Presented by:- Dr.

Pravesh Kumar
Department of Mechanical Engineering
School of Engineering &Technology
Dehradun Institute of Technology University,
Dehradun, Uttarakhand, India.
 Introduction

• When elastic bodies such as springs, beams or shafts are

displaced from mean position by application of external forces, and
then released they execute vibrations.

• This is due to the reason that, when a body is displaced, the internal
forces in the form of elastic or strain energy are present in the
body. At release, these forces bring the body to original position.
Introduction- Vibratory Systems

When the body reaches the equilibrium position, the whole of the
elastic energy is converted into kinetic energy due to which the
body moves in opposite direction.

The whole kinetic energy is again converted into strain energy due
to which the body again returns to the equilibrium position. In this
way, the vibratory motion is repeated indefinitely (Ideally !!).
Types of Vibrations

According to actuating Force

1. Free or Natural Vibrations: When no external force acts on

the system- Frequency of the vibration is called as Natural
Frequency

2. Forced Vibrations: When body vibrates under the influence

of external force- Frequency of the vibration is same as that of
applied force
Types of Vibrations

Damped Vibrations

When there is continuous reduction in amplitude over every

cycle of vibration

This is due to the fact that certain amount of energy is

dissipated in overcoming the frictional resistances in the
motion.
Equation of Motion

Damped Free Vibrations

Elongation or reduction in length x is related to the applied force

F as

The viscous damping force F is proportional to the velocity

he application of Newton s law yields the equation of motion

Equation of Motion

Solution
We assume a solution in the form:

Substituting in equation of motion: (Characteristic Equation)

Roots:

General Solution:
Non-Dimensional Parameters

Critical Damping

The critical damping cc is defined as the value of the damping

constant c for which the radical becomes zero

For any damped system, the damping ratio is defined as

Nature of Roots and Solution

Underdamped System
Roots are imaginary

Solution:

The motion is a damped harmonic motion of angular frequency

Only oscillatory case !!!

Nature of Roots and Solution

Critically Damped System

Roots are equal

Solution:

The motion is aperiodic

Overdamped System
Roots are real and distinct

Solution:
Comparison of Motions With Different Types of Damping
Application

Electric furnace, Robotic Manipulator etc.

Reference
Rao S. S., Mechanical Vibrations, Prentice Hall, New York., 2010.