frequency, period T and frequency of
𝑥, 𝑥̈ vibration.
k 𝑚
wn  𝑇 = 2𝜋
𝑘
m
𝜔 = ⇔ < 𝜔 >= = =
k
4. Given the initial conditions (e.g. initial displacement and velocity ) determine
the general solution: position, velocity and acceleration of the system at any
given time.
m x Assuming a harmonic solution of the form:
mx  kx  0 x(t)  Asinwnt  B coswnt  C sin(wnt )

(A, B) or (C,) are determined by the initial
x  w x  0
2
n conditions: 𝑥 𝑡 = 0 , 𝑥̇ (𝑡 = 0)
After some calculations one obtains the solution
x ( 0 )
x (t )  sin w n t  x ( 0 ) cos w n t
wn
Consider a system described by the generalized coordinates 𝑞 and generalized velocities 𝑞 ̇ .

The Lagrange equations are:
𝐿 =𝑇−𝑈
𝑑 𝜕L 𝜕𝐿
− =0
𝑑𝑡 𝜕𝑞̇ 𝜕𝑞
𝐿 – system’s Lagrangean
𝑇 – kinetic energy
𝑈 – potential energy
Substitution of the Lagrangean expression leads to:
d  T  T U
    0
dt  q j  q j q j

𝑑 𝜕𝑇 𝜕𝑇 𝜕𝑈
− + =0
𝑑𝑡 𝜕𝑞̇ 𝜕𝑞 𝜕𝑞
x
k
Spring-Mass system  L  T U
m qj  x 
E  T  U
1 T 1 d  T 
𝑈 = 𝑘𝑥  m  2 x   mx; 
    mx
2 x 2 dt  x 
1 U 1
𝑇 = 𝑚𝑥̇  k  2 x   kx;
2 x 2
𝐸 = 𝑇 + 𝑈 = 𝑚𝑥̇ + 𝑘𝑥
− + =0 𝑚𝑥̈ + 𝑘𝑥 = 0
POSITION OF EQUILIBRIUM
In all vibration problems, the origin of the motion should be taken as the static equilibrium position. When
the mass is attached to the spring, the spring is stretched with 𝛿.
Static deflection 𝑊𝑒𝑖𝑔ℎ𝑡 𝑚𝑔

𝛿= =
𝑠𝑡𝑖𝑓𝑓𝑛𝑒𝑠𝑠 𝑘
And if the vibration amplitude is x, total deflection will be

k
𝛿 𝑚𝑔
𝑦 =𝑥+𝛿 =𝑥+
m 𝑘
𝑥 𝑦 Newton’s second law: 𝑚𝑥̈ = 𝐹
𝑘𝑦
𝑚𝑥̈ = 𝑚𝑔 − 𝑘𝑦 = 𝑚𝑔 − 𝑘(𝑥 + ) = −𝑘𝑥
𝑚𝑔 𝑚𝑥̈ + 𝑘𝑥 = 0

EQUIVALENT STIFFNESSES

SPRINGS IN SERIES
𝑘 Both sprigs will see the same force and will

have different extensions.
𝑥 = 𝐹/𝑘
𝑘
𝑥 = 𝐹/𝑘
x 𝐹 1 1
𝑥 = =𝑥 +𝑥 =𝐹 +
F 𝑘 𝑘 𝑘
1 1 1
= + Equivalent spring
𝑘 𝑘 𝑘

SPRINGS IN PARALLEL ( no rotation )
𝑘 Both sprigs will have the same deflection x,

𝑘
the sum of forces acting on each spring being
the force F.
x
𝑥 = 𝐹 /𝑘
𝑥 = 𝐹 /𝑘
F
𝐹=𝑘 𝑥 = 𝐹 +𝐹 =𝑘 𝑥+𝑘 𝑥 = 𝑘 +𝑘 𝑥
𝑘 = 𝑘 +𝑘 Equivalent spring

