18MEC201T - Machines and

Mechanisms
Unit-4: Torsional Vibration of single, two and three rotor
systems for equivalent and Geared systems

1. Torsional system with viscous damping

2. Torsional Vibration of Two Rotor and three rotor Systems
3. Torsional Vibration of Geared Systems with Two and Three rotor
System
4. Tutorials on Torsional Vibration of Two Rotor and three rotor
Systems
KR. Arun Prasad
Assistant Professor (Selection Grade)
Department of Mechanical Engineering
arunprak@srmist.edu.in
+91 9840682984
 Torsional Vibration – Single Degree of
Freedom Systems

 Consider a shaft carrying a flywheel at its end. The weight of

the shaft is negligible compared to that of flywheel. All
particles of the flywheel are free to oscillate/vibrate along
circular arcs, whose centres lie on the axis of shaft. This is
termed as torsional vibration

 When an initial displacement or an

initial velocity is provided to the
mass, the mass will oscillate to and
fro the mean position in a successive
number of cycles. In short, it executes
simple harmonic motion (SHM).
 Torsional Vibration – Single Degree of
Freedom Systems

Consider a shaft of negligible mass whose one end is fixed

and the other end carrying a disc as shown in fig.
Torsional Vibration – Single Degree of
Freedom Systems
Torsional Vibration – Single Degree of
Freedom Systems
 Torsional Vibration – Single Rotor Systems

A flywheel is mounted on a vertical shaft as shown in figure.

Both ends of the shaft are fixed and its diameter is 50 mm.
The flywheel has a mass of 500 kg and its radius of gyration
is 0.5 m. Find the natural frequency of torsional vibrations,
if the modulus of rigidity for the shaft material is 80 GN/m2
Torsional Vibration – Single Rotor Systems
Torsional Vibration – Single Rotor Systems
 Torsional Vibration – Single Rotor
Equivalent Systems

Problem: A shaft is 50 mm diameter for 200 mm length and

75 mm diameter for the remaining 600 mm length. Its one
end is fixed and the other end carries a flywheel of mass 500
kg and of radius of gyration is 0.5 m. Determine the
frequency of free torsional vibrations. Take G = 0.8 x 10 5
N/mm2.
 Torsional Vibration – Single Rotor
Equivalent Systems

Solution:
To find equivalent shaft of uniform diameter
Angle of twist between AB = Angle of twist for +Angle of twist for
𝑇 𝜏 𝐺𝜃 𝑇𝑙
From Torsion equation: = = ∴ 𝜃=
𝐺𝐽
𝐽 𝑟 𝑙
𝑙 Polar Moment of Inertia
Angle of twist under unit torque: 𝜃=
𝐺𝐽 𝜋 𝑑4
𝐽=
𝑙3 𝑙2 32
Total Angle of twist 𝑙
𝜃 =𝜃1 +𝜃 2 = +
𝐺𝐽 𝐺 𝐽 1 𝐺 𝐽 2
𝑙 𝑙1 𝑙2
( ) ( )
𝑑 4 4
= 4+ 4 𝑑
4 𝑙=𝑙1 +𝑙 2
𝑑 𝑑1 𝑑 2 𝑑1 𝑑2
 Torsional Vibration – Single Rotor
Equivalent Systems

Let, Assume equivalent shaft diameter

( ) ( )
50 4
4
𝑑1
∴ 𝑙= 𝑙1+ 𝑙2 ¿ 200+600 =318.52 𝑚𝑚
𝑑2 75
Natural frequency of Torsional vibration

√
1 𝑞 5 𝜋 4
0.8 × 10 × × 50
𝑓 𝑛= 𝑞=𝑇𝑜𝑟𝑠𝑖𝑜𝑛𝑎𝑙 𝑠𝑡𝑖𝑓𝑓𝑛𝑒𝑠𝑠 =
𝐺𝐽
=
32
2𝜋 𝐼 𝑙 318.52

2 2 2 ¿ 154.11× 103 𝑁 −𝑚 /𝑟𝑎𝑑

𝐼 =𝑚 𝑘 =500 × 0.5 = 125 𝑘𝑔− 𝑚

√
𝟑
𝟏 𝟏𝟓𝟒.𝟏𝟏×𝟏𝟎
∴ 𝒇 𝒏= =𝟓.𝟓𝟖𝟖 𝑯𝒛
𝟐𝝅 𝟏𝟐𝟓
Torsional vibration of Two Rotor System –
Natural frequencies, Node position and
Mode shapes

