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UNIT – II PROBLEMS

1. An industrial press is mounted on a rubber pad to isolate it from its foundation. If

the rubber pad is compressed 5 mm by the self-weight of the press, find the natural
frequency of the system.

g 9.81 rad
δ static =
5 × 10−3 m; ωn = = ==
44.2945 7.0497 Hz
δ static 5 × 10−3 sec

2. A spring-mass system has a natural period of 0.21 sec. What will be the new period
if the spring constant is (a) increased by 50 percent and (b) decreased by 50 percent?

m 0.21 k
=τ n 0.21
= seconds 2π = ; m
k 2π

2π m 2π m  0.21 k  1
(i) (=
τ n )new = = 2π   = 0.17146sec
knew 1.5k  2π  1.5k

2π m 2π m  0.21 k  1
(ii) (=
τ n )new = = 2π   = 0.29698sec
knew 0.5k  2π  0.5k

3. A spring-mass system has a natural frequency of 10 Hz. When the spring constant is
reduced by 800 N/m, the frequency is altered by 45 percent. Find the mass and
spring constant of the original system.

rad k k
=f n 10 Hz; ωn 2=
= π f n 62.83185= ; =
m
sec m 62.83185
When spring constant is reduced, ωn decreases. The frequency is altered by 45%. Hence,
rad
the new frequency is 55% of original frequency = 0.55 ωn = 34.5575 .
sec
rad k k − 800 62.83185
(ωn )new =0.55ωn =34.5575 = new = = k − 800 ×
sec mnew m k
k − 800 34.5575 N
= = 0.55 ⇒ Solving k = 1146.9534 and m =0.2905 kg
k 62.83185 m
4. A weight of 50 N is suspended from a spring of stiffness 4000 N/m and is subjected to
a harmonic force of amplitude 60 N and frequency 6 Hz. Find (a) the extension of
the spring due to the suspended weight, (b) the static displacement of the spring due
to the maximum applied force, and (c) the amplitude of forced motion of the weight.

W 50 F0 60
δ
(a) = = = 12.5 mm (b) δ=
= 0.0125 m st = = 0.015 m
= 15 mm
k 4000 k 4000

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k k k×g 4000 × 9.81 rad rad

ωn
= = = = = 28.0143 ω 6=
= Hz 37.6992
m W W 50 sec sec
g

(c)
1 1
=X δ st = 2
0.015 = 2
=
0.0185 m 18.5 mm
ω   37.6992 
1−   1−  
 ωn   28.0143 

5. A mass m is suspended from a spring of stiffness 4000 N/m and is subjected to a

harmonic force having an amplitude of 100 N and a frequency of 5 Hz. The
amplitude of the forced motion of the mass is observed to be 20 mm. Find the value
of m.

F0 100
δ=
st = = 0.025 m
= 25 mm
k 4000
2
1 ω  δ st 0.025
δ st
X= 1−   = = =
1.25
 ωn  X 20 ×10−3
2
ω 
1−  
 ωn 
ω ω 5 × 2π rad
= 1.25 + 1= 1.5 ⇒ ωn= = = 20.944
ωn 1.5 1.5 sec
k 4000
=
m = = 9.1189 kg
ωn
2
20.9442

6. A spring-mass system with m = 10 kg and k = 5000 N/m is subjected to a harmonic

force of amplitude 250 N and frequency ω . If the maximum amplitude of the mass
is observed to be 100 mm, find the value of ω .

k 5000 rad F0 250

ω=
n = = 22.3607 δ=
st = = 0.05 m
= 50 mm = = 0.1 m
X 100 mm
m 10 sec k 5000

1 δ st 0.05 rad
X = δ st 2
⇒ ω = ωn 1 − = 22.3607 1 − = 15.8114
ω  X 0.1 sec
1−  
 ωn 

7. An under-damped shock absorber is to be designed for a motorcycle of mass 200 kg.

When the shock absorber is subjected to an initial vertical velocity due to a road
bump, the resulting displacement-time curve is to be as indicated in Figure 1. Find
the necessary stiffness and damping constants of the shock absorber if the damped
period of vibration is to be 2 seconds and the amplitude x1 is to be reduced to one
x1
fourth in one half cycle (i.e. x1.5 = ).
4

