Mechanical Vibration

LECTURE#1-5
 CLO & PLO , Mapping of CLO With PLO

After Completing the “Mechanical Vibrations” Course, each student

Sr.will be able to:
Taxonomy
No CLO Domain PLO
Level
.
Study and Analyse free vibrations and forced vibration of
1. Cognitive 2&4 2
harmonically excited systems.
Analyse single/Multi degree of freedom system by using energy
2. Cognitive 4 2
method.
Manupulate mathematical models and compute frequency
3. Cognitive 3 3
responses for single and multi-degree freedom systems.
Relate the concepts taught in the lab and complete lab reports
4. Affective 3 &4 10
individually in time.
To perform series of experiment on prescribed equipment both Psychom
5. 5 9
individually and in teams otor
RELEVANT PROGRAM LEARNING OUTCOMES (PLOs):
The course is designed so that students will achieve the following PLOs:
Engineering Environment and
1 7
Knowledge Sustainability:
2 Problem Analysis: √ 8 Ethics:
Design/
3 Development of √ 9 Individual and Team Work:
Solutions:
1
4 Investigation: Communication:
0
1
5 Modern Tool Usage: Project Management:
 Contents
Introduction: Importance of the study of vibration, elementary parts of
vibrating system, degree of freedom, simple harmonic motion, addition of
harmonic motions, free and forced vibration.
Systems with one degree of freedom: Damped free vibration, root locus
study of damping, logarithmic decrement, response of un-damped and
damped systems under harmonic excitation, base excitation, rotating
unbalance, self-excitation and stability analysis, vibration under general
forcing conditions, response under periodic and non periodic forces.
Two degree of freedom systems: Free and forced vibration, analysis of un-
damped and damped systems, normal modes, co-ordinate coupling and
principal coordinates vehicle suspension systems.
Multi degree of freedom systems: Influence coefficient, generalized
coordinates and generalized forces, Lagrange’s equation, Eigen value
problems.

Numerical methods:Dunkerley’s formula, Holzer method, vibration of

continuous system, transverse vibration of a string, longitudinal vibration of a
rod, torsional vibration of shaft, lateral vibration of beams, Rayleigh-Ritz
method.
 Recommended books

A. Textbooks
1. Thomson, W.T., Dahleh, M.D., Padmanabhan, C., “Theory of Vibration
with Application”, Dorling Kindersley (India) Pvt. Ltd., licensees of Pearson
Education in South Asia, Latest Edition.
2. Rao S.S., “Mechanical Vibration”, Prentice Hall, Latest Edition.
3. S. Graham Kelly, “Mechanical Vibrations Theory and Applications”, SI
Edition, Latest Edition.

B. Reference Books
1. De silva, C.W., “Vibration Fundamentals and Practice”, Taylor
& Francis, Latest Edition..
2. Kelly S. G. “Fundamentals of Mechanical Vibrations”, McGraw-
Hill, Latest Edition.
3. William T. Thomson, Prentice Hall, “Theory of Vibration with
Application”, Prentice Hall, Latest Edition.
 VIBRATION & ITS IMPORTANCE
Any motion that repeats itself after an interval of time is called vibration or
oscillation.

The swinging of a pendulum and the motion of a plucked string are typical
examples of vibration.

Importance
Most human activities involve vibration in one form or other.
Like we hear because our eardrums vibrate.
See because light waves undergo vibration.
Breathing and walking
Human speech requires the oscillatory motion of larynges (and tongues).

Engineering applications of vibration, such as the design of machines,

foundations, structures, engines, turbines, and control systems.

Almost all the moving machine elements experience vibration due to

unbalance mass.

The vibration causes more rapid wear of machine parts such as bearings
 VIBRATION & ITS IMPORTANCE
Vibration testing has become a standard procedure in the design and
development of most engineering systems.

The transmission of vibration to human beings results in discomfort and loss

of efficiency. The vibration and noise generated by engines causes
annoyance to people and, sometimes, damage to property. Vibration of
instrument panels can cause their malfunction or difficulty in reading the
meters.
vibration study aim to reduce vibration through proper design of
machines and their mountings.
VIBRATION & ITS IMPORTANCE

Tacoma Narrows bridge during wind-induced vibration. The

bridge opened on July 1st, 1940, and collapsed on November
7, 1940.

A second bridge was built and opened to the public in 1950.

