Example 437 A rotor ofmass 4 kg is mounted on 1 cm diameter shaft at a point 10 cm from one end.

The 25 cm long shaft is supported by bearings. Calculate the critical speed. f te

centre
the
of gravity of the disc is 0.03 mm away from the geometric centre of rotor, finá
deflection of the shaft
when its speed of rotation is 5000 r.p.m. Take
E 1.96x 10 NImr. Find the critical speed when the rotor is mounted
the shaft.
miadrvay om
(DCRU, Murthal, 2011)

Solution. The critical speed is

given as
o, and 8Wbx
6EI (12-2-b3)
W=mg=4x 9.81 kg=39.24 N
I25 cm=25 m, x=0.10 m
b 25-.10 =0.15 m, d 1.0 cm
I=64 x64 (0.01) =4.9x10 m
39.24 x.15x.10 (0.252 -0.102-0.152)
6x1.96x101 4.9 10- x0.25 = 1.2257x 10 m
x x

Critical speed 9.80

1.2257 x 104 282.7 rad/ sec

282.7 x 600
27T 2701 rpm.
 We can f i n d o=2TN27x5000 FORCED VIeRATION
e=0.03 mm
60 60 =52333 rad/ 203
Given
T=o/o.=523.33
=1.85,
282.7 2 =3.42
er 03x 3.42
x211 3.42-1 0.042 mm
is mounted
When the
rotor;
nidway on the shaft, the
static deflection is
8W3
39.24x (25 gven by
48EI 48x 1.96x 10 x 49z 10-13310n
9.8
V1.33x 1004=271.5 rad/sec
Example 4.38 A shaft of 2.5 diameter, freely supported by bearings 75 am
cm
concentrated load of 196.2 N midvay between the apart, caris a sing
critical speed. Assume that shaft material has a bearings. Determine the rs
2.1x 101 N/n?. density of8x10 kg/m Eis
Roorkee i 7 ; IK w
Solution. f a concentrated load is acting at the centre of beam whose waight is to be taken
nto account, the static deflection is given byy

From Strengih of Materials)

48 EI
ad critical speed

Given W=196.2 N, 1=75 cm =0.75 m

P mass per unit length
103 (25x 10} =3925kg/m
8x
10 42 x =8x

x 64
d= x(2.5x10-2) =1.916x10 m
64
ing the values in above equation, one gets
196.2+x3.925x (0.75)x9.81 (0.75) x10
=4592 x 10-m
m

35 10*
1.916x
48x2.1x10
x

-146.16 rad/sec
981
 of motion, we get
above values in the equations
Substituting the
=0
(3k-mo)A -kA, -kA,
=0
kA, + (3k mo*)A, -kA,
-

=0
-kA -kA2 + (3k -mo*)A^
obtained as
The frequency equation is
-k -k
(3k mo)
-k (3k 1mo) k =0
-k (3k-mo")

Expanding the above

determinant, we get
o-(9k/mo* + (24k2 / ) o -(16k" /m°)=0
get three values of natural frequencies as
Solving it, we

o rad/seç O 3 =2Vk/m rad/sec.

m

Example 6.9 A shaft of negligible weight 6 cm diameter and 5 metres long is simply supportei at
the ends and carries four weights 50 kg ench at equal distance over the length ofte
shaft. Find thefrequency ofvibration byDunkerley's method. Take E =2x 10 kglor
(K.U, 20)
Solution. The system is shown in Fig. 6.24. 50 kg 50 kg 50 kg 50 kg

