ERT 452

VIBRATION

MUNIRA MOHAMED NAZ

SCHOOL OF BIOPROCESS
ERT 452 SESION 2011/2012UNIVERSITI MALAYSIA1 PE
 CO 2
Ability to DEVELOP and PLAN the solutions to
vibration problems that contain free and
forced-vibration analysis of one degree of
freedoms system.

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 2.1 Introduction
2.2Free Vibration of an Undamped
Translational System
2.3Free Vibration of an Undamped Torsional
System

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 Free Vibration occurs when a system oscillates only
under an initial disturbance with no external forces
acting after the initial disturbance.
Undamped vibrations result when amplitude of motion
remains constant with time (e.g. in a vacuum).
Damped vibrations occur when the amplitude of free
vibration diminishes gradually overtime, due to
resistance offered by the surrounding medium (e.g.
air).

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 A spring-mass system in horizontal position.

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 Several mechanical and structural systems can be
idealized as single degree of freedom systems, for
example, the mass and stiffness of a system.

Equivalent spring-mass
system for the cam follower
system.

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 Modeling of tall structure as spring-mass system.

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 Equation of Motion Using Newtons Second Law of
Motion:
Procedure
Select a suitable coordinate to describe the position of
the mass of rigid body in the system (linear or angular).

Determine the static equilibrium configuration of the

system and measure the displacement of the mass or
rigid body from its static equilibrium position.

Draw free body diagram.

Apply Newtons second law of motion.

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If mass m is displaced a distance

x (t ) when acted
upon by a resultant force F (t ) in the same
direction,
d dx (t )
F (t ) m
dt dt
If mass m is constant, this equation reduces to
2
d x (t )

F (t ) m 2
mx (2.1)
dt
2
d x (t )

where x
2
is the acceleration of the mass.
dt
9
 2
d x (t )

where x 2
is the acceleration of the mass.
dt
For a rigid body undergoing rotational motion,
Newtons Law gives

M (t ) J (2.2)

where M is the resultant

moment acting on the
body and and d 2 (t ) / dt 2 are the resulting
angular displacement and angular acceleration,
respectively.
10
For undamped single degree of freedom system,
the application of Eq. (2.1) to mass m yields the
equation of motion:

F (t ) kx mx
or
mx kx 0 (2.3)

11
 Equation of Motion Using Other Methods:
1)DAlemberts Principle.
The equations of motion, Eqs. (2.1) & (2.2) can
be rewritten as


F (t ) mx 0 (2.4a )

M (t ) J 0 (2.4b)
The application of DAlemberts principle to
the system shown in Fig.(c) yields the equation
of motion:
kx mx 0 or mx kx 0 (2.3)
12
2)Principle of Virtual Displacements.
If a system that is in equilibrium under the
action of a set of forces is subjected to a
virtual displacement, then the total virtual
work done by the forces will be zero.
Consider spring-mass system as shown in
figure, the virtual work done by each force
can be computed as:

13
 Virtual work done by the spring force WS (kx)x
Virtual work done by the inertia force Wi (mx)x
When the total virtual work done by all the forces
is set equal to zero, we obtain
mxx kxx 0 (2.5)
Since the virtual displacement can have an
arbitrary value, x 0 , Eq.(2.5) gives the
equation of motion of the spring-mass system
as
mx kx 0 (2.3)
14
3)Principle of Conservation of Energy.
A system is said to be conservative if no energy
is lost due to friction or energy-dissipating
nonelastic members.
If no work is done on the conservative system
by external forces, the total energy of the
system remains constant. Thus the principle
of conservation of energy can be expressed
as: T U constant
or
d
(T U ) 0 (2.6)
dt
15
The kinetic and potential energies are given by:
1 2
T mx (2.7)
2

or 1 2
U kx (2.8)
2
Substitution of Eqs. (2.7) & (2.8) into Eq. (2.6)
yields the desired equation

mx kx 0 (2.3)
16
 Equation of Motion of a Spring-Mass System
in Vertical Position:

17
For static equilibrium,
W mg k st (2.9)
where W = weight of mass m,
st = static deflection
g = acceleration due to gravity
The application of Newtons second law of motion
to mass m gives
mx k ( x st ) W
and since k st W , we obtain

mx kx 0 (2.10)
18
Notice that Eqs. (2.3) and (2.10) are identical.

