Lecture One

Fundamentals of Mechanical Vibrations

Prepared By Mr. Edosa Kefyalew

Academic BSc In Mechanical Engineering And From Jimma Institute of
Background MSc In Design of Mechanical Systems Technology
Designation Lecturer

Lecture One: Fundamentals of Mechanical Vibrations 1

Free Vibration of Single-Degree- of- Freedom Systems
• Systems are said to undergo free vibration when they oscillate about their static equilibrium position
when displaced from those positions and then released.

• The frequencies at which they vibrate, known as natural frequencies, depend primarily upon the mass and
elasticity (stiffness) of the systems.

Equation of motion

a. Using Newton’s second law of motion:

1 Select a suitable coordinate to describe the position of the mass or the rigid body in the system,
2 Determine the static equilibrium configuration of the system and measure
the displacement from it,
3 Draw the free-body diagram of the mass or rigid body, indicate all the active and reactive forces
acting on the system,
4 Apply Newton‟s second law of motion to the mass or rigid body shown by the free-body Diagram.
”The rate of change of momentum of a mass is equal to the forces acting on it”

Lecture One: Fundamentals of Mechanical Vibrations

•Example 1: Mass-spring system

I.

Lecture One: Fundamentals of Mechanical Vibrations

Lecture One: Fundamentals of Mechanical Vibrations
b. Using Principle of Conservation of Energy:

• T is the kinetic energy is stored in the mass by virtue of its velocity,

• U is the potential energy is stored in the spring by virtue of its elastic
deformation.
• Conservative system: at which no energy is lost due to friction or energy
dissipating non-elastic members.
• The principle of conservation of energy can be expressed as:

Lecture One: Fundamentals of Mechanical Vibrations

Lecture One: Fundamentals of Mechanical Vibrations
 1
𝑇= 𝑚𝑥˙2
2
1 2
𝑈 = 𝑘(𝑥 + 𝛿) − 𝑚𝑔 𝑥
𝑑 12 1
( 𝑚𝑥˙ + 𝑘(𝑥 + 𝛿)2 − 𝑚𝑔 𝑥) =
2
𝑑𝑡 02 2
𝑚𝑥˙𝑥¨ + 𝑘(𝑥 + 𝛿)𝑥˙ − 𝑚𝑔𝑥˙ =
0
𝑘𝛿 = 𝑚𝑔
𝑚𝑥¨ + 𝑘𝑥 = 0

Example 2: Torsional System

Lecture One: Fundamentals of Mechanical Vibrations

 Energy method

1
𝑇= 𝐼0 𝜃˙2
2
1 2
𝑈=
𝑑 𝑘𝑡 𝜃 2 1 2
1 ( 𝐼0𝜃˙2 + 𝑘 𝑡 𝜃 ) =0
2
𝑑𝑡 2
𝐼𝑜 𝜃¨ = −𝑘𝑡 𝜃

Example 3: Simple Pendulum

Moment about o

𝑚𝑙𝜃¨ . 𝑙 = −𝑚𝑔. 𝑙 sin 𝜃

𝑙𝜃¨ = −𝑔 sin 𝜃

𝑓𝑜𝑟 𝑠𝑚𝑎𝑙𝑙 𝑜𝑠𝑐𝑖𝑙𝑎𝑡𝑖𝑜𝑛 sin 𝜃 ≅ tan 𝜃 ≅ 𝜃 𝑟𝑎𝑑.

Lecture One: Fundamentals of Mechanical Vibrations
≈𝜃

𝑙𝜃¨ + 𝑔𝜃
𝑔 =0
¨
𝜃 +𝑙 𝜃 =
0
𝜔𝑛 = √ 𝑔
𝑙

Solution of Equation of Motion:

