Rtiwari 02

ANALYSIS OF
SIMPLE ROTOR SYSTEMS

By
Dr. Rajiv Tiwari

Department of Mechanical Engineering
Indian Institute of Technology Guwahati 781039
Under AICTE Sponsored QIP Short Term Course on

Theory & Practice of Rotor Dynamics
(15-19 Dec 2008)

IIT Guwahati
Dr. R. Tiwari (rtiwari@iitg.ernet.in)
INTRODUCTION
Rotating machines are extensively used in diverse
engineering applications, such as
power stations
marine propulsion systems
aircraft engines
machine tools
automobiles and
household accessories
Rolling bearing
Electrical motor
Rotor of an electrical motor
CNC machine equipped with 12 rotating tools and two spindles.

Different stages of a turbomachinery

Different stages of a turbomachinery

Balancing of a big rotating machinery

Dynamic balancing center

A turbo-machinery
Pumps, motors and rotating machines can be monitored for signs of

poor lubrication, shaft misalignment or bearing failure.
INTRODUCTION
The design trend of such systems in
engineering is towards
lower weight
operating at super critical speeds
modern
Of the many published works, the most extensive

portion of the literature on rotor dynamics is concerned
with determining
critical speeds
natural whirl frequencies
instability thresholds and
imbalance response
SINGLE MASS ROTOR MODELS

For understanding basic phenomena of any dynamic
system requires adequate modeling of the system.
The rotor is considered as single mass in the form of a
point mass, a rigid disc or a long rigid shaft.
In this section we present simple rotor models and
analyze them to illustrate their behavior.
Single DOF Rotor Model
Rankine Rotor Model
Jeffcott Rotor Model
Rigid Rotor Supported on Flexible Bearings
1.1 Single DOF Rotor Model

The simplest model of the rotor system
can be single DOF.
Two types of rotor model are shown here
In Figure 1.1(a) the bearing (support) is
assumed to be rigid (simply supported)
and the shaft as flexible.
The mass of the rotor is considered as
that of rigid disc that is mounted on the
massless flexible shaft.
In Figure 1.1(b) the bearing is
assumed to be flexible and the rotor as
rigid.
Both the cases can be idealized as a
single DOF as shown in Figure 1.1(c).
Fig 1.1(a)
A flexible rotor
mounted on rigid
bearings
Fig 1.1(b)
A rigid rotor
mounted on flexible
bearings
Fig 1.1(c)
An equivalent
single degree of
freedom springmass system
If the rotor is perfectly balanced then theoretically

speaking there will not be any imbalance force as
shown in Figure 1.2(a). In actual practice it is
impossible to have a perfectly balanced rotor.
The rotor imbalance gives a sinusoidal force at the
rotor rotational frequency. Thus, the imbalance
force is modeled as sinusoidal force
F (t ) = m 2 e sin t
(1)
where m is the mass of the rotor, is the spin

speed of the rotor and e is the eccentricity of the
rotor
When the rotor is not eccentric, however, a small
imbalance mass, mi r is attached at a relatively
i (see Figure 1.2(c)), the
larger radius of
imbalance force can be written as
F (t ) = mi 2 ri sin t
(2)
For the case when the rotor is eccentric and a

small imbalance mass is attached as shown in
Figure 1.2(d), the imbalance force will be
No imbalance
Fig 1.2(a)
Rotor geometrical centre and
centre of gravity coincident
Imbalance force =
mass of rotor eccentricity
square of spin speed
Fig 1.2(b)
Rotor geometrical centre
and centre of gravity not
coincident
Imbalance force =
mass of rotor radius
square of spin speed
Fig 1.2(c)
Rotor geometrical centre,
centre of gravity and an
additional imbalance mass
Imbalance force is the

vector addition of forces
due to the rotor and
2
2
imbalance forces
(3)
F (t ) = m e sin t + m i ri sin(t + )
Fig 1.2(d)
where
is the phase difference
between
the
Dr. R. Tiwari (rtiwari@iitg.ernet.in) Rotor geometrical center, centre of
vectors of imbalance forces due to the rotor
gravity and imbalance mass
eccentricity and the imbalance mass
Figure 1.3 shows the unbalance location on a rotor system.

For a constant angular velocity of the rotor, , the location of the unbalance
is given as = t
At time, t = 0
At time, t
=t
G
Fig 1.3 The unbalance location on a rotor system

On application of the Newtons law on the free

body of the rotor mass as shown in Figure 1.1(d),
i.e. equating sum of external forces to the mass of
the rotor multiplied by the acceleration of the
center of gravity of the rotor mass, we have
k eff y + m 2 e sin t = m y
(4)
where k
is the effective stiffness of the rotor
eff
system
Equation (4) is a standard equation of motion of a
single DOF spring-mass system and can be
written as
m y + k eff y = m 2 e sin t
(5)
For the free vibration, when the external

imbalance force is absent, the rotor mass will be
having oscillation and that will be given by
y (t ) = Y sin( n t )
(6)
where n is the frequency of oscillation during

the free vibration and that is called the natural
frequency of the system. On substituting equation
(6) into the homogeneous part of equation of
motion (5), it gives
(mn2 + keff )Y sin(nt) = 0

(7)
Fig 1.1(d) Free body diagram

of the disc mass
For the non-trivial solution of equation (7), the natural frequency of the system can
be written as
n = keff / m
(8)
The steady state forced response can be modeled as
y(t) = Y sin(t )
(9)
where Y is the amplitude of displacement and

displacement with respect to the imbalance force.
is the phase lag of the
On substituting equation (9) into equation (5), the steady state forced response
amplitude can be written as
me 2
Y=
2
keff m
with
=0
(10)
From equation (10) it should be noted that when the spin speed is equal to the
natural frequency of the system as given in equation (8), the undamped steady
state forced response amplitude tends to infinity. This is a resonance condition and
the spin speed corresponding to the resonance is defined as critical speed. Since
damping is not considered in the analysis phase angle, , becomes zero.
The critical speed is given by

(11)
cr = keff / m = nf
or
The sign represent that the rotor will have critical speed while rotating in
either clockwise or counter clockwise.
cr = 1
The analysis presented in this section can be applied to the

transverse, torsional and axial vibrations of rotors and accordingly
critical speed can be termed by prefixing respective names of
vibrations.
For torsional vibrations care should be taken that mass will be
replaced by the polar mass moment of inertia of rotor and stiffness will
be the torsional stiffness.
Similarly, for axial vibrations mass will remain same as transverse
Dr. R. Tiwariwill
(rtiwari@iitg.ernet.in)
vibration, however, the stiffness
be the axial stiffness.
Y/e
Y/e
(a) Linear plot
% Non-dimensional unbalance response wrt to

freq ratio "Figure_1_4.m"
% Copywriters: Dr R Tiwari,
Dept of Mechanical Engg., IIT Guwahati.
% 13-01-2005
clear all;
deta_freq=0.005;
freq_ratio(1)=deta_freq;
N_pt=1000;
for ii = 1:1:N_pt
y_resp(ii)=freq_ratio(ii)^2/(1-freq_ratio(ii)^2);
if(ii<N_pt)
freq_ratio(ii+1)=freq_ratio(ii)+deta_freq;
end
end
figure(1)
plot(freq_ratio,abs(y_resp), '
k-'
, [0 5], [1 1], '
k--'
);
xlabel('
w/wn ---->'
);
ylabel('
y/e ---->'
);
figure(2)
semilogy(freq_ratio,abs(y_resp), '
k-'
, [0 5], [1 1], '
k--'
);
(b) Semi-log plot
xlabel('
w/wn ---->'
);
ylabel('
y/e ---->'
);

Fig 1.4 Non-dimensional unbalance
response versus frequency ratio
The unbalance response can be reduced by the following methods.
Correction at source i.e. balancing the rotor:

Balancing the rotor is the most direct approach, since it attacks the
problem at source.
However, in practice a rotor cannot be balanced perfectly and that
the best achievable state of balance tends to degrade during
operation of a rotor (e.g. turbomachinery).
There are two type of unbalances
Static unbalance: : The principal axis of the polar mass moment of
inertia of the rotor is parallel to the centerline of the shaft as shown in
Figure 1.5b. The rotor can be balanced by a single plane balancing
Dynamic unbalance: The principal axis of the polar mass moment of
inertia of the rotor is inclined to the centerline of the shaft as shown in
Figure 1.5c & d. For balancing such rotors minimum of two planes are
required.
(a) Perfectly balance (No force and moment)
(c) Dynamic unbalance (pure moment)
(b) Static unbalance (pure radial force)
(d) Dynamic unbalance (both force and moment)
Fig 1.5 Classification

of unbalances
for a short rigid rotor
Dr. R. Tiwari
Operate rotor away from the critical speed:

