Mechanical

Vibrations

Prof. Dr. Kenan Y. Şanlıtürk

sanliturk@itu.edu.tr

Content

1. Introduction to Vibration and Free response

2. Response to Harmonic Excitation
3. General Forced Response
4. Multi-Degree-of-Freedom systems
5. Design for Vibration Suppression

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1. Introduction to Vibration and Free Response
• Modelling and Energy methods
• Energy methods
• Rayleigh Method
• Sample problem

Modelling and Energy methods

 Energy methods are another way of

obtaining the equations of motion.

 Natural frequency can also be obtained

without establishing the equation of
motion.

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Modelling

• Use of Newton’s laws of motion:

Fi
xi  mx

Mi
0i  I 0

Conservation of Energy Method: Rayleigh’s method

Principle of conservation of energy for conservative systems:

(T  U )  constant
T: Kinetic energy
d
U: Potential energy (T  U )  0
dt

Not: There is no energy dissipation (no damping) in conservative systems

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Conservation of Energy
1 2
T mx
2
1
U  mgx  k (  x) 2
2
1 1
T  U  mx 2  mgx  k (  x) 2  constant
 2 2
d
(T  U )  mxx  mgx  k (  x) x  0
dt
d
(T  U )  mxx  mgx  k x  kxx  0
dt
mg  k
mxx  kxx  0
mx  kx  0

Use of Newton’s laws of motion:

k(+x)

m
 + x(t)
mg

kx
mx  mg  k (  x)   kx  (mg  k )
m

+ x(t)  mx  kx  0

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 Free Vibrations of Undamped Systems:
t=t2
(T  U )  constant t=t1
X

U1 = 0 U2 = Umax
T1 = Tmax T2 = 0

For conservative systems, Rayleigh’s Method: Tmax=Umax

1/2 m V2max = 1/2 k X2max , and Vmax = wnXmax

1/2 m (wn)2 X2max = 1/2 k X 2max

k 1 k
wn  rad/s fn  Hz
m 2 m

l
g

J0=ml2
m
Simple pendulum

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 O
Using Rayleigh’s method
g

1 1
l
T  J 0 2  m 2 2
2 2
U  mg (1  cos  )
m

d d 1 
(T  U )   m 2 2  mg (1  cos  )   0
dt dt  2 

Question: What happens if you change the reference level for potential energy?

d d 1 
(T  U )   m 2 2  mg (1  cos  )   0
dt dt  2 

m 2  mg (sin  )  0

  m 2  mg (sin  )  0 
 m 2  mg (sin  )  0
g
  (t )  sin  (t )  0

For small angles: sin   

g g
  (t )   (t )  0  wn 

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 Equivalent mass-spring system
meq x  keq x  0
keq
For any linear SDOF system,
meq keq and meq can be determined using
Kinetic and Potential energies of the system

1
Tsys  meq x 2
2
1
U sys  keq x 2
2
Simply, obtain Tsys and Usys , then obtain equivalent mass and stiffness parameters.
The same approach can be used for angular vibration when the vibration is expressed

in terms of rotational degree of freedom  :

J eq  keq  0

dy

ms: mass of the spring

Effect of the mass of a spring

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 ms 
mass of dy : dm  dy 
 assumptions
y
The velocity of the infinitesimal spring element : vdy  x(t ), 

2 2
1 y  1 m y  1 ms 2 2
   x  dm   s  x  dy =
2 3 0
Tspring x y dy
2 0  20  
1m 
=  s  x2
2 3 
1 1m  2 1  ms  2 1
  x  2  m  3  x  2  meq  x
1 2
Tmass  mx  Tsys   m   s 2

2  2 2 3   
1 1
U sys  kx 2 = keq x 2
2 2

Effect of the mass of a spring

ms
meq x  keq x  0  (m  ) x  kx  0
3

k
 wn 
ms
m
3
Effect of the mass of a spring

Natural frequency of an axially vibrating bar with a tip mass

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 Sample Problem Problem 9 ( compound pendulum )

Example ( Compound pendulum: Definitions )

G = Centre of mass
Jo
r = OG distance

C = Centre of percussion at q0
(if a simple pendulum with mass m is
placed at C, It will have the same
Natural frequency.

Radius of gyration (k0): radius of a ring with

mass m that has the same mass moment of inertia.

Jo Jo
J o  ko2 m  k0   q0 r  q0 
m mr

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 M 0  J o (t )  mgr sin  (t )
 J o (t )  mgr sin  (t )  0
mgr
  (t )  sin  (t )  0
Jo
mgr
sin      (t )   (t )  0
Jo

mgr g
 wn  
Jo q0

Compound pendulum

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