The general solution of 𝑥¨ + 𝜔𝑛 2 𝑥 =

Let 𝑥 = 𝑒𝑠𝑡 , 𝑥¨ 0
=
𝑠2𝑒𝑠𝑠𝑡2𝑒𝑠𝑡+ 𝜔𝑛 2𝑒𝑠𝑡 = 0
𝑒 𝑠𝑡 ≠ 0
(𝑠2 + 𝜔𝑛 2)𝑒𝑠𝑡 = 0
𝑠 = ±𝑖𝜔𝑛
𝐺𝑒𝑛𝑒𝑟𝑎𝑙 𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛:
𝑥 = 𝑎1𝑒𝑖𝜔𝑛 𝑡 + 𝑎2𝑒−𝑖𝜔𝑛 𝑡

𝑥 = 𝐴 cos 𝜔𝑛 𝑡 + 𝐵 sin 𝜔𝑛 𝑡
= 𝐶 cos(𝜔Lecture
𝑛 𝑡 − 𝜑One:
) Fundamentals of Mechanical Vibrations
 𝜔𝑛
Rayleigh’s Energy Method:
To find the natural frequencies of single degree of freedom systems
𝑇𝑚𝑎𝑥 = 𝑈𝑚𝑎𝑥
𝑥 = 𝐴 cos 𝜔𝑛 𝑡 𝑥
𝑚𝑎𝑥
= 𝐴
𝑥˙ = −𝐴𝜔𝑛 sin 𝜔𝑛 𝑡 𝑥˙𝑚𝑎𝑥 =
𝐴𝜔 1
𝑇𝑚𝑎𝑥 = 𝑚𝑛( 𝐴𝜔𝑛 )2
2
1 2
𝑈𝑚𝑎𝑥 = 𝑘𝐴
2
1 𝑚(𝐴𝜔 ) 2 = 1 𝑘𝐴
𝑛 2
2 2
𝑘
𝜔𝑛 = √
𝑚
Heavy Springs:

𝑚𝑠 ≡ 𝑠𝑝𝑟𝑖𝑛𝑔 𝑚𝑎𝑠𝑠
𝑚𝑠
𝛾=
𝑙 Lecture One: Fundamentals of Mechanical Vibrations
 1 2
𝑈 = 6 𝑘𝑥
2
𝑑
𝑑𝑡 (𝑇 + 𝑈) = 0
𝑑 1 2
1 2
1 2
( 𝑚𝑥˙ + 𝑚𝑠𝑥˙ + 𝑘𝑥 ) = 0
𝑑𝑡 2 6 2
𝑚𝑠
(𝑚 + ) 𝑥˙𝑥¨ + 𝑘𝑥𝑥˙ = 0
3
𝑚𝑠

(𝑚 + ) 𝑥¨ + 𝑘𝑥 = 0
3 𝑘
𝜔𝑛 = √ 𝑚𝑠
𝑚+ 3

 The response of single degree can be represented in the displacement (x)-

velocity(𝑥˙) plane known as the state space or phase plane.

𝑥 = 𝐴 cos(𝜔𝑛 𝑡 − 𝜑)
𝑥
cos(𝜔𝑛 𝑡 − 𝜑) =
𝐴 Fundamentals of Mechanical Vibrations
Lecture One:
Stability Conditions

Lecture One: Fundamentals of Mechanical Vibrations

Case 2:
12.𝑘𝑙2 −3𝑚𝑔𝑙
When ( )=0
2𝑚 𝑙2

𝜃¨ = 0

𝜃 = 𝐶1𝑡 + 𝐶2

For initial conditions 𝑡=0 𝜃 = 𝜃𝑜 𝜃˙ = 𝜃˙𝑜 ,

the angular displacement increases linearly at a constant velocity 𝜃˙𝑜 .

If 𝜃˙𝑜 = 0 ∴ 𝜃 ≡ denotes a static equilibrium position, the pendulum remains

in its original position defined by 𝜃 = 𝜃𝑜
12.𝑘𝑙2 −3𝑚𝑔𝑙
Case 3:(
When
2𝑚 𝑙2
) < 0 = 𝛼2

𝜃 = 𝐵1𝑒𝛼𝑡 + 𝐵2𝑒−𝛼𝑡
Lecture One: Fundamentals of Mechanical Vibrations
 𝑁. 𝑠
𝑐 ≡ 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡 𝑜𝑟 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 ( )
𝑚
-ve sign (the force is opposite to the direction of velocity)

