MECN 4100

History of Vibration

Strings (Music)
Egyptians
Pythagoras: Monochord

Aristotle, Aristoxenus & Euclid

Vitruvius acoustic properties of theater

Seismograph
Zhang Heng

History of Vibration

Laws of Vibrating String

Galileo simple pendulum, resonance
Mersenne father of acoustics

Hooke relation between pitch and frequency

Sauveur modes shapes and nodes, harmonics

Equation of Motions- Vibrating Body

Newton - Newtons Second Law
Taylor Taylors Theorem

History of Vibration

Principle of Superposition
Bernoulli

Thin Beam Theory

Euler-Bernoulli

Analytical Solution of Vibrating String

Lagrange

Torsional Oscillations
Coulomb

History of Vibration

Theory of Vibrating Plates

E.F.F. Chladni
Sophie Germain

Vibration of Flexible Membrane

Poisson
Clebsh

Thick Beam Theory

Timoshenko

History of Vibration

Thick Plates
Mindlin

Nonlinear
Poincare pertubation
Lyapunov stability

Random
Lin and Rice
Crandall and Mark

Finite Element Method

Importance of the Study of

Vibration

Importance of the Study of

Vibration

Importance of the Study of

Vibration

Importance of the Study of

Vibration on the good side!

Basic Concepts
Vibration
Any motion that repeats itself after an
interval of time
Theory of Vibration
Deals with the study of oscillatory motions
of bodies and the forces associated with
them

Basic Concepts
Vibratory System
Storing potential energy (spring)
Storing kinetic energy (mass)
Energy dissipation (damper)

Basic Concepts
Degree of Freedom
The minimum number of independent
coordinates required to determine completely the
position of all parts of a system at any instant of
time defines the degree of freedom of the system

Generalized Coordinates
Coordinates necessary to describe the motion of a
system

Basic Concepts
Discrete (Lumped) System
A system that can be describe using a finite
number of degree of freedom

Continuous (distributed)System
A system that can be describe using a infinite
number of degree of freedom

Classification
Free Vibration
A system which after an initial disturbance
is left to vibrate on its own. No external
force acts on the system
Forced Vibration
A system subjected to an external force
resulting in a vibrating system

Classification

Undamped
Damped
Linear
Nonlinear
Deterministic
Random

Vibration Analysis Procedure

A vibratory system is a dynamic system for
which the variables such as the excitations
(inputs) and response (outputs) are timedependent. The response of a vibrating
system generally depends on the initial as
well as the external excitations.
Predict the behavior under specified input
conditions
Consider a simple model of the complex
physical model

Vibration Analysis Procedure

Procedure
Mathematical Modeling
Derivation of the governing
equations
Solution of the equations
Interpretation of the results

Vibration Analysis Procedure

Mathematical Modeling
Represent all important features for the
purpose of deriving the mathematical
equations governing the system behavior
Simple as possible
Linear or Nonlinear
Great deal of engineering judgment
Sequential: First a crude or elementary model
and then a refined model including more
components and/or details

Vibration Analysis Procedure

Derivation of Governing Equations
Use principle of dynamics and derive the
descriptive equations of a vibration system
The equation of motion is usually in the form of a
set of ordinary differential equations for a discrete
system and partial differential equations for a
continuous system
Linear or Nonlinear
Approaches: Newtons second law, DAlamberts
principle, and principle of conservation of energy

Vibration Analysis Procedure

Solution of the governing equations
Standard methods of solving DFQs
Ordinary
Partial

Laplace transform methods

Matrix methods
Numerical methods

Vibration Analysis Procedure

Interpretation of the Results
Displacements
Velocities
Accelerations

Vibration Analysis Procedure

Example
The following figure shows a motorcycle with
a rider. Develop a sequence of three
mathematical models of the system for
investigating vibration in the vertical direction.
Consider the elasticity of the tires, elasticity
and damping of the strut, masses of the
wheels, and elasticity , damping, and mass of
the rider

Vibration Analysis Procedure

Vibration Analysis Procedure

Vibration Analysis Procedure

Vibration Analysis Procedure

Example
A reciprocating engine is mounted on a
foundation as shown in the following figure. The
unbalanced forces and moments developed in
the engine are transmitted to the frame and the
foundation. An elastic pad is placed between the
engine and the foundation block to reduce the
transmission
of
vibration.
Develop
two
mathematical models of the system using gradual
refinement of the modeling process.