(Source: Internet)
Torsional Vibration – Two Rotor Systems
 Two rotor system – Torsional vibration
• Figure 1 shows two discs (or
rotors) mounted on an
elastic/flexible shaft
• Polar mass moments of inertia
of the rotors are I1 and I2 kg-m2
• Stiffness of the shaft is k N- Figure 4. Torsional vibration of
m/rad two rotors on an elastic shaft
(Source: Mechanical Vibrations by Den
• Harmonic forcing is applied on Hartog)

disc 1 is T0 Sin(ωt) N
How many Degrees of Freedom (DoFs) does the system
have?
Each rotor can assume a position independent of the
other disc, by twisting the elastic shaft. So, the system
 Degrees of Freedom & Twist of shaft
• Figure 5 shows the DoFs. Assume positive convention as CW
(clock wise) angular displacement of discs when viewed from left.

Figure 5. Two DoF rotor system

• Choose either θ1 > θ2 (or) θ2 > θ1 . Irrespective of whichever

choice, we will end up with the same system equations of motion
• Let θ2 > θ1 (say θ1 = 20 and θ2 = 40). Imagine starting from 00; till
both θ1 and θ2 reach 20, there will not be any twist in the shaft
(relative displacement between two discs is zero). After reaching
20, θ1 is virtually fixed, and with respect to this, θ2 will rotate by
additional 20. This will create a twist in the shaft of 20 in the CW
direction.
 Twisting torque and Reaction torque
• The angle of twist in the shaft is given by θ2 - θ1
• So, Twisting torque acting on the elastic shaft is T = kt
x (θ2 - θ1) . The twist is in the CW direction
• So, the reaction couple(shown in bold in figure) as per
Newton’s third law will be of the same magnitude kt x
(θ2 - θ1), but in opposite direction (CCW). This is
shown in Figure 6.
Figure 6. Reaction torque due
to shaft twisting acting on the
discs
 Natural frequency and Mode shapes
• The twisting torque (Figure 6) is such that, the two
rotors oscillate in opposite directions, i.e., if A
oscillates in clockwise direction, then, B oscillates in
counter clockwise direction. They reach their
maximum deflections at the same instant and return
back to the mean position at the same instant. So, the
mode shape is represented as shown
Figure 7. (a)Free torsional
vibration of a two rotor system
(b) Mode shape
(Source: Theory of Machines, R.S. Khurmi
and J.K. Gupta)

- Mode shape
 Description of Mode shape
• a1 is the amplitude of oscillation occurring at rotor A,
at any given time instant
• a2 is the amplitude of oscillation occurring at rotor B,
at the same time
• Note from mode shape that the oscillations at A and
oscillations at B are in opposing directions (or) out of
phase. This corresponds to twisting or torsional
vibration
• So, in between the rotors there occurs a point of zero
vibration displacement, which is called as node
• lA is the distance of node from rotor A, lB is the
distance from rotor B (these are the node positions)s
 Natural frequency via Mode shape
• Figure 7: from mode shape it is observed that during
vibration, the two DoF system behaves as two Single
DoF systems l1 and l2 supported at node N
• As we know, the natural frequency for torsional
vibration of a single DoF system is written as
1 ktA 1 GJ
fA   Hz Eq. 6
2 I A 2 l A I A
1 ktB 1 GJ
fB   Hz Eq. 7
2 I B 2 lB I B
• But as a whole, the system vibrates with single natural
frequency, so fA = fB
 Natural frequency and Position of Node
• By equating these two equations, node position
condition can be obtained as
l A I A  lB I B Eq. 8
IB
lA  l Eq. 9
I A  IB
lB  l  l A Eq. 10

