x(t) = A cos(ωt - β) = a cos(ωt) + b sin(ωt)

- a (represent the cos) = x (0)

x (0)
- b (represent the sin) =
ω
b
- A = a 2 + b 2 , tan β =
a

2 Motion with different freq. : T = n1T1 = n 2 T2

Fourier Series :

ao
F(t) = +  ( a n cos(nωt) + b n sin(nωt) )
2 n=1
T
2 ao Area under 1 Cycle
- a o =  F(t)dt ..OR.. =A =
T0 2 T
T T
2 2
- a n =  F(t) cos(nωt) dt , b n =  F(t) sin(nωt) dt
T0 T0

 x sin(ax) dx = ( sin(ax) − ax cos(ax) ) / a 2

+ C

 x cos(ax) dx = ( cos(ax) − ax sin(ax) ) / a 2

+ C

GJ
T = qθ , q = (N.m/rad)
L

Free Undamped Vibration:

Iθ =  M  Iθ + qθ = 0 (D.E.O.M.)
mx =  F  mx + kx = 0 (D.E.O.M.)
Coff. of x / θ
Soln. → E.O.M.  θ = A cos(ωt − β) , ω =
Coff. of x / θ
Stiffness :
EA
- Tension: K =
L
3EI
- Cantliever: K = 3
L
3EIL 48EI
- Simple beam: K = 2 2 , if a = b: K =
a b L3

Mass moment of inrtia :

1
- Clyinderical shaft: I o = m a 2
2
- Mass: I o = m r 2
m L2
- Rod: I o =
12
Parallel axis therom : I o = I G + m d 2

Area moment of inrtia :

( axis)( ⊥ axis)3
- Rectangle: I axis =
12
πd 4
- Circle: I x = I y =
64
π(d 2 4 − d 4 )
- Hollow Circle: I x = I y =
64

The Equivalent Mass if Spring Mass is existing :

m spring
me = m +
3
Free Damped Vibration:
c
mx + cx + kx = 0 (D.E.O.M.) , ζ=
2 m ωn
-ζ ( )
1: x = A1e λ1t + A 2e λ 2 t , λ1 , λ 2 = −ζ  ζ 2 − 1 ωn

- ζ = 1: x = ( A1 + A 2 ) e − ωn t
-ζ 1: x = A e − ζ ωn t cos(ωd t − β) , ωd = ωn 1 − ζ 2
x1 1  x1 
= e  δ = ln 
nδ

xn+1 n  xn+1 
2πζ δ
δ=  ζ=
1−ζ 2
4π 2 + δ 2
ηk
Hysteresis Damping : ce =
ω
η = 2ζ e 1 − ζ e 2 , 2ζe = 1 − 1 − η2
Friction Damping :
Fd = μN
x = A cos(ωt − β) − Δ , Δ =
k
xn/ 2 = ( −1)n (xo − 2 n Δ) , n = no. of Half Cycles
xo
When x = 0 : n  − 0.5
2Δ

1
Edis. = k(x i 2 − xf 2 )
2
Forced Damped Vibration:
mx + cx + kx = Focos(ωt) (D.E.O.M.)
Soln. → E.O.M.  x = X cos(ωt − φ)
Generally :
Fo 2ζr ω
X= , tan φ = , r =
k (1 − r 2 )2 + (2ζr)2 1 − r2 ωn

- Resonance: r  1 → φ = , r = 1 − 2ζ 2
2

ηk c η
Hysteresis Damping : ce = ,ζ = → ζe =
ω 2 m ωn 2r
Fo η
X= , tan φ =
k (1 − r 2 )2 + η2 1 − r2

- Resonance: r = 1 → φ =
2

Rotating Unbalance :
MX r2 2ζr
= , tan φ =
me (1 − r 2 )2 + (2ζr)2 1 − r2
1
- Resonance: r =
1 − 2ζ 2