(i.e. during design itself or during operation by providing
temporary auxiliary support)
Moving the machine operating speed farther away from the critical
speed can be achieved by changing the rotor operational speed or
by changing the critical speed itself.
The critical speed can be changed either at the design stage or
during operation.
At design stage changing rotor mass or its distributions and
dimensions of the rotor and its support lengths can alter the critical
speed.
During operation auxiliary support can be provided to increase the
effective stiffness of the rotor, which in turn increases the critical
speed
By this arrangement the actual rotor critical speed can be safely
traversed and then the auxiliary support can be withdrawn which
brings the critical speed of the rotor below the operation speed.
Add damping to the system or active control of the rotor:

If a critical speed must be traversed slowly or repeatedly, or
if machine operation near a critical speed can not be
avoided, then the most effective way to reduce the
amplitude of the synchronous whirl is to add damping.
The squeeze film and magnetic bearings are often used to
control the dynamics of such systems.
o Squeeze-film bearings (SFB) are, in effect, fluid-film bearings in
which both the journal and bearing are non-rotating.
o In recent years, advanced development of electromagnetic bearing
technology has enabled the active control of rotor bearing systems
through active magnetic bearings (AMB).
With the development of smart fluids (for example electro

and magneto-rheological fluids) now new controllable
bearings are in the primitive development stage.
Schematics of typical passive and active (i.e. smart or controllable) squeeze

film dampers and active magnetic bearings are shown in Figure 1.6.
Oil feed groove
Rotor
Squeeze film
Bearing bush
Electrodes
Outer raceway of
rolling bearing (can
displace radially and
constraint not to
rotate.
Rolling bearing
Rotor
Teflon
Fig 1.6 (a) Schematic diagram of squeeze film dampers

Fig 1.6 (b) Smart (active) fluid-film dampers
Power Amplifier
Electromagnet
Rotor
Controller
Sensor
Fig 1.6 (c) Basic principle of active magnetic bearings
1.2 RANKINE ROTOR MODEL

The single DOF rotor model has
limitations that it cannot represent the
orbital motion of the rotor in two
transverse directions.
Fig 1.7(a)
Two degree of freedom spring
mass rotor model
Rankine (1869) used a two DOF model

to describe the motion of the rotor in
two transverse directions as shown in
Figure 1.7(a).
The shape of orbit produced depends
upon the relative amplitude and phase
of the motions in two transverse
directions and the orbit could be of
circular, elliptical or straight line,
inclined to x and y axis, as shown in
Figure 1.8.
Fig 1.8 (a)

Circular motion
Fig 1.8 (b)

Elliptical motion
Fig 1.8 (c)

Straight line motion
However, as shown in Figure 1.7(b) the free

body diagram the radius of whirling of the
rotor center will increase parabolically with
spin speeds and will be given as
r = Fc / k
(11)
where Fc is the centrifugal force

It can be physically also visualized as there
will not be any resonance condition, as found
in the single DOF model, when the spin
speed is increased gradually. This is a
serious limitation of the Rankine model.
Moreover, this model does not represent the
realistic rotating imbalance force.
Fig 1.7(b)
Free body diagram of the model
1.3 JEFFCOTT ROTOR MODEL

Figure 1.9 shows a typical Jeffcott rotor.
It consists of a simply supported flexible
massless shaft with a rigid disc mounted
at the mid-span.
Fig 1.9(a)
A Jeffcott rotor model
The disc center of rotation, C, and its

center of gravity, G, is offset by a
distance, e.
The shaft spin speed is and the shaft
whirls about the bearing axis with whirl
frequency is, . For present case
synchronous
condition
has
been
assumed I.e. = (see Figure 1.10a).
The stiffness of the shaft is expressed as
Dr. R. Tiwari
(12)
k = load/deflection = 48
EI / L3 (rtiwari@iitg.ernet.in)
Fig 1.9(b)
A Jeffcott rotor model in y-z
plane
Fig 1.9(c)
Free body diagram of the
disc in x-y plane
Shaft whirling
direction
Coordinates to define the position of the

center of rotation of the rotor are u x and u y .
The location of the imbalance is given by .
Thus, three dofs are needed to define the
position of the Jeffcott rotor.
From Figure 1.9(c) the force balance in u x , u y
and directions can be written as
d2
ku x cu x = m 2 ( u x + e cos )
dt
d2
ku y cu y mg = m 2 ( u y + e sin )
dt
and
mge cos = I d
Shaft
Shaft spin
direction
Fig 1.10(a) Synchronous whirl

Shaft whirling
direction
(13)
Shaft
(14)
Shaft spin
direction
(15)
Fig 1.10(b) Anti-synchronous whirl
Apart from restoring force contribution from the shaft, the damping
force is also considered. The damping force is idealized as viscous
damper and it is mainly coming from the support and aerodynamic
forces at disc.
The material damping of the shaft will not contribute viscous damping
and it may leads to instability in the rotor and it is not considered here.
For the case = t i.e. when the disc is rotating at constant spin
speed, the Jeffcott rotor model is reduces to two DOF rotor model.
Neglecting the effect of gravity force, equations of motion in the x and
y can be written as
and
d2
kux cux = m 2 ( ux + e cos t )
dt
(16)
d2
kuy cuy = m 2 ( uy + e sin t )
dtDr. R. Tiwari (rtiwari@iitg.ernet.in)
(17)
Equations of motion can be written in the standard from as
mu x + cu x + ku x = m 2 e cos t
(18)
muy + cuy + kuy = m2e sin t
(19)
It should be noted that equations of motion are uncoupled and motion

can be analyzed independently in two transverse planes.
Noting equation (8), from the undamped free vibration analyses it can
be seen that since the rotor is symmetric rotor hence it will be having
two natural frequencies that are equal and given as
nf = k / m
1,2
(20)
The damping does not affect the natural frequency of the system
appreciably. However, their effect is more predominate for
suppressing the resonance
amplitude.
The steady state forced response can be written as
u x = U x cos(t )
u y = U y cos [ (t + ( / 2 ) ] = U y sin(t )
(21)
where u x and u y are the steady state forced response amplitudes in the
x and y directions, respectively. is the phase lag of the x-direction
displacement with respect to the imbalance force.
The phase difference between the two direction responses will be of
900 as two directions are orthogonal to each other. For the direction of
whirling shown in Figure 1.5 i.e. counter clockwise (ccw) for the
present axis system the response in the y direction will lead the x
direction response by / 2 radians. Hence the lead of the y direction
response with respect to the force will be / 2 .
On taking the first and second derivatives of the response with
respect to time, t, we get
u x = U x sin(t ) and u x = 2U x cos(t )

u y = U y cos(t )
u y = 2U y sin(t )
(22, 23)
On substituting equations (21) to (23) into equation (18) and

separating the in-phase (i.e. cos t) and quadrature (i.e. sin t ) terms,
we get
m 2U x cos + cU x sin + kU x cos = m 2 e
(24)
m 2U x sin cU x cos + kU x sin = 0
(25)
Equation (25) gives
c
tan =
k m 2
which gives
sin =
(26)
k m 2
(27)
2
+ ( c )
and
cos =
k m 2
( k m ) + ( c )
2
(28)
2
Substituting equations (27) and (28) into equation (24), we get

m 2e
Ux =
( k m ) + ( c )
2
(29)
Similarly, we can obtain response amplitude in the y-direction from

equation (19) as
Uy =
m 2 e
k m 2
+ ( c )
(30)
From equations (29) and (30) it can be seen that because of the
symmetry of the rotor the orbit is circular in nature. An alternative
approach that is very popular in rotor dynamics analyses is to use the
complex algebra to define the whirl radius as
ur = u x + ju y
(31)
where
j = 1
On multiplying equation (19) by j and adding to equation (18), we get
mur + cur + kur = me 2e jt
(32)
The steady state response can be assumed as
ur = U r e j (t )
(33)
where U r is the whirl amplitude (it is a real quantity), is the phase lag
of response with respect to the imbalance force.
On differentiating equation (33) with respect to time, t, we get
ur = jU r e j (t ) ;
ur = 2U r e j ( t )
(34)
On substituting equations (33) and (34) into equation (32), we get
( k m ) + jc
2
U r e j = me 2
(35)
Equation (35) can be written as
k m 2 + j c (U r cos jU r sin ) = me 2
(36)
On separating the real and imaginary parts of equation (36), we get
(k m 2 )U r cos + cU r sin = me 2
(k m 2 )U r sin + cU r cos = 0
(37)
(38)
From equation (38), we get the phase

tan =
c
k m 2
(39)
On substitution of phase from equations (39) to (37) the whirl

amplitude can be written as
Ur =
m 2 e
( k m ) + ( c )Dr. R. Tiwari (rtiwari@iitg.ernet.in)

