DYNAMICS OF MACHINERY (3151911)

CH 3 Free Vibration and

CH 4 Forced Vibration
Mr Piyush Patel
Mechanical Engineering Department

SARVAJANIK COLLEGE OF
ENGINEERING AND
TECHNOLOGY, SURAT
October 15, 2023 Mr Piyush T Patel 1
• Vibration can be desirable or harmful depending upon the application and working field

Any motion which repeats itself after an interval of time is called as Vibration or
Oscillations.
Vibration is a mechanical phenomenon whereby oscillations occur about an equilibrium
point. The word comes from Latin vibrationem ("shaking, brandishing").

Vibration problem occurs whenever there is unbalance in rotating or reciprocating part of

machinery.

The vibration may be periodic, random, linear and non-linear depending nature of magnitude
and direction of excitation or disturbing force
• Vibration is defined as a motion which repeats after equal interval of time and
is also a periodic motion. The swinging of a pendulum is a simple example of
vibration. Vibration occurs in all bodies which are having mass and elasticity.
They are caused due to several reasons such as presence of unbalanced force in
rotating machines, elastic nature of the system, external application of force or
wind loads and earthquakes.

• Vibrations are undesirable as they induce high stresses in system components

leading to noise and failure, in such cases they are to be minimized if not totally
eliminated.

• The desirable effects are seen in musical instruments and cement compactors
used in construction work.
 Why a body Vibrates?
• All bodies having mass and elasticity are capable of producing vibration.
• The mass is inherent of the body and elasticity causes relative motion among its
parts.
• When body particles are displaced by the application of external force, the
internal forces in the form of elastic energy are present in the body.
• These forces try to bring the body to its original position.
• At equilibrium position, the whole of the elastic energy is converted into kinetic
energy and body continues to move in the opposite direction because of it.
• The whole of the kinetic energy is again converted into elastic or strain energy
due to which the body again returns to the equilibrium position.
• In this way, vibratory motion is repeated indefinitely and exchange of energy
takes place.
• Thus, any motion which repeats itself after an interval of time is called vibration
or oscillation.
 What is machine vibration?
• Machine vibration is simply the back and forth movement of machines or
machine components. Any component that moves back and forth or oscillates is
vibrating.
• Machine vibration can take various forms. A machine component may vibrate
over large or small distances, quickly or slowly, and with or without perceptible
sound or heat.
• Machine vibration can often be intentionally designed and so have a functional
purpose. (Not all kinds of machine vibration are undesirable. For example,
vibratory feeders, conveyors, hoppers, sieves, surface finishers and compactors
are often used in industry.)
• At other times machine vibration can be accidental and lead to machine damage.
Most times machine vibration is unintended and undesirable.
• Shown below are some examples of undesirable machine vibration.
In industrial plants there is the kind of vibration we are
concerned about: machine vibration.
 WHAT IS IMPORTANCE OF VIBRATION STUDY IN ENGINEERING?

• The structures designed to support the high speed engines and turbines are
subjected to vibration.

• Due to faulty design and poor manufacture, there is unbalance in the engines
which causes excessive and unpleasant stresses in the rotating system
because of vibration.

• The vibration causes rapid wear of machine parts such as bearings and gears.

• Unwanted vibrations may cause loosening of parts from the machine.

• Many buildings, structures and bridges fall because of vibration.

Thus undesirable vibrations should be eliminated or
reduced Up to certain extent by the following methods :

– Removing external excitation, if possible

– Using shock absorbers.

– Dynamic absorbers.

– Resting the system on proper vibration isolators.

 DEFINATIONS

From subject point of view the following notations and

definitions are very important:
1. Periodic Motion: It is a motion which repeats itself
after equal intervals of time, e.g., the oscillations of
simple pendulum
2. Time Period (T) :It is the time required for one
complete cycle or to and fro motion. The unit is
seconds.
3. Frequency (f or ω) : It is the number of cycles per
unit time. The unit are radians/sec. or Hz.
4. Amplitude (X or A) : It is the displacement of a
vibrating body from its equilibrium position. It has
units of length in general
5. Natural Frequency (fn):It is the frequency with which a body vibrates
when subjected to an initial external disturbance and allowed to vibrate
without external force being applied subsequently.
6. Fundamental Mode of Vibration:A vibrating body may have more than
one natural frequency and when it vibrates with the lowest natural
frequency ,it is the Fundamental mode of vibration.
7. Degrees of Freedom: It is the minimum number of coordinates required
to describe the motion of system. Typically in our discussions 1DOF
system will have one mass, e.g., a spring attached with one mass , 2 DOF
system will have two masses and likewise we have 3DOFsystem. A
continuous system like a beam or plate consisting of infinite number of
particles with mass, are systems with infinite number of DOF.
 Degrees of Freedom:
It is the minimum number of coordinates required to describe the motion of system. Typically in
our discussions 1DOF system will have one mass, e.g., a spring attached with one mass , 2 DOF
system will have two masses and likewise we have 3DOFsystem. A continuous system like a
beam or plate consisting of infinite number of particles with mass, are systems with infinite
number of DOF.
Difference between single and double degree of freedom;

• Free vibration means that no time varying external forces act on the system.