• So, natural frequency is found either from fA or fB

• Substituting lA from Eq.9 into Eq. 6 , we get
1 GJ 1 kt  I A  I B 
fA   Hz
2  IB  lI 2 I AI B
 I I  A Eq. 11
 A B
 Amplitude of oscillation

Absolute amplitude of oscillations cannot be obtained,

but amplitude ratios of the oscillation amplitude can be
obtained. For, this use the property of similar triangles
From similar triangles in mode shape: (a1/lA) = (a2/lB)
So, a1/a2 = lA / lB Eq. 12

If a2 = 1, corresponding a2 can be obtained

Torsional Vibration – Two Rotor Systems
Torsional Vibration – Two Rotor Systems
Torsional Vibration – Two Rotor Systems
Torsional Vibration – Two Rotor Systems
Torsional Vibration – Two Rotor Systems
Torsional Vibration – Two Rotor Systems
 Equivalent shaft length
4 4
 d1   d1 
l  l1  l2    l3   Eq. 19
 d2   d3 
• Tutorial Problem – 2
• A steel shaft 1.5 m long is 95 mm in diameter for the first 0.6
m of its length, 60 mm in diameter for the next 0.5 m of its
length and 50 mm in diameter for the remaining 0.4 m of its
length. The shaft carries two flywheels at its ends, the first
having a mass of 900 kg and radius of gyration located at the
95 mm diameter end. The second flywheel has a mass of 700
kg and radius of gyration 0.5 m located at the other end.
Determine the location of the node and the natural frequency
of free torsional vibration of the system. The modulus of
rigidity of the shaft material may be taken as 80 GN/m2
• Given: Shaft length, L = 1.5 m. Shaft dia and length
• d1 = 95 mm, l1 = 0.6 m
• d2 = 60 mm, l2 = 0.5 m
• d3 = 50 mm, l3 = 0.4 m
• Fly wheel mass at left end, mA = 900 kg
• Radius of gyration of fly wheel, kA = 0.85 m
• Fly wheel mass at right end, mB = 700 kg
• Radius of gyration of fly wheel, kB = 0.55 m
• Rigidity modulus, G = 80x109 N/m2
 ϕ 95 mm ϕ 60 mm ϕ 50 mm

0.6 m 0.5 m 0.4 m

A B

• Step 1: Let us convert the stepped shaft in to an

equivalent shaft of diameter d = d1 = 95 mm
• So, equivalent shaft length,
4 4
•  d1   d1  = 8.96 m
l l l
1 2   l 3  
 d2   d3 
• Step2: Find the Location of Node using Eq. , Eq.
• Mass MOI, I A  mAk A2  650.25 kg  m 2
• I  m k 2  211.75 kg  m 2
B B B

• Node locations l A  IB
l = 2.2 m
I A  IB
• lB  l  l A = 6.76 m
• So, the node is located at 2.2 m from flywheel A or
6.75 m from flywheel B on the equivalent shaft
• Step 3: Find the Location of Node on the original
stepped shaft
• First we note that on equiv shaft, lA = 2.2 m (from
flywheel A)
• Now, we draw the equivalent shaft and its mode
shape. For drawing mode shape, let us assume rotor A
is oscillating CW (+ve) and rotor B is oscillating CCW (-
ve)

ϕ 95 mm

l = 8.96 m

Mode shape
Diagram
+a1
N - Node
N Mean
-a2 position
lA lB
• Equiv. shaft l is made of three segment lengths:
• l1 = 0.6 -> corresponds to same l1 in original shaft
• l2(d1/d2)4 = 3.14 -> corresponds to l2 in original shaft
• l3(d1/d3)4 = 5.21 -> corresponds to l3 in original shaft
• As lA = 2.2 m , the position of A corresponds to l2 in
the original shaft, Let l2’(d1/d2)4 = 2.2 – (0.6) = 1.6 m on
the equivalent shaft. So, finding l2’ we can obtain the
position of node on4 the original shaft
' d1 
l    1.6
2
 d2 
4
'  d2 
l  1.6     0.255m
2
 d1 
• So, Node position on original shaft = 0.6+0.255
• Node position from flywheel A = 0.855 m
• Node position from flywheel B = 0.645 m
• Step 4: Natural frequency of system is given using
Eq.
1 GJ 1 GJ
fA   Hz
• 2  IB  lI 2 lAI A
 I I  A
 A B

