The mathematics of vibration

A short repetition of some

mathematical issues
Contents
• Frequency analysis
– Functions with imaginary component
– Fourier analysis
• Velocity, Displacement Acceleration
• One degree of freedom systems
– 2nd order differential equations
– Forced vibration systems
• Multiple degree of freedom systems
– XY vibration
– Several bearing systems

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Frequency analysis

=
+

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What is the square root of 4
• What is the Square root of 4 ? 4 ?
• 2 is not wrong but not correct

• 2*2=4
• (-2) * (- 2) = 4
-2 2
-4

• What is the Square root of – 4 ?

 4  2  1  2 j
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Sine to cosine and back again
t
x

y=
co
x

s(
t)
y=
t
si
n(
y=

t)
-s
in
(
t)

 sin t
  cos t
t
 2 sin t
 cos t   2
sin t
  sin t t 2
t
 2 cos t
ω  2f   2
cos t
t 2

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Exponential functions with complex argument

e  t

e t
  e t  2 cos t
t t 2
  2 cos t

 2 e  t 2 t
 2 e  jt
  e   2  jt
e
t 2
t 2

e x  jy  e x (cos y  j sin y )

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Complex Time signal – Frequency Spectrum
Im
j t t 
x(t )  A0 e

Re


 t 0
t

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Fourier Analysis

G( )   g(t)e dt  t t tn T tn
0
g(t)e
n

G( 0 )  g(t 0 )e -j 0t0  g(t 1 )e -j 0t1  ...  g(t n )e -j 0t n
G(1 )  g(t 0 )e-j 1t0  g(t1 )e -j 1t1  ...  g(t n )e-j 1t n

G( n )  g(t 0 )e-j nt0  g(t1 )e-j nt1  ...  g(t n )e-j ntn

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Equation of motion Acceleration  a  x ( t )
Velocity  v  x ( t )
F(t)
Displacement  d  x( t )

x(t)
m Newton’s 2nd law:
mx ( t )  f ( t )  cx ( t )  kx( t )

cx(t) kx(t)

mx (t)  cx (t)  kx(t)  f(t)

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 x v  2 x
v  x (t ) a  2  x(t )
d=x(t) t t t

t t

x
v

F(t)=g

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Mass spring example
t
n
x tio
a
ler
e
ity c
lo
c Ac
Ve
t
en
v pl
ace
m

t Di
s

mx (t)  kx(t) m

 2 sin t
   2
sin t
t 2

ω  2f Kx(t)  2 cos t

   2
cos t
t 2

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Solving the equation of motion No damping
No external force
t

m
x(t)
m mx (t)  kx(t)  0
kx(t) x(t)  A 1sin0 t  A 2cos0 t
k A1,A2 arbitrary
ω0  constants
m (Depends on initial conditions)

 j 0 t   Ac,  arbitrary
x(t)  A c e constants
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 Solving the equation of motion with damping,
(No external force)
mx(t )  cx (t )  kx(t )  f (t )  0
c k
F(t)=0 x(t )  x (t )  x(t )  0
m m
x(t )  x (t )   0 x(t )  0
x(t)
m

c
 
m
cx(t) kx(t)
0 
k
m
x  C1e  (t / 2 j d )t 
d  0  
2
2

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 No external force: Solutions
t / 2 t / 2
Critical damping
x  A1e  A2te 0   4
2
2

0  2
2

t ( / 2   2 / 4  2 0 ) t ( / 2   2 / 4  2 0 ) 4 Overcritical damping
x  A1e  A2 e

0   4
2
2
Damped decay
 t / 2
t / 2
x  A1e cos  d t  A2te sin  d t

2
Tp 
d
 (t / 2  j d ) t 
x  C1e
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 Forced vibrations mx(t )  cx (t )  kx(t )  F0 cos  t t
F0
F(t)  F0cos( t t) 2
x(t )  x (t )   0 x(t )  cos  t t
m
Guessing with: x(t )  A0 cos( t t   )
m
F0
x(t)
A0  m
( 0   t ) 2   2 t
2 2 2

Yields:
cx(t) kx(t) 
  arctan( 2 t 2 )
0  t

Transient part (disappears)

 t / 2
x( t )  A 0 cos(t t   )  A e 1 cos( t  )
d

x ( t )  A 0 e j t t   File name Page 17

   0.10 
  | x (t ) |
  0.11 0 A0 
4   0.12 | F (t ) |
  0.14
Displacement

3
  0.15
F(t)
A0

2
  0.2

1
  0.4 
 2
  0.5
  1. 0
x(t)
 4
0 0.5 1 1.5 2 
o 0
0

o
 -90
  4
  1.0   2
  0.2   0.4
-180 o   0.1
0 0.5 1 1.5 2 
0
F F F
x x
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 Time Domain Frequency Domain
dx
x (t )  X ( )  jF ( )
dt
d 2x
x(t )  2 X ( )   2 F ( )
dt
f (t )  mx(t )  cx (t )  kx(t ) F(ω)  ω 2 mX(ω)  jcX(ω)  kX(ω)

x(t )  A0 e j t t  X(ω) 1
H(ω)  
F0 
 arctan( 2 t 2 )
F(ω)  ω 2 m  jc  k
x(t ) m  0  t
H (t )   e
F (t ) ( 0   t ) 2   2 t
2 2 2

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 The transfer function

1 X(ω) 1
H(ω)  
c F(ω)  ω 2 m  jc  k
F(ω)
1
 2m 
X(ω)
1
k ω

k
0 
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 Two Degrees of freedom
m11x 1  c11 x 1  k11 x1  k12 x 2  f1
m 22 x 2  c 22 x 2  k 22 x 2  k 21x1  f 2
c11 f2
f1 m 0 x 1 c11 0 x 1 k11 k12 x1 f1
  
k11 0 m x 2 0 c 22 x 2 k 21 k 22 x 2 f 2

k12
m11 m12 x 1 c11 c12 x 1 k11 k12 x1 f1
  
m 21 m 22 x 2 c 21 c 22 x 2 k 21 k 22 x 2 f2
k21 c22

k22
M x  C x  K x  f

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 Multi Degree of Freedom Systems c66
c44

c22

k22
k55
c55
k33
c11 c33
k11

M x  C x  K x  f
m11 m12 m13 m14 m15 m16 x 1 c11 c12 c13 c14 c15 c16 x 1 k11 k12 k13 k14 k15 k16 x1 f1
m 21 m 22 m 23 m 24 m 25 m 26 x 2 c 21 c 22 c 23 c 24 c 25 c 26 x 2 k 21 k 22 k 23 k 24 k 25 k 26 x 2 f2
m 31 m 32 m 33 m 34 m 35 m 36 x 3 c31 c 32 c 33 c34 c 35 c36 x 3 k 31 k 32 k 33 k 34 k 35 k 36 x 3 f3
  
m 41 m 42 m 43 m 44 m 45 m 46 x 4 c 41 c 42 c 43 c 44 c 45 c 46 x 4 k 41 k 42 k 43 k 44 k 45 k 46 x 4 f4
m 51 m 52 m 53 m 54 m 55 m 56 x 5 c51 c 52 c 53 c54 c 55 c56 x 5 k 51 k 52 k 53 k 54 k 55 k 56 x 5 f5
m 61 m 62 m 63 m 64 m 65 m 66 x 6 c 61 c 62 c 63 c 64 c 65 c 66 x 6 k 61 k 62 k 63 k 64 k 65 k 66 x 6 f6
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