This indicates that when a mass moves in a vertical

direction, we can ignore its weight, provided we
measure x from its static equilibrium position.

19
The solution of Eq. (2.3) can be found by assuming

x(t ) Ce st
(2.11)
Where C and s are constants to be determined. Substitution
of Eq. (2.11) into Eq. (2.3) gives

C (ms2 k ) (2.12)
Since C 0, we have

ms2 k 0 (2.13)

20
And hence,
k 1/ 2
s ( ) i n ( 2.13)
m

Roots of characteristic equation or known as eigenvalues of the problem.

Where i = (-1) 1/2 and

k 1/ 2
n ( ) ( 2.14)
m

21
Hence, the general solution of Eq. (2.3) can be
expressed as

x(t ) C1eint C2e int (2.15)

where C1 and C2 are constants. By using the

identities it
e cos t i sin t

x(t ) A1 cos nt A2 sin nt (2.16)

where A1 and A2 are new constants.

22
 x(t 0) A1 x0
x (t 0) n A2 x0 (2.17)

Hence, A1 x0 and A2 x0 / n . Thus the solution

of Eq. (2.3) subject to the initial conditions of
Eq. (2.17) is given by

x0
x(t ) x0 cos nt sin nt (2.18)
n

23
 Harmonic Motion:
Eqs.(2.15),(2.16) & (2.18) are harmonic functions of
time. Eq. (2.16) can also be expressed as:
x(t ) A0 sin( nt 0 ) (2.23)
where A0 and 0 are new constants, amplitude
and phase angle respectively:
2 1/ 2
x0
A0 A x0
2
(2.24) and
n

x0n
0 tan
1
(2.25)
x0 24
Note the following aspects of spring-mass systems:

1) Circular natural frequency:

1/ 2
k
n (2.26)
m
Spring constant, k:
W mg
k (2.27)
st st
Hence,
1/ 2
g
n (2.28)
st
25
Hence, natural frequency in cycles per
second: 1/ 2
1 g
fn (2.29)
2 st

and, the natural period:

1/ 2
1 st
n 2 (2.30)
fn g

26
2) Velocity x (t ) and the acceleration x(t ) of the
mass m at time t can be obtained as:
dx
x (t ) (t ) n A sin( nt ) n A cos(nt )
dt 2
d 2x
x(t ) 2 (t ) n2 A cos(nt ) n2 A cos(nt ) (2.31)
dt
3) If initial displacement x0 is zero,
x0 x0
x(t ) cos nt sin nt (2.32)
n 2 n

If initial velocity x0 is zero,

x(t ) x0 cos nt (2.33)
27
4) The response of a single degree of freedom
system can be represented in the state space
or phase plane:
x
cos(nt ) (2.34)
A
x y Where,
sin( nt ) (2.35)
An A y x / n

By squaring and adding Eqs. (2.34) & (2.35)

cos 2 (nt ) sin 2 (nt ) 1
x2 y2
2
2 1 (2.36)
A A 28
Phase plane representation of an undamped
system

29
A cantilever beam carries a mass M at the free end as
shown in the figure. A mass m falls from a height h on to
the mass M and adheres to it without rebounding.
Determine the resulting transverse vibration of the beam.

30
Using the principle of conservation of momentum:
mvm ( M m) x0
or
m m
x0 vm 2 gh (E.1)
M m M m
The initial conditions of the problem can be stated:
mg m
x0 , x0 2 gh (E.2)
k M m
Thus the resulting free transverse vibration of the
beam can be expressed as:

x(t ) A cos(nt )
31
where
2 1/ 2
x0
A x0
2

n
x0
tan
1

x0n
k 3EI
n 3
M m l ( M m)
32
Determine the natural frequency of the system shown
in the figure. Assume the pulleys to be frictionless and
of negligible mass.

