UNIVERSIDADE DE LISBOA

INSTITUTO SUPERIOR TÉCNICO

Vibrações e Ruído
2nd Exam 2018/2019 - February 1, 2019
(without consultation)

Problem 1 (6 val.)

z(t) k

k k A
x
R/2 c
R m, J

k R
B
c c D


Figure 1

Figure 1 represents a single degree-of-freedom system, where the amplitudes are very small.
The oscillating piece has an inertia moment J and we neglect the mass of its vertical part.
There is an imposed displacement z(t).

a) Having into account the geometric relationships (but without the numerical values)
write the expressions of the kinetic energy, the potential energy and of Rayleigh’s
dissipation function, in coordinate x;

b) establish the dynamic equilibrium equation with respect to x, using Hamilton’s

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

c) for z(t)= 0.01sen( 200 t) , calculate the steady-state response in coordinate x, with
m = 1 kg , k = 104 N / m and c = 10 Ns / m ;

d) which would be the maximum damping coefficient c so that the system would stop
oscillating in free vibration and simply relax to its initial position?

e) Calculate the transmitted forces at supports A, B and D, and determine which one has
the highest value.
Problem 2 (6 val.)

x1 (t) x2 (t)
k
k
m f (t)
A
c

x 3 (t)
f(t) [N]
k
k
m 100
m m
c
0 10 t [s]
Figure 2 a) Figure 2 b)

Figure 2 a) represents a mechanism with 3 degrees-of-freedom; the connection piece A is rigid

and its mass is neglected. The amplitudes are very small. There is an applied force f(t). Please
answer the following questions:

a) write the expressions of the kinetic energy, of the potential energy, of Rayleigh’s
dissipation function and of the generalized forces, in coordinates x1 , x2 and x3;

b) establish the dynamic equilibrium equations with respect to x1 , x2 and x3 in matrix

form, using Lagrange’s equations and detailing all the steps;

c) using the orthogonality properties, show that the first, second and third mode shapes
 1   1   1 
     
are given, respectively, by 1.851 ,  0  and  −1.351 ;
 2  −0.5  2 
     

d) neglecting the damping, write the equilibrium equations with respect to the principal
coordinates and from those equations calculate the undamped natural frequencies,
with m = 1 kg and k = 104 N/m;

e) neglecting the damping, calculate the response of the system, initially at rest, during
the application of the force, i.e., for 0  t  10 s , as in figure 2 b);

f) explain how you could calculate the response for t  10 s .

Problem 3 (4,5 val.)

In figure 3 a) we have a clamped-simply supported homogeneous beam, of constant cross

section. The friction at the supports is neglected. Data: A = 4 10−4 m2 , I = 3 10−9 m4 ,
E = 200 109 N / m2 ,  = 7800 kg / m3 and =1m.

z, w(x, t) z, w(x, t)

r
0 0
x x
 k


a) b)
Figure 3

Using Rayleigh’s quotient, answer the following questions:

a) choose a polynomial shape function that you consider appropriate and duely justified and
calculate the approximate value of its fundamental frequency;

b) calculate the free vibration response (up to a constant), when the initial conditions are (i)
displacement equal to the first mode shape and (ii) zero velocity;

c) calculate the value (up to a constant), of the maximum amplitude of the first mode shape;

d) at which distance r should we add a linear spring with stiffness k = 105 N/m (fig. 3 b), in
order to achieve an increment of 20% in the first natural frequency?
Problem 4 (3,5 val.)

A worker is subjected to the noise coming from 3 machines, considered as hemispherical

sources, on a perfectly reflective floor. They produce acoustic powers of 4.5 Watt at 100 Hz,
0.7 Watt at 200 Hz and 28.5 Watt at an unknown frequency. To be sure that the maximum
sound level imposed by law is not exceeded, the worker should not stay more than 24.5 hours
in a week at his working place, at 6 meters from the machines (without ear plugs).

a) Determine the approximate frequency at which the 3rd machine produces noise;

b) if the worker use ear plugs that provide an attenuation of 4 dB at 200 Hz, determine
the additional weekly exposure time that he will have at his working place.

Values:
Prob.\Point a b c d e f Total
1
1 1.25 (0,25+0,5+0,5) 1 1,25 1,5 --- 6
(0,75+0,25)
2 1.5 0,75 0,75 1 1 1 6
(0,25+0,5+0,5+0,25) (0,75+0,25)
3 1,5 (1+0,5) 1 1 1 --- 4,5
4 2,5 1 --- --- --- --- 3,5
 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 ) + ( c )
2 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 `  = `n2`  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) ( x)dx +  m r ( ( xr )) +  J s ( '( xs ))
2 2 2 0 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]