Upload Vibration (2024) - Class Slides1

Vibrations & Control
Dr. Sandeep Jose
Birla Institute of Technology and Science, K.K.

Birla Goa campus
1
BITS Pilani, K K Birla Goa Campus
Module 1: Vibration- Introduction

Degrees of freedom
DOF: The minimum number of independent coordinates required to determine completely the positions of all parts of a
system at any instant of time defines the number of degrees of freedom of the system.

Degrees of freedom

Modelling of systems exhibiting vibration

Vibration models
Vibration Models
i) SDOF model of a beam with end mass
ii) Modelling of a bar as a spring

= ,P = A
l

P = E A  P = E ( ) A
l
EA
Kr =
l
Damping Model
1. Viscous damping model
2. Coulombs damping model
3. Hysteresis damping model
Viscous damping Model
Damping force proportional to velocity
Damping force = Cv
Coulombs damping model: Coulombs damping model is used to model the energy
dissipation resulting from the interaction between two solid bodies. The damping force
is assumed to be a constant force which acts in opposite direction of motion of mass.
Ex: Movement of a solid body on a hard surface.
Hysteresis damping is used to model the internal energy dissipation in a material when
subjected to external load cycles.

Transfer function approach
• The transfer-function approach, based on Laplace transforms, is commonly used for
the formulation and solution of dynamic problems in the controls literature.
• Transfer function relates a system’s output to its input.
• This function permits separation of the input, system, and output into three separate
and distinct parts (unlike the differential equation, in which the three aspects cannot
be separated easily).
Definition: The transfer function of a linear, time-invariant differential equation is

defined as the ratio of the Laplace transform of the output or response function to the
Laplace transform of the input or forcing function, assuming zero initial conditions.
Procedure: The general procedure used to find the transfer function of a linear
differential equation involves taking the Laplace transforms of both sides, assuming zero
initial conditions, and solving for the ratio of the output Laplace transform and the input
Laplace transform.
By taking Laplace transform for the above equation:

If the initial conditions are assumed to be zero, the equation can be re-written as follows



Module 2: Equation of motion

Recap: EOM –Newton’s 2nd law
Statics Dynamics
 F , M =  Translational _ inertia, Rotary _ int ertia

 F = 0,  M = 0, → Static _ equilibrium
 mx − Translational _ inertia
 I − Rotary _ inertia

Equations of motion of SDOF systems

Effect of constant preload on the EOM
Find the Equations of motion for the following systems:

Effect of constant preload on the EOM
Effect of Gravity

Problem 1: EOM
Newton’s 2nd law

Problem 1: EOM
Newton’s 2nd law
Assume that I am rotating the pulley by an angle 

x y
= =
r 4r
Then the mass moves down by a distance x = r ;
And the spring moves by a distance, y = 4r
Considering moment equilibrium about the point o
External Torques = Rotary _ inertia
(mx)r + J = −[k (4r )]4r
(mx)r + J + [k (4r )]4r = 0
You can express this equation in terms of rotation or transilation using x=r
Let me express the above expression completly in terms of translation
 J 2 x
 mr+  x + 16kr   = 0
 r r
Dividing by r
 J 
 m+ 2  x + 16kx = 0
 r 

Problem 1: EOM
Energy Method
Assume r2 =4r1

Problem 1: EOM
Energy Method
Assume r2 =4r1
Assume that I am rotating the pulley by an angle 

x y
= =
r 4r
Then the mass moves down by a distance x = r ;
And the spring moves by a distance, y = 4r
2
1 1 1 1  x
KE = mx 2 + J 2 = mx 2 + J  
2 2 2 2 r
1
PE = k (4 x) 2
2
d
( KE + PE ) = 0
dt
J
 mxx + 2 xx + 16kxx = 0
r
 J   J 
=  m + 2  x + 16kx = 0 =  m + 2  r + 16kr
 r   r 

Problem 1: EOM

Problem 1: EOM
Equivalent mass and equivalent spring constant
1 2 1 1
mx + J 0 2 = meq xeq 2
2 2 2
xeq = x
J0
meq = m +
r2
 eq = 
J eq = J 0 + mr 2
Lets find the equivlanet spring constant
1 1
k ( 4 x ) = keq xeq
2
2 2
xeq = x
keq = 16k

Problem 2: EOM
Newton’s 2nd law

Problem 2: EOM
Newton’s 2nd law
Inertia of the rotor J
mR 2 3mR 2
J= + mR =
2
(Using parallel axis theorem)
2 2
mR 2
Where, − is the moment of inertia about the center of rotation
2
The restoring moment acting on the spring k1
=Spring force x Perpendicular distance;
Spring force =-k1 x = -k1 ( R + a )
=-[k1 ( R + a ) ]( R + a ) = −k1 ( R + a ) 2 
Similarly, the restoring moment acting on the spring k 2 can be given by
-k 2 ( R + a) 2 
The springs are in Parallel
Now, if I take the equilibrium of different moments that are acting on this system
 3mR 2 
  = −(k1 + k 2 )( R + a) 
2

 2 
Problem 2: EOM
Energy Method

Problem 2: EOM
Energy Method
1 2
𝐾𝐸 = 𝐽𝜃ሶ
2
1 1
𝑃𝐸 = 𝑘𝑥 2 = (𝑘1 + 𝑘2 )[(𝑅 + 𝑎)𝜃]2
2 2
𝑑
𝐾𝐸 + 𝑃𝐸 = 0
𝑑𝑡
ሶ 𝜃)
𝐽𝜃( ሷ + [(𝑘1 + 𝑘2 )(𝑅 + 𝑎)2 ]𝜃(𝜃)
ሶ =0
𝐽(𝜃)ሷ + [(𝑘1 + 𝑘2 )(𝑅 + 𝑎)2 ]𝜃 = 0

General plane motion
Reference: Hibbler Chapter 18

General plane motion
𝐾𝐸 𝑎𝑠𝑠𝑢𝑚𝑖𝑛𝑔 𝑝𝑙𝑎𝑛𝑎𝑟 𝑚𝑜𝑡𝑖𝑜𝑛
1
𝐾𝐸𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛 = 𝐽𝐶𝐺 𝜃ሶ 2
2
1 1
2
𝐾𝐸𝑡𝑟𝑎𝑛𝑠𝑙𝑎𝑡𝑖𝑜𝑛 = 2 𝑚𝑥 = 2 𝑚(𝑅 𝜃)ሶ 2
1
𝐽𝐶𝐺 = 2 𝑚𝑅2
𝐾𝐸 = 𝐾𝐸𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛 + 𝐾𝐸𝑡𝑟𝑎𝑛𝑠𝑙𝑎𝑡𝑖𝑜𝑛
1 3
KE= 2(2 𝑚𝑅2 𝜃ሶ 2 )
Reference: Hibbler Chapter 18

Problem 3: EOM
Newton’s 2nd law

Problem 3: EOM
Newton’s 2nd law
x = R
The reaction moment produced at the left spring due to the rotation 
can be given by
M s1 = − [k ( l / 4 )  ] ( l / 4 )
The damping force is given by Cx
The moment produced because of the damping force is
2
l l
M c = −(Cx) = C   
4 4
Similarly we can compute the reaction moment at the 2nd spring also
M s 2 = -{k[( 3l / 4 )  − x0 sin t ]} ( 3l / 4 )
Moment of inertia of the rod about the point o can be computed using parallel axis theorem
ml2 7ml2
+ m(l / 4) =
2
12 48
 7ml2 
2
l
 + ( )  +    + {k[( 3l / 4 )  − x0 sin t ]} ( 3l / 4 )
2
  [k l / 4 C
 48  4

