Vibration Chapter09

Mechanical Vibrations
Fifth Edition in SI Units

Singiresu S. Rao
Chapter 9
Vibration Control
3 © 2011 Mechanical Vibrations Fifth Edition in SI Units

9
Chapter Outline
9.1 Introduction
9.2 Vibration Nomograph and Vibration Criteria
9.3 Reduction of Vibration at the source
9.4 Balancing of Rotating Machines
9.5 Whirling of Rotating Shafts
9.6 Balancing of Reciprocating Engines
9.7 Control of Vibration
9.8 Control of Natural Frequencies
9.9 Introduction of Damping
9.10 Vibration Isolation
9.11 Vibration Absorbers

9.1
Introduction

9.1
9.1 Introduction
• Vibration leads to wear of machinery and discomfort of humans,

thus we want to eliminate vibration
• Designer must compromise between acceptable amount of vibration

and manufacturing cost
• We shall consider various techniques of vibration control in this

chapter.

9.2
Vibration Nomograph and Vibration Criteria

9.2
• Vibration nomograph displays the variations of displacement,

velocity and acceleration amplitudes wrt frequency of vibration
• Harmonic motion: x t   X sin t
• Velocity: v t   x  t   X cos t  2fX cos t
• Acceleration: a  t   x t    2 X sin t  4 2 f 2 X sin t

• Amplitude of velocity: vmax  2fX  9.4
• Amplitude of acceleration: amax  4 f X  2fvmax
2 2
 9.5

• Taking log of Eq. 9.3 and Eq. 9.4:

ln vmax  ln  2f   ln X
ln vmax   ln amax  ln  2f 
• When X is constant, ln vmax varies linearly with ln(2πf)
• When amax is constant, ln vmax varies linearly with ln(2πf)
• This is shown as a nomograph in the next slide.
• Every pt on the nomograph denotes a specific sinusoidal vibration.


• Vibration severity of machinery is defined in terms of the root mean

square (rms) value of vibration velocity. (ISO 2372)
• Vibration severity of whole building vibration (ISO DP 4866)
• Vibration limits for human (ISO 2631)

Example 9.1
Helicopter Seat Vibration Reduction
The seat of a helicopter, with the pilot, weights 1000N and is found to
have a static deflection of 10 mm under self-weight. The vibration of
the rotor is transmitted to the base of the seat as harmonic motion
with frequency 4 Hz and amplitude 0.2 mm.
a) What is the level of vibration felt by the pilot?
b) How can the seat be redesigned to reduce the effect of vibration?

Example 9.1
Solution
Mass = m = 1000/9.81 = 101.9368 kg

Stiffness = k = W/δst = 1000/0.01 = 105N/m
k 105
Natural frequency = ωn =   31.3209 rad/s  4.9849 Hz
m 101.9368
 4.9849
Frequency ratio = r =   1.2462
n 4.0
Y
Amplitude of vibration felt by pilot: X  
1 r 2
where Y is the amplitude of base displacement

Example 9.1
Solution
0.2
X  0.3616 mm
1  1.2462 2
vmax  2fX  2  5 0.3616   9.0887 mm/s

amax   2f  X  228.4074 mm/s 2  0.2284 m/s 2
2
At 4 Hz, the amplitude of 0.3616 mm may not cause much discomfort.

However the velocity and acceleration at 4 Hz are not acceptable for a
comfortable ride.
Try to bring amax down to 0.01 m/s2

Example 9.1
Solution
amax  10 mm/s 2   2f  X   8 
2 2
X  0.01583 mm
X 0.01583 1
  or r  3.6923
Y 0.2 1 r 2
 8 k
n    6.8068 rad/s 
3.6923 3.6923 m
m  101.9368 kg  k  4722.9837 N/m
Either use softer material for seat or increase mass of seat.

9.3
Reduction of Vibration at the Source

9.3
9.3 Reduction of Vibration at the Source
• Try to alter the source so that it produces less vibration
• E.g. balance rotating or reciprocating machines, use close

tolerances or better surface finish
• 
Some sources cannot be eliminated e.g. turbulence, engine
combustion instability, road roughness X

9.4
Balancing of Rotating Machines

9.4
• Unbalanced mass in rotating disc will cause vibration.
• Can be eliminated by removing the unbalanced mass or adding

equal mass to cancel out vibration
• Need to determine the amount and location of the eccentric mass

experimentally
• We shall consider 2 types of balancing: single-plane balancing and

2-plane balancing

• Single-Plane Balancing
When center of mass is displaced from the axis of rotation, the

element is statically unbalanced.
To determine whether a disc is balanced, mount it as shown below.
Rotate the disc and let it come to rest. Mark the lowest point.
Repeat a few times.

