VIBRATION ENG’G -INTRODUCTION

Mechanical Vibration
Motion of a particle or a body which oscillates about a position of equilibrium.
CATEGORY - Degrees of Freedom
● Single Degree of Freedom (SDOF)
Requires a single point on the system to define its configuration or state.

1. Multi Degree of Freedom (>1 degree)

Requires a multiple point on the system to define its configuration or state.
CATEGORY – Based on Applied Forces
1. Free Vibration
The motion is maintained by the restoring forces only.

2. Forced Vibration
Periodic force is applied to the system.
CATEGORY – Based on Restrictive Forces
1. Undamped
Effects of friction can be neglected.
2. Damped
Motion will slowly decrease until, after a certain time, the motion comes to a stop. There is
a force stopping the motion.
FREE VIBRATION
Period
The length of one cycle of the curve.
Natural Frequency
The number of times the sine wave goes through a complete cycle in the space of 1
second.
Amplitude
The distance from the middle value or line running through the graph up to the highest
point.
Phase Angle
The angular displacement of a sinusoid from a reference point or time.

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 FREE VIBRATION
SPRING-MASS MODEL

@Equilibrium

+↓ ∑ 𝐹𝑦 = 0

𝑊 − 𝑇 = 0 , where 𝑇 = 𝑘δ𝑠𝑡

𝑊 − 𝑘δ𝑠𝑡 = 0

𝑊 = 𝑘δ𝑠𝑡

@Vibration

+↓ ∑ 𝐹𝑦 = 𝑚𝑎𝑦

𝑊 − 𝑇 = 𝑚𝑎 ,
where 𝑇 = 𝑘(δ𝑠𝑡 + 𝑥)

𝑊 − 𝑘(δ𝑠𝑡 + 𝑥) = 𝑚𝑎

𝑊 − 𝑘δ𝑠𝑡 − 𝑘𝑥 = 𝑚𝑎 ,

where 𝑊 = 𝑘δ𝑠𝑡

− 𝑘𝑥 = 𝑚𝑎
2
𝑑𝑥
𝑚𝑎 + 𝑘𝑥 = 0 , where 𝑎 = 2 = 𝑥''
𝑑𝑥

𝑚𝑥'' + 𝑘𝑥 = 0

𝑘 𝑘
𝑥 = 𝐶1𝑠𝑖𝑛 ( 𝑚
𝑡) + 𝐶2𝑐𝑜𝑠 ( 𝑚
𝑡)

Homogeneous Linear Differential Equation with Constant Coefficients

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Homogeneous Linear DE
𝑚𝑥'' + 𝑘𝑥 = 0
In terms of Differential Operator D
2
(𝑚𝐷 + 𝑘)𝑥 = 0
The auxiliary or characteristic equation
2
𝑚λ + 𝑘 = 0
Solving for the root λ
2 𝑘 𝑘 𝑘
λ = − 𝑚
λ= ± − 𝑚
= ± 𝑚
𝑖

The root is imaginary root

𝑘
λ= ± 𝑚
𝑖

Therefore:
𝑚𝑥'' + 𝑘𝑥 = 0

𝑘 𝑘
𝑥 = 𝐶1𝑠𝑖𝑛 ( 𝑚
𝑡) + 𝐶2𝑐𝑜𝑠 ( 𝑚
𝑡)

GENERAL EQUATION

𝑘 𝑘 𝑘
𝑥 = 𝐶1𝑠𝑖𝑛 ( 𝑚
𝑡) + 𝐶2𝑐𝑜𝑠 ( 𝑚
𝑡) , where ω𝑛 = 𝑚

𝑥 = 𝐶1𝑠𝑖𝑛 ω𝑛𝑡 + 𝐶2𝑐𝑜𝑠 ω𝑛𝑡

Natural Circular Frequency

𝑘
𝑁𝑎𝑡𝑢𝑟𝑎𝑙 𝑐𝑖𝑟𝑐𝑢𝑙𝑎𝑟 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 = ω𝑛 = 𝑚

Period
The length of one cycle of the curve
2π
τ = ω𝑛

Natural Frequency
The number of times the sine wave goes through a complete cycle in the space of 1
second.