2
(40)
Equations (39) and (40) are similar to previous results i.e. equations
(26) to (30). The non-dimensional form of equations (39) and (40) can be
written as
2
tan =
1 2
Ur = Ur / e =
(1 ) + ( 2 )
2
(41, 42)
with
= / n ;
n = k / m ;
= c / cc ;
cc = 2 km
(43)
where
is the frequency ratio,
is the natural frequency of non-rotating rotor,
is the damping ratio and
cc is the critical damping of the system for which the damping ratio is
equal to unity.
Figure 1.11(a) shows that the maximum

amplitude occurs at slightly higher frequency
than when the damping is present in the
system, however maximum amplitude occurs
at n for the undamped case.
The increase in the damping results in
increase in the critical speed, however
damping is the most important parameter for
reducing the whirl amplitude at critical speed.
Since the measurement of the amplitude of
vibration at critical speed is difficult, hence
determination of the precise critical speed is
difficult.
To overcome this problem the measurement
of the phase is advantageous at least to
determine the undamped natural frequency
of the system.
Fig 1.11(a)
Variation of the nondimensional response versus
frequency ratio for different
damping ratios
As it can be seen from Figure 1.11(b) the

phase angle is 900 at frequency even for the
case of damped system.
For lightly underdamped system the phase
angle changes from 00 to 900 as the spin
speed is increased and becomes 1800 as the
spin speed is increased to higher frequency
ratio.
For very high-overdamped system the phase
angle always remain at 900 before and after
the resonance, which may be a physically
unrealistic case.
As the spin speed crosses the critical speed
the center of the mass of the disc of Jeffcott
rotor comes inside of the whirl orbit and rotor
tries to rotate about the center of gravity.
As can be seen from the graph at the spin
speed approaches infinity the displacement of
the shaft tends to the equal to the disc
eccentricity.
Fig 1.11(b)
Variation of the phase versus
frequency ratio for different
damping ratios
The change in phase between the force and the response is also shown
in Figure 1.7 for three difference spin speeds i.e. below the critical
speed, at the critical speed and above the critical speed.
Fig 1.12(a)
Phase angles between the
force and response vectors
below critical speed
Fig 1.12(b)
at critical speed
Fig 1.12(c)
above critical speed
With the development in the software, which can handle complex matrices, the
following procedure may be very helpful for numerical simulation of even very
complicated rotor systems also.
Equations (18) and (19) can be combined in the matrix form as
m 0
0 m
ux
c 0
+
uy
0 c
ux
k 0
+
uy
0 k
ux
m 2e cos t
=
uy
m 2 e sin t
(44)
The force vector in equation (44) is expressed as
( )
me 2 e jt
m 2 e ( cos t + j sin t )
m 2 e cos t
= Re
= Re
2
2
m e ( sin t j cos t )
m e sin t
me 2 je jt
Fimby = jFimbx
= Re
Fx jt
e
Fy
(45)
(46)
where the Re(.) represents the real part of the quantity inside the parenthesis
Fimb and
Fimb are the imbalance force components in x and y directions,
respectively.
x
On substituting equation (45) into equation (44) and henceforth for

brevity the symbol Re(.) will be removed and it can be written as
m 0
0 m
ux
c 0
+
uy
0 c
Fimbx
ux
e jt
=
uy
Fimby
ux
k 0
+
uy
0 k
The relationship (46) is true for the

present axis system and the direction
of whirling of the imbalance force vector
chosen (see Figure 1.8(a)). For this case
Fimb leads Fimb by 900.
y
(47)
Fig 1.8(a)
The direction of whirl same as the
positive axis direction
For the direction of whirl opposite to

the axis system as shown in Figure (8(b))
the following relationship will hold
Fimby = jFimbx
in which case the Fimb
(48)
y
lags Fimb by 900.

x
Fig 1.8(b)
The direction of whirl opposite
to the positive axis direction
Equation (47) can be written in more compact form as
[ M ]{u} + [C ]{u} + [ K ]{u} = {Fimb } e jt
(49)
The solution can be chosen as
{u} = {U } e jt
(50)
where the vector {U } elements are, in general, complex quantity.

The above equation gives
{u} = j {U } e jt
and
{u} = 2 {U } e jt
(51)
On substituting equations (50) and (51) into equation (49), we get
( [ M ] + [ K ] + j [C ]){U } = {F }
2
imb
(52)
The above equation can be written as
[ Z ]{U } = {Fimb }
(53)
with
[ Z ] = ( 2 [ M ] + [ K ] + j [C ])
where [ Z ] is the dynamic stiffness matrix.
(54)
The response can be obtained as
{U } = [ Z ] {Fimb }
1
(55)
where the vector {U x } elements are, in general, complex.

The above method is quite general in nature and it can be applied to
multi-dof systems once equations of motion in the standard form are
available.
Example
Obtain the response for the following form of equations of motion
mu x + ku x = m 2 e cos t
and
mu y + ku y = m 2 e sin t
The first equation can be written as

mu x + ku x = Fx e jt
with
Fx = me 2
in which the real part of the right hand side term has meaning. The
solution can be assumed as
u x = U x e jt
where in general U x is a complex quantity. The above equation gives

u x = 2U x e jt
On substituting in equation of motion, we get
( m U
2
+ kU x = me 2
which gives
me 2
Ux =
k m 2
Hence the solution becomes

me 2 jt
me 2
me 2
ux =
e = Re
(cos t + j sin t ) =
cos t
2
2
2
k m
k m
k m
Similarly for the second equation of motion can be written as

mu y + ku y = Fy e jt with
Fy = jme 2
in which the real part of the right hand side term only has meaning.
The solution can be assumed as
u y = U y e jt
where in general
gives
Uy
u y = 2U y e jt
is a complex quantity. The above equation
On substituting in equation of motion, we get
( m U
2
+ kU y = Fy
which gives
Uy =
Fy
k m 2
Hence the solution becomes

uy =
Fy
k m
jt
jme 2 jt jme 2
=
e =
(cos t + j sin t )
2
2
k m
k m
me 2
me 2
= Re
( j cos t + sin t ) =
sin t
2
2
k m
k m
(Answer)
More generalized model of Jeffcott rotor

Disc offset from the midspan in the y-z plane
Fig 1.14(a)
A Jeffcott rotor with a disc
offset from the midspan in
the y-z plane
Fig 1.14(b)
Free body diagram of the disc
in the x-y plane
Fig 1.14(c)
Fig 1.14(d)
Free body diagram of the disc
Free body diagram of the shaft
Dr.
R.
Tiwari
in the y-z plane
in the y-z plane
More generalized model of Jeffcott rotor

Disc offset from the midspan in the z-x plane
Fig 1.15(a)
A Jeffcott rotor with a disc offset
from the midspan in the z-x plane
Fig 1.15(c)
disc in the z-x plane
Fig 1.15(b)
shaft in the z-x plane
More generalized Jeffcott Rotor Model

Figures 14 and 15 show a more general case of Jeffcott rotor when
the rigid disc is placed with some offset from the mid-span,
respectively in y-z and x-z planes.
For such rotors apart from two transverse displacements of center of
the disc i.e. u x and u y , the tilting of the disc about the x and y axis i.e.
x and y , also occurs and makes the rotor system as four dofs.
In figure the point C is the geometrical center and G is the center of
gravity of the disc.
From geometry the component, we can have the following relations
ex = e cos t ;
ey = e sin t
(56)
From Figure 9(b) equations of motion of the disc can be written as
d2
and
Fy = md 2 ( u y + ey cos x )
M yz
dt
= I xx
(57,58)
From above equations it can be observed that equations are coupled

with titling component of the displacement, x
Similarly, from Figure 10(b) we can write equations of motion as
d2
Fx = md 2 ( u x + ex cos y )
dt
and
M zx = I y y
(59, 60)
Equations (59) and (60) are coupled with titling component of the
displacement, y
However, two transverse plane motions are not coupled and that will
allow two-plane motion to analyze independent of each other i.e. set of
equations (57 and 58) and equations (59 and 60) can be solved
independent of each other.
The analyses can be further simplified with the assumption of small
tilting angle i.e. cos x = cos y 1 and equations (57 and 59) can be
simplified as
md u y + Fy = md 2 e sin t
(61)
and
md u x + Fx = md 2 e cos t
(62)
Equations (61, 58, 62, 60) can be assembled as

md
0
0
Ix
0
0
0
0
uy
md
ux
Iy
Fy
+
md 2 e sin t
M yz
0
=
Fx
md 2 e cos t
M zx
0
(63)
which can be written in matrix notation as
[ M ]{u} + {R} = { fimb }
with [ M ] =
md
0
0
0
Ix
0
0
0
md
0
0
0
Iy
where {R} is the reaction force/moment vector.