Vibration Analysis Procedure

Vibration Analysis Procedure

Elements
Springs
Mass/Inertial
Damping

Spring Elements
A linear spring is a type of mechanical link with
negligible mass and damping
The spring force is proportional to the amount of
deformation

kx

The work done in deforming a spring is stored

as strain or potential energy in the spring

1
2

kx

Spring Elements
Actual spring are nonlinear

kx

Spring Elements
Linearization process
F

F x

dF
dx

x
x*

1 d 2F
2 dx 2

x*

k x

Spring Elements
Elastic elements like beams also behave like
spring
Wl 3
3EI

st

W
st

3EI
l3

Spring Elements
Combination of Springs
Spring in Parallel

k1
W

k eq

st

k eq

k2

st

st

k1 k 2 k n

Spring Elements
Combination of Springs
Spring in Series
st

k1

keq
1

W
k1

k2

k eq

eq

keq

eq
2

k1
keq
k1

st

keq
k2

st

k eq

k2

eq

k2

st
st

1
keq

1
k1

1
k2

kn

Spring Elements
Example
The figure shown the suspension system of a
freight truck with a parallel-spring arrangement.
Find the equivalent spring constant of the
suspension if each of the three helical springs is
made of steel with a shear modulus G = 80 x 109
N/m2 and has five effective turns, mean coil
diameter D = 20 cm, and wire d = 2 cm

keq

d 4G
8D 3n

0.02 8 109
3
8 0.2 5

3k 120 ,000 N / m

40,000 N / m

Spring Elements
Example
Determine the torsional spring constant of the
steel propeller shaft

Spring Elements
kt12

GJ 12
l12

kt23

GJ 23
l23

G D124 d124
80 10 9 0.34
32l12
32 2
25.5255 106 N m / rad
4
4
G D23
d 23
32l23

80 10 9

0 .2 4

0.25 4 0.15 4
32 3

8.9012 106 N m / rad

kteq

kt12 kt23
kt12

kt23

6.5997 106 N m / rad

Spring Elements
Find the equivalent
spring constant of the
system shown in the
figure. Assume that
k1, k2, k3 and k4 are
torsional and k5 ,k6
are linear spring
constant.

Spring Elements
Series of spring,

1
k123

1
k1

1
k2

1
;
k3

k1k 2 k3
k1k 2 k 2 k3 k3 k1

k123

Using energy equivalence,

1
2

keq

1
2

k4

keq
keq

k4

1
2

k123

1
2

k5 R

1
2

k6 R

k4 k123 k5 R2 k6 R2
k1k 2 k3
k1k 2 k 2 k3 k3 k1

R 2 k5

k6

Spring Elements
Consider two helical springs with the
following characteristic:
material

# turns

Mean
coil dia.

Wire dia.

Free
length

Shear
modulus

Spring 1

steel

10

12 in.

2 in.

15 in.

12 x 106
psi

Spring 2

Aluminum

10

10 in.

1 in.

15 in.

4 x 106
psi

Determine the equivalent spring constant

when (a) spring 2 is placed inside 1 (b) spring
2 is placed on top of 1

Spring Elements
For helical spring,

k1

12 105 22
64 10 63

k2

4 105 12
64 10 53

a : k eq
1
b:
k eq

Gd 4
64nR 3

1,388.89 lb / in

50.00 lb / in

k1 k 2
1
k1

1
k2

1,438 .89 lb / in

48 .26 lb / in

Mass or Inertia Elements

Assumed to be a rigid
body
Gain or lose kinetic
energy whenever the
velocity changes
The work done on the
mass is stored for in the
form of mass s kinetic
energy

Mass or Inertia Elements

Combination of masses
Translational Masses Connected by a Rigid

Bar
x 2

l2
x1
l1

x3

l3
x1
l1

Mass or Inertia Elements

Translational Masses Connected by a Rigid

Bar

xeq

x1

Equating the KE of the three-mass system to that of the

equivalent mass system

1
2

2
1 1

m x

meq

1
2

m1

2
2 2

m x

l2
l1

1
2

2
3 3

m x

m2

1
2

l3
l1

2
eq eq

m x
2

m3

Mass or Inertia Elements

Combination of masses
Translational Masses and Rotational Masses

Coupled Together
Equivalent translational mass

1
2

mx 2
1
2

Teq
x eq
1
2

meq x 2

meq

1
2

mx 2

J o 2

meq xeq

1
2

x / R
2

x
1
2 Jo
R

Jo
R

Mass Elements

Example
A cam-follower mechanism is used to convert

the rotary motion of a shaft into the oscillating

or reciprocating motion valve. The follower
system consist of a pushrod of mass mp, a
rocker arm of mass mr, and mass moment of
inertia Jr , a valve of mass mv , and a valve
spring of negligible mass. Find the equivalent
mass of this cam-follower system by assuming
the location as (i) point A and (ii) point C

x / l1

xv

xr

/ l2

xl2 / l1

xl3 / l1

r 3

Mass Elements
T

1
2

mp x p

1
2

Teq

x p

xv

meq

mv xv

1
2

Jr r

1
2

mr xr

meq xeq

xl2
l1

mp

1
2

xr

Jr
2
l1

xl3
l1

l22
mv 2
l1

l32
mr 2
l1

x
l1

Mass Elements
In the figure find the
equivalent mass of the
rocker arm assembly
with respect to the x
coordinate

Mass Elements
In the figure find the
equivalent mass of the
rocker arm assembly
with respect to the x
coordinate
x
b
1
2

meq x 2

meq

1
2

x1
2
m1 x1

a
m1
b

1
2

xa
b

m2 x 2

m2

1
2

J 0 2

1
J0
b

Damping Elements
The mechanism by which the
vibrational energy is gradually
converted into heat or sound
A damper is assume to have
neither mass nor elasticity, and
exist only if there is relative
velocity between the two ends of
the damper

