29 Sep 2023

CEBU INSTITUTE OF TECHNOLOGY

UNIVERSITY

Mechanical Engineering Department

VIBRATION ENGINEERING
Ronnel T. Lucero, ME
Instructor
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Vibration Engineering
ME335 Module 2: Modelling of Vibratory Systems

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Elements of Vibration System

ME 335 Lecture 4

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Coverage:
Springs
Mass
Dampers

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ELEMENTS OF VIBRATION SYSTEM

A system is considered a mechanical/vibration

system if it has
Spring - stiffness component
Mass - inertia component
Damper -damping component

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 SPRING ELEMENTS

Linear spring is a type of mechanical link that is generally

assumed to have negligible mass and damping
Spring force is given by:
𝐹 = 𝑘𝑥 1.1

F = spring force,
k = spring stiffness or spring constant, and
x = deformation (displacement of one end
with respect to the other)

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Spring Elements

elongation - x in Fig. b
reduction - x in Fig. c

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Spring Elements
Work done (U) in deforming a spring or the strain (potential)
energy is given by: 1
𝑈 = 𝑘𝑥 1.2
2

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Spring Elements

Spring Constant of Rod is given by:

A = area, m2
E = Young’s Modulus, and
l = length of the rod

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EXAMPLE (Rod)
Find the equivalent spring constant of a uniform rod of length l, cross-
sectional area A, and Young’s modulus E subjected to an axial tensile (or
compressive) force F.

SOLUTION: ∆
𝜀= = =
𝜎 𝐹
𝛿 = 𝜀𝐿 = 𝐿= 𝐿
𝐸 𝐴𝐸

𝐹 𝐹(𝐴𝐸) 𝐴𝐸
𝑘= = =
𝛿 𝐹(𝐿) 𝐿

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Spring Elements
Static deflection of a beam at the free end is
given by:
𝑊𝑙
𝛿 = 1.6
3𝐸𝐼

W = mg is the weight of the mass m,

E = Young’s Modulus, and
I = moment of inertia of cross-section of beam
Spring Constant is given by:
𝑊 3𝐸𝐼
𝑘= = 1.7
𝛿 𝑙

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EXAMPLE (Cantilever Beam)

SOLUTION:

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Spring Elements
Stiffness of Helical Spring
is given by: D = mean coil diameter, m
G = shear modulus, N/m2
, N/m d = wire diameter, m
n = number of turns

Shear Stress due to

𝛿 =deflection or change of length, m
resisting Torque (helical
spring): 𝛿=
𝐹
𝐹𝑅𝑑 16𝐹𝑅 𝑘
,m
𝜏 , N/m2
2𝐽 𝜋𝑑

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EXAMPLE (Helical Spring)

𝐹𝑅𝑑
𝜏
2𝐽

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EXAMPLE (Cont'd)

(8) (0.2m)3

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Spring Elements
Combination of Springs:
1) Springs in parallel – if we have n spring constants k1, k2, …,
kn in parallel, then the equivalent spring constant keq is:
𝑘 = 𝑘 + 𝑘 +. . . +𝑘

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Spring Elements
Combination of Springs:
2) Springs in series – if we have n spring constants k1, k2, …, kn
in series, then the equivalent spring constant keq is:
1 1 1 1
= + +. . . +
𝑘 𝑘 𝑘 𝑘

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EXAMPLE (Rigid Bar Connected by Springs)

A hinged rigid bar of length l is

connected by two springs of stiffnesses
k1 and k2 and is subjected to a force F as
shown in Fig. a. Assuming that the
angular displacement of the bar (𝜃) is
small, find the equivalent spring constant
of the system that relates the applied
force F to the resulting displacement x.

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EXAMPLE (Rigid Bar Connected by Springs)

SOLUTION:
Considering the moment equilibrium of the forces about the hinge point O:
NOTE:
( ) ( )
𝐹 𝑙 + 𝐹 𝑙 = 𝐹𝑙 𝑘 = +
( ) ( )
𝑙𝑠𝑖𝑛𝜃 = 𝑙𝜃 = 𝑥
𝑘 𝑥 𝑙 + 𝑘 𝑥 𝑙 = 𝐹𝑙 𝑘 =𝑘 +𝑘
𝑙 𝑠𝑖𝑛𝜃 = 𝑙 𝜃 = 𝑥
𝑘 𝑥 𝑙 𝑘 𝑥 𝑙
𝑙 𝑠𝑖𝑛𝜃 = 𝑙 𝜃 = 𝑥 𝐹= +
𝑙 𝑙

𝑘 (𝑙 𝜃)𝑙 𝑘 (𝑙 𝜃)𝑙
𝑘 𝑥= +
𝑙 𝑙

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EXAMPLE (Suspension System)

A suspension system (shown) of a freight truck with a parallel-spring
arrangement. Find the equivalent spring constant of the suspension if each of
the three helical springs is made of steel with a shear modulus of 𝐺 = 80 ×
10 𝑁/𝑚 and has five effective turns, mean coil diameter D=20 cm, and wire
diameter d =2 cm.

