MECHANICAL VIBRATION

SINGLE DEGREE OF FREEDOM SYSTEMS

Free Undamped Vibration
Equation of Motion
Newton's Law
Energy Method

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 Definitions
 Resonance:
 – When the frequency of external excitation is equal to the natural frequency of a vibrating body,
the amplitude of vibration becomes excessively large.
 – This concept is known as resonance.

 Mechanical systems:
 – The systems consisting of mass, stiffness and damping are known as mechanical systems.

 Continuous and Discrete Systems:

 – Most of the mechanical systems include elastic members which have infinite number of degree of freedom.
 – Such systems are called continuous systems.
 – Continuous systems are also known as distributed systems.
 – Cantilever, simply supported beam etc. are the examples of such systems.

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DEGREE OF FREEDOM:
 The minimum number of independent coordinates required to specify the motion of a
system at any instant is known as degrees of freedom of the system.

 In general, it is equal to the number of independent displacements that are possible.

 This number varies from zero to infinity.

 The one, two and three degrees of freedom systems are shown in figure.

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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 mv 2), in the
 spring in the form of potential energy (1/2 kx ) and dissipated in the
 damper in the form of heat energy which opposes the motion of the
 system.

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 Free undamped vibration single DoF

• Recall: Free vibrations  system given initial disturbance and oscillates free of external forces.
• Undamped: no decay of vibration amplitude
• Single DoF:
• mass treated as rigid, limped (particle)
• Elasticity idealised by single spring
• only one natural frequency.

• The equation of motion can be derived using

• Newton’s second law of motion
• D’Alembert’s Principle,
• The principle of virtual displacements and,
• The principle of conservation of energy.
 Free undamped vibration single DoF
• Using Newton’s second law of motion to develop the equation of motion.
1. Select suitable coordinates
2. Establish (static) equilibrium position
3. Draw free-body-diagram of mass
4. Use FBD to apply Newton’s second law of motion:
“Rate of change of momentum = applied force”

d  dx( t ) 
F( t )  m 
dt  dt 
As m is constant
d 2 x( t )
F( t ) m 2

mx
dt
For rotational motion
M ( t )  J 


For the free, undamped single DoF system


F( t )  kx mx
or
  kx 0
mx
 Free undamped vibration single DoF
Principle of conservation of energy:
• No energy is lost due to friction or other energy-dissipating mechanisms.
• If no work is done by external forces, the system total energy = constant
• For mechanical vibratory systems:

KE  PE cons tan t
or
d
KE  PE  0
dt
• Since
1 2 1
KE  mx and PE  kx 2
2 2
then
d 1 2 1 2
 mx   kx  0
dt  2 2 
or
  kx 0
mx
Energy Method

T + U = constant
1 1
m x 2  k x 2 = constant
2 2
kt

J Jcg=1/2 mr2

.. kt
J cg  + k t = 0 ,  =
Equation of Motion J cg
..
mx  kx 0
natural frequency of the system

k
 rad./sec
m
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The displacement plot of an
undamped system would appear as,

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 Spring Elements

• Equivalent spring constant.

• Eg: cantilever beam: Mass of beam assumed negligible cf lumped mass
• Deflection at free end:

mgl 3

3EI
• Stiffness (Force/defln):

mg 3EI
k 
 l3
• This procedure can be applied for various geometries and
boundary conditions. (see appendix)
 Springs Acting in Parallel
x x
k1 keq
k2 M M F
F

Note that two springs are in parallel when:

a) They experience the same amount of deformation
b) You’d add up the force experienced by each spring to come up
with the total force F

Exercise: Show that the equivalent spring constant keq is such that:

keq k1  k2
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 Spring Elements

• Equivalent spring constant.

• Springs in parallel:

w =mg=k1δ  k2 δ
w=mg=keq
• where

keq =k1 + k2

• In general, for n springs in parallel:

i=n
keq =  ki
i=1
 Springs Acting in Series
x x
keq
k1 k2
M M F
F

Note that two springs are in series when:

a) They are experiencing the same tension (or compression)
b) You’d add up the deformations to get the total deformation x

Exercise: Show that the equivalent spring constant keq is such that:

1 1 1
 
keq k1 k2

The idea is that you want to determine one abstract spring that has k eq
that deforms by the same amount when it’s subject to F.
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 Spring Elements

• Equivalent spring constant.

• Springs in series:

δt =δ1  δ2

• Both springs are subjected to the same

force:

mg k11 k2 2

mg=keq t

• Combining the above equations:

k1 1 k2 2 keq t

keq t keq t
 1= and  2 =
k1 k2
Example of Springs

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 Combination of springs

k1
k1 k2
k2

m m

1 1 1
k e = k1 + k 2 = +
ke k1 k2

G, J, L

k E I N.m k GJ
L k = EA N/m L N.m
L

L/2
L/2 192 E I
768 E I k
k L3
7 L3 17
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 Solution of Equation of Motion
..
m x  kx 0

Assume solution
x ( t ) = A cos t + B sin t where A and B are arbitrary constants.
From the initial conditions at t = 0,

Initial conditions
. .
x(t ) = x0 , x(t ) = x0

xo = A
.
. x0
x0 = B   B =
.

x0
x (t) = x 0 cos t + sin t

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Example 2.1

Solution

energy in the system

Equation of motion
K.E.=

P.E.= +

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 Example 2.2

1 1  (R - r)  r 
K.Etrans = m r 2 2  m (R - r) 2  2
2 2
1 3
 2 2

K.Erot. = 1 1 1
J cg φ 2  . m r 2 (
R -r 2 2 1 1
) θ  . m (R - r) 2 θ 2 K.E = 2  2 m (R - r)  
2 2 2 r 2 2
1
P.E = mg (R - r) (1 - cos  )  mg (R - r)  2
2
3
Equation of motion, m (R - r) 2   mg (R - r)  0
2
mg (R - r) 2g
The natural frequency,   rad/sec
3 3 (R - r)
m (R - r) 2

2
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