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  • Mechanical Vibrations (ME-65) : E-Notes by Prof. P.Dinesh, Sambram College, Bangalore

    Загружено:

    Pranav Pandey
    74 просмотров32 страницы
    Introduction: Vibration is defined as a motion which repeats after equal interval of time and is also a periodic motion.The swinging of a pendulum is a simple example of vibration.Vibration occurs in all bodies which are having mass and elasticity. They are caused due to several reasons such as presence of unbalanced force in rotating machines, elastic nature of the system, external application of force or wind loads and earthquakes. Vibrations are undesirable as they induce high stresses in system components leading to noise and failure, in such cases they are to be minimized if not totally eliminated.. The desirable effects are seen in musical instruments and cement compactors used in construction work. From subject point of view the following notations and definitions are very important: Periodic Motion: It is a motion which repeats itself after equal intervals of time, e.g., the oscillations of simple pendulum Time Period (T) : It is the time required for one complete cycle or to and fro motion.The unit is seconds. Frequency (f or ω) : It is the number of cycles per unit time. The unit are radians/sec. or Hz. Amplitude (X or A) : It is the displacement of a vibrating body from its equilibrium position. It has units of length in general . Natural Frequency (fn): It is the frequency with which a body vibrates when subjected to an initial external disturbance and allowed to vibrate without external force being applied subsequently. Fundamental Mode of Vibration: A vibrating body may have more than one natural frequency and when it vibrates with the lowest natural frequency ,it is the Fundamental mode of vibration. Degrees of Freedom: It is the minimum number of coordinates required to describe the motion of system. Typically in our discussions 1DOF system will have one mass, e.g., a spring attached with one mass , 2 DOF system will have two masses and likewise we have 3DOFsystem. A continuous system like a beam or plate consisting of infinite number of particles with mass, are systems with infinite number of DOF. Simple Harmonic Motion (SHM): It is a periodic motion with acceleration always directed towards the equilibrium position. It can also be defined as projection of motion of a particle along a circle with uniform angular velocity on the diameter of circle. Damping: It is the resistance offered to the motion of a vibrating body by absorbing the energy of vibrations. Such vibrations are termed as damped vibrations . Forced Vibrations: It is the vibration of a body when subjected to an external force which is periodic in nature and vibrations occur as long as external force is present. Resonance: It is said to occur in the system when the amplitude of vibrations are excessive leading to failure. This occurs in forced vibrations when the frequency of externally applied force is same as that of natural frequency of the body. Linear and Non Linear Vibrations: When the vibrations are represented by linear differential equations and laws of superposition are applicable for the system, we have Linear systems. Non linear vibrations are experienced when large amplitudes are encountered and laws of superposition are not applicable. Longitudinal, Transverse and Torsional Vibrations: When the motion of mass of the system is parallel to the axis of the system, we have Longitudinal vibrations. When the motion of mass is perpendicular to the system axis the vibrations are Transverse vibrations and when the mass twists and untwists about the axis the vibrations are Torsional vibrations. Up and down motion of mass in a spring mass system represents Longitudinal vibrations. Vibration of a cantilever beam represents Transverse vibrations. The twisting and untwisting of a disc attached at the end of a shaft represents Torsional vibrations. Vector representation of SHM: Any SHM can be represented as by the equation , x = A Sinωt ---(1) , where x is th

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    Introduction: Vibration is defined as a motion which repeats after equal interval of time and is also a periodic motion.The swinging of a pendulum is a simple example of vibration.Vibration occurs in all bodies which are having mass and elasticity. They are caused due to several reasons such as presence of unbalanced force in rotating machines, elastic nature of the system, external application of force or wind loads and earthquakes. Vibrations are undesirable as they induce high stresses in system components leading to noise and failure, in such cases they are to be minimized if not totally eliminated.. The desirable effects are seen in musical instruments and cement compactors used in construction work. From subject point of view the following notations and definitions are very important: Periodic Motion: It is a motion which repeats itself after equal intervals of time, e.g., the oscillations of simple pendulum Time Period (T) : It is the time required for one complete cycle or to and fro motion.The unit is seconds. Frequency (f or ω) : It is the number of cycles per unit time. The unit are radians/sec. or Hz. Amplitude (X or A) : It is the displacement of a vibrating body from its equilibrium position. It has units of length in general . Natural Frequency (fn): It is the frequency with which a body vibrates when subjected to an initial external disturbance and allowed to vibrate without external force being applied subsequently. Fundamental Mode of Vibration: A vibrating body may have more than one natural frequency and when it vibrates with the lowest natural frequency ,it is the Fundamental mode of vibration. Degrees of Freedom: It is the minimum number of coordinates required to describe the motion of system. Typically in our discussions 1DOF system will have one mass, e.g., a spring attached with one mass , 2 DOF system will have two masses and likewise we have 3DOFsystem. A continuous system like a beam or plate consisting of infinite number of particles with mass, are systems with infinite number of DOF. Simple Harmonic Motion (SHM): It is a periodic motion with acceleration always directed towards the equilibrium position. It can also be defined as projection of motion of a particle along a circle with uniform angular velocity on the diameter of circle. Damping: It is the resistance offered to the motion of a vibrating body by absorbing the energy of vibrations. Such vibrations are termed as damped vibrations . Forced Vibrations: It is the vibration of a body when subjected to an external force which is periodic in nature and vibrations occur as long as external force is present. Resonance: It is said to occur in the system when the amplitude of vibrations are excessive leading to failure. This occurs in forced vibrations when the frequency of externally applied force is same as that of natural frequency of the body. Linear and Non Linear Vibrations: When the vibrations are represented by linear differential equations and laws of superposition are applicable for the system, we have Linear systems. Non linear vibrations are experienced when large amplitudes are encountered and laws of superposition are not applicable. Longitudinal, Transverse and Torsional Vibrations: When the motion of mass of the system is parallel to the axis of the system, we have Longitudinal vibrations. When the motion of mass is perpendicular to the system axis the vibrations are Transverse vibrations and when the mass twists and untwists about the axis the vibrations are Torsional vibrations. Up and down motion of mass in a spring mass system represents Longitudinal vibrations. Vibration of a cantilever beam represents Transverse vibrations. The twisting and untwisting of a disc attached at the end of a shaft represents Torsional vibrations. Vector representation of SHM: Any SHM can be represented as by the equation , x = A Sinωt ---(1) , where x is th