STIFFNESS FORMULAE
(beam elements, axial and bending loading)
𝐸𝐴 E - Young’s modulus
𝑘= A - cross section area
𝐿
I - cross section moment of inertia
L – length of the beam
E,A,L
K – equivalent stiffness
3EI
𝑘=
𝐿
E,A,I
48EI
𝑘=
𝐿

MASS ON SIMPLY SUPPORTED BEAM
L,E,I
𝑚𝑔𝐿
Static deflection at the centre (DATABOOK) 𝛿=
48𝐸𝐼
𝑊𝑒𝑖𝑔ℎ𝑡 𝑚𝑔 𝑚𝑔 48𝐸𝐼
Beam stiffness 𝑘= = = =
𝑑𝑒𝑓𝑙𝑒𝑐𝑡𝑖𝑜𝑛 𝛿 𝑚𝑔𝐿 𝐿
48𝐸𝐼
k 48 EI
wn  
Natural frequency m mL 3
The gravity does not affect the natural frequency, as it simply determines the position of static equilibrium.
EXAMPLE
Determine the equivalent spring constant for the system given in the figure.

EXAMPLE
Determine the equivalent spring constant for the system given in the figure.
1 𝑘 𝑘 𝑘 𝑘
𝑘 = = ;𝑘 = 𝑘 + 𝑘 ;𝑘 = 𝑘 +𝑘 +𝑘 =𝑘 +𝑘 +𝑘 + ;
1 1 𝑘 +𝑘 𝑘 +𝑘
+
𝑘 𝑘

EQUIVALENT STIFFNESSES

Design of 1 dof systems

Vibrating 1 dof system
How can we re-assign the natural frequency for a 1dof system

to answer to some operational constraints?
k
m There are two constructive elements to be modified: the mass and the stiffness!
Mass modification:
𝑚 ↑ (𝑜𝑟 ↓) ⇒ 𝜔 = ↓ (𝑜𝑟 ↑)
An increase of the mass leads to a decrease of the circular frequency 𝜔

and frequency 𝑓 of vibration.

Vibrating 1 dof system
1 1 1
= + 𝑘 - equivalent stiffness for
𝑘 𝑘 𝑘 𝑘
springs in series
𝑘 - equivalent stiffness for

𝑘 = 𝑘+𝑘
𝑘 springs in parallel
x We can change the stiffness value using for example a series

or a parallel spring configuration. If 𝑘 is the initial stiffness and 𝑘
F represents the modification then for a parallel configuration:
+
𝑘 𝑘 𝑘 < 𝑘 = 𝑘+𝑘 ⇒ 𝜔 = < =𝜔
For a series configuration: 𝜔 <𝜔<𝜔

x
< = + ⇒𝑘 <𝑘 ⇒𝜔 = < =𝜔
F
Example
QB1a
A mass 𝑀 is attached to two identical springs of stiffness 𝑘/2 (Figure QB1a).
Free vertical vibrations are induced and the natural frequencies are measured
by attaching to the mass 𝑀: a mass 𝑚 in the first case, and a mass 𝑚 in the
second case (Figure QB1b respectively Figure Q1c). The measured natural
frequencies are 𝑓 respectively 𝑓 . For experiments carried out using:
𝑚 = 200 𝑘𝑔 respectively 𝑚 = 420 𝑘𝑔, the resulted natural frequencies are
𝑓 = 8.5 𝐻𝑧 respectively 𝑓 = 7.6 𝐻𝑧.
QB1b QB1c
(a) Determine the mass 𝑀 of the given system.
(b) Determine the spring stiffness 𝑘 of the given system.
(c) In the configuration shown in Figure QB1d, determine the value of spring
stiffness 𝑘1, which would reduce the initial natural frequency of the system
with 25%.
QB1d
Example
a) For the two measurements:
𝑓 = = ; 𝑓 = =
𝑀+𝑚 𝑓 = 𝑀+𝑚 𝑓 ;
× . × .
𝑀= = . .
= .
= 676.9𝑘𝑔
b) 𝑘 = 4𝜋 𝑓 𝑀 + 𝑚 = 4𝜋 × 8.5 × 676.9 + 200 = 2.5 × 10