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EXAMPLE (Suspension System)

SOLUTION:
Stiffness of each spring:

𝑑 𝐺 0.02 (80 × 10 )
𝑘= =
8𝐷 𝑛 8 0.2 5

k = 40,000

For identical and parallel springs:

𝑘 = 3𝑘 = 3 40,000

𝑘 = 120,000 𝑁/𝑚

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EXAMPLE (k Associated with Restoring Force due to

Gravity)

A simple pendulum of length l with a bob of

mass m. Considering an angular
displacement ϴ of the pendulum, determine
the equivalent spring constant associated
with the restoring force (or moment).

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EXAMPLE (k Associated with Restoring Force due to

Gravity)
SOLUTION:
• Distance covered as pendulum
undergoes angular displacement:
𝑥 = 𝑙𝑠𝑖𝑛𝜃
• Restoring moment (Torque):
𝑇 = 𝑚𝑔(𝑙𝑠𝑖𝑛𝜃)
•
Sin𝜃 = 𝜃 for small displacement:
𝑇 = 𝑚𝑔(𝑙𝜃) --- (a)
𝑇 = 𝑘 (𝜃) --- (b)
• Equating (a) and (b):
𝑘 = 𝑚𝑔𝑙
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ASSIGNMENT: Elements of Vibration System

1. Answer Activity 1.3 to 1.6 in page 84-86 of Mechanical

Vibrations by S. Rao, 5th ed. (46 pts)
2. Answer Activity 1.7 in page 86. Show your solution. (24
pts)
3. Derive the torsional stiffness of a shaft. Also, find its k if
outer radius is 0.05 m, inner radius is 0.03 m and the
material is brass. (Refer to engineeringtoolbox.com for
material property). (10 pts)

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 MASS OR INERTIA ELEMENTS

The mass or inertia element is assumed to be

a rigid body; it can gain or lose kinetic energy
whenever the velocity of the body changes.
Using mathematical model to represent the
actual vibrating system.

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 MASS OR INERTIA ELEMENTS

E.g. In figure below, the mass and damping of the
beam can be disregarded; the system can thus be
modeled as a spring-mass system as shown.

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MASS OR INERTIA ELEMENTS

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MASS OR INERTIA ELEMENTS

Combination of Masses
E.g. Assume that the mass of
the frame is negligible
compared to the masses of
the floors. The masses of
various floor levels represent
the mass elements, and the
elasticities of the vertical
members denote the spring
elements.
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MASS OR INERTIA ELEMENTS

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CASE 1: Translational masses connected

by a Rigid Bar
• Let the masses be attached to a rigid
bar that is pivoted at one end, as shown
in Fig. (a). The equivalent mass can be
assumed to be located at any point
along the bar.
• Assume the location of the equivalent
mass to be that of mass m1.

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CASE 1: Translational masses connected

by a Rigid Bar

By equating the kinetic energy of the three-mass system

to that of the equivalent mass system,

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CASE 2: Translational and Rotational

masses coupled together
• Let a mass m having a translational
velocity 𝑥̇ be coupled to another
mass (of mass moment of inertia J0)
having a rotational velocity 𝜃̇ as in
the rack-and-pinion u arrangement
as shown.
• These two masses can be combined
to obtain either a single equivalent
translational mass meq or a single
equivalent rotational mass Jeq.

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CASE 2: Translational and Rotational

masses coupled together
The Kinetic energy of the two masses is given by:
Equivalent translational mass meq

The equivalent m will be:

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CASE 2: Translational and Rotational

masses coupled together
The Kinetic energy of the two masses is given by:
Equivalent rotational mass Jeq

The equivalent J will be:

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INERTIA ELEMENTS

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 DAMPING ELEMENTS
Viscous Damping:
Damping force is proportional to the velocity of the vibrating
body in a fluid medium such as air, water, gas, and oil.
Coulomb or Dry Friction Damping:
Damping force is constant in magnitude but opposite in
direction to that of the motion of the vibrating body between
dry surfaces
Material or Solid or Hysteretic Damping:
Energy is absorbed or dissipated by material during
deformation due to friction between internal planes
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DAMPING ELEMENTS

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DAMPING ELEMENTS
Shear Stress ( ) developed in the fluid layer at a
distance y from the fixed plate is:
𝑑𝑢
𝜏=𝜇
𝑑𝑦

where du/dy = v/h is the velocity gradient.

