HERIOT WATT

Mechanical Engineering 7:
Dynamics Lab Report
One Degree of Freedom Vibration Experiment
Free & Forced Response
By: Philip Bald
12/1/2013

Contents:
1. Abstract...
2. Introduction
3. Theory.
4. Equipment
5. Procedure
6. Results ..
7. Discussion.
8. Conclusion
9. Bibliography
10. References

Page 1 of 20

Page 2
Page 3
Page 4-7
Page 8-9
Page 10
Page 11-13
Page 14-18
Page 19
Page 20
Page 20

1. Abstract:
This experiment involved a system of which a beam was pivoted at one end and was
supported by a spring and viscous damper. An electric motor would rotate an unbalanced
mass and cause a sinusoidal load to be applied to the system, and hence cause the system to
vibrate. Through a series of three experiments the value for the spring stiffness, K, the mass
moment of inertia of the beam and the drive, I"## , the damping ratio, , damper rate, C and the
damped natural frequency, of the system were found.
Experiment One:
Varying masses are applied to the system at point d and the natural frequency of the system is
recorded.
The values found were that the spring stiffness, K equalled 5270.9 Newton/m and that
equalled . from plotting a graph of the natural period of oscillation^2 vs. the
variable mass. From the knowledge of the dimensions and material properties was found
to equal 1.9511 .
Experiment Two:
An impulse load was applied to the system and the damping ratio was determined through the
logarithmic decrement method.
The value found for the damping ratio, was . and the value for the damper rate/

damper coefficient, C was found to be . .

Experiment Three:
Arbitrary loads were applied to the system through placing variable masses of 0.4 kg at the
rotor and at d. The natural frequency of the system was found and hence the damped natural
frequency was determined.
When two masses each were placed at the rotor and four masses were placed at point d, =
.

. When three masses were placed at the rotor and three masses placed at point d,

= .

The errors occurring in this experiment were that the natural frequency found was not
accurate due to human errors. The damping ratio and damper rate were not accurate as these
vary in a viscous damper depending on the relative velocity of either end of the viscous
damper.

Page 2 of 20

2. Introduction:
This experiment consisted of a beam which is pivoted at one end and supported by a spring
and there is also a viscous damper attached. An electric motor drives two unbalanced disc
which excite the system with a sinusoidal load. The rotation rate of the unbalanced discs and
the displacement of the end of the beam are both recorded. The aim of this experiment is
determine the spring constant, K, the mass moment inertia of the beam about the pivot and
the damper rate, C. This is done through three experiments.
Experiment 1:
The natural frequency for a range of masses is determined through varying the rotation rate
by adjusting the electric motor speed. The motor speed that causes the natural frequency is
then recorded and the natural period of oscillation can be found. A graph of TB C vs. m is
plotted and from this data the value of K and of I"## can be estimated.
Experiment 2:
The system is struck by an impulse load and is allowed to come to rest. A ring down curve
should be formed when the displacement is plotted against time. From this the dampening
ratio can be estimated and hence the damper rate, C can be found.
Experiment 3:
Arbitrary loads are placed below the rotor at point b and at point f. The natural frequency is
found from varying the electric rotor speed. From this data the damped natural frequency of
the system can be found.
Uses of the Experiment:
This experiment is useful as many systems that are constructed are loaded with sinusoidal
loads; an example of a sinusoidal load is wind. This can cause a resonance within the
structure, hence experiments such as this one are exceptionally useful at looking at how the
mass placement on a system affects its natural frequency, how to measure this change and
also the damped natural frequency required for the system to subdue the effect of resonance.
It is exceptionally useful in the design of any system that has a large amount of mass placed
away from a fixed location and for systems susceptible to sinusoidal loads. The following are
examples of structures this experiment can be used for:

Bridges
Skyscrapersi
Radio Towers

Page 3 of 20

3. Theory:
The Equation of motion for this system:
The Unbalance force is a sinudoal load therefore it can be modeled by Equation 1:
sin t as it is a sinudoal laod
Unbalance Force = UnbalanceC sin t

Equation 1

Unbalance = em
Unbalance Force = meC sin t
Where; -

m iss the unblance mass.