If the disc is unbalanced, the markings will coincide (static

unbalance).
Static unbalance can be corrected by removing material at the

mark or adding material 180° from the mark.
Amount of unbalance can be found by rotating the disc at a known

speed ω and measuring the reactions at the 2 bearings.

If the unbalanced mass m is located at radius r, the centrifugal

force will be mrω2.
a2 a
Measured bearing reactions: F1  mr 2 , F2  1 mr 2
l l

Another method for single-plane balancing uses a vibration analyzer

as shown:

Turn the rotor and fire a stroboscopic light at the same frequency
ω.
A marking on the rotor will appear stationary but positioned at an

angle θ from the mark on the stator.
The amplitude Au caused by the unbalance is also noted by the

vibration analyzer.
Add a known trial weight W to the rotor and repeat the procedure.
The new angle of the marking, φ and the new amplitude Au+w are
noted.
Construct vector diagram:

  
The difference vector AW  AU W  AU is the unbalance vector due
to trial weight W.

AW  AU2  AU2 W  2 AU AU W cos    
Original unbalance is at angle α from position of trial weight.

 A 2
 A 2
 A 2

  cos 
1 U U W U W

 2 AU AW 
Magnitude of original unbalance WO=(AU/AW)•W

• Two-Plane Balancing
If rotor is as shown, unbalance can be anywhere along the length
Can be balanced by adding weights in any 2 planes, most common

planes being the end planes of the rotor

Consider a rotor with unbalanced mass as shown:
Force due to unbalance, F=mω2R

Replace unbalanced mass m by m1 and m2 located at the ends of
the rotor as shown:

Forces exerted due to m1 and m2 are F1=m1ω2R and F2=m2ω2R

For equivalence of forces: mω2R=m1ω2R+m2ω2R or m = m1 + m2
Taking moments at the right end:
l
m R  m1 2 Rl or m  3m1
2
3
Thus m1 = m/3, m2 = 2m/3
Thus any unbalanced mass can be replaced by 2 unbalanced mass
at the end planes.

Vibration analyzer
Replace unbalance weight by UL and UR as shown:
 
 
Measure vibration amplitude and phase VA and VB of original
unbalance at A and B
    
V A  AALU L  AARU R (9.13)
    
VB  ABLU L  ABRU R (9.14)
Vibration analyzer
Add known trial weight WL in left plane at known position.
 
     
VA  AAL U L  WL  AARU R Eq 9.15
 
     
VB  ABL U L  WL  ABRU R Eq 9.16
Subtract Eq. 9.13 and 9.14 from Eq. 9.15 and 9.16:
   
 VA  VA  VB  VB
AAL   , ABL  
WL WL

Vibration analyzer
Remove WL and add known trial weight WR in right plane at known
position.
 
     
VA  AAR U R  WR  AALU L Eq 9.19
 
     
VB  ABR U R  WR  ABLU L Eq 9.20
Subtract Eq. 9.13 and 9.14 from Eq. 9.19 and 9.20:
   
 VA  VA  VB  VB
AAR   , ABR  
WR WR

Vibration
 analyzer
Once Aij are known, Eq 9.13 and Eq 9.14 can be solved to find the
unbalance vectors.
       
 ABRVA  AARVB  ABLVA  AALVB
UL      , UR     
ABR AAL  AAR ABL ABL AAR  AAL ABR
Rotor can now be balanced by adding equal and opposite weights in
each plane.
   
BL  U L , BR  U R

Example 9.2
Two-Plane Balancing of Turbine Rotor
In the 2-plane balancing of a turbine rotor, the data obtained from

measurement of the original unbalance, the right-plane trial weight,
and the left-plane trial weight are shown below. Determine the size
and location of the balance weights required.

Example 9.2

Solution VA  0.260  0.1  i 0.1732

VB  0.16205  0.145  i 0.0676

VA  0.15125  0.086  i 0.1229

VB  0.1230  0.0643  i 0.0766

VA  0.1535  0.1229  i 0.086

VB  0.25160  0.2349  i 0.0855

WL  0.3270  0  i 0.3

WR  0.34180  0.34  i 0

Example 9.2
Solution   
VA  VA  0.186  i 0.0503
AAL     0.1677  i 0.62
WL 0  i 0.3
 
 VB  VB 0.0807  i 0.009
ABL     0.03  i 0.269
WL 0  i 0.3
 
 VA  VA 0.0229  i 0.0872
AAR     0.0674  i 0.2565
WR  0.34  i 0
 
 VB  VB  0.0899  i 0.1531
ABR     0.2644  i 0.4503
WR  0.34  i 0
Example 9.2
Solution

UL 
 0.1045  i0.0008   0.0271 i0.0327
  0.2347  i0.2397    0.712  i0.0104
 0.2565  i 0.1546

UR 
  0.0436  i 0.0321    0.663  i 0.0785
  0.0712  i0.0104    0.2347  i0.2397
 0.0875  i 0.1612

Example 9.2
Solution
Thus the required balance weights are
 
BL  U L  0.2565  i 0.1546  0.2994  31.0772
 
BR  U R  0.0875  i 0.1612  0.1834  61.5242

9.5
Whirling of Rotating Shafts

9.5
• In many applications, a heavy rotor is mounted on a light, flexible

shaft supported in bearings.
• Unbalances and other effects will cause a shaft to bend at certain

speeds known as whirling speeds
• Whirling is the rotation of the plane made by the line of centers of

the bearings and the bent shaft.