I x6 =63.585 cm C D

The 1m-
general expression for static deflection -2 m
because of point load Wis given by 3 m-
4 m
5m
y
WE
3 Ell Fig.6.24
So static deflection at
point B
50x 1004002 x
= 0.419 cm
3x2x10 x 63.585x 500
50x 2002 x 3002
yc = 0.943 cm
3x2x 10 x
63.585 x 500
50 x 300x 300
yD 200x 200
3x2x 10 a43 cm
=0.943
x
63.585 x 500
50x 4002 x 1002
yE
3x2 x 10 = 0.419 cm
x
63.585x 500
 SEVERAL DEGREES OF FREEDOM SYSTEM 367

natural frequency is given by

Npression for
G e r a

o, rad/sec

f /2n Hz

1 9.81 =7.7 Hz, 9.81

fa
f2 .419x 103
Jc2T94310 =5.13 Hz

SD Sc=5.13Hz, fE =7.7 Hz

Dunkerley's relation, we know

According to

1 1+ 1 -.03373+07
(7.7)2 (5.13) (5.13) (7.7)*
S9.113, f=3.01 Hz
Example 6.10 Using matrix method, determine the natural frequencies of the system shownin
Fig. 6.25. (M.D.U., 2010; PTU,2012)
Solution. The equations of motion are

2 1 +2kx + k{x1 -*2)=0

2m, +k(x2 -)+k{*2 -X3)=0 2

mx +k(x3 -X2) =0
2m 0 0
Mass matrix [m] =|0 2m 0
00 m
n dd] m

m
m =2mx 2mx m=4171
0 0
2m Fig.6.25
m adjm 1 0 2 0
4 0 4m2

We know that IC)=mk]

3k k 0
2 m 2m
1003kk 0 k
IC 1 0 -k 2k - 2m
m

IC2m 0 o 2 JL° kk
2m
k m
3 6 8 MECHANICAL VIBRATIONS

Let us assume

Al-C=0

3
2m
2 k
k -0
2m
2n

Expanding it,
we get
a-3.5 +3.25a. 5 0

À, we have
Solving it for
sec
2m
o =1.144rad/sec
=1.31 171

a1.414 rad/sec

Example 6.11 Determine the natural frequencies and mode shapes of the system shown in Fig Ax
by matrir iteration method. (P.T.U, 2010
Solution. The influence coefficients are determined as

a12 13 a21 a31 a22a2a32

The equations for the abov system in terms of influence coefficients can be written as
2
=2 ma1 zo +2maq2 X2® + ma13¥g0
2=2md21 0 +2ma22 Xz®+ ma2g*30
=2mag1 70 +2ma32 I2® + mag3*g 0
The equation can be written in matrix form as
k 2k
2411 22 a13
ma| 2a21 242 mw*
k k 2k
2a31 2032

1 1 1/2X
mo13 3/2
k
1 3
5/2 j[3
 SEVERAL DEGREES OF FREEDOM
SYSTEM373
T.ee rail bogies are connectea oy roo
springs of stiffness 40 x 105
is 20x 10kg. Determine N!meach. The
of each bogey
f a m p l eO . 1 3

mass the frequencies

uwheels and rails. of vibration. Neglect
friction between the
Reter Fig. 6,.26.
Solution.

k k
w w
minnmmmnnmnnmuimmn O O
mmnmmmmunmnmmmnn
n i g .6 . 2 6

motion can be written as

The equations of
mx +k{x% -*2)=0
m, +k(x2 -X)+k(*2-*3)=0
mig +k(x3-X2)=0
Iet us assume the oscillation of the form x, = A, sin ot and substituting this value in the
we have
atove equations,
(k-mo ) A -kA, =0
-kA +(2k -mo*)A -kA, =0
-kA +(k-mo*)A, =0
The frequency equation is obtained by putting the determinant of coefficients of A's equal to

Zero,

2
|k-m -k 0
(2k-mo)-k=0

0 -k k mo

(k-mo)(mfo -3kmø*)=0

which yields a =0,

= 3k

Substituting the numerical values, we get

400 x 104 S2 =2.25 Hz

2 20x 10 = 14.14 rad/ sec,

Ss =3.9 Hz
3x 40x 10-24.49 rad/ sec, 2T
20x 10
 The equations off motion can be vritten as
boution
m -k X -k;(*1 -3*2)-k, (x -x)