Support effect (y) :

mx + cx + kx = ky + cy (D.E.O.M.) , y = Y cos(ωt)
amp. of Original Term
mx + cx + kx = Fo cos(ωt + ψ) , tan ψ =
amp. of Differentiated Term
Soln. → E.O.M.  x = X cos(ωt + ψ − φ)
X Fto 1 + (2ζr)2 2ζr
TR = = = , tan ψ = 2ζr , tan φ =
Y Fo (1 − r 2 )2 + (2ζr)2 1 − r2
- r = 2 → TR = 1 for any (ζ)

1 1
Energy Conservation : P.E = kx 2 , K.E = mν 2
2 2
1 1
Strain Energy : Estrain = kx 2 , ΔEstrain = k(xi 2 − xf 2 )
2 2
, Ed = π ceωX 2 , ΔE = π ceωA 2

Free 2 Degree of freedom:

 m1 0  x 1   k1,1 k1.2  x 1  0 
 0 m  x  +  k   =  
 2   2   1,2
k 2,2   x 2  0 
x 1  A 
Soln. → E.O.M.    =   cos(ωt + β)
x 2  B 
 −ω2 m1 + k1,1 k1.2   A  0 
  =  
 k 1.2 − ω 2
m 2 + k 2,2   B  0 
For Non-Trivial Soln. :
( −ω m + k )( −ω m
2
1 1,1
2
2 + k 2,2 ) − k1,2 2 = 0 → ω1 ,ω2
x  1  1 
  1  = A1   cos(ω1t + β1 ) + A 2   cos(ω 2t + β 2 )
x 2  R1  R 2 
B −(−ω m1 + k1,1 ) −k 2,1
2

Where: R = = (OR ) = 2
A k1,2 −ω m 2 + k 2,2
 x 2 (0)
if R1 = → A2 = 0
x 1 (0)
x 2 (0)
if R 2 = → A1 = 0
x 1 (0)
- A1 , A 2 ,β1 ,β 2 from the initial Conditions

Free Unrestrained
2 Degree of freedom:
 −ω2 m1 + k − k   A  0 
  =  
 −k −ω m 2 + k   B  0 
2

→ ω0 = 0 , Ro = 1
 1 1  −m
→ ω1 = k  +  , R o = 1
 m1 m 2  m2
1 
 
x  
  1  = A1  −m1  cos(ω1t + β1 )
x 2  m 
 2 

Forced Damped Vibration: F = F 1 1o cos(ωt)

 −ω2 m1 + k1,1 k1,2  X1  F1o 
  =  
 k1,2 −ω m 2 + k 2,2  X 2  0 
2

X1  F1o −ω2 m 2 + k 2,2 

Soln. →   =   Or Using CALC.
 2  det  Z(ω)  − k1,2
X 
- if ( ω = ω1 (or) ω2 ) det  Z(ω) = 0 "Resonance"
X1 = , X 2 = 
 k2  F1o
- if  ω = ωn 2 =  X1 = 0, X 2 =
 m 2  k2
Tuned Absorber App. :
k1 k 2 k 2 m2
ωn1 = ωn 2 = ωn = = =μ
m1 m 2 k1 m1
F1o
@ ( ω = ωn ) X1 = 0, X 2 =
k2
ω
ri =  The 2 Conditions: r12 + r2 2 = 2 + μ , r1 .r2 = 1
ωni

Forced Unrestrained
2 Degree of freedom:
 −ω2 m1 + k −k  X1  F1o 
   =  
 −k −ω m 2 + k   X 2  0 
2

X1  F1o  −ω 2 m 2 + k 
Soln. →   =   Or Using CALC.
 2
X det   k 
Z(ω)
- if ( ω = ω1 (or) 0 ) det  Z(ω) = 0 "Resonance"
X1 = , X 2 = 
Dynamic Force / Torque :
Fd = k(x1 − x 2 ) , Td = q(θ1 − θ2 )
  1 1 
At Resonance:  ω = ω1 = k  +   Tdo = ¥
  m1 m 2  