D'alembert's principle

D'alembert's principle
 F , M =  Inertia _ forces, Rotary _ int ertia

 mx − Translational _ inertia
 I − Rotary _ inertia
( Newton ' s _ 2nd _ law)
 F −  Inertia _ forces = 0 : Dynamic _ Equilibrium

( D ' alembert ' s _ Pr inciple)

Virtual work principle
• Virtual displacement: A virtual displacement of a system refers to a change in the
configuration of the system as a result of an arbitrary displacement. The displacement
is called virtual to make you distinguish it from an actual displacement. This virtual
displacement needs to be kinematically admissible, meaning the displacement needs
to be in consistent with the forces and constraints imposed on the system at a given
instant.
• Virtual work principle: If a system that is in equilibrium under the action of a set of
forces is subjected to a virtual displacement , then the total virtual work done by the
forces will be zero.
𝐹1 − 𝐹2 𝛿𝑢 = 0
𝐹1 = 𝐹2

Principal of Virtual Work

Principal of Virtual Work
• Mass is given virtual displacement δ𝑥

• Virtual work done by the spring force = δ𝑊𝑠 = − 𝑘𝑥 𝛿x
• Virtual work done by the inertia force = δ𝑊𝑖 = −𝑚𝑥ሷ 𝛿𝑥
• By principal of virtual work,
− 𝑘𝑥 𝛿x −𝑚𝑥ሷ 𝛿𝑥 = 0
• virtual displacement δ𝑥 ≠ 0 , but can have arbitrary

value, equation of motion is;
m𝑥ሷ + kx = 0

State Space Representation
• Dynamics of a body can be represented using state space/ phase space plots.
• A phase space is a space in which all possible states of a system are represented, with
each possible state corresponding to one unique point in the phase space

a )mx + kx = 0

a )mx + kx = 0

b)mx + cx + kx = 0

b)mx + cx + kx = 0

Duffing oscillator is an example of a periodically forced oscillator with a nonlinear elasticity
http://www.scholarpedia.org/article/Duffing_oscillator


The van der Pol oscillator is an oscillator with nonlinear damping governed by the second-order
differential equation

Generalized coordinates
• Any set of independent coordinates are called generalized co-ordinates
• The term ‘generalized’ is used to signify that these coordinates are not limited to a
particular type of coordinate system, such as Cartesian or polar coordinate. For
instance a set of generalized coordinates can have a combination of translations and
rotations (x1, x2… , Q1, Q2,…) as the coordinates.
• q1 , q2 … qn are called generalized displacement

• 𝑞1ሶ , 𝑞2ሶ , … 𝑞𝑛ሶ , are called generalized velocities
• p1 , p2 … pn are called generalized momenta
• Q1 , Q2 … Qn are called generalized forces

Extremization of a function/functional
Extremization of a function
If x* is an extremum, then
f(x*+ h) - f(x*) ~ 0
Extremization of a functional

Extremization of a function/functional

Lagrangian equations
Virtual work principle: Among all the possible virtual displacements/paths, the one
which is followed by a particle is that which minimize the action.
Nature minimizes action: “Nature is lazy”

Action integral =  L( q, q)dt
Note: For a dynamic system the Lagrangian is

given by the difference between KE and PE
L=KE-PE
t2
 (  L(q, q )dt = 0−  The variation of the functional (  Ldt ) goes
t1
to zero corresponding to the extermum function (stationary function)


t2
 (  L(q, q)dt = 0−  The variation of the functional (  Ldt ) goes to zero corresponding
t1
to the extermum function (stationary function)

L L
t2
( (  q +  q )dt = 0
t1
q q
I II
t2
L  L   d 
[ (  q +    ( q) ]dt = 0
t1
q  q   dt 
Perfor min g _ int egration _ by _ parts
L d L L
t2
(  (  q − ( ) q)dt +  q| = 0
t2
t1
q dt q q t1
L d L
− ( )=0
q dt q
Example 1: EOM of a spring–mass system

Example 1: EOM of a spring–mass system
1 2
T= mq
2
1
V = kq 2
2
1 2 1 2
L = T −V = mq − kq
2 2
L L
= mq, = − kq
q q
d  L  L
 =
dt  q  q
mq = −kq

Example 2: Simple pendulum


L d L
− ( )=0
 dt 
1 1
KE = J 2 = ml 2 2
2 2
PE = mgh = mgl (1 − cos  )
1 2 2
L = KE − PE = ml  − mgl (1 − cos  )
2
L
= − mgl sin 

L d L
= ml 2 , ( ) = ml 2
 dt 
 ml 2 + mgl sin  = 0
g
  + sin 
l
Problem 1: Equations of motion using


L d  L 
=  
q dt  q 
KEIC = ( J 0 + mr 2 )  2
x = r , x = r
1 J  1
L = KE − PE =  m + 20  x 2 − kx 2
2 r  2
L
= − kx
q
 L   J0 
   = m + 2 
x

  
q r 
d  L   J0 
   = m + x
dt  q   r2 
 J 
  m + 20  x + kx = 0
 r 

1  1 
( )
2
Lagrangian equations KE =  J 0 2  +  m r 
2  KErotation  2  KEtranslation
x = r , x = r
1 J  1
L = KE − PE =  m + 20  x 2 − k ( x )
2
2 r  2
L
= − kx
q
 L   J0 
   = m + 2 
x
 q   r 
d  L   J0 
   = m + 2 
x
dt  q   r 
 J 
  m + 20  x + kx = 0
 r 
Example 1
Problem 1: Find the EOM of the dynamic system using Newton’s 2nd law and Lagrangian method

Example 1- Solution
1 2
KE = J
2
1 1
PE = kx 2 = (k1 + k2 )[( R + a ) ]2
2 2
L d  L 
=  
q dt  q 
L
= [(k1 + k2 )( R + a ) 2 ]
q
 L  d  L 
  = J ( ),   = J ( )
 q  dt  q 
 J ( ) + [(k1 + k2 )( R + a ) 2 ] = 0

Example 2
Problem 1: Find the EOM of the dynamic system using Newton’s 2nd law and Lagrangian method

Example 2: Sol. Lagrangian method
2
1 1 x 1
L = KE − PE = mx 2 + J   − k (4 x) 2
2 2 r 2
L d  L 
=  
q dt  q 
L
= −16kx
q
 L  J
  = mx + x
 q 
2
r
d  L  J
  = mx + x
dt  q  r 2
J
 mx + x = −16kx
r2
 J 
=  m + 2  x + 16kx = 0
 r 
Planar motion
Problem 2: Find the EOM of a cylinder which rolls without slipping on a concave cylindrical surface

Planar motion

Planar motion
For no slipping, the two arc lengths, are equal: Their time derivatives are also equal:
For the kinetic energy, there is both translation and rotation of the rolling cylinder.
KE because of translation
The translational velocity, v, is equal to the product of the radius from the concave
surface center to the cylinder center, R- r, and the angular velocity about
the surface center,

Planar motion
KE because of rotation
By applying the no-slipping condition
Total KE
For cylinder, J= 𝑚𝑟 2 /2

