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Introduction to Vibrations of

Structures

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Mohammad Tawfik
References
M. Bismarck-Nasr, "Structural Dynamics in Aeronautical
Engineering," AIAA Educational Series, 1999
D. Inman and E. Austin, Engineering Vibration, 2nd edition,
Prentice Hall, 2001
A. A. Shabana, "Vibration of Discrete and Continuous Systems," 2nd
edition, Springer, 1997
D. Thorby, Structural Dynamics and Vibration in Practice Elsevier,
2008
A. G. Ambekar, Mechanical Vibrations and Noise Engineering
Prentice Hall India, 2006
Leonard Meirovitch, Fundamentals of Vibrations, 1st edition,
McGraw Hill, 2001

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Mohammad Tawfik
Single degree of freedom
systems

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Objectives
Recognize a SDOF system
Be able to solve the free vibration equation
of a SDOF system with and without
damping
Understand the effect of damping on the
system vibration
Apply numerical tools to obtain the time
response of a SDOF system

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Single degree of freedom systems
When one variable can describe the
motion of a structure or a system of
bodies, then we may call the system a 1-D
system or a single degree of freedom
(SDOF) system. e.g. x(t), q(t) Z(t), y(x).

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Stiffness
From strength of materials recall:

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Newtons Law

mx(t ) kx(t )
Newtons Law:
mx(t ) kx(t ) 0
x(0) x0 , x (0) v0
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Solving the ODE
The ODE is mx(t ) kx(t ) 0
The proposed t
solution: x(t ) ae
Into the ODE you get
k t
t
the characteristic
equation:
ae ae 0
2

m
k k
Giving:
2
j
m m
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Solving the ODE (contd)
k k
The proposed j t j t
solution becomes: x(t ) a1e m
a2 e m

For simplicity, lets k


define:
m

jt j t
Giving: x(t ) a1e a2 e

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Lets manipulate the solution!

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Recall

e Cos a jSin a
ja

Sina b Sina Cosb Cosa Sinb

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Manipulating the solution
jt j t
The solution we have: x(t ) a1e a2 e
x(t ) a1 Cos t jSint
Rewriting:

a2 Cos t jSint
x(t ) a1 a2 Cost j a1 a2 Sint

x(t ) A1Cost A2 Sint

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Further manipulation
x(t ) A1Cost A2 Sint
A A1 A2
2 2

Cos & Sin


A2 A1
A A
x(t ) ASin Cost Cos Sint
x(t ) ASint
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Different forms of the solution

x(t ) ASin( t )
x(t ) A1Sin t A2Cos t
j t j t
x(t ) a1e a2 e

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NOTE!

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Natural Frequency of Oscillation
In the previously obtained solution:
x(t ) ASint
The frequency of oscillation is
It depends only on the characteristics of the
oscillating system. That is why it is called the
natural frequency of oscillation

k
n
m
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Frequency
n is in rad/s is called the natural frequency
n rad/s n cycles n
fn Hz
2 rad/cycle 2 s 2
2
T s is the period
n

We often speak of frequency in Hertz or


RPM, but we need rad/s in the arguments
of the trigonometric functions.
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Recall: Initial Conditions

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Amplitude & Phase from the ICs
x0 A sin(n 0 ) A sin
v0 n A cos(n 0 ) n A cos
Solving yields
v02 n x0
A x 2
, tan 1

n
0

v0
Amplitude Phase

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Some useful quantities
A peak value
T
1
x lim x(t )dt = average value
T T
0
T
1 2
x lim x (t )dt = mean - square value
2
T T
0

xrms x = root mean square value


2

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Peak Values
Maximum or peak (amplitude) values:

displacement : xmax A
velocity : x max A
acceleration : xmax A 2

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Samples of Vibrating Systems
Deflection of continuum (beams, plates,
bars, etc) such as airplane wings, truck
chassis, disc drives, circuit boards
Shaft rotation
Rolling ships

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Wing Vibration

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Ship Vibration

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Effective Stiffness of
Structures

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Bars
Longitudinal motion
A is the cross sectional
l area (m2)
EA
k E is the elastic modulus

(Pa=N/m2)
m
l is the length (m)
x(t) k is the stiffness (N/m)