• Consider a shaft as shown below.

• Forces acting on rotor: inertia force, spring force, damping forces

• Equations of Motion
Let O be the equilibrium position of the shaft when balanced

perfectly.
Shaft (line CG) rotates at velocity ω.
During rotation the rotor deflects by

a distance A.
CG of rotor (G) is at distance a from

geometric centre C.

Angular velocity of line OC,   d / dt is known as the whirling

speed and is in general not equal to ω.
       
    
Inertia force Fi  Elastic force Fe  Internal damping force Fdi  External damping force Fde  mR
  
where R   x  a cos t  i   y  a sin t  j
Fi  m x  a cos t  i   y  a sin t  j 

  
Fe   k  xi  yj  where k is the stiffness of the shaft

  
Fdi  ci  x  y  i   y  x  j 
  
where ci is the internal or rotary damping coefficient

Fde  c x i  y j 
  
where c is the external damping coefficient

   
Substitute Fi , Fe , Fdi , Fde into Eq. 9.26:
mx   ci  c  x  kx  ciy  m 2 a cos t Eq 9.32
my   ci  c  y  ky  cix  m 2 a sin t Eq 9.33
These equations are coupled.
Define w as w=x+iy
Add Eq 9.32 to Eq 9.33 and multiply by i:
   ci  c  w  kw  ici w  m 2 aeit
mw

• Critical Speeds
When frequency of rotation of shaft = one of the natural

frequencies of the shaft, critical speed of undamped system:
k
n 
m
When ω = ωn, rotor undergoes large deflections.
Slow transition of rotating shaft through the critical speed aids

development of large amplitudes.

• Response of the System
Assuming ci=0, mw   cw  kw  m 2

ae it
Solution: w t   Ce   t     Ae i  t  
transient  steady - state whirl
Substituting the steady-state part into equation of motion, we can

find amplitude of whirl:
m 2 a ar 2
A 
 k  m  2 2
  2c 2 1  r    2r 
2 2 2
Phase angle
 c  1  2 r   k c
  tan 1  2 
 tan  2 
r , n  ,  
 k  m   1  r  n m 2 km
• Response of the System
Φ=0° for small ω

Phase lag is 90° at resonance

• Stability Analysis
Assume w(t)=est, characteristic equation: ms2 + (ci + c)s + k – iωci=0
With s=iλ, -mλ2 + (ci + c)s + k – iωci=0

This is a particular case of (p2+iq2)λ2+ (p1+iq1)λ+ (p0+iq0)=0
p2 p1 p0 0
For this system to be stable,
p2 p1 q q1 q0 0
  0 and 2 0
q2 q1 0 p2 p1 p0
0 q2 q1 q0
p2 = -m, p1 = q2 = 0, q1 = ci + c, p0 = k, q0 = -ωci
Therefore m(ci + c)>0 and km(ci + c)2 – m2ω2ci2

• Stability Analysis
k c
1      0
m  ci 
Internal and external friction can cause instability at rotating speeds
above the 1st critical speed.

Example 9.3
Whirl Amplitude of a Shaft Carrying an Unbalanced Rotor
A shaft, carrying a rotor of mass 50kg and eccentricity 2mm, rotates

at 12000 rpm. Determine (a) the steady-state whirl amplitude and (b)
the maximum whirl amplitude during start-up conditions of the
system. Assume the stiffness of the shaft as 40MN/m and the external
damping ratio as 0.1.

Example 9.3
Solution
12000  2
Forcing frequency of rotor:    400  1256.6371 rad/s
60
k 40  106
Natural frequency: n    894.4272 rad/s
m 50
 1256.6371
Frequency ratio: r    1.4049
n 894.4272

Example 9.3
Solution
a) Steady-state amplitude: A 
ar 2

 0.0021.4049 2
1  r    2r 
2 2 2
1  1.4049 2  2   2  0.11.4049 2
 3.8950  10 3 m  3.8950mm
b) During start-up conditions, ω passes through ωn. Using r=1, we

obtain whirl amplitude:
a 0.002
A r 1    0.01 m  10 mm
2 2 0.1

9.6
Balancing of Reciprocating Engines

9.6
• Moving elements: Piston, crank, connecting rod
• Vibrations due to
 Periodic variations of gas pressure in cylinder
 Inertia forces associated with moving parts

• Unbalanced Forces Due to Fluctuations in Gas Pressure
Expanding gas in cylinder exerts force F on piston
F can be resolved into F/cos Φ and F tan Φ.

