MECH ENG 3028

DYNAMICS & CONTROL 2

Vibrations
Mr. Gart! "ri#$s En$inrin$ So%t! S32&'
email: gareth.bridges@adelaide.edu.au
Lectures (for Dynamics & Control II)
Wednesday 11am 1 !m" #arr $mith $outh
%&'( (Control )utorial)
)hursday 11 am 1!m" *a!ier 1&'
(+ibrations Lectures)
,ny changes -ill be announced.
+ibrations )utorials
,.erage 1 hour !er three -ee/s as arranged
*otes: ,.ailable from I&CC
,dditional *otes -ill be made a.ailable
on 0y1ni.
1
1
Assss(nt
2inal e3amination 4&5
% hours" o!en boo/" o!en notes
,ssignments '&5
due -ithin two weeks of setting
Laboratory e3!eriments 1&5
+ibrating #eam
#alancing 6otating 0achinery
Attrib%ts
)his course is intended to de.elo! in students
the follo-ing generic attributes:
4,bility to a!!ly /no-ledge of the basic
engineering fundamentals of .ibration to
design of ne- !roducts" or troubleshooting
.ibration !roblems in e3isting e7ui!ment
and !ro.iding solutions.
4)echnical com!etence in the analysis of
.ibration.
'
'
Ai(s
)his course aims to introduce the basic
conce!ts of .ibration and their engineering
a!!lications.
8n com!letion of the course" students should:
49a.e a good understanding of the !rinci!les of
.ibrations.
41nderstand the conce!ts of .ibration modes
and natural fre7uencies.
4#e able to calculate estimates for the lo-est
natural fre7uencies for single and multi!le
degree:of:freedom" continuous" and combined
systems for both rectilinear and rotational
motion.
41nderstand the influence of dam!ing on the
motion of .ibratory systems.
49a.e a good understanding of ho- to measure
the dam!ing of sim!le .ibratory systems.
41nderstand the !rinci!les controlling the
res!onse of forced .ibratory systems.
41nderstand !rinci!les of .ibration isolation" and
be ca!able of s!ecifying .ibration isolators for a
range of a!!lications.
4#e ca!able of designing single degree:of:
freedom tuned .ibration absorbers.
%
%
T)t
;3tensi.e notes are !ro.ided no te3tboo/
needed
R*rn+s
1. Inman" D.<." '&&1" ;ngineering +ibration ('nd
;dition)" =rentice 9all.
'. )homson" W.)." 1((%" )heory of +ibration -ith
,!!lications (>th ;dition)" Cha!man & 9all.
%. 0ar/ ?etchum@s #ridge Colla!se =age"
htt!:AA---./etchum.orgAbridgecolla!se.html
>. $chaffer" 0.;." 1((1" , =ractical Buide to
*oise and +ibration Control for 9+,C
$ystems" ,$96,;" ,tlanta" B,.
C. )se" $.;." 0orse" I.;." and 9in/le" 6.)." 1(4D"
0echanical +ibrations: )heory and
,!!lications" =earson 9igher ;ducation.
E. $higley" <.;." 1(DE" 0echanical ;ngineering
Design" 0cBra-:9ill.
>
>
To,i+s
Introduction to .ibrations
2undamentals of .ibration
2ree .ibration of single degree:of:freedom
systems
2orced .ibrations
Dam!ed .ibrations
+ibration isolation
)-o degree:of:freedom systems
0ulti degree:of:freedom systems
+ibration of continuous systems
Determination of natural fre7uencies and mode
sha!es
C
C
Intro#%+tion to Vibration
,ny system ha.ing mass and stiffness is
ca!able of .ibratory motion
,nalysis of .ibration in design is im!ortant for
4structural integrity
e3cessi.e .ibration can lead to
!remature failure through fatigue
structures such as bridges and
buildings
4!erformance
.ibration can limit the 7uality of ride in a
car" motorcycle or aircraft
.ibrations of a s!ea/er cone determine
7uality of re!roduction of music
+ibration can also ser.e useful !ur!oses
4.ibratory con.eyors
4ho!!ers
4sie.es
4sonic !ile dri.ers
E
E
;3am!le of im!ortance of .ibration
48n *o.ember 4" 1(>&" at a!!ro3imately
11:&& ,0" the first )acoma *arro-s
sus!ension bridge colla!sed due to -ind:
induced .ibrations. $ituated on the )acoma
*arro-s in =uget $ound" near the city of
)acoma" Washington" the bridge had only
been o!en to traffic for a fe- months.
#ridge failed because of a .ibration induced
structural failure
4the fre7uency of the e3citation forces
resulting from .ortices shed from the
structure matched a bridge resonance
fre7uency for a common -ind .elocity
Wind testing no- standard
4
4
D
=icture from F%G.
=icture from F%G.
D
(
=icture from F%G.
(
-%n#a(nta.s o* Vibration
Consider a sim!le mass:s!ring system
4mass" m" is assumed to be a rigid body
4s!ring" k" is elastic and assumed to be of
negligible mass
4to! of s!ring is attached to a fi3ed obHect
4static e7uilibrium
mg F
k
=
k
m
0
mg
k
F
1&
1&
;3amine static deflection
$!ring assumed to be linear
8nly linear dis!lacements and forces -ill be
considered in this course

