WeinVIBRATIONS SECOND EDITION Balakumar Balachandran | Edward B. Magrab 3» CENGAGE Learning” ico + Singapore «Spain « United Hingdom + United States c. All Rights Reserved. May not be copied, scanned, or duplicated, in whole or in part.CENGAGE Learning” Vibrations, Second Edition Balatumar Balachandran and Edward B. Magra Dicestor, Global Engineering Program: Chris Carson Senior Developmental Ector: Hilda Gowans Persnssions: Kristina Bowering Production Service: RPh torial Services ne Copy Editor: Harlan James Procfreadet: Marthe MeMaster Indexer: Shelly Gerger-xnecht| Crethive Director: Angela Caer Text Designer RPK Editorial Services Cover Designes: Andrew Adams Cover image: Left, € 1Stockphoto.com/Robert Rushton; center, © Imagexom/Dreamstime.com: right, © Ben Goode/Dreamstimecom Compositor: GRS/Newgen Printer Thomson West Printed in the United States of America 1234567 11 1009 08 Copyright 2009 Cengage Learning, Inc. All Ri (© 2009 Cengage Learning ALL RIGHTS RESERVED. No part of this work covered by the copyright herein may be reproduced, transmitted, stored or used in any form or by any mean graphic, electronic, or mechanical, including but not limited to photocopying, recording, scanning, digitizing, taping, Web distribution, information nesworks, or information storage and retrieval systems, except 2¢ permitted under Section 107 oF 108 ofthe 1976 United States Copyright Act without the prior writen permission of the publisher Forprodict information and technalogy assistance, contact us at Cengage Learning Customer & Sales Support, 1-800:354-9706 Forpermission to use materia rom thistext or product, submit all requests online at cengage.com/permissions Further permissions questons can be emalled to Permissisnrequest@cengagecom Library of Congrase Contiol Number: 2008824825 |SBN-13:978-0:534-552060 ISBNA0: 053455205-4 Cengage Learning 120 irchmount Rosd Toronto ON NIK SG4 Canada Cengage Learning isa leading provider of customized lezring solutions with office locations around the glob, icluding Singapore, the United Kingdom, Austalla, Mexico, Baal, and Japan. Locate yout local office a intemational.cengage.com/region Cengage Learning products are represented in Canada by Nelson Education Led For your course and learning solutions, vst academie.cengage.com Burchne any of our products st your local college store or at our pried cnline store www.ichapters.com ights Reserved. May not be copied, scanned, or duplicated, in whole or in part.Contents T Introduction 1 1.1. Introduction 1 1.2. Preliminaries from Dynamics 4 1.3 Summary 19 Exercises 19 2 Modeling of Vibratory Systems 23 2.1 Introduction 23 2.2 Inertia Elements 24 2.3 Stiffness Elements 28 2.4 Dissipation Elements 49 2.5 Model Construction 54 2.6 Design for Vibration 60 2.7 Summary 61 Exercises 61 3 Single Degree-Of-Freedom Systems: Governing Equations 69 PM et bee a ae 3.1. Introduction 69 3.2 Force-Balance and Moment-Balance Methods 70 Obras protagidas por direitos de autor Copyright 2009 Cengage Learning, Inc. All Rights Reserved. May not be copied, scanned, or duplicated, in whole or in part,iv Contents 3.3. Nalural Frequency and Damping Faclor 79 3.4 Governing Equations for Different Types of Damping 88 3.5. Governing Equations for Different Types of Applied Forces 89 3.6 Lagrange's Equations 93 3.7 Summary 116 Exercises 117 4 Single Degree-of-Freedom System: Free-Response Characteristics 127 4.1 Introduction 127 4.2. Free Responses of Undamped and Damped Systems 129 4.3 Stability of a Single Degree-of-Freedom System 161 4.4 Machine Tool Chatter 165 4.5 Single Degree-of-Freedom Systems with Nonlinear Elements 168 4.6 Summary 174 Exercises 174 5 Single Degree-of-Freedom Systems Subjected to Periodic Excitations 181 5.1. Introduction 181 5.2 Response to Harmonic Excitation 183 5.3. Frequency-Response Function 204 5.4 System with Rotating Unbalanced Mass 218 5.5 System with Base Excitation 225 5.6 Acceleration Measurement: Accelerometer 235 5.7 Vibration Isolation 238 Copyright 2009 Cengage Learning, Inc. All 's Reserved. May not be copied, scanned, or duplicated, in whole or in part5.8 59 Contents ov Energy Dissipation and Equivalent Damping 244 Response to Excitation with Harmonic Components 255 5.10 Influence of Nonlinear Stiffness on 5.11 Forced Response 269 Summary 277 Exercises 277 6 Single Degree-of-Freedom Systems Subjected to Transient Excitations 285 6.1 Introduction 285 6.2 Response to Impulse Excitation 287 6.3 Response to Step Input 300 6.4 Response to Ramp Input 310 6.5. Spectral Energy of the Response 316 4.6 Response to Rectangular Pulse Excitation 317 6.7 Response to Half-Sine Wave Pulse 322 6.8 Impact Testing 332 6.8 Summary 333 Exercises 333 7 Multiple Degree-of-Freedom Systems: Governing Equations, Natural Frequencies, and Mode Shapes 337 7.1 Introduction 337 7.2. Governing Equations 338 7.3 Free Response Characieristics 369 74 75 76 Copyright 2009 Cengage Learning, Inc. All Rotating Shafts On Flexible Supports 409 Stability 419 Summary 422 Exercises 422 Reserved. May not be copied, scanned, or duplicated, in whole or in part.vi Contents 8 Multiple Degree-of-Freedom Systems: General Solution for Response and Forced Oscillations 435 8.1 8.2 8.3 8.4 8.5 8.6 8.7 8.8 8.9 9 Vibrations of Beams a1 9.2 2.3 94 9.5 Glossary 649 Introduction 435 Normal-Mode Approach 438 State-Space Formulation 458 Laplace Transform Approach 471 Transfer Functions and Frequency-Response Functions 481 Vibration Absorbers 495 Vibration Isolation: Transmissibility Ratio 525 Systems with Moving Base 530 Summary 534 Exercises 535 541 Introduction 541 Governing Equations of Motion 543 Free Oscillations: Natural Frequencies and Mode Shapes 562 Forced Oscillations 632 Summary 648 