1 ω𝑛
𝑓 = τ
= 2π

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GENERAL EQUATION
𝑥 = 𝐶1𝑠𝑖𝑛 ω𝑛𝑡 + 𝐶2𝑐𝑜𝑠 ω𝑛𝑡

𝑥 = 𝐴 𝑠𝑖𝑛 (ω𝑛𝑡 + ϕ)

Amplitude
The distance from the middle value or line running through the graph up to the highest
point.

2 2
𝐴= 𝐶1 + 𝐶2 𝑥 = 𝐴 𝑠𝑖𝑛 (ω𝑛𝑡 + ϕ)

Phase angle
The angular displacement of a sinusoid from a reference point or time.
−1 𝐶1
ϕ = 𝑡𝑎𝑛 𝐶2
𝑥 = 𝐶1𝑠𝑖𝑛 ω𝑛𝑡 + 𝐶2𝑐𝑜𝑠 ω𝑛𝑡

Position/Distance
𝑥 = 𝐶1𝑠𝑖𝑛 ω𝑛𝑡 + 𝐶2𝑐𝑜𝑠 ω𝑛𝑡

Velocity
𝑣 = 𝑥' = 𝐶1ω𝑛 𝑐𝑜𝑠 ω𝑛𝑡 − 𝐶2ω𝑛 𝑠𝑖𝑛 ω𝑛𝑡

Acceleration
2 2
𝑎 = 𝑥" = −𝐶1ω𝑛 𝑠𝑖𝑛 ω𝑛𝑡 − 𝐶2ω𝑛 𝑐𝑜𝑠 ω𝑛𝑡

Maximum Velocity
𝑣𝑚𝑎𝑥 = 𝐴(ω𝑛)

Maximum Acceleration
2
𝑎𝑚𝑎𝑥 = 𝐴(ω𝑛)

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 SIMPLE PENDULUM
@Equilibrium

∑ 𝐹𝑦 = 0

𝑇−𝑊 = 0
𝑇=𝑊
@Vibration/ Swinging

∑ 𝐹𝑡 = 𝑚𝑎𝑡

− 𝑊 𝑠𝑖𝑛θ = 𝑚𝑎𝑡

− (𝑚𝑔)𝑠𝑖𝑛θ = 𝑚𝑎𝑡 , where 𝑎𝑡 = 𝑙α

− (𝑚𝑔)𝑠𝑖𝑛θ = 𝑚(𝑙α)
@For small angle 0 ≻ θ ≻ 10 , 𝑠𝑖𝑛θ = θ & 𝑐𝑜𝑠 θ = 1
− 𝑔θ = 𝑙α
𝑙α + 𝑔θ = 0 , where α = θ"
𝑔
θ" + 𝑙
θ = 0

Natural Circular Frequency

𝑔
ω𝑛 = 𝑙

Period
2π
τ= ω𝑛

Natural Frequency
1
𝑓= τ

Position/ Distance

θ = 𝐶1𝑠𝑖𝑛 ω𝑛𝑡 + 𝐶2𝑐𝑜𝑠 ω𝑛𝑡

Velocity
'
θ = 𝐶1ω𝑛 𝑐𝑜𝑠 ω𝑛𝑡 − 𝐶2ω𝑛 𝑠𝑖𝑛 ω𝑛𝑡

Acceleration
" 2 2
θ = − 𝐶1ω𝑛 𝑠𝑖𝑛 ω𝑛𝑡 − 𝐶2ω𝑛 𝑐𝑜𝑠 ω𝑛𝑡
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 FREE VIBRATION OF RIGID BODIES
● Set appropriate variable
● Choose position of equilibrium
● Establish differential equation
● Determine the natural circular frequency

