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MECHANICAL
VIBRATIONS
 Books
3

 Mechanical Vibrations by S. S. Rao 2nd/3rd/4th

 Schaum's Outline of Mechanical Vibrations
Course Contents
 Fundamentals of Vibrations
 Free vibrations and Single DOF systems
 Harmonically Excited vibrations
 Vibration under general forcing conditions
 Two DOF systems
 Multi DOF systems
 Misc.
 Introduction to mechanical
vibrations
Mechanical vibration is the periodic and non-periodic motion of the
mass(es) of a mechanical system about its static equilibrium position.

How vibration is caused?

Mechanical vibration is caused by the imposition of a disturbance
on a mechanical system which is in a state of static equilibrium.

Examples of disturbance are

I. Wind velocity/gusts: acts on aircraft, building, bridges etc.
II. Sea waves : acts on ships, offshore structures, etc.
III. Ground motion during earthquakes (affects buildings,
structures)
IV. Road roughness (affects motor vehicles and other road traffic)
 Vibration
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 Any motion which repeats itself after an interval
of time is called vibration or oscillation
 Example
 Swing, Pendulum, Legs during walking etc
 Vibration in a positive sense
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 Hearing, Breathing, Speaking
 Music
 Vibratory conveyer, Hoppers, sieves, washing
machines, electric tooth brush, Clock,
massagers etc
 Vibration improves efficiency of some
machining, casting, forging etc.
 Earthquakes simulation
 Geological research
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13-Sep-15
 Vibration in negative Sense
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 Unbalance in engines
 In Turbines, unbalance can cause mechanical
failure
 Structures
 Vibrations cause wear of mechanical parts and
produce noise
 Fasteners become loose
 Poor surface finish
 Resonance!!
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 Vibrating system
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 A vibrating system generally includes
 A means of storing potential energy
 Spring or Elasticity
 A means of storing kinetic energy
 Mass or Inertia
 A means by which the energy gradually lost
 Dampers

 EXAMPLE???
 Vibration of a system
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 PE is converted into KE and KE is converted

into PE alternatively
 Some of the energy is lost in each cycle if
the
system is damped
 The dissipated energy should be replaced by an
external source in order to maintain the steady
state of vibration
 EXAMPLE??
 Example of a Pendulum
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 Initial angular displacement = θ
 KE = 0, PE = mgh @ 1. move due to
gravitational torque
 PE = 0 @ 2. Bob will not stop due
to KE
 KE = 0, PE = mgh @ 3
 This process will continue
 Oscillatory motion

 In reality
 Air will offer resistance, and bob will

slow down gradually and will stop

at the end
 Degree of Freedom
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 The minimum number of
independent coordinates required
to determine completely the
positions of all parts of a system at
any instant of time defines the
number of degrees of freedom of
the system.

 Angle: θ
 Cartisian: x, y
How Many DOF?
 X +y =l
2 2 2
 Degrees of Freedom of Vibrating Systems
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The number of independent coordinates (rectilinear or angular) necessary to
define its configuration i.e. the geometric location of all the masses (and inertia) of
the system.
Examples of Single degree of freedom systems

(a) Spring mass system

m constrained to move only in vertical direction about static
equilibrium position 0. Therefore only one co-ordinate x(t) required
to define its configuration.

(b) Torsional pendulum

Disk of inertia J & shaft with negligible mass of torsional stiffness Kt
System constrained to oscillate about longitudinal axis shaft
Therefore system configuration specified by single co-ord Ө(t)

Inertia a tendency to do nothing or to remain unchanged

 Degrees of Freedom of Vibrating Systems

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(C) Simple pendulum

-constrained to approve in X-Y plane

-configuration can be defined by [x(t), y(t)] or by Ө(t) alone
-(x, y) co-ords not independent as they are related by the
equation of constraint x2+y2=L2
-where length L assumed constant

(d) mass-pulley-spring system

-assume no slippage between cord & pulley
-cord is inextensible
-though system has 2 mass elements m & J , associated
displacements x(t) & Ө(t) are not independent
-either x(t) or Ө(t) can specify configuration of system
 Examples of Two-degrees of freedom systems
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(a)Two mass two spring system

- m1, m2 constrained to vertical motion
- the two independent co-ordinates necessary to
define the configuration, x1(t) and x2(t)

(b)Mass spring system

- in previous (single degree) example it was a SDF
- here m is allowed to oscillate along the axis of the
spring and to swing from side to side
- i.e. 2 degrees of freedom for m given by x(t) and
Ө(t)
 Degrees of Freedom of Vibrating Systems

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(C) Double pendulum system
- positions of masses m1 and m2 described either by
polar co-ordinates or Cartesian co-ordinates
- polar co-ordinates are Ө1(t) and Ө2(t)
= > 2DOF
- cartesian co-ordinates [x1(t), y1(t)] and [x2(t), y2(t)]
= > 2DOF

(d) Rigid body supported by 2 springs

- 2 co-ordinates necessary to specify configuration
namely
translation of c of g, x
rotation about c of g Ө(t)
- therefore system is 2DOF
 Degree of Freedom
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 Degree of Freedom
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 Degree of Freedom
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 Discrete and Continuous
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Systems
Discrete system: there are vibrating systems with a finite number of DOF.
these are also known as lumped parameter systems.