This time, before building the bridge, engineers built a model
of the new bridge and tested it in a wind tunnel. They learned
that wind would have to pass through or over the bridge
instead of the bridge "capturing" the wind, which would make
 VIBRATION & ITS IMPORTANCE
Causes of Vibration
The most of the machines, we use in our daily life like the Mixer, Washing Machine, Vacuum
Cleaner, water pumps etc. tend to indicate if something is wrong in them by means of vibration
and noise.
It is also possible to judge that the machine has a problem based on the sound that we hear from
machine.
Unbalance: This is basically in reference to the rotating bodies. The uneven distribution of mass
in a rotating body contributes to the unbalance. A good example of unbalance related vibration
would be the “vibrating alert" in our mobile phones. Here a small amount of unbalanced weight
is rotated by a motor causing the vibration which makes the mobile phone to vibrate. You would
have experienced the same sort of vibration occurring in your front loaded washing machines
that tend to vibrate during the “spinning" mode.

Misalignment: This is an other major cause of vibration particularly in machines that are driven
by motors or any other prime movers. They are:

1-Bent Shaft: A rotating shaft that is bent also produces the the vibrating effect since it losses it
rotation capability about its center.
 VIBRATION & ITS IMPORTANCE

Gears in the machine: The gears in the machine always tend to produce vibration,
mainly due to their meshing. Though this may be controlled to some extent, any
problem in the gearbox tends to get enhanced with ease. The major things that tend to
cause excessive vibration in gears are
1- Misalignment of the gear axis
2- Gear teeth running out of contact
3- Wear and breakage of gear tooth.

Loose Foundations: The improper mounting of the machine without holding it rigidly
to the ground causes the machine to vibrate.

Bearings: In majority of the cases every initial problem starts in the bearings and
propagates to the rest of the members of the machine. A bearing devoid of lubrication
tends to wear out fast and fails quickly, but before this is noticed it damages the
remaining components in the machine and an initial look would seem as if something
had gone wrong with the other components leading to the bearing failure.
 VIBRATION & ITS IMPORTANCE
In spite of its detrimental effects, vibration can be utilized profitably in
several consumer and industrial applications.
For example, vibration is put to work in vibratory conveyors, hoppers, sieves,
compactors, washing machines, electric toothbrushes, dentist s drills, clocks,
and electric massaging units.
Vibration has been found to improve the efficiency of certain machining,
casting, forging, and welding processes.
 ELEMENTS OF VIBRATING SYSTEM
A vibratory system, in general, includes
a means for storing potential energy (spring or elasticity),
a means for storing kinetic energy (mass or inertia),
and a means by which energy is gradually lost (damper).

How aircraft wing can be modeled as vibrating body for its vibration
analysis.

The vibration of a system involves the

transfer of its potential energy to kinetic energy and of

kinetic energy to potential energy, alternately.

If the system is damped, some energy is dissipated in each cycle of vibration.

 Number of Degrees of Freedom
The minimum number of independent coordinates required to determine
completely the positions of all parts of a system at any instant of time.

For example, the motion of the simple pendulum (Fig. 1.10) can be stated
either in terms of the angle Θ or in terms of the Cartesian coordinates x and
y. If the coordinates x and y are used to describe the motion, it must be
recognized that these coordinates are not independent. x 2 They
y 2 l 2 are related to
each other through the relation
where l is the constant length of the pendulum. Thus any one coordinate can
describe the motion of the pendulum.
 Number of Degrees of Freedom
For the slider shown in Fig. 1.11(a), either the angular coordinate or the
coordinate x can be used to describe the motion. In Fig. 1.11(b), the linear
coordinate x can be used to specify the motion. For the torsional system
(long bar with a heavy disk at the end) shown in Fig. 1.11(c), the angular
coordinate can be used to describe the motion.
 Classification of Vibration
Free and Forced Vibration
If a system, after an initial disturbance, is left to vibrate on its own, the
ensuing vibration is known as free vibration. No external force acts on the
system.

The oscillation of a simple pendulum is an example of free vibration.

Forced Vibration. If a system is subjected to an external force (often, a

repeating type of force), the resulting vibration is known as forced vibration.
The oscillation that arises in machines such as diesel engines is an example
of forced vibration.

Undamped and Damped Vibration

If no energy is lost or dissipated in friction or other resistance during
oscillation, the vibration is known as undamped vibration. If any energy is
lost in this way, however, it is called damped vibration.
 Classification of Vibration
Linear and Nonlinear Vibration
If all the basic components of a vibratory system the spring, the mass, and
the damper behave linearly, the resulting vibration is known as linear
vibration.
If, however, any of the basic components behave nonlinearly, the vibration is
called nonlinear vibration.
The differential equations that govern the behavior of linear and nonlinear
vibratory systems are linear and nonlinear, respectively.
Deterministic and Random Vibration
If the value or magnitude of the excitation (force or motion) acting on a
vibratory system is known at any given time, the excitation is called
deterministic. The resulting vibration is known as deterministic vibration.

