8/22/2021

Introduction to Vibrations
ME 512 – Vibrations Engineering

Brief History of the Study of Vibration

• People became interested in vibration when they created musical
instruments.

1
 8/22/2021

Brief History of the Study of Vibration

• Long time ago, 4000 B.C, music had become highly developed and
was much appreciated by Chinese, Hindus, Japanese, and, perhaps,
the Egyptians.
• These early people observed certain definite rules in connection with
the ART OF MUSIC, although their knowledge did not reach the LEVEL
OF SCIENCE

Brief History of the Study of Vibration

• Greek Philosopher and Mathematician Pythagoras
• Considered the first person to investigate musical sounds on a scientific basis.

MONOCHORD

2
 8/22/2021

Monochord Movable Wooden Bridges

• Pythagoras observed that if

LIKE strings of DIFFERENT
LENGTHS are subjected to
the SAME TENSION. The
shorter one emits a higher
tone.
Fixed Wooden Bridges • Concept of Pitch was
FORCE developed.
(WEIGHT)
• Relationship of Frequency
and Pitch were not
MONOCHORD developed until the 16th
century (Galileo).

Brief History of the Study of Vibration

• Aristotle and Aristoxenus
• Wrote treaties on music and sound
• Aristotle >
• “The voice is sweeter than the
sound of instruments”
• “The sound of the Flute is sweeter
than the Lyre
• Aristoxenus
• “Elements of Harmony”
• “Introduction to Harmonics”
>

3
 8/22/2021

Brief History on Vibrations

• Vitruvius
• Famous Roman Architect wrote in about acoustic properties of theaters.
• “De Architectura Libri Decem”
• There appears to have been no development in the theories of sound
and vibration nearly 16th centuries after the work of Vitruvius.

Brief History of the Study of Vibration

• China
• Experienced many earthquakes in
ancient times
• Zhang Heng
• Served as historian and
astronomer in the second century
perceived a need to develop an
instrument to measure
earthquakes precisely.
• He invented the first
Seismograph.

4
 8/22/2021

• Made of Fine Cast Iron.

First Seismograph • Shaped Like a Wine Jar
• (Inside the Jar). Pendulums
surrounded by a group of eight
levers pointing in eight directions.

• Eight Dragon Figures with a

bronze ball in the mouth of each.

• Below each dragon is a

toad with mouth open
upward

By this, they will be able

First Seismograph to:
• Approximate the TIME of
the Earthquake.
• They will be able to
know its probable
DIRECTION.

DING!!

5
 8/22/2021

Brief History of the Study of Vibration

• Galileo Galilei
• Wrote the treaties on modern
dynamics.
• His works on oscillation of a simple
pendulum and the vibration of
strings are of fundamental
significance in the theory of
vibrations.

Importance of the Study of Vibration

• Most human activities involve vibration in one form
or the other.
• Example:
• We hear, because our eardrums vibrate.
• We can see, because lightwaves undergo
vibration.
• Breathing is associated with the vibration of
lungs.
• Human speech requires the oscillatory motion
of the larynges (and tongue).
• Developed mathematical theories to describe the
vibration of physical systems.

6
 8/22/2021

Importance of the Study of Vibration

• In recent times, many investigators have been motivated by the
engineering applications of vibrations.
• Design of machines, foundations, structures, engines, turbines, and other
systems
• Most prime movers have vibrational problems due to inherent
unbalance in the engine.
• Faulty Design
• Poor manufacturing

Importance of the Study of Vibrations

• Examples:
• Diesel Engines. Imbalance can cause ground waves
sufficiently powerful to create a nuisance.
• Wheels. The wheels of some locomotives can rise more
than a centimetre off the track at high speeds due to
imbalance.
• Turbines. Vibrations cause spectacular mechanical
failures.
• Structures Designed to Support Prime Movers. Can also
fail due to vibrations brought by prime movers.
• Failure on Machine Parts. Vibration causes more rapid
wear of machine parts such as bearings and gears and
also creates excessive noise.
• Vibration can Loosen Fasteners (such as nuts)
• Metal Cutting Processes. Vibration can cause “chatter”,
which leads to poor finishing

7
 8/22/2021

Importance of the Study of Vibrations

• In all these situations, the structure or machine
component subjected to vibration can fail because
of material fatigue resulting from the cyclic
variation of induced stress.

Fatigue
• It has been found experimentally that
when a material is subjected to
repeated stresses, it fails at stresses
below the yield point stresses. Such
type of failure of a material is known as
fatigue.
• The failure is caused by means of a
progressive crack formation which are
usually fine and of microscopic size. The
failure may occur even without any
prior indication.

8
 8/22/2021

Fatigue
• “It has been said that 80% of the
failures of machine parts have been
fatigue failures.”
• “Whatever the true percentage, it is
a large one, which suggests that
designing machine elements should
always be done from the viewpoint
of the possibility of a fatigue
failure.”

Vibration Testing
• Vibration Testing. Because of the devastating effects that vibrations
can have on machines and structures, VIBRATION TESTING, has
become a standard procedure in the design and development of most
engineering systems.
• “One of the important purpose of vibration study is to reduce
vibration through proper design of machines, and their mountings.”

9
 8/22/2021

Design of Machines and their Mountings

• Mechanical Engineer.
• Design the engine or machine so as to minimize imbalance
• Structural Engineer
• Design the supporting structure so as to ensure that the effect of the
imbalance will not be harmful.