 F 
F/cos Φ induces torque Mt which rotates the crank shaft t  cos  r cos 
M 
 
Figure shows equilibrium forces on stationary parts of the engine
Total resultant force =0

r cos 
Resultant torque MQ=FhtanΦ where h 
sin 
Fr cos 
MQ 
cos 
Torque induced at crank shaft is felt at engine support.


• Unbalanced Forces Due to Inertia of Moving Parts
Acceleration of Piston
xP  r  l  r cos  l cos
 r  l  r cos t  l 1  sin 2 
But l sin   r sin   r sin t
r2
Hence cos   1  2 sin 2 t
l
Substituting into xP ,
r2
xP  r  l  r cos t  l 1  2 sin 2 t
l
Acceleration of Piston
r 1 
In general,  and 1   1
l 4 2
r2
Hence xP  r 1  cos t   sin 2 t
2l
 r   r 
or xP  r 1    r  cos t  cos 2t 
 2l   4l 
 r 
x P  r  sin t  sin 2t 
 2l 
 r 
xP  r 2  cos t  cos 2t 
 l 
Acceleration of the Crankpin

Vertical and horizontal displacements of crankpin C:
xC  OA  AB  l  r 1  cos t 
yC  CB  r sin t
x C  r sin t
y C  r cos t
xC  r 2 cos t
yC   r 2 sin t

Acceleration of the Crankpin

Vertical component of inertia force for one cylinder:
Fx  m p x p  mc xc

2 2
 
 m p  mc r cos t  m p
2 r
cos 2t
l
Primary part Secondary part
Fy  m p x p  mc xc
Vertical component of inertia force for one cylinder:
  mc r 2 sin t
Primary part
• Balancing of Reciprocating Engines
mc can be made zero by counterbalancing the crank. Hence Fy can

be reduced to zero.
mp always positive hence vertical unbalanced force Fx always exists.
Thus single cylinder engine is inherently unbalanced.
In multi-cylinder engine, can balance inertia forces by proper

arrangement of cranks

Following figure shows arrange of 6-cylinder engine.

For force balance,

N
 Fx  total    Fx  i  0
i 1
F     Fy  i  0
N
y total
i 1
r 2 2
 Fx  i   m p  mc  i r 2
cos t   i    m p  i cos 2t  2 i 
l
F y i   mc  i r 2 sin  t   i 
Assume (mp)i = mp and (mc)i = mc for i=1,2,…,N

Assume (mp)i = mp and (mc)i = mc for i=1,2,…,N
When t=0, conditions for total force balance:
 9.78, 9.79
N N N
 cos  i  0,  cos 2 i  0,  sin  i  0
i 1 i 1 i 1
Moments about the z and x-axes:
M z    Fx  i li  0, M z    Fy  i li
N N
i 2 i2
Necessary conditions for balancing of moments:
 9.82, 9.83
N N N
 li cos  i  0,  li cos 2 i  0,  li sin  i  0
i2 i 2 i 2

Thus we can arrange the cylinders of a multicylinder reciprocating

engine to satisfy Eq 9.78, 9.79, 9.82 and 9.83
The engine will be completely balanced against the inertia forces

and moments.

9.7
Control of Vibration

9.7
9.7 Control of Vibration
• Some import methods to control vibrations:

 Control ωn and avoid resonance under external excitations.
 Introduce damping mechanism to prevent excessive response of
system
 Use vibration isolators to reduce transmission of excitation
forces from one part of the machine to another
 Add an auxiliary mass neutralizer or vibration absorber to reduce
response of system

9.8
Control of Natural Frequencies

9.8
9.8 Control of Natural Frequencies
• Resonance Large displacements large strains and stresses

failure of system
• Often the excitation frequency cannot be controlled.
• Hence must control natural frequency by varying mass m or

stiffness k to avoid resonance.
• Practically mass cannot be changed easily.
• Hence we change stiffness k by altering the material or number and

location of bearings.

9.9
Introduction of Damping

9.9
• System may be required to operate over a range of speed, hence

cannot avoid resonance
• Can use material with high internal damping to control the

response.
• Can also use bolted or riveted joints to increase damping.
• Bolted or riveted joints permit slip between surfaces and dissipate

more energy compared to welded joints.
• However they also reduce stiffness of structure, produce debris and

cause fretting corrosion.

