03 Modeling of SDOF Systems

LECTURE MODULE
MECHANICAL
VIBRATION
MODELING OF SDOF
SYSTEMS
Faculty Major Chapter Code Compiled by

Engineering Mechanical W13170001 Dedik Romahadi, ST., M.Sc
Engineering
03 6
Abstract Competence
Discussing of potential Able to explain the modeling of
energy sources, mainly SDOF systems.
springs.
INTRODUCTION
The basic components of a mechanical system are inertia, stiffness, damping, and a source
of work or energy. Inertia components store kinetic energy. Stiffness components store
potential energy. Damping components dissipate energy. Energy sources provide energy to
the system.
This chapter begins with a discussion of potential energy sources, mainly springs.
Springs store potential energy, but they don’t require motion to do so. The helical coil spring
serves as the model for all linear springs. Structural components, such as bars undergoing
longitudinal motion, shafts under rotational motion, and beams undergoing transverse
vibrations, all store potential energy and can be modeled as springs. Combinations of springs
may be replaced by a single spring of an equivalent stiffness. Hanging springs acting under
gravity store potential energy when in static equilibrium. However, the potential energy stored
in the spring due to deflection from its equilibrium position cancels with the potential energy
due to gravity for a linear system, when modeling a linear system.
Viscous damping refers to any form of damping in which the friction force is
proportional to the velocity. Viscous dampers are inserted into mechanical systems because
they add a linear term in the differential equation. The energy dissipated due to the viscous
damping force is considered and an equivalent viscous damping coefficient is calculated for
a combination of viscous dampers.
An inertia element is anything that has mass or stores kinetic energy. The principles
of dynamics reviewed in Chapter 1 govern the motion of inertia elements. An equivalent
mass can be calculated for a SDOF system when it includes several inertia elements. The
inertia effects of springs and entrained fluids are taken into account with an equivalent mass
model.
The energy source could be an initial energy present in the system, or it could be an
input to the system in terms of an external force or an imposed motion. The derivation of
differential equations governing the motion of a SDOF is considered. The free-body diagram
method applies Newton’s second law or D’Alembert’s principle to free-body diagrams drawn
at an arbitrary instant. Nonlinear differential equations are linearized through application of a
small angle or small displacement assumption.
The equivalent systems method only applies for linear systems. It uses the model of a
linear mass-spring and viscous-damper system for any linear SDOF system. The kinetic
energy calculated at an arbitrary instant is used to determine an equivalent mass. The
2019 Mechanical Vibration

2 Dedik Romahadi, ST., M.Sc
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potential energy is used to determine an equivalent stiffness. The work done by viscous
damping forces is used to calculate an equivalent viscous damping coefficient. The work
done by external forces is used to calculate an equivalent force.
A second-order linear ordinary differential equation which governs the motion of a
SDOF system results from either method. The equation may be homogeneous (in the case
of free vibrations) or non-homogeneous (in the case of forced vibrations).
SPRINGS
INTRODUCTION
A spring is a flexible mechanical link between two particles in a mechanical system. In reality
a spring itself is a continuous system. However, the inertia of the spring is usually small
compared to other elements in the mechanical system and is neglected. Under this
assumption the force applied to each end of the spring is the same.
The length of a spring when it is not subject to external forces is called its unstretched
length. Since the spring is made of a flexible material, the force F that must be applied to the
spring to change its length by x is some continuous function of x,
F  f ( x)
The appropriate form of f (x) is determined by using the constitutive equation for the
spring’s material. Since f (x) is infinitely differentiable at x = 0, it can be expanded by a
Taylor series about x = 0 (a MacLaurin expansion):
F  k0  k1 x  k2 x 2  k3 x3 
Since x is the spring’s change in length from its unstretched length, when x = 0, F = 0. Thus
k0  0 . When x is positive, the spring is in tension. When x is negative, the spring is in
compression. Many materials have the same properties in tension and compression. That is,
if a tensile force F is required to lengthen the spring by δ, then a compressive force of the
same magnitude F is required to shorten the spring by δ. For these materials, or f is an odd
function of x. The Taylor series expansion of an odd function cannot contain even powers.
Thus, Equation becomes
F  k1 x  k3 x 3  k5 x 5 