Planar motion
PE of the system
L d  L 
=  
q dt  q 

Solution of Equation of Motion



Simple Harmonic Motion
x = A Sinwt
x = Aw Coswt = Aw Sin ( wt + 90 )
x = − Aw2 Sinwt = Aw2 Sin ( wt + 180 )
mx = −kx
 − Aw2 Sinwt = −kA Sinwt
w= k/m
SHM in a complex plane
z= x+iy
x= ACoswt
y = A sinwt
z = Aei (t ) = ( ACos (t ) ) + i (sin (t ))
(without considering phase difference)
z = Aei (t + ) = ( ACos (t +  ) ) + i (sin (t +  ))
(Considering a phase difference F)

The equation of motion of the system is Solution can be assumed
m𝑥ሷ + kx = 0 (1) as
First solution x(t) = 𝑪 𝑒 𝑠 t
x(t) = 𝑪 𝑒 𝑠 t , (2)
or
where C and s are constants to be determined.
Substituting (2) in (1) 𝑥 𝑡 = A cos (ωn t – φ)
C(ms2 +k) = 0 (3)
C can not be zero, so, ms2 + k = 0 (4) • Equation (4) is characteristic
−𝑘 equation of eq (1)
∴ 𝒔 = ±√ = ± i ωn (5)
𝑚 • Two values of s in eq (5) are
𝑘
as ωn = √ (6) Eigen values
𝑚
𝒊ω t −𝒊 ω t
x(t) = C1 𝒆 n + C2 𝒆 n (6)
Both values of s satisfy Eq (4), the general solution of Eq (1) can be expressed
as
𝒊 ω −𝒊 ω t
x(t) = C1 𝒆 n
t + C2 𝒆 n (6)
where C1 and C2 are constants
By using the identities

±
e iωt = cos ωt ±𝑖 sin ωt
Equation (6) can be written as

x(t) = A1 sin ωn t + A2cos ωn t (7)
where A1 and A2 are new constants to be determined by initial conditions of
the system

cos(A − B) = cos A cos B + sin A sin B

sin(A + B) = sin A cos B + cos A sin B
x = A cos  cos t + A sin  sin t

x = A cos(t −  )
The above expression can also be written as by interchaging A1 and A 2 in the graph
x = A sin  cos t + A cos  sin t
x = A sin(t +  )

x(t = 0) = A1 = x0
x0
x(t = 0) = n A2 = x0  A2 =
n
x0
x(t ) = x0 cos t + sin t
n

Static – Dynamic analogy
Dynamics
The equation of motion of the system is
m𝑥ሷ + kx = 0 (1)
First solution
x(t) = A1 sin ωn t + A2cos ωn t (2)
Statics
The equation of motion of the system is
𝐸𝐼𝑦 ′′ + 𝐹𝑦 = 0 (3)
First solution
y(x) = A1 sin ω x + A2cos ω x (4)
ω = F/EI


Thompson, J. Michael T., and G. H. M. Van der Heijden. "Quantified" shock-sensitivity" above the
Maxwell load." International Journal of Bifurcation and Chaos 24, no. 03 (2014): 1430009.
A viscous damper, with damping constant c, and a spring, with spring stiffness k, are connected to a massless
bar AB as shown in Fig. The bar AB is displaced by a distance of x=0.1m, when a constant force F=500N is
applied. The applied force F is then abruptly released from its displaced position. If the displacement of the
bar AB is reduced from its initial value of 0.1 m at t=0 to 0.01 m at t=10 seconds, find the values of c and k.

FREE VIBRATION WITH DAMPING



• Viscous damping force,
F = - c 𝑥ሶ
-ve sign indicates damping force
opposite to direction of velocity c 𝑥ሶ kx
• Measure x from equilibrium position of
mass m , by Newton’s Law
𝑚𝑥ሷ = - c 𝑥ሶ - k x
𝑚𝑥ሷ + c 𝑥ሶ + k 𝑥 = 0 (1) x
Assume solution
• 𝑥 𝑡 = C 𝑒 𝑠𝑡 (2)
Substituting (2) in (1)

𝑚𝑠 2 + 𝑐𝑠 + 𝑘 = 0 (3)

• Roots of equation (3)
−𝑐 ± 𝑐 2 − 4𝑚𝑘 −𝑐 𝑐 2 𝑘 (4)
𝑠1,2 = = ± −
2𝑚 2𝑚 2𝑚 𝑚
• These two roots give solution to equation (1) as
𝑥1 = 𝐶1 𝑒 𝑡𝑠1 , 𝑥2 = 𝐶2 𝑒 𝑡𝑠2
• The general solution is 𝑥 = 𝑥1 + 𝑥2 , C1 and C2 are determined from initial

conditions

Critical Damping constant & the damping ratio:
• Critical damping cc is defined as the value of damping constant c for which

the radical of equation (4) becomes zero.
𝑐𝑐 2 𝑘
∴ - = 0 ∴ 𝑐𝑐 = 2 𝑘𝑚 = 2𝑚𝜔𝑛 (5)
2𝑚 𝑚
𝑐
• Damping ratio, ζ = (6)
𝑐𝑐
By (5) and (6)
𝑐 𝑐 𝑐𝑐
= = ζ 𝜔𝑛 (7)
2𝑚 𝑐𝑐 2𝑚

−𝑐 ± 𝑐 2 − 4𝑚𝑘 −𝑐 𝑐 2 𝑘
𝑠1,2 = = ± −
∴ 𝑠1,2 = (- ζ ± ζ2 -1 ) 𝜔𝑛 (8)
• Nature of roots s1 and s2 and system behavior will depend upon magnitude of
damping

Case 1: When ζ =0, undamped free vibrations.
Case 2: Underdamped system (ζ < 1)
• For this condition ζ 2 -1 is negative and roots are expressed as

𝑠1 = (- ζ + i √1- ζ 2 ) 𝜔𝑛 (9)
𝑠2 = (- ζ − i √1- ζ 2 ) 𝜔𝑛
• The solution can be written as
𝑥 𝑡 = 𝐶1 𝑒 𝑠1𝑡 + 𝐶2 𝑒 𝑠2 𝑡 (10)
𝐶1 and 𝐶2 are constants to be determined from initial conditions.

Underdamped system (ζ < 1)
• The solution can be written in many ways:
𝑥 𝑡 = 𝑒 −ζ𝜔𝑛 𝑡 𝐶1′ cos 1 − ζ2 𝜔𝑛 𝑡 + 𝐶2′ sin 1 − ζ2 𝜔𝑛 𝑡
= 𝑋𝑒 −ζ𝜔𝑛 𝑡 sin ( 1 − ζ2 𝜔𝑛 𝑡+ ∅) (10)

• 𝐶1′ , 𝐶2′ , X and ∅ are constants to be determined from initial conditions.
• Initial condition at (t=0): x = x0 and 𝑥ሶ = 𝑥ሶ 0

Underdamped system (ζ < 1)
• The solution can be written in many ways:
𝑥 𝑡 = 𝑒 −ζ𝜔𝑛 𝑡 𝐶1′ cos 1 − ζ2 𝜔𝑛 𝑡 + 𝐶2′ sin 1 − ζ2 𝜔𝑛 𝑡
= 𝑋𝑒 −ζ𝜔𝑛 𝑡 sin ( 1 − ζ2 𝜔𝑛 𝑡+ ∅) (10)