• Substituting, we get, fA = 3.37 Hz

• (Note: position of node in original shaft is not
required for natural frequency calculation)
Torsional vibration of Geared System – Natural
frequencies, Node position and Mode shapes

(Source: Internet)
 Geared system – Equivalent system
• For analysis of torsional vibration of a geared system, it has to be
reduced in to an equivalent system with single shaft and two rotors.
• Reduction of geared rotor system to an equivalent single shaft system:
• The reduction of geared rotor system to an equivalent single shaft
system can be done, with the following assumptions:
– No backlash in gearing
– The gears are rigid (no deformation due to tooth loads)
– Inertia effects of shafts and gears are negligible (gear inertia
considered later)
• Conditions to be satisfied by an equivalent shaft system
– The strain energy of the equivalent system must be equal
to strain energy of actual geared system (C1)
– The kinetic energy of the equivalent system must be equal
to kinetic energy of actual geared system (C2)
Geared system – Equivalent system
Figure 9. Geared rotor system
showing the shafts of lengths l1,
l2 and diameters d1, d2. The gear
ratio can be chosen as i
(Source: Theory of Machines, R.S. Khurmi
and J.K. Gupta)

Figure 10. Equivalent single shaft

system with two rotors (solid
lines). l2 is replaced with l3 and
rotor B is replaced with B’. The
third rotor (in dashed lines)
represents the case when inertia
of the gears is not negligible
(discussed at the end)
(Source: Theory of Machines, R.S. Khurmi
and J.K. Gupta)
 Angle of twist
• Angle of twist in the geared system can be found by
applying a torque at A; fixing B and measuring the twist
• Angle of twist in A relative to B = Angle of twist in A
relative to pinion E + Angle of twist in pinion E relative
to rotor B
• The angle of twist in a shaft is related to Torque as:
• Angle of twist in a shaft segment = Torque acting /
Torsional stiffness of the shaft segment
• Shaft of length l2:
• (i) Torque acting in shaft l2 due to T0 applied at rotor A = i T0
(shows Torque is being increased/multiplied).
N1 1 T2 1 / t 1t
Gear ratio,
s i      Eq. 20
N2 2 T1 2 / t  2t
 Angle of twist ..
• (ii) Angle of rotation in driven gear F (θ2) = Angle of
twist in shaft l2 relative to rotor B = (i T0) / kt2 = (i T0) /
(GJ2 / l2) = (i T0 l2) / (GJ2)
• Angle of rotation in pinion gear E (θ1) = i θ2 = (i2 T0 l2)
/ (GJ2)
• Angle of twist at E relative to rotor B = Eq. 21
(i2 T0 l2) / (GJ2)
• Shaft of length l1:
• (iii) Torque acting in shaft l1 = T0
• (iii) Angle of twist in A relative to pinion E = Eq. 22
T0 / (G J1 / l1) = (T0 l1) / (G J1)
 Equivalent shaft length
• Therefore,
• Angle of twist in A relative to B = ((i2 T0 l2) / (GJ2)) +
((T0 l1) / (G J1)) Eq. 23

• On further simplification, using J = πd4 / 32 , we get

• Angle of twist in A relative to B =
4
T0   d   T
l
1  i 2
l 2
1
   0
l1  l3 Eq.24
GJ1   d 2   GJ1
 
• l3 is length of equivalent shaft segment of diameter
d1 which is torsionally equivalent to shaft segment of
length l2 and diameter d2 , when the gearing is
removed
 Equivalent shaft length4 (C1)
2  d1 
• Equivalent of l2 shaft lengthl3  i l2   Eq. 25
 d2 
• If l3 satisfies this equation, then maximum strain energy
stored in the single shaft system will be equal to the
maximum strain energy stored in the geared system for
equal amplitudes of oscillation of rotor A in the two systems