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x1 x1.5 x1 1 x1
Since x=
1.5 , =
x2 = = . Hence, the logarithmic decrement becomes
4 4 4 4 16
 x1  2πζ
=δ ln=
  ln=(16 ) 2.77258
= . Solving, ζ = 0.4037 . The damped period of
 x2  1− ζ 2
vibration is given to be 2 seconds. Hence,
2π 2π 2π rad
τ d= 2= = ; ωn= = 4.4338
ωd ωn 1 − ζ 2 2 1 − ( 0.4037 )
2 sec

N-s
=
The critical damping constant mωn 2 ( 200 )( 3.4338
cc 2= = ) 1373.54
m
N-s
Thus, the damping constant c =ζ × cc = 0.4037 ×1373.54 = 554.4981
m
N
The stiffness k =mωn2 = 200 × 3.43382 =2358.2652
m
8. A vibrating system is defined by the following parameters: m = 3 kg, k = 100 N/m,
c = 3 N-s/m. Determine (i) damping ratio (ii) natural frequency of damped
vibration (iii) logarithmic decrement (iv) the ratio of two successive amplitudes and
(v) the number of cycles after which the original amplitude is reduced to 20%.
Indicate the units wherever necessary.

N-s
Critical damping constant cc = 2mωn = 2 km = 2 × 100 × 3 = 34.641 ;
m
k 100 rad
ωn
Circular frequency = = = 5.7735
m 3 sec
c 3
(i) Damping ratio ζ= = = 0.0866
cc 34.641
rad
(ii) Damped circular frequency ωd = ωn 1 − ζ 2 = 5.7735 1 − 0.08662 = 5.7518
sec
ωd 5.7518
Damped natural frequency =
fd = = 0.915427 seconds
2π 2π

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2πζ
=
(iii) Logarithmic decrement δ = 0.542
1− ζ 2
x1  x1 
(iv) The ratio between two consecutive amplitudes, say : δ = ln  
x2  x2 
x1 δ
= e= e0.542= 1.71944
x2
 
1  x1  1  x1  1  x1  1 1.6094
= (v) δ ln  = ; n ln=  ln = =ln ( 5 ) = 2.96944 cycles
n  xn  δ  xn  0.542  x1  0.542 0.542
 5 
9. An air compressor of mass 50 kg is mounted on an elastic support and operates at a
speed of 1000 rpm. It has an unbalanced mass of 2 kg at a radial distance
(eccentricity) of 0.1 m from the axis of rotation. If the damping factor of the elastic
support is ζ = 0.1, determine the following: (a) the spring constant of the elastic
support which transmits no more than 25% of the unbalanced force to the
foundation, and (b) the magnitude of the force transmitted to the foundation.

Compressor mass m1 = 50 kg; eccentric mass m2 = 2 kg; eccentricity e = 0.1 m; ζ = 0.1;

1000 rad
ω = 1000 rpm = × 2π =
104.72
60 sec
1 + ( 2ζ r ) 1 + 4 ( 0.1) r 2
2 2
F 1 1
(a) For ≤ 0.25, ≤ ⇒ ≤
meω 2 (1 − r ) + ( 2ζ r )
2 2 2
4 (1 − r )2 2
+ 4 ( 0.1) r 2
2
16

16 + 64 ( 0.01) r ≤ (1 − r ) + 0.04r
2 2 2 2
⇒ 0 ≤ r 4 − 2.6r 2 − 15
Considering the equality sign,
2.6 ± 2.62 + 60
r − 2.6r − 15 =
4 2
0 ⇒ r = 2
=−2.7853,5.3853
2
Considering the positive root,
ω ω 104.72 rad
r = 5.3853 = 2.3026 = ⇒ ωn = = = 45.1263
ωn 2.3026 2.3026 sec
k k N
From the relation, ωn = = = 45.1263 ⇒ k=
50 × 45.12632 =
10.1819 ×104
m 50 m
(b) Force transmitted to the foundation is
F= 0.25meω=
2
0.25 × 2 × 0.1×104.72=
2
548.3139 N

10. An aircraft engine has a rotating unbalanced mass m at radius r. If the wing can be
modelled as a cantilever beam of uniform cross section a × b as shown in Figure,
determine the maximum deflection of the engine at a speed of N rpm. Assume
damping and effect of the wing between the engine and the free end to be negligible.

