University of Bahrain

College of Engineering
Department of Mechanical Engineering

VIBRATION MENG 384

Harmonic Motion
2𝜋
𝜔= = 2𝜋𝑓 𝑥𝑚𝑎𝑥 = 𝐴 𝑥̇ max = 𝜔 𝐴 𝑥̈ max = 𝜔2 𝐴
𝜏
Free Vibration
𝑘 𝑘𝑡 1 1 𝑘 1 𝑔
𝜔𝑛 = √ or 𝜔𝑛 = √ 𝑚 𝑓𝑛 = = √ = √
𝑚 𝐽 𝜏 = 2𝜋√ 𝑘 𝜏 2𝜋 𝑚 2𝜋 ∆
𝑘∆= 𝑚𝑔
𝑥̇ (0)
𝑥= sin 𝜔𝑛 𝑡 + 𝑥(0) cos 𝜔𝑛 𝑡 = 𝐴𝑂 sin(𝜔𝑛 𝑡 + ∅𝑂 )
𝜔𝑛
𝑥̇ (0) 2 𝑥(0)𝜔𝑛
𝐴 𝑂 = √ ( 𝜔 ) + 𝑥 (0)2 ; ∅𝑂 = tan−1
𝑛 𝑥̇ (0)
4
𝜋𝐺𝑑
𝑘𝑡 =
32𝑙
𝑑 𝑇max = 𝑈max
(𝑇 + 𝑈 ) = 0
𝑑𝑡
1 1
𝑇 = 𝑚eff 𝑥̇ 2 𝑈= 𝑘 𝑥2
2 2 eff
Added Mass
Spring: 𝑚𝑆 /3 Cantilever Beam: 0.23𝑚𝑏 Simply Supported Beam: 0.5𝑚𝑏
𝑐 𝑘
𝜉= , 𝑐𝑐 = 2𝑚√ = 2𝑚𝜔𝑛 = 2√𝑘𝑚
𝑐𝑐 𝑚
𝑥 = 𝑋𝑂 𝑒 −𝜉𝜔𝑛 𝑡 sin (√1 − 𝜉 2 𝜔𝑛 𝑡 + 𝜙𝑂 )
𝑥̇ (0) + 𝜉𝜔𝑛 𝑥 (0)
𝑥 = 𝑒 −𝜉𝜔𝑛 𝑡 ( sin √1 − 𝜉 2 𝜔𝑛 𝑡 + 𝑥(0) cos √1 − 𝜉 2 𝜔𝑛 𝑡)
𝜔𝑛 √1 − 𝜉 2

2𝜋
𝜔𝑑 = = 𝜔𝑛 √1 − 𝜉 2
𝜏𝑑
2 2
𝑥 = 𝐴 𝑒 (−𝜉+√𝜉 −1)𝜔𝑛 𝑡 + 𝐵 𝑒 (−𝜉−√𝜉 −1)𝜔𝑛 𝑡 𝑥̇ (0) + (𝜉 + √𝜉 2 − 1)𝜔𝑛 𝑥(0)
𝐴=
2𝜔𝑛 √𝜉 2 − 1
−𝑥̇ (0) − (𝜉 − √𝜉 2 − 1)𝜔𝑛 𝑥(0)
𝐵=
2𝜔𝑛 √𝜉 2 − 1
−𝜔 𝑡 −𝜔 𝑡
𝑥 = (𝐶 + 𝐷 𝑡)𝑒 𝑛 = {𝑥 (0) + [𝑥̇ (0) + 𝜔𝑛 𝑥(0)]𝑡}𝑒 𝑛

1 𝑥0 2𝜋𝜉 𝛿 ≅ 2𝜋𝜉
𝛿= ln 𝛿=
𝑛 𝑥𝑛 √1 − 𝜉 2
4𝐹𝑑 𝐹𝑑 = 𝜇𝑁
𝑋𝑚−1 − 𝑋𝑚 =
𝑘
 University of Bahrain
College of Engineering
Department of Mechanical Engineering

