Review of Mechanical Vibrations

1 Spring 05 AME 463
Vibration Analysis
Deformable structures vibrate (undergo oscillatory
motion) under the action of impulsive or time-
varying forces
Vibration in a structure results from the
transformation of potential energy into kinetic
energy and vice versa
Potential energy in the structure is stored in elastic
elements and kinetic energy is stored in mass
elements.
2 Spring 05 AME 463
Simple Harmonic Oscillator (SHO)
Consider the mass-spring system comprised of a block of mass
m and a spring of stiffness k and unstretched length

The motion of the block is measured by its displacement u from
the unstretched position of the spring
0
l
m
k
u
0
l
3 Spring 05 AME 463
SHO Equation of Motion
The free-body diagram of the SHO with no applied forces acting
on the block is as shown below (forces shown only in direction
of motion)

From Newtons 2
nd
Law or

mu ku =
0 mu ku + =
u
m
ku
4 Spring 05 AME 463
Free Undamped Vibrations of SHO
The solution of this equation is given by

where is known as the natural frequency of the oscillator
and A and B are constants determined by initial conditions

This solution can also be written as

where U is known as the amplitude and as the phase of oscillation
( ) sin cos
n n
u t A t B t e e = +
/
n
k m e =
( ) ( )
0 0
0 0 u u u u = =
( ) ( )
sin
n
u t U t e | = +
|
5 Spring 05 AME 463
Frequency and Period
The amplitude and phase are given in terms of the
undetermined constants as

When the frequency is computed from its units are
in rad/s and is also known as circular frequency; this can also be
expressed in Hz or cycles/s by

The period of the motion (in seconds) is given by
2 2
arctan
B
U A B
A
|
| |
= + =
|
\ .
/
n
k m e =
2
n
f
e
t
=
1 2
n
f
t
t
e
= =
6 Spring 05 AME 463
Motion of Undamped SHO
The motion of the oscillator and the
quantities defined are displayed
graphically in the figure below
The equation of
motion of the
oscillator can also
be written as
0
-U
0
U
t
u
(
t
)
|
t
2
0
n
u u e + =
7 Spring 05 AME 463
Effect of Damping
If a viscous damper is added to the SHO we obtain

The quantity c is known as the damping constant of the damper
The resulting equation of motion is
m
k
0
l
u
c
ku
m
cu
u
u
0 mu cu ku + + =
8 Spring 05 AME 463
Damped Vibrations of SHO
This equation can also be written as

Where is known as the damping ratio

For (underdamped) the solution of this equation is
given by

where is known as the damped natural frequency

2
2 0
n n
u u u ,e e + + =
( )
/ 2
n
c m , e =
0 1 , s <
( ) ( )
sin
n
t
d d
u t Ue t
,e
e |
= +
2
1
d n
e e , =
9 Spring 05 AME 463
Motion of Damped SHO
The underdamped motion of the SHO is
depicted graphically below

In the presence of
damping the
oscillator always
comes to rest
This motion is also
known as transient
vibration
0
-U
0
U
t
u
(
t
)
n
t
Ue
,e
10 Spring 05 AME 463
Effect of Applied Forces
If an applied force acts on the block we obtain

The applied force F(t) is often known as an exciting or disturbing
force
The resulting equation of motion is

m
k
0
l
u
c
( ) F t
ku
m
cu
u
u
( ) F t
( ) mu cu ku F t + + =
Effect of Harmonic Disturbances
Harmonic disturbance is one of the most common classes of
excitation (e.g. rotating machinery, road surface, etc.)
In such cases the disturbing force can be written as

Where is the excitation amplitude and is the excitation or
forcing frequency

The quantity is known as the static deflection
( )
0
sin
f
F t F t e =
f
e
0
F
0
/
st
F k o =
Forced Harmonic Motion of SHO
The motion of an underdamped SHO under harmonic excitation
is given by

where

( ) ( )
( )
sin sin
n
t
d d f f
u t Ue t U
,e
e | e
= + + +
( )
0
1/2
2
2 2 2
f
f f
F
U
k m c e e
=
(
+
(

Transient response
Forced or steady-
state response
2
arctan
f
f
c
k m
e
e
| |
=
|
|
\ .
Forced Damped Vibration of SHO
The response of the
SHO to harmonic
excitation is depicted
the right
As is evident the
motion follows the
forcing function after
the transient response
dies out
The frequency at
steady-state is the same
as the forcing frequency

0
-Uf
0
Uf

t
u
(
t
)
Steady-state
Transient + steady-state
Amplification of Response
Because of the effect of damping the transient
response eventually dies out and the forced response
(more commonly known as the steady-state response)
remains
The amplitude of the steady-state response is more
generally written in terms of the static deflection as

where is known as the frequency ratio

( )
( )
( )
( )
0
2 2
2 2
2 2
/
1 2 1 2
st
f
F k
U
r r r r
o
, ,
= =
+ +
/
f n
r e e =
Resonance
When the frequency ratio r = 1 resonance is said to have occurred
When resonance occurs the amplitude of the steady-state
response becomes