Continuous systems: theses are vibrating system with infinite number of DOF.
These are also know as distributed parameter system.

In most cases, for practical reasons, continuous systems are approximated as

discrete systems with sufficiently large numbers lumped masses, springs and
dampers. This equates to a large number of degrees of freedom system.
 Discrete and Continuous Systems
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 Discrete Systems
 System having finite number of DOF
 Continuous Systems
 Systems having infinite number of DOF

 Example: Cantilever Beam

 Infinite no of mass points require infinite no of
coordinates to specify the deflection (Elastic curve)
 Classification of Vibration
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 Free and Forced Vibration
 Un-damped and Damped Vibration
 Linear and Nonlinear Vibration
 Deterministic and Random Vibration
 Free and Forced Vibration
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 Free Vibration
 Only initial disturbance is applied to the system and it is
left to vibrate on its own. No external force acts on the
system.
 Example: oscillation of a simple pendulum
 Forced Vibration
 The system is subjected to an external force (often, a
repeating type of force).
 If the frequency of the external force coincides with one
of the natural frequencies of the system, a condition
known as resonance occurs, and the system
undergoes dangerously large oscillations.
 Failures of such structures as buildings, bridges,
turbines, and airplane wings have been associated with
the occurrence of resonance
 Undamped and Damped Vibration
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 undamped vibration
 If no energy is lost or dissipated in friction or
other resistance during oscillation, the
vibration is known as undamped vibration.

 damped vibration
 If any energy is lost, it is called damped
vibration.
 Linear and Nonlinear Vibration
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 Linear Vibration
 If all the basic components of a vibratory system
the spring, the mass, and the damper behave
linearly, the resulting vibration is known as linear
vibration.
 Nonlinear Vibration
 If any of the basic components behave
nonlinearly, the vibration is called nonlinear
vibration.
 The differential equations that govern the behavior of linear
and nonlinear vibratory systems are linear and nonlinear,
respectively.
 If the vibration is linear, the principle of superposition holds,
and the mathematical techniques of analysis are well
developed. For nonlinear vibration, the superposition principle
is not valid, and techniques of analysis are less well known.
 Basic Concepts and Terminology
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Idealised Elements of a Vibrating System
In general, a vibratory system consists of three basic components:
 A means of storing kinetic energy (mass, inertial component)
 A means of storing potential energy (spring, gravity)
 A means to dissipate vibrational energy (damper)

Damper
• Mass –a rigid body of magnitude m Spring
k c

- work done stored as K . E Static Mass

equilibrium 0 m

position
Displacement
x
 Basic Concepts and Terminology
Spring - elastic component, possesses elasticity, massless
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- linear spring obeys Hooke’s law
- spring constant = stiffness, k
= force/unit deformation
- non linear springs exist
- It is assumed that the deflections are
small therefore use of the linear relation
- work done stored as P . E

• Damper - no mass, no elasticity

- work/energy input dissipate as heat => damper is non-
conservative element
• Excitation - energy input to the system via force or displacement
excitation
 Components of a vibratory system
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 Spring
 Mass
 Damper
 Deterministic and Random
Vibration
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 Deterministic Vibration
 If the value or magnitude of the excitation (force or motion) acting on a
vibratory system is known at any given time, the excitation is called
deterministic.
 The resulting vibration is known as deterministic vibration.
 Random Vibration
 In Random excitation, the value of the excitation at a given time cannot be
predicted.
 In these cases, a large collection of records of the excitation may exhibit
some statistical regularity. It is possible to estimate averages such as the
mean and mean square values of the excitation.
 Examples of random excitations are wind velocity, road roughness, and ground
motion during earthquakes.
 VIBRATIONAL ANALYSIS PROCEDURE
Most practical vibrating systems are very complex. Only the most important
features are considered in the analysis to predict the behaviour of the system
under specified input conditions.
First consider a elementary model, then a
 Mathematical Modelling refined model including more components
/details
Use principle of dynamics and derive the
 Derivation of the governing equations descriptive equations of a vibration system.
Newton’s second law
Principle of conservation of energy

