Mechanical

Vibrations

Prof. Dr. Kenan Y. Şanlıtürk

sanliturk@itu.edu.tr

Text book:

Engineering Vibration
Daniel J. Inman
Prentice-Hall International,

First Edition, 1994

Second Edition, 2000
Third Edition, 2007
Fourth Edition, 2013

Page 1
 Content

1. Introduction to Vibration and Free response

2. Response to Harmonic Excitation
3. General Forced Response
4. Multi-Degree-of-Freedom systems
5. Design for Vibration Suppression

Content

1. Introduction to Vibration and Free response

2. Response to Harmonic Excitation
3. General Forced Response
4. Multi-degree of freedom systems
5. Design for vibration suppression

Page 2
 1. Introduction to Vibration and Free Response
• Fundamental definitions
• Vibrations
• Mechanical parameters
• The simplest vibrating system
• Spring constant (stiffness)
• Equation of motion
• Harmonic motion
• Frequency
• Initial conditions
• Relationship between displacement, velocity and acceleration
• Parameters used in vibration measurement

Fundamental Definitions

Vibration: oscillatory motion relative to a nominal

position (usually equilibrium position)

Oscillation: change of system position with respect to

time around a reference

There must be a restoring force in order to create

vibrations.

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Vibrations…

Vibrations…

Page 4
Vibrations

Torsion: 269.6 Hz 1st Bending : 289.4 Hz Second Bending 315.6 Hz

Page 5
Page 6
 USB box &
Amplifier

Analyzer

Tachometer

Electric
motor
Pulley/V-belt
mechanism
Loading disks

Page 7
 Vibrations ----- Fatigue Life

Useful Vibrations!

 Transportation
 Sieving
 Washing
 Mixing
 Fatigue/durability testing
 Intensification, Compression
 Massaging
 Music
 Non-destructive Testing
 .....

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Mechanic Parameters

Displacement velocity Accelerations

x
v a
k

F=k x F=c v F=m a

k: stiffness c: viscous damping coefficient m: mass

Spring, k

From displacement-force relationship: k

k: stiffness, or spring constant

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Undamped SDOF

Free body diagram

Equation of motion
Newton’s 2nd law:

mx (t )   kx(t )
Frictionless surface

Equation of motion (EOM): mx (t )  kx(t )  0

Initial conditions: x(0)  x0 , x(0)  v0

Solution ?

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 Differential equation and its solution

2nd order homogeneous

differential equation with mx(t )  kx(t )  0
constant coefficients,

Solution: harmonic motion x(t )  A sin(nt   )

or x(t )  A cos(nt   )
or x(t )  A1 sin(nt )  A2 cos(nt )

Note:
sin(a  b)  sin(a) cos(b)  cos( a) sin(b)
cos(a  b)  cos(a) cos(b)  sin(a) sin(b)

Differential equation and its solution

EOM: mx(t )  kx(t )  0

x(t )  A sin(nt   )
x(t )  An cos(nt   )
x(t )   An2 sin(nt   )
Frictionless surface

Insert into EOM mA 2 sin(nt   )  kA sin(nt   )  0

mAn2 sin(nt   )  kA sin(nt   )
mn2  k
k
n 
m
Natural Frequency: [rad/s]

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 Differential equation and its solution
mx(t )  kx(t )  0
Divide by m

EOM in standard form: x(t )  n2 x(t )  0

k
Natural Frequency: [rad/s] n 
m

Solution: x(t )  A sin(nt   )

or x(t )  A1 sin(nt )  A2 cos(nt )

Determination of Natural Frequency using Rayleigh Energy Principle

1 2
KE  mx
2
1
PE  kx 2
2

x  A sin(nt   )
Frictionless surface
x  n A cos(nt   )
Rayleigh Energy Principle:
PEmax=KEmax 1 1
KEmax  PEmax  mn2 A2  kA2
2 2
1 2
KEmax  mxmax
2
k
PEmax
1 2
 kxmax
n 
2 m

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Harmonic Motion x(t )  A sin(nt   )

x(t)
slope: vo

Amplitude, A
Initial
x
displacement 0

Time, t
Max.
Phase velocity
angle, 

Period
n

Frequency

1 1
f  [Hz]  T  [s]
T f

2 2
  2 f   rad/s  , T [s]
T 


f  Hz
2

Hz: Number of repetitions in one second.

