Vibration and Shock of Production

Systems - 01211422

Topic 02 : Systems with One Degree of

Freedom – Theory

By
Assoc. Prof. Chatchapol Chungchoo
 What are Vibrations?

• Vibration is a mechanical phenomenon whereby

oscillations occur about equilibrium point.
(Vibration: the motion of the object that regularly repeats itself, back
and forth, over the same path)

• Other words for Vibration: oscillation, cycle

• Periodic Motion: when an object moves in a repeat

pattern over regular time intervals.
 http://www.posterus.sk/?p=13941

https://www.quora.com/What-is-a-
vibratory-motion-What-are-some-
examples
• Examples of Vibration in Real Life
Collapse of the Tacoma Narrows Bridge, 1940
Turkey earthquake,
2023
• Vibration can be differentiated into 2 types:
– Free Vibrations
– Force Vibrations

• Free Vibration: free vibration refers to the vibration

of a damped (as well as undamped) system of masses
with motion entirely influenced by their potential
energy (no external force).

• Forced vibration is a type of vibration in which a

force is repeatedly applied to a mechanical system.
 Free Vibrations

• According to the motion of system with repeat axis

1. Longitudinal vibrations
2. Transverse vibration, and
3. Torsion vibrations
https://smartway2study.blogspot.com/2016/08/exercises-longitudinal-and-
transverse.html
 Forced Vibrations

A swing
https://www.simpleseniorswing.com/?hop=fashicon
 Damped vibration

• When the energy of a vibrating system is gradually

dissipated by friction and other resistances, the
vibrations are said to be damped.

• The vibrations gradually reduce or change in

frequency or intensity or cease and the system rests in
its equilibrium position.

• An example of this type of vibration is the vehicular

suspension dampened by the shock absorber.
 https://en.wikipedia.org/
wiki/Car_suspension

Suspension is the system of tires, tire air, springs, shock absorbers

and linkages that connects a vehicle to its wheels and allows relative
motion between the two.
 https://en.wikipedia.org/
wiki/Shock_absorber

A shock absorber or damper is a mechanical or hydraulic device

designed to absorb and damp shock impulses. It does this by
converting the kinetic energy of the shock into another form of
energy (typically heat) which is then dissipated. Most shock
absorbers are a form of dashpot (a damper which resists motion via
viscous friction).
 Free vibration without damping

• Investigation of the mass–spring–damper (To assume

the damping is negligible and that there is no external
force applied)

https://en.wikipedia.org/
wiki/Vibration
• The force applied to the mass by the spring is proportional to the amount
the spring is stretched "x" (assuming the spring is already compressed due
to the weight of the mass). The proportionality constant, k, is the stiffness
of the spring and has units of force/distance (e.g. lbf/in or N/m). The
negative sign indicates that the force is always opposing the motion of the
mass attached to it:

• The force generated by the mass is proportional to the acceleration of the

mass as given by Newton's second law of motion:
• The sum of the forces on the mass then generates this ordinary differential
equation:

• Assuming that the initiation of vibration begins by stretching the spring by

the distance of A and releasing, the solution to the above equation that
describes the motion of mass is:

• This solution says that it will oscillate with simple harmonic motion that
has an amplitude of “A” and a frequency of fn. The number fn is called the
undamped natural frequency. For the simple mass–spring system, fn is
defined as:
• Note: angular frequency ω ( ω=2 π f ) with the units of radians per
second is often used in equations because it simplifies the equations, but is
normally converted to ordinary frequency (units of Hz or equivalently
cycles per second) when stating the frequency of a system. If the mass and
stiffness of the system is known, the formula above can determine the
frequency at which the system vibrates once set in motion by an initial
disturbance. Every vibrating system has one or more natural frequencies
that it vibrates at once disturbed. This simple relation can be used to
understand in general what happens to a more complex system once we add
mass or stiffness. For example, the above formula explains why, when a car
or truck is fully loaded, the suspension feels ″softer″ than unloaded—the
mass has increased, reducing the natural frequency of the system.
Vibrations Vibrations - Free vibrations of a SDOF System
Prof. Carmen Muller-Karger.
 Free vibration with damping

https://en.wikipedia.org/
wiki/Vibration

• When a "viscous" damper is added to the model this

outputs a force that is proportional to the velocity of
the mass. The damping is called viscous because it
models the effects of a fluid within an object.
• The proportionality constant c is called the damping coefficient and has
units of force over velocity (lbf⋅s/in or N⋅s/m).