Clearly if the damping ratio is very small then the amplitude of
the forced response becomes very large which is generally
undesirable
Resonance is a function of both the forcing frequency and the
system natural frequency which are fixed by the physical
parameters of the system
2
st
f
U
o
,
=
Amplification and Resonance
The ratio of the steady-state
response amplitude and the
static deflection is called the
amplitude or amplification ratio

The amplification of the
steady-state response as a
function of the frequency
ratio and the damping ratio
is plotted on the right

0
/
f
U
F k
0
/
f
U
R
F k
=
Resonance
Energy Considerations
If there is no damping the total mechanical energy of the SHO is
conserved

where T is the kinetic energy of the mass and O is the potential
energy stored in the spring at any time

Oscillatory motion results from the exchange of kinetic and
potential energy between the spring and mass elements
The energy is exchanged at the frequency of oscillation

0 0 0
(0) (0) T T T E +O = +O = +O =
Two-DOF Systems
Now consider the two-mass, two-spring system below with no
applied forces

The number of independent displacements determines the
number of DOF (in this case )
The displacements are measured from the unstretched positions
of the springs
1
m
1
k
2
k
2
m
1
u
2
u
1 2
, u u
Two-DOF System Equations of Motion
The free-body diagrams of the two masses with no applied
forces acting on the block is as shown below (forces shown only
in direction of motion)

From Newtons 2
nd
Law
1 1
k u ( )
2 2 1
k u u
1
m
2
m
1
u
2
u
( )
( )
1 1 1 1 2 2 1
2 2 2 2 1
m u k u k u u
m u k u u
= +
=
Mass, Stiffness Matrices
These equations can also be written as

They can also be written in more concise form as

Note that the stiffness matrix is identical to the stiffness matrix
obtained for two springs in series with one end constrained

1 1 1 2 2 1
2 2 2 2 2
0 0
0 0
m u k k k u
m u k k u
+
( (
+ =
` ` `
( (
) ) )
Mass matrix Stiffness matrix
+ = Mu Ku 0
Solution of Two-DOF Systems
Assume that the two masses will undergo harmonic motion as
in the single DOF case with some unknown frequency,
amplitude, and phase

Substituting these in the equations of motion we obtain
( )
( )
( )
1 1
2 2
sin
U u t
t
U u t
e |

= +
` `
) )
( ) ( )
1 1 1 2 2 1
2
2 2 2 2 2
0 0
sin sin
0 0
m U k k k U
t t
m U k k U
e e | e |
+
( (
+ + + =
` ` `
( (
) ) )
Eigenvalue Problem
These equations can be written more concisely as

or

These equations can have a nontrivial solution for U for all time if and
only if the determinant of the matrix in the parenthesis vanishes

This is equivalent to finding the eigenvalues of (in this case two
values of which we will call and )

( )
( )
2
sin t e e | + = K M U 0
( )
( )
1 2
sin t e e |
+ = M K I U 0
( )
1 2
det 0 e
= M K I
1
M K
2
e
2
1
e
2
2
e
Natural Frequencies, Mode Shapes
The square roots of the eigenvalues of yield the two
natural frequencies of the two-DOF system and ; the smaller
of the two frequencies is labeled and is known as the
fundamental frequency
The assumed amplitudes of oscillation can now be determined
from

where each vector is the i
th
eigenvector of
Recall that the components of cannot be determined
explicitly; only the ratio between the two components can be
determined
The resulting are known as the mode shapes of vibration
1
M K
1
e
2
e
( )
( ) 1 2
1, 2
i
i
i e
= = M K I U 0
1
M K
( ) i
U
( ) i
U
( ) i
U
1
e
Multi-DOF Systems
When an oscillatory system comprised of discrete
masses and springs has N DOF, then the mass and
stiffness matrices of the system will be of order N

This system, in general, has N distinct natural
frequencies and N distinct mode shapes
The natural frequencies of the system are the square
roots of the eigenvalues of and the mode shapes
are the eigenvectors of
1 1 1 N N N N N N N
+ = M u K u 0
1
M K
1
M K
Modal Analysis
The free motion of the masses is determined by
taking a weighted superposition of the different
mode shapes (as in the case of the two-DOF system)
The determination of the free motion of the masses
using a weighted superposition of the mode shapes is
known as modal analysis
Lower frequency modes are more dominant
Consequently the motion of the masses can be
approximated by taking a weighted superposition of
only the first few modes
Example 1: Free Vibrations of a Two-DOF System
In the two-DOF system below