• Equation of motion of 1-DOF system with internal damping under

excitation:
mx  k 1  i  x  F0e it
where loss factor  

 W / 2 
W
Energy dissipated during 1 cycle of harmonic displacement/radian

Maximum strain energy in cycle
• Amplitude of response at resonance:

F0 F
 0 , a  constant
k aE

• Viscoelastic materials have larger values of η and are used to

provide internal damping.
• Disadvantage is their properties change with temperature,

frequency and strain.
• Sandwich viscoelastic material between elastic layers – Constrained

layer damping
• Material with largest η will be subjected to the smallest stresses.

9.10
Vibration Isolation
9.10
• Insert isolator between vibrating mass and vibration source to

reduce response
• Passive isolators: springs, cork, felt etc.
• E.g. Mounting of high-speed punch press

• Active isolator comprised of servomechanism with sensor, signal

processor and actuator.
• Effectiveness given in terms of transmissibility Tr which is the ratio

of amplitude of the transmitted force to that of the exciting force
• 2 types of isolation situations:

 Protect base of vibrating machine against large unbalanced or
impulsive forces
 Protect system against motion of its foundation

• Protect base of vibrating machine against large unbalanced or

impulsive forces
Fi  t   kx t   cx  t 
• Protect system against motion of its foundation
Fi  t   mx t   k  x t   y  t    c x  t   y  t  

• Vibration Isolation System with Rigid Foundation
Resilient member placed between vibrating machine and rigid

foundation
Member is modeled as a spring k and a dashpot c as shown:

Reduction of force transmitted to foundation:

Equation of motion: mx  cx  kx  F0 cos t
Steady state solution: x t   X cos t   

F0  c 
where X  and   tan 1  2 
2
 k  m  2
  2c 2  k  m 
Force Ft transmitted to the foundation:

Ft  t   kx t   cx  t   kX cos t     cX sin  t   
Magnitude of total transmitted force FT:
F0 k 2   2 c 2
FT   kx  2
  cx   X k   c 
2 2 2 2
 k  m 
2 2
  2c 2

FT k 2   2c 2
Transmissibility Tr  
F0  k  m  2 2
  2c 2
1   2r 
2

 where r 
1  r    2r 
2 2 2
n
Following graphs shows the variation of Tr with r.


Reduction of force transmitted to mass:
mz  cz  kz  my where z  x  y
Displacement transmissibility
1   2r 
2
X
Td  
Y 1  r    2r 
2 2 2
Td is also the ratio of the maximum steady-state accelerations of

the mass and the base.

• Isolation of Source of Vibration from Surroundings

1
Tr  2 for r  2 and small 
r 1
 2N  st 2 R
By defining r    where R  1  Tr
n 60 g 1 R
30 g  2  R  2R
N    29 .9092
  st  1  R   st 1  R 


Reduction of force transmitted to foundation due to rotating

unbalance
Excitation force: F  t   F0 sin t  me 2 sin t

FT FT FT
Force transmissibility: Tr   
F0 me 2
mer 2n2
1   2r 
2
FT
 r 2
men2 1  r    2r 
2 2 2

• Vibration Isolation System with Flexible Foundation
If the foundation moves, the system has 2 DOF
Equations of motion: m1 x1  k  x1  x2   F0 cos t

m2 x2  k  x2  x1   0
Assuming solution of the form xj=Xjcosωt, j=1,2
X 1  k  m1 2   X 2 k  F0
 X 1k  X 2  k  m2 2   0

Natural frequencies given by roots of

k  m   1
2
k
0
k k  m  2
2
  0, 
2 2

 m1  m2  k
1 2
m1m2
Amplitude of m1 at steady-state:

k  m  F 2
2
0
X1
 k  m   k  m    k 
1
2
2
2 2

Amplitude of m2 at steady-state:
kF0
X2 
 k  m   1
2

k  m2 2  k 2 
Force transmitted to structure:
 m k 2
F0
Ft  m 2  X 2 
2 2

k  m1 2 k  m2 2  k 2   

Transmissibility of isolator:
Ft  m2 k 2
Tr  

F0  k  m1 2  k  m2 2   k 2 
 
 
1 m2  1 
 
 m1  m2 m1  m1  m2   2
2 
   1 2 
 m2 k   2 
where ω2 is the natural frequency of the system
Ft decrease as ω2 decrease

Example 9.4
Spring Support for Exhaust Fan
An exhaust fan, rotating at 1000rpm, is to be supported by 4 springs,

each having a stiffness of K. If only 10% of the unbalanced force of
the fan is to be transmitted to the base, what should the value of K?
Assume the mass of the exhaust fan to be 40kg.