Example
Given the initial stiffness 𝑘 = 2.5 × 10 using a spring with the stiffness 𝑘 in series one can
determine the equivalent stiffness. The springs 𝑎𝑛𝑑 are series and two equal resulting springs
in parallel:
𝑘 𝑘 𝑘 𝑘
𝑘 𝑘
𝑘 = 2 2 +2 2 =
𝑘 𝑘 𝑘 𝑘 𝑘+𝑘
+
2 2 2 2 +
The new natural frequency is:

1 𝑘
𝑓 =
2𝜋 𝑀
The required condition becomes:
1 𝑘 1 𝑘
𝑓 = = 𝛼𝑓 = 𝛼
2𝜋 𝑀 2𝜋 𝑀
With 𝛼 = 0.75 the resulting equation is:
𝑘 𝑘
=𝛼 𝑘⇒
𝑘+𝑘
𝛼 0.75 0.5625 𝑁
𝑘 = 𝑘= 𝑘= 𝑘 = 1.286𝑘 = 3.215 × 10
Brunel University London 1−𝛼 1 − 0.75 0.4375 𝑚 61
MORE EXAMPLES
𝜋 𝜋
− <𝜃<
2 2

Example
A body of mass 1kg is attached to a spring of stiffness 10kN/m. What is the frequency of free oscillation? If the
motion is started with the body being displaced by +1cm and then given an initial velocity of -3cm/s (in the
opposite sense from +x) describe the subsequent vibration.
Solution 𝑥 1𝑐𝑚
𝑥̇ = 3 𝑐𝑚⁄𝑠
Assuming 𝑥 𝑡 = 𝐶𝑠𝑖𝑛 𝜔𝑡 + 𝜑 then
𝑘 10000 𝑟𝑎𝑑 100

𝜔= = = 100 ;𝑓 = = 15.915𝐻𝑧
𝑚 1 𝑠 2𝜋
and the initial conditions are:
𝑥 𝑡 = 𝐶 𝑠𝑖𝑛 𝜔𝑛 𝑡 + 𝜑 = 0.01𝑚;
𝑡=0
𝑥̇ 𝑡 = 𝜔𝑛 𝐶 𝑐𝑜𝑠 𝜔𝑛 𝑡 + 𝜑 = −0.03𝑚/𝑠
𝑡=0

Example
Therefore:
0.01 × 100
𝐶𝑠𝑖𝑛𝜑 = 0.01; 𝐶𝜔𝑐𝑜𝑠𝜑 = −0.03 ⇒ 𝑡𝑎𝑛𝜑 = = −33.33
−0.03
the phase is in the second or fourth quadrant.
But 𝑐𝑜𝑠𝜑 is negative therefore the phase is in the second quadrant. Remembering that Arctan (𝑡𝑎𝑛−1 )
represents the radian angle measure 𝜋 𝜋
− <𝜃<
2 2
𝜑 = 𝑡𝑎𝑛−1 −33.33 = −88.28°
Then in the second quadrant

𝜑 = 90° − 88.28° + 90° = 1.72° + 90° = 91.72°
0.01 0.01
𝐶 = 𝑠𝑖𝑛91.72° = 0.999549 ≈ 0.01𝑚
𝑥 𝑡 = 0.01sin(100𝑡 + 91.72°)(𝑚)
𝑚
𝑥̇ 𝑡 = cos(100𝑡 + 91.72°)( )
𝑠
Example
It is possible to consider another initial solution: 𝑥 𝑡 = 𝐶𝑐𝑜𝑠 𝜔𝑡 + 𝜑
Therefore:
0.03
𝐶𝑐𝑜𝑠𝜑 = 0.01; − 𝐶𝜔𝑠𝑖𝑛𝜑 = −0.03 ⇒ 𝑡𝑎𝑛𝜑 = = 0.03
0.01 × 100
the phase is in the first quadrant.
𝜑 = 𝑡𝑎𝑛−1 0.03 = 1.72°
0.01 0.01
𝐶= = ≈ 0.01𝑚
𝑐𝑜𝑠1.72° 0.999549
𝑥 𝑡 = 0.01 cos 100𝑡 + 1.72° 𝑚 = 0.01 cos 100𝑡 + 0.02999 𝑚
𝑚
𝑥̇ 𝑡 = sin(100𝑡 + 1.72°)( )
𝑠
Observe that 𝑠𝑖𝑛(100𝑡 + 91.72° ) = sin[ 100𝑡 + 1.72° + 90° ] = 𝑐𝑜𝑠 100𝑡 + 1.72°
and the solutions are equivalent.

