Causes of Vibrations :

r)r-2
The main causes of vibrations are as follows :

(i) Unbalance forces and couples in the machine parts.

(ii) External excitation forces applied on the system.

(iii) Dry friction between two mating surfaces.

(iv) Winds may cause vibrations in certain systems such as telephone lines, electricity lines, etc.

(v) Earthquakes also cause vibrations in civil structures like buildings, dams, etc.

y- Disadvantages of Vibrations : �

(i) It creates excessive stresses in machine parts.

(ii) It leads to loosening of assembled parts.

(iii) It may lead to partial or complete failure of machine parts.

(iv) It creates undesirable noise.

4J y Advantages of Vibrations :�

'c?'" All musical instruments work on phenomenon of vibration.

(ii) Vibrating screens, shakers and conveyors work on phenomenon of vibrations.

(iii) In stress relieving equipment, vibrations are useful.

4.1.5 Methods of R e d u c i n g Effects of Undesirable Vibrations : �

�f the methods used for reducing the effects of undesirable are as follows :

(i) By removing unbalanced forces and couples in machine parts, which cause vibrations.

(ii) By placing the machinery on proper type of vibration isolators.

(iii) By putting the sound proof screens or glass, if noise is treated due to vibrating parts.

(iv) By using shock absorbers.

 simple H a rm o n i c Motion ( S . H . M . )Jc,L \t'JV & 4J
1

Y Consider a point ' P ' moving around a circle with au angular speed ' ro ' as shown in Fig. 4 . 2 .

---0

Mean

position
�
e = cot

Fig. 4.2 : Simple Harmonic Motion

Let,

� = Displacement of a point from mean position after time 't'.

c;./ X = Maximum displacement of point from mean position.

From Fig. 4 . 2 ;

• Displacement of point after time 't' is,

x = X sin 8

or x = X sin ro t
. . . (4.1)

• Velocity of point after time 't' is,

dx
- = x or x = 0) x cos 0) t
dt

• Acceleration of point after time 'r' is,

2
� d x .. 2 •

--- = x = - ro X sm ro t
dt «:

2
or x = - 0) x
-----::· . . . [ ·. · x = X sin rot ] . . . (4.2)

•
From Equation (4.2) it can be seen that, the acceleration is directly proportional to the

displacement from mean position. motion whose acceleration is rtional to

�lacement from mean position and is dir�cted t�wards tbe mean position, is known as

�imple b�r_moni� motfun.)

 - J •

• The Equation ( 4.2) can be written as,

.. ')

x + w- x = 0 . • • ...(4.3)

• The Equation (4.� is known as fundamental equation of simple harmomc motion.

. 2 Time Period (tp) : '

&• Time period is lhe\me taken bt__the moti�n to r�p__eat itself or it i e...time requ;,�
0
complete one cycle ..-,

• · It is denoted by ' � ' and expressed in 'seconds'.

• It is the time required for the vector to rotate through one cycle (21t) .

Mathematically, .. 'j

2 7t
sec . . . (4.4)
0) '

3 Frequency (f) :

�
expressed in cycles/sec (c.p.s) or Hertz (Hz).

• It is a reciprocal of time period. Mathematically,

1 1 ro
Hz ... (4.5)
f = � = 2 1t = 2 1t '

0)

0
Amplitude (X) :

• VJ....is the maximum displacement of a vibrating body from its mean position. It is denoted

/ by
'X' . -

5 Stiffness of spring (K) :

• Jt is the force required to produce unit displacement in the direction of a ?J!.lied �

.MaOiematieaJl�

F
K = - , Nim . . . (4.6)
8

Where, K = stiffness of spring, N/m, F = force applied on spring, N, 8 = deflection of spring, m

Wegrees of Freedom (D.O.F) :

J�• The minimum number of indepencfp1t co-ordinate.LJ:.e.t}o · o s eci the motio r

rJ �guration ofa system at Gll)Li11s/.(JJ11Js.known_o leyees offreedom o[that system.