• l3 can also be obtained by applying condition 1 for reducing

to an equivalent shaft, as shown next in the sequence of
steps.
• Strain energy of shaft segment l2 = Strain energy of
equivalent shaft segment l3
1 1
kt 2 22  kt 3 32
2 2
1 1
Tt 2 2  Tt 3 3
2 2
1 1
iT0 2  T0 3
2 2
1  T0l2  1  T0l3 
iT0  i   T0  
2  GJ 2  2  GJ 3 
   
1  T0l2  1  T0l3 
iT0  i   T0   Eq. 26
2    d 2   2    d1  
4 4

 G 32   G 32 
     
2 l2 l3
i 4 4
d 2 d1

4
2  d1 
l3  i l2  
 d2 
 Equivalent rotor inertia (C2)
• Now that condition 1 is satisfied, we have to satisfy
condition 2.
• Kinetic energy of the geared system = Kinetic energy of the
equivalent single shaft segment
• Kinetic energy of shaft segment l2 = Kinetic energy of shaft
segment l3
1 1
I B22  I B12 The single shaft system is therefore
2 2
equivalent to the geared system if the
1 12 1
I B 2  I B12 additional length of the shaft l3
2 n 2 2
l i l
d 4

satisfies the equation3 2

d and
4
2

IB inertia of rotor B’ satisfies the

Eq. 27 I
I B  2 equation I  i
B
B

i 2
 Actual mode shape due to gearing
a1Nf’b’ : Mode
shape
corresponding to
equivalent shaft
system with two
rotor

a1Nfb : Mode
shape
corresponding to
geared system
with two rotors

(pf’/pf)=(qb’/qb) = i

a1
Figure 11 Actual mode
p q shape
f Modified from (Source: Theory of
f’ b aMachines,
2 R.S. Khurmi and J.K.
Gupta)
 Torsional Vibration – Geared Systems

Assumptions:
(i) The gear teeth are rigid and are always
in contact.
(ii) There is no backlash in the gearing.
(iii) Inertia of shafts and gears is negligible

𝐺=𝐺𝑒𝑎𝑟 𝑟𝑎𝑡𝑖𝑜𝑛=𝜔 𝐴 / 𝜔 𝐵
 Torsional Vibration – Geared Systems

Conditions for equivalent System:

(i) The kinetic energy of the equivalent
system must be equal to the Kinetic
energy of the original system.
(ii) The strain energy of the equivalent
system must be equal to the strain energy
of the original system. (Two rotor
system)
Case – 1: 𝐾𝐸𝑙 + 𝐾𝐸 𝑙 =𝐾𝐸 𝑙 + 𝐾𝐸 𝑙1 3 1 2

∴ 𝐾𝐸 𝑙 =𝐾𝐸𝑙 3 2

1 2 1 2
𝐼
2 𝐵
(𝜔𝐵 ′ ′ ) =
2
𝐼 𝐵 ( 𝜔𝐵)

( ) ( )
2 2
𝜔𝐵 𝜔𝐵
∴ 𝐼 𝐵 =𝐼 𝐵 ×
′ =𝐼 𝐵 ×
𝜔𝐵 ′ 𝜔𝐴 𝑰𝑩
𝑰 𝑩=
𝐼𝑛𝑒𝑞𝑢𝑖𝑣𝑎𝑙𝑒𝑛𝑡 𝑠𝑦𝑠𝑡𝑒𝑚 , 𝜔 𝐵 =𝜔 𝐴
′
𝟐
′ 𝑮
 Torsional Vibration – Geared Systems

Case – 2: 𝑆𝑡𝑟𝑎𝑖𝑛 𝐸𝑛𝑒𝑟𝑔𝑦 𝑜𝑓 𝑙1 𝑎𝑛𝑑 𝑙3 =𝑆𝑡𝑟𝑎𝑖𝑛 𝐸𝑛𝑒𝑟𝑔𝑦 𝑜𝑓 𝑙1 𝑎𝑛𝑑 𝑙2

1 1
×𝑇 3 × 𝜃 3= × 𝑇 2 × 𝜃2
2 2
𝑇 3 𝜃2
∴ =
𝑇 2 𝜃3

Assuming that the power transmitted

in the sections is same.

