AE 463 – Mechanical

Vibration
Section 2
Dr. Görkem E. Güloğlu
Middle East Technical University

2021
Introduction
What is Vibration?
• Any motion that repeats itself after an interval of time.
• Theory of Vibration deals with the study of oscillatory motions of
bodies and the forces associated with them.
• The vibration of a system involves the transfer of its potential energy
to kinetic energy and vice versa. If damping exists, energy is
dissipated in each cycle.
Degrees of Freedom (DOF)
• The minimum number of independent coordinates required to
determine positions of all parts of a system at any instant of time. A
vibratory system can be described as
• Single DOF system: It is described by a 2nd order differential equation
Degrees of Freedom (DOF)
• Two DOF system: It is described by two independent 2nd order differential
equation

• Multi DOF system: It is described by multiple independent 2nd order differential

equation
Approaches for Vibrational Analysis
• Discrete Models • Continuous Models
Actual structure is divided into Actual structure is treated as is
finite number of masses and • Infinite number of degrees of
stiffness elements. freedom
• Finite number of degrees of
freedom

Actual rod as a continuous structure

Idealized discrete structure

Classification of Vibration
Vibration may be induced to a structure in 2 ways:
• Free Vibration: A system is left to vibrate on its own after an initial
disturbance such as initial displacement, velocity, impact and no
external force acts on the system. [E.g. simple pendulum]
• Forced Vibration: A system vibrating due to external force. [E.g.
oscillation arises from diesel engines]
Classification of Vibration
• Undamped Vibration: When no energy is lost or dissipated in friction
or other resistance during oscillations
• Damped Vibration: When any energy is lost or dissipated in friction or
other resistance during oscillations

• Linear Vibration: When all basic components of a vibratory system,

i.e. the spring, the mass and the damper behave linearly
• Nonlinear Vibration: If any of the components behave nonlinearly
Components of Discrete Systems
• Spring: Relates forces to displacements
• Damper: Relates forces to velocity
• Mass: Relates forces to accelerations
Springs
Assume: Springs have negligible mass and damping

Elongation in the spring: 𝑥 = 𝑥2 − 𝑥1

In linear range:
𝐹𝑠 = 𝑘𝑥
Where 𝑘 is the spring constant [N.m] and 𝐹𝑠 is the restoring force which
tends to return the spring to the unstretched state.
Combination of Springs

1. Springs in Series
• If we have n spring constants k1, k2, …,
kn in series, then the equivalent spring
constant keq is:

1 1 1 1
= + + ⋯+
𝑘𝑒𝑞 𝑘1 𝑘2 𝑘𝑛
Combination of Springs

2. Springs in Parallel
• if we have n spring constants k1, k2, …,
kn in parallel, then the equivalent
spring constant keq is:

𝑘𝑒𝑞 = 𝑘1 + 𝑘2 + ⋯ + 𝑘𝑛
 Dampers
• Viscous Dampers
They are pistons fitted in cylinders with orifices in
them such that the fluid inside the cylinder can flow
through the orifice
The flow of the oil causes a damping force on the
piston in the opposite direction to the motion of
the piston which is proportional to the velocity of
the piston.
𝐹𝑑 = 𝑐 𝑥ሶ

where c is the coefficient of

viscous damping [N.s/m]
Dampers
• 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
Masses
They are components relating forces of accelerations and obeying the
Newton’s Second Law of motion.
𝐹𝑚 = 𝑚𝑥ሷ
where m is the mass [kg]
Types of Vibrational Systems
Translational Rotational
➢𝐹𝑚 = 𝑚𝑥ሷ ➢𝑀𝐼 = 𝐼 𝜃ሷ
➢𝐹𝑑 = 𝑐𝑥ሶ ➢𝑀𝑑 = 𝑐𝑡 𝜃ሶ
➢𝐹𝑠 = 𝑘𝑥 ➢𝑀𝑠 = 𝑘𝑡 𝜃
Basic modeling
Certain dynamical systems consist of distributed elastic member and
lumped rigid masses.

Generally the mass of elastic system is neglected relative to the lumped

mass. Elastic member is replaced by an equivalent spring.
Basic Modeling

➔ 𝑃 = 𝑘𝑒𝑞 𝛿

𝑃𝐿3 3𝐸𝐼
𝛿 =
3𝐸𝐼
➔𝑃 = 𝐿 3 𝛿
𝛿: Beam deflection

3𝐸𝐼
𝑘𝑒𝑞 = 3
𝐿
Basic Modeling

➔ 𝑃 = 𝑘𝑒𝑞 𝛿

𝑃𝐿 𝐸𝐴
𝛿 =
𝐸𝐴
➔𝑃 = 𝐿
𝛿
𝛿: Beam deflection

𝐸𝐴
𝑘𝑒𝑞 =
𝐿
Example
Tapered elastic axial rod
Find 𝑘𝑒𝑞 .