Mechanical Vibrations

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v Introduction 2
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v Examples
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v Examples
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v Equation of motion
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b Equation of
r motion
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i Newton's 2nd Other
o law of methods
n motion
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DAlemberts Virtual Energy
principle displacement conservation
v Newton's 2nd law of motion
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a
Apply
t Newton s
Draw the
i second law
free-body of motion
o diagram
n Determine the static
s equilibrium configuration
of the system
Select a The rate of change of
suitable momentum of a
.
coordinate mass is equal to the
force acting on it.
v
Newton's 2nd law of motion
i d d xt d 2 xt ..
F t m m mx
b
dt dt dt 2
r
.. ..
F t kx m x m x kx 0
a
t
i Energy conservation
o
Kinetic energy Potential energy
n
1 .2 1 2
s T mx U kx
2 2

T U cons tan t
. ..
d
T U 0 m x kx 0
dt
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Vertical system
..
i m x k x st mg ; mg k st
b ..
r m x kx 0
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v
Mathematical review
.. .
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A1 t xt A2 t xt A3 t xt F t
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r
a F(t) = 0 Homogenous F(t) 0 none homogenous
t
i x(t) = C1x1 + C2x2 x(t) = C1x1 + C2x2 +xp
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n If A1,A2 and A3 are constants:
s Characteristic equation: xp form is the same type
A1s2+A2s+A3=0 asF(t)
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A2 A22 4 A1 A3
s
2 A1
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A2 A22 4 A1 A3
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s
a 2 A1
t
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Only one real root: Complex root:
s Two unequal real
s1,2 root: s1,2 s1,2 = i
x(t) = C1est + C2t est x(t) = C1es1t + C2 es2t x(t) = et {C1cos(t)
. + C1sin(t)}
v Solution
..
i m x kx 0 is 2nd order homogenous differential equation
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where: A1 = m, A2=0 and A3=k
Natural
a frequency
4mk k
t
s i in
i 2m m
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n the solution : x(t) = et {C1cos(t) + C1sin(t)}
s
where = 0 and = n

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x(t) = C1cos( nt) + C2sin( nt)
v Solution
i C1 and C2 can be determined from initial conditions (I.Cs). For
b
this case we need two I.Cs. xt 0 C1 xo
r
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a xt 0 C2n x o
t
i The I.Cs for this case would be:
o
.
n
So: xt xo cosnt sin nt Eq.1
xo
s
n

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v Harmonic motion
i Introduce Eq.2 into Eq.1: x(t ) = A cos(nt ) = Ao sin(nt + o)
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v Harmonic motion
i xt C1 cosnt C2 sinnt
b .
Harmonic functions in time.
xt xo cos nt sin nt
r xo
a n
t
Assume:
i Mass spring system is called
C1 = A cos() --- Eq.2(a) harmonic oscillator
o C2 = A sin() --- Eq.2(b)
n
s
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tan 1 2 tan 1
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2
C xo
xo Phase angle
A C12 C22 xo2 Amplitude C1 xon
n
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x
Ao A o tan o. n
1

xo
v Harmonic motion
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Natural Frequency (N.F)
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b A system property (i.e. depends of system parameters m
r and k )
a
t Unit: rad/sec
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o It is related to the periodic time ( ) : = 2/n
n
s
Periodic time is the time taken to complete one cycle
(i.e. 4 strokes)
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The relation between the n and is inverse relation
 Example 2.1
v The column of the water tank shown in Fig
i is 90m high and is made of reinforced
b concrete with a tubular cross section of
r inner diameter 2.4m and outer diameter
3m. The tank mass equal 3 x 105 kg when
a
filled with water. By neglecting the mass of
t the column and assuming the Youngs
i modulus of reinforced concrete as 30 Gpa.
o determine the following:
n the natural frequency and the natural
time period of transverse vibration of the
s
water tank
the vibration response of the water tank
due to an initial transverse displacement of
. 0.3m.
the maximum values of the velocity and
acceleration experienced by the tank.
 Example 2.1 solution:
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b Initial assumptions:
r
a
1. the water tank is a point mass
t
i 2. the column has a uniform cross section
o
n 3. the mass of the column is negligible
s
4. the initial velocity of the water tank equal zero

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 Example 2.1 solution:
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b a. Calculation of natural frequency:
r

a 1. Stiffness: k 3EI
3
But: I
64
d 4
o
di4
64
4
3
2.44 2.3475 m 4
t l
i 3x30 x109 x 2.3475
So: k 3
289,812 N / m
o 90
n k 289,812
2. Natural frequency : n 5
0.9829 rad / s
s m 3x10

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 Example 2.1 solution:
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b b. Finding the response:
r
a 1. x(t ) = A sin(nt + )
t
x
. 1 xon
2
i xo tan o n
1
tan
A xo2 xo 0.3m .
o
n xo 0 2
n
s

So, x(t ) = 0.3 sin (0.9829t + 0.5 )

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 Example 2.1 solution:
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b c. Finding the max velocity:
r
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a xt 0.30.9829 cos 0.9829t x max 0.30.9829 0.2949m / s
t 2
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Finding the max acceleration :
n
s .. ..
xt 0.30.9829 sin 0.9829t x max 0.30.9829 0.2898m / s 2
2 2