ma*=-k,(*3 -*)
the above,
we get
ging
Rearranging

m +(k1 + k2 + k3 )X1 -k2*2 -kg*, =0

ma*-k,a +k*2 =0
mg-k3* +kg*^ =0
determinant form
in the
Putting

+k+k -mo*) -k2

k 0 =0
-k3 0
k my
=7k, k2 5k, k3 =5k and m =4m, m =3m, m =2m
Substituting k
(17k-4mo*) -5k -5k
-5k 5k-3m@ 0 =0
-5k 0 5k-2mo

get : 175k* -400mk o +202kn? of -24 o =0

Expanding the determinant,
we

Solving the equation for o: o-0.78rad/sec

6.28 by matri=
ample 6.16 Determine the lowest natural frequency of the system shown in Fig.
umple
method.
written as
Solution. The differential equations can be
=0
-kga3
m +(k1 +k2 +kg)x1 -ka¥3
m2k1 +kz*2 =0
m3-k3 +kak3 =0
we get
and stiffnesses,
Substitutingthe values of masses

-5kx, -5kx
=0
4mx +17kx =0
+ 5kx,
3mi, -5kz
=0
+5kx
2m 5kx
form, we get
matrix
equations in
Putting the above 17k
-5k -5k
0
=0
4m 0 0 -5k 5k
5k
0 3m 0 5k 0
o 0 2m
376 MECHANICAL VIBRATIONS

as
written

can
be
matrix [C]
Dynamic

IC]={MIk 0
0
6m
8m
adj M 1
o 0 12
M M 24
5k -5k 1
0 17k
0 5k 0
61m 0
-5k

0 8m 5k 0 5k
5k
IC
24 C24 0 0 12

[ 17 4 m 4
4 m

-5 5
3 m
0 (:i-
3 m

0
2 m

or |1-C]=0
+[C]a]=0
-
where o=
17k +5 k
4 m m
4m
+5k 0 =0
3m 3 m

2 m

101 2 k,310, k175 k0

12 m 24 24 m

=6084
m

So
o- 6084-78rad/ sec. m m

Example 6.17 A steelshaft of diameter 10 cm is

carrying three masses 2.5 kg, 3.75
and 7 kg kg
respectively as shown in
Fig. 6.29

Fig.6.29
 ERAL DEGR
DEGREESOF FREEDOM
Thedistances between the rotors SYSTEM 377
ations. The radi of
torsional vibrations.
are 0.70 m. |377
Determine the natural
gyration of three
respectively. Take G=9x 10" NIn?
that
rotors are
0.20, 0.30frequencies ofo
and 0.40
et us assume
o l r t i o n .L e 0,,0, and 9, are the m

ofinertias as Ih,I and I. angular (M.D.U, 201o)

TETnt o f

ns of motion can be written as

displacements of the three rotors
e eguations

L0,-k{,-0,)
0,=ko, -4,)-k0, -9,)
1,0 +k(9, -9,)
ming the motion of the form 9, =A, cos ot

- 4 and so on.
hiuting these values in the above equations, we get

k-LA -kA, =0
-kA +(2k-lh)A, -kA, =0
-kA +(k-1,A =0
Euating the coefficients of A,A2 and A, in determinant form to zer

k-,6 -k 0
-k 2k-1L -k =0
0 -k k-1
gan ding the determinant, we get

husndin to strength of materials we know

k Stiffness ofshaft
N-m/rad
10*
k
Zx.10t =1.2616x
7 32
=mk=-25x 22 =10kg-m sec
h
m a k = 3 . 7 5 x 3 3
=0.3375 kg-mse
=7x42 =112
kg-mser
mh
3 7 8 MECHANICAL V I B R A T I O N S

(1.2616x10°
(.2616x (1.2616x 104?
10",(1.2616x 10412

21.2616 x
10,2x 1.2616 x101.2616
10
.1x .3375 .1x 1.12 .2616 109}
-o 1.12
0.3375
108 =0
3375x1.
5.9259 + 10) +65.581121x
x 10°(8928
+
o-ox1.2616
+65.581121x 10 =0
o-21.2184x10* o