- e is the eccentricity of the unbalnce mass.
- is the angular acceleration.
- t is time.

Figure 1 represents the Free Body Diagram of the system:

f

C*x

K*x

efeghi

C sin ()

Figure 1
Equation 2 to 8 shows the calculations for the equation of motion:
Where

IW is the mass moment of inertia of the assembly about the pivot

C is the damper Rate
K is the spring stiffness
A the acceleration of the mass
mX is the variable mass
M#Z#[\] is the mass of the system
a,b,d and f are all dimensions
x is the displacement

Page 4 of 20

Therefore by taking Moments about Point O to give Equation 2:

IW = Caxo Kdx + bmeC sin t + zM#Z#[\] A

Equation 2

From assuming the system is in Equilibrium the mass of the system (the mass of the beam
and the variable mass) can both be taken out of the equation. This is shown by Figure 2 and
Equation 3 and 4.
Un-stretched
Spring Position
u
Equilibrium
Position
Vibrating beam
position

Figure 2


x t = x + xu
I + Cax to + Kdx t zM#Z#[\] A = bmeC sin t

Equation 3

I + Caxo + Kd x + xu zM#Z#[\] A = bmeC sin t

IW + Cax + Kdx + Kdxu zM#Z#[\] A = bmeC sin t
Note that:
Kdxu zM#Z#[\] A = 0 through Resolving Forces
This gives Equation 4:
IW + Caxo + Kdx = bmeC sin t

Equation 4

Rearranging Equation 4:
is the displacement angle.
x

Figure 3
From Figure 3 and Equation 5 can be derived.

Page 5 of 20

It can be derived that x = R

Hence x = R

Equation 5

Therefore Equation 6 and 7 can be derived.

For Cax:o
xo = a, hence Caxo = CaC
For Kdx:
x = d, hence Kdx = KdC

Equation 6
Equation 7

Equation 6 and 7 can then be subbed into Equation 4 to create Equation 8.

IW + Cax + Kdx = bmeC sin t
+ + =

Equation 8

This can also be written as:

CaC KdC bmeC sin t
+
+
=

IW
IW
IW
The equation for Natural Frequency, B can then be given by Equation 9. Equation 10
gives this equation in terms of the natural period of oscillation, TB :
B C =

B = 2fB =
4C
TB C

Equation 9

KdC
IW

TB C =

Equation 10

4C
I
KdC W

The equation for Damper rate can then be given by Equation 11:
Where is the damping ratio.
"

= 2B

Equation 11

2B IW

aC
KdC
as B C =
from
IW
C=

Page 6 of 20

The Mass Moment of Inertia of the system is given in Equation 12:

IW =

+ M\ bC + mX f C

Equation 12

As the first two terms are constant, Equation 13 can be derived:

I"## =

+ M\ bC

Equation 13

Therefore IW can be represented by Equation 14:

IW = I"## + mX f C

Equation 14

Sub in Equation 14 into Equation 10 to get Equation 15:

TB C =

I"## + mX f C

Equation 15

=
+

Equation 16 shows the equation for Damping Ratio: Where t is time.

Xo = X u e- [
X C = X u e- [
Xo X u e- [
=
=e
X C X u e- [

Equation 16
C
o

Take Logarith of both sides:

1
x 1
2
Ln
=
=
N
x n+1
C
1
Which can be rearranged to:
C
C
ii
= C
+ (2)C
The Damped Natural Frequency, can be found through Equation 17:
= B 1

Equation 17

Page 7 of 20

4. Equipment:
Apparatus:
A beam which is pivoted at one end
Two Unbalanced masses
A motor to drive the rotation of the unbalanced mass
A Spring
A Viscous Damper
A linear differential transformer to measure the displacement of the beam
Measuring Ruler
Conputer
Computer programme to measure results
Light gate to measure the rotation rate of the unbalanced masses
Variable masses
Ruler
Diagram:
Viscous Damper
Spring