• Summing the forces on the mass results in the following ordinary

differential equation:
• The solution to this equation depends on the amount of damping. If the
damping is small enough, the system still vibrates—but eventually, over
time, stops vibrating. This case is called underdamping, which is
important in vibration analysis. If damping is increased just to the point
where the system no longer oscillates, the system has reached the point of
critical damping. If the damping is increased past critical damping, the
system is overdamped. The value that the damping coefficient must reach
for critical damping in the mass-spring-damper model is:.
• To characterize the amount of damping in a system a ratio called the
damping ratio (also known as damping factor and % critical damping) is
used. This damping ratio is just a ratio of the actual damping over the
amount of damping required to reach critical damping. The formula for the
damping ratio (ζ - Zeta) of the mass-spring-damper model is:
Damped and undamped natural
frequencies
Free vibration with 0.1
and 0.3 damping ratio

The larger the damping

ratio, the quicker it
damps to zero

https://en.wikipedia.org/
wiki/Vibration
• The frequency in this case is called the "damped natural frequency", fd
and is related to the undamped natural frequency by the following formula:

• The damped natural frequency is less than the undamped natural frequency,
but for many practical cases the damping ratio is relatively small and hence
the difference is negligible. Therefore, the damped and undamped
description are often dropped when stating the natural frequency (e.g. with
0.1 damping ratio, the damped natural frequency is only 1% less than the
undamped).
• Spring mass undamped
https://en.wikipedia.org/wiki/File:Spring-mass_undamped.gif

• Spring mass underdamped

https://en.wikipedia.org/wiki/File:Spring-mass_under-damped.gif

• Spring mass critically damped

https://en.wikipedia.org/wiki/File:Spring-mass_critically-damped.gif

• Spring mass overdamped

https://en.wikipedia.org/wiki/File:Spring-mass_over-damped.gif
 Forced vibration with damping

• The behavior of the spring mass damper model varies with the addition of a
harmonic force. A force of this type could, for example, be generated by a
rotating imbalance.

• Summing the forces on the mass results in the following ordinary

differential equation:

• The steady state solution of this problem can be written as:

• The result states that the mass will oscillate at the same frequency, f, of the
applied force, but with a phase shift φ - phi.

• Where “r” is defined as the ratio of the harmonic force frequency over the
undamped natural frequency of the mass–spring–damper model.
• The phase shift, φ, is defined by the following formula.

https://en.wikipedia.org/
wiki/Vibration
• The plot of these functions, called "the frequency response of the system",
presents one of the most important features in forced vibration. In a lightly
damped system when the forcing frequency nears the natural frequency r ≈
1 the amplitude of the vibration can get extremely high. This phenomenon
is called resonance (subsequently the natural frequency of a system is
often referred to as the resonant frequency). In rotor bearing systems any
rotational speed that excites a resonant frequency is referred to as a critical
speed.
• Some examples of forcing function, the
harmonic form (i.e. sine-wave)

https://open.usq.edu.au/pluginfile.php/77992/mod_resource
/content/3/mec3403/vibration-1/vibration-1.htm
 What Are Degrees of Freedom?
• Degrees of Freedom refers to the maximum number
of logically independent values, which are values
that have the freedom to vary, in the data sample.
 https://www.efunda.com/
formulae/vibrations/sdof
_intro.cfm

https://www.researchgate.net/publication/
322996464_Design_of_external_vibration
_absorber_for_vibration_suppression_of_
milling_cutter_in_processing/figures?lo=
1
 Mathematical Modeling

• Equations of motion
– Direct application of Newton's 2nd law
Applying Newton's second law in the form
leads us to the equation of motion for the system.

– Using Work-Energy methods (the Hamiltonian)

This is a method of analysing systems when the much simpler
'Newton's Laws' method is not obvious. Always try Newton first!

T = kinetic energy
Vg = Gravitational potential energy (zero in this example)
Ve = Elastic potential energy (the energy stored in the spring)
 Solutions

• Mathematical Solution
• General Solution

• Approximate Solution
• Numerical Solution
 A Simple Model

• Simple model is a model of an object is a physical

representation that shows what it looks like or how it
works.
 Mathematical Modeling
(Equation of Motion)

• The spring-mass system (Free Vibration)

https://open.usq.edu.au/pluginfile.php/77992/mod_resource
/content/3/mec3403/vibration-1/vibration-1.htm
• The mass–spring–damper system (Free Vibration)

https://open.usq.edu.au/pluginfile.php/77992/mod_resource
/content/3/mec3403/vibration-1/vibration-1.htm
• Force excitation

https://open.usq.edu.au/pluginfile.php/77992/mod_resource
/content/3/mec3403/vibration-1/vibration-1.htm
• Example 1

https://open.usq.edu.au/pluginfile.php/77992/mod_resource
/content/3/mec3403/vibration-1/vibration-1.htm
https://open.usq.edu.au/pluginfile.php/77992/mod_resource
/content/3/mec3403/vibration-1/vibration-1.htm
Using the rotational equation of motion
(and with moments anticlockwise)

https://open.usq.edu.au/pluginfile.php/77992/mod_resource
/content/3/mec3403/vibration-1/vibration-1.htm
 Natural Frequency

Vibrations Vibrations - Free vibrations of a SDOF System

Prof. Carmen Muller-Karger.
Vibrations Vibrations - Free vibrations of a SDOF System
Prof. Carmen Muller-Karger.