MECHANICAL VIBRATION

Course-3

Dr. Abdurrahim DAL

Single Degree-of-freedom System

 Single Degree of Freedom System

Single Degree-of-freedom System

 Equation(s) of Motion of the System

 Newton’s Second Law of Motion

 D’Alembert’s Princible
 Princible of Virtual Displacement
 Princible of Conservation of the Energy
 Lagrange Equation
Single Degree-of-freedom System

 The following procedure we will use for derivation of the equation(s) of

motion of the system
Single Degree-of-freedom System

 Derivation of Equation of Motion Using Newton’s Second Law

 The rate of the change of momentum of a mass is equal to the force acting on it

 If mass is constant

 For a rigid body undergoing rotational motion

Single Degree-of-freedom System

 Derivation of Equation of Motion Using Newton’s Second Law

Single Degree-of-freedom System

 Derivation of Equation of Motion Using Newton’s Second Law

 For a mass-spring-damper system

 Free body diagram of the system

Single Degree-of-freedom System

 Derivation of Equation of Motion Using Newton’s Second Law

 Equation of motion of the system

∑𝐹 = 𝑚𝑎 = 𝑚𝑥
Single Degree-of-freedom System

 Derivation of Equation of Motion Using Newton’s Second Law

 Equation of motion of the a rigid body undergoing rotational motion

Single Degree-of-freedom System

 Derivation of Equation of Motion Using Newton’s Second Law

 Equation of motion of the a rigid body undergoing rotational motion

∑𝑀 = 𝐼𝜃

∑𝑀 = −𝑚𝑔𝑙𝑠𝑖𝑛𝜃 = 𝐼𝜃

𝐼𝜃 + 𝑚𝑔𝑙𝑠𝑖𝑛𝜃 = 0 𝐼 = 𝑚𝑙 2

𝑠𝑖𝑛𝜃 ≅ 𝜃 𝑓𝑜𝑟 𝑠𝑚𝑎𝑙𝑙 𝑎𝑛𝑔𝑙𝑒 𝑜𝑓 𝜃

𝑔
𝑚𝑙 2 𝜃 + 𝑚𝑔𝑙𝜃 = 0 𝜃+ 𝜃=0
𝑙
Single Degree-of-freedom System

 Derivation of Equation of Motion Using Newton’s Second Law

 Equation of motion of a torsinal system

∑𝑀 = 𝐼𝛼 = 𝐼𝜃
Single Degree-of-freedom System

 Derivation of Equation of Motion Using D’Alembert’s Princible

Single Degree-of-freedom System

 Derivation of Equation of Motion Using D’Alembert’s Princible

Single Degree-of-freedom System

 Derivation of Equation of Motion Using Princible of Virtual Displacement

 If a system that in equilbrium under action of a set of forces is subject to a virtual
displacement, then the total virtual work done by the forces will be zero
Single Degree-of-freedom System

 Derivation of Equation of Motion Using Princible of Virtual Displacement

 For total virtual done by all forces is set equal to zero
Single Degree-of-freedom System

 Derivation of Equation of Motion Using Princible of Energy Conversation

 The total energy of the system remains constant
Single Degree-of-freedom System
 Derivation of Equation of Motion Using Princible of Energy Conversation

 Kinetic Energy

 Potantial Energy
Single Degree-of-freedom System
 Derivation of Equation of Motion Using Lagrange Equation

 Lagrangeian Function : L=T-U

 T : Kinetic Energy
 U : Potatial Energy
 Q : Generalized Force

 For conservative system • For non-conservative system

𝜕 𝜕𝐿 𝜕𝐿
− = 𝑄𝑖
𝜕𝑡 𝜕𝑞𝑖 𝜕𝑞𝑖

 qi : coordinate axis
Single Degree-of-freedom System
 Derivation of Equation of Motion Using Lagrange Equation

 Kinetic Energy

 Potantial Energy

𝐿 =𝑇−𝑈
Single Degree-of-freedom System
 Derivation of Equation of Motion Using Lagrange Equation

𝐿 =𝑇−𝑈

𝜕𝐿 𝜕𝑇 𝜕𝑈 𝜕𝑈 𝜕𝐿 𝜕𝑇
= − = 0, for mechanical =
𝜕𝑥 𝜕𝑥 𝜕𝑥 𝜕𝑥
𝜕𝑥 𝜕𝑥
system

𝜕𝐿 𝜕𝑇 𝜕𝑈 𝜕𝑇 𝜕𝐿 𝜕𝑈
= − = 0, 𝑓𝑜𝑟 𝑚𝑒𝑐𝑕𝑎𝑛𝑖𝑐𝑎𝑙 𝑠𝑦𝑠𝑡𝑒𝑚 =−
𝜕𝑥 𝜕𝑥 𝜕𝑥 𝜕𝑥 𝜕𝑥 𝜕𝑥
Single Degree-of-freedom System
 Derivation of Equation of Motion Using Lagrange Equation

𝐿 =𝑇−𝑈

𝜕𝐿 𝜕𝑇 𝜕𝐿 𝜕𝑈
= =−
𝜕𝑥 𝜕𝑥 𝜕𝑥 𝜕𝑥

𝜕 𝜕𝑇 𝜕𝑈
+ =0
𝜕𝑡 𝜕𝑥 𝜕𝑥
Single Degree-of-freedom System
 Derivation of Equation of Motion Using Lagrange Equation