(64, 65)
The reaction forces and moments onto the shaft can be expressed in
terms of the shaft displacements at disc location with the help of
influence coefficients as
u x = 11 Fx + 12 M zx
(66)
y = 21 Fx + 22 M zx
th
where ij represent the displacement at i station due to a unit force
at j th station.
Equation (66) can be written in the matrix form as

ux
11 12
21 22
Fx
M zx
which gives
Fx
M zx
11 12
=
21 22
ux
k11
k12
k 21
k22
ux
(67)
where ij is the stiffness coefficients and defined as force at i th station

due to a unit displacement at j th station.
Similarly, since the shaft is symmetric about its rotational axis, we can
obtain
Fy
k11 k12 u y
=
(68)
M yz
k 21 k 22 x
Equations (67) and (68) can be combined as
Fy
M yz
Fx
M zx
k11
k
= 21
0
k12
k 22
0
0
0
k11
0
0
k12
k 21
k22
uy
(69)
ux
which can be written in matrix notation as
{R} = [ K ]{u} with [ K ] =
k11
k12
k21
k22
k11
k12
k21
k22
(70, 71)
On substituting reaction forces and moments from equations (70) into

equations of motion i.e. equation (64), we get
[ M ]{u} + [ K ]{u} = { fimb }
(72)
In general, for the simple harmonic vibration, we can write
{u} = 2 {u}
(73)
On substituting in equation (73), we get the response as
{u} = [ Z ]
{ fimb }
with
[ Z ] = ([ K ] 2 [ M ])
(74, 75)
where [ Z ] is the dynamic stiffness matrix, in general, elements of this

matrix are complex quantity, however, since the damping is not
considered here they are real quantities.
Example 1:
Finding the bearing critical speed of a rotor system shown in Figure 1.16
Take E = 2.11011 N/m2.
The influence coefficient is given as
2
2
2
y ( x) bx l x b
=
=
,
F
6 EIL
( x a)
For obtaining 11
Solution:
we have x =0.6 m, l = 1.0 m and b = 0.4 m.
Fig 1.16
11 x =a =0.6 = 11 =
b = 0.4
0.4 0.6 12 0.62 0.42

6 2.1 1011
64
(0.1) 4 1
= 1.863 108 m/N
Then calculate the natural frequency as
Fig 1.17
n =
1
m
1 11
1
= 2316.83 rad/s
10 1.863 108
Example 2:
Obtain the transverse critical speeds of a Jeffcot rotor system as shown in Figure 1.
Take the mass of the disc, m = 10 kg, the diametral mass moment of inertia, Id = 0.02
kg-m2 and the disc is placed at 0.25 m from the right support. The shaft is having
diameter of 10 mm and total length of the span of 1 m. The shaft is assumed to be
massless. Use one of these methods (i) mechanical Impedance or (ii) dynamic
stiffness. Take shaft Youngs modulus E = 2.1 1011 N/m2. Neglect the gyroscopic
effects. Take one plane motion only.
a 2b 2
11 =
= 1.137 104
3EIl
Solution:
12 = ( 3a 2l 2a 3 al 2 ) 3EIl = 3.03 10 4
21 = ab(b a ) 3EIl = 3.03 104

22 = ( 3al 3a 2 l 2 ) 3EIl = 1.41 103
For the present problem only single plane

motion is considered. For free vibration, from
equation (70), we get
Figure 1.18 A Jeffcott rotor system
m 0
0 Id
Since it will execute the

we have
Dr.SHM,
R. Tiwari
12
+ 11
21 22
m 0
12
+ 11
0 I
21 22
2
nf
d
0
0
0
0
Example 2 contd
Previous equation is an eigen value problem. For non-trial solution, we have
2
nf
m 0
12
+ 11
0 Id
21 22
=0
which gives a frequency equation in the form of a polynomial, as
mI d nf4 11 22 122 nf2 (11m + 22 I d ) + 1 = 0

On substituting the present problem parameters values, it gives
nf4 8.505 104 nf2 + 7.3 107 = 0

It can be solved to give two natural frequency of the system as
n1 = 29.4 rad/sec and n 2 = 290 rad/sec
Example 3:
The rotor of a turbine 13.6 kg in mass is supported at the mid span of a shaft
with bearings 0.4064 m. apart. The rotor is known to have an unbalance of
0.2879 kg-cm. Determine the forces exerted on the bearings at speed of 6000
rpm if the diameter of the steel shaft is 2.54 cm. Assume the shaft to be
simply supported at the bearings. Take E = 200 GNm-2.
(i). For rigid rotor & rigid bearings.
Solution:
Unbalance force
= me
The following data are available

U = me = 0.2879 kg-cm,
M = 13.6 kg;
e = 0.0211 cm,
= 6000 rpm,
D = 2.54 cm,
E = 200109 N/m2
= 0.2879 103 2 6000

60
= 113.66N
Force at each bearing (amplitude)

= 113.66/2 = 56.83 N
The component of forces in vertical &
horizontal directions are given
Fx = 56.83cos 200 t + mg = 56.83cos 200 t + 133.4 N
Fy = 56.83sin 200 t N
Example 3 contd..
(ii) For flexible rotor and rigid bearings.
The bearing reaction forces can be written as
(A)
RA = RB = Fy / 2 = ky / 2 since Fy = ky
The stiffness is given as
4
3
k = 48 EI / l 3 = 48 ( 2.0 1011 )
( 0.0254 ) / ( 0.4064 ) = 2.92 106 N/m
64
EOM of the disc,

from the free body diagram of the disc is given as
me 2 ky = my
For simple harmonic motion y = y

2
The above equation can be written as
0.2879 102 ( 200

me 2
y=
=
k m 2 2.92 106 13.6 ( 200
)
2
)
2
= 4.64 104 m
From the equation (A), we have
RA = ky / 2 = 2.92 106 4.64 104 / 2 = 677.6 N
The component of the forces in the vertical

& horizontal direction can be obtained as
RAx = 677.6 cos200 t + 133.4 N and Dr.
RAyR.= Tiwari
677.7 (rtiwari@iitg.ernet.in)
sin200 t N
Figure 1.20
Example 3 contd..
(iii) From EOM of the disc,
we have
Fy = m
( y + e)
= 13.6 (200 ) 2 [0.0211 102 + ( 4.64 104 ] = 1358.4 N

Hence bearing forces are
RA = RB = Fy / 2 = 679.2 N
(iv) Bearing forces are given as
RA
RB
C11
C11me 2
me 2
=
= [ P ][ K ][ Z ]{F } = [C ]{F }
C21me 2
0
C12
C21 C22
where
[ P] =
11 =
bl
al
3
1 2 1 0.4064
1 l
=
1l
1 2 1 0.4064
l
; 22 =
48 EI
- ( 3a l - 2a - al )
)Dr.= R. Tiwari
l
,
=
= 0;
- 3al - 3a 2 - l 2
3EIl
(12 EI )
12
3EIl
21
ab(b - a )
=0
3EIl
Example 3 contd..
12
[ K ] = 11
12 22
[Z ] =
k11 m
k21
11
k12
k22 I d 2
48 EI / l 3
12 EI / l
22
k11 m
0
4.08 107
0
=
0
1.369 106
[C ] = [ P][ K ][ Z ] =
bl
=
al
1 l
1l
bl
1 l
al
1l
11
0
k22 I d 2
k22
k22 I d 2
1
=
1.21 105
1
k11 m 2
1
k22 I d 2
1
k11 m 2
1
k22 I d 2
22
k11
k11 m 2
2.92 106
k11 ( b l )
k22 ( 1 l )
k11 m 2
k Id 2
k11 ( a l )
k22 (1 l )
k11 m 2
22
k22 I d 2
Example 3 contd..
On substituting from equation (10), we have
RA = C11me =
2
11
(a l )
k m 2
me 2 ; RB = C21me 2 =
11
k11 ( a l )
k11 m
me 2
From above equations, we have

RA =
2.92 106 (1/ 2)
2.92 106 13.6 (200 ) 2

RB = 677.6 N
(0.2879 102 ) (200 ) 2 = 677.6 N
Example 4.
Find the transverse natural frequency of a rotor system as shown in Figure

1.21. Consider shaft as massless and is made of steel with 2.1 (10)11 N/m2 of
Youngs modulus, E, and 7800 kg/m3 of mass density, . The disc has 10 kg
of mass. The shaft is simply supported at ends (In the diagram all dimensions are
in cm).
Fig 1.21
Solution:
Considering only linear displacement, first we will obtain the stiffness (or
influence coefficients 11) for the present problem using energy method.
On taking force and moment balance, we have
+
+
Fv = 0
MA = 0
FA + FB F = 0
FB 1 F 0.6 = 0
FB = (rtiwari@iitg.ernet.in)
0.6 F
and FA = 0.4 F
R. Tiwari
which gives reaction forcesDr.as
Fig 1.22
Example 4 contd...
Fig 1.23 Free body diagram of shaft segment
for 0 x 0.6
Bending moments are obtained at various segments of the shaft to get the
strain energy of the system. On taking the moment balance in the free body
diagram as shown above of the shaft segment for 0.0 x 0.6, we get
MA = 0
M x1 0.4 Fx = 0; or M x1 = 0.4 Fx , 0 x 0.6
Fig 1.24 Free body diagram of shaft segment

for 0.6 x 1.0
On taking the moment balance in the free body diagram as shown above of the shaft
segment for 0.6 x 1.0, we get
Mx = 0
M x2 + F ( x 0.6) 0.4 Fx = 0 or
M x = 0.6 F (1 x );
2
0.6 x 1.0
Example 4 contd...
The strain energy is expressed as
0.6
U=
2
x1
M dx
2 EI1
1.0
+
0.6
M x21 dx
2 EI1
The linear displacement is expressed as