• 𝐶1′ , 𝐶2′ , X and ∅ are constants to be determined from initial conditions.
• Initial condition at (t=0): x = x0 and 𝑥ሶ = 𝑥ሶ 0
ሶ ζ𝜔𝑛 𝑥0
𝑥+
∴ 𝐶1′ = x0 and 𝐶2′ =
1−ζ2 𝜔𝑛
−ζ𝜔𝑛 𝑡 ሶ ζ𝜔𝑛 𝑥0
𝑥+
∴𝑥 𝑡 =𝑒 x0 cos 1 − ζ2 𝜔𝑛 𝑡 + sin 1 − ζ2 𝜔𝑛 𝑡 (11)
1−ζ2 𝜔𝑛

• Motion described by equation (11) is damped harmonic motion of angular
frequency 𝜔𝑑 = 1 − ζ2 𝜔𝑛 .
• Amplitude decreases exponentially by the factor 𝑒 −ζ𝜔𝑛 𝑡

Logarithmic Decrement
• Definition:
• Rate at which the amplitude of a free-damped vibration decreases.
• Natural logarithm of the ratio of any two successive amplitudes.
• Let t1 and t2 be the times corresponding to two successive amplitudes
/displacements, measured one cycle apart for an underdamped system.
• Using equation
x(t) = 𝑋0𝑒 −ζ𝜔𝑛 𝑡 cos ( 1 − ζ2 𝜔𝑛 𝑡 − ∅0)
𝑥1 𝑋0𝑒 −ζ𝜔𝑛 𝑡1 cos ( 1 − ζ2 𝜔𝑛 𝑡1 − ∅0)

=
𝑥2 𝑋0𝑒 −ζ𝜔𝑛 𝑡2 cos ( 1 − ζ2 𝜔𝑛 𝑡2 − ∅0) We know, t2 = t1 + τd and τd = 2𝜋Τ𝜔𝑑
∴ cos( 𝜔𝑑 t2 - φ0 ) = cos(2𝜋 +𝜔𝑑 t1 - φ0 )
= cos( 𝜔𝑑 t1 - φ0 )
= 𝑒 ζ 𝜔𝑛 τd
𝑥1
𝑥2
19
The logarithmic decrement
𝑥1 2𝜋 1 2𝜋ζ
δ = ln = 𝜔𝑛 τd =ζ 𝜔𝑛 = (a)
𝑥2 𝜔
1−ζ2 𝑛 1−ζ2
For small damping (a) becomes

δ=2πζ (b)

Measuring damping by experiment:
• Measure x1 and x2 and use equation (a) to find damping ratio ζ
• Damping ratio ζ can also be found by measuring two displacements
separated by any number of cycles
• If x1 and xm+1 denote the amplitudes corresponding to times t1 and
tm+1 = t1 +m τd , where m is any integer
x1 𝑥1 𝑥2 𝑥𝑚
= ….
xm+1 𝑥2 𝑥3 𝑥𝑚+1
xj
• Also we know that = 𝑒 ζ𝜔𝑛τd 𝑥1
xj+1 δ = m ln
𝑥𝑚+1
x
∴ 1 = (𝑒 ζ𝜔𝑛τd )m
xm+1
Example 1

Example 1

Example 2

Example 2
Solution

Problem 7
A railroad car of mass 2,000 kg traveling at a velocity v = 10 m/s, is stopped at the end of
the tracks by a spring-damper system, as shown in Fig. If the stiffness of the spring is k =
80 N/mm and the damping constant is c = 20 N-s/mm, determine (a) the maximum
displacement of the car after engaging the springs and damper and (b) the time taken to
reach the maximum displacement.

Damped free vibration
Matlab plot
clc;
clear all;
w_n=4.47
w_d=2.73
zeta=0.7906
v_0=10
for i = 1:100
t(i) = 0.025 + (i-1)*0.025;
x(i)= (v_0/w_d)*exp(-zeta*w_n*t(i))*sin(w_d*t(i));
end
plot(t,x,'linewidth',2);
gtext('x(t)');
xlabel('t');
ylabel('x(t)');
title('Rail Bumber problem');

Damped free vibration

Case 2: Critically Damped System: ζ = 1
−𝑐 ± 𝑐 2 − 4𝑚𝑘 −𝑐 𝑐 2 𝑘
𝑠1,2 = = ± −
∴ 𝑠1,2 = (- ζ ± ζ2 -1 ) 𝜔𝑛 =- 𝜔𝑛 (Since ζ =1) (8)

Case 2: Critically Damped System: ζ = 1
c = cc
𝑐 𝑘
=√
2𝑚 𝑚
Roots s1 and s2 are equal
𝑐𝑐
s1 = s2 = - = − 𝜔𝑛 (12)
2𝑚
Solution of (1) is
x(t) = (C1 +C2 t) 𝑒 −𝜔𝑛𝑡 (13)
Applying initial conditions (at t=0)
ሶ = 𝒙ሶ 0
x(t) = x0 , 𝒙(t)
Solution becomes
x(t) = (x0 +(𝒙ሶ 0 + 𝜔𝑛 x0)t)𝑒 −𝜔𝑛𝑡 (14)
Problem 6
A gun barrel recoil mechanism is designed to bring to rest in shortest time
without oscillation. The gun recoils 0.4m upon firing. m=500kg, k= 10,000N/m.
Find the initial recoil velocity?

Problem 6
x(t ) = x0te −nt

0.4 = x0te −nt
We need one more equation to solve for x0 .
Q. How can we get another equation?
( )
x(t ) = x0  te −nt ( −n ) + e −nt 
0.4
0 = 0.4 ( −n ) +
t
1
n =
t
k 10, 000
n = = = 4.47 rad / s
m 500
t = 0.223s
x0 = 4.86m / s

Case 3: Overdamped System (ζ > 1)
c > cc
𝑐 𝑘
> √
2𝑚 𝑚
Roots of (8) are real and distinct
𝑠1 = (- ζ + ζ2 − 1 ) 𝜔𝑛 <0
𝑠2 = (- ζ − ζ2 − 1 ) 𝜔𝑛 t<0
With 𝑠2 << 𝑠1 , the solution is
(− ζ + ζ2−1 ) 𝜔𝑛t (− ζ − ζ2 −1 ) 𝜔𝑛t
x(t) = C1 𝑒 + C2 𝑒 (15)
ሶ = 𝒙ሶ 0
x(t) = x0 , 𝒙(t)

Case 3: Overdamped System (ζ > 1)
c > cc
𝑐 𝑘
> √
2𝑚 𝑚
Roots of (8) are real and distinct
𝑠1 = (- ζ + ζ2 − 1 ) 𝜔𝑛 <0
𝑠2 = (- ζ − ζ2 − 1 ) 𝜔𝑛 t<0
With 𝑠2 << 𝑠1 , the solution is
(− ζ + ζ2−1 ) 𝜔𝑛t (− ζ − ζ2 −1 ) 𝜔𝑛t
x(t) = C1 𝑒 + C2 𝑒 (15)
ሶ = 𝒙ሶ 0
x(t) = x0 , 𝒙(t)

Constants C1 and C2 becomes

𝑥0 𝜔𝑛 ζ + ζ2 − 1 + 𝑥0ሶ
𝐶1 =
2𝜔𝑛 ζ2 − 1
−𝑥0 𝜔𝑛 ζ − ζ2 − 1 − 𝑥0ሶ
𝐶2 =
2𝜔𝑛 ζ2 − 1
Motion is aperiodic regardless of initial conditions and diminishes exponentially
with time


• Critically damped system required the smallest damping for aperiodic motion,
hence mass returns to the position of rest in the shortest possible time
without overshooting.
• Application : Gun recoil mechanism - If damping is more than critical value,
there would be some delay before next firing.