Appendix = A Laplace Transform Pairs 653 B Fourier Series 660 C Decibel Scale 661 D Solutions to Ordinary Differential Equations 663 Copyright 2009 Cengage Learning, Inc. All Reserved. May not be copied, scanned, or duplicated, in whole or in part.Contents vii E Matrices 675 F Complex Numbers and Variables 679 G Natural Frequencies and Mode Shapes of Bars, Shafts, and Strings 683 Answers to Selected Exercises 693 Index 701 Copyright 2009 Cengage Learning, Inc. All Reserved. May not be copied, scanned, or duplicated, in whole or in part.Obras protegidas por dir ‘Copyright 2009 Cengage Learning, Inc. All Rights Reserved. May not be copied, scanned, or duplicated, in whole or in part.Preface Vibration is a classical subject whose principles have been known and stud- ied for many centuries and presented in many books. Over the years, the use of these principles to understand and design systems has seen considerable growth in the diversity of systems that are designed with vibrations in mind: mechanical, aerospace, electromechanical and microelectromechanical de- vices and systems, biomechanical and biomedical systems, ships and sub- ‘marines, and civil structures. As the performance envelope of an engineered system is pushed to higher limits, nonlinear effects also have to be taken into account, This book has heen written to enable the use of vibration principles i broad spectrum of applications and to meet the wide range of challenges faced by system analysts and designers. To this end, the authors have the fol- lowing goals: a) to provide an introduction to the subject of vibrations for un- dergraduate students in engineering and the physical sciences, b) to present vibration principlesin a general context and to illustrate the use of these prin- ciples through carefully chosen examples from different disciplines, c) to use a balanced approach that integrates principles of linear and nonlinear vibra- tions with modeling, analysis, prediction, and measurement so that physical understanding of the vibratory phenomena and their relevance for engineer~ ing design can be emphesized, and d) to deduce design guidelines thet are ap- plicable to 2 wide range of vibratory systems. In writing this book. the authors have used the following guidelines. The ‘material presented should have, to the extent possible, a physical relevance to justify ils introduction and development. The examples should be relevant and wide ranging, and they should be drawn from different areas, such as bio- mechanics, electronic circuit boards and components, machines, machining (cutting) processes, microelectromechanical devices, and structures, There should be a natural integration and progression between linear and nonlinear systems, between the time domain and the frequency domain, among the re- sponses of systems to harmonic and transient excitations, and between dis- crete and continuous system models, There should de a minimum emphasis ights Reserved. May not be copied, scanned, or duplicated, in whole or in part. Copyright 2009 Cengage Learning, Inc. All Rix Preface placed on the discussion of numerical methods und procedures, per se, and in stead, advantage should be taken of tools such as MATLAB for generating walytical solutions. The algo~ rithms for generating numerical solutions should be presented external (0 the the numerical solutions and complementi chapters, as they tend to break the flow of the material being presented. (The MATLAB algorithms used to construct and generate all solutions ean be found at the publisher's web site for this book.) Further advantage should be taken of tools such as MATLAB in concert with analysi so that linear sys- tems can be extended to include nonlinear elements. Finally, there should he ‘@ natural and integrated interplay and presentation between analysis, model- ing, measurement, prediction, and design so that a reader does not develop ar- tificial distinctions among them. Many parts of this book have been used for classroom instruction in a vi- brations course offered at the junior level at the University of Maryland. Typ- ically, students in this course have had a sophomore-level course on dynam jes and a course on ordinary differential equations that ineludes Laplace sforms. Beyond that, some fundamental material on complex numbers (Appendix F) and linear algebra (Appendix E) is introduced at the appropri- ate places in the course, Regarding obtaining the solution for response, our preference in most instances is to obtain the solution by using Laplace trans- forms. A primary motivation for using the Laplace transform approach is that it is used in the study of control systems, and it ean be used with ease to show the duality between the time domain and the frequency domain, However, ‘other means to solve for the response are also presented in Appendix D. This book has the following features. Both Newton's laws and La- _grange’s equations are used to develop models of systems. Sincean important art of this development requires kinematics, kinematics is reviewed in Chap- ter 1, We use Laplace transforms to develop analytical solutions for linear vi- bratory sysiems and, from the Laplace domain, extend these results to the fre- quency domain, The responses of these systems are discussed in both the time and frequency domains to emphasize their duality. Notions of transfer fane- tions and frequeney-response functions also are used throughout the book to help the reader develop a comprehensive picture of vibratory systems. We have introduced design for vibration (DEV) guidelines that are based on vi- bration principles developed throughout the book. The guidelines appear at the appropriate places in each