33
The total movement of the mass m (point O) is:
2W 2W
2
k1 k2

The equivalent spring constant of the system:

Weight of the mass
Net displaceme nt of the mass
Equivalent spring constant
W 1 1 4W (k1 k 2 )
4W
keq k1 k 2 k1k 2
k1k 2
keq (E.1)
4(k1 k 2 )
34
By displacing mass m from the static equilibrium
position by x, the equation of motion of the mass can
be written as
mx keq x 0 (E.2)

Hence, the natural frequency is given by:

1/ 2 1/ 2
keq k1k 2
n rad/sec (E.3)
m m(k1 k 2 )

1/ 2
n 1 k1k 2
fn cycles/sec (E.4)
2 4 m(k1 k 2 )
35
36
From the theory of torsion of circular shafts, we
have the relation:
Shear modulus

GI 0
Mt Polar moment of
l inertia of cross
section of shaft
Torque
Length shaft

37
Polar Moment of Inertia:

d 4
I0 (2.38)
32

Torsional Spring Constant:

Mt GI0 Gd 4
kt (2.39)
l 32l

38
 Equation of Motion:
Applying Newtons Second Law of Motion,
J 0 kt 0 (2.40)
Thus, the natural circular frequency:
1/ 2
kt
n (2.41)
J0
The period and frequency of vibration in cycles per
second are: 1/ 2
J0
n 2 (2.42)
kt
1/ 2
1 kt
fn (2.43)
2 J0 39
 Note the following aspects of this system:
1)If the cross section of the shaft supporting the disc
is not circular, an appropriate torsional spring
constant is to be used.
2)The polar mass moment of inertia of a disc is given
by: 4
hD 4
WD
J0
32 8g
where is the mass density
h is the thickness
D is the diameter
W is the weight of the disc
3)An important application: in a mechanical clock 40
 General solution of Eq. (2.40) can be obtained:

(t ) A1 cos nt A2 sin nt (2.44)

where n is given by Eq. (2.41) and A1 and A2 can
be determined from the initial conditions. If

d
(t 0) 0 and (t 0) (t 0) 0 (2.45)
dt
The constants A1 and A2 can be found:
A1 0
A2 0 / n (2.46)
Eq. (2.44) can also represent a simple harmonic motion. 41
Any rigid body pivoted at a point other than its center
of mass will oscillate about the pivot point under its
own gravitational force. Such a system is known as a
compound pendulum (shown in Figure). Find the
natural frequency of such a system.

42
For a displacement , the restoring torque (due to
the weight of the body W ) is (Wd sin ) and the
equation of motion is

J 0 Wd sin 0 (E.1)

Hence, approximated by linear equation:

J 0 Wd 0 (E.2)

The natural frequency of the compound pendulum:

1/ 2 1/ 2
Wd mgd
n (E.3)
J0 J0
43
Comparing with natural frequency, the length of
equivalent simple pendulum:
J0
l (E.4)
md
If J0 is replaced by mk02, where k0 is the radius of
gyration of the body about O,
1/ 2
gd
n 2 (E.5)
k0

k 02
l (E.6)
d
44
If kG denotes the radius of gyration of the body
about G, we have:
k02 kG2 d 2 (E.7)
and
kG2
l d (E.8)
d
If the line OG is extended to point A such that

kG2
GA (E.9)
d
Eq.(E.8) becomes

l GA d OA (E.10)
45
Hence, from Eq.(E.5), n is given by
1/ 2
g
1/ 2 1/ 2
g g
n 2

k0 / d l OA
(E.11)

This equation shows that, no matter whether the

body is pivoted from O or A, its natural frequency is
the same. The point A is called the center of
percussion.

46
Lets try!!!

47
 A simple pendulum is set into oscillation from
its rest position by giving it an angular velocity
of 1 rad/s. It is found to oscillate with an
amplitude of 0.5 rad. Find the natural
frequency and length of the pendulum.

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 Derive an expression for the natural frequency
of the simple pendulum shown in Fig. 1.10.
Determine the period of oscillation of a simple
pendulum having a mass, m = 5 kg and a
length l = 0.5 m.

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 A uniform circular disc is pivoted at point O, as
shown in Fig. 2.99. Find the natural frequency
of the system. Also find the maximum
frequency of the system by varying the value of
b.

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 Derive the equation of motion of the system
shown in Fig. 2.100, by using Newtons second
law of motion method.

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