Upload Vibration (2024) - Class Slides1

Vibrations & Control
Dr. Sandeep Jose
Birla Institute of Technology and Science, K.K.

Birla Goa campus
1
BITS Pilani, K K Birla Goa Campus
Module 1: Vibration- Introduction

Degrees of freedom
DOF: The minimum number of independent coordinates required to determine completely the positions of all parts of a
system at any instant of time defines the number of degrees of freedom of the system.

Degrees of freedom

Modelling of systems exhibiting vibration

Vibration models
Vibration Models
i) SDOF model of a beam with end mass
ii) Modelling of a bar as a spring

 ,P  A
l

P  E A  P  E ( ) A
l
EA
Kr 
l
Damping Model
1. Viscous damping model
2. Coulombs damping model
3. Hysteresis damping model
Viscous damping Model
Damping force proportional to velocity
Damping force = Cv
Coulombs damping model: Coulombs damping model is used to model the energy
dissipation resulting from the interaction between two solid bodies. The damping force
is assumed to be a constant force which acts in opposite direction of motion of mass.
Ex: Movement of a solid body on a hard surface.
Hysteresis damping is used to model the internal energy dissipation in a material when
subjected to external load cycles.
Transfer function approach
• The transfer-function approach, based on Laplace transforms, is commonly used for
the formulation and solution of dynamic problems in the controls literature.
• Transfer function relates a system’s output to its input.
• This function permits separation of the input, system, and output into three separate
and distinct parts (unlike the differential equation, in which the three aspects cannot
be separated easily).
Definition: The transfer function of a linear, time-invariant differential equation is defined

as the ratio of the Laplace transform of the output or response function to the Laplace
transform of the input or forcing function, assuming zero initial conditions.
Procedure: The general procedure used to find the transfer function of a linear
differential equation involves taking the Laplace transforms of both sides, assuming zero
initial conditions, and solving for the ratio of the output Laplace transform and the input
Laplace transform.
By taking Laplace transform for the above equation:

If the initial conditions are assumed to be zero, the equation can be re-written as follows



Module 2: Equation of motion

Recap: EOM –Newton’s 2nd law
Statics Dynamics
 F , M   Translational _ inertia, Rotary _ int ertia

 F  0,  M  0,  Static _ equilibrium  mx  Translational _ inertia
 I  Rotary _ inertia

Equations of motion of SDOF systems

Effect of constant preload on the EOM
Find the Equations of motion for the following systems:

Effect of constant preload on the EOM
Effect of Gravity

Problem 1: EOM
Newton’s 2nd law

Problem 1: EOM
Newton’s 2nd law
Assume that I am rotating the pulley by an angle 

x y
 
r 4r
Then the mass moves down by a distance x  r ;
And the spring moves by a distance, y  4 r
Considering moment equilibrium about the point o
External Torques = Rotary _ inertia
(mx)r  J   [k (4r )]4r
(mx)r  J   [k (4r )]4r  0
You can express this equation in terms of rotation or transilation using x=r
Let me express the above expression completly in terms of translation
 J  x
x  16kr 2    0
 mr+  
 r r
Dividing by r
 J 
x  16kx  0
 m+ 2  
 r 
Problem 1: EOM
Energy Method
Assume r2 =4r1

Problem 1: EOM
Energy Method
Assume r2 =4r1
Assume that I am rotating the pulley by an angle 

x y
 
r 4r
Then the mass moves down by a distance x  r ;
And the spring moves by a distance, y  4 r
2
1 1 1 1  x 
KE = mx2  J  2  mx 2  J  
2 2 2 2 r
1
PE  k (4 x) 2
2
d
( KE  PE )  0
dt
J
 mxx  2 xx  16kxx  0

r
 J   J 
  m  2   x  16kx  0   m  2  r  16kr
 r   r 

Problem 1: EOM

Problem 1: EOM
Equivalent mass and equivalent spring constant
1 2 1 2 1
mx  J 0  meq xeq 2
2 2 2
xeq  x
J0
meq  m 
r2
eq  
J eq  J 0  mr 2
Lets find the equivlanet spring constant
1 1
k  4 x   keq xeq
2
2 2
xeq  x
keq  16k

Problem 2: EOM
Newton’s 2nd law

Problem 2: EOM
Newton’s 2nd law
Inertia of the rotor J
mR 2 3mR 2
J  mR =
2
(Using parallel axis theorem)
2 2
mR 2
Where,  is the moment of inertia about the center of rotation
2
The restoring moment acting on the spring k1
=Spring force x Perpendicular distance;
Spring force =-k1 x  -k1 ( R  a)
=-[k1 ( R  a) ]( R  a)  k1 ( R  a) 2
Similarly, the restoring moment acting on the spring k 2 can be given by
-k 2 ( R  a) 2 
The springs are in Parallel
Now, if I take the equilibrium of different moments that are acting on this system
 3mR 2  
   (k1  k 2 )( R  a) 
2

 2 
Problem 2: EOM
Energy Method

Problem 2: EOM
Energy Method
1 ˙2
𝐾𝐸= 𝐽 𝜃
2
General plane motion
Reference: Hibbler Chapter 18

General plane motion
=
=
+
KE= ()
Reference: Hibbler Chapter 18

Problem 3: EOM
Newton’s 2nd law

Problem 3: EOM
Newton’s 2nd law
x  R
The reaction moment produced at the left spring due to the rotation 
can be given by
M s1   [k l / 4  ] l / 4 
The damping force is given by Cx
The moment produced because of the damping force is
2
l l
M c  (Cx )  C   
4 4
Similarly we can compute the reaction moment at the 2nd spring also
M s 2  -{k[3l / 4   x0 sin t ]} 3l / 4 
Moment of inertia of the rod about the point o can be computed using parallel axis theorem
ml2 7ml 2
 m(l / 4) 
2
12 48
2
 7ml2   l 
      {k[3l / 4   x0 sin t ]} 3l / 4 
2
    [k l / 4   C
 48  4

D'alembert's principle

D'alembert's principle
 F , M   Inertia _ forces, Rotary _ int ertia

 mx  Translational _ inertia
 I  Rotary _ inertia
( Newton ' s _ 2nd _ law)
 F   Inertia _ forces  0 : Dynamic _ Equilibrium

( D ' alembert ' s _ Pr inciple)

Virtual work principle
• Virtual displacement: A virtual displacement of a system refers to a change in the
configuration of the system as a result of an arbitrary displacement. The displacement
is called virtual to make you distinguish it from an actual displacement. This virtual
displacement needs to be kinematically admissible, meaning the displacement needs
to be in consistent with the forces and constraints imposed on the system at a given
instant.
• Virtual work principle: If a system that is in equilibrium under the action of a set of
forces is subjected to a virtual displacement , then the total virtual work done by the
forces will be zero.