The spring stiffness is the derivative of the force
displacement relation at x = 0.
All springs are inherently nonlinear. However in many situations x is small enough that the
nonlinear terms of equation are small compared with k 1x. A linear spring obeys a force-
displacement law of
F  kx
where k is called the spring stiffness or spring constant and has dimensions of force per
length.
df
k
Thus, for a linear spring, dx x0 , which is illustrated in Figure.
The work done by a force is calculated according to Equation. For a linear system
where the spring force is applied to a particle whose displacement is x, in the horizontal
direction the force is represented by –kxi, and the differential displacement vector is dxi. The
work done by the spring force as its point of application moves from a position described by
to a position described by x2 is
Since the work depends upon the initial and final position of the point of application of the
spring force and not the path of the system, the spring force is conservative. A potential
energy function can be defined for a spring as
where x is the change in the length of the spring from its unstretched length.
A torsional spring is a link in a mechanical system where application of a torque leads
to an angular displacement between the ends of the torsional spring. A linear torsional spring
has a relationship between an applied moment M and the angular displacement θ of
M  kt
where the torsional stiffness kt has dimensions of force times length. The potential energy
function for a torsional spring is

1 2
V kt
2
HELICAL COIL SPRINGS

The helical coil spring is used in applications such as industrial machines and vehicle
suspension systems. Consider a spring manufactured from a rod of circular cross section of
diameter D. The shear modulus of the rod is G. The rod is formed into a coil of N turns of
radius r. It is assumed that the coil radius is much larger than the radius of the rod and that
the normal to the plane of one coil nearly coincides with the axis of the spring.
Consider a helical coil spring when subject to an axial load F. Imagine cutting the rod
with a knife at an arbitrary location in a coil, slicing the spring in two sections. The cut
exposes an internal shear force F and an internal resisting torque Fr, as illustrated in
A spring is subject to a force F along its axis. A section cut of the spring reveals its cross
section has a shear force F and a torque Fr where r is the coil radius. Assuming elastic
behavior, the shear stress due to the resisting torque varies linearly with distance from the
center of the rod to a maximum of
where J  ( D ) / 32 is the polar moment of inertia of the rod. The shear stress due to the
4
shear force varies nonlinearly with distance from the neutral axis. For the maximum shear
stress due to the internal shear force is much less than the maximum shear stress due to the
resisting torque, and its effect is neglected.
Principles of mechanics of materials can be used to show that the total change in
length of the spring due to an applied force F is
Comparing Equation (2.10) with Equation (2.4) leads to the conclusion that under the
assumptions stated a helical coil spring can be modeled as a linear spring of stiffness

EXAMPLE
A tightly wound spring is made from a 20-mm-diameter bar of 0.2% C-hardened steel (G =
80 x 109 N/m2). The coil diameter is 20 cm. The spring has 30 coils. What is the largest force
that can be applied such that the elastic strength in shear of 220 x 10 6 N/m2 is not
exceeded? What is the change in length of the spring when this force is applied?
Solution:
ELASTIC ELEMENTS AS SPRINGS

Application of a force F to the block of mass m of Figure 2.3 results in a displacement x. The
block is attached to a uniform thin rod of elastic modulus E, unstretched length L, and
crosssectional area A. Application of the force results in a uniform normal strain in the rod of
The strain energy per volume is the area under the stress–strain curve, which for an elastic
bar:
If the force is suddenly removed, the block will oscillate about its equilibrium position. The
initial strain energy is converted to kinetic energy and vice versa, a process which continues
indefinitely. If the mass of the rod is small compared to the mass of the block, then inertia of

the rod is negligible and the rod behaves as a discrete spring. From strength of materials, the
force F required to change the length of the rod by x is
A comparison of Equation implies that the stiffness of the rod is