chapter. These design guidelines serve the ad- ditional function of summarizing the preceding material by encapsuiating the most important elements as they relate to some aspect of vibration design. Many examples are ineluded from the area of mieroeleetromechanical sys- tems throughout the book to provide a physical context for the application of principles of vibrations at “small” length scales. In addition, there are several examples of vibratory models trom biomechanics. Throughout the book, ex- tensive use has bea made of MATLAB, and in doing so, we have been able tra to include 2 fair amount of new numer or not easily accessible to analysis previously. These results reveal many in- leresting phenomena, which the authors believe help expand our understand ing of vibrations. not accessible al results, which were i i ights Reserved. May not be copied, scanned, or duplicated, in whole or in part. Copyright 2009 Cengage Learning, Inc. All RiPreface xi The book is organized into nine chapters, with the topics covered rang- ing from pendulum systems and spring-inass-damper prototypes to beams, In mechanics, the subject of vibrations is considered a subset of dynamics, in which one is concemed with the motions of bodies subjected to forces and moments. For much of the material covered in this book, a background in dynamies on the plane is sufficient. In the introductory chapter (Chapter 1), a summary is provided of concepts such as degrees of freedom and principles such as Newton's linear momentum principle and Euler’s angular momentum principle, In the second chapter, the elements that are used to construct a vibratory system model are introduced and discussed. The notion of equivalent spring stiffness is presented in diffi ntexts. Different damping mod- els that can be used in modeling vibratory systems also are presented in this chapter. A section on design for vibration has been added to this edition. In Chapter 3, the derivation of the equation governing a single degree-of- cent physical © Freedom vibratory system is addressed. For this purpose, principles of linear momentum balance and angular momentum balance and L grange’s equa- tions are used. Notions such as ratural frequeney and damping factor also are introduced here, Linearization of nonlinear systems also is explained in this chapter. In the fourth chapter, responses to different initial conditions, in- cluding impact, are examined. Responses of systems with linear springs and nonlinear springs also are compared here, Free-oscillation characteristics of systems with nonlinear damping also are stdied, The notion of stability is briefly addressed, and the reader is introcluced to the important phenomenon of machine-tool chatter. In Chapter 5, the responses of single degree-of-freedom systems sub- jected w periodic excitations are considered. The notions of resonance, frequency-response functions, and transfer functions are discussed in detail The responses of linear and nonlinear vibratory systems subjected to har- monic excitations also are examined. The Fourier transform is introduced. and considerable attention is paid to relating the information in the time do- main to the frequeney domain and vice versa. For different excitations, sensi- tivity of frequency-response functions with respect to the system parameters also is examined for design purposes. Accelerometer design is discussed, and the notion of equivalent damping is presented. This edition of the book also includes a section on alternative forms of the frequeney-response function. In Chapter 6, the responses of single degree-of-freedam systems to different types of external transient excitations are addressed and analyzed in terms of theie frequency spectra relative to the amplitude-response function of the sys- tem, The notion of a spectral energy is used to study vibratory responses, and a section on impact testing has been added. Multiple degree-of-freedom systems are treated in Chapters 7 and 8 lead- ing up to systems with an infinite number of degrees of freedom in Chapter 9. In Chapter 7, the derivation of governing equations of motion of asystem with multiple degrees of freedom is addressed by using the principles of linear momentum balance and angular momentum balance and Lagrange’s equa- tions, The natural frequenc’ mode shapes of undamped systems also are i i ights Reserved. May not be copied, scanned, or duplicated, in whole or in part. Copyright 2009 Cengage Learning, Inc. All Rixi Preface studied in this chapter, and the notion of a vibratory mode is explained. Lin- earization of nonlinear multiple degree-of-freedom systems and systems wi gyroscopic forces also are treated in this chapter. Stability notions discussed in Chapter 4 for a single degres degree-of-fn studied. In this edition, a section on vibrations of rotating shafts on flexible supports hes been added In Chapter, different approacines that ean be used to obtain the response of a multiple degree-of-freedom system are presented, These approaches in clude the direct approach, the normal-mode approach, the Laplace transform approach, and the one based on state-space formulation. Explicit solution forms for responses of multiple degree-of-freedom systems are obtained and Used toarrive atthe response to initial conditionsand different types of fo The importance of the normal-mode approach to carry out modal analy vibratory systems with special damping properties isaddressed in this chapter. The state-space formulation is used to show how vibratory systems with arbi- trary forms of damping can be treated. The notion of resonance in a multiple degree-of-Ireedom system is addressed here, Notions of frequency-response functions and transfer