Principal of Virtual Work

Principal of Virtual Work
• Mass is given virtual displacement

• Virtual work done by the spring force = =
• Virtual work done by the inertia force = =
• By principal of virtual work,
• virtual displacement , but can have arbitrary value,

equation of motion is;
m+ kx = 0

State Space Representation
• Dynamics of a body can be represented using state space/ phase space plots.
• A phase space is a space in which all possible states of a system are represented, with
each possible state corresponding to one unique point in the phase space

a )mx  kx  0

a )mx  kx  0

b)mx cx  kx  0

b)mx cx  kx  0

Duffing oscillator is an example of a periodically forced oscillator with a nonlinear elasticity
http://www.scholarpedia.org/article/Duffing_oscillator


The van der Pol oscillator is an oscillator with nonlinear damping governed by the second-order
differential equation

Generalized coordinates
• Any set of independent coordinates are called generalized co-ordinates
• The term ‘generalized’ is used to signify that these coordinates are not limited to a
particular type of coordinate system, such as Cartesian or polar coordinate. For
instance a set of generalized coordinates can have a combination of translations and
rotations (x1, x2… , Q1, Q2,…) as the coordinates.
• q1 , q2 … qn are called generalized displacement

• … are called generalized velocities
• p1 , p2 … pn are called generalized momenta
• Q1 , Q2 … Qn are called generalized forces

Extremization of a function/functional
Extremization of a function
If x* is an extremum, then
f(x*+ h) - f(x*) ~ 0
Extremization of a functional

Extremization of a function/functional

Lagrangian equations
Virtual work principle: Among all the possible virtual displacements/paths, the one
which is followed by a particle is that which minimize the action.
Nature minimizes action: “Nature is lazy”

Action integral   L (q, q )dt
Note: For a dynamic system the Lagrangian is

given by the difference between KE and PE
L=KE-PE
t2
 (  L(q, q )dt  0  The variation of the functional (  Ldt ) goes
t1
to zero corresponding to the extermum function (stationary function)


t2
 (  L(q, q )dt  0  The variation of the functional (  Ldt ) goes to zero corresponding
t1
to the extermum function (stationary function)

t2
L L
( (  q   q )dt  0
t1
q q
I II
t2
L  L   d 
[ (  q     ( q) ]dt  0
t1
q  q   dt 
Perfor min g _ int egration _ by _ parts
t2
L d L L t2
(  (  q  ( ) q)dt   q|  0
t1
q dt q q t1
L d L
 ( )0
q dt q
Example 1: EOM of a spring–mass system

Example 1: EOM of a spring–mass system
1 2
T mq
2
1
V  kq 2
2
1 2 1 2
L  T V  mq  kq
2 2
L L
 mq ,   kq
q q
d  L  L
  
dt  q  q
mq  kq

Example 2: Simple pendulum


L d L
 ( )  0
 dt 
1 1
KE  J2  ml 2 2
2 2
PE  mgh  mgl (1  cos  )
1
L  KE  PE  ml 2 2  mgl (1  cos  )
2
L
  mgl sin 

L 2  d L
  ml  , ( )  ml 2

 dt 
 ml 2  mgl sin   0
 g
   sin 
l
Problem 1: Equations of motion using


L d  L 
  
q dt  q 
KEIC   J 0  mr 2  2
x  r , x  r
1 J  1
L  KE  PE   m  20  x 2  kx 2
2 r  2
L
 kx
q
 L   J0 
   m  2 
x
q
   r 
d  L   J0 
    m   
x
dt  q   r2 
 J 
  m  20  
x  kx  0
 r 

1  1 
 
2
Lagrangian equations KE   J 02    m r 
2  KErotation  2  KEtranslation
x  r , x  r
1 J  1
L  KE  PE   m  20  x 2  k  x 
2
2 r  2
L
  kx
q
 L   J0 
   m  2 
x
 q   r 
d  L   J0 
   m  2 

x
dt  q   r 
 J 
  m  20  
x  kx  0
 r 

Example 1
Problem 1: Find the EOM of the dynamic system using Newton’s 2 nd law and Lagrangian method

Example 1- Solution
1 2
KE  J
2
1 1
PE  kx 2  (k1  k2 )[( R  a ) ]2
2 2
L d  L 
  
q dt  q 
L
 [(k1  k2 )( R  a ) 2 ]
q
 L  ), d  L   J ( )
    J (  

 q dt  q 
 J ()  [(k1  k2 )( R  a ) 2 ]  0

Example 2
Problem 1: Find the EOM of the dynamic system using Newton’s 2 nd law and Lagrangian method

Example 2: Sol. Lagrangian method
2
1 1  x  1
L  KE  PE  mx 2  J    k (4 x ) 2
2 2 r 2
L d  L 
  
q dt  q 
L
 16kx
q
 L  J
   mx  x
 q 
2
r
d  L  J
   mx 
 x
dt  q  r 2
J
 mx x  16kx
r2
 J 
  m  2  
x  16kx  0
 r 
Planar motion
Problem 2: Find the EOM of a cylinder which rolls without slipping on a concave cylindrical surface

Planar motion

Planar motion
For no slipping, the two arc lengths, are equal: Their time derivatives are also equal:
For the kinetic energy, there is both translation and rotation of the rolling cylinder.
KE because of translation
The translational velocity, v, is equal to the product of the radius from the concave
surface center to the cylinder center, R- r, and the angular velocity about
the surface center,

Planar motion
KE because of rotation
By applying the no-slipping condition
Total KE
For cylinder, J/2

Planar motion
PE of the system
L d  L 
  
q dt  q 

Solution of Equation of Motion



Simple Harmonic Motion
x  A Sinwt
x  Aw Coswt  Aw Sin  wt  90 
x   Aw2 Sinwt  Aw2 Sin  wt  180 

x   kx
m
  Aw2 Sinwt   kA Sinwt
w k/m
SHM in a complex plane
z= x+iy
x= ACoswt
y = A sinwt
z  Aei (t )   ACos t   i (sin t )
(without considering phase difference)
z  Aei (t  )   ACos t     i(sin t   )
(Considering a phase difference F)