𝑇 3 × 𝜔 𝐴=𝑇 2 ×𝜔 𝐵

𝑇 3 𝜔𝐵 𝜃 2 1
∴ = = =
𝑇 2 𝜔 𝐴 𝜃3 𝐺
Torsional Vibration – Geared Systems
Torsional Vibration – Geared Systems
 Need for Equivalent shaft with
three rotor system
• When the inertia of the gearing is not negligible,
there must be an additional rotor on the equivalent
single shaft system to allow for the inertia of the pinion
and the gear wheel. Its inertia will be given by the
equation. Here, Ip is the inertia of the pinion and Ig is the
inertia of the gear.
Ig
I  I p  2
i

• Then, the equivalent shaft system becomes three rotor

system, for which analysis is presented in next section
Torsional vibration of Three Rotor System – Natural frequencies, Node position
and Mode shapes

System
undergoing
torsional
vibration

Mode shape - 2

Mode shape – 1 a1
When a2
N1 Figure 12. Three rotor
outermost lA a3 system
rotors oscillate Modified from (Source: Theory of
lC Machines, R.S. Khurmi and J.K.
out-of-phase
Gupta)
 Natural frequencies
• Since it is a three degrees of freedom system, with
free-free boundary conditions (semi-definite system),
there will be two natural frequencies
• Corresponding to two natural frequencies there will be
two mode shapes (Figure 12).
• In Mode shape-1, two outermost rotors will oscillate
out-of-phase, while the middle rotor will be in-phase
with any one of other two rotors. As a result, a single
node N1 will occur in this system
• In Mode shape-2, two outermost rotors will oscillate
in-phase, while the middle rotor will be out-phase with
both of the other rotors. So, there will occur two nodes
 Natural frequency of Mode shape -1

Natural frequency of mode-1 can be obtained by

treating the rotor C as single DoF torsional system
clamped at Node N1 1 GJ
fC  C
Hz Eq. 29
2 I C lC

Natural frequency of mode-2 is discussed in the next

slide
 Natural frequency of Mode shape -2

N.F. of rotor A , rotor C and rotor B can be found by

treating the system as 3 separate single DoF systems,
clamped at N1 and N2 1 ktA 1 GJ A Eq. 30
fA   Hz
2 IA 2 I Al A
1 GJ C
fC  Hz Eq. 31
2 I C lC
1 ktB Eq. 32
fB  Hz
2 IB
In next slide, we discuss how to find ktB
 Natural frequencies ..
B
ktB1 ktB2 Figure 13. Natural
frequency of rotor B

l1-lA l2-lC

• The torsional stiffness of the shaft associated with rotor B

is ktB and is written as
• ktB = ktB1 + ktB2 (as the
GJ
stiffness
GJ
are in parallel condition)
ktB  
l1  l A l2  lC
1 GJ  1 1 
fB     Hz Eq. 33
2 I b  l1  l A l2  lC 

• Eqs 22, 23 and 24 imply f A = f B = fC

 Position of Nodes
IC
• From fA = fC, we get l A  lC
IA
• From fB = fC, we get Eq. 34

1 1 1 1 
    Eq. 35 Figure 14. Position of virtual
I C lC I B  l1  l A l2  lC  node
• Solving these two Equations, we get two roots of lc and
corresponding two values of lA
• One pair of (lA, lc) gives position of 2 nodes in mode
shape-2
• Other pair of (lA, lc) gives position of 1 virtual node in
mode shape -1
• Thus node positions can be found out
 Amplitudes of oscillations
• For mode shapes, absolute amplitudes cannot be
found out. Only amplitude ratios can be obtained
using the property of similar triangles

Position of virtual node

From similar triangles (a1 / lA) = (a2 / (lA-l1)) Eq. 36

From similar triangles (a3 / lC) = (a2 / (l2-lC)) Eq. 37

 Amplitudes of oscillations

From similar triangles (a1 / lA) = (a2 / (l1- lA))Eq. 38

From similar triangles (a2 / (l2-lC)) = (a3 / lC) Eq. 39

Relative values of a1, a2 and a3 can be obtained

Torsional Vibration – Geared Systems
Torsional Vibration – Geared Systems
 Torsional Vibration – Geared Systems

