ME 553 :

Mechanical Vibrations

Dr. Abdelaziz Bazoune

Mechanical Engineering Department
King Fahd University of Petroleum & Minerals

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 1

 LEC-03
Harmonic Motion

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 2

 After you have finished this lecture you will be able to do the following:

Recognize a periodic motion

Identify the Simple Harmonic Motion (SHM)
Define the period of the SHM
Define the frequency of the SHM
Define the Amplitude of the SHM
Define the peak to peak in the SHM
Use complex notation for the SHM
Obtain harmonic response of systems having a single degree of
freedom
Obtain the frequency of vibration of the SHM

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 3

 Periodic Motion
Simple Harmonic Motion (SHM)
Complex Algebra
http://www.answers.com/topic/simple-harmonic-oscillator

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 4

 Periodic motion :
Any motion that repeats itself identically at regular intervals.
Examples: a rocking chair, a bouncing ball, a vibrating tuning fork, a swing in motion,
the Earth in its orbit around the Sun, and a water wave.

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 5

 In each case the interval of time for a repetition, or cycle, of the motion is called a
period, while the number of periods per unit time is called the frequency.

Thus, the period of the Earth’s orbit is one year, and its frequency is one orbit per
year. A tuning fork might have a frequency of 1,000 cycles per second and a period
of 1 millisecond (1 thousandth of a second).

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 6

  Periodic Motion:
A motion x(t) is said to be periodic with period T if it is repeated after
equal intervals of time.

x  t   x  t  nT  , n  1, 2, 3,...

If x(t) describes an oscillation, the

Smallest quantity T for which the
above quantity is satisfied is called the period of the oscillation

The reciprocal f of the period is called frequency of the oscillation and is

usually measured in hertz (Hz)
1
f  1
with units of ( ) or (Hz)
T s

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 7

 Simple Harmonic Motion (SHM)

Simple harmonic motion is a special case of periodic motion.

In the examples given before, the rocking chair, the tuning fork, the swing,
and the water wave execute simple harmonic motion, but the bouncing ball
and the Earth in its orbit do not.
Waves that can be represented by sine curves are periodic.
If the wave is propagated with a velocity v and has a wavelength λ, then the
period T is equal to wavelength divided by velocity, or
T= λ/v.
The frequency f is the reciprocal of the period; thus,

f = 1/T = v/λ.

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 8

 Simple Harmonic Motion (SHM)
It is the simplest type of periodic motion
 Displacement (x): (on horizontal axis)

x  A sin   A sin t
 Velocity:
dx
  A cos t
dt
 Acceleration:

d 2x
2
  2
A sin  t   2
x Scotch yoke mechanism:
dt The similarity between cyclic
(harmonic) and sinusoidal
d 2x motion.
2
  2
x0
dt
A second order ordinary differential equation with
natural frequency ω

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 9

 Simple Harmonic Motion (SHM)

Harmonic motion can be represented


conveniently by means of a vector OP of
magnitude A rotating at a constant angular
velocity .
In the figure shown, the projection of the
 
tip of the vector Z  OP on the vertical
axis is given by

y  A sin t
and its projection on the horizontal axis is
given by
x  A cos t

http://www.acoustics.salford.ac.uk/feschools/waves/shm.htm

http://www.galaxygoo.org/math/sineCurve.html

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 10

 Complex Numbers

Complex Number representation of harmonic motion:

real imaginary

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 11

 Complex Numbers Forms
Rectangular Form
z  a  ib , i  1
z  z  cos   i sin  

Polar Form z  z 
j
z ze

In converting complex numbers from rectangular to polar from , we use

z z  a b ,
2 2
  tan
1
b a
To convert complex numbers from polar to rectangular form, we use

a  z cos  , b  z sin 

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 12

 Euler’s Formula

Notice that cos  and sin  can be expanded in a series as

 i   i 
2 4
 
2 4

cos   1      1  
2! 4! 2! 4!

     i   i 
3 5
3 5
and
i sin   i       i   
 3! 5!  3! 5!