• A system has one degree of freedom if its motion can be completely described
by a single scalar variable.

• Examples of structures and motions which can be analysed by a single degree

of freedom model are the swaying of a tall rigid building resting on an elastic
soil, and the transverse vibration of a bridge.

• Thus a two degree of freedom system has two normal modes of vibration
corresponding to two natural frequencies. system can be specified by a set of
independent coordinates such as length, angle or some other physical
parameters. Any such set of coordinates is called generalized coordinates.

• A simple spring-mass system or a simple pendulum oscillating in one plane are

examples of a single-degree of freedom. A two-mass, two-spring system,
constrained to move in one direction, or a double pendulum belongs to two
degrees of freedom.
8. Simple Harmonic Motion (SHM): It is a periodic motion
with acceleration always directed towards the equilibrium
position. It can also be defined as projection of motion of a
particle along a circle with uniform angular velocity on the
diameter of circle.
9. Damping: It is the resistance offered to the motion of a
vibrating body by absorbing the energy of vibrations. Such
vibrations are termed as damped vibrations.
10. Forced Vibrations: It is the vibration of a body when
subjected to an external force which is periodic in nature and
vibrations occur as long as external force is present.
11. Resonance: It is said to occur in the system when the
amplitude of vibrations are excessive leading to failure. This
occurs in forced vibrations when the frequency of externally
applied force is same as that of natural frequency of the body.
 Types Of Vibrations
1. Free and forced vibrations: After disturbing the system the external
excitation is removed then the system vibrates on its own. This type of
vibration is known as free vibration. Example simple pendulum.
The vibration which is under the influence of external force is called
forced vibration. Machine tools, electric bells.

2. Linear and Non Linear Vibrations: When the vibrations are represented
by linear differential equations and laws of superposition are applicable
for the system, we have Linear systems. Non linear vibrations are
experienced when large amplitudes are encountered and laws of
superposition are not applicable.

3. Damped and undamped Vibrations: If the vibratory system has a

damper, the motion of the system will be opposed by it and the system
will be dissipated in friction. This type of vibration is called damped
vibration. On the contrary the system having no damper is known as
undamped vibration.
4. Longitudinal, Transverse and Torsional Vibrations: When the motion of mass of
the system is parallel to the axis of the system, we have Longitudinal vibrations.
When the motion of mass is perpendicular to the system axis the vibrations are
Transverse vibrations and
when the mass twists and untwists about the axis the vibrations are Torsional
vibrations.
Up and down motion of mass in a spring mass system represents Longitudinal
vibrations. Vibration of a cantilever beam represents Transverse vibrations. The
twisting and untwisting of a disc attached at the end of a shaft represents Torsional
vibrations.
 Types Of Vibrations
Transient Vibration
• In ideal system the free vibrations continue
indefinitely as there is no damping.
• But where there is a damping provided the
amplitude of vibration decays continuously
because of damping (in a real system) and
vanishes ultimately. Such vibration are known
as Transient Vibrations.
 PARTS OF A VIBRATING SYSTEM
• A vibratory system basically consists of three elements, namely the mass,
the spring and damper.
In a vibrating body, there is exchange of energy from one form to another.
• Energy is stored by mass in the form of kinetic energy (1/2 mv2), in the
• spring in the form of potential energy (1/2 kx ) and dissipated in the
• damping force (cv) which opposes the motion of the system.
Total Vibration
 0

A D G
Turning point Turning point
X
 1
1
There are 3 primary types of damping: over damping, critical damping, and under
damping.

Damping is a dissipation of energy from a vibrating structure. The term dissipate is

used to mean the transformation of mechanical energy into other form of energy
and, therefore, a removal of mechanical energy from the vibrating system.

