Chapter 19 MECHANICAL VIBRATIONS

Consider the free vibration of a

particle, i.e., the motion of a particle P
-xm subjected to a restoring force
proportional to the displacement of the
particle - such as the force exerted by
a spring. If the displacement x of the
O
particle P is measured from its
x equilibrium position O, the resultant F
Equilibrium P
of the forces acting on P (including its
weight) has a magnitude kx and is
directed toward O. Applying Newton’s
..
second law (F = ma) with a = x, the
+xm differential equation of motion is
+ ..
mx + kx = 0
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 ..
mx + kx = 0
-xm setting n2 = k/m
..
x + n2x = 0
O The motion defined by this expression
x is called simple harmonic motion.
Equilibrium P
The solution of this equation, which
represents the displacement of the
particle P is expressed as
+xm x = xm sin (nt + )
+ where xm = amplitude of the vibration
n = k/m = natural circular
frequency
= phase angle
 ..
x + n2x = 0
-xm x = xm sin (nt + )
The period of the vibration (i.e., the
time required for a full cycle) and its
O
frequency (i.e., the number of cycles
x per second) are expressed as
Equilibrium P
2
Period = n = 
n
+xm 1 n
Frequency = fn = =
+ n 2
The velocity and acceleration of the particle are obtained by
differentiating x, and their maximum values are
vm = xmn am = xmn2
 The oscillatory motion of the
particle P may be represented
by the projection on the x axis of
the motion of a point Q
xm  describing an auxiliary circle of
O
radius xm with the constant
x a  n t QO angular velocity n. The
am= xmn2
P Q instantaneous values of the
nt +  velocity and acceleration of P
v
vm= xmn may then be obtained by
x projecting on the x axis the
vectors vm and am representing,
respectively, the velocity and
acceleration of Q.
While the motion of a simple pendulum is not truely a simple
harmonic motion, the formulas given above may be used with
n 2 = g/l to calculate the period and frequency of the small
oscillations of a simple pendulum.

The free vibrations of a rigid body may be analyzed by

choosing an appropriate variable, such as a distance x or an
angle , to define the position of the body, drawing a diagram
expressing the equivalence of the external and effective forces,
and writing an equation relating the selected variable and its
second derivative. If the equation obtained is of the form
.. ..
x+ x=0n
2
or  + n2= 0
the vibration considered is a simple harmonic motion and its
period and frequency may be obtained.
The principle of conservation of energy may be used as an
alternative method for the determination of the period and
frequency of the simple harmonic motion of a particle or rigid
body. Choosing an appropriate variable, such as , to define
the position of the system, we express that the total energy
of the system is conserved, T1 + V1 = T2 + V2 , between the
position of maximum displacement
. . (1 = m) and the position
of maximum velocity (2 = m). If the motion considered is
simple harmonic, the two members of the equation obtained .
.
consist of homogeneous quadratic expressions in m and m ,
respectively.2 Substituting m = m n in this equation, we may
factor out m and solve for the circular frequency n.
 The forced vibration of a mechanical system
occurs when the system is subjected to a
periodic force or when it is elastically
connected to a support which has an
alternating motion. The differential
equation describing m sin f t
m
x each system is
Equilibrium presented
below. f t = 0 f t

P = Pm sin f t

..
mx + kx = Pm sin f t

.. x
mx + kx = km sin f t Equilibrium
 .. m sin ft
mx + kx = Pm sin ft m

.. ft
mx + kx = km sin ft ft = 0

The general solution

of these equations is
x
obtained by adding a
Equilibrium
particular solution of
the form

P = Pm sin ft xpart = xm sin ft Equilibrium

x

to the general solution of the corresponding

homogeneous equation. The particular solution represents the
steady-state vibration of the system, while the solution of the
homogeneous equation represents a transient free vibration
which may generally be neglected.
 .. ..
mx + kx = Pm sin ft mx + kx = km sin ft
xpart = xm sin ft
Dividing the amplitude xm of the steady-
x
state vibration by Pm/k in the case of a
Equilibrium
periodic force, or by m in the case of an
P = Pm sin ft oscillating support, the magnification factor
of the vibration is defined by
m sin ft xm xm
m Magnification factor = =
Pm /k m
ft = 0 ft
=
1
1 - (f /n )2

Equilibrium x
 .. ..
mx + kx = Pm sin ft mx + kx = km sin ft
xpart = xm sin ft
xm xm
Magnification factor = =
x Pm /k m
Equilibrium
1
=
P = Pm sin ft 1 - (f/ n)2
The amplitude xm of the forced vibration
m sin ft
m becomes infinite when f = n , i.e., when
ft = 0 ft the forced frequency is equal to the
natural frequency of the system. The
impressed force or impressed support
movement is then said to be in resonance
with the system. Actually the amplitude of
x the vibration remains finite, due to
Equilibrium
damping forces.
The equation of motion describing the damped free vibrations
of a system with viscous damping is
.. .
mx + cx + kx = 0
where c is a constant called the coeficient of viscous damping.
Defining the critical damping coefficient cc as

k
cc = 2m = 2mn
m
where n is the natural frequency of the system in the absence
of damping, we distinguish three different cases of damping,
namely, (1) heavy damping, when c > cc, (2) critical damping,
when c = cc, (3) light damping, when c < cc. In the first two cases,
the system when disturbed tends to regain its equilibrium
position without oscillation. In the third case, the motion is
vibratory with diminishing amplitude.
The damped forced vibrations of a mechanical system occurs
when a system with viscous damping is subjected to a periodic
force P of magnitude P = Pm sin f t or when it is elastically
connected to a support with an alternating motion  =  m sin f t.
In the first case the motion is defined by the differential equation

.. .
mx + cx + kx = Pm sin f t
In the second case the motion is defined by the differential
equation
.. .
mx + cx + kx = km sin f t
The steady-state vibration of the system is represented by a
.. .
particular solution of mx + cx + kx = Pm sin f t of the form

xpart = xm sin (f t - )

Dividing the amplitude xm of the steady-state vibration by Pm/k in
the case of a periodic force, or by m in the case of an oscillating
support, the expression for the magnification factor is

xm xm 1
= =
Pm/k m [1 - (f / n)2]2 + [2(c/cc)(f / n)]2

where n = k/m = natural circular frequency of undamped

system
cc = 2m n = critical damping coefficient
c/cc = damping factor
 xpart = xm sin (f t - )
xm xm 1
= =
Pm/k m [1 - (f / n)2]2 + [2(c/cc)(f / n)]2

In addition, the phase difference between the impressed force

or support movement and the resulting steady-state vibration of
the damped system is defined by the relationship

2(c/cc) (f / n)

tan  =
1 - (f / n)2
The vibrations of mechanical systems and the oscillations of
electrical circuits are defined by the same differential equations.
Electrical analogues of mechanical systems may therefore be
used to study or predict the behavior of these systems.