21.2184x10 t (21.2184x 10 -4x 65.5811x 10 21.2184 x 10" t13.7075x10t

2 2

= 417.88 rad/sec, o,
=193.78 rad/sec
@

mode shapes of the system shoun

Find the natural frequencies and
in r.
Example 6.18
the matrix iteration method.
-k2 =k, and m, my mg uSing = =

k P0, 93, M
Solution. The differential equations in terms of influence coefficients can be itten as

The inftuence coefficients are

=a213 =21A31

Substituting the values of influence coefficients in the

above equations, we get
k

This can be written in k k

matrix form as

2 211
384 MECHANICAL VIBRATIONS

The ratios of calculated deflections are

21069.85 2.15
x 495.9 1.0

This ratio is much different from the assumed ratio.

Second trial
F m,o x =100, F =m, or2=50of x 2.15 =107.5

1000x2.4795 x 10+107.5 o x 4.959 x 10 =781x 10-32

=
100 ox 4.959x 10+107.5 o x 11.479 x 10 =1729.89x10
So x:=2.21:1
The ratio is quite different from the assumed ratio in the start of this
trial.
Third trial
We get =795.9x 10 o and 1764.32 x10
The ratio of deflections is

2 -2.21:1
This ratio is equal to the starting value for this trial.
Thus the assumed and
calculated values of ratio are equal.
So =1 (assumed)
= 795.9 x 10 a2 or 1=795.9 x 10 o (calculated)
o=354.5 rad/ sec
f =56.45 Hz
Example 6.21 Using Holzer method find the natural
Assume m m,
frequencies of the system shown im Fig:
=m^ 1kg and k,=k^ =k, =1 Nim.
= (KUK, 20120

Soution. Assuming the initial displacemernt x, ec.

=1 and natural frequency o= 30au
o3x.3=.09
*1 =1-tx.09 =91
k
"2*2) - 91-09(1+ .91)=0.74
k2
2 h2 +ma¥3)074-09 (1+ 91 + 3)=0.51
k3
 FREEDOM SYSTEM
DOM SYSTEM 385
imilarly,
other deflections can be
other

in the table1 0 44 rad/sec

are directly put
S i m .

direct

nd
and
are
2.0
1.24 rad/sec
wlulated
assumed frequency. The results 1.0 1.80 rad/sec
H i f e r e n ta s s u m e c

fiereare obtained by drawing a curve

x as shown in
and displacement
rireyue

1.0
ween
natura
frequencies are
The -2.0
31.
044 rad/sec

and 1.80 rad/sec.

3 Flg. 6.31
124 rad/ sec
Table1

AsSumed

requency
Row mo mxo mxo k Emx
0-0.30
1 .09 1.0 09 0.09 09
o -09 2 1 09 0.91 0819 0.17 1 17
3 1 09 0.74 0666 0.23 1 0.23

ww*******w*77
0.51
.25 1.0 0.25 0.25 0.25
o- 0.50
0.75 0.19 0.44 0.44
0.25 2 1 25
0.31 0.07 0.51 1 0.51
3 .25
0.20
0.56 0.56 1 0.56
0 0.75 1 0.56 1.0
0.80 1 0.80
0.56 2 1 0.56 0.44 0.24
-0.20 0.60 0.60
3 1 0.56 -0.36
0.96
1
0 10 1
1 1
1.0 1 1 0 0
2
-1 1
1 -1
3
1.56
9= 1.25 1.0 1.56 1.56
1 1.56 0.69
87 0.69
1.56 2 1.56 56
-1.26
-126
-1.25 -1.95
3 1 1.56
01 2.25
1.0 2.25 2.25 -0.57
0= 1.50
1 2.25 1
-1.25 2.82 -0.57
2.25 2 1 2.25
-0.68 -1.53 -2.10
2.10

3 1 2.25
1.40 3.06
1.0 3.06 3.06
3.06 -3.24
9 1.75 2.06 6.30 -3.24
1
0.36
3.06 2
3.06
3.06 1.18 3.60 0.36
1

81
1
4.0 -8
1
9 2.0 4.0 -12 12
=4.0 2
1
4.0 20 12
3