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History of Vibration
Strings (Music)
Egyptians
Pythagoras: Monochord
Seismograph
Zhang Heng
History of Vibration
History of Vibration
Principle of Superposition
Bernoulli
Torsional Oscillations
Coulomb
History of Vibration
History of Vibration
Thick Plates
Mindlin
Nonlinear
Poincare pertubation
Lyapunov stability
Random
Lin and Rice
Crandall and Mark
Basic Concepts
Vibration
Any motion that repeats itself after an
interval of time
Theory of Vibration
Deals with the study of oscillatory motions
of bodies and the forces associated with
them
Basic Concepts
Vibratory System
Storing potential energy (spring)
Storing kinetic energy (mass)
Energy dissipation (damper)
Basic Concepts
Degree of Freedom
The minimum number of independent
coordinates required to determine completely the
position of all parts of a system at any instant of
time defines the degree of freedom of the system
Generalized Coordinates
Coordinates necessary to describe the motion of a
system
Basic Concepts
Discrete (Lumped) System
A system that can be describe using a finite
number of degree of freedom
Continuous (distributed)System
A system that can be describe using a infinite
number of degree of freedom
Classification
Free Vibration
A system which after an initial disturbance
is left to vibrate on its own. No external
force acts on the system
Forced Vibration
A system subjected to an external force
resulting in a vibrating system
Classification
Undamped
Damped
Linear
Nonlinear
Deterministic
Random
Elements
Springs
Mass/Inertial
Damping
Spring Elements
A linear spring is a type of mechanical link with
negligible mass and damping
The spring force is proportional to the amount of
deformation
kx
1
2
kx
Spring Elements
Actual spring are nonlinear
kx
Spring Elements
Linearization process
F
F x
dF
dx
x
x*
1 d 2F
2 dx 2
x*
k x
Spring Elements
Elastic elements like beams also behave like
spring
Wl 3
3EI
st
W
st
3EI
l3
Spring Elements
Combination of Springs
Spring in Parallel
k1
W
k eq
st
k eq
k2
st
st
k1 k 2 k n
Spring Elements
Combination of Springs
Spring in Series
st
k1
keq
1
W
k1
k2
k eq
eq
keq
eq
2
k1
keq
k1
st
keq
k2
st
k eq
k2
eq
k2
st
st
1
keq
1
k1
1
k2
kn
Spring Elements
Example
The figure shown the suspension system of a
freight truck with a parallel-spring arrangement.
Find the equivalent spring constant of the
suspension if each of the three helical springs is
made of steel with a shear modulus G = 80 x 109
N/m2 and has five effective turns, mean coil
diameter D = 20 cm, and wire d = 2 cm
keq
d 4G
8D 3n
0.02 8 109
3
8 0.2 5
3k 120 ,000 N / m
40,000 N / m
Spring Elements
Example
Determine the torsional spring constant of the
steel propeller shaft
Spring Elements
kt12
GJ 12
l12
kt23
GJ 23
l23
G D124 d124
80 10 9 0.34
32l12
32 2
25.5255 106 N m / rad
4
4
G D23
d 23
32l23
80 10 9
0 .2 4
0.25 4 0.15 4
32 3
kteq
kt12 kt23
kt12
kt23
Spring Elements
Find the equivalent
spring constant of the
system shown in the
figure. Assume that
k1, k2, k3 and k4 are
torsional and k5 ,k6
are linear spring
constant.
Spring Elements
Series of spring,
1
k123
1
k1
1
k2
1
;
k3
k1k 2 k3
k1k 2 k 2 k3 k3 k1
k123
keq
1
2
k4
keq
keq
k4
1
2
k123
1
2
k5 R
1
2
k6 R
k4 k123 k5 R2 k6 R2
k1k 2 k3
k1k 2 k 2 k3 k3 k1
R 2 k5
k6
Spring Elements
Consider two helical springs with the
following characteristic:
material
# turns
Mean
coil dia.
Wire dia.
Free
length
Shear
modulus
Spring 1
steel
10
12 in.
2 in.
15 in.
12 x 106
psi
Spring 2
Aluminum
10
10 in.
1 in.
15 in.
