Longitudinal and Transverse Vibrations
Types of Vibration
(1) Free vibrations or natural vibrations
(2) Forced vibrations, and
(3) Damped vibrations.
Free vibrations: A vibration in which no external force acts on the body, after giving an initial
displacement and the motion is maintained by internal elastic forces.
Forced vibrations: A vibration in which external force is applied to the body and the vibrations have
the same frequency as the applied force.
Damped vibrations: It is a vibration in which there is a reduction in amplitude over every cycle of
vibration.
Important Definitions for Vibrating Motion
Period of vibration or time period: It is the time taken by a motion to repeat itself, it is measured in
seconds.
Cycle: It is the motion completed during one time period.
Frequency: It is the number of cycles completed in one second; it is expressed in hertz (Hz) and is
equal to one cycle per second.
Resonance: When the frequency of the external force is the same as that of the natural frequency of the
system, resonance takes place. Resonance results in large amplitudes of vibrations and this may be
dangerous.
Free Vibrations
(a) Longitudinal vibrations. The disc may be given initial displacement from the equilibrium
position by external force in the downward direction and then released. The disc will be moving
up and down. All the particles of the disc will vibrate along straight paths parallel to the axis of
the shaft. In longitudinal vibration, the shaft is elongated and shortened alternately resulting in
tensile and compressive stresses in the shaft.
(b) Transverse vibrations. The disc may be given initial displacement from equilibrium position by
external force perpendicular to the axis of the shaft and then released. All the particles of the disc
will vibrate along straight paths perpendicular to the axis of the shafts. In transverse vibration,
the shaft is alternately bent and straight resulting in bending stresses in the shaft.
(c) Torsional vibrations. The disc may be given initial angular displacement from the equilibrium
position by an external torque and then released. All the particles of the disc will vibrate along
circular arcs whose centers lies on the axis of the shaft. In torsional vibration, the shaft is
alternately twisted and untwisted resulting in torsional shear stresses in the shaft.
Shaft
Disc
Equilibrium
position
Equilibrium
position
Longitudinal Transverse
1-14 Torsional
vibrations vibrations
vibrations
Methods of Finding the Natural Frequency of Free Longitudinal Vibrations
(1) Equilibrium Method
Let K …. Stiffness of the spring (the force required to
produce unit deflection in the spring)
m …… mass of the weight suspended
In the equilibrium position
m * g = K * δ …. (1)
Since the mass is now displaced from its equilibrium
position by a distance x, and is then released,
therefore after time t,
Restoring force = W – K (δ + X)
=m*g–K*δ–K*X
But from equation (1)
Restoring force = K * δ – K * δ – K * X = - K * X
And the accelerating force = mass * acceleration
d 2X
=m* m * X …(2)
dt 2
Therefore the equation of motion according to Newton's 2nd law becomes
(Mass * Acceleration) = Forces in the direction of Acceleration
Therefore from equations (1) and (2), the equation of motion of the body of mass m after time t is
∴m * X = - K * X ⇒ m * X + K * X = 0 ....... ( 3 )
K
or X + X =0
m
K K
let ωn2 = ⇒ ωn = ........(4 ) ( natural frequency in rad / sec)
m m
∴the equation of motion X + ωn2 * X = 0
2* π 2* π m
Time period t = = = 2* π * ..... ( 5 )
ωn K K
m
1 1 K
∴Natural frequency ( f n ) in Hz ⇒ f n = = * ...... ( 6 )
t 2* π m
The natural frequency can also be expressed in terms of (δ) in equation (6).
m* g
From equation (1) ⇒m * g = K * δ ⇒K= sub. in equation ( 6 )
δ
1 m* g 1 1 g
fn = * = * .....( 7 )
2* π δ m 2* π δ
(δ) can be obtained from the given condition of the problem.
2-14
W
stress W L W *L
E A *
strain A A* E
L
Where
L … Length of spring or shaft,
A … Cross sectional area,
E … Young’s modulus of the material of the spring or shaft and
W …Weight suspended at free end.
(2) Energy Method
In free vibration, the total energy of the system (sum of kinetic energy and potential energy) remain
constant.