𝑚𝑥¨ = −𝑐𝑥˙Lecture
− 𝑘𝑥 One: Fundamentals of Mechanical Vibrations
 𝑘
𝑜𝑟 𝑐𝑐 = 2𝑚√ = 2√𝑘𝑚 = 𝑛
𝑚
2𝑚𝜔
 The damping factor or damping ratio 𝜁
𝑐
𝜁=
𝑐𝑐

𝑠1,2 = [−𝜁 ± √ 𝜁 2 − 1] 𝜔𝑛
[−𝜁−√𝜁 2−1]𝜔 𝑛 𝑡 [−𝜁+√𝜁 2−1]𝜔 𝑛 𝑡
𝑥 = 𝐴1 𝑒 + 𝐴2 𝑒

 Case 1. Over damped system: ( c ˃ cc or ζ ˃ 1)

In this case, both roots are real. The motion is described by

2 −1 2−1
𝑥 = 𝑒 −𝜁𝜔 𝑛 𝑡 [𝐴1 𝑒 (−𝜔 𝑛 √𝜁 .𝑡
+ 𝐴 𝑒 (𝜔 𝑛 √𝜁 .𝑡
]
2
The values of “A1” and “A2” are determined from the initial conditions which are

At t = 0, x = xo x˙ = vo

−𝑥𝑜 [𝜁 −Lecture
√𝜁 2 −One:
1]𝜔Fundamentals
𝑛 − 𝑣𝑜
of Mechanical Vibrations 𝑥𝑜 [𝜁 + √𝜁 2 −
Applying the initial conditions (at t=0 x=xo 𝑥˙ = 𝑣𝑜 ), then

A1 = x o

A2 = v o + ω x o

𝑥 = [𝑥𝑜 + (𝑣𝑜 + 𝜔𝑛 𝑥𝑜 )𝑡]𝑒−𝜔𝑛 𝑡

A plot of “x” with time is shown in Figure.

t
There is no vibration in this case,

A critically damped system

Lecture One: will have
Fundamentals the smallest
of Mechanical damping required for
Vibrations
Let √1 − 𝜁2𝜔𝑛 = 𝜔𝑑 (𝑡𝑕𝑒 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 𝑜𝑓 𝑡𝑕𝑒 𝑑𝑎𝑚𝑝𝑒𝑑 𝑣𝑖𝑏𝑟𝑎𝑡𝑖𝑜𝑛)

𝑥 = 𝑒−𝜁𝜔𝑛 𝑡 [𝐴1′ cos 𝜔𝑑 𝑡 + 𝐴2′ sin 𝜔𝑑 𝑡]

The initial conditions which are at t = 0, x = xo x˙ = vo

𝑣𝑜 +𝜁𝜔 𝑥
𝑥=𝑒 −𝜁𝜔 𝑛 𝑡 [𝑥𝑜 cos 𝜔𝑑 𝑡 + 𝑛 𝑜 sin 𝜔𝑑 𝑡]
𝜔𝑑
According to this equation, the motion is harmonic with frequency “ωd”. A plot for
“x” with time is shown in Figure.

Lecture One: Fundamentals of Mechanical Vibrations

 r˙

Real axis

The Logarithmic Decrement

To estimate the amount of damping of a system is to measure the displacement at

some time “t” (given by “x1”), then measure it again after one complete cycle
(given by x2), that is, after a period of “ 𝜏𝑑 = 2 ”. “x1” and “x2”, are given by
d

𝑥1 = 𝐴𝑒−𝜁𝜔𝑛 𝑡 sin(𝜔𝑑 𝑡 + 𝜑)

𝑥 = 𝐴𝑒−𝜁𝜔𝑛 (𝑡+𝜏𝑑 ) Lecture

sin[𝜔 One:
(𝑡 + Fundamentals
𝜏 ) + 𝜑] of Mechanical Vibrations
Energy dissipated in viscous damping:

