Prof.

Murtuza
Mechanical Vibrations ME-436
Course Objective
To impart sound theoretical knowledge of mechanical vibrations to mechanical engineering
students and make them capable of mathematically formulating, solving & designing different
engineering problems related to vibrations.
Class Learning Outcomes (CLO) “Cognitive Domain”
CLO-1: Discuss different theoretical concepts related to mechanical vibrations. (C2)

CLO-2: Develop & Solve mathematical models of various vibratory systems using one or more
DOF. (C5)
(C3)
CLO-3: Solve different problems to illustrate principles and concepts of free & forced vibrations.

CLO-4: To be able to conduct experiments related to mechanical vibrations and interpretation of

data. (Lab related Psychomotor Domain)
Sessional Marks Distribution Final Exam
•60 marks
Mid term = 20 marks (written test in 8th week)
•Will be choice less.
Assignment CEP = 20 marks
•Will be based on class lecture
Text Book slides, class work problems,
Mechanical Vibrations by S.S. Rao suggested problems &
Prentice Hall 5th Edition. assignment.
What is a Mechanical System? Prof. Murtuza

A physical system that involves forces, motion and/or management of energy is known as a
mechanical system. However, in mechanics we consider mechanical systems as structural
systems (frames, trusses & machines) subjected to forces and motion only.
Important Quantities of a Mechanical System
For a mechanical system following three quantities are important.
1. Mass (M)  Dynamic response of a structure
depends on the distribution of
2. Stiffness (k) = Load/Deflection its elasticity (stiffness k) and
3. Natural frequency (ωn) inertia (mass m)

• Mass is related to the inertia of the mechanical system which is the ability of a body to resist
change in its state of acceleration. It depends on the mass and geometry.
• Stiffness is the ability of a mechanical system to resist deformation when subjected to an
external force or load. It depends on geometry and material property (Young’s modulus E).
• Natural frequency is a parameter that relates the stiffness & inertial of a mechanical system.
Formally it is defined as the number of occurrences of a repeating event per unit of time.
Since vibration is a repetitive motion (dynamic) it is dependent on the “frequency”.
Why Need Natural Frequency?
Natural frequency can be used to compare different mechanical systems on the basis of
robustness. Systems having high natural frequencies have larger operating window/range before
they can encounter resonance.
 What is Vibration? (First scientific study on musical sound 544 B.C. by Pythagoras)
Vibration is the study of the repetitive/oscillatory/to and fro/ back n forth motion of
objects relative to an equilibrium position & the forces associated with this type of
motion. Prof. Murtuza
Examples motion of push rod, motion of a swing, motion of a pendulum, motion of a
guitar string, rotating machines & machine mechanisms, motion of a forging tool,
motion of automotive suspension system, swaying of skyscrapers (tall buildings) due to
winds/earthquake, motion of aircraft wing , motion of bridges, motion of atoms , vortex
induced motion (FSI) and etcetera.
Vibration of aircraft wing

Motion of pendulum
Vibrating string

Slider crank mechanism Motion of a

(can work as exciter for vibration testing)
push rod
NOTE: uniform circular motion is not
vibration also SHM is a specific (linear) case of vibratory motion. Forging m/c vibration (cam-follower)
Pile driving machine Prof. Murtuza
More Applications
Laboratory shaker

Sound/Music

Automotive
Jack hammer machine
MEMS Vibratory feeder/hopper suspension system
vibration
sensors

Heart
Ear drum

Massage chair

Vibratory conveyor

Vibration of vehicle chassis frame

Lungs
Vocal
Acoustics & sound proofing cords Bio Systems
 Prof. Murtuza
Earthquake Resistant Structures
Sliding vibration isolator Rubber vibration isolator

Mass damper vibration isolator (wind effects) Vibration analysis in maintenance

 Prof. Murtuza
Vibrations as Unwanted Phenomena
There can be many scenarios in which vibrations are unwanted mainly because they
produce cyclic stresses in material (fatigue) and causes excessive noise, wear and
premature failures.
• Engine vibrations: Can harm other components and loosen fasteners like nuts & bolts.
• Machining processes vibrations: Vibration causes chatter (noise) and poor surface finish.
• Unbalanced wheels: Vibration can cause uncomfortable deflections.
• Unbalance rotors: Turbine rotors, impellors of pump & compressor should be balanced other
wise vibration can cause damage.
• Floor vibrations: A vibrating structure can cause the floor to vibrate which in turn generates
vibrations in other equipment.
• Resonance: Whenever the external forcing frequency (external input) matches with any one of
the natural frequency of the structure “Resonance” can generate which is also an unwanted
phenomena.

!! Collapse of a bridge due to resonance

caused by wind induced vibrations
 Prof. Murtuza
Elements/vocabulary of Mechanical Vibrations
• k = stiffness constant of spring.
1) Elastic element i.e. Spring/Stiffness (k) .
• J = mass moment of inertia (polar).
2) Inertia element i.e. Mass (rigid) (M or J). • c = damping coefficient.

3) Resistance/friction element i.e. Damper (c).

1

m m

k c k
or
c
Spring and damper
m elements are usually
attached to the mass
2
element being modeled. 1
& 2 are attachment
Spring Mass Damper
points.
NOTE: Springs can store potential energy while inertia can have kinetic energy and damper is used to
dissipate these energies during vibration. Therefore, vibration is also an interplay of energies.
 Prof. Murtuza
Degrees of Freedom
In vibration degrees of freedom (DOF) means number of “independent” coordinate variables
required to fully describe the motion/position of all parts of the system.
Single Degree of Freedom Systems (1-DOF)
Only one coordinate variable is required to completely study the motion of the mass (inertia
element).