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Equivalent stiffness of wing (beam) at location of engine

 ba 3 
3E  
PL3 3EI 3EI  12  Ea 3b
δ= ⇒ P= δ ⇒ P = kδ ⇒ where k = 3 = =
3EI L3 L L3 4 L3
 2π N  4mrπ N mrπ 2 N 2
2 2 2
Unbalanced centrifugal force= = F mr = ω mr  =
2
 =
 60  3600 900
Equivalent mass of wing at location of engine:
1 1 1
m1 = mwing = ( volume of wing × density of wing ) = ( abLρ )
5 5 5
Equation of motion: m1 
x + kx = me rω 2 sin ωt
Maximum steady state displacement of wing at location of engine:

mrπ 2 N 2
me rω 2
900
=X =
k − m1ω 2  Ea b 1
3
 2π N  
2

 3 − abL ρ   
 4 L 5  60  
11. A three-bladed wind turbine as shown in Figure has a small unbalanced mass m
located at a radius r in the plane of the blades. The blades are located from the
central vertical (y) axis at a distance R and rotate at an angular velocity of ω . If the
supporting truss can be modelled as a hollow steel shaft of outer diameter 0.1 m and
inner diameter 0.08 m, determine the maximum stresses developed at the base of the
support (point A). The mass moment of inertia of the turbine system about the

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vertical (y) axis is J 0 . Assume R = 0.5 m, m = 0.1 kg, r = 0.1 m, J 0 = 100 kg-m2, h = 8
rad
m, and ω = 31.416 .
sec

Rotating unbalanced force, mrω 2 can be resolved into two components as

Fy = mrω 2 sin ωt parallel to y − axis
Fz = mrω 2 cos ωt parallel to z − axis
M σb E
Bending formula: = = =
; Max. bending stress at A:
M z d0
σb =
( mrω ) R d2
o
π
I y R Iz 2
64
( d −d ) 2
4
o i
4

0.1× 0.1× 31.4162 × 0.5  0.1  4 N

σb
= =  8.5124 ×10 2
π
64
( 0.14 − 0.084 )  2  m

T τ Gθ
Torsion formula: = =
T
τ =
; Max. torsional stress= R
M y do
=
( mrω ) R d
2
o
π
J R L J Jy 2
32
( d −d ) 2
4
o i
4

N
=τ 4.2562 ×104 .
m2

N-s N
12. A single degree of freedom system has mass m = 12 kg, c = 20 , k = 5000 .
m m
An external excitation force F ( t ) = Fo cos ωt acts on the system with Fo = 120 N and
rad
ω = 10 . Find damped frequency and the resulting amplitude of vibration of the
sec
vibrating system.
N-s N rad
m = 12 kg, c = 100 , k = 5000 , Fo = 120 N, ω = 10
m m sec
k 5000 rad F0 120
ωn
= = = 20.4124 ; δ=
st = = 0.024 m
= 24 mm ;
m 12 sec k 5000

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N-s c 100
cc =2mωn =2 ×12 × 20.4124 =489.8976 ζ = = =0.2041
m cc 489.8976
rad ω 10
ωd = ωn 1 − ζ 2 = 20.4124 1 − 0.20412 = 19.9827 =
r = = 0.48989
sec ωn 20.4124
δ 0.024
=
Maximum amplitude X = st

(1 − r 2 ) + ( 2ζ r )2 (1 − 0.48989 ) + ( 2 × 0.2041× 0.48989 )

2 2 2 2

= =
X 0.030539 m 30.539 mm

13. Figure shows a simple model of a motor vehicle that can vibrate in the vertical
direction while travelling over a rough road. The vehicle has a mass of 1200 kg.
kN
The suspension system has a spring constant of 400 and a damping ratio of 0.5.
m
If the vehicle speed is 20 kmph, determine the displacement amplitude of the vehicle.
The road surface varies sinusoidally with an amplitude of 0.05 m and a wavelength
of 6m.

