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This lecture note is taken and modified from Engineering Mechanics-Dynamics, R.C.Hibbeler, Prentice Hall which
copyright belongs to Pearson Education South Asia Pte Ltd.
Trimester2, 2014/15
Chapter Objectives
To discuss undamped and viscous damped
one-degree-of-freedom vibration of a rigid
body using the equation of motion method.
To study the analysis of undamped forced
vibration and viscous damped forced
vibration.
Chapter Outline
Undamped Free Vibration
Fx max ;
k x mx
Rearranging,
x n2 x 0 ,
k
n
m
n x 0 is a homogeneous, second-order,
10
x C sin(nt )
If this equation is plotted on an x-versus-nt axis,
the graph shown in figure below is obtained
11
A2 B 2
tan
1 B
A
12
m
2
k
13
2 2
1
k
m
14
15
x n2 x 0
Hence, if the natural frequency of the body is
known, the period of vibration, natural frequency
and other vibrating characteristics of the body
can be established with the equations.
16
EXAMPLE 22.1
Determine the period of vibration for the simple
pendulum shown. The bob has a mass m and is
attached to a cord of length l.
17
EXAMPLE 22.1
Free-Body Diagram
Motion of the system will be related
to the position coordinate (q =) .
When the bob is displaced by an
angle , the restoring force acting on
the bob is created by the weight
component mg sin .
at acts in the direction of increasing s
(or )
18
EXAMPLE 22.1
Equation of Motion
Applying the equation of motion in the
tangential direction, since it involves the
restoring force, yields
Ft mat ;
mg sin mat
(1)
Kinematics
at = d2s/dt2. furthermore, s may be related to
by the equation s = l, so that
at l
19
EXAMPLE 22.1
Hence, Eq. 1 reduces to
g
sin 0
l
0
l
20
EXAMPLE 22.1
Comparing this equation with
x n2 x 0
l
g
21
EXAMPLE 22.2
The 10-kg rectangle plate shown is suspended at
its center from a rod having torsional stiffness k =
1.5 N.m/rad. Determine the natural period of
vibration of the plate when it is given a small
angular displacement in the plane of the plate.
22
EXAMPLE 22.2
Free-Body Diagram
Since the plate is displaced in
its own plane, the torsional
restoring moment created by
the rod is M = k.
This moment acts in the
direction opposite to the angular
displacement
The angular acceleration acts in
the direction of positive
23
EXAMPLE 22.2
Equation of Motion
M O I O ;
or
k I O
k
0
IO
24
EXAMPLE 22.2
The moment of inertia of the plate about an
axis coincident with the rod is given by
1
m( a 2 b 2 )
12
1
(10) (0.2) 2 (0.3) 2 0.108 kg m 2
12
IO
IO
0.108
2
2
1.69 s
n
k
1.5
25
EXAMPLE 22.3
The bent rod has a negligible mass and supports
a 5-kg collar at its end. Determine the natural
period of vibration for the system.
26
EXAMPLE 22.3
EXAMPLE 22.3
To obtain the standard form, 5ay acts
upward, which is in accordance with positive
displacement
Equation of Motion
Moments will be summed about point B to
eliminate the unknown reaction at this point.
Since is small,
M B ( k ) B ;
kx (0.1) kxst (0.1) 49.05(0.2) (5)a y (0.2)
28
EXAMPLE 22.3
The second term on the left side, -kxst(0.1),
represents the moment created by the spring
force which is necessary to hold the collar in
equilibrium, i.e. x = 0
Since this moment is equal and opposite to
the moment 49.05(0.2) created by the weight
of the collar, these two terms cancel in the
previous equation, so that
kx(0.1) 5a y (0.2)
(1)
29
EXAMPLE 22.3
Kinematics
The positions of the spring and the collar
may be related to the angle .
Since is small, x = (0.1 m) and
y = (0.2 m),
a y 0.2
y
EXAMPLE 22.3
Rewriting this equation in the standard form
gives,
20 0
Compared with x n2 x 0 , we have
n2 20
n 4.47 rad / s
1.40 s
n 4.47
31
EXAMPLE 22.4
A 5-kg block is suspended from a cord that
passes over a 7.5-kg disk. The spring has a
stiffness k = 3500 N/m. Determine the natural
period of vibration for the system.