F
k
linear
non:linear
k
m
m
m
1

0
k
k
= k F
k
11
11
*o- consider dynamic deflections about the
static e7uilibrium !osition"
x(t) is the dynamic dis!lacement
$umming forces
4static com!onents
4dynamic com!onents
)his is an e3am!le of an undam!ed single
degree of freedom mass:s!ring system
)) ( ( ) ( t x k mg t x m + = & &
k
m
0
mg
k
F

) (t x +
= k mg 0
) ( ) ( t kx t x m = & &
0 ) ( ) ( = + t kx t x m & &
1'
1'
0 ) ( ) ( = + t kx t x m & &
$ol.e differential e7uation
-ith initial conditions
$olution 1
4assume solution of form
-here
0
0
) ( x t x
t
=
=
0
0
) ( v t x
t
=
=
&
) sin( ) ( + = t A t x
= A ma3imum am!litude of the function FmG
=
natural fre7uency FradAsG
=
!hase FradG
m
k
=
1%
1%
7uadrantI of becareful but tan
sin
cos
&
&
1
&
&
'
&
' '
&

=
=
=
+
=

v
x
A x
A v
v x
A

Amplitude and Phase

cos : cos J
sin J /2 < <
x
&
K &
v
&
L &
& < < /2
x
&
K &
v
&
K &
sin : < < 3/2
x
&
L &
v
&
L &
3/2 < < 2
x
&
L &
v
&
K &
1>
6es!onse of a $D82 undam!ed mass:s!ring
system
t
) (t x

2
= T
A
0
x

) sin( ) ( + = t A t x
= T !eriod of the function FsG

2
1
= =
T
f
= f fre7uency of the function in 9ertM F9MG
1C
1C
Differentiate dis!lacement
-ith res!ect to time to determine
4.elocity
4acceleration
) cos( ) ( + = t A t x&
) sin( ) (
2
+ = t A t x& &
) sin( ) ( + = t A t x
t
) (t x
A
A
t
) (t x&
A
t
) (t x& &
A
2

A
2

A
Dis!lacement
,cceleration
+elocity
1E
1E
;3am!le
4, small s!ring %& mm long is -elded to the
underside of a table so that it is fi3ed at the
!oint of contact" -ith a 1' mm bolt -elded
to the free end. )he bolt has a mass of C&
grams and the s!ring stiffness is measured
to be D&& *Am. )he initial dis!lacement
from the static e7uilibrium !osition is 1&
mm.
4Calculate the natural fre7uency" the !eriod"
and the ma3 am!litude of the res!onse.
14
14
1D
1D
Ot!r so.%tions to #s+rib
si(,. !ar(oni+ (otion
6ecall $olution 1
$olution '
$olution %
)ransformations bet-een each solution
) sin( ) ( + = t A t x
0 ) ( ) ( = + t kx t x m& &
) sin( ) cos( ) (
2 1
t B t B t x + =

= + =

2
1
1 2
2
2
1
tan
B
B
B B A
m
k
=

0
2 0 1
v
B x B = =
t j t j
e C e C t x

+ =
2 1
) (
1 = j
j C C B C C B ) (
2 1 2 2 1 1
= + =
2 2
2 1
2
2 1
1
j B B
C
j B B
C
+
=