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    Mechanical Vibrations (ME-65) : E-Notes by Prof. P.Dinesh, Sambram College, Bangalore

    Загружено:

    Pranav Pandey
    Introduction: Vibration is defined as a motion which repeats after equal interval of time and is also a periodic motion.The swinging of a pendulum is a simple example of vibration.Vibration occurs in all bodies which are having mass and elasticity. They are caused due to several reasons such as presence of unbalanced force in rotating machines, elastic nature of the system, external application of force or wind loads and earthquakes. Vibrations are undesirable as they induce high stresses in system components leading to noise and failure, in such cases they are to be minimized if not totally eliminated.. The desirable effects are seen in musical instruments and cement compactors used in construction work. From subject point of view the following notations and definitions are very important: Periodic Motion: It is a motion which repeats itself after equal intervals of time, e.g., the oscillations of simple pendulum Time Period (T) : It is the time required for one complete cycle or to and fro motion.The unit is seconds. Frequency (f or ω) : It is the number of cycles per unit time. The unit are radians/sec. or Hz. Amplitude (X or A) : It is the displacement of a vibrating body from its equilibrium position. It has units of length in general . Natural Frequency (fn): It is the frequency with which a body vibrates when subjected to an initial external disturbance and allowed to vibrate without external force being applied subsequently. Fundamental Mode of Vibration: A vibrating body may have more than one natural frequency and when it vibrates with the lowest natural frequency ,it is the Fundamental mode of vibration. Degrees of Freedom: It is the minimum number of coordinates required to describe the motion of system. Typically in our discussions 1DOF system will have one mass, e.g., a spring attached with one mass , 2 DOF system will have two masses and likewise we have 3DOFsystem. A continuous system like a beam or plate consisting of infinite number of particles with mass, are systems with infinite number of DOF. Simple Harmonic Motion (SHM): It is a periodic motion with acceleration always directed towards the equilibrium position. It can also be defined as projection of motion of a particle along a circle with uniform angular velocity on the diameter of circle. Damping: It is the resistance offered to the motion of a vibrating body by absorbing the energy of vibrations. Such vibrations are termed as damped vibrations . Forced Vibrations: It is the vibration of a body when subjected to an external force which is periodic in nature and vibrations occur as long as external force is present. Resonance: It is said to occur in the system when the amplitude of vibrations are excessive leading to failure. This occurs in forced vibrations when the frequency of externally applied force is same as that of natural frequency of the body. Linear and Non Linear Vibrations: When the vibrations are represented by linear differential equations and laws of superposition are applicable for the system, we have Linear systems. Non linear vibrations are experienced when large amplitudes are encountered and laws of superposition are not applicable. Longitudinal, Transverse and Torsional Vibrations: When the motion of mass of the system is parallel to the axis of the system, we have Longitudinal vibrations. When the motion of mass is perpendicular to the system axis the vibrations are Transverse vibrations and when the mass twists and untwists about the axis the vibrations are Torsional vibrations. Up and down motion of mass in a spring mass system represents Longitudinal vibrations. Vibration of a cantilever beam represents Transverse vibrations. The twisting and untwisting of a disc attached at the end of a shaft represents Torsional vibrations. Vector representation of SHM: Any SHM can be represented as by the equation , x = A Sinωt ---(1) , where x is th

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    из 32

    e-Notes by Prof. P.

    Dinesh, Sambram College, Bangalore

    Mechanical Vibrations (ME-6 ! Session 1 date: (27/2/07) Additional references Mechanical Vibrations,Grover. G.K . , Nemchand and Bros. Roorkee Mechanical Vibrations, V.P. in!h, "han#at Rai and $o., "elhi. Vibrations and Noise for %n!ineers, K. P&'ara, "han#at Rai and ons, Ne( "elhi. Mechanical Vibrations, ).B.K. "as and P.*. rinivasam&rth+, a#na book ,o&se, Ban!alore.
    .

    "ntro#$ction%
    Vibration is defined as a motion (hich re#eats after e-&al interval of time and is also a #eriodic motion..he s(in!in! of a #end&l&m is a sim#le e/am#le of vibration.Vibration occ&rs in all bodies (hich are havin! mass and elasticit+. .he+ are ca&sed d&e to several reasons s&ch as #resence of &nbalanced force in rotatin! machines, elastic nat&re of the s+stem, e/ternal a##lication of force or (ind loads and earth-&akes. Vibrations are &ndesirable as the+ ind&ce hi!h stresses in s+stem com#onents leadin! to noise and fail&re, in s&ch cases the+ are to be minimi0ed if not totall+ eliminated.. .he desirable effects are seen in m&sical instr&ments and cement com#actors &sed in constr&ction (ork. 1rom s&b'ect #oint of vie( the follo(in! notations and definitions are ver+ im#ortant2 Perio#ic Motion2 3t is a motion (hich re#eats itself after e-&al intervals of time, e.!., the oscillations of sim#le #end&l&m &ime Perio# (&! 2

    3t is the time re-&ired for one com#lete c+cle or to and fro motion..he &nit is seconds. 're($ency (f or )! 2 3t is the n&mber of c+cles #er &nit time. .he &nit are radians5sec. or ,0. *m+lit$#e (, or *! % 3t is the dis#lacement of a vibratin! bod+ from its e-&ilibri&m #osition. 3t has &nits of len!th in !eneral . Nat$ral 're($ency (fn!% 3t is the fre-&enc+ (ith (hich a bod+ vibrates (hen s&b'ected to an initial e/ternal dist&rbance and allo(ed to vibrate (itho&t e/ternal force bein! a##lied s&bse-&entl+. '$n#amental Mo#e of Vibration2 A vibratin! bod+ ma+ have more than one nat&ral fre-&enc+ and (hen it vibrates (ith the lo(est nat&ral fre-&enc+ ,it is the 1&ndamental mode of vibration.