The rate of change of energy

𝑑𝑤
𝑑𝑥
= 𝑓𝑜𝑟𝑐𝑒 ∗ 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 = 𝐹𝑣 = −𝑐𝑣2 = −𝑐(
)2
𝑑𝑡
𝑑𝑡2𝜋
2𝜋
Δ𝑊 sign, 𝜔𝑑 𝑑𝑥
= ∫ the𝑐(energy
)2 𝑑𝑡 = ∫ 𝑐𝑋 2𝜔 cos2 𝜔𝑑 𝑡 𝑑𝜔𝑑 𝑡 = 𝜋𝑐𝜔𝑑 𝑋 2
The negative dissipates with 𝑑time
0 𝑑𝑡
Assume 𝑥 = 𝑋 sin 0 𝜔 𝑡
𝑑 (steady-state response under forced vibration)
The fraction of energy of the vibrating system that is dissipated in each cycle,

Δ𝑊 𝜋𝑐𝜔𝑑 𝑋2
𝑊 =1 = 2 𝛿 = 4𝜋𝜁 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
2 𝑚𝜔𝑑 𝑋
2 2

Δ𝑊/
Δ𝑊
𝑙𝑜𝑠𝑠 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡 = 2𝜋
=Fundamentals
Lecture One: ratio ofofenergy dissipated
Mechanical per radian.
Vibrations
We notice that, for the over-damped system, the motion decays rather slowly
without oscillations. The motion of critically damped systems is called “aperiodic”,
or non periodic. The mass returns back to the equilibrium position without
oscillation with the fastest rate. This type of damping is suitable for the recoil
mechanism of guns. The gun barrel is required to return back after firing as fast as
possible without oscillation. The case of under damping is used for applications
which need to reduce vibrations.

Torsional System with Viscous Damping:

The damping torque: 𝑇𝑑 = −𝑐𝑡 𝜃˙

𝐼𝑜 𝜃¨ + 𝑐𝑡 𝜃˙ + 𝑘𝑡 𝜃 = 0

𝜔 𝑑 = 𝜔 𝑛 √ 1 − 𝜁2
𝑘𝑡
𝜔𝑛 = √ 𝐼𝑜

𝑐𝑡 𝑐𝑡 𝑐𝑡
=
𝑎𝑛𝑑 𝜁 = = Lecture One: Fundamentals of Mechanical Vibrations
 𝑘 𝑟𝑎𝑑
𝜔𝑛 = √𝑚 = 4.4721 𝑠
𝑐𝑐 = 2𝑚𝜔𝑛 = 4472.1 𝑁. 𝑠/𝑚

𝑥 = (𝐴1 + 𝐴2𝑡)𝑒−𝜔𝑛 𝑡 for critical damping

A1 = x o

A2 = v o + ω x o

𝑥˙ = −𝜔𝑛 (𝐴1 + 𝐴2𝑡)𝑒−𝜔𝑛 𝑡 + 𝐴2𝑒−𝜔𝑛 𝑡

𝑥˙ = 0One: Fundamentals of Mechanical Vibrations

For maximum x(t),Lecture
Free Vibration with Coulomb Damping “Dry Friction Damping”

Coulomb damping results from the sliding of two dry rough surfaces. The damping
force is equal to the product of the normal reaction “N” between the surfaces and
the coefficient of friction “μ”. Its magnitude “Fd” is constant and is equal to “μN”.
Its direction is opposite to the direction of the velocity. This type of damping is
used for their mechanical simplicity. To obtain the equation of motion, cannot use
a single free body diagram,

Lecture One: Fundamentals of Mechanical Vibrations

This means that the system vibrates with a frequency which is equal to the natural
frequency. The constants “A” , “B” , “C” and “D” are determined from the initial
conditions.

Let at “t = 0”, x = xo and x˙ = vo

Let xo, x1, x2,… denote the amplitudes of motion at successive half cycles.