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Rods
Jp is the polar
moment of inertia of
the rod
GJ p J is the mass
Jp
k moment of inertia of
the disk
0
G is the shear
J qt) modulus, l is the
length
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Helical Spring
d = diameter of wire
2R= diameter of turns
2R n = number of turns
x(t)= end deflection
x(t) G= shear modulus of
spring material
4
Gd
k 3
64nR
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Beams
Strength of materials
and experiments
f
yield:
m
3EI
k 3

x 3EI
n
m 3

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Equivalent Stiffness

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Summary
Write down the equation of motion using
Newtons law
Solve the equation of motion for a SDOF
Use initial conditions to determine the
amplitude and phase of vibration for a
SDOF
Evaluate the effective stiffness of
structural members

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HW #1
1. The amplitude of vibration of an undamped
system is measured to be 1 mm. the phase
shift is measured to be 2 rad and the
frequency 5 rad/sec. Calculate the initial
conditions.
2. Using the equation:
x(t ) A1Cost A2 Sint
evaluate the constant A1 and A2 in terms of
the initial conditions

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HW #1 (contd)
3. An automobile is modeled as 1000 kg
mass supported by a stiffness k=400000
N/m. When it oscillates, the maximum
deflection is 10 cm. when loaded with the
passengers, the mass becomes 1300 kg.
calculate the change in the frequency,
velocity amplitude, and acceleration if the
maximum deflection remain 10 cm.

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Adding Damping

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Objectives
Understand the damping as a force
resisting motion
Adding viscous damping to the equation of
motion of a SDOF
Understand the difference in the
responses of different systems depending
on the value of the damping

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Damping
Damping is some form of friction!
In solids, friction between molecules result
in damping
In fluids, viscosity is the form of damping
that is most observed
In this course, we will use the viscous
damping model; i.e. damping proportional
to velocity

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Viscous Damping
A mathematical form
called a dashpot or
viscous damper
somewhat like a shock
absorber the constant c
f c cx (t )
has units: Ns/m or kg/s

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Shock Absorbers

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Spring-mass-damper systems

From Newtons law:


mx(t ) cx (t ) kx(t )
mx(t ) cx (t ) kx(t ) 0
x(0) x0 , x (0) v0
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Solution (dates to 1743 by Euler)
Divide the equation of motion by m

x(t ) 2n x (t ) x(t ) 0
2
n

Where the damping Ratio c


is given by: (dimensionless) =
2 km

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t
Let x(t ) ae & subsitute into eq. of motion
2 t t t
a e a 2n e ae 0 2
n

which is now an algebraic equation in :


1, 2 n n 1 2

from the roots of a quadratic equation


Here the discriminant 2 1, determines
the nature of the roots

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Three possibilities:
1) 1 roots are equal & repeated
called criticallydamped
= 1 c ccr 2 km 2mn
n t n t
x(t ) a1e a2te
Using the initial conditions :
a1 x0 , a2 v0 n x0
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Critical damping contd
No oscillation occurs
n t
x(t ) [ x0 (v0 n x0 )t ]e

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2) 1, called over - damping - two distinct real roots :
1, 2 n n 2 1
n t n t 2 1 n t 2 1
x(t ) e (a1e a2 e )
v0 ( 1)n x0 2
where a1
2n 2 1
v0 ( 2 1)n x0
a2
2n 2 1

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The over-damped response

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Most interesting Case!

3) 1, called underdampe d motion - most common


Two complex roots as conjugate pairs
write roots in complex form as :
1, 2 n n j 1 2

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Under-damping
n t j n t 1 2 j n t 1 2
x(t ) e (a1e a2 e )
Ae nt sin( d t )
d n 1 2 , damped natural frequency
1
A (v0 n x0 ) 2 ( x0 d ) 2
d
x0 d
tan 1

v0 n x0
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Under-damped-oscillation
Gives an oscillating response with exponential decay
Most natural systems vibrate with an under-damped
response

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Summary
Modeling viscous damping
Solving the equation of motion involving
viscous damping
Recognizing the different types of
response based on the level of damping

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HW #1 (contd)
1. Use the given data to plot the response of the
SDOF system n 2rad / sec, x0 1mm, v0 0m / s
0.01,0.1,0.2,0.4,0.6,0.8
2. Solve the equation x x x 0
x0 1, v0 0
And plot the response

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HW #1 (contd)
Homework is due next week:
26/9/2010

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