 Solution of the equations Standard methods of solving DFQs

Laplace transform methods Matrix
methods
Numerical methods
 Interpretation of the results
Displacements, Velocities, Accelerations

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 Vibration Analysis
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Procedure
 The response of a vibrating system generally depends on the
initial conditions as well as the external excitations.
 Most practical vibrating systems are very complex.
 Often the overall behavior of the system can be determined by
considering even a simple model of the complex physical
system.
 The analysis of a vibrating system usually involves
 mathematical modeling

 derivation of the governing equations

 solution of the equations

 interpretation of the results

 Step1: Mathematical Modeling
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 The purpose of mathematical modeling is to represent all the important
features of the system for the purpose of deriving the mathematical (or
analytical) equations governing the system behavior.
 The mathematical model should include enough details to allow
describing the system in terms of equations without making it too
complex.
 The mathematical model may be linear or nonlinear, depending on the
behavior of the systems components.
 Linear models permit quick solutions and are simple to handle; however,
nonlinear models sometimes reveal certain characteristics of the system
that cannot be predicted using linear models.
 Sometimes the mathematical model is gradually improved to obtain more
accurate results. In this approach, first a very crude or elementary model
is used to get a quick insight into the overall behavior of the system.
 Subsequently, the model is refined by including more components and/or
details so that the behavior of the system can be observed more closely.
 Step1: Mathematical Modeling (cont.)
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 Forging Hammer
 First approximation
 Refined approximation
 Further refinement ???
 Step 2: Derivation of Governing Equations
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 Once the mathematical model is available, we use the
principles of dynamics and derive the equations that describe
the vibration of the system.
 The equations of motion can be derived conveniently by
drawing the free-body diagrams of all the masses involved.
 The free-body diagram of a mass can be obtained by
isolating the mass and indicating all externally applied forces,
the reactive forces, and the inertia forces.
 Linear or non linear equations??
 depending on the behavior of the components of the system.
 Governing equations can be derived using Newton s second
law of motion, D’Alembert s principle, and the principle of
conservation of energy.
 Step 3: Solution of the Governing Equations.
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 The equations of motion must be solved to

find the response of the vibrating system.
 Depending on the nature of the problem, the

following techniques can be used

 Standard methods of solving differential equations
 Laplace transform methods
 Matrix methods
 Numerical methods.
 Nonlinear equations can be solved in closed form.
 Step 4: Interpretation of the Results.
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 The solution of the governing equations

gives the displacements, velocities, and
accelerations of the various masses of the
system.
 These results must be interpreted with a clear

view of the purpose of the analysis and the

possible design implications of the results.
 Example
 Develop mathematical models of the system for
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investigating vibration in the vertical direction. Consider
the
• elasticity of the tires
• elasticity and damping of the struts
(in the vertical direction),
• masses of the wheels, and
• elasticity, damping, and mass
of the rider

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 Equivalent Systems

Note that the models shown in

Figure (b) to (d) are not unique.
For example, by combining the
spring constants of both tires,
the masses of both wheels, and
the spring and
constants damping both
of
single quantities, struts as
the model
shown in Figure (e) can
be
obtained instead of Figure (c).
 Equivalent Systems

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Spring Elements
A spring is a type of mechanical link, which in most applications is
assumed to have negligible mass and damping.