functions, which were introduced in Chapter 5 for single degree-of-freedom systems, are revisited, and the relevance of these notions for system identification and design of vibration absorbers, mectsanical filters, and vibration isolation systems is brought forth in Chapter 8, The vibration- absorber material incites the traditional treatment of linear vibration ab- sorbersanda brief introduction to the design of nonlinear vibration absorbers, Which include a bar-slider system, apendulum absorber, anda particle-impact «damper. Tools based on optimization techniquesare also introduced for tailor- ing vibration absorbers and vibration iselation systems In Chapter 9, the subject of beam vibrations is treated at length as a representative example of vibrations of systems with an infinite number of degrees of freedom. The derivation of governing equations of motion for isotropic beams is addressed and both free and forced oscillations of beams are of-freedom) system are extended to multiple ediom systems, and conser jon of energy and momentum are studied for an extensive number of boundary conditions and interiorand exte riorattachments. In particular, considerable attention is paid to free-oscillation characteristics such as mode shapes, and effects of axial forces, elastic foun- dation, and beam geometry on the: merical results that do not appear elsewhere are included here, In Chapter 9, the power of the Laplace transform approach to solve the beam response for complex boundary conditions is illustrated. Furthermore, this edition also includes an appendix on the natural frequencies and mode shapes associated With the free oscillations of strings, bars, and shafts, each for various combi- nations of boundary conditions including an attached mass and an attached spring. Also presented in the appendix are results that can be used to determine when the systems ean be modeled as single degree-of-freedom systems. characteristics. A large number of nu- This edition of the book includes several aids aimed at facilitating the reader with the material. In the introduction of each chapter, a discussion is, provided on what specifically will be covered in that chapter. The examples have been chosen so that they are of differ ‘nt levels of complexity, cover a i i ights Reserved. May not be copied, scanned, or duplicated, in whole or in part. Copyright 2009 Cengage Learning, Inc. All RiPreface xi Wide range of vibration topivs and, in most cases, have practical applications ized to correlate with to real-world problems. The exercises have been reorg: the most appropriate section of the text. A glossary has been added to list in one place the definitions of tne major terms used in the book. Finally, this edi- tion of the hook inclucles seven appendices on the Following: i) Lap form pairs, ii) Fourier series, ili) notion of the decibel, iv) complex numbers and variables, v) linear algebra, vi) solution methods to second-onder ordinary ifferential equations, and vii) natural frequencies and 1 e trans- de shapes of bat, shafts, and strings, In terms of how this book can be used for a semester-long undergraduate course, our experience at the University of Maryland has been the following. In a course format with about 28 seventy-five minute lectures, we have been able to cover the following material: Chapter 1: Chapter 2 excluding Section 2.5; Chapter 3; Sections 4.1 to 4.3 of Chapter 4: Chapter 5 excluding Sections 5.3.3, 58, 5.9, and 5.10; Sections 6.1 to 6.3 of Chapter 6; Sections 7.1 t0 7.3 of Chapter 7 exeluding Sections 7.2.3, 7.3.3, and 7.3.4; and Sections 8.1, 8.2 8.48.5, and 8.6.1 of Chapter 8. We also haye used this book in a format with 28 fifty-minute lectures and 14 ninety-minute-long studio sessions for an un- dergraduate course. In courses with lecture sessions and studio sessions, the studio sessions can include MATLAB studios and physical experiments, and in this format, one may be able to address material from Sections 2.5,4.4,4.5, 5.10, 7.2, and 8.6, Of course, there are sections such as Section 4.2 of Chap- ter 4, which may be too long to be covered in its entirety. In sections such as these, itis impor signments and classroom instruction, Our experience is that a careful choice of periodic reading assignments can help the instructor cover a considerable amount of material, if desired. We also encourage an instructor to take ad- vaniage of the large number of examples provided in this book. Chapter 9 is not covered during the classroom lectures, but students are encouraged to ex- plore material in this chapter through the project component of the course if appropriate. It is also conceivable that Chapters 6, 7, 8, and 9 ean form the 1a! to strike a halance through a combination of readin, core of a graduate course on vibrations, re thanks to our former students for their spirited participation with regard to earlier versions of this book and for providing Feedback; to the reviewers of this manuscript for their constructive sugges- tions; our colleagues Professor Bruce Berger for his careful reading of Chap- ter |, Professor Amr Baz for suggesting material and examples for inclusion, Professor Donald DeVoe for pointing us to some of the literature on micro- electromechanical systems, and Dr, Henry Haslach for reading and com- menting on parts of Chapter 9; Professor Miao Yu for using this book in the classroom and providing feedback, especially with regard to Chapter 5: Pro- fessor Jae-Eun Oh of Hanyang University, South Korea, for spending a gen- erous amount of time in reading the early versions of Chapters 1 through 6 and providing fet cises and their solutions; and Professor Sergio Preidikman of University of Cordoba, Argentina, for