• In general degrees of freedom (D.0.F.) is equal to the number of independent displacements

that are possible. This number varies from zero to infinity. The Fig. 4 . 3 shows examples of

one, two and three degrees of freedom (0.0.F) systems.

• In Fig. 4.3(a), one mass ' rn . ' is attached to the spring having stiffness 'K '. In this case onlY
1

one independent co-ordinate x1 (i.e. displacement of mass) is sufficient to specify the

configuration of a total system. Hence, such system is called as single degree of freedoJJJ
system.

• In Fig. 4.3(b), two masses and two springs system requires two independent co-ordinates x
1
and x2 to specify the configuration of a total system. Hence, such system is called as two
degrees of freedom system.
 • In Fig. 4.3(c), three masses..:::and three springs system requires three independent

co-ordinates X 1 , X2 and X3 to specify the configuration of a total system. Hence, such system

is called as three degrees o f freed om system.

• Systems having a finite number of D. O.F. are called as discrete or Lumped parameter

syst.en,s, and the systems which are hm,ing infinite number of D.0.F. are called as

continuous or distributed systems.

A. / / /

(a) One D.O.F.

(b) TwoD.O.F.

X3

(c) Three D.O.F.

Fig. 4 . 3 : Degree of Freedom (D.0.F)

1"0 -----
.......- c a m p i n g : <;»:

• Damping is the resistance to the motion of the vibrating bodl:J_;whi.£h causes a vibrating

FoJ;;-tocome lo rest or equilibrium position.

_,))amping Coefficient (c) :

• Damping coefficient is the dampingJorce or resisting force developed per un!J_velqcity.

-J:1/athematical/y,

F N
<I
' -
c = m sec or N-scc/m . . . (4.7)
v ' I

Where, F = Force applied on damper or damping force in N.

/ v = Velocity of viscous fluid in m/sec.

/Resonance : i . e_ \J \ ur• _:) . C v) ""Y':--,;.>-1.. D · ,(') "C>/

� ,... - -O r +r �

......,.V>) _When the fre..quenc)!. of_ exter:naLexcilatinn-f<Jr-Ge-aGting-9n-a-body-is-equal-to-th �tu_:_�

frequency of a vibrating body, the body starts vibrating with excessively large-amplititde.

Si/ch-state is known as resonance.

18.3 BASIC FEATURES OF VIBRATING SYSTEMS

For mathematical analysis of a vibratory system, it

is necessary to have an idealized model of the same

m
which appropriately represents the system.
Massless beam

Basic Elements spring

(b)
For a system to vibrate, it must possess inertial and

restoring elements whereas it may possess some

damping element responsibl'.;/for dissipating the

energy.
Distributed beam
Inertial elements These are represented by
(a) (c)
lumped masses for rectilinear motion and by Jumped

moment of inertia for angular motion.

/
Restoring Elements Massless linear or torsional

springs represent the restoring elements for rectilinear

and torsional motions respectively.

Damping Elements Massless dampers of rigid elements may be considered for energy dissipation in a

system.

It is to be noted that lumping of quantities depends upon the distribution of these quantities in the systems.

In a spring-mass vibrating system, the spring can be considered massless only if its mass is very less as

compared to the suspended mass [ F i g . 1 8 . 2 (a)]. Similarly, if the mass of the beam is negligible as compared

to the end mass, lumping is possible [ F i g . 1 8 . 2 (b)], otherwise not [ F i g . 1 8 . 2 (c)].

 (,i(. Longitudinal Vibrations If the shaft is

elongated and shortened so that the same

/ moves up and down resulting in tensile and

Shaft

compressive stresses in the shaft, the vibrations

are said to be longitudinal. The different

particles of the body move parallel to the axis

/of the body [ F i g . 1 8 . l ( a ) ] .