Vehicle moving on a
rough road

The frequency ω of the base excitation can be found by dividing the vehicle speed v kmph
by the length of one cycle of road roughness:

v  v ×1000  1 rad k 400 ×103 rad

ω 2=
= π f 2π= 2π  = 5.81778 ωn
= = = 18.2574
λ  3600  6 sec m 1200 sec

ω 5.81778
Frequency ratio=
r = = 0.318653
ωn 18.2574

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1 + ( 2ζ r ) 1 + ( 2 × 0.5 × 0.318653)
2 2
X
=
Amplitude ratio =
(1 − r 2 ) + ( 2ζ r )2 (1 − 0.318653 ) + ( 2 × 0.5 × 0.318653)
2 2 2 2
Y

X
= 1.100964
Y

Thus the displacement amplitude of the vehicle is given by

= =
X 1.100964Y 1.100964 × 0.05
= 0.055048=
m 55.048 mm

This indicates that a 50 mm bump in the road is transmitted as a 55.048 mm bump to the
chassis and the passengers of the car. Thus in the present case, the passengers feel an
amplified motion.

14. A heavy machine, weighing 3000 N, is supported on a resilient foundation. The static
deflection of the foundation due to the weight of the machine is found to be 7.5 cm. It
is observed that the machine vibrates with an amplitude of 1 cm when the base of
the foundation is subjected to harmonic oscillation at the undamped natural
frequency of the system with an amplitude of 0.25 cm. Find
(i) the damping constant of the foundation
(ii) the dynamic force amplitude on the base, and
(iii) the amplitude of the displacement of the machine relative to the base.

The stiffness of the foundation can be found from its static deflection:
weight of the machine 3000 N
=k = = 40, 000
δ st 0.075 m

1 + ( 2ζ r )
2
X
=
Y (1 − r ) + ( 2ζ r )
2 2 2

1 + ( 2ζ )
2
X 0.010
At resonance (ω = ωn ) or r = 1 , = = 4= ⇒ ζ =0.1291
( 2ζ )
2
Y 0.0025
The damping constant is given by
3000 N-s
c = ζ × cc = ζ × 2 km = 0.1291× 2 × 40, 000 × = 903.0512
9.81 m
The dynamic force amplitude on the base at r = 1 can be found from
1 + ( 2ζ r )
2
FT 1 + 4ζ 2
=r 2 FT =kY =kX =40, 000 × 0.01 =400 N
kY (1 − r ) + ( 2ζ r )
2 2 2
4ζ 2

The amplitude of the relative displacement of the machine at r = 1 can be obtained from
Z r2 Y 0.0025
= =Z = = 0.00968 m
ζ ×
Y
( 2 2
) (
1 − r + 2ζ r
2
) 2 2 0.1291

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It can be noticed that X = 0.01 m, Y = 0.0025 m and Z = 0.00968 m; therefore, Z ≠ X − Y ,

this is due to the phase difference between x, y and z .
15. The landing gear of an airplane can be idealized as the spring-mass-damper system
shown in Figure. If the runway surface is described as y ( t ) = y0 cos ωt determine
the values of k and c that limit the amplitude of vibration of the airplane (x) to 0.1 m.
rad
Assume m = 2000 kg, y0 = 0.2 m, and ω = 157.08 .
sec

Amplitude of vibration under base excitation = X = is limited to 0.1 m = 100 mm

Excitation amplitude = 0.2 m = 200 mm.
k 2 + ( cω )
2
X 0.1 k 2 + c 2 ×157.082
= = =
Y 0.2 ( k − mω ) + ( cω )
2 2 2
( k − 2000 ×157.08 ) + ( c ×157.08)
2 2 2