=
1(
1(
Rotationa. S/st(s
Consider the rotational system
4rigid body has !olar mass moment of
inertia" J F/gm
'
G
4rod has torsional stiffness" k
T
" is elastic and
assumed to be of negligible mass
4to! of rod is attached to a fi3ed obHect
G N shear modulus of elasticity F*Am
'
G
J
p
N !olar moment of inertia of the rod Fm
>
G
l N length of rod FmG
) (t
J
T
k
'&
l
GJ
k
p
T
=
'&
2or measured from the static e7uilibrium
!osition" summing moments about the centre
of gra.ity gi.es
6ecall for rectilinear undam!ed $D82 mass:
s!ring system
6otational system
$olution 1
,s on $lide 1>" consideration must be ta/en of
7uadrant.
J
k
T
=
) sin( ) ( + = t A t

=
+
=

0
0
1
2
0
2 2
0
tan

&
&
A
) (t
J
T
k
'1
) (t
0 ) ( ) ( = + =

t k t J M
T

& &
0 ) ( ) ( = + =

t kx t x m F & &
''

0
2 0 1
&
= = B B
) sin( ) cos( ) (
2 1
t B t B t + =
$olution '
0n#%.%(
Consider the !endulum sho-n belo-
4ta/ing moments about the !i.ot !oint
4assuming that is small"
40oment of Inertia of mass rotating about a
!oint"
4rearranging gi.es
2
ml I =
) ( sin ) (
0
t mgl t I M = =

& &
) ( ) ( sin t t ) (t
) ( ) (
2
t mgl t ml =
& &
0 ) ( ) ( = + t
l
g
t
& &
) (t
m
l
0
mg
'%
'%
D+ib. 1#"2
Consider a harmonic function for
dis!lacement" say
for undam!ed free res!onse
)he !ea/ .alue is defined as the ma3imum
dis!lacement
4magnitude A of dis!lacement e7uation
+elocity and acceleration gi.en by
=ea/ .elocity and !ea/ acceleration gi.en by
=ea/ acceleration a factor of larger than
the !ea/ dis!lacement
4con.enient to com!ress scale of data for
com!arison of different .alues
( ) + = t A t x sin ) (
( ) + = t A t x cos ) ( &
( ) + = t A t x sin ) (
2
& &
A x
peak
= &
A x
peak
2
= & &
2

'>
'>
,nother 7uantity -e might consider in
describing .ibration is the a.erage .alue"
4defined as
#ut the a.erage .alue of
o.er one !eriod of oscillation is Mero
$ince the s7uare of the dis!lacement is
associated -ith the system@s !otential energy"
the a.erage of the dis!lacement s7uared is a
useful !ro!erty to consider
)he mean s7uare .alue of the dis!lacement is
defined by
)he s7uare root of this .alue" called the root
mean s7uare (rms) .alue is commonly used in
s!ecifying .ibration
4denoted as
2or harmonic motion only
'C
x

=
T
dt t x
T
x
0
) (
1
( ) + = t A t x sin ) (

=
T
dt t x
T
x
0
2 2
) (
1
rms
x
2 2
A
x
x
peak
rms
= =
'C
*o-" the decibel is defined as
and .alues are sho-n follo-ed by d#" e.g.
C& d# re x
2
a reduction of % d#
'E

=
2
1
10
2
2
1
10
log 20 log 10
x
x
x
x
dB
'E
Mo#..in$ %sin$ Enr$/
Mt!o#s
2or mass:s!ring system -e analysed the
motion follo-ing *e-ton@s second la- a!!lied
in the x direction
2or bodies that are free to rotate about a fi3ed
a3is
2or more com!le3 systems it may be more
difficult to determine forces andAor moments
acting on the com!onents
4total energy of a system is constant
x m F & &