The above two equations yield

 i   i   i 
2 3 4
i
cos   i sin   1  i     e
2! 3! 4!
 i   i   i 
2 3 4
 i
cos   i sin   1  i     e
2! 3! 4!

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 13

 Euler’s Formula
Then
cos  i sin   ei
cos  i sin   e  i
Adding the above expressions together, we find that

i  i
e e
cos  
2
Subtracting the second expression above from the first one, we obtain

ei  e  i
sin  
2i

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 14

 Euler’s Formula

Complex number without vector notation: z  a  ib

z1  z2  A1ei1  A2 ei2  (a1  ib1 )  (a2  ib2 )

z1  a1  ib1  A1ei1  (a1  a2 )  i (b1  b2 )
Suppose
z2  a2  ib2  A 2 ei2
z1  z2  A1ei1  A2 ei2  (a1  ib1 )  (a2  ib2 )
 (a1  a2 )  i (b1  b2 )

 bj 
Aj  a 2j  b 2j ; j  1, 2  j  tan 
1
 ; j  1, 2
 aj
 

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 15

 Operations on Harmonic Functions


 Rotating Vector Z  Ae it
 A  cos  t  i sin  t   Re  Ae it
  i Im  Ae it



Velocity dZ d
dt

dt

it

it
Ae  i Ae  i Z

2 
Acceleration
d Z d
dt 2

dt

it 2

it
i Ae   Ae   Z
2

Real Imaginary

Displacement  Re  Aeit   A cos t Displacement  Im  Aeit   A sin t

Velocity  Re i Aeit    A sin t
Velocity  Im i Aeit    A sin t  90 
  A cos t  90 
Acceleration  Re   2 Aeit    2 A cos t Acceleration  Im   2 Aeit    2 A sin t  180 

  2 A cos t  180 

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 16

 Displacement, velocity, and accelerations as rotating vectors
Displacement x  A sin t

Velocity x   A cos t   A sin t  90 

Acceleration x   2 A sin t   2 A sin t  180 

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 17

  Harmonic functions can be added vectorially as shown in the figure below. If
 
Re[ X 1 ]  A1 cos t and Re[ X 2 ]  A2 cos t   

Then the magnitude of the resultant vector X is given by

A  A1  A2 cos    A2 sin  
2 2

and the angle  by

 A2 sin  
  tan  1

 A1  A2 cos 

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 18

 Operations on Harmonic Functions

Alternative notation

eit  cos t  i sin t

cos  t   Re ei  t 
1 
sin  t   Im ei  t   Re  ei  t   Re  i ei  t 
i 

A cos  t    Re  Ae 
i  t  


 A i  t     A i   t   i     A  i   i   t  
A sin  t     Im  Ae
i  t  
 
  Re  i e   Re  i e e   Re  i e e 

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 19

 Example 2.2 (Textbook)
• Write the following expressions as complex exponentials. Express the corresponding complex
amplitude in polar and rectangular form.
 2 
F  5cos  50t  0.5  , G  20sin 10t  0.5 , H  30sin  400t  
 3 

