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Dynamics
Dynamics
Edition
19 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Mechanical Vibrations
Lecture Notes:
J. Walt Oler
Texas Tech University
Contents
Introduction
• Mechanical vibration is the motion of a particle or body which
oscillates about a position of equilibrium. Most vibrations in
machines and structures are undesirable due to increased stresses
and energy losses.
• Time interval required for a system to complete a full cycle of the
motion is the period of the vibration.
• Number of cycles per unit time defines the frequency of the vibrations.
• Maximum displacement of the system from the equilibrium position is
the amplitude of the vibration.
• When the motion is maintained by the restoring forces only, the
vibration is described as free vibration. When a periodic force is
applied to the system, the motion is described as forced vibration.
• When the frictional dissipation of energy is neglected, the motion
is said to be undamped. Actually, all vibrations are damped to
some degree.
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 19 - 3
Vector Mechanics for Engineers: Dynamics
Edition
Ninth
v0
C1
n
C 2 x0
• Displacement is equivalent to the x component of the sum of two vectors C1 C 2
which rotate with constant angular velocity n .
P k1 k2 vm x m n
P 0.040 m 14.14 rad s vm 0.566 m s
k k1 k2
10 kN m 104 N m am x m an2
0.040 m 14.14 rad s 2 am 8.00 m s 2
vm x m n
P k1 k2 0.040 m 6.93 rad s vm 0.277 m s
P
k k1 k2 am x m an2
10 kN m 104 N m 0.040 m 6.93 rad s 2 am 1.920 m s 2
0.2
1.13 2 K 6.18 N m rad
K
2 2
m m 1.571 rad
K 2 I
n 1.93 s
n n 2
I n K
m 5.11 rad s
K 6.138 N m rad
T2 12 mvm2 12 I m
2 V2 0
12 m bm 12
2
23 mb 2 m2
12 53 mb 2 m2
T1 V1 T2 V2
0 12 Wb m2 12 53 mb 2 m2 n2 0 n 3 g 5b
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 19 - 18
Vector Mechanics for Engineers: Dynamics
Edition
Ninth
T1 0 V1 Wh W R r 1 cos
W R r m2 2
T2 12 mvm2 12 I m
2 V2 0
2
1 m R r 2 12 1 mr R r 2
2
2 m 2 m
r
34 m R r 2m2
T1 V1 T2 V2
m2 3
0 W R r 4 m R r 2m2 0
2
m2 3
mg R r 4 m R r 2 m n 2m
2
2 g 2 3 Rr
n2 n 2
3 Rr n 2 g
Forced Vibrations
F ma :
Pm sin f t W k st x mx W k st x m sin f t mx
Forced Vibrations
x xcomplementary x particular
C1 sin n t C 2 cos n t xm sin f t
Substituting particular solution into governing equation,
m 2f xm sin f t kxm sin f t Pm sin f t
Pm Pm k m
xm
k m 2f 1 f n 2 1 f n 2
mx kx Pm sin f t
mx kx k m sin f t
At f = n, forcing input is in
resonance with the system.
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 19 - 23
Vector Mechanics for Engineers: Dynamics
Edition
Ninth
m 200 kg
k 4150 600,000 N m
W = 350 lb
k = 4(350 lb/in) k 600,000
n
m 200
54.8 rad/s 523 rpm
Pm man mr 2
W = 350 lb
0.03 0.15125.7 71.1 N
2
k = 4(350 lb/in)
n 57.5 rad/s
Pm k 0.1185
xm
1 f n 1 125.7 54.8
2 2
0.0278 mm
xm xm 1
magnification
Pm k
1 f n 2 c c
2 2
c f n 2 factor
2 c cc f n
tan phase difference between forcing and steady
1 f n 2
state response
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 19 - 29
Vector Mechanics for Engineers: Dynamics
Edition
Ninth
Electrical Analogues
• Consider an electrical circuit consisting of an inductor,
resistor and capacitor with a source of alternating voltage
di q
Em sin f t L Ri 0
dt C
1
Lq Rq q Em sin f t
C
• Oscillations of the electrical system are analogous to
damped forced vibrations of a mechanical system.
Electrical Analogues
• The analogy between electrical and mechanical
systems also applies to transient as well as steady-
state oscillations.
Electrical Analogues
• The electrical system analogy provides a means of
experimentally determining the characteristics of a given
mechanical system.
• For the mechanical system,
m1x1 c1 x1 c2 x1 x 2 k1 x1 k 2 x1 x2 0