Types of Damping :
1. Viscous damping.
2. Coulomb or Dry Friction Damping.
3. Solid or Structural Damping or Material or Hysteretic Damping.
4. Slip or Intrefacial damping
5. Magnetic Damping.
1.Viscous Damping
The damping provided by fluid resistance is known as viscous damping. It is
encountered by bodies moving at moderate speed through fluid medium like: air, gas,
water or oil. This is the most commonly used damping mechanism to reduce the
amplitude of vibrations.
2. Colomb Damping or Dry Friction Damping

This type of damping arises from sliding of dry surfaces. The friction force is nearly
constant and depends upon the nature of sliding surface and normal pressure
between them as expressed by the equation of kinetic friction.
F= µN
Friction Where,
u =coeff of friction
N= normal force (a)

3. Solid or structural Damping or Hysteretic Damping

This is due to internal friction within the material itself. The damping caused by the
friction between the internal planes that slip or slide as the material deforms is called
hysteresis (or solid or structural) damping.

The stress strain diagram for vibrating body is not straight line but forms hysteresis
loop, the area of which represents energy dissipated to molecular friction per cycle
per unit volume.
4. Slip or Intrefacial damping

Energy of vibration is dissipated by microscopic slip on the interfaces of machine

parts in contact under fluctuating loads. Microscopic slip also occurs on the
interface of the machine elements having various types of joints. The amount of
damping depends upon the surface roughness of a mating parts, the contact
pressure and amplitude of vibration.

5. Magnetic Damping

A phenomenon that has been observed for many years by which vibrating,
oscillating or rotating conductors are slowly be brought to rest in the presence of a
magnetic field. Damping due to eddy currents setup by the movement of a system
in a magnetic field.
 Consider a door that uses a spring to close the door once open. This
can lead to any of the above types of damping depending on the
strength of the damping.

• If the door is undamped it will swing

back and forth forever at a particular
resonant frequency.

• If it is underdamped it will swing back

and forth with decreasing size of the
swing until it comes to a stop.

• If it is critically damped then it will

return to closed as quickly as possible
without oscillating.

• Finally, if it is overdamped it will

return to closed without oscillating but
more slowly depending on how
overdamped it is.
 Whirling speed of shafts / Critical Speed of shaft
Whirling speed is also called as Critical speed of a shaft.

It is defined as the speed at which a rotating shaft will tend to vibrate violently in the
transverse direction if the shaft rotates in horizontal direction. In other words, the
whirling or critical speed is the speed at which resonance occurs.
Whirling speed of shafts / Critical Speed of shaft
 Torsional vibration

Torsional vibration is the angular vibration of an object - commonly a shaft - along its
axis of rotation. Torsional vibration is often a concern in power transmission systems
using rotating shafts or couplings, where it can cause failures if not controlled.
=

= +
 FORCED VIBRATION

When a vibration takes place under the influence of external periodic force then it
is called a forced vibration. Also when the body vibrates due to an external
periodic force other than its own natural frequency then we can say that it is
forced vibration.

Some common types of forced vibrations include:

• Harmonic excitation: This type of excitation involves a sinusoidal force with a

constant amplitude and frequency.

• Random excitation: This type of excitation involves a force that varies randomly
in amplitude and frequency.

Harmonic Vibration is when a mechanical object vibrates at harmonic frequencies.

There's two different kinds of vibration; free and forced. Free vibrations are those
of which you cause and let happen. They are usually desirable, like that of a tuning
fork.
 Vibration isolation
Vibration isolation is the process of isolating an object, such as a piece of equipment, from
the source of vibrations.

Vibration is undesirable in many domains, primarily engineered systems and habitable

spaces, and methods have been developed to prevent the transfer of vibration to such
systems.
The most common types of materials used for loose-fill insulation include cellulose,
fiberglass, and mineral (rock or slag) wool.
Vibration measurement using (a) piezoelectric accelerometer by means of adhesive
mounting and (b) velocity transducer, stud-mounted on the machine’s surface.
 Working principle of seismic instruments
A seismograph is a device for measuring the movement of the earth, and consists of a ground-
motion detection sensor, called a seismometer, coupled with a recording system. This fact
sheet provides an overview of the basic components of a seismometer and physical science
principles behind its operation.
Seismographs operate on the principle of inertia. Seismometers used in earthquake studies are
highly sensitive to ground movements, so that movements as small as 1/10,000,000
centimeters (distances almost as small as atomic spacing) can be detected at very quiet sites.
NUMERICALS
• A mass of 10 kg is kept on two slabs of isolators placed one over the other. One
of the isolators is of rubber having a stiffness of 3 kN/m and damping coefficient
of 100 N-s/m. While the other isolator is of felt with stiffness of 12 kN/m and
damping coefficient of 300 N-s/m. If the system is in motion on vertical direction,
find the damping constant of the system.
 For any query
Contact :
Prof. Piyush Patel
Mechanical Engineering Department
SCET, Surat
Email ID : [email protected]
Mobile No : 9664900694

PROF. PIYUSH PATEL

October 15, 2023 135