Chapter 3

Harmonically
Excited
Vibration of
SDOF Systems
 Topic 12
Response of a Damped
System due to Rotating
Unbalanced Mass
Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 2
Objectives
After you have finished this topic you will be able to do the following:

• Obtain the harmonic force due to rotating unbalanced mass

• Obtain the steady state solution of systems subject to a mass

unbalance.

• Obtain the transmitted force due to rotating unbalanced mass

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 3

Sources of vibrations in structures
• Sources of vibration excitation include:
 Rotating unbalance
 reciprocating motion
 whirl
 Impacts, etc.

• The resulting vibration can be transmitted to surrounding structures

• Result can be noise, vibration, damage, low quality, complaints, …, etc.

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 4

Rotating unbalanced mass
• Unbalance in rotating machinery is one of the main causes
of vibration.
• A simplified model of such a machine is shown in the figure.
• The total mass of the machine is M , and there isan

eccentric mass m rotating with a constant angular velocity

𝜔.
• The centrifugal force due to rotation will cause excitation of

mass M .

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 5

Rotating unbalanced mass
• Consider a small mass 𝑚 rotating with an angular velocity 𝜔
at a radius 𝑒.
• The centrifugal force on the mass 𝑀 has magnitude,

𝑚𝑣 2
𝐹0 = = 𝑚𝑒𝜔2
𝑒
• Th component of the centrifugal force in the direction of 𝑥
is,
𝐹 𝑡 = 𝑚𝑒𝜔2 sin 𝜔𝑡
• What happened to the other component of the force? 𝑚𝑒𝜔2
𝑚𝑒𝜔2 sin 𝜔𝑡
 Balanced by the reaction forces
𝜔𝑡

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 6

Rotating unbalanced mass
• Excitation
• m is rotating mass (mass imbalance)
• M is the total mass
• 𝜔 is the frequency of excitation
• e is the eccentricity
• Result
• A harmonic force 𝐹 𝑡 where,

𝐹 𝑡 = 𝑚𝑒𝜔2 sin 𝜔𝑡
𝑚𝑒𝜔2
𝑚𝑒𝜔2 sin 𝜔𝑡

𝜔𝑡

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 7

Equation of Motion
𝐹 𝑡
• The equation of motion is,
𝑀𝑥 + 𝑐 𝑥 + 𝑘𝑥 = 𝑚𝑒𝜔2 sin 𝜔𝑡
𝑥
• The solution determined in Topic 10 for an applied harmonic
force is still valid. The solution was,
𝑀
𝑥 𝑡 = 𝑋 sin(𝜔𝑡 − 𝜙)
where,
𝐹𝑐 𝐹𝑘
𝑀 1
𝑚𝑒𝜔2 𝑚𝑒𝜔2 ( )( )
𝑋= = 𝑀 𝑘
𝑘 − 𝑀𝜔 2 2 + 𝑐𝜔 2 1/2 1 − (𝑀/𝑘)𝜔 2 2 + 𝑐𝜔/𝑘 2 1/2

𝑚𝑒/𝑀 𝑟 2 𝑀𝑋 𝑟2
𝑋= =
1 − 𝑟 2 2 + 2𝜁𝑟 2 1/2 𝑚𝑒 1 − 𝑟 2 2 + 2𝜁𝑟 2 1/2

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 8

Amplification Factor

Positive effect
of damping
𝑀𝑋 𝑟2
=
𝑚𝑒 1 − 𝑟 2 2 + 2𝜁𝑟 2 1/2

Critical region

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 9

Amplification Factor
1. All the curves begin at zero amplitude.
𝑀𝑋 𝑟2
2. The amplitude near resonance (𝜔 ≅ 𝜔𝑛 ) is markedly =
𝑚𝑒 1 − 𝑟 2 2 + 2𝜁𝑟 2 1/2
affected by damping. Thus if the machine is to be run
near resonance, damping should be introduced.
3. At very high speeds (large 𝜔), MX/me is almost unity,
and the effect of damping is negligible.
4. For 0 < 𝜁 < 1/ 2, the maximum value of 𝑀𝑋/𝑚𝑒
occurs when