    Degrees of 'ree#om2 3t is the minim&m n&mber of coordinates re-&ired to describe the motion of s+stem. .+#icall+ in o&r disc&ssions 4"61 s+stem (ill have one mass, e.!., a s#rin! attached (ith one mass , 7 "61 s+stem (ill have t(o masses and like(ise (e have 8"61s+stem. A contin&o&s s+stem like a beam or #late consistin! of infinite n&mber of #articles (ith mass, are s+stems (ith infinite n&mber of "61. Sim+le -armonic Motion (S-M!2 3t is a #eriodic motion (ith acceleration al(a+s directed to(ards the e-&ilibri&m #osition. 3t can also be defined as #ro'ection of motion of a #article alon! a circle (ith &niform an!&lar velocit+ on the diameter of circle. Dam+ing% 3t is the resistance offered to the motion of a vibratin! bod+ b+ absorbin! the ener!+ of vibrations. &ch vibrations are termed as dam#ed vibrations . 'orce# Vibrations2 3t is the vibration of a bod+ (hen s&b'ected to an e/ternal force (hich is #eriodic in nat&re and vibrations occ&r as lon! as e/ternal force is #resent. .esonance% 3t is said to occ&r in the s+stem (hen the am#lit&de of vibrations are e/cessive leadin! to fail&re. .his occ&rs in forced vibrations (hen the fre-&enc+ of e/ternall+ a##lied force is same as that of nat&ral fre-&enc+ of the bod+.

    /inear an# Non /inear Vibrations% 9hen the vibrations are re#resented b+ linear differential e-&ations and la(s of s&#er#osition are a##licable for the s+stem, (e have *inear s+stems. Non linear vibrations

    are e/#erienced (hen lar!e am#lit&des are enco&ntered and la(s of s&#er#osition are not a##licable. /ongit$#inal, &rans0erse an# &orsional Vibrations2 9hen the motion of mass of the s+stem is #arallel to the a/is of the s+stem, (e have *on!it&dinal vibrations. 9hen the motion of mass is #er#endic&lar to the s+stem a/is the vibrations are .ransverse vibrations and (hen the mass t(ists and &nt(ists abo&t the a/is the vibrations are .orsional vibrations. :# and do(n motion of mass in a s#rin! mass s+stem re#resents *on!it&dinal vibrations. Vibration of a cantilever beam re#resents .ransverse vibrations. .he t(istin! and &nt(istin! of a disc attached at the end of a shaft re#resents .orsional vibrations. Vector re+resentation of S-M% An+ ,M can be re#resented as b+ the e-&ation , / ; A in<t ===>4? , (here / is the dis#lacement , A is the am#lit&de , < is the circ&lar fre-&enc+ and t is the time. "ifferentiatin! e-n.4 (.r.t. t (e have velocit+ vector and differentiatin! e-n 4 t(ice (e have the acceleration vector. 3f /4 and /7 are t(o dis#lacement vectors (ith same fre-&encies then the #hase difference bet(een them is !iven b+ @. AAAAAAAAAAAAAAAAAAA

    Session 2 date : (28/2/07)


    Princi+le of S$+er+osition2 9hen t(o ,M of same fre-&encies are added the res&ltin! motion is also a harmonic motion. $onsider t(o harmonic motions /4 ; A4 in<t and /7 ; A7 in><t B @? . .hen if / is the res&ltant dis#lacement , / ; /4 B /7. .he res&ltant am#lit&de / ; A in ><t BC?, (here A is the res&ltant am#lit&de and is actin! at an an!le C (.r.t vector /4. .he above addition of ,Ms can also be done !ra#hicall+. 1111111111 Sam+le Problems% 4? Add the follo(in! harmonics anal+ticall+ and check the sol&tion !ra#hicall+ /4; 8 in ><t B 8DE? , /7 ; F $os><t B4DE?

    Sol$tion2 Given 2 /4; 8 in ><t B 8DE? , /7 ; F $os><t B4DE?

    *nalytical metho#2 9e kno( that, / ; /4 B /7 ; A in ><tB C? Make /4 and /7 to have same in terms al(a+s , i.e., /7 ; F cos><t B4DE B GDE? ; F in ><t B4DDE ? ,ence, A in ><tB C?; 8 in ><t B 8DE? B F in ><t B4DDE ? %/#andin! *, and R, A in <t $os C B A cos <t in C ;8 in <t cos 8DE B 8$os <t in8DE B F in <t cos 4DDE B F in <t sin 4DDE A in <t $os C B A cos<t in C ; in <t>4.DGF? B $os <t >H.FF? $om#arin! the coefficients of A $os C and A in C in the above e-&ation A$os C ; 4.DGF, A in C ; H.FF , tan C ; A in C5 A$os C ; H.FF54.GDF .herefore , C ; ID.I E and A ; 4.DGF5$os ID.I E ; H.IJ . 2ra+hical Metho#.% "ra( o/ the reference line. 9ith res#ect to o/, dra( oa e-&al to 8 &nits in len!th at an an!le of 8DE to o/ and ob e-&al to F &nits at an an!le of 4DDE to o/. $om#lete the vector #ol+!on b+ dra(in! lines #arallel to oa and ob to intersect at #oint c. Meas&re oc (hich sho&ld be e-&al to A and the an!le oc makes (ith o/ (ill be e-&al to C. All an!les meas&red in anticlock(ise direction.

    c b

    a / //

    7? Re#eat the above #roblem !iven , /4 ; 7$os><t B D.H? and /7 ; H in><t B 4.D? . .he an!les are in radians. >,int2 3n the above #roblem the an!les are to be converted to de!rees. Ans. A ; J.4GH, C ; I8.FG E ?

    8? Add the follo(in! harmonic motions anal+ticall+ or !ra#hicall+. /4 ; 4D $os><t B K5F? and /7 ; L in><t B K5J? . F? A bod+ is s&b'ected to 7 harmonic motions /4 ; 4Hsin><t B K5J? , /7 ; L cos><t B K5J?, (hat harmonic is to be !iven to the bod+ to it to e-&ilibri&m. ol&tion 2 *et the harmonic to be !iven to the t(o harmonics to make it to be in e-&ilibri&m be Asin ><t B @? .herefore, Asin ><t B @?B /4 B /7 ; D ,ence, Asin<t cos @BA cos<t sin @B4Hsin<t cosK5JB4Hcos<t sinK5JBL cos<t cosK5JBL sin<t sinK5J ; D sin<t >A cos @BL.GGD8L?B cos<t>A sin @B4F.F7L7? ; D .herefore, A cos @ ; =L.GGD8L A sin @; = 4F.F7L7 .herefore, tan @ ; A sin @ 5 A cos @ ; 4F.F7L75L.GGD8L , @ ; HL.DJ7M 1rom , A cos @ ; =L.GGD8L, s&bstit&tin! for @ ; HL.DJ7M, A ; 4I.DD .herefore, the motion is /; 4Isin><t B HL.DJ7M? AAAAAAAAAAAA Beats Phenomenon2 $onsider t(o harmonics /4 and /7 of sli!htl+ different fre-&encies and the A cos @ res&ltin! motion (ill not be a ,M. "&e to e/istence of different fre-&encies the #hase difference of the t(o vectors kee#s on chan!in! and shiftin! (.r.t time. .he t(o harmonics (hen in #hase have their res&ltant am#lit&de to be s&m of individ&al am#lit&des and (hen the+ are o&t of #hase the res&ltant am#lit&de is difference of individ&al am#lit&des. .his #henomenon of var+in! of res&ltant am#lit&de is called as Beats and this occ&rs at a fre-&enc+ !iven b+ the difference of the individ&al fre-&encies of the t(o vectors.

