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Mechanical Vibrations
Mohan D. Rao
Chuck Van Karsen
Mechanical Engineering-Engineering Mechanics
Michigan Technological University
Copyright 2003
MEEM 3700
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F
f
X
x
F = KX
MEEM 3700
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K=
F
A= Area of Cross-Section
E= Modulus of Elasticity
L= Length
AE
L
MEEM 3700
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E = modulus of elasticity.
I = area moment of inertia relative to bending axis.
Kb = spring rate of beam.
L
3EI
F = _____
L3
3EI
Kb = _____
FL3
=
for a cantilever beam
L3
3EI
Similarly obtain Kb for other boundary conditions
from deflection equations
MEEM 3700
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Fixed-Fixed
Simply Supported
max
max
F = Kmax max =
FL3
192EI
F = Kmax
192EI
Kb = _______
L3
max =
FL3
48EI
48EI
Kb = ______
L3
MEEM 3700
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L
M=Moment
M = K t ( L - R ) = K t
Kt
GJ
Kt =
J= d 4 / 32
L
for a round shaft of diameter d
= K t
units=
MEEM 3700
Nm
rad
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Keq
K1
K2
F
F
Keq = K1 + K2
MEEM 3700
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F
X1 K2
K1
F
K1
Keq
K2
F
X = X1 + X 2
F = K eq X = K1 X 1 = K 2 X 2
X=
X2
K eq X
K1
K eq X
K2
1
1
1
=
+
K eq K1 K 2
Equivalent System
K eq =
MEEM 3700
K1 K 2
( K1 + K 2 )
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Keq = K +
Keq
3EI
_____
L3
Equivalent System
MEEM 3700
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Case 1
F1
F1 =K eq X
Keq =K1 +
K1
K2K3
K2 +K3
Case 2
K2
F2 =K eq X
Keq =K3 +
K3
K2K1
K2 +K1
F2
MEEM 3700
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U = Potential Energy
U=
Spring Force
Kx
1
Kx 2
2
dx
1
or U = K t 2
2
for a torsional spring
U = Kxdx
x
U = Kxdx =
0
1 2
Kx
2
MEEM 3700
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d = x cos
Equivalent potential energy
U=
K eq = Kcos 2
in the x-direction
1
1
2
k ( x cos ) = keq x 2
2
2
K eq
MEEM 3700
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Keq
Static
equilibrium
mg
F
Keq=gA
Fb = mg + gAx
MEEM 3700
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J
X
( kgm )
2
Rotating
Inertia
Mass
Rigid Body Behavior
Gain / Lose Kinetic Energy
MEEM 3700
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1
K.E. = mx& 2
2
1
K.E. = J& 2
2
M,J
MEEM 3700
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translation
rotation
X
r
1
1
K.E. = mx& 2 + J& 2
2
2
1
1 x& 2
NOTE: x = r therefore K.E. = mx& 2 + J 2
2
2 r
1
K.E. = m eq x& 2 where meq = m+ J/r 2
2
MEEM 3700
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M,J
d
CG
CG
d
K.E. =
0
CG
1 &2
J 0
2
M,J
J 0 =J cg +Md 2
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Viscous damping
Force (or Torque)
C F = Cx&
ear
Lin
C or Ct
Ct
Velocity
M = C t &
(Translation or
Angular)
Linear Torsional
Viscous Damper
MEEM 3700
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