We know that 𝑓 𝑛 =𝑓 𝑛 = 𝑓𝑛
𝐴 𝐸
′
𝐵
′
Torsional Vibration – Geared Systems
Torsional Vibration – Geared Systems
Torsional Vibration – Geared Systems
 Tutorial Problem - 3
• Determine the natural frequencies of torsional
vibration for the following system. An I.C. engine is
coupled to a centrifugal pump through a pair of
gears. The shaft from flywheel of the engine to the
gear wheel is of 60 mm diameter and 950 mm
length. The shaft from pinion to pump is of 40 mm
diameter and 300 mm length. The engine speed is
0.25 times the pump speed.
• Given:
• Moment of Inertia of pinion: Idriven_gear = 4 kg-m2
• Moment of Inertia of pump: IB = 17 kg-m2
• Moment of Inertia of gear: Idriving_gear = 15 kg-m2
• Moment of Inertia of flywheel: IA = 800 kg-m2
• Gear ratio, i = (Nflywheel/Npump) = ¼

• d1 = 60 mm, l1 = 950 mm
• d2 = 40 mm, l2 = 300 mm

• Rigidity modulus, G = 84x109 N/m2

• The figure shows the geared system
Driving gear
Flywheel, IA
d1 = 60 mm

Driven gear d2 = 40 mm Pump, IB

l1 = 950 mm l2 = 300 mm

• Step 1: convert the geared system in to a three

rotor equivalent system, by satisfying the two
conditions C1 and C2
• C1 is satisfied when l2 is replaced by l3 as in Eq. 25
4
• 2  d1  = 0.095 m
l3  i l2  
 d2 
• C2 is satisfied when Eq. 27 and similarly Eq. 28 are
satisfied
• IB
I B  2 = 272 kg-m2
i
I driven _ gear
I   I driving _ gear 
• i = 79 kg-m2
2

• Step 2: we represent the 3 rotor equivalent system

d= d1 = 60 mm

l1 = 950 mm l3 = 95 mm
IA= 800 I’ = 79 IB’ = 272
kg-m2 kg-m2 kg-m2
• Step 3: Obtain the position of nodes using Eq. 34
and Eq. 35
I 1 1 1 1 
l A  C lC    
• IA ; I C lC I B  l1  l A l2  lC 

• lA = (272/800)xlC = 0.34lc
• Substituting lA in the second equations we get a
quadratic equation in lC , solving which we get two
roots
 1 1  1 1 
   
272  lc 79  0.95  0.34lC 0.095  lC 
79  0.095  lC  0.95  0.34lC 
 
272  lc   0.95  0.34lC 0.095  lC  
0.294 1.045  1.34lC

lc 0.0902  0.9823lc  0.34lc2
0.0265  0.2888lc  0.1lc2  1.045lc  1.34lc2
1.44lc2  1.3338lc  0.0265  0
Gives lc = 0.91 m, 0.0203 m
So, lA = 0.34lc = 0.31 m , 0.0069 m
Total length of 3 rotor is 1.045 m. As when (lA,lC) gives
(0.31 m, 0.91 m ), lA+lC > 1.045 m, this root gives the
single node position (Mode shape -1) with lA being
• When (lA,lC) gives (0.0069 m, 0.0203 m ) gives the
two node positions (Mode shape -2)
• These mode shapes can be drawn as follows:
 l1 = 0.95 m l3 = 0.095 m

lc = 0.91 m Mode Shape - 1

a3
a2 Mean position
N
a1

lA = 0.31 m

Mode Shape - 2
lc = 0.02 m
a2
Mean position
N1 N2
a1 a3
lA = 0.0069 m
 Natural frequencies
• Natural frequency of Mode-1 is given by Eq. 29 (In
this problem node is near rotor A)
1 GJ A
fA  Hz
2 I Al A
• Natural frequency of Mode-2 is given by any of the
Eq. 30, Eq. 31 or Eq. 32

• We get, Mode-1 N.F. , fA = 171 Hz

• Mode-2 N.F. , fB = 277 Hz