U
=
=
F
0.6
M x M x1 / F dx
EI 1
0.6
M x M x2 / F dx
2
EI
On substituting bending moment expression obtained earlier, we get

0.6
=
0
{0.6 F (1 x)}{(0.6(1 x)} dx 0.01152 0.00768

( 0.4 Fx)(0.4 x)dx
F
+
=
+
EI1
EI
EI
EI
2
1
2
0.6
The stiffness is given as

k=
0.01152 0.00768
+
= 8.45 107 N/m
EI
EI Dr. R. Tiwari (rtiwari@iitg.ernet.in)
1
2
Example 4 contd...
where
E = 2 1011 N/m 2 ; I =
1
64
0.14 = 4.907 106 m 4 ; I 2 =
64
0.33 = 3.976 104 m 4
which gives natural frequency as

k
8.45 107
=
= 2906.81 rad/s
p=
m
10
It should be noted that the tilting motion of the disc has not considered
More general form of the Jeffcott rotor response is equation(75) , the

forcing is assumed to be from the imbalance only and then it can be
expressed as
r
i
+ jFimb
{ fimb } = {Fimb } e jt with Fimb = Fimb
k
k = 1, 2.
,N
(76, 77)
where superscripts r and i represent the terms real and imaginary,

respectively. The vector {Fimb } contains amplitude and phase
information of the imbalance forcing with respect to some convenient
shaft location and N is the total dofs of the system.
The solution can be written as
{u} = {U } e
(78)
j t
The response can be obtained as
{u} = [ Z ]1{Fimb }e jt
with
[ Z ] = ([ K ] 2 [ M ] )
(79,80)
Similar to the force amplitude vector, the response vector will also
have complex quantities and can be written as
k = 1, 2,
U k = U kr + jU ki
(81)
,N
which will give amplitude and phase information, as

U kamp =
( ) ( )
U kr
+ U ki
and
U kphase = tan 1 U ki / U kk
(82,83)
If displacement is defined, as
ur = u x + ju y
and
r = y + j x
(84,85)
Equations of motion (72) can be written as

md ur + k11ur + k12r = md e 2 e jt
(86)
I d r + k21ur + k22r = 0
(87)
with
Id = I x = I y
Let the solution be
ur = U r e
j ( t ur )
r = r e
and
j ( t r )
(88)
where U r and r are whirl amplitude and phase respectively, so that
ur = 2U r e
j ( t ur )
r = 2 r e
and
j ( t r )
On substituting above solutions into equations of motion (86-87), we

get
k11 md 2 U r e
k21U r e
jur
jur
+ k12 r e
j ( t r )
) e
j ( t r )
+ k 22 I r
= md 2 e
(90)
=0
Equation (90) can be expressed as

re
j ( t r )
(89)
(91)
k21
jur
U
e
r
k22 I r 2
On substituting the above equation into equation (89), we get
(k
11
md 2
)( k
(k
22
22
I r 2 k12 k21
Ure
jur
= md 2 e
2 R. Tiwari (rtiwari@iitg.ernet.in)
I rDr.
(92)
On equating the real and imaginary parts of both sides of equation

(92), we get
(k
11
md 2
(k
and
(k
11
)( k
md 2
22
22
I r 2
)( k
(k
22
22
I r 2 k12 k21
U r cos ur = md 2 e
I r 2 k12 k21
I r 2
U r sin ur = 0
(93)
(94)
From the second equation, we get

sin ur = 0;
i.e. ur = 0
which means there will not be any phase difference.

On substituting phase information in equation (93), we get
Ur =
md 2 e k 22 I r 2
k11 md 2
)(
k 22 I r 2 k12 k 21
which is the whirl amplitude.
(95)
The condition of resonance can be obtained by equating denominator

of equation (95) to zero
(k
11
md cr 2
)( k
22
I rcr 2 k12 k21 = 0
(96)
By defining
u2 =
k11
,
md
2 =
k22
Ir
u2 =
k12
md
and
2u =
k 21
Ir
(97)
Equation (96) can be written as

cr4 (u2 + 2 ) cr2 + (u22 u2 u2 ) = 0
(98)
The solution of the above polynomial can be expressed as

cr2 =
1,2
1
2
2
u
+ 2 12
2
u
+ 2
4 u22 u2 u2
(99)
which represents the critical speeds of the rotor system.

It can be seen that term inside the square root is always positive i.e.
(u2 + 2 ) 4 (u22 u2u2 ) > 0

2
which can be written as

(u2 2 ) + 4u2 u2 > 0
2
(100)
It can be seen that above condition be always true since all individual
terms u , ,u , and u are real quantity. However, the following term
inside the square root can be
(
2
u
u2 u2 > 0
Term inside the sqrt is less than outside
(101)
which gives two critical speeds. The above term can be
(
2
u
Term inside the sqrt is more than outside (102)
u2 u2 < 0
which gives only one critical speed since one pair root will be complex
conjugate. Figure 1.11 gives these two cases.
2
u
2 u2 u2 ) > 0
Figure 1.25(a)
2
u
u2u2 < 0
Figure 1.25(b)
For the disc at the center of the shaft span, we have
k12 = k21 = 0
which gives
Ur =
(k
md 2 e k22 I r 2
11
md
)( k
22
I r
md 2 e
=
k11 md 2
) (
(103)
which is same as discussed in the previous section for Jeffcott rotor.

The response is shown in Figure 1.25(c).
Fig 1.25(c) Amplitude

spin speed for k12 = k21 = 0
Dr. R. Tiwariversus
On substituting equation (95) into equation (91), we get

re
jr
k21
=
k22 I r 2
) (k
11
md 2 e k22 I r 2
md 2
)( k
22
i.e. r = 0
(104)
I r 2 k12 k21
From the above equation, we get
sin r = 0;
(105)
which means there will not be any phase difference. On substituting phase
information in equation (104), we get
md 2 ek21
r =
(106)
2
2
k
m
k
k
k
( 11 d )( 22 r ) 12 21
which is the whirl amplitude of angular displacement and the condition
of resonance can be obtained by equating the denominator of equation
(106) to zero, which is same as the previous case. For disc at the center
of the shaft span, we have k12 = k21 = 0, which gives
r = 0
(107)
which is very obvious since when the disc is at the center of the shaft
Dr. R.moments
Tiwari (rtiwari@iitg.ernet.in)
span, it will not produce any
and hence there will not be tilting of
the disc take place.
Bearing reaction forces:

The forces transmitted through bearings are those are related to the
deflection of the shaft.
On taking moment about ends A and B of the shaft,
we have
MA = 0
Fya M yz RB l = 0
MB = 0
RAl Fy b M yz = 0 or
or
RB =
RA =
a
1
Fy M yz
l
l
(108)
b
1
(109)
Fy + M yz
l
l
Fig 1.26 Bearing reaction forces on the shaft
From above equations, the bearing reaction forces at A and B are related
to the loading on the shaft Fy and Myz, in matrix form as follows
RA
b l 1l
=
RB
a l 1 l
or
Fy
M yz
{R} = [D] {p}
(110)
with
[ D] =
bl
al
1l
1 l
(111)
Using equations (70) and (80), equation (111) can be written as

(112)
{R} = [D] [K] {d}=[D] [K] [Z] {f}=[C] {f}

which can be expanded as
RA
RB
C12
C21 C22
with
( bk11 + k12 ) ( k22 I d 2 ) k21 ( bk12 + k22 )

( ak11 k21 ) ( k22 I d 2 ) k21 ( ak12 k22 )
me 2C11
me 2
me 2
=
=
2
l
me C21
0
C12
= k11 md cr 2
)( k
22
I rcr 2 k12 k 21
(113)
Bearing reaction forces will be having similar variation as of the

response, since it has the same denominator, as that of the response.
It can be shown from equation (113) that the forces transmitted through
the bearings are also a maximum at the system critical speed. These
forces are dynamic forces and are superimposed on any steady loads,
which may be present, due to gravity loading for example.
1.4 Symmetrical rigid shaft in flexible anisotropic bearings

In systems where the bearings are far more flexible than the shaft it is the
bearings, which will have the greatest influence on the motion of the rotor.
Such rotors may be idealized as rigid rotor.

