Mechanical vibrations

Why do we study ?

• Vibrations are everywhere:

• Human body: eardrums, vocal cords, walking and running
• Vehicles: residual imbalance of engines, locomotive wheels
• Rotating machinery: Turbines, pumps, fans, reciprocating machines
• Musical instruments
• Excessive vibrations can have detrimental effects:
• Noise
• Loosening of fasteners
• Tool chatter
• Fatigue failure
• Discomfort
 Basic Concepts of Vibration
1. All bodies having mass and elasticity are capable of vibration.
2. The mass is inherent of the body and elasticity causes relative
motion among its parts.
3. When body particles are displaced by the application of
external force, the internal forces in the form of elastic energy
are present in the body. These forces try to bring the body to
its original position.
4. At equilibrium position, the whole of elastic energy is
converted into kinetic energy and body continues to move in
the opposite direction because of it.
5. The whole of the kinetic energy is again converted into elastic
or strain energy due to which the body again returns to the
equilibrium position. In this way, vibratory motion is repeated
indefinitely and exchange of energy takes place.
6. Thus, any motion which repeats itself after an interval of time
is called vibration or oscillation.
 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.
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 PARTS OF VIBRATING SYSTEM
1. A vibratory system basically consists of three elements, namely
the mass, the spring and damper.
2. In a vibrating body there is exchange of energy from one form
to another.
3. Energy is stored by mass in the form of kinetic energy (1/2 mv2
), in the spring in the form of potential energy (1/2 kx2 ) and
dissipated in the damper in the form of heat energy which
opposes the motion of the system.
4. Energy enters the system with the application of external force
known as excitation.
5. The excitation disturbs the mass from its mean position and
the mass goes up and down from the mean position.
6. The kinetic energy is converted into potential energy and
potential energy into kinetic energy.
7. This sequence goes on repeating and the system continues
to vibrate.
• 7) Un-damped free vibrations
• When the elastic system vibrates because of inherent forces and no
external force is included ,it is called free vibration.
• If during vibrations there is no loss of energy due to friction or
resistance it is known as un-damped vibrations.
 DERIVATION OF DIFFERENTIAL EQUATION

Newton’s Method
•
 DAMPED VIBRATIONS

• Damping is resistance offered by a body to motion of vibratory

system.

• Resistance can be applied by a liquid or solid internally or externally.

• Mass, stiffness and damping are main features of vibratory system.

• At start of vibratory motion, amplitude of motion is maximum which

goes on decreasing and finally lost completely.

• Main advantage of damping is just to control amplitude of vibration

so that failure occurring due to resonance can be avoided.
DIFFERENTIAL EQUATION OF DAMPED FREE VIBRATION

• Viscous damping force F is

proportional to the velocity or
v and can be expressed as

• c is the damping constant or

coefficient of viscous
damping
• Negative sign indicates that
the damping force is opposite
to the direction of velocity
• If x is measured from the equilibrium position
of the mass m, the application of Newton’s law
yields the equation of motion:

• we assume a solution in the form x(t) = Ce st

• where C and s are undetermined constants.
Inserting this function into equation of motion
• leads to the characteristic equation ms 2 + cs + k
=0
• Thus the general solution is given by a
combination of the two solutions x 1(t) and
x2(t):
•
Free vibrations – Simple Harmonic motion
If a particle is displaced through a distance xm from its
equilibrium position and released with no velocity, the
particle will undergo simple harmonic motion,
ma  F  W  k  st  x    kx
mx  kx  0