AE
k
L
The motion of a particle attached to an elastic element can be modeled as a particle

attached to a linear spring, provided the mass of the element is small compared to the mass
of the particle and a linear relationship between force and displacement exists for the
element. A particle of mass m is attached to the midspan of a simply supported beam of
length L, elastic modulus E, and cross-sectional moment of inertia I. The transverse
displacement of the midspan of the beam due to an applied static load F is
Thus a linear relationship exists between transverse displacement and static load. Hence if
the mass of the beam is small, the vibrations of the particle can be modeled as the vertical
motion of a particle attached to a spring of stiffness
48EI
k
L3
Longitudinal vibrations of a mass
attached to the end of a uniform thin
rod can be modeled as a linear mass-
spring system with k = AE/L.

The transverse vibrations
of a machine attached to
the midspan of a simply
supported beam (a)
modeled by a mass-
spring system and the
stiffness of the spring is
48 EI/L3. (b) provided
the mass of the beam is
small in comparison to
the mass of the machine.
In general the transverse vibrations of a particle attached to a beam can be modeled as

those of a particle attached to a linear spring. Let w(z) represent the displacement function of
the beam due to a concentrated unit load applied at z = a. Then the displacement at z = a
due to a load F applied at z = a is
x   (a ) F
Then the spring stiffness for a particle placed at z = a is
1
k
 (a)
EXAMPLE
A 200-kg machine is attached to the end of a cantilever beam of length L 2.5 m, elastic
modulus E = 200 x 109 N/m2, and cross-sectional moment of inertia 1.8 x 10–6 m4. Assuming
the mass of the beam is small compared to the mass of the machine, what is the stiffness of
the beam?
Solution:
From Table D.2 the deflection equation for a cantilever beam with a concentrated unit load at
z = L is

48EI
k
Equation L3 is used for the stiffness of a pinned-pinned beam at its midspan. The
equation for the stiffness of a cantilever beam at its end is
3EI
k
L3
The equivalent stiffness of a fixed-fixed beam at its midspan is
192EI
k
L3
a) The spring has a static spring force when the system is in static equilibrium.
b) FBD of the mass when the system is in equilibrium.
STATIC DEFLECTION
When a spring is not in its unstreched length when a system is in equilibrium, the spring has
a static deflection. When the system in equilibrium a static force in the spring is necessary to
balance the gravity force. From the FBD the force in the spring is Fs = mg. Since the force is
the stiffness times the change in length from its unstretched length, the static deflection is
calculated as
mg
s 
k

REFERENCES
Benaroya, H., Nagurka, M., & Han, S. (2017). Mechanical Vibration: Analysis, Uncertainties,
and Control, Fourth Edition. Boca Raton: CRC Press.
Kelly, S. G. (2012). Mechanical Vibrations: Theory and Applications, SI. USA: Global
Engineering: Christopher M. Shortt.
Lalanne, C. (2013). Mechanical Vibration and Shock Analysis, Random Vibration. Wiley.


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LECTURE MODULE

Faculty Major Chapter Code Compiled by

2019 Mechanical Vibration

k0  0 . When x is positive, the spring is in tension. When x is negative, the spring is in

2019 Mechanical Vibration

2019 Mechanical Vibration

HELICAL COIL SPRINGS

2019 Mechanical Vibration

ELASTIC ELEMENTS AS SPRINGS

2019 Mechanical Vibration

A comparison of Equation implies that the stiffness of the rod is

The motion of a particle attached to an elastic element can be modeled as a particle

2019 Mechanical Vibration

In general the transverse vibrations of a particle attached to a beam can be modeled as

2019 Mechanical Vibration

2019 Mechanical Vibration

2019 Mechanical Vibration

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