Beam

Unbalanced Mass and

Rotor

Variable
Masses

Page 8 of 20

Description of Apparatus:
The unbalanced mass will rotate which will cause the beam to oscillate as it is a
sinusoidal load. The damper will reduce these oscillations and the spring stores
mechanical energy and attempts to return the system to its equilibrium position. The
resistive force from a viscous damper is proportional to the relative velocity of the two
ends of the damper. The larger the relative velocity the lower the damping
coefficient of the damper.iii
The light sensor measures the rotation of the unbalanced forces by measuring the time
it takes for the light to pass a block placed on the surface of the unbalanced force.
The linear differential transformer measures the displacement through a thin needle
like piece of metal located on the beam passing through the core of the transformer.
This movement through the coil causes a current to be produced which is then
converted to measure displacement through a computer programme.

Page 9 of 20

5. Procedure.
Experiment One:
1.
2.
3.
4.
5.

A 0.4 kg mass is added to the system at a distance f from the node

The system is then allowed to come to rest
The motor is then switched on initially at a low rotation rate
The rotation rate is then incrementally increased
Eventually it will reach its maximum displacement and the displacement will
then begin to decrease
6. The point at where this maximum displacement occurs is noted as the systems
natural frequency
7. Another 0.4 kg mass is then added and steps 2-6 are repeated
8. This is done in increments of 0.4kg up to and including 1.6kg
9. TB C can then be calculated through Equation 13
10. A graph of TB C vs mX
Experiment Two:
1.
2.
3.
4.
5.
6.

No variable masses are applied to the system

The system is allowed to come to equilibrium
The system is then given an impulse force
The displacement can then be found
From this data and Equation 14 the damping ratio can be calculated
Hence the damper rate, C can also be calculated

Experiment Three:
1.
2.
3.
4.
5.

Arbitrary loads are positioned at positions b and f

The system is then allowed to come to rest
The motor is then switched on initially at a low rotation rate
The rotation rate is then incrementally increased
Eventually it will reach its maximum displacement and the displacement will
then begin to decrease
6. The point at where this maximum displacement occurs is noted as the systems
natural frequency
7. Another arbitrary load is set up at points b and f and steps 2-6 are repeated
8. The damped natural frequency can then be found through Equation 15

Page 10 of 20

6. Results
Relevant Dimensions:
Dimension
a
b
d
f
L
Beam width
Beam Depth
M\

Value
296mm
445mm
655mm
714mm
770mm
25mm
12mm
8.227 kg
Table 1

Experiment One:
Table 2 shows the variable mass and the rotation rate of the unbalanced mass to causes a
natural frequency.

Variable Mass,
(kg)

Natural Frequency
(rpm)

Natural
Frequency
(rad/sec)

Natural Period
of Oscillation^2,
Tn^2 (s^2)

0.4

345

36.12831551

0.030245747

0.8

321

33.61504139

0.034937549

1.2

308

32.25368457

0.037949064

1.6

296

30.99704751

0.041088386

Table 2
Graph 1 shows how the natural frequency varies with the variable mass.

Natural Frequency vs Variable Mass

Natural Frequency (rpm)

350
340
330
320
310
300
290
0

0.2

0.4

0.6

0.8

Variable Mass (kg)

Graph 1

Page 11 of 20

1.2

1.4

1.6

1.8

Graph 2 shows how TB C varies with the value of the variable mass.

