Mechanical Mbxalons

Basic Tminalogy
Resonane and its hfets
Ireedon
Ank amblilude
tithaut ampng
simgle DoF
Pendalun
Bimple, empaund k tossien Pnddns
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the pasilien of all paris of the sysim
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 K
m

Single DoF

TwoDoF

ibaatay Syolm
Spxing Damtn
K
i) Mass
n) Sping Mass
n) Danper (m) Excitotiom
w) Eteitalion
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linan damping
Rectilna Rotalional

dt dt

dt2 dt

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tanswrse yibalia
Vibraies
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f

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the Caboilwe Jeaclan ane
* Derivalion far fruguncy and amplitude
uilhout dambng omd
Singli DoF ysem
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W=mg
2tMac a

Max spring Exlenson

-O

This difforsnbal Eaualon

tauaion desoiles the
molon of th ysen.
 t k
m

Compang the ey - ih td. Ea

0

Wn
m

Wn = K
m

Angular Nalural fquenay of

the sysim
wk.t W 2

Hz
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preuides the posilion of he yslom at
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m

= tan
Vo
the beunclay londilion are t
V(to) to) = Vo

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A pindalim is used to qlntal
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22) lompand pindlum
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mass
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 Derivalion of fruquwny of sinple
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# Lauional Pendalum fixed
t Emd
Elasii

Rigid'
body

bmall
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culah
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Go Modulus of Riguity Jhaft.

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 Vibrations 701

k2
F

Spring I Spring 2 Spring n

(a) Springs in series

(b) Springs in parallel
Fig. 19.11
19.8.1
Springs in Series
Consider n
Let a force springs
F be connected
in series as shown in Fig
applied at the end of the last 19.1la. The springs have stiffnesses of K1,
equivalent
stiffness of the system. The net spring while the other end of the system is fixed. LetK2, Kn
k, bethe
d=
F extension,
ke
As the springs are (19.40)
the sum of connected in series, the force experienced by each
extensions in individual springs. spring is F. Also, the net extension 1s
d=d, t dh t... + d, or d F
+...+
F
From Eqs. (19.40) and (19.41), we get kË k Kn (19.41)
F F
F F
k k kz +...t 1_11 k ky
+
(19.42)
Thus, fora system of springs in series, the
net stiffness is equal to the inverse of
stiffnesses. Obviously, k, is less than the least of individual stifnesses*. sum of inverse of component
19.8.2 Springs in Parallel
Consider nnumber of springs (with
Let a force Fbe applied at one side ofstiffnesses k, kz, ..., k,) connected in parallel, as
thesprings while the other side is fixed. shown in Fig. 19.11b.
ness of the systenm, the net force is given as If k, is the net equivalent stiff
F=k,d (19.43)
As the springs are connected in parallel, all springs
extend by the same displacement d. However, the force
experienced by each spring is different and is proportional to its stiffness. That is,
F=k1d, F,= kyd, ..., F,= kyd
From the force equilibrium, we have
F=F + F;+... t E, =kjd+kyd+ ... + k,d (19.44)
From Eqs. (19.43)and (19.44), we get
k =k+ ky +...+ k, (19.45)

Similar result is obtained for the equivalent electrical resistance when a number of resistances are connected in
parallel.
702 Engineering Mechanics

Thus, for asystem of springs in parallel, the net stiffiness is cqual to the sum of component stilfnesses*.
Example 19.4 Calculate the frequency and the time period of vibration of a 3-hp motor
weighing 30 kg. It is mounted symmetrically on four identical springs, each of
300 g/mm stiffness.
ILO 198
Solution Given: k= 300 g/mm =0.3 x 10° kg/m =0.3 >x 10° x 9.81 =2943 N/m, m= 30 kg.
As the springs are arranged in parallel, equivalent stiffness of the spring system is given as
k, = 4k = 4x 2943 = 11772 N/m
1k 1 11772 =3.15 Hz and
1
= 0.32 s
f=
2t m 2T V 30