Determine the natural frequencies and free response of the
system; verify your results with ANSYS
( ) ( ) ( ) ( )
1 2 1 2
1 2 1 2
120 lb/in 80 lb/in 20 lbm
0 1 in 0 0.5 in 0 0 0
k k m m
u u u u
= = = =
= = = =
1
m
1
k
2
k
2
m
1
u
2
u
Example 1: Natural Frequencies
In this case the mass and stiffness matrices are

Thus

The eigenvalues of the matrix are (from Matlab)

Thus the natural frequencies of the system are
20 0 200 80
1
0 20 80 80
386.4

( (
= =
( (

M K
1 3
3.864 1.546
10
1.546 1.546

(
=
(

M K
2 2
1 2
772.8 4636.8 e e = =
1 2
27.8 rad/s 4.42 Hz 68.1 rad/s 10.8 Hz e e = = = =
Example 1: Mode Shapes
The normalized eigenvectors (mode shapes) of are (from
Matlab)

In vibration analysis this is often written as

Physically this means

( )
| |
( )
| |
1 2
0.447 0.894 0.894 0.447
T T
= = U U
( )
| |
( )
| |
1 2
1.0 2.0 1.0 0.5
T T
= = U U
1
m
1.0
2
m
2.0
1
m
1.0
2
m
0.5
Mode 1 Mode 2
Example 1: Time-domain Solution
Thus the free vibration response is given by

The four unknowns in these equations ( ) can be
determined from the four initial conditions given (quite
complicated) resulting in
( )
( )
( )
( )
( )
( )
( )
( )
( )
( )
( )
( )
( )
( )
( )
( )
( )
( )
1 2
1 1 1 1 1 2 2
1 2
1 1 1 2
1 2
2 2 1 1 2 2 2
1 2
1 1 1 2
sin sin
sin 27.8 sin 68.1
sin sin
2 sin 27.8 0.5 sin 68.1
u t U t U t
U t U t
u t U t U t
U t U t
e | e |
| |
e | e |
| |
= + + +
= + + +
= + + +
= + +
( ) ( ) 1 2
1 1 1 2
, , , U U | |
( )
( )
1
2
0.4sin 27.8 0.6sin 68.1
2 2
0.8sin 27.8 0.3sin 68.1
2 2
in
in
u t t t
u t t t
t t
t t
= + + +
= + +
| | | |
| |
\ . \ .
| | | |
| |
\ . \ .
Example 1: Time-domain Solution
The motion of the
two masses are
depicted in the
figure on the right
Note that both
modes are present
in the motions of
both masses
The motion of the
masses is
comprised of a
weighted
superposition of
the two modes

0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
-1.5
-1
-0.5
0
0.5
1
1.5
t (sec)

u
1
,

u
2

(
i
n
)
u
1
(t)
u
2
(t)

Example 1: ANSYS Modal Analysis (1
st
Mode)
The output of
ANSYS modal
analysis for this
problem is
shown on the
right
The first natural
frequency is at
top left
The first mode
shape is
indicated by the
position of the
blue dots
relative to the
black dots
Example 1: ANSYS Modal Analysis (2
nd
Mode)
The second-
mode
solutions
shown on
the right
also agree
with hand-
computed
results

Example 1: ANSYS Transient Analysis
A transient
analysis
performed
on ANSYS
using the
initial
conditions
given
yields the
same
results as
those
computed
by hand
Example 2: ANSYS Harmonic Analysis
Perform an ANSYS harmonic analysis on the two-DOF system
shown below with Hz and following two force
magnitude combinations
a)
b)

1
m
1
k
2
k
2
m
1
u
2
u
1
sin
f
F t e
2
sin
f
F t e
0 20
f
e =
1 2
100 lb 0 F F = =
1 2
100 lb 50 lb F F = =
Example 2: Frequency Response (Case a)
The response of
the system to
the applied
harmonic force
is shown on the
right
As is evident
resonance
occurs at both
natural
frequencies but
the response at
the first natural
frequency is
more dominant

Example 2: Frequency Response (Case b)
In this case the
entire response
of the system is
the first mode
because the two
forcing
functions are
such that they
excite only the
first mode
(amplitude of
force on mass 2
is twice the
amplitude of
force on mass 1)

Conclusions
The response of a structure to a pattern of harmonic excitations
depends on the points of application and the amplitudes (as
well as phases) of the forcing functions
In general the strongest response will be in the first or
fundamental mode (corresponding to lowest natural frequency)
but depending on special circumstances higher modes may also
be excited disproportionately
In all structural analysis first a modal analysis must be
performed to determine natural frequencies and mode shapes;
this must be followed by a harmonic analysis over a frequency
range that brackets the first several natural frequencies to
determine their response to expected loading conditions

Review of Mechanical Vibrations

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1 Spring 05 AME 463

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