𝑑 𝑀𝑋/𝑚𝑒
=0
𝑑𝑟
1 𝑀𝑋 1
This leads to 𝑟𝑚 = ≥1 which gives =
1 − 2𝜁 2 𝑚𝑒 𝑚𝑎𝑥 2𝜁 1 − 𝜁 2
Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 10
Amplification Factor
𝑀𝑋
• For 𝜁 ≥ 1/ 2, does not attain a maximum. Its
𝑚𝑒 𝑀𝑋 𝑟2
=
value grows from 0 at 𝑟 = 0 to 1 at 𝑟 = ∞. 𝑚𝑒 1 − 𝑟 2 2 + 2𝜁𝑟 2 1/2

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 11

Transmitted Force
• The force transmitted to the foundation is given by,
𝐹𝑇 = 𝑐 𝑥 + 𝑘𝑥
𝐹𝑇 = 𝑐𝜔𝑋 cos(𝜔𝑡 − 𝜙) + 𝑘𝑋 sin(𝜔𝑡 − 𝜙)
• The magnitude of the transmitted force is,

|𝐹𝑇 | = 𝑘𝑋 2 + 𝑐𝜔𝑋 2

|𝐹𝑇 | = 𝑋 𝑘 2 + 𝑐𝜔 2

𝑚𝑒𝜔2 2 2
|𝐹𝑇 | = 𝑘 + 𝑐𝜔
𝑘 − 𝑀𝜔 2 2 + 𝑐𝜔 2 1/2

𝑘 2 + 𝑐𝜔 2
|𝐹𝑇 | = 𝑚𝑒𝜔2
𝑘 − 𝑀𝜔 2 2 + 𝑐𝜔 2

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 12

Transmitted Force

2 𝑘 2 + 𝑐𝜔 2
|𝐹𝑇 | = 𝑚𝑒𝜔
𝑘−𝑀𝜔2 2 + 𝑐𝜔 2

𝑐 2
1+ 𝑘𝜔
|𝐹𝑇 | = 𝑚𝑒𝜔2 𝑀 2 𝑐 2
1− 𝑘 𝜔2 + 𝑘𝜔

𝑐 𝑐 𝑀 1 2𝜁 𝑀 1
= = 2𝜁𝜔𝑛 2 = = 2 𝜔 = 𝑟𝜔𝑛
𝑘 𝑀𝑘 𝜔𝑛 𝜔𝑛 𝑘 𝜔𝑛

2𝜁 2
1+ 𝜔 𝜔 1+ 2𝜁𝑟 2
2
|𝐹𝑇 | = 𝑚𝑒𝜔 𝑛
2 2 = 𝑚𝑒(𝑟𝜔𝑛2 )
1 2𝜁 1−𝑟 2 2 + 2𝜁𝑟 2
1− 2 𝜔2 + 𝜔𝑛
𝜔
𝜔𝑛

|𝐹𝑇 | 2
1 + 2𝜁𝑟 2
2 =𝑟 1 − 𝑟 2 2 + 2𝜁𝑟 2
𝑚𝑒𝜔𝑛

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 13

Force Transmissibility
|𝐹𝑇 | 2
1 + 2𝜁𝑟 2
2 =𝑟 1 − 𝑟 2 2 + 2𝜁𝑟 2
𝑚𝑒𝜔𝑛

Positive effect of Negative effect of

higher damping higher damping

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 14

Example – Selection of shaft diameter to minimize vibration

Figure shows a schematic diagram of a Francis

water turbine, in which water flows from A into the
blades B and down into the tail race C. The rotor
has a mass of 250 kg and an unbalance (me) of 5 kg-
mm. The radial clearance between the rotor and
the stator is 5 mm. The turbine operates in the
speed range 600 to 6000 rpm. The steel shaft
carrying the rotor can be assumed to be clamped at
the bearings.
Determine the diameter of the shaft so that the
rotor is always clear of the stator at all the
operating speeds of the turbine. Assume damping
to be negligible.

