Outline: - Section 1.1: - Section 1.2

Dr.
Hassen OUAKAD 2/1/2015

ME201
Outline
• Section 1.1: Introduction

• Section 1.2: Vibrational Motion
• Section 1.3: Spring Elements Basic Elements
• Section 1.4: Damping Elements in Mechanical Systems
Dr. Hassen OUAKAD ME 482 72
Remember
 Example of a motorcycle:
73
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Dr. Hassen OUAKAD 2/1/2015
ME201
Vibration Ingredients
The Ingredients:
1 1.
2.
Inertia (stores kinetic energy)
Elasticity (stores potential energy)
Realistic Addition:
2 3. Energy Dissipation
3 1
2 3
Vibration Ingredients
x
The Ingredients:
meq 1. Mass, meq
2. Stiffness, keq
keq ceq Realistic Addition:

3. Damping, ceq
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ME201
Basic Mechanical Elements
 All mechanical systems contain the

three basic elements:
 spring (stiffness element), Chapter # 01
 damper (dissipation element),
 mass (inertia element). Chapter # 02
 When each of these is exposed to a

constant force  they react with a
constant displacement, a constant
velocity and a constant
acceleration respectively.
 Similarly we can obtain the same

relationships for rotational
(torsional) elements.
Outline

• Section 1.3: Spring Elements
• Section 1.4: Damping Elements
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ME201
Translational Spring Elements

 An ideal spring is a mechanical element that that is generally assumed to have
negligible mass and damping.
 A linear spring can be deformed by external force or torque such that the
deformation is directly proportional to the force or torque applied to the element.
Linear Spring force Relationship is given by: F k x
F = spring force, x = deformation (displacement of one end with respect to the other) and k =
spring stiffness or spring constant, and has units of [force/displacement] = [N/m] in SI units.
Examples of
Translational Spring Elements
Leaf Spring
Concrete pit with spring elements and

rebars, Köln, Germany
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ME201
Torsional Spring Elements
τ = spring force,  = angular displacement and k t = spring stiffness or spring constant, and has
units of [Torque/angular displacement]=[N-m/rad] in SI units.
Examples of
Torsional Spring Elements
A mousetrap
Compress
http://www.esm.psu.edu/courses/emch13d/design/animation/animation.htm
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ME201
How to treat Nonlinear Springs?

• Actual spring are nonlinear
 Linearization process When an incremental force ΔF is added to F

F  F  F ( x*  x)
dF
 F ( x* )  (x)
dx x*
1 d 2F
 (x)2  ... 1.3
2! dx2
Dr. Hassen OUAKAD x* ME 482 82
Work Done by a Spring
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ME201
Combination of Springs
 Springs in parallel
if we have n spring constants
k1, k2, …, kn in parallel, then

the equivalent spring constant
keq is obtained from the relation:
F  k1x k2x  knx k1  k2  knx  keqx

Where keq  k1  k2    k n
Combination of Springs
 Springs in series
if we have n spring constants k1, k2, …, kn in parallel, then the equivalent
spring constant keq is given by:
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ME201
Spring Constant for

Some Regular Structures
Static deflection of a beam at the

free end is given by (CE201-ME307):
st  Wl
3
3EI
W = mg is the weight of the mass m,
? E = Young’s Modulus, and
I = moment of inertia of cross-section
of beam
Spring Constant for a cantilever beam under

bending vibration is given by:
W 3EI
k 
Dr. Hassen OUAKAD st l3 ME 482 86
Spring Constant for

HW#01
(posted)
???
Stiffness associated with the axial

(longitudinal) vibration of a slender Stiffness associated with a
Prismatic bar helical spring
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ME201
Spring Constant for

Stiffness associated with

the torsional vibration of a shaft
Equivalent Spring Coefficients

For Some Regular Structures
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ME201


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ME201

Example 06
Figure 1-29 Parallel arrangement of springs in a

Dr. Hassen OUAKAD freight truck. ME 482 93
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ME201
Example 07
Torsional spring constant of a propeller shaft
Determine the torsional spring constant of the speed propeller shaft shown in the Figure
We need to consider the segments 12 and 23 of the shaft as springs in combination.
Solution
From Figure, the torque induced at any

cross section of the shaft (such as AA or
BB) can be seen to be equal to the torque
applied at the propeller, T.
Hence, the elasticities (springs)

corresponding to the two segments 12 and
23 are to be considered as series springs. 23
The spring constants of segments 12 and 23 12
Propeller shaft
of the shaft (kt12 and kt23) are given by
Example 09
(continued)
Since the springs

are in series, the
equivalent Spring
is 
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ME201
Outline

Damping Elements
 In many practical systems, the vibrational energy is gradually

converted to heat or sound. Due to reduction in the energy, the
response, such as the displacement of the system, gradually
decreases. The mechanism by which the vibrational energy is gradually
converted into heat or sound is known as damping.
 An ideal damper is assumed to have neither mass nor elasticity, and

damping force exists only if there is relative velocity between the two
ends of the damper.
 In some cases, it is difficult to determine the causes of damping

practically.
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ME201
Damping Elements
A damper is a mechanical element that dissipates energy in the form of heat instead
of storing it.
The figure shows a schematic diagram of a translational damper, or a dashpot that
consists of a piston and an-oil-filled cylinder. Any relative motion between the piston
rod and the cylinder is resisted by oil because oil must flow around the piston (or
through orifices provided in the piston) from one side to the other.
Shock absorber with internal

reservoir. The components are:
• the rod (A),
• the piston with seals (B),
• the cylinder (C),
• the oil reservoir (D),
• the floating piston (E), and
• the air chamber (F).
http://www.acoustics.salford.ac.uk/feschools/waves/shm4.htm
Damping Elements
 Viscous Damping: (Most Commonly used in Mechanical Vibration)