The equation of motion of the system is Solution can be assumed
m+ kx = 0 (1) as
First solution x(t) t
x(t) t , (2)
or
where C and s are constants to be determined.
Substituting (2) in (1) A cos (ωn t – φ)
C(ms2 +k) = 0 (3)
C can not be zero, so, ms2 + k = 0 (4) • Equation (4) is characteristic
= i ωn (5) equation of eq (1)
as ωn = (6) • Two values of s in eq (5) are
x(t) = C1 ω t + C2 ωn t (6) Eigen values
n

Both values of s satisfy Eq (4), the general solution of Eq (1) can be expressed
as
x(t) = C1 ω t + C2 ωn t (6)
n
where C1 and C2 are constants
By using the identities

eiωt = cos ωt sin ωt
Equation (6) can be written as

x(t) = A1 sin ωn t + A2cos ωn t (7)
where A1 and A2 are new constants to be determined by initial conditions of
the system
cos(A − B) = cos A cos B + sin A sin B

sin(A + B) = sin A cos B + cos A sin B
x  A cos  cos t  A sin  sin t

x  A cos(t   )
The above expression can also be written as by interchaging A1 and A 2 in the graph
x  A sin  cos t  A cos  sin t
x  A sin(t   )

x(t  0)  A1  x0
x 0
x(t  0)  n A2  x0  A2 
n
x 0
x(t )  x0 cos t  sin t
n

Static – Dynamic analogy
Dynamics
The equation of motion of the system is
m+ kx = 0 (1)
First solution
x(t) = A1 sin ωn t + A2cos ωn t (2)
Statics
The equation of motion of the system is
(3)
First solution
y(x) = A1 sin ω x + A2cos ω x (4)
ω = F/EI


Thompson, J. Michael T., and G. H. M. Van der Heijden. "Quantified" shock-sensitivity" above the
Maxwell load." International Journal of Bifurcation and Chaos 24, no. 03 (2014): 1430009.
A viscous damper, with damping constant c, and a spring, with spring stiffness k, are connected to a massless
bar AB as shown in Fig. The bar AB is displaced by a distance of x=0.1m, when a constant force F=500N is
applied. The applied force F is then abruptly released from its displaced position. If the displacement of the
bar AB is reduced from its initial value of 0.1 m at t=0 to 0.01 m at t=10 seconds, find the values of c and k.

FREE VIBRATION WITH DAMPING



• Viscous damping force,
F=-c
-ve sign indicates damping force
opposite to direction of velocity c kx
• Measure x from equilibrium position of
mass m , by Newton’s Law
=-c -kx
+ c + k = 0 (1) x
Assume solution
• C (2)
Substituting (2) in (1)

+ (3)

(√ ( ) )
• Roots of equation (3)
−𝑐 ± √ 𝑐 − 4 𝑚𝑘 −𝑐
2 2
𝑐 𝑘 (4)
𝑠1 , 2= = ± −
2𝑚 2𝑚 2𝑚 𝑚
• These two roots give solution to equation (1) as
= =
• The general solution is = + , C1 and C2 are determined from initial

conditions

Critical Damping constant & the damping ratio:
• Critical damping cc is defined as the value of damping constant c for which

the radical of equation (4) becomes zero.
2
- (5)
• Damping ratio, ζ = (6)

By (5) and (6)
= =ζ (7)

−𝑐 ± √ 𝑐 − 4 𝑚𝑘 −𝑐
(√ ( ) )
2 2
𝑐 𝑘
𝑠1 , 2= = ± −
= (- ζ -1 ) (8)
• Nature of roots s1 and s2 and system behavior will depend upon magnitude of
damping

Case 1: When ζ =0, undamped free vibrations.
Case 2: Underdamped system (ζ < 1)
• For this condition ζ 2 -1 is negative and roots are expressed as

= (- ζ i 1- ζ 2 ) (9)
= (- ζ i 1- ζ 2 )
• The solution can be written as
(10)
and are constants to be determined from initial conditions.

Underdamped system (ζ < 1)
• The solution can be written in many ways:
+ (10)
• , X and are constants to be determined from initial conditions.
• Initial condition at (t=0): x = x0 and = 0

Underdamped system (ζ < 1)
• The solution can be written in many ways:
+ (10)
• , X and are constants to be determined from initial conditions.
• Initial condition at (t=0): x = x0 and = 0
and
(11)

• Motion described by equation (11) is damped harmonic motion of angular
frequency .
• Amplitude decreases exponentially by the factor

Logarithmic Decrement
• Definition:
• Rate at which the amplitude of a free-damped vibration decreases.
• Natural logarithm of the ratio of any two successive amplitudes.
• Let t1 and t2 be the times corresponding to two successive amplitudes
/displacements, measured one cycle apart for an underdamped system.
• Using equation x(t)
𝑥 1 𝑋 0 𝑒− ζ 𝜔 𝑛 𝑡1
cos ( √ 1 −ζ2 𝜔 𝑛 𝑡 1− ∅ 0)
=
𝑥 2 𝑋 0 𝑒− ζ 𝜔 𝑛 𝑡2
cos ( √ 1 −ζ2 𝜔 𝑛 𝑡 2− ∅ 0) We know, t2 = t1 + τd and τd =
t 2 - φ0 ) = 2 t 1 - φ0 )
= = t 1 - φ0 )
19
The logarithmic decrement
δ = ln = τd = = (a)
For small damping (a) becomes
δ=2 (b)

Measuring damping by experiment:
• Measure x1 and x2 and use equation (a) to find damping ratio
• Damping ratio can also be found by measuring two displacements separated
by any number of cycles
• If x1 and xm+1 denote the amplitudes corresponding to times t1 and
tm+1 = t1 +m τd , where m is any integer
= ….
• Also we know that =
= )m δ = m ln

Example 1

Example 1

Example 2

Example 2
Solution

Problem 7
A railroad car of mass 2,000 kg traveling at a velocity v = 10 m/s, is stopped at the end of
the tracks by a spring-damper system, as shown in Fig. If the stiffness of the spring is k =
80 N/mm and the damping constant is c = 20 N-s/mm, determine (a) the maximum
displacement of the car after engaging the springs and damper and (b) the time taken to
reach the maximum displacement.

