Mechanics of Machinery I (ME 349)

[Vibration]

Md. Sharier Nazim

B.Sc. Mechanical Engineering, KUET

Adjunct Lecturer, Mechanical Engineering Department

Sonargaon University
 Frequency of Free Damped Vibrations

✓The motion of a body is resisted by frictional forces. In vibrating systems, the effect of
friction is referred to as damping. The damping provided by fluid resistance is known as
viscous damping.

✓We have also discussed that in damped

vibrations, the amplitude of the resulting vibration
gradually diminishes. This is due to the reason
that a certain amount of energy is always
dissipated to overcome the frictional resistance.
✓The resistance to the motion of the body is
provided partly by the medium in which the
vibration takes place and partly by the internal
friction, and in some cases partly by a dash pot or
other external damping device
 Frequency of Free Damped Vibrations (Viscous Damping)

❑Consider a vibrating system, as shown in here, in which a mass is suspended from one end
of the spiral spring and the other end of which is fixed. A damper is provided between the
mass and the rigid support.
Let m = Mass suspended from the spring,
s = Stiffness of the spring,
x = Displacement of the mass from the mean position at time t,
δ = Static deflection of the spring = m.g/s,
and c = Damping coefficient or the damping force per unit velocity

✓Since in viscous damping, it is assumed that the frictional resistance to the motion of the
body is directly proportional to the speed of the movement, therefore
Damping force or frictional force on the mass acting in opposite direction to the motion of
𝑑𝑥
the mass =c
𝑑𝑡
 Frequency of Free Damped Vibrations (Viscous Damping)

✓Spring force on the mass, acting in opposite direction to the motion of the mass, = – s.x.......(1)
𝑑2𝑥
Accelerating force on the mass, acting along the motion of the mass = m×
𝑑𝑡 2
𝑑2𝑥 𝑑𝑥
Therefore m× 2 = −(sx+c ) (Negative sign indicates that the force opposes the motion)
𝑑𝑡 𝑑𝑡
𝑑2𝑥 𝑑𝑥
m× 2 + c + sx=0
𝑑𝑡 𝑑𝑡
𝑑 2 𝑥 𝐶 𝑑𝑥 𝑠
∴ 2+ + x=0
𝑑𝑡 𝑚 𝑑𝑡 𝑚
 Frequency

𝑐
❑𝜔𝑑 = 𝜔𝑛2 − 𝑎2 where 𝑎 =
2𝑚

2𝜋 2𝜋 2𝜋
❑Time Period,𝑡𝑝 = = =
𝜔𝑑 𝑠 𝑐 2 −𝑎2
−( )2 𝜔𝑛
𝑚 2𝑚

1 1 1
❑ frequency, 𝑓𝑑 = = 2𝜋 = 𝜔𝑛2 − 𝑎2
𝑡𝑝 2𝜋
𝜔2
𝑛 −𝑎
2
 Terminology

❑Damping Ratio :The ratio of the actual damping coefficient (c) to the critical damping
coefficient (𝐶𝑐 ) is known as damping factor or damping ratio.
𝐶 𝐶
Mathematically, Damping factor = = [ 𝐶𝑐 = 2𝑚𝜔𝑛 ]
𝐶𝑐 2𝑚𝜔𝑛
❑ Logarithmic Decrement :It is defined as the natural logarithm of the amplitude reduction factor.
The amplitude reduction factor is the ratio of any two successive amplitudes on the same side of
the mean position
✓ If 𝑥1 and 𝑥2 are successive values of the amplitude on the same side of
the mean position then amplitude reduction factor,

𝑥1 𝐴𝑒 −𝑎𝑡
= −𝑎(𝑡+𝑡 ) = 𝑒 𝑎𝑡𝑝 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑥2 𝐴𝑒 𝑝

where 𝑡𝑝 is the period of forced oscillation or the time difference between two consecutive amplitudes.