Fig 1.28(b) Positive conversions of angular displacements.
Assumptions:
It is assumed that the shaft has no flexibility
The bearings are assumed to behave as linear springs having a stiffness
kx in the horizontal direction and ky in the vertical direction. m is the rotor
mass.
The center of gravity is offset from geometrical center by distances e and d
as shown in Figure 1.28(a). x and y are the linear displacements of the rotor
(geometrical center) in the horizontal and vertical directions respectively.
and are the angular displacement of the rotor (geometrical center line)
in the z-x and y-z planes, respectively.
Since for the present case there is no coupling between various
displacements i.e. x, y, and . Hence free body diagrams and equations of
motion have been obtained by giving such displacements independent of
each other.
EOM in the x and y directions are
me 2 cos t - k x x = mx
(114)
me 2 sin t k y y = my
(115)
and
EOM in the and directions are
me 2 d cos t k x l 2 = I d
and
me 2 d sin t k y l 2 = I d
(116)
(117)
Fig 1.29(b) Free body diagram of the

rotor in x-y plane
Fig 1.29(c) Free body diagram of the

rotor in z-x plane
Fig 1.29(a) Free body diagram of the rotor in y-z plane
For sinusoidal vibrations, we can write

x = 2 x ,
y = 2 y , = 2
and
= 2
(118)
Substituting equation (118) into equations (114) to (117),

the unbalance response can be expressed as
me 2
x=
cos t = X cos t ;
2
k x m
me 2 d
= 2
cos t = cos t
2
k xl I d
me 2
y=
sin t = Y sin t
2
k y m
me 2 d
and =
sin t = sin t (119)
2
2
k yl I d
Critical speeds can be written as

k
cr1 = x ;
m
cr =
2
ky
m
cr
kxl 2
=
;
Id
and
cr =
k yl 2
Id
(120)
From equation (119) on squaring x and y and adding, it gives

x2
X2
y2
Y2
=1
(It is an equation
of ellipse.
)
Dr. R. Tiwari
(121)
Similarly from equation (119), we get

2
=1
(122)
Equation (122), relating to the angular motion of the rotor, is also the equation of
an ellipse.
o This means that there is an elliptical orbital trajectory of the rotor ends due
to angular motion of the rotor.
This rotor motion is caused by the imbalance couple me2d acting on the
rotor, and it is superimposed on the lateral motion described previously.
A reversal of the direction of the orbit associated with this motion also
occurs, between two critical speeds associated with angular motion of the
rotor (i.e.
Figure 1.30 Whirl directions with respect to the shaft spin frequency
Figure 1.31 Mode Shapes for a rigid rotor mounted on flexible bearings
Important Notes:
The amplitude of the force transmitted to the bearings is different in
horizontal and vertical directions, as well as at each end of the rotor.
The force transmitted is that which causes the bearings to deform
and is given by the product of spring stiffness and rotor deflection at
the bearing.
The bearing force amplitudes are
Fx =
kx
( x l ) ;
2
and
Fy =
ky
2
( y l )
(125)
in horizontal and vertical direction respectively.

The + sign refers to the angular motion of the rotor causes the rotor
end to deflect in the same direction to the lateral deflections of the
rotor and the - sign refers to the angular motion of the rotor causes
the rotor end to deflection in the opposite direction to the lateral
deflections of the rotor.
These bearing forces must take on maximum values when the
system is operated at the critical speeds, where x, y, and are
maximum.
Example 8.
A long rigid symmetric rotor is supported at ends by two identical

bearings. Let the shaft has the diameter of 0.2 m, the length of shaft
is 1 m and the mass density of the shaft material equal to 7800
kg/m3. The bearing dynamic characteristics are as follows: kxx = kyy
= 1 kN/mm with rest of the stiffness and damping terms equal to zero.
By considering the gyroscopic effect negligible also, obtain the
natural frequencies of the system.
Since cross-coupled stiffness coefficients is x and y directions are zero
and no gyroscopic effect is considered, hence single plane motion can be
considered one at a time. For the present analysis there is no coupling is
considered between the linear and rotational displacements and since
stiffness in x and y direction is same hence natural frequencies in these
directions can be written as
2k
2 1106
1,2 =
=
= 90.34 rad/s
m
245.04
Similarly natural frequencies corresponding to the tilting motion can be
written as
kl 2
1102 12
=
= 154.184 rad/s
3,4 =
2Id
2 21.0326
Example 9:
Find the bending critical speed of the system shown in Figure 1.32 in
which the disc is made of solid steel with a diameter of 127 mm, and a
thickness of 25.4 mm. The mass density of the steel is 7800 kg/m3. The
disc D is placed in the middle of a shaft and the total length of the steel
shaft between bearings is 508 mm, and its diameter is 12.7 mm. The
bearings have equal flexibility in all directions, the constant for either one
of them being k = 175 N/m. (b) Solve the same problem as part (a)
except that the bearings have different vertical and horizontal flexibilities:
khoz = 175 N/m and khoz = 350 N/m for each of the bearings. Neglect
the cross-coupled stiffness coefficients and the mass of the shaft and
treat it as rigid.
Solution (a):
EOM can be written as
mx + k x x = 0
and
I d + k xl 2 = 0
Since k x = 2k , we have
mx + 2kx = 0 and I d + kl 2 = 0
Fig 1.32 A rigid rotor on flexible support
The mass and mass moment of inertia of the disc are given as
m = 7800 (0.127) 2 (0.0254) = 2.51 kg
4
I d = 12 mr 2 = 12 2.51 ( 0.127 / 2 ) = 0.00504 kg-m 2

2
2k
The natural frequencies are
n =
= 11.836 rad/s
Dr. given
R. Tiwarias
1
2kl 2
and n2 =
= 133.87 rad/s
m
Example 9 contd..
Solution (b):
With different stiffness properties in horizontal & vertical directions, the
natural frequencies are given as
n =
2kver
2khoz
= 16.73 rad/s; n2 =
= 11.84 rad/s
m
m
n =
2kver l 2
= 189.32 rad/s; and n4 =
Id
2khoz l 2
= 133.87 rad/s
Id
Answer
Example 10:
Find critical speeds of a rotor system as shown in Figure 1.33
Take the bearing stiffness properties as:
k xA = 1.1 kN/mm ; k y = 1.8 kN/mm ; k x = 3.1 kN/mm and
B
A
Solution:
Equations of motion in x & y directions are

me 2 cos t k xA x k xB x = mx and
me 2 sin t k y A y k yB y = my
Equations of motion in and directions are
me 2 d sin t k y A l 2 k yB l 2 = I d and
me 2 d sin t k y A l 2 k yB l 2 = I d.
The steady state force vibration responses
can be obtain as
x=
me 2
k xA + k xB m
(k
me
xA
+ k xB l 2
cos t ;
y=
me 2
k y A + k yB m 2
sin t
me 2 d
cos t ; = Dr. R. Tiwari (rtiwari@iitg.ernet.in)
sin t
2
2
2
Id
k y A + k yB l I d
k yB = 3.8 kN/mm
Example 10 contd..:
On equating determinates of responses, critical speeds can be obtained as
p =
kx + kx
A
p =
ky + ky
A
p3 =
p =
4
(1.1 + 3.1) 106

=
= 648 rad/s;
10
(1.8 + 3.8) 106

=
= 748.3 rad/s
10
( kx + kx
A
Id
(ky + ky
A
Id
(1.1 + 3.1) 106 12

=
= 6480.7 rad/s;
0.1
(1.8 + 3.8) 106 12
=
= 748.3 rad/s
0.1
Answer
1.5 Symmetrical rigid shaft in flexible anisotropic

bearings with damping and cross coupling
For the case of oil-film lubricated bearings the bearing have associated
damping properties as well as spring stiffness properties.
Furthermore in case of hydrodynamic bearings the shaft motion in the
horizontal direction is coupled with that in the vertical direction.
However, coupling between the translational and tilting motion has not
been considered since the rotor is symmetric.
In most applications the properties of such bearings are described in
terms of the eight linearised bearing stiffness and damping coefficients.
Symmetrical rigid shaft in flexible anisotropic bearings will be identical to Fig 1.28
with cross-coupled terms. The EOM for rotor are given by
Fx k xx x k xy y cxx x cxy y = mx
Fy k yx x k yy y c yx x c yy y = my
( ) ( ) ( ) ( )
c (l ) = I
l ) (rtiwari@iitg.ernet.in)
(l ) k ( l )Dr.- cR. (Tiwari
M xz k xx l 2 k xy l 2 - cxx l 2 cxy l 2 = I d
M yz k yx
yy
yx
yy
(126)
It is assumed that there is no coupling between the linear (i.e. x and y) and
angular displacements (i.e. and ) due to symmetry of the rotor.
The imbalance force me2 is located same distance from the rotor
geometrical center.
Out of balance forces in the horizontal and vertical directions may then be
written as
Fx = me 2 cos t = Re me 2 e jt = Re Fx e jt
Fy = me sin t = Re jme e
2
2 j t
with Fx = me 2
) = Re ( F e ) with
y
Fy = jme
j t
(127)
where Fx and Fy are complex forces (which contains amplitude and

phase informations) in the x and y directions. These forces are acting at
the center of gravity.
Moments about the rotor geometrical center caused by these forces are
M xz = me 2 d cos t = Re me 2 de jt = Re M xz e jt
M yz = me 2 d sin t = Re jme 2 de jt = Re M yz e jt
with
with
M xz = me 2 d
M yz = -jme 2 d
(128)
The response can be assumed as
x = Xe jt ;
y = Ye jt ;
= e j t ;
(129)
=e jt
where X, Y, and are complex displacements.