Example 9.4
Solution
Transmissibility = 0.1
2
  
1   2 
  n 
0.1  2
    2   
2
1       2 
  n    n 
1000  2
Forcing frequency    104.72 rad/s
60

Example 9.4
Solution
k 4K K
Natural frequency: n   
m 40 3.1623
Assuming ζ=0, 0.1  1

  104.72  3.1623  2 
1    
  K  
331.1561
To avoid imaginary values,  3.3166 or K  9969.6365 N/m
K

Example 9.6
Isolator for Stereo Turntable
A stereo turntable, of mass 1kg, generates an excitation force at a

frequency of 3Hz. If it is supported on a base through a rubber mount,
determine the stiffness of the rubber mount to reduce the vibration
transmitted to the baes by 80%.

Example 9.6
Isolator for Stereo Turntable
Solution
Using N=3x60=180 cpm and R=0.8,

2  0.80
180  29.9092 or  st  0.1657m
 st 1  0.80
mg
 st 
k
1 9.81
0.1657  or k  59.2179 N/m
k

Example 9.8
Isolation from Vibrating Base
A vibrating system is to be isolated from its supporting base. Find the

required damping ratio that must be achieve by the isolator to limit
the transmissibility at resonance to Tr=4. Assume the system to have
a single degree of freedom.

Example 9.8
Isolation from Vibrating Base
Solution
1   2 
2
1 1
Setting ω=ωn, r
T  or     0.1291
2 2 Tr2  1 2 15

• Vibration Isolation System with Partially Flexible Foundation
Base of isolator is partially flexible is as shown.
Mechanical impedance of base:
Applied force of frequency 

Z   
Displacement

Equations of motion: m1 x1  k  x1  x2   F0 cost

k  x2  x1    x2 Z   
Harmonic solution: x j  t   X j cost , j  1,2

 k  Z    X 2

 k  Z     F0
X1
k  Z     k  m    km  
1
2
1
2
kF0
X2 
 
Z    k  m1 2  km1 2  
kZ    F0
Amplitude of transmitted force: Ft  X 2 Z    
  
Z    k  m1 2  km1 2 
Ft kZ   
Transmissibility of isolator Tr  
F0 
Z     k  m1 2   km1 2 
Z(ω) can be found experimentally by measuring the displacement

produced by a vibrator.

• Shock Isolation
Shock load is a force load applied for less than one natural time
period of the system
Impulse: F   F  t  dt
T
F
Velocity imparted to the mass, v 
m
i.e. application of shock load is equivalent to giving an initial
velocity to the system
Initial conditions: x 0   x0  0, x  0   x 0  v

• Shock Isolation
ve nt
Free vibration solution: x t   sin d t where d  1   2 n
d
Force transmitted to the foundation due to spring and damper:

Ft  t   kx t   cx  t 
v
Ft  t   2  k  c n  2   cd  2 e  t sin  d t   
n
d
 cd 
where   tan  
1
 k  c n 

Example 9.11
Isolation Under Shock
An electronic instrument of mass 20kg is subjected to a shock in the

form of a step velocity of 2m/s. If the maximum allowable values of
deflection (due to clearance limit) and acceleration are specified as
20mm and 25g respectively, determine the spring constant of an
undamped shock isolator.

Example 9.11
Solution
Magnitude of velocity of mass: x max  Xn

Magnitude of acceleration of mass: x max  Xn where X is the
displacement amplitude
x x 2
X  max  0.02 or n  max   100 rad/s
n X 0.02
xmax 245.25
Xn2  25 9.81  245.25m/s 2 or n    110 .7362 rad/s
X 0.02
100 rad/s  n  110 .7362 rad/s
Example 9.11
Solution
Selecting the value of ωn as 105.3681,

k  mn2  20105.3681  2.2205  105 N/m
2

Example 9.12
Isolation Under Step Load
A sensitive electronic instrument of mass 100 kg is supported on

springs and packaged for shipment. During shipping, the package is
dropped from a height that effectively applied a shock load of intensity
F0 to the instrument, as shown below.

Example 9.12
Determine the stiffness of the springs used in the package if the

maximum deflection of the instrument is required to be less than 2
mm. the response spectrum of the shock load is shown below with F0
=1000 N and t0 = 0.1s.

Example 9.12
Solution
Response spectrum xmax k  1  1 21  cos 2nt0 

F0 n t0
k k
n    0.1 k
m 100
Making use of the known data, xmax k  1 
1000
1
0.1 k  0.1
   
2 1  cos 2 0.1 k  0.1 
2  k 
 
1000  1000 
100
k
 
2 1  cos 0.02 k  2 106 k  1  0
The root can be found by MATLAB.

• Active Vibration Control
An active vibration isolation system is shown below.

• Active Vibration Control
System maintains a constant distant between vibrating mass and

referee
Depending on the types of sensor, signal processor and actuator

used, the system can be electromechanical, electrofluidic,
electromagnetic, piezoelectric or fluidic.