Damping Elements

Types;
Viscous
Resistance offered by the fluid to the moving
body that causes the energy to be dissipated
Factors affecting the damping;
Size
Shape
Viscosity
Frequency
Velocity

Damping Elements
The damping force is proportional to the velocity

of the vibrating body

Typical example;
Fluid film between sliding surfaces
Fluid around a piston in a cylinder
Fluid flow through an orifice
Fluid film around a journal in a bearing

Coulomb/Dry Friction
Constant in magnitude but opposite in direction
of motion to the vibrating body
Caused by friction between rubbing surfaces

Damping Elements
Material or Solid or Hysteretic
Energy is dissipated by the material when
deform. This is due to friction between the
internal planes, which slip or slide

Damping Elements

Construction
du
dy
du
dy

A
h

A
h

Example 1

Develop an expression for the damping

constant of the dashpot shown

Example 1

Using the shear stress and rate of fluid

flow,

Dld

d
Dl
dy
dy

d 2v
Dldy
dy 2

The pressure,

The pressure force,

dv
dy

4P
D2
p Ddy

4P
D2

Example 1
4P

d 2v
Dldy
dy 2

dy

d 2v
dy 2

4P
D 2l

Integrating this equation twice and

using the boundary condition v=0 at y=0
and v=0 at y=d

2P
( yd
2
Dl

y
y ) v0 1
d
2

The rate of flow,

4
0

v Ddy

2 Pd 3
D
6 D 2l

1
v0 d
2

Example 1

The volume of the liquid flowing through

v0

D2

Substituting,

2d
3 Dl 1
D
4d 3
3

Writing P=cv,

v0

3 D3l
2d
1
3
4d
D

Example 2

The force (F) velocity (x) relationship of

a nonlinear damper is given by

ax bx

where a and b are constant. Find the

equivalent linear linear damping constant
when the relative velocity is 5 m/s with
a=5 N s/m and b=0.2 N s2/m2

Example 2
2

ax bx

F
F ( x )
at x0

F x0

5x 0.2 x

dF
dx

x x0
x0

5 m / s,
F ( x0 ) 5 5

dF
dx

0.2 25

5 0.4 x 5

30

x0

F ( x ) 30 7( x 5) 7 x 5
F ( x )

7 x

ceq x

ceq

7N

s/m

Example 3

The damping constant (c) due to skin

friction drag of a rectangular plate
moving in a fluid of a viscosity is given
by
2

c 100 l d
Design a plate-like damper that provide
an identical damping constant for the
same fluid

Example 3
2

c 100 l d
A
h

100 l d

ld
h

1
100l

Harmonic Motion
x

Asin

d 2x
2
dt

Asin t

dx
dt

A cos t

A sin t

Harmonic

Vectorial
Representation
vector OP
magnitude A

A sin t

A cos t

Harmonic Motion

Complex
Number
a ib
A cos

iA sin

2 1/ 2

b
tan
a
1

A cos

i sin

Ae

Harmonic

Using complex
number

Ae i

dX
dt

d
Ae i
dt

d X
dt 2
2

d
i Ae i
dt

i Ae
t

i X

i t

Ae

i t

Harmonic Motion

The displacement, velocity, and

acceleration;

displaceme nt

velocity
accelerati on

i t

Re[ Ae ]
i t

Re[ i Ae ]
Re[

i t

Ae ]

A cos t

A sin t
A cos t 90
2

A cos t

A cos t 180

Harmonic Motion
magnitude, A

A1

the angle,

tan

A2 cos

A2 sin

A2 sin
A1 A2 cos

Check -Example 1.11

Harmonic Motion

Definition and terminology

Cycle
Amplitude

Period of oscillation
Frequency of oscillation

1
2

Harmonic Motion

Definition and terminology

Phase angle

x1

A1 sin t

x2

A2 sin t

Harmonic Motion

Definition and terminology

Natural frequency
Beats

Octave

xt

t
2 X cos cos
2

Harmonic Motion

Definition and terminology

Decibel

X
dB 10 log
X0

X
20 log
X0

Harmonic Analysis

In many cases the vibrations of a system are

periodic. Any periodic function of time can be
represented by Fourier series as an infinite
sum of sine and cosine terms

Harmonic Analysis
x(t )

a0
2

a1 cos t a2 cos 2 t
b1 sin t b2 sin 2 t

a0
2

a0
an
bn

2 /
0
2 /
0

2 /
0

(an cos n t bn sin n t )

n 1

x t dt

x t cos n tdt
x t sin n tdt

2
0

2
0

2
0

xt
x t cos n tdt
x t sin n tdt

Harmonic Analysis
Complex Fourier Series

x(t )

a0
2
e

i 0

an

ein

n 1
t

a0
2

in t

e
2

ib0
2

bn
e

cn e in

cn

xte
0

an ibn
2

in t

n 1

xt

ein

in t

dt

e
2i

in t

in t

an ibn
2i

Harmonic Analysis
Frequency Spectrum

Harmonic Analysis
Time and Frequency Domain Representation

Check: Example 1.12/13