Equations of motion (126) can be written as
[ M ]{ x} + [C ]{ x} + [ K ]{ x} = { f (t )}
m 0 0
0 m 0
[M ] = 0 0 I
d
0 0 0
{ x(t )} =
x
y
0
0
;
0
Id
(130)
cxx
c
[C] = 0yx
cxy
c yy
0
0
0
l 2 cxx
0
0
;
l 2 cxy
l 2 c yx
l 2 c yy
k xx
k
[ K ] = 0yx
k xy
k yy
0
0
0
l 2 k xx
0
0
;
l 2 k xy
l 2 k yx
l 2 k yy
Fx
;
{ f (t )} =
Fy
M xz
M yz
The response takes the following form
{ x} = { X } e jt ;
so that
{ x} = j { X } e jt
and
{ x} = 2 { X } e jt
(131)
On substituting equations (127), (128) and (131) into equations of motion (130),
we get
(132)
2 [ M ] + j [C ] + [ K ] { X } = { F }
with
Fx
{X } =
{F } =
Fy
M xz
M yz
which can be written as
(133)
[ D]{ X } = {F } with [ D ] = [ K ] 2 [ M ] + j [C ]
The response can be obtained as {X} = [D]-1 {F}
(134)
The displacement amplitude of the rotor will be given by
X = X r2 + X i2 , Y = Yr2 + Yi 2 ,
= r2 + i2 , = r2 + i2
(135)
Phase lag will be given by
= tan -1
Xi
Y
, = tan -1 i ,
Xr
Yr
= tan -1
i
i
, = tan -1
r
r
The resulting shaft whirl orbit can be plotted using equation (129) and (134)
x = Xe jt and y = Ye jt
and in general will be found to take the form as shown in Figure 1.34.
Fig 1.34 Rotor whirl orbit
Example 11.
Obtain the bending critical speeds and mode shapes of a rigid rotor,
consist of massless rigid shaft of 2 m of span, 5 kg mass and diametral
mass moment of inertia of 0.1 kg-m2, supported by flexible bearings as
shown in Figure 128. The bearing properties are: kxx = 2.0
104 N/m, kyy
= 8.8
104 N/m, kxy = 1.0
103 N/m, kyx = 1.5
103 N/m, cxx = 1.0 N-s/m, cyy
= 1.0 N-s/m, cxy = 1.0
10-1 N-s/m and kxx = 1.0
10-1 N-s/m. Obtain the
unbalance response (amplitude and phase) at bearing locations when the
radial eccentricity of 0.1 mm and axial eccentricity of 1 mm is present in
the rotor and locate critical speeds.
Solution:
Fig 1.35 shows the unbalance responses both for the linear and
angular displacements. Both the amplitude and phase has been
plotted. It can be observed that in the plot of linear and angular
displacement two peaks appears and they correspond to the critical
speeds of the system. Since the linear and angular displacements are
uncoupled for the present case and hence corresponding critical
speeds appears in respective plots. There are four critical speeds: 70
rad/s, 120 rad/s, 480 rad/s and 920 rad/s
Example 11 contd...
Dr. R.
Tiwari variation
Fig 1.35 Amplitude and
phase
with respect to spin speeds
Exercise Problem E1.6.
Obtain the critical speeds for transverse vibrations of rotor-bearing

system as shown in Figure E1.6. Consider shaft as rigid. The shaft is of 1
m of span and the diameter is 0.05 m with the mass density of 7800
kg/m3. The shaft is supported at ends by flexible bearings. Consider the
motion in both the vertical and horizontal planes. Take the following
bearing properties:
For bearing A: kxx = 20 MN/m, kyy = 15 MN/m, kxy = -1.5 MN/m, kyx = 25
MN/m, cxx = 200 kN-s/m, cxy = 150 kN-s/m, cyx = 140 kN-s/m, cyy = 400
kN-s/m,
For bearing B: kxx = 24 MN/m, kyy = 17 MN/m, kxy = -2.5 MN/m, kyx =
30 MN/m, cxx = 210 kN-s/m, cxy = 160 kN-s/m, cyx = 135 kN-s/m, cyy =
380 kN-s/m.
Bearing forces:
The forces, which are transmitted to the bearings, are those, which
deform the bearing lubricant film, and do not include rotor inertia terms.
In general bearing forces will lag behind the imbalance force such that
the bearing horizontal and vertical force components, at one end A of the
machine, can be represented as
fbx = A k xx x + A k xy y + A cxx x + A cxy y + A k xxl + A k xy l + A cxx l + A cxy l
fby = A k yx x + A k yy y + A c yx x + A c yy y + A k yx l + A k yy l + A c yx l + A c yy l
fbx = B k xx x + B k xy y + B cxx x + B cxy y + B k xxl + B k xy l + B cxx l + B cxy l
fby = B k yx x + B k yy y + B c yx x + B c yy y + B k yx l + B k yy l + B c yx l + B c yy l
where
k xx = k xx 2 ,
(137)
k xx = k xx 2 , etc.
Equation (137) is for more general case, which can be written in matrix form as
{ fb } = [cb ]{ x} + [ kb ]{ x}
fbx
A f by
with
{ fb } =
B
B
fbx
f by
(138)
{ x} =
{ x} =
A xx
A xy
A xx
A xy
c
[cb ] = c
B xx
c
B cxy
c l
B cxx l
c l
;
c
l
B xy
A yx
c yx
A yy
c yy
c l
A yx
c l
A yy
k xx
k yx
[ kb ] = k
B xx
A
k xy
k yy
B k xy
A
c yx l Dr.BR.
c yyTiwari
l
B k yx
B k yy
k xx l
k yx l
B k xx l
A
k yx l
k xy l
k yy l
B k xy l
A
k yy l
{ x} = { X } e jt ;
{ x} = j { X } e jt ;
{ fb } = {Fb } e jt
(139)
On substituting equation (139) into equation (138), we get
{Fb } = ([ kb ] + j [cb ]) { X }
This can be used to evaluate bearing forces.

The amplitude of forces transmitted to bearings are then given by
A
Fbx =
Fbx2r
+ A
Fbx2i ;
Fby =
Fby2 r
+ A
Fby2i ;
Fbx =
Fbx2r
+ B
Fbx2i ;
Fby =
Fby2 r
+ B
Fbyi
Fby2i (140)
with corresponding phase angles are given by
= tan
Fbxi
A Fbxr
; = tan
Fbyi
A Fbyr
= tan
Fbxi
B Fbxr
; = tan
B Fbyr
(141)
1.6 Asymmetrical flexible shaft in flexible anistropic bearings

with damping and cross coupling
Fig 1.36
A flexible shaft in flexible bearings
For the present case both the shaft and bearings are flexible.
The analysis allows for different instantaneous displacements of the shaft
at the disc and at bearings.
The system will behave in a similar manner to that described in previous
section, except that the flexibility of shaft will increase the overall flexibility
of the support system as seen by the disc.
An equivalent set of system stiffness and damping coefficients is first

evaluated, which allows for the flexibility of the shaft in addition to that of
bearings, and is used in place of the bearing coefficients in previous
section analysis.
The total deflection of the disc is the vector sum of the deflection of the
disc relative to the shaft ends plus that of the shaft ends to the
foundation. For disc we observe the displacement of geometrical center
of the disc.
The deflection of shaft ends in bearings is related to the force
transmitted through bearings by the bearing stiffness and damping
coefficients as
f bx = k xx m + k xy n + cxx m + cxy n
f by = k yx m + k yy n + c yx m + c yy n
(142)
where m and n are instantaneous displacements of shaft ends relative to

bearings in the horizontal and vertical directions respectively, and take the
form
m = Me jt ; n = Ne jt
(143)
The bearing forces have the following form

fbx = Fbx e jt ;
(145)
fby = Fby e jt
On substituting in equation of motion (59), we get
Fbx = k xx M + k xy N + j cxx M + jcxy N
(146)
Fby = k yx M + k yy N + jc yx M + jc yy N
which can be written in matrix form as for both bearings A and B as
{Fb } = [ K ]{V }
with
{Fb } =
A Fbx
A
B Fbx
B
{V } =
Fby
[K ] =
Fby
AM
AN
BM
( k xx + jcxx )
(k
yx
+ j c yx )
A
A
(k
(k
xy
yy
+ j cxy )
+ j c yy )
T
N
B
B
B
( k xx + jcxx )
(k
yx
+ j c yx )
B
B
(k
(k
xy
yy
+ j cxy )
+ j c yy )
(147)
The magnitude of reaction forces transmitted by bearings can also be

evaluated in terms of the forces applied to the shaft by the rotor. (Hence shaft
is not assumed to be rigid and moment balance is considered).
MB = 0
l A fby = Fy (l d ) M yz
or
fby = (1 d l ) Fy (1 l ) M yz
MA = 0
or
B
(148)
l B fby = dFy + M yz
fby = ( d l ) Fy + (1 l ) M yz
Fig 1.37 Free body diagram of the shaft
(149)
Similarly forces in the horizontal direction may be written as

f = (1- d l ) Fx + (1 l ) M xz
(150)
fbx = ( d l ) Fx + (1 l ) M xz
(151)
A bx
Equations (148-151) can be combined in the matrix form as
{ fb } = [ A]{ f s }
(152)
For an unbalance excitation, we have