9.11
Vibration Absorbers
9.11
• When the excitation freq coincides with the ωn, the system may
experience excessive vibration.
• Dynamic vibration absorber is another spring mass system

designed to shift ωn of the resulting system away from the
excitation freq.

• Undamped Dynamic Vibration Absorber
m1 x1  k1 x1  k 2  x1  x2   F0 sin t
m2 x 2  k 2  x2  x1   0

Assuming x j  t   X j sin t , j  1,2
Amplitude of masses:
X1  2  m 2k
 2
 F0
 k1  k2  m1 2  k2  m2 2   k22
k 2 F0
X2 
 k1  k2  m1 2  k2  m2 2   k22
We want to reduce X1. Thus set numerator of X1 to zero.
k2 k
2  ,  2  12  1
m2 m1
X1 and X2 can be rewritten as:

2
 
1   
X1  2 

 st  k   2     2  k
1  2     1      2
 k1  2     2   k1
X2 1

 st  k   2     2  k
1  2     1      2
 k1  2     2   k1

2 peaks correspond to 2 ωn of composite sys.

At X1=0, ω= ω1, k1 F0
X 2    st  
k2 k2
Size of absorber can be found from: k 2 X 2  m2 2 X 2   F0
Absorber introduces 2 resonant frequencies Ω1 and Ω2, at which the

amplitudes are infinite.
2
k 2 k 2 m2 m1 m2  2 
Values of Ω1 and Ω2 can be found by noting    
k1 m2 m1 k1 m1  1 


X1
Setting denominator of  0,
 st
 
4 2
 2    
2
  m    2 
       1  1  2  2    1  0
 2   1   2    m1  1  
2 roots of the equation:

2
  m    2
   m    2
 2
 1    2 
2
   1  1  2  2   1  1  2  2    4 

 2     m1  1     m1  1    1 
2
 2
 2    
   2 2 
 2    1 
Example 9.15
Vibration Absorber for Diesel Engine
A diesel engine, weighing 3000 N, is supported on a pedestal mount.

It has been observed that the engine induces vibration into the
surrounding area through its pedestal at an operating speed of 6000
rpm. Determine the parameters of the vibration absorber that will
reduce the vibration when mounted on the pedestal. The magnitude of
the exciting force is 250 N, and the amplitude of motion of the
auxiliary mass is to be limited to 2 mm.

Example 9.15
Vibration Absorber for Diesel Engine
Solution
6000
We have f   100Hz or   628.32 rad/s
60
Amplitude of motion of auxiliary mass is equal and opposite to that of

the exciting force. F0  m2 2 X 2
250  m2  628.32  0.002 

2
m2  0.31665 kg
k 2   2 m2   628.32   0.31665  125009 N/m
2

Example 9.16
Absorber for Motor-Generator Set
A motor-generator set shown below is designed to operate in the speed range

of 2000 to 4000 rpm. However, the set is found to vibrate violently at a speed
of 3000 rpm due to a slight unbalance in the rotor. It is proposed to attached
a cantilever mounted lumped mass absorber system to eliminate the problem.
When a cantilever carrying a trial mass of 2 kg tuned to 3000 rpm is attached
to the set, the resulting natural frequencies of the system are found to be
2500 rpm and 3500 rpm. Design the absorber to be attached (by specifying its
mass and stiffness) so that the natural frequencies of the total system fall
outside the operating speed range of the motor-generator set.

Example 9.16

Example 9.16
Solution k1 k2 m2
1  , 2  , 
m1 m2 m1
1  261.80 rad/s,  2  366.52 rad/s
1 261.80
r1    0.8333
2 314.16
 2 366.52
r2    1.1667
2 314.16
2
   
r12 , r22  1    1    1
 2  2
Example 9.16
Solution
 r14  1 
   2   2  0.1345
 r1 
m2
m1   14.8699 kg
0.1345
1  209.44 rad/s
1 209.44
r1    0.6667
2 314.16
Example 9.16
Solution
m2  m1  m1  0.6942  10.3227 kg

2
   
r  1    1    1  2.2497
2
2
 2  2
 2  4499.4 rpm, larger than the specified upper limit
k 2  22 m2   314.16 10.3227   1.0188 106 N/m
2

• Damped Dynamic Vibration Absorber
Amplitude of machine can be reduced by adding a damped vibration

absorber as shown.