VIBRATION MENG 384

Forced Vibration
𝐹𝑂 Vibration Isolation
𝐹𝑂 𝑘
𝑋= = 𝐹𝑇 = √(𝑘𝑋)2 + (𝑐𝜔𝑋)2
√(𝑘 − 𝑚𝜔 2 )2 + (𝑐𝜔)2 2 2 2
√(1 − ( 𝜔 ) ) + (2𝜉 𝜔 ) 𝜔 2
𝜔𝑛 𝜔𝑛 = 𝑘𝑋√1 + (2𝜉 )
𝜔𝑛
𝑐𝜔 2𝜉𝜔/𝜔𝑛 Transmissibility
𝜙 = tan−1 = tan−1 𝐹𝑇 𝑋
𝑘 − 𝑚𝜔 2 𝜔 2
1 − (𝜔 ) 𝑇𝑅 = =
𝑛 𝐹𝑂 𝑌
Rotating Unbalance Error Factors in Instruments
𝑚𝑒𝜔2 𝜔 2
𝑋= (𝜔 )
𝑛
√(𝑘 − 𝑀𝜔 2 )2 + (𝑐𝜔)2
𝜔 2 2 2 2
𝑚𝑒 ( 𝜔𝑛 ) √(1 − ( 𝜔 ) ) + (2𝜉 𝜔 )
= 𝜔 𝑛 𝜔 𝑛
𝑀
2 2 2 𝜔 1
√(1 − ( 𝜔 ) ) + (2𝜉 𝜔 ) ( ) =
𝜔𝑛 𝜔𝑛 𝜔𝑛 𝑝𝑒𝑎𝑘 √1 − 2𝜉 2
Support Motion 1
𝜔 2
2 𝑌 (𝜔 ) 2 2 2
𝑍=
𝑚𝜔 𝑌
= 𝑛 √(1 − ( 𝜔 ) ) + (2𝜉 𝜔 )
𝜔 𝑛 𝜔 𝑛
√(𝑘 − 𝑚𝜔 2 )2 + (𝑐𝜔)2 2 2 2
√(1 − ( 𝜔 ) ) + (2𝜉 𝜔 )
𝜔𝑛 𝜔𝑛
𝜔
𝜔 2 ( ) = √1 − 2𝜉 2
1 + (2𝜉 𝜔𝑛 )
𝑋 2
𝑘 + 𝑐𝜔( ) 2 𝜔𝑛 𝑝𝑒𝑎𝑘
=√ =
𝑌 (𝑘 − 𝑚𝜔 2 )2 + (𝑐𝜔)2 √ 𝜔 2
2
𝜔 2
(1 − (𝜔 ) ) + (2𝜉 𝜔 ) Transient Response
𝑛 𝑛
1
ℎ (𝑡 ) = sin(𝜔𝑛 𝑡)
𝑚𝜔𝑛
Total Response of Harmonically Excited Vibration 1 −ξ𝜔 𝑡
ℎ (𝑡 ) = e 𝑛 sin(𝜔𝑑 𝑡)
𝑥 (𝑡 ) = 𝑥 ℎ (𝑡) + 𝑥 𝑝 (𝑡 ) 𝑚𝜔𝑑
𝑡
𝑥ℎ (𝑡) depends on the value of ξ (free vibration response)
𝑥𝑝 (𝑡) = 𝑋 sin(𝜔𝑡 − 𝜙) (particular solution for 𝐹 = 𝑥(𝑡) = ∫ 𝐹(𝜂)ℎ(𝑡 − 𝜂)𝑑𝜂
0
𝐹𝑂 sin 𝜔𝑡)
Response at Resonance: For 𝜉 = 0 and 𝐹 = 𝐹𝑂 cos 𝜔𝑡: 𝐹𝑂
𝑥 (𝑡 ) = (1 − cos(𝜔𝑛 𝑡))
𝑘
𝑥̇ 𝑂 𝐹𝑂 𝜔𝑛 𝐹𝑂 𝑡 sin(𝜔𝑛 𝑡)
𝑥(𝑡) = 𝑥𝑂 cos 𝜔𝑛 𝑡 + sin 𝜔𝑛 𝑡 + 𝑡 sin 𝜔𝑛 𝑡 𝑥 (𝑡 ) = ( − )
𝜔𝑛 2𝑘 𝑘 𝑡1 𝜔𝑛 𝑡1