    A m # l i t & d e time

    Res&ltant am#lit&de variation d&rin! one c+cle (

    1111111111111111

    Session 3 date: (2/3/07)


    'o$rier &heorem% An+ #eriodic motion can be re#resented in terms of sine and cosine terms called as 1o&rier series. .he #rocess of obtainin! the 1o&rier series of a #eriodic motion is called ,armonic anal+sis, i.e., 1>t? a #eriodic f&nction can be re#resented as 1>t? ; aD B a4cos<t B a7cos7<t B a8cos8<t BNN.an cosn<t B b4sin<t B b7sin7<t B b8sin8<t BNN.. bn sinn<t

    .he constants aD,a4,a7,,,,,and b4,b7,b8N. etc., are obtained &sin! the follo(in! form&lae2 aD ; ><57K? O 1>t?, in the limits D to 7K5<

    an;><5K? O 1>t?cos>n<t? dt, in the limits D to 7K5< bn; ;><5K? O 1>t?sin>n<t? dt, in the limits D to 7K5<

    A 2cm 2cm .2
    F? Re#resent the above #eriodic motion &sin! harmonic series ol2 Mathematicall+ for one com#lete c+cle (e have the e-n for AB as />t? ; =7Dt B7 for DPtPD.7 .;D.7, <; >7K5.? ; 4DK D.7 aD;><57K? 3 />t?dt D D.7 aD; >4DK57K? O >=7Dt B7 ? dt ; D D D.7 an ; ><5K? 3 />t?cos>n<t?dt D ;D D.7 bn ; ><5K? O />t?sin>n<t?dt D I

    ; >F5Kn? .h&s, the harmonic series is , />t? ; F5KQ >45n? sin4DKnt , for n ;4,7,N..

    H? A #eriodic motion is re#resented b+ a sa( tooth (ave form, the am#lit&de is D at t;D and rises to 4D cm, at t;D.8, it then dro#s do(n to 0ero at t ; D.8 ,and remains 0ero for ne/t D.7 seconds and one c+cle is com#leted. .he ne/t c+cle a!ain starts at t;D.H secs. Re#resent the above c+cle in form of a harmonic series. R, c m s

    4D

    ec. D.8 D.7

    1&rther #roblems refer the te/ts !iven in the additional references. AAAAAAAAAAAAA

    Mechanical Vibrations >M% JH?

    Session 4 #ate% (656578!

    Undamped freee vibrations


    Single degree of freedom System k>/BT? k m m m! "is#l. /

    m/

    .his consists of a sin!le s#rin! attached (ith a sin!le mass. .he Vario&s (a+s in (hich the e-&ation of motion is obtained are 2 a? Ne(tonSs Method b? %ner!+ Method and c? Ra+lei!h Method Ne(tonSs Method 9hen a mass m is attached to a s#rin! it deflects b+ T and the s+stem is &nder e-&ilibri&m as m! ; (ei!ht ; kT, (here k is the s#rin! stiffness, defined as force #er &nit len!th. 3f no( the mass m is !iven a dis#lacement / in the do(n(ard direction and the s+stem is allo(ed to vibrate, (e have the follo(in! forces actin! on the s+stem2 the s#rin! force, k>/BT? actin! in the &#(ard direction, inertia force m/actin! in the &#(ard direction and force m! actin! in the direction of dis#lacement / do(n(ards. .he e-&ation of motion is (ritten takin! e-&ilibri&m of forces as2 m/ ; = k>/BT? B m! ; =k/=kTBm! ; =k/=kTBkT

    6r m/ B k/ ; D, (hich is the !overnin! differential e-&ation for a sin!le de!rr of freedom s+stem. Re(ritin! the e-&ation of motion as

    /B >k5m? / ; D, (e have the -&antit+ >k5m? 457 as the nat&ral fre-&enc+ of the s+stem <n . %ner!+ Method2 3n this method the conce#t of total ener!+ of the s+stem, (hich is the s&mof Kinetic ener!+ >.? and Potential ener!+>V? , is made &se of (hich remains constant al(a+s for an+ confi!&ration of s+stem (hile it is vibratin! 1or a sin!le "61 s+stem of s#rin! and mass, the kinetic ener!+ is !ivenb+ >457?m/ and the #otential ener!+ stored in the s+stem is >457?k/ 7 . As the total ener!+ of the s+stem remains constant, (e have .BV ; D or d>.BV?5dt ; D. "ifferentiatin! (e have the !overnin! differential e-&ation as m/ B k/ ; D, and the nat&ral fre-&enc+ is !iven b+ <n ; >k5m?457. Ra+lei!hSs Method2 3n this method the ma/ kinetic ener!+ of the s+stem is e-&ated to the ma/im&m #otential ener!+. 1or ,M the ma/. kinetic ener!+ is at the mean #osition (hich is e-&ated to the #otential ener!+. 3f A is the am#lit&de of vibration and < n is the nat&ral fre-&enc+ the ma/. kinetic ener!+ is !iven b+ >457?m>< n A?7 and ma/. #otential ener!+ is >457?kA7 . %-&atin! the t(o e-&ations and sim#lif+in! (e have a!ain <n ; >k5m?457. AAAAAAAA

    Session

    #ate%(856578!