N-s
Let us assume that k = 5 ×106 N/m. Then, solving the above equation, c = 1,58,805
m

16. The propeller of a ship, of weight 105 N and polar mass moment of inertia 10,000
kg-m2 is connected to the engine through a hollow stepped steel propeller shaft, as
shown in Figure. Assuming that water provides a viscous damping ratio of 0.1,
determine the torsional vibratory response of the propeller when the engine induces
a harmonic angular displacement of 0.05 sin 314.16t rad at the base (point A) of the
propeller shaft.

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Equation of motion for the torsional

system:

( )
J oθ + ct θ − α + kt (θ − α ) =
0

θ = angular displacement of shaft

α = angular displacement of base of

shaft = α o sin ωt

Steady state response of the propeller

= θ p (t ) =
Θ sin (ωt − φ )

kt2 + ( ctω )
2

Θ =α o
(k − J ω ) − (c ω )
t o
2 2
t
2

 J o ctω 2  rad
φ = tan −1  2
. Given: J o = 104 kg-m2, ζ t = 0.1 , and ω = 314.16
 kt ( kt − J oω ) + ( ctω ) 
2
sec

π 
80 ×109  ( 0.64 − 0.44 ) 
Torsional stiffness of the shaft 1:=
G1 J1
kt 1 =  32 =  27.2272 ×106 N-m
L1 30 rad

π 
80 ×109  ( 0.44 − 0.24 ) 
Torsional stiffness of the shaft 2:=
G2 J 2
kt 2 =  32 =  9.4248 ×106 N-m
L2 20 rad

=
Springs in series: kt
kt 1kt 2
kt 1 + kt 2
N-m
= 7.0013 ×106 =
rad
; ct ζ=
2 kt J o (
52,919.8624
rad
)
N-m-s

=
Substituting these values, Θ 9.2028 ×10−4 radians and φ = 1.5540 radians

17. An air compressor of mass 100 kg is mounted on an elastic foundation. It has been
observed that, when a harmonic force of amplitude 100 N is applied to the
compressor, the maximum steady-state displacement of 5 mm occurred at a
frequency of 300 rpm. Determine the equivalent spring stiffness and damping
constant of the foundation.

m = 100 kg, Fo = 100 N, X max = 0.005 m, ω = 300 rpm = 31.416 rad/sec.

k rad
ω = ωn 1 − 2ζ 2 = 1 − 2ζ 2 = 31.416
m sec
k (1 − 2ζ 2 ) =mω 2 =100 × 31.4162 =98, 696.5056 …………………(1)

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1 Fo 1 F0
=X max δ= = 0.005 or kζ 1 −=
ζ2 = 10, 000 …(2)
2 × 0.005
st
2ζ 1 − ζ 2 k 2ζ 1 − ζ 2

equation (1) 1 − 2ζ 2
= = 9.8696 …….(3). Squaring (3) and rearranging leads to
equation (2) ζ 1 − ζ 2

101.4090ζ 4 − 101.4090ζ 2 + 1 =0 or ζ = 0.0998, 0.9950

ζ = 0.9950 is close to 1 which may cause critical damping and hence, this value is avoided.

ζ = 0.0998 is considered for further calculation.

( )
Equation (1): k 1 − 2ζ 2 = =
98, 696.5056 or k =
98696.5056
1 − ( 2 × 0.0998 )
2
100, 702.4994
N
m

c c N-s
Since ζ = = ⇒ c=( 2mωn ) ζ =633.4038
cc 2mωn m

18. A precision grinding machine is supported on an isolator that has a stiffness of 1

MN/m and a viscous damping constant of 1 kN-s/m. The floor on which the machine
is mounted is subjected to a harmonic disturbance due to the operation of an
unbalanced engine in the vicinity of the grinding machine. Find the maximum
acceptable displacement amplitude of the floor, if the resulting amplitude of
vibration of the grinding wheel is to be restricted to 10-6 m. Assume that the
grinding machine and the wheel are a rigid body of weight 5000 N.