Damped free vibration
Matlab plot
clc;
clear all;
w_n=4.47
w_d=2.73
zeta=0.7906
v_0=10
for i = 1:100
t(i) = 0.025 + (i-1)*0.025;
x(i)= (v_0/w_d)*exp(-zeta*w_n*t(i))*sin(w_d*t(i));
end
plot(t,x,'linewidth',2);
gtext('x(t)');
xlabel('t');
ylabel('x(t)');
title('Rail Bumber problem');

Damped free vibration

Case 2: Critically Damped System: ζ = 1
−𝑐 ± √ 𝑐 − 4 𝑚𝑘 −𝑐
√(( ) )
2 2
𝑐 𝑘
𝑠1 , 2= = ± −
= (- ζ -1 ) =- (Since ζ =1) (8)

Case 2: Critically Damped System: ζ = 1
c = cc
=
Roots s1 and s2 are equal
s1 = s2 = - (12)
Solution of (1) is
x(t) = (C1 +C2 t) (13)
Applying initial conditions (at t=0)
x(t) = x0 , (t) = 0
Solution becomes
x(t) = (x0 +(0 + x0)t) (14)

Problem 6
A gun barrel recoil mechanism is designed to bring to rest in shortest time
without oscillation. The gun recoils 0.4m upon firing. m=500kg, k= 10,000N/m.
Find the initial recoil velocity?

Problem 6
x(t )  x 0te nt

0.4  x 0te nt
We need one more equation to solve for x 0 .
Q. How can we get another equation?
 
x(t )  x0  te nt  n   e nt 
0.4
0  0.4  n  
t
1
n 
t
k 10, 000
n    4.47 rad / s
m 500
t  0.223s
x 0  4.86m / s

Case 3: Overdamped System (ζ > 1)
c > cc
>
Roots of (8) are real and distinct
= (- ζ ) <0
= (- ζ ) t<0
With << , the solution is
x(t) = C1 + C2 (15)
x(t) = x0 , (t) = 0

Case 3: Overdamped System (ζ > 1)
c > cc
>
Roots of (8) are real and distinct
= (- ζ ) <0
= (- ζ ) t<0
With << , the solution is
x(t) = C1 + C2 (15)
x(t) = x0 , (t) = 0

Constants C1 and C2 becomes
Motion is aperiodic regardless of initial conditions and diminishes exponentially

with time


• Critically damped system required the smallest damping for aperiodic motion,
hence mass returns to the position of rest in the shortest possible time
without overshooting.
• Application : Gun recoil mechanism - If damping is more than critical value,
there would be some delay before next firing.


Phase plane of a damped system
𝑥
˙
𝑥˙ 0 , 𝑥 0
underdamped
Torsional Systems with Viscous Damping
• Viscous damping torque ,

Shaft, Kt 𝜃
T = - ct
• Equation of motion is
J0 + ct + Kt = 0 (5)
Fluid, ct
• All other treatment is similar to linear system.
Kt
𝐽0
𝜃 , 𝜃 ˙, 𝜃
¨

Complex plane representation

• Semicircle represents locus of s1 Im
and s2 for different values of ζ ζ=0
• For ζ =0, 0< ζ <1
• s1 = i
• s2 = - i
S1,2
• For 0 < ζ <1, roots are complex Re
conjugate, located symmetrically
S2
about real axis ζ >1
S1
• As ζ tends to 1, both roots
approach -
• As ζ > 1, roots lies on real axis, s1
decreases and s2 increases
Problem 5

Problem 5

Flutter instability
Schmitz, Tony L., and K. Scott Smith. Mechanical vibrations: modeling and measurement. Springer
Science & Business Media, 2011.
Free Vibration with Coulomb Damping
• Mechanical simplicity and convenience.

• Sliding, dry friction
• Coulomb’s law “ When two bodies are in contact, the force required to
produce sliding is proportional to the normal force acting in the plane of
contact”
F = μ N = μ mg (6)
• μ depends on materials in contact and the condition of surfaces
• μ = 0.1 (metal on metal- lubricated)
• μ = 0.3 (metal on metal- non-lubricated)
• Damping force is independent of displacement and velocity

Case 1:
• When x is +ve and is +ve, mass moves from left to
right (first half cycle)
• By Newton’s Law
=-μN-kx
+kx=-μN (7)
• This second order nonhomogeneous differential
equation, whose solution can be assumed as
x(t) = A1cos ωnt + A2sin ωnt - (8)

Case 2:
• When x is +ve and is -ve, mass moves from right
to left (second half cycle)
= μ N -k x
+kx=μN (9)
• Solution is assumed as
x(t) = A3cos ωn t + A4sin ωn t + (10)
• The term in (8) and (10) is a constant representing the virtual displacement of spring
under the force μ N, if it were applied as a static force.
• In each half cycle, the motion is harmonic with equilibrium position changing from [ ]
to [ - ]

Solution:
• Equation (7) and (9) can be expressed as a single equation
++ (11) sgn(y) = 1 for y > 0

= -1 for y < 0
where sgn(y) is sign function, = 0 for y = 0
Equation (11) is nonlinear differential equation and can be solved analytically if

we break the time axis into segments separated by = 0 (i.e. time intervals with
different directions of motion)

• Initial conditions : x t=0 = x0 and t=0 = 0 (12)
• This initial condition means motion starts from right to left
• Let x0 , x1, x2 … denote the amplitudes of motion at successive half cycles
• Using equation (10) and (12),
• A3 = x0 - , A4 = 0
• Equation (10) becomes
x(t) = (x0 - ) cos ωn t + for 0 ) (13)

• When t = , mass will be at extreme left position and its displacement from
equilibrium position is
= - (x0 - )
In first half cycle x reduces by

• In second half cycle, mass moves from left to right ,
equation (8) can be used
• Initial condition :
• xt=0 = value of x at t = in (13)
= - (x0 - )
• t=0 = value of at t = in (13)
= value of {- ωn (x0 - ) sin ωnt } at t = =
0
• With these initial conditions (8) becomes
A1 = (x0 - ), A2 = 0

Equation (8) becomes
x(t) = (x0 - ) cos ωn t - valid for ) (14)
• At the end of this half cycle, at time t =
= (x0 - ) =0
• These become initial conditions for third half cycle until motion stops.
• Motion stops when xn because the restoring force exerted by spring kx will be
less than friction force

The number of half cycles (r) that elapsed before the motion ceases is given by
x0 – r
• Amplitude reduces linearly with time in each successive cycle by and slope
of enveloping line is
Motion is periodic in coulomb damping and natural frequency is unaltered.