𝑥1
As per definition, logarithmic decrement,𝛿 = 𝑙𝑜𝑔 = 𝑙𝑜𝑔 𝑒 𝑎𝑡𝑝
𝑥2
 Formulas(Damping Vibration)

𝐶
❑𝜔𝑑 = 𝜔𝑛2 − 𝑎2 where 𝑎 =
2𝑚

2𝜋 2𝜋
❑Time Period,𝑡𝑝 = =
𝜔𝑑 2 −𝑎 2
𝜔𝑛

1 1 1
❑Frequency of damped vibration, 𝑓𝑑 = = 2𝜋 = 𝜔𝑛2 − 𝑎2
𝑡𝑝 2𝜋
𝜔2
𝑛 −𝑎
2

❑amplitude reduction factor

𝑥1 𝑥𝑛
= = 𝑒 𝑎𝑡𝑝 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑥2 𝑥𝑛+1

𝑥𝑛 2𝜋 2𝜋𝐶
❑ Logarithmic decrement, 𝛿 = log 𝑒 = 𝑎𝑡𝑝 = 𝑎 = [ Critical damping co-efficient 𝐶𝑐 = 2𝑚𝜔𝑛 ]
𝑥𝑛+1 2 −𝑎 2
𝜔𝑛 𝐶𝑐2 −𝐶 2
 Math Problems

❖The following data are given for a vibratory system with viscous damping:
Mass = 2.5 kg ; spring constant = 3 N/mm and the amplitude decreases to 0.25 of the
initial value after five consecutive cycles.
Determine: (1) the damping coefficient of damper (2) critical damping coefficient (3)
the damping ratio (4) Logarithmic decrement (5) frequency of vibration of the system
damped & undamped vibration.
Solution. Given : m = 2.5 kg ; S = 3 N/mm = 3000 N/m ;
Let ,Initial amplitude =𝑥1 ,
Final amplitude after 5 cycles, 𝑥6 = 0.25𝑥1
We know that natural circular frequency of vibration

𝑆 3000
𝜔𝑛 = = = 34.64 𝑟𝑎𝑑/𝑠
𝑚 2.5
 Math Problems

𝑥1 𝑥2 𝑥3 𝑥4 𝑥5
We know = = = =
𝑥2 𝑥3 𝑥4 𝑥5 𝑥6
5
𝑥1 𝑥 𝑥2 𝑥3 𝑥4 𝑥5 𝑥1
Or, = 1 × × × × =
𝑥6 𝑥2 𝑥3 𝑥4 𝑥5 𝑥6 𝑥2
1 1
1
𝑥1 𝑥1 5 𝑥1 5
∴ = = = 4 =1.32 5
𝑥2 𝑥6 0.25∗𝑥1

𝑥1
Logarithmic decrement, 𝛿 = log 𝑒 = log 𝑒 1.32 =0.2776 (ans)
𝑥2
𝑥1 2𝜋 2𝜋
Again 𝛿 = log 𝑒 =𝑎 =𝑎
𝑥2 2 −𝑎2 34.642 −𝑎2
𝜔𝑛
2𝜋
Or , 0.2776= 𝑎
1200−𝑎2 Or, 92.4-0.077 𝑎2 =39.5 𝑎2
39.5𝑎2 Or, 39.577 𝑎2 =92.4
Or, 0.077= (squaring both sides)
1200−𝑎2
Or, 𝑎2 =2.334
Or, 0.077*(1200- 𝑎2 )=39.5 𝑎2 ∴ a=1.53
 Math Problems

𝐶
𝑎= or, C=a × 2m=1.53 ×2*2.5= 7.65 N/m/s
2𝑚

Critical damping co-efficient 𝐶𝑐 = 2𝑚𝜔𝑛 = 2 ×2.5 ×34.64=173.2 N/m/s

𝐶 7.65
Damping factor= = = 0.0441
𝐶𝑐 173.2

1 1
frequency of free damped vibration, 𝑓𝑑 = 𝜔𝑛2 − 𝑎2 = 34.642 − 1.532 =5.50Hz
2𝜋 2𝜋

𝜔𝑛 34.64
frequency of undamped(natural) vibration, 𝑓𝑛 = = = 5.51 Hz
2𝜋 2𝜋
 Frequency of Under Damped Forced Vibrations

❑Consider a system consisting of spring, mass and damper as shown here.