In some cases, the excitation is nondeterministic or random; the value of

the excitation at a given time cannot be predicted. In those cases it is
possible to estimate averages such as the mean and mean square values of
the excitation.
Examples of random excitations are wind velocity, road roughness, and
ground motion during earthquakes.
 Surprise test

1.What is vibration? Is vibration desired or not ,

justify your answer with argument.
2.Is vibration in any machine results loss of energy
or not? justify your answer with argument.
3.What is DOF?
4.Define and give real life example about following
types of vibration?
Free vibration
Forced vibration
Damped & Undamped vibration
Random vibration
 Discrete and Continuous Systems
Systems with a finite number of degrees of freedom are called discrete
or lumped parameter systems, and those with an infinite number of
degrees of freedom are called continuous or distributed systems.

Most of practical systems can be described using a finite number of DOF,

such as the simple systems shown in Figure above.
On the contrary , since most of the mechanical and structural elements are
continuous elastic members, have an infinite number of degrees of freedom.
 Discrete and Continuous Systems
As a simple example, consider the
cantilever beam shown in Fig.
1.14.

Since the beam has an infinite

number of mass points, we
need an infinite number of
coordinates to specify its
deflected configuration. The
infinite number of coordinates
defines its elastic deflection
curve.
In order to obtain solution of the complex mechanical systems, Most of the
time, continuous systems are approximated as discrete systems.
Although treatment of a system as continuous gives exact results, the
analytical methods available for dealing with continuous systems are limited
to a narrow selection of problems, such as uniform beams, slender rods, and
thin plates.

Hence most of the practical systems are studied by treating them as finite
lumped masses, springs, and dampers.
 Damping & Damping Elements
The mechanism by which the vibrational energy is gradually converted into
heat or sound is known as damping.
A damper is assumed to have neither mass nor elasticity, and damping force
exists only if there is relative velocity between the two ends of the damper.
Hence damping is modeled as one or more of the following types.

Viscous Damping. When mechanical systems vibrate in a fluid medium

such as air, gas, water, or oil, the resistance offered by the fluid to the
moving body causes energy to be dissipated.
The amount of dissipated energy depends on many factors, such as the size
and shape of the vibrating body, the viscosity of the fluid, the frequency of
vibration, and the velocity of the vibrating body.
In viscous damping, the damping force is proportional to the velocity of the
vibrating body.
 Damping & Damping Elements
Coulomb or Dry-Friction Damping. Here the damping force is constant in
magnitude but opposite in direction to that of the motion of the vibrating
body. It is caused by friction between rubbing surfaces that either are dry or
have insufficient lubrication.

Material or Solid or Hysteretic Damping. When a material is deformed,

energy is absorbed and dissipated by the material .The effect is due to
friction between the internal planes, which slip or slide as the deformations
take place.
 Vibration Analysis Procedure
Most practical vibrating systems are very complex, and it is
impossible to consider all the details for a mathematical analysis.
Only the most important features are considered in the
analysis to predict the behavior of the system under specified
input conditions. Often the overall behavior of the system can be
determined by considering even a simple model of the complex
physical system.
1) Mathematical Modeling
The purpose of mathematical modeling is to represent all the important
features of the system for the purpose of deriving the mathematical
equations governing the systems behavior.

2) Derivation of Governing Equation

Once the mathematical model is available, we use the principles of dynamics
and derive the equations that describe the vibration of the system.

3) Solution of the Governing Equation

The equations of motion must be solved to find the response of the vibrating
system.
4) Interpretation of the results
 Example
The system considered, the forging hammer shown in Fig. 1.16(a). It
consists of a frame, a falling weight known as the tup, an anvil, and
a foundation block. The anvil is a massive steel block on which
material is forged into desired shape by the repeated blows of the
tup.

The anvil is usually mounted on an elastic pad to reduce the transmission of

vibration to the foundation block and the frame.

For a first approximation, the frame, anvil, elastic pad, foundation block, and
soil are modeled as a single degree of freedom system as shown in Fig.
1.16(b).
 Example
For a refined approximation, the weights of the frame and anvil and the
foundation block are represented separately with a two-degree-of-freedom
model as shown in Fig. 1.16(c).
Develop mathematical model (Home Work)
 Harmonic Motion
The simplest type of periodic motion is
harmonic motion.
If the motion is repeated after equal
intervals of time, it is called periodic
motion.