Solution F  5cos  50t  0.5   Re  A ei  t   Re 5e   i 50 t  0.4

  Re 5e 0.4 i i50 t 
e 
Amplitude  A  5e0.4i  4.6053 + 1.9471i

G  20sin 10t  0.5   Im  A e     Im 20 e 

i  t 

i 10 t  0.5

 Im 20e 0.5i e  
i 10 t
 
Amplitude  A  20 e 0.5i  17.5517  9.5885i

 2  i  t  


 2 
i  400 t      2
 i i 400 t 
 
H  30sin  400t    Im  A e   Im 30 e  3 
  Im 30e 3
e 
   
3    
2
 i
Amplitude  A  30e 3
 15.0000  25.9808i
Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 20
Find the sum of the two harmonic motions
x1 (t )  10cos t and x2 (t )  15cos(t  2).
Solution:
Method 1: By using trigonometric relations:
Since the circular frequency is the same for both x1(t) and x2(t), we express the sum as
x(t )  A cos(t   )  x1 (t )  x2 (t )
That is
A  cos t cos   sin t sin    10cos t  15cos(t  2)
 10cos t  15(cos t cos 2  sin t sin 2)
or ( A cos  ) cos t  ( A sin  ) sin t  (10  15cos 2) cos t  (15 sin 2) sin t
By equating the corresponding coefficients of cosωt and sinωt on both sides, we obtain

A 10  15cos 2   (15sin 2) 2

2

 14.1477
A cos   10  15cos 2
 15sin 2 
A sin   15sin 2   tan 1    74.5963
 10  15cos 2 
Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 21
 Method 2: By using Vectors: x2 (t )  15cos(t  2).
For an arbitrary value of ωt, the
harmonic motions x1(t) and x2(t)
can be denoted graphically as
shown in the figure below. By
x1 (t )  10cos t
adding them vectorially, the
resultant vector x(t) can be found
to be

x (t )  14.1477 cos(t  74.5963)

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 22

 Method 3: By using Complex Numbers Notation

The two harmonic motions can be denoted in terms of complex numbers

x1 (t )  Re  A1eit   Re 10eit 
x2 (t )  Re  A2ei (t  2)   Re 15ei (t  2) 
The sum of x1(t) and x2(t) can be expressed as

x(t )  Re  Aei (t  ) 

where

A  A  A  10  15sin 2   14.1477
2 2 2 2
1 2

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 23

 Example 2.3 (Textbook)
A signal is given by v  12sin  25t  4.5 
Decompose this signal into parts that are purely sine and cosine functions.

Solution

v  12sin  25t  4.5   Im  A e     Im 12 e 

i 25 t  4.5
i  t 
  Im 12e i 4.5 ei 25 t 
  

Now replace all polar forms of a complex quantity with their equivalent rectangular forms and
combine real and imaginary parts, such that

v  12sin  25t  4.5   Im  (2.5295  11.7304i )(cos 25t  i sin 25t ) 

 11.7304 cos 25t  2.5295sin 25t

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 24

 Definitions and Terminology

Amplitude (A):
Maximum displacement of a
vibrating body from its equilibrium
position.
Period of oscillation (): Time
taken to complete one cycle of
motion
2
 [sec]

Frequency of oscillation (f):
Number of cycles per unit time
1   is called the circular frequency [rad/sec]
f   [1/sec] or [Hz]
T 2

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 25

 Definitions and Terminology

1
  period  sec f
1  cycles 
  or (Hz)   2 f
 rad 
 sec 
f   sec 

A  amplitude
App  peak to peak amplitude
1/2
1 T 2 2  2
Arms    A sin (2 ft   )dt   A  0.707 A
T 0  2
  phase    2 f 

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 26

 Definitions and Terminology

1 1  cycles   rad 
  period  sec f 
  sec   or (Hz)   2 f  sec 
f

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 27

 Alternative Forms of x  t   a cos t   b sin t 

 
 a b 
a cos t   bsin t   a2  b2  cos t   sin t  
  2
a b2 a

2

b2
 
 cos  
 sin 
a
Define  such that
a
cos  

a 2  b2 A  1  b 
    tan  
b b a
sin  
Therefore a 2  b2 A 
A  a 2  b2
x  t   A  cos cos t   sin sin t  

b
Using the identity cos t    cos t  cos  sin t  sin   tan 1  
 
a
Therefore

x  t   a cos  t   b sin  t  x  t   A cos  t   

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 28
 Alternative Forms of x  t   a cos t   b sin t 