Phase plane of a damped system
𝑥ሶ
𝑥0ሶ , 𝑥0
underdamped
Torsional Systems with Viscous Damping
• Viscous damping torque , Shaft, Kt

𝜃
T = - ct 𝜃ሶ
• Equation of motion is
J0 𝜃ሷ + ct 𝜃ሶ + Kt 𝜃 = 0 (5)
Fluid, ct
• All other treatment is similar to linear system.
Kt 𝜃, 𝑐𝑡𝜃ሶ
𝐽0
𝜃, 𝜃, ሶ 𝜃ሷ

Complex plane representation

Im
• Semicircle represents locus of s1
and s2 for different values of ζ ζ=0
• For ζ =0, 0< ζ <1
• s1 = i𝜔𝑛
• s2 = - i𝜔𝑛
S1,2= −𝜔𝑛
• For 0 < ζ <1, roots are complex Re
conjugate, located symmetrically
about real axis S2 S1
ζ >1
• As ζ tends to 1, both roots
approach -𝜔𝑛
• As ζ > 1, roots lies on real axis, s1
decreases and s2 increases
Problem 5

Problem 5

Flutter instability
Schmitz, Tony L., and K. Scott Smith. Mechanical vibrations: modeling and measurement.
Springer Science & Business Media, 2011.
Free Vibration with Coulomb Damping
• Mechanical simplicity and convenience.

• Sliding, dry friction
• Coulomb’s law “ When two bodies are in contact, the force required to
produce sliding is proportional to the normal force acting in the plane of
contact”
F = μ N = μ mg (6)
• μ depends on materials in contact and the condition of surfaces
• μ = 0.1 (metal on metal- lubricated)
• μ = 0.3 (metal on metal- non-lubricated)
• Damping force is independent of displacement and velocity

Case 1:
• When x is +ve and 𝑥ሶ is +ve, mass moves from left
to right (first half cycle)
• By Newton’s Law
𝑚𝑥ሷ = - μ N - k x
𝑚𝑥ሷ + k x = - μ N (7)
• This second order nonhomogeneous differential
equation, whose solution can be assumed as
μN
x(t) = A1cos ωnt + A2sin ωnt - (8)
𝑘

Case 2:
• When x is +ve and 𝑥ሶ is -ve, mass moves from
right to left (second half cycle)
𝑚𝑥ሷ = μ N -k x
𝑚𝑥ሷ + k x = μ N (9)
• Solution is assumed as
μN
x(t) = A3cos ωn t + A4sin ωn t + (10)
𝑘
μN
• The term in (8) and (10) is a constant representing the virtual displacement of
𝑘
spring under the force μ N, if it were applied as a static force.
• In each half cycle, the motion is harmonic with equilibrium position changing from
μN μN
[ ] to [ - ]
𝒌 𝒌
Solution:
• Equation (7) and (9) can be expressed as a single equation
𝑚𝑥ሷ +(𝜇𝑚𝑔) 𝑠𝑔𝑛 𝑥ሶ + 𝑘𝑥 = 0 (11) sgn(y) = 1 for y > 0

= -1 for y < 0
where sgn(y) is sign function, = 0 for y = 0
Equation (11) is nonlinear differential equation and can be solved analytically if

we break the time axis into segments separated by 𝑥ሶ = 0 (i.e. time intervals
with different directions of motion)

• Initial conditions : x t=0 = x0 and 𝑥ሶ t=0 = 0 (12)
• This initial condition means motion starts from right to left
• Let x0 , x1, x2 … denote the amplitudes of motion at successive half cycles
• Using equation (10) and (12),
𝜇𝑁
• A3 = x0 - , A4 = 0
𝑘
• Equation (10) becomes
𝜇𝑁 μN for 0≤ 𝑡 ≤
𝜋
) (13)
x(t) = (x0 - ) cos ωn t + ωn
𝑘 𝑘
𝜋
• When t = , mass will be at extreme left position and its displacement from
ωn
equilibrium position is 2𝜇𝑁
𝑥1 = - (x0 - ) 2𝜇𝑁
𝑘 In first half cycle x reduces by
𝑘
• In second half cycle, mass moves from left to right ,
equation (8) can be used
• Initial condition :
𝜋
• xt=0 = value of x at t = in (13)
ωn
2𝜇𝑁
= - (x0 - )
𝑘
𝜋
• 𝑥ሶ t=0 = value of 𝑥ሶ at t = in (13)
ωn
𝜇𝑁 𝜋
= value of {- ωn (x0 - sin ωnt } at t =
)
𝑘 ωn
=0
• With these initial conditions (8) becomes
3𝜇𝑁
A1 = (x0 - ), A2 = 0
𝑘

Equation (8) becomes
3𝜇𝑁 μN 𝜋 2𝜋
(14)
x(t) = (x0 - ) cos ωn t - valid for ≤𝑡 ≤ )
𝑘 𝑘 ωn ωn
2𝜋
• At the end of this half cycle, at time t =
ωn
4𝜇𝑁
𝑥2 = (x0 - ) 𝑥ሶ = 0
𝑘
• These become initial conditions for third half cycle until motion stops.
μN
• Motion stops when xn ≤ because the restoring force exerted by spring kx will
𝑘
be less than friction force 𝜇𝑁
The number of half cycles (r) that elapsed before the motion ceases is given by
2𝜇𝑁 μN
x0 – r ≤
𝑘 𝑘
4𝜇𝑁
• Amplitude reduces linearly with time in each successive cycle by and
𝑘
slope of enveloping line is
− 4𝜇𝑁
𝑘
൘2𝜋
𝜔𝑛
Motion is periodic in coulomb damping and natural frequency is unaltered.

1) The amplitude reduces linearly with Coulomb damping, whereas it reduces exponentially
with viscous damping.
2) The natural frequency of the system remains unaltered by the coulomb’s damping.

Problem 1
Theta = 30 degree, K = 15,000N/m, m= 20Kg, x(0)= 30mm, x.(0)=0m/s

It is observed that the amplitude gets decreased by 1.5mm each cycle. Find a) Mu b) No of cycles of oscillation

Problem 2
A metal block, placed on a rough surface, is attached to a spring and is given an initial displacement
of 10 cm from its equilibrium position. After five cycles of oscillation in 2 s, the final position of the
metal block is found to be 1 cm from its equilibrium position. Find the coefficient of friction between
the surface and the metal block.

HARMONICALLY EXCITED VIBRATIONS

Introduction
• Forced vibration – external energy is supplied during vibration by applied force

or imposed displacement excitation.
Harmonic excitation harmonic response
Suddenly applied non-periodic excitation transient response.
F(t) = F0 𝑒 𝑖(𝜔𝑡+𝜑) = F0 cos (𝜔𝑡 + 𝜑) = F0 sin (𝜔𝑡 + 𝜑)

Equation of Motion
m𝑥ሷ + c 𝑥ሶ + kx = F(t) (1)
Non homogeneous differential equation, with solution
x(t) = xh (t) + xp (t)
Homogeneous Particular
solution solution

Homogeneous solution represents

free damped vibrations and will die
out for all cases of damping and
initial conditions. xh(t)
t
The general solution of (1)
reduces to particular solution
representing steady state vibration xp(t)
t
and will be present as long as
forcing function is present.
x(t)=xh(t)+xp(t)
t