& &
0 0
J M

=
. const T = +
= T ?inetic energy
= =otential energy
'4
'4
)o determine the natural fre7uency of the
system" use !rinci!le of energy conser.ation
Let t
!
be the time -hen the mass is !assing
through its static e7uilibrium !osition
4
!
" #
Let t
2
be the time -hen the mass is at its
ma3imum dis!lacement
4T
2
" #
2or harmonic motion
!
and T
2
are ma3imum
.alues
Write e3!ressions for and
6earrange to determine the natural fre7uency
of the system"
W,6*I*B these energy methods only -or/
for undam!ed .ibrations
energy lost through dam!ing
more on dam!ing in ne3t section
2 1
0 0 T + = +
max 2 max 1
T =
max 1
T
max 2

2 2 1 1
T T + = +
'D
0ro+#%r *or %sin$ Enr$/ Mt!o#s to
#tr(in t! nat%ra. *r3%n+/ o* a
s/st(
'D
;3am!le 1 using ;nergy 0ethods
t
!
is the time -hen the mass is !assing through
its static e7uilibrium !osition
4
!
" #
t
2
is the time -hen the mass is at its ma3imum
dis!lacement
4T
2
" #
4=otential energy change at t
2
gi.en by
strain energy in s!ring
4?inetic energy change at t
!
gi.en by
t
) (t x
2
x
1
x
1
t
2
t
k
m
max 2 max 1
T =
2
1 max 1
2
1
x m T & =
2
2 max 2
2
1
kx =
'(
'(
;3am!le 1 using ;nergy 0ethods (continued)
substituting .alues
rearranging gi.es standard natural fre7uency
relation
) sin( ) ( + = t A t x A x =
2
) cos( ) ( + = t A t x& A x =
1
&
2
2
2
1
2
1
2
1
kx x m = &
( )
2 2
2
1
2
1
kA A m =
m
k
=
2
2
2
1
2
x
x&
=
t
) (t x
2
x
1
x
1
t
2
t
k
m
%&
%&
;3am!le ' using ;nergy 0ethods
Determine natural fre7uency of system sho-n
belo-
4static e7uilibrium
4ma3 dis!lacement
ma3imum /inetic energy
ma3imum !otential energy
!rinci!le of energy conser.ation
( )
1 1
= t
( )
2
1 1
2
1 max 1
2
1
2
1

& &
r m J T + =
( )
2
2 2
2
2 max 2
2
1
2
1
r k kx = =
( )
2 2
= t
k
m
1
r
2
r
1

J
) (t x
) (t
%1
max 2 max 1
T =
%1
6ecall ma3imum .alues for harmonic function
$ubstituting into energy e7uation
;7uation of motion for undam!ed system
( ) ( )
2
2 2
2
1 1
2
1
2
1
2
1
2
1
r k r m J = +
& &
k
m
1
r
2
r
1

J
) (t x
) (t
max 2 max 1
T =
2
1
2
2
mr J
kr
+
=
) sin( ) ( + = t A t A =
2

) cos( ) ( + = t A t
&
A =
1
&
2
2
2
2
2
1
2
1
) ( kr mr J = +
&
2 2
2
2 2
1
) )( ( A kr A mr J = +
( )
2
1
2
2
2
2
2
mr J A
kr A
+
=
e$
e$
m
k
=
( ) 0
2
2
2
1
= + + kr mr J
& &
0 = +
e$ e$
k m
& &
%'
%'
,lternati.ely can use relationshi!
Oields same relations for e7uation of motion
max 2 max 1
T =
2
2
2
1
2

&
=
2
1
2
2
mr J
kr
+
=
e$
e$
m
k
=
( ) 0
2
2
2
1
= + + kr mr J
& &
0 = +
e$ e$
k m
& &
%%
%%
What ha!!ened to !otential energy of mass m
in energy e7uationsP
4Lets e3amine energy terms more closely
,t static e7uilibrium
,t time t
!
(static e7uilibrium)
k
m
1
r
2
r
J
) (t
0
) (t +

0
) (t x +

0 ) (t % +

1
r

=
2
r

=
1
2
r
r
=
0
2 1
0
= =

r k mgr M
2 1
r k mgr =
0
2
1
2
= mg k
0
1
= + =
grav spr&ng

%>
%>
,t time t
2
loss of !otential energy of mass m is cancelled
by the -or/ done by the e7uilibrium force of
the s!ring
k
m
1
r
2
r
J
) (t
0
) (t +