1) The amplitude reduces linearly with Coulomb damping, whereas it reduces exponentially
with viscous damping.
2) The natural frequency of the system remains unaltered by the coulomb’s damping.

Problem 1
Theta = 30 degree, K = 15,000N/m, m= 20Kg, x(0)= 30mm, x.(0)=0m/s

It is observed that the amplitude gets decreased by 1.5mm each cycle. Find a) Mu b) No of cycles of oscillation

Problem 2
A metal block, placed on a rough surface, is attached to a spring and is given an initial displacement
of 10 cm from its equilibrium position. After five cycles of oscillation in 2 s, the final position of the
metal block is found to be 1 cm from its equilibrium position. Find the coefficient of friction between
the surface and the metal block.

HARMONICALLY EXCITED VIBRATIONS

Introduction
• Forced vibration – external energy is supplied during vibration by applied force

or imposed displacement excitation.
Harmonic excitation harmonic response
Suddenly applied non-periodic excitation transient response.
F(t) = F0 = F0 cos (F0 sin (

Equation of Motion
m+ c + kx = F(t) (1)
Non homogeneous differential equation, with solution
x(t) = xh (t) + xp (t)
Homogeneous Particular
solution solution

Homogeneous solution represents

free damped vibrations and will die
out for all cases of damping and
initial conditions. xh(t)
t
The general solution of (1)
reduces to particular solution
representing steady state vibration xp(t)
t
and will be present as long as
forcing function is present.
x(t)=xh(t)+xp(t)
t

Magnification Factor
• Consider an undamped system subjected to harmonic force

m+ kx = F0 cos (2)
• Homogeneous solution is assumed as
xh(t) = C1 cos ωn t + C2sin ωn t (3)
• As F(t) is harmonic , particular solution , x p (t) is also assumed as harmonic
xp (t) = X cos (4) X – maximum amplitude
• Substituting (4) in (2)
X= = (5)
• Total solution is
x(t) = C1 cos ωn t + C2sin ωn t + cos (6)
Magnification Factor M=

• Initial conditions:
x(t) = x0 (displacement at t = 0)
(t) = 0 (velocity at t = 0)
• Substitute initial conditions in (6)
C1 = x0 - , C2 = (7)
• Total solution is
x(t) = (x0 - ) cos ωn t + sin ωn t + cos (8)
Let , r =
• Magnification factor, M = = = (9)

Response of the system at resonance



Response of Damped System Under Harmonic Force

EoM of a system is
m+ c + kx = F0 cos (17)
Particular solution of (17) is also assumed as harmonic
xp (t) = X cos – φ) (18)
Substituting (18) in (17),
X [ ( k- m 2 ) cos ( – φ) - c sin ( – φ) ] = F0 cos
F0
Using trigonometric entities and equating coefficient of cos and
sin , we obtain
X= , φ = (19)

F0

X= ,φ= (19)
Divide numerator and denominator by k and using expressions for ωn , ζ and r,
we get Magnification factor ,M / Amplification factor / Quality Factor
M= = , φ = (20)

𝜉 =0.1
M=
𝜉 =0.6
𝜉 =1.1
𝜉 =1.6

𝜉 =0.1
𝜉 =0.6
φ=
𝜉 =1.6 𝜉 =1.1
𝜉 =1.6
𝜉 =1.1
𝜉 =0.6
𝜉 =0.1

Frequency response function (Transfer function)
IN A NUTSHELL We see that the relationship between the exciting force and the resulting vibration
depends not only on the system parameters (m, k, and c) and amplitude of the exciting force (F), but also
on the frequency of the excitation (w).

Frequency response function


Frequency response function ( at w=0)
For the static case, we see that F = kX. This is simply Hooke’s law.
Frequency response function ( At resonance)


Problem 1

Problem 1

Applications

HARMONICALLY
VIBRATIONS EXCITED
Base Excitation
Base / support of a spring mass damper

system undergoes harmonic motion
y(t) – displacement of base
x(t) – displacement of mass from its static
equilibrium position

HARMONICALLY
VIBRATIONS EXCITED
Base Excitation
Equation of Motion is
m + c( - ) + k(x-y) = 0 (34)
If y (t) = Y sin , equation (34) becomes
m+ c + kx = ky + c
= kYsin + cYcos
= A sin - ) (35)

Base Excitation Displacement Transmissibility
• Let A = Y and (36)
This shows that giving excitation to base is equivalent to applying a harmonic force
of magnitude A to the mass
• By using the solution indicated by (19), the steady state response of the mass,
xp (t) can be expressed as
xp (t) = sin (t-φ1 - ) (37)
Where
φ1 = (38)

Displacement Transmissibility
Base Excitation
𝑟 =√ 2

Base Excitation
Force Transmitted:
• Force transmitted to the base due to reactions from spring and dashpot
- )= - m (41)
• Assume the solution as xp (t) = X sin- 𝛗) (42)
• By (41 & 42),
F= m 2 X sin - 𝛗) = FT sin - 𝛗) (43)

Base Excitation
Force Transmitted:
• m 2 X sin - 𝛗) = FT sin - 𝛗) (43)
• FT = m 2 X
• =
• = (44)
• The transmitted force is in phase with the motion of the mass x(t).
Force Transmissibility

Base Excitation
𝜉 =1 =
5
𝜉 =0.68
𝜉 =0.32

Problem 1

Problem 4

Problem 3

Problem 3

HARMONICALLY
VIBRATIONS EXCITED
Base Excitation : Review
1. Displacement Transmissibility
2. Force transmissibility
3. Relative motion

Base Excitation
Relative Motion:
• If z = x – y ( rattle space), equation of motion (34)
m + c + k z = -m = m 2 Ysin (45)
• Steady state solution of (45) is given by,
= , φ1 = (46)

Base Excitation

Base Excitation
𝜉 =0
𝜉 =0.33
𝜉 =0.67
𝜉 =1

Agenda
1. Rotating Unbalance
2. Equation of motion : Rotating Unbalance

Problem 2
A variable-speed electric motor, having an unbalance, is mounted on an

isolator. As the speed of the motor is increased from zero, the amplitudes
of vibration of the motor are observed to be 0.55 mm at resonance and
0.15 mm beyond resonance. Find the damping ratio of the isolator.