✓ Let the system is acted upon by an external periodic (i.e. simple harmonic)
disturbing force,
𝐹𝑥 = 𝐹𝑐𝑜𝑠𝜔𝑡
where F = Static force, and
ω= Angular velocity of the periodic disturbing force

✓When the system is constrained to move in vertical guides, it has only one degree of
freedom. Let at sometime t, the mass is displaced downwards through a distance x
from its mean position
 Frequency of Under Damped Forced Vibrations

𝑑2𝑥 𝑑𝑥
m× 2 = −sx−c +𝐹𝑐𝑜𝑠𝜔𝑡
𝑑𝑡 𝑑𝑡
𝑑2 𝑥 𝑑𝑥
Or, m× 2 +sx+c =𝐹𝑐𝑜𝑠𝜔t
𝑑𝑡 𝑑𝑡
This equation of motion may be solved either by differential equation method or by
graphical method.

𝐹
∴ Maximum displacement or the amplitude of forced vibration,𝑥𝑚𝑎𝑥 =
𝐶 2 𝜔2 + 𝑆−𝑚𝜔2 2
𝑥0
= 2
𝐶2 𝜔2 𝜔2
+ 1− 2
𝑆2 𝜔𝑛
 Frequency of Under Damped Forced Vibrations

✓When damping is negligible, then c = 0

𝑆
𝑥0 2
𝑥0 𝜔𝑛 𝑥0 × 𝐹
𝑥𝑚𝑎𝑥 = 𝜔2
= 2 −𝜔2 = 2
𝑚
= 2 −𝜔2 ) (∵ 𝐹 = 𝑥𝑜 𝑠)
1− 2 𝜔𝑛 𝜔𝑛 −𝜔2 𝑚(𝜔𝑛
𝜔 𝑛

✓At resonance ω= 𝜔𝑛 . Therefore the angular speed at which the resonance occurs is
𝑆 𝑆
𝜔 = 𝜔𝑛 = & 𝑥𝑚𝑎𝑥 = 𝑥0
𝑚 𝐶𝜔𝑛
 Magnification Factor or Dynamic Magnifier

❖It is the ratio of maximum displacement of the forced vibration (𝑥𝑚𝑎𝑥 ) to the deflection due
to the static force F𝑥0
𝑥𝑚𝑎𝑥 1
Magnification factor or dynamic magnifier ,D = =
𝑥0 2
𝐶2 𝜔2 𝜔2
+ 1− 2
𝑆2 𝜔𝑛

Note:
✓ If there is no damping (i.e. if the vibration is undamped), then c = 0. In that case,
magnification factor,
𝑥 1 𝜔𝑛 2
D = 𝑚𝑎𝑥= 𝜔2 = 2 −𝜔2
𝑥0 1− 2 𝜔𝑛
𝜔 𝑛
𝑥𝑚𝑎𝑥 𝑆
✓At resonance, ω= 𝜔𝑛 . Therefore magnification factor= =
𝑥0 𝐶𝜔𝑛
 Math Problems

❑A mass of 10 kg is suspended from one end of a helical spring, the other end being
fixed. The stiffness of the spring is 10 N/mm. The viscous damping causes the
amplitude to decrease to one-tenth of the initial value in four complete oscillations. If a
periodic force of 150 cos 50 t N is applied at the mass in the vertical direction, find the
amplitude of the forced vibrations. What is its value of resonance ?
Solution: Given : m = 10 kg ; s = 10 N/mm = 10,000 N/m,𝑥5 = 0.1𝑥1
Since the periodic force 𝐹𝑥 = 𝐹𝑐𝑜𝑠𝜔𝑡 ; comparing it with 150cos50 t therefore
Static force, F = 150 N and
angular velocity, ω = 50 rad/s
We know that angular speed or natural circular frequency of free vibrations
𝑆 10,000
𝜔𝑛 = = = 31.6 𝑟𝑎𝑑/𝑠
𝑚 10
 Math Problems

