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MECHANICAL VIBRATIONS
Mechanical vibrations are both useful and harmful in the field of engineering. It is
useful in a variety of machines and products that rely on vibrations and oscillation to work
like watches and musical instruments. It can also be destructive to machines and buildings.
Excessive vibrations for a long period can cause fatigue failure and catastrophic damage like
in driving off road for vehicles and frequent earthquakes on buildings.
Understanding vibrations allow engineers to minimize its harm while at the same time
exploit its nature to create more efficient products. Such vibrations can come in various
descriptions such as, damped or free, single degree of freedom or multiple degree of freedom,
harmonic or step excitation. This experiment explores the behavior of the two degree of
freedom, undamped vibration system with step excitation. Such system behaves similarly to a
torsional suspension system or lathe machine in real life application.
Two degree of freedom system requires two independent coordinates to describe its
equation of motion. Therefore two equations of motions are needed with two natural
frequencies. Each of the natural frequencies corresponds to a natural state of vibration with a
displacement configuration known as normal mode with Eigenvalues and Eigenvectors.
These values are derived from simultaneously solving the equations of motions have dynamic
properties associated with them.
2.0 OBJECTIVES
If a rigid body oscillates about a specific reference axis, the resulting motion is called
torsional vibration. In this case the displacement of the body is measured in angular
coordinate. In torsional vibration problem, the restoring moment may be due to the torsion of
an elastic member or to the unbalanced moment of a force or couple.
A disc, which has polar mass moment of inertia, J0 mounted at one end of a solid circular
shaft which the other end is fixed. Let be the angular displacement of the shaft. From
theory of torsion of circular shafts, we have the relation
0
=
or = moment that produce the twist
= shear modulus
= length of the shaft
0 = polar moment of inertia of the cross section of the shaft
4
Formula for 0 came from 0 = which = diameter of the shaft.
32
=
Therefore, the stiffness,
0 4
= = =
32
The equation of motion for first degree of freedom of torsional vibration is derived by
applying Newtons second law of motion: 0 + = 0
Natural frequency for first degree of freedom is = (rad/sec)
0
For two degree of freedom torsional vibration, consider two discs mounted on shaft.
The segments of the shaft have rotational spring 1 and 2 . Also shown are the mass
moments of inertia 1 and 2 , the applied moments 1 and 2 , and the rotational degrees of
freedom 1 and 2 . The differential equations of rotational motion for discs 1 and 2 can be
derived as
By using moment = 0
+ M = 0
2 2 + 1 (2 1 ) + 2 2 = 0
1 1 + 1 (1 2 ) = 0
2 2 + 1 2 1 1 + 2 2 = 0
1 1 + 1 1 1 2 = 0 1
2 2 1 1 + (1 + 2 )2 = 0 2
Equation of motion
1 0 1 1 0
[ ] [ ] + [1 ] [ 1] = [ ]
0 2 1 1 1 + 2 2 0
Assumption
1 = sin( + ) 2 = sin( + )
1 = cos( + ) 2 = cos( + )
1 = 2 sin( + ) 2 = 2 sin( + )
Equation 1
Equation 2
[1 2 1 ] 1 = 0 3
2 2 1 + (1 + 2 ) = 0
2
(1 ) + [ 2 + (1 + 2 )] = 0 4
1 2 1 1 0
[ ][ ] = [ ]
1 (1 + 2 ) 2 2 0
The value of decay rate is obtained experimentally from the Dasy Lab software. The result
will be generate in terms of graph to get the decay rate value.
4.2 Procedures
1. The load is attached at the load holders to the steel rod of diameter 0.006 m
2. The distance is adjusted between the two loads at 30mm: 15.5mm.
3. The rod is fixed with the load and load holders to the centre beam as shown in
Figure 1 below. The rod is lock tightly at the at the chuck to avoid twisting
movement.
Figure 1: Load and load holder
5.0 RESULT
5.1 Stiffness, Kt
Table of stiffness, Kt
Theoretical equation
(a)
(b)Disc 1 (c)Disc 2
By using moment = 0
+ M = 0
2 2 + 1 (2 1 ) + 2 2 = 0
1 1 + 1 (1 2 ) = 0
2 2 + 1 2 1 1 + 2 2 = 0
1 1 + 1 1 1 2 = 0 1
2 2 1 1 + (1 + 2 )2 = 0 2
Equation of motion
1 0 1 1 0
[ ] [ ] + [1 ] [ 1] = [ ]
0 2 1 1 1 + 2 2 0
Assumption
1 = sin( + ) 2 = sin( + )
1 = cos( + ) 2 = cos( + )
1 = 2 sin( + ) 2 = 2 sin( + )
Equation 1
Equation 2
2 1 + 1 1 = 0
[1 2 1 ] 1 = 0 3
2 2 1 + (1 + 2 ) = 0
2
(1 ) + [ 2 + (1 + 2 )] = 0 4
1 2 1 1 0
[ 2 ][ ] = [ ]
1 (1 + 2 ) 2 0
1 2 1 1
| |=0
1 (1 + 2 ) 2 2
[1 2 1 ][(1 + 2 ) 2 2 ] [ 1 ][1 ] = 0
2 4
2 =
2
Table 2: Table of natural frequency
accelerom
4 eter 2
y = -0.2191x + 2.5266
3
R = 0.4344
2 Linear
(accelerom
1 eter1)
0
-1 0 2 4 6 8 10 12 14
-2
t(s)
Decay rate 20:25.5mm
8
6
y = -0.3204x + 5.4359
5 R = 0.5668 Acceleromet
er 1
y, amplitude
4
Acceleromet
3 y = -0.2842x + 5.0499 er 2
R = 0.53
2 Linear
(Acceleromet
1 er 1)
0
0 5 10 15 20
-1
t(s)
7
y = -0.0782x + 3.8421
6 R = 0.2766
Accelerome
ter 1
5
Accelerome
y, amplitude
6.0 DISCUSSION
7.0 CONCLUSION