0
) (t x +

0 ) (t % +

) ( ) (
2
1
2
2
2
x mg % k + + =
grav spr&ng
+ =
2
2 2
2
2
2
2
2
1
2
1
2
1
mgx mg % k k% k + + =
2
1
2 2
2
2
2
2
1
2
1
mgx
r
x r
k k% mg k + + =
2
1
2
1
2
2
2
1
0 mgx
r
x
mgr k% + + =
2
2
2
1
k% =
%C
%C
;3am!le % using ;nergy 0ethods
Cylinder of radius r rolls in channel of radius '
-ithout sli!!ing
What is the natural fre7uency of this systemP
1se ;nergy 0ethod
4ma3 dis!lacement at t
2
4from )aylor $eries
[ ]
2 max 2
cos ) ( ) ( r ' r ' mg =
[ ] ) cos 1 )( (
2
= r ' mg
2
2
2
2
) (

small for r ' mg =

.....
! 6 ! 4 ! 2
1 cos
6 4 2
+ + =

m
1

'
cos ) ( ) ( r ' r ' ( =
) (t
r
(
%E
%E
;3am!le % (continued)
.elocity at centre of cylinder is
angular .elocity of cylinder is
4static e7uilibrium at t
!
2 2
max 1
2
1
2
1
c%l
J mv T + =
max 2 max 1
T =
m
1

'
) (t
r
v

&
) ( r ' v =
r
r '
r
v
c%l

&
) (
= =
2
2
1
2
2
1
2
) (
2
1
) (
2
1
r
r '
J r ' m

&
&

+ =
2
) (
) (
2
1
) (
2
1
2
2
2
2
1
2
2
1
2

r ' mg
r
r '
J r ' m =

+
&
&
( )
2 2
2
2
1
2
) ( r J m r '
mg
+
= =

&
%4
%4
;3am!le > using ;nergy 0ethods
consider the !endulum sho-n belo-
4ma3 !otential energy is at !oint
4ma3 /inetic energy at static e7uilibrium
2
ml I =
) (t
m
l
0
1

cos l l
2

[ ] [ ]
2 2 max 2
cos 1 cos = = mgl l l mg
2
2
2
2

small for mgl =

2
1 max 1
2
1

&
I T =
1

max 2 max 1
T =
2 2
2
2
1
2
2
2
ml
mgl
= =

&
l
g
=
%D
%D
Let@s calculate the effecti.e mass of the s!ring
in the sim!le mass:s!ring system" assuming it
is not small enough to neglect
0a3imum !otential energy stored in the s!ring
during a cycle
0a3imum /inetic energy stored in the s!ring
-hen the s!ring is undistorted and !asses
through the static e7uilibrium !osition
;stimate the /inetic energy in the s!ring by
considering
4l N undistorted s!ring length
4s!ring elongates linearly so that
dis!lacement at any !oint x along its
length is
%(
2
max max
2
1
k% =
%
l
x
=
k
m
%
0
l
x
dx
%(
)he /inetic energy of a small section x long at
x is
-here the mass !er unit length of the s!ring is
)he total /inetic energy" T" of the s!ring is the
integral along the length of the s!ring
0ass m is attached to the end of the .ibrating
s!ring" and the mass of the s!ring" m
s
N l
)he total /inetic energy of the mass and s!ring
is
2ollo-ing 6ayleigh -e assume sinusoidal
motion so that
>&
2
2
2
2
1
2
1
%
l
x
x x T & &

= =
k
m
%
0
l
x
dx
6 2
1
2
2
0
2
2
% l
dx %
l
x
T
l
s
&
&

= =

max
% % = &
2 2
6 2
1
%
m
% m T T T
s
s m
& & + = + =
dt
d%
% = &
>&
Conser.ation of energy allo-s us to set the
ma3imum /inetic energy e7ual to the ma3imum
!otential energy
$ol.ing for the angular fre7uency gi.es
4*ote that the effecti.e mass of the s!ring is
1A% of its mass
>1
2
max
2 2
max
2 2
max
6 2
1
2
1
%
m
% m k%
s
+ =
max max
T =
s
m m
k
3
1
2
+
=
>1