=
X k 2 + c 2ω 2
= ⇒
10−6 (10 ) + (10 ) ( 200π )
6 2 3 2 2

( k − mω 2 ) + c 2ω 2 Y
2 2
 6 5000
( 200π )  + (103 ) ( 200π )
Y 2
10 −
2 2

 9.81 

=Y 169.5294 ×10−6 m = 0.1695294×10-3 m = 0.1695294 mm.

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19. A video camera, of mass 2.0 kg, is mounted on the top of a bank building for
surveillance. The video camera is fixed at one end of a tubular aluminum rod whose
other end is fixed to the building as shown in Figure. The wind-induced force acting
on the video camera, f(t), is found to be harmonic with f ( t ) = 25cos 75.3984t N.
Determine the cross-sectional dimensions of the aluminium tube if the maximum
amplitude of vibration of the video camera is to be limited to 0.005 m.

Fo cos ωt
equation of motion: mx + kx =

3EI
for a cantilever beam with end load, k =
L3

assuming initial conditions to be zero ( x=

0 x=
0 0)
the response of the video camera can be expressed
F0
as x ( t )
= ( cos ωt − cos ωnt )
k − mω 2

F0
=x (t ) k ( cos ωt − cos ωnt )
( k − mω 2
)
k

fo fo 2 fo ω +ω   ωn − ω 
x (t )
= ( cos ωt − cos=
ωn t ) 2 (
ωn t )
cos ωt − cos= sin  n  t sin  t
k
−ω2 ω −ω
2
n ωn − ω
2 2
 2   2 
m

2 fo
Thus the maximum amplitude of vibration of the video came is given by xmax =
ω −ω2
2
n

2 f0
Design requirement=
is xmax ≤ 0.005 m.
ω −ω2
2
n

This leads to two cases:

2 fo rad
Case (i) − ≤ 0.005 . Given data, m = 2 kg, Fo = 25 N, ω = 75.3984
ω −ω 2
n
2
sec

Fo k k
=
f0 ωn
= 12.5 , = = = 0.5k
m m 2

2 fo
− ≤ 0.005 or
ω −ω2
2
n

2 ×12.5 25
− ≤ 0.005 ⇒ 0.5k − 568492 ≥ − = −5000
0.5k − 5684.92 0.005

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N
0.5k ≥ 5684.92 − 5000 ⇒ k=
1369.84
m

For aluminium tubular rod,

3EI 3 × 71×109 × I 1369.84 × 0.53

k= = ≥ 1369.84 ⇒ I≥ = 0.08039 ×10−8 m4
L3 0.53 3 × 71×109

π
d ×t ×(d 2 + t2 ) .
d
Since =
I Let = 10 or d = 10t , then
8 t

π
I=
8
(10t )
2
(101t )=
2
396.627t 4 ≥ 0.08039 ×10−8

i.e., t 4 ≥ 2.02664 ×10−12 or t ≥ 1.1932 ×10−3 m = 1.1932 mm assumed.

Therefore, = =
d 10t 11.932 mm

2 fo 2 ×12.5
Case (ii) + ≤ 0.005 or ≤ 0.005
ω −ω2
2
n 0.5k − 5684.94

25
0.5k − 5684.94 ≥ =
5000 or 0.5k ≥ 10, 684.94 or k ≥ 21,369.88
0.0005

3EI 3 × 71×109 × I 21,369.88 × 0.53

=k = ≥ 21,369.88 or I≥ ≥ 1.2541×10−8
L3 0.53 3 × 71×10 9

d
Let I 396.627t 4 ≥ 1.2541×10−8
= 10. = i.e., t 4 ≥ 31.6191×10−12 t = 0.002371 mm
t

And hence, d ≥ 23.71 mm.

Therefore, the final acceptable design: t = 2.371 mm and d = 23.71 mm.

20.
21.
22.
23.

A. Nagamani Dept. of Aeronautical Engineering 16AE323 - Theory of vibrations