ADDITIONAL SOLVED EXAMPLES

Example 19.5 Abody moving with simple harmonic motion has an amplitude of 1mand
period of complete oscillation is 2 seconds. Find the velocity and acceleration of
the body 2/5 of a second after passing the mid-position.
Solution Given: A=1m, time period, T= 2 s, t= 2/5s.
General equation of SHM, X= Asin (or + ). Since the time reference is taken from the instant the body
passes the mid-position, phase angle, = 0. Thus, the equation of SHM becomes x = Asin ot.
2Tt 2T
Angular frequency, O= =3.14 rad/s
2
At t= 2/5 s:
Velocity, v=Awcos ot = 1 x3.14 cos (3.14 x (2/5)) = 0.97 m/s
Acceleration, a = Ao' sin or =1x (3.14)' sin (3.14 x (2/5) =9.375 m/s
Note that angular displacement ot is in radians.
U Example 19.6 Amachine part of 5-kg weight performs a reciprocating motion with the total
stroke of 246 mm. It is following SHM and oscillates 222 times per minute.
Determine the accelerating force and corresponding velocity when it is 76 mm away from the middle
point of stroke length. Also,determine the maximum acceleration and the maximum accelerating force.
LO 193
Solution Given: m=5 kg, total stroke= 246 mm=0.246 m, x= 76 mm = 0.076 m.
60
Time period, T= = 0.27 s
222
2Tt 2T
()= = 23.25 rad/s
0.2703
0.246
Amplitude of oscillation, A= =0.123 m
2
* Similar result is obtained for the equivalent electrical resistance when a number of resistances are connected in
series.
 Vibrations 703

Velocity, v= oA-x' =23.25 Jo.1232 -0.076 =2.248 m/s

Acceleration,a =-o»x=-(23.25) x 0,076 =-41l m/s
F= ma =5
x(-41.0658) =-205 N
Maximum acceleration, amax 0A= (23.2)' x0.123 = 66.48 m/s
Maximumaccelerating force, Fmax=
ma.moy=5x 66.48 = 332.4 N
Example 19.7
AU-tube manometer with total length of the
as shown in Fig. 19.12. Determine the time liqujd is attached to an orificemeter,
l
liquid column if the pressure is released when the period of vibration of the
depend upon the density p of difference in levels is 2y. Does the manometric
time period
the liquid and the diameter Dof the
pipe? 4tt LO 193E
Solution Assuming the m0vement of liquid column to be a
free vibration, the equation of motion,
d'y
m d2 ky 0

Here, the restoring force,

F=-(weight of liquid column above level 1-1)
TD?
x 2y xp xg= nD? Pgy=
D?
4 2 2 -Pgy
Comparing this force with the restoring force in the
we have spring-mass system, F=-ky
nD'
k= P8
Fig. 19.12
Mass of entire liquid, m=
4 -xIxp= (rD'lpy4
Time period of vibration, m = 2n (TD'ipy4

The above
t=277 V(rD'pgy2 =27
V2g
expression shows that the time period is independent of p and D.
Example 19.8 A spring of 15-N/m stiffness is cut into
two halves and a mass M is attached be
tween them, as shown in Fig. 19.13. If the cyclic
determine the value of the mass, M. frequency of the system is 12 Hz,
Solution Given: k= 15 N/m, f= 12 Hz. LO 198
Let the stiffness of each of the two equal pieces of Spring-1 Spring-2
the
kj. As the two pieces joined in series form the original spring webe
have spring,
11,1_2 kË = 2k =2x 15 =30 N/m Fig. 19.13
k k kË
For the arrangement shown in Fig. 19.13, let the effective stiffness of the two
springs be k,.
 704 Lngineering Mechanics