Natural Period of Oscillation^2

Natural Period of Oscillation^2 vs Variable

Mass
0.045

y = 0.0089x + 0.0272

0.04
0.035
0.03
0.025
0.02

Series1

0.015

Linear (Series1)

0.01
0.005
0
0

0.5

1.5

Variable Mass (kg)

Graph 2

Experiment Two:
Graph 3 can be used to obtain the damping ratio through the use of logarithmic
decrement:

Displacement of beam vs Time

2
1.5
1

Displacement (mm)

0.5
0
-0.5

-1
-1.5
-2
-2.5
-3

Time (seconds)

Graph 3

Page 12 of 20

Table 3 shows three positive peak displacement values, and takes the offset into
consideration.
N

Time

Displacement (mm)

Offset (mm)

1.87725

1.478928

-0.11998375

True Displacement
(mm)
1.59891175

2.0445

1.184516

-0.11523175

1.29974775

2.2135

0.92892

-0.11041525

1.03933525

2.383

0.720693

-0.1055845

0.8262775

2.55275

0.548651

-0.100746625

0.649397625

2.72325

0.399635

-0.095887375

0.495522375

Table 3
Table 4 shows the values calculated for the damping ratio.
Damping Ratio

2
3

0.207153
0.215371

0.0329515
0.0342572

0.220049

0.0350005

0.225258

0.0358280

6
Average:

0.234293
-

0.0372630

0.03506

Table 4

Experiment Three:
Table 5 shows the arbitrary loads value at which distance from the origin they were
placed at and the natural frequency found at these values.
Masses and location
0.8kg at point b
1.6kg at point d
1.2 kg at point b
1.2 kg at point d

Natural Frequency (rpm)

283

29.61747025

293

30.66402444

Table 5

Page 13 of 20

Natural Frequency (rad/sec)

7. Discussion:
Relevant Dimensions:
From the relevant dimensions I"## can be calculated through Equation 18:

M\"] = bhl
M\"] = 0.770.0250.0127850
M\"] = 1.81335 kg
M\"] LC
I"## =
+ M\ bC
3
1.81335 0.77C
I"## =
+ 8.2270.445C
3
= .

Equation 18

Experiment One:
Graph 1 and Table 2 shows that as the value of the variable mass, hence the value of
the mass moment of inertia of the system, increases the natural frequency of the
system decreases.
Equation 19 shows the calculation of the natural period of oscillation^2 for Graph 2
and Table 2.
For variable mass of 0.4kg:
B =

Equation 19

C =
C =

(.oCoo)

= .

Graph 2 can be used to determine the value of the spring Stiffness, K and Iu . The
Equation of line on Graph 2 was found. This equation and Equation 15 which is the
equation for the natural period of oscillation can be compared:
:
y = 0.0089(m) + 0.0272
Equation 15:
TB C =

4C f C
4C
m
+
I
X
KdC
KdC "##

The equation of the line and Equation 15 can be equated which is shown by
Equation 20:

Page 14 of 20

y = m m + c
Therefore it can derieved that:

m=

= 0.0089

I
"##

c=

Equation 20

(1)

= 0.0272

(2)

Equation 21 and 22 show the calculations for the spring stiffness, K and the value of
I"## .
From (1):
X

= 0.0089

u.o
u.

Equation 21

= 0.0089

= . /
From (2):

I
Cu.u. "##

= 0.0272

Equation 22

= .
This can be compared to the value found through the knowledge of the dimensions
and of the beams material properties, the calculation of which is shown in Equation
18 and gives a value of equalling 1.9511 .
The value found through the experiment and through the knowledge of the dimensions
and material properties have a fairly similar value. However the reason that they are
different is due to inaccuracies in the calculation of both values. Using the
dimensions and material properties will be inaccurate as the beam may not be made
out of pure mild steel. There were also be human errors in recording the dimensions
and there will be rounding errors in the calculations.
For the value found through the experiment there may be slight errors as there are
experimental errors, shown by the fact that the points do not all lie on a perfect line on
Graph 2. These errors will be discussed in the experimental error section however
these were mainly due to factors such as the natural frequency not being recorded
correctly.