    PR3NG 3N %R3% AN" PR3NG 3N PARA**%*

    4D

    $onsider fi!&re >b? (here the s#rin!s are in series. 9hen the mass is s&b'ected to a force U1S, the dis#lacement of mass UmS is e-&al to deflections of s#rim!s 4 V 7. ,ence (e can (rite, the dis#lacement of the e-&ivalent s#rin! as, = 1 + 2 9here W4 X deflection of s#rin! 4.and W7 X deflection of s#rin! 7. ,ence (e can (rite 15Ke ; 15K4 B 15K7 45Ke ; 45K4 B 45K7 $onsiderin! fi! >a? (here s#rin!s are in #arallel (hen the mass is s&b'ected to a force 1 (e have the total s#rin! force e-&al to s&m of individ&al s#rin! forces. ,ence, (e can (rite the total force in the e-&ivalent s#rin! as Ke ./ ; K4./ B K7./ .herefore Ke ; K4 B K7 .herefore the e-&ivalent s#rin! stiffness for s#rin!s in #arallel is e-&al to Ke ; K4 B K7 AAAAAAAAAA , (here Ke; e-&ivalent s#rin! stiffness

    44

    Problem2 4? 6btain an e-&ivalent s#rin! mass s+stem and e/#ression for <n. for 8 s#rin!s in series and in #arallel confi!&ration

    K4

    K7

    K8 m

    i? for series s#rin! combination. 45Ke ; 45K4 B 45K7 B 45K8 .herefore Ke ; K4.K7.K8 K4K7 B K7K8 B K4K8 ii? for #arallel s#rin! combination. Ke; K4 B K7 B K8 45Ke ; 45K4 B 45K7 B 45K8

    Ke; K4 B K7 B K8 Ke Nat&ral fre-&enc+ 47

    <n ; Y>K e 5 m? , .herefore <n ; .herefore <n ;


    >4 5 K4 + 4 5 K 7 + 4 5 K 8? m

    K4 + K 7 + K 8 m

    7?. 6btain the nat&ral fre-&enc+ of the s+stem

    ol&tion2 Given

    m ; 4DG N K4 ; 4DN5mm K7 ; 4DN5mm K8 ; HN5mm .he s#rin! e-&ivalent (hen #arallel s#rin!s are added, (e have

    48

    Ke4 ; K4 B K7 ; 7D N5mm Ke ; Ke4 B K8 Ke4 B K8 ; 7D >H? 7H ; F N5mm ; FDDD N5m <n ; Y >Ke 5 m? .herefore <n ; 4L.GI rad5s 1re-&enc+ ; fn ; <n 57 ; 8.D47 ,0 AAAAAAAAAAA

    4F

    Session 6 #ate%(956578!
    N*&:.*/ '.E;:ENC< =' * SP."N22 $onsiderin! mass of s#rin!

    + * k d+

    $onsider a s#rin! mass s+stem as sho(n in the fi!&re (here the mass is dis#laced b+ U/S. Ud+S is a small elemental s#rin! len!th at a distance of + from the fi/ed end. U*S be the len!th of the s#rin!. *et /S and / be the velocit+ and acceleration of mass. .he total K.% of the s+stem is the s&m of K.% of the mass UmS and K.% considerin! the mass of the s#rin!. .he velocit+ of the s#rin! element at a distance of U+S from the fi/ed end is /S+5* 9e can (rite the K.% of the s#rin! element Ud+S as >Z ?>Rho?>d+?>/S+5*? 7 9here Rho is the mass densit+ Above e/#ression is of the form K% ; Z mv7. .he K.% for the entire s#rin! considerin! the mass of the s#rin! becomes * O>Z ?>Rho?>d+?>/S+5*? 7 D * ; >Rho? /S7 5 7l7 O >+858? D 7 ; 45J >Rho?/S * ; 45J Ms./S7 (here, Ms ; >Rho?* ; Mass s#rin!

    .herefore the entire K.% of the s+stem

    K.% ; 457m/S7 B 45J Ms./S7 4H

    .he #otential ener!+ of the s+stem P.% ; Z K/7 .herefore the total ener!+ of the s+stem ; K.% B P.% ; constant 457m/S7 B 45J Ms./S7 B Z K/7 ; constant "ifferentiatin! the above e/#ression (.r.t time (e !et M/S/ B 458 Ms/S/B K//S ; D M/ B 458 Ms/B K/ ; D / [m B 458 Ms\ B K/ ; D 1rom the above e/#ression, .herefore , <n ; >K5>mB458>Ms??457 , rad5s AAAAAAAAAAAAAAA

    4J

    Session 8 #ate %(>656578!


    Problems
    8 ? "etermine the e-&ation of motion and nat&ral fre-&enc+ of the s+stem sho(n k

    /4

    M 6

    ol&tion2 3t is ass&med that2 .he strin! is ine/tensible .he friction bet(een strin! and disc is ne!lected. .he disc is !iven an an!&lar dis#lacement UCS, d&e to (hich the mass UmS is dis#laced b+ U/S, from the fi!&re, (e have] / ; 7r C. Also, the vertical dis#lacement of centre U6S is R4 ; r C

    4I

    B+ makin! &se of the ener!+ #rinci#le, (e have the total ener!+ of the s+stem is constant at an+ !iven instant of time. K.%. +stem ; 457m/S7 B457MCS7 B4573C7

    ; 457 m>7rCS?7B457M>rCS?7B457>457Mr7?>CS?7 im#lif+in! ; r7 >CS?7>7mB>85F?M?

    imilarl+, P.%. of the s+stem is the strain ener!+ stored in the s#rin! d&e to dis#lacement of centre /4, i.e, >457?k>/4?7 , (hich is >457?k>r7?>C?7 Accordin! to %ner!+ Method, d >K%BP%? ; D dt "ifferentiatin! the s&m of K% and P% >7mB>85F?M?7CBkC ; D 6r CB k5>FmB>857?m? ; D , (hich is in the form CB <n7 ; D or <n7 ; k5>FmB>857?m?, i.e. <n ; k5>FmB>857?m?457 and the nat&ral fre-&enc+ in,0, , fn ; >k5>FmB>857?m?457?57K

    :niversit+ Problems for #ractice


    4? A homo!en&s c+linder of mass m and radi&s r is s&s#ended b+ a s#rin! and an ine/tensible cord as sho(n. 6btain the e-&ation of motion and find the nat&ral fre-&enc+ of vibration of the c+linder.

