 Advanced Mechanical Vibrations

◦ Introduction: Fundamentals of vibrations, Single and two Degree

of Freedom Systems, Harmonically Excited Vibrations, Vibrations
of distributed parameter systems.
◦ Multi-degree of freedom systems, Determination of natural
frequencies and mode shapes, Transient Vibrations, Random
Vibrations, Vibration Control, Vibration measurement and
Applications, Applications of finite element methods to analysis of
mechanical vibrations, Continuous Systems

 Recommended Books:
◦ Mechanical Vibrations, By S. S. Rao. Mc-Graw
◦ Mechanical Vibrations: Theory & Applications, By W.T. Thompson, Marie Dillon Dahleh
◦ Mechanical Shock, By Christian Lalanne. Wiley
◦ Sinusoidal Vibrations, By Christian Lalanne. Wiley
◦ Vibration Simulation Using MATLAB and ANSYS, Michael R. Hatch, 2000.
◦
Fundamentals of Vibration
History of Vibration
 Strings (Music)
 Egyptians
 Pythagoras: Monochord
 Vitruvius – acoustic properties of theater
 Seismograph
 Zhang Heng
History of Vibration
 Laws of Vibrating String
 Galileo – simple pendulum, resonance

 Hooke – relation between pitch and frequency

 Sauveur – modes shapes and nodes, harmonics
 Equation of Motions- Vibrating Body
 Newton - Newton‟s Second Law
 Taylor – Taylor‟s Theorem
History of Vibration
 Principle of Superposition
 Bernoulli
 Thin Beam Theory
 Euler-Bernoulli
 Analytical Solution of Vibrating String
 Lagrange
 Torsional Oscillations
 Coulomb
History of Vibration
 Theory of Vibrating Plates
 E.F.F. Chladni
 Sophie Germain
 Vibration of Flexible Membrane
 Poisson
 Clebsh
 Thick Beam Theory
 Timoshenko
History of Vibration
 Thick Plates
 Mindlin
 Nonlinear
 Poincare – pertubation
 Lyapunov – stability
 Random
 Lin and Rice
 Crandall and Mark
 Finite Element Method
Importance of the Study of
Vibration
Importance of the Study of
Vibration
Importance of the Study of
Vibration
 Importance of the Study of
Vibration – on the good side!
vibratory conveyors, hoppers, sieves,
compactors, washing machines,
electric toothbrushes, dentist s
drills, clocks, and electric massaging
units.
 Basic Concepts
• Vibration
– Any motion that repeats itself after an
interval of time
• Theory of Vibration
– Deals with the study of oscillatory motions
of bodies and the forces associated with
them
 Basic Concepts
• Vibratory System
– Storing potential energy (spring)
– Storing kinetic energy (mass)
– Energy dissipation (damper)
 Basic Concepts
• Degree of Freedom
– The minimum number of independent
coordinates required to determine completely the
position of all parts of a system at any instant of
time defines the degree of freedom of the system
• Generalized Coordinates
– Coordinates necessary to describe the motion of a
system
 Basic Concepts
• Discrete (Lumped) System
– A system that can be describe using a finite
number of degree of freedom
• Continuous (distributed)System
– A system that can be describe using a infinite
number of degree of freedom
 Classification
• Free Vibration
– A system which after an initial disturbance
is left to vibrate on its own. No external
force acts on the system
• Forced Vibration
– A system subjected to an external force
resulting in a vibrating system
 Classification
• Undamped
• Damped
• Linear
• Nonlinear
• Deterministic
• Random
 Vibration Analysis Procedure
• A vibratory system is a dynamic system for
which the variables such as the excitations
(inputs) and response (outputs) are time-
dependent. The response of a vibrating
system generally depends on the initial as
well as the external excitations.
• Consider a simple model of the complex
physical model
 Vibration Analysis Procedure
• Procedure
– Mathematical Modeling
– Derivation of the governing
equations
– Solution of the equations
– Interpretation of the results
 Vibration Analysis Procedure
• Mathematical Modeling
– Represent all important features for the
purpose of deriving the mathematical
equations governing the system behavior
– Simple as possible
– Linear or Nonlinear
– Great deal of “engineering judgment”
– Sequential: First a crude or elementary model
and then a refined model including more
components and/or details
 Vibration Analysis Procedure
• Derivation of Governing Equations
– Use principle of dynamics and derive the
descriptive equations of a vibration system
– The equation of motion is usually in the form of a
set of ordinary differential equations for a discrete
system and partial differential equations for a
continuous system
– Linear or Nonlinear
– Approaches: Newton‟s second law, ‟Alambert‟s
principle, and principle of conservation of energy
 Vibration Analysis Procedure
• Solution of the governing equations
– Standard methods of solving DFQs
• Ordinary
• Partial
– Laplace transform methods
– Numerical methods
 Vibration Analysis Procedure
• Interpretation of the Results
– Displacements
– Velocities
– Accelerations
Elements
• Springs
• Mass/Inertial
• Damping
 Vibration Analysis Procedure
• Example
– The following figure shows a motorcycle with
a rider. Develop a sequence of three
mathematical models of the system for
investigating vibration in the vertical direction.
Consider the elasticity of the tires, elasticity
and damping of the strut, masses of the
wheels, and elasticity , damping, and mass of
the rider
Vibration Analysis Procedure
Vibration Analysis Procedure
Vibration Analysis Procedure
 Vibration Analysis Procedure
• Example
– A reciprocating engine is mounted on a
foundation as shown in the following figure. The
unbalanced forces and moments developed in
the engine are transmitted to the frame and the
foundation. An elastic pad is placed between the
engine and the foundation block to reduce the
transmission of vibration. Develop two
mathematical models of the system using gradual
refinement of the modeling process.
Vibration Analysis Procedure
Vibration Analysis Procedure
Spring Elements
• A linear spring is a type of mechanical link with
negligible mass and damping
• The spring force is proportional to the amount of
deformation
F kx
• The work done in deforming a spring is stored
as strain or potential energy in the spring
1 2
U 2
kx
Spring Elements
• Actual spring are nonlinear