Experiment Two:
There are limitations for logarithmic decrement, Equation 16. The value of must be less
than one for logarithmic decrement to work. The load applied to the beam in a perfect case
would be an impulse load, however in the experiment the beam was struck with a finger.
This is not a perfect impulse load as the force from the finger was applied over a period of

Page 15 of 20

time. As shown from Graph 3 this caused an offset indicated by the tread line. This was
overcome by taking into consideration the offset and hence readjusting the values. This was
done through taking into consideration the Equation 23, the equation of the tread line:
y=0.0285x-0.1735

Equation 23

The y value (displacement) found at each time was then subtracted from the displacement
found at each peak. This then gave a better value for the displacement. These calculations
are shown by Equation 24 and 25, and all the values found are shown in Table 3

Example calculation at the third positive peak:

t = 2.2135
y = 0.0285x 0.1735

y = 0.0285 2.2135 0.1735

= .
True Displacement:
X = x y
X = 0.92892 0.11041525 = .

Ln
Ln

Bo

C
o

o.oo
o.uC

Equation 24

Equation 25

= 0.4307419155
C

=
C

u.uoo
u.uoo C

= 0.0228456

From Table 4 it can be seen that the damping ratio increases as the displacement decreases.
This is because of the viscous damper. For a viscous damper as the velocity increases, the
damping coefficient decreases. ivTherefore it can be deduced as the systems displacement
is decreasing and the velocity is also decreasing as the system can be thought of as a
pendulum, the damping coefficient increase and hence the damping ratio increases.
Also when Experiment Two was undergone, the placement of the magnet was changed as
when the impulse load was applied the experiment was unable to read the correct
displacement as the piece of thin needle like piece of metal placed on the beam did not pass
through the coil of the magnet correctly.
The estimated value for was:

= .

Page 16 of 20

The Value for the damper rate, C can then be found through using Equation 11,
Equation 26 shows this calculation:

Equation 26

IW = I"## + mX f C
no masses on the system so mX = 0
IW = I"## = 1.558 kgmC

For
c=
c=

"

Cu.uuo.

= .

..
.

u.C

Experiment 3:
Table 5 shows the values calculated for the damped natural frequency. The damped
natural frequency was found through using Equation 17. Equation 27 and 28 shows
this calculation:
= 29.63569 1 0.03506

Equation 27

= .

= 30.682888 1 0.03506
= .

Equation 28

These are the required values of damping natural frequencies to stop the system for
resonating.

Error Analysis:
Experiment One:
For the calculation of the spring stiffness, K , I"## through the experiment and the calculation of I"##
through the knowledge of its dimensions and material properties there will be errors as previously
discussed. There will be human errors in recording the dimensions of the beam, along with a lack of
precision from the instrument used. There will also be rounding errors in the calculations for each of
the values.

Page 17 of 20

The errors for finding K and I"## are that the method for finding the natural frequency of the system
was through varying the rotation rate of the unbalanced mass until the maximum displacement of the
system was indicated through the displacement beginning to decrease after the peak. The data that
was taken was from the rotation rate up to when the displacement was increasing and to when the
displacement began to decrease. As the rotation rate was varied through an analogue dial the
increment between these two sets of data may have been too great. Therefore to acquire the natural
frequency it was a rough interpolation of this data. The display showing the rotation rate, to be
recorded also would not keep at a constant value as the third significant figure would constant vary,
therefore when recording the value it was not precise, but an estimate of its value. Errors would have
also occurred as vibrations coming from external sources would have slightly affected the
displacement of the beam.
Experiment Two:
To precisely measure the damping ratio, an impulse load must be applied to the beam; however the
beam was struck by a finger to cause it to vibrate. This force applied over a set amount of time
caused an offset, shown by Graph 3. The value for the damping ratio and the damper rate will also
not be accurate as a viscous damper was used in this experiment. The higher the velocity of the
relative velocity between the two ends of the damper the lower the damper co efficient, hence as the
displacement of the beam decreases so does its velocity therefore the values for the damper rate and
damping ratio will increase as this velocity decreases. Therefore the value estimated for these values
will not be accurate as their value change as the displacement changes. Also there are relative errors
in this experiment. The sampling frequency would affect the results, the resolution of the data
v
acquired, the length of the decaying oscillations and the signal to noise ratio.
Experiment Three:
For this experiment, the value found for will be used and the natural frequency found. Therefore
this experiment will have the same errors for the value. The natural frequency found will again have
the same errors occurring as in Experiment One.
Improvements:
Each test could also be repeated three or four times to gain values for accurate results. More accurate
machinery could be used for gaining the dimensions of the system.
Experiment One could repeated with a greater amount of masses added so that the value of K and
I"## found will be more accurate. The analogue dial to change the rotation rate of the sinusoidal load
of the unbalanced mass could also be changed to a digital system, and hence therefore the increments
at which the rotation rate was increased could be better defined. This would make it a lot easier to
define the precise point at which the natural frequency occurs.
Experiment Two could be repeated to gain more results to determine the damping ratio and hence
find the damper rate. A mechanism could also be set up to give the system an impulse load which
would be applied over a shorter period of time than the system being struck by a finger. To improve
these experiments a damper could be used that has a fixed value for its damper rate instead of a
viscous damper.
Experiment Three could be repeated with more arbitrary loads being set up and hence gain a better
representation on gaining the damped natural frequency of the system.