Magnification Factor
• Consider an undamped system subjected to harmonic force

m𝑥ሷ + kx = F0 cos 𝜔𝑡 (2)
• Homogeneous solution is assumed as
xh(t) = C1 cos ωn t + C2sin ωn t (3)
• As F(t) is harmonic , particular solution , xp (t) is also assumed as harmonic
xp (t) = X cos 𝜔𝑡 (4) X – maximum amplitude
• Substituting (4) in (2)
𝐹0 𝛿𝑠𝑡
X= = 𝜔 2 (5)
𝑘−𝑚𝜔2 1− 𝜔𝑛
• Total solution is
𝐹0
x(t) = C1 cos ωn t + C2sin ωn t + cos 𝜔𝑡 (6)
𝑘−𝑚𝜔2
Magnification Factor 1
M=
1−𝑟 2

• Initial conditions:
x(t) = x0 (displacement at t = 0)
ሶ = 𝒙ሶ 0 (velocity at t = 0)
𝒙(t)
• Substitute initial conditions in (6)
𝐹0 𝑥0ሶ
C1 = x0 - , C2 = (7)
𝑘−𝑚𝜔2 ωn
• Total solution is
𝐹0 𝑥0ሶ 𝐹0
x(t) = (x0 - ) cos ωn t + sin ωn t + cos 𝜔𝑡 (8)
𝑘−𝑚𝜔2 ωn 𝑘−𝑚𝜔2
𝜔
Let , r =
𝜔𝑛
𝑋 1 1
• Magnification factor, M = = 𝜔 2 = (9)
𝛿𝑠𝑡 1− 1−𝑟 2
𝜔𝑛

Response of the system at resonance



Response of Damped System Under Harmonic Force

EoM of a system is
m𝑥ሷ + c 𝑥ሶ + kx = F0 cos 𝜔𝑡 (17)
Particular solution of (17) is also assumed as harmonic
xp (t) = X cos (𝜔𝑡 – φ) (18)
Substituting (18) in (17),
X [ ( k- m 𝜔2 ) cos (𝜔𝑡 – φ) - c 𝜔 sin (𝜔𝑡 – φ) ] = F0 cos 𝜔𝑡
F0
Using trigonometric entities and equating coefficient of cos 𝜔𝑡
and sin 𝜔𝑡 , we obtain
𝐹0 −1 c𝜔
X= , φ = tan (19)
[(k− m𝜔2 )2 + c2 𝜔2) ]1/2 k− m 𝜔2

F0

𝐹0 c𝜔
X= , φ = tan−1 (19)
[(k− m𝜔 ) + c 𝜔 ) ]
2 2 2 2 1/2 k− m 𝜔2
Divide numerator and denominator by k and using expressions for ωn , ζ and r,

we get Magnification factor ,M / Amplification factor / Quality Factor
𝑋 1 −1 2ζ𝑟
M= = , φ = tan 2 (20)
𝛿𝑠𝑡 1− 𝑟
1− 𝑟 2 2+ 2ζ𝑟 2

𝜉 = 0.1
1
M=
1− 𝑟 2 2+ 2ζ𝑟 2 𝜉 = 0.6
𝜉 = 1.1
𝜉 = 1.6

𝜉 = 0.1
𝜉 = 0.6
−1 2ζ𝑟
φ = tan
1− 𝑟 2
𝜉 = 1.6 𝜉 = 1.1
𝜉 = 1.6
𝜉 = 1.1
𝜉 = 0.6
𝜉 = 0.1

Frequency response function (Transfer function)
IN A NUTSHELL We see that the relationship between the exciting force and the resulting vibration
depends not only on the system parameters (m, k, and c) and amplitude of the exciting force (F), but also
on the frequency of the excitation (w).

Frequency response function


Frequency response function ( at w=0)
For the static case, we see that F = kX. This is simply Hooke’s law.
Frequency response function ( At resonance)


Problem 1

Problem 1

Applications

Base Excitation
Base / support of a spring mass damper

system undergoes harmonic motion
y(t) – displacement of base
x(t) – displacement of mass from its static
equilibrium position

Base Excitation
Equation of Motion is
m𝑥ሷ + c( 𝑥ሶ - 𝑦ሶ ) + k(x-y) = 0 (34)
If y (t) = Y sin 𝜔𝑡, equation (34) becomes
m𝑥ሷ + c 𝑥ሶ + kx = ky + c 𝑦ሶ
= kYsin 𝜔𝑡+ c𝜔Ycos 𝜔𝑡
= A sin (𝜔𝑡- 𝛼) (35)

Base Excitation Displacement Transmissibility
−𝑐𝜔
• Let A = Y 𝑘 2 + c2𝜔 2 and 𝛼 = tan−1 (36)
𝑘
This shows that giving excitation to base is equivalent to applying a harmonic force
of magnitude A to the mass
• By using the solution indicated by (19), the steady state response of the mass,
xp (t) can be expressed as
Y 𝑘 2 +c2𝜔2
xp (t) = sin (𝜔t-φ1 - 𝛼) (37)
[(k− m𝜔2 )2 + c2 𝜔2) ]1/2
Where
−1 c𝜔
φ1 = tan (38)
k− m 𝜔2

Displacement Transmissibility
Base Excitation
1Τ
𝑋 1+ 2ζ 𝑟)2 2
=
𝑌 2ζ𝑟)2 + 1− 𝑟 2 2
𝑟 = √2

Base Excitation
Force Transmitted:
• Force transmitted to the base due to reactions from spring and dashpot
𝐹 = 𝑘 𝑥 − 𝑦 + 𝑐 (𝑥ሶ - 𝑦ሶ )= - m 𝑥ሷ (41)
• Assume the solution as xp (t) = X sin(𝜔𝑡- 𝛗) (42)
• By (41 & 42),
F= m 𝜔2 X sin (𝜔𝑡- 𝛗) = FT sin (𝜔𝑡- 𝛗) (43)

Base Excitation
Force Transmitted:
• m 𝜔2 X sin (𝜔𝑡- 𝛗) = FT sin (𝜔𝑡- 𝛗) (43)
• FT = m 𝜔2 X
1Τ
𝑋 1+ 2ζ 𝑟)2 2
• =
𝑌 2ζ𝑟)2 + 1− 𝑟 2 2
1Τ
FT 1+ 2ζ
𝑟)2 2
• =𝑟 2 (44)
𝑘𝑌 2ζ𝑟)2 + 1− 𝑟 2 2
Force Transmissibility
• The transmitted force is in phase with the motion of the mass x(t).

Base Excitation
𝜉=1 1Τ
FT 1+ 2ζ 𝑟)2 2
𝜉 = 0.05 =𝑟 2
𝜉 = 0.68 𝑘𝑌 2ζ𝑟)2 + 1− 𝑟 2 2
𝜉 = 0.32

Problem 1

Problem 4

Problem 3

Problem 3

Base Excitation : Review
1. Displacement Transmissibility
2. Force transmissibility
3. Relative motion

Base Excitation
Relative Motion:
• If z = x – y ( rattle space), equation of motion (34)
m 𝑧ሷ + c 𝑧ሶ + k z = -m 𝑦ሷ = m 𝜔2 Ysin 𝜔𝑡 (45)
• Steady state solution of (45) is given by,
𝑍 𝑟2 −1 2ζ𝑟
= , φ1 = tan (46)
𝑌 1− 𝑟 2
( 2ζ𝑟)2 + 1− 𝑟 2 2)

Base Excitation

Base Excitation
𝜉=0
𝜉 = 0.33
𝜉 = 0.67
𝜉=1

Agenda
1. Rotating Unbalance
2. Equation of motion : Rotating Unbalance

Problem 2
A variable-speed electric motor, having an unbalance, is mounted on an

isolator. As the speed of the motor is increased from zero, the amplitudes
of vibration of the motor are observed to be 0.55 mm at resonance and
0.15 mm beyond resonance. Find the damping ratio of the isolator.