(tzi) Transverse Vibrations When the shaft is

/ bent alternately [ F i g . 1 8 . 1 (b )] and tensile and (b)

j __
compressive

the vibrations
stresses

are said
due

to
to

be
bending

transverse.
result,

The
(a)
--

e }
"{

(c)
articles of the body move approximately

perpendicular to its a x i s . Fig. 18.1

Torsional Vibrations When the shaft is twisted and untwisted, alternately and torsional shear

stresses are induced, the vibrations are known as torsional vibrat ions. The p a rticles of the body move

in a c ir c le a bou t the a xis of the shaft [ F i g . 1 8 . 1 (c) ] .

 Often an u n b a l a n c e of forces is produced in rotary or reciprocating m a c h i n e ry due to the i n e rt i a forces associated with

the moving masses. B a l a n c i n g is the process of d e s i g n i n g or m o d i fy i n g m a c h i n e ry so that the u n b a l a n c e is reduced to

a n acceptable level a n d i f p o s s i b l e is e l i m i n a t e d entirely.

A p a rt i c l e or mass m o v i n g in a c i r c u l a r path experiences m t to ?

2
a centripetal acceleration a n d a force is required to produce mem
m

it. An equal a n d opposite force acting r a d i a l l y outwards acts

on the axis of rotation and is known as centrifugal force [Fig. "\

14.1(a)]. T h i s is a d i s t u r b i n g f o r c e on the axis of rotation, the

magnitude of w h i c h is constant but t h e direction c h a n g e s

with the rotation of the m a s s .

In a revolving rotor, the centrifugal force r e m a i n s b a l a n c e d

as long as the centre of the m a s s of the rotor l i e s on the a x i s (a) (b)

of the shaft. W h e n the centre of m a s s does not l i e on the axis . Fig. 14.l_j

or there is an eccentricity, a n u n b a l a n c e d force is produced

( F i g . 14.1b). T h i s type of u n b a l a n c e is very c o m m o n . For e x a m p l e , in steam t u r b i n e rotors, e n g i n e crankshafts, rotary

compressors a n d centrifugal p u m p s .

Most of the serious p r o b l e m s e n c o u n t e r e d in h i g h - s p e e d m a c h i n e ry are the direct result of u n b a l a n c e d forces.

These forces exerted on the frame by the m o v i n g m a c h i n e members are t i m e varying, i m p a rt vibratory motion to the

frame and produce n o i s e . Also, there are h u m a n d i s c o m f o rt a n d d etr imental effects on the m a c h i n e performance a n d

the structural integrity of the m a c h i n e f o u n d a t i o n .

�L I I - _ '. _ - : _ l.... • .,. ,... ,.l ; ,- + ..- i h 1 1 i- i n r1 the rrl :l C C: V,lhirh m;:l\/ hP ;'l ( (' O m O l i s h e d by a d d i t i o n or
 Static and Dynamic Balancing :

'7 In any system having

· one or more rotating
. masses , if the centre of mass of the system does not Jie

on the axis of rotation, then the �stem 1s called unbalanced. . , , .

Fig. l . l shows the rotating mass having its centre of mass (C.G) at a distance r from the axis of

rotation

Centrifugal Force = mr<JJ

Bearings

Fig: 1.1 : Unbalanced System

The dynamic force (centrifugal force) arising due to unbalance is

2
Fe = m r ro . . . ( 1 . 1 )

where, m = mass of the rotating body, kg.

r = distance of centre of mass ( C. G.) from the axis of rotation, m

ro = angular speed of rotation, rad/s.

This dynamic force (centrifugal force) acts in radially outwar:d direction.

!. 1 Static Balancing :

The system is said to, be statically balanced. if the centre of mass (C. G). of the system of masses
lies on the axis of rotation. ,

For the system to be statically balanced, the resultant of all the dynamic forces (centrifugal

forces) acting on the system during rotation must be zero.

i.e. L Dynamic forces (centrifugal forces)/actine on the svstem = O

 A statically unbalanced system shows ·1 vibrato ti · ·
• c c ry mo 1011 a s s 1 town in fig. l .2(a).