{ fb } = {Fb } e jt and { f s } = {Fs } e jt
(153)
On substituting equation (153) in equation (147), we get
{Fb } = [ A]{Fs }
(154)
where subscript b refers to the bearing and s refers to the shaft.

In above equation bearing forces are related to reaction forces at the shaft
Equating equation (147) and (154), we get
[K] {V} = [A]{Fs}
or
{V} = [K]-1 [A] {Fs}
(155)
The deflection at the location of the disc due to movement of the

shaft end can be obtained as follows.
Consider the shaft to be rigid for some instant and assuming shaft end
deflections in horizontal direction be Am and Bm at ends A and B,
respectively as shown in Figure 1.38.
x = Am +
( B m A m) d =
l
1-
d
l
Am +
d
l
m (156)
Slope in x-z plane of the shaft will be
= ( B m - A m) l
(157)
Fig 1.38 Rigid body movement of the shaft in z-x plane
For motion in y- direction and y-z plane,

we have
y = (1- d l ) A m + ( d l ) B m (158)
= ( A n - B n) l
(159)
Equations (156-159) can be combined in a matrix form as
{u } = [ B]{v}
s1
(160)
For unbalance excitation (or for free vibration analysis), shaft

displacements at bearing locations and at disc center vary sinusoidally such
that
{ } { }
us1 = U s1 e jt and
(161)
{v} = {V } e jt
On substituting in equation (160), we have
{U } = [ B]{V }
(162)
s1
Substituting equation (155) in above equation, we get
{ }
U s1 = [ B][ K ]
[ A ]{Fs } = [C ]{Fs }
(163)
The deflection associated with flexure of the shaft alone in x-direction &
x-z direction plane and in y-direction & y-z plane, respectively
x
11 12
21 22
Fx
M xy
or
{u } = [ ]{ f }
s2
with
{u } =
s2
11 12
21 22
Fy
M yz
FX
Fy
{ fs } = M ;
xz
(164)
11
21
;
[ ] = 0

M yz
0
0
0
12
22
11
21
0
0
0 (165)
0
12
22
For unbalance excitation (or for free vibration analysis), shaft reaction forces
at disc location and displacement at disc center vary sinusoidally such that
{u } = {U } e
s2
s2
jt
and
{ f s } = {Fs } e jt
On substituting above equations in equation (165), we get
(166)
{U } = [ ]{F } (167)
s2
The net deflection of the rotor that caused by deflection of the bearings plus
that due to flexure of the shaft is then given by
{U } = {U s } + {U s }
1
= ([C ] + [ ]) { Fs } = [ D ]{ Fs }
(168)
The above equation describes the displacement of the shaft at the disc under the
action of sinusoidal forces and moments applied at the disc (identical to the
influence coefficient matrix). Equation (168) can be written as
{Fs } = [ D ] {U } = [ E ]{U }
1
(169)
EOM of the disc can be written in the x-direction and on the x-z plane, as
me 2 cos t Fx = mx
and - M xz = I d
(170)
Similarly the EOM in the y-direction and the y-z plane
me 2 sin t Fx = my
and
-M yz = I d
(171)
Fig 1.39 Free body diagram of the disc
Equations of motion of the disc can be written in matrix form as
[ M ]{u} + { f s } = { f }
With
m 0 0
0 m 0
[M ] = 0 0 I
d
0
0
0
;
0
{u} =
Id
x
y
Fx
;
{ fs } =
Fy
M xz
M yz
me 2
jme 2 jt
; {f}=
e = { F } e jt
0
0
Above equations of motion take the form (noting eqn (169))
{U } = ( [ M ] + [ E ]) {F }
1
2
where [ M ] + [ E ]
(175)
is the
equivalent
bearing stiffness & damping coefficients
Dr. R.
Tiwari (rtiwari@iitg.ernet.in)
1.7 Effects of flexible foundations
The net displacement of the disc is given by the vector sum of

(i) disc displacement relative to the shaft ends,
(ii) that of the shaft ends relative to the bearing,
(iii) that of bearing relative to space.
The relationship between the force transmitted through bearings and displacements of
the shaft ends is governed by the bearing stiffness & damping coefficients and is given by
{ fb } = [ K ]{v} or {Fb } = [ K ]{V }
(176)
The bearing will respond in the horizontal direction for an external force fbx by equation
f bx k fx a c fx a = mb a
(177)
The response of the bearing in the vertical direction to a force fby is
fby k fy b c fy b = mbb
(178)
For both bearings equations of the form as equation (180), can be combined as
{ A Fb }
{ B Fb }
[ A D]
0
[ B D]
{ A e}
{ B e}
{Fb } = [ D]{E}
(181)
Which gives relative displacements between the bearing and foundation, as
{E} = [ D ] {Fb }
1
(182)
The total displacement of the shaft ends under the action of an applied force {Fb} is
given by summation of individual displacements {V} and {E} i.e.
{W } = {V } + {E} = [ K ]
+ [ D]1
{Fb } = [ K ]{Fb }
The force transmitted to the foundation are given as

f fx = k fx a + c fx a
f = k b+c b
and
fy
fy
fy
(183)
(184)
For unbalance excitation or free vibration analysis, we have
f fx = Ffx e jt and f fy = Ffy e jt
(185)
On substituting above equations into equation (184), we get

Ff x
Ff y
c fx
c fx
+ j
c fx
c fx
Amplitude and phase of the force transmitted through the foundation can be obtained from
F fx1 , F fx2 , F fy1 and F fy2 as usual.
Thank you

Rtiwari 02

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ANALYSIS OF

SIMPLE ROTOR SYSTEMS

Dr. Rajiv Tiwari

Under AICTE Sponsored QIP Short Term Course on

(15-19 Dec 2008)

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Rotor of an electrical motor

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

CNC machine equipped with 12 rotating tools and two spindles.

Different stages of a turbomachinery

Different stages of a turbomachinery

Balancing of a big rotating machinery

Dynamic balancing center

Pumps, motors and rotating machines can be monitored for signs of

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Of the many published works, the most extensive

SINGLE MASS ROTOR MODELS

1.1 Single DOF Rotor Model

If the rotor is perfectly balanced then theoretically

where m is the mass of the rotor, is the spin

For the case when the rotor is eccentric and a

Imbalance force is the

Figure 1.3 shows the unbalance location on a rotor system.

Fig 1.3 The unbalance location on a rotor system

On application of the Newtons law on the free

For the free vibration, when the external

where n is the frequency of oscillation during

(mn2 + keff )Y sin(nt) = 0

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Fig 1.1(d) Free body diagram

The steady state forced response can be modeled as

where Y is the amplitude of displacement and

is the phase lag of the

The critical speed is given by

The analysis presented in this section can be applied to the

(a) Linear plot

% Non-dimensional unbalance response wrt to

(b) Semi-log plot

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

The unbalance response can be reduced by the following methods.

Correction at source i.e. balancing the rotor:

(a) Perfectly balance (No force and moment)

(c) Dynamic unbalance (pure moment)

(b) Static unbalance (pure radial force)

(d) Dynamic unbalance (both force and moment)

Fig 1.5 Classification

Operate rotor away from the critical speed:

Add damping to the system or active control of the rotor:

With the development of smart fluids (for example electro

Schematics of typical passive and active (i.e. smart or controllable) squeeze

Fig 1.6 (a) Schematic diagram of squeeze film dampers

Dr. R. Tiwari (rtiwari@iitg.ernet.in)

Fig 1.6 (c) Basic principle of active magnetic bearings

1.2 RANKINE ROTOR MODEL

Rankine (1869) used a two DOF model

Fig 1.8 (a)

Dr. R. Tiwari (rtiwari@iitg.ernet.in)