Problem 2

Problem 2

Rotating Unbalance
• Unbalance is main cause of vibration
• Centrifugal force (me𝜔2)/2 due to each mass will cause excitation of two masses
• As masses are rotating in opposite direction, horizontal components cancel each
other, Vertical component along AA causes excitation
Angular position of the masses

is measured from a horizontal
position, total vertical component
of the excitation,
F(t) = me𝜔2 sin 𝜔t

Rotating Unbalance

Rotating Unbalance
𝑀𝑋 𝑟2
=
𝑚𝑒
1− 𝑟 2 2+ 2ζ𝑟 2
𝜉=0
M𝑥ሷ + c 𝑥ሶ + kx = me𝜔2 sin 𝜔t (47)
• Solution is 𝜉 = 0.33
xp (t) = X sin (𝜔t-φ) 𝜉 = 0.67
𝑀𝑋 𝑟2 2ζ𝑟
= , φ= tan−1 (48)
𝑚𝑒 1− 𝑟 2
1− 𝑟 2 2+ 2ζ𝑟 2
𝜉=1

Rotating Unbalance
2ζ𝑟
φ = tan−1
1− 𝑟 2

Wheel Balancing

Rotating Unbalance
𝑀𝑋 𝑟2
=
𝑚𝑒
1− 𝑟 2 2+ 2ζ𝑟 2
𝜉=0
M𝑥ሷ + c 𝑥ሶ + kx = me𝜔2 sin 𝜔t (47)
• Solution is 𝜉 = 0.33
xp (t) = X sin (𝜔t-φ) 𝜉 = 0.67
𝑀𝑋 𝑟2 2ζ𝑟
= , φ= tan−1 (48)
𝑚𝑒 1− 𝑟 2
1− 𝑟 2 2+ 2ζ𝑟 2
𝜉=1

Problem 2
Model of a macine mounded on a foundation: k=2X106 N/m, Steady state amplitude = 1.9mm, Mass of the machine =
110kg. Machine is subjected to a harmonic force of magnitude 1500N
Operating speed is 150rad/s. Find damping ratio?

Agenda
1. Whirling of shaft: Introduction

Whirling of Shaft
• In practical applications like turbines,
compressors, motors, a heavy rotor is
mounted on a lightweight, flexible shaft
supported on bearings.
• Unbalance in rotors due to manufacturing
considerations.
• Unbalance effects, stiffness & damping of
shaft, gyroscopic effects and fluid friction in
bearings will bend the shaft at certain
rotational speeds, called whirling /
whipping / critical speeds Definition: Rotation of the plane
made by the line of centers of the
bearings and bent shaft

Jet Engine

Whirling of Shaft
Equation of Motion:
Assumption : Rotor is subjected to steady
state excitation due to mass unbalance.
Forces acting on rotor
• Inertia force
• Spring force due to shaft elasticity
• External and internal damping
O is equilibrium position of shaft when
balanced perfectly

Whirling of Shaft
m a 𝜔2 𝑎𝑟 2
X= =
[(k− m𝜔2 )2 + c2 𝜔2) ]1/2 1− 𝑟 2 2+ 2ζ𝑟 2 (63)
c𝜔
φ = tan−1
k− m 𝜔2

Whirling of Shaft
• At low speeds, amplitude is determined by
spring constant, k since the two terms
m𝜔2 and c2 𝜔2 are small. Also the value of
phase angle is zero.
• As speed increases, amplitude reaches a
peak (at resonance)
• At resonance, response is limited by damping
term and phase lag is 900
• As speed increases, amplitude is dominated
by the mass term m2𝜔4 . This term is 1800 out
of phase with the unbalanced force, the shaft
rotates in a direction opposite to that of the m a 𝜔2
X=
unbalance force and hence response is [(k− m𝜔2 )2 + c2 𝜔2) ]1/2
c𝜔
limited. φ = tan−1
k− m 𝜔2
Vibration Measurements
Vibration pickups:

Vibration pickups:
• A transducer is used in conjunction with another
device to measure vibrations.
• Seismic instrument
• Instrument is fastened to the body
• Bottom ends of spring and damper will have same
motion as the cage, y and their vibrations excites
the mass by x
• Displacement of mass relative to cage , z = x-y
m𝑥ሷ + c( 𝑥ሶ - 𝑦ሶ ) + k(x-y) = 0 (68)
y (t) = Y sin 𝜔𝑡 (69)

Vibration pickups:
m 𝑧ሷ + c 𝑧ሶ + k z = -m 𝑦ሷ = m 𝜔2 Ysin 𝜔𝑡 (70)
Steady state solution of (70) is given by,
z(t) = Z sin (𝜔t- φ) (71A)
𝑍 𝑟2
= , (71)
𝑌 √( 2ζ 𝑟)2 + 1− 𝑟 2 2)
2ζ𝑟
φ = tan−1 (72)
1− 𝑟 2

Seismometer / Vibrometer
• It is observed that 𝑍Τ𝑌 ≈ 1, when 𝜔Τ𝜔𝑛 ≥ 3
• Relative displacement between mass and the base (sensed
by the transducer) is essentially same as the displacement of
the base. Consider (71)
z(t) ≈ Y sin (𝜔t- φ) (73)
𝑟2
if ) ≈1 (74)
√( 2ζ𝑟)2 + 1− 𝑟 2 2
• Comparison of (73) with y(t) = Y sin 𝜔t shows that z(t) gives

directly the motion y(t) except for phase lag φ
• Phase lag φ ≈ 1800 for ζ = 0
• Recorded displacement z(t) lags behind the displacement
φ
being measured y(t) by time t’ = ൗ𝜔 and this time lag is not
important if y(t) consists of a single harmonic component.
• Since r = 𝜔Τ𝜔𝑛 ≥ 3 is large and the value of 𝜔

is fixed, the natural frequency 𝜔nmust be low.
• Mass must be large and spring must have low
stiffness, so instrument becomes bulky
(undesirable)
• In practice, r is not very large and hence Z ≠ Y
exactly, but compensation technique is used to
make it exact.

Accelerometers

Accelerometers
• Measures acceleration of vibrating body
• By (71A) and (71)
1
-𝑧 𝑡 𝜔𝑛2 = {- Y 𝜔2 sin (𝜔𝑡 − 𝜑)} (75)
[ 2ζ𝑟)2 + 1− 𝑟 2 ]
2
1
This shows that if ≈1 (76)
[( 2ζ 𝑟)2 + 1− 𝑟 2 2]
Equation (75) becomes -𝑧 𝑡 𝜔𝑛2 = {- Y 𝜔2 sin (𝜔𝑡 − 𝜑)} (77)
ሷ = - Y 𝜔2 sin 𝜔𝑡 , the term -𝑧 𝑡 𝜔𝑛2 gives acceleration

• Comparing (77) with 𝑦(t)
of the base , except for phase lag 𝜑.
φ
• Time lag by which recording lags acceleration, t’ = ൗ𝜔
• This time lag is not important if y(t) consists of a single harmonic component.
Accelerometers

1
Accelerometers ≈1
[( 2ζ𝑟)2 + 1− 𝑟 2 2]
Refer equation LHS of (76) is plotted.
• LHS lies between 0.98 to 1.02 for 0
≤ 𝑟 ≤ 0.6, if ζ lies between 0.65 to
0.7
• Since r is small, 𝜔𝑛 of the instrument
has to be large compared to the
frequency of vibration to be
measured.
• Mass needs to be small and spring
need to be have large value of k
(short spring), so the instrument is
small.