Problem 2

Problem 2

Rotating Unbalance
• Unbalance is main cause of vibration
• Centrifugal force (me2)/2 due to each mass will cause excitation of two masses
• As masses are rotating in opposite direction, horizontal components cancel each
other, Vertical component along AA causes excitation
Angular position of the masses

is measured from a horizontal
position, total vertical component
of the excitation,
F(t) = me2 sin t

Rotating Unbalance

Rotating Unbalance
=
𝜉 =0
M+ c + kx = me2 sin t (47)
• Solution is 𝜉 =0.33
xp (t) = X sin (t-φ) 𝜉 =0.67
=, φ= (48)
𝜉 =1

Rotating Unbalance
φ=

Wheel Balancing

Rotating Unbalance
=
𝜉 =0
M+ c + kx = me2 sin t (47)
• Solution is 𝜉 =0.33
xp (t) = X sin (t-φ) 𝜉 =0.67
=, φ= (48)
𝜉 =1

Problem 2
Model of a macine mounded on a foundation: k=2X106 N/m, Steady state amplitude = 1.9mm, Mass of the machine =
110kg. Machine is subjected to a harmonic force of magnitude 1500N
Operating speed is 150rad/s. Find damping ratio?

Agenda
1. Whirling of shaft: Introduction

Whirling of Shaft
• In practical applications like turbines,
compressors, motors, a heavy rotor is
mounted on a lightweight, flexible shaft
supported on bearings.
• Unbalance in rotors due to manufacturing
considerations.
• Unbalance effects, stiffness & damping of
shaft, gyroscopic effects and fluid friction in
bearings will bend the shaft at certain
rotational speeds, called whirling /
whipping / critical speeds Definition: Rotation of the plane
made by the line of centers of the
bearings and bent shaft

Jet Engine

Whirling of Shaft
Equation of Motion:
Assumption : Rotor is subjected to steady
state excitation due to mass unbalance.
Forces acting on rotor
• Inertia force
• Spring force due to shaft elasticity
• External and internal damping
O is equilibrium position of shaft when
balanced perfectly

Whirling of Shaft
X= =
φ= (63)

Whirling of Shaft
• At low speeds, amplitude is determined by
spring constant, k since the two terms and are
small. Also the value of phase angle is zero.
• As speed increases, amplitude reaches a
peak (at resonance)
• At resonance, response is limited by damping
term and phase lag is 900
• As speed increases, amplitude is dominated
by the mass term . This term is 1800 out of
phase with the unbalanced force, the shaft
rotates in a direction opposite to that of the X=
unbalance force and hence response is φ=
limited.

Vibration Measurements
Vibration pickups:

Vibration pickups:
• A transducer is used in conjunction with another
device to measure vibrations.
• Seismic instrument
• Instrument is fastened to the body
• Bottom ends of spring and damper will have same
motion as the cage, y and their vibrations excites
the mass by x
• Displacement of mass relative to cage , z = x-y
m + c( - ) + k(x-y) = 0 (68)
y (t) = Y sin (69)

Vibration pickups:
m + c + k z = -m = m 2 Ysin (70)
Steady state solution of (70) is given by,
z(t) = Z sin (t- φ) (71A)
= , (71)
φ= (72)

Seismometer / Vibrometer
• It is observed that , when
• Relative displacement between mass and the base (sensed
by the transducer) is essentially same as the displacement of
the base. Consider (71)
z(t) Y sin (t- φ) ()
if 1 (74)
• Comparison of (73) with y(t) = Y sin t shows that z(t) gives
directly the motion y(t) except for phase lag φ
• Phase lag φ 1800 for = 0
• Recorded displacement z(t) lags behind the displacement
being measured y(t) by time t’ = and this time lag is not
important if y(t) consists of a single harmonic component.
• Since r = is large and the value of is fixed,

the natural frequency nmust be low.
• Mass must be large and spring must have low
stiffness, so instrument becomes bulky
(undesirable)
• In practice, r is not very large and hence Z Y
exactly, but compensation technique is used to
make it exact.

Accelerometers

Accelerometers
• Measures acceleration of vibrating body
• By (71A) and (71)
-{- Y sin ( (75)
This shows that if (76)
Equation (75) becomes -{- Y sin ( (77)
• Comparing (77) with (t) = - Y sin , the term - gives acceleration of the base ,
except for phase lag .
• Time lag by which recording lags acceleration, t’ =
• This time lag is not important if y(t) consists of a single harmonic component.
Accelerometers

Accelerometers
Refer equation LHS of (76) is plotted.
¿
• LHS lies between 0.98 to 1.02 for 0
0.6, if lies between 0.65 to 0.7
• Since r is small, of the instrument
has to be large compared to the
frequency of vibration to be
measured.
• Mass needs to be small and spring
need to be have large value of k
(short spring), so the instrument is
small.

Problem 1
A spring-mass-damper system, having an undamped natural frequency of 100 Hz
and a damping constant of 20 N-s/m, is used as an accelerometer to measure the
vibration of a machine operating at a speed of 3000 rpm. If the actual acceleration
is 10 m/s2 and the recorded acceleration is 9 m/s2. Find the mass and the spring
constant of the accelerometer.