Torsional Stress in Shaft :

16 Ts / do
τ t = τ s + τ do cos(ωt) , τ s / do =
π d3
1) Equivalent Shaft Length :
G π d4 G π de4 d 4 de 4
q= → qe = : Solid Shaft → =
32 L 32 L e L Le
D4 − d 4 d e 4
Hollow Shaft → =
L Le

2) Equivalent (I) in Crank Mechanism :

m b m a
m A = con. , m B = con.
L L
I
m rot. = crank + m A , m rec. = m slider + m B
r2
 1 
I e =  m rot. + m rec.  r 2
 2 

3) Equivalent Geared System :

speed of geared shaft
qe = n 2 q , I e = n 2 I , n =
speed of Reference shaft

Multi Degrees of freedom:

 I1 0 0  θ1   q1,1 q1,2 0  θ1  0 
0        
 I20  θ 2  + q1,2 q 2,2 q 2,1  θ 2  = 0 
 0 0 I3  θ3   0 q 2,1 q 3,3  θ3  0 
 
θ1  A 
   
Soln. → E.O.M.  θ 2  = B  cos(ωt + β)
θ  C 
 3  
  −ω2 I + q  A = 0
For Non-Trivial Soln. : det  −ω2 I + q  = 0 → ω1 , ω2 , ω3
Free Unrestrained
Multi Degrees of freedom:
det  −ω2 I + q  = 0
I1 .I 2 .I 3  ω6 - q1 ( I1 + I 2 ) I 3 + q 2 ( I 2 + I 3 ) I1  ω 4
+ q1q 2 ( I1 + I 2 + I 3 )  ω 2 = 0
q1 q2 q2
Where: ω0 = 0 , ω1 , ω2
I1 I2 I2
θ1   1   1 
     
 θ 2  = A1 B A |1  cos(ω1 t + β1 ) + A 2 B A |2  cos(ω 2 t + β 2 )
θ  C A |  C A | 
 3  1  2

From  −ω2 I + q  A = 0 → B A & C A

Forced Damped Vibration: T=Tocos(ωt)

  −ω2 I + q  A = To  ,Soln. → Using CALC.

Beam with Uniformly

Distribubed Mass:
Simply Supported Beam :
EI
ωi = i 2 π2 3
= i 2 ωi-1 Natural freq. Formula , (i = 1, 2, 3, ...)
mL
Cantilever Beam : Only 2 Natural freq.:
EI EI
ω1 = 3.5 , ω 2 = 22
mL3 mL3

Equivalent Mass of a Beam

with Uniformly Distribubed Mass :
Simple Beam : me = 0.5 m
Cantilever Beam : me = 0.25 m
Massless Shaft in 2 Spherical,
or Short, Bearing with 1 Rotor in Middle :
X r2 ω k
= , r= , ωn =
e 1 - r2 ωn m

Resivion:
In Δabc Generally :
1) Sine Law: c 2 = a 2 + b 2 − 2ab.cos(c)
ˆ
ˆ
b 2 = a 2 + c 2 − 2ac.cos(b)
a 2 = c 2 + b 2 − 2cb.cos(a)
ˆ
a b c
2) Cosine Law: = =
ˆ
sin(a) ˆ
sin(b) ˆ
sin(c)
3) Special Case: "pitagoras" abc ⊥ in c:
ˆ c2 = a 2 + b2

4) Similar Triangles: for ex. abc , xyz

-Angle Angle (AA): aˆ = xˆ , bˆ = yˆ  cˆ = zˆ
a b
-Side Angle Side (SAS): = , cˆ = zˆ "Angle bet. 2 Sides"
x y
a b c
-Side Side Side (SSS): = =
x y z
a c
-Right-angle Hypotenuse Side (RHS): ( Side ) = ( Hyp.)
x z

Unbalancing: Soln.
Statically :  F = 0
Dynamically : -Force Polygon :  F = 0
-Couple Polygon :  C = 0