F kx
Spring Elements
• Linearization process

F k x
Spring Elements
• Elastic elements like beams also behave like
spring
F k x
Wl 3
st
3EI

W 3EI
k
st l3
Spring Elements
• Combination of Springs
– Spring in Parallel

W k1 st k2 st

W keq st

keq k1 k 2  kn
Spring Elements
• Combination of Springs
– Spring in Series
st 1 2

W k1 1 W k2 2
W keq st

k1 1
k2 2
keq eq

keq keq
eq eq
1 2
k1 k2
keq keq 1 1 1 1
st st 
k1 k2
st keq k1 k2 kn
Mass or Inertia Elements
 Assumed to be a rigid
body
 Gain or lose kinetic
energy whenever the
velocity changes
 The work done on the
mass is stored in the
form of kinetic
energy
 Discrete masses:
◦ Point mass
 Has translation only, therefore kinetic energy is

◦ Rigid body
 Has both translation and rotation, therefore kinetic energy is

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Mass or Inertia Elements
 Combination of masses
 Translational Masses Connected by a Rigid
Bar

ll2
x2 x1
l1

ll3
x3 x1
l1
Mass or Inertia Elements
 Translational Masses Connected by a Rigid
Bar
xeq x1
 Equating the KE of the three-mass system to that of the
equivalent mass system

1 1 1
1
2
 2
m1x 1 2 2
m2 x 2 2 2
m3 x 3 2 2
meq x eq
2 2
l2 l3
meq m1 m2 m3
l1 l1
Mass or Inertia Elements
 Combination of masses
 Translational Masses and Rotational Masses
Coupled Together
○ Equivalent translational mass T 1
2
mx 2 1
2 J o 2
1
Teq 2
meq xeq

xeq x  x / R
2
1 1 x
1
2
meq x 2 2 mx 2 2 Jo
R
Jo
m m
eq
R
 In real life, systems don’t vibrate forever, or if
they do, there should be something pumping
energy into the system

 Energy initially associated with an oscillatory

motion is gradually converted to heat and/or
sound
◦ This mechanism is known as damping

 Most common damping mechanism:

◦ Viscous Damping
◦ Coulomb friction
◦ Material or Solid or Hysteretic Damping

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 Experienced by systems vibrating in a fluid medium
such as air, water, oil

 Resistance offered by the fluid to the moving body

causes energy to be dissipated
◦ Amount of energy dissipated depends on:
 Fluid viscosity
 Vibration frequency
 Relative velocity of the vibrating body wrt that of the fluid
 Typically damping force is proportional to relative velocity
 Shape (geometry) characteristics

48
 The most common damping force expression:

 Linear form, c is a constant coefficient, v is relative velocity

 Why this expression?

 Justify its use for damping force acting between
two plates with relative motion, viscous fluid in
between

49
 Symbols used:
◦  – fluid viscosity
◦  – shear stress dev. in the fluid layer at a distance y of the fixed
plate
◦ v – plate relative horizontal velocity; no velocity in the vertical
direction
◦ u – velocity of intermediate fluid layers; assumed to change linearly

50
 More precisely, through Coulomb friction

 Several other friction models are in use beside

Coulomb friction

 We’ll stick to the Coulomb model

◦ Damping force is constant in magnitude and opposite to
relative velocity between bodies in contact
◦ Proportional to the normal contact force between bodies
◦ Caused by rubbing surfaces that are dry or without sufficient
lubrication

51
  Equations of Motion for

Friction here…
FBD:

Instantaneous
Fs= k x direction of motion
m

F= μ N

N
Direction is
opposite to that of
motion. Always.

52
 Materials are deformed, energy is absorbed and dissipated by the
material
 Friction between internal planes, which slip and slide as the
deformations take place
 Stress-strain diagram shows hysteresis loop, i.e.,

 Area of this loop denotes energy lost per cycle due to damping
 Rubber-like materials do this without permanent deformation 53
 Dampers in Parallel

 Dampers in Series
 Periodic Motion: motion that repeats itself after an interval of time 
◦  is called the period of the function
f


t
 Harmonic Motion: a particular form of periodic motion represented by a
sine or cosine function

 Very Important Observation: Periodic functions can be resolved into a

series of sine and cosine functions of shorter and shorter periods (more
to come, see Fourier series expansion):

55
 The motion with no friction of the system below (mass-spring
system) leads to a harmonic oscillation
◦ Formally discussed in Chapter 2

 Plot below shows time evolution of function

 Nomenclature:

56
  If displacement x(t) represented by a harmonic function, same
holds true for the velocity and acceleration:

 Quick remarks:
 Velocity and acceleration are also harmonic with the same frequency of
oscillation, but lead the displacement by /2 and  radians, respectively

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Harmonic
 Vectorial
Representation
vector OP
magnitude A

y Asin t
x A cos t
Harmonic Motion
 Definition and terminology
 Phase angle