Page 18 of 20

8. Conclusion:
Experiment One:
Experiment One showed that the larger the mass moment of inertia the lower the natural
frequency of the system. Also through finding the value of the natural period of oscillation a
graph of TB C vs. mX could be plotted to determine the spring stiffness, K which was found to
be 5270.9 Newton/m and equalled . . This could be compared to the value
calculated through the knowledge of the dimensions and the materials properties, which
acquired a value of 1.9511 . The reason for the difference in these values were due to
errors such as for the acquired value that the material may not be pure mild steel and the
dimensions were measured incorrectly. The errors in gaining the value for the experiment
were that the natural frequency found may not have been accurate due to human errors when
changing the rotation rate of the unbalanced mass to acquire this value. This was because the
rotation rate was varied through an analogue dial and the increment between the sets of data
surrounding the natural frequency may have been too great. Therefore to acquire the natural
frequency it was a rough interpolation of this data. This experiment could have improved
through using a digital system to vary these increments.
Experiment Two:
Experiment Two showed that damping ratio increased as the displacement of the beam began
to decrease. The reason for this is because a viscous damper was used and as the
displacement decreased so did the velocity and hence as it is a viscous damper the damping
coefficient increased. There was also an offset in the data as the load that was to be applied
was an impulse load, however in real terms this is not possible and hence a load from the
strike of finger over a period of time was used. This offset was taken into consideration when
calculating the damping ratio. The value found for the damping ratio, was . and
hence the value for the damper rate/ damper coefficient, C was found to be .

. This

experiment could have been improved through using a mechanism to try and replicate
an impulse load to a better degree.
Experiment Three:
In this experiment the damped natural frequencies were found for two different set ups
with arbitrary loads of masses of 0.4kg. When two masses were placed at the rotor
and four masses were placed at point d, = .
. When three masses were placed at

the rotor and three masses placed at point d, = .

Page 19 of 20

9. Bibliography:

http://maelabs.ucsd.edu/mae_ds/clock/timing/tutorial_inertia.pdf

http://mceer.buffalo.edu/meetings/2005presentations/Breakout2/07LeeDA.pdf

http://www.schaeffler.com/remotemedien/media/_shared_media/08_media_library/01_pu
blications/schaeffler_2/symposia_1/downloads_11/02_the_dual_mass_flywheel~1.pdf
http://www.rotorlab.me.vt.edu/Unitsformass_2004_SS.pdf

10.

References:

http://www.rwdi.com/cms/publications/27/t10.pdf
Dynamics Lecture Simple Vibrating Systems 8
iii
http://www.iitk.ac.in/nicee/wcee/article/0588.pdf
iv
http://www.iitk.ac.in/nicee/wcee/article/0588.pdf
v
http://home.agh.edu.pl/~mariuszm/paper2.pdf
ii

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