4 x 106
psi
Spring Elements
For helical spring,
k1
12 105 22
64 10 63
k2
4 105 12
64 10 53
a : k eq
1
b:
k eq
Gd 4
64nR 3
1,388.89 lb / in
50.00 lb / in
k1 k 2
1
k1
1
k2
1,438 .89 lb / in
48 .26 lb / in
Assumed to be a rigid
body
Gain or lose kinetic
energy whenever the
velocity changes
The work done on the
mass is stored for in the
form of mass s kinetic
energy
Combination of masses
Translational Masses Connected by a Rigid
Bar
x 2
l2
x1
l1
x3
l3
x1
l1
Bar
xeq
x1
1
2
2
1 1
m x
meq
1
2
m1
2
2 2
m x
l2
l1
1
2
2
3 3
m x
m2
1
2
l3
l1
2
eq eq
m x
2
m3
Combination of masses
Translational Masses and Rotational Masses
Coupled Together
Equivalent translational mass
1
2
mx 2
1
2
Teq
x eq
1
2
meq x 2
meq
1
2
mx 2
J o 2
meq xeq
1
2
x / R
2
x
1
2 Jo
R
Jo
R
Mass Elements
Example
A cam-follower mechanism is used to convert
x / l1
xv
xr
/ l2
xl2 / l1
xl3 / l1
r 3
Mass Elements
T
1
2
mp x p
1
2
Teq
x p
xv
meq
mv xv
1
2
Jr r
1
2
mr xr
meq xeq
xl2
l1
mp
1
2
xr
Jr
2
l1
xl3
l1
l22
mv 2
l1
l32
mr 2
l1
x
l1
Mass Elements
In the figure find the
equivalent mass of the
rocker arm assembly
with respect to the x
coordinate
Mass Elements
In the figure find the
equivalent mass of the
rocker arm assembly
with respect to the x
coordinate
x
b
1
2
meq x 2
meq
1
2
x1
2
m1 x1
a
m1
b
1
2
xa
b
m2 x 2
m2
1
2
J 0 2
1
J0
b
Damping Elements
The mechanism by which the
vibrational energy is gradually
converted into heat or sound
A damper is assume to have
neither mass nor elasticity, and
exist only if there is relative
velocity between the two ends of
the damper
Damping Elements
Types;
Viscous
Resistance offered by the fluid to the moving
body that causes the energy to be dissipated
Factors affecting the damping;
Size
Shape
Viscosity
Frequency
Velocity
Damping Elements
The damping force is proportional to the velocity
Coulomb/Dry Friction
Constant in magnitude but opposite in direction
of motion to the vibrating body
Caused by friction between rubbing surfaces
Damping Elements
Material or Solid or Hysteretic
Energy is dissipated by the material when
deform. This is due to friction between the
internal planes, which slip or slide
Damping Elements
Construction
du
dy
du
dy
A
h
A
h
Example 1
Example 1
Dld
d
Dl
dy
dy
d 2v
Dldy
dy 2
The pressure,
dv
dy
4P
D2
p Ddy
4P
D2
Example 1
4P
d 2v
Dldy
dy 2
dy
d 2v
dy 2
4P
D 2l
2P
( yd
2
Dl
y
y ) v0 1
d
2
4
0
v Ddy
2 Pd 3
D
6 D 2l
1
v0 d
2
Example 1
v0
D2
Substituting,
2d
3 Dl 1
D
4d 3
3
Writing P=cv,
v0
3 D3l
2d
1
3
4d
D
Example 2
ax bx
Example 2
2
ax bx
F
F ( x )
at x0
F x0
5x 0.2 x
dF
dx
x x0
x0
5 m / s,
F ( x0 ) 5 5
dF
dx
0.2 25
5 0.4 x 5
30
x0
F ( x ) 30 7( x 5) 7 x 5
F ( x )
7 x
ceq x
ceq
7N
s/m
Example 3
c 100 l d
Design a plate-like damper that provide
an identical damping constant for the
same fluid
Example 3
2
c 100 l d
A
h
100 l d
ld
h
1
100l
Harmonic Motion
x
Asin
d 2x
2
dt
Asin t
dx
dt
A cos t
A sin t
Harmonic
Vectorial
Representation
vector OP
magnitude A
A sin t
A cos t
Harmonic Motion
Complex
Number
a ib
A cos
iA sin
2 1/ 2
b
tan
a
1
A cos
i sin
Ae
Harmonic
Using complex
number
Ae i
dX
dt
d
Ae i
dt
d X
dt 2
2
d
i Ae i
dt
i Ae
t
i X
i t
Ae
i t
Harmonic Motion
displaceme nt
velocity
accelerati on
i t
Re[ Ae ]
i t
Re[ i Ae ]
Re[
i t
Ae ]
A cos t
A sin t
A cos t 90
2
A cos t
A cos t 180
Harmonic Motion
magnitude, A
A1
the angle,
tan
A2 cos
A2 sin
A2 sin
A1 A2 cos
Harmonic Motion
Period of oscillation
Frequency of oscillation
1
2
Harmonic Motion
x1
A1 sin t
x2
A2 sin t
Harmonic Motion
Octave
xt
t
2 X cos cos
2
Harmonic Motion
X
dB 10 log
X0
X
20 log
X0
Harmonic Analysis
Harmonic Analysis
x(t )
a0
2
a1 cos t a2 cos 2 t
b1 sin t b2 sin 2 t
a0
2
a0
an
bn
2 /
0
2 /
0
2 /
0
x t dt
x t cos n tdt
x t sin n tdt
2
0
2
0
2
0
xt
x t cos n tdt
x t sin n tdt
Harmonic Analysis
Complex Fourier Series
x(t )
a0
2
e
i 0
an
ein
n 1
t
a0
2
in t
e
2
ib0
2
bn
e
cn e in
cn
xte
0
an ibn
2
in t
n 1
xt
ein
in t
dt
e
2i
in t
in t
an ibn
2i
Harmonic Analysis
Frequency Spectrum
Harmonic Analysis
Time and Frequency Domain Representation