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Mech Vibrations Notes
Mech Vibrations Notes
It is the time required for one complete cycle or to and fro motion.The unit is
seconds.
Frequency (f or ) :
It is the number of cycles per unit time. The unit are radians/sec. or Hz.
Amplitude (X or A) :
It is the displacement of a vibrating body from its equilibrium position. It has
units of length in general
.
Natural Frequency (fn):
It is the frequency with which a body vibrates when subjected to an initial
external disturbance and allowed to vibrate without external force being applied
subsequently.
Fundamental Mode of Vibration:
A vibrating body may have more than one natural frequency and when it vibrates
with the lowest natural frequency ,it is the Fundamental mode of vibration.
Degrees of Freedom:
It is the minimum number of coordinates required to describe the motion of
system. Typically in our discussions 1DOF system will have one mass, e.g., a spring
attached with one mass , 2 DOF system will have two masses and likewise we have
3DOFsystem. A continuous system like a beam or plate consisting of infinite number of
particles with mass, are systems with infinite number of DOF.
Simple Harmonic Motion (SHM):
It is a periodic motion with acceleration always directed towards the equilibrium
position. It can also be defined as projection of motion of a particle along a circle with
uniform angular velocity on the diameter of circle.
Damping:
It is the resistance offered to the motion of a vibrating body by absorbing the
energy of vibrations. Such vibrations are termed as damped vibrations
.
Forced Vibrations:
It is the vibration of a body when subjected to an external force which is periodic
in nature and vibrations occur as long as external force is present.
Resonance:
It is said to occur in the system when the amplitude of vibrations are excessive
leading to failure. This occurs in forced vibrations when the frequency of externally
applied force is same as that of natural frequency of the body.
are experienced when large amplitudes are encountered and laws of superposition are not
applicable.
Longitudinal, Transverse and Torsional Vibrations:
When the motion of mass of the system is parallel to the axis of the system, we
have Longitudinal vibrations. When the motion of mass is perpendicular to the system
axis the vibrations are Transverse vibrations and when the mass twists and untwists
about the axis the vibrations are Torsional vibrations. Up and down motion of mass in a
spring mass system represents Longitudinal vibrations. Vibration of a cantilever beam
represents Transverse vibrations. The twisting and untwisting of a disc attached at the end
of a shaft represents Torsional vibrations.
Vector representation of SHM:
Any SHM can be represented as by the equation , x = A Sint ---(1) , where x is
the displacement , A is the amplitude , is the circular frequency and t is the time.
Differentiating eqn.1 w.r.t. t we have velocity vector and differentiating eqn 1
twice we have the acceleration vector. If x1 and x2 are two displacement vectors with
same frequencies then the phase difference between them is given by .
*******************
Solution:
Given : x1= 3Sin (t + 30) , x2 = 4 Cos(t +10)
Analytical method:
We know that, x = x1 + x2 = A Sin (t+ )
Make x1 and x2 to have same Sin terms always , i.e., x2 = 4 cos(t +10 + 90) =
4Sin (t +100 )
Hence, A Sin (t+ )= 3 Sin (t + 30) + 4 Sin (t +100 )
Expanding LHS and RHS
ASin t Cos + A cos t Sin =3 Sin t cos 30 + 3Cos tSin30 + 4 Sin t cos 100
+ 4 Sin t sin 100
A Sin t Cos + A cost Sin = Sin t(1.094) + Cos t (5.44)
Comparing the coefficients of A Cos and A Sin in the above equation
ACos = 1.094, ASin = 5.44 , tan = ASin / ACos = 5.44/1.904
Therefore , = 70.7 and A = 1.094/Cos 70.7 = 5.76 .
Graphical Method.:
Draw ox the reference line. With respect to ox, draw oa equal to 3 units in length at an
angle of 30 to ox and ob equal to 4 units at an angle of 100 to ox. Complete the
vector
polygon by drawing lines parallel to oa and ob to intersect at point c. Measure oc
which should be equal to A and the angle oc makes with ox will be equal to . All
angles measured in anticlockwise direction.
c
b
x
xx
2) Repeat the above problem given , x1 = 2Cos(t + 0.5) and x2 = 5Sin(t + 1.0) .
The angles are in radians.
(Hint: In the above problem the angles are to be converted to degrees. Ans. A = 6.195,
= 73.49 )
A
m
p
l
i
t
u
d
e
time
****************
The constants a0,a1,a2,,,,,and b1,b2,b3. etc., are obtained using the following
formulae:
a0 = (/2) F(t), in the limits 0 to 2/
= (4/n)
Thus, the harmonic series is , x(t) = 4/ (1/n) sin10nt , for n =1,2,..
5) A periodic motion is represented by a saw tooth wave form, the amplitude is 0 at t=0
and rises to 10 cm, at t=0.3, it then drops down to zero at t = 0.3 ,and remains
zero for next 0.2 seconds and one cycle is completed. The next cycle again starts at t=0.5
secs. Represent the above cycle in form of a harmonic series.
