Review of Mechanical Vibrations

Contents

Basic concepts

Free vibration of single DOF with and without damping

Forced vibration of single DOF

Force and motion isolation

2 DOF system

Natural frequency

Basic Concepts

Degree of freedom

Contd..

Simple Harmonic Motion

x(t )= Acos t + Bsin t
x (t)= Xsin( t +)
A
X = ( A + B )and =tan ( )
B
2

Q.The response of a system is given by:x (t )=0.003 cos(30 t )+0.004 sin(30 t )m

Determine (a) Amplitude (b) Period (c) Frequency
(d) Phase angle (e) Response in the abovestated form

Contd..
X=0.005 m
2
T = =0.209 s
30
f =4.77 Hz
=0.643 rad
x (t )=0.005 sin(30 t +0.643)

Types of Vibration:SDOF(Single degree of freedom) & MDOF(Multiple

DOF)
Undamped, damped and forced
Harmonic and transient
Linear and non-linear
Deterministic and random

Contd..
Some important definitions:

Periodic motion

Time period

Frequency

SHM

Amplitude

Free vibrations

Forced vibrations

Natural frequency

Resonance

Damping

Contd..
Some kind of amplitudes
T
1
x av = |x(t)|dt
T o

1
2
x rms =
(
x
(t
))
dt

T 0

Q. A body is subjected to two harmonic motions as

given :- x 1=15 cos( t +/6)
x 2=8 cos( t + /3)

What extra harmonic motion should be given to the

body to bring it to static equillibrium?

Free vibration of single DOF without damping

Characteristic equation:m x +kx=0
k=Spring constant
k
n=
m

Q. The bell crank arm is

pivoted at O and has
mass moment of inertia I.
Find natural frequency
of the system.

Contd..
Soln:-Find K.E and P.E
E=K.E.+P.E.
Apply dE/dt=0
n=

k 1 c 2 +k 2 a 2 + k 3 b 2
2

I +m2 a +m1 c

Q. Find natural frequency of the system

Contd..
Equivalent springs:In parallel

k eq=k 1 +k 2

In series

1
1 1
= +
k eq k 1 k 2

Q. Find equivalent spring stiffness for the case:-

Free vibration of single DOF with damping

Characteristic equation:m x +c x + kx=0
Let x= Xe st
2
ms +cs+ k=0

c
1 c
k
s1,2 =(
)+ ( ) 4( )
2m 2 m
m
2
c
k
( ) 4( )>0,Overdamped
m
m
2
c
k
( ) 4( )<0, Underdamped
m
m
2
c
k
( ) 4( )=0, Critically damped
m
m

Contd..
Critical damping coefficient ,C c=2 km=2m n
C
Damping factor , =
Cc
n 1 = d
2

Logarithmic decrement:xo
x0
2
1
L n=ln ( )=
= ln ( )
2
x 1 1 n
xn

Contd..
Q. A damped system has following elements:mass=4kg; k=1 kN/m; C=40 N-s/m
Determine:a.) Damping factor
b.) Natural frequecy of damped oscillations
c.) Logarithmic decrement
d.) No of cycles after which the original amplitude is
reduced to 20%

Contd..
Sol:-

=0.316
d =14.99 rad / s
f d =2.386 Hz
=2.0928
n=0.769 cycles

Contd..
Q. A machine of mass 75 kg is mounted on springs
and is fitted with a dashpot to damp out vibrations.
There are three springs each of stiffness 10 N/mm and
it is found that the amplitude of vibration diminishes
from 38.4 mm to 6.4 mm in two complete oscillations.
Assuming that the damping force varies as the
velocity, determine : 1. the resistance of the dashpot at
unit velocity 2. the ratio of the frequency of the
damped vibration to the frequency of the undamped
vibration 3. the periodic time of the damped vibration