K .E. P.E. cons tan t or
d
K.E. P.E. 0
dt
2
1 1 dX
But K .E. mV m
2
2 2 dt
0 KX 1
and P.E. Mean force displacement from equilibriu m position X KX
2
2 2
d 1 dX
2
1 1 dX d 2X 1 dX
m KX 0 m 2
2
2 K 2X 0
dt 2 dt 2 2 dt dt 2 dt
d 2X
m KX 0
dt 2
This equation is same as equation (2) given in equilibrium method.
3-14
Method for Natural Frequency of Free Transverse Vibration
Let δ … static deflection of shaft under the weight (W).
As discussed in the previous article,
Restoring force = W K ( X ) K X
But accelerating force = mass * acceleration
d 2X d 2X d 2X K
m m K X X 0
dt 2
dt 2
dt 2 m
This is same as equation obtained by equilibrium method above.
m
time period (t ) 2
K
1 1 K
natural frequency ( f n )
t 2 m
m g 1 m g 1 g
m g K K f n
2 m 2
W L3
(δ) for cantilever beam loaded at the free end
3 E I
Where L …. Length of shaft and
I … moment of inertia of the shaft
4-14
Ex1: A vertical shaft 100 mm in diameter and 1 m in length has its upper end fixed at the top. At the
other end it carries a disc of weight 5000 N. The modulus of elasticity of the material of the shaft is
2 × 105 N/mm2. Neglecting the weight of the shaft, determine the frequency of longitudinal vibrations
and transverse vibrations.
Sol. For longitudinal vibrations
1 g
fn
2
W L 5000 1
3.18 10 6 m
A E
(0.1) 2 2 1011
4
1 9.81
fn 279.5 Hz
2 3.18 10 6
For transverse vibrations
1 g
fn
2
W L3 5000 13
1.7 10 3 m
3 E I
3 2 1011 (0.1) 4
64
1 9.81
fn 12 Hz
2 1.7 10 3
5-14
Natural Frequency of Transverse Vibrations of Shafts or Beams Under Different Types of Loads
and End Conditions
(1) Natural Frequency of a Shaft Carrying a Single Concentrated Load
Cantilever Simply supported Fixed
The natural frequency of transverse vibration for a single concentrated load is given by equation
1 g
fn
2
W L3
where ....... ( for cantelever beam)
3 E I
W a2 b2
...... ( for simply sup ported beam)
3 E I L
W a3 b3
......( for fixed beam)
3 E I L3
Ex2: A simply supported shaft of length 800 mm carries a mass of 60 kg placed 250 mm from one end.
If E = 200 GN/m2 and diameter of shaft is 50 mm, find the natural frequency of transverse vibrations.
1 g
Sol: f n
2
W a2 b2 (60 9.81) (0.25) 2 (0.55) 2
0.755 10 4 m
3 E I L
3 200 10 9 (0.05) 4 0.8
64
1 9.81
fn 57.3 Hz
2 0.755 10 4
6-14
(2) Natural Frequency of a Shaft Carrying a Uniformly Distributed Load
(a) Case of Simply Supported Shaft
5 m g L4
Static deflection δ =
384 E I
1 384 E I
∴ fn =
2π 5 m L4
Where m … Mass in kg per unit length distributed on the shaft
(b) Case of a Shaft Fixed at Both Ends
m g L4
Static deflection
384 E I
1 384 E I
∴fn =
2π m L4
7-14
Natural Frequency of Transverse Vibration of a System of Several Load Attached to the Same
Shaft
(a) Energy or (Rayleigh’s) Method
Let y1, y2, y3 and y4 …. Deflection under load W1, W2, W3 and W4
Maximum P. E. = mean load * deflection of load
1 1 1 1
W1 y1 W2 y 2 W3 y 3 W4 y 4
2 2 2 2
1 1 1 1
m1 g y1 m2 g y 2 m3 g y 3 m4 g y 4
2 2 2 2
m1 y1 m2 y 2 m3 y 3 m4 y 4 m y
g g
2 2
1 1 1 1
Maximum K. E. m1 V12 m2 V22 m3 V32 m4 V42
2 2 2 2
m1 y1 m2 y 2 m3 y3 m4 y 4 2 m y 2
1 2 1 2 1 2 1 2 1
2 2 2 2 2
Maximum P. E. = Maximum K.E.
g 1 g m y
m y 2 m y2
2 2 m y 2
1 g m y
natural frequency f n
2 2 m y 2
(b) Dunkerley’s Method
This method applied to a shaft of uniform diameter.