X,
c
m
s
10
Sec.
0.3
0.2
mx
m
mg
Displ. x
This consists of a single spring attached with a single mass. The Various ways in
which the equation of motion is obtained are :
a) Newtons Method b) Energy Method and c) Rayleigh Method
Newtons Method
When a mass m is attached to a spring it deflects by and the system is under
equilibrium as mg = weight = k, where k is the spring stiffness, defined as force per unit
length. If now the mass m is given a displacement x in the downward direction and the
system is allowed to vibrate, we have the following forces acting on the system: the
spring force, k(x+) acting in the upward direction, inertia force
mxacting in the upward direction and force mg acting in the direction of displacement x
downwards. The equation of motion is written taking equilibrium of forces as:
mx = - k(x+) + mg
= -kx-k+mg
= -kx-k+k
Or mx + kx = 0, which is the governing differential equation for a single degrr of
freedom system. Rewriting the equation of motion as
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x+ (k/m) x = 0, we have the quantity (k/m) 1/2 as the natural frequency of the system
n .
Energy Method:
In this method the concept of total energy of the system, which is the
sumof Kinetic energy (T) and Potential energy(V) , is made use of which remains
constant always for any configuration of system while it is vibrating
For a single DOF system of spring and mass, the kinetic energy is givenby (1/2)mx and
the potential energy stored in the system is (1/2)kx 2 . As the total energy of the system
remains constant, we have T+V = 0 or d(T+V)/dt = 0. Differentiating we have the
governing differential equation as mx + kx = 0, and the natural frequency is given by
n = (k/m)1/2.
Rayleighs Method:
In this method the max kinetic energy of the system is equated to the
maximum potential energy. For SHM the max. kinetic energy is at the mean position
which is equated to the potential energy. If A is the amplitude of vibration and n is the
natural frequency the max. kinetic energy is given by (1/2)m( n A)2 and max. potential
energy is (1/2)kA2 . Equating the two equations and simplifying we have again n =
(k/m)1/2.
********
Session 5 date:(7/3/07)
SPRINGS IN SERIES AND SPRINGS IN PARALLEL
10
Consider figure (b) where the springs are in series. When the mass is subjected to a force
F, the displacement of mass m is equal to deflections of sprimgs 1 & 2. Hence we can
write, the displacement of the equivalent spring as,
= 1 + 2
Where 1 deflection of spring 1.and 2 deflection of spring 2.
Hence we can write
F/Ke = F/K1 + F/K2
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Problem:
1) Obtain an equivalent spring mass system and expression for n. for 3 springs in series
and in parallel configuration
K1
K2
K3
m
Ke= K1 + K2 + K3
Ke
Natural frequency
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n = (K e / m) , Therefore n =
Therefore n =
K1 K 2 K 3
m
(1 / K 1 1 / K 2 1 / K 3)
m
Solution:
Given
m = 109 N
K1 = 10N/mm
K2 = 10N/mm
K3 = 5N/mm
The spring equivalent when parallel springs are added, we have
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Ke1 = K1 + K2
= 20 N/mm
Ke = Ke1 + K3
Ke1 + K3
= 20 (5)
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= 4 N/mm
= 4000 N/m
n = (Ke / m)
Therefore n = 18.97 rad/s
Frequency = fn = n /2
= 3.012 Hz
***********
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Session 6 date:(9/3/07)
NATURAL FREQUENCY OF A SPRING: Considering mass of spring
y
L
k
dy
Consider a spring mass system as shown in the figure where the mass is displaced
by x. dy is a small elemental spring length at a distance of y from the fixed end.
L be the length of the spring. Let x and x be the velocity and acceleration of mass.
The total K.E of the system is the sum of K.E of the mass m and K.E
considering the mass of the spring.
The velocity of the spring element at a distance of y from the fixed end is xy/L
We can write the K.E of the spring element dy as ( )(Rho)(dy)(xy/L) 2
Where Rho is the mass density
Above expression is of the form KE = mv2.
The K.E for the entire spring considering the mass of the spring becomes
L
( )(Rho)(dy)(xy/L) 2
0
L
= (Rho) x2 / 2l2 (y3/3)
0
2
= 1/6 (Rho)x L
= 1/6 Ms.x2
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x1
M
O
Solution:
It is assumed that:
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By making use of the energy principle, we have the total energy of the system is constant
at any given instant of time.