• General solution is the sum of two particular solutions,

 k   k 
x  C1 sin  t   C 2 cos t 
 m   m 
 C1 sin  n t   C 2 cos n t 
• x is a periodic function and wn is the natural circular
frequency of the motion.
• C1 and C2 are determined by the initial conditions:
x  C1 sin  n t   C 2 cos n t  C 2  x0
v  x  C1 n cos n t   C 2 n sin  n t  C1  v0  n
19 - 17
x  xm sin  n t    xm  v0  n 2  x02  amplitude
  tan 1 v0 x0 n   phase angle
2
n   period
n
1 n
fn    natural frequency
n 2
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Free Vibrations of Particles. Simple
Harmonic Motion
• Velocity-time and acceleration-time curves can be
represented by sine curves of the same period as the
displacement-time curve but different phase angles.
x  xm sin  n t   

v  x
 xm n cos n t   
 xm n sin  n t     2 

a  x
  xm n2 sin  n t   
 xm n2 sin  n t     
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Simple Pendulum (Approximate Solution)
• Results obtained for the spring-mass system can be
applied whenever the resultant force on a particle is
proportional to the displacement and directed towards
the equilibrium position.
• Consider tangential components of acceleration and
force for a simple pendulum,

 Ft  mat :  W sin   ml

  g sin   0
for small angles, l
g
    0
l
   m sin  n t   
2 l
n   2
n g 20
Simple Pendulum
g
(Exact Solution)
An exact solution for   sin   0
l
l  2 d
leads to n  4 
g 0 1  sin 2  2 sin 2 
m

which requires numerical

solution.
2K  l
n   2 
  g

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 Sample Problem
SOLUTION:
• From the kinematics of the system, relate
k the linear displacement and acceleration
to the rotation of the cylinder.
• Based on a free-body-diagram equation for
the equivalence of the external and effective
forces, write the equation of motion.

A cylinder of weight W is suspended • Substitute the kinematic relations to arrive at

as shown. an equation involving only the angular
Determine the period and natural displacement and acceleration.
frequency of vibrations of the
cylinder.

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Sample Problem
SOLUTION:
• From the kinematics of the system, relate the linear
displacement and acceleration to the rotation of the cylinder.
x  r   2 x  2 r
   
  a  r  r a  r
• Based on a free-body-diagram equation for the equivalence
of the external and effective forces, write the equation of
motion.  M A   M A eff : Wr  T2 2r   ma r  I 
but T2  T0  k  12 W  k 2r 
• Substitute the kinematic relations to arrive at an equation
involving only the angular displacement and acceleration.
2 
Wr  1 W  2kr 2r   mr r  1 mr 2
2
8k
   0
3m
8k 2 3m  n 1 8k
n  n   2 fn  
3m n 8k 2 2 3m
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Principle of Conservation of Energy
• Resultant force on a mass in simple harmonic
motion is conservative - total energy is conserved.
T V  constant 1 mx 2  1 kx 2  constant
2 2
x 2   n2 x 2 
• Consider simple harmonic motion of the square
plate,
T1  0 
V1  Wb1  cos   Wb 2 sin 2  m 2  
 12 Wb m2

T2  12 mvm2  12 I  m
2 V2  0

 12 mbm   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
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Forced Vibration..(Introduction)

Forced vibrations - Occur

when a system is subjected to
a periodic force or a periodic
displacement of a support.

 f  forced frequency
Damped Free Vibrations
• All vibrations are damped to some degree by
forces due to dry friction, fluid friction, or
internal friction.

• With viscous damping due to fluid friction,

 F  ma : W  k  st  x   cx  mx
mx  cx  kx  0

• Substituting x = elt and dividing through by elt

yields the characteristic equation,
2
c  c  k
m2  c  k  0     
2m  2m  m

• Define the critical damping coefficient such that

2
 cc  k k
   0 cc  2 m  2m n
 2 m  m m
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Damped Free Vibrations
• Characteristic equation,
2
c  c  k
m2  c  k  0     
2m  2m  m
cc  2m n  critical damping coefficient
• Heavy damping: c > cc
x  C1e 1t  C 2 e 2t - negative roots
- nonvibratory motion
• Critical damping: c = cc
x  C1  C 2t e  nt - double roots
- nonvibratory motion
• Light damping: c < cc
x  e c 2m t C1 sin  d t  C 2 cos  d t 
2
c
 d   n 1     damped frequency
 cc 
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