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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 ) :
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):
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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.
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Analytical method:
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c
b
a
x
O
2) Repeat the above problem given , x1 = 2Cos(t + 0.5) and x2 = 5Sin(t + 1.0) .
The angles are in radians.
(Hint: In the above problem the angles are to be converted to degrees. Ans. A =
6.195, = 73.49 )
A
m
p
l
i
t
u
d
e
time
****************
A
2cm
2cm
B
.2
5) A periodic motion is represented by a saw tooth wave form, the amplitude is 0 at t=0
and rises to 10 cm, at t=0.3, it then drops down to zero at t = 0.3 ,and remains
zero for next 0.2 seconds and one cycle is completed. The next cycle again starts at t=0.5
secs. Represent the above cycle in form of a harmonic series.
X,
c
m
s
10
Sec.
0.3
0.2
mx
m
mg
Displ. x
This consists of a single spring attached with a single mass. The Various ways in
which the equation of motion is obtained are :
a) Newtons Method b) Energy Method and c) Rayleigh Method
Newtons Method
When a mass m is attached to a spring it deflects by and the system is under
equilibrium as mg = weight = k, where k is the spring stiffness, defined as force per unit
length. If now the mass m is given a displacement x in the downward direction and the
system is allowed to vibrate, we have the following forces acting on the system: the
spring force, k(x+) acting in the upward direction, inertia force
mxacting in the upward direction and force mg acting in the direction of displacement x
downwards. The equation of motion is written taking equilibrium of forces as:
mx = - k(x+) + mg
= -kx-k+mg
= -kx-k+k
Or mx + kx = 0, which is the governing differential equation for a single degrr of
freedom system. Rewriting the equation of motion as
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x+ (k/m) x = 0, we have the quantity (k/m)1/2 as the natural frequency of the system n
.
Energy Method:
In this method the concept of total energy of the system, which is the
sumof Kinetic energy (T) and Potential energy(V) , is made use of which remains
constant always for any configuration of system while it is vibrating
For a single DOF system of spring and mass, the kinetic energy is givenby (1/2)mx and
the potential energy stored in the system is (1/2)kx2 . As the total energy of the system
remains constant, we have T+V = 0 or d(T+V)/dt = 0. Differentiating we have the
governing differential equation as mx + kx = 0, and the natural frequency is given by
n = (k/m)1/2.
Rayleighs Method:
In this method the max kinetic energy of the system is equated to the
maximum potential energy. For SHM the max. kinetic energy is at the mean position
which is equated to the potential energy. If A is the amplitude of vibration and n is the
natural frequency the max. kinetic energy is given by (1/2)m(n A)2 and max. potential
energy is (1/2)kA2 . Equating the two equations and simplifying we have again n =
(k/m)1/2.
********
Session 5 date:(7/3/07)
SPRINGS IN SERIES AND SPRINGS IN PARALLEL
10
Consider figure (b) where the springs are in series. When the mass is subjected to a force
F, the displacement of mass m is equal to deflections of sprimgs 1 & 2. Hence we can
write, the displacement of the equivalent spring as,
= 1 + 2
Where 1 deflection of spring 1.and 2 deflection of spring 2.
Hence we can write
F/Ke = F/K1 + F/K2
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Problem:
1) Obtain an equivalent spring mass system and expression for n. for 3 springs in series
and in parallel configuration
K1
K2
K3
m
12
Natural frequency
n = (K e / m) , Therefore n =
Therefore n =
K1 + K 2 + K 3
m
(1 / K1 + 1 / K 2 + 1 / K 3)
m
Solution:
Given
m = 109 N
K1 = 10N/mm
K2 = 10N/mm
K3 = 5N/mm
The spring equivalent when parallel springs are added, we have
13
Ke1 = K1 + K2
= 20 N/mm
Ke = Ke1 + K3
Ke1 + K3
= 20 (5)
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= 4 N/mm
= 4000 N/m
n = (Ke / m)
Therefore n = 18.97 rad/s
Frequency = fn = n /2
= 3.012 Hz
***********
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Session 6 date:(9/3/07)
NATURAL FREQUENCY OF A SPRING: Considering mass of spring
y
L
k
dy
Consider a spring mass system as shown in the figure where the mass is displaced
by x. dy is a small elemental spring length at a distance of y from the fixed end.
L be the length of the spring. Let x and x be the velocity and acceleration of mass.
The total K.E of the system is the sum of K.E of the mass m and K.E
considering the mass of the spring.