Two Degree of Freedom Systems (2-DOF)

Two independent coordinate variables are needed θ l sinθ = x/l
x θ l x2+ y2 = l2
y
sinθ = x/l
In this case motion x cosθ = y/l
• In general if of m and the bob can
3-DOF
mass elements not be defined using
increases DOF single coordinate θ1 θ2 θ3
also increases. because x ≠ X
• Set of coordinates necessary to describe the motion are known as “generalized
coordinates” (q , q etc.) (*DOF = No. of masses × No. of space variables defining motion of each mass)
 Prof. Murtuza
Types of Vibratory Systems
Discrete/Lumped Systems
Systems that can be described by finite number of degrees of freedom are known as discrete or
lumped systems. In these systems masses are rigid and discrete and are concentrated only at a
point. Examples all simplified systems i.e. 1, 2 & 3 degrees of freedom systems. The motion of
discrete systems is governed by ODEs.
k
k J2
m
J1
Continuous/Distributed Systems
Elastic members that are continuous i.e. beams, rods, wires & plates are considered to be
continuous systems. These systems contains infinite degrees of freedom. Note no discrete masses
can be considered in these systems. The equation of motion is governed by complex PDEs. For
analysis purpose these systems can also be approximated as discrete systems and accuracy can be
increased by adding more degrees of freedom in them (for instance translation + rotation
(transverse motion) of several point masses)

Simplified 2-DOF
Beams Plates discrete model
Cables
 Prof. Murtuza
Free Vibration Classification of Vibration
Vibrations caused by applying a disturbance (force/displacement) to an object at start time only. Example
vibrations or oscillations of a simple pendulum.
(Important for estimation of natural
Force Vibration frequencies)
Vibrations caused by applying repeated nature of force to an object is known as force vibration. Vibration
F(t)
of an engine is an example of forced vibrations.

Undamped Vibration
Vibrations in which no resistance/friction/damping effect is experienced are known as undamped vibrations
i.e. no energy is lost. It is only an ideal situation. In reality there is always some amount of damping
involved as fluid friction or dry friction. Note that these vibrations can ideally continue forever.
F(t)

Damped Vibration
Vibrations in which damping/friction effect is involved are known as damped vibrations. These vibrations
eventually diminishes with time. Neglecting damping can simplify the analysis.

Nonlinear & Linear Vibrations

If any element of a vibratory system (spring, mass or damper) behaves nonlinearly w.r.t the space variables
than the EOM of the system will become nonlinear and the vibrations will be nonlinear. All vibrations tend
to become nonlinear with increasing amplitude !!!!
Deterministic & Random Vibrations
If the excitation (input) acting on the vibratory system can be conveniently known at any time, the resulting
vibrations will be deterministic. If the excitation cannot be predicted with time than the vibrations will be
random. Random vibrations can result from earthquake, winds and road roughness. Random vibrations are
dealt with statistical methods.
 Investigate Degrees of Freedom (DOF)

A B

C
Find Stiffness = k = ?
 Prof. Murtuza
Procedure of Vibration Analysis
There are four basic steps for any kind of vibration analysis:
1) Mathematical modeling. (mass-spring-damper model, 1-DOF, 2-DOF etc) Vision /Concepts & Accuracy !!
2) Deriving the governing equations of motions (Newton’s second law or Energy method). Mechanics !!
3) Solution of governing differential equations ODE or PDE. Mathematics !!
4) Interpretation of results. Analysis & Appropriate Engineering Design & Measures !!

Example -1

1 DOF Model
Schematic of Forging Machine (both masses are
combined and only
soil is considered as
2 DOF Model an elastic
(elastic connection b/w connection)
the masses is taken into
account)
 Considering the mass of the rider, wheels and vehicle whereas the elasticity of the rider, tires
and the shocks (struts) and the damping of the rider and the shocks, draw different vibration
models with increasing degrees of freedom. Refer to the physical case of Figure 1.
Example -2
Simplest 1DOF Figure 1
In this case mass of rider,
vehicle and wheels are
all combined. The
stiffness/elasticity of
rider, struts and tires are
combined and the
damping of the rider and
struts are combined.

2DOF
3DOF Most Separated the
complex rider mass
model and
connected to
vehicle’s
mass via
rider’s
stiffness and
damping.
Masses of both wheels are modeled separately, while the mass of rider +
vehicle is connected to wheels via stiffness and damping of struts. Prof. Murtuza
 Mass/Inertia:
Car, passengers, seats, front wheels & rear wheels
Elasticity:
Tires, main springs & seats
2 DOF Model Damping:
Seats, shock absorbers & tires
1 DOF Model
mp+ms x1(t) MDOF Model
Mass of car is modeled
separately also mass of
mcom x(t) ks cs x1(t) mp+ms front and rear wheels is
now modeled separately
while stiffness a
kcom ccom mc+mw x2(t) ks & cs damping of tires have
x2(t) been included.
mc
y(t) ksp cA ksp & cA
All inertia elements, elastic x3(t)
elements and damping y(t) mrw mfw x4(t)
elements have been Mass of passenger and seat is combined
combined into single inertia, and analyzed separately while mass of car kt & c t
elastic and damping element. and wheels are grouped together and
analyzed separately. While damping &
elasticity of human and tires have been
y(t)
neglected in comparison of seat, springs
and shock absorbers.

Prof. Murtuza
 Elasticity:
Seat, human & restraints
Mass:
Seat & human
Damping:
Seat and human

2 DOF Transient Vibration Model  This model is capable of

θ x analyzing the transient
torsional vibrations of human
kr kh ks
occupant and transient
mh
translational vibrations of the
kr ms seat on a sudden impact force.
Impact
ch cs force
Note: impact itself is a transient phenomena.
kht
Prof. Murtuza