32
EXAMPLE 22.4
33
EXAMPLE 22.4
Equation of Motion
Summing moments about point O to
eliminate the reactions Ox and Oy, realising
that IO = mr2, yields
M O ( k ) B ;
EXAMPLE 22.4
Kinematics
As shown, a small positive
displacement of the disk
causes the block to lower by
an amount s = 0.25
When = 0, the spring
force required for
equilibrium of the disk is
5(9.81) N, acting to the right
35
EXAMPLE 22.4
For position , the spring force is
Fs = (3500 N/m)(0.25 m) + 5(9.81)N
Substituting these results into Eq.1 and
simplifying yields, 400 0
Hence,
n2 400
n 20 rad / s
2
T
0.314 s
n 20
36
37
Periodic Force
The block and spring shown provide a
convenient model which represents the
vibrational characteristics of a system
subjected to a periodic force F = F0 sin 0t
This force has an amplitude of F0 and a
forcing frequency 0
38
Fx ma x ;
or
F0 sin t kx mx
F0
k
x x
sin 0 t
m
m
39
xc A sin nt B cos nt
41
2
(k / m)
1 ( / n ) 2
42
43
44
45
46
47
MF
( x p )max
F0 / k
1
1 ( / n )2
48
49
50
51
x
x
or
k ( x 0 sin t ) mx
k 0
k
x x
sin t
m
m
52
EXAMPLE 22.7
EXAMPLE 22.7
View Free Body Diagram
EXAMPLE 22.7
Here 0 sin t 10 sin(8t ) mm, so that
0 10 mm
0 8 rad / s
k
4(800)
n
12.6 rad / s
m
20
( yn ) max
0
10
16.7 mm (2)
2
2
1 ( / n ) 1 [(8) /(12.6)]
55
EXAMPLE 22.7
Hence, Eq.1 and its time derivative become
y A sin(12.6t ) B cos(12.6t ) 16.7 sin(8t )
y A(12.6) cos(12.6t ) B(12.6) sin(12.6t ) 133.3 cos(8t )
F cx
57
58
kx cx mx
mx cx kx 0
59
xe
60
c
k
c
1
2m
2m m
2
c
k
c
2
2m
2m m
61
or
cc k 0
2m m
k
cc 2m 2mn
m
62
Overdamped System
When c > cc, the roots 1 and 2 are both real
1t
x Ae Be
2t
nonvibrating
63
x ( A B)e
nt
64
Underdamped System
Cases where c < cc
n 1
m 2m
cc
2
66
67
2
d
d
68
mx cx kx F0 sin t
69
F0 / m n2 2
A
2
2
2 2
n c / m
2
F0 c / m
B
2
2 2
n c / m2
70
x p C sin(t )
where
C
F0 / k
1 ( / ) 2(c / c )( / )
2 2
2(c / cc )( / n )
tan
2
1
)
n
71
F0 / k
1 ( / n) 2(c / c )( / )
2 2
72
73
EXAMPLE 22.8
The 30-kg electric motor is
supported by four springs, each
having a stiffness of 200 N/m. if
the rotor R is unbalanced such
that its effect is equivalent to a 4kg mass located 60 mm from the
axis of rotation, determine the
amplitude of vibration when the
rotor is turning at = 10 rad/s.
The damping ratio is c/cc = 0.15
74
EXAMPLE 22.8
View Free Body Diagram
F0 man mr 2 4(0.06)(10)2 24 N
Since F = F0 sin t, where = 10 rad/s, then
F 24 sin 10t
75
EXAMPLE 22.8
The stiffness of the entire system of four
springs is k = 4(200) = 800 N/m
Therefore the natural frequency of vibration
is
k
800
n
30
5.16 rad / s
76
CHAPTER REVIEW
CHAPTER REVIEW
For a one-degree-of-freedom system, the
resulting differential equation can be written
in the form
x n2 x 0
n
f
2
1
78
CHAPTER REVIEW
79
CHAPTER REVIEW
The particular solution is caused by the forced
vibration
Resonance will occur if the natural period of
vibration, n, is equal to the forcing frequency,
This should be avoided since the motion will
become unbounded.
FO / k
xp
sin Ot
2
1 O / n
80
CHAPTER REVIEW
Viscous Damped Free Vibration
A viscous damping force is caused by a fluid
drag on the system as it vibrates
If the motion is slow, this drag force is then
proportional to the velocity, that is
F cx
C is the coefficient of viscous damping
81
CHAPTER REVIEW
Viscous Damped Free Vibration
By comparison its value to the critical
damping coefficient cc = 2mn, we can
specify the type of vibration that occurs
If c > cc, it is an overdamped system
If c = cc, it is a critically damped system
If c < cc, it is an undamped system
82
CHAPTER REVIEW