Problem 1
A spring-mass-damper system, having an undamped natural frequency of 100 Hz
and a damping constant of 20 N-s/m, is used as an accelerometer to measure the
vibration of a machine operating at a speed of 3000 rpm. If the actual acceleration
is 10 m/s2 and the recorded acceleration is 9 m/s2. Find the mass and the spring
constant of the accelerometer.

VIBRATION UNDER GENERAL FORCING CONDITIONS
TRANSIENT VIBRATION

General Excitation
INTRODUCTION
a) Periodic excitation
b) Impulse excitation
c) Non-periodic general excitation

Periodic Excitation
INTRODUCTION
Periodic Excitation:
• Non-harmonic
• Can be replaced by sum of harmonic functions
• Using superposition principle response can be
determined
Jean Baptiste Joseph Fourier

Periodic Excitation
Response under general periodic force

Periodic Excitation

Periodic Excitation

Responseundera Non-periodicForce
• F(t) is non-periodic
• Blast from explosion, Impulse
• Methods of analysis
✓ Fourier Integral
✓ Convolution integral
✓ Laplace transforms
✓ Interpolation and numerical method
✓ Direct numerical integration of EoM

Impulse excitation of a spring – mass
system
mx + kx =  ( x)
t =0
F=  F (t )dt
t =0−
t =0
F =m  a(t )dt
t =0−
F = m( xt =0 − xt =0− )
F
xt =0− = 0  xt =0 =
m

Impulse excitation of a spring – mass
system
m𝑥ሷ + kx = 0
x(t) = A1 sin ωn t + A2cos ωn t
𝑥ሶ 0
𝑥 𝑡 = 𝑥0 cos ωn t + sin ωn t
ωn
Substituting the initial conditions into the above equations
F
x(t ) = sin nt
mn
If the magnitude of the impulse is F instead of unity, then

1
g (t ) = sin nt (Response to a unit impulse excitation)
mn
x(t ) = g (t ) F
F
x(t ) = sin nt
mn

Impulse excitation of a Spring – Mass –
Damper system

Impulse excitation of a Spring – Mass –
Damper system

Response to a General Forcing Condition
Convolution/ Dumahel Integral




Convolution

Response to base excitation

Problem 1

Problem 1

Problem 2

Problem 2

Problem 3

Problem 3

Problem 4

Problem 4

Problem 4 (Detailed solution)
F0  d −n t n sin d t + d cos d t 

x(t ) =  2 − e 
md  n n2 
F0  d −n t n sin d t + d cos d t 
x(t ) =  2 − e 
md  n n2 
F0  d −n t n cos ( d t −  ) 
x(t ) =  2 − e 
md 
 n  2
n 

Problem 4

Problem 5

Problem 5

Problem 5
Response without time delay
Response with time delay
𝐹0 1
= 1− 𝑒 −𝜁𝜔𝑛 𝑡−𝑡0 𝐶𝑜𝑠𝜔𝑑 𝑡 − 𝑡0 − 𝜙
𝑘 1 − 𝜁2

Problem 6
If the machine is subjected to a compacting force only up to time t= to, find the response of the system

Problem 5
(Ignoring damping)

Problem 6
A rectangular pulse load is shown in the figure. Find
a) The maximum dynamic amplification factor for 0<t<to

b) Dynamic amplification for t=t0
(Ignore damping)

Problem 6
a)
t
1
x(t ) = 
mn 0
F ( ) Sinn (t −  )d
t
1
= 
mn 0
F0 Sinn (t −  )d
F0
= [1 − Cosnt ]
K
x
 = [1 − Cosnt ]
xstatic
 x 
  =2
 xstatic  max
Problem 6
b) The displacement and velocity at time t=t0 can be assumed as the initial conditions.
We have seen from the last problem that the response of the system till time t=to can be given by the expression
x = xst [1 − Cosnt ]
xt 0 = xst [1 − Cosnt0 ]
xt 0 = xstn Sinnt0
xt 0
x(t − t0 ) = xt 0Cosn (t − t0 ) + Sinn (t − t0 )
n

Problem 6
xstn Sinnt0
x(t − t0 ) = xst [1 − Cosnt0 ]Cosn (t − t0 ) + Sinn (t − t0 )
n
x(t − t0 )
AF = = [1 − Cosnt0 ]2 + ( Sinnt0 ) 2
xst
n t0
= 2 Sin( )
2

Problem 7

Problem 7

TWO DEGREE OF FREEDOM SYSTEMS
• Requires two independent coordinates to describe their motion
• Assumption:
• Mass is considered as rigid body with two possible motions.
• Vibration in vertical plane
• Idealised as a bar of mass, m and MI, J0 supported on two springs of stiffness k1
and k2
• Displacements given by x(t) and θ(t)
• Displacements can also be given by x1 (t) and x2 (t)

INTRODUCTION
• Packaging of instrument of mass , m
supported on springs from all 4 sides
• Here there is one point mass but two
displacements x and y and two DOF
• DOF = (No. of masses in the system) X
( No. of possible types of motion of each
mass)
• If a 2 DOF system is vibrating at one of the
natural frequency, the amplitudes of the 2
DOFs (coordinates) are related in a specific
manner & the configuration is called normal
/ principal/natural mode of vibration

Equation of Motion for Forced Vibration

Equation of Motion for Forced Vibration
By Newton’s Law
𝑚1 𝑥1ሷ + (𝑐1 + 𝑐2 ) 𝑥1ሶ - 𝑐2 𝑥2ሶ + 𝑘1 + 𝑘2 𝑥1 − 𝑘2𝑥2 = 𝐹1
(1) Coupled 2nd Order Differential Equation
𝑚2 𝑥2ሷ + (𝑐2 + 𝑐3 ) 𝑥2ሶ - 𝑐2 𝑥1ሶ + 𝑘2 + 𝑘3 𝑥2 − 𝑘2𝑥1 = 𝐹2

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Vibrations & Control

Dr. Sandeep Jose

Birla Institute of Technology and Science, K.K.

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

i) SDOF model of a beam with end mass

ii) Modelling of a bar as a spring

BITS Pilani, K K Birla Goa Campus

Definition: The transfer function of a linear, time-invariant differential equation is

By taking Laplace transform for the above equation:

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

 F , M =  Translational _ inertia, Rotary _ int ertia

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

Assume that I am rotating the pulley by an angle 

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

Assume that I am rotating the pulley by an angle 

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

Reference: Hibbler Chapter 18

BITS Pilani, K K Birla Goa Campus

𝐾𝐸 𝑎𝑠𝑠𝑢𝑚𝑖𝑛𝑔 𝑝𝑙𝑎𝑛𝑎𝑟 𝑚𝑜𝑡𝑖𝑜𝑛

Reference: Hibbler Chapter 18

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

 F , M =  Inertia _ forces, Rotary _ int ertia

 F −  Inertia _ forces = 0 : Dynamic _ Equilibrium

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

• Mass is given virtual displacement δ𝑥

• virtual displacement δ𝑥 ≠ 0 , but can have arbitrary

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

Duffing oscillator is an example of a periodically forced oscillator with a nonlinear elasticity

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

• q1 , q2 … qn are called generalized displacement

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

Nature minimizes action: “Nature is lazy”