Example
Another form of the solution could be
𝑥 𝑡 = 𝐶𝑠𝑖𝑛 𝜔 𝑡 + 𝜑 = 𝐴𝑠𝑖𝑛𝜔 𝑡 + 𝐵𝑐𝑜𝑠𝜔 𝑡
where the constants (A,B) are determined by the initial conditions 𝑥 = 𝑥| and 𝑥̇ = .
Using these initial conditions, the equation of motion becomes:
x (0)
x(t )  sin wn t  x(0) cos wn t
wn
−0.03
𝑥 𝑡 = 𝑠𝑖𝑛100𝑡 + 0.01𝑐𝑜𝑠100𝑡 𝑚
100
𝑥 𝑡 = −3 10 𝑠𝑖𝑛100𝑡 + 10 𝑐𝑜𝑠100𝑡 𝑚

TORSIONAL FREE VIBRATIONS
T𝑜𝑟𝑠𝑖𝑜𝑛𝑎𝑙 𝑠𝑡𝑖𝑓𝑓𝑛𝑒𝑠𝑠 = -
J o  K  0
K
Assume the
rotation with 𝜃
𝜃
x 𝐽 𝜃̈
Jo K
wn 
Jo
J – mass moment of inertia < 𝑘𝑔 𝑚 >

𝐾𝜃
K – torsional stiffness < >
𝑀 = 𝐽 𝜃̈
𝜔= ⇔< 𝜔 = = =

𝑑 𝜕𝑇 𝜕𝑇 𝜕𝑈  L  T U
− + =0 
𝑑𝑡 𝜕𝑞̇ 𝜕𝑞 𝜕𝑞 E  T  U
T 1 d  T 
K
1
𝑇 = 𝐽 𝜃̇
2 
 2
 
 J 0 2  J 0;
dt   

    J 0
𝜃 𝑞 =𝜃 1 U 1
𝑈 = 𝑘𝜃
2 0  k  2   k ;
x
Jo
 2
𝐸 = 𝑇 + 𝑈 = 𝐽 𝜃̇ + 𝑘𝜃
J 0  k  0
− + =0
Pendulum vibrations
A rigid bar of length l with a mass m attached to its end can rotate in the vertical plane.
What is the EOM after perturbation with an angle θ from the equilibrium position?
Equation of motion:
L
Restoring moment of the weight: 𝑀 = −𝑚𝑔𝑠𝑖𝑛𝜃𝐿
θ
EOM: 𝑚𝐿 𝜃̈ + 𝑚𝑔𝑠𝑖𝑛𝜃𝐿 = 0
𝜃̈ + 𝑠𝑖𝑛𝜃 = 0
b) small perturbation 𝑠𝑖𝑛𝜃 ≅ 𝜃
𝑙𝑠𝑖𝑛𝜃
𝑙(1 − 𝑐𝑜𝑠𝜃) 𝜃̈ + 𝜃 = 0 ⇒ 𝜔 =
mg

A rigid bar of length l with a mass m attached to its end can rotate in the vertical plane.
What is the EOM after perturbation with an angle θ from the equilibrium position?
For a small perturbation angle we can determine:

