Course Outline

Chapter 1. Introduction
• Concepts of vibration
• Classification
• Vibration analysis

Chapter 2. Free Vibration of Single degree of

freedom systems
• Equations of motion
• Damping effects: viscous damping, Coulumb
damping, hysteretic damping
Chapter 1. Introduction
 1.1 Simple vibration Systems
Example. A spring-mass system (linear one-degree-of freedom system)
Obtain governing equations
Example 1. Spring-Mass System
Physical Problem k m
x

Free body diagram Fspring = kx m

Position corresponds to zero net force on the mass: x = 0, equilibrium

position.
Therefore, x is by definition the displacement from the equilibrium position.
Problem formulation:
Newton’s Law (conservation of momentum) :
d (momentum) / dt = force or, equivalently
mass * acceleration = force
mass * acceleration = force
mass: m
displacement: x
dx
velocity: v   x
dt

dv d 2 x
acceleration: a   2  x
dt dt

force = spring force = -kx (Hooke’s Law)

Equation: mx  kx

Solve the governing equation

Governing equation: mx  kx

Solution (guess): x(t )  A cos2p t / T   A coswt 
A: amplitude of the motion
T: period of the motion
w =2p / T: frequency
Substitute the guessed form of x into the equation, we have

 mw 2 A coswt   kAcoswt 
w2  k / m
w  k/m Natural frequency

Result interpretation: dependence on k and m (animations).

 Process of Energy Exchange
1 2 1 2
Kinetic energy: KE  mv  mx Potential energy: PE  1 kx 2
2 2 2

0 x
Position 1. Maximum displacement x = A
k
KE = 0, PE = maximum value
m
PE KE

0 x
Position 2. Equilibrium position (x=0)
k
m KE = maximum value, PE = 0

KE PE

0 x

k Position 3. Maximum displacement x = -A

m KE = 0, PE = maximum value
Conservation of Energy
Total Mechanical Energy of the System =
KE + PE = constant
d ( KE + PE ) / dt = 0

d 1 2 1 2
 mx  kx   0
dt  2 2 
dx dx
mx  kx  0
dt dt
x  0 trivial solution
x( mx  kx)  0
mx  kx  0
Example 2. Pendulum
l sin
O

 
l
N

m
mg
Free body diagram
Physical problem

Conservation of angular momentum: d/dt (angular momentum) = moment

angular momentum = l  momentum = ml 2
moment =  mgl sin 

d (ml 2)
 mgl sin  l  g sin   0
dt
 O
Approach 2. Energy conservation

1 2 1
Kinematic energy KE = mv  m(l)
2

2 2

Potential energy PE = mgh h

= mgl (1  cos  )

Conservation of energy: d/dt ( KE + PE ) =0

ml 2  mgl sin  0 Linear & Nonlinear functions:

y=f(x)
Linear: e.g. y=3x
l  g sin  0 Nonlinear: e.g. y=x^2
d
( ml 2)  mgl sin
dt

ml 2  mgl sin

l  g sin  0 compare with mx  kx  0

Linearization: for small  (  1) , sin  

y
y 
y 
y  sin 
y  sin 


l  g sin  0 l  g   0 Linearized eq.

   0 coswt 
w  g /l Natural Frequency
1.2 Vibration Analysis Procedure
Step 1. Mathematical modeling and define a coordinate
system
Step 2. Draw free body diagram,show the force balance or
moment balance
Step 3. Applying Newton'law to find governing equation
Example 1. Tower
 1.3 Basic components of an oscillator
Kinematic energy component: mass/inertia: m
The component to store and release kinematic energy
Potential energy component: spring
The component to store and release potential energy
Damping component
Process for mechanical energy (kinematic and potential)
to be transferred into other form of energy (heat, etc.)
External excitation
1.4 Spring Elements F F

x
F

Initial position x  x0 Soft spring

x
hard spring
x

Deformation x  x0  x,

F ( x0  x )  F ( x0 )  F
dF 1 d 2F
 F ( x0 )  x  2
x  
2

dx x0 2 dx x0
Fresh up: Taylor expansion
Linearization
F dF
For small deformation x  dx , the spring is simplified
x0
as a linear spring with
F  kx
dF
where k 
dx x0

Usually, we assume F ( x0 )  0, when x0  0 then F  kx

x 1 2
Potential energy stored in the spring PE =
0
k d  kx
2
Combination of Springs
Case 1. Springs in parallel
x If we stretch the spring system by
k1 x, both springs undergo the same
F elongation, and the total elastic
force is F  k x  k x
1 2
k2
 ( k1  k 2 ) x
 k eq x
k eq  k1  k 2 Equivalent spring constant
For N springs in parallel, k1 , k 2 ,, k N
keq  k1  k 2   k N
Case 2. Springs in series
x
k1 k2
F

k1 k2
F F F F

The stretching forces on the two springs are the same ( = F )

Therefore, the total stretching x  x1  x 2
 F / k1  F / k 2
 F / k eq
1 1 1 k1k 2
  or k eq 
k eq k1 k 2 k1  k 2
1 1 1 1
Similarly, for N springs in series   
k eq k1 k 2 kN
1.5 Damping Elements
Damping is the process for mechanical energy to be converted to
heat, sound or other forms of energy.
Types of damping:
•Viscous damping: damping caused by viscosity of fluids

y u(y) du
shear stress   
dy
 is the dynamic viscosity

Characteristics: damping force linearly proportional to velocity

Fdamp  cx
Example. system oscillation in a fluid; the sliding motion between two solid
surfaces separated by a thin fluid film
•Coulomb (dry friction) damping: damping caused by friction between rubbing surfaces

Constant in magnitude
f u
Opposite in direction to the relative motion
• Material / solid / hysteretic damping: energy absorbed and
dissipated by the material during deformation

stress stress
(force) (force)

Energy
recovered

strain strain
(deformation) (deformation)

Energy
expended