    4L

    Ans(er2 CB>Lk58m?C ; D, fn ; >Lk58m?57K, ,0.

    m r

    7? A sim#le #end&l&m is as sho(n in fi!. "etermine the nat&ral fre-&enc+ of the s+stem if the mass of the rod m r is not ne!li!ible .

    m Ans(er2 C B >>m B>mr 57??5>>mB>mr 58??>!5*? ; D fn ; >Y>>m B>mr 57??5>>mB>mr 58??>!5*??57K, ,0 AAAAAAAAAAAAA 8? A circ&lar c+linder of mass m and mass moment of inertia 3 is connected b+ a s#rin! of stiffness k as sho(n. 3f it is free to roll (itho&t sli##in!, determine the nat&ral fre-&enc+.

    4G

    Ans(er2 fn ; >Y>7k58m??57K , ,0. AAAAAAAAAAAAAAA F? .he Mass of an &niform rod is ne!li!ible com#ared to the mass attached to it. 1or small oscillations, calc&late the nat&ral fre-&enc+ of the s+stem.

    a k *

    m AA

    7D

    Mechanical Vibrations (ME6 ! Session ? #ate% (@656578!

    Forced Vibrations
    1orced vibrations are those (hose am#lit&des are maintained b+ a##lication of e/ternal forces.Rin!in! of electric bell or machine tool vibrations are e/am#les of forced vibrations..he e/ternal force maintainin! the vibrations are called e/ternal e/citation and are random, #eriodic or im#&lsive in nat&re. Basic so&rces of e/citation are e/ternal or inherent to the s+stem. Machine s&bs+stems are heated &nevenl+ d&rin! o#eration and !ive rise to &neven deformation leadin! to !eneration of &nbalanced force,Resonance of s+stem #rod&ces lar!e am#lit&des leadin! to &nbalanced forces. imilarl+, defective assembl+ , bendin! and distortion of com#onents, bearin! defects leadin! to misali!nment, &neven distrib&tion of mass in rotatin! com#onents lead to creation of &nbalanced forces ca&sin! a s+stem to vibrate forcibl+. 'orce# 0ibration of #am+e# single #egree of free#om system

    k/ $/S 1sin<t m/

    k/ is the s#rin! force, c/S is the dam#in! force and m/ is the inertia force and 1sin<t is the e/ternal e/citation . / is the dis#lacement of mass in the direction sho(n. .he e-&ation of motion is (ritten as m/Bc/SB k/ ; 1sin<t ====>i?

    74

    .he sol&tion of above e-&ation is in 7 #arts, i? $om#limentar+ f&nction >cf? and ii? #artic&lar inte!ral>#i?. .he total sol&tion / ; />cf? B />#i?. .he />cf? is the sol&tion of e-&ation m/Bc/SB k/ ; D, (hich is (ritten as Ae=^<nt sin><d t B @?. .he #artic&lar inte!ral />#i? is ass&med to be in the form / ; R sin><t = @?, th&s (e have d/5dt ; /S as <Rsin> <t=@BK57? and >d/5dt?7 ; / ; <7 Rsin> <t=@BK?, s&bstit&tin! the val&es of /S amd / in e-n. >i?, (e have, m><7 Rsin> <t=@BK? B c><Rsin> <t=@BK57?? B k>R sin><t = @?? ; 1sin<t Rearran!in! , 1sin<t = kR sin><t = @? = c<Rsin> <t=@BK57? = m<7 Rsin> <t=@BK? ; D 9here, 1sin<t is the e/ternal force "i#lacement / la!s the e/ternal force kR is the s#rin! force la!!in! 1 b+ @ c<R is the dam#in! force la!!in! 1 b+ >@BK57? m<7 R is the inertia force, la!!in! 1 b+ >@BK?, .he vector dia!ram of these is as sho(n belo(2

    k/

    1 / reference

    c<R m<7 R 1rom the !eometr+ of dia!ram, (e have, 1 ; >k/ X m<7 R? 7 B >c<R?7, sim#lif+in! R ; 15>>kX m<7 ? 7 B >c<?7? .herefore, the total sol&tion can be (ritten as, / ; />cf? B />#i?
    7

    ; Ae=^<nt sin><d t B @? B 1 sin><t=@? >5>>kX m<7 ? 7 B >c<?7? ====>ii?

    77

    .he e-n>ii? is total res#onse (hich consists of t(o #arts, first bein! the transient #art, the first term in R, , (hich dies o&t (ith time and the second #art the />#i?, is the stead+ state vibration (hich does not die (ith time. .he e/#ressions for am#lit&de R in dimensionless form and #hase an!le are as follo(s2 R ; >15k?5Y>4=>< 75<n 7 ?7 B >7^<5 <n ?7 , >15k? is called the _ero fre-&enc+ deflection (hich is the deflection of s#rin! mass &nder a stead+ force.

    .he #hase an!le, @ ; tan=4 >>7^<5 <n ?5 4=>< 75<n 7?? Magnification 'actor2 3n a vibratin! s+stem the transient vibrations die o&t after #assa!e of time and the stead+ state vibration contin&es (ith constant am#lit&de as lon! as the e/ternal e/citations e/sist, and this makes the st&d+ of stead+ state vibrations to be im#ortant for st&d+ and anal+sis. Ma!nification factor M.1. is one #arameter in st&d+ of forced vibrations (hich is defined as the ratio of am#lit&de of stead+ state res#onse R to Rst the 0ero fre-&enc+ deflection or the static res#onse &nder stead+ load 1. .he M.1 . is !iven b+, M.1. ; R5Rst ; 45>Y>4=>< 75<n 7 ?7 B >7^<5 <n ?7 ? .his M.1. de#ends &#on the fre-&enc+ ratio <5<n and the dam#in! factor ^ . 1rom the #lots of M.1. vers&s fre-&enc+ ratio and #hase an!le,@ vers&s fre-&enc+ ratio also called fre-&enc+ res#onse c&rves follo(in! observations can be made2 >Refer an+ standard te/t for detailed c&rves?

    @ M1

    <5<n i? ii? iii? Phase an!le is GD` at resonance M.1. is infinit+ at resonance and ^ ; D 1or all fre-&encies th M1 red&ces (ith dam#in!

    <5<n

    78

    iv? v? vi? vii? viii? i/?

