Vibration

Vibration about a reference point

Linear: superposition is used to obtain total vibration
Non-Linear: system becomes non-linear when amplitude increases

Free vs Forced vibrations

Free: When system oscillates in absence of external force (vibrate at one or more of its
natural frequency)
Forced: External forces used to excite a system
- If frequency coincides with natural frequency of system, it will reach resonance and
large amplitudes will result.

Degrees of Freedom (DOF)

-

Particle has three degrees of freedom

Rigid body has 6 degrees of freedom
Single mass vibrating in one direction has a single degree of freedom

n=2 f =

2
T

where :

angular frequency ( rad . s1 )

f frequncy ( Hz )

Single DOF Spring-Mass system in Free Vibration

T period( s)

x ( t )displacement of mass ( m ) ( metres ) with respect time

x 0springsinitial amount of strech

xafter time (t ) mass has moved distance x

Single DOF system in horizontal direction

 F x =m x

kx=m x

m x +kx =0

F y =m y N mg=0 N=mg

Solution to equation of motion

m x +kx =0(1)
st

st

st

x ( t )=a e x ( t )=sa e x ( t )=s a e (2)

( 2) ( 1)
s= j
where

n=

k
m

s= j n
j= 1 (imaginary no . )

k
1
f n= n =
m
2 2

k
m

nundamped natural frequency ( rad . s1 )

f nnatural frequency (Hz)

k spring stiffness ( N . m1 )

mmass ( kg )

Torsional Single DOF System

Derived by knowing that torsion stiffness of the rod will resist the motion of the disk

J + K=0
J mass moment of inertia ( kg m 2)

angular
velocity ( rad . s1 )

Ktorsion stiffness ( Nm . ra d 1 )

angular displacement ( rad )

angular
acceleration(rad . s2)

Harmonic Motion
Motion can be mathematically equivalent to:

1. x ( t ) =a1 e j t
n

2. x ( t )=Asin ( t + 1 )

Aamplitude [ A= C + D
2

3. x ( t ) =Acos ( t 2 )

angular velocity ( rad . s1 )

4. x ( t )=Csin ( t ) + Dcos ( t )
phase angleat time zero ( rad )

x 0x ( 0 )
2 rad=360 degree

=1 degree
180

1rad =

180
degree

Solution to equation of motion of general spring-mass system

Free response system (in absence of external forces) can be written as

x ( t )=a 1 e j t + a2 e j t
n

Response displacement can then be written as

x ( t ) = x 0+

Using

x ( t )=

Using

x ( t )=

x0 e j t
x e j t
+ x0
j n 2
j n
2

x ( t )= Asin ( t + 1 )

2
0

2n+ x 20
x
sin n t +tan 1 n 0
n
x 0

( ))

x ( t )=Csint + Dcost
x0
sin ( t )+ x 0 cos ( t )
n

Damping elements

Viscous damping systems vibrating in mechanical fluid mediums such as air, gas,
water or oil.

F=c x (t )
c=

A
h

Fforce is proportional velocity of vibrating body

fluid visocity ( kg . ( s .m )1 )

Asurface area ( m2 )

cdamping coefficient ( kg . s1 )
hthickness(m)

Coulomb or dry friction caused by two surfaces rubbing which have insufficient
lubrication
Hysteric or structural damping internal energy loss within structures (e.g. the material
its built with)

Free Vibration of a spring mass damper system

m x +c x +kx=0
divide equation by mass we get

x + 2 n x + 2n x=0
n=

k
undamped natural frequency ( rad . s1 )
m

c
2 km

damping ratio ( dimensionless )

k spring stiffness(N . m1)

k spring stiffness ( N . m1 )

mmass ( kg )

cdamping coefficient ( kg . s1 )( Ns . m1 )

mmass (kg)

Solution to response of spring-mass-damper system

Underdamped:

<1

x ( t )=a est x ( t )=sa e st x ( t )=s2 a e st

s 1= n+ j n 1 2

s 2= n j n 1 2

 n=

k
undamped natural frequency ( rad . s1 ) Damped natural frequency
m

d=n 1 2damped natural freq ( rad . s1 )

x (t)

Solution for

can be written as

1. x ( t ) =e t ( a1 e j t + a2 e j
n

3. x ( t ) =e

- n t

X = B +C =tan
2

n t

2. x ( t )=X e

sin ( d t + )

C
B
viscous damping ratio (n . a)

ddamped natural freq (rad . s1)

Overdamped

( Bsin d t+Ccos d t)

X peak amplitude (m)

jcomplex number

( >1)

nundamped natural freq(rad . s1)

phase

non oscillatory and does not oscillate but returns to rest

position exponentially slowly

s 1= n+ n 1 2

s 2= n n 1 2
2

1 t)
x ( t )=e t ( a1 e 1 t +a 2 (
)
2

Critically damped ( =1)

s 1=s2= n

rest quickly and without oscillation

n t

x ( t )=( a1+ a2 t ) e

s 1= n+ n 1 2

Logarithmic Decrement

=ln

Under-damped free vibration

x1 ( t )
x 2 (t )

( )

x ( t )=X e t sin ( d t+ )
n

T d=

2
n 1 2

T ddamped period of oscillation( s)

c=2 km
k spring stiffness(N . m1)

mmass (kg)

x1
1
= ln
n
x n +1

( )

nno . of cycles

4 2+ 2

damping ratio

cdamping coefficient ( kg . s1 )( Ns . m1 )