MEC 521: Vibration

Fundamental of Vibration
n 1.1 Historical Background
n 1.2 Basic Concept of vibration
n 1.3 Classification of Vibration
n 1.4 Harmonic Analysis
 What is Vibration?

n Scientific Definition
Any motion that repeats itself after an
interval of time

n Engineering Definition
Deals with the relationship between
excitations (inputs) and responses (output)
oscillatory motion of mechanical systems
vibration
n noun
n noun: vibration; plural noun: vibrations
n 1. an instance of vibrating.
n "powerful vibrations from an earthquake"
n synonyms:quiver, quivering, shake, shaking, shaking movement, quaver, quavering, quake, quaking, tremble,
trembling, tremor, judder, shiver, shivering, shudder, shuddering; Moreoscillation, vacillation
"the slightest vibration of the water's surface is detected by the beetle"
n reverberation, resonance, throbbing, throb, vibrating, pulsation, pulsing, rumbling, rumble, beating, beat, drumming,
drum, thumping, thump, thrumming, thrum, pounding, pound, palpitating, palpitation;
n hum, humming, murmur, murmuring, drone, droning, buzz, buzzing
n "the room shakes with the vibration of rock rhythms“
n an oscillation of the parts of a fluid or an elastic solid whose equilibrium has been disturbed or of an electromagnetic
wave.
"molecular vibrations"

n 2. informal
n a person's emotional state, the atmosphere of a place, or the associations of an object, as communicated to and felt by
others.
"I picked up no unusual vibrations as to the envelope's contents"
Vibration
n Vibration is a mechanical phenomenon whereby oscillations occur about an
equilibrium point. The oscillations may be periodic such as the motion of a pendulum
or random such as the movement of a tire on a gravel road.
n Vibration is occasionally "desirable". For example, the motion of a tuning fork, the
reed in a woodwind instrument or harmonica, or mobile phones or the cone of a
loudspeaker is desirable vibration, necessary for the correct functioning of the various
devices.
n More often, vibration is undesirable, wasting energy and creating unwanted sound –
noise. For example, the vibrational motions of engines, electric motors, or any
mechanical device in operation are typically unwanted. Such vibrations can be caused
by imbalances in the rotating parts, uneven friction, the meshing of gear teeth, etc.
Careful designs usually minimize unwanted vibrations.
n The study of sound and vibration are closely related. Sound, or "pressure waves", are
generated by vibrating structures (e.g. vocal cords); these pressure waves can also
induce the vibration of structures (e.g. ear drum). Hence, when trying to reduce noise
it is often a problem in trying to reduce vibration
n Types of Vibration
Desirable (ex: part of function)
Undesired (ex: waste, noise)

n Source of Vibration
Oscillation (periodic or random)

n Understanding ‘resonance’?
Introduction to Vibration
Wind induced Vibration
The Tacoma Narrows
Bridge Disaster

November 7, 1940
Turbomachinery
Other Examples
Is all Vibration Bad??
Desirable Vibrations
 Basic concept of vibration
n (Area of) Dynamics : Kinematics vs Kinetics
n Concept of Resonance
n Rate of Change
n What is Periodic Motion?
n What is a dynamic system?
n Equation of motion
n Vibratory system (Type of motion) :
Translational, Curve-linear @ Rotational,
General (Translational + Rotational)
Concepts from vibrations
NEWTON’S LAWS

n First law:
If there are no forces acting upon a particle, then the particle will
move in a straight line with constant velocity.

n Second law:
A particle acted upon by a force moves so that the force vector is
equal to the time rate of change of the linear momentum vector.

n Third law:
When two particles exert forces upon one another, the forces lie
along the line joining the particles and the corresponding force
vectors are the negative of each other.
Basic Concepts
n Vibration : Any motion that repeats itself after an
interval of time (e.g. swinging of a pendulum)

n A vibratory system includes:

Means for storing potential energy (springs or elasticity)
Means for storing kinetic energy (mass or inertia)
Means for gradually losing energy (damping)

n The vibration of a system involves the transfer of its

potential energy to kinetic energy and vice versa. If
damping exists, energy is dissipated in each cycle.
 Vibratory system *A means for storing

Translational element Rotational Element

*Main Elements in vibration analysis

Mass Spring Damper

*Store Energy *Store Energy *Dissipate Energy
(Kinetic) (Potential) (Gradual energy loss)

Viscous Dry Friction Solid/Material

*Medium: Air, gas,
water, oil etc
/Hysteresis damping
Spring elements
n Linear spring is a type of mechanical link that is
generally assumed to have negligible mass and
damping
n Spring force is given by:
F = kx
F = spring force
K =spring stiffness or spring constant
X = deformation (displacement of one end with respect to
the other)
q Workdone (U) is deforming a spring or strain energy
is given by:
The springs of figure are said to be parallel. Derive an equation for the equivalent
stiffness of the parallel combination of springs if the system is to be modeled by the
equivalent system