The motion imparted to the mass m due to

the Scotch yoke mechanism shown in Fig.
1.46

In this system, a crank of radius A rotates

about the point O. The other end of the
crank, P, slides in a slotted rod, which
reciprocates in the vertical guide R. When
the crank rotates at an angular velocity of
ω, S of the slotted link and hence the mass
m of the spring-mass system are displaced
from their middle positions by an amount x
(in time t) given
x  Aby
sin  Since ω=θ/t put the value of theta in eq: than we have
x  A sin t
Let us draw a perpendicular from point P
 Harmonic Motion
dx
 A cos  t
dt
d 2x
2
  2
A sin  t
dt

It can be seen that the

acceleration is directly
proportional to the displacement.
Such a vibration, with the acceleration
proportional to the displacement and
directed toward the mean x position,
A cos  t is
known as simple harmonic motion.
The motion given by
is another example of a simple
harmonic motion. Figure 1.46 clearly
shows the similarity between cyclic
 Vectorial Representation of Harmonic Motion

Harmonic motion can be represented conveniently by means of a vector of

magnitude A rotating at a constant angular velocity In Fig. 1.47, the
 T
projection of the tip of the vector
X OP
on the vertical axis is given by
 Vibration Basic Terminology
Cycle. 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 extreme position in the other direction, and back to
equilibrium position is called a cycle of vibration.

Amplitude. The maximum displacement of a vibrating body from its

equilibrium position is called the amplitude of vibration.


Period of oscillation. The time taken to complete one cycle of motion is
2
known as the period of oscillation or time period and
 is denoted by


Frequency of oscillation. The number of cycles per unit time is called the
frequency of oscillation or simply the frequency and is denoted by f. Thus

1 
f  
 2
 Vibration Basic Terminology
Phase angle. Consider two vibratory motions denoted by
x1  A1 sin  t
x2  A2 sin( t   )
The two harmonic motions given by above mentioned Equations are called
synchronous because they have the same frequency or angular
velocity, Two synchronous oscillations need not have the same
amplitude, and they need not attain their maximum values at the same
time.

T
T OP1
In this figure, the second
vector
OP2 leads the first one by an angle
known as the phase angle. This means that the maximum of the second
vector would occur Φ radians earlier than that of the first vector. Note that
instead of maxima, any other corresponding points can be taken for finding
 Vibration Basic Terminology
Natural frequency. If a system, after an initial disturbance, is left to vibrate
on its own, the frequency with which it oscillates without external forces is
known as its natural frequency. As will be seen later, a vibratory system
having n degrees of freedom will have, in general, n distinct natural
frequencies of vibration.

Beats. When two harmonic motions, with frequencies close to one another,
are added, the resulting motion exhibits a phenomenon known as beats.

Octave. When the maximum value of a range of frequency is twice its

minimum value, it is known as an octave band. For example, each of the
ranges 75-150 Hz, 150-300 Hz, and 300-600 Hz can be called an octave
band. In each case, the maximum and minimum values of frequency, which
have a ratio of 2:1, are said to differ by an octave
 Home Work
EXAMPLE1.1
EXAMPLE1.3
EXAMPLE1.5
Combination of Springs Topic
EXAMPLE1.5
Home Work
 Free Vibration of Single-Degree of-Freedom Systems

A system is said to undergo free vibration when it oscillates only under an

initial disturbance with no external forces acting afterward.
Some examples are the vertical oscillatory motion felt by a bicyclist after
hitting a road bump, and the motion of a child on a swing after an
initial push.

The simplest possible vibratory system with single-degree-of-freedom

system, since one coordinate (x) is sufficient to specify the position of the
mass at any time.

Since there is no external force applied to the mass and there is no

element that causes dissipation of energy during the motion, thus
amplitude of motion remains constant with time; hence this type of motion is
known as un-damped free vibration.
 Free Vibration of Single-Degree of-Freedom Systems

Several mechanical and structural systems can be idealized as single-degree-

of-freedom systems.
The elements of the follower system (pushrod, rocker arm, valve, and valve
spring) are all elastic but can be reduced to a single equivalent spring of
stiffness For a simple analysis, the cam-follower system can thus be idealized
as a single-degree-of-freedom spring-mass system, as shown in Fig. 2.2.

Similarly, the structure shown in Fig. 2.3 can be considered a cantilever beam
that is fixed at the ground