The constants are given by

𝐶 = 𝑥𝑜 − 𝑑 , 𝐷 = 0 𝑤𝑕𝑒𝑟𝑒𝜇𝑁𝑑
𝑘
=
𝑥 = (𝑥𝑜 − 𝑑) cos 𝜔𝑛 𝑡 + 𝑑
The solution is valid for half the cycle only, i.e. for 0 ≤ t ≤ π/ω, when t=π/ω,
the mass will be at its extreme left position and its displacement from
equilibrium position can be found
𝜋
−𝑥1 = 𝑥 (𝑡 = 𝜔𝑛 ) = (𝑥 𝑜 − 𝑑) cos 𝜋 + 𝑑
= −(𝑥𝑜 − 2𝑑)
The reduction in magnitude of x in time π/ω (half cycle) is 2d.
Lecture One: Fundamentals of Mechanical Vibrations
 given by,
𝑥𝑜 − 𝑑
𝑥𝑜 − 𝑟. 𝑑 ≤ 𝑑 𝑡𝑕𝑎𝑡 𝑖𝑠 𝑟≥ }
2𝑑
{
The total motion is described by the Figure shown,

ωnt

It is clear that the amplitude decreases with a constant rate.

Imaginary axis

Lecture One: Fundamentals of Mechanical Vibrations

3 The motion is periodic,
4 The system comes to rest after some time, theoretically continuous forever
with viscous damping,
5 The amplitude reduces linearly (exponentially in viscous damping),
6 In each successive cycle, the amplitude is reduced by 4d
4𝜇𝑁
𝑥𝑚 = 𝑥𝑚−1 −
𝑘
The slope of the enveloping straight lines shown
4𝜇𝑁
𝑘 2𝜇𝑁𝜔
− 2𝜋 = − ( 𝜋𝑘 𝑛 )
𝜔𝑛
7- Potential energy,
𝑈𝑛 − 𝑈𝑛+1 = 1 𝑘𝑥 2 − 1 𝑘𝑥𝑛+1 2
2 𝑛 2 = 𝐹𝑑 (𝑥𝑛 + 𝑥𝑛+1)
1
𝑘(𝑥 𝑛2 − 𝑥 𝑛+1 2
2 ) = 𝐹𝑑 (𝑥𝑛 + 𝑥𝑛+1)
1
2 𝑘(𝑥 𝑛 − 𝑥𝑛+1 ) = 𝐹𝑑
2𝐹𝑑
) =of Mechanical
Lecture One: Fundamentals = 2𝑑 Vibrations
𝑎𝑓𝑡𝑒𝑟 𝑕𝑎𝑙𝑓 𝑐𝑦𝑐𝑙𝑒
 𝑇𝑑2𝑑 𝑘𝑡

𝜃𝑜 = 6𝑜 = 0.10472 𝑟𝑎𝑑.
𝐺𝐽
𝑘𝑡 = 𝑁. 𝑚= 49,087.5
𝑙 𝑟𝑎𝑑
𝑇𝑑 = 400 𝑁. 𝑚

∴ 𝑟 = 5.926
𝑡𝑕𝑢𝑠 𝑡𝑕𝑒 𝑚𝑜𝑡𝑖𝑜𝑛 𝑐𝑒𝑎𝑠𝑒𝑠 𝑎𝑓𝑡𝑒𝑟 6 𝑕𝑎𝑙𝑓 𝑐𝑦𝑐𝑙𝑒𝑠.

The angular displacement after 6 half cycles

𝜃 = 0.10472 − 6 ∗ 2 ( 400 )
49,087.5

= 0.006935 𝑟𝑎𝑑. = 0.39734𝑜

Thus the pulley stops at 0.39734o from the equilibrium position on the same side of
the initial displacement.
Lecture One: Fundamentals of Mechanical Vibrations
Lecture One: Fundamentals of Mechanical Vibrations
Lecture One: Fundamentals of Mechanical Vibrations
Lecture One: Fundamentals of Mechanical Vibrations
Lecture One: Fundamentals of Mechanical Vibrations
Lecture One: Fundamentals of Mechanical Vibrations
Lecture One: Fundamentals of Mechanical Vibrations
Lecture One: Fundamentals of Mechanical Vibrations
End of the Chapter!
Any Questions?
Lecture One: Fundamentals of Mechanical Vibrations 34