𝑥 = 𝐶1𝑠𝑖𝑛 ω𝑛𝑡 + 𝐶2𝑐𝑜𝑠 ω𝑛𝑡

𝑣 = 𝑥' = 𝐶1ω𝑛 𝑐𝑜𝑠 ω𝑛𝑡 − 𝐶2ω𝑛 𝑠𝑖𝑛 ω𝑛𝑡

2 2
𝑎 = 𝑥" = −𝐶1ω𝑛 𝑠𝑖𝑛 ω𝑛𝑡 − 𝐶2ω𝑛 𝑐𝑜𝑠 ω𝑛𝑡

θ = 𝐶1𝑠𝑖𝑛 ω𝑛𝑡 + 𝐶2𝑐𝑜𝑠 ω𝑛𝑡

'
ω = θ = 𝐶1ω𝑛 𝑐𝑜𝑠 ω𝑛𝑡 − 𝐶2ω𝑛 𝑠𝑖𝑛 ω𝑛𝑡

" 2 2
α = θ = − 𝐶1ω𝑛 𝑠𝑖𝑛 ω𝑛𝑡 − 𝐶2ω𝑛 𝑐𝑜𝑠 ω𝑛𝑡

New equation to use

+ ∑ 𝑀0 = 𝐼𝑚α

At pivot point

2
𝐼𝑛𝑒𝑤 = ∑ (𝐼𝑚 + 𝑚𝑑 )

4
𝐼 = 𝐴𝑟𝑒𝑎 𝑜𝑓 𝑀𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝐼𝑛𝑒𝑟𝑡𝑖𝑎 (𝑚 )
2
𝐼𝑚 = 𝑀𝑎𝑠𝑠 𝑀𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝐼𝑛𝑒𝑟𝑡𝑖𝑎 ( 𝑘𝑔 𝑚 )

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Area Moment of Inertia
A property of a two-dimensional plane shape, where it shows how its points are dispersed
in an arbitrary axis in the cross-sectional plane.

Mass Moment of Inertia

A quantity that is used in measuring a body’s resistance to a change in its rotation direction
of angular momentum.

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SAMPLE PROBLEMS
1. A 30-lb block is supported by the spring shown. If the block is moved 1 inch vertically
downward from its equilibrium position and released, determine (a) the period and
frequency of the resulting motion, (b) velocity and acceleration of the block, in in/s and
in/s2, respectively after 3s.

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2. The bob of a simple pendulum of length I = 0.8 m is released from rest when = +5° with a
velocity of 2 rad/s counterclockwise. Assuming simple harmonic motion, determine (a) the
numerical value of amplitude, in degrees, and phase angle, in radians, (b) magnitude of the
maximum velocity and acceleration of the bob, in m/s and m/s2 respectively.

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3. A uniform plate with a side 2b, is suspended in a hinge as shown in the figure. For small
oscillations of the plate, determine the equation for natural circular frequency. Note: Mass
2
moment of inertia transfer formula, new 𝐼𝑚 = 𝐼𝑚 + 𝑚𝑑

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4. The 5-kg uniform rod AC is attached to springs of constant k = 500 N/m at B and k = 629
N/m at C, which can act in tension or compression. If the end C of the rod is depressed
slightly and released, determine the circular frequency and period of the vibration.

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Exercise 1
Determine the maximum velocity and maximum acceleration of a particle which moves in simple
harmonic motion with an amplitude of 0.2 in and a period of 0.1 s.

Exercise 2
A particle moves in simple harmonic motion. Knowing that the amplitude is 300mm and the
maximum acceleration is 5 m/m2, determine the maximum velocity of the particle and the
frequency of its motion.

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Exercise 3
The uniform rod shown weighs 15 lb and is attached to a spring of constant k = 4 lb/in. If end B of
the rod is depressed 0.4 in. and released, determine (a) the period of vibration, (b) the maximum
velocity of end B.

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Exercise 4
A simple pendulum consisting of a bob attached to a cord of length l= 800 mm oscillates in a
vertical plane. Assuming simple harmonic motion and knowing that the bob is released from rest
0
when θ = 6 , determine (a) the frequency of oscillation, (b) the maximum velocity of the bob.

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