Heinrich Rudolpf Hertz

Note: Use rad/s in trigonometric functions, NOT Hz.

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 Time

m1
k
n  2fn  m
m  m1
Increasing the mass:
decreases the natural
frequency

Determination of Amplitude and Phase:

using initial conditions

mx(t )  kx(t )  0 x(t )  A sin(nt   )

x(0)  x0 , x(0)  v0 v(t )  n A cos(nt   )

At t=0 x0  A sin(n 0   )  A sin  (1)

v0  n A cos(n 0   )  n A cos  (2)
Solve these 2 equations for
A and  A
1
n2 x02  v02
n
 n x0 
  tan 1  
 v0 

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 Free vibrations of a SDOF system

mx( t )  kx( t )  0

x( 0 )  x0 ,x( 0 )  v0

Frictionless surface

x(t )  A sin(n   )
n2 x02  v02  x 
x(t )  sin(nt  tan 1  n 0 )
n  v0 

Free vibrations of a SDOF system

EOM mx( t )  kx( t )  0
Initial Cond: x( 0 )  x0 , x( 0 )  v0

If x(t )  A1 sin(nt )  A2 cos(nt )

Frictionless surface x(t )   A1n2 sin( t )  A2n2 cos( t )

mA1n2 sin( nt )  mA2n2 cos(  t )  kA1 sin( nt )  kA2 cos( nt )
Using sine or cosine component:
mA1n2 sin( nt )  kA1 sin( nt )
mA2n2 cos( nt )  kA2 cos( nt )

k
Natural Frequency: [rad/s] n 
m

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 Free vibrations of a SDOF system: Determine constants

x(t )  A1 sin(nt )  A2 cos(nt )

x(t )  A1n cos(nt )  n A2 sin(nt )

Impose initial conditions and determine A1, A2

Frictionless surface x(0)  x0  A2
v0
mx( t )  kx( t )  0 x(t )  x(0)  v0  A1n  A1 
n
x( 0 )  x0 , x( 0 )  v0 v0
x(t )  sin(nt )  x0 cos(nt )
n
Amplitude of the harmonic motion:
v02 1
A  A12  A22   x02  n2 x02  v02
 2
n n

If harmonic displacement is specified,

velocity and acceleration are easily determined:

Displacement, x
x = X sin t
X
Time, t

Velocity, v v = dx = X cos t
dt
X

Time, t

2
Acceleration, a a = d x2 = -X2 sin t
X2 dt

Time, t

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 Acceleration to Displacement

Acceleration, a
A
a = A sin t
Time

Velocity, v
A/

v = a dt = - A cos t

Time

Displacement, x
A/2 x= a dt dt = - A2 sin t
Time

Some parameters used in vibration measurement

 Peak

 Peak to Peak

 Average

 RMS (Root mean square)

 Crest Factor

 Repetition Rate (or pulse repetition rate)

 Duration

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Parameters used in vibration measurement

A  Peak value
T
1
T  T 
x  lim x(t )dt : Mean value
0
T
1
x  lim
T  T  x(t ) dt
0
: Mean of the absolute value

T
1 2
T  T 
x 2  lim x (t )dt : Mean square value
0

T
1
xRMS  lim  x 2 (t )dt = x 2 : Root mean square (RMS) value
T  T
0

Parameters used in vibration measurement

x(t)
T

x (t )
Peak RMS
Peak to time
peak

1 T 2 1 T Peak
T 0 T 0
RMS  x ( t )dt x (t )  x(t ) dt Crest Factor:
RMS

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 Parameters used in vibration measurement

x(t)

Peak
Peak to
Peak
RMS
Mean
time

T
1
T  T 
1 T 2 Peak
x  lim
T 0
RMS  x ( t )dt x(t )dt Crest Factor:
RMS
0

Maximum Amplitudes

For harmonic vibrations, i.e., x(t )  X sin(t   )

Displacement : xmax  X
Velocity : xmax   X
Acceleration : xmax   2 X

Maximum values of Displacement, Velocity and Accelerations

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