The springs of figure below are said to be series. Derive an equation for the
equivalent stiffness of the series combination of springs if the system is to be
modeled by the equivalent system
Damping Elements
 Procedure in Vibration Analysis
n Step 1: Mathematical Modelling

n Step 2: Derivation of Governing Equation

n Step 3: Solution of Governing Equation

n Step 4: Interpretation of Result

Degree of Freedom of a system:

The minimum number of independent coordinates required

to determine completely the positions of all parts of a
system at any instant of time

Example of SDOF systems

Two degree of freedom system

n Some examples of two degree of freedom

systems are shown in the figure. The first
figure shows a two mass – two spring system
that is described by two linear coordinates x1
and x2. The second figure denotes
n a two rotor system whose motion can be
specified in terms of θ1 and θ2. The motion of
the system in the third figure can be
described completely either by X and θ or by
x, y and X.
MDOF
Discrete and continuous systems
 Discrete and continuous systems
n A large number of practical systems can be described using a
finite number of degrees of freedom, such as the simple system
shown in the previous slides.

n Some systems, especially those involving continuous elastic

members, have an infinite number of degrees of freedom as
shown in the figure. Since the beam in the figure has an infinite
number of mass points, we need an infinite number of
coordinates to specify its deflected configuration. The infinite
number of coordinates defines its elastic deflection curve. Thus,
the cantilever beam has infinite number of degrees of freedom.
 Discrete and continuous systems
n Systems with a finite number of degrees of freedom are called
discrete or lumped parameter systems, and those with an infinite
number of degrees of freedom are called continuous or distributed
systems.

n Most of the time, continuous systems are approximated as discrete

systems, and solutions are obtained in a simple manner. Although
treatment of a system as continuous gives exact results, the analytical
methods available for dealing with continuous systems are limited to a
narrow selection of problems, such as uniform beams, slender rods and
thin plates.

n Hence, most of the practical systems are studied by treating them as

finite lumped masses, springs and dampers. In general, more accurate
results are obtained by increasing the number of masses, springs and
dampersthat is by increasing the number of degrees of freedom.
 Classification of vibration
n Desired vs Undesired vibration

n Free vs Forced vibration

n Undamped vs Damped vibration
n Linear vs Nonlinear vibration
n Deterministic vs random vibration
Classification of Vibration
n Free vibration: If a system, after an initial disturbance is left to
vibrate on its own, the ensuing vibration is known as free vibration. No
external force acts on the system. The oscillation of a simple pendulum
is an example of free vibration.

n Forced vibration: If a system is subjected to an external force (often

a repeating type of force), the resulting vibration is known as forced
vibration.

If the frequency of the external force coincides with one of the

natural frequencies of the system, a condition known as resonance
occurs, and the system undergoes dangerously large oscillations.
Failures of such structures as buildings, bridges, turbines, and
airplane wings have been associated with then occurrence of
resonance.
 Classification of Vibration
n Undamped vibration: If no energy is lost or dissipated in friction or
other resistance during oscillation, the vibration is known as undamped
vibration.
n If any energy is lost in this way however, it is called damped vibration.

n While the spring forms a physical model for storing kinetic energy and
hence causing vibration, the dashpot, or damper, forms the physical
model for dissipating energy and damping the response of a mechanical
system. A dashpot consists of a piston fit into a cylinder filled with oil.
This piston is perforated with holes so that motion of the piston in the
oil is possible. The laminar flow of the oil through the perforations as
the piston moves causes a damping force on the piston.
 Vibration
[Q]: Why do
we study
Free Forced undamped?

[A]: To find
the natural
frequency of
the system.
Damped Undamped

Underdamp. Critically Damp. Overdamp.

 Classification of Vibration
n Linear vibration:

If all the basic components of a vibratory system‐the

spring, the mass, and the damper, behave linearly, the
resulting vibration is known as linear vibration. The
differential equations that govern the behaviour of
vibratory linear systems are linear. Therefore, the
principle of superposition holds.

n Nonlinear vibration:

If however, any of the basic components behave

nonlinearly, the vibration is called ‘nonlinear
vibration’. The differential equations that govern the
behaviour of vibratory non‐linear systems are non‐
linear. Therefore, the principle of superposition does
not hold.
n Deterministic Vibration
If the value or magnitude of the excitation
(force or motion) acting on a vibratory
system is known at any given time
n Nondeterministic or random Vibration
When the value of the excitation at a given
time cannot be predicted
 Harmonic analysis
<Important Terms>

n Cycle
n Amplitude
n Period
n Frequency
n Phase Angle
n Natural Frequency
 Free Vibration of Single Degree
of Freedom Systems

n Harmonic Motion
n Free vibration of undamped SDOF
systems
n Free vibration of damped SDOF
systems
Harmonic motion
n Oscillatory motion may repeat itself regularly, as in
the case of a simple pendulum, or it may display
considerable irregularity, as in the case of ground
motion during an earthquake.