    Ma/im&m am#lit&de occ&rs at left of resonance 1or small val&es of fre-&enc+ ratio, the inertia and dam#in! forces are small res&ltin! in small #hase an!les.3m#ressed force is nearl+ e-&al to s#rin! force. 1or fre-&enc+ ratio of 4, the inertia force is balanced b+ the s#rin! force..he im#ressed force balances the dam#in! force. 1or lar!e val&es of fre-&enc+ ratio, inertia force increases to a lar!e val&e and dam#in! and s#rin! forces are small. .he fre-&enc+ at (hich the ma/im&m am#lit&de occ&rs is obtained b+ &sin! the relation <# ; <n Y>4 = 7^ 7 ?, (here <# is the fre-&enc+ at (hich ma/im&m am#lit&de occ&rs. $ondition for resonance , >M1?resonance ; >Rr 5Rst ? ; >457^?

    Sol$tion by com+leA algebra2 *et the e-&ation of motion be (ritten as m/Bc/SBk/ ; 1ei<t the res#onse of (hich is / ; R ei><t X @? . s&bstit&tin! the e/#ressions for /S and / into the e-&ation of motion and sim#lif+in! , (e have >=m<7 Bic< Bk? R ei><t X @? ; 1ei<t , from (hich , Re =i@ ;>15>k = m<7 ? B ic<?, from (hich &sin! / ; R ei><t X @? , the real #art of / is !iven b+ Re>1ei<t 5>k = m<7 ? Bic<?. 3ntrod&cin! the com#le/fr-&enc+ res#onse ,><? as ratio of o&t#&t Re Xi@ to in#&t 1 i.e, ,><? ; Re Xi@ 5 1 ; >45>k = m<7 ? Bic<? ; R5Rst ; 45Y>>k = m<7 ? 7 B>c<? 7 ? .he #hase an!le, @ ; tan =4 >c<5>k X m<7 ?? AAAAAAAAAAAAAA

    7F

    Session 9 #ate% (@856578!


    .otating an# .eci+rocating $nbalance

    a ; esin<t e ; eccentricit+ m o <7 e / a

    mo / m

    .he fi!&re sho(s a rotatin! e-&i#ment rotatin! at a s#eed of < rad.5sec. *et mo be the &nbalance mass rotatin! (ith its $G at a distance of e from centre..his &nbalanced mass !ives rise to a centrif&!al force , e-&al to mo <7 e .*et m be the total mass of e-&i#ment incl&sive of mo and at an+ instant of time mo make an an!le of <t. .he e-&ation of motion for this s+stem can be (ritten considerin! the effective mass Um=moS and the &nbalanced mass UmoS. Referrin! fi!&re as sho(n belo(, (e have the effective dis#lacement of mo is s&m of U/S and Uesin<tS. ,ence (e can (rite the e-&ation of motion in the vertical direction as

    7H

    >m=mo?/ B >mo?d7>/ B esin<t? 5dt7 ; = K/ X $/S

    3e, m/ = mo/ Bmo/B mod[<e cos<t\5dt ; =K/ X$/S m/ = mo <7e sin<t ; =K/ X$/S m/ B $/S B K/ ; mo<7sin<t .he above e-&ation is similar to m/ B $/S B K/ ; 1sin<t ,ence for an &nder dam#ed s+stem, (e !et the e/#ression for stead+ state am#lit&de as R; mo<7e5K
    >4 > (5( n ? 7 ? 7 +> 7lyw 5 wn ? 7

    .herefore

    aaRaa ; >moe5m?

    >(5(n?7
    >4 > (5( n ? 7 ? 7 +> 7lyw 5 wn ? 7

    7J

    b ; tan=4 [7^>(5(n? 5 >4 = >(5(n ?7 ? ame anal+sis is e/tended to reci#rocatin! masses (here e/citin! force becomes moe(7sin(t (here mo ; :nbalanced mass of reci#rocatin! masses. .he com#lete sol&tion for the &nbalanced s+stem is / ; A7e X^<nt >sin<d t B b7 ? B >moe(7 5k?5>Y>4=>< 75<n 7 ?7 B >7^<5 <n ?7 ? .he follo(in! #oints are concl&ded for &nbalanced s+stem2 "am#in! factor #la+s an im#ortant role in controllin! the am#lit&des d&rin! resonance. 1or lo( val&es of fre-&enc+ ratio, R tends to D. 1or lo( val&es of fre-&enc+ ratio >(5(n?, R tends to D. At hi!h s#eeds of o#eration, dam#in! effects are ne!li!ible. .he #eak am#lit&des occ&r to ri!ht of resonance &nlike for balanced s+stems. At resonance, ( ; (n ie2 R 5 moe5m ; 457^

    Also, >R ? resonance ; moe5 7m^ 1rom the #lot of >R 5 emo m? v5s <5<n , it iserved that at lo( s#eeds, beca&se the inertia force is small, all the c&rves start from 0ero and at resonance >R 5 moe5m ?; 457^ and the am#lit&de of s&ch vibrations can be controlled b+ the dam#in! #rovided in the s+stem. 1or ver+ lar!e fre-&enc+ ratio, >R 5 moe5m ? tends to one. AAAAAAAAAAAAAAA

    Session >7 #ate % (@?56578!


    V"B.*&"=N "S=/*&"=N *ND &.*NSM"SS"=N% Vibration "solation% ,i!h s#eed machines and en!ines d&e to &nbalance !ive rise to vibrations of e/cessive am#lit&des and d&e to the &nbalance forces bein! set&#, the fo&ndations can be dama!ed. ,ence there is a need to eliminate or red&ce the vibrations bein! transmitted to

    7I

    the fo&ndations, s#rin!s, dam#ers, etc. are #laced bet(een the machines and the fo&ndations to red&ce the vibrations or minimi0e then. .hese elements isolate the

    vibrations b+ absorbin! the vibration ener!+. .his isolation of vibrations is e/#ressed in terms of force or motion transmitted to the fo&ndation. .he re-&irements of these isolatin! elements are that there sho&ld be no connection bet(een the vibratin! s+stem V the fo&ndation V it is to be ens&red that in case of fail&re of isolators the s+stem is still in of #osition on the fo&ndation. R&bber acts effectivel+ as an isolator d&rin! shear loadin!. .he so&nd transmitted b+ it is also lo(. ,eat and oil affect the r&bber and it is &s&all+ #referred for li!ht loads V hi!h fre-&enc+ oscillation. 1elt #als are &sed for lo( fre-&enc+ ratios. Man+ small si0ed felt #ads are &sed instead of a sin!le lar!e #ad. $ork can be &sed for com#ressive loads. ,elical V leaf s#rin!s of metal are &sed as isolators for hi!h fre-&enc+ ratios. .he+ are not affected b+ air, (ater or oil. .he so&nd transmitted b+ them can be red&ced b+ coverin! them (ith #ads of felt, r&bber or cork. &.*NSM"SS"B"/"&<2 1sin<t / m