(a) Statically Unbalanced System (b) Vibratory Motion of Statically Unbalanced System

Fig. 1.2 : Static Unbalance

1.2.2 Dynamic (Complete) B a l a n c i n g :

\../"'
• The system is said to be dynamically (completely) balanced, if it satisfies following two

conditions :

(i) The · resultant of all the dynamic forces (centrifugal forces) acting on the system during

rotation must be zero.

i.e. � Dynamic forces acting on the system= 0.

If this condition is satisfied, the system is said to be statically balanced.

(ii) The resultant couples due to all the dynamic forces (centrifugal forces) acting on the

system during rotation, about any plane, must be zero.

i.e. L Couple due to dynamic forces acting on the system = 0

• If both these conditions are satisfied, then the system is said to be dynamically (completely)

balanced. .

• A dynamically unbalanced system shows a_ vibratory motion as shown in Fig. 1 . 3 (b ) .

r " ' • ' .,

(a) Dynamically Unbalanced System (b) Vibratory Motion of Dynamically Unbalanced System

Fig. 1.3 : Dynamic Unbalance

 Resultant

Centrifugal Force

F er ' .
\
\
\
\
\ 9r

a'�
3

Balancing ·

Centrifugal Force

Feb= Fer= mbrb

(a) Configuration Diagram

Analytical Method :
/ I

Refer Fig. 1 . 9 (a) �

(i) Resolve the centrifugal forces horizontally and vertically and find their sums.
I'

L FH = n11 r, cos e1 + m, r2 cos e2 + 1113 r3 cos e3 + m, r, cos 8 4 . . . (1.6)

and L Fv = 1111 r1 sin 8 1 + 1112 r2 sin 82 + m, r3 sin 83 + m, r, sin 8

4
. . . ( 1 . 7)

(ii) Calculate the magnitude of resultant centrifugal force.

2 2
FCr = ,V ( L FH ) + ( L Fv ) . . . (1.8)

(iii) Calculate the angle made by the resultant centrifugal force with horizontal line OX

IFv
tan er= "'"' F . . . (1.9)
L., H

_1 (I F\�1
or er = tan I Fr.J

(iv) The balancing centrifugal force FCb should be equal in magnitude of the resultant

centrifugal force Fer but in opposite direction i.e. e h = (9r + 180°).

(v) Determine the magnitude and radius of rotation of balance mass by using relation:

m, rb = Fer
 9
l ..:t'
1 . 6 '--"B a l a n c i n g of Several Masses Rotating in Different Planes

• Transferred to a single plane which is called as reference plane (R..P)

• The effect of transferring any rotating mass to a reference plane is to produce :

2
'� Centrifugal force of magnitude, Fc = m r co ; and

V,if Couple whose magnitude is equal to the product of centrifugal force and the distance of
2
the reference plane from the disturbing mass C = Fc l = m r co l. ·

• For complete balancin_g--=2_f any system, the following two conditions must be satisfied :

---- 2
i Resultant of all centrifugal forces must e zero ( L m r co = 0 i.e, L m r = O) · and
/ ------------- -·----- 2 '
(ii Resultant couple must be zero (1: m r co l = 0 i.e. L m r l = O)
/' -- -· --..........___ ,,,,_.,_

• Consider masses m . , m2, m3 and m, revolving in planes A, B, C, D respectively, as shown in

Fig. 1 . lO(a). The relative angular positions of these masses are shown in Fig. l . lO(b).

• Such system is balanced by two masses 'mL' and 'MM' which are put in planes L and M

respectively.
- v e - ( R . P . ) -- + v e
, .......
I ml\
c
'r., D
I L
B
I

ru
I

(a) Positions of Planes of Masses (b) Angular Positions of Masses

rs-.
1.6.2 Balancing by Analytical Method :

• Following two conditions must be satisfied for the complete balancing of the system:

1. l: (Couples due to centrifugal forces)= 0

or l: m r I = 0

2. l: (Centrifugal forcesj = O

or l: m r = O

Referring Table 1 . 1 and Fig. 1 . 1 o.