Suppose that the mass Mis given asmall displacement x wards right. Spring-I stretches by
by x, but the
spring-2 compresses by x. Each spring exerts a restoring force F; = kx towards the lcft. Hencc, the net
restoring force (working towards left) is
F;=F + F=kxt kx= 2kx or kx= 2kjx ky 2kj 2x 30=60 N/m
(Note that the two springs in Fig. 19.13are working as if they werc connected in parallel.)
1 60
f= M= 0.01056 kg 10.56 g
2n VM (2r)' f (2n)'x122
Example 19.9 Amachine of 40-kg mass is connected to ground by a system which can be
expressed as a spring of 20-kN/m stiffness. Find the critical damping of the
system. If the damping coefficientis half the critical damping, find the damped natural frequenc,.
Also, find logarithmicdecrement for free vibration of the machine.
LO 19.3, 194|
Solution Given: m = 40kg, k= 20000 N/m, = cle = 0.5.
Undamped natural frequency, ,
k 2 020000 = 22.36 rad/s
Vm 40
Critical damping. C-2 mw, = 2x 40 x 22.36 = 1788.8 kg/s
Damped natural frequency, o = 0, 1-g? =22.36 1-0.5 = 19.36 rad/s
2 × 0.5
Logarithmic decrement, S= =3.63
i-? -0.s
Example 19.10 Agun is so designed that on firing, the barrel recoils againsta spring. Adashpot,
at the end of the recoil, allows the barrel to come back to its initial position
within the minimum time without any oscillation. The gun barrel has a mass of 500 kg and the recoil
spring has stiffness of 300 N/mm. The barrel recoils 1 m after firing. Determine (a) the initial recoil
velocity of the gun barrel, and (b) the critical damping coefficient of the dashpot engaged at the end
of the recoil strike.
To19.3,19.4)
Solution Given: m= 500 kg, k =300 N/mm =300x 10 N/m, x= lm.
(a) Kinetic energy imparted to barrel gets stored in the spring as strain energy. Therefore,
’ x500 xo= x 300 x 10°x 1 v= 24.49 m/s

|k |300 x 10
(b) Undamped natural frequency, , m 500
=
24.49 rad/s

Critical damping coefficient, c,- 2 ma,=2 x 500 x 24.49 = 24490 kg/s

706 Engiering Mechanics

For the one- second pendulum at the moon, the time period becomes
= 2
0.24849 2.4495 s
g V9.81/6
For a one-metre pendulum at the nmoon, the time period becomes
1
t=2n, =2 = 4.914 s
9.81/6

E Example 19.14 The spring-mass system, shown in Fig. 19.15, has free vibration. Derive the
expression of displacement and maximum velocity, when (4) the mass starts
vibrating after displacing it 0.12 mbelow its equilibrium position, and (b) the mass given an initial
velocity of 3 m/s. LO 19.3
Solution Given: k=700 g/mm =0.7x 9.81 x 10= 6867 Nim, m= 10 kg.
For free vibration, the motion of the mass is expressed as
d'x t-*=)
k (i)
d'? k=700 g/mm
6867 = 26.2 rad/s
Angular frequency, o= Vm V 10
26.2 1
=4.17 Hz and T= =0.239 s
2 2T 4.17 10 kg

Generalized solution is given as

X=Asin (ot + ) (ii) Fig. 19.15
Differentiating Eq. (ii) wrt time, we get velocity as
dx
=Ao cos (0t + ) (iii)
dt
(a) Mass given initial displacement of0.12 m:
Using initial conditions (t= 0, x=0.12 m, A=0.12 m), Eq. (i) gives
0.12 =0.12 sin(0+ ) ’ sin = 1 =90°
Hence, the expression of displacement, x = 0.12 sin (26.21 + 90°) =0.12 cos (26.2) m
From Eg. (iii), maximum velocity, vmax = A@=0.12x 26.2 = 3.144 m/s
(b) Mass given initial velocity of3m/s:
Using initial conditions (1 =0, x =0, v=3m/s), Eqs. (ii) and (ii) give
0= Asin (0 + ) ’ =0°
3 = A0cos(0 +0) ’ Ao=3 A= 3 3 =0.1145 m
26.2
Therefore, the expression for displacement, x = 0.1145 sin (26.21) m
Maximum velocity, Vmax A0=3 m/s
MG Exanple 19.15 Apendulum having a time period of 1 second installed in a lift. Determine its
time period, (a) when the lift is moving upwards with an acceleration of g/10,
and (b) when the lift is moving downward with an acceleration of g/20.
Solution Given: t=1 s.
 Vilrtions 707