n If the motion is repeated after equal intervals of

time, it is called periodic motion.

n The simplest type of periodic motion is harmonic

motion.
Harmonic motion
n Shown in the figure is a vector OP
that rotates counterclockwise with
constant angular velocity ω.

n At any time t, the angle that OP

makes with the horizontal is θ = ωt.

n Let y be the projection of OP on the

vertical axis. Then y = A sin ωt. Here
y, a function of time is plotted
versus ωt.
Harmonic motion
n A particle that experiences this motion
is said to have harmonic motion.

n The maximum displacement of a

vibrating body from its equilibrium
position is called the amplitude of
vibration. Amplitude A is shown in the
figure.

n Range 2A is the peak to peak

displacement.

n Now consider the units of θ. Let C be

the circumference of the circle shown
in the figure
Harmonic motion
n Thus C = 2πA. Or we can write C = Aθ, where θ = 2π for one revolution. Thus defined, θ is
said to be in radians and is equivalent to 360°. Therefore, one radian is approximately equal
to 58.3°.
n In general, for any arc length, s = A θ , where θ is in radians. It follows that ω in the figure
would be in radians per second.
n As seen in the figure, the vectorial method of representing harmonic motion requires the
description of both the horizontal and vertical components.
n The time taken to complete one cycle of motion 1 is known as the period of oscillation or time
f =
period and is denoted by τ. The period is the time
τ for the motion to repeat (the value of τ in
the figure)
n Note that ω τ = 2 π where ω denotes the angular velocity of the cyclic motion. The angular
velocity ω is also called the circular frequency.
n The movement of a vibrating body from its undisturbed or equilibrium position to its
extreme position in one direction, then to the equilibrium position, then to its extreme
position in the other direction, and back to equilibrium position is called a cycle of vibration.
n One revolution (i.e., angular displacement of 2π radians) of the pin P in the figure or one
revolution of the vector OP in the figure constitutes a cycle. Cycle is the motion in one
period, as shown in the figure.
Harmonic motion
n Frequency is the number of cycles per unit time.

n The most common unit of time used in vibration analysis is seconds.

Cycles per second is called Hertz.

n The time the cycle takes to repat itself is the period T. In terms of the
period, the frequency is:
1
f =
τ
n The frequency f is related to ω:

ω
f =
2π

ω = 2πf
Harmonic motion
n Phase angle: Consider two vibratory motions denoted by:
x1 = A1 sin ωt
x2 = A2 sin(ωt + φ )
n These two harmonic motions are called synchronous because
they have the same frequency or angular velocity ω. Two
synchronous oscillations need not have the same amplitude, and
they need not attain their maximum values at the same time as
shown in the figure.
Harmonic motion
In this figure, the second vector OP2 leads the first one OP1 by
an angle φ known as the phase angle. This means that the
maximum of the second vector would occur φ radians earlier
than that of the first vector. These two vectors are said to
have a phase difference of φ.
Harmonic motion
n From introductory physics and dynamics, the fundamental kinematical
quantities used to describe the motion of a particle are displacement,
velocity and acceleration vectors.

n The acceleration of a particle is given by:

n Thus, displacement, velocity, and relationships in harmonic motion:

Operations on harmonic
functions
n Using complex number representation, the rotating vector can
be X written as:

n where ω denotes the circular frequency (rad/sec) of rotation of

the vector in counterclockwise direction. The differentiation of
the harmonics given X by the above equation gives:

n Thus the displacement, velocity and acceleration can be

expressed as:
Operations on harmonic
functions
It can be seen that the
acceleration vector leads the
velocity vector by 90 degrees
and the velocity vector leads
the displacement vector by 90
degrees.
Harmonic motion
n Natural frequency: If a system, after an initial disturbance, is left to vibrate on its own, the
frequency with which it oscillates without external forces is known as its natural frequency.
As will be seen, a vibratory system having n degrees of freedom will have, in general, n
distinct natural frequencies of vibration.

n Beats: When two harmonic motions, with frequencies close to one another, are added, the
resulting motion exhibits a phenomenon known as beats. For example if:

n The addition of these two motions yield

Harmonic motion
Beats:

Using the relation

The first equation can be written as:

⎠ ⎠
Harmonic motion
Beats:

It can be seen that the resulting motion x(t) represents a cosine wave with
frequency which is approximately equal to ω and with a varying amplitude .
Whenever, the amplitude reaches a maximum it is called a beat.

In machines and structures the beating phenomenon occurs when forcing frequency is
close to the natural frequency of the system. We will later return to this topic.
Harmonic motion
Octave:When the maximum value of a range of
frequency is twice its minimum value, it is known as
an octave band.

• For example, each of the ranges 75‐150 Hz, 150‐

300 Hz, and 300‐600Hz can be called an octave
band.

• In each case, the maximum and minimum values of

frequency, which have a ratio of 2:1, are said to
differ by an octave