The spring force is proportional to

the amount of deformation

𝑭 = 𝑲𝒙

The work done in deforming a

spring is stored as strain or
potential energy in the spring

𝟏
𝑼 = 𝟐 𝐊𝒙𝟐
 Equivalent Systems
41

Torsional Spring

𝑇 = 𝐾𝑡𝜃 Potential energy in the torsional

spring is given by
Where 1
T 𝑈 = 𝐾�𝜃 2
2 �
K rotational /torsional stiffness
torque
Ө rotational displacement
 Equivalent Systems
Spring in series
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Spring are said to be in series when
• The deformation of the equivalent spring Ke is the sum of their deformation.
• The equivalent spring force is the same as the forces acting in the individual
springs
Thus, for the two-spring system shown
𝑥 = 𝑥1 + 𝑥2
𝐹 𝐹 𝐹
= +
𝐾𝑒 𝐾1 𝐾2
Therefore
1 1 1
=
𝐾𝑒 𝐾1 𝐾2+
𝑲𝟏 𝑲𝟐
𝑲𝒆 =
𝑲𝟏 + 𝑲𝟐
𝐼𝑛 𝑔𝑒𝑛𝑒𝑟𝑎𝑙, 𝑓𝑜𝑟 𝑛 𝑠𝑝𝑟𝑖𝑛𝑔𝑠 𝑖𝑛 𝑠𝑒𝑟𝑖𝑒𝑠
1 1 1 1
𝐾𝑒 = 𝐾1 + 𝐾2+ … … … . +
 Equivalent Systems
Spring in parallel: same deformaion case
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Springs are said to be in parallel when
• The equivalent spring force is the sum of individual forces
• The spring have the same deformation (true only for the ‘’same deformation
case’’ it is not generally true).
Thus, for the two-spring system shown
𝐹 = 𝐹1 + 𝐹2
𝐾𝑒𝑥 = 𝐾1𝑥1 + 𝐾2𝑥2
But 𝑥1 = 𝑥2 = 𝑥
Therefore
𝐾𝑒 = 𝐾1 + 𝐾2
All springs have same displacements
𝐼𝑛 𝑔𝑒𝑛𝑒𝑟𝑎𝑙, 𝑓𝑜𝑟 𝑛 𝑠𝑝𝑟𝑖𝑛𝑔𝑠 𝑖𝑛 but could have different restoring
𝑝𝑎𝑟𝑎𝑙𝑙𝑒𝑙 forces
𝑎𝑛𝑑 𝑜𝑓 𝑠𝑎𝑚𝑒 𝑑𝑒𝑓𝑜𝑟𝑚𝑎𝑡𝑖𝑜𝑛
 Equivalent
44 Systems
Example
Determine the equivalent spring constant of the system?

K2

K1 K1

K2

K3 K3
45
 Equivalent Systems

46
Cantilevered beam with a mass at the free end In mechanics of materials
P
Elastic elements like beams also behave as springs

P=W
𝑃𝑙 3
𝛿 𝑚𝑎 𝑥 =
3𝐸𝐼
(a) Actual System

𝑊
Sping constant, 𝐾 = 𝛿
𝑊𝑙 W=mg
Since 𝛿 = 3
3𝐸
𝐼
3𝐸
Hence 𝐾 = 𝐼
𝑙
3
 Equivalent Systems

L
𝛿 𝑚𝑎𝑥

𝑃𝑙 3 48𝐸𝐼 𝐺𝐽
𝛿𝑚𝑎𝑥 = 𝐾𝑒𝑞 = 𝐿3 𝐾𝑒𝑞 =
48𝐸𝐼 𝐿

L/2 L/2 F
L
m
Kb K1

K E, I
K2

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 Equivalent Systems

48

Keq of the system using potential energy

Kt1

Kt2
49
 Equivalent Systems

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Helical Coil Springs

Helical springs used in applications such as industrial machines
and vehicle suspension systems.
Helical spring constant under axial load is

𝑮𝒅𝟒
𝑲𝒆𝒒 =
𝟖𝒏𝑫𝟑
Where
d=wire diameter
D=mean coil diameter D
n=number of active turns
G=shear modulus of coil
material
 Equivalent Systems

Torsional stiffness of a road 𝐺𝐽 C

𝐾= 𝐿

J, polar moment of a hollow rod is given as

𝜋
𝐽 = 32(𝐷 4 − 𝑑 4 )
wℎ𝑒𝑟𝑒
G Shera modulus of rod
Jp Polar moment of inertia of rod J p, G
(ability to resist torsion)
J
L Length of rod
J Mass moment of inertia of disk
(measure for resistance to angular acceleration)
L
D Outer diameter
d inner diameter
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 Equivalent Systems
A
Example
B
Determine the equivalent spring constant of
the composite propeller shaft.
C

Section AB comprised of a Steel shaft with

aluminium core whereas Section BC is
hollow steel shaft.
30cm 20cm
Steel
A

A d1 d2
B d3 d4 Aluminium
A C
Section AA

d1= 40mm, d2= 50mm, d3= 36mm, d4=60mm Gst =80 X 109 N/m2 , GAl =40 X 109 N/m2
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 Elements of Vibrating system
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 Spring Elements
 Mass/Inertia Elements
 Damping Elements
 Spring/Elastic Elements
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 A spring is a type of mechanical link, which in most applications is assumed
to have negligible mass and damping.
 The most common type of spring is the helical-coil spring used in
retractable pens and pencils, staplers, and suspensions of freight trucks
and other vehicles.
 Any elastic or deformable body or member, such as a cable, bar, beam,
shaft or plate, can be considered as a spring
 Restoring force is also developed
 Potential Energy
 Nonlinear Springs
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 Nonlinear Springs
(More than one linear Springs)
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 Linearization of Nonlinear Spring
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 In many practical applications we assume that the
deflections are small and make use of the linear
relation
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END