    3n a s#rin! mass dash#ot s+stem s&b'ected to harmonicall+ var+in! e/ternal force, the s#rin! and dash#ot become the vibration isolators and the s#rin! force and dam#in! force are the forces bet(een the mass and fo&ndation. .h&s the force transmitted to the fo&ndation >1tr ? is vector s&m of the s#rin! force >kR? and dam#in! force >c<R?. 9e can (rite, 1tr ; R Y>K7 B c7<7 ?, s&bstit&tin! for R as R ; 15>>kX m<7 ? 7 B >c<?7?, (e have 1tr e-&al to, 1tr ; 1 >Y>K7 B c7<7 ? 5 >>kX m<7 ? 7 B >c<?7?

    7L

    .ransmissibilit+ is defined as the ratio of force transmitted to the fo&ndation to the force im#ressed on the s+stem i.e.,

    .r ; c ; 1tr 5 1 ; Y>4 B >c<5k?7 5 >Y>4=>< 75<n 7 ?7 B >7^<5 <n ?7 ? .he an!le of la! of the transmitted force is , >@ X d? ; tan X 4 >> 7^<5 <n? 5 4=>< 75<n 7?? = tan X 4>7^<5 <n ? Plot of .r vers&s <5 <n >refer a te/t book? for vario&s val&es of ^ , is called the transmissibilit+ c&rve . 1rom the #lot it is seen that all c&rves start from 4 and transmissibilit+ .r is al(a+s desired to be less than 4, as it ens&res that transmitted force to the fo&ndation is minim&m and better isolation is achieved. .he o#eratin! val&es of fre-&enc+ ratio to achieve this effect sho&ld be !reater than Y7 and the re!ion be+ond this val&e of fre-&enc+ ratio is called mass control 0one (here isolation is most effective. 3n the #lot the fre-&enc+ ratio val&es &#to D.J are s#rin! control 0one and from D.J to Y7 is dam#in! control 0one and be+ond that is mass control 0one. AAAAAAAAAAAA

    Session >> #ate%(6756578!


    '=.CED V"B.*&"=N D:E &= E,C"&*&"=N =' S:PP=.&%

    1rame

    _ m $

    V"B.*&"N2 B=D<5 B*SE 7G

    1i!&re sho(s a basic sesmic instr&ment &sed for meas&rin! vibrations. 9hen the s+stem is e/cited b+ the vibrations of the base, the mass UmS is s&b'ected to a dis#lacement U/S. 3f (e consider U+S be the motion of the base, then the absol&te am#lit&de of mass UmS is the dis#lacement U/S. 3f U_S is considered as the dis#lacement of mass UmS (.r.t the frame, then (e have a relative motion of UmS (.r.t the frame. Absol&te am#lit&de2 >ne!lect 0? *et the dis#lacement of base be U+S vi02 a sin&soidal motion, !iven b+ + ; esin<t 1or s&ch a s+stem the e-&ation for motion can be (ritten as / m/

    K>/=+?

    $>/S=+S?

    m/ B K>/=+? B $>/S=+S? ; D i.e, m/ B $/S B K/ X K+ = $+S ; D &bstit&tin! for + and +S, (e !et m/ B $/S B K/ X K+sin<t X $<+cos<t ; D m/ B $/S B K/ ; + [K+sin<t B $<cos<t ; D\ ; +>YK7 B >c<?7 ?.sin><t B d? 9here d ; tan=4 [c<5K\ ; tan=4 [7^<5<n\ .he sol&tion of >4? consists of $1 and P3. >4?

    8D

    .he P3 is / ; R sin><t B d = @ >a?

    >a? is similar to / ; R sin ><t X @?, (here R is the stead+ state am#lit&de. R; + >YK7 B >c<?7 ? >Y>K = >c<7?7 B >c<?7? >Y4B >7^<5<n?7 ? 5 >Y>4 X ><5<n?7?7 B >7^<5<n?7 ? >b?

    .herefore R5+ ;

    b ; >tan=4 >7^<5<n7 5 4 X ><5<n?7 ?? d ; >tan=4 [7^<5<n\? >b = d ? ; >tan=4 >7^<5<n7 5 4 X ><5<n?7 ?? = >tan=4 [7^<5<n\? ==== f %-&ations >a?, >b? and >c? com#letel+ define the motion of the mass d&e to the s&##ort or base e/citation. .he ratio R5+ is called the dis#lacement transmissibilit+ .elati0e *m+lit$#e% 3f the dis#lacement of the mass is considered relative to the frame and if this relative dis#lacement is called 0 , then (e have, 0;/X+ or, /;+B0 s&bstit&tin! this val&e of / in the e-&ation of motion, m>+ B 0?Bc>+SB0S?BK>+B0=+? ; D m+Bm0Bc0SBk0 ; = m+ m0 B c0S B k0 ; =m>=<7 + sin<t? i.e., m0 B c0S B k0 ; m<7 + sin<t similar to e-n b, (e have 05+ ; ><5<n?7 5 >Y>4 X ><5<n?7?7 B >7^<5<n?7 ? .he e/#ressions for b X d is same as !iven above for absol&te am#lit&de. Energy #issi+ate# by Dam+ing. 9hen a s+atem &nder!oes stead+ state forced vibration s(ith visco&s dam#in!, ener!+ !ets absorbed b+ the dash#ot . .he ener!+ dissi#ated or (orkdone #er c+cle is !iven b+, %ner!+ dissi#ated5 c+cle ; Kc</7 , (here / is the am#lit&de of stead+ state vibrations. .he #o(er re-&ired for vibratin! the s+stem can be obtained b+ the relation

    84

    Po(er ; %ner!+ dissi#ated5 c+cle 5 ec. , 9atts.

    Shar+ness of .esonance% 3n forced vibration, -&antit+ g is related to dam#in! (hich becomes a meas&re of the shar#ness of resonance. 3t also !ives the side band of fre-&encies <4 and <7 on either side of the resonance b+ (hich resonance can be avoided d&rin! o#eration. .he e/#ression of g is !iven as follo(s2 g ; <n 5 ><7 = <4? ; 457^

    87

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