LECTURE 1

INTRODUCTION TO VIBRATION
PM DR SHAHRUDDIN BIN MAHZAN@MOHD ZIN
o What is vibration?
o Why it is important?
o Basic Concepts..
o Classification of Vibration.
o Definition and Terminology ..
o Vibration Analysis Procedure..
o Spring, Mass and Damping Elements.
OUTLINE
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DEFINITION
Vibration :
Any motion that repeats itself after an interval of time is
called vibration or oscillation.
The swinging of a pendulum and the motion of a plucked string
are typical examples of vibration. The study of vibration
deals with the study of oscillatory motions of bodies and the
forces associated with them.

From Encyclopedia Britannica:
Periodic back-and-forth motion of the particles of an elastic
body or medium, commonly resulting when almost any physical
system is displaced from its equilibrium condition and allowed
to respond to the forces that tend to restore equilibrium.

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WHY STUDY VIBRATION?
1. Vibrations can lead to excessive deflections and failure on
the machines and structures
2. To reduce vibration through proper design of machines and
their mountings
3. To utilize profitably in several consumer and industrial
applications (quartz oscillator for computers)
4. To improve the efficiency of certain machining, casting,
forging & welding processes
5. To simulate earthquakes for geological research and
conduct studies in design of nuclear reactors

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BASIC CONCEPTS
Vibratory System consists of:

1) spring or elasticity
2) mass or inertia
3) damper

Involves transfer of potential energy to
kinetic energy and vice versa


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Minimum number of independent coordinates required to
determine completely the positions of all parts of a system at any
instant of time

Examples of single degree-of-freedom systems:
DEGREE OF FREEDOM (D.O.F)
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Examples of two degree-of-freedom systems:
Examples of three degree-of-freedom systems:
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CLASSIFICATION OF VIBRATION
1. Free Vibration:
A system is left to vibrate on its own after an initial disturbance and no
external force acts on the system. E.g. simple pendulum

2. Forced Vibration:
A system that is subjected to a repeating external force. e.g. oscillation
arises from diesel engines
- Resonance occurs when the frequency of the external force
coincides with one of the natural frequencies of the system

3. Undamped Vibration:
When no energy is lost or dissipated in friction or other resistance
during oscillations

4. Damped Vibration:
When any energy is lost or dissipated in friction or other resistance
during oscillations
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5. Linear Vibration:
When all basic components of a vibratory system, i.e. the spring, the
mass and the damper behave linearly

6. Nonlinear Vibration:
If any of the components behave nonlinearly

7. Deterministic Vibration:
If the value or magnitude of the excitation (force or motion) acting
on a vibratory system is known at any given time

8. Nondeterministic or random Vibration:
When the value of the excitation at a given time cannot be predicted

Examples of deterministic and random excitation:

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DEFINITIONS AND TERMINOLOGY..
Cycle
The movement of a vibrating body from its undisturbed or
equilibrium position to its extreme position in one direction, then
to the equilibrium position, then to its extreme position in other
direction and back to equilibrium position.
Amplitude
The maximum displacement of a vibrating body from its
equilibrium position.
Period of Oscillation
The time taken to complete one cycle of motion, denoted by .
Frequency of oscillation
The number of cycles per unit time, denoted by f.
t
e
t 2
1
= = f
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Phase angle , .
Consider two vibratory motion:
) sin(
sin
2 2
1 1
| e
e
+ =
=
t A x
t A x
These two harmonic motion are called synchronous because
they have the same frequency or angular velocity, .

Natural frequency
Natural frequency is the frequency when the system vibrating
at its natural modes.
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|
|
.
|

\
|
=
0
log 10
P
P
dB
Beats
When two harmonic motions, with frequencies close to one
another, are added, the resulting motion exhibits a phenomenon
known as beats.
Octave
When the maximum value of a range of frequency is twice its
minimum value, it is known as an octave band. E.g. 75 150 Hz,
150 300 Hz.
Decibel
A decibel (dB) is defined as a ratio of electric powers, P/P
o
, as
where P
o
is some reference value of power. Since electric power is
proportional to the square of the voltage (X), the decibel can also
be expressed as
|
|
.
|

\
|
=
|
|
.
|

\
|
=
0
2
0
log 20 log 10
X
X
X
X
dB
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System Modeling: Basic understanding
Most practical vibrating systems are very
complex
Overall behavior of the system can be
determined by considering a simple model of
the complex physical model.
Thus
The analysis of a vibrating system involves
mathematical modeling.
Usually starts from a very simple model then
develop its complexity.
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Vibration analysis procedure
1. Modeling
Vibrating System
2. Deriving mathematical
equation for the system
3. Solving the mathematical
equation (simultaneously)
4. Interpreting
results
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Three Basic Mechanical Models
Mass/Inertial
Spring
Damper
Note: degree of freedom can be translation and rotation
M/I
k
c
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Developing Mechanical Vibration Model
(Forging Hammer)
T
F
A
EP
CF
G
CF
A
c earth
k earth
x
1

A
CF
c pad
k pad
x
1

x
2

c earth
k earth
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Developing Mechanical Vibration Model
(Motorcycle)
m
b

c
s
k
s

m
r

m
w

k
t

m
b

k
s
c
s
c
s
k
s

k
t

k
t

m
r

m
w
m
w

m
b

m
r

k
s
c
s

c
sd
k
sd

k
t
k
t

k
s
c
s

m
w
m
w

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Developing Mechanical Vibration Model
(Pregnant woman)
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Spring Element
nonlinearity in large displacement
Stress
A, Yield Point
Strain
Force
A, Yield Point
Displacement x
x = x
1
- x
2

x
1
x
2

F = k x
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Springs in Parallel
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Springs in Series
1 2
1 2

eq st eq st
k k
k k
o o
o o = =
1 2
eq st eq st
st
k k
k k
o o
o + =
1 2
1 1 1
eq
k k k
= +
1 2
1 1 1 1
eq n
k k k k
= + + +
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Various spring constant equivalent
eq
EA
k
l
=
4
eq
EDd
k
l
t
=
4
3
8
eq
Gd
k
nD
=
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Various spring constant equivalent
3
3
eq
EI
k
l
=
3
6
2.
eq
EI
k
a
=
3
192
eq
EI
k
l
=
3
2 2
6. .
. (3 (3 ))
eq
EI l
k
b a al a a b
=
+
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Various spring constant equivalent
3
48
eq
EI
k
l
=
2 2 2
6. . .
. .( )
eq
l E I
k
b a l a b
=