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 15

Example – Selection of shaft diameter to minimize vibration

Avoid this r range

• Operating speeds: 600 – 6000 rpm
• The amplitude peak should not fall
in this speed range
• Since,
• 600 rpm  lower freq. ratio r
• 6000 rpm  higher freq. ratio r
We need to ensure 600 rpm results in
a freq. ratio r after the peak
Or, we can ensure that 6000 rpm
results in an r which is before the
resonance peak.

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 16

Example – Selection of shaft diameter to minimize vibration

• Amplification factor is 𝑀𝑋 𝑟2
=
𝑚𝑒 1 − 𝑟 2 2 + 2𝜁𝑟 2 1/2

• With no damping,
𝑀𝑋 𝑟2
=
𝑚𝑒 ( 1 − 𝑟2 2

2
250 0.005 𝑟4
=
0.005 1 + 𝑟 4 − 2𝑟 2
𝑟 4
1 + 𝑟 4 − 2𝑟 2 = = 0.000016𝑟 4
2502
Use 𝑟 = 1.004 to be on
𝑟 = 0.9960,1.0040
right side of the peak
2𝜋
• When 𝜔 = 600 = 62.8318 𝑟𝑎𝑑/𝑠,
60
𝜔
𝜔𝑛 = = 62.5815 rad/s 𝑘 = 986.960 × 103 𝑁/𝑚
1.004
Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 17
Example – Selection of shaft diameter to minimize vibration

2𝜋
• When 𝜔 = 6000 = 628.318 𝑟𝑎𝑑/𝑠, 𝑟 = 10.04 which is safe.
60

• The diameter of the shaft can be calculated using 𝑘 = 986.960 × 103 𝑁/𝑚 and the
stiffness formula for cantilever beam.

3𝐸𝐼 𝑘𝑙 3 986.960 × 103 × 23

𝑘= 3 ⇒𝐼= = = 1.27145 × 10−5 𝑚4
𝑙 3𝐸 3 × 207𝑒9

1 1
𝜋𝑑 4 64𝐼 4 64 1.27145 × 10−5 4
𝐼= ⇒𝑑= = ⇒ 𝑑 = 0.1267 𝑚 = 126.7 𝑚𝑚
64 𝜋 𝜋

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 18

Example – Selection of shaft diameter to minimize vibration

• The solutions for r satisfying the requirement of displacement amplitude are,

𝑟 = 0.9960,1.0040
• If we decide to design the system for maximum speed (6000 rpm), we will use 𝑟 =
0.9960 to keep the maximum speed on the left side of the resonance peak.
2𝜋
• When 𝜔 = 6000 = 628.318 𝑟𝑎𝑑/𝑠,
60
𝜔
𝜔𝑛 = = 630.84 rad/s 𝑘 = 99.49 × 106 𝑁/𝑚
0.9960
3𝐸𝐼 𝑘𝑙 3 99.49 × 106 × 23
𝑘= 3 ⇒𝐼= = = 1.282 × 10−3 𝑚4
𝑙 3𝐸 3 × 207𝑒9

1 1
𝜋𝑑 4 64𝐼 4 64 1.27145 × 10−5 4
𝐼= ⇒𝑑= = ⇒ 𝑑 = 0.402 𝑚 = 402.0 𝑚𝑚
64 𝜋 𝜋
Very large
Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 19
Problem 3.76
• An air compressor of mass 50 kg is mounted on an elastic support and operates at a
speed of 1000 rpm. It has an unbalanced mass of 2 kg at a radial distance
(eccentricity) of 0.1 m from the axis of rotation. If the damping factor of the elastic
support is 𝜁 = 0.1, determine the following: (a) the spring constant of the elastic
support which transmits no more than 25% of the unbalanced force to the
foundation, and (b) the magnitude of the force transmitted to the foundation.

|𝐹𝑇 | 2
1 + 2𝜁𝑟 2
2 =𝑟 1 − 𝑟 2 2 + 2𝜁𝑟 2
𝑚𝑒𝜔𝑛

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 20

Problem 3.76

M kN/m

Dr. M. U. Siddiqui ME-411 Mech. Vibrations Slide 21