2
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 Example2 : Q2.13
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i Find the natural frequency of
b
the pulley system shown in Fig.
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a by neglecting the friction and
t
i the masses of the pulleys.
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 Example2 : Q2.13
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b
Solution:
r 1. Free body diagram
a x1
t P P x2
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n P
s P
x

. 2. x = 2x1 +2x2 ---- Eq.1

 Example2 : Q2.13
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Solution:
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b 3. Equilibrium for pulley_1 : 2P = k1 x1 = 2k x1 ---- Eq.2
r
a
4. Equilibrium for pulley_2 : 2P = k2 x2 = 2k x2 ---- Eq.3
2P 2P
5. Substitute Eqs 2 and 3 in Eq.1: x 2 2 4 P
t 1 1 4P
i k1 k2 2k 2k k
o
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6.Let keq is the equivalent spring constant for the system: keq P k
s x 4
..
7. Mathematical model: m x kx 0

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keq k
8. Natural frequency: n m

4m
 Rotational system
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i Governing equation:
b ..
r M O J O J O
a ..
t J O mgl sin 0
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o Assume is very small
n sin
s ..
J O mgl 0
Natural frequency (n)
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mgl JO
n 2
JO mgl
 Torsional system
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i Governing equation:
b ..
r M O J O J O
a ..
t J O kT 0
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o Natural frequency (n)
n kT JO
s n 2
JO kT

hD 4 WD 2
. JO
32 8g
v Solution
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b t A1 cosnt A2 sinnt
r
a
t t 0 A1 o
i . .
o t 0 A2n o
n
s
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o
t o cosnt sin nt
n
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 Example 2.3
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Any rigid body pivoted at a
r point other than its center of
a mass will oscillate about the
t pivot point under its own
i gravitational force. Such a
o system is known as a compound
n pendulum (see the Fig). Find
s
the natural frequency of such a
system.
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 Solution
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the governing equation is found as:
b ..
r
J O Wd sin 0
a Assume small angle of vibration:
t ..
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J O Wd 0
o
n So:
s Wd mgd
n
JO JO
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 Example 2.4: Q2.12
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Find the natural frequency of the system shown in Fig. with the
b
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springs k1 and k2 in the end of the elastic beam.
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 Example 2.4: Q2.12
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Solution: F.B,D
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 Example 2.4: Q2.12
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Solution:
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a keq is equivalent stiffness for the combination of k1, k2 and kbeam
t
3EI
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n k1 and k2 equivalent: apply energy concept
s
2 2
1 1 2 1 x1 x2
keq ,1, 2 x k1 x1 k2 x2 keq k1 k2
2 2
. 2 2 2 x x
 Example 2.4: Q2.12
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Solution:
b
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a Finding keq
t
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o 1 1 1 keq ,1, 2 kbeam
keq
n keq keq ,1, 2 kbeam keq ,1, 2 kbeam
s

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 Example 2.4: Q2.12
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Solution:
b
r Finding natural frequency
a
t keq keq ,1, 2 kbeam
n
i m
m keq ,1, 2 kbeam
o
n x1 2 x2
2

s k1 k 2 kbeam x1, x2 and x can

x x
n be found from
x1 2 x
2
strength relation
. m k1 k 2 kbeam
2
x x

 Example 2.5: Q2.7
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Three springs and a mass are attached to a rigid, weightless bar PQ
b
r
as shown in Fig. Find the natural frequency of vibration of the
a system.
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 Example 2.5: Q2.7
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Solution :
b
r
Assume small angular motion sin
a
k1l12 k2l22
keq ,1, 2 l3 k1 l1 k2 l2 keq ,1, 2
1 2 1 2 1 2
t
i 2 2 2 l32
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n Let keq is the equivalent stiffness for the whole system
s
1 1 1 keq ,1, 2 k3
keq
. keq keq ,1, 2 k3 k3 keq ,1, 2
 Example 2.5: Q2.7
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Solution :
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Now find the natural frequency
a
t keq k k l k k l 2 2
n

1 2 1 2 3 2
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o m m k l k l k l
11
2 2
2 2
2
3 3
n
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 Example 2.5: Q2.45
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Draw the free-body diagram and derive the equation of motion
r using Newton s second law of motion for each of the systems
a shown in Fig
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 Example 2.5: Q2.45
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Solution F.B.D
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 Example 2.5: Q2.45
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Equation of motion:
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a The distance: x 4r o
t ..
i For mass m: mg T m x --- (1)
o
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n For pulley Jo: J o Tr 4rk o 4r --- (2)
s

According to static equilibrium: mgr k 4r 4r o o

mg
--- (3)
16rk
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 Example 2.5: Q2.45
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Equation of motion [cont]:
r Substitute equations 1 and 3 into equation 1:
a .. .. 2 mg
t J o mg m x r 16kr
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16rk
.. .. .. ..
o
J o mgr m x r 16kr mgr 0 J o m x r 16kr 2 0
2
n
.. ..
s
Use the relation x r x r to relate the translational
motion with the rotational one:
J o mr 16kr2 0
. 2
..
S
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s End of chapter2 part I