VIBRATION UNDER GENERAL FORCING CONDITIONS
TRANSIENT VIBRATION

General Excitation
INTRODUCTION
a) Periodic excitation
b) Impulse excitation
c) Non-periodic general excitation

Periodic Excitation
INTRODUCTION
Periodic Excitation:
• Non-harmonic
• Can be replaced by sum of harmonic functions
• Using superposition principle response can be
determined
Jean Baptiste Joseph Fourier

Periodic Excitation
Response under general periodic force

Periodic Excitation

Periodic Excitation

Response under a Non-periodic Force
• F(t) is non-periodic
• Blast from explosion, Impulse
• Methods of analysis
 Fourier Integral
 Convolution integral
 Laplace transforms
 Interpolation and numerical method
 Direct numerical integration of EoM

Impulse excitation of a spring – mass
system
mx  kx   ( x)
 t 0
F   F (t )dt
t 0
t 0

F  m  a (t )dt
t 0

F  m( xt 0  xt 0 )

F
xt 0  0  xt 0 
m

Impulse excitation of a spring – mass
system
m+ kx = 0
x(t) = A1 sin ωn t + A2cos ωn t
cos ωn t + sin ωn t
Substituting the initial conditions into the above equations

F
x(t )  sin nt
mn
If the magnitude of the impulse is F instead of unity, then

1
g (t )  sin nt (Response to a unit impulse excitation)
mn
x(t )  g (t ) F
F
x(t )  sin nt
mn

Impulse excitation of a Spring – Mass –
Damper system

Impulse excitation of a Spring – Mass –
Damper system

Response to a General Forcing Condition
Convolution/ Dumahel Integral




Convolution

Response to base excitation

Problem 1

Problem 1

Problem 2

Problem 2

Problem 3

Problem 3

Problem 4

Problem 4

Problem 4 (Detailed solution)
F0  d n t n sin d t  d cos d t 

x(t )   2  e 
md  n n2 
 d
F0 n t n sin d t  d cos d t 
x(t )   2  e 
md
 n n2 
F   cos d t    
x(t )  0  d2  ent n 
md  n n2 

Problem 4

Problem 5

Problem 5

Problem 5
Response without time delay
Response with time delay
¿
𝐹0
𝑘 [
1−
1
√ 1− 𝜁 2
𝑒
−𝜁𝜔 𝑛 ( 𝑡 − 𝑡0 )
𝐶𝑜𝑠 𝜔 𝑑 ( 𝑡 − 𝑡 0 ) − 𝜙
]

Problem 6
If the machine is subjected to a compacting force only up to time t= to, find the response of the system

Problem 5
(Ignoring damping)

Problem 6
A rectangular pulse load is shown in the figure. Find
a) The maximum dynamic amplification factor for 0<t<to

b) Dynamic amplification for t=t0
(Ignore damping)

Problem 6
a)
t
1
x(t )  
mn 0
F ( ) Sinn (t   )d
t
1
 
mn 0
F0 Sinn (t   )d
F0
 [1  Cosnt ]
K
x
  [1  Cosnt ]
xstatic
 x 
  2
 xstatic  max
Problem 6
b) The displacement and velocity at time t=t0 can be assumed as the initial conditions.
We have seen from the last problem that the response of the system till time t=to can be given by the expression
x  xst [1  Cosnt ]
xt 0  xst [1  Cosnt0 ]
x t 0  xstn Sinnt0
x t 0
x(t  t0 )  xt 0Cosn (t  t0 )  Sinn (t  t0 )
n

Problem 6
xstn Sinnt0
x(t  t0 )  xst [1  Cosnt0 ]Cosn (t  t 0 )  Sinn (t  t 0 )
n
x(t  t0 )
AF   [1  Cosnt0 ]2  ( Sinnt 0 ) 2
xst
n t 0
 2 Sin( )
2

Problem 7

Problem 7

TWO DEGREE OF FREEDOM SYSTEMS
• Requires two independent coordinates to describe their motion
• Assumption:
• Mass is considered as rigid body with two possible motions.
• Vibration in vertical plane
• Idealised as a bar of mass, m and MI, J0 supported on two springs of stiffness k1 and
k2
• Displacements given by x(t) and θ(t)
• Displacements can also be given by x1 (t) and x2 (t)

INTRODUCTION
• Packaging of instrument of mass , m
supported on springs from all 4 sides
• Here there is one point mass but two
displacements x and y and two DOF
• DOF = (No. of masses in the system) X
( No. of possible types of motion of each
mass)
• If a 2 DOF system is vibrating at one of the
natural frequency, the amplitudes of the 2
DOFs (coordinates) are related in a specific
manner & the configuration is called
normal / principal/natural mode of vibration

Equation of Motion for Forced Vibration

By Newton’s Law
+ (+ ) -
(1) Coupled 2nd Order Differential Equation
+ (+ ) -


Equation (1) can be written in matrix form as
[m] (t) + [c] (t) + [k] = F (t) (2)
[m] = }
[c] = F}
[k] =
[m],[c] and [k] are symmetric matrices
[m]T =[m], [c]T =[c], [k]T =[k]
Equation (1) becomes uncoupled when c2
and k2 are zero
Problem 2 Torsional Systems

The EOM of the system is

J1 = -kt1 + kt2( - ) + Mt1
J2 = -kt2( - ) - kt3+ Mt2
Rearranging
J1 (kt1 + kt2 - kt2 = Mt1
J2 -kt2 + (kt2 +kt3 Mt2 (16)

Problem 3: Model of a lathe
• Lathe bed-rigid body (mass, inertia), headstock & tailstock-lumped masses.

Problem 3 : Model of a lathe bed
Assumptions:
• Lathe bed-rigid body (mass, inertia), headstock & tailstock-lumped masses.
• Bed supported on springs
• (x1, x2), (x,), (x1,), (y,)- generalized co-ordinates


Equation of Motion using (x(t),)
• Positive values of motion as per figure.
m = - k1(x – l1 ) – k2(x + l2 ) (17)
J0 = k1(x – l1 ) l1 – k2(x + l2 ) l2 (18)

+ =

Free Vibration of an undamped system
SDOF system
Two DOF system

Coordinate Coupling and Principal Coordinates
Equation of motion of viscously damped 2 dof system
+= (23)
Nondiagonal stiffness matrix Static / elastic Coupling

Nondiagonal mass matrix Dynamic / mass Coupling
Nondiagonal damping matrix Velocity / damping Coupling

Sarsvati Veena Vibration Analysis (Continuous system
Experimentation FFT of Veena

Normal mode oscillation
Normal mode: When the system is excited in its normal mode, the system vibrates
with a single frequency and has a specific shape. The system responds like an SDOF
system under normal mode oscillation (Spatial and temporal responses are
decoupled).
In phase mode 180 degree out of phase mode

• A two degree of freedom system will be having 2 natural frequencies (2 Eigen
values).
• There will be a mode shape associated with each of the natural frequencies
(Eigen vector). These Eigen vectors/Eigen modes/ normal modes are orthogonal
for most of the mechanical systems
• The response of a system subjected to an arbitrary disturbance can be expressed

as a linear combination of its Eigen modes
• In order to obtain the natural frequencies and mode shape the normal mode
conditions are used as a trial function