using this book in the classroom, providing feedback to eahance the book, as well as for pointing out many typograph We express our sini hack for the material as well as suggestions for the exer- al errors in i i ights Reserved. May not be copied, scanned, or duplicated, in whole or in part. Copyright 2009 Cengage Learning, Inc. All Rixiv Preface of the the first edition. We would like to thank Professor Bingen ¥: versity of Southern California, Professor Robert G. Parker of the Ohio State University, and Professor Kon-Well Wang of the Pennsylvania State Univer- sity for their helpful comments and suggestions during the preparation of the first edition of this hook. In addition, we would also like to thank Profes- sor Leonard Louis Koss of Monash University, Australia; Professor Robert G. Langlois of Carleton University, Canada; Professor Nicholas Haritos of the University of Melbourne, Australia; and Professor Chuck van Karsen of the Michigan Technological University for their constructive reviews while preparing the second edition of this book. We are also thanktul to Mr. William Stenquist of Cengage-Learning for tirelessly supporting and encouraging the first edition of this book and Mr. Christopher Carson of Cengage Learning for his support of the second edition, Last, but not least, we are grateful to our families for being tremendously supportive and understanding of us through- ‘out this time-consuming undertaking. B. Balachandran E. B. Magrab College Park, MD Copyright 2009 Cengage Learning, Inc. All Rights Reserved. May not be copied, scanned, or duplicated, in whole or in part.I Table of Examples Chapter 1 1.1 Kinematics of a planar pendulum — 8 1.2 Kinematics of a rolling disc 9 1.3. Kinematics of a particle in a rotating frame 10, 1.4 Absolute velocity of a pendulum attached to a rotating disc 1.5. Moving mass ona rotating table 12 Chapter 2 2.1 Determination of mass moments of inertia 27 2.2 Slider mechanism: system with varying inertia property 28 2.3 Equivalent stiffness of a beam-spring combination 37 2.4 Equivalent stiffness of a cantilever beam with a transverse end load 38 2.5 Equivalent stiffness of a beam with a fixed end and a wanslating support at the other end 38 2.6 Equivalent stiffness of a microelectromechanical system (MEMS) fixed-fixed flexure 39 2.7. Equivalent stiffness of springs in parallel: removal of arestriction 40 2.8 Nonlinear stiffness due to geometry 43 2.9 Equivalent stiffness due to gravity loading 49. 2.10 Design of a parallel-plate damper 51 2.11 Equivalent damping eoefticient and equivalent stiffness of avibratory system 51 2.12 Equivalent linear damping coefficient of a nonlinear damper 52 Chapter 3 3.1 Wind-driven oscillations about a system’s static equilibrium position 74 3.2. Eardrum oscillations: nonlinear oscillator and linearized Copyright 2009 Cengage Learning, Inc. All Rights Reserved. May not be copied, scanned, or duplicated, in whole or in part. systems 74image not availableimage not availableimage not availableimage not availableimage not availableimage not availableimage not availableimage not available4 CHAPTER T Intioduction many of the mathematical developments that are commonly tought in a vie brations course can be traced back to the 1800s and before. However, since ther jems has seen considerable growth in the diversity of systems that are designed with vibra- the use of these principles to understand and design sy tions in mind: mechanical, electromechanical and microelectromechanical devices and systems, biomechanic: systems, ships and sub- and civil structures. In this chapter, we shall show how to: nd biomed marine; * Determine the displacement, velocity, and acceleration of a masselement. + Determine the number of degrees of freedom, * Determine the kinetic energy and the work of a system, PRELIMINARIES FROM DYNAMICS Copyright 2009 Cenga natics and the Dynamics ean be thought as having two parts, one being kin other being kinetics. While kinematics deals with the mathematical deserip- motion, tion of motion, kinetics deals with the physical laws that gover Here, first, particle kinematies and rigid-body kinemiaties are reviewed. Then, the notions of generalized coordinates and degrees of freedom are discussed, Following that, particle dynamics and rigid-body dynamics are addressed and the principles of linear momentum and angular momentum are presented, Finally, work and energy are discussed. 1.2.1 Kinematics of Particles and Rigid Bodies Particle Kinematics In Figure 1.1, a particle in free space is shown. In order to study the motions of this particle, a reference frame R and a set of unit vectors’ i, j, and k fixed FIGURE 1.1 Particle kinematics. Ris reference frame in which the unit vectors & j, and keare fixed Asa convention throughout the book, bold and italicized letcers represent vectors, ie Learning, Inc. All Rights Reserved. May not be copied, scanned, or duplicated, in whole or in pat.image not availableimage not availableimage not available8 = CHAPTER 1 Intioduction Consider the planar pendulum shown in Figure |.3, where the orthogonal unit vectors e, and ¢) are fixed to the pendulum and they share the motion of the pendulum, The unit veetors i,j, and k, which point along the X, Y and Z rections, respectively, are fixed in time, The velocity and acceleration of the planar pendulum P with respect to point O are the quantities of interest. The position vector from point 0 to point P is written as 10 = pole 4 pe = hj ~ Ley @ J of Eqs. (1.2) and (1.8) and noting that both and £ ure constant sito timeandtheangslarvelocty« = 6, thependulumn velocity is dn 7 EO Xe ~ Lik x e: = Lie, (b) and the pendulum acceleration is Lie, + Loe Xe, je, + LOOK