2 2c
(a) When the li is
Ccelerating upwards, oflective g,
1.lg
2n 2J0 X 0,953s
V1.g 210 V1.lg
(b) When the lit is accclerating (: for I-s pendulum, /i- Ve/2r)
downwards, effective g,
20 =0,95g
2t =2TX 8.y 1
=1,026s
V0.95g 2r 0.95g
Example 19.16 A clock with a second's pendulum is running correct
time a at
acceleration due to gravity is 9.81 m/s Find the length of the place where the
clock is taken to a place where the pendulum. This
acceleration due to gravity is 9.80 m/s. Find how much the clock
will lose or gain in a day at this place?
Solution Given: T=l s, g= 9.81 m/s,g=9.80 m/s. LO 193)

T=2n
x9.81 = 0.24849 m
Vg
0.24849

t=2r=29,80 = 1.00051 s

Thus, the pendulum now oscillates slower by 0.00051 s in every I

second.
Total number of seconds in a day = 24 x 60 x 60 = 86400 s
Seconds lost in a day = 86400 x 0.00051 = 44.064 s
S Example 19.17 Determine the period of vibration of a weight P attached to springs of
k and k, in two different cases as shown in Fig. 19.16. stiffnesses
ELO 19.8
Solution
Case (a): The force in each spring is P. Thus, deflections of the springs 1 and 2
Sw-ww
are P/k, and P/kz, respectively. k k
Net displacement of the block is given by
8= 4P.Ph+k,)
Net stiffness of the system, k=
kika s k

P
8 k+ k
Mass of the system, m = (b)

|m |P(kË +ky) Fig. 19.16

Time period, t= 2r = 217,
Vk gk1k
708 Engineering Mechanics

Case (b): Let the block be given a downward displacement x. The upper spring develops a tension force equal to
Ka, whereas the lower spring develops compression equal to kyx. Both the springs exert restoring
effective stiffness of the
the block. Total restoring force, F =-(kx + kx) acts in the upward direction. If the
two springs is k, we have
’ k= k + kz
F=-(kx + k,r) =-(k + k,)x or -kx =-(k, + ky)x
m P
Time period, T= 2r =27
Vk V(ky +kz)s
ECO Example 19.18 Find the natural frequency of the system shown in Fig. 19.17. Neglect the weight
of the pulley.
LO198
Solution The extension force in the upper spring is W/2. Let x be the total deflection of the weight W. The
extensions in the springs 1 and 2, respectively, are given as
W/2 W VW
d, = and d, = k
2k
d W
Net downward displacement of pulley= 2 4k2
Therefore, total displacement of the weight W,
W 4k, + ky k2
x= dh t
2 k, WW
4k, 4k 4kk, W

W= 4kjkz x Fig. 19.17

4k, + k,
For a vibrating system in SHM, we have F= kx. Hence, for the entire system, we have
W 4k,kz 1 k 1 4k,k2g
m and k= ’ f 27t Vm
(4k, + k, ) 2n VW(4k + kz)
610 Engineering Mechanics

Example 11.2 A small motor of mass 20 kg is symmnetrically mounted on four equal springs, each
with a spring constant of 25 N/cm. Estimate the frequency and period of vibration of the motor.
Solution The four springs arranged 'in parallel' may be considered equivalent to a single spring located in
line with the centre of mass of the motor with
k=4x 25 = 100 N/cm = 10,000 N/m

|k 1 10,000
Cyclic frequency f= 21 V m 2x V 20
=3.56 Hz

Time period =0.28s