4 4
.
( )
32.
eq
G
k D d
l
t
=
.
eq
E I
k
l
=
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Mass/Inertia Element
Mass or inertia element is assumed to be a rigid body
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Combination of masses:
in a beam
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3 1 2
1 2 3
ek
e
x x x x
l l l l
= = =
The angle is the same
1
1
2
2
3
3
ek
e
ek
e
ek
e
l
x x
l
l
x x
l
l
x x
l
=
=
=
2 2 2 2
1 1 2 2 3 3
1 1 1 1
2 2 2 2
ek ek
m x m x m x m x + + =
2 2 2
2 2 2 2
3 1 2
1 2 3
1 1 1 1
2 2 2 2
ek ek ek ek ek
e e e
l l l
m x m x m x m x
l l l
| | | | | |
+ + =
| | |
\ . \ . \ .
2 2 2
3 1 2
1 2 3 ek
e e e
l l l
m m m m
l l l
| | | | | |
= + +
| | |
\ . \ . \ .
2 2 2 2
3 1 2
1 2 3
n
ek n
e e e e
l l l l
m m m m m
l l l l
| | | | | | | |
= + + + +
| | | |
\ . \ . \ . \ .
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Combination of masses:
translation and rotation
Application in rack and pinion
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Combination of masses:
translation and rotation
There are two possibilities
1. Equivalent translational mass
2. Equivalent rotational mass (inertia)
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Equivalent translational mass
EK
combination
= EK
equivalent

EK
equivalent
=
2
1
2
eq eq
m x
2 2
0
1 1
2 2
mx I u +
EK
combination
=
then
x x
R R
u u = =
2
2 2
0
x
eq
x
m I m x
R
| |
+ =
|
\ .
= +
0
eq
2
I
m m
R
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Equivalent rotational mass (inertia)
.
EK
combination
= EK
equivalent

2 2
0
1 1
2 2
mx I u +
2
1
2
eq eq
I u
=
eq
u u =
2 2 2
0
( )
eq eq
m R I I u u u + =
I
eq
= I
o
+ m R
2

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Other equivalent mass
Meq = M + m/3
Meq = M + 0.23 m
Meq = M + 0.5 m
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Damping Element
There are generally three types of damping
1. Material or Solid or Hysteretic damping
When materials are deformed, energy is
absorbed and dissipated by the material.
2. Friction/Dry (coulomb) damping
It is caused by the friction between
rubbing surfaces that are either dry or
have insufficient lubrication
3. Viscous damping
This is the most commonly used damping
mechanism in vibrations.
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Hysteretic damping
Some materials such as hard
metals do not show elastic
hysteresis under a moderate
load, whereas other hard
materials like granite and
marble do.
Materials such as rubber
exhibit a high degree of
elastic hysteresis.
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Coulomb damping
Coulomb damping absorbs energy
with friction, which converts that
kinetic energy into thermal energy or
heat.
Static friction occurs when the two objects are stationary or
undergoing no relative motion.
The coefficient of static friction
s
.

Kinetic friction occurs when the two objects are undergoing
relative motion and they are sliding against each other.
The coefficient of kinetic friction
k
.
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Viscous damping
Av
F A cv
h
q
t = = =
A
c
h
q
=
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Damping constant
Various constructions
4
4
d
c L
D
t q
| |
=
|
\ .
4
8 L d
c
N D
t q
| |
=
|
\ .
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Damping constant
Various constructions
3
3
3 2
1
4
D L d
c
d D
t
q
| |
= +
|
\ .
2 3
( )
2 32
t
D L h D
c
d h
qt tq
= +
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Damping constant
Various constructions
4 fN
c
X te
=
2 2
2 2
3
6
( )
2
2
L h a r
c a r h
h
h
a
tq
| |
|

| |
=
|
|
\ .
|

\ .
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Damping constant
Various constructions
3
2
t
lr
c
e
qt
=
1 2
1 1 1 1
eq n
c c c c
= + + +
1 2 eq n
c c c c = + + +
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Example 6-1
Calculate a single spring
equivalent to model one
degree freedom system
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Example 6-2
Find the equivalent torsional
spring constant of the
system.
Assume k
1
, k
2
, k
3
, and k
4
are
torsional and k
5
, k
6
, k
7
and k
8

are linear spring constant
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Example 6-3
An engine of mass m=500 kg is mounted
on a simply supported steel beam of
length l=2m having a rectangular cross
section 0.1mx1.2m. To reduce the
vibration deflection a spring k is located
at mid span.
Determine the value k to reduce the
deflection to one-third of the original
value.
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Example 6-4
A boom of crane AB 10 m,
cross section 2500 mm
2
.
Cable CDEBF has a cross
section area 100 mm
2
.
Neglecting the effect of
cable CDEB, find the
equivalent spring constant of
the system in the vertical
direction.
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Example 6-5
Find the equivalent
spring torsional constant
and equivalent inertia
contant at O. Assume
the bars connecting m1,
m2 and m3 are rigid with
negligible mass.
See you later
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