MECE 3210

Prof. Atef Mohany

Mechanical Vibrations
Lecture 21:
❑ Review

With many figures and models from Mechanical Vibrations, S. S. Rao

Review-1
Free Vibrations

Mechanical Vibrations
❖ The equation of motion using Newton’s second
law for undamped and damped free vibration:

k k c

m m

mx + kx = 0 mx + cx + kx = 0

Review -2
 Response of Undamped Free Vibration

Mechanical Vibrations
x(t) = A1 cos(wnt)+ A2 sin(wnt)
or
x(t ) = A cos(nt −  )

 x0 
2
 x0 
Amplitude A = A1 + A2 = x0 +  
2 2 2
 = tan 
−1
 Phase
 n   x0n 

or
 x0n 
0 = tan 
−1

 x0 
x(t ) = A0 sin(nt + o )
Review -3
Response of Damped Free Vibration

Mechanical Vibrations
❖ Case 1: ζ < 1 Under damped
x(t ) = e − nt
( A cos d t + B sin d t )
Exponential
decay Periodic
motion

  x (0) + n x(0)  

x(t ) = e − n t
 x(0) cos d t +   sin  t 
    d 
  d   Review -4
Response of Damped Free Vibration

Mechanical Vibrations
❖ Case 2: ζ = 1 Critically damped

Review -5
Response of Damped Free Vibration

Mechanical Vibrations
❖ Case 3: ζ > 1 Over-damped
s1, 2 = −n  ( − 1)n
2

s1 = −n + ( 2 − 1)n

s2 = −n − ( 2 − 1)n

x(t ) = C1e + C2 e
s1t s2 t

Review -6
Response of Damped Free Vibration

Mechanical Vibrations
❖ Case 3: ζ > 1 Over-damped

Review -7
Log Decrement

Mechanical Vibrations
❖ A method to experimentally measure damping ratio
in under-damped systems
1

0.8

0.6 x1 n = number of periods

0.4

xn+1
tn+1 = t1 + n D
0.2
Disp [m]

0
t1 tn+1
-0.2

-0.4
2
 =

-0.6 D

-0.8 d

-1
0 1 2 3 4 5 6 7 8 9 10
Time (sec.)

x(t ) = e − n t
( X sin(wd t +  ))
Review-8
Log Decrement

Mechanical Vibrations
n 2 
x1
Given =e 1− 2
take ln (loge) both sides
xn+1

 x1  n2
ln  = Log Decrement
 xn +1  1−  2

1  x1  2
ln  = 
n  xn +1  1−  2

Review -9
 Free Vibration with Coulomb Damping

Mechanical Vibrations
Motion of a mass with
Coulomb damping

4N
X m = X m−1 −
k

Review -10
Forced Vibrations

Mechanical Vibrations
❖ The equation of motion using Newton’s second
law for forced undamped and damped
vibration:

mx + kx = F (t ) mx + cx + kx = F (t )

Review -11
Response of Forced Undamped System

Mechanical Vibrations
xp (t ) = X sin(t )
OR

xp (t ) = X cos(t )

X 1
=
 st  
2

1 −  
 n 

Review -12
Response of Forced Undamped System

Mechanical Vibrations
Total response:
F0
x(t ) = C1 cos nt + C2 sin nt + cos t
k − m 2

and, x(t = 0) = x0 and x (t = 0) = x0

F0 x0
C1 = x0 − , C2 =
k − m 2
n
Hence,
 F0   x0 
x(t ) =  x0 − 2 
cos nt +   sin nt
 k − m   n 
 F0 
+ 2 
cos t
 k − m  Review -13
Response of Forced Damped System

Mechanical Vibrations
F (t ) = F0 cos(t )

xp (t ) = X cos(t −  )
F0 
 st = ; r=
k n

X
=
1  2r 
 = tan 
−1
2 
 st (1 − r 2 ) 2 + (2r ) 2 1− r 

Review -14
Response of Forced Damped System

Mechanical Vibrations
Review -15
Response of Forced Damped System

Mechanical Vibrations
• Total response
For an underdamped system,
− nt
x(t ) = X 0e cos(d t − 0 ) + X cos(t −  ) (3.35)

where
d = 1−  2 n

For the initial conditions, Eq.(3.35) yields

x0 = X 0 cos 0 + X cos 
x0 = −n X 0 cos 0 + d X 0 sin 0 + X sin 

Review -16
Response of a Damped System Under
the Harmonic Motion of the Base

Mechanical Vibrations
The variations of displacement transmissibility
(X/Y) is shown in the figure below.
X 1 + (2r ) 2
=
Y (1 − r 2 ) 2 + (2r ) 2
 2r 3 
 = tan 
−1
2
1 + ( 4 2
− 1) r 

Review -17
Response of a Damped System Under
the Harmonic Motion of the Base

Mechanical Vibrations
Force transmitted:
F = k ( x − y) + c( x − y ) = −mx
F = m 2 X sin(t −  ) = FT sin(t −  )
The force transmissibility is
given by:
1/ 2
FT 2 1 + (2r )
2

=r  2
 (1 − r ) + (2r ) 
2 2
kY

Review -18
Example 1

Mechanical Vibrations
❖A manufacturer makes a leaf spring from
steel (E=2X1011 N/m2) and sizes the
spring so that the device has a specific
frequency. Later, to save weight, the
spring is made from aluminum (E=7.1X
1010 N/m2). Assuming that the mass of
the spring is much smaller than that of
the device the spring is attached to,
determine if the frequency increases or
decreases and by how much.
Review -19
Example 2

Mechanical Vibrations
❖A machine oscillates in a simple
harmonic motion and appears to be well
modeled by an undamped single degree
of freedom oscillation. The
measurements showed that the
amplitude of its acceleration is 10,000
mm/sec2 at 8 Hz. What is the machine’s
maximum displacement?.

Review -20
Example 3

Mechanical Vibrations
❖ A door of 100 kg.m2 moment of inertia closed automatically
under the control of a spring and a damper that provides
critical damping. The spring and damper have unknown
element characteristics. To determine the spring and
damper characteristics the door in the closed position is
given a sudden blow resulting in the door motion which is
measured using a displacement transducer and the results
are shown in the figure below. Determine:
➢ Spring constant
➢ The damping coefficient
➢ The initial velocity