Equations of motion
m1 x1  k1 x1  k 2  x1  x2   c2  x 1  x 2   F0 sin t
m2 x2  k 2  x2  x1   c2  x 2  x 1   0
x
Assume solution: j  t   X j e it
, j  1,2
Steady-state solutions:
X1 

F0 k 2  m2 2  ic2 
 k  m  
1 1
2
  
k 2  m2 2  m2 k 2 2  ic2 k1  m1 2  m2 2 
X 1  k 2  ic2 
X2 
 k 2  m2 2  ic2 
  m2 / m1  Mass ratio  Absorber mass/main mass

 st  F0 / k1  Static deflection of the system
a2  k 2 / m2  Square of natural frequency of absorber
n2  k1 / m1  Square of natural frequency of main mass
f  a / n  Ratio of natural frequencies
g   / n  Forced frequency ratio
cc  2m2n  Critcial damping constant
  c2 / cc  Damping ratio

X1

 2g  2

 g f
2

2 2
 st  2g  2  g 2  1  g 2  2   f 2 g 2   g 2  1 g 2  f 2 2

X2

 2g  2  f 4
 st  2g  2  g 2  1  g 2  2   f 2 g 2   g 2  1 g 2  f 2 2

If c2=ζ=0, resonance occurs at 2 undamped resonant frequencies
If ζ=∞, m2 and m1 are clamped together and system behaves as 1-

DOF system. Resonance occurs at
 1
g   0.9759
n 1 
All curves intersect at pt A and B which can be located by
 1  f 2  f 2  2 f 2
g  2 g 
4 2
  0
 2   2
The most efficient absorber (tuned vibration absorber) is one where

pts A and B coincides.
Make curve horizontal at either A or B.
Set slope =0 at A and B:

  
 3  
  2
2   for point A
81   
3
  
 3  
  2
 
2
for point A
81   
3

Average value of ζ2 used in design:
3
 2

81   
optimal 3
 X1   X1  2
   
    1
  st  optimal   st  max 

Vibration Chapter09

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Vibration Chapter09

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Mechanical Vibrations

Fifth Edition in SI Units

3 © 2011 Mechanical Vibrations Fifth Edition in SI Units

4 © 2011 Mechanical Vibrations Fifth Edition in SI Units

5 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Vibration leads to wear of machinery and discomfort of humans,

• Designer must compromise between acceptable amount of vibration

• We shall consider various techniques of vibration control in this

6 © 2011 Mechanical Vibrations Fifth Edition in SI Units

7 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Vibration nomograph displays the variations of displacement,

• Harmonic motion: x t   X sin t

• Velocity: v t   x  t   X cos t  2fX cos t

• Acceleration: a  t   x t    2 X sin t  4 2 f 2 X sin t

8 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Taking log of Eq. 9.3 and Eq. 9.4:

• When amax is constant, ln vmax varies linearly with ln(2πf)

• This is shown as a nomograph in the next slide.

• Every pt on the nomograph denotes a specific sinusoidal vibration.

9 © 2011 Mechanical Vibrations Fifth Edition in SI Units

10 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Vibration severity of machinery is defined in terms of the root mean

• Vibration severity of whole building vibration (ISO DP 4866)

• Vibration limits for human (ISO 2631)

11 © 2011 Mechanical Vibrations Fifth Edition in SI Units

12 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Mass = m = 1000/9.81 = 101.9368 kg

13 © 2011 Mechanical Vibrations Fifth Edition in SI Units

vmax  2fX  2  5 0.3616   9.0887 mm/s

At 4 Hz, the amplitude of 0.3616 mm may not cause much discomfort.

14 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Either use softer material for seat or increase mass of seat.

15 © 2011 Mechanical Vibrations Fifth Edition in SI Units

16 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Try to alter the source so that it produces less vibration

• E.g. balance rotating or reciprocating machines, use close

17 © 2011 Mechanical Vibrations Fifth Edition in SI Units

18 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Unbalanced mass in rotating disc will cause vibration.

• Can be eliminated by removing the unbalanced mass or adding

• Need to determine the amount and location of the eccentric mass

• We shall consider 2 types of balancing: single-plane balancing and

19 © 2011 Mechanical Vibrations Fifth Edition in SI Units

When center of mass is displaced from the axis of rotation, the

20 © 2011 Mechanical Vibrations Fifth Edition in SI Units

If the disc is unbalanced, the markings will coincide (static

Static unbalance can be corrected by removing material at the

Amount of unbalance can be found by rotating the disc at a known

21 © 2011 Mechanical Vibrations Fifth Edition in SI Units

If the unbalanced mass m is located at radius r, the centrifugal

22 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Another method for single-plane balancing uses a vibration analyzer

23 © 2011 Mechanical Vibrations Fifth Edition in SI Units

A marking on the rotor will appear stationary but positioned at an

The amplitude Au caused by the unbalance is also noted by the

Construct vector diagram:

25 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Original unbalance is at angle α from position of trial weight.

26 © 2011 Mechanical Vibrations Fifth Edition in SI Units

If rotor is as shown, unbalance can be anywhere along the length

Can be balanced by adding weights in any 2 planes, most common

27 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Consider a rotor with unbalanced mass as shown: