UNIVERSIDADE DE LISBOA

INSTITUTO SUPERIOR TÉCNICO

Vibrações e Ruído
1º Exam 2018/2019 - 4th of January 2019
(without consultation)

Problem 1 (5 val.) x c
f (t)
m k

k m, J
m
R 

R
kt
kt 2
k kt
k 4
Figure 1

k
k

The damped single degree-of-freedom mechanism of fig. 1 is constituted by a disc of mass m

and inertia moment J (= mR2/2), connected to several translational springs and to shafts that act
as torsional springs (their inertias are neglected). The disc is also connected to a mass m
through a thin, rigid and massless bar. A force f(t) is applied to the mass m. The oscillations
have small amplitude.

a) Establish the dynamic equilibrium equation with respect to x, using two

different methods at your choice;

Knowing that m = 1 kg , k = 104 N / m , kt = 25 Nm / rad , c = 62 Ns / m and R = 0.05 m ,

b) calculate the undamped and damped natural frequencies, in rad/s;

c) calculate the response in free vibration, for an initial displacement xo = 0.01 m
and a zero initial velocity;
d) if f(t) were harmonic, with a magnitude of 20 N and frequency 130 rad/s,
calculate the steady-state response and the percentage increase of its amplitude
if the damper were removed.
Problem 2 (6 val.)

Figure 2 represents a system acted by an eccentric cam, which imposes a harmonic motion
z(t), with a frequency . The connection bars AB and BC are supposed as rigid and massless.
Assuming small amplitude displacements, answer the following questions:

a) write the expressions:

(i) of the kinetic energy;

(ii) of the potencial energy;
(iii) of Rayleigh’s dissipation function;

b) establish the dynamic equilibrium equations with respect to x1 and x2 in matrix form,

using Lagrange’s equations and detailing all the steps;

Assuming m = 1 kg, J = 10-5 kgm2, k = 104 N/m, c1 = 10 Ns/m, c2 = 11 Ns/m, a = 0.01 m

and b = 0.005 m,

c) calculate the undamped natural frequencies and correspondent mode shapes;

d) rewrite the equilibrium equations with respect to the principal coordinates, including the
damping;
e) calculate the damped natural frequencies. The damped mode shapes are equal to the
undamped ones. Explain why this is true.
f) calculate the steady-state response in coordinates x1 and x2, including the damping,
supposing that the amplitude of z(t) is 0.01 m, with a frequency of 150 rad/s.

2 z(t)
x 1 (t) x 2 (t)
k k
k A

m m
cz
k/2 a c2
( b
c1
t
) J

b b

C x 3 (t) B

Figure 2
Problem 3 (5 val.)

Figure 4 represents a constant cross-section beam, with a sliding cantilever support at x = 0

and a simple support with a torsional spring of stiffness kt at x = . Data: A = 4 10−4 m2 ,
I = 3 10−9 m4 , E = 200 109 N / m2 ,  = 7800 kg / m3 , = 1 m and kt = 80 Nm .

z, w(x,t)
t
kt
A
0
c x
B


Figure 3

a) One of the boundary conditions at x = is EIw ''( , t ) = −kt w '( , t ) . Explain this

expression;

b) show that the frequency equation (the expression that allows the calculation of the
natural frequencies) is given by

1 2 EI
( tg  + tgh )=−
 kt

c) Knowing that the first solution is (  )1 = 1.5708 , calculate the value of the
fundamental frequency and the correspondent mode shape;

d) In order to obtain an approximation to the fundamental frequency using Rayleigh’s


quocient with the shape function  ( x) = o cos x,
2

i) do you think that the choice of  ( x) is adequate? Justify properly your answer;
ii) calculate the value of the fundamental frequency and the relative error with respect
 
to the exact value obtained in point c). Note:  0
cos 2  x  dx =
2  2
Problem 4 (4 val.)

A person is exposed to the noise from several machines, which can be considered as
hemispheric sources, on perfectly reflective floors.
During 10 hours he stays at 10 meters from a machine that has 8 Watt of sound power and
produces noise at 200 Hz.
For another 25 hours he stays at 10 meters from another machine, which produces 6 Watt of
sound power, at 100 Hz.
During the remaining 5 hours he is subjected to the noise of a machine with a sound power of
2 Watt, at 300 Hz.
Knowing that the maximum sound level imposed by law must not be exceeded, which should
be the minimum distance where he should stay during that last period of time? The next table
summarizes de data of the problem:

Time [h] Power [Watt] Frequency [Hz] Distance [m]

10 8 200 10
25 6 100 10
5 2 300 r

Values:

Prob.\Point a b c d e f Total
1 1,5 1 1 1,5 ---- ---- 5
2 1,25 (0.25+0.5+0. 5) 0,75 0,75 1 1,25 1 6
3 1 1 1 2 (1+1) ---- ---- 5
4 ---- ---- ---- ---- ---- ---- 4
 Formulæ

Discrete systems
d  N

(T + V ) = Fnc  r
  L +  Qk  qk  dt = 0 ,  qk ( t1 ) = qk ( t2 ) =0 , k=1,... N
t2

dt t1
 k =1 

 Wreal +  Winertia = 0 d   T   T  V  F
− + + = Qj j = 1,...N
forces forces dt   q j   q j  q j  q j

Mt 1
c cr = 2m n a = n 1 −  2 = Inertia moment of a bar: J cg = m 2
GI p 12
1
Inertia moment of a disc: J cg = mR 2
2
F
x(t ) = e −n t ( A1 cos at + A2 sinat ) + sin (t −  )
( k − m 2 ) + ( c )
2 2

Centrifugal force = me 2

c 2 xi 1 x 
 = tg −1 = tg −1 Damping ratio = = n i = 2
k − m 2 1−  2 xi +1 n xi + n 1− 2

1 + ( 2 )
2
F 1 X 2
X = = TR =
k
(1 −  ) + ( 2 )
2 2 2 e
(1 −  ) + ( 2 )
2 2 2
(1 −  ) + ( 2 )
2 2 2

1
f ( )e −n (t − ) sin a (t −  )  d
t
x(t ) =
a m  0

 M  x + C  x +  K  x =  f   K  −  2  M   X  = 0
   X  =  Z −1 F 

 x =  Cr u (r )  cos(r t + r ) = u  p
N
 `M`  p + `K `  p = P  or in certain cases `M`  p + `C `  p + `K `  p = P 
r =1

`M`  = u T  M  u  `K `  = u T  K  u  `C `  = u T C  u  P  = u T  f 

u uT  K u
u N =  `M`  =  I  `K `  = `n `  2 
 =
2
 
uT  M u uT  M u
  
 x(t ) =    u (r )   M    x0  cos r t +  x0   
N T  1
sinr t   u ( r ) 
r  N
r =1  
N   

Continuous systems:
Strings:
P  ( '( x) ) dx
2
 2 w( x, t )  2 w( x, t ) P  
c 2
= c= w( x, t ) =  ( x) T(t)  ( x) = A cos x + B sin x  = 2 0
 x2  t2  c c    2 ( x) dx
0

Bars:
E  ( '( x) ) dx
2
 2 u ( x, t )  2 u ( x, t ) E  
c 2
= c= u( x, t ) =  ( x) T(t)  ( x) = A cos x + B sin x  = 2 0
 x2  t2  c c    2 ( x) dx
0

Shafts:
G  ( '( x) ) dx
2
 2 ( x, t )  2 ( x, t ) G  
c 2
= c=  ( x, t ) =  ( x) T(t)  ( x) = A cos x + B sin x  = 2 0
 x2  t2  c c    2 ( x) dx
0
Beams:

 4 w( x, t )  2 w( x, t ) EI
c2 + =0 c= w( x, t ) =  ( x ) T(t)
 x4  t2 A
 ( x) = C1 cos  x + C2 sin x + C3 cosh  x + C4 sinh x
 '( x) = −C1 sin x + C2  cos  x + C3 sinh x + C4  cosh  x
 ''( x) = −C1 2 cos  x − C2  2 sin x + C3 2 cosh  x + C4  2 sinh x
 '''( x) = C1 3 sin x − C2  3 cos  x + C3 3sinh x + C4  3 cosh  x

T (t ) = A cos t + Bsint  2 w( x, t ) 
M ( x, t ) = EI ( x) V ( x, t ) = M ( x, t )
4 =
 A 2
 =( ) 2
EI x 2 x
EI A 4

0 EI ( x) ( "( x) )  ki ( ( xi ))2 +  k t ( '( x j ))2

2
dx +
 
j

0 sin x dx =  cos 2
i j
2 = 2
x dx =
0  A( x)  mr ( ( xr )) +  Js ( '( xs ))
0 2
2
( x)dx + 2 2

r s

Noise:
p
L p = 20log p0 = 20  Pa
p0 Lp (dB) = LW − 10log Area
2
LI = 10log
I
I0 = 10−12 W/m 2 1 T  p(t ) 
I0 Leq = 10log    dt
T 0  p0 
W Dti 0.1( L pi − 67)
LW = 10log W0 = 10−12 W Ei = 10
W0 40

I=
Sound power p 2
=  = 1,21 Kg/m3 c = 340 m/s
Leq = 67 + 10 log (  Ei )
Area c
I = I1 + I 2 + ... p= p12 + p22 + ...  L pT = 10log (10 Lp1 10 + 10 Lp2 10 + ...)

10
Relative response DLp [dB]

-10

-20

-30

-40

A
-50
10 100 1000 10000
freq.[Hz]