Shear or Resisting Force (F) developed at the bottom
surface of the moving plate is: Where A is the surface area of the
𝐴𝑣 𝜇𝐴
𝐹 = 𝜏𝐴 = 𝜇
ℎ
= 𝑐𝑣 moving plate and 𝑐=
ℎ is the
damping constant

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A is the surface area of the moving plate.
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DAMPING ELEMENTS
If a damper is nonlinear, a linearization process is
used about the operating velocity (v*) and the
equivalent damping constant is:
𝑑𝐹 𝜇𝐴
𝑐= =
𝑑𝑣 ∗
ℎ

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EXAMPLE (Clearance in a Bearing)

A bearing which can be approximated as 2 flat
plates separated by a thin film of lubricant is
found to offer a resistance of 400 N when SAE
30 oil is used as the lubricant and the relative
velocity between the plates is 10 m/s. If the
area of the plates (A) is 0.1 m2, determine the FIG. Flat plates separated by thin film
clearance between the plates. Assume the of lubricant

absolute viscosity of SAE 30 oil as 50 microreyn

or 0.3445 Pa-s.

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EXAMPLE (Clearance in a Bearing)

SOLUTION:
Since resisting Force can be expressed as 𝐹 = 𝑐𝑣,

c=

c= = 40 𝑁 𝑠/𝑚
/

𝜇𝐴
Since damping can also be expressed as 𝑐 = ℎ,
( . )( . )
h= ⁄ = = 0.861 𝑚𝑚

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EXAMPLE (Damping Constant of a Journal Bearing)

A journal bearing is used to provide lateral
support to a rotating shaft. If the radius of the
shaft is R, angular velocity of the shaft is 𝜔,
radial clearance between the shaft and the
bearing is d, viscosity of the fluid (lubricant) is
𝜇, and the length of the bearing is l, derive an
expression for the rotational damping constant
of the journal bearing. Assume that the leakage
of the fluid is negligible.
FIG. Journal Bearing

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EXAMPLE (Damping Constant of a Journal Bearing)

FIG. Journal Bearing

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EXAMPLE (Damping Constant of a Journal Bearing)

SOLUTION:
The damping constant can be obtained using shear stress in viscous fluid equation.

1. Identify the velocities:

a. Fluid in contact with the rotating shaft have linear velocity: 𝑣 = 𝜔𝑅
b. Fluid in contact with the stationary bearing: v = 0.

2. Get the shear stress equivalent in the lubricant:

𝜏=𝜇 =𝜇 =𝜇

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EXAMPLE (Damping Constant of a Journal Bearing)

SOLUTION:
3. Get the force required to shear the fluid film
𝐹 = 𝜏𝐴

= 𝜏𝐴

𝑇 = 𝜏𝐴 𝑅

𝑇= 2𝜋𝑅𝐿 𝑅 = ------ AKA Petroff’s Law

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EXAMPLE (Damping Constant of a Journal Bearing)

SOLUTION:
4. By definition of rotational damping constant of a bearing,

𝑐 =

𝑐 =

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DAMPING ELEMENTS
Combination of Dampers
When dampers appear in
combination, we can use
procedures similar to those
used in finding the equivalent
spring constant of multiple
springs to find a single
equivalent damper.

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EXAMPLE (Machine Tool Support)

A precision milling machine is supported on
four shock mounts, as shown in Fig a. The
elasticity and damping of each shock mount can
be modeled as a spring and a viscous damper as
shown in Fig b. Find the equivalent spring
constant 𝑘 , and the equivalent damping
constant 𝑐 , of the machine tool support in
terms of the spring constants and damping
constants of the mounts. FIG. Horizontal Milling Machine

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EXAMPLE (Machine Tool Support)

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EXAMPLE (Machine Tool Support)

SOLUTION:
Let the total forces acting on all the springs and all the dampers be 𝐹 and 𝐹 , the
force equilibrium is:

where 𝐹 + 𝐹 = 𝑊 with W denoting the total vertical force (including the inertia
force) acting on the milling machine.

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ASSIGNMENT: Elements of Vibration System

1. Answer Problem 1.51 (page 105) of Mechanical

Vibrations by S. Rao, 5th ed. (15 pts)

2. Answer Problem 1.55 (a,b and c. See page 106) of

Mechanical Vibrations by S. Rao, 5th ed. (15 pts)

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NEXT TOPIC: Equations of

Motion

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