𝜕 𝜕𝑇 𝜕𝑈
+ =0
𝜕𝑡 𝜕𝑥 𝜕𝑥

𝜕𝑇 𝜕𝑈
= 𝑚x = 𝑘𝑥
𝜕𝑥 𝜕𝑥

𝜕 𝜕𝑇
= 𝑚𝑥
𝜕𝑡 𝜕𝑥

𝑚𝑥 + 𝑘𝑥 = 0
Single Degree-of-freedom System
 Example: Derive the equation of motion of the system given in figure

 Solution: Draw the free-body diagram with assuming ;

Single Degree-of-freedom System
 Use the Newton’s second law

∑𝐹 = 𝑚𝑥, −𝑘𝑥 − 𝑐 𝑥 − 𝑦 = 𝑚𝑥

 Equation of motion

𝑚𝑥 + 𝑐𝑥 + 𝑘𝑥 = 𝑐𝑦
Single Degree-of-freedom System
 Use the Lagrange Equation

𝜕 𝜕𝐿 𝜕𝐿
− = 𝑄𝑖
1 1 2 𝜕𝑡 𝜕𝑞𝑖 𝜕𝑞𝑖
𝑇 = 𝑚𝑥 2 𝑈= 𝑘𝑥 𝑄 = −𝑐(𝑥 − 𝑦)
2 2
1 1 2
𝐿 =𝑇−𝑈
2
𝐿 = 𝑇 − 𝑈 = 𝑚𝑥 − 𝑘𝑥
2 2 𝑞𝑖 = 𝑥, 𝑞𝑖 = 𝑥
𝜕𝐿 𝜕 1 𝜕 1 2
= 𝑚𝑥 2 − 𝑘𝑥 = 𝑚𝑥 𝜕 𝜕𝐿 𝜕
𝜕𝑥 𝜕𝑥 2 𝜕𝑥 2 = 𝑚𝑥 = 𝑚𝑥
𝜕𝑡 𝜕𝑥 𝜕𝑡
𝜕𝐿 𝜕𝑇 𝜕𝑈 𝜕 1 𝜕 1 2
= − = 𝑚𝑥 2 − 𝑘𝑥 = −𝑘𝑥
𝜕𝑥 𝜕𝑥 𝜕𝑥 𝜕𝑥 2 𝜕𝑥 2

𝑚𝑥 + 𝑐𝑥 + 𝑘𝑥 = 𝑐𝑦
Single Degree-of-freedom System
 Example: Derive the equation of motion of the system given in figure

 Solution: Draw the free-body diagram with assuming ;

Single Degree-of-freedom System
 Solution: Draw the free-body diagram with assuming ;

∑𝐹 = 𝑚𝑥, −𝑘 𝑥 + 𝛿𝑆𝑡 + 𝑊 = 𝑚𝑥

𝑊 = 𝑚𝑔 = 𝑘𝛿𝑠𝑡

−𝑘 𝑥 + 𝛿𝑆𝑡 + 𝑘𝛿𝑠𝑡 = 𝑚𝑥

𝑚𝑥 + 𝑘𝑥 = 0
Single Degree-of-freedom System
 Example: Derive the equation of motion with Lagrange equation

1 2
𝑇= 𝐼𝜃
2

𝑈 = 𝑚𝑔𝑕 = 𝑚𝑔(𝑙 − 𝑙𝑐𝑜𝑠𝜃)

𝑄=0

𝑞𝑖 = 𝜃, 𝑞=𝜃

𝜕𝐿 𝜕 1 2 𝜕 1
= 𝐼𝜃 − 𝑚𝑔(𝑙 − 𝑙𝑐𝑜𝑠𝜃 = 𝐼𝜃
𝜕𝜃 𝜕𝜃 2 𝜕𝜃 2

𝜕 𝜕𝐿 𝜕
= 𝐼𝜃 = 𝐼𝜃
𝜕𝑡 𝜕𝜃 𝜕𝑡
Single Degree-of-freedom System
 Example: Derive the equation of motion with Lagrange equation

𝑈 = 𝑚𝑔𝑕 = 𝑚𝑔(𝑙 − 𝑙𝑐𝑜𝑠𝜃)

𝜕𝐿 𝜕 1 2 𝜕 1
= 𝐼𝜃 − 𝑚𝑔(𝑙 − 𝑙𝑐𝑜𝑠𝜃 = −𝑚𝑔𝑙𝑠𝑖𝑛𝜃
𝜕𝜃 𝜕𝜃 2 𝜕𝜃 2

𝜕 𝜕𝐿 𝜕𝐿
− = 𝑄𝑖
𝜕𝑡 𝜕𝑞𝑖 𝜕𝑞𝑖

𝐼𝜃 + 𝑚𝑔𝑙𝑠𝑖𝑛𝜃 = 0 𝑜𝑟 𝐼𝜃 + 𝑚𝑔𝑙𝜃 = 0
Single Degree-of-freedom System
 Example: Derive the equation of motion with Lagrange equation

𝑈 = 𝑚𝑔𝑕 = 𝑚𝑔(𝑙 − 𝑙𝑐𝑜𝑠𝜃)

𝜕𝐿 𝜕 1 2 𝜕 1
= 𝐼𝜃 − 𝑚𝑔(𝑙 − 𝑙𝑐𝑜𝑠𝜃 = −𝑚𝑔𝑙𝑠𝑖𝑛𝜃
𝜕𝜃 𝜕𝜃 2 𝜕𝜃 2

𝜕 𝜕𝐿 𝜕𝐿
− = 𝑄𝑖
𝜕𝑡 𝜕𝑞𝑖 𝜕𝑞𝑖

𝐼𝜃 + 𝑚𝑔𝑙𝑠𝑖𝑛𝜃 = 0 𝑜𝑟 𝐼𝜃 + 𝑚𝑔𝑙𝜃 = 0