The velocity of the spring element at a distance of y from the fixed end is xy/L
We can write the K.E of the spring element dy as ( )(Rho)(dy)(xy/L)2
Where Rho is the mass density
Above expression is of the form KE = mv2.
The K.E for the entire spring considering the mass of the spring becomes
L
( )(Rho)(dy)(xy/L)2
0
L
= (Rho) x2 / 2l2 (y3/3)
0
2
= 1/6 (Rho)x L
= 1/6 Ms.x2 where, Ms = (Rho)L = Mass spring
Therefore the entire K.E of the system
15
16
x1
M
O
Solution:
It is assumed that:
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By making use of the energy principle, we have the total energy of the system is constant
at any given instant of time.
K.E. System = 1/2mx2 +1/2M2 +1/2I2
= 1/2 m(2r)2+1/2M(r)2+1/2(1/2Mr2)()2
Simplifying
= r2 ()2(2m+(3/4)M)
Similarly, P.E. of the system is the strain energy stored in the spring due to displacement
of centre x1, i.e, (1/2)k(x1)2 , which is (1/2)k(r2)()2
According to Energy Method, d (KE+PE) = 0
dt
Differentiating the sum of KE and PE
(2m+(3/4)M)2+k = 0
Or
+ k/(4m+(3/2)m) = 0 , which is in the form + n2 = 0
or
n2 = k/(4m+(3/2)m), i.e.
n = k/(4m+(3/2)m)1/2
and the natural frequency inHz, ,
fn = (k/(4m+(3/2)m)1/2)/2
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m
r
Answer: +(8k/3m) = 0, fn = (8k/3m)/2, Hz.
m
Answer: + ((m +(mr /2))/((m+(mr /3))(g/L) = 0
fn = (((m +(mr /2))/((m+(mr /3))(g/L))/2, Hz
*************
3) A circular cylinder of mass m and mass moment of inertia I is connected by a
spring of stiffness k as shown. If it is free to roll without slipping, determine the
natural frequency.
19
a
k
m
**
20
kx
Fsint
Cx
mx
kx is the spring force, cx is the damping force and mx is the inertia force and
Fsint is the external excitation . x is the displacement of mass in the direction shown.
The equation of motion is written as
mx+cx+ kx = Fsint ----(i)
21
kx
F
x
reference
cX
m2 X
From the geometry of diagram, we have,
F = (kx m2 X) 2 + (cX)2, simplifying
X = F/((k m2 ) 2 + (c)2)
Therefore, the total solution can be written as,
x = x(cf) + x(pi)
2
22
MF
/n
i)
ii)
iii)
/n
23
iv)
v)
vi)
vii)
viii)
ix)
24
a = esint
e = eccentricity
mo 2 e
x
a
mo
x
m
25
mo2e/K
(1 ( w/w n ) 2 ) 2 + (2lyw / wn ) 2
Therefore
__X__ =
(moe/m)
(w/wn)2
(1 ( w/w n ) 2 ) 2 + (2lyw / wn ) 2
26
27
TRANSMISSIBILITY:
Fsint
x
m
28
Session 11 date:(30/3/07)
Frame
VIBRATING BODY/
29
Figure shows a basic sesmic instrument used for measuring vibrations. When the
system is excited by the vibrations of the base, the mass m is subjected to a
displacement x. If we consider y be the motion of the base, then the absolute
amplitude of mass m is the displacement x. If Z is considered as the displacement of
mass m w.r.t the frame, then we have a relative motion of m w.r.t the frame.
Absolute amplitude: (neglect z)
Let the displacement of base be y viz: a sinusoidal motion, given by
y = Ysint
For such a system the equation for motion can be written as
x
mx
K(x-y)
C(x-y)
mx + K(x-y) + C(x-y) = 0
i.e, mx + Cx + Kx Ky - Cy = 0
Substituting for y and y, we get
mx + Cx + Kx Kysint Cycost = 0
mx + Cx + Kx = y {Kysint + Ccost = 0}
= y(K2 + (c)2 ).sin(t + )
(1)
30
y (K2 + (c)2 )
((K - (c2)2 + (c)2)
Therefore X/y =
(b)
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Sharpness of Resonance:
In forced vibration, quantity Q is related to damping which becomes a measure of the
sharpness of resonance. It also gives the side band of frequencies 1 and 2 on either
side of the resonance by which resonance can be avoided during operation. The
expression of Q is given as follows:
Q = n / (2 - 1) = 1/2
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