CHAPTER 1: INTRODUCTION TO VIBRATION

Dr Asif Israr, HoD (Mechanical Engineering)

Institute of Space Technology
 Outline
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 Fundamentals of Vibration
 Types of Vibration
 Vibration Terminology
 Degree of Freedom
 Discrete and Continuous Systems
 Simple Harmonic Motion
 Vibration Analysis Procedure

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 Definitions
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 Def 1: Vibration is the physical movement or oscillation of a mechanical part

about a reference position

 Def 2: When an elastic bodies such as a spring, a beam or a shaft is displaced

from the equilibrium position by the application of external forces, and then
released, they execute a vibratory motion

 Def 3: Vibration deals with the oscillatory behaviour of bodies (bodies

possessing mass and elasticity are capable of vibration).

 Def 4: An important and special class of problems in dynamics concerns the

linear and angular motions of bodies which oscillate or otherwise respond to
applied disturbances in the presence of restoring forces

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 Examples
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• The response of an engineering structure to earthquakes

• The vibration of an unbalanced rotating machine
• The time response of the plucked string of a musical instrument
• And, the flutter of aircraft wings
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 Practical Examples
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 Everyday examples where vibrations are involved

 Mostly, vibrations are undesirable in machines and

structures because they produce increased stresses,
energy losses, cause added wear, increase bearing loads,
induce fatigue, create passenger discomfort in vehicles
and absorb energy from the system

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 Terminology
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Prior to any discussion of vibration, it is important to first understand the common

terms used in vibration studies:

Time period or period of vibration:

It is the time required to complete one cycle. It is usually expressed in second.

Cycle:
 An interval of time during which a regularly repeated events or sequence of
event occurs
 The movement of a vibrating body from its undisturbed or equilibrium position
to its extreme position in one direction, then to the equilibrium position, then to
its position in other direction, and back to equilibrium position

Amplitude:
 The maximum displacement of a vibrating body from its equilibrium position

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 Terminology
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Frequency:
Number of cycles described in one second. It is represented in Hertz (SI units)

Natural Frequency:
 Frequency of the system having vibration without friction
 If a system, after an initial disturbances, is left to vibrate on its own, the
frequency with which it oscillates without external forces are called natural
frequency

Damped Natural Frequency:

Frequency of the system having vibration with friction

Resonance:
Occurs when the frequency of the excitation is equal to the natural frequency of
the system. The failure of major structures such as bridges, buildings, or air
plane wings is an awesome possibility under resonance.

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 Types of Vibration
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 Free or Natural Vibrations:

 When no external force acts on the body, after giving it an initial
displacement, then the body is said to be under free or natural
vibrations. The frequency of the free vibration is called free or
natural frequency

 Forced Vibrations:
 When the body vibrates under the influence of external force, the
body is said to be under forced vibrations. The external force applied
to the body is a periodic disturbing force created by unbalance. The
vibration have the same frequency as the applied force.

 Damped Vibrations:
 When there is reduction in amplitude over every cycle of vibration,
the motion is said to be damped vibration

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 Types of Vibration
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 Longitudinal Vibrations:
 When the particles of the shaft or disc moves parallel to the axis of
the shaft then the vibrations are known as longitudinal vibrations

 Transverse Vibrations:
 When the particles of the shaft or disc move approximately
perpendicular to the axis of the shaft then the vibrations are known as
transverse vibration

 Torsional Vibrations:
 When the particles of the shaft or disc move in a circle about the axis
of the shaft then the vibrations are known as torsional vibration
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 Types of Vibrational Systems
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Oscillatory systems can also be broadly characterized as linear or nonlinear.

 For linear systems: the mass, damper and spring behave in a linear manner, i.e.
spring force is proportional to displacement, damping resistance is proportional
to relative velocity and mass inertia is proportional to acceleration. The principle
of superposition holds, and the mathematical techniques available for their
treatment.
 In contrast, techniques for the analysis of nonlinear systems are less well
known, and difficult to apply.
 Vibrating systems are all subject to damping to some degree because energy is
dissipated by friction and other resistances.
 If damping is small, it has very little influence on the natural frequencies of the
system, and hence the calculations of the natural frequencies are generally made on
the basis of no damping.
 On the other hand, damping is of great importance in limiting the amplitude of
oscillation at resonance.

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 Types of Vibrational Systems
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 Continuous or Distribute-parameter system is one in which the

mass and spring elements are continuously spread over space e.g.
shafts, plates, beams etc.

 Discrete or Lumped-parameter system is one in which the

mass and spring elements are separate and concentrated e.g.
Spring-mass system

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 Degree of Freedom (DOF)
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 Number of independent coordinates necessary to describe the

motion of the body.
 If only one independent coordinate is required to describe the
geometric location of the masses of the system in space, called
single degree of freedom system (SDOF)
 Rigid body – 6 DOFs
 Continuous System – Infinite DOFs

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 Vibration Analysis Procedure
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 A vibratory system is a dynamic system in which oscillations

(inputs) and responses (outputs) are time dependent
 The response of a vibrating system generally depends on the initial
conditions and external excitations
 Practically, vibrating systems are very complex, therefore
important features are considered in the analysis under specified
input conditions
 Analysis of a vibrating system usually involves
 Mathematical Modelling
 Derivation of Governing Equations
 Solution of the Governing Equations
 Interpretation of the Results

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 Example 1 – Vibration Analysis Procedure
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Modelling of a Forging Hammer

 It consist of a frame, a falling weight (tup), an anvil and a foundation block.
 An anvil is a steel block on which material is forged into desired shape by the
repeated blows of the tup.
 The anvil is mounted on an elastic pad to reduce the transmission of vibration to
the foundation block and the frame.

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 Example 1 – Vibration Analysis Procedure
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 More accurate modeling of a forging hammer

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 Example 2 – Vibration Analysis Procedure
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 Motorcycle with a Rider

v = vehicle
r = rider
s = strut
w = wheel
t = tire

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 Example 2 – Vibration Analysis Procedure
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 More accurate modeling of bike rider system

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 Vibration Analysis
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 Example: Try yourself
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 An automobile moving over a rough road can be modeled

considering
 (a) weight of the car body, passengers, seats, front wheels, and rear
wheels;
 (b) elasticity of tires (suspension), main springs, and seats; and
 (c) damping of the seats, shock absorbers, and tires.
Develop three mathematical models of the system using a gradual
refinement in the modeling process

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 Example: Try Yourself
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 A reciprocating engine is mounted on a foundation as shown in

figure. The unbalanced forces and moments developed in the
engine are transmitted to the frame and the foundation of
vibration. Develop two mathematical models of the system using a
gradual refinement of the modeling process

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 Simple Harmonic Motion
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 Oscillatory motion may repeat itself

regularly, as in the case of simple pendulum,
or it may display considerable irregularity, as
in the case of ground motion during an earth
quake.

 If a motion is repeated after equal intervals

of time, it is called periodic motion or
harmonic motion

 In Simple harmonic motion acceleration is

directly proportional to the displacement and
directed towards the equilibrium position

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 Summary of Simple Harmonic Motion
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x(t) Period
Amplitude
2
T A
n
x0 Slope
here is
v0 t

Maximum
 Velocity
n n A
 n rad/s  n cycles  n
fn    Hz
2 rad/cycle 2 s 2
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