Vibration
• In spite of its detrimental effects, vibration
can be utilized profitably in several consumer
and industrial applications.
• Vibratory Conveyors
• Hoppers
• Sieves
• Compactors
• Washing Machines
• Electric Toothbrushes
• Dentist’s Drills
• Clock
• Electric Massaging Units

10
 8/22/2021

Basic Concepts of Vibration

Vibration or Oscillation
• Any motion that repeats itself after an interval of time is called
vibration or oscillation.

11
 8/22/2021

Elementary Parts of Vibrating System

• A vibratory system, in general,
includes a means for
• Storing potential energy (Spring
or Elasticity)
• A means of storing energy
• Mass or inertia
• A means by which energy is gradually
lost
• Dampers

Mass-Spring-Damper System
• All mechanical and structural systems can
be modelled as mass-spring-damper
systems.
• The system can be identified as separate
components
• Mass in the form of a body
• Spring in the form of suspension
• Damper in the form of shock absorbers
• EXAMPLE: Automobile
• The system can be identified as combined
components.
• EXAMPLE: Airplane Wings

12
 8/22/2021

Classification of Vibration
• 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.
• 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.
• No external force acts on the system.
• The oscillation that arises in machines such as diesel engines is an example of
forced vibration.

Classification of Vibration
• Forced Vibration.
• Resonance. Occurs if the frequency of the
external force coincides with one of the
natural frequencies of the system.
• The system undergoes dangerously large
oscillations. Failures of such structures as
buildings, bridges, turbines, and airplane
wings have been associated with the
occurrence of resonance.

13
 8/22/2021

Classification of Vibration
• Undamped Vibration. If no energy is lost or dissipated in friction or
other resistance during oscillation, the vibration is known as
undamped vibration.
• Damped Vibration. If any energy is lost during oscillation, the
vibration is known as damped vibration.

14
 8/22/2021

Classification of Vibration
• Deterministic Vibration. If the value or
magnitude of the excitation (force or motion)
acting on a vibratory system is known at any
given time, the excitation is called deterministic.
The resulting vibration is known as deterministic
vibration.
• Random Vibration. In some cases, the
excitation is nondeterministic or random; the
value of the excitation at a given time cannot be
predicted. The resulting vibration is known as
deterministic vibration.
• Examples of random excitations are wind
velocity, road roughness, and ground motion
during earthquakes.

Vibratory System
• The vibration of a system involves the transfer of its potential energy
to kinetic energy and of kinetic energy to potential energy,
alternately. If the system is damped, some energy is dissipated in each
cycle of vibration and must be replaced by an external source if a
state of steady vibration is to be maintained.

15
 8/22/2021

Vibratory System

Degrees of Freedom
• The minimum number of independent coordinates required to
determine completely the positions of all parts of a system at any
instant of time defines the number of degrees of freedom of the
system.
• Single-degree-of-freedom systems
• Two-degree-of-freedom systems
• Third-degree-of-freedom systems
• Infinite-degree-of-freedom systems

16
 8/22/2021

Single-degree-of-freedom

Single-degree-of-freedom systems

17
 8/22/2021

Two-degree-of-freedom systems

Third-degree-of-freedom

18
 8/22/2021

Infinite-number-of-degrees-of-freedom
system

The coordinates necessary to describe the motion of

a system constitute a set of generalized coordinates.
These are usually denoted as q1, q2, and may
represent Cartesian and/or non-Cartesian
coordinates.

Discrete and Continuous System

• Systems with a finite number of degrees of freedom are called
DISCRETE or LUMPED PARAMETER systems
• System with an infinite number of degrees of freedom are called
CONTINUOUS or DISTRIBUTED systems.

19
 8/22/2021

Vibration Analysis Procedure

• Step 1: Mathematical Modeling.
• Step 2: Derivation of Governing Equations.
• Step 3: Solution of the Governing Equations.
• Step 4: Interpretation of the Results.

Step 1: Mathematical Modeling.

• The purpose of mathematical modeling is to represent all the
important features of the system for the purpose of deriving the
mathematical (or analytical) equations governing the system s
behavior.
• The mathematical model should include enough details to allow
describing the system in terms of equations without making it too
complex.

20
 8/22/2021

Step 1: Mathematical Modeling.

• FORGING HAMMER

Step 1: Mathematical Modeling.

• FORGING HAMMER

21
 8/22/2021

Step 2: Derivation of Governing Equations.

• Once the mathematical model is available, we use the principles of
dynamics and derive the equations that describe the vibration of the
system.
• The equations of motion can be derived conveniently by drawing the
free-body diagrams of all the masses involved. The free-body diagram
of a mass can be obtained by isolating the mass and indicating all
externally applied forces, the reactive forces, and the inertia forces.
• The equations of motion of a vibrating system are usually in the form
of a set of ordinary differential equations

Step 3: Solution of the Governing Equations.

• The equations of motion must be solved to find the response of the
vibrating system. Depending on the nature of the problem, we can
use one of the following techniques for finding the solution: standard
methods of solving differential equations, Laplace transform
methods, matrix methods, and numerical methods.

22
 8/22/2021

Step 4: Interpretation of the Results.

• The solution of the governing equations gives the displacements,
velocities, and accelerations of the various masses of the system.
These results must be interpreted with a clear view of the purpose of
the analysis and the possible design implications of the results.

Mathematical Model Example:

• The figure shows a motorcycle
with a rider. Develop a sequence
of three mathematical models of
the system for investigating
vibration in the vertical direction.
Consider the elasticity of the tires,
elasticity and damping of the
struts (in the vertical direction),
masses of the wheels, and
elasticity, damping, and mass of
the rider.

23
 8/22/2021

Mathematical Model Example:

24