L
1 1
𝑇 = 𝐽𝜃̇ = 𝑚𝐿 𝜃̇
2 2
θ 𝑈 = 𝑚𝑔𝐿(1 − cos𝜃)
𝑑 𝜕𝑇 𝑑 𝜕𝑇
= 𝑚𝐿 𝜃̇ = 𝑚𝐿 𝜃̈; =0
𝑑𝑡 𝜕𝜃̇ 𝑑𝑡 𝜕𝜃
𝜕𝑈 𝜕
= 𝑚𝑔𝐿(1 − cos𝜃) = 𝑚𝑔Lsin𝜃
𝜕𝜃 𝜕𝜃
𝑙(1 − 𝑐𝑜𝑠𝜃) 𝑑 𝜕𝑇 𝜕𝑇 𝜕𝑈
− + = 0 ⇒ 𝑚𝐿 𝜃̈ + 𝑚𝑔𝐿sin𝜃 = 0 ⇒ 𝑚𝐿 𝜃̈ + 𝑚𝑔𝐿𝜃 = 0
mg 𝑑𝑡 𝜕𝜃̇ 𝜕𝜃 𝜕𝜃
g
    0
L
Example: EOM determined using Lagrange Equations
The system in the figure is composed of a disk with mass M and radius r, a spring of stiffness k, and a mass m.
Determine the EOM if the system is perturbed with a small vertical displacement. Assume the cable does not
stretch and has no mass and there is no friction.
Mass moment of inertia for the disk rotating around an axis normal
Mr 2 x
to the plane of the figure is J  and the angular velocity is  
2 r
̇
𝑥 = 𝜃𝑟 ; 𝑥̇ = 𝜃𝑟; 𝑥̈ = 𝜃𝑟 ̈
M,r
1  Mr 2   2 1 2 1  Mr 2   x  1 2
2
m
x
T     mx      mx
2 2  2 2  2  r  2
k T 1  Mr 2   2 x  1 M  d  T  M 
      m  2 
x     m  
x ;      m  
x
x 2  2   r 2  2  2  dt  x   2 
1 2 U 1
U kx ;  k  2 x   kx;
2 x 2
M 
  m  
x  kx  0
 2 

Example
The system in the figure is composed of a disk with mass M and radius r, a spring of stiffness k, and a mass m.
Determine the EOM if the system is perturbed with a small vertical displacement. Assume the cable does not
stretch and has no mass and there is no friction.
Mass moment of inertia for the disk rotating around an axis normal
𝑥̈ Mr 2 x
𝑂 to the plane of the figure is J  and the angular velocity is  
𝑟 𝑟 2 r
𝜃 𝑥 = 𝜃𝑟 ; 𝑥̇ = 𝜃̇𝑟; 𝑥̈ = 𝜃̈𝑟
M 𝑥̈
𝑇 𝑟
m
𝑇 𝑟
𝑥, 𝑥̈ 𝑂
k
𝑇 𝑇
𝑇
𝑚𝑥̈
FBD: m
𝑥, 𝑥̈ 1
𝑀 = 𝐽𝜃 ⟹ −𝑇 𝑟 + 𝑇 𝑟 = 𝑀𝑟 𝜃̈
̈
𝑇 + 𝑚𝑥̈ = 0 𝑇 2
𝑇 = 𝑘𝑥
1 𝜃̈
−𝑘𝑥𝑟 − 𝑚𝑥̈ 𝑟 = 𝑀𝑟
2 𝑟
𝑀
Brunel University London ⟹ + 𝑚 𝑥̈ + 𝑘𝑥 = 0
2
SOLUTION METHODS: D’ALEMBERT and LAGRANGE
EQUATION OF MOTION APPROACH

1. Give a small translation/rotation and calculate restoring forces/moments
2. Determine the FBD for the vibrating system.
3. Determine EOM 𝑚𝑥̈ = 𝐹 or alternatively determine T, U for the vibrating system
and use the Lagrange equations to obtain EOM.
𝐼𝜃̈ = 𝑀
4. Identify 𝑀 , 𝐼 , 𝑘 using the EOM
(‘eq’ means the equivalent or effective values of the vibrating system)
5. Determine the circular frequency, period and frequency of vibrations (𝜔 < >, 𝑇 < 𝑠 >, 𝑓 < 𝐻𝑧 >).
6. Use the initial conditions
keq keq
to determine the particular wn  ; wn  ;
meq I eq
movement solution.

