ME 425 Mechanical Vibrations Z r2 2r

 ,   tan
1
Y (1  r )  (2r )
2 2 2
1 r 2
Newton’s Laws : The equations of motion of a mechanical
system is determined from Newton’s laws of motion : The device becomes an accelerometer for low frequencies
(r<0.2) and a seismometer (r>3) for high frequencies.
 F  ma ,  M G  I
where G is the center of mass of the body. Periodic Excitation : A periodic function F(t) with period T
Energy methods: KE+PE = constant for conservative can be expressed in Fourier series as :
systems. Also : (KE)max=(PE)max .
Mechanical System Elements: Elastic elements store 
a0 2
potential energy, do not dissipate energy F=k(x2-x1) F (t )    (a n cos nt  bn sin nt ) Where 
Viscous damping: Dissipates energy, forces are always 2 n 1 T
opposite to the velocity of the body F  c( x 2  x 1 ) 2
T
2
T

SINGLE DEGREE OF FREEDOM SYSTEMS

a0 
T  F (t )dt
0
a n   F (t ) cos ntdt
T 0
Harmonic Motion : Mass spring system mx  kx  0 . T
x (0)  x 0 , x (0)  v 0 2
T 0
Solution : bn  F (t ) sin ntdt
 n2 x02  v02  x
x(t )  Sin( n t  tan 1 n 0 ) Single DOF system: mx  cx  kx  F (t )
n v0 
a0
2 x(t )    ( xcn (t )  x sn (t )) where:
 n  k : Natural frequency T   : Period of motion 2k n 1
m n

Damped system : mx  cx  kx  0

x (0)  x 0 , x (0)  v 0 Underdamped solution : Sliding or Coulomb Friction
 d2 x 02  (v 0   n x 0 ) 2  d x0   N x (t )  0
x (t )  e  n t sin( d t  tan 1 ) 
d v 0   n xf0c ( x)   0 x (t )  0
 N x (t )  0
where  d   n 1   2 : damped natural frequency 
c c an k
x cn (t )  cos(nt   n )
and    : Damping ratio. (1  n r 2 ) 2  ( 2nr ) 2
2
c c 2 m n
Forced Vibration mx  cx  kx  F (t ) bn k
x sn (t )  sin(nt   n )
Or : x  2 n x   n x  F (t ) m
2
(1  n 2 r 2 ) 2  (2nr ) 2
Harmonic excitation : F (t )  F0 sin t  2nr 
 n  tan 1  2 2 
Steady state response : x (t )  X sin  t    1 n r 
X

1  Non-periodic Forcing Single DOF system :
where r and
F0 / k (1  r )  (2r )
2 2 2
n e  nt
Impulse response function : h(t )  sin  d t
2r m d
   tan 1
1 r2 Convolution integral :
Base excitation : mx  c( x  y )  k ( x  y )  0 t t

y (t )  Y sin t , response: x (t )  X sin  t    x(t )   h( ) F (t   )d

0
  F ( )h(t   )d
0
X 1  ( 2r ) 2  n t t
 : Transmissibility. e
e
 n
Y (1  r 2 ) 2  ( 2r ) 2  sin  d (t   ) F ( )d
m d 0
Force transmitted to the base :
F (t )  c ( x  y )  k ( x  y ) Energy loss in damping in one period: E  F d dx
In viscous damping: E v  X c
2
FT r 2 1  (2r ) 2
F (t )  FT cos(t   ) 
kY (1  r 2 ) 2  (2r ) 2 In Coulomb damping: E c  4 mgX
In structural damping: Es   k  X
2
Rotating Unbalance: mx  cx  kx  m0 e sin t
2

MULTI DEGREE OF FREEDOM SYSTEMS

Response : x(t )  X sin  t   
d  L  L
mX

r2 2r Lagrange Equations    Qi i  1 N
,   tan
1
m0 e dt  q i  qi
(1  r )  ( 2r )
2 2 2
1 r 2
where L = T-V, qi : generalized coordinates, Qi : generalized
Measuring devices : mx  c( x  y )  k ( x  y ) forces.
Let z (t )  x (t )  y (t ) : Motion of mass relative to the Equation of Motion : Mx  Cx  Kx  F (t ) where M, C
base. and K are nxn symmetric mass, damping and stiffnes
mz  cz  kz   mx If y (t )  Y cos t , equation matrices, x is the displacement vector, F is the forcing
becomes: vector.
mz  cz  kz  m 2 Y cos t solution :
z (t )  Z cos(t   )
Undamped Free Vibration Vibration Absorbers: Steady state vibration amplitude of the
Assume x  ue jt : Eigenvalue problem : Ku   2 Mu
Solution gives natural frequencies , and the mode shapes main mass becomes zero when a  ka   dr . Define
u.
ma
ma a
Eigenvalue Problem: Kw   2 Mw has a nontrivial   p  k m and    . Frequency equation

solution if: det K   2 M  0 . Solution gives  i .
2
 m p

 K   M u i
2
i  0 gives ui.  
is :  2 r 4  1   2 (1   ) r 2  1  0. where r 

a
.
Procedure for modal analysis
1. Calculate M 1 2 .
~
2. Calculate K  M 1 2 KM 1 2
~
3. Solve the symmetric Eigenvalue Problem Kv   2 v
with v  v T v  1 , to get i and vi. Form
P   v1 , v 2 ,  v n  .
4. Calculate S  M 1 2 P and S 1  P T M 1 2 .
5. Calculate the modal initial conditions :
r (0)  S 1 x (0) and r (0)  S 1 x (0) Solve
ri   i2 ri  0 .
6. Obtain the solution in physical coordinates by:
x(t )  Sr (t )
~
Eigenvalue Problem: K v   2 v has a nontrivial solution
~
 
if: det K   2 I  0 . Solution gives  i .
2

 ~

K   i2 I vi  0 gives vi.
Mode Expansion Method : Let q  M 1 2 x . Then, the
~
equations are tranformed to Iq
  Kq  0 . Solution
n
is : q (t )  d
i 1
i sin( i t   i )vi

1  i v i q (0)
T
viT q (0)
Where: d i  and  i  tan .
sin  i viT q (0)
Physical solution is: x  M 1 2 q .
Forced Response: Mx  Kx  F (t ) The same procedure
for modal analysis applies.
 Make the coordinate transformation x(t)=Sr(t).
 Modal equations become : Ir(t )  r (t )  S 1 F (t ) .
~
where   diag (i2 )  PT KP .
 Solve the decoupled equations in modal coordinates r(t)
and then back transform to physical coordinates x(t).
Damped Systems: In general modal analysis does not apply
to damped systems. It applies only if the system is
proportionally damped. In this case: C  M  K . In this
case the modal equations are:
Ir(t )  diag (2 i i )r  r (t )  S 1F (t ) . where
diag ( 2 i i )  P T M 1 2 CM 1 2 P .

Impedance Method for Harmonic Forcing:

jt
Mx  Cx  Kx  Fe jt Assume x(t )  Xe , 
 
X  M 2  jC  K F or X  ZF where Z is the
1

system impedance matrix.

Rayleigh Quotient: Is used to estimate the first natural

frequency if an approximate first mode shape is known.
u T Ku
R(u )   12
u T Mu