Introduction to

Vibration
Course policy
• Mid sem [20]
• Major [30]
• Assignments [15]
• Quiz [15]
• Lab evaluation
-Report [10]
- Viva [10]

Audit criterion- 30 % marks required for audit pass

Attendance policy : 75% required else downgrading of grade as per institute policy
Importance of studying vibration
• We hear because our eardrums vibrate (
(49) Human ear - structure & working | Sound | Physics | Khan Academy - YouTube)
• Human speech requires the oscillatory motion of larynges
(https://www.youtube.com/watch?v=b89RSYCaUBo)
• In machines, vibration can loosen fasteners such as nuts.
(https://www.youtube.com/watch?v=_ne19-3vkJg)
• Periodic forces bring dynamic responses that can cause fatigue in materials
(https://youtu.be/roN2jvu-Jis)
• The phenomenon known as Resonance leads to excessive deflections and failure
(https://www.youtube.com/watch?v=XggxeuFDaDU)
• The vibration and noise generated by engines causes annoyance to people and, sometimes,
damage to property.
• In balance in machine can cause problem to the machine itself or surrounding machines or
environment.
Importance of studying vibration
• https://www.youtube.com/embed/dkgdftDEHTs
• (49) Aeolian Vibration – YouTube
• (49) First-Mode Vibration - YouTube
 Brief History
• People became interested in vibration when they created the first musical instruments ( as long as 4000 B.C.).
• Pythagoras (582-507 B.C) is considered the first person to investigate musical sounds.
• Galileo Galilei (1564-1642) is considered to be the founder of modern experimental science, he conduct experiments on the
simple pendulum, describing the dependence of the frequency of vibration and the length.
• Robert Hooke (1635-1703) also conducted experiments to find a relation between the pitch and frequency of vibration of a string.
• Joseph Sauveur (1653-1716) coined the word "acoustics" for the science of sound.
• Sir Isaac Newton (1642-1727) his law of motion is routinely used to derive the equations of motion of a vibrating body.
• Brook Taylor (1685-1731), obtained the natural frequency of vibration observed by Galilei and Mersenne.
• Daniel Bernoulli (1700-1782), Jean D'Alembert (1717-1783), and Leonard Euler (1707-1783)., introduced partial derivatives in
• the equations of motion.
• J. B. J. Fourier (1768-1830) contributed on the development of the theory of vibrations and led to the possibility of expressing any
arbitrary function using the principle of superposition.
• Joseph Lagrange (1736-1813) presented the analytical solution of the vibrating string.
• Charles Coulomb did both theoretical and experimental studies in 1784 on the torsional oscillations of a metal cylinder suspended
by a wire. He also contributed in the modeling of dry friction.
• E. F. F. Chladni (1756-1824) developed the method of placing sand on a vibrating plate to find its mode shapes.
• Simeon Poisson (1781-1840) study vibration of a rectangular flexible membrane.
• Lord Baron Rayleigh (1842-1919) Among the many contributions, he develop the method of finding the fundamental frequency
• of vibration of a conservative system by making use of the principle of conservation of energy.
Definition of Vibration
• Any motion that repeats itself after an interval of time is called vibration or oscillation
• A vibratory system, in general, includes a means for storing potential energy (spring or
elasticity), a means for storing kinetic energy (mass or inertia), and a means by which
energy is gradually lost (damper).
Potential Energy
• The elements that accumulate potential energy are for example a
spring
• Potential energy of a spring is always positive
Spring element

Spring element of a beam

Spring element of a rod
Springs in parallel

For n springs
Springs in series
Dissipation elements

• This movement of fluid from a larger area (cylinder chamber) to a smaller

area (orifice) and from a smaller area (orifice) to a larger area (cylinder
chamber) results in the dissipation of energy because of head loss.

• Fd=c *velocity of the piston

Coulomb or dry friction damping
• Here the damping force is constant in magnitude but opposite in
direction to that of the motion of the vibrating body.
• It is caused by friction between rubbing surfaces that either are dry or
have insufficient lubrication
Material or Solid or Hysteric
damping • When a material is deformed, energy is absorbed
and dissipated by the material
• When a body having material damping is
subjected to vibration, the stress-strain diagram
shows a hysteresis loop
• The area of this loop denotes the energy lost per
unit volume of the body per cycle due to damping
 Modelling systems
• All mechanical and structural systems can be modelled as mass-spring
damper systems
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

One degree of freedom system

 Two degree of freedom system

Three degree of freedom system

Infinite degrees of freedom
 Oscillatory motion
• There are two general class of vibrations
Free vibration and Forced vibration
Free vibration:
• system oscillates under the action of
forces inherent in the system itself
• External impressed forces are absent
• The system under free vibration will
vibrate at one or more of its natural
frequencies
• Natural frequencies are properties of
the dynamical systems established by its
mass and stiffness distribution
 Forced Vibration
Forced vibration:
Vibration takes place under the exaction
of external forces
When the excitation is oscillatory, the
system is forced to vibrate at the
excitation frequency
 Harmonic motion
• Oscillatory motion repeat itself regularly as
in the balance wheel of a watch
• When the motion is repeated in equal
intervals of time, T
it is called periodic motion.
• The time T is called the period of the
oscillation.
• The reciprocal 1/T is called the frequency
• The simplest form of periodic motion is
harmonic motion
Harmonic motion
• It can be demonstrated by a mass suspended from a light spring
• Mass is released from its rest position and it will oscillate up and
down
• The motion can be expressed as
• x=
• A is the amplitude of oscillation
measured from the equilibrium position
T is the time period
Harmonic motion
• It is often represented as the projection on a
straight line of a point that is moving on a
circle at constant speed
• With the angular speed of line O-P designated
by
• The displacement can be written as

• The quantity is measured in radians per

second.
The relationship
T is the time period and f is the frequency
of the motion
Walter Lewin experiment of
harmonic motion
• Velocity and acceleration of harmonic motion is obtained simply by
differentiation
• =t)= t+)
• =-;
• Thus, the velocity and acceleration are also harmonic with the same
frequency of oscillation but lead the displacement by and

It is seen that from above that

¨ ==− 𝜔 2 𝑥
𝑥
Exponential form
• The trigonometric functions of sine and
cosine are related by Euler’s Equation

• a vector of amplitude A rotating at

constant angular speed can be
represented as a complex quantity in the
complex plane

• z=A

• x=(z+=Re A
Periodic motion
• It is quite common for vibrations of several different frequencies to
exist simultaneously.
• For example, the vibration of a violin string is composed of the
fundamental frequency f and all the harmonics, 2f, 3f and so forth.
• Such vibration result in a complex waveform which is repeated
periodically
• Example of a complex tone
Periodic motion
• The French mathematician J Fourier (1768-1830) showed • The amplitude of nth harmonic is
that any periodic motion can be represented by a series • I is the energy spectrum
of cosines and sines that are harmonically related Exam
ple
Buzz‐saw noise is commonly generated by supersonic fans
in modern turbofan aircraft engines. A buzzing sound can
be represented by the periodic signal shown in Figure 1.3.
Find the Fourier series and the energy spectrum for this
Fourier co-efficients are given as
signal.

=
Exam
ple
We are required to represent x(t) = At over the interval 0 ≤ t ≤ 1, T = 1, and the fundamental
frequency is ω = 2π/T = 2π. Then, we determine the corresponding Fourier coefficients
Mean square value or the Power of
the signal
• Mean square value of a signal x(t) is
• For a pure tone
• For a general complex tone