UNIT 2 - Basics of Vibration theory

Dynamic Load – A load which varies with respect to time which creates vibration.

Vibration – is a continuous exchange of potential energy into kinetic energy and vice versa.

Example of Dynamic Load

• Earthquake Load
• Wind load
• Moving Load
• Machine induced load
• Blast load
• Impact load

Degrees of Freedom (DOF) – The number of independent coordinates (displacement) required to defined
the displaced position of all the masses relative to their position. Generally, in dynamics, mass dictates
the DOF while in statics, the stiffness property dictates the DOF.

Inextensible θ Extensible r
String Spring θ

DOF = 1 DOF = 2

Inextensible Extensible Spring

θ String Θ1
Inextensible Inextensible
String θ Inextensible Θ2 String
String
DOF = 1 DOF = 2
• Force-displacement Rotation

• Linear Elastic System (fs =ku)

• Simple Vibrating System (Single Degree of Freedom)
Mass Spring Damper (MSD) System

m – Kinetic Energy p(t) – dynamically applied load

k – Potential Energy (Spring constant) u – displacement (coordinate)ϋ
c – Dissipation (Damper’s constant)

in the Free body diagram, Forces of resistance are

Damper force = cύ = Damper Constant x Velocity
Spring Force = ku = Spring Constant x Displacement
Inertial Force = mϋ = mass x acceleration

D’ Allembart’s Principle

For any object in motion, the externally applied forces, inertial force and force of resistance
form a system of force in equilibrium.
• Linear Model for equation of motion
𝑑2 𝑢 𝑑𝑢
m +c + ku
𝑑𝑡 2 𝑑𝑡
• Governing equation of Motion
p(t) = mϋ + cύ + ku
Units: m = kg, k = N/m , c = N-sec/m

Types of Vibration

1. Free Vibration – when the externally applied dynamic is equal to zero and vibration occurs
due to initial displacement or velocity or initial tapping.
2. Forced Vibration - when the externally applied dynamic is not equal to zero
Damped – when dissipation is not considered (c ≠ 0)
Undamped - when dissipation is considered (c = 0)

Sub-Classification of Forced Vibration

1. Periodic – If the behavior of the vibration is repeating after certain interval.

2. Aperiodic (Random) - If the behavior of the vibration is not repeating after certain interval.
a. Transient -Where the time for the dynamic load is acting is for a finite time duration
Ex. Earthquake load - Time can be 5, 8 or 10 secs.
b. Steady State – Where the application of that load acts infinity of the time
Ex. Wind Load - Time is unlimited
 TYPES OF VIBRATION

VIBRATION

Free Vibration p(t) = 0 Force Vibration p(t) ≠ 0

Damped (c = 0) Undamped (c ≠ 0) Damped (c = 0) Undamped (c ≠ 0)

Periodic Aperiodic

Transient Steady State

(t=tf) T →ꚙ
• Single Degree of Freedom (SDOF) System
- Free Vibration
1. Undamped free vibration
The static is disturbed from its statics and then vibrates with any applied load

The equation of motion is : mu + ku = 0

The solution is : u(t) = A cos (Ꙍnt) + B sin (Ꙍnt)

Ꙍn =√𝑘⁄𝑛 (rad/s) - natural circular frequency

Where: A and B are determined by the initial condition

ut = 0 = uo
ύt = 0 = ύo
 which can be written as:

u(t) = C sin (Ꙍnt + 0)

ύ𝑜
ύ𝑜 2 ⁄Ꙍ u𝑜
C = √𝑢𝑜 2 + ( ) Cos 0 = 𝑛
Sin 0 =
Ꙍ𝑛 𝐶 𝐶

2𝜋
Natural period, Tn = (sec)
Ꙍ𝑛

1 Ꙍ𝑛
Natural frequency, fu = = (Hz)
𝑇𝑛 2𝜋

• Earthquake Excitation:
Equation of Motion

ft + fD + fs = 0

fs = ku
fD = cύ
ft = mϋ’

mϋ’ + cύ + ku = 0

mϋ + cύ + ku = -mϋg (t)
 The motion can be replaced by the effective earthquake force:

Peff (t) = -mϋg (t) where: ϋg – ground acceleration during an earthquake

mϋ + cύ + ku = Peff (t)

• Force Vibration: Response to Step Excitation

Now,
f(t) = u (t – ta)
= 1, t > ta
= 0, t < ta
= ½, t = ta
f(t)
Equation of Motion
1
mẍ + cẋ + kx = Fu (t)

Initial Condition: x(0) = x0, ẋ(0) = ẋ0 t

ta

f(t)

F0

t
a. For ξ = 0
𝐹𝑜
x(t) = (1 − 𝑐𝑜𝑠ꙌDt)
𝑘

For undamped force vibration,

Dynamic displacement = 2 times Static displacement

b. For ξ ≠ 0
• Force Vibration due to arbitrary excitation