K.E. System = 1/2mx2 +1/2M2 +1/2I2
= 1/2 m(2r)2+1/2M(r)2+1/2(1/2Mr2)()2
Simplifying
= r2 ()2(2m+(3/4)M)
Similarly, P.E. of the system is the strain energy stored in the spring due to displacement
of centre x1, i.e, (1/2)k(x1)2 , which is (1/2)k(r2)()2
According to Energy Method, d (KE+PE) = 0
dt
Differentiating the sum of KE and PE
(2m+(3/4)M)2+k = 0
Or
+ k/(4m+(3/2)m) = 0 , which is in the form + n2 = 0
or
n2 = k/(4m+(3/2)m), i.e.
n = k/(4m+(3/2)m)1/2
and the natural frequency inHz, ,
fn = (k/(4m+(3/2)m)1/2)/2
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m
r
m
Answer: + ((m +(mr /2))/((m+(mr /3))(g/L) = 0
fn = (((m +(mr /2))/((m+(mr /3))(g/L))/2, Hz
*************
3) A circular cylinder of mass m and mass moment of inertia I is connected by a
spring of stiffness k as shown. If it is free to roll without slipping, determine the
natural frequency.
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a
k
m
**
20
kx
Cx
Fsint
mx
kx is the spring force, cx is the damping force and mx is the inertia force and
Fsint is the external excitation . x is the displacement of mass in the direction shown.
The equation of motion is written as
mx+cx+ kx = Fsint ----(i)
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The solution of above equation is in 2 parts, i) Complimentary function (cf) and ii)
particular integral(pi). The total solution x = x(cf) + x(pi). The x(cf) is the solution of
equation mx+cx+ kx = 0, which is written as Ae-nt sin(d t + ). The particular integral
x(pi) is assumed to be in the form x = X sin(t - ), thus we have dx/dt = x as
Xsin( t-+/2) and (dx/dt)2 = x = 2 Xsin( t-+), substituting the values of x amd
x in eqn. (i), we have,
m(2 Xsin( t-+) + c(Xsin( t-+/2)) + k(X sin(t - )) = Fsint
Rearranging ,
Fsint - kX sin(t - ) - cXsin( t-+/2) - m2 Xsin( t-+) = 0
Where,
Fsint is the external force
Diplacement x lags the external force
kX is the spring force lagging F by
cX is the damping force lagging F by (+/2)
m2 X is the inertia force, lagging F by (+),
The vector diagram of these is as shown below:
kx
F
x
reference
cX
m2 X
From the geometry of diagram, we have,
F = (kx m2 X) 2 + (cX)2, simplifying
X = F/((k m2 ) 2 + (c)2)
Therefore, the total solution can be written as,
x = x(cf) + x(pi)
2
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The eqn(ii) is total response which consists of two parts, first being the transient
part, the first term in RHS , which dies out with time and the second part the x(pi), is the
steady state vibration which does not die with time.
The expressions for amplitude X in dimensionless form and phase angle are as follows:
X = (F/k)/(1-( 2/n 2 )2 + (2/ n )2 , (F/k) is called the Zero frequency deflection which
is the deflection of spring mass under a steady force.
MF
/n
i)
ii)
iii)
/n
iv)
v)
vi)
vii)
viii)
ix)
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a = esint
e = eccentricity
m o 2 e
x
a
mo
x
m
25
mo2e/K
(1 ( w/w n ) 2 ) 2 ( 2lyw / wn ) 2
Therefore
__X__ =
(moe/m)
(w/wn)2
(1 ( w/w n ) 2 ) 2 ( 2lyw / wn ) 2
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27
the foundations, springs, dampers, etc. are placed between the machines and the
foundations to reduce the vibrations or minimize then. These elements isolate the
28
Transmissibility is defined as the ratio of force transmitted to the foundation to the force
impressed on the system i.e.,
Session 11 date:(30/3/07)
FORCED VIBRATION DUE TO EXCITATION OF SUPPORT:
Frame
29
Figure shows a basic sesmic instrument used for measuring vibrations. When the
system is excited by the vibrations of the base, the mass m is subjected to a
displacement x. If we consider y be the motion of the base, then the absolute
amplitude of mass m is the displacement x. If Z is considered as the displacement of
mass m w.r.t the frame, then we have a relative motion of m w.r.t the frame.
Absolute amplitude: (neglect z)
Let the displacement of base be y viz: a sinusoidal motion, given by
y = Ysint
For such a system the equation for motion can be written as
x
mx
K(x-y)
C(x-y)
mx + K(x-y) + C(x-y) = 0
i.e, mx + Cx + Kx Ky - Cy = 0
Substituting for y and y, we get
mx + Cx + Kx Kysint Cycost = 0
mx + Cx + Kx = y {Kysint + Ccost = 0}
= y(K2 + (c)2 ).sin(t + )
(1)
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y (K2 + (c)2 )
((K - (c2)2 + (c)2)
Therefore X/y =
(b)
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Sharpness of Resonance:
In forced vibration, quantity Q is related to damping which becomes a measure of the
sharpness of resonance. It also gives the side band of frequencies 1 and 2 on either side
of the resonance by which resonance can be avoided during operation. The expression of
Q is given as follows:
Q = n / (2 - 1) = 1/2
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