X e,) = Lie, + Live, © In arriving at Eqs. (b) and (¢), the following relations have been used. kK e) =e kx e=% @ FIGURE 1.3 y Planar pendulum. The reference {frames ate not explicitly shown in this igure, but tis assumed that the unit vectors i, and kare fixcd in Rand thatthe uit vectors and ey are fixed in Ft Copyright 2009 Cengage Learning, Inc. All Rights Reserved. May not be copied, scanned, or duplicated, in whole or in part,image not availableimage not availableimage not available12 CHAPTER Introduction Since the orientation of the unit vectors ef and ef change with time due to the rotation of the dise, we have de ae an TO A= AX ef = bes de -_ . a nO A= tk x eh = be) which leads to V,, = —résinge| + (R + reosg)Bes + nbcos ges ~ risin ge} = -r(p + B)singe{ + (RI + r(@ + A)cose)es ‘Consider a mass m that is held by elastic constraints and is located on a table that is rotating at a constant speed «, as shown in Figure 1.7. We shall deter- mine the absolute velocity of the mass. We assume that point Q is fixed in the vertical plane, that the unit vectors e, and e5are fixed to the mass m,as shown in Figure 1.7, and that & ~ e X ey. Then Fy = Fe and the velocity is given by FIGURE 1.7 Fritionless retaing table of radius L on which mass mis elastically constrained, N.S. Clarke, “The Feet of Rotation apon the Natural Frequencies of 3 J. Sound Vibretion, 250(5), pp. 849-887 (2000) Spring System.” Copyright 2009 Cengage Learning, Inc. All Rights Reserved. May not be copied, scanned, or duplicated, in whole or in part,image not availableimage not availableimage not available16 CHAPTER | Inirocuction FIGURE 1.9 Free partis of mass m transiting along the i direction. Copyright 2009 Cengage Learning, Inc. All Ri _ amy) ye (1.13) whieh is referred to as Newton's second law of motion. The velocity in Eq, (1.12) and the acceleration in Bg, (1.13) are determined from kinematics. Therefore, for the particle shown in Figure 1.9, it follows from Eq, (1.13) that Fi= mii or B= nik Dynamics of a System of mn Particles Fora system of n particles, the principle of linear momentum is written as i p > Sp; re zr zai dt Sin 2 Li dae ay whore the subscript i refers to the ith particle in the collection of » particles, F, is the external force acting on partic i, p, is the linear momentum of this pauticle, m; is the constant mass of the ith particle, and is the absolute ve- locity of the th particle. For the jth particle in this collection, the governing equation takes the form py F, afi ee ie (1.15) where F;, is the internal force acting on particle j due to particle i. Note that in going from the equation of motion for an individual particle given by Bq. (1.15) to tit for a system of particles given by Bg. (1.14), it is assumed that all of the internal forces satisfy Newton's third law of motions that is, the assumption of equal and opposite internal forces (Fy = —F,) If the center of mass of the system of particles is located at point G, thea Eg. (1.14) can be showa to be equivalent to km) dt 16) where mis the total mass of the system and vg is the absolute velocity of the center of mass of the system. Equation (1.16) is also valid for a rigid body It is clear from Eq, (1.11) that in the absence of external forces, the line ear momentum of the system is conserved; that is, the linear momentum of the system is constant for all time. This is an important conservation theorem, Which is used, when applicable, to examine the results obtzined from analy- sis of vibratory models i i ights Reserved. May not be copied, scanned, or duplicated, in whole or in part.image not availableimage not availableimage not available20.0 CHAPTER Introduction Pivot, 0 \ Oe FIGURE E1.6 angle ¢ is used to describe the angular displacement of the pendulum from the vertical, determine the ab- solute velocity of the peadulum, Section 1.22 17 Determine the number of degrees of freedom for the systems shown in Figure EI.7. Assume that the length Lofthe pendulum shown in Figure E L.7a iscon- stant and that the length between each pair of particles in Figure B1.76 is constant. Hint: For Figure El.7c, the rigid body can be thought of as a system of particles where the length between each pair of particles is constant Section 1.2.3 1.8 Draw free-body diagrams for each of the masses igure E1.6 and obtain the equations of mo- Fg. (1.15) shown in tion along the horizontal direetion by usi 1.9 Draw the free-body diagram for the whole system shown in Figure E1.6, obtain the system equation of motion by using Eq. (1.14) along the horizontal direc~ tion, and verify that this equation can be obtained from Eg, (1.15) 140 Determine the linear momentum for the system hown in Figure BLS and discuss if it is conserved. Assume that the mass of the bar is Mp. and the dis- ance from the point O ta the center of the bar is Lay Copyright 2009 Cengage Learning, Inc. All Ri (a) Spherical pendulum °, a Zz (©) system of three pantctes (6) Free sigid body in space FIGURE E1.7 1.11 Determine the angular momentum of the system shown in Figure 1.6 about the point @ and discuss if it is conserved, 12 A rigid body is suspended trom the ceiling by two elastic cables that are attached to the body at the points 0” and 0", as shown in Figure Bl.12. Point G is the center of mass of the body. Which of these points would you choose 1 carry out an angular momentum balance based on Eq. (1.17)? 