Let W1, W2, …. Wn … loads at different points
δ1, δ2, … δn …. Static deflection of the shaft under loads W1, W2, …. Wn when each load is acting
separately.
Ws …. Weight of shaft whose mass is (ms)
δs .... Maximum deflection of the shaft under its own weight
fn1, fn2, etc … Natural frequency of transverse vibration with each load acting separately
fns … Natural frequency of transverse vibration of the shaft under its own weight
fn … Natural frequency of transverse vibration of the system as a whole.
1 1 1 1
2
2 2 ....... 2
fn f n1 f n 2 f ns
1 g 1 g 1 g
Where f n1 , f n2 , ........ etc and f ns
2 1 2 2 2 s
Notes
W a2 b2
(1) The deflection of the shaft under load when each load acts separately is
3 E I L
where (a) and (b) is the distance of the load (W) from the two support and (L) is the length
of the shaft.
(2) If the mass of the shaft is negligible the δs = 0.
8-14
Ex3: Find the frequency of the transverse vibrations of a shaft which is simply supported at the ends and
is of 40 mm in diameter and 2.5 m in length. The shaft carries three point loads of masses 30 kg, 70 kg
and 45 kg at 0.5 m, 1 m and 1.7 m respectively from the left support. Take E = 200 GN/m2. Neglect the
weight of the shaft.
Sol.
1 1 1 1 1 g W a2 b2
2 2 2 2 f n1 , 1
fn f n1 f n 2 f n 3 2 1 3E I L
(30 9.81) 0.5 2 2 2
I d4 (0.04) 4 0.1257 10 6 m 4 1 0.00156 m
64 64 3 (200 10 9 ) (0.1257 10 6 ) 2.5
1 9.81
f n1 12.62 Hz
2 0.00156
1 g W a2 b2 (70 9.81) 12 1.5 2
By the same way f n 2 , 2 0.008195 m
2 2 3 E I L 3 (200 10 9 ) (0.1257 10 6 ) 2.5
1 9.81
f n2 5.5 Hz
2 0.008195
W a2 b2 (45 9.81) 1.7 2 0.8 2
3 0.00433 m
3 E I L 3 (200 10 9 ) (0.1257 10 6 ) 2.5
19.81
f n3 7.57 Hz
2
0.00433
1 1 1 1
2 2
2
0.0567
fn (12.62) (5.5) (7.57) 2
1
fn 4.2 Hz
0.0567
9-14
Whirling Speeds or Critical Speeds
The speed at which the shaft runs so that the deflection of the shaft from the axis of rotation
becomes infinite is known as whirling speed or critical speed. The shaft vibrates violently in
transverse direction.
Shaft position Axis of rotation
Shaft
position
Let W … Weight of the rotor attached to a shaft of negligible mass
h …. Initial displacement of C. G. (center of gravity) of the shaft and rotor from the axis of
rotation
ω …. Angular velocity of the shaft in (rad/sec),
K … Stiffness of the shaft,
y … Additional displacement of C. G. from the axis of rotation due to centrifugal force.
The centrifugal force = m 2 y h
Force resisting the deflection y (dynamic force on the bearing) = K * y
For equilibrium m 2 y h = K * y y
h
K
1
m 2
K h
But the natural circular frequency is n y 2
m n
1
2
When ω = ωn then y is infinity large
K g
n is critical speed c n in (rad / sec)
m
2 Nc g 60 g
Let Nc is the critical speed in (rpm), then c N c
60 2
Notes
(1) A shaft supported in a short bearing that mean simply supported while shaft in long bearing
means fixed at both ends.
10-14
Equivalent Spring Stiffness
K1 K1 K2
Keq K1
Keq
or
W W
K2
W K2 W
(1) Spring in Series (2) Spring in Parallel
1 1 1 K eq K1 K 2
K eq K 1 K 2
K1 K 2
K eq
K1 K 2
11-14
Ex4: A vertical shaft of diameter 15 mm is held in a short bearing, the span of the shaft between the
bearings is 1 m. A disc with a mass of 10 kg is attached to the shaft at its mid-point. The center of
gravity of the disc is 0.3 mm from the axis of the shaft. Determine the critical speed of the shaft and the
additional deflection of the shaft when it run at 500 rpm take E = 200 GN/m2.