Forced Vibrations of single DOF

Characteristic Equation:-

m x + c x + kx=F 0 sin t
Its solution comprises of C.F.& P.I.
x= x c+ x p
t
x c= Xe
sin ( d t+ 1 )
F0
x p=
sin ( t)
2 2
2
(k m ) + (c )
F0
t
So , x= Xe
sin ( d t+ 1 )+
sin ( t)
2 2
2
(k m ) + (c )
n

Contd..
In general xc dies out very fast, so solution is given by
xp. So,
F0
F0/k
Amplitude , A=
=
2 2
2
2 2
2
(k
m

)
+
(c
)
) ] + (2 )

[1(
n
n
So , general solution is x= Asin ( t )
c
tan =
2
k m

Graphical Solution:x= Asin( t)

x = Asin[ + ( t)]
2
2
x = Asin ( t)

Contd..
So , m x + c x + kx= F 0 sin t , changes to
2
F 0 sin t+ m A sin (t)c Asin [ + ( t)]kAsin ( t)=0
2

Magnification Factor:-The ratio of the amplitude of the

steady-state response to the static deflection under
the action of force F0 is known as magnification factor
(MF).

Contd..
[ F 0 / (k ) + (c )]
MF =
[ F0/k ]
1
MF =
2 2
2
) ] + (2 )
[1(

2 2

Salient point about graph of MF

vs ratio of frequency
At =0, resonance occurs as =
n
MF cannot reach infinity owing to
friction which dampens the vibrations

Contd..
Q. A machine part having a mass of 2.5 kg vibrates in
a viscous medium. A harmonic exciting force of 30 N
acts on the part and causes a resonant amplitude of
14 mm with a period of 0.22 second. Find the damping
coefficient. If the frequency of the exciting force is
changed to 4 Hz, determine the increase in the
amplitude of the forced vibrations upon the removal of
the damper. =2 =28.56 rad / s
T
(i ) At resonance , = n ;thus , k =2.039 N / mm
[ F o / s]
A=
=0.526 c=0.075 Ns / mm
[2 ]
(ii)= f n 2 =25.13 rad / s
With damper , A=0.0155 m
Without damper : =0 A=0.0652 m
Increase in magnitude=49.7 mm

Contd..
Q.
A single-cylinder vertical diesel engine has a
mass of 400 kg and is mounted on a steel chassis
frame. The static deflection owing to the weight of the
chassis is 2.4 mm. The reciprocating masses of the
engine amounts to 18 kg and the stroke of the engine
is 160 mm. A dashpot with a damping coefficient of 2
N/mm/s is also used to dampen the vibrations. In the
steady-state of the vibrations, determine:
(i) the amplitude of the vibrations if the driving shaft
rotates at 500 rpm
(ii) the speed of the driving shaft when the resonance
occurs.

Force and Motion Isolation

A major part of 4th Module, so will be discussed in

detail over there.

2 Degrees of Freedom

m1 x1 + (c1+ c 2 ) x1c 2 x2 + (k 1+ k 2 ) x 1 k 2 x 2 =F 1
For m 2,
m 2 x2 c2 x1+ c 2 x2 k 2 x 1k 2 x 2 =F 2

For m1,
m1 x1+ k 1 x 1k 2 ( x 2 x 1)=0
m1 x1+ (k 1+ k 2) x 1k 2 x 2=0
similarly for m 2
m 2 x2 k 2 x 1+ k 2 x 2=0

Natural Frequency

Already studied in this mobule

Natural Frequency

Already studied in this mobule

Practice Problems
Q.Find the natural
frequency for the Q. A 3 kg object is attached to
given systems:spring and will stretch the spring
392 mm by itself. There is no
damping in the system and a
forcing function of the form,
F (t)=30 cos( t) is attached to the
object and the system will
experience resonance. If the object
is initially displaced 20 cm
downward from its equilibrium
position and given a velocity of 10
cm/sec
upward
find
the
displacement at any time t.

THANK-YOU