1.13 Consider the rigid body shown in Figure BI.13. This body has a mass m and rotary inertia Jg about the ights Reserved. May not be copied, scanned, or duplicated, in whole or in part.image not availableimage not availableimage not available24 CHAPTER 2 Modeling of Vibrotory Systems TABLE21 Quantity Units Urits of Components Comgrising a — Vibratng Mechanical Systam and Tassatonal motion ‘Their Customary Symbols Mass ke Sines, & Nm Damping, Neal External Force, N Rotational metion Masa sioment of inedia; tymt Siffness, Noma Damping, ¢ Nemsfrad ternal moment, Mf ia The inertia element stores and releases kinetic energy, the stiffness ele- ases potential energy, and the dissipatio element is used to express energy loss in a system. Each of these elements has different excitalion-response characteristics and the excitation is in the form of either a force ora moment and the corresponding response of the element is in the form of a displacement, velocity ments are characterized by a relationship between an applied force (or mo- ment) and the corresponding acceleration response. The stiffness elements are characterized by a relationship between an applied force (or moment) and the corresponding displacement (or rotation) response, The dissipation elements are characterized by a relationship between an applied foree (or mo- ment) and the corresponding velocity response. The nature of these relation ships, whieh ean be linear or nonlinear, are pr ment stores and rel or damping for acceleration. The inertis ele- .cnted in this chapter, The units associated with these elements and the commonly used symbols for the dif- ferent elements are shown in Table 2.1 In this chapter, we I show how to: + Compute the mass moment of inertia of rotational systems. + Determine the stiffness of various linearand nonlinear clastic components in transiation and torsion and the equivalent stiffness when many individ ual linear components are combined. * Determine the stiffness of fluid, gas, and pendulum elements. + Determine the potential eneray of stiffness elements, * Determine the camping for systems that have different sources of dissipa- tion: viscosity, dry friction, fluid, and material + Construct models of vibratory systems. EBRD Uivertia cements Translational motion ofa mass is described as motion along the path followed by the center of mass. The associated inertia property depends only on the to- tal mass of the ind js independent of the geometry of the m bution of the system, The inertia property of a mass undergoing rotational motions, however, is @ function of the mass distribution, specifically the mass ‘moment of inertia, which is ustally defined about its center of mass of a fixed point O. When the mass oscillates abouta fixed point O or a pivot point O, the rotary inertia Jp is given by ss distri- i i ights Reserved. May not be copied, scanned, or duplicated, in whole or in part. Copyright 2009 Cengage Learning, Inc. All Riimage not availableimage not availableimage not available28 CHAPTER 2. Modeling of Vibrotory Systems and therefore, after making use of the parallel axis theorem, the mass moment of inertia about the point O is L 1 a4] p= dg nt? HOP a ( 2) merry 1 ad mi? z «oy In Figure 2.3, aslider mechanism with s pivot at point O is shown. A slider of ‘mass m, slides along a uniform bar of mass m,. Another bar, which is pivoted at point O', has a portion of length b that has a mass m, and another portion of lengih ¢ that has.a mass m,, We shall determine the rotary inertia Jg of this system and show its dependence on the angular dispkicement coordinate g Ifa, isthe distance from the midpoint of bar of mass m, to O-and ay is the distance from the midpoint of bar of mass m, to O, then fom geometry we find that rig) = @ +B - ab cose ai(g) = (b/2)? + a ~ ab cose aie) = (¢{2)? + a — ae cos (a - ¢) @ and hence, all motions of the system ¢: coordinate g. The rotary inertia Jg of thi So= Im + InP) + Ing (9) + In, (@) ) where be described in terms of the angular ‘stem Is given by FIGURE 2.3 Slider meshanism, Jn b In (8) = > wysick 2 Jn, (@) = Mesa + mate s © In arriving at Eqs. (b) and (¢), the parallelaxes theorem has been used in de- termining the bar inertias J, J,,.and J, From Eqs. (b) and (c), it isclear that the rotary inertia Jg of this system is funetion of the angular displacement ¢. STIFFNESS ELEMENTS 2.3.1 Introduction Stiffness elements are manufactured from different materials and they have many different shapes. One chooses the type of element depending on the re- quirements; for example, to minimize vibration transmission from machinery Copyright 2009 Cengage Learning, Inc. All Rights Reserved. May not be copied, scanned, or duplicated, in whole or in part,image not availableimage not availableimage not available32 CHAPTER 2. Nodeling of Vibrotory Systems ve) = [conan = [ko = Law 2.12) Combinations of Linear Springs Different combinations of linear spring elements are now considered and the equivalent stiffness of these combinations is determined. First, combinations of translation springs showa in Figures 2.66 and 2.6c are considered and fol lowing that, combinations of torsion springs shown in Figures 2.7a and 2.7 are considered, When there are two springs in parallel as shown in Figure 2.60 and the bar on which the force Facts remains pat displacements of both springs are equal and, therefore, the total force is le! to its original position, then the Fl) = Fil) + C0) = kyr + kee = (ky + kale = hex 13) where F(x) is the resulting force in spring k, j ~ 1,2, and k; is the equivalent spring constant for two springs in parallel given by Ke = ky + 14) When there are wo springs in series, as shown in Figure 2.6e, the force on each spring is the same and the total displacement is xeapty rh 2a (t+¢)r-2 (2.15) hk Mak where the equivalent s ( ring constant k, ky 2.16) FIGURE 2.7 Two torsion sorings: (al parallel combination and(b) series combination, Copyright 2009 Cengage Learning, Inc. All Rights Reserved. May not be copied, scanned, or duplicated, in whole or in part.image not availableimage not availableimage not available36 CHAPTER 2. Modeling of Vibrotory Systems TABLE23 {ocntinued) 12 Cantilever plate, constant thickness, force at eemter of fee edge® LAPEER y — Poisson'statio Pw) ash Avareaoferosssetion; Your's males G shear modus Fsarea omest of neti or polar “5. Thmostenko and 8. Woinowsly-Kciege, Theory of Pats and Shells, McGraw-Hill, New York (1989) P "S Timostenkoand S. Woinowsky-Kriege ii, 9. 