Amplitude of the forced vibrations

𝑥1 𝑥2 𝑥3 𝑥4
= = =
𝑥2 𝑥3 𝑥4 𝑥5
4
𝑥1 𝑥1 𝑥2 𝑥3 𝑥4 𝑥1
Or, = × × × =
𝑥5 𝑥2 𝑥3 𝑥4 𝑥5 𝑥2
1 1
1
𝑥1 𝑥1 4 𝑥1 4
∴ = = = 10 =1.78
4
𝑥2 𝑥5 0.1∗𝑥1

𝑥1 2𝜋
Logarithmic decrement, 𝛿 = log 𝑒 =𝑎
𝑥2 2 −𝑎2
𝜔𝑛
2𝜋 2𝜋
Or, log 𝑒 1.78 = 𝑎 =𝑎
31.62 −𝑎2 1000−𝑎2
2𝜋
Or, 0.576= 𝑎
1000−𝑎2
∴a=2.887
 Math Problems
𝐶
𝐴𝑔𝑎𝑖𝑛 𝑎 = or, C=a × 2m=2.887 ×2*10= 57.74 N/m/s 𝑥𝑜
2𝑚
𝐹 150
and deflection of the system produced by the static force F, 𝑥𝑜 = = =0.015 m
𝑠 10,000
𝑥0
We know that amplitude of the forced vibrations, 𝑥𝑚𝑎𝑥 = 2
𝐶2 𝜔2 𝜔2
+ 1− 2
𝑆2 𝜔𝑛
0.015
=
2
(57.74)2 (50)2 (50)2
+ 1−
(10,000(2 (31.6)2

=9.8× 10−3 𝑚 (Answer)

Amplitude of forced vibrations at resonance
𝑆
We know that amplitude of forced vibrations at resonance, 𝑥𝑚𝑎𝑥 = 𝑥0
𝐶𝜔𝑛
10,000
=0.015
57.74∗31.6
=0.0822 m (answer)
 Vibration Isolation and Transmissibility

❑A little consideration will show that when an unbalanced machine is

installed on the foundation, it produces vibration in the foundation. In
order to prevent these vibrations or to minimise the transmission of forces
to the foundation, the machines are mounted on springs and dampers or
on some vibration isolating material here. The arrangement is assumed to
have one degree of freedom, i.e. it can move up and down only.

❑ It may be noted that when a periodic (i.e. simple harmonic) disturbing force Fcos ωt is applied
to a machine of mass m supported by a spring of stiffness s, then the force is transmitted by
means of the spring and the damper or dashpot to the fixed support or foundation.
❑ The ratio of the force transmitted (𝐹𝑡 ) to the force applied (F) is known as the isolation factor
or transmissibility ratio of the spring support
 Vibration Isolation and Transmissibility

❑We have discussed above that the force transmitted to the foundation consists of the
following two forces :
✓ Spring force or elastic force which is equal to s 𝑥𝑚𝑎𝑥 , and
✓ Damping force which is equal to c ω 𝑥𝑚𝑎𝑥 .
❑Since these two forces are perpendicular to one another, as shown in therefore the
force transmitted,
𝐹𝑇 = 𝑠𝑥𝑚𝑎𝑥 2 + 𝑐𝜔𝑥𝑚𝑎𝑥 2 = 𝑥𝑚𝑎𝑥 𝑠 2 + 𝑐𝜔 2

𝐹𝑇 𝑥𝑚𝑎𝑥 𝑠 2 + 𝑐𝜔 2
∴ Transmissibility ratio , 𝜀 = =
𝐹 𝐹
1
❑When the damper is not provided, then c = 0, 𝜀= 𝜔 2
−1
𝜔𝑛