Damping force is proportional to the velocity of the vibrating body in a fluid medium
such as air, water, gas, and oil.
 Coulomb or Dry Friction Damping:

Damping force is constant in magnitude but opposite in direction to that of the
motion of the vibrating body between dry surfaces.
 Material or Solid or Hysteretic Damping:

Energy is absorbed or dissipated by material during deformation due to friction
between internal planes.
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ME201
Damping Elements:
Hysteresis Loop Behavior
Hysteresis loop for elastic materials

When a body having material damping is subjected to vibration, the stress strain
diagram shows a hysteresis loop as indicated in Fig. (a). The area of this loop denotes
the energy lost per unit volume of the body per cycle due to damping.
Dr. Hassen OUAKAD ME 482100
Viscous Damping Elements
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ME201
Damper Symbols
The symbol shown in the figure below is the general symbol for a damping element.
Commonly used symbols for dampers
(a) Translational damper; (b) Torsional (or rotational) damper (c) Rotational damping in bearings
Examples of Damping Elements:

A door Closer
A pneumatic door closer
http://www.meineke.com/stuff_about_cars/how_work_suspension.asp#text
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ME201
Examples of Damping Elements:

Shock Absorbers & Rotary Damper
Rotary damper
shock absorber
Modeling Viscous Damping Elements

The expression for the force f on the piston required to keep it moving at velocity v is often
taken to be the linear model.
Translation Rotation
Where c the viscous friction coefficient Where ct the viscous friction coefficient
(damping coefficient) or viscous friction (damping coefficient) or viscous friction

constant. constant.
The dimension of c is [force/Velocity] = [N-s/m] The dimension of c is [torque/angular Velocity] =
in SI units. [N-m-s/rad] in SI units.
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ME201
Nonlinear Damping Models

All practical dampers produce inertia and spring
effects.
An ideal damper is massless and springless,

dissipates all energy, and obeys the linear
force-velocity law (or linear torque-angular
velocity law).
Friction that obeys a linear law is called linear friction, whereas friction that does
not is described as nonlinear.
Examples of nonlinear friction include static friction, sliding friction, and square-
law friction. Square law-friction occurs when a solid body moves in a fluid medium.
http://www.mwit.ac.th/~physicslab/applet_04/fun@learning/JAVA/dho/dho2.html
Coulomb Damping
Coulomb damping is a type of constant mechanical damping in

which energy is absorbed via sliding friction.
The friction generated by the relative motion of the two surfaces
that press against each other is a source of energy dissipation.
In general, damping is the dissipation of energy from a vibrating
system where the kinetic energy is converted into heat by the
friction.
Coulomb damping is a common damping mechanism that occurs in
machinery.
Spring-mass system
with Coulomb damping FBD
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ME201
Reading Assignment

• Section 1.5: Parameters Estimation
• Section 1.6: MATLAB Applications READ @ HOME
CHAPTER # 01
The End
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Dr.

Hassen OUAKAD 2/1/2015

• Section 1.1: Introduction

Dr. Hassen OUAKAD ME 482 72

Title goes here 1

keq ceq Realistic Addition:

Dr. Hassen OUAKAD ME 482 75

Title goes here 2

Basic Mechanical Elements

 All mechanical systems contain the

 When each of these is exposed to a

 Similarly we can obtain the same

Dr. Hassen OUAKAD ME 482 76

• Section 1.1: Introduction

Dr. Hassen OUAKAD ME 482 77

Title goes here 3

Translational Spring Elements

Linear Spring force Relationship is given by: F k x

Dr. Hassen OUAKAD ME 482 78

Concrete pit with spring elements and

Title goes here 4

Torsional Spring Elements

units of [Torque/angular displacement]=[N-m/rad] in SI units.

Dr. Hassen OUAKAD ME 482 80

Dr. Hassen OUAKAD ME 482 81

Title goes here 5

How to treat Nonlinear Springs?

 Linearization process When an incremental force ΔF is added to F

Work Done by a Spring

Dr. Hassen OUAKAD ME 482 83

Title goes here 6

k1, k2, …, kn in parallel, then

keq is obtained from the relation:

F  k1x k2x  knx k1  k2  knx  keqx

Dr. Hassen OUAKAD ME 482 84

Dr. Hassen OUAKAD ME 482 85

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Spring Constant for

Static deflection of a beam at the

Spring Constant for a cantilever beam under

Spring Constant for

Stiffness associated with the axial

Dr. Hassen OUAKAD ME 482 87

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Spring Constant for

Stiffness associated with

Dr. Hassen OUAKAD ME 482 88

Equivalent Spring Coefficients

Dr. Hassen OUAKAD ME 482 89

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Equivalent Spring Coefficients

Dr. Hassen OUAKAD ME 482 90

Equivalent Spring Coefficients

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Equivalent Spring Coefficients

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