FREE VIBRATIONS - REVIEW
Harmonic motion: 𝑥̈ + 𝜔 𝑥 = 0
𝑘
𝜔 =
𝑚
Time domain solution with 𝑥 = 𝑥 0 ; 𝑣 = 𝑥̇ 0 :
𝑣
𝑥 𝑡 = 𝑠𝑖𝑛 𝜔 𝑡 + 𝑥 𝑐𝑜𝑠 𝜔 𝑡
𝜔
𝑥 𝑡 = 𝐶𝑠𝑖𝑛 𝜔 𝑡 + 𝜙
𝑣
𝐶= +𝑥
𝜔
𝑥 𝜔
𝜙 = 𝑡𝑎𝑛
𝑣

References
Lecture and seminar notes ME2617.
In [1]: read Ch. 1.1-1.7 (without the non-linear springs section), Ch. 2.1-2.3;
suggested examples: 1.7;1.8;1.26;1.31;2.7;2.12;2.93;2.96 in the problems
section.
[1] Mechanical Vibrations by S. Rao (see module reading list and BB link).

Summary
- General introduction of vibrations aspects

- Modelling aspects of vibrating systems
- Analysis of free oscillations for undamped systems

QR code for Student Feedback form

Questions?
E-mail: cristinel.mares@brunel.ac.uk

Lecture 1 - ME2617 Free Motion of Undamped SDOF Systems

Uploaded by

Document Information

Original Title

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

Lecture 1 - ME2617 Free Motion of Undamped SDOF Systems

Uploaded by

Copyright:

Available Formats

ME2617 Dynamics of Machines

Free Motion of Undamped SDOF Systems

Brunel University London 2

• The ability to move in any one direction represents a

Rigid bar with mass

Brunel University London 3

• Formulate equivalent spring mass models for systems

Brunel University London 4

• Determine the free vibration response for such models

Brunel University London 5

• Analysis of dynamics of complex systems

• Design and optimization for complex systems using

Brunel University London 6

Brunel University London 7

Brunel University London 8

Mechanics:The study of how bodies

Statics: The study of bodies in Dynamics:

Brunel University London 9

Brunel University London 10

Newton’s second law can be defined mathematically as:

Brunel University London 11

The Equation of motion is written as:

From the force analysis (Free Body Diagram),

Brunel University London 12

We can define the momentum for a particle in motion 𝑝 = 𝑚𝑣

Consider a particle defined by a position vector r in motion around a fixed origin O.

𝐻 = 𝑟 × 𝑚𝑟̇ Which is a new vector with the direction

Brunel University London 13

It can be shown that the time derivative of the angular momentum is

Brunel University London 14

For a body in rotation the angular momentum

Brunel University London 15

The general equations of motion for a rigid body

𝐼 is the “second moment of mass” or “mass moment of inertia” as it

Brunel University London 16

Draw the kinetic diagram showing the inertial force.

Determine the equations of motion (EOM) and solve them.

Brunel University London 17

Consider a system described by the generalized coordinates 𝑞 and generalized velocities 𝑞 ̇ .

Substitution of the Lagrangean expression leads to:

Brunel University London

Brunel University London 19

It is generally assumed that the length of spring is negligible

Torsion or Bending load may be supported by Torsion or

Although simple strings support one type of load, it is also

K – spring stiffness < >

Brunel University London 20

Damping is seen through the reduction of the amplitude

c – damping coefficient < >

Brunel University London 21

Mass of a body is defined as the amount of matter in that body.

It is probably better to define mass of a body as its ability to resist to acceleration

An idealised concept of point mass will usually be represented as a simple rectangle.

This may be due to body mass acting as a force under

The simplest treatment of the external force is assuming that it

If the point of action of a force (F) is measured relative to centre

Brunel University London 23

A common forcing function is

This can be written also as :

Brunel University London 24

This type of excitation is common in analysing the

Brunel University London 25

Brunel University London 26