 
 a b 
a cos t   b sin t   a  b 
2 2
cos t   sin t  
  2
a b
2 2
b
a

2

 cos 
 sin 

Define 
a a
such that sin   
a 2  b2 A  1  a 
    tan  
b b b
cos  
Therefore a 2  b2 A 
A  a 2  b2
x  t   A  sin  cos t   cos sin t  
a
  tan 1  
Using the identity sin t     sin t  cos   cos t  sin   
b
Therefore

x  t   a cos  t   b sin  t  x  t   A sin  t   

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 29
 Definitions and Terminology
Synchronous Motions:
The two harmonic motions are synchronous if they have the same frequency or
angular velocity  x  A sin  t
1 1

x2  A2 sin  t   
Phase Angle:

Phase angle () is the angular difference between two synchronous harmonic
motions.

Natural Frequency:
Natural frequency is the frequency for which a system oscillates without external
forces.

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 30

 Definitions and Terminology

Phase Angle: Phase angle () is the angular difference between two synchronous
harmonic motions.
x1  A1 sin t
x2  A2 sin t   

http://www.intmath.com/trigonometric-graphs/3-graphs-sin-cos-phase-shift.php

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 31

 Solution:

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 32

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 33
 Solution:

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 34

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 35
 Beating Phenomenon
When two harmonic motions, with frequencies close to one another, are added the
resulting motion exhibits a phenomenon known as beats. For example
x1  t   X cos t
x  t   x1  t   x2  t   X  cos t  cos     t 
x2  t   X cos     t

where  is a small quantity.

Using the Identity  A B  A B

cos A  cos B  2cos   cos  
 2   2 

We obtain The motion represents a cosine wave with a 
 t   
x  t   2 X cos   cos   t frequency (ω+δ/2) which is approximately 
2  2 equal to ω and with a varying amplitude of 
2X cos (δt/2) 

Amplitude frequency

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 36

 Beating Phenomenon http://math.mit.edu/daimp/Beats.html

 t   
x  t   2 X cos  sin   t
2  2

Beat Period
2
b   s

Frequency of beat
A common example of beating vibration occurs in a twin engine
  cycles  aircraft. Whenever the speed of one engine varies slightly from
fb    or (Hz) the other, a person can easily feel the beating in the aircraft’s
2  sec  structure, and hear the vibration acoustically.

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 37

 http://math.mit.edu/daimp/Beats.html

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 38

 Decibel

The decibel (dB) is a logarithmic unit of measurement that expresses the magnitude of a
physical quantity (usually power or intensity) relative to a specified or implied reference
level. Since it expresses a ratio of two quantities with the same unit, it is a dimensionless
unit. A decibel is one tenth of a bel (B).

P Ratio of electric powers and P0 is some

dB  10log  
reference value of the quantity to be measured
 P0 
Since electric power is proportional to the square of the voltage (X), the decibel can
also be expressed as 2
X  X 
dB  10log    20log  
 X0   X0 
where X0 is a specified reference voltage.

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 39

 Sound: 150dB
μPascals
Noisy or quiet? 140dB
p2 100,000,000 130dB
dB  10 log 2
pref 120dB Pain
p 10,000,000 110dB
 20 log 100dB
pref
1,000,000 90dB
pref = 20 x10-6 Pascals
80dB
100,000 70dB
60dB
10,000
50dB
350m away 40dB
1000 30dB
20dB
Important to state 100 10dB
distance from source
20 0dB Hearing threshold
Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 40
http://www.dangerousdecibels.org/education/information-center/decibel-exposure-time-guidelines/
Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 41
 Further Readings

http://www.howstuffworks.com/question124.htm

http://js082.k12.sd.us/My_Classes/Physical_Science/Sound/soundpage.htm

http://www.falstad.com/fourier/

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 42

 QUESTIONS … ...?

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 43

 Thank U … ...!

Dr. A. Aziz Bazoune ME 553 ADVANCED VIBRATIONS LEC 03, Slide 44