1. I (Couples due to centrifugal forces)= O :

or Imr I = 0

�(i) Resolve the couples horizontally and vertically and find their summation :

'£ ( m r l) H = 0� ... (1.10)

- m, f1 /1 COS O + m, f2 /2 COS 82 + m3 �/;'COS 83 + mM TM /M COS 9M + m, r, / COS 84 = 0

4

., IDM fM /M COS 8M = ml f1 /I COS O - m2 f2 /2 COS 82 - m, T3 /3 COS 93 - m, r, / COS 84 . . . (a)

• Pu t � = m, f1 /1 COS 0 - m, f2 /2 COS 82 - m3 f3 /3 COS 93 - m, r, / COS 84.

4
• Equation (a) becomes,

m M r M / M c os e M = Ca . . . (bl

r (m r /)y = o� ... ( I . I I l

- m, r1 11 sin O + Il12 r2 /2 sin 82 + m, r3 /3 sin 83 + mM rM /M sin 8M + m, r, / sin 84 = O

4

:. mM rM /M sin 8M = m, r1 11 sin O - m2 r2 /2 sin 0 - m, r3 /3 sin 83 - m, r4 /4 sin 8 . . . (cl

2 4

• Put C, = m, r1 11 sin O - m2 r2 /2 sin 8 - m, r / sin 8 - m, r, / sin 8 .

2 3 3 3 4 4
• Equation (c) becomes,

mM rM IM sin eM = c, . . . (d)

�i) Calculate the magnitude of balancing mass mM :

From Equations (b) and (d),

2
( mM rM /M cos 8M ) + ( mM rM /M sin eM )2 =

.
. .
 or
m
_ yc; 1
+c�
. . . (e)
M
rM -
IM

/(iii) Calculate the angle made by balancing mass mM with the horizontal line OX :

Again from Equations (b) and (d),

Il1M TM /M Sin 8M
Cv
=
IllM rM /M COS 8M .
CH

Cv
t an 8 M =
CH

or =
_1 [ c, J . . . (f)
9M
tan Cn .

2. :E (Centrifugal f o r c e s ) = o

or :E m r = 0

Resolve the forces horizontally and vertically and find their summation :

:E ( m r ) H = O; ... (1.12)

m, r, COS 8 + ffi1 f1 COS 81 + m2 f2 COS 82 + m3 r, COS 9

3 + �M fM COS 8M + m, r, COS 84 = Q

ffi1 fL COS 8L = - [m, f1 COS Q + m2 f2 COS 82 + m3 f3 COS 83 + mM fM COS 8M + m, r, COS 8 4 ] . . . (g)

• Put FH = - [m, f1 c os O + m2 f2 cosO, + m, f3 cos 83·+ mM rM cos 9M + m; f4 cos 8 4 ]

• Equation (g) becomes,

mL rL cos 8L = Fn ... (h)

:E ( m r ) v = O; ... ( 1 . 1 3 )

m r Sin Q + m r Sin 81 + m2 f2 Sin 82 + m3 f3 sin 83 + mM fM Sin 8 M - m, r4 Sin 8 � Q

1 1 1 1 4

:. m1 r sin 8 = - [rn, r1 sin O - m, r2 sin 82 - m, r3 sin 83 - mM rM sin 8 - m, r, sin 8 . . . (i)

1 1 3 4 ]

• Put Fv = - [m, r
1
sin 0 - m, r2 sin 82 - m, Tj si n 83 - mM rM sin 8 M - m, r, sin 8
4]

• Equation (i) becomes,

mL f1 sin eL = Fv . . ... (j)

� Calculate the ma gn it u de of b a l anc in g mass mL : "

From Equations (h) and (j ) , .

2 2 2 2 ·,

( ffi1 rL cos eL ) + ( mL rL sin 81 ) = FH + Fv

.... J 2 2

:. mL rL = \J Frr + Fv . . . (k)

(!i) Calculate �he angle ma�e by the b alan c in g mL with the horizontal li n e OX :

<Again from Equations (h) and (j),

� � � � � �

= F tan 81 = -F
m1 f1 COS
8L H .H

or eL = tan-
1[Fv
Fn
J . . . (])