( (5)
( (Normal mode condition)
=
cos(t + )
( First normal mode)
=
cos(t + )
( Second normal mode)


For undamped free vibrations

By Newton’s Law
+ (3)
(4)
We are interested in knowing whether m1 and m2 can oscillate harmonically with the same
frequency and phase angle but with different amplitudes.
Take the solution as
( (5)

+ (3)
(4)
( (5)

+ (3)
(4)
( (5)
Substituting (5) in (3 & 4)

[{-m1 + ] ( = 0
[-1+ {-m2 +] ( = 0

+ (3)
(4)
( (5)

[{-m1 + ] ( = 0
[-1+ {-m2 +] ( = 0
[k] = [m] =
[[k] - ] X = 0: Generalized eigenvalue problem

[{-m1 + ] ( = 0
[-1+ {-m2 +] ( = 0 (6)
Equation (6) must be satisfied for all values of time t,
{-m1 += 0
-1+ {-m2 + (7)
Trivial solution is = No Vibration
For Non-trivial solution, determinants of coefficients must be zero

-{+ } +{- } = 0 (8)
This is quadratic equation in with solutions and
{-m1 += 0
-1+ {-m2 + (7)
Trivial solution is =

{-m1 += 0
-1+ {-m2 +
Determination of X1 and X2
• Depends of and
• and are values of X1 and X2 for
• and are values of X1 and X2 for
• Since equation (7) is homogeneous, only ratios
= and= can be found
• Substituting 2 = and 2 = equation (7) gives
===
=== (9)

choose c1 = c2 =1 with no loss of generality
+ = cos(t + ) + cos(t + )
+ = cos(t + ) + r2 cos(t + ) (13)
Constants , , , are to be determined from initial conditions

x1(0)= cos + cos
(0) = - sin - sin
x2(0) = r1 cos + r2 cos
(0) = - sin - sin (15)
These four equations in four unknowns can be solved.

DE-> Trial solution -> Characteristic equation -> Eigenvalues and eigenvectors -> solution (Linear combination of eigenvectors)
SDOF
2DOF

Problem 1
Find the natural frequencies and

mode shapes of spring – mass
system shown in figure which is
constrained to move in the vertical
direction only. Take n = 1.

Solution

Solution

Mode Shapes
In phase mode
180 degree out of phase mode

Solution

The EOM of the system is

J1 = -kt1 + kt2( - ) + Mt1
J2 = -kt2( - ) - kt3+ Mt2
Rearranging
J1 (kt1 + kt2 - kt2 = Mt1
J2 -kt2 + (kt2 +kt3 Mt2 (16)

Problem 4
Determine the pitch (angular motion) and
bounce ( up and down motion) frequencies and
the location of oscillation centers (nodes) of an
automobile with following data:
Mass (m) =1000 kg
Radius of gyration ( r) =0.9m
Distance between front axle and CG (l1 ) = 1 m
Distance between rear axle and CG (l2 ) = 1.5 m
Front spring stiffness (kf) = 18 kN/m
Rear spring stiffness (kr) = 22 kN/m

Solution

MODE SHAPES

Problem 3

Problem 3

Problem 3

Problem 3

Problem 2

Solution

Solution

Solution

Forced Vibration Analysis

Semi-definite systems

Semi-definite systems





Equation of motion of viscously damped 2 dof system under external force
+= (23)
Assume Fj(t) = Fj0 , j = 1,2 (24)

Assume steady state solution as
xj(t) = Xj , j = 1,2
(25)
X1and X2,in general complex quantities depends on and system parameters.
Substituting (24) and (25) in (23)

= (26)
Let Zrs(, r,s = 1,2 Mechanical Impedence (27)

[Z(] X = F0 (28)
[Z(]= IMPEDENCE MATRIX
X = , F0 = , [Z(] =
Solving
X = [Z(]-1F0 (29)
Substituting (29) in (25) we get solution x1(t) and x2(t)

Q. Find the steady state response of the system shown in the figure

xj(t) = Xj , j = 1,2 (Steady state solution)
[Z(] X = F0
[Z(]=

Vibration Absorber
Use: If a machine is operating a frequency near its natural frequency, vibrations

can be reduced by another spring mass system which acts as vibration
neutralizer / dynamic vibration absorber.
Principal: Natural frequency of resulting system is away from excitation

frequency.
Assumption: Machine to be single degree of freedom system.

Response of the machine without the vibration absorber

Resonance frequency of the
original machine without absorber

Equation of Motion
+ F0 sin t
(30)
Assume harmonic solution
xj(t) = Xj , j = 1,2 (31)
Steady state solution is
X1 = (32)
X2 = (33)

To make X1 = 0 (aim of absorber)
= 0, = =
X2 = - = X2
(Size of dynamic vibration absorber can be found)
Two new resonant frequencies and are introduced

in the system at which amplitude is infinite.
Hence operating frequency should be away from
and . +1 = 0

Vibration absorbers in transmission lines

TMD in the Taipei tower
https://en.wikipedia.org/wiki/Taipei_101

Problem 5
A diesel engine, weighing 3000 N, is supported on a pedestal mount. It has

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

Problem 5

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Vibrations & Control

Dr. Sandeep Jose

Birla Institute of Technology and Science, K.K.

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

i) SDOF model of a beam with end mass

ii) Modelling of a bar as a spring

Definition: The transfer function of a linear, time-invariant differential equation is defined

By taking Laplace transform for the above equation:

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

 F , M   Translational _ inertia, Rotary _ int ertia

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

Assume that I am rotating the pulley by an angle 

BITS Pilani, K K Birla Goa Campus

Assume that I am rotating the pulley by an angle 

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

Reference: Hibbler Chapter 18

BITS Pilani, K K Birla Goa Campus

Reference: Hibbler Chapter 18

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

 F , M   Inertia _ forces, Rotary _ int ertia

 F   Inertia _ forces  0 : Dynamic _ Equilibrium

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

• Mass is given virtual displacement

• virtual displacement , but can have arbitrary value,

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

Duffing oscillator is an example of a periodically forced oscillator with a nonlinear elasticity

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

• q1 , q2 … qn are called generalized displacement

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

Nature minimizes action: “Nature is lazy”

BITS Pilani, K K Birla Goa Campus

Action integral   L (q, q )dt

Note: For a dynamic system the Lagrangian is

to zero corresponding to the extermum function (stationary function)