Sol:
1 g W a 2 b2
fn , and I d4 (0.015) 4 2.5 *10 9 m 4
2 3 E I L 64 64
(10 9.81) (0.5) 2 (0.5) 2
∴ 4.08 *10 3 m
3 (200 *10 9 ) (2.5 *10 9 ) 1
1 9.81
∴f n 7.8 Hz
2 4.08 *10 3
Critical speed of shaft , N c 60 * f n 7.8 60 468 rpm
h 2N c 2 468
additional deflection y 2 n c 49 rad / sec
n 60 60
-1
2
2N 2 500
and 52 rad / sec
60 60
0.0003
∴y 2.67 * 10 3 m
(49) 2
-1
(52) 2
12-14
Ex5: A rotor mass is 12 kg mounted mid – way on 25 mm diameter horizontal shaft simply supported
by two bearing. The span between the bearings is 900 mm; the center of gravity of the rotor is 0.02 mm
from geometric center of the rotor. If the system rotates at 3000 rpm, find the amplitude of the steady
W L3
state vibration and the dynamic force on the bearings. Take E = 2 * 10 N/mm and
5 2
.
48 E I
Sol:
48 2 10 5 25
4
mg W W 48 E I 64
K 252.5 N / mm
WL 3
L 3
900 3
48 E I
1 K 1 252.5 10 3 N 3000
fn 23.08 Hz and f 50 Hz
2 m 2 12 60 60
h 0.02
y y 0.025 mm
2
23.08
2
n
1 1
2
50
Dynamic force = K * X = K * y = 252.5 * 0.025 = 6.3 N
6.3
Dynamic force on each bearing 3.15 N
2
m g dynamic force 12 9.81 6.3
total force on each bearing 62.01 N
2 2
13-14
(Home Works)
Q1/ A vertical shaft 100 mm in diameter and 1 m in length has its upper end fixed at the top. At the
other end it carries a disc of weight 20 kN. E = 2*105 N/mm2. Neglecting the weight of the shaft,
determine the frequency of longitudinal vibrations and transverse vibrations.
Q2/ A simply supported shaft of length 1.6 m carry a mass of 120 kg placed 500 mm from one end. If
E = 200 GN/m2 and diameter of shaft is 50 mm, find the natural frequency of transverse vibrations.
Q3/ Find the frequency of transverse vibrations of a shaft which is simply supported at the ends and is of
40 mm in diameter. The length of the shaft is 5 m. The shaft carries three point loads of masses
15 kg, 35 kg and 22.5 kg at 1 m, 2 m and 3.4 m respectively from the left support.
Take E = 200 GN/m2.
Q4/ Using the Dunkerley’s method prove that natural frequency of transverse vibrations of a system
with two loads attached to the same shaft is given by (neglect the weight of the shaft)
0.4985
fn
1 2
Q5/ A shaft 180 mm diameter is simply supported in two bearings 2.5 m apart. It carries three discs of
mass 250 kg, 500 kg and 200 kg at 0.6 m, 1.5 m and 2 m from the left hand. Assuming the mass of
the shaft 190 kg/m, determine the critical speed of the shaft. Young’s modulus for the material of
the shaft is 211 GN/m2.
Q6/ A shaft 1.5 m long are fixed at both ends and carry two wheels each of 50 kg mass. One wheel is
situated at the center of the shaft and the other at a distance of 0.4 m from the center towards right.
The shaft is hollow of external diameter 75 mm and inner diameter 37.5 mm. The density of the
shaft material is 8000 kg/m3. The Young’s modulus for the shaft material is 200 GN/m2. Find the
frequency of transverse vibration.
Q7/ A vertical shaft are held in long bearings and a disc is attached to the shaft at its mid point. The
center of gravity of the disc dose not coincides with the axis of the shaft. The diameter of the shaft
is 20 mm and the span of the shaft between the bearings is 1 m. The mass of the disc is 10 kg and
the center of gravity of the disc is 0.03 mm from the axis of the shaft. Take E = 200 GN/m 2.
Determine the critical speed of the shaft when it runs at 700 rpm.
Q8/ Find the natural frequency of vibration for the system shown, when K1 = 10 N/mm, K2 = 5 N/mm
and W = 109 N.
K1 K1
K2
14-14