69. '.Timostenkoand S. Woinowsly-Krieges bi, 9. 210 1500 - k= 10568 Nim 1500 ol 05 0 0.05 ou x08) FIGURE 2.8 Experimentaly obtained data used to determine the linear spring canstant & parameter identification; identification and estimation of parameters of vibratory systems are addressed in the field of experimental modal anatysis.* In experimental modal analysis, dynamic loading is used for parameter estimation. A further discussion Is provided in Chapter 5, when system iapul ouiput relations (transfer functions and frequency response funetions) are considered. Next, some examples are considered to illustrate how the information shown in Table 2.3 can be used to determine equivalent spring constants for different physical configurations. #1. J, Bwing, Modal Testing: Dhovry ad Practice, Jahn Wiley snd Sons, NY (1984) ights Reserved. May not be copied, scanned, or duplicated, in whole or in part. Copyright 2009 Cengage Learning, Inc. All Riimage not availableimage not availableimage not available40 CHAPTER 2 Modeling of Vibrotory Systems Plexure Mass FIGURE 2.11 Fined-fixed flexure used in a microelectromecharical system. Source’6.X Feder, ‘Simulation ‘of Miroslectiomeshanical Systems", Ph.O. Dissertation, Department of Electrical Enginzering and Computer Sciences, University of California, Berkeley, CA, (1984). Reprinted with permis: sion of the author. where the area moment of inertia is given by 0) because the bending axis isalong the Ydirection. Since each of the four flex- ures experiences the same displacement at its end In the Z direction, this combination of four stiffness elements in parallel: hence, the equivalent stiff ness of the system is given by be 4X Hh 48 EL © Thus, 48(150 x 10°)(2 x 10 *)(2 x 10°) by en 12100 x 10 = 96 Nim @ Let us reexamine the pair of springs in parallel shown in Figure 2.66. Now, however, we remove the restriction that the bar to which the force is applied hhas to remain parallel to its original position. Then, we have the configuration shown in Figure 2.12. The equivalent spring constant for this configuration will be determined.image not availableimage not availableimage not available44° CHAPTER 2. Modeling of Vibrotory Systems bs FIGURE 2.14 Nonlinear stiffness due to geometry: spring under an initial tension, one end af which is ‘constrained to move in he vertical direction, is initially undera tension force T, = k6,. When the spring is moved up or down, anamount rin the vertical direction, the force in the spring is Px) ~ 8, + KVL? + ~ L) @) ‘The force in the x-direction is ebtained from Eq, (a) as F Filx) = Fsiny = ) Vv xkD,, BOVE +x L) () ViEE+e VE+ which clearly shows that the spring force opposing the motion is a nonlinear function of the displacement x. Hence, a vibratory mode! of the system shown, in Figure 2.14 will have nonlinear stiffness, Cubic Springs and Linear Springs If, in Eg, (b), we assume that Ix/L1 << | and expand the denominator of each term on the right-hand side of Eq. (b) as a binomial expansion and keep only the first two terms, we obtain ray = ta + Ka ay(*) © L’2 L When the nonlinear term is negligible, relationship 3g. (c) leads to the following linear w From Eq, (), it is seen that the spring constant is proportional to the initial tension in the spring, Another example of a nonlinezr spring is one that is piecewise linear as shown in Figure 2.15, Here, each spring is linear; however, as the deflection increases, another linear spring comes into play and the spring constant sc of this type of spring on a changes (increases). An illustration of the ef vibrating system is given in Section 4.5.1 ‘Copyright 2009 Cengage Learning, Inc. All Rights Reserved. May not be copied, scanned, or duplicated, in whole or in part.image not availableimage not availableimage not available48 CHAPTER 2. Nodeling of Vibrotory Systems or, from Eg, (2.36) gl. = (1 — cos) (237) Vie) = When the angle of rotation @ about the upright position @ = 0 is “small” ve can use the Taylor series approximation? e cos@ = 1b oe 2.38) and substitute this expression into Eq. (2.376) to obtain Ifmel\ 9 1 ay Vi0) = p= Rg? 2. vio) Ht e ye 3 he 2.39) where the equivalent spring constant is ng 2 (2.40) Figure 2.18(b) In a similar manner, for “small” rotations about the upright Position 7 = 0 in Figure 2. 18b, we obtain the incresse in potential energy for the system. Here it is assumed that a weightless bar supports the mast 1, Choosing the reference position as the bottom position, we obtain 1 2b 8 Yu) = 5 malt? = 5 ka eat where the equivalent spring constant is k= mel 2.42) In the configuration shown in Figure 2.185, if the weightless bar is re- placed by one that has a uniformly distributed mass m, then the total potential energy of the bar and the mass is 1 yt >_ lfm gi ot oy V() ~ | mglo® + — mygl6? = + my |gL6? = ko — (2.43) (o) ~ melee + ome 2G }s a" Figure 2.18(c) When the pendulum is inverted as shown in Figure 2.18e, then there is a decrease in potential energy; hat is, 1 7 Va) = — mele (2.45) °T, B, Hildebrand, Advanced Calculus for Applications, Prentice Ball, Englewood Clits NI (1976. Obras protegidas ireitos c ‘Copyright 2009 Cengage Learning, Inc. All Rights Reserved. May not be copied, scanned, or duplicated, in whole or in part.